MainMachine_Counting.cs
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using Asa;
using CodeLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
partial class MainMachine
{
public string xrayImagePath;
Task GetResultTask = null;
Dictionary<string, int> CountList = new Dictionary<string, int>();
int xrayimageretry = 0;
string lastReeID = "";
void CountingMoveProcess()
{
if (CheckWait(CountMoveInfo))
return;
switch (CountMoveInfo.MoveStep)
{
case MoveStep.Wait:
//if (IOValue(IO_Type.Counting_Reel_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Counting_EnterDoor_Close).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Counting_ExitDoor_Close).Equals(IO_VALUE.HIGH))
//{
// CountMoveInfo.NextMoveStep(MoveStep.Count_01);
//}
break;
case MoveStep.Count_01:
if (IOValue(IO_Type.Counting_Reel_Check).Equals(IO_VALUE.HIGH))
{
CountMoveInfo.NextMoveStep(MoveStep.Count_02);
CylinderMove(CountMoveInfo, IO_Type.Counting_EnterDoor_Close, IO_Type.Counting_EnterDoor_Open, IO_VALUE.LOW);
CylinderMove(CountMoveInfo, IO_Type.Counting_ExitDoor_Close, IO_Type.Counting_ExitDoor_Open, IO_VALUE.LOW);
CountMoveInfo.log($"关闭防护门");
if (CountMoveInfo.MoveParam.PlateH == 0)
{
CountMoveInfo.MoveParam.PlateH = Setting_Init.Temp_Last_Reel_Height;
CountMoveInfo.MoveParam.PlateW = Setting_Init.Temp_Last_Reel_Width;
CountMoveInfo.log($"读取到存储的料盘尺寸:{CountMoveInfo.MoveParam.PlateW}x{CountMoveInfo.MoveParam.PlateH}");
}
else if (CountMoveInfo.MoveParam.PlateH > 0)
{
Setting_Init.Temp_Last_Reel_Height = CountMoveInfo.MoveParam.PlateH;
Setting_Init.Temp_Last_Reel_Width = CountMoveInfo.MoveParam.PlateW;
}
else
{
Setting_Init.Temp_Last_Reel_Height = 8;
}
scantrytimes = 0;
}
else {
Msg.add("点料机放料位没有检测到料盘",MsgLevel.alarm);
//RobotManage.UserPause("点料机放料位没有检测到料盘");
}
break;
case MoveStep.Count_02:
CountMoveInfo.NextMoveStep(MoveStep.Count_03);
IOMove(IO_Type.Xray_Lock, IO_VALUE.HIGH);
ScanCode();
CountMoveInfo.log($"开始扫码");
break;
case MoveStep.Count_03:
int retrytime = 0;
retry:
if (RobotManage.XRay.Start())
{
CountMoveInfo.NextMoveStep(MoveStep.Count_04);
CountMoveInfo.log($"打开X光");
return;
}
else {
if (RobotManage.XRay.Start())
{
CountMoveInfo.NextMoveStep(MoveStep.Count_04);
CountMoveInfo.log($"打开X光第{retrytime}次");
CountMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(Setting_Init.XRay_Light_Delay));
return;
}
CountMoveInfo.log($"X光打开失败");
retryopen:
retrytime++;
RobotManage.XRay.Close();
Thread.Sleep(1000);
if (!RobotManage.XRay.Open(Setting_Init.XRay_Port, string.Format("{0:yyyy-MM-dd}", DateTime.Now)))
{
if (retrytime > 3)
{
Msg.add("X光打开失败", MsgLevel.warning);
RobotManage.UserPause("X光打开失败");
}
goto retryopen;
}
Thread.Sleep(1000);
if (!RobotManage.XRay.SetVC(Setting_Init.XRay_Voltage.ToString(), Setting_Init.XRay_Current.ToString()))
{
CountMoveInfo.log(string.Format("X光电压电流设置失败:{0},{1}", Setting_Init.XRay_Voltage, Setting_Init.XRay_Current));
goto retryopen;
}
Thread.Sleep(1000);
goto retry;
}
break;
case MoveStep.Count_04:
var runtimedata = RobotManage.XRay.GetRuntimeData();
if (runtimedata.HighVoltage > Setting_Init.XRay_Voltage * 0.8
&& runtimedata.BeamCurrent > Setting_Init.XRay_Current * 0.7)
{
CountMoveInfo.log("X光点亮成功:" + runtimedata);
}
else if (CountMoveInfo.IsTimeOut(5)) {
CountMoveInfo.NextMoveStep(MoveStep.Count_03);
RobotManage.XRay.Stop();
CountMoveInfo.log("X光超时未打到电压电流.重新打开:"+ runtimedata);
return;
}
if (ScanTask.IsCompleted)
{
var (x,s) = ScanTask.Result;
if (x.Count == 0)
{
CountMoveInfo.NextMoveStep(MoveStep.Count_ReadyOut);
CountMoveInfo.log($"未识别到有效二维码,送到NG口");
CountMoveInfo.MoveParam.IsNg = true;
CountMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
return;
}
else
{
CountMoveInfo.NextMoveStep(MoveStep.Count_05);
CountMoveInfo.MoveParam.IsNg = false;
CountMoveInfo.MoveParam.codeInfos = x;
CountMoveInfo.MoveParam.bitmapfilename = s;
CountMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(Setting_Init.XRay_Light_Delay));
xrayimageretry = 0;
var cc = x.Select((a) => a.CodeType+":"+a.CodeStr);
LastCode = String.Join("##", cc);
CountMoveInfo.log("已完成扫码 Code:" + LastCode);
//Common.codeProcess(CountMoveInfo.MoveParam, out string mmm);
CountMoveInfo.MoveParam.WareCode = CountMoveInfo.MoveParam.codeInfos.Where(c=> Regex.IsMatch(c.CodeStr, @"^S[2-3]0") && ( c.CodeType== "Data Matrix ECC 200"|| c.CodeType == "QR Code")).FirstOrDefault()?.CodeStr;
if (string.IsNullOrWhiteSpace(CountMoveInfo.MoveParam.WareCode))
CountMoveInfo.MoveParam.WareCode = CountMoveInfo.MoveParam.codeInfos.Where(c=> Regex.IsMatch(c.CodeStr, @"^S[2-3]0")).FirstOrDefault().CodeStr;
CountMoveInfo.MoveParam.ReeID = CountMoveInfo.MoveParam.WareCode;
if (lastReeID == CountMoveInfo.MoveParam.ReeID)
{
CountMoveInfo.log("唯一码与上一盘料出现重复,请检查");
Msg.add("唯一码与上一盘料出现重复,请检查", MsgLevel.alarm);
RobotManage.UserPause("唯一码与上一盘料出现重复");
}
lastReeID = CountMoveInfo.MoveParam.ReeID;
CountMoveInfo.MoveParam.PN = CountMoveInfo.MoveParam.codeInfos.Where(c=>c.CodeStr.StartsWith("AT")).FirstOrDefault()?.CodeStr;
if (string.IsNullOrWhiteSpace(CountMoveInfo.MoveParam.PN)) {
var hc =CountMoveInfo.MoveParam.codeInfos.Where(c => Regex.IsMatch(c.CodeStr, @"(?:@@|-)(AT\w*)(?:@@|-)")).FirstOrDefault()?.CodeStr;
if (!string.IsNullOrEmpty(hc))
{
var pn = Regex.Match(hc, "@@(AT\\w*)@@").Groups[1].Value;
CountMoveInfo.MoveParam.PN = pn;
}
else {
hc = CountMoveInfo.MoveParam.codeInfos.Where(c => Regex.IsMatch(c.CodeStr, @";(AT[\w]*);")).FirstOrDefault()?.CodeStr;
if (!string.IsNullOrEmpty(hc))
{
var pn = Regex.Match(hc, @";(AT[\w]*);").Groups[1].Value;
CountMoveInfo.MoveParam.PN = pn;
}
else {
hc = CountMoveInfo.MoveParam.codeInfos.Where(c => Regex.IsMatch(c.CodeStr, @"(AT[\w]*)")).FirstOrDefault()?.CodeStr;
if (!string.IsNullOrEmpty(hc))
{
var pn = Regex.Match(hc, @"(AT[\w]*)").Groups[1].Value;
CountMoveInfo.MoveParam.PN = pn;
}
}
}
}
if (string.IsNullOrWhiteSpace(CountMoveInfo.MoveParam.PN)) {
CountMoveInfo.log("从MES获取PN reelid="+ CountMoveInfo.MoveParam.ReeID);
var pn = ServerCommunication.GetPnByReelid(CountMoveInfo.MoveParam.ReeID);
CountMoveInfo.MoveParam.PN = pn;
}
//var xx = CountMoveInfo.MoveParam.codeInfos.Find(c=> { return c.CodeStr.StartsWith("S20") && c.CodeType == "barcode"; });
//if (xx != null)
//{
// CountMoveInfo.MoveParam.codeInfos.Remove(xx);
// CountMoveInfo.log("移除了一个点料标签上的reelid");
//}
if (Setting_Init.Device_MustHavePN && string.IsNullOrWhiteSpace(CountMoveInfo.MoveParam.PN))
{
CountMoveInfo.NextMoveStep(MoveStep.Count_ReadyOut);
CountMoveInfo.log($"未识别到PN,送到NG口");
CountMoveInfo.MoveParam.IsNg = true;
CountMoveInfo.MoveParam.NgMsg = "未识别到PN";
}
CountMoveInfo.log("codeProcess:" + CountMoveInfo.MoveParam.ReeID+";"+CountMoveInfo.MoveParam.PN);
}
}
else if (CountMoveInfo.IsTimeOut(15))
{
scantrytimes++;
if (scantrytimes < 3)
{
CountMoveInfo.log($"扫码超时,第{scantrytimes}次重试,拍照扫码");
ScanTask = null;
ScanCode();
}
else
{
CountMoveInfo.NextMoveStep(MoveStep.Count_ReadyOut);
CountMoveInfo.MoveParam.IsNg = false;
CountMoveInfo.MoveParam.NgMsg = "扫码超时";
CountMoveInfo.log($"等待扫码超时,NG口送出");
}
}
break;
case MoveStep.Count_05:
CountMoveInfo.NextMoveStep(MoveStep.Count_06);
GrabImageTask = GrabImageEX();
CountMoveInfo.log($"X光开始成像");
break;
case MoveStep.Count_06:
if (GrabImageTask.IsCompleted)
{
CountMoveInfo.NextMoveStep(MoveStep.Count_ReadyOut);
if (GrabImageTask.Result)
{
CountMoveInfo.log($"获取图像,开始点料 IsRayOpen:{RobotManage.XRay.IsRayOpen}");
GetResultTask = Task.Run(() => {
Thread.CurrentThread.Priority = ThreadPriority.BelowNormal;
string reelid = CountMoveInfo.MoveParam.ReeID;
int count = GetCountResult();
lock (CountList)
{
CountList[reelid] = count;
}
CountMoveInfo.log($"点料完成:{reelid},{count}");
if (count == 0) {
CountMoveInfo.MoveParam.IsNg = true;
CountMoveInfo.MoveParam.NgMsg = "点料结果为0";
CountMoveInfo.MoveParam.logresult(xrayImagePath);
}
});
}
else
{
CountMoveInfo.MoveParam.IsNg = true;
CountMoveInfo.MoveParam.NgMsg = "获取图像失败";
CountMoveInfo.MoveParam.logresult();
}
CountMoveInfo.log($"关闭X光");
RobotManage.XRay.Stop();
IOMove(IO_Type.Xray_Lock, IO_VALUE.LOW);
CountMoveInfo.log("准备送出");
}
else if (CountMoveInfo.IsTimeOut(10)) {
CountMoveInfo.NextMoveStep(MoveStep.Count_05);
xrayimageretry++;
CountMoveInfo.log("获取料盘X光图像超时:"+ xrayimageretry);
if (xrayimageretry > 3)
{
Msg.add("获取料盘X光图像超时", MsgLevel.alarm);
RobotManage.UserPause("获取料盘X光图像超时");
}
}
break;
case MoveStep.Count_ReadyOut:
if (IOValue(IO_Type.Counting_Reel_Check).Equals(IO_VALUE.LOW))
{
CountMoveInfo.log("等待料盘被取走");
} else if (CountMoveInfo.IsTimeOut(60)) {
Msg.add("点料区等待料盘被取走超时",MsgLevel.alarm);
CountMoveInfo.log("等待料盘被取走超时");
}
break;
case MoveStep.Count_Outted:
CountMoveInfo.NextMoveStep(MoveStep.Count_20);
CountMoveInfo.log("料盘已取走");
break;
case MoveStep.Count_20:
if (OutMoveInfo.MoveStep>= MoveStep.Out_09)
{
CountMoveInfo.NextMoveStep(MoveStep.Count_21);
CountMoveInfo.log("料盘已取走");
}
else if (CountMoveInfo.IsTimeOut(60)) {
CountMoveInfo.log("等待料盘取走超时");
}
break;
case MoveStep.Count_21:
CountMoveInfo.log("点料结束");
CountMoveInfo.EndMove();
break;
default:
CountMoveInfo.log($"未找到对应步骤:{CountMoveInfo.MoveStep}");
break;
}
}
string CountState()
{
string state = "";
if (CountMoveInfo.MoveStep == MoveStep.Wait)
{
return "空闲中";
}
else if (CountMoveInfo.MoveStep > MoveStep.Wait)
{
state = "取料位置" + ":" + InCurrentStringNum;
}
else if (CountMoveInfo.MoveStep > MoveStep.Wait)
{
state = "取料位置"+":"+InCurrentStringNum;
}
return state;
}
public bool IsScanRunning() {
if (ScanTask == null)
return false;
return !ScanTask.IsCompleted;
}
int scantrytimes = 0;
/// <summary>
/// 扫码线程
/// </summary>
Task<(List<CodeInfo>, string)> ScanTask;
public void ScanCode() {
CountMoveInfo.log("开始扫码");
try
{
ScanTask = Task.Run(new Func<(List<CodeInfo>, string)>(() =>
{
IOMove(IO_Type.Counting_Camera_Led, IO_VALUE.HIGH);
var (LastCodeList, filename) = CodeManager.CameraScan(CodeManager.hikNameList);
LogUtil.info("扫码完成:"+ filename);
return (LastCodeList, filename);
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
const string xraydir = @"\Image\Xray";
Task<bool> GrabImageTask = null;
public Task<bool> GrabImageEX() {
return Task.Run(new Func<bool>(GrabImage));
}
[HandleProcessCorruptedStateExceptions]
public bool GrabImage()
{
Bitmap bmp = null;
try
{
CountMoveInfo.log("start get image from plate");
int xplate_getimage_retry_times = 5;
int xplate_open_retry_times = 3;
for (int ii = 1; ii <= xplate_getimage_retry_times; ii++)
{
bool rtn = RobotManage.xrayImage.GetImage(2);
if (!rtn)
{
if (ii == xplate_getimage_retry_times)
return false;
for (int jj = 1; jj <= xplate_open_retry_times; jj++)
{
bool closeR = RobotManage.xrayImage.Close();
if (!closeR)
CountMoveInfo.log($"xray plate Close ii={ii}, times={jj}, result={closeR}");
Thread.Sleep(500 * jj + (jj - 1) * 1000);
rtn = RobotManage.xrayImage.Open();
Thread.Sleep(500);
if (!rtn)
{
CountMoveInfo.log($"xray plate open failed ii={ii}, times={jj}");
if (jj == xplate_open_retry_times)
return false;
continue;
}
else
break;
}
Thread.Sleep(1000 * ii + (ii - 1) * 2000);
}
else
break;
}
CountMoveInfo.log("get image from plate scusses");
//RobotManage.xrayImage.WindowWidth = 30000;
//RobotManage.xrayImage.WindowLevel = 15000;
bmp = RobotManage.xrayImage.Get48bImage();
Directory.CreateDirectory(xraydir);
var n = DateTime.Now;
string backDir = Path.Combine(xraydir, "back", n.Year.ToString() + "-" + n.Month.ToString(), n.Day.ToString(), n.Hour.ToString());
Directory.CreateDirectory(backDir);
xrayImagePath = Path.Combine(backDir, CountMoveInfo.MoveParam.GetImgName());
bmp.Save(xrayImagePath, System.Drawing.Imaging.ImageFormat.Png);
// File.Copy(xrayImagePath, backDir);
CountMoveInfo.log($"save xray pic success. current file:{xrayImagePath}");
return true;
}
catch (Exception ex)
{
CountMoveInfo.log(ex.ToString());
return false;
}
finally
{
if (bmp != null)
bmp.Dispose();
//StepImage?.Invoke(bmp);
}
}
[HandleProcessCorruptedStateExceptions]
public int GetCountResult(bool dontlog = false)
{
//返回的数量是string类型，count = "4000,3000,3500,2000"
int count = 0;
//resfile = "";
//tpDstImg = new API.EyemImage();
try
{
int[] countStr = new int[4];
int result = 0;
int ShrinkOffset = ConfigHelper.Config.Get<int>("ShrinkOffset", 100);
var pps = CountMoveInfo.MoveParam.PN;
if (string.IsNullOrEmpty(pps))
pps = "";
Pn_Algo_Match.MatchPN(pps, out AlgoData algoData);
CountMoveInfo.log($"匹配到算法.{pps}={algoData}");
if (algoData.Algo == "auto" && string.IsNullOrEmpty(pps))
{
try
{
var pid = ONNXAlgoMatch.MatchPID(xrayImagePath, ShrinkOffset, out float matchDeg);
CountMoveInfo.log($"自动匹配算法.{pid}={matchDeg}");
if (matchDeg >= 0.6f)
{
if (pid != "PID001")
if (Pn_Algo_Match.MatchPN(pid, out AlgoData t))
{
algoData = t;
CountMoveInfo.log($"自动匹配算法成功.{algoData}");
}
else
CountMoveInfo.log($"没有匹配过自动算法");
}
}
catch(Exception ex) {
CountMoveInfo.log($"MatchPID error:{ex}");
}
}
CountMoveInfo.MoveParam.Algo = algoData.Algo;
if (algoData.fine>0)
XrayImage.setFineTuning = algoData.fine;
else
XrayImage.setFineTuning = ConfigHelper.Config.Get("setFineTuningDefault", 0.7);
if (algoData.processlevel > 0)
XrayImage.setProcessLevel(algoData.processlevel);
else
XrayImage.setProcessLevel(2);
if (algoData.Algo.StartsWith("IP_Template_PARTS"))
{
if (!File.Exists(algoData.TemplateFile))
{
CountMoveInfo.log($"模版文件丢失.{algoData.TemplateFile}");
}
}
Bitmap dst = null;
if (algoData.Algo == "auto")
{
result = XrayImage.GetLocalCount(xrayImagePath, ShrinkOffset, out countStr, out dst);
CountMoveInfo.log("GetCountResult " + algoData.Algo + ", ShrinkOffset=" + ShrinkOffset + ", 调用 GetLocalCount 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + (countStr != null ? string.Join(",", countStr) : "null") + "】");
}
else if (algoData.Algo.StartsWith("IP_Template_PARTS"))
{
string template = algoData.TemplateFile;
result = XrayImage.GetLocalCountTemplate(xrayImagePath, ShrinkOffset, template, out countStr, out dst);
CountMoveInfo.log("GetCountResult " + template + ", ShrinkOffset="+ ShrinkOffset + ", 调用 GetLocalCountTemplate 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + (countStr != null ? string.Join(",", countStr) : "null") + "】");
}
else
{
result = XrayImage.GetLocalCountIrregular(xrayImagePath, ShrinkOffset, algoData.Algo.ToString(), out countStr, out dst);
CountMoveInfo.log("GetCountResult " + algoData.Algo + ", ShrinkOffset=" + ShrinkOffset + " 调用 GetLocalCountIrregular 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + (countStr != null ? string.Join(",", countStr) : "null") + "】");
}
if (dst != null)
{
dst.Save("ResOut\\" + Path.GetFileNameWithoutExtension(xrayImagePath) + "-Mark.png");
dst.Dispose();
}
if (result != 0)
{
//CountMoveInfo.MoveParam.IsNg = true;
//CountMoveInfo.MoveParam.NgMsg = "点料失败";
//CountMoveInfo.MoveParam.logresult(xrayImagePath);
return count;
}
if (countStr != null)
{
//string[] array = countStr.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
count = (from a in countStr where a > 0 select a).FirstOrDefault();
}
else
{
count = 0;
}
if (result == 0 && count > 0)
{
CountMoveInfo.MoveParam.QTY = count;
string resfilename = Path.GetFileNameWithoutExtension(xrayImagePath) + "-Mark.png";
string root = Path.Combine(Application.StartupPath, "ResOut");
var n = DateTime.Now;
Directory.CreateDirectory("\\Image\\Xray\\ResOut");
string destdir = Path.Combine("\\Image\\Xray\\ResOut", n.Year.ToString() + "-" + n.Month.ToString(), n.Day.ToString(), n.Hour.ToString());
Directory.CreateDirectory(destdir);
string resfile = Path.Combine(destdir, resfilename);
if (File.Exists(resfile))
File.Delete(resfile);
Directory.Move(Path.Combine(root, resfilename), resfile);
CountMoveInfo.MoveParam.logresult(xrayImagePath, resfile);
CountMoveInfo.log($"写入点料记录:UID:{CountMoveInfo.MoveParam.UID},{CountMoveInfo.MoveParam.ToStr()}");
}
else
{
//CountMoveInfo.MoveParam.IsNg = true;
//CountMoveInfo.MoveParam.NgMsg = "点料结果为0";
//CountMoveInfo.MoveParam.logresult(xrayImagePath);
}
}
catch (Exception ex)
{
CountMoveInfo.log("GetCountResult 出错： " + ex.ToString());
}
return count;
}
}
}