banboshi_V2/halftoneproject-master/BanBoShi/SysUI/DefectPicShow/ImageShowFrm.cs

using Google.Protobuf.Collections;
using HalconDotNet;
using ImageToolKits;
using MaiMuAOI.SysCtrl;
using MaiMuControl.Device;
using MaiMuControl.Device.AxisDev;
using MaiMuControl.Device.CamDev;
using MaiMuControl.Device.LightDev;
using OpenCvSharp.Flann;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Web;
using System.Windows.Forms;

namespace MaiMuAOI.SysUI.DefectPicShow
{
    public partial class ImageShowFrm : Form
    {
        private Control.ControlCollection picBoxList;
        private int picIndex;
        private int tagIndex;
        private double Xmm, Ymm;
        private Bitmap currBmp;
        //是否为尺寸
        private bool  _IsSize;
        private int lightCH,lightVal;

        private bool IsMove;
        public ImageShowFrm(Control.ControlCollection picBoxColl, int index, bool isDev = false, bool isSize = false)
        {
            InitializeComponent();
            UIStyle.SetUIStyle(this);
            this.uiTitel1.FatherForm = this;

            this.picBoxList = picBoxColl;
            this.picIndex = index;

            logsts.BackColor = Color.White;
            logsts.ForeColor = Color.Black;

            tsStateStep.BackColor = Color.White;
            tsStateStep.ForeColor = Color.Black;
            IsMove = isDev;
            _IsSize = isSize;


        }

        private void ImageShowFrm_Shown(object sender, EventArgs e)
        {
            showPic(this.picIndex);
        }

        private void tsbtnPre_Click(object sender, EventArgs e)
        {
            showPic(--this.picIndex);
        }

        private void tsbtnNext_Click(object sender, EventArgs e)
        {
            showPic(++this.picIndex);
        }

        private void ImageShowFrm_Load(object sender, EventArgs e)
        {
            if (!IsMove)
            {
                imageBox2.Visible = false;
                imageBox1.Top = 0;
                imageBox1.Left = this.panel1.Left;
                imageBox1.Width = this.panel1.Width;
                imageBox1.Height = this.panel1.Height;
                tsbDebug.Visible = false;
            }
            else
            {
                tsbDebug.Visible=true;
                imageBox2.Visible = true;
                imageBox1.Top = 0;
                imageBox1.Left = this.panel1.Left;
                imageBox1.Width = this.panel1.Width / 2 - 5;
                imageBox1.Height = this.panel1.Height;

                imageBox2.Top = 0;
                imageBox2.Left = this.imageBox1.Width + 10;
                imageBox2.Width = this.panel1.Width / 2 - 5;
                imageBox2.Height = this.panel1.Height;
            }

            PictureBox picBox = picBoxList[this.picIndex] as PictureBox;
            this.ActiveControl = this.imageBox1; // 设置焦点
            this.logsts.Text = "";
            this.Refresh();
        }

        private void FrmPhoto_KeyDown(object sender, KeyEventArgs e)
        {
            switch (e.KeyCode)
            {
                case Keys.Up:
                case Keys.Left:
                    if (!this.tsbtnPre.Enabled) return;
                    tsbtnPre_Click(null, null);
                    break;
                case Keys.Down:
                case Keys.Right:
                    if (!this.tsbtnNext.Enabled) return;
                    tsbtnNext_Click(null, null);
                    break;
            }
        }

        private void tsbtnExit_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void showPic(int index)
        {
            try
            {
                PictureBox picBox = picBoxList[index] as PictureBox;

                try
                {
                    string[] tags = picBox.Tag.ToString().Split(',');
                    this.tagIndex = Convert.ToInt32(tags[0]);
                    this.Xmm = Convert.ToDouble(tags[1]);
                    this.Ymm = Convert.ToDouble(tags[2]);
                    if(_IsSize)
                    {
                        this.lightCH = Convert.ToInt32(tags[3]);
                        this.lightVal = Convert.ToInt32(tags[4]);
                    }
                }
                catch { }
                //tsStateMsg.Text = $"索引:{tagIndex}, X:{Xmm}mm, Y:{Ymm}mm"; 
                tsStateStep.Text = $"第{index + 1}/{picBoxList.Count}张";
                currBmp = (Bitmap)picBox.Image;
                OpenCvSharp.Mat mat = OpenCvSharp.Extensions.BitmapConverter.ToMat(currBmp);//用bitmap转换为mat    
                this.imageBox1.RefreshWindow(mat);

                // 
                this.tsbtnPre.Enabled = (index > 0);
                this.tsbtnNext.Enabled = (index < picBoxList.Count - 1);

                if (IsMove)
                    moveAxis();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        private void ImageShowFrm_Resize(object sender, EventArgs e)
        {
            if (!IsMove)
            {
                imageBox2.Visible = false;
                imageBox1.Top = 0;
                imageBox1.Left = this.panel1.Left;
                imageBox1.Width = this.panel1.Width;
                imageBox1.Height = this.panel1.Height;
            }
            else
            {
                imageBox2.Visible = true;
                imageBox1.Top = 0;
                imageBox1.Left = this.panel1.Left;
                imageBox1.Width = this.panel1.Width / 2 - 5;
                imageBox1.Height = this.panel1.Height;

                imageBox2.Top = 0;
                imageBox2.Left = this.imageBox1.Width + 10;
                imageBox2.Width = this.panel1.Width / 2 - 5;
                imageBox2.Height = this.panel1.Height;
            }
            this.Refresh();
        }

        DebugTestFrm frm;
        private void tsbDebug_Click(object sender, EventArgs e)
        {
            if ((frm == null) || (frm.IsDisposed))
                frm = new DebugTestFrm();
            //frm.TopMost = true;
            frm.Show();
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            SysMgr.Instance.CamDevFront.ClearImageQueue();
            Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 600);
            if (acq.GrabStatus != "GrabPass")
            {
                //MessageBox.Show("拍照失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, 0);
                return;
            }
            if (imageBox2.Image == null)
                imageBox2.RefreshWindow(CamDev.HImageToMat(acq.Image), ImageBox.ImageModeEnum.Zoom);//可以不显示区域
            else
                imageBox2.RefreshWindow(CamDev.HImageToMat(acq.Image), ImageBox.ImageModeEnum.Part);//可以不显示区域
            //imageBox2.RefreshWindow(CamDev.HImageToMat(acq.Image));         
        }

        private void ImageShowFrm_FormClosing(object sender, FormClosingEventArgs e)
        {
            this.timer1.Enabled = false;
        }

        //移动电机拍照
        private void moveAxis()
        {
            this.tsbtnPre.Enabled = this.tsbtnNext.Enabled  = false;
            this.logsts.Text = "      正在移动相机...";

            //  开启光源
            if (_IsSize)
            {
                SysMgr.Instance.LightDev.OpenLight((int)lightCH);
                SysMgr.Instance.LightDev.SetLightDigitalValue((int)lightCH, lightVal);
                //变焦
                SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), (int)SmallAxCmdPos.倍率7_5X);
            }
            else
            {
                SysMgr.Instance.LightDev.OpenLight((int)ConfMgr.Instance.SysConfigParams.LightCH);
                SysMgr.Instance.LightDev.SetLightDigitalValue((int)ConfMgr.Instance.SysConfigParams.LightCH, ConfMgr.Instance.SysConfigParams.LightLut);
                //变焦
                SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), (int)SmallAxCmdPos.倍率4_5X);
            }
            
            //判断到位
            SysMgr.Instance.LensMotorDev.CheckDone(0, 10000);
            // 移动电机
            if ((SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis0, 60)<0 )||
                    (SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis2, 60) < 0) ||
                    (SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis3, 60) < 0))
            {
                MessageBox.Show("轴状态为不可用！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, 0);
                return;
            }
            List<double> list = new List<double>() { 0,0};
            if (_IsSize)
            {
                list = new List<double>();
                list.Add(Xmm);
                list.Add(Ymm);
            }
            else
                list = SysMgr.Instance.DefectLib.viewTag(tagIndex, Xmm, Ymm, currBmp.Width, currBmp.Height);

            double val = SysMgr.Instance.DefaultSpeed;
            int st = SysMgr.Instance.MotionST;

            this.logsts.Text = $"      图像信息{tagIndex}-{Xmm}-{Ymm}-{currBmp.Width}-{currBmp.Height},正在移动相机{list[0]}-{list[1]}";
            //Z移动
            if (_IsSize)
            {
                VelocityCurveParams Velocity0 = new VelocityCurveParams(100, 100, 0, 10, 2, SysMgr.Instance.GetMMtoPlus(AxisName.Axis3));
                SysMgr.Instance.AxisDev.MoveAbsValue((int)AxisName.Axis3, Velocity0, ConfMgr.Instance.SysConfigParams.LensAxisZPos.Z_7_5X);
            }
            else
            {
                VelocityCurveParams Velocity0 = new VelocityCurveParams(100, 100, 0, 10, 2, SysMgr.Instance.GetMMtoPlus(AxisName.Axis3));
                SysMgr.Instance.AxisDev.MoveAbsValue((int)AxisName.Axis3, Velocity0, ConfMgr.Instance.SysConfigParams.LensAxisZPos.Z_4_5X);
            }
            //XY移动
            VelocityCurveParams Velocity1 = new VelocityCurveParams(val, val, 0, val, st, SysMgr.Instance.GetMMtoPlus(AxisName.Axis0));
            VelocityCurveParams Velocity2 = new VelocityCurveParams(val, val, 0, val, st, SysMgr.Instance.GetMMtoPlus(AxisName.Axis2));
            SysMgr.Instance.AxisDev.MoveAbsValue((int)AxisName.Axis0, Velocity1, list[0]);
            SysMgr.Instance.AxisDev.MoveAbsValue((int)AxisName.Axis2, Velocity2, list[1]);

            this.logsts.Text = "";
            this.tsbtnPre.Enabled = (picIndex > 0);
            this.tsbtnNext.Enabled = (picIndex < picBoxList.Count - 1);

            if ((SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis0, 60) < 0) ||
                    (SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis2, 60) < 0) ||
                    (SysMgr.Instance.AxisDev.CheckDone((int)AxisName.Axis3, 60) < 0))
            {
                MessageBox.Show("到位失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, 0);
                return;
            }
            Thread.Sleep(300);
            //拍照
            SysMgr.Instance.CamDevFront.SetExposure(ConfMgr.Instance.SysConfigParams.CamExposureTime);
            this.logsts.Text = $"   拍照{tagIndex}-{Xmm}-{Ymm}-{currBmp.Width}-{currBmp.Height}-{_IsSize},正在移动相机{list[0]}-{list[1]}";
            this.timer1.Enabled = true;
            //SysMgr.Instance.CamDevFront.ClearImageQueue();
            //Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 6000);
            //if (acq.GrabStatus != "GrabPass")
            //{
            //    MessageBox.Show("拍照失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, 0);
            //    return;
            //}       
            //imageBox2.RefreshWindow(CamDev.HImageToMat(acq.Image));
        }
    }
}