视觉检测料盘、最后一盘自增可配置

source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs

 using CodeLibrary;
+using log4net.Util;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
@@ -268,6 +269,84 @@ namespace OnlineStore.DeviceLibrary
             }
             return codeList;
         }
+
+        [HandleProcessCorruptedStateExceptions]
+        public static bool CameraCheckHeight(List<string> cameraList, string deviceName, bool findRightCodeBreak = false, int timeOut = 1500)
+        {
+            bool isPreScan = deviceName.EndsWith("预扫码");
+            isPreScan = false;
+            List<string> codeList = new List<string>();
+            if (cameraList == null || cameraList.Count <= 0)
+            {
+                return false;
+            }
+            try
+            {
+                foreach (string cameraName in cameraList)
+                {
+                    if (cameraName.Trim().Equals(""))
+                    {
+                        continue;
+                    }
+                    ScanCount++;
+                    DateTime startTime = DateTime.Now;
+                    if (deviceName != "")
+                    {
+                        LogUtil.info(deviceName + " 【" + cameraName + "】开始取图片");
+                    }
+                    Bitmap bmp = null;
+                    HalconDotNet.HObject ho_Image = null;
+                    try
+                    {
+                        ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp);
+                        if (ho_Image == null)
+                        {
+                            LogUtil.error(deviceName + "  【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
+                            CloseCamera(cameraName);
+                            continue;
+                        }
+                        else
+                        {
+                            LogUtil.info(deviceName + "  【" + cameraName + "】取图片完成");
+                            return true;
+                        }
+
+                    }
+                    catch (AccessViolationException e)
+                    {
+                        LogUtil.error(deviceName + " 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
+                        Camera._cam.Close(cameraName);
+                        //  GC.Collect();
+                    }
+                    catch (Exception ex)
+                    {
+                        LogUtil.error(deviceName + " 扫码出错：" + ex.ToString());
+                    }
+                    finally
+                    {
+                        if (ho_Image != null)
+                        {
+                            ho_Image.Dispose();
+                            ho_Image = null;
+                        }
+                        // GC.Collect();
+                        Task.Delay(10);
+                    }
+                }
+
+            }
+            catch (AccessViolationException e)
+            {
+                LogUtil.error(deviceName + " 扫码出现AccessViolationException异常，关闭所有相机：" + e.ToString());
+                Camera._cam.CloseAll();
+                //GC.Collect();
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " 扫码出错：" + ex.ToString());
+            }
+            return false;
+        }
         private static int SaveErrorImageToFile = ConfigAppSettings.GetIntValue(Setting_Init.SaveErrorImageToFile);
 
         //private static void SaveImageToFile(string deviceName, string cameraName, HalconDotNet.HObject bitmap)

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -61,7 +61,7 @@ namespace OnlineStore.DeviceLibrary
 
             Config.LoadIO(ioAdd);
             MoveInfo = new DeviceMoveInfo(Name);
-
+            cames = ConfigHelper.Config.Get<string[]>($"{Name}_HeightCams");
         }
         public void TimerProcess()
         { 

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -400,7 +400,8 @@ namespace OnlineStore.DeviceLibrary
             //else 
             if (isScan)
             {
-                WorkLog("料盘移栽 ：开始扫码");
+                WorkLog("料盘移栽 ：开始扫码，并采集抓取前测高图片");
+                CodeManager.CameraCheckHeight(cames?.ToList(), Name);
                 MoveInfo.OneWaitCanEndStep = true;
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
@@ -556,8 +557,12 @@ namespace OnlineStore.DeviceLibrary
         public int StartMovePosition = 0;
         public int EndMovePosition = 0;
         internal int LastHeight = 0;
+        string[] cames;
         public int GetHeight()
         {
+            CodeManager.CameraCheckHeight(cames?.ToList(), Name);
+            LogUtil.info($"{Name} 采集料盘抓走后的图片，开始计算高度");
+            int lastReelAddVal = ConfigHelper.Config.Get($"{Name}_lastReelSelfAddVal", 4);
             LastHeight = 0;
             int AxisChangeValue = Robot.Config.Height_ChangeValue;
             //计算高度
@@ -572,8 +577,8 @@ namespace OnlineStore.DeviceLibrary
             string buchongStr = "";
             if (isLast)
             {
-                buchongStr = "(最后一盘料)加4";
-                height += 4;
+                buchongStr = $"(最后一盘料)加{lastReelAddVal}";
+                height += lastReelAddVal;
             }
 
             //如果检测出<=15,都按照8计算
@@ -608,8 +613,11 @@ namespace OnlineStore.DeviceLibrary
             }
             if (LastHeight <= 8) { LastHeight = 8; }
             string code = CodeManager.ProcessCode(LastCodeList);
-            string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + code + "】";
+            Thread.Sleep(500);
+            string msg = $"{Name} 上升前 [{StartMovePosition}]实时[{ EndMovePosition}]差值[{(EndMovePosition - StartMovePosition)}]" +
+                        $"系数[{AxisChangeValue}] 计算后{buchongStr}[{height}]条码【{code}】";
             LogUtil.info(msg);
+            LogUtil.info($"{Name} 视觉计算的盘高结果：{height}mm,归类为{LastHeight}mm");
             return LastHeight;
         }
         #endregion