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+using Cognex.VisionPro;
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+using Cognex.VisionPro.ToolBlock;
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+using MaterialDesignThemes.Wpf;
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+using Prism.Commands;
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+using Prism.Events;
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+using Prism.Ioc;
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+using Prism.Mvvm;
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+using Prism.Regions;
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+using Prism.Services.Dialogs;
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+using System;
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+using System.Collections.Generic;
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+using System.Data;
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+using System.Linq;
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+using System.Threading;
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+using System.Threading.Tasks;
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+using Team.FFFeederService;
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+using Team.FFFeederService.Interfaces;
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+using TeamAAS_VP.Core;
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+using TeamAAS_VP.Data;
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+using TeamAAS_VP.Enums;
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+using TeamAAS_VP.Events;
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+using TeamAAS_VP.Interfaces;
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+using TeamAAS_VP.Models;
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+using TeamAAS_VP.Models.Calibration;
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+using TeamAAS_VP.Resources.Languages;
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+using TeamAAS_VP.Services;
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+using TeamAAS_VP.Views.Setting;
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+
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+namespace TeamAAS_VP.ViewModels.Product
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+{
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+ public class VisionStaticAccuracyAnalyzerViewModel : BindableBase, IDialogAware
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+ {
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+ IRegionManager _regionManager;
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+ IEventAggregator _eventAggregator;
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+ IContainerProvider _container;
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+ IDialogService _dialogService;
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+ IFeederService _feederService;
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+ IRobotService _robotService;
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+ ICameraService _cameraService;
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+ ISystemDatabaseService _systemDatabaseService;
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+
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+ //测试过程中控制取消的CTS
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+ CancellationTokenSource _cts;
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+
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+ #region 属性
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+
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+ private ICogImage _Image;
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+
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+ public ICogImage Image
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+ {
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+ get { return _Image; }
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+ set { SetProperty(ref _Image, value); }
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+ }
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+
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+ private Cognex.VisionPro.CogGraphicCollection _Graphic;
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+
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+ public Cognex.VisionPro.CogGraphicCollection Graphic
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+ {
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+ get { return _Graphic; }
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+ set { SetProperty(ref _Graphic, value); }
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+ }
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+
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+ private ProcedureModel _SelectProcedure;
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+
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+ /// <summary>
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+ /// 选中的流程
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+ /// </summary>
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+ public ProcedureModel SelectProcedure
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+ {
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+ get { return _SelectProcedure; }
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+ set
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+ {
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+ SetProperty(ref _SelectProcedure, value);
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+ }
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+ }
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+
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+ private ICamera _Camera;
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+
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+ public ICamera Camera
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+ {
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+ get { return _Camera; }
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+ set { SetProperty(ref _Camera, value); }
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+ }
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+
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+ private string _Message = "等待开始...";
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+ public string Message
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+ {
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+ get { return _Message; }
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+ set { SetProperty(ref _Message, value); }
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+ }
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+
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+ private bool _IsRunning;
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+
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+ public bool IsRunning
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+ {
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+ get { return _IsRunning; }
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+ set { SetProperty(ref _IsRunning, value); }
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+ }
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+
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+ private CogToolBlock _VisionTool;
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+ public CogToolBlock VisionTool
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+ {
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+ get { return _VisionTool; }
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+ set { SetProperty(ref _VisionTool, value); }
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+ }
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+
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+ private int _RepeatCount = 10;
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+ /// <summary>
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+ /// 重复次数
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+ /// </summary>
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+ public int RepeatCount
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+ {
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+ get { return _RepeatCount; }
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+ set { SetProperty(ref _RepeatCount, value); }
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+ }
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+
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+ private int _CurrentProgress;
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+ /// <summary>
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+ /// 当前进度
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+ /// </summary>
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+ public int CurrentProgress
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+ {
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+ get { return _CurrentProgress; }
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+ set { SetProperty(ref _CurrentProgress, value); }
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+ }
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+
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+ private int _SuccessCount;
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+ /// <summary>
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+ /// 成功次数
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+ /// </summary>
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+ public int SuccessCount
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+ {
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+ get { return _SuccessCount; }
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+ set { SetProperty(ref _SuccessCount, value); }
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+ }
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+
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+ private int _FailCount;
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+ /// <summary>
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+ /// 失败次数
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+ /// </summary>
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+ public int FailCount
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+ {
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+ get { return _FailCount; }
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+ set { SetProperty(ref _FailCount, value); }
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+ }
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+
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+ private double _SuccessRate;
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+ /// <summary>
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+ /// 成功率
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+ /// </summary>
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+ public double SuccessRate
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+ {
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+ get { return _SuccessRate; }
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+ set { SetProperty(ref _SuccessRate, value); }
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+ }
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+
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+ //测试结果列表DataTable
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+ private DataTable _TestResult;
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+ public DataTable TestResult
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+ {
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+ get { return _TestResult; }
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+ set { SetProperty(ref _TestResult, value); }
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+ }
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+
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+ private SnackbarMessageQueue _MessageQueue;
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+ public SnackbarMessageQueue MessageQueue
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+ {
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+ get { return _MessageQueue; }
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+ set { SetProperty(ref _MessageQueue, value); }
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+ }
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+ #endregion
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+
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+ #region 命令
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+ private DelegateCommand _ConfirmCommand;
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+ public DelegateCommand ConfirmCommand =>
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+ _ConfirmCommand ?? (_ConfirmCommand = new DelegateCommand(ExecuteConfirmCommand).ObservesCanExecute(() => IsRunning));
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+
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+ private DelegateCommand _CancelCommand;
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+ public DelegateCommand CancelCommand =>
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+ _CancelCommand ?? (_CancelCommand = new DelegateCommand(ExecuteCancelCommand).ObservesCanExecute(() => IsRunning));
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+
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+ private DelegateCommand _StartTestCommand;
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+ public DelegateCommand StartTestCommand =>
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+ _StartTestCommand ?? (_StartTestCommand = new DelegateCommand(ExecuteStartTestCommand, CanExecuteStartTestCommand).ObservesProperty(() => IsRunning));
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+
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+ private DelegateCommand _StopTestCommand;
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+ public DelegateCommand StopTestCommand =>
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+ _StopTestCommand ?? (_StopTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));
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+
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+ //暂停测试命令
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+ private DelegateCommand _PauseTestCommand;
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+ public DelegateCommand PauseTestCommand =>
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+ _PauseTestCommand ?? (_PauseTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));
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+
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+ private DelegateCommand _ExportCSVCommand;
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+ public DelegateCommand ExportCSVCommand =>
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+ _ExportCSVCommand ?? (_ExportCSVCommand = new DelegateCommand(ExecuteExportCSVCommand));
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+
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+ private DelegateCommand _ExportReportCommand;
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+ public DelegateCommand ExportReportCommand =>
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+ _ExportReportCommand ?? (_ExportReportCommand = new DelegateCommand(ExecuteExportReportCommand));
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+
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+ private DelegateCommand _ClearDataCommand;
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+ public DelegateCommand ClearDataCommand =>
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+ _ClearDataCommand ?? (_ClearDataCommand = new DelegateCommand(ExecuteClearDataCommand));
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+
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+
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+ #endregion
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+
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+ #region 事件
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+
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+ #endregion
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+
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+ public VisionStaticAccuracyAnalyzerViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
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+ IFeederService feederService, IRobotService robotService, ICameraService cameraService, ISystemDatabaseService systemDatabaseService)
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+ {
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+ _regionManager = regionManager;
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+ _eventAggregator = ea;
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+ _container = container;
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+ _dialogService = dialogService;
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+ _feederService = feederService;
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+ _robotService = robotService;
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+ _cameraService = cameraService;
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+ _systemDatabaseService = systemDatabaseService;
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+ MessageQueue= new SnackbarMessageQueue(TimeSpan.FromSeconds(1));
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+ }
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+
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+ #region 方法
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+ /// <summary>
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+ /// 确定
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+ /// </summary>
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+ void ExecuteConfirmCommand()
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+ {
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+
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+
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+ IDialogParameters parameters = new DialogParameters();
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+ //parameters.Add("Tool", Tool);
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+ //parameters.Add("RobotCameraRotationMatrix", RobotCameraRotationMatrix);
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+ //parameters.Add("Angle", Angle);
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+ RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
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+ }
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+
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+ /// <summary>
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+ /// 取消
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+ /// </summary>
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+ void ExecuteCancelCommand()
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+ {
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+ IDialogParameters parameters = new DialogParameters();
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+ //parameters.Add("Tool", Tool);
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+ RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
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+ }
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+
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+ /// <summary>
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+ /// 开始测试
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+ /// </summary>
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+ async void ExecuteStartTestCommand()
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+ {
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+ IsRunning = true;
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+ _cts = new CancellationTokenSource();
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+ CurrentProgress = 0;
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+ SuccessCount = 0;
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+ SuccessRate = 0;
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+ FailCount = 0;
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+ Message = "测试进行中...";
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+
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+ try
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+ {
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+ while (CurrentProgress < RepeatCount)
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+ {
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+ if (_cts.Token.IsCancellationRequested)
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+ {
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+ Message = "测试已取消！";
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+ break;
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+ }
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+ await Task.Delay(1000);
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+ CurrentProgress++;
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+ SuccessCount++;
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+ SuccessRate = (double)SuccessCount / CurrentProgress * 100;
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+ SendTaskMessage($"测试进行中... {CurrentProgress}/{RepeatCount}");
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+ }
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+ if (CurrentProgress >= RepeatCount)
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+ {
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+ Message = "测试完成！";
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+ }
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+ }
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+ catch (Exception ex)
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+ {
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+ LogHelper.WriteLogError("视觉静态重复测试时出错！", ex);
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+ }
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+ finally
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+ {
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+ IsRunning = false;
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+ }
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+ }
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+
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+ bool CanExecuteStartTestCommand()
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+ {
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+ return !IsRunning;
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+ }
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+
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+ /// <summary>
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+ /// 清除数据
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+ /// </summary>
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+ void ExecuteClearDataCommand()
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+ {
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+
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+ }
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+
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+ /// <summary>
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+ /// 导出测试报告
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+ /// </summary>
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+ void ExecuteExportReportCommand()
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+ {
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+
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+ }
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+
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+ /// <summary>
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+ /// 导出测试数据为CSV文件
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+ /// </summary>
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+ void ExecuteExportCSVCommand()
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+ {
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+
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+ }
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+
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+ /// <summary>
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+ /// 执行相机拍照并运行 ToolBlock,返回是否成功并通过 out 参数返回 Outputs、图像和图形集合。
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+ /// </summary>
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+ /// <param name="outputCollection"></param>
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+ /// <param name="outImage"></param>
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+ /// <param name="outGraphicCollection"></param>
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+ /// <returns></returns>
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+ public bool ExecutePhotoEx(out CogToolBlockTerminalCollection outputCollection, out ICogImage outImage, out CogGraphicCollection outGraphicCollection)
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+ {
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+ outImage = null;
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+ outGraphicCollection = null;
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+ try
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+ {
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+ // 1. 采集图像
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+ bool succed = Camera.SetExposureTime(SelectProcedure.ExposureTime);
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+ if (!succed)
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+ {
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+ SendTaskMessage(Lang.相机曝光设置失败);
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+ }
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+ succed = Camera.SetGain(SelectProcedure.Gain);
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+ if (!succed)
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+ {
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+ SendTaskMessage(Lang.相机增益设置失败);
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+ }
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+ DateTime nowtime = DateTime.Now;
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+ LogHelper.WriteLogInfo(Lang.开始采集图像);
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+ var image = Camera.Grab();
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+ if (image == null)
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+ {
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+
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+ SendTaskMessage(Lang.图像采集失败);
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+ outputCollection = null;
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+ return false;
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+ }
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+ outImage = image;
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+ VisionTool.Inputs["InputImage"].Value = image;
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+ LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));
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+
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+ // 2. 为ToolBlock传入其他输入终端
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+ //if (InputTerminal != null)
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+ //{
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+ // LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
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+ // foreach (var item in InputTerminal)
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+ // {
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+ // if (VisionTool.Inputs.Contains(item.Key))
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+ // {
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+ // LogHelper.WriteLogInfo($"传入[{item.Key}]={item.Value}");
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+ // VisionTool.Inputs[item.Key].Value = item.Value;
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+ // }
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+ // else
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+ // {
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+ // LogHelper.WriteLogInfo($"创建并传入[{item.Key}]={item.Value}");
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+ // VisionTool.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
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+ // }
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+ // }
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+ //}
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+
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+ // 3. 运行视觉工具
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+ LogHelper.WriteLogInfo(Lang.开始运行视觉工具);
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+ VisionTool.Run(); //运行ToolBlock
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+
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+ if (VisionTool.RunStatus.Result == CogToolResultConstants.Accept)
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+ {
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+ SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
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+ outputCollection = VisionTool.Outputs; //获取输出终端集合
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+ ICogRecord record = null;
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+ foreach (CogToolBlockTerminal item in outputCollection)
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+ {
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+ if (item.Value is ICogRecord)
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+ record = item.Value as ICogRecord;
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+ }
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+ outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
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+ return true;
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+ }
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+ else
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+ {
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+ SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
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+ SendTaskMessage(VisionTool.RunStatus.Message);
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+ outputCollection = null;
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+ outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
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+ return false;
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+ }
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+ }
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+ catch (Exception ex)
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+ {
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+ SendTaskMessage(ex.Message);
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+ LogHelper.WriteLogError(Lang.执行相机取图并执行视觉工具组时出错, ex);
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+ outputCollection = null;
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+ return false;
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+ }
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+ }
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+
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+ public void SendTaskMessage(string msg)
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+ {
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+ App.Current.Dispatcher.Invoke(() =>
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+ {
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+ MessageQueue.Clear();
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+ MessageQueue.Enqueue(msg);
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+ });
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+ }
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+
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+ /// <summary>
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+ /// 相机拍照
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+ /// </summary>
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+ /// <returns></returns>
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+ //private async Task<(bool IsSuccess, double X, double Y, double U, int ImageWidth, int ImageHeight)> CaptureAndProcess()
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+ //{
|
|
|
+ // if (Feeder != null)
|
|
|
+ // {
|
|
|
+ // Feeder.OpenLight();
|
|
|
+ // Feeder.SetLightTimeOut((ushort)SelectCalibration.Brightness);
|
|
|
+ // }
|
|
|
+ // await Task.Delay(200);
|
|
|
+ // //采集图像
|
|
|
+ // if (Camera != null)
|
|
|
+ // {
|
|
|
+ // SelectCalibration.ToolBlock.Inputs["InputImage"].Value = Camera.Grab();
|
|
|
+
|
|
|
+ // }
|
|
|
+ // App.Current.Dispatcher.Invoke(() =>
|
|
|
+ // {
|
|
|
+ // Graphic = null;
|
|
|
+ // Image = (ICogImage)SelectCalibration.ToolBlock.Inputs["InputImage"].Value;
|
|
|
+ // });
|
|
|
+
|
|
|
+ // SelectCalibration.ToolBlock.Run();
|
|
|
+ // CogToolBlockTerminalCollection outputCollection = SelectCalibration.ToolBlock.Outputs;
|
|
|
+ // App.Current.Dispatcher.Invoke(() =>
|
|
|
+ // {
|
|
|
+ // Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
|
|
|
+ // });
|
|
|
+
|
|
|
+ // bool Found = (bool)(outputCollection["Found"].Value);
|
|
|
+ // if (Found)
|
|
|
+ // {
|
|
|
+ // var strpoints = outputCollection["Point"].Value.ToString();
|
|
|
+ // string[] items = strpoints.Split(',');
|
|
|
+ // double x = double.Parse(items[0]);
|
|
|
+ // double y = double.Parse(items[1]);
|
|
|
+ // return (true, x, y, 0, Image.Width, Image.Height);
|
|
|
+ // }
|
|
|
+ // else
|
|
|
+ // {
|
|
|
+ // return (false, 0, 0, 0, Image.Width, Image.Height);
|
|
|
+ // }
|
|
|
+ //}
|
|
|
+ #endregion
|
|
|
+
|
|
|
+ #region 继承
|
|
|
+ public string Title { get; set; } = "视觉静态精度分析仪";
|
|
|
+
|
|
|
+ public event Action<IDialogResult> RequestClose;
|
|
|
+
|
|
|
+ public bool CanCloseDialog()
|
|
|
+ {
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+
|
|
|
+ public void OnDialogClosed()
|
|
|
+ {
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ public void OnDialogOpened(IDialogParameters parameters)
|
|
|
+ {
|
|
|
+ SelectProcedure = parameters.GetValue<ProcedureModel>("SelectedProcedure");
|
|
|
+ Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
|
|
|
+ VisionTool = parameters.GetValue<CogToolBlock>("ToolBlock");
|
|
|
+ }
|
|
|
+ #endregion
|
|
|
+ }
|
|
|
+}
|
