/// <summary>
/// 查看相机是否连接
/// </summary>
/// <param name="camStatus">所以相机的连接状态列表</param>
/// <returns>true表示所有的相机连接，false表示有相机未连接</returns>
public static bool CamConnectStatus(out List <CamStatus> camStatus)
{
bool isConnect;
bool isAllConnect = true;
camStatus = new List <CamStatus>();
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (HKCameraCltr.GetListUserDefinedName().Count == 0)
{
return(false);
}
foreach (var camName in HKCameraCltr.GetListUserDefinedName())
{
isConnect = MyRun.IsCamConnect(camName);
isAllConnect = isAllConnect && isConnect;
camStatus.Add(new CamStatus()
{
CamName = camName,
IsConnect = isConnect
});
}
return(isAllConnect);
}
public static bool GetTemplateImage(string modelName, string itemName, out Bitmap bigImage, out Bitmap smallImage)
{
bigImage = null;
smallImage = null;
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
ProductModel model = MyRun.ReadModelJS(modelName);
if (model is null)
{
StrErrorMsg = "模板" + modelName + "不存在";
return(false);
}
if (MyRun.GetTemplateImage(modelName, itemName, out bigImage, out smallImage))
{
return(true);
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
}
/// <summary>
/// 触发相机拍照
/// </summary>
/// <param name="camName">相机名</param>
/// <param name="outBitmap">输出图片</param>
/// <returns></returns>
public static bool TriggerCamera(string camName, out Bitmap outBitmap)
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
outBitmap = null;
return(false);
}
lock (obj)
{
try
{
MyRun.TriggerCamera(camName, out outBitmap);
if (outBitmap != null)
{
return(true);
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
}
catch (Exception ex)
{
StrErrorMsg = "图片获取失败" + ex.Message;
outBitmap = null;
return(false);
}
}
}
/// <summary>
/// 获取型号模板列表
/// </summary>
/// <param name="productModels"></param>
/// <returns></returns>
public static bool GetProductModelList(out List <ProductModel> productModels)
{
productModels = new List <ProductModel>();
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
try
{
string path = MyRun.appPath + "\\model";
Directory.CreateDirectory(path);
DirectoryInfo theFolder = new DirectoryInfo(path);
DirectoryInfo[] thedirectoryInfo = theFolder.GetDirectories();
foreach (var directory in thedirectoryInfo)
{
ProductModel model = MyRun.ReadModelJS(directory.Name);
if (model != null)
{
productModels.Add(model);
}
}
}
catch (Exception e)
{
StrErrorMsg = "模板型号列表获取失败" + e.Message;
return(false);
}
return(true);
}
/// <summary>
/// 重连相机
/// </summary>
/// <returns></returns>
public static bool ReConnectCam()
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (!MyRun.ReconnectCam())
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
return(true);
}
/// <summary>
/// 切换到触发模式
/// </summary>
/// <returns></returns>
public static bool TriggerMode()
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (!MyRun.TriggerMode())
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
return(true);
}
/// <summary>
/// 切换到实时模式，使用实时模式时请设置好相机的帧率，防止画面撕裂
/// </summary>
/// <returns></returns>
public static bool ContinuesMode()
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (!MyRun.ContinuesMode())
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
return(true);
}
/// <summary>
/// 如果没有使用视觉模块的创建模板功能，需要在这里初始化视觉模块
/// </summary>
/// <returns></returns>
public static bool Connect()
{
if (MyRun.havInit)
{
return(true);
}
if (!MyRun.Init())
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
MyRun.ModelNumberChangeEvent += MyRun_ModelNumberChangeEvent;
return(true);
}
/// <summary>
/// 切换到硬件触发模式
/// </summary>
/// <returns></returns>
public static bool HardMode()
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (!MyRun.HardMode())
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
HKCameraCltr.HardTriggerEvent += HKCameraCltr_HardTriggerEvent;
return(true);
}
/// <summary>
/// 触发所有相机拍照
/// </summary>
/// <param name="imageType">存储与传输图片的格式</param>
/// <returns></returns>
public static bool TriggerAllCamera(ImageType imageType = ImageType.HObject)
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
lock (obj)
{
if (UseCamsName.Count == 0)
{
StrErrorMsg = "未选择模板";
return(false);
}
foreach (var camName in UseCamsName.ToArray())
{
if (imageType == ImageType.HObject)
{
MyRun.TriggerCamera(camName, out HObject outImage);
if (outImage != null)
{
SoftwareOnceEvent?.Invoke(null, new OutImage(camName, outImage));
outImage.Dispose();
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
}
if (imageType == ImageType.Bitmap)
{
MyRun.TriggerCamera(camName, out Bitmap outImage);
if (outImage != null)
{
SoftwareOnceEvent?.Invoke(null, new OutImage(camName, outImage));
outImage.Dispose();
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
return(false);
}
}
}
return(true);
}
}
public static void GetProductModelNameList(out List <string> modelNameList)
{
modelNameList = new List <string>();
string path = MyRun.appPath + "\\model";
Directory.CreateDirectory(path);
DirectoryInfo theFolder = new DirectoryInfo(path);
DirectoryInfo[] thedirectoryInfo = theFolder.GetDirectories();
foreach (var directory in thedirectoryInfo)
{
ProductModel model = MyRun.ReadModelJS(directory.Name);
if (model != null)
{
modelNameList.Add(model.modelName);
}
}
}
/// <summary>
/// 切换型号模板
/// </summary>
/// <param name="modelName">模板名</param>
/// <returns></returns>
public static bool PrepareModel(string modelName)
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
UseModel = MyRun.ReadModelJS(modelName);
if (UseModel is null)
{
StrErrorMsg = "模板" + modelName + "不存在";
return(false);
}
UseCamsName.Clear();
foreach (var cam in UseModel.cams)
{
UseCamsName.Add(cam.CamName);
if (!MyRun.IsCamConnect(cam.CamName))
{
StrErrorMsg = "相机" + cam.CamName + "未连接";
}
}
UseMatchingFun.Clear();
foreach (var matching in UseModel.matchings)
{
MatchingFun matchingFun = MyRun.GetMatchingFun(matching.Type);
matchingFun.Read(MyRun.appPath + "\\model\\" + UseModel.modelName, matching);
UseMatchingFun.Add(matchingFun);
}
UseTestItems.Clear();
foreach (var testItem in UseModel.testItems)
{
UseTestItems.Add(MyRun.GetTestItem(testItem));
}
return(true);
}
/// <summary>
/// 触发检测，更具当前切换的型号模板进行拍照识别
/// 阻塞线程直到拍照识别结束，返回TriggerDetection的结果
/// 同一时刻只能有一个TriggerDetection在运行
/// </summary>
/// <param name="outResult"></param>
/// <returns></returns>
public static bool TriggerDetection(out List <OutResult> outResults)
{
outResults = null;
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (DetectionThread != null && DetectionThread.IsAlive)
{
StrErrorMsg = "上一次拍照识别并未结束";
return(false);
}
OutResults.Clear();
ConcurrentDictionary <string, HObject> camImages = new ConcurrentDictionary <string, HObject>();
bool hav = true;
while (true)
{
Parallel.ForEach(UseCamsName.ToArray(), camName =>
{
if (MyRun.TriggerCamera(camName, out HObject camImage))
{
if (camImage != null)
{
//待升级:这里添加对图片质量的判断，如果图片模糊，撕裂则将图片丢弃
camImages.AddOrUpdate(camName, camImage, (k, v) => v = camImage);
}
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
}
});
//待升级:这里添加对产品是否到位的判断，通过特征检测的方式实现，不符合要求的则将图片丢弃
//待升级:这里添加模板匹配矫正图片的功能，检测项检测时使用的是矫正后的图片，
//要将矫正的变换参数保存，界面显示的需要是把ROI区域等检测效果进行矫正的图片
Parallel.ForEach(UseTestItems.ToArray(), testItem =>
{
if (camImages.TryGetValue(testItem.camName, out HObject camImage))
{
testItem.Find(camImage);
testItem.Show(camImage, out HObject resultImage);
testItem.hav = true;
OutResult outResult = new OutResult()
{
TestItemName = testItem.name,
CamName = testItem.camName,
IsOK = testItem.isOK,
ResultMessage = testItem.outMessage,
OriginalImage = new OutImage(testItem.camName, camImage),
EffectImage = new OutImage(testItem.camName, resultImage)
};
DetectionOnceEvent?.Invoke(null, outResult);
OutResults.Add(outResult);
}
});
foreach (var camImage in camImages.Values)
{
camImage.Dispose();
}
hav = true;
foreach (var testItem in UseTestItems.ToArray())
{
hav &= testItem.hav;
}
if (hav)
{
foreach (var testItem in UseTestItems.ToArray())
{
testItem.hav = false;
}
break;
}
if (stopDetectionSignal.WaitOne(20))
{
break;
}
Thread.Sleep(20);
}
outResults = OutResults;
return(true);
}
/// <summary>
/// 触发检测，更具当前切换的型号模板进行拍照识别
/// 该方法会开辟新线程
/// 该方法不会返回识别结果，识别结果需要在调用WaitDetectionResult获取
/// 同一时刻只能有一个TriggerDetection在运行
/// </summary>
/// <returns></returns>
public static bool TriggerDetection()
{
if (!MyRun.havInit)
{
StrErrorMsg = "视觉模块未初始化";
return(false);
}
if (DetectionThread != null && DetectionThread.IsAlive)
{
StrErrorMsg = "上一次拍照识别并未结束";
return(false);
}
DetectionThread = new Thread(() =>
{
//防止之前暂停的信号影响到这次检测
stopDetectionSignal.Reset();
OutResults.Clear();
ConcurrentDictionary <string, HObject> camImages = new ConcurrentDictionary <string, HObject>();
ConcurrentDictionary <string, HObject> matchImages = new ConcurrentDictionary <string, HObject>();
ConcurrentDictionary <string, HTuple> matchHomMat2D = new ConcurrentDictionary <string, HTuple>();
bool hav = true;
while (true)
{
Parallel.ForEach(UseCamsName.ToArray(), camName =>
{
if (MyRun.TriggerCamera(camName, out HObject camImage))
{
if (camImage != null)
{
//待升级:这里添加对图片质量的判断，如果图片模糊，撕裂则将图片丢弃
camImages.AddOrUpdate(camName, camImage, (k, v) => v = camImage);
}
}
else
{
StrErrorMsg = MyRun.StrErrorMsg;
}
});
//待升级:这里添加对产品是否到位的判断，通过特征检测的方式实现，不符合要求的则将图片丢弃
//待升级:这里添加模板匹配矫正图片的功能，检测项检测时使用的是矫正后的图片
//要将矫正的变换参数保存，界面显示的需要是把ROI区域等检测效果进行矫正的图片
Parallel.ForEach(UseMatchingFun.ToArray(), matchingFun =>
{
if (!matchingFun.matching.Name.Equals("无模板定位") && camImages.TryGetValue(matchingFun.matching.CamName, out HObject camImage))
{
int nRet = matchingFun.Find(camImage, out HObject matchImage);
if (nRet == 0)
{
matchImages.AddOrUpdate(matchingFun.matching.Name, matchImage, (k, v) => v = matchImage);
matchHomMat2D.AddOrUpdate(matchingFun.matching.Name, matchingFun.homMat2D, (k, v) => v = matchingFun.homMat2D);
}
SoftwareOnceEvent?.Invoke(null, new OutImage(matchingFun.matching.CamName, camImage));
}
});
Parallel.ForEach(UseTestItems.ToArray(), testItem =>
{
if (testItem.hav)
{
return;
}
HObject inImage = null;
if (testItem.matchName.Equals("无模板定位"))
{
if (camImages.TryGetValue(testItem.camName, out inImage))
{
testItem.Find(inImage);
testItem.Show(inImage, out HObject resultImage);
testItem.hav = true;
OutResult outResult = new OutResult()
{
TestItemName = testItem.name,
CamName = testItem.camName,
IsOK = testItem.isOK,
ResultMessage = testItem.outMessage,
OriginalImage = new OutImage(testItem.camName, inImage),
EffectImage = new OutImage(testItem.camName, resultImage)
};
DetectionOnceEvent?.Invoke(null, outResult);
OutResults.Add(outResult);
}
}
else
{
if (matchImages.TryGetValue(testItem.matchName, out inImage))
{
testItem.Find(inImage);
camImages.TryGetValue(testItem.camName, out inImage);
testItem.Show(inImage, matchHomMat2D[testItem.matchName], out HObject resultImage);
testItem.hav = true;
OutResult outResult = new OutResult()
{
TestItemName = testItem.name,
CamName = testItem.camName,
IsOK = testItem.isOK,
ResultMessage = testItem.outMessage,
OriginalImage = new OutImage(testItem.camName, inImage),
EffectImage = new OutImage(testItem.camName, resultImage)
};
DetectionOnceEvent?.Invoke(null, outResult);
OutResults.Add(outResult);
}
}
});
foreach (var camImage in camImages.Values)
{
camImage.Dispose();
}
hav = true;
foreach (var testItem in UseTestItems.ToArray())
{
hav &= testItem.hav;
}
if (hav)
{
foreach (var testItem in UseTestItems.ToArray())
{
testItem.hav = false;
}
break;
}
if (stopDetectionSignal.WaitOne(20))
{
break;
}
Thread.Sleep(20);
}
})
{
IsBackground = true
};
DetectionThread.Start();
return(true);
}