353 lines
14 KiB
C#
353 lines
14 KiB
C#
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using MainShell.Common;
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using MainShell.Log;
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using MainShell.Models;
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using MainShell.Vision.Common;
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using MaxwellFramework.Core.Attributes;
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using SemiconductorVisionAlgorithm.SemiCalib;
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using SemiconductorVisionAlgorithm.SemiParams;
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using System;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MainShell.Vision
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{
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/// <summary>
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/// 抓圆服务实现
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/// </summary>
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[Singleton]
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public class FindEdgeCircleService : IFindEdgeCircleService
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{
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private readonly IImageCaptureService _imageCaptureService;
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public FindEdgeCircleService(IImageCaptureService imageCaptureService)
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{
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_imageCaptureService = imageCaptureService ?? throw new ArgumentNullException(nameof(imageCaptureService));
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}
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/// <summary>
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/// 采集图像并执行抓圆
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/// </summary>
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public async Task<VisionProcessResult<FindEdgeCircleResult>> ProcessAsync(
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FindEdgeCircleRequest request,
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CancellationToken cancellationToken = default(CancellationToken))
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{
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if (request == null)
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{
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throw new ArgumentNullException(nameof(request));
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}
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FindEdgeCircleImageRequest imageRequest = CreateImageRequest(request);
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return await ExecuteWithCaptureAsync(
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request.CameraSource,
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request.CaptureOptions,
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imageRequest,
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ProcessImageAsync,
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cancellationToken).ConfigureAwait(false);
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}
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/// <summary>
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/// 基于已有图像直接执行抓圆
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/// </summary>
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public Task<VisionProcessResult<FindEdgeCircleResult>> ProcessImageAsync(
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MxImage image,
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FindEdgeCircleImageRequest request,
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CancellationToken cancellationToken = default(CancellationToken))
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{
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if (image == null)
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{
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throw new ArgumentNullException(nameof(image));
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}
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if (request == null)
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{
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throw new ArgumentNullException(nameof(request));
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}
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FindEdgeCircleImageRequest normalizedRequest = NormalizeRequest(request);
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VisionProcessResult validationResult = ValidateRequest(normalizedRequest);
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if (validationResult != null)
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{
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return Task.FromResult(CreateFailureResult(validationResult));
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}
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try
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{
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cancellationToken.ThrowIfCancellationRequested();
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VisionProcessResult<FindEdgeCircleResult> result = ExecuteEdgeCircle(image, normalizedRequest);
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if (!result.Succeeded)
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{
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result.Message.LogSysError();
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}
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return Task.FromResult(result);
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}
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catch (OperationCanceledException ex)
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{
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string message = $"FindEdgeCircleService: process image was cancelled.Timeout ={ normalizedRequest.TimeoutMilliseconds}ms.";
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message.LogInfo();
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return Task.FromResult(VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Cancelled,
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VisionErrorCode.OperationCancelled,
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null,
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MessageKey.VisionOperationCancelled,
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message,
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ex));
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}
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catch (Exception ex)
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{
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string message = $"FindEdgeCircleService: process image failed. {ex.Message}";
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message.LogSysError();
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return Task.FromResult(VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Algorithm,
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VisionErrorCode.CommonAlgorithmExecutionFailed,
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VisionAlarmIds.CommonAlgorithmExecutionFailed,
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MessageKey.VisionCommonAlgorithmExecutionFailed,
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message,
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ex));
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}
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}
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/// <summary>
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/// 执行边缘圆检测算法
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/// </summary>
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private static VisionProcessResult<FindEdgeCircleResult> ExecuteEdgeCircle(
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MxImage image,
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FindEdgeCircleImageRequest request)
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{
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Camera camera = image.Image;
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if (camera == null)
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{
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Algorithm,
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VisionErrorCode.ImageNull,
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VisionAlarmIds.ImageNull,
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MessageKey.VisionImageIsNull,
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"FindEdgeCircleService: input image does not contain a valid camera object.");
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}
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var parameters = request.Parameters;
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double[] hv_Parameter;
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bool flag;
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if (parameters.RoiRect != null)
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{
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// 使用 ROI 区域进行抓圆
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flag = CalibManager.Instance.calib_edge_circle_by_roi(
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camera,
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parameters.CameraId,
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0,
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parameters.RoiRect,
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parameters.FileDirectory,
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out hv_Parameter);
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}
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else
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{
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// 不使用 ROI 进行抓圆
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flag = CalibManager.Instance.calib_edge_circle(
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camera,
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parameters.CameraId,
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0,
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parameters.FileDirectory,
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out hv_Parameter);
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}
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if (!flag)
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{
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Algorithm,
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VisionErrorCode.CommonAlgorithmExecutionFailed,
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VisionAlarmIds.CommonAlgorithmExecutionFailed,
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MessageKey.VisionCommonAlgorithmExecutionFailed,
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"FindEdgeCircleService: algorithm calib_edge_circle returned false.");
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}
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if (hv_Parameter == null || hv_Parameter.Length < 2)
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{
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Algorithm,
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VisionErrorCode.CommonAlgorithmExecutionFailed,
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VisionAlarmIds.CommonAlgorithmExecutionFailed,
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MessageKey.VisionCommonAlgorithmExecutionFailed,
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"FindEdgeCircleService: algorithm returned invalid parameters.");
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}
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FindEdgeCircleResult result = new FindEdgeCircleResult();
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result.CenterX = hv_Parameter[0];
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result.CenterY = hv_Parameter[1];
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return VisionProcessResult<FindEdgeCircleResult>.Success(result);
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}
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private static FindEdgeCircleImageRequest NormalizeRequest(FindEdgeCircleImageRequest request)
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{
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FindEdgeCircleImageRequest normalizedRequest = new FindEdgeCircleImageRequest();
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normalizedRequest.TimeoutMilliseconds = request.TimeoutMilliseconds > 0 ? request.TimeoutMilliseconds :3000;
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normalizedRequest.Parameters = CloneParameters(request.Parameters);
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return normalizedRequest;
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}
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private static VisionProcessResult ValidateRequest(FindEdgeCircleImageRequest request)
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{
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if (request.Parameters == null)
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{
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return VisionProcessResult.Failure(
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VisionFailureCategory.Validation,
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VisionErrorCode.RequestInvalid,
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VisionAlarmIds.RequestInvalid,
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MessageKey.VisionRequestInvalid,
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"FindEdgeCircleService: parameters cannot be null.");
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}
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if (request.TimeoutMilliseconds <= 0 || request.TimeoutMilliseconds > 60000)
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{
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return VisionProcessResult.Failure(
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VisionFailureCategory.Validation,
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VisionErrorCode.TimeoutInvalid,
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VisionAlarmIds.RequestInvalid,
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MessageKey.VisionTimeoutInvalid,
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string.Format("FindEdgeCircleService: TimeoutMilliseconds {0} is invalid. Expected range is [1,60000].", request.TimeoutMilliseconds));
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}
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if (string.IsNullOrWhiteSpace(request.Parameters.FileDirectory))
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{
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return VisionProcessResult.Failure(
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VisionFailureCategory.Validation,
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VisionErrorCode.RequestInvalid,
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VisionAlarmIds.RequestInvalid,
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MessageKey.VisionRequestInvalid,
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"FindEdgeCircleService: FileDirectory cannot be empty.");
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}
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if (string.IsNullOrWhiteSpace(request.Parameters.CameraId))
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{
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return VisionProcessResult.Failure(
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VisionFailureCategory.Validation,
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VisionErrorCode.RequestInvalid,
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VisionAlarmIds.RequestInvalid,
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MessageKey.VisionRequestInvalid,
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"FindEdgeCircleService: CameraId cannot be empty.");
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}
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return null;
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}
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private static FindEdgeCircleParameters CloneParameters(FindEdgeCircleParameters parameters)
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{
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if (parameters == null)
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{
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return new FindEdgeCircleParameters();
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}
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FindEdgeCircleParameters clone = new FindEdgeCircleParameters();
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clone.UseRoi = parameters.UseRoi;
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clone.RoiName = parameters.RoiName;
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clone.FileDirectory = parameters.FileDirectory;
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clone.CameraId = parameters.CameraId;
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clone.RoiRect = parameters.RoiRect;
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return clone;
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}
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private static FindEdgeCircleImageRequest CreateImageRequest(FindEdgeCircleRequest request)
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{
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FindEdgeCircleImageRequest imageRequest = new FindEdgeCircleImageRequest();
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imageRequest.TimeoutMilliseconds = request.TimeoutMilliseconds;
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imageRequest.Parameters = CloneParameters(request.Parameters);
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return imageRequest;
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}
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private async Task<VisionProcessResult<FindEdgeCircleResult>> ExecuteWithCaptureAsync(
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CameraType cameraSource,
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CameraCaptureOptions captureOptions,
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FindEdgeCircleImageRequest imageRequest,
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Func<MxImage, FindEdgeCircleImageRequest, CancellationToken,
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Task<VisionProcessResult<FindEdgeCircleResult>>> imageProcessor,
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CancellationToken cancellationToken)
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{
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ImageCaptureResult captureResult = null;
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MxImage image = null;
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try
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{
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captureResult = await _imageCaptureService.CaptureAsync(
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cameraSource,
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captureOptions,
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cancellationToken).ConfigureAwait(false);
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if (captureResult == null)
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{
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Capture,
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VisionErrorCode.NoFrame,
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VisionAlarmIds.NoFrame,
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MessageKey.VisionNoFrameReturned,
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string.Format(
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"FindEdgeCircleService: image capture returned null result for camera '{0}'.",
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cameraSource));
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}
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if (!captureResult.Succeeded)
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{
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return CreateFailureResult(VisionResultMapper.CreateCaptureFailure(captureResult));
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}
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image = captureResult.Image;
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if (image == null)
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{
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string message = string.Format(
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"FindEdgeCircleService: image capture succeeded but returned null image for camera '{0}'.",
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cameraSource);
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message.LogSysError();
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Capture,
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VisionErrorCode.ImageNull,
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VisionAlarmIds.ImageNull,
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MessageKey.VisionImageIsNull,
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message);
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}
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return await imageProcessor(image, imageRequest, cancellationToken).ConfigureAwait(false);
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}
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catch (OperationCanceledException ex)
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{
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string message = $"FindEdgeCircleService: capture orchestration was cancelled for camera '{cameraSource}'.";
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message.LogInfo();
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Cancelled,
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VisionErrorCode.OperationCancelled,
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null,
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MessageKey.VisionOperationCancelled,
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message,
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ex);
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}
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catch (Exception ex)
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{
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string message = $"FindEdgeCircleService: capture orchestration failed for camera '{cameraSource}'. { ex.Message} ";
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message.LogSysError();
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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VisionFailureCategory.Algorithm,
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VisionErrorCode.CommonAlgorithmExecutionFailed,
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VisionAlarmIds.CommonAlgorithmExecutionFailed,
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MessageKey.VisionCommonAlgorithmExecutionFailed,
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message,
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ex);
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}
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finally
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{
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if (image != null)
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{
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image.Dispose();
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}
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}
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}
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private static VisionProcessResult<FindEdgeCircleResult> CreateFailureResult(VisionProcessResult result)
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{
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return VisionProcessResult<FindEdgeCircleResult>.Failure(
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result.FailureCategory,
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result.ErrorCode,
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result.AlarmId,
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result.UserMessageKey,
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result.Message,
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result.Exception);
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}
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}
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}
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