339 lines
13 KiB
C#
339 lines
13 KiB
C#
using Check.Main.Common;
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using Check.Main.Infer;
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using HalconTemplateMatch;
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using SkiaSharp;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Drawing.Imaging;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using YoloDotNet.Extensions;
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using OpenCvSharp;
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namespace Check.Main.Camera
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{
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public class CameraProcessor : IDisposable
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{
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private readonly int _cameraIndex;
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private readonly int _modeId;
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// private readonly ModelSettings _model;
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private readonly BlockingCollection<ImageData> _imageQueue = new BlockingCollection<ImageData>();
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private readonly Thread _workerThread;
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private volatile bool _isRunning = false;
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private long _imageCounter = 0;
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private readonly object _counterLock = new object(); // 用于线程安全地重置计数器
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public event EventHandler<ProcessingCompletedEventArgs> OnProcessingCompleted;
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public CameraProcessor(int cameraIndex, int modelId)//, ModelSettings model
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{
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_cameraIndex = cameraIndex;
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_modeId = modelId;
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//_model = model;
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_workerThread = new Thread(ProcessQueue) { IsBackground = true, Name = $"Cam_{_cameraIndex}_Processor" };
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}
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public void Start()
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{
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_isRunning = true;
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_workerThread.Start();
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}
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public void EnqueueImage(Bitmap bmp)
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{
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if (!_isRunning)
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{
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bmp?.Dispose();
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return;
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}
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_imageCounter++;
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_imageQueue.Add(new ImageData(_imageCounter, _cameraIndex, bmp));
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}
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/// <summary>
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/// 图像处理主循环
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/// </summary>
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private void ProcessQueue()
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{
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// 从模型管理器获取此线程专属的YOLO模型
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var yoloModel = YoloModelManager.GetModel(_modeId);
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if (yoloModel == null)
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{
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ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 无法获取对应的YOLO模型，处理线程已中止。");
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return; // 如果没有模型，此线程无法工作
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}
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//训练阶段（相机2）
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var trainer = new LogoTemplateTrainer();
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trainer.TrainAndSaveTemplates(
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new List<string>
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{
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@"D:\HalconTemplateMatch\train2\logo1.bmp",
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@"D:\HalconTemplateMatch\train2\logo2.bmp",
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@"D:\HalconTemplateMatch\train2\logo3.bmp"
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},
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@"D:\HalconTemplateMatch\model_2");
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//训练阶段（相机3）9.25修改！！
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trainer.TrainAndSaveTemplates(
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new List<string>
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{
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@"D:\HalconTemplateMatch\train3\3C_1.bmp",
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@"D:\HalconTemplateMatch\train3\3C_2.bmp",
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@"D:\HalconTemplateMatch\train3\3C_3.bmp"
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},
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@"D:\HalconTemplateMatch\model_3");
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if (trainer == null)
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{
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ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 未加载模板，处理线程已中止。");
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return;
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}
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while (_isRunning)
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{
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try
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{
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// 阻塞式地从队列中取出图像，如果队列为空则等待
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ImageData data = _imageQueue.Take();
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using (data)
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{
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string result = "";
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using (var skImage = ConvertBitmapToSKImage(data.Image)) // 转换图像格式并管理其生命周期
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{
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if (skImage == null) continue;
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var predictions = yoloModel.RunObjectDetection(skImage);
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result = predictions.Any() ? "NG" : "OK";
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ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，检测到 {predictions.Count} 个目标，结果: {result}");
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// 将处理结果交给协调器进行组装
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DetectionCoordinator.AssembleProduct(data, result);
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if (OnProcessingCompleted != null)
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{
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using (var resultSkImage = skImage.Draw(predictions))
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{
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// 4. 触发事件，将绘制好的 resultSkImage 传递出去
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Bitmap bitmap = CameraManager.ConvertSKImageToBitmap(resultSkImage);
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// 所有权在这里被转移
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OnProcessingCompleted?.Invoke(this, new ProcessingCompletedEventArgs(
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_cameraIndex,
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data.ProductId,
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bitmap
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));
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}
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}
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}
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//***********************************使用Halcon模板匹配进行检测****************************************************
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if (data.Image == null) continue;
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// 统一定义预测结果
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var matcher = new LogoMatcher();
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//9.25（增加一根据不同的相机编号调用不同的模型！）
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string filepath = "";
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if (_cameraIndex == 2)
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{
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matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_2");
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filepath = "D:\\HalconTemplateMatch\\train2";
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}
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else if (_cameraIndex == 3)
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{
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matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_3");
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filepath = "D:\\HalconTemplateMatch\\train3";
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}
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////原bool返回的处理
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//bool found = matcher.FindLogo(data.Image);
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//string result = found ? "OK":"NG";
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//double返回的处理
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double score = matcher.FindLogo(data.Image);
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//Mat cam = ProcessImg.BitmapToMat(data.Image);
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//score= ProcessImg.ProcessImagesInFolder(filepath,cam);
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//string result = (score > 0.5) ? "OK" : "NG";
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ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，结果: {result},得分: {score}");
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// 将处理结果交给协调器进行组装
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DetectionCoordinator.AssembleProduct(data, result);
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//给PLC的M90、M91写值（10.10）
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if (FrmMain.PlcClient != null && FrmMain.PlcClient.IsConnected)
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{
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if (result == "OK")
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{
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//吹气到合格框
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FrmMain.PlcClient.WriteAsync("M90", 1).Wait(); // 写入M90为1
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//Thread.Sleep(100);
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FrmMain.PlcClient.WriteAsync("M90", 0).Wait(); // 写入M90为1
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//var a = FrmMain.PlcClient.ReadAsync("M90");
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//Console.WriteLine(a);
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//FrmMain.PlcClient.WriteAsync("M91", 0).Wait();
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// 延时复位
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Task.Run(async () =>
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{
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//await Task.Delay(300); // 延时300毫秒，可根据实际气动时间调整
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//await FrmMain.PlcClient.WriteAsync("M90", 0);
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});
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}
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else
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{
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//吹气到不合格框
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//FrmMain.PlcClient.WriteAsync("M90", 0).Wait();
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FrmMain.PlcClient.WriteAsync("M91", 1).Wait();// 写入M91为1
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FrmMain.PlcClient.WriteAsync("M91", 0).Wait(); // 写入M90为1
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//var a = FrmMain.PlcClient.ReadAsync("M90");
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//Console.WriteLine(a);
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// 延时复位
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Task.Run(async () =>
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{
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//await Task.Delay(300);
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//await FrmMain.PlcClient.WriteAsync("M91", 0);
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});
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}
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}
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else
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{
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ThreadSafeLogger.Log("[PLC] 未连接，跳过写入。");
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}
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// ③ 外部订阅事件
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OnProcessingCompleted?.Invoke(
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this,
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new ProcessingCompletedEventArgs
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(
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_cameraIndex,
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data.ProductId,
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data.Image // 原图传出去
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)
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);
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}
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}
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catch (InvalidOperationException)
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{
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// 当调用 Stop 时，会 CompleteAdding 队列，Take 会抛出此异常，是正常退出流程
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break;
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[ERROR] 相机 #{_cameraIndex} 处理线程异常: {ex.Message}");
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}
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}
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}
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/// <summary>
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/// 将 System.Drawing.Bitmap 安全地转换为 SkiaSharp.SKImage。
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/// </summary>
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private SKImage ConvertBitmapToSKImage(Bitmap bitmap)
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{
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if (bitmap == null) return null;
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try
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{
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// 使用 using 确保 SKBitmap 被正确释放
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using (var skBitmap = ToSKBitmapFast(bitmap))
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{
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return SKImage.FromBitmap(skBitmap);
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}
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[错误] Bitmap to SKImage 转换失败: {ex.Message}");
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return null;
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}
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}
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public static SKBitmap ToSKBitmapFast(Bitmap bitmap)
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{
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// 确保是 32bppArgb（BGRA 内存布局）
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Bitmap src = bitmap;
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if (bitmap.PixelFormat != PixelFormat.Format32bppArgb)
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{
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src = new Bitmap(bitmap.Width, bitmap.Height, PixelFormat.Format32bppArgb);
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using (Graphics g = Graphics.FromImage(src))
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{
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g.DrawImage(bitmap, 0, 0, bitmap.Width, bitmap.Height);
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}
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}
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var rect = new Rectangle(0, 0, src.Width, src.Height);
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var bmpData = src.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format32bppArgb);
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try
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{
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var info = new SKImageInfo(src.Width, src.Height, SKColorType.Bgra8888, SKAlphaType.Premul);
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var skBitmap = new SKBitmap(info);
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IntPtr destPtr = skBitmap.GetPixels(); // 目标内存
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IntPtr srcRowPtr = bmpData.Scan0; // 源行首
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int srcStride = bmpData.Stride;
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int destRowBytes = skBitmap.RowBytes;
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int copyBytesPerRow = Math.Min(srcStride, destRowBytes);
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// 使用一次分配的缓冲区并用 Marshal.Copy 行拷贝（不分配每行）
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byte[] row = new byte[copyBytesPerRow];
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for (int y = 0; y < src.Height; y++)
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{
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IntPtr s = IntPtr.Add(bmpData.Scan0, y * srcStride);
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IntPtr d = IntPtr.Add(destPtr, y * destRowBytes);
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Marshal.Copy(s, row, 0, copyBytesPerRow);
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Marshal.Copy(row, 0, d, copyBytesPerRow);
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}
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return skBitmap;
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}
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finally
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{
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src.UnlockBits(bmpData);
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if (!ReferenceEquals(src, bitmap))
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{
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src.Dispose();
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}
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}
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}
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public void Stop()
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{
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_isRunning = false;
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// 解除阻塞，让线程可以检查 _isRunning 标志并退出
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_imageQueue.CompleteAdding();
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_workerThread.Join(500); // 等待线程结束
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}
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/// <summary>
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/// 线程安全地重置该相机的图像计数器。
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/// </summary>
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public void ResetCounter()
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{
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lock (_counterLock)
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{
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_imageCounter = 0;
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}
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}
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// 别忘了在 DetectionCoordinator 中添加一个辅助方法来获取处理器
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public void Dispose()
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{
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Stop();
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_imageQueue.Dispose();
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}
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}
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}
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