Initial commit

C3204

2026-03-30 06c627ec032b3f3876fd7db8a3ff0ff1a6614fa2

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using HalconDotNet;
using LB_SmartVisionCommon;
using LB_VisionProcesses.Processes;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
 
namespace LB_VisionProcesses.Alogrithms
{
    public class CreateFixtureTool : TAlgorithm
    {
        public CreateFixtureTool()
        {
            strProcessClass = "LB_VisionProcesses.Alogrithms.CreateFixtureTool";
            strProcessName = "创建固定跟随";
 
            Params.Inputs.Add("X", 0.0);
            Params.Inputs.Add("Y", 0.0);
            Params.Inputs.Add("Phi", 0.0);
            Params.Inputs.Add("Name", "Fixture1");
        }
 
        public override bool Run()
        {
            try
            {
                InitRunParams();
 
                Record = new MsgRecord();
 
                double X = 0, Y = 0, Phi = 0;
                string Name = string.Empty;
 
                if (Params.Inputs["X"] is List<double> && (Params.Inputs["X"] as List<double>).Count > 0)
                {
                    X = (Params.Inputs["X"] as List<double>)[0];
                    Y = (Params.Inputs["Y"] as List<double>)[0];
                    Phi = (Params.Inputs["Phi"] as List<double>)[0];
                    Name = (string)Params.Inputs["Name"];
                }
                else if (Params.Inputs.ContainsKey("X") && Params.Inputs["X"] is double)
                {
                    X = (double)Params.Inputs["X"];
                    Y = (double)Params.Inputs["Y"];
                    Phi = (double)Params.Inputs["Phi"];
                    Name = (string)Params.Inputs["Name"];
                }
 
                Params.Fixture = new Fixture(X, Y, Phi, Name);
                if (!dicFixtures.ContainsKey(Name))
                {
                    dicFixtures.TryAdd(Name, Params.Fixture);
                }
                else if (dicFixtures.ContainsKey(Name))
                {
                    dicFixtures[Name] = Params.Fixture;
                }
 
                if (Params.Fixture == null)
                {
                    Result = false;
 
                    Msg = $"生成[{Name}]错误({X},{Y},{Phi})";
                    AsyncLogHelper.Error(Msg);
                }
                else
                {
                    Result = true;
                    ((MsgRecord)Record).AddRecord("·", Y, X);
                }
 
                return Result;
            }
            catch
            {
                OutputImage = null;
                Result = false;
                Msg = string.Format("运行出现异常");
                AsyncLogHelper.Error(Msg);
                return false;
            }
            finally
            {
                if (!Result)
                {
                    OutputImage = null;
                }
                bCompleted = true;
            }
        }
 
        public override bool Save(string filePath = "")
        {
            return base.Save(filePath);
        }
 
        public override bool Load(string fullPath = "")
        {
            if (base.Load(fullPath))
            {
                double X = 0, Y = 0, Phi = 0;
                string Name = string.Empty;
 
                if (Params.Inputs["X"] is List<double> && (Params.Inputs["X"] as List<double>).Count > 0)
                {
                    X = (Params.Inputs["X"] as List<double>)[0];
                    Y = (Params.Inputs["Y"] as List<double>)[0];
                    Phi = (Params.Inputs["Phi"] as List<double>)[0];
                    Name = (string)Params.Inputs["Name"];
                }
                else if (Params.Inputs.ContainsKey("X") && Params.Inputs["X"] is double)
                {
                    X = (double)Params.Inputs["X"];
                    Y = (double)Params.Inputs["Y"];
                    Phi = (double)Params.Inputs["Phi"];
                    Name = (string)Params.Inputs["Name"];
                }
 
                Params.Fixture = new Fixture(X, Y, Phi, Name);
                if (!dicFixtures.ContainsKey(Name))
                {
                    dicFixtures.TryAdd(Name, Params.Fixture);
                }
                else if (dicFixtures.ContainsKey(Name))
                {
                    dicFixtures[Name] = Params.Fixture;
                }
 
                return true;
            }
            else
            {
                return false;
            }
        }
    }
}