using DVPCameraType;
using Microsoft.VisualBasic.Logging;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OpenCvSharp;
using OpenCvSharp.Dnn;
using OpenCvSharp.Extensions;
using OpenCvSharp.XFeatures2D;
using STTech.CodePlus.Threading;
using Sunny.UI;
using Sunny.UI.Win32;
using System;
using System.ComponentModel;
using System.Data;
using System.Data.Entity.Core.Common.CommandTrees.ExpressionBuilder;
using System.Data.SQLite;
using System.Diagnostics;
using System.Diagnostics.Eventing.Reader;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.IO;
using System.Linq;
using System.Net;
using System.Numerics;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Windows.Forms;
using System.Xml.Serialization;
using XKRS.Device.SimboVision.SimboHelper;
using XKRS.UI;
using static HisenceYoloDetection.CheckDiffSciHelper;
using static HisenceYoloDetection.MainForm;
using static System.Runtime.InteropServices.JavaScript.JSType;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.ListView;


namespace HisenceYoloDetection
{
    public partial class MainForm : Form
    {
        enum MeachineState
        {
            machine_opening,
            machine_closing,
        }
        public MainForm()
        {
            InitializeComponent();
            this.Load += (s, e) =>
            {
                // OnDetectionDone -= Defet_OnDetectionDone;
                //OnDetectionDone += Defet_OnDetectionDone;
            };
        }
        MeachineState meachineState = MeachineState.machine_closing;
        MGSCameraDriver Cam1 = new MGSCameraDriver();
        MGSCameraDriver Cam2 = new MGSCameraDriver();
        public static string RootPath = "D:\\Hisence\\SQLImages\\";
        // HikCameraDriver Cam1 = new HikCameraDriver();
        //HikCameraDriver Cam2 = new HikCameraDriver();

        SQLiteHelper sqlhelper = new SQLiteHelper();
        TCPClienDriver Scanner = new TCPClienDriver();
        MelsecPLCTCPDriver melsecPLCTCPDriver = new MelsecPLCTCPDriver();
        SimboObjectDetection simboObjectDetection = new SimboObjectDetection();
        SimboObjectDetection simboObjectDetButton = new SimboObjectDetection();
        // CheckDiffSciHelper checkDiffSciHelper = new CheckDiffSciHelper();
        // ManagerModelHelper managerModelHelper = new ManagerModelHelper();

        PaddleOcrModel paddleOcrModel = new PaddleOcrModel();
        PaddleOcrModelCountry paddleOcrModelCountry = new PaddleOcrModelCountry();
        List<XKHisence> xKHisences = new List<XKHisence>();

        static AutoResetEvent myResetEvent = new AutoResetEvent(false);

        AutoResetEvent _runHandleBefore = new AutoResetEvent(false);
        ManualResetEvent _runHandleAfter = new ManualResetEvent(false);
        AutoResetEvent _runThreadFormtype = new AutoResetEvent(false);
        bool PLC545 = false;

        bool PLC548 = false;
        string m_sKEYENCEBar;
        string Oldm_sKEYENCEBar;
        string OcrBar = "";//洗衣机编号
        string IfChangeLanguage = "";//是否换洗衣机的型号
        bool bTriger = true;//是否可以触发检测
        bool bBarTriger = false;//第一个地址完成后才能触发第二个位置
        bool bBar = false;//是否可以反馈条码
        bool IfCam1OneTriger = false;//相机1第一次拍照
        bool IfCam1TwoTriger = false;//相机1第2次拍照
        bool IfCam2Triger = false;//相机2第一次拍照
        Mat Cam1ImgOne = new Mat();//实时相机1的照片
        Mat Cam1ImgTwo = new Mat();//实时相机1的照片
        Mat Cam2ImgShowBar = new Mat();//实时相机2的照片 用来识别条码

        XKHisence xKNow;//数据库中的洗衣机数据
        XKHisence Old_xKNow;//数据库中的洗衣机数据
        XK_HisenceWord xK_HisenceSQLWord = new XK_HisenceWord();
        bool bOn = false;
        ////////////////////////////
        public static int m_CamCount = 0;
        public int m_n_dev_count = 0;
        public static dvpCameraInfo[] m_info = new dvpCameraInfo[16];
        bool ifXZeroValue = false;
        bool ifYZeroValue = false;
        bool ifZZeroValue = false;

        bool ifXForward = false;
        bool ifYForward = false;
        bool ifZForward = false;

        bool ifXBackward = false;
        bool ifYBackward = false;
        bool ifZBackward = false;
        string LablePath = "";
        //录入数据库
        string BarPath = "";
        string Cam1OnePath = "";
        string Cam1TwoPath = "";
        string ModelChangePath = "";
        //报警灯
        string GreenLightingAdress = "556";
        string YellowLightingAdress = "554";
        string RedLightingAdress = "552";
        string WaringAdress = "558";
        /// <summary>
        /// 查看相机列表
        /// </summary>
        public void InitDevList()
        {
            dvpStatus status;
            uint i, n = 0;
            dvpCameraInfo dev_info = new dvpCameraInfo();

            // "n" represents the number of cameras that is enumerated successfully, the drop-down list contains each camera's FriendlyName.
            DevNameCombo.Items.Clear();

            // Get the number of cameras that has been connected to a computer.
            status = DVPCamera.dvpRefresh(ref n);
            Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
            m_n_dev_count = (int)n;
            if (status == dvpStatus.DVP_STATUS_OK)
            {
                m_CamCount = 0;

                for (i = 0; i < n; i++)
                {
                    // Acquire each camera's information one by one.
                    status = DVPCamera.dvpEnum(i, ref dev_info);
                    Debug.Assert(status == dvpStatus.DVP_STATUS_OK);
                    if (status == dvpStatus.DVP_STATUS_OK)
                    {
                        m_info[m_CamCount] = dev_info;

                        int item = -1;

                        // add User Define Name
                        item = DevNameCombo.Items.Add(dev_info.UserID);

                        if (item == 0)
                        {
                            DevNameCombo.SelectedIndex = item;
                        }
                        m_CamCount++;

                        if (item == 0)
                        {
                            DevNameCombo.SelectedIndex = item;
                        }
                    }
                }
            }





        }
        System.Timers.Timer SpeedTimer = new System.Timers.Timer();
        System.Timers.Timer PostionTimer = new System.Timers.Timer();
        System.Timers.Timer t;
        public delegate void MyDelegateUI(); //定义委托类型
        MyDelegateUI myDelegateUI; //声明委托对象

        public delegate void MyPosDelegateUI(); //定义委托类型
        MyPosDelegateUI myPosDelegateUI; //声明委托对象

        public delegate void MyLogDelegateUI(); //定义委托类型
        MyLogDelegateUI myLogDelegateUI; //声明日志委托对象
        private void Application_ThreadException(Exception e)
        {
            string msg = e.Message;

            using (StreamWriter sw = new StreamWriter("D://ThreadException.log", true))
            {
                sw.WriteLine("================================");
                sw.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"));
                sw.WriteLine(msg);
                sw.Flush();
            }



        }
        /// <summary>
        /// GET方式发送得结果
        /// </summary>
        /// <param name="url">请求的url</param>
        /// <returns>服务器响应的数据</returns>
        public static string getHttpRequest(string url)
        {
            //预备请求的资源
            HttpWebRequest request = null;
            HttpWebResponse response = null;
            StreamReader reader = null;

            string content = string.Empty;

            try
            {
                request = (HttpWebRequest)WebRequest.Create(url);
                request.Method = "GET";

                response = (HttpWebResponse)request.GetResponse();
                using (reader = new StreamReader(response.GetResponseStream()))
                {
                    content = reader.ReadToEnd();
                }
            }
            catch (System.Exception err)
            {
                MessageBox.Show("1.GET出现了错误！\n错误来源：" + err.Source + "\n错误信息：" + err.Message + "\n" + err);
                Console.WriteLine("1.GET出现了错误！\n错误来源：" + err.Source + "错误信息：" + err.Message);
            }

            //用完销毁
            response.Dispose();
            reader.Dispose();

            return content;
        }

        /// <summary>
        /// 发起一个http请求，方式为POST
        /// </summary>
        /// <param name="uri">发送请求的目标url</param>
        /// <param name="reMsg">要发送的消息</param>
        /// <returns>服务器响应的数据</returns>
        public string postHttpRequest(string uri, string msg)
        {
            //预备请求的资源
            HttpWebRequest request = null;
            HttpWebResponse response = null;
            Stream requestStream = null;
            StreamReader reader = null;

            var data = Encoding.UTF8.GetBytes(string.Format("a={0}&b={1}", "message", msg));
            string content = "";

            try
            {
                request = (HttpWebRequest)WebRequest.Create(uri);
                request.Method = "POST";
                requestStream = request.GetRequestStream();

                request.ContentType = "application/text";

                requestStream.Write(data, 0, data.Length);
                response = (HttpWebResponse)request.GetResponse();

                using (reader = new StreamReader(response.GetResponseStream()))
                {
                    content = reader.ReadToEnd();
                }
            }
            catch (Exception err)
            {
                MessageBox.Show("1.POST出现了错误！\n错误来源：" + err.Source + "\n错误信息：" + err.Message + "\n" + err);
                Console.WriteLine("1.POST出现了错误！\n错误来源：" + err.Source + "错误信息：" + err.Message);
            }

            //资源用完回收
            requestStream.Dispose();
            response.Dispose();
            reader.Dispose();

            return content;
        }

        public static string PostData(string url, string postData)
        {
            byte[] data = Encoding.UTF8.GetBytes(postData);

            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
            request.Method = "POST";
            request.ContentType = "application/x-www-form-urlencoded";
            request.ContentLength = data.Length;

            using (Stream stream = request.GetRequestStream())
            {
                stream.Write(data, 0, data.Length);
            }

            using (HttpWebResponse response = (HttpWebResponse)request.GetResponse())
            using (StreamReader reader = new StreamReader(response.GetResponseStream()))
            {
                return reader.ReadToEnd();
            }
        }

        static string FindStringAfterColon(string response, string targetString)
        {
            int targetIndex = response.IndexOf(targetString);
            if (targetIndex == -1)
            {
                Console.WriteLine($"未找到字符串: {targetString}");
                return null;
            }

            // 查找目标字符串后的冒号和引号  
            int colonIndex = response.IndexOf(':', targetIndex);
            if (colonIndex == -1 || colonIndex <= targetIndex)
            {
                Console.WriteLine("在目标字符串后未找到冒号");
                return null;
            }

            // 查找引号开始的位置  
            int startQuoteIndex = response.IndexOf('"', colonIndex + 1);
            if (startQuoteIndex == -1)
            {
                Console.WriteLine("未找到引号");
                return null;
            }

            // 查找闭合引号的位置  
            int endQuoteIndex = response.IndexOf('"', startQuoteIndex + 1);
            if (endQuoteIndex == -1)
            {
                Console.WriteLine("未找到闭合的引号");
                return null;
            }

            // 提取并返回引号内的字符串  
            return response.Substring(startQuoteIndex + 1, endQuoteIndex - startQuoteIndex - 1);
        }


        #region Post请求
        /// <summary>
        /// http Post请求
        /// </summary>
        /// <param name="parameterData">参数</param>
        /// <param name="serviceUrl">访问地址</param>
        /// <param name="ContentType">默认 application/json , application/x-www-form-urlencoded,multipart/form-data,raw,binary </param>
        /// <param name="Accept">默认application/json</param>
        /// <returns></returns>
        public string Post(string parameterData, string serviceUrl, string contentType = "application/x-www-form-urlencoded", string accept = "application/json")
        {
            try
            {
                // 创建 Web 请求对象
                HttpWebRequest myRequest = (HttpWebRequest)WebRequest.Create(serviceUrl);
                byte[] buf = Encoding.UTF8.GetBytes($"inputvalue={Uri.EscapeDataString(parameterData)}");

                myRequest.Method = "POST";
                myRequest.Accept = accept;
                myRequest.ContentType = contentType;
                myRequest.ContentLength = buf.Length;

                // 发送请求
                using (Stream stream = myRequest.GetRequestStream())
                {
                    stream.Write(buf, 0, buf.Length);
                }

                // 获取响应内容
                using (HttpWebResponse myResponse = (HttpWebResponse)myRequest.GetResponse())
                using (StreamReader reader = new StreamReader(myResponse.GetResponseStream(), Encoding.UTF8))
                {
                    return reader.ReadToEnd();
                }
            }
            catch (WebException ex)
            {
                if (ex.Response != null)
                {
                    using (StreamReader reader = new StreamReader(ex.Response.GetResponseStream()))
                    {
                        string errorResponse = reader.ReadToEnd();
                        Console.WriteLine("WebException: " + errorResponse);
                        return errorResponse;
                    }
                }
                else
                {
                    Console.WriteLine("WebException: " + ex.Message);
                    return null;
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine("Exception: " + ex.Message);
                return null;
            }
        }

        #endregion
        Dictionary<string, string> DayTypeDics = new Dictionary<string, string>();//存放当日的SN和型号值
        public void GetTypeFromPost()
        {
            string url = "http://172.16.139.146/FCCBOMWebService/FCCBomService.asmx/GetFCCBomInfoPDJson";
            string jsonData = @"  
        {  
          ""StartTime"": ""2024-07-1"",  
           ""EndTime"": ""2024-07-22"",  
           ""LineBody"": ""BZ-PC""  
         }";


            string postData = "inputvalue=" + Uri.EscapeDataString(jsonData);

            try
            {
                string response = PostData(url, postData);


                string productType = null;
                // 解析并处理响应
                string finalDefIdToFind = m_sKEYENCEBar.Substring(0, m_sKEYENCEBar.Length - 7); // 目标 FinalDefID
                productType = FindStringAfterColon(response, finalDefIdToFind);
                if (productType == null)
                {
                    finalDefIdToFind = finalDefIdToFind.Substring(0, finalDefIdToFind.Length - 6);
                    productType = FindStringAfterColon(response, finalDefIdToFind);
                }

            }
            catch (Exception ex)
            {
                Console.WriteLine("Error occurred:");
                Console.WriteLine(ex.Message);
            }


        }
        /// <summary>
        /// 主窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void MainForm_Load(object sender, EventArgs e)
        {
            //string path22 = "D:\\Hisence\\test2\\222.jpg";
            //Mat pathmat2 = Cv2.ImRead(path22);
            //Mat pathmat2result = Cv2.ImRead(path22);
            //string path222 = "D:\\Hisence\\test2\\111.jpg";
            //Rect rect1 = new Rect(0, 0, 0, 0);


            //CheckDiffSciHelper.CheckDiffSci(path222, pathmat2,ref pathmat2result, rect1, rect1, true, "D://Hisence//test2");


            Stopwatch sw = new Stopwatch();
            sw.Start();

            //    string url = "http://172.16.139.146/FCCBOMWebService/FCCBomService.asmx/GetFCCBomInfoPDJson";

            //    string jsonData = @"  
            //{  
            //  ""StartTime"": ""2024-07-15"",  
            //   ""EndTime"": ""2024-07-15"",  
            //   ""LineBody"": ""BZ-PC""  
            // }";


            //    string postData = "inputvalue=" + Uri.EscapeDataString(jsonData);

            //    try
            //    {
            //        string response = PostData(url, postData);



            //        // 解析并处理响应
            //        string finalDefIdToFind = m_sKEYENCEBar.Substring(0, m_sKEYENCEBar.Length - 7);
            //        string productType = FindStringAfterColon(response, finalDefIdToFind);
            //        if (productType != null)
            //        {
            //            Console.WriteLine($"{finalDefIdToFind}: {productType}");

            //            // 将结果写入文件



            //        }
            //        else
            //        {
            //            Console.WriteLine($"FinalDefID {finalDefIdToFind} not found in response.");
            //        }
            //    }
            //    catch (Exception ex)
            //    {
            //        Console.WriteLine("Error occurred:");
            //        Console.WriteLine(ex.Message);
            //    }



            sw.Stop();
            Console.WriteLine("时间请求i：" + sw.ElapsedMilliseconds);

            if (_runHandleBefore == null)
            {
                _runHandleBefore = new AutoResetEvent(false);
            }

            if (_runHandleAfter == null)
            {
                _runHandleAfter = new ManualResetEvent(false);
            }

            string s1 = "gorenjeSTEAMTECHSNOWFLAKEDRUM65kg";
            string s2 = "STEAMTECHSNOWFLAKEDRUM65kg";

            bool st = ManagerModelHelper.StrMatch(s1, s2);
            bool st1 = ManagerModelHelper.StrMatch2(s1, s2);

            //Rect rect = new Rect(0, 0, 0, 0);
            //string path2 = "D:\\Hisence\\SQLImages\\W80WXWJ060539V0WW80WX120293\\2\\W80WXWJ060539V0WW80WX120293result.jpg";
            //Mat cameraMat = Cv2.ImRead(path2);
            //bool ifg = CheckDiffSciHelper.CheckDiffSci(path2, cameraMat, rect, rect, false, "D://Hisence//Test");

            string vBarPath = "D:\\Hisence\\类型\\Lp\\202452414231.jpg";
            string vCam1OnePath = "D:\\Hisence\\类型\\Lp\\001.jpg";
            string vCam1TwoPath = "D:\\Hisence\\类型\\Lp\\002.jpg";
            string vModelChangePath = "D:\\Hisence\\config\\chinese.json";
            string LablePathstr = "D:\\Hisence\\ClassName.txt";//标签路径
            string LablePathButtonstr = "D:\\Hisence\\ClassNameButton.txt";//标签路径
                                                                           // Mat cameraMat = Cv2.ImRead(vCam1TwoPath);
                                                                           //Defet_OnDetectionDone(cameraMat, DefetShow1);
                                                                           // canvas1.ImagePath = vCam1TwoPath;
                                                                           // DefetShow.ImaMAt = cameraMat;
            if (File.Exists(LablePathButtonstr) && File.Exists(vBarPath) && File.Exists(vCam1OnePath) && File.Exists(vCam1TwoPath) && File.Exists(vModelChangePath))
            {

                BarPath = vBarPath;
                Cam1OnePath = vCam1OnePath;
                Cam1TwoPath = vCam1TwoPath;
                ModelChangePath = vModelChangePath;
            }
            ifXZeroValue = XZerorbx.Checked;
            ifYZeroValue = YZerorbx.Checked;
            InitDevList();
            this.WindowState = FormWindowState.Maximized;

            string Dectionstr = "D:\\Hisence\\best.onnx";
            string DectionButtonstr = "D:\\Hisence\\HisenceButton.onnx";
            string CountryStr = "D:\\Hisence\\config\\chinese.json";
            if (File.Exists(LablePathstr) && File.Exists(Dectionstr) && File.Exists(CountryStr) && File.Exists(DectionButtonstr))
            {
                LablePath = LablePathstr;
            }
            else
            {
                MessageBox.Show("检测" + Dectionstr + " " + CountryStr + " " + LablePathstr + "模型有无");
                return;
            }
            //初始化检测驱动
            simboObjectDetection.Load(Dectionstr, "CPU", "images", 640, 640);
            simboObjectDetButton.Load(DectionButtonstr, "CPU", "images", 640, 640);
            paddleOcrModelCountry.Load(CountryStr, "CPU");
            paddleOcrModel.Load(CountryStr, "CPU");
            IfChangeLanguage = CountryStr;

            MLRequest req = new MLRequest();
            string path = "D:\\Hisence\\类型\\12\\202461417146451.jpg";
            req.currentMat = Cv2.ImRead(path);
            string BarT = DetMachineBar(ref req);
            //相机配置

            StartDecBtn.Enabled = false;

            myDelegateUI = new MyDelegateUI(initAll);//绑定委托


            myPosDelegateUI = new MyPosDelegateUI(initAll2);//绑定委托

            myLogDelegateUI = new MyLogDelegateUI(initAll3);//绑定委托

            Scanner.Strart();
            Scanner.OnClientDataReceived -= OnDataReceived;
            Scanner.OnClientDataReceived += OnDataReceived;
            Scanner.btnSendMsg("LON\r");//发送开启指令
            myLog("发送恩士扫码枪开启指令", DateTime.Now);
            //初始化PLC
            melsecPLCTCPDriver.Start();

            melsecPLCTCPDriver.Heartbeat -= PLcHeratAdress;
            melsecPLCTCPDriver.Heartbeat += PLcHeratAdress;

            OnSpeedShow();//线程开启将速度显示在界面上
            OnPostionShow();//线程开启将位置显示在界面上

            melsecPLCTCPDriver.WriteInt(YellowLightingAdress, 1);//黄灯
            melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 0);//绿灯
            melsecPLCTCPDriver.WriteInt(WaringAdress, 0);//不报警
            //t = new System.Timers.Timer(10000);//实例化Timer类，设置间隔时间为10000毫秒；
            //t.Elapsed += new System.Timers.ElapsedEventHandler(Execute);//到达时间的时候执行事件；
            //t.AutoReset = true;//设置是执行一次（false）还是一直执行(true)；
            //t.Enabled = true;//是否执行System.Timers.Timer.Elapsed事件；
            //t.Start(); //启动定时器

        }
        public void Execute(object source, System.Timers.ElapsedEventArgs e)
        {

            t.Stop(); //先关闭定时器
            //melsecPLCTCPDriver.WriteInt("548", 1);
            //Thread.Sleep(1000);
            //melsecPLCTCPDriver.WriteInt("548", 0);
            //myLog("写" + WriteAdress.Text.ToString() + "完成", DateTime.Now);
            MessageBox.Show("OK!");
            t.Start(); //执行完毕后再开启器
        }


        private string DetMachineBar(ref MLRequest req)
        {

            // req.currentMat = Cv2.ImRead("D:\\Hisence\\类型\\Lp\\202453015229201.jpg");
            MLResult mL = paddleOcrModelCountry.RunInferenceFixed(req);
            // DisplayResult(mL);

            //相机识别的字符串
            string IOcrBAr = string.Empty;
            string[] BarListOne = new string[10];
            int Ypos = 0;
            int mid = 9999999;
            for (int v = 0; v < Enumerable.Count<DetectionResultDetail>(mL.ResultDetails); v++)
            {
                if (mL.ResultDetails.Count() > 0)
                {
                    int Pos = mL.ResultDetails[v].Rect.Y;
                    if (Pos < mid)
                    {
                        mid = Pos;
                    }

                }

            }

            for (int v = 0; v < Enumerable.Count<DetectionResultDetail>(mL.ResultDetails); v++)
            {
                if (mL.ResultDetails.Count() > 0)
                {
                    int Pos = mL.ResultDetails[v].Rect.Y;



                    if (Math.Abs(Pos - mid) < 80)
                    {
                        string iv = mL.ResultDetails[v].LabelDisplay;
                        string result = Regex.Replace(iv, "[ \\[ \\] \\^ \\-_*×――(^)$%~!@#$…&%￥—+=<>《》!！??？:：?`·、。，；,.;/\"‘’“”-]", "");

                        IOcrBAr += result;


                    }
                    else
                    {
                        continue;
                    }


                }

            }
            //将第一行设置为BAr
            return IOcrBAr;

        }
        private void initAll() //信息处理函数定义
        {
            //richTextBox1.AppendText("TEST line \r");
            if (HspeedList.Count == 33)
            {

                lnEditmiXHS.Text = HspeedList[1].ToString();
                lnEditmiYHS.Text = HspeedList[6].ToString();
                lnEditmiZHS.Text = HspeedList[11].ToString();
                //定位速度
                lnEditmiXS.Text = HspeedList[0].ToString();
                lnEditmiYS.Text = HspeedList[5].ToString();
                lnEditmiZS.Text = HspeedList[10].ToString();
            }
            if (disShow != 0)
            {
                //TODO实时公式 知道测距移动多少
                double disreal = disShow * (-0.54054) + 1324.3232;
                DistanceShow.Text = Math.Ceiling(disreal).ToString();
                //换算成一元一函数
                //y = -0.54054x + 1324.3232

            }
        }
        private void initAll2() //信息处理函数定义
        {
            if (relPosStrList.Count == 31)
            {


                // XPostion.Text = "";
                XPostion.Text = relPosStrList[0].ToString();
                //YPostion.Text = "";
                YPostion.Text = relPosStrList[5].ToString();
                // ZPostion.Text = "";
                ZPostion.Text = relPosStrList[10].ToString();

            }
        }
        string Logtxt = "";
        private void initAll3() //信息处理函数定义
        {
            richTextBox1.AppendText(Logtxt);
            AllDSum.Text = AllDsums.ToString();
            OKDNum.Text = OKDsums.ToString();
            NGDNum.Text = NGDsums.ToString();
            textBox1.Text = WUsums.ToString();
            textBox4.Text = WAIsums.ToString();
            using (StreamWriter stream = new StreamWriter("D://information.log", true))
            {
                stream.WriteLine(Logtxt);
                stream.Flush();
            }
        }

        private void OnSpeedShow()
        {
            Task.Run(() =>
            {
                while (true)
                {
                    try
                    {
                        UpDatePlcValue(600, 2);
                        //从404 地址 读33个地址
                        UpDatePlcValue(404, 33);
                        if (HspeedList.Count == 33)
                        {

                            //手动速度

                            this.Invoke(myDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();
                        }
                        if (disShow != 0)
                        {
                            this.Invoke(myDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();
                        }

                    }
                    catch (Exception ex)
                    {

                    }

                    Thread.Sleep(200);
                }
            });
        }

        private void OnPostionShow()
        {
            Task.Run(() =>
            {
                while (true)
                {
                    try
                    {
                        UpDatePlcValue(102, 31);
                        if (relPosStrList.Count == 31)
                        {
                            this.Invoke(myPosDelegateUI); //richTextBox1.AppendText("TEST line \r");
                            Application.DoEvents();



                        }
                    }
                    catch (Exception ex)
                    {
                    }


                    Thread.Sleep(200);
                }
            });

        }
        /// <summary>
        /// 相机打开
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CamOpenBtn_Click(object sender, EventArgs e)
        {


            Cam1.Start("Cam1");

            bnGetParam.Enabled = true;
            SetCtrlWhenOpen();
            Cam1OpenBtn.BackColor = Color.Green;

        }
        private void SetCtrlWhenOpen()
        {


            tbExposure.Enabled = true;
            tbGain.Enabled = true;
            // tbFrameRate.Enabled = true;
            bnGetParam.Enabled = true;
            bnSetParam.Enabled = true;
        }
        private void bnGetParam_Click(object sender, EventArgs e)
        {
            // tbExposure.Text = Cam1.dvpGetExposure().ToString();
            // tbGain.Text = Cam1.dvpGetAnalogGain().ToString();

        }

        private void bnGetParam2_Click(object sender, EventArgs e)
        {
            //tbExposure2.Text = Cam1.dvpGetExposure().ToString();
            //tbGain2.Text = Cam1.dvpGetAnalogGain().ToString();
        }
        /// <summary>
        /// 相机2打开
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Cam2OpenBtn_Click(object sender, EventArgs e)
        {

            // Cam2.Start("Cam2");
            // bnGetParam2.Enabled = true;
            // Cam2OpenBtn.BackColor = Color.Green;
        }

        private void button2_Click(object sender, EventArgs e)
        {
            Cam1.Stop();
            SetCtrlWhenClose();
        }
        private void SetCtrlWhenClose()
        {

            tbExposure.Enabled = false;
            tbGain.Enabled = false;
            // tbFrameRate.Enabled = false;
            bnGetParam.Enabled = false;
            bnSetParam.Enabled = false;

        }
        private void button3_Click(object sender, EventArgs e)
        {
            Cam2.Stop();
        }
        /// <summary>
        /// 相机1软触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void SnapshotCam1_Click(object sender, EventArgs e)
        {
            Cam1.Snapshot();

        }
        /// <summary>
        /// 相机2软触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void SnapshotCam2_Click(object sender, EventArgs e)
        {
            //Cam2.Snapshot();
        }
        int TimesCalled = 0;
        Bitmap OKbitmap = new Bitmap("OK.jpg");
        Bitmap NGbitmap = new Bitmap("NG.jpg");
        Mat OKMat = Cv2.ImRead("OK.jpg");
        Mat NGMat = Cv2.ImRead("OK.jpg");
        Mat whiteMat = Cv2.ImRead("white.jpg");
        /// <summary>
        /// 主线程调用
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void InitMachine_Click(object sender, EventArgs e)
        {
            try
            {
                //初始化相机
                meachineState = MeachineState.machine_opening;//状态机设置成OPen
                DataSet dataSet = SQLiteHelper.Query("select * from XK_HisenceDet");
                //dataGridView1.DataSource = dataSet.Tables[0];

                Cam1.Start("Cam1");
                if (Cam1.IfSuccess)
                {
                    myLog("Cam1相机启动", DateTime.Now);
                }
                //Cam2.Start("Cam2");
                //if (Cam2.IfSuccess)
                //{
                //    myLog("Cam2相机启动", DateTime.Now);
                //}
                Cam1.OnHImageOutput -= OnCameraMatOutPut;
                Cam1.OnHImageOutput += OnCameraMatOutPut;
                //Cam2.OnHImageOutput -= OnCameraMatOutPut2;
                // Cam2.OnHImageOutput += OnCameraMatOutPut2;

                OKOrNGShow.Image = OKbitmap;
                //初始化扫码枪


                //PLC使能开启
                melsecPLCTCPDriver.WriteInt("581", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("504", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("514", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("524", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("406", 60000);  //写入手动速度
                melsecPLCTCPDriver.WriteInt("416", 10000);
                melsecPLCTCPDriver.WriteInt("426", 10000);
                melsecPLCTCPDriver.WriteInt("404", 100000);   //写入定位速度
                melsecPLCTCPDriver.WriteInt("414", 10000);
                melsecPLCTCPDriver.WriteInt("424", 10000);


                melsecPLCTCPDriver.WriteInt("500", 0);

                melsecPLCTCPDriver.WriteInt("500", 1);
                Thread.Sleep(200);

                bOn = true;
                melsecPLCTCPDriver.WriteInt("580", 0);//归零
                melsecPLCTCPDriver.WriteInt("580", 1);//归零
                Thread.Sleep(200);
                melsecPLCTCPDriver.WriteInt("580", 0);
                Thread.Sleep(200);
                melsecPLCTCPDriver.WriteInt("550", 0);
                while (true)
                {
                    int IfXZeros = melsecPLCTCPDriver.ReadInt("102");
                    int IfYZeros = melsecPLCTCPDriver.ReadInt("112");
                    int IfZZeros = melsecPLCTCPDriver.ReadInt("122");
                    if (IfXZeros <= 140 && IfYZeros <= 140 && IfZZeros <= 140)
                    {
                        StartDecBtn.Enabled = true;
                        break;
                    }
                    Thread.Sleep(10);
                }



                myLog("设备全部启动完成", DateTime.Now);

            }
            catch (Exception ex)
            {
                Application_ThreadException(ex);
            }

        }

        /// <summary>
        /// 全图洗衣机 裁剪之后 OCR识别的结果
        /// </summary>
        /// <param name="currentMatC">全图图片</param>
        /// <param name="cam1TwoML">全局图片上的目标定位结果（包括定位矩形框）</param>
        /// <param name="strMatListList">返回的定位框的结果</param>
        private void InsertSqlRunData2(ref Mat currentMatC, MLResult cam1TwoML, ref List<string> strMatListList, ref PaddleOcrModel IOcrModel)
        {



#if true
            try
            {
                List<Mat> mats = new List<Mat>();

                Mat mResultCut = currentMatC.Clone();
                string OcrTextinsert = "";
                for (int i = 0; i < cam1TwoML.ResultDetails.Count; i++)
                {
                    Mat mResultCuti = mResultCut.Clone();
                    int rectsx = cam1TwoML.ResultDetails[i].Rect.X;
                    int rectsy = cam1TwoML.ResultDetails[i].Rect.Y;
                    int rectsWidth = cam1TwoML.ResultDetails[i].Rect.Width;
                    int rectsHeight = cam1TwoML.ResultDetails[i].Rect.Height;
                    Rect area = new Rect(rectsx, rectsy, rectsWidth, rectsHeight);
                    Mat matroi = new Mat(mResultCuti, area);
                    mats.Add(matroi);
                    //OCR识别裁剪图片
                    MLRequest reqcut = new MLRequest();
                    reqcut.currentMat = matroi.Clone();
                    MLResult mLcut = paddleOcrModel.RunInference(reqcut);


                    for (int j = 0; j < mLcut.ResultDetails.Count; j++)
                    {
                        string jdetial = mLcut.ResultDetails[j].LabelDisplay;
                        string result = Regex.Replace(jdetial, "[ \\[ \\] \\^ \\-_*×――(^)$%~!@#$…&%￥—+=<>《》!！??？:：?`·、。，；,.;/\"‘’“”-]", "");


                        strMatListList.Add(result);
                        OcrTextinsert += result + "##";
                    }


                }


            }
            catch (Exception ex)
            {

            }
#endif


        }
        /// <summary>
        /// 数据库中条码所对应的OCR文本是否与识别出来的文本相似
        /// </summary>
        /// <param name="WashBar"></param>
        /// <param name="DetMatstrList"></param>
        /// <returns></returns>
        private bool IsMatchOcrText(string WashBar, List<string> DetMatstrList)
        {
            try
            {

                List<string> strMatListListB = new List<string>();
                if (WashBar.Contains("##"))
                {

                    string[] sArray = Regex.Split(WashBar, "##", RegexOptions.IgnoreCase);


                    for (int i = 0; i < sArray.Count(); i++)
                    {
                        if (sArray[i] != "")
                        {
                            strMatListListB.Add(sArray[i]);
                        }


                    }


                }
                var firstNotSecond = DetMatstrList.Except(strMatListListB, StringComparer.OrdinalIgnoreCase).ToList();
                var secondNotFirst = strMatListListB.Except(DetMatstrList, StringComparer.OrdinalIgnoreCase).ToList();
                if (firstNotSecond.Count() == 0 && secondNotFirst.Count() == 0)
                {
                    return true;
                }
                return false;

            }
            catch (Exception ex)
            {
                return false;
            }
        }

        private bool IsFuzzyMatchOcrText(string WashBar, List<string> DetMatstrList)
        {
            try
            {

                List<string> strMatListListB = new List<string>();
                if (WashBar.Contains("##"))
                {

                    string[] sArray = Regex.Split(WashBar, "##", RegexOptions.IgnoreCase);


                    for (int i = 0; i < sArray.Count(); i++)
                    {
                        if (sArray[i] != "")
                        {
                            strMatListListB.Add(sArray[i]);
                        }


                    }


                }
                var firstNotSecond = DetMatstrList.Intersect(strMatListListB, StringComparer.OrdinalIgnoreCase).ToList();
                //var secondNotFirst = strMatListListB.Except(DetMatstrList, StringComparer.OrdinalIgnoreCase).ToList();
                if (firstNotSecond.Count() > (strMatListListB.Count) / 2)
                {
                    return true;
                }
                return false;

            }
            catch (Exception ex)
            {
                return false;
            }
        }
        /// <summary>
        /// 实时移动模组
        /// </summary>
        public void MoveToP(int currentXP, int currentYP, int currentZP)
        {

            melsecPLCTCPDriver.WriteInt("581", 0);
            melsecPLCTCPDriver.WriteInt("402", currentXP);
            melsecPLCTCPDriver.WriteInt("412", currentYP);
            melsecPLCTCPDriver.WriteInt("422", currentZP);
            melsecPLCTCPDriver.WriteInt("581", 1);
            Thread.Sleep(200);
            melsecPLCTCPDriver.WriteInt("581", 0);
            while (true)
            {
                int IfXZeros = melsecPLCTCPDriver.ReadInt("102");
                int IfYZeros = melsecPLCTCPDriver.ReadInt("112");
                int IfZZeros = melsecPLCTCPDriver.ReadInt("122");
                if ((IfXZeros < currentXP + 20) && (IfXZeros > currentXP - 20) && (IfYZeros <= currentYP + 20) && (IfYZeros >= currentYP - 20) && (IfZZeros <= currentZP + 20) && (IfZZeros >= currentZP - 20))//TODO:设置第一次拍摄的位置
                {

                    break;
                }
                Thread.Sleep(10);
            }
        }
        public int disShow = new int();
        public List<int> MonitorValues { get; set; } = new List<int>();
        public List<int> relPosStrList { get; set; } = new List<int>();
        public List<int> HspeedList { get; set; } = new List<int>();
        /// <summary>
        /// 实时刷新PLC地址的值
        /// </summary>
        /// 
        public void UpDatePlcValue(int Address, int length)
        {
            //Task.Run(() =>
            //{
            //    while (true)
            //    {
            try
            {
                //实时刷新机械手的位置
                List<int> newValues = melsecPLCTCPDriver.GetMonitorValues(Address, length);
                if (newValues == null || newValues.Count == 0)
                    return;

                Stopwatch sw = new Stopwatch();
                sw.Start();
                if (Address == 600)
                {
                    disShow = melsecPLCTCPDriver.ReadInt(Convert.ToString(Address));
                }
                if (Address == 102)   //若起始地址为102
                {
                    if (relPosStrList.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(relPosStrList);
                        //MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    relPosStrList = new List<int>(newValues);
                    // relPosStrList = MonitorValues;
                    //实时显示在界面上
                }
                if (Address == 404)
                {
                    if (HspeedList.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(HspeedList);
                        //MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    HspeedList = new List<int>(newValues);
                    //HspeedList = MonitorValues;
                    //实时显示在界面上
                }
                sw.Stop();

                if (sw.ElapsedMilliseconds > 20)
                {
                    //LogAsync(DateTime.Now, LogLevel.Detail, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}");
                }
                Thread.Sleep(20);
            }
            catch (Exception ex)
            {

            }

            //    }
            //});
        }


        #region 显示结果
        /// <summary>
        /// 显示结果
        /// </summary>
        /// <param name="detectResult"></param>
        private void DisplayResult(MLResult detectResult)
        {
            string displayTxt = "";
            detectResult.ResultDetails.ForEach(d =>
            {
                displayTxt += $"{d.LabelName} score:{d.Score.ToString("f2")} area:{d.Area.ToString("f2")}\r\n";
            });

            var resultMask = detectResult.ResultMap;
            //Clone(new Rectangle(0, 0, detectResult.VisionImageSet.DetectionResultImage.Width, detectResult.VisionImageSet.DetectionResultImage.Height), detectResult.VisionImageSet.DetectionResultImage.PixelFormat);

            //  List<IShapeElement> detectionResultShapes = new List<IShapeElement>(detectResult.DetectionResultShapes);
            DetectResultDisplay resultDisplay = new DetectResultDisplay(detectResult.ResultDetails, resultMask, displayTxt);
            // detectionResultShapes.Add(resultDisplay);

            Graphics g = Graphics.FromImage(resultMask);
            resultDisplay.Draw(g);
            //  resultMask.Save("D://save.png");
            //  var resultMap = GetResultImage(resultMask, detectionResultShapes);
        }
        #endregion
        int YPos = 14957;
        int ZPos = 1695;
        bool StopM = false;//第一次用信号挡
        /// <summary>
        /// 监听洗衣机544是否触发后面对射传感器 相机
        /// </summary>
        public void TriggerCameral2()
        {
            //开启一个线程监听PLC得值
            Task.Run(() =>
            {
                try
                {
                    int iNum1 = 0;
                    int iNum0 = 0;
                    int iNum3 = 0;
                    Thread.CurrentThread.Priority = ThreadPriority.Highest;
                    while (meachineState == MeachineState.machine_opening)
                    {
                        // myResetEvent.Set();
                        PLC548 = true;
                        int m_iCureent548 = melsecPLCTCPDriver.ReadInt("548");

                        if (m_iCureent548 != 0)
                        {
                            iNum0++;
                        }
                        else
                        {
                            iNum0 = 0;
                        }
                        if (iNum0 >= 1)
                        {
                            while (meachineState == MeachineState.machine_opening)
                            {

                                bTriger = false;
                                //读到544一直是1持续两s 拍照
                                m_iCureent548 = melsecPLCTCPDriver.ReadInt("548");
                                if (m_iCureent548 == 0)
                                {
                                    iNum1++;
                                }
                                else
                                {
                                    iNum1 = 0;
                                    iNum3++;//获取光电没达到洗衣机上的次数

                                }
                                if (iNum1 >= 2)
                                {
                                    //myLog("时间间隔" + iNum3, DateTime.Now);
                                    if (!StopM)
                                    {
                                        melsecPLCTCPDriver.WriteInt("550", 1);//阻塞
                                        StopM = true;

                                    }
                                    if (bBar)
                                    {
                                        _runHandleBefore.WaitOne();
                                        //这里改成和海信的对接需求
                                        string OcrBar = "";
                                        string FinalDefIDToFind = m_sKEYENCEBar;// 目标 FinalDefID
                                        OcrBar = FormBarType(FinalDefIDToFind);
                                        this.Invoke(new Action(() =>
                                        {

                                            ScannerBox.Text = FinalDefIDToFind;
                                            textBox3.Text = OcrBar;

                                        }));
                                        //myLog("扫码器结果" + m_sKEYENCEBar, DateTime.Now);
                                        //#if false
                                        //是否给Pos请求加上时间超时

                                        //#else
                                        //                                        OcrBar = "OZ.洗衣机.WF3G7014-NVW001CZA.WSG374A.白";
                                        //#endif
                                        // if(Oldm_sKEYENCEBar!= m_sKEYENCEBar)


                                        if (OcrBar.IsNullOrEmpty())
                                        {
                                            myLog("Mes系统近日无型号" + m_sKEYENCEBar, DateTime.Now);
                                            //break;
                                        }
                                        xKNow = GetModeFromBar(OcrBar);//从数据库中查询到这个条码的四轴的值




                                        //if (Regex.IsMatch(xKNow.MoveX.ToString(), @"^[0-9]+$") && Regex.IsMatch(xKNow.MoveY.ToString(), @"^[0-9]+$") && Regex.IsMatch(xKNow.MoveZ.ToString(), @"^[0-9]+$"))
                                        //{

                                        //    // myLog("型号匹配成功" + xKNow.OcrBar, DateTime.Now);


                                        //}

                                    }
                                    // Thread.Sleep(2);
                                    bBar = false;
#if true


                                    {




                                        myLog("第一次采集图像", DateTime.Now);
                                        //移动模组 读三次测距的地址 看是否往前移动
                                        MoveToP(5815, YPos, ZPos);
                                        // Thread.Sleep(2000);//删



                                        List<int> DisList = new List<int>();
                                        for (int i = 0; i < 5; i++)
                                        {
                                            int m600 = melsecPLCTCPDriver.ReadInt("600");
                                            DisList.Add(m600);
                                        }
                                        DisList.Remove(DisList.Max());
                                        DisList.Remove(DisList.Min());
                                        // 计算剩余值的平均数
                                        double average = DisList.Average();
                                        double disreal = average * (-0.54054) + 1324.3232;
                                        //测距距离-标准距离=要移动的距离
                                        double dismove = disreal - 876;
                                        if (dismove > -4000 && dismove < 4000)
                                        {
                                            MoveToP(5815, YPos, ZPos + (int)(dismove));
                                        }

                                        Cam1.SnapshotCount = 0;
                                        Cam1.Snapshot();

                                        //Cam2.SnapshotCount = 0;
                                        //Cam2.Snapshot();
                                        //myLog("第二次采集图像", DateTime.Now);

                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveTwoX, xKNow.MoveTwoY, xKNow.MoveTwoZ);
                                        //}

                                        // MoveToP(51043, YPos, ZPos + (int)(dismove));
                                        //Cam1.Snapshot();
                                        MoveToP(5815, YPos, ZPos);
                                        melsecPLCTCPDriver.WriteInt("550", 0);//方行



                                        Thread.Sleep(1000);//洗衣机可能过不去

                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveX, xKNow.MoveY, xKNow.MoveZ);
                                        //}
                                        myLog("采集图像成功", DateTime.Now);
                                        //模组复位 

                                        bTriger = true;//可以进行检测识别了

                                        iNum0 = 0;
                                        iNum1 = 0;
                                        break;
                                    }
#else
                                        myLog("第一次采集图像", DateTime.Now);
                                        //移动模组 读三次测距的地址 看是否往前移动
                                        //MoveToP(5815, YPos, ZPos);
                                        Thread.Sleep(1000);//删



                                        //List<int> DisList = new List<int>();
                                        //for (int i = 0; i < 5; i++)
                                        //{
                                        //    int m600 = melsecPLCTCPDriver.ReadInt("600");
                                        //    DisList.Add(m600);
                                        //}
                                        //DisList.Remove(DisList.Max());
                                        //DisList.Remove(DisList.Min());
                                        //// 计算剩余值的平均数
                                        //double average = DisList.Average();
                                        //double disreal = average * (-0.54054) + 1324.3232;
                                        ////测距距离-标准距离=要移动的距离
                                        //double dismove = disreal - 876;
                                        //if (dismove > 0 && dismove < 4000)
                                        //{
                                        //    MoveToP(5815, YPos, ZPos + (int)(dismove));
                                        //}
                                        Thread.Sleep(1000);//删
                                        //  Thread.Sleep(500);
                                        Cam1.SnapshotCount = 0;
                                        Cam1.Snapshot();

                                        // Cam2.SnapshotCount = 0;
                                        //Cam2.Snapshot();
                                        IfCam2Triger = true;
                                        myLog("第二次采集图像", DateTime.Now);
                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveTwoX, xKNow.MoveTwoY, xKNow.MoveTwoZ);
                                        //}
                                        //currentXP = 54964;
                                        Thread.Sleep(2000);//删

                                        //MoveToP(51043, YPos, ZPos + (int)(dismove));
                                        Cam1.Snapshot();
                                        //MoveToP(5815, YPos, ZPos);
                                        //if (xKNow != null)
                                        //{
                                        //    MoveToP(xKNow.MoveX, xKNow.MoveY, xKNow.MoveZ);
                                        //}
                                        myLog("采集图像成功", DateTime.Now);
                                        //模组复位 

                                        bTriger = true;//可以进行检测识别了
                                        bBarTriger = false;//读码器可以不工作了
                                        iNum0 = 0;
                                        iNum1 = 0;
                                        break;

#endif




                                }
                                if (iNum3 >= 10)
                                {
                                    melsecPLCTCPDriver.WriteInt("550", 1);//阻塞
                                }
                            }

                        }


                        Thread.Sleep(10);


                    }

                }
                catch (Exception e)
                {

                }

            });
        }
        /// <summary>
        /// PLC心跳监听
        /// </summary>
        /// <param name="ifPlcHeart"></param>
        public void PLcHeratAdress(int ifPlcHeart)
        {
            if (ifPlcHeart == 1)
            {
                txtSetValue.Text = "PLC监听失败" + "    时间：" + DateTime.Now.ToString();
                myLog("PLC监听失败", DateTime.Now);
                PLCPowerON.BackColor = Color.Red;
            }
            else
            {
                PLCPowerON.BackColor = Color.Green;
            }
        }

        /// <summary>
        /// 机1软触发的回调
        /// </summary>
        /// <param name="dt"></param>
        /// <param name="cameraMat"></param>
        /// <param name="SnapshotCount"></param>
        public void OnCameraMatOutPut(DateTime dt, Mat cameraMat, int SnapshotCount)
        {
            string fitImageFolder = "D://cam1//";
            if (!Directory.Exists(fitImageFolder))
            {
                Directory.CreateDirectory(fitImageFolder);
            }

            //第一次拍照
            if (SnapshotCount == 1)
            {


                // Cam1ImgOne = Cv2.ImRead("D:\\Hisence\\类型\\1\\001.jpg"); ;
                Cam1ImgOne = cameraMat;
                IfCam1OneTriger = true;
                originMatShow.Image = cameraMat.ToBitmap();
                //pictureBox1.Image = cameraMat.ToBitmap();
                _runHandleAfter.Set();
                _runThreadFormtype.Set();

            }
            //第二次拍照
            if (SnapshotCount == 2)
            {

                Cam1ImgTwo = Cv2.ImRead("D:\\Hisence\\类型\\1\\002.jpg");
                //Cam1ImgTwo = cameraMat;

                IfCam1TwoTriger = true;
                //originMatShow2.Image = cameraMat.ToBitmap();

            }


            //CamShow1.ImaMAt = cameraMat;
            cameraMat.ImWrite(fitImageFolder + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1.jpg");

        }

        /// <summary>
        /// 相机2触发回调
        /// </summary>
        /// <param name="dt"></param>
        /// <param name="cameraMat"></param>
        /// <param name="SnapshotCount"></param>
        public void OnCameraMatOutPut2(DateTime dt, Mat cameraMat, int SnapshotCount)
        {
            string fitImageFolder = "D://cam2//";
            if (!Directory.Exists(fitImageFolder))
            {
                Directory.CreateDirectory(fitImageFolder);
            }

            // Mat mat = Cv2.ImRead("F:\\海信洗衣机\\cam1\\2024517161641.jpg");
            Cam2ImgShowBar = cameraMat;
            IfCam2Triger = true;

            //originMat2Show.Image = cameraMat.ToBitmap();
            //_runHandleAfter.Set();
            // CamShow2.ImaMAt = cameraMat;
            cameraMat.ImWrite(fitImageFolder + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1.jpg");

        }
        public volatile int AllDsums = 0;
        public volatile int NGDsums = 0;
        public volatile int OKDsums = 0;
        public volatile int WUsums = 0;
        public volatile int WAIsums = 0;
        /// <summary>
        /// 开始识别
        /// </summary>
        /// 
        public void ReadyDetect()
        {
            _ = Task.Run((Action)(() =>
            {
                Thread.CurrentThread.Priority = ThreadPriority.Highest;
                while (true)
                {
                    try
                    {
                        //信号量阻塞 使其不在总数增加和闪烁
                        _runHandleAfter.WaitOne();
                        //melsecPLCTCPDriver.WriteInt("550", 0);//方行
                        //2第一次拍照
                        //if (IfCam2Triger)
                        //{

                        //根据条码数据库比对
                        _runHandleAfter.Reset();
                        //if (xKNow == null)
                        //{
                        //    myLog("未匹配条码", DateTime.Now);
                        //    break;
                        //}

                        //if (xKNow.OcrBar == null)
                        //{
                        //    myLog("未匹配成功" + xKNow.OcrBar, DateTime.Now);
                        //    myLog("开始插入模板", DateTime.Now);
                        //    Insert_auto(true, Cam1ImgOne, m_sKEYENCEBar, 8974, 0, 0);

                        //    break;
                        //}


                        if (m_sKEYENCEBar != null)
                        {
                            if (xKNow == null)
                            {
                                myLog("数据库没有条码匹配" + m_sKEYENCEBar, DateTime.Now);
                                myLog("开始插入模板", DateTime.Now);
                                Insert_auto(true, Cam1ImgOne, m_sKEYENCEBar, 8974, 0, 0);
                                Thread.Sleep(2000);
                                OcrBar = FormBarType(m_sKEYENCEBar);
                                xKNow = GetModeFromBar(OcrBar); // 重新获取
                                if (xKNow != null)
                                {
                                    myLog("插入模板成功！", DateTime.Now);

                                }
                               
                                


                            }

                        }
                        bool MatchStr=false;
                        if (xKNow != null)
                        {
                            string IOcrBAr = xKNow.OcrBar;
                            //xKNow = GetModeFromBar(IOcrBAr);//从数据库中查询到这个条码的四轴的值
                            //这里改成和海信的对接需求
                            IfCam1TwoTriger = false;


                            List<XK_HisenceWord> xkWordList = ManagerModelHelper.GetModeWordFromBar(IOcrBAr);
                            if (xkWordList.Count() == 1)
                            {
                                xK_HisenceSQLWord = xkWordList[0];
                            }

                            if (xKNow.Detect != "")
                            {

                                myLog("型号匹配成功" + IOcrBAr, DateTime.Now);

                            }


                            //从数据库中匹配完才可以进行模组移动
                            //如果这次型号和上次的型号一样 就不用换识别模型ll



                            //}
                            //相机1第二次拍照
                            //  if (IfCam1TwoTriger && bBarTriger)
                            //{

                            //初始化板
                            Defet_OnDetectionDone(whiteMat, 1);
                            Defet_OnDetectionDone(whiteMat, 2);
                            Defet_OnDetectionDone(whiteMat, 3);
                            //Defet_OnDetectionDone(whiteMat, 4);
                            //Defet_OnDetectionDone(whiteMat, 5);
                            //Defet_OnDetectionDone(whiteMat, 6);
                            //Defet_OnDetectionDone(whiteMat, 7);

                            XK_HisenceWord xK_MatchDet = new XK_HisenceWord();
                            xK_MatchDet.TwoIFWhile = xK_HisenceSQLWord.TwoIFWhile;
                            AllDsums++;
                            //进行推理
                            MLRequest req = new MLRequest();
                            req.currentMat = Cam1ImgOne;
                            req.ResizeWidth = 640;
                            req.ResizeHeight = 640;
                            req.Score = 0.3f;
                            req.in_lable_path = LablePath;//标签路径
                            req.confThreshold = 0.3f;//模型置信度
                            req.iouThreshold = 0.4f;//检测IOU
                            req.out_node_name = "output";
                            MLResult mL = simboObjectDetection.RunInferenceFixed(req);
                            MLResult mLButton = simboObjectDetButton.RunInferenceFixed(req);

                            DateTime dt = DateTime.Now;
                            //将所有的块裁剪 识别字符对比字符串
                            List<string> strMatListOne = new List<string>();
                            List<string> strMatFuzzyListOne = new List<string>();
                            Mat mResultCut = req.currentMat.Clone();

                            if (mL.ResultMap != null)
                            {
                                mL.ResultMap.Save("D://cam1//" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1result.jpg");
                                ResultMatShow.Image = mL.ResultMap;

                            }


                            List<string> strMatListTwo = new List<string>();
                            List<string> strMatFuzzyListTwo = new List<string>();
                            // Mat mResultCut2 = req2.currentMat.Clone();
                            Dictionary<string, bool> keyValueResult = new Dictionary<string, bool>();
                            Dictionary<string, bool> keyValueResult2 = new Dictionary<string, bool>();
                            #region 先执行定位比对
                            //执行定位数组块
                            string[] listLabels = xKNow.Detect.Split(",");

                            MLResult MLsum = mL;
                            //for (int i = 0; i < mL2.ResultDetails.Count; i++)
                            //{
                            //    MLsum.ResultDetails.Add((DetectionResultDetail)mL2.ResultDetails[i]);
                            //}

                            string[] RealCFLabels = new string[MLsum.ResultDetails.Count];

                            for (int i = 0; i < MLsum.ResultDetails.Count; i++)
                            {
                                RealCFLabels[i] = MLsum.ResultDetails[i].LabelName;


                            }

                            RealCFLabels = RealCFLabels.Distinct().ToArray();//去重
                            string detstr = string.Join(",", RealCFLabels); //输出为abc-def-ghi   如果不加-,也可以省
                                                                            //排序比对块

                             MatchStr = listLabels.SequenceEqual(RealCFLabels);
                            if (MatchStr == false)

                            {
                                WAIsums++;
                            }
                            #endregion
                            //块比对完了 进行详细比对
                            if (MatchStr)
                            {
                                //Mat mCut = new Mat();
                                Stopwatch sw = new Stopwatch();
                                sw.Start();

                                InsertSqlRunDataButton(ref keyValueResult, false, ref mResultCut, mL, mLButton, ref xK_HisenceSQLWord, ref xK_MatchDet, ref strMatListOne, ref strMatFuzzyListOne, ref paddleOcrModel);


                                // InsertSqlRunData(ref keyValueResult2, false, ref mResultCut2, mL2, ref xK_HisenceSQLWord, ref xK_MatchDet, ref strMatListTwo, ref strMatFuzzyListTwo, ref paddleOcrModel);
                                sw.Stop();
                                //myLog("插入面板时间" + sw.ElapsedMilliseconds, DateTime.Now);

                            }




                            if (MatchStr)
                            {
                                //判断块值是否有含有匹配false
                                bool containsFalseValue = keyValueResult.ContainsValue(false);

                                if (containsFalseValue)
                                    MatchStr = false;


                            }
                        }
                        else
                        {
                            MatchStr = true;
                        }
                        ///执行比对 小图 
                        //bool MatchStr = ManagerModelHelper.IsMatchSQLText(ref mCut, ref xK_HisenceSQLWord, ref xK_MatchDet);


                        melsecPLCTCPDriver.WriteInt("550", 0);//方行
                        if (MatchStr)
                        {
                            OKDsums++;
                            myLog("匹配成功", DateTime.Now);
                            //界面显示
                            // InsertXK_HisenceWordMatchData(xK_MatchDet, true);
                            this.Invoke(new Action(() =>
                            {
                                OKOrNGShow.Image = OKbitmap;
                            }));


                        }
                        else
                        {

                            melsecPLCTCPDriver.WriteInt(RedLightingAdress, 1);//红灯
                            melsecPLCTCPDriver.WriteInt(YellowLightingAdress, 0);//黄灯
                            melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 0);//绿灯
                            melsecPLCTCPDriver.WriteInt(WaringAdress, 1);//报警



                            //加上人为判断是否是NG洗衣机
                            DialogResult dr = MessageBox.Show("是否误检？", "是否误检", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
                            if (dr == DialogResult.OK)
                            {

                                melsecPLCTCPDriver.WriteInt(RedLightingAdress, 0);//红灯
                                melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 1);//绿灯
                                melsecPLCTCPDriver.WriteInt(WaringAdress, 0);//报警

                                OKDsums++;
                                WUsums++;
                                this.Invoke(new Action(() =>
                                {
                                    double percent = (double)WUsums / AllDsums;
                                    string percentText = percent.ToString("0.0%");//最后percentText的值为10.0%
                                    textBox1.Text = percentText;
                                    OKOrNGShow.Image = OKbitmap;
                                }));
                                myLog("匹配失败", DateTime.Now);
                            }
                            else
                            {
                                NGDsums++;

                                melsecPLCTCPDriver.WriteInt(WaringAdress, 0);//报警
                                melsecPLCTCPDriver.WriteInt(RedLightingAdress, 0);//红灯
                                melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 1);//绿灯


                                this.Invoke(new Action(() =>
                                {
                                    OKOrNGShow.Image = NGbitmap;
                                }));
                                myLog("匹配成功", DateTime.Now);
                            }



                        }

                        //}

                    }

                    finally
                    {

                    }




                    Thread.Sleep(10);
                }

            }));

        }
        /// <summary>
        /// 发请求获取当日生产的型号
        /// </summary>
        public void ThreadPost()
        {
            Task.Run(() =>
            {
                while (true)
                {

                    _runThreadFormtype.WaitOne();
                    GetTypeFromPost();

                }
            });
        }
        /// <summary>
        /// 根据条码从数据库中获取型号
        /// </summary>
        /// <param name="SkBar"></param>
        /// <returns></returns>
        public XKHisence GetModeFromBar(string SkBar)
        {
            //从模板库里读

            DataSet ds = SQLiteHelper.Query($"select * from XK_Hisence where OCRBar='{SkBar}' ");




            XKHisence XK_hisence = new XKHisence();

            //cbx.DataSource = ds;
            DataTableReader rdr = ds.CreateDataReader();

            //autxRecords = new List<AuxRecord>();




            //cbx.Rows.Clear();
            while (rdr.Read())//读取表中数据

            {

                // xKOCROfficeWord.ID = (int)rdr["ID"];
                XK_hisence.Type = (string)rdr["Type"];
                XK_hisence.OcrBar = (string)rdr["OcrBar"];
                XK_hisence.MoveX = (int)rdr["MoveX"];
                XK_hisence.MoveY = (int)rdr["MoveY"];
                XK_hisence.MoveZ = (int)rdr["MoveZ"];
                XK_hisence.Detect = (string)rdr["Detect"];
                XK_hisence.OcrText = (string)rdr["OcrText"];
                XK_hisence.MoveTwoX = (int)rdr["MoveTwoX"];
                XK_hisence.MoveTwoY = (int)rdr["MoveTwoY"];
                XK_hisence.MoveTwoZ = (int)rdr["MoveTwoZ"];
                XK_hisence.OcrParm = (string)rdr["OcrParm"];
                XK_hisence.Language = (string)rdr["Language"];
                XK_hisence.FuzzyOcrText = (string)rdr["FuzzyOcrText"];
                //xKHisences.Add(XK_hisence);
                return XK_hisence;
                //additem(XK_hisence);


            }
            return null;


        }
        /// <summary>
        /// 接受条码的回调函数
        /// </summary>
        /// <param name="data"></param>
        public void OnDataReceived(byte[] data)
        {
            //
            if (data.Length > 10)
            {
                m_sKEYENCEBar = string.Empty;
                m_sKEYENCEBar = System.Text.Encoding.UTF8.GetString(data);
                // myLog("型号Ocr" + m_sKEYENCEBar, DateTime.Now);
                _runHandleBefore.Set();
                bBar = true;
            }

        }
        /// <summary>
        /// PLC的初始化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button4_Click(object sender, EventArgs e)
        {
            melsecPLCTCPDriver.Start();
            myLog("连接PLC成功", DateTime.Now);
        }
        /// <summary>
        /// 日志
        /// </summary>
        /// <param name="txt"></param>
        /// <param name="date"></param>
        private void myLog(string txt, DateTime date)
        {
            Logtxt = txt + "    时间：" + date.ToString() + "\n";
            this.Invoke(myLogDelegateUI); //richTextBox1.AppendText("TEST line \r");
            Application.DoEvents();
        }
        private void readAdress_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(readPLc.Text.ToString(), @"^[0-9]+$"))
            {
                int m_iCureent545 = melsecPLCTCPDriver.ReadInt(readPLc.Text.ToString());
                showPLC.Text = m_iCureent545.ToString();
                myLog("读取" + readPLc.Text.ToString() + "完成", DateTime.Now);
            }

        }

        private void wirteAdress_Click(object sender, EventArgs e)
        {
            try
            {
                if (Regex.IsMatch(WriteAdress.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(PLCValue.Text.ToString(), @"^[0-9]+$"))
                {
                    melsecPLCTCPDriver.WriteInt(WriteAdress.Text.ToString(), Convert.ToInt16(PLCValue.Text));
                    myLog("写" + WriteAdress.Text.ToString() + "完成", DateTime.Now);
                }


            }
            catch (Exception ex) { }

        }

        private void ScanDevList_Click(object sender, EventArgs e)
        {
            InitDevList();
        }


        private void PLCPowerON_Click(object sender, EventArgs e)
        {
            if (bOn == true)
            {
                melsecPLCTCPDriver.WriteInt("500", 0);
                // PLCcontrol->WritePlc(500, 0);
                bOn = false;
                PLCPowerON.Text = "使能On";
                myLog("下使能", DateTime.Now);
                PLCPowerON.BackColor = Color.Red;
            }
            else
            {
                melsecPLCTCPDriver.WriteInt("581", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("504", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("514", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("524", 0);//定位松开
                melsecPLCTCPDriver.WriteInt("406", 60000);  //写入手动速度
                melsecPLCTCPDriver.WriteInt("416", 8000);
                melsecPLCTCPDriver.WriteInt("426", 10000);
                melsecPLCTCPDriver.WriteInt("404", 100000);   //写入定位速度
                melsecPLCTCPDriver.WriteInt("414", 8000);
                melsecPLCTCPDriver.WriteInt("424", 10000);


                melsecPLCTCPDriver.WriteInt("500", 0);

                melsecPLCTCPDriver.WriteInt("500", 1);
                melsecPLCTCPDriver.WriteInt("500", 1);
                bOn = true;
                PLCPowerON.Text = "使能Off";
                PLCPowerON.BackColor = Color.Green;
                myLog("上使能", DateTime.Now);
            }
        }


        bool IfPLCDiskZero = false;
        bool IfPLCPostion = false;
        private void PLCDiskZero_Click(object sender, EventArgs e)
        {
            //if (!IfPLCDiskZero)
            //{
            melsecPLCTCPDriver.WriteInt("580", 0);
            //归零
            melsecPLCTCPDriver.WriteInt("580", 1);

            Thread.Sleep(200);
            melsecPLCTCPDriver.WriteInt("580", 0);
            IfPLCDiskZero = true;
            this.txtSetValue.Text = "1";
            myLog("580开始归零", DateTime.Now);
            //}
            //else
            //{
            //    melsecPLCTCPDriver.WriteInt("580", 0);
            //    IfPLCDiskZero = false;
            //    this.txtSetValue.Text = "0";
            //    myLog("580停止归零", DateTime.Now);
            //}
        }

        private void PLCPostion_Click(object sender, EventArgs e)
        {
            //if (!IfPLCPostion)
            //{



            try
            {
                if (Regex.IsMatch(lnEditmiXOP.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYOP.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZOP.Text.ToString(), @"^[0-9]+$"))
                {
                    if (lnEditmiXOP.Text != "" && lnEditmiYOP.Text != "" && lnEditmiZOP.Text != "")
                    {
                        //通过读取编辑栏的数值 作为目标位置
                        int iXTPosition = Convert.ToInt16(lnEditmiXOP.Text); //定位X轴位置
                        int iYTPosition = Convert.ToInt16(lnEditmiYOP.Text);
                        int iZTPosition = Convert.ToInt16(lnEditmiZOP.Text);

                        //把要定位的位置写入
                        melsecPLCTCPDriver.WriteInt("402", iXTPosition);
                        melsecPLCTCPDriver.WriteInt("412", iYTPosition);
                        melsecPLCTCPDriver.WriteInt("422", iZTPosition);

                        string logs = "写入定位位置 X" + iXTPosition + "Y:" + iYTPosition + "Z:" + iZTPosition + " ";
                        myLog(logs, DateTime.Now);
                    }
                }



                melsecPLCTCPDriver.WriteInt("581", 1);
                Thread.Sleep(1000);
                melsecPLCTCPDriver.WriteInt("581", 0);
                IfPLCPostion = true;
                this.txtSetValue.Text = "1";
                myLog("XYZ开始定位581", DateTime.Now);
            }
            catch (Exception ex)
            {

            }




            //}
            //else
            //{
            //    melsecPLCTCPDriver.WriteInt("581", 0);
            //    IfPLCPostion = false;
            //    this.txtSetValue.Text = "0";
            //    myLog("XYZ停止581", DateTime.Now);
            //}
        }



        private void StartDecBtn_Click(object sender, EventArgs e)
        {

            //string path22 = "D:\\Hisence\\test2\\002.jpg";
            //Mat pathmat2 = Cv2.ImRead(path22);
            //string path222 = "D:\\Hisence\\test2\\001.jpg";
            //Rect rect1 = new Rect(1929, 745, 396, 377);


            //CheckDiffSciHelper.CheckDiffSci(path222, pathmat2, rect1, rect1, true, "D://Hisence//Test2");

            //string path = "D:\\Hisence\\Test1\\1.png";
            //Mat pathmat =Cv2.ImRead(path);  
            //string path2 = "D:\\Hisence\\Test1\\2.png";

            //Rect rect2 = new Rect(0, 0, 0, 0);

            //CheckDiffSciHelper1.CheckDiffSci(path2, pathmat, rect2, rect2, false, "D://Hisence//test2");



            // OnGetBar();
            melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 1);//绿灯
            melsecPLCTCPDriver.WriteInt(YellowLightingAdress, 0);//黄灯

            meachineState = MeachineState.machine_opening;
            TriggerCameral2();//光电触发拍照 根据SN获取型号 从数据库中得到块值
            ReadyDetect();//相机拍照后检测线程

            //ThreadPost();//相机拍照后获取当日的型号
            myLog("开启流程成功", DateTime.Now);
        }

        private void RefeshData_Click(object sender, EventArgs e)
        {
            DataSet dataSet = SQLiteHelper.Query("select * from XK_HisenceDet");
            //dataGridView1.DataSource = dataSet.Tables[0];
        }

        private void panel8_Paint(object sender, PaintEventArgs e)
        {

        }

        private void SetHandleSpeed_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(lnEditmiXHS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYHS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZHS.Text.ToString(), @"^[0-9]+$"))
            {
                if (SetlnEditmiXH.Text != "" && SetlnEditmiYH.Text != "" && SetlnEditmiZH.Text != "")
                {
                    int XHspeed = Convert.ToInt32(SetlnEditmiXH.Text);  //X轴手动速度
                    int YHspeed = Convert.ToInt32(SetlnEditmiYH.Text);  //Y轴手动速度
                    int ZHspeed = Convert.ToInt32(SetlnEditmiZH.Text);  //Z轴手动速度

                    melsecPLCTCPDriver.WriteInt("406", XHspeed);  //写入手动速度
                    melsecPLCTCPDriver.WriteInt("416", YHspeed);
                    melsecPLCTCPDriver.WriteInt("426", ZHspeed);
                    string logs = "写入手动速度 X" + XHspeed + "Y:" + YHspeed + "Z:" + ZHspeed + " ";
                    myLog(logs, DateTime.Now);
                }


            }
        }

        private void SetAutoSpeed_Click(object sender, EventArgs e)
        {
            if (Regex.IsMatch(lnEditmiXS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiYS.Text.ToString(), @"^[0-9]+$") && Regex.IsMatch(lnEditmiZS.Text.ToString(), @"^[0-9]+$"))
            {
                if (SetlnEditmiXOP.Text != "" && SetlnEditmiYOP.Text != "" && SetlnEditmiZOP.Text != "")
                {
                    int Xspeed = Convert.ToInt32(SetlnEditmiXOP.Text); //X轴定位速度
                    int Yspeed = Convert.ToInt32(SetlnEditmiYOP.Text);  //Y轴定位速度
                    int Zspeed = Convert.ToInt32(SetlnEditmiZOP.Text);   //Z轴定位速度

                    melsecPLCTCPDriver.WriteInt("404", Xspeed);   //写入定位速度
                    melsecPLCTCPDriver.WriteInt("414", Yspeed);
                    melsecPLCTCPDriver.WriteInt("424", Zspeed);

                    string logs = "写入定位速度 X" + Xspeed + "Y:" + Yspeed + "Z:" + Zspeed + " ";
                    myLog(logs, DateTime.Now);
                }
            }
        }
        //按下状态标识
        private bool m_btnState;


        private void YZerorbx_Click(object sender, EventArgs e)
        {
            if (!ifYZeroValue)
            {
                this.YZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("513", 1);
                ifYZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始归零", DateTime.Now);
            }
            else
            {
                this.YZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("513", 0);
                ifYZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止归零", DateTime.Now);
            }
        }

        private void ZZerorbx_Click(object sender, EventArgs e)
        {
            if (!ifZZeroValue)
            {
                this.ZZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("523", 1);
                ifZZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始归零", DateTime.Now);
            }
            else
            {
                this.ZZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("523", 0);
                ifZZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止归零", DateTime.Now);
            }
        }

        private void XForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifXForward)
            {
                this.XForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("502", 1);
                ifXForward = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始正向", DateTime.Now);
            }
            else
            {
                this.XForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("502", 0);
                ifXForward = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止正向", DateTime.Now);
            }
        }

        private void YForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifYForward)
            {
                this.YForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("512", 1);
                ifYForward = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始正向", DateTime.Now);
            }
            else
            {
                this.YForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("512", 0);
                ifYForward = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止正向", DateTime.Now);
            }
        }

        private void ZForwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifZForward)
            {
                this.ZForwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("522", 1);
                ifZForward = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始正向", DateTime.Now);
            }
            else
            {
                this.ZForwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("522", 0);
                ifZForward = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止正向", DateTime.Now);
            }
        }

        private void XBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifXBackward)
            {
                this.XBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("501", 1);
                ifXBackward = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始反向", DateTime.Now);
            }
            else
            {
                this.XBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("501", 0);
                ifXBackward = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止反向", DateTime.Now);
            }
        }

        private void YBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifYBackward)
            {
                this.YBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("511", 1);
                ifYBackward = true;
                this.txtSetValue.Text = "1";
                myLog("Y轴开始反向", DateTime.Now);
            }
            else
            {
                this.YBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("511", 0);
                ifYBackward = false;
                this.txtSetValue.Text = "0";
                myLog("Y轴停止反向", DateTime.Now);
            }
        }

        private void ZBackwardrbx_Click(object sender, EventArgs e)
        {
            if (!ifZBackward)
            {
                this.ZBackwardrbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("521", 1);
                ifZBackward = true;
                this.txtSetValue.Text = "1";
                myLog("Z轴开始反向", DateTime.Now);
            }
            else
            {
                this.ZBackwardrbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("521", 0);
                ifZBackward = false;
                this.txtSetValue.Text = "0";
                myLog("Z轴停止反向", DateTime.Now);
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            string ss = "BB0VA5E0000BCQ5L0114";

        }

        private void Cam2OpenBtn_Click_1(object sender, EventArgs e)
        {

            Cam2.Start("Cam2");

            bnGetParam2.Enabled = true;
            //SetCtrlWhenOpen();
            Cam2OpenBtn.BackColor = Color.Green;
        }

        private void button4_Click_1(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                //DetectBArMatbox.Text = fName;
                BarPath = fName;
            }
        }
        #region 插入新型号
        private void InsertBtn_Click(object sender, EventArgs e)
        {


            try
            {
                string SNText = OcrBarBox.Text;
                string type = TypeBox.Text;
                string OcrBar = OcrBarBox.Text;
                string moveX = moveXbox.Text;
                string moveY = moveYbox.Text;
                string moveZ = moveZbox.Text;
                // string Detect = DetectBArMatbox.Text;
                // string movetwoX = moveTwoXbox.Text;
                // string movetwoY = moveTwoYbox.Text;
                // string movetwoZ = moveTwoZbox.Text;
                bool whiteBan = true;
                if (WhiteBanCbx.CheckState == CheckState.Checked)//选中
                {
                    whiteBan = true;

                }
                else if (WhiteBanCbx.CheckState == CheckState.Unchecked)//没选中
                {
                    whiteBan = false;
                }
                else
                {
                    whiteBan = false;
                }

                if (!Regex.IsMatch(moveX, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的X只能是数字");
                    return;
                }
                if (!Regex.IsMatch(moveY, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的Y只能是数字");
                    return;
                }
                if (!Regex.IsMatch(moveZ, @"^[0-9]+$"))
                {
                    MessageBox.Show("第一次拍照移动的Z只能是数字");
                    return;
                }
                //if (!Regex.IsMatch(movetwoX, @"^[0-9]+$"))
                //{
                //    MessageBox.Show("第二次拍照移动的X只能是数字");
                //    return;
                //}
                //if (!Regex.IsMatch(movetwoY, @"^[0-9]+$"))
                //{
                //    MessageBox.Show("第二次拍照移动的Y只能是数字");
                //    return;
                //}
                //if (!Regex.IsMatch(movetwoZ, @"^[0-9]+$"))
                //{
                //    MessageBox.Show("第二次拍照移动的Z只能是数字");
                //    return;
                //}

                if (SNText != "" && BarPath != "" && Cam1OnePath != "" && Cam1TwoPath != "" && ModelChangePath != "")
                {
                    int HmoveX = (int)Convert.ToInt64(moveX);
                    int HmoveY = (int)Convert.ToInt64(moveY);
                    int HmoveZ = (int)Convert.ToInt64(moveZ);
                    //int HmovetwoX = (int)Convert.ToInt64(movetwoX);
                    //int HmovetwoY = (int)Convert.ToInt64(movetwoY);
                    //int HmovetwoZ = (int)Convert.ToInt64(movetwoZ);
                    InsertXK_Hisence(whiteBan, SNText, HmoveX, HmoveY, HmoveZ);


                }
                else
                {
                    MessageBox.Show("插入的数据不能为NULL");
                }

            }
            catch (Exception es)
            {
                MessageBox.Show(es.Message);
            }
        }
        public string FormBarType(string SN)
        {
            string productType = "null";
            string url = "http://172.16.139.146/FCCBOMWebService/FCCBomService.asmx/GetFCCBomInfoPDJson";

            string jsonData = @"  
        {  
          ""StartTime"": ""2024-07-1"",  
           ""EndTime"": ""2024-07-20"",  
           ""LineBody"": ""BZ-PC""  
         }";
            // 获取当天日期
            string currentDate = DateTime.Now.ToString("yyyy-MM-dd");

            // 解析JSON字符串为JObject
            JObject jsonObject = JObject.Parse(jsonData);

            // 更新EndTime字段
            jsonObject["EndTime"] = currentDate;

            // 将JObject转回JSON字符串
            string updatedJsonData = jsonObject.ToString();


            string postData = "inputvalue=" + Uri.EscapeDataString(updatedJsonData);

            try
            {
                string response = PostData(url, postData);



                // 解析并处理响应
                string finalDefIdToFind = m_sKEYENCEBar.Substring(0, m_sKEYENCEBar.Length - 7); // 目标 FinalDefID
                productType = FindStringAfterColon(response, finalDefIdToFind);
                if (productType == null)
                {
                    finalDefIdToFind = finalDefIdToFind.Substring(0, finalDefIdToFind.Length - 6);
                    productType = FindStringAfterColon(response, finalDefIdToFind);
                }

            }
            catch (Exception ex)
            {
                Console.WriteLine("Error occurred:");
                Console.WriteLine(ex.Message);
            }
            return productType;
            // sw.Stop();
            // Console.WriteLine("时间请求i：" + sw.ElapsedMilliseconds);
        }
        public void Insert_auto(bool ifwhiteBan, Mat img, string SNtext, int MoveX, int MoveY, int MoveZ)
        {


            string IOcrBAr = FormBarType(SNtext);
            XK_HisenceWord xkWord = new XK_HisenceWord();
            xkWord.OcrBar = IOcrBAr;
            xkWord.TwoIFWhile = ifwhiteBan;
            using (StreamWriter sw = new StreamWriter("D://123.log", true))
            {
                sw.WriteLine("\n");
                sw.WriteLine(IOcrBAr);
                sw.Flush();
            }

            //从第一次拍照全图范围内目标检测然后进行OCR识别
            MLRequest CamOneI = new MLRequest();
            CamOneI.currentMat = img;
            CamOneI.ResizeWidth = 640;
            CamOneI.ResizeHeight = 640;
            CamOneI.Score = 0.3f;
            CamOneI.in_lable_path = LablePath;//标签路径
            CamOneI.confThreshold = 0.3f;//模型置信度
            CamOneI.iouThreshold = 0.4f;//检测IOU
            CamOneI.out_node_name = "output";
            MLResult mL3 = simboObjectDetection.RunInferenceFixed(CamOneI);
            MLResult mLButton = simboObjectDetButton.RunInferenceFixed(CamOneI);
            //if (mL3.IsSuccess)
            //{
            //    DateTime dt = DateTime.Now;
            //    mL3.ResultMap.Save("D:\\Hisence\\detImages\\" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1result.jpg");

            //}
            List<string> strMatListOne = new List<string>();
            List<string> strMatFuzzyListOne = new List<string>();
            Mat mResultCut = CamOneI.currentMat.Clone();
            //Mat mCut = new Mat();
            Dictionary<string, bool> keyValueResult = new Dictionary<string, bool>();
            InsertSqlRunDataButton(ref keyValueResult, true, ref mResultCut, mL3, mLButton, ref xK_HisenceSQLWord, ref xkWord, ref strMatListOne, ref strMatFuzzyListOne, ref paddleOcrModel);




            //if (xkWord.OneblockText.)
            //{ }
            InsertXKHisenceWordData(xkWord);//往关键字表中插入一条数据

            string OcrTextone = strMatListOne.Join("##");
            string OcrTextTwo = strMatFuzzyListOne.Join("##");


            string detstr = "";
            if (keyValueResult.Count<=1)
            {
                return;
            }

            for (int v = 0; v < keyValueResult.Count; v++)
            {
                var item = keyValueResult.ElementAt(v);
                if (v < keyValueResult.Count - 1)
                {
                    detstr += item.Key + ",";
                }
                else
                {
                    detstr += item.Key;
                }

            }

            DateTime dt2 = DateTime.Now;
            XKHisence xK = new XKHisence("1", IOcrBAr, MoveX, MoveY, MoveZ, detstr, OcrTextone, MoveX, MoveY, MoveZ, ModelChangePath, "", OcrTextTwo);


            string sql = "insert into XK_Hisence VALUES('" + xK.Type + "','" + xK.OcrBar + "'," + xK.MoveX + "," + xK.MoveY + "," + xK.MoveZ + ",'" + xK.Detect + "','" + xK.OcrText + "'," + xK.MoveTwoX + "," + xK.MoveTwoY + "," + xK.MoveTwoZ + ",'" + xK.OcrParm + "','" + xK.Language + "','" + xK.FuzzyOcrText + "')";
            int i = SQLiteHelper.ExecuteSql(sql);
            if (i == 1)
            {
                myLog("插入成功", DateTime.Now);
                //MessageBox.Show("XK_Hisence插入一条数据");
            }
            //bool ismatch = IsMatchOcrText("WF3S7021BB", strMatListListOne);
            //相机回调
        }
        public void InsertXK_Hisence(bool ifwhiteBan, string SNtext, int MoveX, int MoveY, int MoveZ)
        {
            // PaddleOcrModel IpaddleOcrModel = new PaddleOcrModel();
            // IpaddleOcrModel.Load(ModelChangePath, "CPU");


            string IOcrBAr = FormBarType(SNtext);
            XK_HisenceWord xkWord = new XK_HisenceWord();
            xkWord.OcrBar = IOcrBAr;
            xkWord.TwoIFWhile = ifwhiteBan;
            using (StreamWriter sw = new StreamWriter("D://123.log", true))
            {
                sw.WriteLine("\n");
                sw.WriteLine(IOcrBAr);
                sw.Flush();
            }


            //将所有的块裁剪 识别字符对比字符串



            //进行推理





            //从第一次拍照全图范围内目标检测然后进行OCR识别
            MLRequest CamOneI = new MLRequest();
            CamOneI.currentMat = Cv2.ImRead(Cam1OnePath);
            CamOneI.ResizeWidth = 640;
            CamOneI.ResizeHeight = 640;
            CamOneI.Score = 0.3f;
            CamOneI.in_lable_path = LablePath;//标签路径
            CamOneI.confThreshold = 0.3f;//模型置信度
            CamOneI.iouThreshold = 0.4f;//检测IOU
            CamOneI.out_node_name = "output";
            MLResult mL3 = simboObjectDetection.RunInferenceFixed(CamOneI);
            MLResult mLButton = simboObjectDetButton.RunInferenceFixed(CamOneI);
            //if (mL3.IsSuccess)
            //{
            //    DateTime dt = DateTime.Now;
            //    mL3.ResultMap.Save("D:\\Hisence\\detImages\\" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "1result.jpg");

            //}
            List<string> strMatListOne = new List<string>();
            List<string> strMatFuzzyListOne = new List<string>();
            Mat mResultCut = CamOneI.currentMat.Clone();
            //Mat mCut = new Mat();
            Dictionary<string, bool> keyValueResult = new Dictionary<string, bool>();
            InsertSqlRunDataButton(ref keyValueResult, true, ref mResultCut, mL3, mLButton, ref xK_HisenceSQLWord, ref xkWord, ref strMatListOne, ref strMatFuzzyListOne, ref paddleOcrModel);



            //MLRequest CamTwoI = new MLRequest();
            //CamTwoI.currentMat = Cv2.ImRead(Cam1TwoPath);
            //CamTwoI.ResizeWidth = 640;
            //CamTwoI.ResizeHeight = 640;
            //CamTwoI.Score = 0.3f;
            //CamTwoI.in_lable_path = LablePath;//标签路径
            //CamTwoI.confThreshold = 0.3f;//模型置信度
            //CamTwoI.iouThreshold = 0.4f;//检测IOU
            //CamTwoI.out_node_name = "output";
            //MLResult mL4 = simboObjectDetection.RunInferenceFixed(CamTwoI);
            ////if (mL4.IsSuccess)
            ////{
            ////    DateTime dt = DateTime.Now;
            ////    mL4.ResultMap.Save("D:\\Hisence\\detImages\\" + dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString() + "2result.jpg");

            ////}
            //List<string> strMatListTwo = new List<string>();
            //List<string> strMatFuzzyListTwo = new List<string>();
            //Mat mResultCut2 = CamTwoI.currentMat.Clone();
            //Dictionary<string, bool> keyValueResult2 = new Dictionary<string, bool>();
            //InsertSqlRunData(ref keyValueResult2, true, ref mResultCut2, mL4, ref xK_HisenceSQLWord, ref xkWord, ref strMatListTwo, ref strMatFuzzyListTwo, ref paddleOcrModel);



            InsertXKHisenceWordData(xkWord);//往关键字表中插入一条数据
            //文本区域
            //List<string> bingji = strMatListOne.Union(strMatListTwo).ToList();//并（全）集
            //List<string> Fuzzybingji = strMatFuzzyListOne.Union(strMatFuzzyListTwo).ToList();//并（全）集
            string OcrTextone = strMatListOne.Join("##");
            string OcrTextTwo = strMatFuzzyListOne.Join("##");

            //string OcrTextinsert = "";
            //List<string> bingji = strMatListListOne.Union(strMatListListTwo).ToList();//并（全）集
            //for (int j = 0; j < bingji.Count; j++)
            //{
            //    string jdetial = bingji[j];
            //    OcrTextinsert += jdetial + "##";
            //}
            string detstr = "";

            for (int v = 0; v < keyValueResult.Count; v++)
            {
                var item = keyValueResult.ElementAt(v);
                if (v < keyValueResult.Count - 1)
                {
                    detstr += item.Key + ",";
                }
                else
                {
                    detstr += item.Key;
                }

            }

            DateTime dt2 = DateTime.Now;
            XKHisence xK = new XKHisence("1", IOcrBAr, MoveX, MoveY, MoveZ, detstr, OcrTextone, MoveX, MoveY, MoveZ, ModelChangePath, "", OcrTextTwo);
            //string log="D:\\Hisence\\detImages\\" + dt2.Year.ToString() + dt2.Month.ToString() + dt2.Day.ToString() + dt2.Hour.ToString() + dt2.Minute.ToString() + dt2.Millisecond.ToString() + "2result.log";
            //     using (StreamWriter sw=new StreamWriter(log, true))
            //     {
            //        // sw.WriteLine(xK.OcrBar+"\n");
            //         sw.WriteLine(xK.OcrText);
            //         sw.WriteLine(xK.FuzzyOcrText);
            //     }
            //IpaddleOcrModel.FreeModel();

            string sql = "insert into XK_Hisence VALUES('" + xK.Type + "','" + xK.OcrBar + "'," + xK.MoveX + "," + xK.MoveY + "," + xK.MoveZ + ",'" + xK.Detect + "','" + xK.OcrText + "'," + xK.MoveTwoX + "," + xK.MoveTwoY + "," + xK.MoveTwoZ + ",'" + xK.OcrParm + "','" + xK.Language + "','" + xK.FuzzyOcrText + "')";
            int i = SQLiteHelper.ExecuteSql(sql);
            if (i == 1)
            {
                MessageBox.Show("XK_Hisence插入一条数据");
            }
            //bool ismatch = IsMatchOcrText("WF3S7021BB", strMatListListOne);
            //相机回调
        }
        public void InsertXKHisenceWordData(XK_HisenceWord xkWord)
        {
            StringBuilder strSql = new StringBuilder();
            strSql.Append("insert into XK_HisenceWord(");
            strSql.Append("OcrBar,OneblockPath,OneblockMainWord,OneblockText,TwoRect,TwoIFWhile,TwoblockPath,TwoblockMainWord,TwoblockText,ThreeblockPath," +
                "ThreeblockMainWord,ThreeblockText,FourblockPath,FourblockMainWord,FourblockText,FiveblockPath,FiveblockMainWord,FiveblockText," +
                "SixblockPath,SixblockMainWord,SixblockText,SevenblockPath,SevenblockMainWord,SevenblockText,EightblockPath,EightblockMainWord,EightblockText)");
            strSql.Append(" values (");
            strSql.Append("@OcrBar,@OneblockPath,@OneblockMainWord,@OneblockText,@TwoRect,@TwoIFWhile,@TwoblockPath,@TwoblockMainWord,@TwoblockText,@ThreeblockPath," +
                "@ThreeblockMainWord,@ThreeblockText,@FourblockPath,@FourblockMainWord,@FourblockText,@FiveblockPath,@FiveblockMainWord,@FiveblockText," +
                "@SixblockPath,@SixblockMainWord,@SixblockText,@SevenblockPath,@SevenblockMainWord,@SevenblockText,@EightblockPath,@EightblockMainWord,@EightblockText)");
            SQLiteParameter[] parameters = {
                    new SQLiteParameter("@OcrBar", DbType.String),
                    new SQLiteParameter("@OneblockPath", DbType.String),
                    new SQLiteParameter("@OneblockMainWord", DbType.String),
                    new SQLiteParameter("@OneblockText", DbType.String),
                    new SQLiteParameter("@TwoRect",DbType.String),
                    new SQLiteParameter("@TwoIFWhile",DbType.String),
                    new SQLiteParameter("@TwoblockPath", DbType.String),
                    new SQLiteParameter("@TwoblockMainWord",DbType.String),
                    new SQLiteParameter("@TwoblockText", DbType.String),
                    new SQLiteParameter("@ThreeblockPath", DbType.String),
                    new SQLiteParameter("@ThreeblockMainWord", DbType.String),
                    new SQLiteParameter("@ThreeblockText", DbType.String),
                    new SQLiteParameter("@FourblockPath", DbType.String),
                    new SQLiteParameter("@FourblockMainWord", DbType.String),
                    new SQLiteParameter("@FourblockText", DbType.String),
                    new SQLiteParameter("@FiveblockPath", DbType.String),
                    new SQLiteParameter("@FiveblockMainWord", DbType.String),
                    new SQLiteParameter("@FiveblockText", DbType.String),
                    new SQLiteParameter("@SixblockPath", DbType.String),
                    new SQLiteParameter("@SixblockMainWord", DbType.String),
                    new SQLiteParameter("@SixblockText", DbType.String),
                    new SQLiteParameter("@SevenblockPath", DbType.String),
                    new SQLiteParameter("@SevenblockMainWord", DbType.String),
                    new SQLiteParameter("@SevenblockText", DbType.String),
                    new SQLiteParameter("@EightblockPath", DbType.String),
                    new SQLiteParameter("@EightblockMainWord", DbType.String),
                    new SQLiteParameter("@EightblockText", DbType.String)};

            parameters[0].Value = xkWord.OcrBar;
            parameters[1].Value = xkWord.OneblockPath;
            parameters[2].Value = xkWord.OneblockMainWord;
            parameters[3].Value = xkWord.OneblockText;

            parameters[4].Value = xkWord.TwoRect;
            parameters[5].Value = xkWord.TwoIFWhile;
            parameters[6].Value = xkWord.TwoblockPath;
            parameters[7].Value = xkWord.TwoblockMainWord;
            parameters[8].Value = xkWord.TwoblockText;

            parameters[9].Value = xkWord.ThreeblockPath;
            parameters[10].Value = xkWord.ThreeblockMainWord;
            parameters[11].Value = xkWord.ThreeblockText;

            parameters[12].Value = xkWord.FourblockPath;
            parameters[13].Value = xkWord.FourblockMainWord;
            parameters[14].Value = xkWord.FourblockText;

            parameters[15].Value = xkWord.FiveblockPath;
            parameters[16].Value = xkWord.FiveblockMainWord;
            parameters[17].Value = xkWord.FiveblockText;


            parameters[18].Value = xkWord.SixblockPath;
            parameters[19].Value = xkWord.SixblockMainWord;
            parameters[20].Value = xkWord.SixblockText;

            parameters[21].Value = xkWord.SevenblockPath;
            parameters[22].Value = xkWord.SevenblockMainWord;
            parameters[23].Value = xkWord.SevenblockText;

            parameters[24].Value = xkWord.EightblockPath;
            parameters[25].Value = xkWord.EightblockMainWord;
            parameters[26].Value = xkWord.EightblockText;
            int iv = SQLiteHelper.ExecuteSql(strSql.ToString(), parameters);
            if (iv == 1)
            {
                //MessageBox.Show("关键字XK_HisenceWord插入一条数据");
            }
        }
        public void InsertXK_HisenceWordMatchData(XK_HisenceWord xkWord, bool ifMatch)
        {
            StringBuilder strSql = new StringBuilder();
            strSql.Append("insert into XK_HisenceWordMatch(");
            strSql.Append("OcrBar,OneblockPath,OneblockMainWord,OneblockText,TwoRect,TwoIFWhile,TwoblockPath,TwoblockMainWord,TwoblockText,ThreeblockPath," +
                "ThreeblockMainWord,ThreeblockText,FourblockPath,FourblockMainWord,FourblockText,FiveblockPath,FiveblockMainWord,FiveblockText," +
                "SixblockPath,SixblockMainWord,SixblockText,SevenblockPath,SevenblockMainWord,SevenblockText,EightblockPath,EightblockMainWord,EightblockText,Datetime,IfMatch)");
            strSql.Append(" values (");
            strSql.Append("@OcrBar,@OneblockPath,@OneblockMainWord,@OneblockText,@TwoRect,@TwoIFWhile,@TwoblockPath,@TwoblockMainWord,@TwoblockText,@ThreeblockPath," +
                "@ThreeblockMainWord,@ThreeblockText,@FourblockPath,@FourblockMainWord,@FourblockText,@FiveblockPath,@FiveblockMainWord,@FiveblockText," +
                "@SixblockPath,@SixblockMainWord,@SixblockText,@SevenblockPath,@SevenblockMainWord,@SevenblockText,@EightblockPath,@EightblockMainWord,@EightblockText,@Datetime,@IfMatch)");
            SQLiteParameter[] parameters = {
                    new SQLiteParameter("@OcrBar", DbType.String),
                    new SQLiteParameter("@OneblockPath", DbType.String),
                    new SQLiteParameter("@OneblockMainWord", DbType.String),
                    new SQLiteParameter("@OneblockText", DbType.String),
                    new SQLiteParameter("@TwoRect",DbType.String),
                    new SQLiteParameter("@TwoIFWhile",DbType.String),
                    new SQLiteParameter("@TwoblockPath", DbType.String),
                    new SQLiteParameter("@TwoblockMainWord",DbType.String),
                    new SQLiteParameter("@TwoblockText", DbType.String),
                    new SQLiteParameter("@ThreeblockPath", DbType.String),
                    new SQLiteParameter("@ThreeblockMainWord", DbType.String),
                    new SQLiteParameter("@ThreeblockText", DbType.String),
                    new SQLiteParameter("@FourblockPath", DbType.String),
                    new SQLiteParameter("@FourblockMainWord", DbType.String),
                    new SQLiteParameter("@FourblockText", DbType.String),
                    new SQLiteParameter("@FiveblockPath", DbType.String),
                    new SQLiteParameter("@FiveblockMainWord", DbType.String),
                    new SQLiteParameter("@FiveblockText", DbType.String),
                    new SQLiteParameter("@SixblockPath", DbType.String),
                    new SQLiteParameter("@SixblockMainWord", DbType.String),
                    new SQLiteParameter("@SixblockText", DbType.String),
                    new SQLiteParameter("@SevenblockPath", DbType.String),
                    new SQLiteParameter("@SevenblockMainWord", DbType.String),
                    new SQLiteParameter("@SevenblockText", DbType.String),
                    new SQLiteParameter("@EightblockPath", DbType.String),
                    new SQLiteParameter("@EightblockMainWord", DbType.String),
                    new SQLiteParameter("@EightblockText", DbType.String),
                    new SQLiteParameter("@Datetime", DbType.String),
                    new SQLiteParameter("@IfMatch", DbType.Boolean)};

            parameters[0].Value = xkWord.OcrBar;
            parameters[1].Value = xkWord.OneblockPath;
            parameters[2].Value = xkWord.OneblockMainWord;
            parameters[3].Value = xkWord.OneblockText;

            parameters[4].Value = xkWord.TwoRect;
            parameters[5].Value = xkWord.TwoIFWhile;
            parameters[6].Value = xkWord.TwoblockPath;
            parameters[7].Value = xkWord.TwoblockMainWord;
            parameters[8].Value = xkWord.TwoblockText;

            parameters[9].Value = xkWord.ThreeblockPath;
            parameters[10].Value = xkWord.ThreeblockMainWord;
            parameters[11].Value = xkWord.ThreeblockText;

            parameters[12].Value = xkWord.FourblockPath;
            parameters[13].Value = xkWord.FourblockMainWord;
            parameters[14].Value = xkWord.FourblockText;

            parameters[15].Value = xkWord.FiveblockPath;
            parameters[16].Value = xkWord.FiveblockMainWord;
            parameters[17].Value = xkWord.FiveblockText;


            parameters[18].Value = xkWord.SixblockPath;
            parameters[19].Value = xkWord.SixblockMainWord;
            parameters[20].Value = xkWord.SixblockText;

            parameters[21].Value = xkWord.SevenblockPath;
            parameters[22].Value = xkWord.SevenblockMainWord;
            parameters[23].Value = xkWord.SevenblockText;

            parameters[24].Value = xkWord.EightblockPath;
            parameters[25].Value = xkWord.EightblockMainWord;
            parameters[26].Value = xkWord.EightblockText;

            parameters[27].Value = DateTime.Now;
            parameters[28].Value = ifMatch;
            int iv = SQLiteHelper.ExecuteSql(strSql.ToString(), parameters);
            if (iv == 1)
            {
                MessageBox.Show("关键字XK_HisenceWordMatch插入一条数据");
            }
        }

        public void InsertXKHisenceDET(XKHisence xkWord)
        {
            StringBuilder strSql = new StringBuilder();
            strSql.Append("insert into XKHisenceDet(");
            strSql.Append("Type,OcrBar,MoveX,MoveY,MoveZ,Detect,OcrText,MoveTwoX,MoveTwoY,MoveTwoZ,Datetime,IfMatch)");
            strSql.Append(" values (");
            strSql.Append("@Type,@OcrBar,@MoveX,@MoveY,@MoveZ,@Detect,@OcrText,@MoveTwoX,@MoveTwoY,@MoveTwoZ,@Datetime,@IfMatch)");
            SQLiteParameter[] parameters = {
                    new SQLiteParameter("@OcrBar", DbType.String),
                    new SQLiteParameter("@MoveX", DbType.String),
                    new SQLiteParameter("@MoveY", DbType.String),
                    new SQLiteParameter("@MoveZ", DbType.String),
                    new SQLiteParameter("@Detect",DbType.String),
                    new SQLiteParameter("@OcrText", DbType.String),
                    new SQLiteParameter("@MoveTwoX",DbType.String),
                    new SQLiteParameter("@MoveTwoY", DbType.String),
                    new SQLiteParameter("@MoveTwoZ", DbType.String),
                    new SQLiteParameter("@Datetime", DbType.String),
                    new SQLiteParameter("@IfMatch", DbType.String)};
            parameters[0].Value = xkWord.OcrBar;
            parameters[1].Value = xkWord.MoveX;
            parameters[2].Value = xkWord.MoveY;
            parameters[3].Value = xkWord.MoveZ;

            parameters[4].Value = xkWord.Detect;
            parameters[5].Value = xkWord.OcrText;
            parameters[6].Value = xkWord.MoveTwoX;
            parameters[7].Value = xkWord.MoveTwoY;

            parameters[8].Value = xkWord.MoveTwoZ;

            int iv = SQLiteHelper.ExecuteSql(strSql.ToString(), parameters);
            if (iv == 1)
            {
                MessageBox.Show("关键字XK_HisenceWord插入一条数据");
            }
        }
        #endregion
        private void queryALLBtn_Click(object sender, EventArgs e)
        {
            try
            {
                DataSet dataSet = SQLiteHelper.Query("select * from XK_Hisence");
                InsertDataDgv.DataSource = dataSet.Tables[0];


            }
            catch (Exception es)
            {
            }
        }

        private void QueryoneBtn_Click(object sender, EventArgs e)
        {
            try
            {


            }
            catch (Exception es)
            {
            }
        }

        private void OpenDirBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                Cam1MatCbx.Text = fName;
                Cam1OnePath = fName;
            }
        }

        private void OpenTwoDirBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开图片";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                Cam2MatCbx.Text = fName;
                Cam1TwoPath = fName;
            }
        }

        private void openModelBtn_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog = new OpenFileDialog();
            openFileDialog.Title = "请打开json";


            if (openFileDialog.ShowDialog() == DialogResult.OK)
            {
                string fName = openFileDialog.FileName;
                //File fileOpen = new File(fName);
                //isFileHaveName = true;
                //richTextBox1.Text = fileOpen.ReadFile();
                //richTextBox1.AppendText("");
                modelChangeCbx.Text = fName;
                ModelChangePath = fName;
            }
        }

        private void SnapshotCam2_Click_1(object sender, EventArgs e)
        {
            Cam2.Snapshot();
        }
        private async void Defet_OnDetectionDone(Mat detectionImage, int BlockId)
        {

            await Task.Run(() =>
            {
                if (!this.IsHandleCreated)
                    return;

                this.Invoke(new Action(() =>
                {
                    if (this.IsDisposed)
                        return;
                    switch (BlockId)
                    {
                        case 1:
                            {
                                canvas1.ImaMAt = detectionImage;
                            }
                            break;
                        case 2:
                            {
                                canvas2.ImaMAt = detectionImage;
                            }
                            break;
                        case 3:
                            {
                                canvas3.ImaMAt = detectionImage;
                            }
                            break;
                        //case 4:
                        //    {
                        //        canvas4.ImaMAt = detectionImage;
                        //    }
                        //    break;
                        //case 5:
                        //    {
                        //        canvas5.ImaMAt = detectionImage;
                        //    }
                        //    break;
                        case 6:
                            {
                                //canvas6.ImaMAt = detectionImage;
                            }
                            break;
                        case 7:
                            {
                                // canvas7.ImaMAt = detectionImage;
                            }
                            break;
                        case 8:
                            {
                                //DefetShow8.ImaMAt = detectionImage;
                            }
                            break;

                    }
                    //var display = displayList.FirstOrDefault(u => u.DetectionId == detectionId);
                    //if (display != null)
                    //{
                    //    display.RefreshDetectionResult(image, detectionResults);
                    //}
                }));
            });
        }
        /// <summary>
        /// 全图洗衣机 裁剪之后 OCR识别的结果
        /// </summary>
        /// <param name="saveimage"></param>
        /// <param name="CutMat"></param>
        /// <param name="currentMatC">全图图片</param>
        /// <param name="cam1TwoML">全局图片上的目标定位结果（包括定位矩形框）</param>
        /// <param name="cam1Button"></param>
        /// <param name="xK_HisenceWord"></param>
        /// <param name="strMatList">返回的定位框的结果</param>
        /// <param name="strMatRefList"></param>
        /// <param name="IOcrModel"></param>
        public void InsertSqlRunDataButton(ref Dictionary<string, bool> keyValueResult, bool saveimage, ref Mat currentMatC, MLResult cam1TwoML, MLResult cam1Button, ref XK_HisenceWord SQlxK_HisenceWord, ref XK_HisenceWord xK_HisenceWord, ref List<string> strMatList, ref List<string> strMatRefList, ref PaddleOcrModel IOcrModel)
        {
#if true
            //try
            //{
            // 初始化日志记录
            string filename = DateTime.Now.Year.ToString() + DateTime.Now.Month.ToString() + DateTime.Now.Day.ToString();
            string txtLog = "D://Hisence//" + filename + "logsMatch.log";
            using (StreamWriter sw = new StreamWriter(txtLog, true))
            {
                sw.WriteLine(filename + "\n");
                sw.Flush();
            }

            // 克隆当前图像
            Mat mResultCut = currentMatC.Clone();
            Rect areaBlack = new Rect();

            // 旋钮的位置
            if (cam1Button.ResultDetails.Count == 1)
            {
                int rectsx = cam1Button.ResultDetails[0].Rect.X;
                int rectsy = cam1Button.ResultDetails[0].Rect.Y;
                int rectsWidth = cam1Button.ResultDetails[0].Rect.Width;
                int rectsHeight = cam1Button.ResultDetails[0].Rect.Height;

                // 修正旋钮位置，防止负数
                rectsx = Math.Max(rectsx, 0);
                rectsy = Math.Max(rectsy, 0);
                rectsWidth = Math.Min(rectsWidth, currentMatC.Width - rectsx);
                rectsHeight = Math.Min(rectsHeight, currentMatC.Height - rectsy);

                areaBlack = new Rect(rectsx, rectsy, rectsWidth, rectsHeight);
            }

            for (int i = 0; i < cam1TwoML.ResultDetails.Count; i++)
            {
                int rectsx = cam1TwoML.ResultDetails[i].Rect.X;
                int rectsy = cam1TwoML.ResultDetails[i].Rect.Y;
                int rectsWidth = cam1TwoML.ResultDetails[i].Rect.Width;
                int rectsHeight = cam1TwoML.ResultDetails[i].Rect.Height;

                // 修正区域位置，防止负数
                rectsx = Math.Max(rectsx, 0);
                rectsy = Math.Max(rectsy, 0);
                rectsWidth = Math.Min(rectsWidth, currentMatC.Width - rectsx);
                rectsHeight = Math.Min(rectsHeight, currentMatC.Height - rectsy);

                string blockIndex = cam1TwoML.ResultDetails[i].LabelDisplay;
                //防止按钮在最右边导致定位块识别是2 + 防止定位能效贴和第3块相同，将定位能效贴改成4
                if (keyValueResult.Keys.Contains(blockIndex))
                {
                    int indexof = keyValueResult.Keys.ToList().IndexOf(blockIndex);
                    int rectsxof = cam1TwoML.ResultDetails[indexof].Rect.X;
                    int rectsYof = cam1TwoML.ResultDetails[indexof].Rect.Y;
                    if (rectsx > rectsxof)
                    {
                        blockIndex = "3";
                    }
                    if (rectsy > rectsYof)
                    {
                        continue;
                    }

                }

                Rect area2 = new Rect(0, 0, 0, 0);
                if (blockIndex == "2") // 根据旋钮扩大范围
                {
                    if ((areaBlack.X + areaBlack.Width) < (rectsx + rectsWidth))
                    {
                        areaBlack.X = Math.Max(areaBlack.X - rectsx, 0);
                        areaBlack.Y = Math.Max(areaBlack.Y - rectsy, 0);
                        areaBlack.Width = Math.Min(areaBlack.Width, currentMatC.Width - areaBlack.X);
                        areaBlack.Height = Math.Min(areaBlack.Height, currentMatC.Height - areaBlack.Y);
                        area2 = areaBlack;
                    }
                    string TwoRectStr = CheckDiffSciHelper.rectChangeStr(area2);
                    xK_HisenceWord.TwoRect = TwoRectStr;
                }

                Stopwatch sw = Stopwatch.StartNew();
                sw.Start();
                int extendHeight = 50;
                rectsHeight += extendHeight;
                rectsHeight = Math.Min(rectsHeight, currentMatC.Height - rectsy);

                Rect area = new Rect(rectsx, rectsy, rectsWidth, rectsHeight);
                Mat matCut = new Mat(mResultCut, area);

                // OCR识别裁剪图片
                MLRequest reqcut = new MLRequest();
                reqcut.currentMat = matCut.Clone();
                MLResult mLCut = paddleOcrModel.RunInference(reqcut);

                bool blockMatchI = BlockChangeFun(saveimage, blockIndex, ref matCut, ref mLCut, ref SQlxK_HisenceWord, ref xK_HisenceWord);
                sw.Stop();
                //myLog("插入每块板需要的时间" + sw.ElapsedMilliseconds, DateTime.Now);

                keyValueResult.Add(blockIndex, blockMatchI);
            }

            //}
            //catch (Exception ex)
            //{

            //}
#endif


        }

        /// <summary>
        /// 全图洗衣机 裁剪之后 OCR识别的结果
        /// </summary>
        /// <param name="currentMatC">全图图片</param>
        /// <param name="cam1TwoML">全局图片上的目标定位结果（包括定位矩形框）</param>
        /// <param name="strMatList">返回的定位框的结果</param>
        public void InsertSqlRunData(ref Dictionary<string, bool> keyValueResult2, bool saveimage, ref Mat currentMatC, MLResult cam1TwoML, ref XK_HisenceWord SQlxK_HisenceWord, ref XK_HisenceWord xK_HisenceWord, ref List<string> strMatList, ref List<string> strMatRefList, ref PaddleOcrModel IOcrModel)
        {
#if true
            //try
            //{


            Mat mResultCut = currentMatC.Clone();

            for (int i = 0; i < cam1TwoML.ResultDetails.Count; i++)
            {
                Mat mResultCuti = mResultCut.Clone();
                int rectsx = cam1TwoML.ResultDetails[i].Rect.X;
                int rectsy = cam1TwoML.ResultDetails[i].Rect.Y;
                int rectsWidth = cam1TwoML.ResultDetails[i].Rect.Width;
                int rectsHeight = cam1TwoML.ResultDetails[i].Rect.Height;
                string blockIndex = cam1TwoML.ResultDetails[i].LabelDisplay;
                Rect area = new Rect(rectsx, rectsy, rectsWidth, rectsHeight);
                Mat matCut = new Mat(mResultCuti, area);

                Stopwatch sw = new Stopwatch();
                sw.Start();
                //OCR识别裁剪图片
                MLRequest reqcut = new MLRequest();
                reqcut.currentMat = matCut.Clone();
                MLResult mLCut = paddleOcrModel.RunInference(reqcut);

                bool blockMatchI = BlockChangeFun(saveimage, blockIndex, ref matCut, ref mLCut, ref SQlxK_HisenceWord, ref xK_HisenceWord);
                keyValueResult2.Add(blockIndex, blockMatchI);
                sw.Stop();
                //myLog("插入每块板需要的时间" + sw.ElapsedMilliseconds, DateTime.Now);
            }


            //}
            //catch (Exception ex)
            //{

            //}
#endif


        }


        /// <summary>
        /// 这块板和数据库比对是否正确
        /// </summary>
        /// <param name="saveimage">是否保存</param>
        /// <param name="blockIndex">裁剪的一块索引</param>
        /// <param name="CutBlockMat">裁剪的一张图片</param>
        /// <param name="mLcut">裁剪图片的一些信息</param>
        /// <param name="xK_HisenceWord">要存储入数据库的东西</param>
        public bool BlockChangeFun(bool saveimage, string blockIndex, ref Mat CutBlockMat, ref MLResult mLcut, ref XK_HisenceWord SQlxK_HisenceWord, ref XK_HisenceWord xK_HisenceWord)
        {
            bool OneIF = false;
            string CutSavePath = "";
            //在第一次插入时候存入面板2 图片和目录
            if (saveimage)
            {
                string OcrBar = xK_HisenceWord.OcrBar;
                string namecutSavepath = OcrBar + "\\" + blockIndex + "\\" + OcrBar + "result.jpg";

                CutSavePath = Path.Combine(RootPath, namecutSavepath);
                //得到目录
                if (!Directory.Exists(Path.GetDirectoryName(CutSavePath)))
                {
                    Directory.CreateDirectory(Path.GetDirectoryName(CutSavePath));
                }

                Cv2.ImWrite(CutSavePath, CutBlockMat);
            }

            //存放关键字和所有字符串
            List<string> OcrTextinsert = new List<string>();//存放关键字
            List<string> OcrFuzzyTextInsert = new List<string>();//存放模糊字

            //这一块图片上的关键字比对 如果有问题就显示出来并且标注
            //MatMessage(saveimage, ocrBar, blockIndex, ref CutBlockMat, ref mLcut, ref OcrTextinsert, ref OcrFuzzyTextInsert, ref CutSavePath);
            //在这里面找到带数字的关键字 将所有字也存放在数据库中
            for (int j = 0; j < mLcut.ResultDetails.Count; j++)
            {
                var resultDetail = mLcut.ResultDetails[j];
                if (resultDetail.Score > 0.7)
                {
                    string jdetial = mLcut.ResultDetails[j].LabelDisplay;
                    string result = Regex.Replace(jdetial, "[ \\[ \\] \\^ \\-_*×――(^)$%~!@#$…&%￥—+=<>《》!！??？:：?`·、。，；,.;/\"‘’“”-]", "");
                    if (Regex.IsMatch(result, @"\d"))
                    {
                        OcrTextinsert.Add(result);
                    }
                    OcrFuzzyTextInsert.Add(result);
                }
            }
            DateTime dt = DateTime.Now;


            string MainWoidStr = OcrTextinsert.Join("##"); //实际的关键字
            string TextWoidStr = OcrFuzzyTextInsert.Join("##"); //实际的检测字
            string SQLStr = "";//日志显示数据库的关键字
            bool juanjiMatch = false;
            string filenameone = dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString() + dt.Hour.ToString() + dt.Minute.ToString() + dt.Millisecond.ToString();
            switch (blockIndex)
            {
                case "1"://完全匹配 重量信息
                    {
                        xK_HisenceWord.OneblockPath = CutSavePath;
                        xK_HisenceWord.OneblockMainWord = MainWoidStr;
                        xK_HisenceWord.OneblockText = TextWoidStr;
                        SQLStr = SQlxK_HisenceWord.OneblockText;
                        string SQLStr2 = SQlxK_HisenceWord.OneblockMainWord;

                        if (!saveimage)
                        {
                            bool ssD = ManagerModelHelper.StrMatch(SQLStr, xK_HisenceWord.OneblockText);
                            Console.Write(SQLStr);
                            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.OneblockMainWord, SQLStr2);
                            if (!OneIF1 || !ssD)
                            {
                                OneIF = false;
                                //显示错误的板
                                DisplayResult(mLcut);
                                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 1);

                                string Path_1 = Path.Combine("D:\\Hisence\\Test\\1\\ng", filenameone + "_res.png");
                                Cv2.ImWrite(Path_1, mLcut.ResultMap.ToMat());

                            }
                            else
                            {
                                OneIF = true;
                                Defet_OnDetectionDone(OKMat, 1);
                                string Path_2 = Path.Combine("D:\\Hisence\\Test\\1\\ok", filenameone + "_res.png");
                                Cv2.ImWrite(Path_2, OKMat);
                            }

                        }

                    }
                    break;
                case "2"://控制面板 匹配
                    {
                        xK_HisenceWord.TwoblockPath = CutSavePath;
                        xK_HisenceWord.TwoblockMainWord = MainWoidStr;
                        xK_HisenceWord.TwoblockText = TextWoidStr;
                        if (!saveimage)
                        {
                            SQLStr = SQlxK_HisenceWord.TwoblockMainWord;
                            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.TwoblockMainWord, SQlxK_HisenceWord.TwoblockMainWord);
                            OneIF1 = true;
                            //第二快 卷积匹配
                            string PathSql = SQlxK_HisenceWord.TwoblockPath;
                            //

                            Rect rectsql = CheckDiffSciHelper.strChangeRect(SQlxK_HisenceWord.TwoRect);
                            Rect rectDet = CheckDiffSciHelper.strChangeRect(xK_HisenceWord.TwoRect);
                            bool iswhite = IsMostlyWhite(PathSql);
                            int centerX = rectsql.X + rectsql.Width / 2;
                            int centerY = rectsql.Y + rectsql.Height / 2;

                            // 确定新的矩形框的左上角坐标和宽高
                            int rectSize = 60; // 30像素向外拓展
                            int rectX = Math.Max(0, centerX - rectSize / 2);
                            int rectY = Math.Max(0, centerY - rectSize / 2);
                            int rectWidth = Math.Min(rectSize, rectsql.Width - rectX);
                            int rectHeight = Math.Min(rectSize, rectsql.Height - rectY);

                            // 创建新的矩形框
                            Rect newRect = new Rect(rectX, rectY, rectWidth, rectHeight);
                            string color = BtnColor(CutBlockMat, newRect);
                            this.Invoke(new Action(() =>
                            {

                                textBox2.Text = color;

                            }));
                            Mat matresult = CutBlockMat.Clone();
                            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat,ref matresult, rectsql, rectDet, iswhite, "D://Hisence//Test");
                            // juanjiMatch = true;

                            if (!OneIF1 || !juanjiMatch)
                            {
                                OneIF = false;
                                //DisplayResult(mLcut);
                                //显示错误的板
                                // mLcut.ResultMap;
                                Defet_OnDetectionDone(matresult, 2);
                            }
                            else
                            {
                                OneIF = true;
                                Defet_OnDetectionDone(OKMat, 2);
                            }
                        }
                    }
                    break;
                case "3"://第三块板匹配
                    {
                        xK_HisenceWord.ThreeblockPath = CutSavePath;
                        xK_HisenceWord.ThreeblockMainWord = MainWoidStr;
                        xK_HisenceWord.ThreeblockText = TextWoidStr;
                        if (!saveimage)
                        {
                            SQLStr = SQlxK_HisenceWord.ThreeblockMainWord;
                            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.ThreeblockMainWord, SQlxK_HisenceWord.ThreeblockMainWord);

                            Rect rect = new Rect(0, 0, 0, 0);
                            string PathSql = SQlxK_HisenceWord.ThreeblockPath;
                            bool iswhite = IsMostlyWhite(PathSql);
                            juanjiMatch = CheckDiffSciHelper1.CheckDiffSci(PathSql, CutBlockMat, rect, rect, iswhite, "D://Hisence//Test1");
                            if (!OneIF1 || !juanjiMatch)
                            {
                                OneIF = true;//待修改6.28
                                /*
                                DisplayResult(mLcut);
                                //显示错误的板
                                // mLcut.ResultMap;
                                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 3);
                                */
                                Defet_OnDetectionDone(OKMat, 3);
                            }
                            else
                            {
                                OneIF = true;
                                Defet_OnDetectionDone(OKMat, 3);
                            }

                        }
                    }
                    break;
                    //case "4"://贴纸匹配
                    //    {
                    //        xK_HisenceWord.FourblockPath = CutSavePath;
                    //        xK_HisenceWord.FourblockMainWord = MainWoidStr;
                    //        xK_HisenceWord.FourblockText = TextWoidStr;
                    //        if (!saveimage)
                    //        {
                    //            SQLStr = SQlxK_HisenceWord.FourblockMainWord;
                    //            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.FourblockMainWord, SQlxK_HisenceWord.FourblockMainWord);

                    //            Rect rect = new Rect(0, 0, 0, 0);
                    //            string PathSql = SQlxK_HisenceWord.FourblockPath;

                    //            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat, rect, rect, false, "D://Hisence//Test");
                    //            if (!OneIF1 || !juanjiMatch)
                    //            {
                    //                OneIF = false;
                    //                DisplayResult(mLcut);
                    //                //显示错误的板
                    //                // mLcut.ResultMap;
                    //                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 4);
                    //            }
                    //            else
                    //            {
                    //                OneIF = true;
                    //                Defet_OnDetectionDone(OKMat, 4);
                    //            }

                    //        }
                    //    }
                    //    break;
                    //case "5"://贴纸匹配
                    //    {
                    //        xK_HisenceWord.FiveblockPath = CutSavePath;
                    //        xK_HisenceWord.FiveblockMainWord = MainWoidStr;
                    //        xK_HisenceWord.FiveblockText = TextWoidStr;
                    //        if (!saveimage)
                    //        {
                    //            SQLStr = SQlxK_HisenceWord.FiveblockMainWord;
                    //            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.FiveblockMainWord, SQlxK_HisenceWord.FiveblockMainWord);
                    //            Rect rect = new Rect(0, 0, 0, 0);
                    //            string PathSql = SQlxK_HisenceWord.FiveblockMainWord;

                    //            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat, rect, rect, false, "D://Hisence//Test");
                    //            if (!OneIF1 || !juanjiMatch)
                    //            {
                    //                OneIF = false;
                    //                DisplayResult(mLcut);
                    //                //显示错误的板
                    //                // mLcut.ResultMap;
                    //                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 5);
                    //            }
                    //            else
                    //            {
                    //                OneIF = true;
                    //                Defet_OnDetectionDone(OKMat, 5);
                    //            }
                    //        }
                    //    }
                    //    break;
                    //case "6"://贴纸匹配
                    //    {
                    //        xK_HisenceWord.SixblockPath = CutSavePath;
                    //        xK_HisenceWord.SixblockMainWord = MainWoidStr;
                    //        xK_HisenceWord.SixblockText = TextWoidStr;
                    //        if (!saveimage)
                    //        {
                    //            SQLStr = SQlxK_HisenceWord.SixblockMainWord;
                    //            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.SixblockMainWord, SQlxK_HisenceWord.SixblockMainWord);
                    //            OneIF1 = false;//测试
                    //            Rect rect = new Rect(0, 0, 0, 0);
                    //            string PathSql = SQlxK_HisenceWord.SixblockPath;
                    //            //第六块卷积设置一直为true
                    //            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat, rect, rect, false, "D://Hisence//Test");
                    //            juanjiMatch = true;
                    //            if (!OneIF1 || !juanjiMatch)
                    //            {
                    //                OneIF = false;
                    //                //  DisplayResult(mLcut);
                    //                //显示错误的板
                    //                // mLcut.ResultMap;
                    //                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 6);
                    //            }
                    //            else
                    //            {
                    //                OneIF = true;
                    //                Defet_OnDetectionDone(OKMat, 6);
                    //            }

                    //        }
                    //    }
                    //    break;
                    //case "7"://贴纸匹配
                    //    {
                    //        xK_HisenceWord.SevenblockPath = CutSavePath;
                    //        xK_HisenceWord.SevenblockMainWord = MainWoidStr;
                    //        xK_HisenceWord.SevenblockText = TextWoidStr;
                    //        if (!saveimage)
                    //        {
                    //            SQLStr = SQlxK_HisenceWord.SevenblockMainWord;
                    //            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.SevenblockMainWord, SQlxK_HisenceWord.SevenblockMainWord);

                    //            Rect rect = new Rect(0, 0, 0, 0);
                    //            string PathSql = SQlxK_HisenceWord.SevenblockPath;

                    //            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat, rect, rect, false, "D://Hisence//Test");
                    //            if (!OneIF1 || !juanjiMatch)
                    //            {
                    //                OneIF = false;
                    //                //DisplayResult(mLcut);
                    //                //显示错误的板
                    //                // mLcut.ResultMap;
                    //                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 7);
                    //            }
                    //            else
                    //            {
                    //                OneIF = true;
                    //                Defet_OnDetectionDone(OKMat, 7);
                    //            }
                    //        }
                    //    }
                    //    break;
                    //case "8"://贴纸匹配
                    //    {
                    //        xK_HisenceWord.EightblockPath = CutSavePath;
                    //        xK_HisenceWord.EightblockMainWord = MainWoidStr;
                    //        xK_HisenceWord.EightblockText = TextWoidStr;
                    //        if (!saveimage)
                    //        {
                    //            SQLStr = SQlxK_HisenceWord.EightblockMainWord;
                    //            bool OneIF1 = ManagerModelHelper.StrMatch2(xK_HisenceWord.EightblockMainWord, SQlxK_HisenceWord.EightblockMainWord);
                    //            Rect rect = new Rect(0, 0, 0, 0);
                    //            string PathSql = SQlxK_HisenceWord.EightblockPath;

                    //            juanjiMatch = CheckDiffSciHelper.CheckDiffSci(PathSql, CutBlockMat, rect, rect, false, "D://Hisence//Test");
                    //            if (!OneIF1 || !juanjiMatch)
                    //            {
                    //                OneIF = false;
                    //                // DisplayResult(mLcut);
                    //                //显示错误的板
                    //                // mLcut.ResultMap;
                    //                Defet_OnDetectionDone(mLcut.ResultMap.ToMat(), 8);
                    //            }
                    //            else
                    //            {
                    //                OneIF = true;
                    //                Defet_OnDetectionDone(OKMat, 8);
                    //            }
                    //        }
                    //    }
                    //    break;
            }
            string filename = dt.Year.ToString() + dt.Month.ToString() + dt.Day.ToString();
            string txtLog = "D://Hisence//" + filename + "logsMatch.log";

            using (StreamWriter sw = new StreamWriter(txtLog, true))
            {

                sw.WriteLine("块" + blockIndex + "卷积匹配" + juanjiMatch);
                sw.WriteLine("块" + blockIndex + "数据库" + SQLStr + "关键字" + MainWoidStr + "结果" + OneIF + "\n");
                sw.WriteLine("块" + blockIndex + " 所有字 " + TextWoidStr + "\n");

                sw.Flush();
            }
            return OneIF;


        }
        static bool IsMostlyWhite(string imagePath)
        {
            Bitmap bitmap = new Bitmap(imagePath);
            int width = bitmap.Width;
            int height = bitmap.Height;

            int blackCount = 0;
            int whiteCount = 0;
            int rectSize = 30;

            for (int y = height - rectSize; y < height; y++)
            {
                for (int x = 0; x < rectSize; x++)
                {
                    Color pixelColor = bitmap.GetPixel(x, y);
                    int r = pixelColor.R;
                    int g = pixelColor.G;
                    int b = pixelColor.B;

                    // 判断是否为黑色
                    if (r <= 100 && g <= 100 && b <= 100)
                    {
                        blackCount++;
                    }
                    else
                    {
                        whiteCount++;
                    }
                }
            }

            int totalPixels = width * height;
            double blackRatio = (double)blackCount / totalPixels;

            // 如果黑色比例大于等于0.6，返回false，否则返回true
            return blackRatio < 0.6;
        }

        private void bnGetParam2_Click_1(object sender, EventArgs e)
        {
            // tbExposure2.Text = Cam2.dvpGetExposure().ToString();
            //tbGain2.Text = Cam2.dvpGetAnalogGain().ToString();
        }

        private void panel2_Paint(object sender, PaintEventArgs e)
        {

        }

        private void bnSetParam_Click(object sender, EventArgs e)
        {

        }

        private void groupBox2_Enter(object sender, EventArgs e)
        {

        }

        private void XZerorbx_Click(object sender, EventArgs e)
        {
            if (!ifXZeroValue)
            {
                this.XZerorbx.Checked = true;
                //归零
                melsecPLCTCPDriver.WriteInt("503", 1);
                ifXZeroValue = true;
                this.txtSetValue.Text = "1";
                myLog("X轴开始归零", DateTime.Now);
            }
            else
            {
                this.XZerorbx.Checked = false;
                melsecPLCTCPDriver.WriteInt("503", 0);
                ifXZeroValue = false;
                this.txtSetValue.Text = "0";
                myLog("X轴停止归零", DateTime.Now);
            }
        }

        static string BtnColor(Mat img, Rect rect)
        {
            // 提取指定区域
            Mat roi = new Mat(img, rect);

            // 计算平均颜色
            Scalar mean = Cv2.Mean(roi);

            // 获取平均颜色的RGB值
            double r = mean.Val2;
            double g = mean.Val1;
            double b = mean.Val0;

            // 计算平均灰度值
            double averageGray = (r + g + b) / 3;

            // 判断颜色类别
            if (averageGray < 60)
            {
                return "黑色";
            }
            else if (averageGray >= 60 && averageGray <= 150)
            {
                return "银色";
            }
            else
            {
                return "白色";
            }
        }
        private void handStopBtn_Click(object sender, EventArgs e)
        {
            melsecPLCTCPDriver.WriteInt("550", 1);
        }

        private void HandRuningBtn_Click(object sender, EventArgs e)
        {
            melsecPLCTCPDriver.WriteInt("550", 0);
        }
        /// <summary>
        /// 软件关闭
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            melsecPLCTCPDriver.WriteInt("550", 0);
            melsecPLCTCPDriver.WriteInt(YellowLightingAdress, 0);
            melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 0);

        }

        private void panel1_Paint(object sender, PaintEventArgs e)
        {

        }

        private void button1_Click_1(object sender, EventArgs e)
        {
            if (!m_sKEYENCEBar.IsNullOrEmpty())
            {
                OcrBarBox.Text = m_sKEYENCEBar;
            }

        }

        private void canvas1_Load(object sender, EventArgs e)
        {

        }

        private void canvas7_Load(object sender, EventArgs e)
        {

        }

        private void CloseDecBtn_Click(object sender, EventArgs e)
        {
            meachineState = MeachineState.machine_closing;
            melsecPLCTCPDriver.WriteInt("550", 0);
            melsecPLCTCPDriver.WriteInt(YellowLightingAdress, 0);
            melsecPLCTCPDriver.WriteInt(GreenLightingAdress, 0);
        }

        private void label24_Click(object sender, EventArgs e)
        {

        }

        private void label25_Click(object sender, EventArgs e)
        {

        }

        private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
        {

        }

        private void label18_Click(object sender, EventArgs e)
        {

        }

        private void canvas2_Load(object sender, EventArgs e)
        {

        }

        private void label27_Click(object sender, EventArgs e)
        {

        }

        private void label37_Click(object sender, EventArgs e)
        {

        }

        private void groupBox9_Enter(object sender, EventArgs e)
        {

        }
    }
}