添加 MX-PD-盘古 项目文件
将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
This commit is contained in:
Shi.Ji
@@ -0,0 +1,323 @@
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using MainShell.Common;
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using MainShell.Common.Display.Models;
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using MainShell.Log;
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using MainShell.Motion;
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using Maxwell.SemiFramework.DefaultConfig.Vision;
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using MwFramework.Controls.Components;
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using MwFramework.Controls.ControlCanvas.Model;
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using MwFramework.Controls.UIControl;
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using MwFramework.Device;
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using MwFramework.ManagerService;
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using Stylet;
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using StyletIoC;
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using System;
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using System.Collections.ObjectModel;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Input;
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namespace MainShell.Common.Display.ViewModel
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{
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public class CameraAxisViewModel : Screen
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{
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private const double DefaultFovX = 14.1 * 10;
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private const double DefaultFovY = 10.3 * 10;
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private const string SafeAxisMotionNotInjectedMessage = "SafeAxisMotion is not injected.";
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private readonly object _moveLock = new object();
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private CameraAxisDevices _cameraAxisDevices = new CameraAxisDevices();
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private double _xPixelPos;
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private double _yPixelPos;
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private double _cameraXIndex;
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private double _cameraYIndex;
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private GetConvertValue _convertFunXDelegate;
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private GetConvertValue _convertFunYDelegate;
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private ObservableCollection<PrimShape> _regions = new ObservableCollection<PrimShape>();
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private bool _isCameraEnable = true;
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private Visibility _controlVisibility = Visibility.Visible;
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private bool _isOpen;
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[Inject]
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public SafeAxisMotion SafeAxisMotion { get; set; }
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public CameraAxisViewModel()
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{
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ConvertFunXDelegate = new GetConvertValue(ConvertFunX);
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ConvertFunYDelegate = new GetConvertValue(ConvertFunY);
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OnLeftMouseDownCommand = new DelegateCommand<object>(OnLeftMouseDown);
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}
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public CameraAxisDevices CameraAxisDevices
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{
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get { return _cameraAxisDevices; }
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set { SetAndNotify(ref _cameraAxisDevices, value); }
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}
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public double XPixelPos
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{
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get { return _xPixelPos; }
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set { SetAndNotify(ref _xPixelPos, value); }
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}
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public double YPixelPos
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{
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get { return _yPixelPos; }
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set { SetAndNotify(ref _yPixelPos, value); }
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}
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public double CameraXIndex
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{
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get { return _cameraXIndex; }
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set { SetAndNotify(ref _cameraXIndex, value); }
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}
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public double CameraYIndex
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{
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get { return _cameraYIndex; }
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set { SetAndNotify(ref _cameraYIndex, value); }
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}
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public GetConvertValue ConvertFunXDelegate
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{
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get { return _convertFunXDelegate; }
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set { SetAndNotify(ref _convertFunXDelegate, value); }
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}
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public GetConvertValue ConvertFunYDelegate
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{
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get { return _convertFunYDelegate; }
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set { SetAndNotify(ref _convertFunYDelegate, value); }
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}
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public ObservableCollection<PrimShape> Regions
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{
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get { return _regions; }
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set { SetAndNotify(ref _regions, value); }
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}
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public bool IsCameraEnable
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{
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get { return _isCameraEnable; }
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set { SetAndNotify(ref _isCameraEnable, value); }
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}
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public Visibility ControlVisibility
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{
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get { return _controlVisibility; }
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set { SetAndNotify(ref _controlVisibility, value); }
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}
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public ICommand OnLeftMouseDownCommand { get; private set; }
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public bool IsOpen
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{
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get { return _isOpen; }
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set { SetAndNotify(ref _isOpen, value); }
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}
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public void OnLeftMouseDown(object sender)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return;
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}
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CameraAxisControlA controlA = sender as CameraAxisControlA;
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if (controlA == null)
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{
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return;
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}
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Point pixelPos = new Point(controlA.YPixPos, controlA.XPixPos);
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Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, false));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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public void MovePosAction()
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return;
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}
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Point pixelPos = new Point(YPixelPos, XPixelPos);
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Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, true));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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public double ConvertFunX(double interval)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return 0;
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}
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string name = selectedDevice.Camera.Id;
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double dx;
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double dy;
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VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
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double pixelX = interval / Math.Abs(dx);
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return pixelX;
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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return 0;
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}
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}
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public double ConvertFunY(double interval)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return 0;
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}
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string name = selectedDevice.Camera.Id;
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double dx;
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double dy;
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VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
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double pixelY = interval / Math.Abs(dy);
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return pixelY;
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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return 0;
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}
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}
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private bool TryGetSelectedDevice(out HardwareDevice selectedDevice)
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{
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selectedDevice = CameraAxisDevices != null ? CameraAxisDevices.SelectedHardwareDevice : null;
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if (!IsOpen || selectedDevice == null)
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{
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return false;
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}
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if (selectedDevice.Camera == null || selectedDevice.Camera.Camera == null)
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{
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ShowDeviceNotInitialized();
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return false;
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}
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if (!selectedDevice.Camera.Camera.IsGrabbing)
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{
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LocalizedMessageBox.Show(MessageKey.VisionCameraNotGrabbing, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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return false;
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}
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if (selectedDevice.AxisX == null || selectedDevice.AxisY == null)
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{
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ShowDeviceNotInitialized();
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return false;
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}
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return true;
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}
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private void MoveToPixelPoint(HardwareDevice selectedDevice, Point pixelPos, bool requireConfirmation)
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{
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lock (_moveLock)
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{
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try
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{
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IAxis axisX = selectedDevice.AxisX;
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IAxis axisY = selectedDevice.AxisY;
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Point rulerPos = new Point(axisX.State.ActualPos, axisY.State.ActualPos);
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Point newRulerPoint = Algorithm.Instance.MoveToPixelPoint(selectedDevice.Camera.Id, rulerPos, pixelPos);
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if (requireConfirmation)
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{
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double dx = newRulerPoint.X - rulerPos.X;
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double dy = newRulerPoint.Y - rulerPos.Y;
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if (!ValidateMoveRange(dx, dy))
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{
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return;
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}
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if (!ConfirmMove(newRulerPoint))
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{
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return;
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}
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}
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if (SafeAxisMotion == null)
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{
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InvalidOperationException exception = new InvalidOperationException(SafeAxisMotionNotInjectedMessage);
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LogManager.LogSysError(exception);
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ShowOperationFailed(SafeAxisMotionNotInjectedMessage);
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return;
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}
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SafeAxisMotion.SafeMove(
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MotionMoveRequest.ForAxis(axisX, newRulerPoint.X),
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MotionMoveRequest.ForAxis(axisY, newRulerPoint.Y));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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}
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private static bool ValidateMoveRange(double dx, double dy)
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{
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if (Math.Abs(dx) > DefaultFovX || Math.Abs(dy) > DefaultFovY)
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{
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LocalizedMessageBox.Show(MessageKey.ParamOutOfRange, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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return false;
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}
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return true;
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}
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private static bool ConfirmMove(Point newRulerPoint)
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{
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string message = string.Format("新点的坐标({0},{1})，是否移动？", newRulerPoint.X, newRulerPoint.Y);
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return MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleConfirm), MessageBoxButton.OKCancel, MessageBoxImage.Question, MessageBoxResult.Cancel) == MessageBoxResult.OK;
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}
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private static void ShowDeviceNotInitialized()
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{
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LocalizedMessageBox.Show(MessageKey.DeviceNotInitialized, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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}
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private static void ShowOperationFailed(string message)
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{
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if (string.IsNullOrWhiteSpace(message))
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{
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LocalizedMessageBox.Show(MessageKey.CommonOperationFailed, MessageKey.TitleError, MessageBoxButton.OK, MessageBoxImage.Error);
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return;
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}
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MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleError), MessageBoxButton.OK, MessageBoxImage.Error);
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}
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}
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}
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@@ -0,0 +1,317 @@
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using MainShell.EventArgsFolder;
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using MainShell.Log;
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using MainShell.Vision;
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using MwFramework.Device.Model;
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using MwFramework.Controls.ControlCanvas.DrawingControl;
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using Stylet;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Media.Imaging;
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using AppCameraType = MainShell.Common.CameraType;
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using System.Windows.Media;
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namespace MainShell.Common.Display.ViewModel
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{
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public class CameraViewModel : Screen, IHandle<DisplayImageEventArgs>, IHandle<DisplayFindTemplateResultEventArgs>
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{
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private readonly IEventAggregator _eventAggregator;
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public AppCameraType CameraType { get; }
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private WriteableBitmap currentImage;
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private WriteableBitmap _displayImage;
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public WriteableBitmap DisplayImage
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{
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get { return _displayImage; }
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set
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{
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SetAndNotify(ref _displayImage, value);
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}
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}
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private ObservableCollection<object> _shapes = new ObservableCollection<object>();
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public ObservableCollection<object> Shapes
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{
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get { return _shapes; }
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set
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{
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if (_shapes != value) { _shapes = value; OnPropertyChanged(nameof(Shapes)); }
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}
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}
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/// <summary>
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/// 根据 CameraData 更新并返回 WriteableBitmap。
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/// 优化要点：
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/// - 重用已有 WriteableBitmap（当尺寸与像素格式相同时）以减少分配。
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/// - 校验参数与缓冲区长度。
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/// - 捕获并记录异常，失败时返回 null（不抛出）。
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/// </summary>
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public WriteableBitmap UpdateBitmap(CameraData cameraData)
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{
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if (cameraData == null)
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{
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"图片数据为空".LogSysError();
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return null;
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}
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try
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{
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int width = (int)cameraData.Width;
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int height = (int)cameraData.Height;
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int bitCnt = cameraData.Bit;
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byte[] buffer = cameraData.BufferData;
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if (width <= 0 || height <= 0)
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{
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$"CameraViewModel.UpdateBitmap: invalid size {width}x{height}".LogSysError();
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return null;
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}
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// 选择像素格式
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System.Windows.Media.PixelFormat pixelFormat = bitCnt == 1
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? System.Windows.Media.PixelFormats.Gray8
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: (bitCnt == 3 ? System.Windows.Media.PixelFormats.Bgr24 : System.Windows.Media.PixelFormats.Bgra32);
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// 计算每行字节数（stride）
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int bytesPerPixel = (pixelFormat.BitsPerPixel + 7) / 8;
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int stride = width * bytesPerPixel;
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long requiredLength = (long)stride * height;
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if (buffer == null)
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{
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"CameraViewModel.UpdateBitmap: buffer is null".LogSysError();
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return null;
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}
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if (buffer.Length < requiredLength)
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{
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($"CameraViewModel.UpdateBitmap: buffer length {buffer.Length} is less than required {requiredLength}").LogSysError();
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return null;
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}
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// 如果现有 bitmap 可复用（尺寸和格式一致），就重用以减少 GC/分配
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if (currentImage == null ||
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currentImage.PixelWidth != width ||
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currentImage.PixelHeight != height ||
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!currentImage.Format.Equals(pixelFormat))
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{
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// 新建 WriteableBitmap
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currentImage = new WriteableBitmap(width, height, 96, 96, pixelFormat, null);
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}
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// 将字节拷贝到 BackBuffer（UI 线程中调用）
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currentImage.Lock();
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try
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{
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// BackBuffer 为 IntPtr，使用 Marshal.Copy 从 byte[] 拷贝
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System.Runtime.InteropServices.Marshal.Copy(buffer, 0, currentImage.BackBuffer, (int)requiredLength);
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currentImage.AddDirtyRect(new Int32Rect(0, 0, width, height));
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}
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finally
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{
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currentImage.Unlock();
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}
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return currentImage;
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}
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catch (Exception ex)
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{
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($"CameraViewModel.UpdateBitmap exception: {ex}").LogSysError();
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return null;
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}
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}
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public CameraViewModel(IEventAggregator eventAggregator, AppCameraType cameraType)
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{
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_eventAggregator = eventAggregator;
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CameraType = cameraType;
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_eventAggregator?.Subscribe(this);
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}
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public void Handle(DisplayImageEventArgs message)
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{
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if (message == null || message.CameraType != CameraType)
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{
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return;
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}
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CommonUti.RunOnUi(() =>
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{
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WriteableBitmap bmp = UpdateBitmap(message.CameraData);
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// 只有在成功生成 bitmap 时才更新 DisplayImage，避免把 null 赋值导致 UI 清空
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if (bmp != null)
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{
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DisplayImage = bmp;
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}
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});
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}
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public void Handle(DisplayFindTemplateResultEventArgs message)
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{
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if (message == null || message.CameraType != CameraType)
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{
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return;
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}
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CommonUti.RunOnUi(() =>
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{
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ApplyTemplateResultShapes(message);
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});
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}
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private void ApplyTemplateResultShapes(DisplayFindTemplateResultEventArgs message)
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{
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if (message.ClearShapesBeforeDisplay)
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{
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Shapes.Clear();
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}
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if (message.Result == null)
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{
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return;
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}
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AppendCenterShapes(message.Result);
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AppendContourShape(message.Result.Contour);
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AppendCircleShapes(message.Result.Circles);
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AppendLineShapes(message.Result.Lines);
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AppendRectangleShapes(message.Result.Rectangles);
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}
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private void AppendCenterShapes(FindTemplateResult result)
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{
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if (result == null || !AreFinite(result.CenterX, result.CenterY, result.Score))
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{
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return;
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}
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|
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ShapeDrawing pointShape = new ShapeDrawing();
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pointShape.X = result.CenterX;
|
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pointShape.Y = result.CenterY;
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Shapes.Add(pointShape);
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TextShapeDrawing textShape = new TextShapeDrawing();
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textShape.X = result.CenterX;
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textShape.Y = result.CenterY;
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textShape.Text = $"Score:{result.Score:F3}";
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Shapes.Add(textShape);
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}
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||||
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private void AppendContourShape(FindTemplateContourResult contour)
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{
|
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if (contour == null || !AreFinite(contour.StartX, contour.StartY, contour.EndX, contour.EndY))
|
||||
{
|
||||
return;
|
||||
}
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||||
|
||||
RectShapeDrawing contourShape = new RectShapeDrawing();
|
||||
contourShape.X = contour.StartX;
|
||||
contourShape.Y = contour.StartY;
|
||||
contourShape.X1 = contour.EndX;
|
||||
contourShape.Y1 = contour.EndY;
|
||||
Shapes.Add(contourShape);
|
||||
}
|
||||
|
||||
private void AppendCircleShapes(IList<FindTemplateCircleResult> circles)
|
||||
{
|
||||
if (circles == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (FindTemplateCircleResult circle in circles)
|
||||
{
|
||||
if (circle == null || !AreFinite(circle.CenterX, circle.CenterY, circle.Radius))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
CircleShapeDrawing circleShape = new CircleShapeDrawing();
|
||||
circleShape.X = circle.CenterX;
|
||||
circleShape.Y = circle.CenterY;
|
||||
circleShape.CenterPoint = new Point(circle.CenterX, circle.CenterY);
|
||||
circleShape.RadiusX = circle.Radius;
|
||||
circleShape.RadiusY = circle.Radius;
|
||||
circleShape.LineWidth = 1;
|
||||
circleShape.FillColor = Brushes.Blue;
|
||||
Shapes.Add(circleShape);
|
||||
}
|
||||
}
|
||||
|
||||
private void AppendLineShapes(IList<FindTemplateLineResult> lines)
|
||||
{
|
||||
if (lines == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (FindTemplateLineResult line in lines)
|
||||
{
|
||||
if (line == null || !AreFinite(line.StartX, line.StartY, line.EndX, line.EndY))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
LineShapeDrawing lineShape = new LineShapeDrawing();
|
||||
lineShape.X = line.StartX;
|
||||
lineShape.Y = line.StartY;
|
||||
lineShape.X1 = line.EndX;
|
||||
lineShape.Y1 = line.EndY;
|
||||
Shapes.Add(lineShape);
|
||||
}
|
||||
}
|
||||
|
||||
private void AppendRectangleShapes(IList<FindTemplateRectangleResult> rectangles)
|
||||
{
|
||||
if (rectangles == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (FindTemplateRectangleResult rectangle in rectangles)
|
||||
{
|
||||
if (rectangle == null || !AreFinite(rectangle.StartX, rectangle.StartY, rectangle.Width, rectangle.Height, rectangle.Angle))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
double halfWidth = rectangle.Width / 2d;
|
||||
double halfHeight = rectangle.Height / 2d;
|
||||
double cosAngle = Math.Cos(rectangle.Angle);
|
||||
double sinAngle = Math.Sin(rectangle.Angle);
|
||||
double centerX = rectangle.StartX + (halfWidth * cosAngle) - (halfHeight * sinAngle);
|
||||
double centerY = rectangle.StartY + (halfWidth * sinAngle) + (halfHeight * cosAngle);
|
||||
|
||||
RectShape2Drawing rectangleShape = new RectShape2Drawing();
|
||||
rectangleShape.X = centerX;
|
||||
rectangleShape.Y = centerY;
|
||||
rectangleShape.CenterX = centerX;
|
||||
rectangleShape.CenterY = centerY;
|
||||
rectangleShape.HalfWidth = halfWidth;
|
||||
rectangleShape.HalfHeigth = halfHeight;
|
||||
rectangleShape.Angle = rectangle.Angle;
|
||||
Shapes.Add(rectangleShape);
|
||||
}
|
||||
}
|
||||
|
||||
private static bool AreFinite(params double[] values)
|
||||
{
|
||||
if (values == null)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
foreach (double value in values)
|
||||
{
|
||||
if (double.IsNaN(value) || double.IsInfinity(value))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user