380 lines
15 KiB
C#
380 lines
15 KiB
C#
using Check.Main.Camera;
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using Check.Main.Common;
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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.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Check.Main.Infer
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{
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public static class DetectionCoordinator
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{
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/// <summary>
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/// 定义存储所有相机处理器的字典
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/// 键是相机的唯一编号 (CameraIndex)，值是对应的处理器实例。
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/// </summary>
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private static ConcurrentDictionary<int, CameraProcessor> _processors = new ConcurrentDictionary<int, CameraProcessor>();
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/// <summary>
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/// 用于在产品组装时进行同步，确保线程安全
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/// </summary>
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private static ConcurrentDictionary<long, ProductAssembly> _productAssemblies = new ConcurrentDictionary<long, ProductAssembly>();
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/// <summary>
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/// 可用的相机数量
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/// </summary>
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private static int _enabledCameraCount = 0;
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private static long _productCounter = 0; // 新增产品计数器10.22
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public static event EventHandler<DetectionResultEventArgs> OnDetectionCompleted;
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public static bool IsDetectionRunning { get; private set; } = false;
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// OnDetectionCompleted 事件现在也属于这里
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//public static event EventHandler<DetectionResultEventArgs> OnDetectionCompleted;
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public static void StartDetection()
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{
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if (!IsDetectionRunning)
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{
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IsDetectionRunning = true;
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ThreadSafeLogger.Log("检测统计已启动。");
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}
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}
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public static void StopDetection()
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{
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if (IsDetectionRunning)
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{
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IsDetectionRunning = false;
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ThreadSafeLogger.Log("检测统计已停止。");
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}
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}
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public static void Initialize(List<CameraSettings> cameraSettings, List<ModelSettings> modelSettings)
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{
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Shutdown(); // 先关闭旧的
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YoloModelManager.Initialize(modelSettings); // 确保 YOLO 模型在初始化协调器时加载。10.22新增
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var enabledCameras = cameraSettings.Where(c => c.IsEnabled).ToList();
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_enabledCameraCount = enabledCameras.Count;
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//if (_enabledCameraCount == 0) return;
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if (_enabledCameraCount == 0)
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{
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ThreadSafeLogger.Log("没有启用的相机，检测协调器未初始化。");
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return;
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}
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foreach (var camSetting in enabledCameras)
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{
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// 找到与相机编号匹配的模型
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ModelSettings model = modelSettings.FirstOrDefault(m => m.Id == camSetting.ModelID);
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if (model == null)
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{
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//ThreadSafeLogger.Log($"[警告] 找不到与相机 #{camSetting.CameraIndex} 匹配的模型，该相机将无法处理图像");
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ThreadSafeLogger.Log($"[警告] 找不到与相机 #{camSetting.CameraIndex} (Name: {camSetting.Name}) 匹配的模型 (ID: {camSetting.ModelID})。该相机将无法处理图像。");
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continue;
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}
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IDetector detector = null;
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object detectorSettings = null; // 用于传递特定检测器的设置
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// 根据相机的 CheckType 和模型的 AlgorithmType 决定使用哪个检测器
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if (camSetting.CheckType == CheckType.Traditional && model.M_AType == AlgorithmType.Tradition)
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{
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detector = new HalconTemplateDetector();
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detectorSettings = new HalconDetectionSettings { ScoreThreshold = model.HalconScoreThreshold };
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ThreadSafeLogger.Log($"为相机 #{camSetting.CameraIndex} (Name: {camSetting.Name}) 绑定 HALCON 传统算法。");
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}
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else if (camSetting.CheckType == CheckType.DeepLearning && model.M_AType == AlgorithmType.DeepLearning)
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{
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detector = new YoloDetector();
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detectorSettings = new YoloDetectionSettings
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{
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ConfidenceThreshold = model.YoloConfidenceThreshold,
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NmsThreshold = model.YoloNmsThreshold
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};
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ThreadSafeLogger.Log($"为相机 #{camSetting.CameraIndex} (Name: {camSetting.Name}) 绑定 YOLO 深度学习算法。");
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}
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else
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{
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ThreadSafeLogger.Log($"[警告] 相机 #{camSetting.CameraIndex} (Name: {camSetting.Name}) 的 CheckType ({camSetting.CheckType}) 与模型 (ID: {model.Id}, AlgorithmType: {model.M_AType}) 不匹配或不支持。跳过此相机。");
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continue;
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}
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// 初始化检测器
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try
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{
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// 对于YOLO，modelPath实际上传递的是ModelID
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// 对于HALCON，modelPath是实际的模板目录
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string initPath = (detector is YoloDetector) ? model.Id.ToString() : model.Path;
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detector.Initialize(initPath, detectorSettings);
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[错误] 初始化相机 #{camSetting.CameraIndex} 的检测器失败: {ex.Message}");
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detector?.Dispose();
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continue;
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}
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var processor = new CameraProcessor(camSetting.CameraIndex, detector, model);
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_processors.TryAdd(camSetting.CameraIndex, processor);
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processor.Start();
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}
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ThreadSafeLogger.Log($"检测协调器已初始化，启动了 {_processors.Count} 个相机处理线程。");
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}
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//public static void EnqueueImage(int cameraIndex, Bitmap bmp)
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//{
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// if (_processors.TryGetValue(cameraIndex, out var processor))
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// {
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// processor.EnqueueImage(bmp);
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// }
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// else
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// {
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// // 如果找不到处理器，必须释放Bitmap防止泄漏
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// bmp?.Dispose();
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// }
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//}
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public static void EnqueueImage(int cameraIndex, Bitmap bmp)
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{
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// 在图像进入队列之前生成一个新的产品ID
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long currentProductId;
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lock (_productAssemblies) // 同步访问产品计数器
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{
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_productCounter++;
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currentProductId = _productCounter;
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}
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if (_processors.TryGetValue(cameraIndex, out var processor))
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{
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processor.EnqueueImage(bmp, currentProductId); // 传递产品ID
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}
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else
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{
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bmp?.Dispose(); // 如果找不到处理器，必须释放Bitmap防止泄漏
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ThreadSafeLogger.Log($"[警告] 未能为相机 {cameraIndex} 找到处理器，产品 {currentProductId} 的图像被丢弃。");
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// 如果没有处理器，不需要在 _productAssemblies 中添加，因为不会有结果返回
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}
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}
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//// 供 CameraProcessor 回调，用以组装产品
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//public static void AssembleProduct(ImageData data, string result)
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//{
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// var assembly = _productAssemblies.GetOrAdd(data.ProductId, (id) => new ProductAssembly(id, _enabledCameraCount));
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// if (assembly.AddResult(data.CameraIndex, result))
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// {
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// string finalResult = assembly.GetFinalResult();
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// ThreadSafeLogger.Log($"产品 #{assembly.ProductId} 已检测完毕，最终结果: {finalResult}");
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// // 只有在检测运行时，才触发事件
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// if (IsDetectionRunning)
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// {
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// OnDetectionCompleted?.Invoke(null, new DetectionResultEventArgs(finalResult == "OK"));
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// }
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// if (_productAssemblies.TryRemove(assembly.ProductId, out var finishedAssembly))
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// {
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// finishedAssembly.Dispose();
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// }
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// }
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//}
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// CameraProcessor 回调，用以组装产品
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public static void AssembleProduct(long productId, int cameraIndex, bool isOk, Bitmap resultImage)
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{
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// GetOrAdd 确保 ProductAssembly 只被创建一次
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var assembly = _productAssemblies.GetOrAdd(productId, (id) => new ProductAssembly(id, _enabledCameraCount));
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assembly.AddResult(cameraIndex, isOk, resultImage);
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// 检查产品是否已完成所有相机的检测
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if (assembly.IsComplete())
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{
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string finalResult = assembly.GetFinalResult() ? "OK" : "NG";
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ThreadSafeLogger.Log($"产品 #{assembly.ProductId} 已检测完毕，最终结果: {finalResult}");
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// 触发事件 (例如更新主UI上的总OK/NG计数)
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if (IsDetectionRunning)
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{
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OnDetectionCompleted?.Invoke(null, new DetectionResultEventArgs(assembly.GetFinalResult()));
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}
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// PLC 写入逻辑
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if (FrmMain.PlcClient != null) // 假设 FrmMain.PlcClient 可访问
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{
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try
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{
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if (assembly.GetFinalResult()) // 最终结果 OK
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{
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FrmMain.PlcClient.WriteBool("M90", true); // 写入M90为1
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Thread.Sleep(50); // 短暂延时
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FrmMain.PlcClient.WriteBool("M90", false);
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}
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else // 最终结果 NG
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{
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FrmMain.PlcClient.WriteBool("M91", true); // 写入M91为1
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Thread.Sleep(50); // 短暂延时
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FrmMain.PlcClient.WriteBool("M91", false);
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}
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ThreadSafeLogger.Log($"产品 #{assembly.ProductId} 最终结果 {finalResult} 已写入PLC。");
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[错误] 写入PLC失败：{ex.Message}");
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}
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}
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else
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{
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ThreadSafeLogger.Log($"[警告] 产品 #{assembly.ProductId} 检测结果未能写入PLC：PLC客户端未连接。");
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}
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// 移除并释放 ProductAssembly
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if (_productAssemblies.TryRemove(productId, out var finishedAssembly))
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{
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finishedAssembly.Dispose(); // 释放所有存储的 Bitmap
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}
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}
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}
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///// <summary>
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///// 命令所有活动的相机处理器重置它们的内部计数器。
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///// </summary>
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//public static void ResetAllCounters()
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//{
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// foreach (var processor in _processors.Values)
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// {
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// processor.ResetCounter();
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// }
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// ThreadSafeLogger.Log("所有相机处理器的产品计数器已重置。");
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//}
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public static void ResetAllCounters()
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{
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lock (_productAssemblies)
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{
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_productCounter = 0;
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// 清空所有未完成的产品，并释放其资源
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foreach (var assembly in _productAssemblies.Values)
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{
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assembly.Dispose();
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}
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_productAssemblies.Clear();
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}
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foreach (var processor in _processors.Values)
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{
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processor.ResetCounter();
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}
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ThreadSafeLogger.Log("所有相机处理器和产品计数器已重置。");
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}
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public static CameraProcessor GetProcessor(int cameraIndex)
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{
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_processors.TryGetValue(cameraIndex, out var p);
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return p;
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}
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public static IEnumerable<CameraProcessor> GetAllProcessors()
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{
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return _processors.Values;
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}
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public static void Shutdown()
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{
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foreach (var processor in _processors.Values)
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{
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processor.Dispose();
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}
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_processors.Clear();
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foreach (var assembly in _productAssemblies.Values)
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{
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assembly.Dispose();
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}
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YoloModelManager.Shutdown(); // 确保YOLO模型也关闭
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ThreadSafeLogger.Log("检测协调器已关闭。");
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}
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}
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// 新增 ProductAssembly 类，用于集中管理一个产品的检测结果和图像
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public class ProductAssembly : IDisposable
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{
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public long ProductId { get; }
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private readonly int _expectedCameraCount;
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private readonly ConcurrentDictionary<int, bool> _cameraResults = new ConcurrentDictionary<int, bool>();
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private readonly ConcurrentDictionary<int, Bitmap> _resultImages = new ConcurrentDictionary<int, Bitmap>(); // 存储每个相机的结果图像
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private readonly object _lock = new object();
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public ProductAssembly(long productId, int expectedCameraCount)
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{
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ProductId = productId;
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_expectedCameraCount = expectedCameraCount;
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}
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/// <summary>
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/// 添加单个相机的检测结果。
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/// </summary>
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/// <param name="cameraIndex">相机编号。</param>
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/// <param name="isOk">检测结果是否为OK。</param>
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/// <param name="resultImage">带有检测结果的图像。</param>
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public void AddResult(int cameraIndex, bool isOk, Bitmap resultImage)
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{
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lock (_lock)
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{
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_cameraResults.TryAdd(cameraIndex, isOk);
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if (resultImage != null)
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{
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// 克隆图像，确保 ProductAssembly 拥有其所有权
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_resultImages.TryAdd(cameraIndex, (Bitmap)resultImage.Clone());
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resultImage.Dispose(); // 释放传入的原始图像副本
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}
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}
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}
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/// <summary>
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/// 检查是否所有相机都已提交结果。
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/// </summary>
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public bool IsComplete()
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{
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lock (_lock)
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{
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return _cameraResults.Count == _expectedCameraCount;
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}
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}
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/// <summary>
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/// 获取最终产品检测结果（所有相机都OK才为OK）。
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/// </summary>
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public bool GetFinalResult()
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{
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lock (_lock)
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{
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return _cameraResults.Values.All(r => r);
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}
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}
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/// <summary>
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/// 获取某个相机的结果图像。
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/// </summary>
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public Bitmap GetResultImage(int cameraIndex)
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{
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_resultImages.TryGetValue(cameraIndex, out var bmp);
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return bmp;
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}
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public void Dispose()
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{
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lock (_lock)
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{
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foreach (var bmp in _resultImages.Values)
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{
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bmp?.Dispose();
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}
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_resultImages.Clear();
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_cameraResults.Clear();
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}
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}
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}
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}
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