/// <summary>
/// 线程读取DB块
/// </summary>
private void ThreadReadServer()
{
aa : while (isThreadRun) //线程的运行状态
{
flag = s7Postion.Read(0).CastTo <int>(-1); //获取标志位
listRobot.Clear();
list.Clear();
if (flag == 1 && isThreadRun)//允许采集热点信息
{
stopwatch.Reset();
stopwatch.Start();
SendFlag = flag;
try
{
axis_3_x = s7Postion.Read(1).CastTo <double>(-1); //axis 3 x 轴三点中心点X坐标
axis_3_y = s7Postion.Read(2).CastTo <double>(-1); //axis 3 y 轴三点中心点Y坐标
//获取相机所在的位置
AngleTheta = s7Postion.Read(3).CastTo <double>(-1) / 1000; // 角度 theta θ
AngleAlpha = s7Postion.Read(4).CastTo <double>(-1) / 1000; //角度2 alpha α
shishibanjing = s7Postion.Read(5).CastTo <double>(-1); //实时半径
UpdataLabel(lblrealreidan, "实时半径：" + shishibanjing);
}
catch (Exception ex)
{
FormMain.GetOPCTaskInfo("读取PLC错误：" + ex.Message);
goto bb;
}
calculator.PotDiamerter = shishibanjing;
for (int i = 0; i < comboBoxOnlineDevice.Items.Count; i++)//获取到在线相机
{
if (comboBoxOnlineDevice.Items[i].ToString().Contains("conn"))
{
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[i].intCamIp);
if (frmDisplay == null)
{
//FormMain.GetOPCTaskInfo("未获取到该热像仪画面: IP:" + _LstEnumInfo[i].intCamIp);
continue;
}
else
{
try
{
calculator.GetCameraPosition(AngleTheta, AngleAlpha, axis_3_x, axis_3_y, _LstEnumInfo[i].intCamIp); //计算当前相机所在的位置
//if(i == 0)
//{
// //相机与柱心距离=515.5
// // UpdataLabel( lbl1x,"相机1X"+ axis_3_x + "-" + 515.5 + "*Math.Cos((" + AngleTheta + "+" + AngleAlpha + ")*(" + (Math.PI / 180) + "))=" + (axis_3_x - 515.5 * Math.Cos((AngleTheta + AngleAlpha) * (Math.PI / 180))));
// // UpdataLabel(lbl1y, "相机1Y"+ axis_3_y + "-" + 515.5 + "*Math.Sin((" + AngleTheta + "+" + AngleAlpha + ")*(" + (Math.PI / 180) + "))=" + (axis_3_y - 515.5 * Math.Sin((AngleTheta + AngleAlpha) * (Math.PI / 180))));
// // FormMain.GetOPCTaskInfo(lbl1x.Text);
// // FormMain.GetOPCTaskInfo(lbl1y.Text);
// // LogManager.WriteLog(LogFile.Trace,"相机1坐标X"+ lbl1x.Text);
// //LogManager.WriteLog(LogFile.Trace, "相机2坐标Y"+lbl1y.Text);
//}
//else if( i==1)
//{
// // UpdataLabel(lbl2x,"相机2x"+ axis_3_x + "+" + 515.5 + "*Math.Cos((" + AngleTheta + "+" + AngleAlpha + ")*(" + (Math.PI / 180) + "))=" + (axis_3_x + 515.5 * Math.Cos((AngleTheta + AngleAlpha) * (Math.PI / 180))));
// // UpdataLabel(lbl2y,"相机2y"+ axis_3_y + "+" + 515.5 + "*Math.Sin((" + AngleTheta + "+" + AngleAlpha + ")*(" + (Math.PI / 180) + "))=" + (axis_3_y + 515.5 * Math.Sin((AngleTheta + AngleAlpha) * (Math.PI / 180))));
// // FormMain.GetOPCTaskInfo(lbl2x.Text);
// // FormMain.GetOPCTaskInfo(lbl2y.Text);
// // LogManager.WriteLog(LogFile.Trace,"相机2坐标X"+ lbl2x.Text);
// // LogManager.WriteLog(LogFile.Trace, "相机2坐标Y"+ lbl2y.Text);
//}
list.Add(frmDisplay.NewGetInfo()); //获取温度信息
//FormMain.GetOPCTaskInfo("窗体:" + frmDisplay.Name + ",IP:" + _LstEnumInfo[i].intCamIp);
}
catch (Exception ex)
{
FormMain.GetOPCTaskInfo(ex.Message);
LogManager.WriteLog(LogFile.Error, GetSaveStringFromException("获取相机坐标时出错", ex));
goto bb;
}
}
}
else
{
//FormMain.GetOPCTaskInfo("此相机不处于连接状态：" + comboBoxOnlineDevice.Items[i].ToString());
}
}
for (int i = 0; i < list.Count; i++)
{
if (list[i].Count == 0)
{
continue;
}
outlist.Clear();
//1.移除在一个区间内的温度点(现在取出来的都是相机里面的坐标)
outlist = calculator.RecursiveDeduplication(list[i], Globals.ComparisonInterval, new List <ImgPosition>(), Globals.AngleInterval);
//2.将相机温度坐标转换成实际坐标
try
{
List <RobotPositionSort> realTmper = calculator.GetRobotPositionByImagePoint(outlist, (AngleTheta + AngleAlpha), axis_3_x, axis_3_y, _LstEnumInfo[i].intCamIp, out string OutStr);//将一个相机的热点进行实际值的换算
FormMain.GetOPCTaskInfo(OutStr);
// UpdataLabel(lbldetail, "计算明细：" + OutStr);
foreach (var item in realTmper)
{
listRobot.Add(item);//将实际坐标放到一个集合里面
}
}
catch (Exception ex)
{
LogManager.WriteLog(LogFile.Error, GetSaveStringFromException("计算热点发生致命错误：", ex));
FormMain.GetOPCTaskInfo("计算热点发生致命错误，停止采集,错误信息：" + GetSaveStringFromException("计算热点发生致命错误：", ex));
goto bb;
}
}
listRobot.Sort(new RobotPositionSort());//温度从高到低排序
if (listRobot.Count == 0)
{
FormMain.GetOPCTaskInfo("未采集到热点，重新采集");
goto aa;
}
FormMain.GetOPCTaskInfo("采集到热点个数：" + listRobot.Count);
try
{
//移除实际坐标相近的点
listRobot = calculator.RecursiveDeduplicationReal(listRobot, Globals.ComparisonIntervalReal, new List <RobotPositionSort>(), Globals.AngleIntervalReal);
listRobot = calculator.Filtering(listRobot, 1);//滤波
}
catch (Exception ex)
{
LogManager.WriteLog(LogFile.Error, GetSaveStringFromException("滤波或者移除相近坐标时发生致命错误，停止采集,错误信息：", ex));
FormMain.GetOPCTaskInfo("滤波或者移除相近坐标时发生致命错误，停止采集,错误信息：" + GetSaveStringFromException("滤波或者移除相近坐标时发生致命错误：", ex));
goto bb;
}
object[] values = calculator.ReplaceIndex(listRobot.Take(20).ToList()); //重新排序
s7Task.Write(values); //写入任务
FormMain.GetOPCTaskInfo("写入任务！热点个数：" + values[0]);
stopwatch.Stop();
UpdataLabel(lblOutTime, "整体耗时：" + stopwatch.Elapsed.TotalMilliseconds + "毫秒");
Thread.Sleep(timeSleep);//未取到数据时 根据间隔再取
}
else
{
if (SendFlag.GetHashCode() != flag.GetHashCode())
{
FormMain.GetOPCTaskInfo("读取到标志位为" + flag + "，0.5秒后重复读取，直到标志位变化！");
SendFlag = flag;
}
Thread.Sleep(timeSleep);//根据间隔再取 标志位数据
}
}
Thread.Sleep(500);
goto aa;
bb : FormMain.GetOPCTaskInfo("因为错误，停止采集热点信息！");
}