using HalconDotNet;
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using LB_SmartVision.Forms.Pages.SettingPage;
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using LB_SmartVision.Tool;
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using LB_VisionFlowNode;
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using LB_VisionProcesses;
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using LB_VisionProcesses.Alogrithms;
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using LB_VisionProcesses.Cameras;
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using LB_VisionProcesses.Communicators;
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using LB_VisionProcesses.Processes;
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using LB_VisionProcesses.Processes.ScriptTool;
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using OpenCvSharp;
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using System.Collections.Concurrent;
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using System.Windows.Media.Media3D;
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namespace LB_SmartVision.ProcessRun
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{
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public class ProcessContext : IFlowContext
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{
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/// <summary>
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/// 通讯集合(Key:通讯名，Value:通讯句柄)
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/// </summary>
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public ObservableConcurrentDictionary<string, BaseCommunicator> dicCommunicators { get; set; }
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/// <summary>
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/// 相机集合(Key:相机SN，Value:相机句柄)
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/// </summary>
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public ObservableConcurrentDictionary<string, BaseCamera> dicCameras { get; set; }
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public ConcurrentDictionary<string, List<Tuple<string, string>>> dicInputsMapping { get; set; }
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public ConcurrentDictionary<string, List<string>> dicOutputsMapping { get; set; }
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/// <summary>
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/// 运行流程
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/// </summary>
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public ConcurrentDictionary<string, IProcess> dicContext = new ConcurrentDictionary<string, IProcess>();
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/// <summary>
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/// 运行标记
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/// </summary>
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public bool bRuning = false;
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/// <summary>
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/// 运行完成
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/// </summary>
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public bool bCompleted = true;
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/// <summary>
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/// 运行结果
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/// </summary>
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public bool Result = false;
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/// <summary>
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/// 运行消息
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/// </summary>
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public string Msg = string.Empty;
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/// <summary>
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/// 运行时间
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/// </summary>
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public double RunTime = 0;
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/// <summary>
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/// 开始时间
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/// </summary>
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public DateTime StartTime = DateTime.Now;
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private HTuple ho_ImageWidth = new HTuple();
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private HTuple ho_ImageHeight = new HTuple();
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/// <summary>
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/// 用于绘制结果图的窗口控件
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/// </summary>
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private HWindowControl hWindowControl = new HWindowControl();
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public ProcessContext(ObservableConcurrentDictionary<string, BaseCamera> dicCameras, ObservableConcurrentDictionary<string, BaseCommunicator> dicCommunicators
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, ConcurrentDictionary<string, List<Tuple<string, string>>> dicInputsMapping, ConcurrentDictionary<string, List<string>> dicOutputsMapping)
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{
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this.dicCameras = dicCameras;
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this.dicCommunicators = dicCommunicators;
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this.dicInputsMapping = dicInputsMapping;
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this.dicOutputsMapping = dicOutputsMapping;
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hWindowControl.Size = new System.Drawing.Size(1920, 1080);
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TAlgorithm.set_display_font(hWindowControl.HalconWindow, 1080 / 20, "mono", "true", "false");
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HOperatorSet.SetLineWidth(hWindowControl.HalconWindow, 5);
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InitializeMethods();
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InitializeDelegates();
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mappingEngine = new ExpressionTreeMappingEngine(dicContext);
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}
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// 初始化
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ExpressionTreeMappingEngine mappingEngine = null;
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/// <summary>
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/// 编译映射
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/// </summary>
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public void CompileMappings()
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{
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mappingEngine = new ExpressionTreeMappingEngine(dicContext);
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mappingEngine.CompileMappings(dicInputsMapping);
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}
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/// <summary>
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/// 更新输入（高性能执行）
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/// </summary>
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/// <param name="process"></param>
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public void UpdateInputs(IProcess process)
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{
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mappingEngine.UpdateInputs(process);
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}
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//void UpdateInputs(IProcess process)
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//{
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// string ProcessName = process.strProcessName;
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// List<Tuple<string, string>> listTuples = dicInputsMapping[ProcessName];
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// foreach (var tuple in listTuples)
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// {
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// if (string.IsNullOrEmpty(tuple.Item2) || tuple.Item2.Trim() == "")
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// continue;
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// string[] arrInputs = tuple.Item1.Split(".");
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// if (arrInputs.Length < 3)
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// continue;
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// string InputProcessName = arrInputs[0];
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// string strInput = arrInputs[1];
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// string InputValueName = arrInputs[2];
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// string[] arrOutputs = tuple.Item2.Split(".");
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// if (arrOutputs.Length < 2)
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// continue;
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// string IndexProcessName = arrOutputs[0];
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// string IndexIsInputOrOutput = arrOutputs[1];
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// string IndexValueName = arrOutputs.Length == 3 ? arrOutputs[2] : "";
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// //这里的o是你所指向的输出流程
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// object o = dicContext[IndexProcessName];
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// if (o == null)
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// continue;
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// else if (o is IProcess)
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// {
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// IProcess i = (IProcess)o;
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// if (i.strProcessName != IndexProcessName)
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// continue;
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// if (InputValueName == "Image")
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// {
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// switch (IndexIsInputOrOutput)
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// {
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// case "Inputs":
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// //实际上不允许索引的值是输入
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// if (IndexValueName == "Image")
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// process.InputImage = i.InputImage;
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// else
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// process.InputImage = i.Params.Inputs[IndexValueName];
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// break;
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// case "Outputs":
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// if (IndexValueName == "Image")
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// process.InputImage = i.OutputImage;
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// else
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// process.InputImage = i.Params.Outputs[IndexValueName];
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// break;
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// default:
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// process.InputImage = null;
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// break;
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// }
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// if (IndexValueName == "")
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// process.InputImage = null;
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// }
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// else if (InputValueName == "Fixture")
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// {
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// //赋值参数
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// switch (IndexIsInputOrOutput)
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// {
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// case "Inputs":
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// //实际上不允许索引的值是输入
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// process.Params.Fixture = i.Params.Fixture;
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// break;
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// case "Outputs":
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// process.Params.Fixture = i.Params.Fixture;
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// break;
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// default:
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// //process.Params.Fixture = new Fixture();
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// break;
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// }
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// if (IndexValueName == "")
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// process.Params.Fixture = new Fixture();
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// }
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// else if (IndexValueName == "Result")
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// {
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// //赋值参数
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// switch (IndexIsInputOrOutput)
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// {
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// case "Inputs":
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// //实际上不允许索引的值是输入
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// process.Params.Inputs[InputValueName] = i.Result;
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// break;
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// case "Outputs":
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// process.Params.Inputs[InputValueName] = i.Result;
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// break;
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// default:
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// process.Params.Inputs[InputValueName] = null;
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// break;
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// }
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// }
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// else if (process.Params.Inputs.Contains(InputValueName))
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// {
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// //赋值参数
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// switch (IndexIsInputOrOutput)
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// {
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// case "Inputs":
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// //实际上不允许索引的值是输入
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// process.Params.Inputs[InputValueName] = i.Params.Inputs[IndexValueName];
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// break;
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// case "Outputs":
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// process.Params.Inputs[InputValueName] = i.Params.Outputs[IndexValueName];
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// break;
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// default:
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// process.Params.Inputs[InputValueName] = null;
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// break;
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// }
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// }
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// }
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// }
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//}
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public bool GetValue(string map, out object obj)
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{
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obj = null;
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if (string.IsNullOrEmpty(map))
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return false;
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try
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{
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string[] arrMap = map.Split(".");
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if (arrMap.Length <= 1)
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return false;
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string IndexProcessName = arrMap[0];
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string IndexIsInputOrOutput = arrMap[1];
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string IndexValueName = arrMap.Length == 3 ? arrMap[2] : "";
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//这里的o是你所指向的输出流程
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object o = dicContext[IndexProcessName];
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if (o != null && o is IProcess i)
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{
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if (i.strProcessName != IndexProcessName)
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return false;
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if (IndexValueName == "Result")
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{
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switch (IndexIsInputOrOutput)
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{
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case "Inputs":
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//实际上不允许索引的值是输入
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obj = i.Result;
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break;
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case "Outputs":
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obj = i.Result;
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break;
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default:
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return false;
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}
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}
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else
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{
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//赋值参数
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switch (IndexIsInputOrOutput)
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{
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case "Inputs":
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obj = i.Params.Inputs[IndexValueName];
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break;
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case "Outputs":
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obj = i.Params.Outputs[IndexValueName];
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break;
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default:
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return false;
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}
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}
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return true;
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}
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else
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return false;
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}
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catch { obj = null; return false; }
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}
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public bool GetStringOutput(string map, out string str)
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{
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bool res = GetValue(map, out object obj);
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str = ProcessParams.ConvertToString(obj);
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return res;
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}
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public bool GetImage(Layout layout, out HObject InputImage, out HObject RecordImage)
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{
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InputImage = null; RecordImage = null;
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try
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{
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if (layout == null)
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return false;
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string ProcessName = layout.ProcessName;
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string InputImageMap = layout.InputImage;
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string RecordImageMap1 = layout.RecordImage1;
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string RecordImageMap2 = layout.RecordImage2;
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string RecordImageMap3 = layout.RecordImage3;
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string[] arrOutputs = new string[] { };
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string IndexProcessName = string.Empty;
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string IndexIsInputOrOutput = string.Empty;
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string IndexValueName = string.Empty;
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#region 获取输入图片
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arrOutputs = InputImageMap.Split(".");
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if (arrOutputs.Length > 2)
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{
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IndexProcessName = arrOutputs[0];
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IndexIsInputOrOutput = arrOutputs[1];
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IndexValueName = arrOutputs[2];
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object o_InputImage = ((IProcess)dicContext[IndexProcessName]).OutputImage;
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if (o_InputImage is HObject ho_image && ho_image.IsInitialized())
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InputImage = ho_image;
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else if (o_InputImage is Bitmap)
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{
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//将Mat转换为HObject
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TAlgorithm.Bitmap2HObject((Bitmap)o_InputImage, out HObject ho_RecordImage);
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InputImage = ho_RecordImage;
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}
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else if (o_InputImage is Mat)
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{
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//将Mat转换为HObject
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TAlgorithm.Mat2HObject((Mat)o_InputImage, out HObject ho_RecordImage);
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InputImage = ho_RecordImage;
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}
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if (InputImage != null && InputImage.IsInitialized())
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{
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HOperatorSet.GetImageSize(InputImage, out ho_ImageWidth, out ho_ImageHeight);
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//图片尺寸变化才更新窗口尺寸[提高速度]
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if ((ho_ImageWidth.Length > 0 && ho_ImageWidth.TupleInt() != hWindowControl.Size.Width)
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|| (ho_ImageHeight.Length > 0 && ho_ImageHeight.TupleInt() != hWindowControl.Size.Height))
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{
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hWindowControl.Invoke(new Action(() =>
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{
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hWindowControl.Size = new System.Drawing.Size(ho_ImageWidth, ho_ImageHeight);
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TAlgorithm.set_display_font(hWindowControl.HalconWindow, ho_ImageWidth.I / 20, "mono", "true", "false");
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}));
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}
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}
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TAlgorithm.DispImage(InputImage, hWindowControl.HalconWindow);
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}
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#endregion
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#region 绘制结果图
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arrOutputs = RecordImageMap1.Split(".");
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if (arrOutputs.Length > 2)
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{
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IndexProcessName = arrOutputs[0];
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IndexIsInputOrOutput = arrOutputs[1];
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IndexValueName = arrOutputs[2];
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if (dicContext.ContainsKey(IndexProcessName))
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{
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ObjectRecord objectRecord1 = ((IProcess)dicContext[IndexProcessName]).Record;
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if (objectRecord1 != null)
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{
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objectRecord1.Display(hWindowControl.HalconWindow);
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objectRecord1.Dispose();
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}
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}
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}
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arrOutputs = RecordImageMap2.Split(".");
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if (arrOutputs.Length > 2)
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{
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IndexProcessName = arrOutputs[0];
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IndexIsInputOrOutput = arrOutputs[1];
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IndexValueName = arrOutputs[2];
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if (dicContext.ContainsKey(IndexProcessName))
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{
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ObjectRecord objectRecord2 = ((IProcess)dicContext[IndexProcessName]).Record;
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if (objectRecord2 != null)
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{
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objectRecord2.Display(hWindowControl.HalconWindow);
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objectRecord2.Dispose();
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}
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}
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}
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arrOutputs = RecordImageMap3.Split(".");
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if (arrOutputs.Length > 2)
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{
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IndexProcessName = arrOutputs[0];
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IndexIsInputOrOutput = arrOutputs[1];
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IndexValueName = arrOutputs[2];
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if (dicContext.ContainsKey(IndexProcessName))
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{
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ObjectRecord objectRecord3 = ((IProcess)dicContext[IndexProcessName]).Record;
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if (objectRecord3 != null)
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{
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objectRecord3.Display(hWindowControl.HalconWindow);
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objectRecord3.Dispose();
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}
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}
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}
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if (Result)
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{
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Msg = "运行成功";
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HOperatorSet.SetColor(hWindowControl.HalconWindow, "green");
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}
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else
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HOperatorSet.SetColor(hWindowControl.HalconWindow, "red");
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TAlgorithm.DispMsg(Msg, hWindowControl.HalconWindow, Result ? "green" : "red", 0, 0);
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HOperatorSet.DumpWindowImage(out RecordImage, hWindowControl.HalconWindow);
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#endregion
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return true;
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}
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catch { return false; }
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}
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public bool GetCsv(CsvSetting csv, out List<string> DataTitle, out Dictionary<string, object> ResultData)
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{
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// 数据标题
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DataTitle = (new string[] { "名称", "时间", "耗时", "结果", "原因" }).ToList();
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ResultData = new Dictionary<string, object>();
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try
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{
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ResultData.Add("名称", csv.ProcessName);
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ResultData.Add("时间", DateTime.Now.ToString("HH:mm:ss.ff"));
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ResultData.Add("耗时", $"{RunTime.ToString("F2")}");
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ResultData.Add("结果", Result);
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ResultData.Add("原因", Msg);
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for (int i = 0; i < csv.Others.Count; i++)
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{
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string title = $"数据{i}";
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string map = csv.Others[i];
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GetValue(map, out object obj);
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if (obj == null)
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continue;
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Type type = obj.GetType();
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switch (type)
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{
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case Type t when t == typeof(double):
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ResultData.Add(title, ((double)obj).ToString("F4"));
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DataTitle.Add(title);
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break;
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default:
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ResultData.Add(title, ProcessParams.ConvertToString(obj));
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DataTitle.Add(title);
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break;
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}
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}
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return true;
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}
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catch { return false; }
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}
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/// <summary>
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/// 非分支节点的统一调用方式
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/// </summary>
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private void RunNodeAsync(FlowNode node)
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{
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// 走默认分支
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node.BranchIndex = "0";
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string ProcessName = node.Text;
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try
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{
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if (dicContext.TryGetValue(ProcessName, out IProcess obj)
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&& obj is IProcess process)
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{
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//process.InputImage = null;
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if (process.InputImage != null)
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{
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if (process.InputImage is HObject)
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((HObject)process.InputImage).Dispose();
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else if (process.InputImage is Mat)
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((Mat)process.InputImage).Dispose();
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else if (process.InputImage is Bitmap)
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((Bitmap)process.InputImage).Dispose();
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process.InputImage = null;
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}
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if (process.OutputImage != null)
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{
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if (process.OutputImage is HObject)
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((HObject)process.OutputImage).Dispose();
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else if (process.OutputImage is Mat)
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((Mat)process.OutputImage).Dispose();
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else if (process.OutputImage is Bitmap)
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((Bitmap)process.OutputImage).Dispose();
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process.OutputImage = null;
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}
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if (process.Record != null)
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{
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process.Record.Dispose();
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process.Record = null;
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}
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UpdateInputs(process);
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// 不同节点跳过的方式不同
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if (node.Break)
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{
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switch (node.Description)
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{
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case "T306通讯":
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node.BranchIndex = "0";
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node.Result = true;
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process.Result = false;
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process.Msg = "T306通讯未启用";
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return;
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default:
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node.BranchIndex = "0";
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node.Result = true;
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process.Result = true;
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process.Msg = string.Empty;
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return;
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}
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}
|
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if (!process.Run())
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{
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node.Result = false;
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Result &= false;
|
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if (!string.IsNullOrEmpty(process.Msg)
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&& !Msg.Contains($"[{process.strProcessName}]{process.Msg}"))
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Msg += $"[{process.strProcessName}]{process.Msg}";
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}
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else
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node.Result = true;
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}
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}
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catch (Exception ex)
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{
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node.Result = false;
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Result &= false;
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Msg += $"[{ProcessName}]运行发生意外,{ex.Message}";
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}
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}
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|
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#region 注册工具事件
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[Node("相机取图", "取像工具", "Basic", "相机取图")]
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public void 相机取图(FlowNode node) { RunNodeAsync(node); }
|
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[Node("读码工具", "取像工具", "Basic", "读码工具")]
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public void 读码工具(FlowNode node) { RunNodeAsync(node); }
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[Node("Halcon2D斑点工具", "Halcon2D工具", "Basic", "Halcon2D斑点工具")]
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public void Halcon2D斑点工具(FlowNode node) { RunNodeAsync(node); }
|
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[Node("通讯模块", "通讯工具", "Basic", "通讯模块")]
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public void 通讯模块(FlowNode node) { RunNodeAsync(node); }
|
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[Node("Halcon2D图像增强", "Halcon2D工具", "Basic", "Halcon2D图像增强")]
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public void Halcon2D图像增强(FlowNode node) { RunNodeAsync(node); }
|
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[Node("Halcon2D图像滤波", "Halcon2D工具", "Basic", "Halcon2D图像滤波")]
|
public void Halcon2D图像滤波(FlowNode node) { RunNodeAsync(node); }
|
|
[Node("轮胎计数", "控制", "Logic", "轮胎计数节点")]
|
public void 轮胎计数(FlowNode node)
|
{
|
string ProcessName = node.Text;
|
try
|
{
|
if (dicContext.TryGetValue(ProcessName, out IProcess obj)
|
&& obj is TyreCounterProcess counter)
|
{
|
UpdateInputs(counter);
|
|
if (node.Break)
|
{
|
node.BranchIndex = "0";
|
node.Result = true;
|
counter.Result = true;
|
counter.Msg = "轮胎计数节点已跳过";
|
return;
|
}
|
|
// 从前置节点获取检测结果（通过输入映射）
|
bool imageResult = GetPreviousResult(node);
|
|
// 设置输入结果
|
counter.InputImage = imageResult;
|
|
// 运行轮胎计数
|
if (!counter.Run())
|
{
|
node.Result = false;
|
Result &= false;
|
Msg += $"[{ProcessName}]{counter.Msg}";
|
}
|
else
|
{
|
node.Result = true;
|
|
// 如果完成一个轮胎，输出完成信号
|
if (counter.IsTyreComplete)
|
{
|
Msg += $"[{ProcessName}]完成轮胎 #{counter.CurrentTyreID - 1}，结果: {(counter.TyreResult ? "OK" : "NG")}";
|
}
|
}
|
}
|
else
|
{
|
node.Result = false;
|
Result &= false;
|
Msg += $"[{ProcessName}]未找到轮胎计数工具实例";
|
}
|
}
|
catch (Exception ex)
|
{
|
node.Result = false;
|
Result &= false;
|
Msg += $"[{ProcessName}]运行发生意外,{ex.Message}";
|
}
|
}
|
|
/// <summary>
|
/// 获取前置节点的检测结果
|
/// </summary>
|
private bool GetPreviousResult(FlowNode node)
|
{
|
try
|
{
|
// 查找前置节点
|
var prevNode = dicContext.Values
|
.OfType<IProcess>()
|
.FirstOrDefault(p => p.Result == true || p.Result == false);
|
|
if (prevNode != null)
|
{
|
return prevNode.Result;
|
}
|
}
|
catch { }
|
|
return true; // 默认返回OK
|
}
|
|
#endregion
|
|
|
|
|
|
[Node("开始", "控制", "Logic", "开始")]
|
public override void 开始(FlowNode node)
|
{
|
StartTime = DateTime.Now;
|
RunTime = 0;
|
|
Result = true;
|
bRuning = true;
|
bCompleted = false;
|
Msg = string.Empty;
|
|
HOperatorSet.ClearWindow(hWindowControl.HalconWindow);
|
HOperatorSet.SetColor(hWindowControl.HalconWindow, "green");
|
}
|
|
[Node("结束", "控制", "Logic", "结束")]
|
public override void 结束(FlowNode node)
|
{
|
bRuning = false;
|
bCompleted = true;
|
|
if (Result)
|
Msg = "运行成功";
|
|
RunTime = (DateTime.Now - StartTime).TotalMilliseconds;
|
}
|
|
[Node("分支", "控制", "Logic", "分支")]
|
public override void 分支(FlowNode node)
|
{
|
string ProcessName = node.Text;
|
node.BranchIndex = "-1";
|
node.Result = true;
|
try
|
{
|
if (dicContext.TryGetValue(ProcessName, out IProcess obj) && obj is ScriptTool script)
|
{
|
UpdateInputs(script);
|
if (node.Break)
|
{
|
node.BranchIndex = "0";
|
node.Result = true;
|
script.Result = true;
|
script.Msg = string.Empty;
|
return;
|
}
|
|
if (script.Params.Outputs.Count >= 2)
|
{
|
if (!script.Run())
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]{script.Msg}";
|
}
|
|
for (int i = 0; i < script.Params.Outputs.Count; i++)
|
{
|
if (script.Params.Outputs[$"Branch{i}"] != null
|
&& Convert.ToBoolean(script.Params.Outputs[$"Branch{i}"]))
|
{
|
node.BranchIndex = i.ToString();
|
return;
|
}
|
}
|
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]无满足条件的分支";
|
}
|
else
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]分支数量不为2";
|
}
|
}
|
else
|
{
|
node.Result = false;
|
Result &= false;
|
}
|
}
|
catch (Exception ex)
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]运行发生意外,{ex.Message}";
|
}
|
}
|
|
[Node("多分支", "控制", "Logic", "多分支")]
|
public override void 多分支(FlowNode node)
|
{
|
if (node.Break)
|
{
|
node.BranchIndex = "0";
|
node.Result = true;
|
return;
|
}
|
|
string ProcessName = node.Text;
|
node.BranchIndex = "-1";
|
node.Result = true;
|
try
|
{
|
if (dicContext.TryGetValue(ProcessName, out IProcess obj) && obj is ScriptTool script)
|
{
|
UpdateInputs(script);
|
if (node.Break)
|
{
|
node.BranchIndex = "0";
|
node.Result = true;
|
script.Result = true;
|
script.Msg = string.Empty;
|
return;
|
}
|
|
if (script.Params.Outputs.Count >= 1)
|
{
|
if (!script.Run())
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]{script.Msg}";
|
}
|
|
for (int i = 0; i < script.Params.Outputs.Count; i++)
|
{
|
if (script.Params.Outputs[$"Branch{i}"] != null
|
&& Convert.ToBoolean(script.Params.Outputs[$"Branch{i}"]))
|
{
|
node.BranchIndex = i.ToString();
|
return;
|
}
|
}
|
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]无满足条件的分支";
|
}
|
else
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]多分支数量小于1";
|
}
|
}
|
else
|
{
|
node.Result = false;
|
Result &= false;
|
}
|
}
|
catch (Exception ex)
|
{
|
node.Result = false;
|
Result &= false;
|
Msg = $"[{ProcessName}]运行发生意外,{ex.Message}";
|
}
|
}
|
}
|
}
|
