I wrote two articles about an explanation of the VM case, and a method of imitating a callback function module about the VM case. Now what I am showing is the record of the host computer obtained from the VM case I imitated, mainly as a reference to a record I learned and a writing on the host computer.
First, let me show it in the picture above
. Since there are a lot of codes, I will explain my main modules first.
First of all, the controls I keep are: open VM, close VM, single-step execution, load scheme, progress bar, image display, clear message, close scheme, and a new data table display.
In the host computer, I will load the handle, register the callback function, and start the VM into the button to start the VM. I use the absolute path to select the path, so I need to change the path.
Then the data table can be used to display the job number I am currently running and I need to output the X coordinate and Y coordinate.
There is also a communication executive program for part of TCP.
The specific code is directly posted, and you can use it as a reference.
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Runtime.InteropServices;
using System.Text.RegularExpressions;
using System.Threading;
using System.Windows.Forms;
using iMVS_6000PlatformSDKCS;
using FrontedUI;
using log4net;
using System.Diagnostics;
using HPSocketCS;
using static System.Net.Mime.MediaTypeNames;
using System.Text;
using System.Net.Sockets;
namespace iMVS_6000PlatformSDKDemo_CS
{
public partial class PlatformSDKForm : Form
{
private static ILog log = log4net.LogManager.GetLogger(typeof(PlatformSDKForm));
// 全局变量定义
public IntPtr m_handle = IntPtr.Zero; // SDK4Server句柄
List<string> arrayParamVal = new List<string>(); // 参数列表对应值
private delegateOutputCallBack PlatformInfoCallBack; // 回调函数委托
public uint m_nContinStatus = 9999; // 连续运行状态值
public uint m_nStopStatus = 9999; // 停止运行状态值
public uint m_nWorkStatus = 9999; // 流程工作状态值
public uint m_nModuHbID = 9999; // 模块心跳异常状态值
public uint m_nServerHbStatus = 9999; // 服务心跳异常状态值
public uint m_nClientHbStatus = 9999; // 界面心跳异常状态值
public uint m_nDongleStatus = 9999; // 加密狗异常状态值
public uint m_nShowCallbackFlag = 0; // 显示回调内容标志位
public uint m_nFrontedFlag = 0; // 嵌入前端运行界面标志位
public int m_nShowProcessID = 10000; // 显示用流程ID
public uint m_nProgressFlag = 0; // 显示加载或保存进度标志位
public bool m_isBegin; //流程开始标记
public enum ParamTypeEnum
{
IntType = 1,
FloatType,
StringType,
ImageType,
ChunkType
}
//圆
int i = 0;
float radius = float.NaN;
float centerx = float.NaN;
float centery = float.NaN;
//图像
ImageData imageData = new ImageData();
byte[] imagebytes;
//轮廓点
float[] EdgePointX;
float[] EdgePointY;
//匹配框
float[] MatchBoxCenterX;
float[] MatchBoxCenterY;
float[] MatchBoxWidth;
float[] MatchBoxHeight;
float[] MatchBoxAngle;
//匹配点
float[] MatchPointX;
float[] MatchPointY;
//匹配轮廓信息
ImvsSdkPFDefine.IMVS_PATMATCH_POINT_INFO[] outLinePointInfo;
public PictureBox curPictureBox {
get; set; }
public PlatformSDKForm()
{
InitializeComponent();
curPictureBox = pictureBoxImg;
}
Socket client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
private void PlatformSDKForm_Load(object sender, EventArgs e)
{
/*
// 1.先杀进程 避免后台残留VM 导致启动失败
Process[] process;//创建一个PROCESS类数组
process = Process.GetProcesses();//获取当前任务管理器所有运行中程序
foreach (Process proces in process)//遍历
{
if (proces.ProcessName.Contains("VisionMaster"))
{
proces.Kill();
}
}*/
// 5.初始化TCP通信设置，注意：上位机TCP通讯要在方案加载初始化
// HP Server 注册事件
TcpServer hpServer = new TcpServer();
hpServer.OnAccept += HpServer_OnAccept; //连接事件
hpServer.OnClose += HpServer_OnClose; //断开连接事件
// 接收数据
hpServer.OnReceive += HpServer_OnReceive;
// 发送数据
hpServer.OnSend += HpServer_OnSend;
// hpServer.OnPrepareListen += HpServer_OnPrepareListen; //PrepareListen
// 设置服务端IP
hpServer.IpAddress = "127.0.0.1";
// 设置端口
hpServer.Port = Convert.ToUInt16(8000);
hpServer.SendPolicy = SendPolicy.Direct;
hpServer.Start();
string strMsg = "服务端已开启并监听.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
strMsg = "服务端监听Socket为{0}:{1}.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
string ipListen = "";
ushort portListen = 0;
hpServer.GetListenAddress(ref ipListen, ref portListen);
// 进度条设置
progressBarSaveAndLoad.Value = 0;
progressBarSaveAndLoad.Maximum = 100;
// 消除ListBox在回调中使用产生警告
ListBox.CheckForIllegalCrossThreadCalls = false;
}
//接收数据
public HandleResult HpServer_OnReceive(IntPtr connId, byte[] data)
{
string test;
try
{
test = Encoding.Default.GetString(data);
string strMsg_01 = "服务器接受数据： " + test;
listBoxMsg.Items.Add(strMsg_01);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
if (test == "abcde")
{
User();
test = "";
}
return HandleResult.Ok;
}
catch (Exception)
{
return HandleResult.Ignore;
}
}
public void User()
{
string strMsg = null;
int iRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
iRet = ImvsPlatformSDK_API.IMVS_PF_ExecuteOnce_CS(m_handle, null);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "tcp控制VM执行一次失败. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
strMsg = "tcp控制VM执行一次成功";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
i++;
string[] str = new string[] {
i.ToString(), centerx.ToString(), centery.ToString(), DateTime.Now.ToString("yyyy:MM:dd:HH:mm:ss") };
dataGridView1.Rows.Add(str);
}
public HandleResult HpServer_OnAccept(IntPtr connId, IntPtr pClient)
{
return HandleResult.Ok;
}
public HandleResult HpServer_OnClose(IntPtr connId, SocketOperation enOperation, int errorCode)
{
return HandleResult.Ok;
}
public HandleResult HpServer_OnSend(IntPtr connId, byte[] bytes)
{
try
{
client.Send(BitConverter.GetBytes(centerx));
client.Send(BitConverter.GetBytes(centery));
return HandleResult.Ok;
}
catch (Exception)
{
return HandleResult.Ignore;
}
}
/****************************************************************************
* @fn 退出程序
****************************************************************************/
private void PlatformSDKForm_FormClosing(object sender, FormClosingEventArgs e)
{
int nRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
new Thread(new ThreadStart(delegate // 开辟线程关闭, 防止主线程连续运行时阻塞
{
if (IntPtr.Zero != m_handle)
{
nRet = ImvsPlatformSDK_API.IMVS_PF_CloseVisionMaster_CS(m_handle);
Thread.Sleep(100);
}
if (IntPtr.Zero != m_handle)
{
nRet = ImvsPlatformSDK_API.IMVS_PF_DestroyHandle_CS(m_handle);
m_handle = IntPtr.Zero;
}
e.Cancel = false;
Environment.Exit(0);
})) {
IsBackground = true }.Start();
e.Cancel = true;
}
/****************************************************************************
* @fn 获取字符串中的数据
****************************************************************************/
public static uint GetNumberUint(string strInput)
{
uint nRes = 0;
if (strInput != null && strInput != string.Empty)
{
string strNum = strInput;
int nIndex = strInput.IndexOf("(");
if (nIndex > 0)
{
strNum = strInput.Substring(0, nIndex);
}
// 正则表达式剔除非数字字符（不包含小数点.）
strNum = Regex.Replace(strNum, @"[^\d.\d]", "");
// 如果是数字，则转换为decimal类型
if (Regex.IsMatch(strNum, @"^[+-]?\d*[.]?\d*$"))
{
nRes = uint.Parse(strNum);
}
}
return nRes;
}
/****************************************************************************
* @fn 回调结果数据
****************************************************************************/
public void delegateOutputCallBackFunc(IntPtr pInputStruct, IntPtr pUser)
{
//回调信息转换
ImvsSdkPFDefine.IMVS_PF_OUTPUT_PLATFORM_INFO struInfo = (ImvsSdkPFDefine.IMVS_PF_OUTPUT_PLATFORM_INFO)Marshal.PtrToStructure(pInputStruct, typeof(ImvsSdkPFDefine.IMVS_PF_OUTPUT_PLATFORM_INFO));
switch (struInfo.nInfoType)
{
// 回调模块结果信息
case (uint)ImvsSdkPFDefine.IMVS_CTRLC_OUTPUT_PlATFORM_INFO_TYPE.IMVS_ENUM_CTRLC_OUTPUT_PLATFORM_INFO_MODULE_RESULT:
{
// ImvsSdkPFDefine.IMVS_PF_MODULE_RESULT_INFO_LIST resultInfo = (ImvsSdkPFDefine.IMVS_PF_MODULE_RESULT_INFO_LIST)Marshal.PtrToStructure(struInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_MODULE_RESULT_INFO_LIST));
// if (m_nShowProcessID == resultInfo.nProcessID)
// {
// UpdateDataResutExOutput(resultInfo);
// }
ImvsSdkPFDefine.IMVS_PF_MODU_RES_INFO resModuInfo = (ImvsSdkPFDefine.IMVS_PF_MODU_RES_INFO)Marshal.PtrToStructure(struInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_MODU_RES_INFO));
if ((m_nShowProcessID == resModuInfo.nProcessID) && (0 == m_nProgressFlag))
{
UpdateDataModuResutOutput(resModuInfo);
}
break;
}
// 回调流程工作状态信息
case (uint)ImvsSdkPFDefine.IMVS_CTRLC_OUTPUT_PlATFORM_INFO_TYPE.IMVS_ENUM_CTRLC_OUTPUT_PLATFORM_INFO_WORK_STATE:
{
ImvsSdkPFDefine.IMVS_PF_MODULE_WORK_STAUS stWorkStatus = (ImvsSdkPFDefine.IMVS_PF_MODULE_WORK_STAUS)Marshal.PtrToStructure(struInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_MODULE_WORK_STAUS));
m_nWorkStatus = stWorkStatus.nWorkStatus;
if ((m_nShowProcessID == stWorkStatus.nProcessID) && (0 == m_nProgressFlag))
{
SetTitleBarStatus(stWorkStatus);
}
break;
}
default:
{
break;
}
}
}
/****************************************************************************
* @fn 接收回调结果数据
****************************************************************************/
internal void UpdateDataResutExOutput(ImvsSdkPFDefine.IMVS_PF_MODULE_RESULT_INFO_LIST struResultInfo)
{
if (curPictureBox != null)
{
for (int i = 0; i < struResultInfo.nResultNum; i++)
{
switch (struResultInfo.pstModuResInfo[i].nParamType)
{
case (int)ParamTypeEnum.IntType:
switch (struResultInfo.pstModuResInfo[i].strParamName)
{
case "width":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
imageData.Width = struResultInfo.pstModuResInfo[i].pIntValue[0];
}
break;
case "height":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
imageData.Height = struResultInfo.pstModuResInfo[i].pIntValue[0];
}
break;
}
break;
case (int)ParamTypeEnum.FloatType:
switch (struResultInfo.pstModuResInfo[i].strParamName)
{
case "radius":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
radius = struResultInfo.pstModuResInfo[i].pFloatValue[0];
}
break;
case "centerx":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
centerx = struResultInfo.pstModuResInfo[i].pFloatValue[0];
}
break;
case "centery":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
centery = struResultInfo.pstModuResInfo[i].pFloatValue[0];
}
break;
case "MatchOutlineX":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
EdgePointX = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, EdgePointX, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchOutlineY":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
EdgePointY = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, EdgePointY, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchBoxCenterX":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchBoxCenterX = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchBoxCenterX, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchBoxCenterY":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchBoxCenterY = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchBoxCenterY, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchBoxWidth":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchBoxWidth = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchBoxWidth, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchBoxHeight":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchBoxHeight = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchBoxHeight, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchBoxAngle":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchBoxAngle = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchBoxAngle, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchPointX":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchPointX = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchPointX, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
case "MatchPointY":
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
MatchPointY = new float[struResultInfo.pstModuResInfo[i].nValueNum];
Array.Copy(struResultInfo.pstModuResInfo[i].pFloatValue, MatchPointY, struResultInfo.pstModuResInfo[i].nValueNum);
}
break;
}
break;
case (int)ParamTypeEnum.StringType:
break;
case (int)ParamTypeEnum.ImageType:
if (0 == String.Compare(struResultInfo.pstModuResInfo[i].strParamName, "image"))
{
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
imagebytes = IntPtr2Bytes(struResultInfo.pstModuResInfo[i].pstImageValue[0].pData, (int)struResultInfo.pstModuResInfo[i].pstImageValue[0].nLen);
}
}
break;
case (int)ParamTypeEnum.ChunkType:
if (0 == String.Compare(struResultInfo.pstModuResInfo[i].strParamName, "MatchOutline"))
{
if (struResultInfo.pstModuResInfo[i].nValueNum > 0)
{
// 匹配轮廓信息
byte[] pointsBytes = IntPtr2Bytes(struResultInfo.pstModuResInfo[i].pstChunkValue[0].pData, (int)struResultInfo.pstModuResInfo[i].pstChunkValue[0].nLen);
const int singlePointInfoLen = 16;
int pointNum = pointsBytes.Length / singlePointInfoLen;
IntPtr structPtr = Marshal.AllocHGlobal(singlePointInfoLen);
int curPointIndex = 0;
for (int j = 0; j < pointsBytes.Length; j += singlePointInfoLen)
{
Marshal.Copy(pointsBytes, j, structPtr, 16);
outLinePointInfo[curPointIndex] = (ImvsSdkPFDefine.IMVS_PATMATCH_POINT_INFO)Marshal.PtrToStructure(structPtr, typeof(ImvsSdkPFDefine.IMVS_PATMATCH_POINT_INFO));
curPointIndex++;
}
Marshal.FreeHGlobal(structPtr);
}
}
break;
default: break;
}
}
}
}
/****************************************************************************
* @fn 接收回调结果数据（模块结果）
****************************************************************************/
internal void UpdateDataModuResutOutput(ImvsSdkPFDefine.IMVS_PF_MODU_RES_INFO struResultInfo)
{
if (curPictureBox != null)
{
if (null == struResultInfo.pData)
{
return;
}
switch (struResultInfo.strModuleName)
{
case ImvsSdkPFDefine.MODU_NAME_LOCALIMAGEVIEW:
ImvsSdkPFDefine.IMVS_PF_LOCALIMAGEVIEW_MODU_INFO stLocalImgInfo = (ImvsSdkPFDefine.IMVS_PF_LOCALIMAGEVIEW_MODU_INFO)Marshal.PtrToStructure(struResultInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_LOCALIMAGEVIEW_MODU_INFO));
imageData.Width = stLocalImgInfo.stImgInfo.iWidth;
imageData.Height = stLocalImgInfo.stImgInfo.iHeight;
imagebytes = IntPtr2Bytes(stLocalImgInfo.stImgInfo.pImgData, stLocalImgInfo.stImgInfo.iImgDataLen);
break;
case ImvsSdkPFDefine.MODU_NAME_CAMERAMODULE:
ImvsSdkPFDefine.IMVS_PF_CAMERAMODULE_INFO stCameraImgInfo = (ImvsSdkPFDefine.IMVS_PF_CAMERAMODULE_INFO)Marshal.PtrToStructure(struResultInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_CAMERAMODULE_INFO));
imageData.Width = stCameraImgInfo.stImgInfo.iWidth;
imageData.Height = stCameraImgInfo.stImgInfo.iHeight;
imagebytes = IntPtr2Bytes(stCameraImgInfo.stImgInfo.pImgData, stCameraImgInfo.stImgInfo.iImgDataLen);
break;
case ImvsSdkPFDefine.MODU_NAME_CIRCLEFINDMODU:
ImvsSdkPFDefine.IMVS_PF_CIRCLEFIND_MODU_INFO stCirFindInfo = (ImvsSdkPFDefine.IMVS_PF_CIRCLEFIND_MODU_INFO)Marshal.PtrToStructure(struResultInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_CIRCLEFIND_MODU_INFO));
radius = stCirFindInfo.fRadius;
centerx = stCirFindInfo.stCirPt.fPtX;
centery = stCirFindInfo.stCirPt.fPtY;
break;
case ImvsSdkPFDefine.MODU_NAME_FASTFEATUREMATCHMODU:
ImvsSdkPFDefine.IMVS_PF_FASTFEATUREMATCH_MODU_INFO stFeatMatchInfo = (ImvsSdkPFDefine.IMVS_PF_FASTFEATUREMATCH_MODU_INFO)Marshal.PtrToStructure(struResultInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_FASTFEATUREMATCH_MODU_INFO));
if (stFeatMatchInfo.iMatchNum > 0)
{
EdgePointX = new float[stFeatMatchInfo.iMatchNum];
EdgePointY = new float[stFeatMatchInfo.iMatchNum];
MatchBoxCenterX = new float[stFeatMatchInfo.iMatchNum];
MatchBoxCenterY = new float[stFeatMatchInfo.iMatchNum];
MatchBoxWidth = new float[stFeatMatchInfo.iMatchNum];
MatchBoxHeight = new float[stFeatMatchInfo.iMatchNum];
MatchBoxAngle = new float[stFeatMatchInfo.iMatchNum];
MatchPointX = new float[stFeatMatchInfo.iMatchNum];
MatchPointY = new float[stFeatMatchInfo.iMatchNum];
for (int i = 0; i < stFeatMatchInfo.iMatchNum; i++)
{
EdgePointX[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchPt.stMatchPt.fPtX;
EdgePointY[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchPt.stMatchPt.fPtY;
MatchBoxCenterX[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtX;
MatchBoxCenterY[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtY;
MatchBoxWidth[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fWidth;
MatchBoxHeight[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fHeight;
MatchBoxAngle[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fAngle;
MatchPointX[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtX;
MatchPointY[i] = stFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtY;
}
}
if (stFeatMatchInfo.stMatchConInfo.iPtNum > 0)
{
outLinePointInfo = new ImvsSdkPFDefine.IMVS_PATMATCH_POINT_INFO[stFeatMatchInfo.stMatchConInfo.iPtNum];
outLinePointInfo = stFeatMatchInfo.stMatchConInfo.pstPatMatchPt;
}
break;
case ImvsSdkPFDefine.MODU_NAME_HPFEATUREMATCHMODU:
ImvsSdkPFDefine.IMVS_PF_HPFEATUREMATCH_MODU_INFO stHpFeatMatchInfo = (ImvsSdkPFDefine.IMVS_PF_HPFEATUREMATCH_MODU_INFO)Marshal.PtrToStructure(struResultInfo.pData, typeof(ImvsSdkPFDefine.IMVS_PF_HPFEATUREMATCH_MODU_INFO));
if (stHpFeatMatchInfo.iMatchNum > 0)
{
EdgePointX = new float[stHpFeatMatchInfo.iMatchNum];
EdgePointY = new float[stHpFeatMatchInfo.iMatchNum];
MatchBoxCenterX = new float[stHpFeatMatchInfo.iMatchNum];
MatchBoxCenterY = new float[stHpFeatMatchInfo.iMatchNum];
MatchBoxWidth = new float[stHpFeatMatchInfo.iMatchNum];
MatchBoxHeight = new float[stHpFeatMatchInfo.iMatchNum];
MatchBoxAngle = new float[stHpFeatMatchInfo.iMatchNum];
MatchPointX = new float[stHpFeatMatchInfo.iMatchNum];
MatchPointY = new float[stHpFeatMatchInfo.iMatchNum];
for (int i = 0; i < stHpFeatMatchInfo.iMatchNum; i++)
{
EdgePointX[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchPt.stMatchPt.fPtX;
EdgePointY[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchPt.stMatchPt.fPtY;
MatchBoxCenterX[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtX;
MatchBoxCenterY[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtY;
MatchBoxWidth[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fWidth;
MatchBoxHeight[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fHeight;
MatchBoxAngle[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.fAngle;
MatchPointX[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtX;
MatchPointY[i] = stHpFeatMatchInfo.pstMatchBaseInfo[i].stMatchBox.stCenterPt.fPtY;
}
}
if (stHpFeatMatchInfo.stMatchConInfo.iPtNum > 0)
{
outLinePointInfo = new ImvsSdkPFDefine.IMVS_PATMATCH_POINT_INFO[stHpFeatMatchInfo.stMatchConInfo.iPtNum];
outLinePointInfo = stHpFeatMatchInfo.stMatchConInfo.pstPatMatchPt;
}
break;
default: break;
}
}
}
/****************************************************************************
* @fn 绘制结果图像及特征
****************************************************************************/
internal void SetTitleBarStatus(iMVS_6000PlatformSDKCS.ImvsSdkPFDefine.IMVS_PF_MODULE_WORK_STAUS statusInfo)
{
//流程开始标志 1:开始 0:结束
if (0 != statusInfo.nWorkStatus)
{
m_isBegin = true;
InitResultData();
}
else if (m_isBegin)
{
m_isBegin = false;
//图像
if (imageData.Width != 0 && imageData.Height != 0 && imagebytes != null)
{
uint ImageLenth = (uint)(imageData.Width * imageData.Height);
if (ImageLenth != imagebytes.Length)
{
return;
}
imageData.ImageBuffer = imagebytes;
//获取图像数据
if (imageData.ImageBuffer != null)
{
var bmp = imageData.ImageDataToBitmap().GetArgb32BitMap();
using (var g = bmp.CreateGraphic())
{
//画圆
if (!float.IsNaN(radius) && !float.IsNaN(centerx) && !float.IsNaN(centery))
{
g.DrawCircle(Color.GreenYellow, 3, new PointF(centerx, centery), radius);
g.DrawPoint(Color.GreenYellow, new PointF(centerx, centery));
}
//画轮廓点
if (EdgePointX != null && EdgePointY != null && EdgePointX.Length == EdgePointY.Length)
{
for (int i = 0; i < EdgePointX.Length; i++)
{
g.DrawPoint(Color.GreenYellow, new PointF(EdgePointX[i], EdgePointY[i]));
}
}
//画匹配框
if (MatchBoxCenterX != null && MatchBoxCenterY != null && MatchBoxWidth != null && MatchBoxHeight != null && MatchBoxAngle != null &&
MatchBoxCenterX.Length == MatchBoxCenterY.Length && MatchBoxCenterX.Length == MatchBoxWidth.Length && MatchBoxCenterX.Length == MatchBoxHeight.Length && MatchBoxCenterX.Length == MatchBoxAngle.Length)
{
for (int i = 0; i < MatchBoxCenterX.Length; i++)
{
g.DrawRect(Color.GreenYellow, 3, new PointF(MatchBoxCenterX[i], MatchBoxCenterY[i]), MatchBoxWidth[i], MatchBoxHeight[i], MatchBoxAngle[i]);
g.DrawPoint(Color.GreenYellow, new PointF(MatchBoxCenterX[i], MatchBoxCenterY[i]));
}
}
//画匹配点
if (MatchPointX != null && MatchPointY != null && MatchPointX.Length == MatchPointY.Length)
{
for (int i = 0; i < MatchPointX.Length; i++)
{
g.DrawPoint(Color.Red, new PointF(MatchPointX[i], MatchPointY[i]));
}
}
//画匹配轮廓点
if (outLinePointInfo != null)
{
for (int k = 0; k < outLinePointInfo.Length; k++)
{
g.DrawPoint(Color.GreenYellow, new PointF(outLinePointInfo[k].fMatchOutlineX, outLinePointInfo[k].fMatchOutlineY));
}
}
curPictureBox.Invoke(new Action(() =>
{
curPictureBox.Image = bmp;
}));
}
}
}
}
}
/****************************************************************************
* @fn 初始化结果数据
****************************************************************************/
private void InitResultData()
{
//图像
imageData = new ImageData();
imagebytes = null;
//轮廓点
EdgePointX = null;
EdgePointY = null;
MatchBoxCenterX = null;
MatchBoxCenterY = null;
//匹配框
MatchBoxCenterX = null;
MatchBoxCenterY = null;
MatchBoxWidth = null;
MatchBoxHeight = null;
MatchBoxAngle = null;
//匹配点
MatchPointX = null;
MatchPointY = null;
//匹配轮廓信息
outLinePointInfo = null;
}
/****************************************************************************
* @fn 开启算法平台
****************************************************************************/
private void buttonOpenVM_Click(object sender, EventArgs e)
{
string strMsg = null;
// 创建句柄
if (IntPtr.Zero != m_handle)
{
ImvsPlatformSDK_API.IMVS_PF_DestroyHandle_CS(m_handle);
m_handle = IntPtr.Zero;
}
string strServerPath = "D:\\VM\\VisionMaster3.1.0\\Applications\\Server\\VisionMasterServer.exe";
if (IntPtr.Zero == m_handle)
{
m_handle = ImvsPlatformSDK_API.IMVS_PF_CreateHandle_CS(strServerPath);
if (m_handle == IntPtr.Zero)
{
strMsg = "句柄创建错误.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
strMsg = "句柄创建成功.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
// 注册回调
IntPtr pUser = new IntPtr();
pUser = this.Handle;
PlatformInfoCallBack = new delegateOutputCallBack(delegateOutputCallBackFunc);
int iRet = ImvsPlatformSDK_API.IMVS_PF_RegisterResultCallBack_V30_CS(m_handle, PlatformInfoCallBack, pUser);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "注册回调失败";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
uint nWaitTime = 30000;
strMsg = null;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
string strPlatformPath = "D:\\VM\\VisionMaster3.1.0\\Applications\\VisionMaster.exe";
iRet = ImvsPlatformSDK_API.IMVS_PF_StartVisionMaster_CS(m_handle, strPlatformPath, nWaitTime);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "开启VM失败. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
Thread.Sleep(2000);
strMsg = "VM开启成功.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
/****************************************************************************
* @fn 关闭算法平台
****************************************************************************/
private void buttonCloseVM_Click(object sender, EventArgs e)
{
new Thread(new ThreadStart(delegate // 开辟线程关闭, 防止主线程连续运行时阻塞
{
string strMsg = null;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
int iRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
if (1 == m_nFrontedFlag)
{
iRet = ImvsPlatformSDK_API.IMVS_PF_UnAttachFrontedWnd_CS(m_handle, pictureBoxImg.Handle);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "IMVS_PF_UnAttachFrontedWnd_CS Failed. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
m_nFrontedFlag = 0;
}
iRet = ImvsPlatformSDK_API.IMVS_PF_CloseVisionMaster_CS(m_handle);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "IMVS_PF_CloseVisionMaster_CS Failed. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
strMsg = "IMVS_PF_CloseVisionMaster_CS Success.";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
// 清空图像
curPictureBox.Image = null;
curPictureBox.Refresh();
})) {
IsBackground = true }.Start();
}
/****************************************************************************
* @fn 执行一次
****************************************************************************/
private void buttonExecuteOnce_Click(object sender, EventArgs e)
{
string strMsg = null;
int iRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
iRet = ImvsPlatformSDK_API.IMVS_PF_ExecuteOnce_CS(m_handle, null);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "VM执行一次失败. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
strMsg = "VM执行一次成功";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
i++;
string[] str = new string[] {
i.ToString(), centerx.ToString(), centery.ToString(), DateTime.Now.ToString("yyyy:MM:dd:HH:mm:ss") };
dataGridView1.Rows.Add(str);
}
/****************************************************************************
* @fn 加载方案
****************************************************************************/
private void buttonLoadSolution_Click(object sender, EventArgs e)
{
string strMsg = null;
progressBarSaveAndLoad.Value = 0;
uint nProcess = 0;
labelProgress.Text = nProcess.ToString();
labelProgress.Refresh();
int iRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
if (1 == m_nFrontedFlag)
{
iRet = ImvsPlatformSDK_API.IMVS_PF_UnAttachFrontedWnd_CS(m_handle, pictureBoxImg.Handle);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "IMVS_PF_UnAttachFrontedWnd_CS Failed. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
m_nFrontedFlag = 0;
}
string strSolutionPath = "D:\\VMxiangmu\\test09\\iMVS-6000PlatformSDKDemo_CS\\zuoye.sol";
iRet = ImvsPlatformSDK_API.IMVS_PF_LoadSolution_CS(m_handle, strSolutionPath, "");
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "VM方案加载失败. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
strMsg = "VM方案加载成功";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
DateTime dtStart = DateTime.Now;
uint nProgress = 0;
m_nProgressFlag = 1; // 显示加载方案进度标志位置位
for (; nProgress < 100;)
{
iRet = ImvsPlatformSDK_API.IMVS_PF_GetLoadProgress_CS(m_handle, ref nProgress);
labelProgress.Text = nProgress.ToString();
labelProgress.Refresh();
progressBarSaveAndLoad.Value = Convert.ToInt32(nProgress);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "获取VM加载流程标识失败. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
Thread.Sleep(300);
TimeSpan spanNow = new TimeSpan();
spanNow = DateTime.Now - dtStart;
if (spanNow.Seconds > 50) // 50s后退出循环, 防止死循环
{
break;
}
}
m_nProgressFlag = 0; // 显示加载方案进度标志位复位
}
/****************************************************************************
* @fn 关闭方案
****************************************************************************/
private void buttonCloseSolution_Click(object sender, EventArgs e)
{
string strMsg = null;
int iRet = ImvsSdkPFDefine.IMVS_EC_UNKNOWN;
if (IntPtr.Zero == m_handle)
{
MessageBoxButtons msgType = MessageBoxButtons.OK;
DialogResult diagMsg = MessageBox.Show("句柄异常, 请重启软件!", "提示", msgType);
if (diagMsg == DialogResult.OK)
{
return;
}
}
if (1 == m_nFrontedFlag)
{
iRet = ImvsPlatformSDK_API.IMVS_PF_UnAttachFrontedWnd_CS(m_handle, pictureBoxImg.Handle);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "IMVS_PF_UnAttachFrontedWnd_CS Failed. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
m_nFrontedFlag = 0;
}
iRet = ImvsPlatformSDK_API.IMVS_PF_CloseSolution_CS(m_handle);
if (ImvsSdkPFDefine.IMVS_EC_OK != iRet)
{
strMsg = "IMVS_PF_CloseSolution_CS Failed. Error Code: " + Convert.ToString(iRet, 16);
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
return;
}
// 清空PictureBox控件中的内容
pictureBoxImg.Image = null;
pictureBoxImg.Refresh();
strMsg = "IMVS_PF_CloseSolution_CS Success";
listBoxMsg.Items.Add(strMsg);
listBoxMsg.TopIndex = listBoxMsg.Items.Count - 1;
}
/****************************************************************************
* @fn 清空消息
****************************************************************************/
private void buttonDeleteMsg_Click(object sender, EventArgs e)
{
listBoxMsg.Items.Clear();
}
/****************************************************************************
* @fn IntPtr转Bytes
****************************************************************************/
public static byte[] IntPtr2Bytes(IntPtr ptr, int size)
{
byte[] bytes = null;
if ((size > 0) && (null != ptr))
{
bytes = new byte[size];
Marshal.Copy(ptr, bytes, 0, size);
}
return bytes;
}
private void textBoxTimeInterval_TextChanged(object sender, EventArgs e)
{
}
private void groupBoxTimeInterval_Enter(object sender, EventArgs e)
{
}
private void label11_Click(object sender, EventArgs e)
{
}
}
}