geboshi_V1/LeatherProject/LeatherApp/Page/FHome.cs

using IKapC.NET;
using LeatherApp.Device;
using LeatherApp.Device.CamerUtil;
using LeatherApp.Interface;
using LeatherApp.Utils;
using Models;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using S7.Net;
using SqlSugar;
using Sunny.UI;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace LeatherApp.Page
{
    public partial class FHome : UIPage
    { 
        private WarningEnum warningLevel;//警告等级 
        private CurrentStateEnum currentState;//当前状态 

        private DevContainer devContainer = new DevContainer();

        private Service.ProductService svcProduct = new Service.ProductService();
        private Service.RecordsService svcRecord = new Service.RecordsService();
        private bool defectPauseForUser = false;

        //private Models.Product currProductModel = null;//当前产品
        //private Models.Records record = null;

        private Stopwatch pStopWatch=new Stopwatch();//计算速度用，暂停时停止计数 

        private object lockScanPhoto = new object();

        private object lockCurrKey = new object();
        private int currKey=0;
        private Hashtable htTask = new Hashtable();//默认单线程写入不用lock, 多线程安全同步读取用Synchronized 
        //无产品编码时加载
        FProductInfo frmProduct;
        public FHome(FProductInfo frm)
        { 
            InitializeComponent();
            frmProduct = frm;
            if(Config.Camer_Name ==  CamerDevNameEnum.埃科)
                IKapCLib.ItkManInitialize();

            #region dataGridView设置
            uiDataGridView1.AllowUserToAddRows = uiDataGridView1.AllowUserToDeleteRows = false;//用户添加删除行 
            uiDataGridView1.AllowUserToResizeRows = false;//用户调整行大小
            uiDataGridView1.AllowUserToResizeColumns = false;//用户调整列大小
            uiDataGridView1.SelectionMode = DataGridViewSelectionMode.FullRowSelect;//只可选中整行，不是单元格
            //显示行号与列宽度自动调整
            uiDataGridView1.RowHeadersVisible = true;
            uiDataGridView1.RowHeadersWidth = 60;
            uiDataGridView1.ColumnHeadersHeightSizeMode = DataGridViewColumnHeadersHeightSizeMode.DisableResizing;
            uiDataGridView1.RowHeadersWidthSizeMode = DataGridViewRowHeadersWidthSizeMode.AutoSizeToAllHeaders;//数据量过百绑定太变
            uiDataGridView1.RowPostPaint += (sender, e) =>//序号列头
            {
                Utils.Util.showRowNum_onDataGrid_RowPostPaint(this.uiDataGridView1, sender, e);
                //Rectangle rectangle = new Rectangle(e.RowBounds.Location.X, e.RowBounds.Location.Y, uiDataGridView1.RowHeadersWidth - 4, e.RowBounds.Height);
                //TextRenderer.DrawText(e.Graphics, (e.RowIndex).ToString(), uiDataGridView1.RowHeadersDefaultCellStyle.Font, rectangle, uiDataGridView1.RowHeadersDefaultCellStyle.ForeColor, TextFormatFlags.VerticalCenter | TextFormatFlags.Right);
            };
            for (int i = 0; i < uiDataGridView1.Columns.Count; i++)//禁止点击列头排序 
                uiDataGridView1.Columns[i].SortMode = DataGridViewColumnSortMode.NotSortable;
            ////行列交叉处标题
            //if (dataGridView1.RowHeadersVisible) dataGridView1.TopLeftHeaderCell.Value = "SPH/CYL";
            //事件
            //this.uiDataGridView1.DataBindingComplete += this.uiDataGridView1_DataBindingComplete;//bing data时发生，可修改单元格内容
            //this.uiDataGridView1.SelectIndexChange += uiDataGridView1_SelectIndexChange;//选择行时发行
            this.uiDataGridView1.CellClick += uiDataGridView1_CellClick; ;
            #endregion

            this.ucColorListDefect.ColorChanged = (xcode, xcolor) =>
            {
                try
                {
                    var item=Config.getDefectItem(xcode);
                    if(item != null)
                    {
                        item["color"] = xcolor;
                        Config.SaveDefectItemList(Config.defectItemList);
                    }
                }
                catch (Exception ex)
                {
                    this.AddTextEvent(DateTime.Now,"事件", "缺陷颜色修改后保存失败！");
                }
            };
        }
         
        private void uiDataGridView1_CellClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex < 0 || currKey == 0)
                return; 
            Records record = Hashtable.Synchronized(htTask)[currKey] as Records;
            //var defectInfo = record.DefectInfoList[record.DefectInfoList.Count - e.RowIndex-1];//按顺序索引引用
            var defectInfo = record.DefectInfoList.FirstOrDefault(m => m.uid == (long)this.uiDataGridView1.CurrentRow.Cells["colUid"].Value);
            if(defectInfo == null)
            {
                UIMessageTip.ShowError("此记录已不存在！", 1000);
                return;
            }
            this.picDefectImage.loadImage(defectInfo.image);

            //选中
            this.Invoke(new System.Action(() =>
            {
                if (lineChartDefect.Option.Series != null && lineChartDefect.Option.Series.ContainsKey("SELECT"))
                {
                    lineChartDefect.Option.Series["SELECT"].Clear();
                    lineChartDefect.Option.Series["SELECT"].Add( defectInfo.CentreX, defectInfo.CentreY / 100); 
                    lineChartDefect.Refresh();
                }
            }));
        }
        private void lineChartDefect_Click(object sender, EventArgs e)
        {
            if (lineChartDefect.Option.Series != null && lineChartDefect.Option.Series.ContainsKey("SELECT") && lineChartDefect.Option.Series["SELECT"].DataCount > 0)
            {
                lineChartDefect.Option.Series["SELECT"].Clear();
                lineChartDefect.Refresh();
            } 
        }
        #region 内部方法
        private void resetUIValue(bool resetCurrKey=true)
        {
            firstTest = true;
            if(resetCurrKey)
                currKey = 0;
            pStopWatch.Reset(); 
            this.Invoke(new System.Action(() =>
            {
                lblLen.Text = "0米";
                lblSpeed.Text = "速度：0米/分";

                txtBarCodeName.Text = txtBatchId.Text = txtReelId.Text = "";
                numErpLen.Text = "0";

                this.lineChartDefect.SetOption(new UILineOption());
                this.lineChartFaceWidth.SetOption(new UILineOption());

                this.uiDataGridView1.DataSource = null;
                this.uiDataGridView1.Rows.Clear();
                this.lstboxLog.Items.Clear();

                this.picDefectImage.clear();
                this.picScanner1.Image = this.picScanner2.Image = null;
                picScanner1.Refresh();
                picScanner2.Refresh(); 
            }));
        }
        /// <summary>
        /// 全局中断
        /// </summary>
        private void globalBreakEvent(int portIndex, byte data)
        {
            AddTextEvent(DateTime.Now,"I/0状态", $"{portIndex}：{Convert.ToString(data, 2)}");
            if (compareIOInput(CMDName.启动按钮) && this.btnStart.Enabled)
            {
                this.devContainer.devIOCard.writeBitState(0, 0, true);
                this.startCommand();
                Task.Run(async () =>
                {
                    await Task.Delay(500);
                    this.devContainer.devIOCard.writeBitState(0, 0, false);
                });
            } 
            else if (compareIOInput(CMDName.暂停按钮) && this.btnPause.Enabled)
            {
                this.devContainer.devIOCard.writeBitState(0, 1, true);
                this.pauseCommand();//true 输出暂停不会触发输入暂停
                Task.Run(async () =>
                {
                    await Task.Delay(500);
                    this.devContainer.devIOCard.writeBitState(0, 1, false);
                }); 
            }
            //else if (compareIOInput(CMDName.复位按钮) && this.tsbtnReset.Enabled)
            //    resetCommand();
            //else if (!this.disableBuzzer && compareIOInput(CMDName.门磁告警输入))
            //    warning(WarningEnum.Low, true);
            //else if (!this.disableBuzzer && compareIOInput(CMDName.喷墨告警输入))
            //    warning(WarningEnum.Low, true);
        }
        private bool compareIOInput(CMDName key)
        {
            JObject joJson = Config.CMDProcess[key];
            IODirectionEnum direction = (IODirectionEnum)joJson.Value<int>("Direction");
            if (direction == IODirectionEnum.输入 || direction == IODirectionEnum.输入输出)
            {
                return Util.compareIOInput(
                    joJson.Value<JArray>("IN_OP_SHOW").ToObject<List<string>>().ToArray(),
                    devContainer.devIOCard.DIData);
            }
            return false;
        }
        /// <summary>
        /// 报警,只响应low,high
        /// </summary>
        private void warning(WarningEnum level, bool buzzer = true)
        {
            if (level == WarningEnum.Normal)
                return;

            //lock (myLock)
                warningLevel = level;
            //if ((int)level >= (int)WarningEnum.Low)//暂停
            {
                //currentState = CurrentStateEnum.暂停;
                if (!Config.StopPLC)
                    this.devContainer.devPlc.pauseDev();
                else if (!Config.StopIO && devContainer.devIOCard.IsInit)
                { 
                    this.devContainer.devIOCard.writeBitState(0, 1, true); 
                    Task.Run(async () =>
                    {
                        await Task.Delay(500);
                        this.devContainer.devIOCard.writeBitState(0, 1, false);
                    });
                }

                pauseCommand(buzzer);
            }
            //else if (level == WarningEnum.High)//急停
            //{
            //    currentState = CurrentStateEnum.急停;
            //    devContainer.devAxis.stopNow();

            //    stopNowCommand();
            //}

            //启用报警消除按钮
            //this.Invoke(new System.Action(() =>
            //{
            //    tsbtnWarning.Enabled = true;
            //}));
        }
        /// <summary>
        /// 重新生成缺陷分布(cm2M在内部转换)
        /// </summary>
        /// <param name="lstDefectInfo">Records.DefectInfoList</param>
        /// <param name="XSizeRange">幅宽</param>
        /// <param name="YSizeRange">卷长度</param>
        private void reDrawDefectPoints(List<DefectInfo> lstDefectInfo, double[] XSizeRange=null, double[] YSizeRange=null,bool addSelRect=true)
        {
            UILineOption option;
            //AddTextEvent(DateTime.Now,$"绘图", $"缺陷分布， W={string.Join(", ", XSizeRange)},H={string.Join(", ", YSizeRange)}, LastData={JsonConvert.SerializeObject(lstDefectInfo[lstDefectInfo.Count - 1])}");
            var lstData = lstDefectInfo.OrderBy(m => m.Code).ThenBy(m => m.Code).ToList();

            if (XSizeRange == null || YSizeRange == null)
                option = this.lineChartDefect.Option;
            else
            {
                if (YSizeRange[0] == YSizeRange[1])
                {
                    YSizeRange[0] -= YSizeRange[0] / 10f;
                    YSizeRange[1] += YSizeRange[1] / 10f;
                }
                YSizeRange[0] /= 100;
                YSizeRange[1] /= 100;
                 
                option = new UILineOption();
                option.XAxis.Name = "面宽(cm)";
                option.YAxis.Name = "长度(米)";
                //option.Grid.Top = 20;//边距
                option.Grid.Right = 20;//边距

                //X轴数据类型
                option.XAxisType = UIAxisType.Value;
                //设置X/Y轴显示范围
                option.XAxis.SetRange(XSizeRange[0], XSizeRange[1]);
                option.YAxis.SetRange(YSizeRange[0], YSizeRange[1]);
                //坐标轴显示小数位数
                option.XAxis.AxisLabel.DecimalPlaces = option.YAxis.AxisLabel.DecimalPlaces = 1;
                //X/Y轴画参考线
                //option.YAxisScaleLines.Add(new UIScaleLine("上限", 3.5, Color.Red));
                //option.YAxisScaleLines.Add(new UIScaleLine("下限", 2.2, Color.Gold)); 
                //option.XAxisScaleLines.Add(new UIScaleLine(dt.AddHours(3).DateTimeString(), dt.AddHours(3), Color.Red));
                //option.XAxisScaleLines.Add(new UIScaleLine(dt.AddHours(6).DateTimeString(), dt.AddHours(6), Color.Red));

                option.ToolTip.Visible = true;
                //option.ToolTip.Formatter = "怎么自定义X,Y显示名称？？{X}";
                option.Title = new UITitle();
                option.Title.Text = "";
                option.Title.SubText = "";
            }
            option.Series.Clear();

            string preCode = ""; 
            UILineSeries series=null; 
            foreach (var item in lstData)
            { 
                if (preCode != item.Code)//加一组新类型及样式
                { 
                    preCode = item.Code;
                    var one = Config.getDefectItem(item.Code); 
                    if (one == null)
                    {
                        AddTextEvent(DateTime.Now,$"绘图", $"getDefectItem({item.Code}) is null!");
                        continue;
                    }

                    JObject objItem= one as JObject;
                    Color color = ColorTranslator.FromHtml(objItem.Value<string>("color")); 
                    series = option.AddSeries(new UILineSeries(objItem.Value<string>("name"), color));//加一组
                    series.Symbol = UILinePointSymbol.Star;
                    series.SymbolSize = 4;
                    series.SymbolLineWidth = 2;
                    series.ShowLine = false;
                    series.SymbolColor = color;
                    //数据点显示小数位数（针对当前UILineSeries）
                    series.XAxisDecimalPlaces = 1;
                    series.YAxisDecimalPlaces = 2;

                    //series.Smooth = false;  
                } 
                series.Add( item.CentreX, item.CentreY / 100); //cm -> m
            }

            ////加一组框选
            if (addSelRect && !option.Series.ContainsKey("SELECT"))
            {
                series=option.AddSeries(new UILineSeries("SELECT", Color.Red));
                series.Symbol = UILinePointSymbol.Circle;
                series.SymbolSize = 6;
                series.SymbolLineWidth = 3;
                series.ShowLine = false;
                series.SymbolColor = Color.Red;
                //数据点显示小数位数（针对当前UILineSeries）
                series.XAxisDecimalPlaces = 1;
                series.YAxisDecimalPlaces = 2;
                //series.Add(1, 1);
            }
                
            //====
            //option.GreaterWarningArea = new UILineWarningArea(3.5);
            //option.LessWarningArea = new UILineWarningArea(2.2, Color.Gold);  
            this.BeginInvoke(new System.Action(() =>
            {
                this.lineChartDefect.SetOption(option);
                //series.UpdateYData();//按序号更新Y轴值(可设置值超出范围用于闪烁) 
            })); 
        }

        /// <summary>
        /// 重新门幅宽度
        /// </summary>
        /// <param name="points"></param>
        /// <param name="XSizeRange">卷长度</param>
        /// <param name="YSizeRange">幅宽</param>
        private void reDrawFaceWidth(List<float[]> points, double[] XSizeRange, double[] YSizeRange)
        {
            //AddTextEvent(DateTime.Now,$"绘图", $"门幅宽度， W={string.Join(", ", XSizeRange)},H={string.Join(", ", YSizeRange)}, LastData={JsonConvert.SerializeObject(points[points.Count-1])}");
            if(YSizeRange[0]== YSizeRange[1])
            {
                YSizeRange[0] -= YSizeRange[0] / 10f;
                YSizeRange[1] += YSizeRange[1] / 10f;
            }
            XSizeRange[0] /= 100;
            XSizeRange[1] /= 100;
             
            //防止超限
            XSizeRange[1] += 0.01; 
            YSizeRange[1] += 0.1;

            UILineOption option = new UILineOption();
            option.XAxis.Name = "长度(米)";
            option.YAxis.Name = "面宽(cm)";
            option.Grid.Top = 20;
            option.Grid.Right = 20;
            //X轴数据类型
            option.XAxisType = UIAxisType.Value;
            //设置X/Y轴显示范围
            option.XAxis.SetRange(XSizeRange[0], XSizeRange[1]);
            option.YAxis.SetRange(YSizeRange[0], YSizeRange[1]);
            //坐标轴显示小数位数
            option.XAxis.AxisLabel.DecimalPlaces = option.YAxis.AxisLabel.DecimalPlaces = 1;
            //X/Y轴画参考线
            //option.YAxisScaleLines.Add(new UIScaleLine("上限", 3.5, Color.Red));
            //option.YAxisScaleLines.Add(new UIScaleLine("下限", 2.2, Color.Gold)); 
            //option.XAxisScaleLines.Add(new UIScaleLine(dt.AddHours(3).DateTimeString(), dt.AddHours(3), Color.Red));
            //option.XAxisScaleLines.Add(new UIScaleLine(dt.AddHours(6).DateTimeString(), dt.AddHours(6), Color.Red));

            option.ToolTip.Visible = true;
            //option.ToolTip.Formatter = "怎么自定义X,Y显示名称？？{X}";
            option.Title = new UITitle();
            option.Title.Text = "";
            option.Title.SubText = "";
             
            Color color = Color.Blue;
            UILineSeries series = null;
            series = option.AddSeries(new UILineSeries("面宽", color));
            series.Symbol = UILinePointSymbol.Circle;
            series.ShowLine = true;
            series.SymbolSize = 1;//4
            series.SymbolLineWidth = 1;//2
            series.SymbolColor = color;
            //数据点显示小数位数（针对当前UILineSeries）
            series.XAxisDecimalPlaces = 2;
            series.YAxisDecimalPlaces = 1;

            float x;
            foreach (var item in points)
            {
                x = item[0] / 100; //cm -> m
                series.Add(x, item[1]);
                if (x < XSizeRange[0]) AddTextEvent(DateTime.Now,$"绘图", $"门幅宽度超限 1！！！！ {x}<{XSizeRange[0]}",WarningEnum.High); 
                if (x > XSizeRange[1]) AddTextEvent(DateTime.Now,$"绘图", $"门幅宽度超限 2！！！！ {x}>{XSizeRange[1]}", WarningEnum.High);
                if (item[1] < YSizeRange[0]) AddTextEvent(DateTime.Now,$"绘图", $"门幅宽度超限 3！！！！ {item[1]}<{YSizeRange[0]}", WarningEnum.High);
                if (item[1] > YSizeRange[1]) AddTextEvent(DateTime.Now,$"绘图", $"门幅宽度超限 4！！！！ {item[1]}>{YSizeRange[1]}", WarningEnum.High);
            }
            //====
            //option.GreaterWarningArea = new UILineWarningArea(3.5);
            //option.LessWarningArea = new UILineWarningArea(2.2, Color.Gold);  
            this.BeginInvoke(new System.Action(() =>
            {
                this.lineChartFaceWidth.SetOption(option);
            }));
        }
        
        private delegate void AddTextDelegate(DateTime time,string tag, string msg, WarningEnum level);
        private void AddTextEvent(DateTime now, string tag, string msg, WarningEnum level = WarningEnum.Normal)
        {
            try
            {
                if (InvokeRequired)
                {
                    Invoke(new AddTextDelegate(AddTextEvent), new object[]
                    {
                        now,
                        tag,
                        msg,
                        level
                    });
                }
                else
                {
                    if (tag != null && tag != "")
                        tag = $" - [{tag}]";

                    //var now = DateTime.Now;
                    msg = now.ToString("HH:mm:ss fff") + tag + " - " + msg;
                    //cont = MyHelper.subString(cont, 300);

                    //写日志，warn和error日志直接写
                    writeLog(now, level, msg);

                    //
                    //if (type > 0)
                    //    cont = $"<color=\"{(type == 1 ? "Yellow" : "Red")}\">{cont}</color>";

                    //msg = (level == WarningEnum.Normal ? "B" : level == WarningEnum.Low ? "Y" : "R") + msg;
                    msg = (level == WarningEnum.Normal ? "" : level == WarningEnum.Low ? "Y" : "R") + msg;
                    //this.Invoke(new System.Action(() =>
                    //{
                        if (this.lstboxLog.Items.Count > 1000)
                            this.lstboxLog.Items.Clear();
                        lstboxLog.Items.Insert(0, msg);
                    //}));
                    //日志滚动 
                    //lstLog.SelectedIndex = lstLog.Items.Count - 1; 
                }
            }
            catch (Exception ex)
            {
                //MessageBox.Show("AddTextEvent ex=(" + ex.Message + ")", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, 0);
            }
        }
        private void writeLog(DateTime now, WarningEnum level, string text)
        {
            string directory = Config.LogPath + "\\" + DateTime.Now.ToString("yyyyMM") + "\\";
            //if (type == 0) directory = Application.StartupPath + "\\Log\\Info\\";
            //else if (type == 1) directory = Application.StartupPath + "\\Log\\Warn\\";
            //else directory = Application.StartupPath + "\\Log\\Error\\";

            if (!System.IO.Directory.Exists(directory))
                System.IO.Directory.CreateDirectory(directory);

            File.AppendAllText(directory + now.ToString("yyyyMMdd") + ".log", text + "\r\n");
        }
        #endregion

        private void FHome_Load(object sender, EventArgs e)
        {
            ucColorListDefect.initData(Config.defectItemList);
            this.lineChartDefect.SetOption(new UILineOption());
            this.lineChartFaceWidth.SetOption(new UILineOption());
        }
        private void FHome_Shown(object sender, EventArgs e)
        {
            //picScanner1.BackColor = Color.Red;
            //picScanner2.BackColor = Color.Green;
            picScanner1.Width = picScanner2.Width = pnlScannerImg.ClientSize.Width / 2 - 5;
            picScanner2.Left = picScanner1.Width + 5;
        }
        //开机
        private void btnOpen_Click(object sender, EventArgs e)
        {
            //this.txtNote.Text = (currProductModel == null ? "NO" : currProductModel.Name);
            Config.LoadAllConfig();
            //设置程序最小/大线程池
            // Get the current settings. 
            int minWorker, minIOC;
            ThreadPool.GetMinThreads(out minWorker, out minIOC);
            ThreadPool.SetMinThreads(25, minIOC);
            //ThreadPool.SetMaxThreads(256, 256);

            this.btnOpen.Enabled = false;

            this.resetUIValue();  
            AddTextEvent(DateTime.Now,"设备启动", $"正在启动硬件设备（版本:v{ Assembly.GetExecutingAssembly().GetName().Version.ToString()}）。。。");
            warningLevel = WarningEnum.Normal; 
            this.btnStart.Enabled = this.btnEnd.Enabled = this.btnPause.Enabled = false;
            //后台线程回调事件
            devContainer = new DevContainer();
            devContainer.StateChange = (state, msg) =>
            {
                if (state)
                {
                    currentState = CurrentStateEnum.初始;
                    AddTextEvent(DateTime.Now,"设备启动", $"启动成功，请点开始验布按钮！");  
                    //全局中断
                    devContainer.devIOCard.INEvent = globalBreakEvent;
                    // I/O reset后，输出默认状态 
                    if (devContainer.devIOCard.IsInit)
                    {
                        AddTextEvent(DateTime.Now,"复位", $"I/O复位...");
                        if (!devContainer.devIOCard.reset())
                        {
                            AddTextEvent(DateTime.Now,"复位", "I/O板卡复位失败！", WarningEnum.High);
                            return;
                        }
                        if (!devContainer.io_output(CMDName.IO默认输出))
                        {
                            //AddTextEvent(DateTime.Now,"复位", "I/O板卡复位默认值失败！", WarningEnum.High);
                            //return;
                        }
                        int portIndex = 0;
                        foreach(var data in devContainer.devIOCard.DIData)
                            AddTextEvent(DateTime.Now,"I/0状态", $"DIData: {portIndex++}-{Convert.ToString(data, 2)}");
                    }

                    devContainer.OutDebugEvent = (tag, debugInfo) =>
                    {
                        AddTextEvent(DateTime.Now,tag, debugInfo);
                    };
                    //  
                    this.Invoke(new System.Action(() =>
                    {
                        this.btnOpen.Enabled = false;
                        this.btnClose.Enabled = true; 
                        this.btnStart.Enabled = true;
                        this.tcbarLightValue.Enabled = true; 
                        tcbarLightValue.Value=devContainer.devLight.getDigitalValue(1);
                    }));

                    devContainer.libPhoto.QueueCountEvent = (count) =>
                    {
                        this.BeginInvoke(new System.Action(() =>
                        {
                            this.lblWaitImageCount.Text = count.ToString();  
                        }));
                    };
                    devContainer.libDefect.QueueCountEvent = (type, count) =>
                    {
                        this.BeginInvoke(new System.Action(() =>
                        {
                            switch (type)
                            {
                                case 0: this.lblDefectQueue0.Text = count.ToString(); break;
                                case 1: this.lblDefectQueue1.Text = count.ToString(); break;
                                case 2: this.lblDefectQueue2.Text = count.ToString(); break;
                            }
                        }));
                    };
                    
                    //在【暂停】和【运行中】时都可以扫码，扫码后即开始即结束上一卷(如存在)，自动开始下一卷，等待相机照片回调
                    devContainer.devCodeScanner.ScanerEvent = (barCode) =>
                    { 
                        int errCode = 0;
                        try
                        {
                            //AddTextEvent(DateTime.Now,"扫码", $"{code}：{currentState.ToString()}");
                            if (!devContainer.state || string.IsNullOrWhiteSpace(barCode)
                                || (currentState != CurrentStateEnum.运行中 && currentState != CurrentStateEnum.暂停))
                                return;
                             
                            string barCodeName="",len = "0", batchId = "", reelId = "";
                            if (!string.IsNullOrWhiteSpace(Config.ErpDBConStr) && !string.IsNullOrWhiteSpace(Config.ErpSql) && !string.IsNullOrWhiteSpace(barCode))
                            {
                                AddTextEvent(DateTime.Now,"扫码", $"产品条码({barCode})到ERP查询对应数据...", WarningEnum.Normal);
                                var rowData = this.loadErpData(barCode);
                                if (rowData == null)
                                {
                                    AddTextEvent(DateTime.Now,"扫码", $"产品条码({barCode})无对应ERP数据，不做响应！", WarningEnum.Low);
                                    return;
                                }

                                barCodeName = rowData[0].ToString();
                                if (rowData.ItemArray.Length > 1) len = rowData[1].ToString();
                                if (rowData.ItemArray.Length > 2) batchId = rowData[2].ToString();
                                if (rowData.ItemArray.Length > 3) reelId = rowData[3].ToString();
                            }
                            else
                                barCodeName = barCode;//没有ERP对应关系时直接使用条码做为品名

                            errCode = 1;
                            //SHNY-PX-6-***
                            string[] codes = barCodeName.Split(new char[] { '-' });
                            if (codes.Length < 4)
                            {
                                AddTextEvent(DateTime.Now,"扫码", $"产品品名({barCodeName})格式错误，不做响应！", WarningEnum.Low);
                                return;
                            }
                            //新开始 
                            this.resetUIValue(false);
                            errCode = 2;
                            //加载新产品  
                            string pcode =  "1-" + codes[2];
                            if (codes[1] == "0" || Config.SuedeList.Contains(codes[1]))
                                pcode =  "0-" + codes[2];
                            var productInfo = svcProduct.GetModelNav(pcode); //frmProduct.loadProduct(code);
                            Records record;
                            lock (lockCurrKey)
                            {
                                errCode = 3;
                                //保存，这里队列图片可能还未检测完 
                                if (currKey > 0)
                                {
                                    string szBatchId, szReelId;
                                    double ldErpLen;
                                    szBatchId = txtBatchId.Text.Trim();
                                    szReelId = txtReelId.Text.Trim();
                                    ldErpLen = Convert.ToDouble(numErpLen.Text.Trim());
                                    //BatchId = code,//code[2]
                                    //ReelId = "1",//code[3]
                                    int mykey = currKey;
                                    Task.Run(() => { saveCurrRecord(mykey, szBatchId, szReelId, ldErpLen); });
                                    currKey = 0;
                                }
                                if (productInfo == null)
                                {
                                    AddTextEvent(DateTime.Now,"扫码", $"编码({pcode})对应配方不存在，请先添加产品配方设置，暂停设备！", WarningEnum.High);
                                    warning(WarningEnum.Low);//暂停
                                    this.BeginInvoke(new System.Action(() =>
                                    {
                                        frmProduct.loadProduct(pcode);//转到新建编码
                                    }));
                                    return; 
                                }

                                errCode = 4;
                                var now = DateTime.Now;
                                currKey = now.Hour * 10000 + now.Minute * 100 + now.Second;
                                //var materialItem =  codes[0]+"-"+ codes[1];
                                var colorItem = Config.getColorItem(int.Parse(codes[2]));
                                record = new Records()
                                {
                                    currKey = currKey,
                                    ProductId = productInfo.Id,
                                    ProductInfo = productInfo,//后面计算合格时用
                                    Color = (colorItem == null ? "未知" : colorItem["name"].ToString()),
                                    Material = codes[0] + "-" + codes[1],// (materialItem == null ? "未知" : materialItem["name"].ToString()), 
                                    BarCode = barCode,
                                    BarCodeName = barCodeName,
                                    ErpLen=double.Parse(len),
                                    BatchId=batchId,
                                    ReelId=reelId,
                                    ModifyUserCode = Config.loginUser.Code,
                                    CreateUserCode = Config.loginUser.Code,
                                };
                                htTask.Add(currKey, record);
                            }
                            errCode = 8; 
                            // 
                            errCode = 9;
                            AddTextEvent(DateTime.Now,"扫码", $"品名({barCodeName})，加载产品信息({productInfo.Code})完成，加载配方(光源={productInfo.LightValue},曝光={productInfo.ExposureTime},增益={productInfo.Gain})...");
                            errCode = 10;
                            if (productInfo.LightValue > 0)//光源 - 通道0
                                devContainer.devLight.setDigitalValue(1, productInfo.LightValue);
                            errCode = 11;
                            if (productInfo.ExposureTime > 0 || productInfo.Gain > 0)//相机曝光 增益
                            {
                                devContainer.devCamer1.setParam((float)(productInfo.ExposureTime > 0 ? productInfo.ExposureTime : -1), (float)(productInfo.Gain > 0 ? productInfo.Gain : -1));
                                devContainer.devCamer2.setParam((float)(productInfo.ExposureTime > 0 ? productInfo.ExposureTime : -1), (float)(productInfo.Gain > 0 ? productInfo.Gain : -1));
                            }
                            errCode = 15;
                            AddTextEvent(DateTime.Now,"扫码", $"品名({barCodeName})，配方设置完成:光源={productInfo.LightValue},曝光={productInfo.ExposureTime}");
                             
                            //注意，这里和修改页共享操作(UI操作)，注意冲突
                            this.Invoke(new System.Action(() =>
                            {
                                this.txtBarCode.Text = "";
                                this.txtBarCodeName.Text= barCodeName;
                                //txtBatchId.Text = record.BatchId;
                                //txtReelId.Text = record.ReelId; 
                                this.numErpLen.Text = len;
                                this.txtBatchId.Text = batchId;
                                this.txtReelId.Text = reelId;

                                //暂时全部放开
                                //this.btnStart.Enabled = true;
                                //this.btnEnd.Enabled = true; 
                                this.btnPause.Enabled = true;

                                //
                                this.swcDefectPauseForUser.Active = this.defectPauseForUser = productInfo.DefectPauseForUser;
                            }));

                            //
                            pStopWatch.Restart();
                            errCode = 19; 
                        }
                        catch (Exception ex)
                        {
                            AddTextEvent(DateTime.Now,"扫码", $"异常({errCode}):{ex.Message}", WarningEnum.High);
                        }
                    };
                    //相机回调出照片
                    devContainer.devCamer1.ScanEvent = callBackScanMatEvent;
                    devContainer.devCamer2.ScanEvent = callBackScanMatEvent;
                    //devContainer.devScannerGentl1.ScanEventPath = callBackScanPathEvent;
                    //devContainer.devScannerGentl2.ScanEventPath = callBackScanPathEvent; 
                    devContainer.devCamer1.PhotoNumCacheEvent = (num) =>
                    {
                        this.BeginInvoke(new System.Action(() =>
                        {
                            this.lblScanner1Cache.Text =num.ToString();
                        }));
                    };
                    devContainer.devCamer2.PhotoNumCacheEvent = (num) =>
                    {
                        this.BeginInvoke(new System.Action(() =>
                        {
                            this.lblScanner2Cache.Text = num.ToString();
                        }));
                    };
                    devContainer.devPlc.RuningStateChangeEvent = (runningState) =>
                    {
                        AddTextEvent(DateTime.Now,"PLC", $"当前状态为:{(runningState ? "运行中" : "暂停")}");
                        if (runningState)
                            this.startCommand();
                        else
                            this.pauseCommand();
                    };
                    //devContainer.devIOCard.INEvent = (i,value) =>
                    //{
                    //    AddTextEvent(DateTime.Now,"I/O", $"INEvent 当前值:{i}-{value}");
                    //    if (compareIOInput(CMDName.启动按钮))
                    //    {
                    //        this.startCommand();
                    //    }
                    //    else if (compareIOInput(CMDName.暂停按钮))
                    //    { 
                    //        this.pauseCommand(true); 
                    //    }
                    //};
                }
                else
                {
                    AddTextEvent(DateTime.Now,"设备启动", $"启动失败，{msg}", WarningEnum.High);
                    this.Invoke(new System.Action(() =>
                    {
                        this.btnOpen.Enabled = true;
                        this.btnClose.Enabled = false;
                    }));
                }

            };
            devContainer.WarningEvent = (now,level, msg) =>
            {
                AddTextEvent(DateTime.Now,$"设备事件{Thread.CurrentThread.ManagedThreadId}", msg, level);
                if (level == WarningEnum.High)
                    Task.Run(() => warning(level, true));
            };
            devContainer.start(this.picScanner1, this.picScanner2);
            //devContainer.start(IntPtr.Zero,IntPtr.Zero);
        }
        private DataRow loadErpData(string barCode)
        { 
            var paramList = new List<SugarParameter>() {
                        new SugarParameter("@code", barCode)
                    };
            Stopwatch stopwatch = Stopwatch.StartNew();
            var data = Utils.DBUtils.execSql(Config.ErpSql, paramList); 
            if (data != null && data.Rows.Count < 1)
            {
                AddTextEvent(DateTime.Now,"Erp查询结果", $"{barCode}: 时长={stopwatch.ElapsedMilliseconds}ms, 无数据！", WarningEnum.Normal);
                return null;
            }

            AddTextEvent(DateTime.Now,"Erp查询结果", $"{barCode}: 时长={stopwatch.ElapsedMilliseconds}ms, {JsonConvert.SerializeObject(data.Rows[0])}", WarningEnum.Normal);
            return data.Rows[0]; 

            //Task.Run(() =>
            //{
            //    try
            //    {
            //        var paramList = new List<SugarParameter>() {
            //            new SugarParameter("@code", code)
            //        };
            //        Stopwatch stopwatch = Stopwatch.StartNew();
            //        var data = Utils.DBUtils.execSql(Config.ErpSql, paramList);
            //        AddTextEvent(DateTime.Now,"Erp查询结果", $"{code}: 时长={stopwatch.ElapsedMilliseconds}ms, {JsonConvert.SerializeObject(data.Rows[0])}", WarningEnum.Normal);
            //        if (data != null && data.Rows.Count > 0)
            //        {
            //            this.Invoke(new System.Action(() =>
            //            {
            //                this.numErpLen.Text = data.Rows[0][0].ToString();
            //                if (data.Columns.Count > 1) this.txtBatchId.Text = data.Rows[0][1].ToString();
            //                if (data.Columns.Count > 2) this.txtReelId.Text = data.Rows[0][2].ToString();
            //            }));
            //        }
            //    }
            //    catch (Exception ex)
            //    {
            //        AddTextEvent(DateTime.Now,"Erp查询异常", $"{code}:{ex.Message}", WarningEnum.Low);
            //    }
            //});
        }
        private class ScanPhotoInfo
        {
            /// <summary>
            /// 
            /// </summary>
            /// <param name="_devIndex"></param>
            /// <param name="_photoIndex">1-n 第1张会把1改为0</param>
            /// <param name="_path"></param>
            public ScanPhotoInfo(int _devIndex,int _photoIndex,string _path)
            {
                devIndex = _devIndex;
                photoIndex = _photoIndex;
                path = _path;
            }
            public ScanPhotoInfo(int _devIndex, int _photoIndex, Mat _mat)
            {
                devIndex = _devIndex;
                photoIndex = _photoIndex;
                mat = _mat;
            }
            public int devIndex { get; set; }
            /// <summary>
            /// 0-n 
            /// </summary>
            public int photoIndex { get; set; }
            public string path { get; set; }
            public Mat mat { get; set; }

        }
        //private List<Queue<ScanPhotoInfo>> scanPhotoQueue1 = new List<Queue<ScanPhotoInfo>>(); 
        /// <summary>
        /// 存放相机1/2的实时图像（3-多容错1帧）
        /// </summary>
        private ScanPhotoInfo[] scanPhotos=new ScanPhotoInfo[3];
        private void callBackScanPathEvent(int num, string path, int devIndex)  //ScanEvent
        {
            AddTextEvent(DateTime.Now,"拍照", $"相机({devIndex})采集图索到图像({num}):{path}！");
        }
        bool firstTest = true;
        
        /// <summary>
        /// 
        /// </summary>
        /// <param name="num">1-n</param>
        /// <param name="matone"></param>
        /// <param name="devIndex"></param>
        private void callBackScanMatEvent(int num, Mat matone, int devIndex)  //ScanEvent
        {
            if(Config.Camer_Name== CamerDevNameEnum.埃科)
            {
                AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"采集卡({devIndex}),图像({num})");  
                Cv2.Flip(matone, matone, FlipMode.XY);//翻转
                Bitmap bitmap = BitmapConverter.ToBitmap(matone);
                this.BeginInvoke(new Action(() =>
                { 
                    //bitmap.Save($"d:\\{devIndex}_{num}.bmp", ImageFormat.Bmp);
                    //显示图片
                    if (devIndex == 0)
                    {
                        picScanner2.Image = bitmap;
                        picScanner2.Refresh();
                    }
                    else
                    {
                        picScanner1.Image = bitmap;
                        picScanner1.Refresh();
                    }
                }));
            }
            if (!devContainer.state || (currentState != CurrentStateEnum.运行中 && currentState != CurrentStateEnum.暂停))
            {
                matone.Dispose();
                return;
            }
             
            lock (lockCurrKey)
            {
                if (currKey == 0 || !htTask.ContainsKey(currKey))
                {
                    lock (lockScanPhoto)
                    {
                        if (scanPhotos[0] != null || scanPhotos[1] != null)
                            scanPhotos[0] = scanPhotos[1] = scanPhotos[2] = null;
                    }
                    matone.Dispose(); 
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{num})-未扫码，采集卡({devIndex})，图像丢弃！", WarningEnum.Low);
                    return;
                }
            }
            Records curRecord = Hashtable.Synchronized(htTask)[currKey] as Records;
            Device.PhotoLib.PhotoTask task;
            Mat myMat = matone;//.Clone();
            AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{num})-采集卡({devIndex}),size:({myMat.Width}*{myMat.Height})({(myMat == null?"A":"B")})");
            //AddTextEvent(DateTime.Now,"拍照", $"Dev={devIndex},图像{num}-2");
            lock (lockScanPhoto)//多线程操作
            { 
                if(scanPhotos[2] != null && scanPhotos[2].photoIndex== num)
                {
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"相机图像不同步，急停中止（需停机重新开始，不可继续）！！！", WarningEnum.High);
                    warning(WarningEnum.High);
                    //重置...
                }
                if(scanPhotos[devIndex]!=null) //添加一张容错
                {
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{num})-采集卡({devIndex}) 容错一张图到队列！", WarningEnum.Low);
                    scanPhotos[2] = new ScanPhotoInfo(devIndex, num, myMat);
                    return;
                }

                //--
                scanPhotos[devIndex] = new ScanPhotoInfo(devIndex, num, myMat);
                if (scanPhotos[0] == null || scanPhotos[1] == null)
                    return;
                //
                //if (scanPhotos[0].photoIndex != scanPhotos[1].photoIndex)
                //{
                //    if (scanPhotos[0].photoIndex > scanPhotos[1].photoIndex)
                //    {
                //        AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{num})-索引不一致)，丢弃采集卡（{scanPhotos[1].devIndex}）中较小索引图像（{scanPhotos[1].photoIndex}）！", WarningEnum.High);
                //        scanPhotos[1] = null; 
                //    }
                //    else
                //    {
                //        AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{num})-索引不一致)，丢弃采集卡（{scanPhotos[0].devIndex}）中较小索引图像（{scanPhotos[0].photoIndex}）！", WarningEnum.High);
                //        scanPhotos[0] = null; 
                //    }
                //    if (num > 1)
                //    {
                //        AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"相机图像不同步，急停中止（需停机重新开始，不可继续）！！！", WarningEnum.High);
                //        warning(WarningEnum.High);
                //        //重置...
                //    }
                //    return;
                //} 

                //curRecord置新时，相机里最后一张图还是上次的计数器devIndex累计
                if (curRecord.ScannerPhotoCount == 0 && num>=1)
                { 
                    devContainer.devCamer1.resetScanIndex(); 
                    devContainer.devCamer2.resetScanIndex();
                    scanPhotos[0].photoIndex = scanPhotos[1].photoIndex = 0;
                    if (scanPhotos[2] != null)
                        scanPhotos[2].photoIndex = 1;
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"新任务开始，Dev={devIndex},图像({num})重置为图像(0)");
                }
                task = new Device.PhotoLib.PhotoTask()
                {
                    scanPhotos0 = scanPhotos[0],
                    scanPhotos1 = scanPhotos[1],
                };
                scanPhotos[0] = scanPhotos[1] = null;
                if (scanPhotos[2] != null)//容错图前移到正常位置 
                {
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"(图像{scanPhotos[2].photoIndex})-采集卡({scanPhotos[2].devIndex}) 容错队列图前移。");
                    scanPhotos[scanPhotos[2].photoIndex] = scanPhotos[2];
                    scanPhotos[2] = null;
                }
                curRecord.ScannerPhotoCount++;
            }

            //长度剩余提醒
            if (Config.residueWarnningLen > 0 && curRecord.ErpLen >0 && Config.residueWarnningLen >= curRecord.ErpLen - curRecord.Len)
            {
                AddTextEvent(DateTime.Now,$"告警{Thread.CurrentThread.ManagedThreadId}", $"已达剩余长度不足提醒!({curRecord.ErpLen - curRecord.Len}<={Config.residueWarnningLen})", WarningEnum.High);
            }

            //
            AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"待处理图像队列:{curRecord.ScannerPhotoCount - curRecord.ScannerPhotoFinishCount}张");
            if (task.scanPhotos0 != null && task.scanPhotos1 != null)
            {
                var scanPhoto = task.scanPhotos0 as ScanPhotoInfo; 
                curRecord.dicPhoto_Defect.TryAdd(scanPhoto.photoIndex, false);//加入索引，默认无瑕疵
                AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"图像索引:{scanPhoto.photoIndex}，标识数:{curRecord.dicPhoto_Defect.Count}");
                //暂停:瑕疵二次判断
                if (this.defectPauseForUser)
                {
                    int liPhotoIndex = scanPhoto.photoIndex - Config.defectPauseSkipPhotoCount; 
                    AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"Dev={devIndex},图像{scanPhoto.photoIndex}  {liPhotoIndex}={scanPhoto.photoIndex}-{Config.defectPauseSkipPhotoCount}；{JsonConvert.SerializeObject(curRecord.dicPhoto_Defect) }");
                    if (liPhotoIndex >= 0 && curRecord.dicPhoto_Defect[liPhotoIndex])
                    {
                        List<DefectInfo> lstEditDefect = curRecord.DefectInfoList.Where(m => m.PhotoIndex == liPhotoIndex).ToList();
                        AddTextEvent(DateTime.Now,$"暂停{Thread.CurrentThread.ManagedThreadId}", $"(图像{liPhotoIndex})已达观察台，瑕疵二次判断=》({string.Join(",", lstEditDefect.Select(m => m.Code).ToArray())})是否包含在({string.Join(",", curRecord.ProductInfo.DefectPauseOption.ToArray())})中。");
                        //瑕疵选项过滤
                        if (curRecord.ProductInfo.DefectPauseOption.Count == 0 || lstEditDefect.Where(x => curRecord.ProductInfo.DefectPauseOption.Contains(x.Code)).Count() > 0)
                        {
                            AddTextEvent(DateTime.Now,$"暂停{Thread.CurrentThread.ManagedThreadId}", $"(图像{liPhotoIndex})需瑕疵二次判断，已达观察台，进入暂停。");
                            if (!Config.StopPLC)
                                this.devContainer.devPlc.pauseDev();
                            else if (!Config.StopIO && devContainer.devIOCard.IsInit)
                            {
                                //只是设备暂停，APP没暂停
                                devContainer.io_output(CMDName.绿灯输出, false, true, 0);
                                devContainer.io_output(CMDName.黄灯输出);
                                devContainer.devIOCard.writeBitState(0, 1, true);
                                Task.Run(async () =>
                                {
                                    await Task.Delay(500);
                                    this.devContainer.devIOCard.writeBitState(0, 1, false);
                                });
                            }

                            //不能使用同步Invoke方式，会使相机超时丢帧
                            this.BeginInvoke(new System.Action(() =>
                            {
                                int liDefectCount = lstEditDefect.Count;
                                FHome_Defect frmDefect = new FHome_Defect(lstEditDefect);
                                if (frmDefect.ShowDialog() == DialogResult.OK)
                                {
                                    string oldCode;
                                    for (int i = 0; i < this.uiDataGridView1.Rows.Count; i++)
                                    {
                                        if ((int)this.uiDataGridView1.Rows[i].Cells["colIndex"].Value != liPhotoIndex)
                                            continue;

                                        long uid = (long)this.uiDataGridView1.Rows[i].Cells["colUid"].Value;
                                        foreach (var row in lstEditDefect)
                                        {
                                            AddTextEvent(DateTime.Now,$"暂停{Thread.CurrentThread.ManagedThreadId}", $"修改第({i + 1})行瑕疵名称,{uid} {row.uid}");
                                            if (row.uid == uid)
                                            {
                                                oldCode = this.uiDataGridView1.Rows[i].Cells["colCode"].Value.ToString();
                                                AddTextEvent(DateTime.Now,$"暂停{Thread.CurrentThread.ManagedThreadId}", $"修改第({i + 1})行瑕疵名称 ({this.uiDataGridView1.Rows[i].Cells["colDefectName"].Value})->({row.Name})");
                                                this.uiDataGridView1.Rows[i].Cells["colCode"].Value = row.Code;
                                                this.uiDataGridView1.Rows[i].Cells["colDefectName"].Value = row.Name;
                                                //this.uiDataGridView1.Refresh(); 
                                                if (!string.IsNullOrWhiteSpace(row.TagFilePath))
                                                    File.Move(row.TagFilePath, row.TagFilePath.Replace($"_类别{oldCode}", $"_类别{row.Code}"));//
                                                break;
                                            }
                                        }
                                        foreach (var item in frmDefect.lstDel)
                                        {
                                            if (item.uid == uid)
                                            {
                                                this.uiDataGridView1.Rows.RemoveAt(i);
                                                i--;
                                                break;
                                            }
                                        }
                                    }
                                    foreach (var item in frmDefect.lstDel)
                                    {
                                        curRecord.DefectInfoList.Remove(item);
                                        //删除忽略瑕疵小图
                                        //if (!string.IsNullOrWhiteSpace(item.TagFilePath))
                                        //    File.Delete(item.TagFilePath);
                                    }

                                    //double len = (double)this.lblLen.Tag;
                                    //this.reDrawDefectPoints(curRecord.DefectInfoList, new double[] { 0, Math.Round(curRecord.FaceWidthMax + 0.005f, 2) }, new double[] { 0, len });
                                    AddTextEvent(DateTime.Now,$"二次检测{Thread.CurrentThread.ManagedThreadId}", $"本次忽略{frmDefect.lstDel.Count}个瑕疵，本张图由{liDefectCount} -> {lstEditDefect.Count}，总数{curRecord.DefectInfoList.Count}");
                                }
                                this.uiMiniPagination1.TotalCount = curRecord.DefectTotalCount = curRecord.DefectInfoList.Count;
                                //
                                //double len = Math.Round((res.photoIndex + 1) * bmpHeight * 1.0d / Config.cm2px_y + 0.005f, 2);
                                this.reDrawDefectPoints(curRecord.DefectInfoList);

                                //自动继续运行设备(这里临时暂停后不能再急停，否则无法继续)
                                if (!Config.StopPLC)
                                    this.devContainer.devPlc.runDev();
                                else if (!Config.StopIO && devContainer.devIOCard.IsInit)
                                {
                                    if (!compareIOInput(CMDName.暂停按钮))
                                    {
                                        devContainer.io_output(CMDName.绿灯输出);
                                        devContainer.io_output(CMDName.黄灯输出, false, true, 0);
                                        this.devContainer.devIOCard.writeBitState(0, 0, true);
                                        Task.Run(async () =>
                                        {
                                            await Task.Delay(500);
                                            this.devContainer.devIOCard.writeBitState(0, 0, false);
                                        });
                                    }
                                }
                            }));
                        }
                    }
                }
                task.record = curRecord;
                task.finishEvent = callBackPhotoEvent;
                devContainer.libPhoto.add(task);
                AddTextEvent(DateTime.Now,$"拍照{Thread.CurrentThread.ManagedThreadId}", $"Dev={devIndex},图像{scanPhoto.photoIndex},已加入图像处理队列");
            }

        }
        private void callBackPhotoEvent(Device.PhotoLib.PhotoTask task)
        { 
            int errStep = 0;
            Records curRecord = task.record;
            ScanPhotoInfo scanPhotos0 = task.scanPhotos0 as ScanPhotoInfo;
            ScanPhotoInfo scanPhotos1 = task.scanPhotos1 as ScanPhotoInfo;
            Stopwatch stopWatch = new Stopwatch();

            AddTextEvent(DateTime.Now,$"图像处理{Thread.CurrentThread.ManagedThreadId}", $"图像{scanPhotos0.photoIndex}，ThreadId={Thread.CurrentThread.ManagedThreadId}");
            string time = "";
            stopWatch.Start(); 
            try
            {
                if (scanPhotos0.mat.Height != scanPhotos1.mat.Height)
                {
                    AddTextEvent(DateTime.Now,$"警告{Thread.CurrentThread.ManagedThreadId}", $"两相机采集图高度不一致({scanPhotos0.photoIndex}),dev1.Height={scanPhotos0.mat.Height},dev2.Height={scanPhotos1.mat.Height},重新resize...", WarningEnum.Low);
                    if (scanPhotos0.mat.Height > scanPhotos1.mat.Height)
                        scanPhotos1.mat = OpenCVUtil.resize(scanPhotos1.mat, scanPhotos0.mat.Width, scanPhotos0.mat.Height);
                    else
                        scanPhotos0.mat = OpenCVUtil.resize(scanPhotos0.mat, scanPhotos1.mat.Width, scanPhotos1.mat.Height);
                }
                //saveMatTest(scanPhotos0.mat, 1);
                //saveMatTest(scanPhotos1.mat, 2); 
                //反转+相机索引调换
                Mat mat0 = scanPhotos1.mat;
                Mat mat1 = scanPhotos0.mat;
                if (Config.ScannerReversalX)
                {
                    Cv2.Flip(mat0, mat0, FlipMode.X);
                    errStep = 1;
                    Cv2.Flip(mat1, mat1, FlipMode.X);
                    time += $"X翻转({stopWatch.ElapsedMilliseconds})";
                }
                if (Config.ScannerReversalY)
                { 
                    Cv2.Flip(mat0, mat0, FlipMode.Y);
                    errStep = 2;
                    Cv2.Flip(mat1, mat1, FlipMode.Y);
                    time += $"Y翻转({stopWatch.ElapsedMilliseconds})";
                }
                firstTest = false;
                //记录resize大小  
                //var resize = new System.Drawing.Size(mat0.Width * 2, mat0.Height);
                int resizeWidth = devContainer.libDefect.GetWidthForResize(mat0.Width+ mat1.Width - Config.MiddleSuperposition);
                if (resizeWidth == 0)
                    throw new Exception("GetWidthForResize result 0 失败!");
                var resize = new System.Drawing.Size(resizeWidth, 4096);//固定8192*2张*4096
                //裁边，两侧和中间重合部分 
                if (Config.MiddleSuperposition > 0)//中间重合部分
                { 
                    errStep = 3;
                    int width = mat0.Width - Config.MiddleSuperposition;
                    mat0 = OpenCVUtil.cutImage(mat0, 0, 0, width, mat0.Height);
                    time += $"->图1去重({stopWatch.ElapsedMilliseconds})";
                }
                AddTextEvent(DateTime.Now,$"裁边{Thread.CurrentThread.ManagedThreadId}", 
                    $"(图像{scanPhotos0.photoIndex})-左图去重后：{mat0.Width}*{mat0.Height}，右图：{mat1.Width}*{mat1.Height}，" +
                    $"重复值：{Config.MiddleSuperposition}，孔洞：{Config.MarginHoleWidth},cm2px：{Config.cm2px_x},resizeWidth：{resizeWidth}");
                errStep = 4;
                //mat0 = OpenCVUtil.getMaxInsetRect(mat0); 
                int marginWidth0, marginWidth1;
                mat0 = OpenCVUtil.getMaxInsetRect2(mat0, true, Config.MarginHoleWidth,out marginWidth0);
                //AddTextEvent(DateTime.Now,"裁边", $"(图像{scanPhotos0.photoIndex})-图0裁边后：{mat0.Width}*{mat0.Height}");
                errStep = 5;
                time += $"->图1裁边({stopWatch.ElapsedMilliseconds})";
                //mat1 = OpenCVUtil.getMaxInsetRect(mat1);
                mat1 = OpenCVUtil.getMaxInsetRect2(mat1,false, Config.MarginHoleWidth, out marginWidth1);
                //AddTextEvent(DateTime.Now,"裁边", $"(图像{scanPhotos0.photoIndex})-图1裁边后：{mat1.Width}*{mat1.Height}");
                errStep = 6;
                time += $"->图2裁边({stopWatch.ElapsedMilliseconds})";
                //水平合并l
                Mat mat = OpenCVUtil.mergeImage_sameSize(new Mat[] { mat0, mat1 });//这里相机反装，左右反转下
                AddTextEvent(DateTime.Now,$"裁边{Thread.CurrentThread.ManagedThreadId}", $"(图像{scanPhotos0.photoIndex})-边缘宽度:(左图)={marginWidth0},(右图)={marginWidth1}; 裁边去孔洞后:({mat0.Width}+{mat1.Width}={mat0.Width+ mat1.Width});合并后(去孔洞)：{mat.Width}*{mat.Height}");
                float widthRatio = mat.Width * 1.0f / resize.Width;//宽度比例
                time += $"->图1+2合并({stopWatch.ElapsedMilliseconds})";

                //门幅更新（含两侧孔洞）x,y cm
                float faceWidthX_cm = (float)Math.Round((scanPhotos0.photoIndex+1) * mat.Height * 1.0f / Config.cm2px_y,2);
                float faceWidthY_cm = (float)Math.Round((mat.Width + Config.MarginHoleWidth * 2) * 1.0f / Config.cm2px_x, 2);
                faceWidthX_cm = (float)Math.Round(faceWidthX_cm, 2);
                faceWidthY_cm = (float)Math.Round(faceWidthY_cm, 2);
                if (curRecord.FaceWidthMin==0 || curRecord.FaceWidthMin > faceWidthY_cm) 
                    curRecord.FaceWidthMin = faceWidthY_cm;
                if (curRecord.FaceWidthMax < faceWidthY_cm) 
                    curRecord.FaceWidthMax = faceWidthY_cm;
                var point = new float[] { faceWidthX_cm, faceWidthY_cm };// new System.Drawing.PointF(faceWidthX_cm, faceWidthY_cm);
                AddTextEvent(DateTime.Now,$"门幅{Thread.CurrentThread.ManagedThreadId}", $"(图像{scanPhotos0.photoIndex})-({scanPhotos0.photoIndex})位置：{point[0]}; 幅宽：{point[1]}");
                curRecord.FacePointList.Add(point);
                reDrawFaceWidth(curRecord.FacePointList,
                    new double[] { 0, Math.Round(point[0] + 0.005f, 2) },
                    new double[] { curRecord.FaceWidthMin, Math.Round(curRecord.FaceWidthMax + 0.005f, 2) });
                errStep = 7;
                time += $"->门幅刷新({stopWatch.ElapsedMilliseconds})";
                //去除两侧孔洞（门幅计算时不能去除）
                //if (Config.MarginHoleWidth > 0) 
                //    mat = OpenCVUtil.cutImage(mat, Config.MarginHoleWidth, 0, mat.Width - Config.MarginHoleWidth * 2, mat.Height); 
                 
                //计算速度 
                double lenMi = Math.Round(faceWidthX_cm / 100, 2);
                curRecord.Len = lenMi;
                curRecord.TimeLen= pStopWatch.ElapsedMilliseconds / 1000.0d / 60.0d;//总时间 分
                this.BeginInvoke(new System.Action(() =>
                {
                    this.lblLen.Text = $"{lenMi}米";
                    this.lblLen.Tag = faceWidthX_cm;
                    this.lblSpeed.Text = $"速度：{Math.Round(lenMi / curRecord.TimeLen, 2)}米/分";
                }));
                //
                errStep = 9;
                time += $"->速度刷新({stopWatch.ElapsedMilliseconds})";
                //----缺陷队列
                mat = OpenCVUtil.resize(mat, resize.Width, resize.Height);
                AddTextEvent(DateTime.Now,$"图像处理{Thread.CurrentThread.ManagedThreadId}", $"(图像{scanPhotos0.photoIndex})-合成图resize后:{mat.Width}*{mat.Height}");
                devContainer.libDefect.add(new Device.DefectLib.DefectTask()
                {
                    modelName= curRecord.ProductInfo.ModelName,
                    record = curRecord,
                    bmp = mat,
                    bmpTag = mat.Clone(),
                    photoIndex = scanPhotos0.photoIndex,//0-n 首张必需为0，因下面计算长度是从0开始
                    widthRatio = widthRatio,
                    qualifiedLimitList = curRecord.ProductInfo.QualifiedLimitList,
                    finishEvent = callBackDefectEvent,
                });
                errStep = 10;
                time += $"->加入瑕疵待检队列({stopWatch.ElapsedMilliseconds})";
            }
            catch (Exception ex)
            {
                curRecord.ScannerPhotoFinishCount++;//失败时不能因数量不一致无法保存
                AddTextEvent(DateTime.Now,$"图像处理{Thread.CurrentThread.ManagedThreadId}", $"异常({errStep})：(图像{scanPhotos0.photoIndex})-{ex.Message}", WarningEnum.High);
                string dirPath = FileUtil.initFolder($"{Config.ImagePath}{curRecord.BatchId}_{curRecord.ReelId}\\Err\\");
                OpenCvSharp.Extensions.BitmapConverter.ToBitmap(scanPhotos0.mat).Save($"{dirPath}{scanPhotos0.photoIndex}_0_Step{errStep}.bmp", ImageFormat.Bmp);
                OpenCvSharp.Extensions.BitmapConverter.ToBitmap(scanPhotos1.mat).Save($"{dirPath}{scanPhotos1.photoIndex}_1_Step{errStep}.bmp", ImageFormat.Bmp);
            }
            finally
            {
                AddTextEvent(DateTime.Now,$"图像处理{Thread.CurrentThread.ManagedThreadId}", $"(图像{scanPhotos0.photoIndex})-进度计时:{time}");
                scanPhotos0.mat.Dispose();
                scanPhotos1.mat.Dispose();
                scanPhotos0 = scanPhotos1 = null;
                task = null;
                System.GC.Collect();
            }
        }
        private void callBackDefectEvent(Device.DefectLib.DefectTask res)
        {
            {
                int step = 0;
                try
                {
                    AddTextEvent(DateTime.Now,$"检测完成{Thread.CurrentThread.ManagedThreadId}", $"图像队列:{res.record.ScannerPhotoFinishCount+1}/{res.record.ScannerPhotoCount} (图像{res.photoIndex})检测结果:{res.isSucceed}");
                    string dirPath = FileUtil.initFolder($"{Config.ImagePath}{res.record.BatchId}_{res.record.ReelId}\\");
                    string dirSourcePath = FileUtil.initFolder($"{Config.ImagePath}{res.record.BatchId}_{res.record.ReelId}\\源图\\");
                    //Cv2.Flip(res.bmp, res.bmp, FlipMode.XY);//翻转
                    if (Config.IsSaveAllImage)//保存所有原图 
                        OpenCvSharp.Extensions.BitmapConverter.ToBitmap(res.bmp).Save($"{dirSourcePath}{res.photoIndex}.bmp", ImageFormat.Bmp);
                
                    if (res.isSucceed)
                    {
                        step = 1;
                        AddTextEvent(DateTime.Now,$"检测完成{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测完成，共{res.excelTable.Rows.Count}个瑕疵！各环节用时:{string.Join(",",res.stopwatch)}");
                        //AddTextEvent(DateTime.Now,$"打标完成", $"第 ({res.tag}) 张照片，计算过程：{res.resultInfo}");
                        if (!Config.IsSaveAllImage && Config.IsSaveDefectSourceImage)
                            OpenCvSharp.Extensions.BitmapConverter.ToBitmap(res.bmp).Save($"{dirSourcePath}{res.photoIndex}.bmp", ImageFormat.Bmp);

                        step = 2;
                        if (res.excelTable.Rows.Count > 0)
                        {
                            res.record.dicPhoto_Defect[res.photoIndex] = true;//改为此图有瑕疵
                            //有瑕疵打标图必需保存 Jpeg
                            OpenCvSharp.Extensions.BitmapConverter.ToBitmap(res.bmpTag).Save($"{dirPath}{res.photoIndex}_tag.jpg", ImageFormat.Jpeg);
                            step = 3;
                            res.record.DefectTotalCount += res.excelTable.Rows.Count;
                            if (res.record.DefectInfoList == null)
                                res.record.DefectInfoList = new List<DefectInfo>();

                            step = 4;
                            JObject defectNameInfo;
                            DefectInfo defectInfo=null;
                            List<object[]> dataRowlist=new List<object[]>();
                            long preTicks = pStopWatch.ElapsedMilliseconds;// DateTime.Now.Ticks;
                            for (int i = 0; i < res.lstDefectBmp.Count; i++)
                            {
                                step = 5 + i * 10;
                                defectNameInfo = Config.getDefectItem(int.Parse(res.excelTable.Rows[i]["类别"].ToString()));

                                defectInfo = new DefectInfo
                                {
                                    PhotoIndex = res.photoIndex,
                                    Code = defectNameInfo.Value<string>("code"),
                                    Name = defectNameInfo.Value<string>("name"),
                                    X = double.Parse(res.excelTable.Rows[i]["X"].ToString()),//cm
                                    Y = Math.Round((res.photoIndex * res.bmp.Height * 1.0d / Config.cm2px_y + double.Parse(res.excelTable.Rows[i]["Y"].ToString())), 2),//cm
                                    Width = double.Parse(res.excelTable.Rows[i]["W"].ToString()),//cm
                                    Height = double.Parse(res.excelTable.Rows[i]["H"].ToString()),//cm
                                    ZXD = double.Parse(res.excelTable.Rows[i]["置信度"].ToString()),
                                    Contrast = double.Parse(res.excelTable.Rows[i]["对比度"].ToString()),
                                    Target = int.Parse(res.excelTable.Rows[i]["目标"].ToString()),
                                    image = BitmapConverter.ToBitmap(res.lstDefectBmp[i])
                                };
                                defectInfo.ModifyUserCode = defectInfo.CreateUserCode = res.record.CreateUserCode;
                                step = 6 + i * 10;
                                res.record.DefectInfoList.Add(defectInfo);
                                defectInfo.uid = preTicks++;// res.record.DefectInfoList.Count;//程序中的唯一索引，用于移除用索引  
                                //AddTextEvent(DateTime.Now,$"打标完成", $"第{i}个缺陷：{ JsonConvert.SerializeObject(defectInfo)};  Y={res.photoIndex * res.bmp.Height * 1.0d / Config.cm2px_y}+{res.excelTable.Rows[i]["Y"].ToString()}");
                                step = 7 + i * 10;
                                //保存打标小图 
                                if (Config.IsSaveDefectCutImage)
                                {
                                    string filename = $"{dirPath}\\{res.photoIndex}_X{defectInfo.X}_Y{defectInfo.Y}_W{defectInfo.Width}_H{defectInfo.Height}_目标{defectInfo.Target}_类别{defectInfo.Code}_置信度{defectInfo.ZXD}.jpg";
                                    OpenCvSharp.Extensions.BitmapConverter.ToBitmap(res.lstDefectBmp[i]).Save(filename, ImageFormat.Jpeg);
                                    defectInfo.TagFilePath = filename;
                                }
                                step = 8 + i * 10;

                                res.lstDefectBmp[i].Dispose();
                                dataRowlist.Add(new object[]{ defectInfo.uid,defectInfo.Code,  defectInfo.PhotoIndex,defectInfo.Name,
                                        defectInfo.CentreX, defectInfo.CentreY / 100,defectInfo.Width,defectInfo.Height, defectInfo.Area, defectInfo.ZXD, defectInfo.Contrast});
                                //更新UI
                                //this.Invoke(new System.Action(() =>
                                //{
                                //    this.uiDataGridView1.Rows.Insert(0, );
                                //    this.uiMiniPagination1.TotalCount = res.record.DefectInfoList.Count;

                                //    if (this.uiDataGridView1.Rows.Count == 1)
                                //        this.picDefectImage.loadImage(defectInfo.image);
                                //}));
                                step = 9 + i * 10;
                                //告警判断？？？在此还是在收到新照片时触发？？？
                                if (res.record.ProductInfo.DefectAreaLimit > 0 && defectInfo.Area>=res.record.ProductInfo.DefectAreaLimit)
                                {
                                    AddTextEvent(DateTime.Now,$"告警{Thread.CurrentThread.ManagedThreadId}", $"瑕疵面积达到阈值!({defectInfo.Area}>={res.record.ProductInfo.DefectAreaLimit})", WarningEnum.High);
                                }
                            }
                            AddTextEvent(DateTime.Now,$"检测完成{Thread.CurrentThread.ManagedThreadId}", "更新UI");
                            //更新UI
                            int bmpHeight = res.bmp.Height;
                            this.BeginInvoke(new System.Action(() =>
                            {
                                //这里显示了第1张图的最后一个缺陷
                                if (this.uiDataGridView1.Rows.Count == 0 && defectInfo!=null)
                                    this.picDefectImage.loadImage(defectInfo.image);

                                foreach (var rowItem in dataRowlist) 
                                    this.uiDataGridView1.Rows.Insert(0, rowItem); 
                                this.uiMiniPagination1.TotalCount = res.record.DefectInfoList.Count; 

                                //
                                double len = Math.Round((res.photoIndex + 1) * bmpHeight * 1.0d / Config.cm2px_y+0.005f, 2);
                                this.reDrawDefectPoints(res.record.DefectInfoList,  new double[] { 0, Math.Round(res.record.FaceWidthMax+ 0.005f, 2) }, new double[] { 0, len }); 
                            }));
                            step = 9;
                            AddTextEvent(DateTime.Now,$"检测完成{Thread.CurrentThread.ManagedThreadId}", "保存CSV");
                            //保存CSV
                            bool b = Utils.ExcelUtil.DataTable2CSV($"{dirPath}{res.photoIndex}.csv", res.excelTable);
                            //AddTextEvent(DateTime.Now,$"打标完成", $"{res.tag}.xlsx {(b ? "保存成功！" : "保存失败!")}"); 
                            step = 10;

                            //每百米告警判断？？？在此还是在收到新照片时触发？？？
                            if (res.record.ProductInfo.DefectCountLimit > 0 && res.record.DefectTotalCount >= res.record.ProductInfo.DefectCountLimit)
                            {
                                int compLen = 100 * 100;//每百米 to cm
                                int compCount = compLen * Config.cm2px_y / res.bmp.Height;
                                //从上次告警后重新开始计算长度及数量
                                int defectCount = res.record.DefectInfoList.Where(m => m.PhotoIndex >= res.record.preWarningPhotoIndex && m.PhotoIndex >= res.photoIndex+1 - compCount).Count();
                                if (defectCount >= res.record.ProductInfo.DefectCountLimit)
                                {
                                    res.record.preWarningPhotoIndex = res.photoIndex + 1;
                                    AddTextEvent(DateTime.Now,$"告警{Thread.CurrentThread.ManagedThreadId}", $"每百米瑕疵数量达到阈值!({defectCount}>={res.record.ProductInfo.DefectCountLimit})", WarningEnum.High);
                                }
                            }
                        }

                    }
                    else
                    {
                        AddTextEvent(DateTime.Now,$"打标失败{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测失败！TId={Thread.CurrentThread.ManagedThreadId}");
                    }
                    res.bmp.Dispose();
                    res.bmpTag.Dispose();
                    res.bmps_cut = null;
                    res.excelTable.Dispose();
                }
                catch (Exception ex)
                {
                    AddTextEvent(DateTime.Now,$"打标失败{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测异常({step}):{ex.Message}，TId={Thread.CurrentThread.ManagedThreadId}");
                }
                finally
                {
                    res.record.ScannerPhotoFinishCount++;
                    int liScannerPhotoFinishCount = res.record.ScannerPhotoFinishCount;
                    int liScannerPhotoCount = res.record.ScannerPhotoCount;
                    AddTextEvent(DateTime.Now,$"检测完成{Thread.CurrentThread.ManagedThreadId}", $"{liScannerPhotoFinishCount}/{liScannerPhotoCount}");
                    //this.BeginInvoke(new System.Action(() =>
                    //{
                    //    this.lblWaitImageCount.Text = $"{liScannerPhotoCount - liScannerPhotoFinishCount}"; 
                    //}));
                    res = null;
                    System.GC.Collect();
                }
            }
        }

        private bool _isDefect = false;
        private async void saveCurrRecord(int key, string batchId, string reelId, double erpLen)
        {
            Records model=null;
            int step = 0;
            try
            {
                _isDefect = true;
                AddTextEvent(DateTime.Now,"入库", $"准备入库key={key}");
                //foreach (int itemKey in htTask.Keys) 
                //    AddTextEvent(DateTime.Now,"入库", $"htTask {itemKey}");
      
                step = 1;
                model = Hashtable.Synchronized(htTask)[key] as Records;
                //model = htTask[key] as Records;
                step = 2;
                if (model.Len == 0)
                {
                    _isDefect = false;
                    return;
                }

                model.BatchId = batchId;
                model.ReelId = reelId;
                model.ErpLen = erpLen;
                while (model.ScannerPhotoCount > model.ScannerPhotoFinishCount)
                    await Task.Delay(100);
                step = 3;
                //计算等级标准
                List<GradeLimit> gradeLimitList = model.ProductInfo.GradeLimitList;
                if (gradeLimitList!=null && gradeLimitList.Count > 0)
                {
                    step = 4;  
                    int count;
                    foreach(GradeLimit item in gradeLimitList)
                    {
                        count = model.DefectInfoList.Where(m => m.Code == item.Code).Count();
                        if (count <= item.A && model.Grade <= 1) model.Grade = 1;
                        else if (count <= item.B && item.B > 0 && model.Grade <= 2) model.Grade = 2;
                        else if (count <= item.C && item.C > 0 && model.Grade <= 3) model.Grade = 3;
                        else if (count <= item.D && item.D > 0 && model.Grade <= 4) model.Grade = 4;
                        else if (count <= item.E && item.E > 0 && model.Grade <= 5) model.Grade = 5;
                        else if (count>0) model.Grade = 6;//不合格
                        AddTextEvent(DateTime.Now,"标准判断", $"({key}) 批号({model.BatchId})，标准={(char)(model.Grade + 64)} [{item.Code}:{count};A<={item.A};B<={item.B};C<={item.C};D<={item.D};E<={item.E}]");
                    } 
                    step = 5;
                }
                model.Qualified = (model.Grade < 6);//是否合格
                if (!svcRecord.InsertNav(model))
                    throw new Exception("写库失败！");
                AddTextEvent(DateTime.Now,"入库完成", $"({key}) 批号({model.BatchId})已完成检测。");
                htTask.Remove(key);
                _isDefect = false;
            }
            catch (Exception ex)
            {
                _isDefect = false;
                if (model==null) AddTextEvent(DateTime.Now,"入库失败", $"记录({key})不存在{step}！" + ex.Message, WarningEnum.High);
                else AddTextEvent(DateTime.Now,"入库失败", $"({key}) 批号({model.BatchId})检测完成,但保存检测记录失败{step}:" + ex.Message, WarningEnum.High);
                warning(WarningEnum.High, true);//暂停
            }
        }
     
        //停机
        private void btnClose_Click(object sender, EventArgs e)
        {
            if (currentState == CurrentStateEnum.运行中)
            {
                UIMessageTip.ShowWarning("请先结束或暂停设备运行后再停机！", 2000);
                return;
            }
            if(_isDefect)
            {
                UIMessageTip.ShowWarning("还在检测处理中，等待完成再停机！", 2000);
                return;
            }
            AddTextEvent(DateTime.Now,"停机", "停机中...");
            this.btnStart.Enabled =  this.btnEnd.Enabled = this.btnPause.Enabled = false;
            this.btnClose.Enabled = false;
            this.btnOpen.Enabled = true; 
            tcbarLightValue.Enabled = false;

            if (devContainer.state && devContainer.devIOCard.IsInit)
            {
                devContainer.devIOCard.reset();
                devContainer.io_output(CMDName.IO默认输出);
            } 
            devContainer.stop(); 
            currentState = CurrentStateEnum.初始;//应该是待机
            this.resetUIValue();
            AddTextEvent(DateTime.Now,"停机", "停机完成。");
        }
        //启动
        private void btnStart_Click(object sender, EventArgs e)
        {
            AddTextEvent(DateTime.Now,"启动", "下发启动指令...");
            if (!Config.StopPLC)
                this.devContainer.devPlc.runDev();
            else if (!Config.StopIO && devContainer.devIOCard.IsInit)
            {
                if (!compareIOInput(CMDName.暂停按钮))//硬件急停
                { 
                    this.devContainer.devIOCard.writeBitState(0, 0, true); 
                    this.startCommand();
                    Task.Run(async () =>
                    {
                        await Task.Delay(500);
                        this.devContainer.devIOCard.writeBitState(0, 0, false); 
                    });
                }
            }
        }
        private void btnPause_Click(object sender, EventArgs e)
        {
            AddTextEvent(DateTime.Now,"暂停", "下发暂停指令...");
            if (!Config.StopPLC)
                this.devContainer.devPlc.pauseDev();
            else if (!Config.StopIO && devContainer.devIOCard.IsInit)
            {
                //if (!compareIOInput(CMDName.暂停按钮)) 
                this.devContainer.devIOCard.writeBitState(0, 1, true);
                this.pauseCommand();//输出暂停不会触发输入暂停
                Task.Run(async () =>
                {
                    await Task.Delay(500);
                    this.devContainer.devIOCard.writeBitState(0, 1, false);
                });
            } 
        }
        private void startCommand()
        {
            if (!devContainer.state || currentState == CurrentStateEnum.运行中)
                return;
            if (devContainer.devIOCard.IsInit)
            {
                //devContainer.io_output(CMDName.启动按钮);
                devContainer.io_output(CMDName.绿灯输出);
                devContainer.io_output(CMDName.黄灯输出, false, true, 0);
                devContainer.io_output(CMDName.红灯输出, false, true, 0);
                devContainer.io_output(CMDName.蜂鸣器输出, false, true, 0);
                //devContainer.io_output(CMDName.暂停按钮, false, true, 0);
                //devContainer.io_output(CMDName.黄灯输出, false, true, 0);
            }
            //运行中和暂停时都可正常接收扫描器触发新卷
            //暂停-》继续
            if (currentState == CurrentStateEnum.暂停)
            {
                AddTextEvent(DateTime.Now,"启动", $"暂停 -> 继续");
                currentState = CurrentStateEnum.运行中;
                Task.Run(() =>
                {
                    if (currKey > 0)
                        pStopWatch.Start();
                    //写I/O启动。。。
                    //继续读取编译器和门幅等
                    //int nextStepId = currProcessIndex;
                    //do
                    //{
                    //    currentState = CurrentStateEnum.运行中;
                    //    nextStepId = nextProcess(currProductModel, nextStepId);
                    //} while (nextStepId >= 0 && !isBreakProcessRun());
                });
            }
            else//首次开始/结束后重新开始
            {
                //校正从复位-》运行，不会新启动
                resetUIValue();
                AddTextEvent(DateTime.Now,"启动", "等待扫码...");
                currentState = CurrentStateEnum.运行中;
            }

            this.Invoke(new System.Action(() =>
            {
                this.btnStart.Enabled = false;
                this.btnEnd.Enabled = this.btnPause.Enabled = true;
            }));
        }
        private void pauseCommand(bool buzzer = false)
        {
            if(!devContainer.state || currentState != CurrentStateEnum.运行中) 
                return;
            //写IO
            if (devContainer.devIOCard.IsInit)
            { 
                devContainer.io_output(CMDName.绿灯输出, false, true, 0);
                if (buzzer)
                {
                    devContainer.io_output(CMDName.红灯输出);
                    devContainer.io_output(CMDName.蜂鸣器输出);
                }
                else 
                    devContainer.io_output(CMDName.黄灯输出);
                //devContainer.io_output(CMDName.暂停按钮, false, true, 0);
                //devContainer.io_output(CMDName.黄灯输出, false, true, 0);
            }
            //停止读取
            //AddTextEvent(DateTime.Now,"暂停", "暂停！");
            pStopWatch.Stop();
            currentState = CurrentStateEnum.暂停;

            this.Invoke(new System.Action(() =>
            {
                this.btnStart.Enabled = this.btnEnd.Enabled = true;
                 this.btnPause.Enabled = false;
            }));
        }
        //完成
        private void btnEnd_Click(object sender, EventArgs e)
        {
            AddTextEvent(DateTime.Now,"结束验布", "结束验布！");
            if (!Config.StopPLC)
                this.devContainer.devPlc.pauseDev();
            else if (!Config.StopIO)
            {
                this.devContainer.devIOCard.writeBitState(0, 1, true); 
                Task.Run(async () =>
                {
                    await Task.Delay(500);
                    this.devContainer.devIOCard.writeBitState(0, 1, false);
                });
            }
            currentState = CurrentStateEnum.初始;

            UILocalize.OK = "是";
            UILocalize.Cancel = "否";
            if (currKey > 0 && ShowAskDialog("提示", "是否保存当前检测结果？"))
            {
                string szBatchId, szReelId;
                double ldErpLen;
                szBatchId = txtBatchId.Text.Trim();
                szReelId = txtReelId.Text.Trim();
                ldErpLen = numErpLen.IsEmpty ? 0 : Convert.ToDouble(numErpLen.Text.Trim());

                int myKey = currKey;
                Task.Run(() => { saveCurrRecord(myKey, szBatchId, szReelId, ldErpLen); });
                resetUIValue();

                pStopWatch.Stop();
                this.btnStart.Enabled = true;
                this.btnEnd.Enabled = this.btnPause.Enabled = false;//这里有问题，应该是devPlc回调设置
            }
        }
        private void lstboxLog_DrawItem(object sender, DrawItemEventArgs e)
        { 
            if (e.Index < 0) return;
            string text = lstboxLog.GetItemText(e.Index);
            //if (text.Contains("D"))
            //{
            //    e.Graphics.FillRectangle(UIColor.Green, e.Bounds);
            //    e.Graphics.DrawString(text, e.Font, Color.Blue, e.Bounds, ContentAlignment.MiddleLeft);
            //}
            //e.Graphics.FillRectangle(UIColor.Green, e.Bounds); 
            switch (text[0])
            {
                case 'R':
                    e.DrawBackground();
                    e.Graphics.DrawString(text.Substring(1), e.Font, Color.Red, e.Bounds, ContentAlignment.MiddleLeft);
                    break;
                case 'Y':
                    e.DrawBackground();
                    e.Graphics.DrawString(text.Substring(1), e.Font, Color.Orange, e.Bounds, ContentAlignment.MiddleLeft);
                    break;
                //default: //B
                //    e.Graphics.DrawString(text.Substring(1), e.Font, Color.Black, e.Bounds, ContentAlignment.MiddleLeft);
                //    break;
            }
        }

        private void txtBarCode_KeyDown(object sender, KeyEventArgs e)
        {
            if(e.KeyCode == Keys.Enter)
            {
                string barcode=txtBarCode.Text.Trim();
                if (barcode == "") 
                    return;
                if (currentState != CurrentStateEnum.运行中 && currentState != CurrentStateEnum.暂停) 
                    return;

                devContainer.devCodeScanner.ScanerEvent?.Invoke(barcode); 
            }
        }

        private void showImg(  Mat mat)
        {
            //把Mat格式的图片转换成Bitmap
            Bitmap bitmap = BitmapConverter.ToBitmap(mat);
            this.Invoke(new System.Action(() =>
            {
                //显示图片
                //picDefectImage.loadImage(bitmap);
                this.picScanner1.Image = bitmap;
            }));
            
        }

        private void uiSymbolButton1_Click(object sender, EventArgs e)
        {
            try
            { 
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        int mynum = 0;
        private void uiSymbolButton1_Click_1(object sender, EventArgs e)
        {
            //UIMessageTip.ShowOk($"{record.Len},{record.ScannerPhotoCount-record.ScannerPhotoFinishCount}", 1500);
            //return;
            try
            {
                //    mynum++;
                //    int FaceWidth = 200;
                //    float faceWidthX_cm = (float)(mynum * 100 * 1.0f / Config.cm2px_y  );
                //    float faceWidthY_cm = (float)(200 * 1.0f / Config.cm2px_y );
                //    var point = new System.Drawing.PointF(faceWidthX_cm, faceWidthY_cm);
                //    AddTextEvent(DateTime.Now,"门幅", $"位置：{point.X}; 幅宽：{point.Y}");
                //    lstFaceWidth.Add(point);
                //    reDrawFaceWidth(lstFaceWidth, new double[] { 0, point.X }, new double[] { faceWidthY_cm, faceWidthY_cm });


                //    //Mat mat = new Mat(Application.StartupPath + "\\1.bmp");
                //    //devContainer.devScannerGentl1.ScanEvent(1, mat, 1);

                //    //---------------------
                //    if (record == null)
                //    {
                //        record = new Records();
                //        record.DefectInfoList = new List<DefectInfo>();
                //        record.DefectInfoList.Add(new DefectInfo() { Code = "jb", Name = "浆斑", X = 20, Y = 2, Width = 2, Height = 2 });
                //        record.DefectInfoList.Add(new DefectInfo() { Code = "jb", Name = "浆斑", X = 20, Y = 5, Width = 2, Height = 2 });
                //        record.DefectInfoList.Add(new DefectInfo() { Code = "wy", Name = "污印", X = 50, Y = 2, Width = 4, Height = 4 });
                //        record.DefectInfoList.Add(new DefectInfo() { Code = "lj", Name = "垃圾", X = 60, Y = 5, Width = 2, Height = 2 });
                //        reDrawDefectPoints(record.DefectInfoList, new double[2] { 0, 10 }, new double[2] { 0, 100 });
                //        foreach (DefectInfo info in record.DefectInfoList)
                //        {
                //            this.uiDataGridView1.Rows.Add(info.Code, info.Name,
                //                              info.CentreX, info.CentreY, info.Area, info.ZXD, info.Target);
                //        }
                //    }

            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }         

        private void tcbarLightValue_ValueChanged(object sender, EventArgs e)
        {
            if (devContainer.state)
            {
                //bool b1 = devContainer.devScannerGentl1.setParam((float)tcbarExposureTime.Value);
                //bool b2= devContainer.devScannerGentl2.setParam((float)tcbarExposureTime.Value);
                // AddTextEvent(DateTime.Now,"setExposureTime", b1.ToString());
                // AddTextEvent(DateTime.Now,"setExposureTime", b2.ToString());

                var res=devContainer.devLight.setDigitalValue(1, (int)tcbarLightValue.Value);
                //UIMessageTip.ShowOk($"{(int)tcbarLightValue.Value}/255 var={res} {Config.Light_Name}", 1000);
                //tpnlLight.Text = this.tpnlLight.Tag + $" ({(int)tcbarLightValue.Value}/255)";
            }
        }

        private void swcDefectPauseForUser_ValueChanged(object sender, bool value)
        {
            this.defectPauseForUser = this.swcDefectPauseForUser.Active;
        }

        private void button1_Click(object sender, EventArgs e)
        {
            Config.LoadAllConfig();
            DefectLib dl = new DefectLib();
            dl.start();
            string[] files = Directory.GetFiles("E:\\CPL\\个人\\gePic", $"*.bmp", SearchOption.TopDirectoryOnly);
            List<QualifiedLimit> list = new List<QualifiedLimit>();

            list.Add(new QualifiedLimit() { Code = "jb",ZXD = 0.6, Area = 0.04, ContrastLower = 0.98, ContrastTop = 1.02});
            list.Add(new QualifiedLimit() { Code = "wy", ZXD = 0.6, Area = 0.09, ContrastLower = 0.93, ContrastTop = 1.07 });
            list.Add(new QualifiedLimit() { Code = "mj", ZXD = 0.6, Area = 0.04, ContrastLower = 0.96, ContrastTop = 1.04 });
            list.Add(new QualifiedLimit() { Code = "hy", ZXD = 0.67, Area = 0.09, ContrastLower = 0.94, ContrastTop = 1.06 });
            list.Add(new QualifiedLimit() { Code = "lj", ZXD = 0.7, Area = 0.08, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "yss", ZXD = 0.5, Area = 0.04, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "zy", ZXD = 0.8, Area = 2, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "wc", ZXD = 0.6, Area = 0.05, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "cs", ZXD = 0.8, Area = 2, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "cy", ZXD = 1, Area = 0.0, ContrastLower = 0.0, ContrastTop = 0 });
            list.Add(new QualifiedLimit() { Code = "tcy", ZXD = 0.5, Area = 0.0, ContrastLower = 0.99, ContrastTop = 1.01 });
            list.Add(new QualifiedLimit() { Code = "jt", ZXD = 1, Area = 0.0, ContrastLower = 0.0, ContrastTop = 0 });
            for (int i = 0; i < files.Count(); i++)
            {
                Mat mat = new Mat(files[i]);
                dl.add(new Device.DefectLib.DefectTask()
                {
                    modelName = "best_0116_bs14.fp16.trt",
                    //record = curRecord,
                    bmp = mat.Clone(),
                    bmpTag = mat.Clone(),
                    photoIndex = i,//0-n 首张必需为0，因下面计算长度是从0开始
                    widthRatio = 1,
                    qualifiedLimitList = list,
                    finishEvent = callBackDefectTestEvent,
                });
            }
            string s = DateTime.Now.Ticks.ToString() + "-";
            Thread.Sleep(1);

             s += DateTime.Now.Ticks.ToString() + "-";
            MessageBox.Show(s);
            // 创建SqlSugarClient实例并配置连接字符串
            //var db = new SqlSugarClient(new ConnectionConfig()
            //{
            //    // 设置数据库类型为SQLServer
            //    DbType = SqlSugar.DbType.SqlServer,

            //    // 设置服务器地址、数据库名称以及登录信息等
            //    ConnectionString = "Data Source=.;Initial Catalog=testDB;User ID=sa;Password=abc123!@#;"
            //});

            //// 可选：打开调试日志输出
            //db.Ado.IsEnableLogEvent = true;

            //// 查询操作示例 
            //if (!db.Ado.IsValidConnection())
            //    db.Ado.Open();
            //string sql = "select * from t2";
            //List<SugarParameter> parameters = new List<SugarParameter>();
            //var res= db.Ado.GetDataTable(sql, parameters);
            //loadErpData("20240107492");

            return;

            string code = "SHNY-PX-6-L-100";
            string[] barCodes = code.Split(new char[] { '-' });
            if (barCodes.Length < 4)
            {
                AddTextEvent(DateTime.Now,"扫码", $"产品编码({code})格式错误，不做响应！", WarningEnum.High);
                return;
            }
            //新开始  
            //加载新产品  
            string pcode = barCodes[0] + "-" + barCodes[1] + "-" + barCodes[2];
            var productInfo = svcProduct.GetModelNav(pcode); //frmProduct.loadProduct(code);
            if (productInfo == null)
            {
                AddTextEvent(DateTime.Now,"扫码", $"编码({code})不存在，请先添加产品，暂停设备！", WarningEnum.High); 
                this.BeginInvoke(new System.Action(() =>
                {
                    frmProduct.loadProduct(pcode);//转到新建编码
                }));
                return;
            }

            AddTextEvent(DateTime.Now,"扫码", $"编码({code})，加载产品信息({productInfo.Code})完成，加载配方(光源={productInfo.LightValue},曝光={productInfo.ExposureTime},增益={productInfo.Gain})...");
     
            if (productInfo.LightValue > 0)//光源 - 通道0
                devContainer.devLight.setDigitalValue(1, productInfo.LightValue); 
            if (productInfo.ExposureTime > 0 || productInfo.Gain > 0)//相机曝光 增益
            {
                devContainer.devCamer1.setParam((float)(productInfo.ExposureTime > 0 ? productInfo.ExposureTime : -1), (float)(productInfo.Gain > 0 ? productInfo.Gain : -1));
                devContainer.devCamer2.setParam((float)(productInfo.ExposureTime > 0 ? productInfo.ExposureTime : -1), (float)(productInfo.Gain > 0 ? productInfo.Gain : -1));
            } 
            AddTextEvent(DateTime.Now,"扫码", $"编码({code})，配方设置完成:光源={productInfo.LightValue},曝光={productInfo.ExposureTime}");
            //ABSCamerCardDev pDev = new CamerCardDevIK();
            //pDev.WarningEvent = (level, msg) =>
            //{
            //    AddTextEvent(DateTime.Now,"设备事件", msg, level); 
            //};
            //var b = pDev.open(0, 0);
            //MessageBox.Show(b.ToString());
            ////b = pDev.loadConfiguration(@"D:\Debug\DevCfg\wcf.vlcf");
            //b =pDev.start(this.picScanner1,"c:\\");
            //MessageBox.Show(b.ToString());

            //====
            //Mat mat0= new Mat(@"f:\2.bmp");  
            //int marginWidth0;
            //mat0 = OpenCVUtil.getMaxInsetRect2(mat0, true, 0, out marginWidth0);

            //Mat mat1 = new Mat(@"f:\1.bmp"); 
            //mat1 = OpenCVUtil.getMaxInsetRect2(mat1, false, 0, out marginWidth0);

            //lblLen.Text = "0";
            //Task.Run(async () => { 
            //    for(int i = 0; i < 100; i++)
            //    {
            //        //选中
            //        this.Invoke(new System.Action(() =>
            //        {
            //            lblLen.Text = Convert.ToInt32(lblLen.Text) + 1 + "";
            //        }));
            //        await Task.Delay(1000); 
            //    }
            //});

            //FHome_Defect frm = new FHome_Defect();
            //frm.ShowDialog();
        }

        #region 测试
        private void callBackDefectTestEvent(Device.DefectLib.DefectTask res)
        {
            {
                int step = 0;
                try
                {
                    if (res.isSucceed)
                    {
                        step = 1;
                        AddTextEvent(DateTime.Now, $"检测完成{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测完成，共{res.excelTable.Rows.Count}个瑕疵！各环节用时:{string.Join(",", res.stopwatch)}");
                        //AddTextEvent(DateTime.Now,$"打标完成", $"第 ({res.tag}) 张照片，计算过程：{res.resultInfo}");


                    }
                    else
                    {
                        AddTextEvent(DateTime.Now, $"打标失败{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测失败！TId={Thread.CurrentThread.ManagedThreadId}");
                    }
                    res.bmp.Dispose();
                    res.bmpTag.Dispose();
                    res.bmps_cut = null;
                    res.excelTable.Dispose();
                }
                catch (Exception ex)
                {
                    AddTextEvent(DateTime.Now, $"打标失败{Thread.CurrentThread.ManagedThreadId}", $"(图像{res.photoIndex})-瑕疵检测异常({step}):{ex.Message}，TId={Thread.CurrentThread.ManagedThreadId}");
                }
                finally
                {
                    res.record.ScannerPhotoFinishCount++;
                    int liScannerPhotoFinishCount = res.record.ScannerPhotoFinishCount;
                    int liScannerPhotoCount = res.record.ScannerPhotoCount;
                    AddTextEvent(DateTime.Now, $"检测完成{Thread.CurrentThread.ManagedThreadId}", $"{liScannerPhotoFinishCount}/{liScannerPhotoCount}");
                    //this.BeginInvoke(new System.Action(() =>
                    //{
                    //    this.lblWaitImageCount.Text = $"{liScannerPhotoCount - liScannerPhotoFinishCount}"; 
                    //}));
                    res = null;
                    System.GC.Collect();
                }
            }
        }
        #endregion
        private void numErpLen_ValueChanged(object sender, string value)
        {
            //numErpLen_TextChanged(sender, null);
            if (numErpLen.IsEmpty || currKey == 0) return; 
            var val = Convert.ToDouble(numErpLen.Text);
            if (val <= 0) return;
            Records record = Hashtable.Synchronized(htTask)[currKey] as Records;
            if (record != null)
                record.ErpLen = val;
        }
        private void numErpLen_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter || e.KeyCode == Keys.Tab)
            {
                if (numErpLen.IsEmpty || currKey == 0) return;
                var val = Convert.ToDouble(numErpLen.Text);
                if (val <= 0) return;
                Records record = Hashtable.Synchronized(htTask)[currKey] as Records;
                if (record != null)
                    record.ErpLen = val;
            }
        }
    }
}