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468 lines
23 KiB
C#
468 lines
23 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;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow.Camera;
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using Rs.MotionPlat.Flow.Common;
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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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using static Rs.MotionPlat.Commom.SchedulingMessageBox;
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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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public event Action<VisionResult,bool> OnTurnoverTrayProductLocateResult;
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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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Stopwatch scanBarCodeWait= new Stopwatch();
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//double targetLoadX=0.0,targetLoadY=0.0;
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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 List<VisionResult> ScanMulti(int startSlotIndex, bool isReverse)
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{
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TargetPosition targetPostion = new TargetPosition();
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AlarmEntity alarmEntity = null;
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List<VisionResult> vReslutList = new List<VisionResult>();
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if (exit == false) return null;
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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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targetPostion.X = startPoint.X - 50;
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targetPostion.Y = startPoint.Y;
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errCode = AxisControl.LoadX.MovePos(targetPostion.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(targetPostion.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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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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}
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else
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{
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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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}
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else
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{
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targetPostion.X = startPoint.X + 50;
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targetPostion.Y = startPoint.Y;
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errCode = AxisControl.LoadX.MovePos(targetPostion.X, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.LoadY.MovePos(targetPostion.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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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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}
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else
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{
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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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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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if(AxisArrived.LoadXYIsArrived(targetPostion.X,targetPostion.Y))
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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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else
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{
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step = EUpCameraScanBarCodeFlowStep.到扫码起始位;
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}
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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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targetPostion.X = endPoint.X + 50;
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errCode = AxisControl.LoadX.MovePos(targetPostion.X, 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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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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}
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else
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{
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targetPostion.X = endPoint.X - 50;
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errCode = AxisControl.LoadX.MovePos(targetPostion.X, 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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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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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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if(AxisArrived.LoadXYIsArrived(targetPostion.X, targetPostion.Y))
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{
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logInfo = GetClassName() + $"已运动到扫码结束位";
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MessageQueue.Instance.Insert(logInfo);
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timeout.Restart();
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step = EUpCameraScanBarCodeFlowStep.等待扫码结束;
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}
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else
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{
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step = EUpCameraScanBarCodeFlowStep.到扫码结束位;
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}
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}
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break;
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case EUpCameraScanBarCodeFlowStep.等待扫码结束:
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grabImages = ImageProcess.GetAutoImage();
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if (timeout.ElapsedMilliseconds < 3000)
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{
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LogHelper.Debug(GetClassName()+$"扫码完成,num={grabImages.Length}");
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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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GC.Collect();
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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, true, sIndex);
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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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return vReslutList;
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}
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public VisionResult ScanSingle(int SlotIndex,bool needGo=true,bool bNeedLocate=true,bool bNeedScanBarcode=true)
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{
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TargetPosition targetPostion = new TargetPosition();
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AlarmEntity alarmEntity = null;
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VisionResult singleResult = null;
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if (exit == false) return null;
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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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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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targetPostion.X= targetPoint.X;
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targetPostion.Y = targetPoint.Y;
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errCode = AxisControl.LoadX.MovePos(targetPostion.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(targetPostion.Y, GlobalVar.FlyCameraSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"到{SlotIndex}号穴位拍照位上方";
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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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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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}
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else
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{
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//PromptMessageBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
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alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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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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if(AxisArrived.LoadXYIsArrived(targetPostion.X,targetPostion.Y))
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{
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logInfo = GetClassName() + $"已运动到{SlotIndex}号穴位拍照位上方";
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MessageQueue.Instance.Insert(logInfo);
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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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scanBarCodeWait.Restart();
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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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}
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break;
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case EUpCameraFixedScanBarCodeFlowStep.等待扫码结束:
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if (scanBarCodeWait.ElapsedMilliseconds < 3000)
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{
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HObject image = ImageProcess.GetManualImage();
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if (image != null)
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{
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logInfo = GetClassName() + "拍照完成";
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MessageQueue.Instance.Insert(logInfo);
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imageSingle = ImageRotate.Rotate(image, "upCamera");
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.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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logInfo = GetClassName() + "拍照超时，重新拍照";
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MessageQueue.Instance.Warn(logInfo);
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fixedStep = EUpCameraFixedScanBarCodeFlowStep.到扫码位上方;
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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, bNeedLocate, bNeedScanBarcode, SlotIndex);
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singleResult.SlotIndex = SlotIndex;
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exit = true;
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logInfo = GetClassName() + "拍照处理完成";
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MessageQueue.Instance.Insert(logInfo);
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break;
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}
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}
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return singleResult;
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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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{
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bool suc= ((Math.Abs(vr.OffsetX) - GlobalVar.TurnoverTrayLocateXRange <= 0)
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&& (Math.Abs(vr.OffsetY) - GlobalVar.TurnoverTrayLocateYRange <= 0)
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&& (Math.Abs(vr.OffsetR) - GlobalVar.TurnoverTrayLocateRRange <= 0));
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OnTurnoverTrayProductLocateResult?.Invoke(vr,suc);
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return suc;
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}
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return false;
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}
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/// <summary>
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/// 检测XY是否在目标位置上
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/// </summary>
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/// <param name="xTargetPos"></param>
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/// <param name="yTargetPos"></param>
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/// <returns></returns>
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private bool XYIsInTargetPos(double xTargetPos, double yTargetPos)
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{
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Stopwatch timer = new Stopwatch();
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timer.Start();
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while (timer.ElapsedMilliseconds < 3000)
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{
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double xCurPos = Ops.GetCurPosition(AxisControl.LoadX);
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double yCurPos = Ops.GetCurPosition(AxisControl.LoadY);
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if ((Math.Abs(xTargetPos - xCurPos) < AxisControl.LoadX.Config.Tolerance
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&& Math.Abs(yTargetPos - yCurPos) < AxisControl.LoadY.Config.Tolerance) || GlobalVar.VirtualAxis)
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{
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timer.Stop();
|
|
return true;
|
|
}
|
|
}
|
|
timer.Stop();
|
|
return false;
|
|
}
|
|
}
|
|
}
|