XRayMachine.XRay.cs
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using Asa;
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.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
partial class XRayMachine
{
const string xraydir = @"\Image\Xray";
Task GetResultTask = null;
void WorkProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.XRay_01_LocationDown:
MoveInfo.StopwatchReset();
MoveInfo.NextMoveStep(MoveStep.XRay_02_RunIn);
RobotManage.ProductivityCount++;
MoveInfo.log($"定位气缸下降,打开点料机入口门");
CylinderMove(MoveInfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.LOW);
CylinderMove(null, IO_XRay_Type.Entry_Close, IO_XRay_Type.Entry_Open, IO_VALUE.HIGH);
break;
case MoveStep.XRay_02_RunIn:
MoveInfo.NextMoveStep(MoveStep.XRay_03_CloseDoor);
MoveInfo.log($"入料伺服相对运转");
//Line_Entry_Axis.RelMove(ResetMoveInfo, Config.Line_Entry_Relative, Config.Line_Entry_Relative_speed);
Line_Entry_Axis.SpeedMove(Config.Line_Entry_Relative_speed);
Line_In_Axis.RelMove(MoveInfo, Config.Line_In_Relative, Config.Line_In_Relative_speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_XRay_Type.Tray_Inside_Check, IO_VALUE.HIGH));
break;
case MoveStep.XRay_03_CloseDoor:
MoveInfo.NextMoveStep(MoveStep.XRay_04_OpenXray);
MoveInfo.log($"关闭点料机入口门");
Line_Entry_Axis.SuddenStop();
CylinderMove(MoveInfo, IO_XRay_Type.Entry_Close, IO_XRay_Type.Entry_Open, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.HIGH);
IOMove(IO_XRay_Type.Xray_Lock, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
break;
case MoveStep.XRay_04_OpenXray:
MoveInfo.NextMoveStep(MoveStep.XRay_05_GetImage);
RobotManage.XRay.Start();
MoveInfo.log($"打开X光");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.XRay_05_GetImage:
if (GrabImage())
{
MoveInfo.NextMoveStep(MoveStep.XRay_08_OpenOutDoor);
MoveInfo.log($"获取图像,开始点料 IsRayOpen:{RobotManage.XRay.IsRayOpen}");
GetResultTask = Task.Run(()=> { GetCountResult(); });
}
else {
MoveInfo.NextMoveStep(MoveStep.XRay_08_OpenOutDoor);
//Msg.add("图像平板获取图像失败",MsgLevel.warning);
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "获取图像失败";
MoveInfo.ReelParam.logresult();
}
MoveInfo.log($"关闭X光");
RobotManage.XRay.Stop();
IOMove(IO_XRay_Type.Xray_Lock, IO_VALUE.LOW);
MoveInfo.StopwatchLog(false, "准备送出");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.XRay_08_OpenOutDoor:
MoveInfo.NextMoveStep(MoveStep.XRay_09_SentToLabelStop);
CylinderMove(MoveInfo, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.HIGH);
MoveInfo.log($"打开出口门");
break;
case MoveStep.XRay_09_SentToLabelStop:
if (RobotManage.labelMachine.TrayCanIN())
{
MoveInfo.NextMoveStep(MoveStep.XRay_10_CloseOutDoor);
MoveInfo.log($"打开出口门,送出到贴标机构");
Line_In_Axis.SpeedMove(Config.Line_In_Relative_speed*2);
RobotManage.Line1.LineRun("xray", 999, "XRay_09_SentToLabelStop");
MoveInfo.StopwatchLog(false, "开始送出");
}
else if (MoveInfo.IsTimeOut(30)) {
Msg.add(crc.GetString("wait_xx_free", "等待{0}空闲", RobotManage.labelMachine.DeviceNameShow), MsgLevel.warning);
MoveInfo.log("等待贴标机构入口空闲");
}
break;
case MoveStep.XRay_10_CloseOutDoor:
if (RobotManage.labelMachine.Tray_Check.Equals(IO_VALUE.HIGH))
{
//RobotManage.labelMachine.InLineRunControl(IO_VALUE.LOW);
RobotManage.Line1.LineStop("xray", "XRay_10_CloseOutDoor");
MoveInfo.NextMoveStep(MoveStep.XRay_11_GetCoutResult);
MoveInfo.log($"关闭出口门,停止X光机内线体");
Line_In_Axis.SuddenStop();
CylinderMove(null, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.LOW);
MoveInfo.StopwatchLog(false, "到达阻挡");
}
else if (MoveInfo.IsTimeOut(10))
{
Msg.add(crc.GetString("wait_goto_xx", "等待料盘到达{0}",RobotManage.labelMachine.DeviceNameShow), MsgLevel.warning);
MoveInfo.log("等待料盘到达贴标线入口");
}
break;
case MoveStep.XRay_11_GetCoutResult:
if (GetResultTask == null || GetResultTask.IsCompleted)
{
RobotManage.labelMachine.preReelParam = MoveInfo.ReelParam;
MoveInfo.NextMoveStep(MoveStep.XRay_End);
MoveInfo.log($"获得点料结果 QTY:{MoveInfo.ReelParam.QTY}");
MoveInfo.StopwatchLog(false, "获得点料结果");
}
else if (MoveInfo.IsTimeOut(30)) {
MoveInfo.NextMoveStep(MoveStep.XRay_End);
MoveInfo.log("获取点料结果超时");
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "获取点料结果超时";
MoveInfo.ReelParam.logresult();
RobotManage.labelMachine.preReelParam = MoveInfo.ReelParam;
}
break;
case MoveStep.XRay_End:
MoveInfo.log($"送出到贴标机构");
MoveInfo.StopwatchLog();
MoveInfo.EndMove();
break;
}
}
public string xrayImagePath;
[HandleProcessCorruptedStateExceptions]
public bool GrabImage()
{
Bitmap bmp = null;
try
{
int xplate_getimage_retry_times = ConfigHelper.Config.Get("xplate_getimage_retry_times",5);
int xplate_open_retry_times = ConfigHelper.Config.Get("xplate_open_retry_times", 3);
for (int ii = 1; ii <= xplate_getimage_retry_times; ii++) {
bool rtn = RobotManage.xrayImage.GetImage(1);
if (!rtn)
{
if (ii == xplate_getimage_retry_times)
return false;
for (int jj = 1; jj <= xplate_open_retry_times; jj++)
{
bool closeR = RobotManage.xrayImage.Close();
if (!closeR)
MoveInfo.log($"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)
{
MoveInfo.log($"xray plate open failed ii={ii}, times={jj}");
if (jj == xplate_open_retry_times)
return false;
continue;
}
else
break;
}
Thread.Sleep(1000 * ii+(ii-1)*2000);
}
else
break;
}
MoveInfo.log("get image from plate scusses");
//RobotManage.xrayImage.WindowWidth = 30000;
//RobotManage.xrayImage.WindowLevel = 15000;
bmp = RobotManage.xrayImage.Get48bImage();
Directory.CreateDirectory(xraydir);
var n = DateTime.Now;
string backDir = Path.Combine(xraydir, "back", n.Year.ToString() + "-" + n.Month.ToString(), n.Day.ToString(), n.Hour.ToString());
Directory.CreateDirectory(backDir);
xrayImagePath = Path.Combine(backDir, MoveInfo.ReelParam.GetImgName());
bmp.Save(xrayImagePath, System.Drawing.Imaging.ImageFormat.Png);
// File.Copy(xrayImagePath, backDir);
MoveInfo.log($"save xray pic success. current file:{xrayImagePath}");
return true;
}
catch (Exception ex)
{
MoveInfo.log(ex.ToString());
return false;
}
finally
{
if (bmp != null)
bmp.Dispose();
bmp = null;
//StepImage?.Invoke(bmp);
}
}
[HandleProcessCorruptedStateExceptions]
public void GetCountResult()
{
//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 = MoveInfo.ReelParam.PN.Split('-');
var type = Pn_Algo_Match.MatchPN(pps[0],out _,out double? finetuning);
MoveInfo.log($"匹配到算法.{pps[0]}={type}, finetuning={finetuning}");
if (finetuning != null)
{
XrayImage.setFineTuning = finetuning.Value;
}
else
{
XrayImage.setFineTuning = ConfigHelper.Config.Get("setFineTuningDefault", 0.7);
}
if (type.StartsWith("IP_Template_PARTS"))
{
if (!File.Exists(type.Substring(17 + 1)))
{
MoveInfo.log($"模版文件丢失.{type.Substring(17 + 1)}");
type = "auto";
}
}
Bitmap dst=null;
if (type == "auto")
{
result = XrayImage.GetLocalCount(xrayImagePath, ShrinkOffset, out countStr, out dst);
MoveInfo.log("GetCountResult " + type + " 调用 GetLocalCount 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + string.Join(",",countStr) + "】");
}
else if (type.StartsWith("IP_Template_PARTS"))
{
string template = "";
if (type.Length > 18)
{
template = type.Substring(17 + 1);
}
result = XrayImage.GetLocalCountTemplate(xrayImagePath, ShrinkOffset, template, out countStr, out dst);
MoveInfo.log("GetCountResult " + template + " 调用 GetLocalCountTemplate 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + string.Join(",", countStr) + "】");
}
else
{
result = XrayImage.GetLocalCountIrregular(xrayImagePath, ShrinkOffset, type.ToString(), out countStr, out dst);
MoveInfo.log("GetCountResult " + type + " 调用 GetLocalCountIrregular 【" + xrayImagePath + "】，返回【" + result + "】，结果【" + string.Join(",", countStr) + "】");
}
if (dst != null)
{
dst.Save("ResOut\\" + Path.GetFileNameWithoutExtension(xrayImagePath) + "-Mark.png");
dst.Dispose();
}
if (result != 0)
{
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "点料失败";
MoveInfo.ReelParam.logresult();
return;
}
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)
{
MoveInfo.ReelParam.QTY = count;
string resfilename = Path.GetFileNameWithoutExtension(xrayImagePath) + "-Mark.png";
string root = Path.Combine(Application.StartupPath, "ResOut");
var n = DateTime.Now;
string destdir = Path.Combine(root, 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);
if (!RobotManage.offlinemode)
{
var cl = ServerConn.inputCounterDataByXRayMachine(MoveInfo.ReelParam.WareCode, count);
if (cl == null)
{
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "点料数量上传失败";
MoveInfo.ReelParam.logresult();
}
}
}
else {
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "点料结果为0";
MoveInfo.ReelParam.logresult();
}
}
catch (Exception ex)
{
MoveInfo.log("GetCountResult 出错： " + ex.ToString());
}
}
}
}