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10.20PLC+相机2.3视觉修改

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17860779768
2025-08-25 16:33:58 +08:00
committed by Maikouce China
commit dca4b2afac
52 changed files with 11698 additions and 0 deletions
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Check.Main/Camera/CameraProcessor.cs Normal file
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using Check.Main.Common;
using Check.Main.Infer;
using HalconTemplateMatch;
using SkiaSharp;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing.Imaging;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using YoloDotNet.Extensions;
using OpenCvSharp;
namespace Check.Main.Camera
{
public class CameraProcessor : IDisposable
{
private readonly int _cameraIndex;
private readonly int _modeId;
// private readonly ModelSettings _model;
private readonly BlockingCollection<ImageData> _imageQueue = new BlockingCollection<ImageData>();
private readonly Thread _workerThread;
private volatile bool _isRunning = false;
private long _imageCounter = 0;
private readonly object _counterLock = new object(); // 用于线程安全地重置计数器
public event EventHandler<ProcessingCompletedEventArgs> OnProcessingCompleted;
public CameraProcessor(int cameraIndex, int modelId)//, ModelSettings model
{
_cameraIndex = cameraIndex;
_modeId = modelId;
//_model = model;
_workerThread = new Thread(ProcessQueue) { IsBackground = true, Name = $"Cam_{_cameraIndex}_Processor" };
}
public void Start()
{
_isRunning = true;
_workerThread.Start();
}
public void EnqueueImage(Bitmap bmp)
{
if (!_isRunning)
{
bmp?.Dispose();
return;
}
_imageCounter++;
_imageQueue.Add(new ImageData(_imageCounter, _cameraIndex, bmp));
}
/// <summary>
/// 图像处理主循环
/// </summary>
private void ProcessQueue()
{
//// 从模型管理器获取此线程专属的YOLO模型
//var yoloModel = YoloModelManager.GetModel(_modeId);
//if (yoloModel == null)
//{
// ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 无法获取对应的YOLO模型，处理线程已中止。");
// return; // 如果没有模型，此线程无法工作
//}
//训练阶段（相机2）
var trainer = new LogoTemplateTrainer();
trainer.TrainAndSaveTemplates(
new List<string>
{
@"D:\HalconTemplateMatch\train2\logo1.bmp",
@"D:\HalconTemplateMatch\train2\logo2.bmp",
@"D:\HalconTemplateMatch\train2\logo3.bmp"
},
@"D:\HalconTemplateMatch\model_2");
//训练阶段（相机3）9.25修改！！
trainer.TrainAndSaveTemplates(
new List<string>
{
@"D:\HalconTemplateMatch\train3\3C_1.bmp",
@"D:\HalconTemplateMatch\train3\3C_2.bmp",
@"D:\HalconTemplateMatch\train3\3C_3.bmp"
},
@"D:\HalconTemplateMatch\model_3");
if (trainer == null)
{
ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 未加载模板，处理线程已中止。");
return;
}
while (_isRunning)
{
try
{
// 阻塞式地从队列中取出图像，如果队列为空则等待
ImageData data = _imageQueue.Take();
using (data)
{
//using (var skImage = ConvertBitmapToSKImage(data.Image)) // 转换图像格式并管理其生命周期
//{
// if (skImage == null) continue;
// var predictions = yoloModel.RunObjectDetection(skImage);
// string result = predictions.Any() ? "NG" : "OK";
// ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，检测到 {predictions.Count} 个目标，结果: {result}");
// // 将处理结果交给协调器进行组装
// DetectionCoordinator.AssembleProduct(data, result);
// if (OnProcessingCompleted != null)
// {
// using (var resultSkImage = skImage.Draw(predictions))
// {
// // 4. 触发事件，将绘制好的 resultSkImage 传递出去
// // 所有权在这里被转移
// OnProcessingCompleted?.Invoke(this, new ProcessingCompletedEventArgs(
// _cameraIndex,
// data.ProductId,
// resultSkImage
// ));
// }
// }
//}
//***********************************使用Halcon模板匹配进行检测****************************************************
if (data.Image == null) continue;
// 统一定义预测结果
var matcher = new LogoMatcher();
//9.25（增加一根据不同的相机编号调用不同的模型！）
string filepath = "";
if (_cameraIndex == 2)
{
matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_2");
filepath = "D:\\HalconTemplateMatch\\train2";
}
else if (_cameraIndex == 3)
{
matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_3");
filepath = "D:\\HalconTemplateMatch\\train3";
}
////原bool返回的处理
//bool found = matcher.FindLogo(data.Image);
//string result = found ? "OK":"NG";
//double返回的处理
double score = matcher.FindLogo(data.Image);
//Mat cam = ProcessImg.BitmapToMat(data.Image);
//score= ProcessImg.ProcessImagesInFolder(filepath,cam);
string result = (score > 0.5) ? "OK" : "NG";
ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，结果: {result},得分: {score}");
// 将处理结果交给协调器进行组装
DetectionCoordinator.AssembleProduct(data, result);
//给PLC的M90、M91写值（10.10）
if (FrmMain.PlcClient != null)
{
if (result == "OK")
{
//吹气到合格框
FrmMain.PlcClient.WriteBool("90", true); // 写入M90为1
// 延时复位
Task.Run(async () =>
{
//await Task.Delay(300); // 延时300毫秒，可根据实际气动时间调整
//await FrmMain.PlcClient.WriteAsync("M90", 0);
});
}
else
{
//吹气到不合格框
FrmMain.PlcClient.WriteBool("91", true);// 写入M91为1
// 延时复位
Task.Run(async () =>
{
//await Task.Delay(300);
//await FrmMain.PlcClient.WriteAsync("M91", 0);
});
}
//完成一次检测进行刷新
Thread.Sleep(2000);
FrmMain.PlcClient.WriteBool("90", false); //
FrmMain.PlcClient.WriteBool("91", false); // 写入M90为1
}
else
{
ThreadSafeLogger.Log("6，跳过写入。");
}
// ③ 外部订阅事件
OnProcessingCompleted?.Invoke(
this,
new ProcessingCompletedEventArgs
(
_cameraIndex,
data.ProductId,
data.Image // 原图传出去
)
);
}
}
catch (InvalidOperationException)
{
// 当调用 Stop 时，会 CompleteAdding 队列，Take 会抛出此异常，是正常退出流程
break;
}
catch (Exception ex)
{
ThreadSafeLogger.Log($"[ERROR] 相机 #{_cameraIndex} 处理线程异常: {ex.Message}");
}
}
}
/// <summary>
/// 将 System.Drawing.Bitmap 安全地转换为 SkiaSharp.SKImage。
/// </summary>
private SKImage ConvertBitmapToSKImage(Bitmap bitmap)
{
if (bitmap == null) return null;
try
{
// 使用 using 确保 SKBitmap 被正确释放
using (var skBitmap = ToSKBitmapFast(bitmap))
{
return SKImage.FromBitmap(skBitmap);
}
}
catch (Exception ex)
{
ThreadSafeLogger.Log($"[错误] Bitmap to SKImage 转换失败: {ex.Message}");
return null;
}
}
public static SKBitmap ToSKBitmapFast(Bitmap bitmap)
{
// 确保是 32bppArgb（BGRA 内存布局）
Bitmap src = bitmap;
if (bitmap.PixelFormat != PixelFormat.Format32bppArgb)
{
src = new Bitmap(bitmap.Width, bitmap.Height, PixelFormat.Format32bppArgb);
using (Graphics g = Graphics.FromImage(src))
{
g.DrawImage(bitmap, 0, 0, bitmap.Width, bitmap.Height);
}
}
var rect = new Rectangle(0, 0, src.Width, src.Height);
var bmpData = src.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format32bppArgb);
try
{
var info = new SKImageInfo(src.Width, src.Height, SKColorType.Bgra8888, SKAlphaType.Premul);
var skBitmap = new SKBitmap(info);
IntPtr destPtr = skBitmap.GetPixels(); // 目标内存
IntPtr srcRowPtr = bmpData.Scan0; // 源行首
int srcStride = bmpData.Stride;
int destRowBytes = skBitmap.RowBytes;
int copyBytesPerRow = Math.Min(srcStride, destRowBytes);
// 使用一次分配的缓冲区并用 Marshal.Copy 行拷贝（不分配每行）
byte[] row = new byte[copyBytesPerRow];
for (int y = 0; y < src.Height; y++)
{
IntPtr s = IntPtr.Add(bmpData.Scan0, y * srcStride);
IntPtr d = IntPtr.Add(destPtr, y * destRowBytes);
Marshal.Copy(s, row, 0, copyBytesPerRow);
Marshal.Copy(row, 0, d, copyBytesPerRow);
}
return skBitmap;
}
finally
{
src.UnlockBits(bmpData);
if (!ReferenceEquals(src, bitmap))
{
src.Dispose();
}
}
}
public void Stop()
{
_isRunning = false;
// 解除阻塞，让线程可以检查 _isRunning 标志并退出
_imageQueue.CompleteAdding();
_workerThread.Join(500); // 等待线程结束
}
/// <summary>
/// 线程安全地重置该相机的图像计数器。
/// </summary>
public void ResetCounter()
{
lock (_counterLock)
{
_imageCounter = 0;
}
}
// 别忘了在 DetectionCoordinator 中添加一个辅助方法来获取处理器
public void Dispose()
{
Stop();
_imageQueue.Dispose();
}
}
}