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374 lines
18 KiB
C#
374 lines
18 KiB
C#
using HalconDotNet;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow.Camera;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow.SubFlow
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{
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enum EUpCameraScanBarCodeFlowStep
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{
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到扫码起始位,
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等待到扫码起始位,
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到扫码结束位,
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等待到扫码结束位,
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等待扫码结束,
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拍照结果处理,
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}
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enum EUpCameraFixedScanBarCodeFlowStep
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{
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到扫码位上方,
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等待运动到扫码位上方,
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等待扫码结束,
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拍照结果处理
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}
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/// <summary>
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/// 上相机扫码流程
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/// </summary>
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public class UpCameraScanBarCodeFlow
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{
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private UpCameraScanBarCodeFlow() { }
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private static UpCameraScanBarCodeFlow instance;
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public static UpCameraScanBarCodeFlow Instance
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{
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get
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{
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if(instance == null)
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instance = new UpCameraScanBarCodeFlow();
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return instance;
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}
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}
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private EUpCameraScanBarCodeFlowStep step = EUpCameraScanBarCodeFlowStep.到扫码起始位;
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private EUpCameraFixedScanBarCodeFlowStep fixedStep = EUpCameraFixedScanBarCodeFlowStep.到扫码位上方;
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ErrorCode errCode = ErrorCode.Ok;
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HObject[] grabImages= null;
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Stopwatch timeout = new Stopwatch();
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string logInfo = string.Empty;
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List<VisionResult> vReslutList = new List<VisionResult>();
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VisionResult singleResult;
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bool exit = true;
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ManualResetEvent grabFinishedEvent = new ManualResetEvent(true);
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/// <summary>
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/// /// 开始扫码，先把所有的穴位全部扫一遍，扫不到的最后再定点扫码,
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/// 如果定位失败的穴位，即便没有扫到码，也不再扫码
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/// </summary>
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/// <param name="startPoint">拍照起始点</param>
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/// <param name="endPoint">拍照终止点</param>
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/// <param name="isReverse">是否反转拍照</param>
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public void ScanMulti(int startSlotIndex,bool isReverse)
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{
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if(exit==false) return;
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grabFinishedEvent.Reset();
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SlotPoint startPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, startSlotIndex);
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SlotPoint endPoint = new SlotPoint();
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exit = false;
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step = EUpCameraScanBarCodeFlowStep.到扫码起始位;
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Task.Run(() => {
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while (!exit)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (step)
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{
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case EUpCameraScanBarCodeFlowStep.到扫码起始位:
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if (!isReverse)
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{
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errCode = AxisControl.LoadX.MovePos(startPoint.X - 50, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.LoadY.MovePos(startPoint.Y, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName()+$"正向扫码，到扫码起始位";
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MessageQueue.Instance.Insert(logInfo);
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step = EUpCameraScanBarCodeFlowStep.等待到扫码起始位;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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}
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}
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else
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{
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errCode = AxisControl.LoadX.MovePos(startPoint.X + 50, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.LoadY.MovePos(startPoint.Y, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok)
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{
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logInfo = GetClassName() + $"反向扫码，到扫码起始位";
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MessageQueue.Instance.Insert(logInfo);
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step = EUpCameraScanBarCodeFlowStep.等待到扫码起始位;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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}
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}
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break;
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case EUpCameraScanBarCodeFlowStep.等待到扫码起始位:
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if (Ops.IsStop(AxisAlias.LoadX, AxisAlias.LoadY) || GlobalVar.VirtualAxis)
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{
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//Thread.Sleep(1000);
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List<double> grabPoints = new List<double>();
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if (!isReverse)
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{
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endPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, startSlotIndex + 7);
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for (int i = startSlotIndex; i < startSlotIndex + 8; i++)
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{
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grabPoints.Add(TrayPointManager.GetSlotPoint(ETrayType.Turnover, i).X);
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}
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}
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else
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{
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endPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, startSlotIndex - 7);
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for (int i = startSlotIndex; i > startSlotIndex - 8; i--)
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{
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grabPoints.Add(TrayPointManager.GetSlotPoint(ETrayType.Turnover, i).X);
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}
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}
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ImageProcess.ClearAutoTrigger();
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HikCamera.Instance.SetExposure("upCamera", GlobalVar.UpCameraExposureTime);
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HikCamera.Instance.SetGain("upCamera", GlobalVar.UpCameraGain);
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HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Auto);
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AxisControl.LoadX.SetPosCompare(2, grabPoints.ToArray());
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AxisControl.LoadX.CompareStatus(out short pstatu, out int pcount);
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logInfo = GetClassName() + $"已运动到扫码起始位";
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MessageQueue.Instance.Insert(logInfo);
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step = EUpCameraScanBarCodeFlowStep.到扫码结束位;
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}
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break;
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case EUpCameraScanBarCodeFlowStep.到扫码结束位:
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if (!isReverse)
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{
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errCode = AxisControl.LoadX.MovePos(endPoint.X + 50, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"正向扫码，到扫码结束位";
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MessageQueue.Instance.Insert(logInfo);
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step = EUpCameraScanBarCodeFlowStep.等待到扫码结束位;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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}
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}
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else
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{
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errCode = AxisControl.LoadX.MovePos(endPoint.X - 50, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok)
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{
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logInfo = GetClassName()+ $"反向扫码，到扫码结束位";
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MessageQueue.Instance.Insert(logInfo);
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step = EUpCameraScanBarCodeFlowStep.等待到扫码结束位;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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}
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}
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break;
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case EUpCameraScanBarCodeFlowStep.等待到扫码结束位:
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if (Ops.IsStop(AxisAlias.LoadX, AxisAlias.LoadY) || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"已运动到扫码结束位";
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MessageQueue.Instance.Insert(logInfo);
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timeout.Restart();
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step = EUpCameraScanBarCodeFlowStep.等待扫码结束;
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}
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break;
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case EUpCameraScanBarCodeFlowStep.等待扫码结束:
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grabImages = ImageProcess.GetAutoImage();
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if(timeout.ElapsedMilliseconds<3000)
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{
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//AxisControl.LoadX.CompareStatus(out short pstatu, out int pcount);
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if ((grabImages != null && grabImages.Length == 8) || GlobalVar.VirtualAxis)
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{
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grabImages = ImageRotate.Rotates(grabImages, "upCamera");
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step = EUpCameraScanBarCodeFlowStep.拍照结果处理;
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}
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}
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else
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{
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//拍照超时
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MessageQueue.Instance.Warn(GetClassName()+ "上相机拍照超时，重新拍照");
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step = EUpCameraScanBarCodeFlowStep.到扫码起始位;
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}
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break;
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case EUpCameraScanBarCodeFlowStep.拍照结果处理:
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vReslutList.Clear();
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int slotIndex = 0;
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foreach (var img in grabImages)
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{
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int sIndex = 0;
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if (!isReverse)
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{
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sIndex = startSlotIndex + slotIndex;
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}
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else
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{
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sIndex = startSlotIndex - slotIndex;
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}
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VisionResult vr = new VisionResult();
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if (TurnoverTrayManager.Instance.Slot(sIndex).IsHasProduct)
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{
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vr = VisionManager.TurnoverTrayDumpProductOK(img,GlobalVar.EnableTurnoverTrayRecheck);
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}
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vr.SlotIndex = sIndex;
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vReslutList.Add(vr);
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slotIndex++;
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}
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exit = true;
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grabFinishedEvent.Set();
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break;
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}
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}
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});
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}
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public void ScanSingle(int SlotIndex,bool needGo=true)
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{
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if (exit == false) return;
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grabFinishedEvent.Reset();
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HObject imageSingle = new HObject();
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exit = false;
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if(!needGo)
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{
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ImageProcess.ClearManualTrigger();
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HikCamera.Instance.SetExposure("upCamera", GlobalVar.UpCameraExposureTime);
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HikCamera.Instance.SetGain("upCamera",GlobalVar.UpCameraGain);
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HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Manual);
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AxisControl.LoadX.ComparePulse(2, false);
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.等待扫码结束;
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}
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else
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{
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.到扫码位上方;
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}
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Task.Run(() => {
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while (!exit)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (fixedStep)
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{
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case EUpCameraFixedScanBarCodeFlowStep.到扫码位上方:
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SlotPoint targetPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, SlotIndex);
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errCode = AxisControl.LoadX.MovePos(targetPoint.X, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.LoadY.MovePos(targetPoint.Y, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"到扫码起始位";
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MessageQueue.Instance.Insert(logInfo);
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.等待运动到扫码位上方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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}
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break;
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case EUpCameraFixedScanBarCodeFlowStep.等待运动到扫码位上方:
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if (Ops.IsStop(AxisAlias.LoadX, AxisAlias.LoadY) || GlobalVar.VirtualAxis)
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{
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Thread.Sleep(200);
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ImageProcess.ClearManualTrigger();
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HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Manual);
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HikCamera.Instance.SetExposure("upCamera", GlobalVar.UpCameraExposureTime);
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HikCamera.Instance.SetGain("upCamera", GlobalVar.UpCameraGain);
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AxisControl.LoadX.ComparePulse(2, false);
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logInfo = GetClassName() + $"已运动到扫码起始位";
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MessageQueue.Instance.Insert(logInfo);
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.等待扫码结束;
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}
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break;
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case EUpCameraFixedScanBarCodeFlowStep.等待扫码结束:
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HObject image = ImageProcess.GetManualImage();
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if(image!=null)
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{
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imageSingle = ImageRotate.Rotate(image, "upCamera");
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HOperatorSet.WriteImage(imageSingle, "bmp", 0, "d://images//aaaa");
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.拍照结果处理;
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}
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break;
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case EUpCameraFixedScanBarCodeFlowStep.拍照结果处理:
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singleResult = VisionManager.TurnoverTrayDumpProductOK(imageSingle);
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singleResult.SlotIndex = SlotIndex;
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exit = true;
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grabFinishedEvent.Set();
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break;
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}
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}
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});
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}
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public string GetClassName()
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{
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return "UpCameraScanBarCodeFlow-";
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}
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public List<VisionResult> Wait()
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{
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grabFinishedEvent.WaitOne();
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return vReslutList;
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}
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public VisionResult WaitSingle()
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{
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grabFinishedEvent.WaitOne();
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return singleResult;
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}
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public bool CheckResult(VisionResult vr)
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{
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if (vr.SearchModelOK)
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return ((Math.Abs(vr.OffsetX) - GlobalVar.TurnoverTrayLocateXRange <= 0) && (Math.Abs(vr.OffsetY) - GlobalVar.TurnoverTrayLocateYRange <= 0) && (Math.Abs(vr.OffsetR) - GlobalVar.TurnoverTrayLocateRRange <= 0));
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return false;
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}
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}
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}
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