private void SaveImage(HTuple handle, bool result)
{
try
{
Task.Run(() =>
{
string imageName = $"{DateTime.Now:HHmmss}.tiff";
string res = result ? "OK" : "NG";
string pathSource = $@"{ProductMgr.GetInstance().ProductPath}Images\{DateTime.Now:yyyyMMdd}\{res}\Robot\Source\";
string pathWindow = $@"{ProductMgr.GetInstance().ProductPath}Images\{DateTime.Now:yyyyMMdd}\{res}\Robot\Window\";
if (!System.IO.Directory.Exists(pathSource))
{
System.IO.Directory.CreateDirectory(pathSource);
}
if (!System.IO.Directory.Exists(pathWindow))
{
System.IO.Directory.CreateDirectory(pathWindow);
}
string fileNameSource = $"{pathSource}{imageName}";
string fileNameWindow = $"{pathWindow}{imageName}";
HDevelopExport.WriteImage(imgSrc, fileNameSource);
HDevelopExport.DumpWindow(handle, fileNameWindow);
});
}
catch (Exception)
{
}
}
private void ShowProductAll()
{
string[] productCollection = ProductMgr.GetInstance().GetProductList();
lstProduct.Items.Clear();
lstProduct.Items.AddRange(productCollection);
lstProduct.SelectedIndex = 0;
grpProductManage.Text = $@"当前产品-{ProductMgr.GetInstance().ProductName}";
}
private void btnAddProduct_Click(object sender, EventArgs e)
{
bool result = ProductMgr.GetInstance().Add(txtProduct.Text);
if (!result)
{
MessageBox.Show($"产品{txtProduct.Text}已存在");
}
else
{
ShowProductAll();
}
}
private void btnSelectProduct_Click(object sender, EventArgs e)
{
bool result = ProductMgr.GetInstance().ChangeProduct(txtProduct.Text);
if (!result)
{
MessageBox.Show($"没有{txtProduct.Text}产品");
}
else
{
grpProductManage.Text = $@"当前产品-{ProductMgr.GetInstance().ProductName}";
}
}
public void SaveParam()
{
Param.ProductName = ProductMgr.GetInstance().ProductName;
//序列化SystemParam类实例到文件
XmlSerializer xs = new XmlSerializer(typeof(SystemParam));
string path = $@"{Environment.CurrentDirectory}\Product\SystemParam.xml";
System.IO.FileStream fs = new System.IO.FileStream(path, System.IO.FileMode.Create);
xs.Serialize(fs, Param);
fs.Close();
}
private void btnDelProduct_Click(object sender, EventArgs e)
{
if (lstProduct.Items.Count <= 1)
{
MessageBox.Show($"至少需要保留一个产品");
return;
}
if (txtProduct.Text == ProductMgr.GetInstance().ProductName)
{
MessageBox.Show($"{txtProduct.Text}是当前产品，不能删除");
return;
}
DialogResult result = MessageBox.Show($"确认删除{txtProduct.Text}产品？", "删除产品", MessageBoxButtons.OKCancel);
if (result == DialogResult.OK)
{
ProductMgr.GetInstance().Delete(txtProduct.Text);
ShowProductAll();
}
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//保存图像
//string imageName = $"{DateTime.Now:HHmmss}.tiff";
//if (AutoForm._autoForm.Param.IsSaveImageAll)
//{
// //保存原图
// string path = $@"{ProductMgr.GetInstance().ProductPath}Images\Robot\{DateTime.Now:yyMMdd}\Source\";
// if (!System.IO.Directory.Exists(path))
// {
// System.IO.Directory.CreateDirectory(path);
// }
// string fileName = $"{path}{imageName}";
// HDevelopExport.WriteImage(imgSrc, fileName);
//}
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
//if (ProductMgr.GetInstance().Param.IsPerprocess)
//{
// image = HDevelopExport.Preprocess(image, ProductMgr.GetInstance().Param.Emphasize, false);
//}
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (result && ProductMgr.GetInstance().Param.IsSecondPos)
{
HTuple transRow, transColumn, transRadian;
result = HDevelopExport.FindPinCenter(imgSrc, row, column, angle, out transRow, out transColumn, out transRadian);
if (result)
{
row = transRow;
column = transColumn;
angle = transRadian;
}
//ctl.DisplayResults();
}
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//*************相对位置**************
//HTuple relRow, relColumn;
//relRow = PlatformCalibData.MarkRow - row;
//relColumn = PlatformCalibData.MarkColumn - column;
//SendData.X = PlatformCalibData.PixelToMm(relColumn);
//SendData.Y = PlatformCalibData.PixelToMm(relRow);
//用矩阵获得Mark点的世界坐标和模板的世界坐标，求差值
HTuple colMark, rowMark, rowTrans, colTrans;
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, PlatformCalibData.MarkColumn, PlatformCalibData.MarkRow, out colMark, out rowMark);
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, column, row, out colTrans, out rowTrans);
SendData.X = colMark - colTrans;
SendData.Y = rowMark - rowTrans;
Log.Show($"目标位置：X:{SendData.X:F2},Y:{SendData.Y:F2}");
//***********************测量****************************
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//显示数据
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
hasCount += mea.PinCount;
meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
//发送的数据
SendData.CountAreaNG += mea.CountAreaNG;
SendData.CountPosNG += mea.CountPosNG;
if (mea.DiameterMax.Length > 0)
{
//显示和保存数据
Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
}
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
//显示数据到窗口
HTuple degree;
HOperatorSet.TupleDeg(angle, out degree);
Log.Show($"查找模板:row:{row.D:F2},column:{column.D:F2},degree:{degree.D:F2},分数：{score.D:F2}");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置：{row.D:F2},{column.D:F2},{degree.D:F2}", "window", 10, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"分数：{score.D:F2}", "window", 30, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"X:{SendData.X:F2},Y:{SendData.Y:F2}", "window", 150, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"{hasCount}-{meaCount}", "window", 170, -1, "green", "false");
if (SendData.CountAreaNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"面积NG:{SendData.CountAreaNG}", "window", 190, -1, "red", "false");
}
if (SendData.CountPosNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置NG:{SendData.CountPosNG}", "window", 210, -1, "magenta", "false");
}
//显示日志
Log.Show($"面积NG:{SendData.CountAreaNG}，位置NG:{SendData.CountPosNG}");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
ctl.clearObj();
ctl.DisplayResults();
//保存图像
//string imageName = $"{DateTime.Now:HHmmss}.tiff";
//if (AutoForm._autoForm.Param.IsSaveImageAll)
//{
// //保存原图
// string path = $@"{ProductMgr.GetInstance().ProductPath}Images\Platform\{DateTime.Now:yyMMdd}\Source\";
// if (!System.IO.Directory.Exists(path))
// {
// System.IO.Directory.CreateDirectory(path);
// }
// string fileName = $"{path}{imageName}";
// HDevelopExport.WriteImage(imgSrc, fileName);
//}
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
//if (ProductMgr.GetInstance().Param.IsPerprocess)
//{
// image = HDevelopExport.Preprocess(image, ProductMgr.GetInstance().Param.Emphasize, false);
//}
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
/*
* //二次定位
* if (result && ProductMgr.GetInstance().Param.IsSecondPos)
* {
* HTuple transRow, transColumn, transRadian;
* result = HDevelopExport.FindPinCenter(imgSrc, row, column, angle, out transRow, out transColumn, out transRadian);
*
* if (result)
* {
* row = transRow;
* column = transColumn;
* angle = transRadian;
* }
*
* //ctl.DisplayResults();
* }
*/
if (!result)
{
Log.Show("查找模板失败");
}
else
{
//弧度差
HTuple relRow, relColumn, relRadian, rowTrans, colTrans;
//relRadian = PlatformCalibData.MarkRadian - angle;
relRadian = 0 - angle;
//旋转特征点
//HTuple homMat2D;
//HOperatorSet.HomMat2dIdentity(out homMat2D);
//HOperatorSet.HomMat2dRotate(homMat2D, relRadian, PlatformCalibData.CenterRow, PlatformCalibData.CenterColumn, out homMat2D);
//HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out colTrans);
//以平台Mark点为基准
//relRow = PlatformCalibData.MarkRow - rowTrans;
//relColumn = PlatformCalibData.MarkColumn - colTrans;
//没有旋转，直接计算X和Y方向的差值，下面的角度只用于显示
//relRow = PlatformCalibData.MarkRow - row;
//relColumn = PlatformCalibData.MarkColumn - column;
//弧度转角度
HTuple degree;
HOperatorSet.TupleDeg(relRadian, out degree);
//赋值给需要发送的数据
//SendData.X = PlatformCalibData.PixelToMm(relColumn);
//SendData.Y = PlatformCalibData.PixelToMm(relRow);
//SendData.Angle = degree;
//用矩阵获得Mark点的世界坐标和模板的世界坐标，求差值
HTuple colMark, rowMark;
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, PlatformCalibData.MarkColumn, PlatformCalibData.MarkRow, out colMark, out rowMark);
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, column, row, out colTrans, out rowTrans);
SendData.X = colMark - colTrans;
SendData.Y = rowMark - rowTrans;
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
//显示数据到窗口
HTuple deg;
HOperatorSet.TupleDeg(angle, out deg);
Log.Show($"查找模板:row:{row.D:F2},column:{column.D:F2},degree:{deg.D:F2},分数：{score.D:F2}");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置：{row.D:F2},{column.D:F2},{degree.D:F2}", "window", 10, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"分数：{score.D:F2}", "window", 30, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"X:{SendData.X:F2},Y:{SendData.Y:F2},A:{SendData.Angle:F2}", "window", 150, -1, "green", "false");
Log.Show($"目标位置：X:{SendData.X:F2},Y:{SendData.Y:F2},A:{SendData.Angle:F2}");
}
//保存查找模板的窗口图片和原图
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(result);
}
catch (Exception)
{
return(false);
}
}
private void AutoForm_Load(object sender, EventArgs e)
{
//btnSystemConfig.Enabled = false;
btnSideCamera.Enabled = false;
RoundButton_Communication.Enabled = false;
btnImageFile.Enabled = false;
BtnRun.Enabled = false;
RoundButton_Login.Enabled = false;
//BtnRun.BaseColorEnd = BtnRun.BaseColor = Color.FromArgb(230, 216, 216);
//btnSystemConfig.BaseColor = Color.DarkGray;
RoundButton_Communication.BaseColor = Color.DarkGray;
btnImageFile.BaseColor = Color.DarkGray;
BtnRun.BaseColor = Color.DarkGray;
RoundButton_Login.BaseColor = Color.DarkGray;
tlbVer.Alignment = ToolStripItemAlignment.Right;
tlbVer.Text = $"V2.1：{System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location)}";
_autoForm = this;
//获取相机名称
string fileName = $@"{System.Environment.CurrentDirectory}\Product\CameraName.ini";
CameraName.MainCamera = IniTool.GetString(fileName, "CameraName", "MainCamera", "MainCam");
CameraName.SideCamera = IniTool.GetString(fileName, "CameraName", "SideCamera", "HE012A1GM");
#if JAI
//添加相机并绑定到窗口
foreach (var cam in CameraJai.FindCamera())
{
if (cam.ModelName == CameraName.MainCamera || cam.ModelName == CameraName.SideCamera)
{
VisionMgr.GetInstance().AddCamera(new CameraJai(cam.ModelName, cam));
}
}
#else
//添加相机并绑定到窗口
//VisionMgr.GetInstance().AddCamera(new CameraGige(CameraName.MainCamera));
//VisionMgr.GetInstance().AddCamera(new CameraGige(CameraName.SideCamera));
VisionMgr.GetInstance().AddCamera(new CameraMVision(CameraName.MainCamera));
VisionMgr.GetInstance().AddCamera(new CameraMVision(CameraName.SideCamera));
#endif
//添加视觉步骤
VisionMgr.GetInstance().AddVisionStep(CameraName.MainCamera, new ProcessMainPos(VisionStepName.MainPos));
VisionMgr.GetInstance().AddVisionStep(CameraName.MainCamera, new ProcessMainMea(VisionStepName.MainMea));
VisionMgr.GetInstance().AddVisionStep(CameraName.SideCamera, new ProcessSideMea(VisionStepName.SideMea));
//加载系统参数
LoadParam();
//切换产品
ProductMgr.GetInstance().ProductChangedMethod += ChangeProduct;
ProductMgr.GetInstance().ChangeProduct(Param.ProductName);
//关联页面和按钮
m_dicForm.Add(btnMainCamera, new MainCameraForm());
//m_dicForm.Add(RoundButton_Login, new LoginForm());
m_dicForm.Add(RoundButton_Communication, new CommunicationForm());
m_dicForm.Add(btnSideCamera, new SideCameraForm());
m_dicForm.Add(btnSystemConfig, new SystemConfigForm());
//初始化页面属性
foreach (KeyValuePair <RoundButton, Form> kp in m_dicForm)
{
kp.Value.TopLevel = false;
kp.Value.Parent = this.panel_main;
kp.Value.Dock = DockStyle.Fill;
}
btnMainCamera.PerformClick();
//切换用户
//((LoginForm)m_dicForm[RoundButton_Login]).UserChangingMethod = ChangeUser;
//ChangeUser(UserMode.Operator, Param.OperatorPassword);
//设置日志显示
Log.Show = ((MainCameraForm)m_dicForm[btnMainCamera]).ShowLog;
Data.Show = ((MainCameraForm)m_dicForm[btnMainCamera]).ShowData;
//连接服务器
((SystemConfigForm)m_dicForm[btnSystemConfig]).SetServerMethod = SetServer;
ConnectServer();
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//***********************测量****************************
image = MeasureMgr.GetInstance().ImagePre(image);
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//ctl.AddToStack(image);
//显示数据
bool resRoi = true;//每个测量区域都做判断
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount != mea.CountPinMea)
{
resRoi = false;
}
hasCount += mea.PinCount;
//meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
meaCount += mea.CountPinMea;
//发送的数据
//SendData.CountAreaNG += mea.CountAreaNG;
//SendData.CountPosNG += mea.CountPosNG;
//if (mea.DiameterMax.Length > 0)
//{
// //显示和保存数据
// Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
//}
}
string color = "green";
if (resRoi && hasCount == meaCount)
{
color = "green";
SendData.PinCountOK = true;
}
else
{
color = "red";
SendData.PinCountOK = false;
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
//ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount == mea.CountPinMea)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "green", "false");
}
else
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "red", "false");
}
}
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"总数量：{hasCount}，测量数量：{meaCount}", "window", 10 + 20 * MeasureMgr.GetInstance().MeasureList.Count, -1, color, "false");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
