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版博士V2.0程序
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banboshi_V2/halftoneproject-master/BanBoShi/ImageProcessing/SizeLib.cs

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  1. using HalconDotNet;

  2. using MaiMuAOI.SysCtrl;

  3. using MaiMuControl.Device;

  4. using Newtonsoft.Json;

  5. using Newtonsoft.Json.Linq;

  6. using OpenCvSharp;

  7. using System;

  8. using System.Collections.Generic;

  9. using System.Drawing;

  10. using System.Drawing.Imaging;

  11. using System.IO;

  12. using System.Linq;

  13. using System.Reflection;

  14. using System.Text;

  15. using System.Threading;

  16. using System.Threading.Tasks;

  17. using Yolo5;

  18. 

  19. namespace MaiMuAOI.ImageProcessing

  20. {

  21.     public class SizeLib : IDisposable

  22.     { 

  23.         public Action<WarningEnum, string> WarningEvent;

  24.         /// <summary>

  25.         /// 检测结果JSON(原图,结果)

  26.         /// </summary>

  27.         public Action<SizeTask> finishEvent; 

  28.         /// <summary>

  29.         /// 是否打开设备成功

  30.         /// </summary>

  31.         public bool IsInit { get; private set; } = false;

  32.         //private System.Timers.Timer timer = new System.Timers.Timer();

  33. 

  34.         //配置

  35.         HDevEngine MyEngine = new HDevEngine();

  36. 

  37.         //777时用

  38.         Yolo_Class yolo5 =new Yolo_Class();

  39. 

  40.         private Thread t_task;  

  41.         public SizeLib()

  42.         { 

  43.         }

  44.         public bool start(string enginePath)

  45.         {

  46.             try

  47.             {  

  48.                 IsInit = true; 

  49.                 taskList.Clear(); 

  50.                 MyEngine.SetProcedurePath(enginePath);

  51. 

  52.                 t_task = new System.Threading.Thread(run);

  53.                 t_task.IsBackground = true;

  54.                 t_task.Start();

  55.                 return true;

  56.             }

  57.             catch (Exception ex)

  58.             {

  59.                 WarningEvent?.Invoke(WarningEnum.High,ex.Message);

  60.                 return false;

  61.             }

  62.         }

  63.         public void stop()

  64.         {

  65.             if (!IsInit) return;

  66. 

  67.             try

  68.             { 

  69.                 IsInit = false;

  70.                 //timer.Elapsed -= Timer_Elapsed;

  71. 

  72.                 MyEngine.Dispose();

  73.             }

  74.             catch { }

  75.        

  76.         }

  77. 

  78.         private bool _debug = false;

  79.         public bool setDebug { 

  80.             get { return _debug; }

  81.             set {

  82.                 if (!IsInit) return;

  83. 

  84.                 _debug=value;

  85.                 if (_debug)

  86.                     MyEngine.StartDebugServer();

  87.                 else

  88.                     MyEngine.StopDebugServer();

  89.             }

  90.         }

  91.         //流程：111，222，444，333，777，777，777，。。。

  92.          

  93.         private void run()

  94.         {

  95.             int taskCount;

  96.             while (IsInit)

  97.             { 

  98.                 lock (taskList)

  99.                 {

  100.                     taskCount = taskList.Count;

  101.                 }

  102.                 if (taskCount < 1)

  103.                 {

  104.                     Thread.Sleep(10);

  105.                     continue;

  106.                 }

  107. 

  108.                 ////

  109.                 int step = 0;

  110.                 var task = pop();

  111.                 try

  112.                 {

  113.                     if (task != null)

  114.                     {

  115.                         var Program1 = new HDevProcedure(task.engineName);

  116.                         HDevProcedureCall ProcCall1_PI_PT = new HDevProcedureCall(Program1);

  117.                         step = 1;

  118.                         //

  119.                         HObject image;

  120.                         if (task.Himage != null)

  121.                             image = task.Himage.Clone();

  122.                             //Bitmap2HObjectBpp24(out image, task.bmp);

  123.                         else

  124.                             HOperatorSet.ReadImage(out image, task.file_path);

  125.                         step = 2; 

  126.                         //设置外部函数输入

  127.                         //if (task.index < 100)

  128.                         {

  129.                             ProcCall1_PI_PT.SetInputIconicParamObject("Image1", image.Clone());

  130.                             ProcCall1_PI_PT.SetInputCtrlParamTuple("index", task.index);//参数1-9 

  131.                             ProcCall1_PI_PT.SetInputCtrlParamTuple("posX", task.posX);

  132.                             ProcCall1_PI_PT.SetInputCtrlParamTuple("posY", task.posY); 

  133.                             ProcCall1_PI_PT.SetInputCtrlParamTuple("GerberPath",new HTuple( task.drawingPagePath));//美尚没有

  134. 

  135.                             //设置外部函数输入

  136.                             if ((task.PTandLinePos != null) && (task.PTandLinePos[0] != 0))

  137.                             {

  138.                                 double[] posarray = new double[23];

  139.                                 posarray[0] = task.PTandLinePos[0];

  140.                                 posarray[1] = task.PTandLinePos[2];

  141.                                 posarray[2] = task.PTandLinePos[4];

  142.                                 posarray[3] = task.PTandLinePos[6];

  143.                                 posarray[4] = task.PTandLinePos[8];

  144.                                 for (int i = 0; i < 18; i++)

  145.                                 {

  146.                                     posarray[5 + i] = task.PTandLinePos[10 + i];

  147.                                 }

  148.                                 ProcCall1_PI_PT.SetInputCtrlParamTuple("Adapter", task.Adapter);

  149. 

  150.                                 if(task.AdapterPos != null)

  151.                                     ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", task.AdapterPos);

  152.                                 else

  153.                                     ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", posarray);

  154.                                 /////

  155.                                 ///

  156.                                 //string directory = Config.LogPath + "\\" + DateTime.Now.ToString("yyyyMM") + "\\";                           

  157.                                 //if (!System.IO.Directory.Exists(directory))

  158.                                 //    System.IO.Directory.CreateDirectory(directory);

  159. 

  160.                                 //File.AppendAllText(directory + "sizeData.log", "data:" + string.Join(",", posarray) + "\r\n");

  161.                             }

  162.                             else if (task.AdapterPos != null)

  163.                             {

  164.                                 ProcCall1_PI_PT.SetInputCtrlParamTuple("Adapter", task.Adapter);

  165.                                 ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", task.AdapterPos);

  166.                             }

  167.                             else

  168.                             {

  169.                                 double[] posarray = new double[23];

  170.                                 task.Adapter = new int[9] { 5, 18 ,0,0,0,0,0,0,0};

  171.                                 ProcCall1_PI_PT.SetInputCtrlParamTuple("Adapter", task.Adapter);

  172.                                 ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", posarray);

  173.                             }

  174.                         } 

  175.                         if (task.index == 777) 

  176.                         {

  177.                             ProcCall1_PI_PT.SetInputIconicParamObject("ContoursAffineTrans1", task.ContoursAffineTrans1_Out);

  178.                         }

  179.                         else 

  180.                         {

  181.                             HObject ContoursAffineTrans1;

  182.                             HOperatorSet.GenEmptyObj(out ContoursAffineTrans1);

  183.                             ProcCall1_PI_PT.SetInputIconicParamObject("ContoursAffineTrans1", ContoursAffineTrans1);

  184.                         }

  185.      

  186. 

  187.                         step = 3;

  188.                         ProcCall1_PI_PT.Execute();//执行外部函数

  189.                         step = 4;

  190.                         //获取外部函数输出

  191.                         switch (task.index)

  192.                         {

  193.                             case 777://比对结果

  194.                                 step = 10;

  195.                                 task.CompResult = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("RES") == 1;//结果，1为true，0为false

  196.                                 step = 11;

  197.                                 if (!task.CompResult)

  198.                                 {

  199.                                     var Defects_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_X"); 

  200.                                     var Defects_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Y"); 

  201.                                     var Defects_LeftTop_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_LeftTop_X");

  202.                                     var Defects_LeftTop_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_LeftTop_Y");

  203.                                     var Defects_RightBottom_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_RightBottom_X");

  204.                                     var Defects_RightBottom_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_RightBottom_Y");

  205.                                     var Contour_Image = ProcCall1_PI_PT.GetOutputIconicParamObject("Contour_Image");

  206.                                     //var Zoom_Image = ProcCall1_PI_PT.GetOutputIconicParamObject("Zoom_Image");

  207. 

  208.                                     var Defects_Type = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Type"); 

  209.                                     var Defects_Index = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Index");

  210. 

  211.                                     step = 12;

  212.                                     //对比打标图：显示在UI上，以后修复台用

  213.                                     //task.Zoom_Image_mat = yolo5.DrawContour_Opencv(Contour_Image, Zoom_Image, Defects_LeftTop_X, Defects_LeftTop_Y, Defects_RightBottom_X, Defects_RightBottom_Y);

  214.                                     //新YOLO.DLL

  215.                                     task.defectInfor2RestorationDesk = new List<List<string>>();

  216.                                     task.Zoom_Image_mat = yolo5.DrawContour_Opencv(Contour_Image, image, Defects_LeftTop_X, Defects_LeftTop_Y,

  217.                                         Defects_RightBottom_X, Defects_RightBottom_Y, Defects_Type, Defects_Index, Defects_X, Defects_Y, out task.defectInfor2RestorationDesk);

  218.                                     //WarningEvent?.Invoke(WarningEnum.Normal, $"SizeLib 777 call DrawContour_Opencv(),Defects_LeftTop_X={Defects_LeftTop_X}," +

  219.                                     //    $"Defects_LeftTop_Y={Defects_LeftTop_Y},Defects_RightBottom_X={Defects_RightBottom_X},Defects_RightBottom_Y={Defects_RightBottom_Y}," +

  220.                                     //    $"Defects_Type={Defects_Type},Defects_Index={Defects_Index},Defects_X={Defects_X},Defects_Y={Defects_Y}," +

  221.                                     //    $"defectInfor2RestorationDesk={JsonConvert.SerializeObject(task.defectInfor2RestorationDesk)}");

  222.                                     step = 13;

  223.                                     task.Zoom_Image_mat = yolo5.ResizesMat_4(task.Zoom_Image_mat);

  224. 

  225.                                     if (ConfMgr.Instance.SysConfigParams.OpenFlawDistribution)

  226.                                     {

  227.                                         //大图缺陷坐标转换到图纸坐标 

  228.                                         step = 14;

  229.                                         if (!string.IsNullOrWhiteSpace(task.drawingPagePath) && task.defectInfor2RestorationDesk != null && task.defectInfor2RestorationDesk.Count > 0)

  230.                                             task.defectInfor2RestorationDeskPage = yolo5.DefectDrawGerberImage(task.drawingPagePath, task.defectInfor2RestorationDesk);

  231.                                     }

  232.                                 }

  233.                                 break;

  234.                             case 111:

  235.                                 task.MarkPointList[0] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_1");

  236.                                 task.MarkPointList[1] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_1");

  237.                                 break;

  238.                             case 222:

  239.                                 task.MarkPointList[2] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_2");

  240.                                 task.MarkPointList[3] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_2");

  241.                                 break;

  242.                             case 333:

  243.                                 task.MarkPointList[4] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_3");

  244.                                 task.MarkPointList[5] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_3");//ContoursAffineTrans1

  245.                                 task.ContoursAffineTrans1_Out =  ProcCall1_PI_PT.GetOutputIconicParamObject("ContoursAffineTrans1_Out");

  246.                                 break;

  247.                             case 444:

  248.                                 task.MarkPointList[6] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_4");

  249.                                 task.MarkPointList[7] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_4");

  250.                                 break;

  251.                             case 3333: //Tag使用，同时继续获取使用default时时校正和其它值

  252.                                 step = 80;

  253.                                 if (!string.IsNullOrWhiteSpace( task.sizeTag))

  254.                                     task.posePT= ProcCall1_PI_PT.GetOutputCtrlParamTuple("posePT").DArr; 

  255.                                 goto default;

  256.                             default:

  257.                                 step = 90;

  258.                                 task.PT1 = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("DistancePT1");//index=8 PT1=PT2

  259.                                 task.PT2 = ProcCall1_PI_PT.GetOutputCtrlParamTuple("DistancePT2");

  260.                                 task.Shanxian = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Distance3Median");

  261.                                 //task.RowP = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("RowP");

  262.                                 task.Circle_Ymm = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Circle_Ymm");

  263.                                 task.Circle_Xmm = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Circle_Xmm");

  264.                                 task.offsetX = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("offsetX");

  265.                                 task.offsetY = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("offsetY");

  266.                                 break;

  267.                         }

  268.                         step = 100;

  269.                         ProcCall1_PI_PT.Dispose();

  270.                         Program1.Dispose();

  271. 

  272.                         step = 101;

  273.                         task.isSucceed = true;

  274.                         task.resultInfo = "成功";

  275.                         callback(task);

  276.                         step = 102;

  277.                     }

  278.                     Thread.Sleep(5);

  279.                 }

  280.                 catch (Exception ex)

  281.                 {

  282.                     WarningEvent?.Invoke(WarningEnum.Low, $"SizeLib task err({step}) index({task.index}):"+ ex.Message);

  283.                     task.isSucceed = false;

  284.                     task.resultInfo = $"(errcode:{step}):{ex.Message}";

  285.                     callback(task);

  286.                 }

  287.             }

  288.         } 

  289.         private void callback(SizeTask task)

  290.         {

  291.             //返回成功/失败,异步调用 

  292.             if (task.finishEvent != null || (task.finishEvent = finishEvent) != null)

  293.                 //task.finishEvent.BeginInvoke(result, errInfo, res => task.finishEvent.EndInvoke(res), null);

  294.                 System.Threading.ThreadPool.QueueUserWorkItem(waitCallback, task);

  295.         }

  296.         //异步回调

  297.         WaitCallback waitCallback = new WaitCallback(o => {

  298.             var task = (SizeTask)o;

  299.             task.finishEvent(task);

  300.         });

  301.         //=======task list

  302.         private List<SizeTask> taskList = new List<SizeTask>();

  303.         public class SizeTask

  304.         {

  305.             public int stepIndex;//只为回调记录当前工序信息

  306.             public string processName;//只为回调记录当前工序信息

  307. 

  308.             public string engineName,sizeTag;

  309.             /// <summary>

  310.             /// 源文件

  311.             /// </summary>

  312.             public string file_path;

  313.             public double posX,posY;

  314.             public HObject Himage;

  315.             public string drawingPagePath = "";//.gbx图纸路径

  316. 

  317.             //2023-10-27 新增图纸选择pt点位与线宽点位

  318.             public int[] Adapter;

  319.             public double[] PTandLinePos;

  320.             public double[] AdapterPos;

  321.             /// <summary>

  322.             /// 比对(index=777); 计算Mark(111/222/333/444); 尺寸(1-9); 轴偏移调整(10,20,30...)

  323.             /// </summary>

  324.             public int index; //index=8 PT1=PT2

  325.             /// <summary>

  326.             /// 完成后回调 

  327.             /// </summary>

  328.             public Action<SizeTask> finishEvent; 

  329.             public long createTime = DateTime.Now.Ticks;

  330. 

  331.             //==结果返回  

  332.             /// <summary>

  333.             /// 比对结果(index=777)

  334.             /// </summary>

  335.             public bool CompResult; 

  336.             public Mat Zoom_Image_mat;//对比打标图:777比对失败时计算得出，后面显示到UI 以后修复台用

  337.             public List<List<string>> defectInfor2RestorationDesk, defectInfor2RestorationDeskPage;//对比未通过坐标信息，合并到缺陷检测中的 //打标缺陷转为图纸的坐标;

  338.             //MARK点

  339.             public double[] MarkPointList = { 0, 0, 0, 0, 0, 0, 0, 0 };

  340.             public HObject ContoursAffineTrans1_Out;//index=333时输出，供后面多个777比对时输入使用

  341.             public double[] posePT;//index=3333 && !isEmpty(sizeTag) 才取此数组值，len为0时急停

  342.             //

  343.             public double PT1,PT2, Shanxian,   Circle_Ymm, Circle_Xmm, offsetX, offsetY;

  344.             public bool isSucceed;//转换是否成功

  345.             public string resultInfo = "";//成功或失败信息

  346.         }

  347. 

  348.         public void add(SizeTask task)

  349.         {

  350.             lock (taskList)

  351.                 taskList.Add(task);

  352.         }

  353.         private SizeTask pop()

  354.         {

  355.             lock (taskList)

  356.             {

  357.                 if (taskList.Count < 1)

  358.                     return null; 

  359. 

  360.                 var task = taskList[0];

  361.                 taskList.RemoveAt(0);

  362.                 return task;

  363.             }

  364.         }

  365. 

  366.         public void Dispose()

  367.         {

  368.             stop();

  369.         }

  370.         /// <summary>

  371.         /// Bitmap转HObject灰度图

  372.         /// </summary>

  373.         /// <param name="bmp">Bitmap图像</param>

  374.         /// <param name="image">HObject图像</param>

  375.         private   void Bitmap2HObjectBpp8( out HObject image,Bitmap bmp)

  376.         {

  377.             try

  378.             {

  379.                 Rectangle rect = new Rectangle(0, 0, bmp.Width, bmp.Height);

  380. 

  381.                 BitmapData srcBmpData = bmp.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format8bppIndexed);

  382. 

  383.                 HOperatorSet.GenImage1(out image, "byte", bmp.Width, bmp.Height, srcBmpData.Scan0);

  384.                 bmp.UnlockBits(srcBmpData);

  385.             }

  386.             catch (Exception)

  387.             {

  388.                 image = null;

  389.             }

  390.         }

  391.         public void Bitmap2HObjectBpp24( out HObject image, Bitmap bmp)

  392.         {

  393.             try

  394.             {

  395.                 Rectangle rect = new Rectangle(0, 0, bmp.Width, bmp.Height);

  396. 

  397.                 BitmapData srcBmpData = bmp.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format24bppRgb);

  398.                 HOperatorSet.GenImageInterleaved(out image, srcBmpData.Scan0, "bgr", bmp.Width, bmp.Height, 0, "byte", 0, 0, 0, 0, -1, 0);

  399.                 bmp.UnlockBits(srcBmpData);

  400. 

  401.             }

  402.             catch (Exception ex)

  403.             {

  404.                 image = null;

  405.             }

  406.         }

  407.     }

  408. }