/// <summary>
/// 连接相机
/// </summary>
/// <param name="cmaerIp">相机IP</param>
void ConnectionCamer(uint cmaerIp)
{
if (_DataControl.IsLinkedByMyself(cmaerIp))//如果是我自己在使用
{
return;
}
else if (_DataControl.IsLinkedByOthers(cmaerIp))//如果是其他人在使用
{
DialogResult result = MessageBox.Show("相机正与其它终端连接,确信要抢占吗?", "连接相机", MessageBoxButtons.YesNo);
if (result != DialogResult.Yes)
{
return;
}
}
if (_DataControl.IsInvadedByOthers(cmaerIp)) //如果被别人抢了摄像头
{
DislinkCamera(cmaerIp); //就断开连接
}
FormDisplay display = _DataControl.GetCurrDisplayForm();
if (display != null)
{
MagDevice device = display.GetDateDisplay().GetDevice();
if (device.LinkCamera(cmaerIp, 2000)) //连接相机
{
DataDisplay.CurrSelectedWndIndex = display.GetDateDisplay().WndIndex; //更新选中框
Globals.GetMainFrm().GetFormDisplayBG().Invalidate(false);
}
}
}
private void btnAutoConn_Click(object sender, EventArgs e)
{
RefreshOnlineDevice();
if (comboBoxOnlineDevice.Items.Count == 0)
{
return;
}
if (btnAutoConn.Text == "一键连接播放")
{
if (comboBoxOnlineDevice.Items.Count >= 1)
{
for (int i = 0; i < comboBoxOnlineDevice.Items.Count; i++)
{
ConnectionCamer(_LstEnumInfo[i].intCamIp);
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[i].intCamIp); //选择已经绑定的IP的显示窗口
if (frmDisplay != null)
{
frmDisplay.GetDateDisplay().Play();
ChangeBtnCursor(2);
}
}
btnAutoConn.Text = "一键断开停止播放";
}
}
else if (btnAutoConn.Text == "一键断开停止播放")
{
DialogResult MsgBoxResult = MessageBox.Show("确定要停止播放且停止采集热点?", //对话框的显示内容
"操作提示", //对话框的标题
MessageBoxButtons.YesNo, //定义对话框的按钮，这里定义了YSE和NO两个按钮
MessageBoxIcon.Question, //定义对话框内的图表式样，这里是一个黄色三角型内加一个感叹号
MessageBoxDefaultButton.Button2); //定义对话框的按钮式样
if (MsgBoxResult == DialogResult.Yes)
{
if (comboBoxOnlineDevice.Items.Count >= 1)
{
for (int i = 0; i < comboBoxOnlineDevice.Items.Count; i++)
{
DislinkCamera(_LstEnumInfo[i].intCamIp);
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[i].intCamIp); //选择已经绑定的IP的显示窗口
if (frmDisplay != null)
{
frmDisplay.Stop = false;
frmDisplay.GetDateDisplay().GetDevice().StopProcessImage();
frmDisplay.Invalidate(false);
isThreadRun = false;
ChangeBtnCursor(1);
}
}
FormMain.GetOPCTaskInfo("视频停止播放，热点信息停止采集，任务停止发送！");
}
btnAutoConn.Text = "一键连接播放";
}
}
RefreshOnlineDevice();
}
/// <summary>
/// 断开摄像头连接
/// </summary>
/// <param name="intCameraIP"></param>
private void DislinkCamera(uint intCameraIP)
{
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(intCameraIP);
if (frmDisplay != null)
{
MagDevice device = frmDisplay.GetDateDisplay().GetDevice();
device.StopProcessImage();
device.DisLinkCamera();
frmDisplay.Invalidate(false);
}
}
public FormDisplay GetCurrDisplayForm()
{
FormDisplay frmDisplay = Globals.GetMainFrm().GetFormDisplay(DataDisplay.CurrSelectedWndIndex);
MagDevice device = frmDisplay.GetDateDisplay().GetDevice();
if (device.GetDevIPAddress() == 0)
{
return(frmDisplay);
}
else
{
return(GetFirstFreeDisplayForm());
}
}
public FormDisplay GetFirstFreeDisplayForm()
{
uint max_wnd = Globals.GetMainFrm().GetMaxDeviceWnd();
for (uint i = 0; i < max_wnd; i++)
{
FormDisplay frmDisplay = Globals.GetMainFrm().GetFormDisplay(i);
MagDevice device = frmDisplay.GetDateDisplay().GetDevice();
if (device.GetDevIPAddress() == 0)
{
return(frmDisplay);
}
}
return(null);
}
private void buttonLink_Click(object sender, EventArgs e)
{
int index = comboBoxOnlineDevice.SelectedIndex;
if (index < 0)
{
return;
}
MagService service = _DataControl.GetService();
uint dev_num = service.GetTerminalList(_LstEnumInfo, MAX_ENUMDEVICE);
if (_DataControl.IsLinkedByMyself(_LstEnumInfo[index].intCamIp))
{
return;
}
else if (_DataControl.IsLinkedByOthers(_LstEnumInfo[index].intUsrIp))
{
DialogResult result = MessageBox.Show("相机正与其它终端连接,确信要抢占吗?", "连接相机", MessageBoxButtons.YesNo);
if (result != DialogResult.Yes)
{
return;
}
}
if (_DataControl.IsInvadedByOthers(_LstEnumInfo[index].intUsrIp))
{
DislinkCamera(_LstEnumInfo[index].intCamIp);
}
FormDisplay display = _DataControl.GetCurrDisplayForm();
if (display != null)
{
MagDevice device = display.GetDateDisplay().GetDevice();
if (device.LinkCamera(_LstEnumInfo[index].intCamIp, 2000))
{
DataDisplay.CurrSelectedWndIndex = display.GetDateDisplay().WndIndex;//更新选中框
Globals.GetMainFrm().GetFormDisplayBG().Invalidate(false);
}
}
RefreshOnlineDevice();
}
private void buttonPlay_Click(object sender, EventArgs e)
{
int index = comboBoxOnlineDevice.SelectedIndex;
if (index < 0)
{
return;
}
MagService service = _DataControl.GetService();
uint dev_num = service.GetTerminalList(_LstEnumInfo, MAX_ENUMDEVICE);
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[index].intCamIp);
if (frmDisplay != null)
{
frmDisplay.GetDateDisplay().Play();
}
}
private void buttonPlay_Click(object sender, EventArgs e)
{
int index = comboBoxOnlineDevice.SelectedIndex;
if (index < 0)
{
return;
}
MagService service = _DataControl.GetService();
uint dev_num = service.GetTerminalList(_LstEnumInfo, MAX_ENUMDEVICE);
for (int i = 0; i < comboBoxOnlineDevice.Items.Count; i++)
{
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[i].intCamIp); //选择已经绑定的IP的显示窗口
if (frmDisplay != null)
{
frmDisplay.GetDateDisplay().Play();
ChangeBtnCursor(2);
}
}
}
void InitializeAllWindows()
{
//主窗口
this.Width = (int)MAINWINDOW_WIDTH;
this.Height = (int)MAINWINDOW_HEIGHT;
//控制窗口
_FormControl = new FormControl();
_FormControl.TopLevel = false;
_FormControl.Parent = this;
_FormControl.FormBorderStyle = FormBorderStyle.Fixed3D;
_FormControl.ControlBox = false;
_FormControl.Left = (int)(MAINWINDOW_WIDTH - CONTROLWINDOW_WIDTH);
_FormControl.Top = 0;
_FormControl.Width = (int)CONTROLWINDOW_WIDTH;
_FormControl.Height = (int)(CONTROLWINDOW_HEIGHT);
_FormControl.Show();
//显示窗口的背景窗口
_FormDisplayBG = new FormDisplayBG();
_FormDisplayBG.TopLevel = false;
_FormDisplayBG.Parent = this;
_FormDisplayBG.FormBorderStyle = FormBorderStyle.None;
_FormDisplayBG.TopLevel = false;
_FormDisplayBG.Hide();
//显示窗口
_FormDisplayLst = new FormDisplay[MAX_DEVWINDOW_NUM];
for (uint i = 0; i < MAX_DEVWINDOW_NUM; i++)
{
_FormDisplayLst[i] = new FormDisplay();
_FormDisplayLst[i].TopLevel = false;
_FormDisplayLst[i].Parent = _FormDisplayBG;
_FormDisplayLst[i].FormBorderStyle = FormBorderStyle.None;
_FormDisplayLst[i].Hide();
_FormDisplayLst[i].GetDateDisplay().WndIndex = i;
}
}
private void FormDisplayBG_Paint(object sender, PaintEventArgs e)
{
Graphics graphic = e.Graphics;
graphic.FillRectangle(Brushes.White, new Rectangle(0, 0, this.Width, this.Height));
FormMain formMain = Globals.GetMainFrm();
uint row = 0, col = 0;
formMain.GetFormControl().GetDataControl().GetDisplayWndNum(ref row, ref col);
int bdr_width = (int)formMain.GetSelectionBorderWidth();
uint num = row * col;
for (uint i = 0; i < num; i++)
{
FormDisplay frmDiplay = Globals.GetMainFrm().GetFormDisplay(i);
Point pt = new Point(frmDiplay.Left, frmDiplay.Top);
int left = pt.X - bdr_width;
int top = pt.Y - bdr_width;
int w = frmDiplay.Width + bdr_width * 2;
int h = frmDiplay.Height + bdr_width * 2;
if (DataDisplay.CurrSelectedWndIndex == frmDiplay.GetDateDisplay().WndIndex)
{
graphic.FillRectangle(Brushes.LightGreen, new Rectangle(left, top, w, h));
}
else
{
graphic.FillRectangle(Brushes.DarkGray, new Rectangle(left, top, w, h));
}
}
}
private void buttonStop_Click(object sender, EventArgs e)
{
int index = comboBoxOnlineDevice.SelectedIndex;
if (index < 0)
{
return;
}
DialogResult MsgBoxResult = MessageBox.Show("确定要停止播放且停止采集热点?", //对话框的显示内容
"操作提示", //对话框的标题
MessageBoxButtons.YesNo, //定义对话框的按钮，这里定义了YSE和NO两个按钮
MessageBoxIcon.Question, //定义对话框内的图表式样，这里是一个黄色三角型内加一个感叹号
MessageBoxDefaultButton.Button2); //定义对话框的按钮式样
if (MsgBoxResult == DialogResult.Yes)
{
MagService service = _DataControl.GetService();
uint dev_num = service.GetTerminalList(_LstEnumInfo, MAX_ENUMDEVICE);
for (int i = 0; i < comboBoxOnlineDevice.Items.Count; i++)
{
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[i].intCamIp);
if (frmDisplay == null)
{
continue;
}
frmDisplay.Stop = false;
frmDisplay.GetDateDisplay().GetDevice().StopProcessImage();
frmDisplay.Invalidate(false);
isThreadRun = false;
FormMain.GetOPCTaskInfo("线程停止！");
FormMain.GetOPCTaskInfo("视频停止播放，热点信息停止采集，任务停止发送！");
ChangeBtnCursor(1);
}
}
}
void OnUpdateDisplayPostion()
{
uint row = 0, col = 0;
_FormControl.GetDataControl().GetDisplayWndNum(ref row, ref col);
uint w = (uint)this.Width;
uint h = (uint)this.Height;
//先计算显示窗口的位置和大小，依据为：在不超过主窗口大小的情况下尽可能大，同时严格保持4:3的比例显示
uint real_width = w - CONTROLWINDOW_WIDTH;
uint real_height = h;
uint display_width = (real_width - DISPLAYWND_MARGIN * 2 - (col - 1) * DISPLAYWND_GAP) / col; //单个相机显示区域的宽度(还未考虑比例)
uint display_height = (real_height - DISPLAYWND_MARGIN * 2 - (row - 1) * DISPLAYWND_GAP) / row; //单个相机显示区域的高度(还未考虑比例)
if (display_width * 3 >= display_height * 4) //考虑比例
{
uint ret = display_height % 3;
if (ret != 0)
{
display_height -= ret;
}
display_width = display_height * 4 / 3;
}
else
{
uint ret = display_width % 4;
if (ret != 0)
{
display_width -= ret;
}
display_height = display_width * 3 / 4;
}
for (uint i = 0; i < row; i++)
{
uint y = DISPLAYWND_MARGIN + (display_height + DISPLAYWND_GAP) * i;
for (uint j = 0; j < col; j++)
{
uint x = DISPLAYWND_MARGIN + (display_width + DISPLAYWND_GAP) * j;
FormDisplay frm = _FormDisplayLst[i * col + j];
frm.Left = (int)x;
frm.Top = (int)y;
frm.Width = (int)display_width;
frm.Height = (int)display_height;
}
}
//计算显示窗口的背景窗口的位置和大小
uint display_bg_width = DISPLAYWND_MARGIN * 2 + display_width * col + DISPLAYWND_GAP * (col - 1);
uint display_bg_height = DISPLAYWND_MARGIN * 2 + display_height * row + DISPLAYWND_GAP * (row - 1);
_FormDisplayBG.Left = 0;
_FormDisplayBG.Top = 0;
_FormDisplayBG.Width = (int)display_bg_width;
_FormDisplayBG.Height = (int)display_bg_height;
_FormDisplayBG.Show();
//更新显示窗口的显示与隐藏
uint num = row * col;
for (uint i = 0; i < num; i++)
{
_FormDisplayLst[i].Show();
}
for (uint i = num; i < MAX_DEVWINDOW_NUM; i++)
{
_FormDisplayLst[i].Hide();
}
}
/// <summary>
/// 当值发生改变时
/// </summary>
/// <param name="group"></param>
/// <param name="clientId"></param>
/// <param name="values"></param>
public async void OnDataChange(int group, int[] clientId, object[] values)
{
if (group == 2) //任务下发位置
{
for (int i = 0; i < clientId.Length; i++) // 获取跳变信号
{
int tempvalue = int.Parse((values[i].ToString())); //标志位
if (tempvalue == 0) //如果等于0 就是已经处理 可以下发任务
{
if (!isWork)
{
isWork = true;
aa : Posistion posistion = new Posistion
{
x = RobitGroup.ReadD(0).CastTo <float>(-1),
y = RobitGroup.ReadD(1).CastTo <float>(-1),
z = RobitGroup.ReadD(2).CastTo <float>(-1),
Ry = RobitGroup.ReadD(3).CastTo <float>(-1),
Rx = RobitGroup.ReadD(4).CastTo <float>(-1),
Rz = RobitGroup.ReadD(5).CastTo <float>(-1)
}; //机器人矩阵
Transform transform = new Transform(); //相机矩阵
if (CalculatorClass.Rpy_to_trans(posistion, ref transform) == 0) //机器人姿态转为相机所在为位置
{
if (transform.v1.x > 0) //如果是一号热像仪可用
{
CamIndex = 0;
}
else if (transform.v1.x > 1)//如果是二号热像仪可用
{
CamIndex = 1;
}
else//都不可用的情况下 再取一次机器人的位置
{
Thread.Sleep(50);
goto aa;
}
FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[CamIndex].intCamIp); //选择已经绑定的IP的显示窗口
FormMain.GetOPCTaskInfo("正在使用窗体：" + frmDisplay.Name + "的热像仪！");
object[] obj = new object[36];
RpyGroup.SyncWrite(obj);//写入坐标和温度
isWork = false;
}
else
{
FormMain.GetOPCTaskInfo("机器人姿态转为相机位置失败");
}
}
else
{
FormMain.GetOPCTaskInfo("在获取热点信息时，产生了一次跳变信号，第" + JumpSingle + "次");
JumpSingle++;
}
}
else
{
FormMain.GetOPCTaskInfo("跳变未找到Group组");
}
}
}
#region 暂时无用
//else if (group == 3)//机器人姿态位置
//{
// for (int i = 0; i < clientId.Length; i++)// 获取跳变信号
// {
// aa: Posistion posistion = new Posistion
// {
// x = float.Parse(RobitGroup.ReadD(0).ToString()),
// y = float.Parse(RobitGroup.ReadD(1).ToString()),
// z = float.Parse(RobitGroup.ReadD(2).ToString()),
// Rx = float.Parse(RobitGroup.ReadD(3).ToString()),
// Ry = float.Parse(RobitGroup.ReadD(4).ToString()),
// Rz = float.Parse(RobitGroup.ReadD(5).ToString())
// };
// Transform transform = new Transform();
// if (CalculatorClass.Rpy_to_trans(posistion, ref transform) > 0)//机器人姿态转换相机位置
// {
// if(transform.v1.x > 0)//如果是一号热像仪可用
// {
// CamIndex = 0;
// }
// else if(transform.v1.x > 1)//如果是二号热像仪可用
// {
// CamIndex = 1;
// }
// else//都不可用的情况下 再取一次机器人的位置
// {
// goto aa;
// }
// FormDisplay frmDisplay = _DataControl.GetBindedDisplayForm(_LstEnumInfo[CamIndex].intCamIp); //选择已经绑定的IP的显示窗口
// FormMain.GetOPCTaskInfo("正在使用窗体："+frmDisplay.Name +"的热像仪！");
// object[] obj = new object[36];
// await Task.Run(()=> frmDisplay.GetInfo(1, out obj) );
// RpyGroup.SyncWrite(obj);//写入坐标和温度
// }
// else
// {
// FormMain.GetOPCTaskInfo("Rpy_to_trans：机器人姿态值转变失败，组:" + group);
// }
// }
//}
#endregion
else
{
FormMain.GetOPCTaskInfo("跳变信号组错误,组:" + group);
}
}
void OnUpdateDisplayPostion()
{
uint row = 0, col = 0;
_FormControl.GetDataControl().GetDisplayWndNum(ref row, ref col);
uint w = (uint)this.Width;
uint h = (uint)this.Height;
//先计算显示窗口的位置和大小，依据为：在不超过主窗口大小的情况下尽可能大，同时严格保持4:3的比例显示
uint real_width = w - CONTROLWINDOW_WIDTH;
uint real_height = h;
uint display_width = (real_width - DISPLAYWND_MARGIN * 2 - (col - 1) * DISPLAYWND_GAP) / col; //单个相机显示区域的宽度(还未考虑比例)
uint display_height = (real_height - DISPLAYWND_MARGIN * 2 - (row - 1) * DISPLAYWND_GAP) / row; //单个相机显示区域的高度(还未考虑比例)
if (display_width * 3 >= display_height * 4) //考虑比例
{
uint ret = display_height % 3;
if (ret != 0)
{
display_height -= ret;
}
display_width = display_height * 4 / 3;
}
else
{
uint ret = display_width % 4;
if (ret != 0)
{
display_width -= ret;
}
display_height = display_width * 3 / 4;
}
for (uint i = 0; i < row; i++)
{
uint y = DISPLAYWND_MARGIN + (display_height + DISPLAYWND_GAP) * i;
for (uint j = 0; j < col; j++)
{
uint x = DISPLAYWND_MARGIN + (display_width + DISPLAYWND_GAP) * j;
FormDisplay frm = _FormDisplayLst[i * col + j];
frm.Left = (int)x;
frm.Top = (int)y;
frm.Width = (int)display_width;
frm.Height = (int)display_height;
frm.Name = "视频" + (j + 1);
}
}
//计算显示窗口的背景窗口的位置和大小
uint display_bg_width = DISPLAYWND_MARGIN * 2 + display_width * col + DISPLAYWND_GAP * (col - 1);
uint display_bg_height = DISPLAYWND_MARGIN * 2 + display_height * row + DISPLAYWND_GAP * (row - 1);
_FormDisplayBG.Left = 0;
_FormDisplayBG.Top = 0;
_FormDisplayBG.Width = (int)display_bg_width;
_FormDisplayBG.Height = (int)display_bg_height;
_FormDisplayBG.BackColor = Color.Red;
_FormDisplayBG.Show();
int count = rw.IniReadValue("ListCout", "Count").CastTo <int>(-1);
FormDateSet.getNewZGInfo += GetZGinfoToDisplay;
//更新显示窗口的显示与隐藏
uint num = row * col;
for (uint i = 0; i < num; i++)
{
_FormDisplayLst[i].Show();
}
for (uint i = num; i < MAX_DEVWINDOW_NUM; i++)
{
_FormDisplayLst[i].Hide();
}
if (!CheckCanshuOkbuOk(count))
{
GetOPCTaskInfo("未找到任何甑锅的参数,请录入甑锅参数后重启程序");
MessageBox.Show("未找到任何甑锅的参数,请录入甑锅参数！", "参数文件未找到！", MessageBoxButtons.OK, MessageBoxIcon.Error);
fds.ShowDialog();
}
}
// Label lblErrInfo = new Label();
void InitializeAllWindows()
{
//this.label2.AutoSize = true;
//this.label2.Font = new System.Drawing.Font("微软雅黑", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
//this.label2.Location = new System.Drawing.Point(15, 71);
//this.label2.Name = "label2";
//this.label2.Size = new System.Drawing.Size(21, 20);
//this.label2.TabIndex = 1;
//this.label2.Text = "y:";
FormPwd = new FormPwd();
//主窗口
this.Width = (int)MAINWINDOW_WIDTH;
this.Height = (int)MAINWINDOW_HEIGHT;
this.Controls.Add(this.list_data);
this.list_data.Dock = DockStyle.Bottom;
this.list_data.FormattingEnabled = true;
this.list_data.ItemHeight = 12;
this.list_data.Location = new System.Drawing.Point(0, 0);
this.list_data.Name = "list_data";
handle += upDateList;
this.list_data.TabIndex = 40;
//lblErrInfo.Location = new Point(0, list_data.Height );
//lblErrInfo.Text = "错误信息";
//lblErrInfo.Font = new System.Drawing.Font("微软雅黑", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
//lblErrInfo.Size = new Size(21, 20);
//list_data.Controls.Add(lblErrInfo);
//控制窗口
_FormControl = new FormControl();
_FormControl.TopLevel = false;
_FormControl.Parent = this;
_FormControl.FormBorderStyle = FormBorderStyle.Fixed3D;
_FormControl.ControlBox = false;
_FormControl.Left = (int)(MAINWINDOW_WIDTH - CONTROLWINDOW_WIDTH);
_FormControl.Top = 0;
_FormControl.Width = (int)CONTROLWINDOW_WIDTH - 20;
_FormControl.Height = (int)CONTROLWINDOW_HEIGHT;
_FormControl.Dock = DockStyle.Right;
//显示窗口的背景窗口
_FormDisplayBG = new FormDisplayBG();
_FormDisplayBG.TopLevel = false;
_FormDisplayBG.Parent = this;
_FormDisplayBG.FormBorderStyle = FormBorderStyle.None;
_FormDisplayBG.TopLevel = false;
_FormDisplayBG.Hide();
//显示窗口
_FormDisplayLst = new FormDisplay[MAX_DEVWINDOW_NUM];
for (uint i = 0; i < MAX_DEVWINDOW_NUM; i++)
{
_FormDisplayLst[i] = new FormDisplay();
_FormDisplayLst[i].TopLevel = false;
_FormDisplayLst[i].Parent = _FormDisplayBG;
_FormDisplayLst[i].FormBorderStyle = FormBorderStyle.None;
_FormDisplayLst[i].Hide();
_FormDisplayLst[i].GetDateDisplay().WndIndex = i;
}
this.list_data.Size = new System.Drawing.Size(Width - _FormControl.Width - 30, Height - _FormDisplayLst[0].Height - 320);
list_data.Font = new System.Drawing.Font("微软雅黑", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
_FormControl.Height = (int)(CONTROLWINDOW_HEIGHT)-40 - list_data.Size.Height;
_FormControl.Show();
}
/// <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！");
}