494 lines
17 KiB
C#
494 lines
17 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using AntdUI;
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using DH.Commons.Base;
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using DH.Commons.Enums;
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using DH.Devices.Camera;
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using HalconDotNet;
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using OpenCvSharp.Extensions;
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using Sunny.UI;
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using static System.Net.Mime.MediaTypeNames;
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namespace DHSoftware.Views
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{
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public partial class VisualLocalizationWindow : Window
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{
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//采集状态
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private volatile bool isCapturing=false;
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//定位状态
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private volatile bool isLocationing = false;
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//算法
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HDevEngine MyEngine = new HDevEngine();
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HDevProcedure Procedure;
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HDevProcedureCall ProcCall;
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//背景图
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HImage backImage = new HImage();
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//当前相机
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Do3ThinkCamera Do3ThinkCamera = new Do3ThinkCamera();
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//定时器
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private System.Threading.Timer Timer;
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public VisualLocalizationWindow()
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{
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InitializeComponent();
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Load += VisualLocalizationWindow_Load;
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btnSelectModel.Click += BtnSelectModel_Click;
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btnSelectBackImg.Click += BtnSelectBackImg_Click;
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btnAcquisition.Click += BtnAcquisition_Click;
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btnLocalization.Click += BtnLocalization_Click;
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btnForward.MouseDown += BtnForward_MouseDown;
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btnForward.MouseUp += BtnForward_MouseUp;
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btnReverse.MouseDown += BtnReverse_MouseDown;
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btnReverse.MouseUp += BtnReverse_MouseUp;
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btnSaveImg.Click += BtnSaveImg_Click;
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btnSavePos.Click += BtnSavePos_Click;
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}
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private void BtnSavePos_Click(object? sender, EventArgs e)
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{
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var form = new SavePositionControl(this,Convert.ToInt32(iptPosition.Text)) { Size = new Size(300, 300) };
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AntdUI.Modal.open(new AntdUI.Modal.Config(this, "", form, TType.None)
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{
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BtnHeight = 0,
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});
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if (form.submit)
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{
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//保存用户操作到文件
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VisualLocalization visualLocalization = new VisualLocalization();
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visualLocalization.CameraName = sltCameraName.Text;
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visualLocalization.ModelPath=iptModel.Text;
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visualLocalization.ImgPath=iptBackImg.Text;
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visualLocalization.Threshold=iptThreshold.Text;
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visualLocalization.Direction=sltDirection.Text;
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visualLocalization.Speed=iptSpeed.Text;
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visualLocalization.SaveToFile("VisualLocalization.json");
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}
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}
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/// <summary>
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/// 保存图像
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnSaveImg_Click(object? sender, EventArgs e)
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{
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if (!isCapturing)
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{
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AntdUI.Message.warn(this, $"未开始采集,无法保存图像！", autoClose: 3);
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return;
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}
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Bitmap bitmap =imageViewerControl1.GetCurrentSnapshot();
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using (SaveFileDialog saveDialog = new SaveFileDialog())
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{
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saveDialog.Title = "保存图像文件";
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saveDialog.Filter = "JPEG 图像|*.jpg";
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saveDialog.FilterIndex = 0;
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saveDialog.AddExtension = true;
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saveDialog.OverwritePrompt = true;
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if (saveDialog.ShowDialog() == DialogResult.OK)
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{
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bitmap.Save(saveDialog.FileName, ImageFormat.Jpeg);
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AntdUI.Message.success(this, $"图像保存成功！", autoClose: 3);
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}
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else
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{
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AntdUI.Message.warn(this, $"取消图像保存操作！", autoClose: 3);
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}
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}
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}
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/// <summary>
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/// 定位
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnLocalization_Click(object? sender, EventArgs e)
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{
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if (!isCapturing)
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{
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AntdUI.Message.warn(this, $"未开始采集,无法开始定位！", autoClose: 3);
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return;
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}
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if (!isLocationing)
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{
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bool direction =sltDirection.SelectedIndex==0?true:false;
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if (string.IsNullOrEmpty(iptSpeed.Text))
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{
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AntdUI.Message.warn(this, $"请输入速度！", autoClose: 3);
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return;
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}
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int speed = 0;
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try
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{
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bool isValid = int.TryParse(iptSpeed.Text, out speed);
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if (!isValid)
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{
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AntdUI.Message.warn(this, $"输入的速度不是有效值！", autoClose: 3);
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return;
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}
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}
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catch (Exception ex) { }
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MainWindow.Instance.PLC.TurnSpeed(speed);
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MainWindow.Instance.PLC.TurnDirection(direction);
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MainWindow.Instance.PLC.TurnStart(true);
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isLocationing = true;
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btnLocalization.Text = "结束定位";
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btnLocalization.Type = TTypeMini.Warn;
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}
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else
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{
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MainWindow.Instance.PLC.TurnStart(false);
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iptPosition.Text= MainWindow.Instance.PLC.ReadVisionPos().ToString();
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isLocationing = false;
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btnLocalization.Text = "开始定位";
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btnLocalization.Type = TTypeMini.Primary;
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}
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}
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/// <summary>
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/// 采集
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnAcquisition_Click(object? sender, EventArgs e)
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{
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if (!isCapturing)
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{
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if (string.IsNullOrWhiteSpace(sltCameraName.Text))
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{
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AntdUI.Message.warn(this, $"请选择相机！", autoClose: 3);
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return;
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}
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if (string.IsNullOrWhiteSpace(iptModel.Text))
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{
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AntdUI.Message.warn(this, $"请选择算法！", autoClose: 3);
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return;
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}
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if (string.IsNullOrWhiteSpace(iptBackImg.Text))
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{
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AntdUI.Message.warn(this, $"请选择背景图片！", autoClose: 3);
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return;
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}
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// 加载HALCON模型
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if (!File.Exists(iptModel.Text))
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{
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AntdUI.Message.warn(this, $"算法文件不存在！", autoClose: 3);
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return;
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}
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if (!File.Exists(iptBackImg.Text))
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{
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AntdUI.Message.warn(this, $"图片文件不存在！", autoClose: 3);
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return;
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}
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//获取背景图
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backImage = new HImage();
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backImage.ReadImage(iptBackImg.Text);
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// 从完整路径获取过程名称
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string procedureName = Path.GetFileNameWithoutExtension(iptModel.Text);
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string procedureDir = Path.GetDirectoryName(iptModel.Text);
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// 重新初始化HALCON引擎
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MyEngine.SetProcedurePath(procedureDir);
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Procedure = new HDevProcedure(procedureName);
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ProcCall = new HDevProcedureCall(Procedure);
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if (MainWindow.Instance.PLC.Connected)
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{
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//启用视觉定位
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MainWindow.Instance.PLC.VisionPos(true);
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}
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else
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{
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AntdUI.Message.warn(this, $"未连接PLC,无法视觉定位！", autoClose: 3);
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return;
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}
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Do3ThinkCamera=MainWindow.Instance.Cameras.Where(it=>it.CameraName==sltCameraName.Text).FirstOrDefault()??new Do3ThinkCamera();
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Do3ThinkCamera.OnHImageOutput += OnCameraHImageOutput;
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Timer = new System.Threading.Timer(CaptureLoop, null, 0, 50);
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isCapturing = true;
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btnAcquisition.Text = "结束采集";
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btnAcquisition.Type = TTypeMini.Warn;
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}
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else
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{
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if (isLocationing)
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{
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AntdUI.Message.warn(this, $"定位未结束，不能结束采集！", autoClose: 3);
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return;
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}
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MainWindow.Instance.PLC.VisionPos(false);
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Do3ThinkCamera.OnHImageOutput -= OnCameraHImageOutput;
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Timer?.Dispose();
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isCapturing = false;
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btnAcquisition.Text = "开始采集";
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btnAcquisition.Type = TTypeMini.Primary;
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}
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}
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/// <summary>
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/// 触发
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/// </summary>
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/// <param name="state"></param>
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private void CaptureLoop(object? state)
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{
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Do3ThinkCamera.Snapshot();
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}
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/// <summary>
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/// 反转抬起
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnReverse_MouseUp(object? sender, MouseEventArgs e)
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{
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if (MainWindow.Instance.PLC.Connected)
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{
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MainWindow.Instance.PLC.TurnStart(false);
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iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
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}
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else
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{
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AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
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}
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}
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/// <summary>
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/// 反转按下
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnReverse_MouseDown(object? sender, MouseEventArgs e)
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{
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if (MainWindow.Instance.PLC.Connected)
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{
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//开启转盘
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if (string.IsNullOrEmpty(iptSpeed.Text))
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{
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AntdUI.Message.warn(this, $"请输入速度！", autoClose: 3);
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return;
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}
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int speed = 0;
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try
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{
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bool isValid = int.TryParse(iptSpeed.Text, out speed);
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if (!isValid)
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{
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AntdUI.Message.warn(this, $"输入的速度不是有效值！", autoClose: 3);
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return;
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}
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}
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catch (Exception ex) { }
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MainWindow.Instance.PLC.TurnSpeed(speed);
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MainWindow.Instance.PLC.TurnDirection(false);
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MainWindow.Instance.PLC.TurnStart(true);
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iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
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}
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else
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{
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AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
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}
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}
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/// <summary>
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/// 正转抬起
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnForward_MouseUp(object? sender, MouseEventArgs e)
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{
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if (MainWindow.Instance.PLC.Connected)
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{
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MainWindow.Instance.PLC.TurnStart(false);
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iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
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}
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else
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{
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AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
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}
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}
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/// <summary>
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/// 正转按下
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnForward_MouseDown(object? sender, MouseEventArgs e)
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{
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if (MainWindow.Instance.PLC.Connected)
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{
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//开启转盘
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if (string.IsNullOrEmpty(iptSpeed.Text))
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{
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AntdUI.Message.warn(this, $"请输入速度！", autoClose: 3);
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return;
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}
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int speed = 0;
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try
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{
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bool isValid = int.TryParse(iptSpeed.Text, out speed);
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if (!isValid)
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{
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AntdUI.Message.warn(this, $"输入的速度不是有效值！", autoClose: 3);
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return;
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}
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}
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catch (Exception ex) { }
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MainWindow.Instance.PLC.TurnSpeed(speed);
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MainWindow.Instance.PLC.TurnDirection(true);
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MainWindow.Instance.PLC.TurnStart(true);
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iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
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}
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else
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{
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AntdUI.Message.warn(this, $"未连接PLC！", autoClose: 3);
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}
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}
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/// <summary>
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/// 选择背景图
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnSelectBackImg_Click(object? sender, EventArgs e)
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{
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using (OpenFileDialog openFileDialog = new OpenFileDialog())
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{
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// 设置对话框标题
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openFileDialog.Title = "选择背景图片";
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// 限制文件后缀为 .hdvp
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openFileDialog.Filter = "图片文件|*.jpg;*.jpeg;*.png;*.bmp";
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// 禁止多选
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openFileDialog.Multiselect = false;
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// 显示对话框并等待用户操作
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if (openFileDialog.ShowDialog() == DialogResult.OK)
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{
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string filePath = openFileDialog.FileName;
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iptBackImg.Text = filePath;
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}
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}
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}
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/// <summary>
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/// 选择算法
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void BtnSelectModel_Click(object? sender, EventArgs e)
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{
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using (OpenFileDialog openFileDialog = new OpenFileDialog())
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{
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// 设置对话框标题
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openFileDialog.Title = "选择算法文件";
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// 限制文件后缀为 .hdvp
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openFileDialog.Filter = "算法文件 (*.hdvp)|*.hdvp";
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// 禁止多选
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openFileDialog.Multiselect = false;
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// 显示对话框并等待用户操作
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if (openFileDialog.ShowDialog() == DialogResult.OK)
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{
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string filePath = openFileDialog.FileName;
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iptModel.Text = filePath;
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}
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}
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}
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/// <summary>
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/// 加载事件
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void VisualLocalizationWindow_Load(object? sender, EventArgs e)
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{
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sltDirection.SelectedIndex = 0;
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sltCameraName.Items.Clear();
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if (MainWindow.Instance.Cameras?.Count > 0)
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{
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foreach(var cam in MainWindow.Instance.Cameras)
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{
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sltCameraName.Items.Add(cam.CameraName);
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}
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}
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else
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{
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AntdUI.Message.warn(this, $"未找到启用相机！", autoClose: 3);
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}
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}
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/// <summary>
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/// 窗体对象实例
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/// </summary>
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private static VisualLocalizationWindow _instance;
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internal static VisualLocalizationWindow Instance
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{
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get
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{
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if (_instance == null || _instance.IsDisposed)
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_instance = new VisualLocalizationWindow();
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return _instance;
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}
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}
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/// <summary>
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/// 相机回调
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/// </summary>
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/// <param name="dt"></param>
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/// <param name="camera"></param>
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/// <param name="imageSet"></param>
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private void OnCameraHImageOutput(DateTime dt, CameraBase camera, MatSet imageSet)
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{
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imageViewerControl1.Image = imageSet._mat.ToBitmap();
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HObject obj = OpenCVHelper.MatToHImage(imageSet._mat);
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HImage hImage = HalconHelper.ConvertHObjectToHImage(obj);
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// 调用 ProcCall 的方法
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ProcCall.SetInputIconicParamObject("INPUT_Image", hImage); // 将图像输入Proc
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ProcCall.SetInputIconicParamObject("BackGroundPic", backImage);
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ProcCall.SetInputCtrlParamTuple("DistThreshold", Convert.ToInt32(iptThreshold.Text));
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ProcCall.Execute();
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double nNUm = ProcCall.GetOutputCtrlParamTuple("OUTPUT_Flag");
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if (nNUm == 0)
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{
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MainWindow.Instance.PLC.TurnStart(false);
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iptPosition.Text = MainWindow.Instance.PLC.ReadVisionPos().ToString();
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}
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}
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}
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}
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