X_RAY_Equip_Partial.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
partial class X_RAY_Equip
{
public delegate void GetImage(Bitmap bitmap);
public event GetImage GetImageEvent;
#region Label
public override bool StartLabelling(WorkParam param)
{
return false;
}
protected override void LabellingProcess()
{
}
private bool CountIsOk()
{
return false;
}
#endregion
#region 工作
public override bool StartWorking(WorkParam param)
{
if (!MoveInfo.MoveType.Equals(RobotMoveType.None))
{
return false;
}
//出口有料
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH))
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
if (Work_ReelInfo.WareCount <= 0)
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("扫描区有料[" + Work_ReelInfo.ToStr() + "]，还未进行点料，开始处理");
//IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
WorkLog("扫描区有料[" + Work_ReelInfo.ToStr() + "]，点料已完成，准备放出料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
}
else if (IOValue(IO_Type.X_InLine_Check).Equals(IO_VALUE.HIGH))
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW01_WaitInReel);
WorkLog("入口皮带线有料[" + In_ReelInfo.ToStr() + "]，开始处理");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.LOW));
}
return false;
}
protected override void WorkingProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel))
{
MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen);
WorkLog("料盘处理：左侧门打开,挡停下降");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun);
WorkLog("料盘处理：入口和中间皮带线转动，");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW04_InLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW05_WaitMCheck);
WorkLog("料盘处理：等待扫描区域信号检测");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW05_WaitMCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
Work_ReelInfo = In_ReelInfo.GetReelInfo();
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
In_ReelInfo = new ReelInfo();
WorkLog("料盘处理：更新Work_ReelInfo【" + Work_ReelInfo.ToStr() + "】，清空 In_ReelInfo，再转动5秒钟");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW06_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW07_InLineStop);
WorkLog("料盘处理：停止入口皮带线，中间皮带线");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW07_InLineStop))
{
if (Work_ReelInfo.PlateH <= 0)
{
Work_ReelInfo.IsNgReel = true;
Work_ReelInfo.NgMsg = "无高度信息";
}
else if (String.IsNullOrEmpty(Work_ReelInfo.WareCode))
{
Work_ReelInfo.IsNgReel = true;
Work_ReelInfo.NgMsg = "无有效条码";
}
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
//判断是否需要点料
if (Work_ReelInfo.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
WorkLog("扫描区NG料 [" + Work_ReelInfo.ToStr() + "]，直接放行料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(StepEnum.XW08_DoorClose);
// WorkLog("料盘处理：左侧门关闭，右侧门关闭，准备开始点料");
WorkLog("料盘处理：左侧门关闭，右侧门关闭，挡停放行，准备开始点料");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up);
}
}
#region 点料处理
else if (MoveInfo.IsStep(StepEnum.XW08_DoorClose))
{
if (!OpenXLine)
{
MoveInfo.NextMoveStep(StepEnum.XW15_GetResult);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
int count = 99999;
InXWork = false;
WorkLog("点料：未启用X射线点料，模拟点料结果：" + count + "");
if (Work_ReelInfo.WareCount <= 0)
{
Work_ReelInfo.WareCount = count;
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
}
}
else if (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StepEnum.XW11_StartCount);
WorkLog("点料：启用X射线点料，等待X射线可以启动");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_Lock_On, IO_VALUE.HIGH));
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.XW11_StartCount))
{
if (xRayCanStart && (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.HIGH)) )
{
XW12_XRayStart();
}
else if (MoveInfo.IsTimeOut(120))
{
if (!xRayCanStart)
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 可以打开X射线 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
}
else
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
}
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.XW12_XRayStart))
{
XW13_GetXRayImage();
}
else if (MoveInfo.IsStep(StepEnum.XW13_GetXRayImage))
{
XW15_GetResult();
}
else if (MoveInfo.IsStep(StepEnum.XW15_GetResult))
{
MoveInfo.NextMoveStep(StepEnum.XW16_EndCount);
WorkLog("料盘处理：点料结束，关闭X关机互锁信号");
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
}
#endregion
else if (MoveInfo.IsStep(StepEnum.XW16_EndCount))
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
MoveInfo.TimeOutSeconds = 120;
WorkLog("料盘处理：等待出口无料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StepEnum.XW21_WaitOutNoReel))
{
MoveInfo.NextMoveStep(StepEnum.XW22_OutDoorOpen);
WorkLog("料盘处理：右侧门打开，挡停放行");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up);
}
else if (MoveInfo.IsStep(StepEnum.XW22_OutDoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XW23_OutLineRun);
WorkLog("料盘处理：中间皮带线，出口皮带线转动");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW23_OutLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW24_WaitOutCheck);
WorkLog("料盘处理：等待出口皮带线检测到料盘");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW24_WaitOutCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW25_WaitTime);
Out_ReelInfo = Work_ReelInfo.GetReelInfo();
Work_ReelInfo = new ReelInfo();
WorkLog("料盘处理：清空 Work_ReelInfo，更新Out_ReelInfo【" + Out_ReelInfo.ToStr() + "】 再转动8秒");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW25_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW26_OutLineStop);
WorkLog("料盘处理：中间皮带线，出口皮带线停止");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW26_OutLineStop))
{
MoveInfo.NextMoveStep(StepEnum.XW27_OutDoorClose);
WorkLog("料盘处理：出口门关闭，挡停下降");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW27_OutDoorClose))
{
runStatus = RobotRunStatus.Runing;
MoveInfo.EndMove();
WorkLog("料盘处理：料盘处理结束");
// MoveInfo.NextMoveStep(StepEnum.XW28_EndPro);
}
else if (MoveInfo.IsStep(StepEnum.XW28_EndPro))
{
MoveInfo.EndMove();
runStatus = RobotRunStatus.Runing;
}
}
private void XW12_XRayStart()
{
MoveInfo.NextMoveStep(StepEnum.XW12_XRayStart);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
InXWork = true;
bool result = xRay.Start();
WorkLog("料盘处理：启动X射线[" + result + "]，等待1秒");
}
private void XW13_GetXRayImage()
{
MoveInfo.NextMoveStep(StepEnum.XW13_GetXRayImage);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000));
WorkLog("点料：清理" + path1_tif + "内容，开始获取X射线图形 ");
CapImage();
MoveInfo.EndStepWait();
}
#endregion
#region 点料处理
private string lastFileName = "";
//private int lastTh = 0;
//private int lastWSize = 0;
private CountParam lastParam = new CountParam();
private void XW15_GetResult()
{
if (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.LOW))
{
LogUtil.error("XW15_GetResult 方法，X_Lock_On=LOW，直接返回");
return;
}
MoveInfo.NextMoveStep(StepEnum.XW15_GetResult);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
if (xRay.IsRayOpen)
{
xRay.Stop();
}
int count = 99999;
//WorkLog("点料：开始调用 countImage.GetCount ");
//bool result = countImage.GetCount(lastTh, out count);
//WorkLog("点料：获取点料结果[" + lastTh + "]=【" + count + "】,result=" + result + ",保存并上传结果");
string fileP = path1_tif + @"\" + lastFileName;
int n = 0;
if (lastParam.Sign.Equals(0))
{
WorkLog("点料：开始调用 carerayImage.GetLocalCount ");
n = carerayImage.GetLocalCount(fileP, lastParam.Threshold, lastParam.WindowSize, out count, out Asa.API.EyemImage tpDstImg);
}
else
{
WorkLog("点料：开始调用 carerayImage.GetLocalCountHuge ");
n = carerayImage.GetLocalCountHuge(fileP, lastParam.Threshold, lastParam.WindowSize, out count, out Asa.API.EyemImage tpDstImg);
}
bool isNg = false;
int ResultMinCount = ConfigAppSettings.GetIntValue(Setting_Init.ResultMinCount);
if (ResultMinCount <= 0)
{
ResultMinCount = 100;
}
string result = "保存并上传结果";
if (count < ResultMinCount)
{
result = "点料结果小于" + ResultMinCount + "，判断点料NG";
isNg = true;
}
WorkLog("点料：获取点料结果 【" + count + "】 " + lastParam.ToStr() + ",n =" + n + ", " + result);
if (Work_ReelInfo.WareCount <= 0)
{
MoveInfo.MoveParam.WareCount = count;
Work_ReelInfo.WareCount = count;
if (isNg)
{
MoveInfo.MoveParam.IsNgReel = true;
Work_ReelInfo.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = "点料结果小于" + ResultMinCount;
Work_ReelInfo.NgMsg = "点料结果小于" + ResultMinCount;
}
}
string outF = path2_out + lastFileName;
try
{
if (System.IO.File.Exists(outF))
{
WorkLog("点料：读取结果图片【" + outF + "】");
Bitmap img = (Bitmap)Image.FromFile(outF).Clone();
GetImageEvent?.Invoke(img);
}
else
{
LogUtil.error("点料：未找到结果图片【" + outF + "】");
}
int c = RobotManager.robot.sQLite.Insert(Work_ReelInfo.WareCode, Work_ReelInfo.PlateW, Work_ReelInfo.PlateH, count, outF);
LogUtil.info("插入数据【" + Work_ReelInfo.WareCode + "】【" + count + "】结果：" + c + " ," + RobotManager.robot.sQLite.ErrInfo);
}
catch (Exception ex)
{
LogUtil.error("读取结果图片【" + outF + "】出错：" + ex.ToString());
}
InXWork = false;
if (!isNg)
{
// string msg = "暂不上传";
string msg = SServerManager.Return_Material(Name, Work_ReelInfo.WareCode, Work_ReelInfo.WareCount);
if (!String.IsNullOrEmpty(msg))
{
LogUtil.error(Name + "上传【" + Work_ReelInfo.ToStr() + "】点料结果失败：" + msg);
}
}
MoveInfo.EndStepWait();
}
public string CapImage()
{
try
{
string lastData = DateTime.Now.ToString("yyyy-MM-dd");
ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData);
ClearFilePath();
//取图失败关掉重开。
bool imgResult = carerayImage.GetImage();
if (!imgResult)
{
bool closeR = carerayImage.Close();
if (closeR)
{
bool openR = carerayImage.Open();
LogUtil.error(Name + "carerayImage.GetImage 获取图片失败 = " + imgResult + ", carerayImage.Close 成功 ，重新打开并获取图片");
imgResult = carerayImage.GetImage();
}
else
{
LogUtil.error(Name + "carerayImage.GetImage 获取图片失败 = " + imgResult + ", carerayImage.Close 失败");
}
}
carerayImage.WindowWidth = Config.WindowWidth;
carerayImage.WindowLevel = Config.WindowLevel;
if (imgResult)
{
Bitmap bmp = carerayImage.Get48bImage();
if (bmp != null)
{
lastFileName = Work_ReelInfo.GetImgName();
string fileP = path1_tif + @"\" + lastFileName;
bmp.Save(fileP, System.Drawing.Imaging.ImageFormat.Png);
string backFile = path_XRAY + @"back\" + lastFileName;
try
{
bmp.Save(backFile, System.Drawing.Imaging.ImageFormat.Png);
}
catch (Exception ex)
{
LogUtil.error("X图片备份到【" + backFile + "】错误：" + ex.ToString());
}
WorkLog("点料：获取X射线图形，保存到： " + fileP + "，备份到：" + backFile + "，记录时间" + lastData + "，停止X射线");
GetImageEvent?.Invoke(bmp);
UpdateArea(Work_ReelInfo.WareCode);
}
else
{
WorkLog("点料：获取X射线图形，获取图片失败，carerayImage.Get48bImage()=null");
LogUtil.error(Name + " 获取图片失败，carerayImage.Get48bImage()=null");
}
}
else
{
WorkLog("点料：获取X射线图形，获取图片失败，carerayImage.GetImage()=" + imgResult);
LogUtil.error(Name + " 获取图片失败，carerayImage.GetImage()=" + imgResult);
}
bool result = xRay.Stop();
if (!result)
{
LogUtil.error(" xRay.Stop() 第一次失败，再次调用Stop");
result = xRay.Stop();
if (!result)
{
LogUtil.error(" xRay.Stop()失败：" + result);
}
}
}
catch (Exception ex)
{
LogUtil.error(" CapImage 出错：" + ex.ToString());
}
return lastFileName;
}
private void UpdateArea(string codeStr)
{
lastParam = new CountParam("", ThresholdValue, 3);
//lastTh = ThresholdValue;
//lastWSize = 3;
string[] codeArray = codeStr.Split(';');
string fileValue = "";
string area = "";
if (codeArray.Length.Equals(2))
{
string pn = codeArray[0];
string type = pn.Substring(0, 2) + pn.Substring(pn.Length - 3, 3);
if (countParamMap.ContainsKey(pn))
{
area = countParamMap[pn].AreaValue;
fileValue = lastFileName + " " + area;
// lastTh = countParamMap[pn].Threshold;
lastParam = countParamMap[pn];
}
else if (countParamMap.ContainsKey(type))
{
lastParam = countParamMap[type];
//lastTh = countParamMap[type].Threshold;
//lastWSize = countParamMap[type].WindowSize;
}
}
LogUtil.info("【" + codeStr + "】使用参数 " + lastParam.ToStr() + " ");
//LogUtil.info("【" + codeStr + "】使用参数【" + lastTh + "】【" + area + "】，文件名【" + lastFileName + "】内容【" + fileValue + "】");
File.WriteAllText(path3_area, fileValue);
}
private void ClearFilePath()
{
try
{
if (System.IO.Directory.Exists(path1_tif))
{
System.IO.Directory.Delete(path1_tif, true);
}
}
catch (Exception ex)
{
LogUtil.error("清除文件夹【" + path1_tif + "】内容出错：" + ex.ToString());
}
try
{
System.IO.Directory.CreateDirectory(path1_tif + @"\");
}
catch (Exception ex)
{
LogUtil.error("创建文件夹【" + path1_tif + "】出错：" + ex.ToString());
}
}
#endregion
}
}