步进电机 挡料地

DHSoftware/Views/VisualLocalizationWindow.cs

@@ -1,8 +1,11 @@
 using System.Data;
+using System.Diagnostics;
 using System.Drawing.Imaging;
 using AntdUI;
 using DH.Commons.Base;
 using DH.Commons.Enums;
+using DH.Commons.Helper;
+using DH.Commons.Models;
 using DH.Devices.Camera;
 using HalconDotNet;
 using OpenCvSharp.Extensions;
@@ -45,23 +48,228 @@ namespace DHSoftware.Views
             btnSaveImg.Click += BtnSaveImg_Click;
             btnSavePos.Click += BtnSavePos_Click;
             sltCameraName.SelectedIndexChanged += SltCameraName_SelectedIndexChanged;
+            btnMotorForward.MouseDown += BtnMotorForward_MouseDown;
+            btnMotorForward.MouseUp += MotorButton_MouseUp;
+            btnMotorReverse.MouseDown += BtnMotorReverse_MouseDown;
+            btnMotorReverse.MouseUp += MotorButton_MouseUp;
+            btnMotorZero.Click += BtnMotorZero_Click;
+            btnSaveMotorPos.Click += BtnSaveMotorPos_Click;
+            panelMotor.Visible = false;
+           
+
+        }
+
+        private void BtnSaveMotorPos_Click(object? sender, EventArgs e)
+        {
+            //根据工位查找点位
+            PLCItem? pLCItem = ConfigModel.PLCBaseList?
+           .FirstOrDefault()?
+           .PLCItemList?
+           .Where(it => it.Name == "相机步进位置").FirstOrDefault();
+            if (pLCItem == null)
+            {
+                AntdUI.Message.warn(this, $"未找到相机步进位置地址，请检查该地址是否存在于点位表！", autoClose: 3);
+                return;
+            }
+
+            PLCItem? pLCItem1 = ConfigModel.GlobalList?
+            .FirstOrDefault()?
+            .StartProcessList?
+            .Where(it => it.Name == "相机步进位置").FirstOrDefault();
+
+            if (pLCItem1 == null)
+            {
+                pLCItem1 = new PLCItem();
+                pLCItem1.Name = pLCItem.Name;
+                pLCItem1.Address = pLCItem.Address;
+                pLCItem1.Value = iptMotorPos.Text;
+                pLCItem1.Type = pLCItem.Type;
+                pLCItem1.StartExecute = true;
+                ConfigModel.GlobalList?
+               .FirstOrDefault()?
+               .StartProcessList?.Add(pLCItem1);
+            }
+            else
+            {
+                pLCItem1.Value = iptMotorPos.Text;
+            }
+
+            ConfigHelper.SaveConfig();
+            AntdUI.Message.success(this, "保存成功！", autoClose: 3);
+        }
+        private CancellationTokenSource? _motorCts;
+        private bool _isMotorOperating;
+        private bool _isHoming;
+
+
+
+        private CancellationTokenSource _cts;
+        private bool _isBusy;
+
+        // 电机正转控制
+        private async void BtnMotorForward_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (_isBusy) return;
+            _isBusy = true;
 
+            try
+            {
+                // 获取并处理速度值
+                if (!int.TryParse(iptMotorSpeed.Text, out int speed) || speed == 0)
+                {
+                    AntdUI.Message.warn(this, "速度值无效");
+                    return;
+                }
+                int actualSpeed = Math.Abs(speed); // 正转取绝对值
+
+                // 启动PLC控制
+                _cts?.Dispose();
+                _cts = new CancellationTokenSource();
+                MainWindow.Instance.PLC.MotorSpeed(actualSpeed);
+                MainWindow.Instance.PLC.MotorTest(true);
+
+                // 实时更新循环
+                while (!_cts.IsCancellationRequested)
+                {
+                    var pos = await Task.Run(() => MainWindow.Instance.PLC.ReadMotorRealPos());
+                    iptMotorPos.Text = pos.ToString();
+                    await Task.Delay(50);
+                }
+            }
+            catch (Exception ex)
+            {
+                AntdUI.Message.error(this, $"正转异常: {ex.Message}");
+            }
+            finally
+            {
+                MainWindow.Instance.PLC.MotorTest(false);
+                _isBusy = false;
+            }
+        }
+
+        // 电机反转控制
+        // 电机反转控制（带原点保护）
+        private async void BtnMotorReverse_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (_isBusy) return;
+            _isBusy = true;
+
+            try
+            {
+                // 获取并处理速度值
+                if (!int.TryParse(iptMotorSpeed.Text, out int speed) || speed == 0)
+                {
+                    AntdUI.Message.warn(this, "速度值无效");
+                    return;
+                }
+                int actualSpeed = -Math.Abs(speed);
+
+                // 实时位置检查（启动前）
+                int currentPos = MainWindow.Instance.PLC.ReadMotorRealPos();
+                if (currentPos <= 0)
+                {
+                    AntdUI.Message.info(this, "已在原点位置");
+                    return;
+                }
+
+                // 启动PLC控制
+                _cts?.Dispose();
+                _cts = new CancellationTokenSource();
+                MainWindow.Instance.PLC.MotorSpeed(actualSpeed);
+                MainWindow.Instance.PLC.MotorTest(true);
+
+                // 带保护的实时更新循环
+                while (!_cts.IsCancellationRequested)
+                {
+                    currentPos = await Task.Run(() => MainWindow.Instance.PLC.ReadMotorRealPos());
+
+                    // 位置边界保护
+                    if (currentPos <= 0)
+                    {
+                        _cts.Cancel();
+               
+                        break;
+                    }
+
+                    // 更新UI
+                    this.Invoke((MethodInvoker)delegate {
+                        iptMotorPos.Text = currentPos.ToString();
+                    });
+
+                    await Task.Delay(50);
+                }
+            }
+            catch (Exception ex)
+            {
+                AntdUI.Message.error(this, $"反转异常: {ex.Message}");
+            }
+            finally
+            {
+                MainWindow.Instance.PLC.MotorTest(false);
+                _isBusy = false;
+            }
+        }
+
+        // 停止控制（正反转共用）
+        private void MotorButton_MouseUp(object sender, MouseEventArgs e) {
+            _cts?.Cancel();
+            iptMotorPos.Text = MainWindow.Instance.PLC.ReadMotorRealPos().ToString();
+        } 
+
+        // 回零操作
+        private async void BtnMotorZero_Click(object sender, EventArgs e)
+        {
+            if (_isBusy) return;
+            _isBusy = true;
+            btnMotorForward.Enabled = btnMotorReverse.Enabled = false;
+
+            try
+            {
+                // 获取速度值
+                if (!int.TryParse(iptMotorSpeed.Text, out int speed) || speed <= 0)
+                {
+                    AntdUI.Message.warn(this, "速度值无效");
+                    return;
+                }
+
+                // 执行回零
+                MainWindow.Instance.PLC.MotorSpeed(speed);
+                await Task.Run(() => MainWindow.Instance.PLC.MotorToZero(true));
+
+                // 等待回零完成
+                while (MainWindow.Instance.PLC.ReadMotorRealPos() != 0)
+                {
+                    iptMotorPos.Text = MainWindow.Instance.PLC.ReadMotorRealPos().ToString();
+                    await Task.Delay(100);
+                }
+
+                await Task.Run(() => MainWindow.Instance.PLC.MotorToZero(false));
+            }
+            catch (Exception ex)
+            {
+                AntdUI.Message.error(this, $"回零失败: {ex.Message}");
+            }
+            finally
+            {
+                btnMotorForward.Enabled = btnMotorReverse.Enabled = true;
+                _isBusy = false;
+                iptMotorPos.Text = MainWindow.Instance.PLC.ReadMotorRealPos().ToString();
+            }
+        }
+
+        private void SltCameraName_SelectedIndexChanged(object sender, IntEventArgs e)
+        {
             try
             {
                 localizations = VisualLocalization.LoadAll();
-                
+
             }
             catch
             {
 
             }
-
-        }
-
-        private void SltCameraName_SelectedIndexChanged(object sender, IntEventArgs e)
-        {
-            
             string cameraName= sltCameraName.Text;
+            Do3ThinkCamera = MainWindow.Instance.Cameras.Where(it => it.CameraName == cameraName).FirstOrDefault() ?? new Do3ThinkCamera();
             VisualLocalization? visual= localizations.Where(it=>it.CameraName==cameraName).FirstOrDefault();
             if (visual != null) 
             {
@@ -71,6 +279,14 @@ namespace DHSoftware.Views
                 sltDirection.SelectedIndex = visual.Direction == "正方向" ? 0 : 1;
                 iptSpeed.Text = visual.Speed;
             }
+            if (Do3ThinkCamera.IsZoomCamera)
+            {
+                panelMotor.Visible=true;
+            }
+            else
+            {
+                panelMotor.Visible = false;
+            }
         }
 
         private void BtnSavePos_Click(object? sender, EventArgs e)
@@ -272,6 +488,78 @@ namespace DHSoftware.Views
             Do3ThinkCamera.Snapshot();
         }
 
+        private CancellationTokenSource? _rotateCts;
+        private bool _isRotating;
+        /// <summary>
+        /// 统一旋转控制方法
+        /// </summary>
+        private async Task RotateControlAsync(bool direction)
+        {
+            // 防止重复启动
+            if (_isRotating) return;
+            _isRotating = true;
+
+            try
+            {
+                if (!MainWindow.Instance.PLC.Connected)
+                {
+                    this.Invoke(() => AntdUI.Message.warn(this, "未连接PLC！", autoClose: 3));
+                    return;
+                }
+
+                // 输入验证
+                if (string.IsNullOrEmpty(iptSpeed.Text))
+                {
+                    this.Invoke(() => AntdUI.Message.warn(this, "请输入速度！", autoClose: 3));
+                    return;
+                }
+
+                if (!int.TryParse(iptSpeed.Text, out int speed) || speed <= 0)
+                {
+                    this.Invoke(() => AntdUI.Message.warn(this, "速度必须为正整数！", autoClose: 3));
+                    return;
+                }
+
+                // 初始化取消令牌
+                _rotateCts?.Dispose();
+                _rotateCts = new CancellationTokenSource();
+
+                // 设置PLC参数
+                MainWindow.Instance.PLC.TurnSpeed(speed);
+                MainWindow.Instance.PLC.TurnDirection(direction);
+                MainWindow.Instance.PLC.TurnStart(true);
+
+                // 异步更新循环
+                while (!_rotateCts.IsCancellationRequested)
+                {
+                    var position = MainWindow.Instance.PLC.ReadVisionPos();
+                    Debug.WriteLine(position.ToString());
+                    this.BeginInvoke(() => iptPosition.Text = position.ToString());
+                    await Task.Delay(100, _rotateCts.Token);
+                }
+            }
+            catch (OperationCanceledException)
+            {
+                // 正常取消不处理
+            }
+            catch (Exception ex)
+            {
+                this.Invoke(() => AntdUI.Message.error(this, $"操作异常：{ex.Message}"));
+            }
+            finally
+            {
+                // 确保停止转动
+                MainWindow.Instance.PLC.TurnStart(false);
+                var finalPos = MainWindow.Instance.PLC.ReadVisionPos();
+                this.Invoke(() => iptPosition.Text = finalPos.ToString());
+
+                _isRotating = false;
+                _rotateCts?.Dispose();
+                _rotateCts = null;
+            }
+        }
+
+
         /// <summary>
         /// 反转抬起
         /// </summary>
@@ -279,15 +567,7 @@ namespace DHSoftware.Views
         /// <param name="e"></param>
         private void BtnReverse_MouseUp(object? sender, MouseEventArgs e)
         {
-            if (MainWindow.Instance.PLC.Connected)
-            {
-                MainWindow.Instance.PLC.TurnStart(false);
-                iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
-            }
-            else
-            {
-                AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
-            }
+            _rotateCts?.Cancel();
         }
 
         /// <summary>
@@ -295,38 +575,9 @@ namespace DHSoftware.Views
         /// </summary>
         /// <param name="sender"></param>
         /// <param name="e"></param>
-        private void BtnReverse_MouseDown(object? sender, MouseEventArgs e)
+        private async void BtnReverse_MouseDown(object? sender, MouseEventArgs e)
         {
-            if (MainWindow.Instance.PLC.Connected)
-            {
-                //开启转盘
-                if (string.IsNullOrEmpty(iptSpeed.Text))
-                {
-                    AntdUI.Message.warn(this, $"请输入速度！", autoClose: 3);
-                    return;
-                }
-                int speed = 0;
-
-                try
-                {
-                    bool isValid = int.TryParse(iptSpeed.Text, out speed);
-                    if (!isValid)
-                    {
-                        AntdUI.Message.warn(this, $"输入的速度不是有效值！", autoClose: 3);
-                        return;
-                    }
-                }
-                catch (Exception ex) { }
-
-                MainWindow.Instance.PLC.TurnSpeed(speed);
-                MainWindow.Instance.PLC.TurnDirection(false);
-                MainWindow.Instance.PLC.TurnStart(true);
-                iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
-            }
-            else
-            {
-                AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
-            }
+            await RotateControlAsync(false);
         }
 
         /// <summary>
@@ -336,15 +587,7 @@ namespace DHSoftware.Views
         /// <param name="e"></param>
         private void BtnForward_MouseUp(object? sender, MouseEventArgs e)
         {
-            if (MainWindow.Instance.PLC.Connected)
-            {
-                MainWindow.Instance.PLC.TurnStart(false);
-                iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
-            }
-            else
-            {
-                AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
-            }
+            _rotateCts?.Cancel();
         }
 
         /// <summary>
@@ -352,38 +595,9 @@ namespace DHSoftware.Views
         /// </summary>
         /// <param name="sender"></param>
         /// <param name="e"></param>
-        private void BtnForward_MouseDown(object? sender, MouseEventArgs e)
+        private async void BtnForward_MouseDown(object? sender, MouseEventArgs e)
         {
-            if (MainWindow.Instance.PLC.Connected)
-            {
-                //开启转盘
-                if (string.IsNullOrEmpty(iptSpeed.Text))
-            {
-                AntdUI.Message.warn(this, $"请输入速度！", autoClose: 3);
-                return;
-            }
-            int speed = 0;
-
-            try
-            {
-                bool isValid = int.TryParse(iptSpeed.Text, out speed);
-                if (!isValid)
-                {
-                    AntdUI.Message.warn(this, $"输入的速度不是有效值！", autoClose: 3);
-                    return;
-                }
-            }
-            catch (Exception ex) { }
-
-            MainWindow.Instance.PLC.TurnSpeed(speed);
-            MainWindow.Instance.PLC.TurnDirection(true);
-            MainWindow.Instance.PLC.TurnStart(true);
-            iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
-            }
-            else
-            {
-                AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
-            }
+            await RotateControlAsync(true);
         }
 
         /// <summary>
@@ -488,23 +702,37 @@ namespace DHSoftware.Views
         private void OnCameraHImageOutput(DateTime dt, CameraBase camera, MatSet imageSet)
         {
 
-            imageViewerControl1.Image = imageSet._mat.ToBitmap();
-            HObject obj = OpenCVHelper.MatToHImage(imageSet._mat);
-            HImage hImage = HalconHelper.ConvertHObjectToHImage(obj);
-            // 调用 ProcCall 的方法
-            ProcCall.SetInputIconicParamObject("INPUT_Image", hImage); // 将图像输入Proc
+         
+                  
+                    this.BeginInvoke(new MethodInvoker(delegate ()
+                    {
+                     
+                        imageViewerControl1.Image = imageSet._mat.ToBitmap();
+                        if (isLocationing)
+                        {
+                            HObject obj = OpenCVHelper.MatToHImage(imageSet._mat);
+                            HImage hImage = HalconHelper.ConvertHObjectToHImage(obj);
+                            // 调用 ProcCall 的方法
+                            ProcCall.SetInputIconicParamObject("INPUT_Image", hImage); // 将图像输入Proc
 
-            ProcCall.SetInputIconicParamObject("BackGroundPic", backImage);
+                            ProcCall.SetInputIconicParamObject("BackGroundPic", backImage);
 
-            ProcCall.SetInputCtrlParamTuple("DistThreshold", Convert.ToInt32(iptThreshold.Text));
-            ProcCall.Execute();
-            double nNUm = ProcCall.GetOutputCtrlParamTuple("OUTPUT_Flag");
+                            ProcCall.SetInputCtrlParamTuple("DistThreshold", Convert.ToInt32(iptThreshold.Text));
+                            ProcCall.Execute();
+                            double nNUm = ProcCall.GetOutputCtrlParamTuple("OUTPUT_Flag");
 
-            if (nNUm == 0)
-            {
-              MainWindow.Instance.PLC.TurnStart(false);
-              iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
+                            if (nNUm == 0)
+                            {
+                                MainWindow.Instance.PLC.TurnStart(false);
+                                iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
+                                isLocationing = false;
+                                btnLocalization.Text = "开始定位";
+                                btnLocalization.Type = TTypeMini.Primary;
+                            }
+                        }
+                    }));
+                   
+                }
             }
+           
         }
-    }
-}