391 lines
18 KiB
C#
391 lines
18 KiB
C#
using HalconDotNet;
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using Microsoft.ML.OnnxRuntime;
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using Microsoft.ML.OnnxRuntime.Tensors;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using OpenCvSharp;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using Yolo5;
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namespace ProductionControl.Device
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{
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public class SizeLib : IDisposable
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{
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public Action<WarningEnum, string> WarningEvent;
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/// <summary>
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/// 检测结果JSON(原图,结果)
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/// </summary>
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public Action<SizeTask> finishEvent;
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/// <summary>
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/// 是否打开设备成功
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/// </summary>
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public bool IsInit { get; private set; } = false;
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//private System.Timers.Timer timer = new System.Timers.Timer();
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//配置
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HDevEngine MyEngine = new HDevEngine();
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//777时用
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Yolo_Class yolo5 =new Yolo_Class();
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private Thread t_task;
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public SizeLib()
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{
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}
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public bool start(string enginePath)
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{
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try
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{
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IsInit = true;
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taskList.Clear();
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MyEngine.SetProcedurePath(enginePath);
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t_task = new System.Threading.Thread(run);
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t_task.IsBackground = true;
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t_task.Start();
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return true;
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}
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catch (Exception ex)
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{
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WarningEvent?.Invoke(WarningEnum.High,ex.Message);
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return false;
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}
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}
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public void stop()
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{
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if (!IsInit) return;
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try
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{
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IsInit = false;
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//timer.Elapsed -= Timer_Elapsed;
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MyEngine.Dispose();
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}
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catch { }
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}
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private bool _debug = false;
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public bool setDebug {
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get { return _debug; }
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set {
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if (!IsInit) return;
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_debug=value;
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if (_debug)
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MyEngine.StartDebugServer();
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else
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MyEngine.StopDebugServer();
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}
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}
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//流程：111，222，444，333，777，777，777，。。。
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private void run()
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{
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int taskCount;
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while (IsInit)
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{
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lock (taskList)
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{
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taskCount = taskList.Count;
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}
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if (taskCount < 1)
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{
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Thread.Sleep(10);
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continue;
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}
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////
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int step = 0;
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var task = pop();
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try
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{
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if (task != null)
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{
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var Program1 = new HDevProcedure(task.engineName);
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HDevProcedureCall ProcCall1_PI_PT = new HDevProcedureCall(Program1);
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step = 1;
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//
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HObject image;
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if (task.bmp != null)
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Bitmap2HObjectBpp24(out image, task.bmp);
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else
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HOperatorSet.ReadImage(out image, task.file_path);
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step = 2;
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//设置外部函数输入
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//if (task.index < 100)
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{
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ProcCall1_PI_PT.SetInputIconicParamObject("Image1", image.Clone());
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ProcCall1_PI_PT.SetInputCtrlParamTuple("index", task.index);//参数1-9
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ProcCall1_PI_PT.SetInputCtrlParamTuple("posX", task.posX);
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ProcCall1_PI_PT.SetInputCtrlParamTuple("posY", task.posY);
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ProcCall1_PI_PT.SetInputCtrlParamTuple("GerberPath",new HTuple( task.drawingPagePath));//美尚没有
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//设置外部函数输入
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if ((task.PTandLinePos != null) && (task.PTandLinePos[0] != 0))
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{
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double[] posarray = new double[23];
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posarray[0] = task.PTandLinePos[0];
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posarray[1] = task.PTandLinePos[2];
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posarray[2] = task.PTandLinePos[4];
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posarray[3] = task.PTandLinePos[6];
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posarray[4] = task.PTandLinePos[8];
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for (int i = 0; i < 18; i++)
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{
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posarray[5 + i] = task.PTandLinePos[10 + i];
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}
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ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", posarray);
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/////
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///
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//string directory = Config.LogPath + "\\" + DateTime.Now.ToString("yyyyMM") + "\\";
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//if (!System.IO.Directory.Exists(directory))
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// System.IO.Directory.CreateDirectory(directory);
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//File.AppendAllText(directory + "sizeData.log", "data:" + string.Join(",", posarray) + "\r\n");
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}
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else
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{
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double[] posarray = new double[23];
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ProcCall1_PI_PT.SetInputCtrlParamTuple("UserPose", posarray);
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}
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}
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if (task.index == 777)
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{
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ProcCall1_PI_PT.SetInputIconicParamObject("ContoursAffineTrans1", task.ContoursAffineTrans1_Out);
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}
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else
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{
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HObject ContoursAffineTrans1;
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HOperatorSet.GenEmptyObj(out ContoursAffineTrans1);
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ProcCall1_PI_PT.SetInputIconicParamObject("ContoursAffineTrans1", ContoursAffineTrans1);
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}
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step = 3;
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ProcCall1_PI_PT.Execute();//执行外部函数
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step = 4;
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//获取外部函数输出
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switch (task.index)
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{
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case 777://比对结果
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step = 10;
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task.CompResult = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("RES") == 1;//结果，1为true，0为false
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step = 11;
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if (!task.CompResult)
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{
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var Defects_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_X");
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var Defects_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Y");
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var Defects_LeftTop_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_LeftTop_X");
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var Defects_LeftTop_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_LeftTop_Y");
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var Defects_RightBottom_X = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_RightBottom_X");
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var Defects_RightBottom_Y = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_RightBottom_Y");
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var Contour_Image = ProcCall1_PI_PT.GetOutputIconicParamObject("Contour_Image");
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//var Zoom_Image = ProcCall1_PI_PT.GetOutputIconicParamObject("Zoom_Image");
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var Defects_Type = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Type");
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var Defects_Index = ProcCall1_PI_PT.GetOutputCtrlParamTuple("Defects_Index");
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step = 12;
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//对比打标图：显示在UI上，以后修复台用
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//task.Zoom_Image_mat = yolo5.DrawContour_Opencv(Contour_Image, Zoom_Image, Defects_LeftTop_X, Defects_LeftTop_Y, Defects_RightBottom_X, Defects_RightBottom_Y);
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//新YOLO.DLL
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task.defectInfor2RestorationDesk = new List<List<string>>();
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task.Zoom_Image_mat = yolo5.DrawContour_Opencv(Contour_Image, image, Defects_LeftTop_X, Defects_LeftTop_Y,
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Defects_RightBottom_X, Defects_RightBottom_Y, Defects_Type, Defects_Index, Defects_X, Defects_Y, out task.defectInfor2RestorationDesk);
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//WarningEvent?.Invoke(WarningEnum.Normal, $"SizeLib 777 call DrawContour_Opencv(),Defects_LeftTop_X={Defects_LeftTop_X}," +
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// $"Defects_LeftTop_Y={Defects_LeftTop_Y},Defects_RightBottom_X={Defects_RightBottom_X},Defects_RightBottom_Y={Defects_RightBottom_Y}," +
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// $"Defects_Type={Defects_Type},Defects_Index={Defects_Index},Defects_X={Defects_X},Defects_Y={Defects_Y}," +
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// $"defectInfor2RestorationDesk={JsonConvert.SerializeObject(task.defectInfor2RestorationDesk)}");
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step = 13;
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task.Zoom_Image_mat = yolo5.ResizesMat_4(task.Zoom_Image_mat);
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//大图缺陷坐标转换到图纸坐标
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step = 14;
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if (!string.IsNullOrWhiteSpace(task.drawingPagePath) && task.defectInfor2RestorationDesk != null && task.defectInfor2RestorationDesk.Count > 0)
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task.defectInfor2RestorationDeskPage = yolo5.DefectDrawGerberImage(task.drawingPagePath, task.defectInfor2RestorationDesk);
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}
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break;
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case 111:
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task.MarkPointList[0] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_1");
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task.MarkPointList[1] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_1");
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break;
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case 222:
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task.MarkPointList[2] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_2");
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task.MarkPointList[3] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_2");
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break;
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case 333:
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task.MarkPointList[4] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_3");
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task.MarkPointList[5] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_3");//ContoursAffineTrans1
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task.ContoursAffineTrans1_Out = ProcCall1_PI_PT.GetOutputIconicParamObject("ContoursAffineTrans1_Out");
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break;
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case 444:
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task.MarkPointList[6] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkX_4");
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task.MarkPointList[7] = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("PoseMarkY_4");
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break;
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case 3333: //Tag使用，同时继续获取使用default时时校正和其它值
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step = 80;
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if (!string.IsNullOrWhiteSpace( task.sizeTag))
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task.posePT= ProcCall1_PI_PT.GetOutputCtrlParamTuple("posePT").DArr;
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goto default;
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default:
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step = 90;
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task.PT1 = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("DistancePT1");//index=8 PT1=PT2
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task.PT2 = ProcCall1_PI_PT.GetOutputCtrlParamTuple("DistancePT2");
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task.Shanxian = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Distance3Median");
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//task.RowP = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("RowP");
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task.Circle_Ymm = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Circle_Ymm");
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task.Circle_Xmm = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("Circle_Xmm");
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task.offsetX = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("offsetX");
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task.offsetY = (double)ProcCall1_PI_PT.GetOutputCtrlParamTuple("offsetY");
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break;
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}
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step = 100;
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ProcCall1_PI_PT.Dispose();
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Program1.Dispose();
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step = 101;
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task.isSucceed = true;
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task.resultInfo = "成功";
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callback(task);
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step = 102;
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}
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}
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catch (Exception ex)
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{
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WarningEvent?.Invoke(WarningEnum.Low, $"SizeLib task err({step}) index({task.index}):"+ ex.Message);
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task.isSucceed = false;
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task.resultInfo = $"(errcode:{step}):{ex.Message}";
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callback(task);
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}
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}
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}
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private void callback(SizeTask task)
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{
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//返回成功/失败,异步调用
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if (task.finishEvent != null || (task.finishEvent = finishEvent) != null)
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//task.finishEvent.BeginInvoke(result, errInfo, res => task.finishEvent.EndInvoke(res), null);
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System.Threading.ThreadPool.QueueUserWorkItem(waitCallback, task);
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}
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//异步回调
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WaitCallback waitCallback = new WaitCallback(o => {
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var task = (SizeTask)o;
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task.finishEvent(task);
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});
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//=======task list
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private List<SizeTask> taskList = new List<SizeTask>();
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public class SizeTask
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{
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public int stepIndex;//只为回调记录当前工序信息
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public string processName;//只为回调记录当前工序信息
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public string engineName,sizeTag;
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/// <summary>
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/// 源文件
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/// </summary>
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public string file_path;
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public double posX,posY;
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public Bitmap bmp;
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public string drawingPagePath = "";//.gbx图纸路径
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//2023-10-27 新增图纸选择pt点位与线宽点位
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public double[] PTandLinePos;
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/// <summary>
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/// 比对(index=777); 计算Mark(111/222/333/444); 尺寸(1-9); 轴偏移调整(10,20,30...)
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/// </summary>
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public int index; //index=8 PT1=PT2
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/// <summary>
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/// 完成后回调
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/// </summary>
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public Action<SizeTask> finishEvent;
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public long createTime = DateTime.Now.Ticks;
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//==结果返回
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/// <summary>
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/// 比对结果(index=777)
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/// </summary>
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public bool CompResult;
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public Mat Zoom_Image_mat;//对比打标图:777比对失败时计算得出，后面显示到UI 以后修复台用
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public List<List<string>> defectInfor2RestorationDesk, defectInfor2RestorationDeskPage;//对比未通过坐标信息，合并到缺陷检测中的 //打标缺陷转为图纸的坐标;
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//MARK点
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public double[] MarkPointList = { 0, 0, 0, 0, 0, 0, 0, 0 };
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public HObject ContoursAffineTrans1_Out;//index=333时输出，供后面多个777比对时输入使用
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public double[] posePT;//index=3333 && !isEmpty(sizeTag) 才取此数组值，len为0时急停
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//
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public double PT1,PT2, Shanxian, Circle_Ymm, Circle_Xmm, offsetX, offsetY;
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public bool isSucceed;//转换是否成功
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public string resultInfo = "";//成功或失败信息
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}
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public void add(SizeTask task)
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{
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lock (taskList)
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taskList.Add(task);
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}
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private SizeTask pop()
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{
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lock (taskList)
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{
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if (taskList.Count < 1)
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return null;
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var task = taskList[0];
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taskList.RemoveAt(0);
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return task;
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}
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}
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public void Dispose()
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{
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stop();
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}
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/// <summary>
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/// Bitmap转HObject灰度图
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/// </summary>
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/// <param name="bmp">Bitmap图像</param>
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/// <param name="image">HObject图像</param>
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private void Bitmap2HObjectBpp8( out HObject image,Bitmap bmp)
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{
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try
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{
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Rectangle rect = new Rectangle(0, 0, bmp.Width, bmp.Height);
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BitmapData srcBmpData = bmp.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format8bppIndexed);
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HOperatorSet.GenImage1(out image, "byte", bmp.Width, bmp.Height, srcBmpData.Scan0);
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bmp.UnlockBits(srcBmpData);
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}
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catch (Exception)
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{
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image = null;
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}
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}
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public void Bitmap2HObjectBpp24( out HObject image, Bitmap bmp)
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{
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try
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{
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Rectangle rect = new Rectangle(0, 0, bmp.Width, bmp.Height);
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BitmapData srcBmpData = bmp.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format24bppRgb);
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HOperatorSet.GenImageInterleaved(out image, srcBmpData.Scan0, "bgr", bmp.Width, bmp.Height, 0, "byte", 0, 0, 0, 0, -1, 0);
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bmp.UnlockBits(srcBmpData);
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}
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catch (Exception ex)
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{
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image = null;
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}
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}
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}
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}
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