510 lines
20 KiB
C#
510 lines
20 KiB
C#
using System;
|
||
using System.Collections.Generic;
|
||
using System.Diagnostics;
|
||
using System.Drawing;
|
||
using System.Drawing.Imaging;
|
||
using System.IO;
|
||
using System.Linq;
|
||
using System.Reflection;
|
||
using System.Threading;
|
||
using System.Threading.Tasks;
|
||
using Microsoft.ML.OnnxRuntime;
|
||
using Microsoft.ML.OnnxRuntime.Tensors;
|
||
using OpenCvSharp;
|
||
using Yolo5;
|
||
|
||
namespace ProductionControl.Device
|
||
{
|
||
public class DefectLib : IDisposable
|
||
{
|
||
public Action<WarningEnum, string> WarningEvent;
|
||
/// <summary>
|
||
/// 检测结果JSON(原图,结果)
|
||
/// </summary>
|
||
public Action<DefectTask> finishEvent;
|
||
/// <summary>
|
||
/// 是否打开设备成功
|
||
/// </summary>
|
||
public bool IsInit { get; private set; } = false;
|
||
//private System.Timers.Timer timer = new System.Timers.Timer();
|
||
private Yolo_Class yolo1;
|
||
private InferenceSession _onnxSession;
|
||
|
||
//
|
||
private Thread t_task, t_task_operation, t_task_operation2, t_task_tag;
|
||
//=======task list
|
||
private List<DefectTask> taskList = new List<DefectTask>();
|
||
private List<DefectTask> taskOperationList = new List<DefectTask>();
|
||
private List<DefectTask> taskTagList = new List<DefectTask>();
|
||
public DefectLib()
|
||
{
|
||
}
|
||
public bool start()
|
||
{
|
||
try
|
||
{
|
||
yolo1 = new Yolo_Class();
|
||
//加载模型（只加载一次即可）
|
||
//string modelFilePath = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\best.onnx";
|
||
//_onnxSession = yolo1.LoadModel(modelFilePath, true);//false-CPU true-显卡
|
||
|
||
IsInit = true;
|
||
//timer.Elapsed += Timer_Elapsed;
|
||
//timer.Interval = 100;
|
||
//timer.Enabled = true;
|
||
taskList.Clear();
|
||
taskOperationList.Clear();
|
||
taskTagList.Clear();
|
||
|
||
t_task = new System.Threading.Thread(runStep);
|
||
t_task.IsBackground = true;
|
||
t_task.Start();
|
||
|
||
t_task_operation = new System.Threading.Thread(run2);
|
||
t_task_operation.IsBackground = true;
|
||
t_task_operation.Start();
|
||
|
||
t_task_operation2 = new System.Threading.Thread(run2);
|
||
t_task_operation2.IsBackground = true;
|
||
t_task_operation2.Start();
|
||
|
||
//t_task_tag = new System.Threading.Thread(run3);
|
||
//t_task_tag.IsBackground = true;
|
||
//t_task_tag.Start();
|
||
return true;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
WarningEvent?.Invoke(WarningEnum.High, ex.Message);
|
||
return false;
|
||
}
|
||
}
|
||
public void stop()
|
||
{
|
||
if (!IsInit) return;
|
||
|
||
try
|
||
{
|
||
IsInit = false;
|
||
//timer.Elapsed -= Timer_Elapsed;
|
||
//释放模型
|
||
if (_onnxSession != null)
|
||
{
|
||
_onnxSession.Dispose();
|
||
_onnxSession = null;
|
||
}
|
||
_preLoadONNXFilePath = null;
|
||
|
||
if (t_task != null)
|
||
{
|
||
bool b = t_task.Join(5000);
|
||
if (!b) t_task.Abort();
|
||
t_task = null;
|
||
}
|
||
|
||
if (t_task_operation != null)
|
||
{
|
||
bool b = t_task_operation.Join(5000);
|
||
if (!b) t_task_operation.Abort();
|
||
t_task_operation = null;
|
||
}
|
||
if (t_task_operation2 != null)
|
||
{
|
||
bool b = t_task_operation2.Join(5000);
|
||
if (!b) t_task_operation2.Abort();
|
||
t_task_operation2 = null;
|
||
}
|
||
if (t_task_tag != null)
|
||
{
|
||
bool b = t_task_tag.Join(5000);
|
||
if (!b) t_task_tag.Abort();
|
||
t_task_tag = null;
|
||
}
|
||
taskList.Clear();
|
||
taskOperationList.Clear();
|
||
taskTagList.Clear();
|
||
}
|
||
catch { }
|
||
}
|
||
private string _preLoadONNXFilePath;//记录上次成功加载的模型，不重复加载
|
||
public void loadModelFile(string onnxFilePath)
|
||
{
|
||
//string modelFilePath = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\best.onnx";
|
||
//不重复加载
|
||
if (!string.IsNullOrWhiteSpace(_preLoadONNXFilePath) && _preLoadONNXFilePath.ToLower() == onnxFilePath.ToLower())
|
||
return;
|
||
Task.Run(async () =>
|
||
{
|
||
if (_onnxSession != null)
|
||
{
|
||
_onnxSession.Dispose();
|
||
_onnxSession = null;
|
||
}
|
||
_onnxSession = yolo1.LoadModel(onnxFilePath, true);//false-CPU true-显卡
|
||
_preLoadONNXFilePath = onnxFilePath;
|
||
});
|
||
|
||
}
|
||
/// <summary>
|
||
/// 保存图片
|
||
/// </summary>
|
||
/// <param name="Img"></param>图片
|
||
/// <param name="pictureUrl"></param>保存路径
|
||
/// <param name="pictureName"></param>保存名称
|
||
private void SaveImage(Bitmap Img, string pictureUrl, string pictureName)
|
||
{
|
||
if (!Directory.Exists(pictureUrl))
|
||
{
|
||
Directory.CreateDirectory(pictureUrl);
|
||
}
|
||
FileInfo FileUrl = new FileInfo(pictureUrl);//防止路径中有日期导致路径错误
|
||
|
||
try
|
||
{
|
||
using (Bitmap bitmap = new Bitmap(Img))
|
||
{
|
||
using (MemoryStream stream = new MemoryStream())
|
||
{
|
||
bitmap.Save(stream, ImageFormat.Bmp);
|
||
System.Drawing.Image img = System.Drawing.Image.FromStream(stream);
|
||
//img.Save(FileUrl +"\\"+ pictureName);
|
||
//img.Dispose();
|
||
string szURL = FileUrl + "\\" + pictureName;
|
||
img.Save(szURL, ImageFormat.Bmp);
|
||
img.Dispose();
|
||
}
|
||
}
|
||
}
|
||
catch (Exception)
|
||
{
|
||
if (Img != null)
|
||
{
|
||
Img.Dispose();
|
||
}
|
||
}
|
||
}
|
||
private void runStep()
|
||
{
|
||
while (IsInit)
|
||
{
|
||
if (taskList.Count < 1 || _onnxSession == null)
|
||
{
|
||
Thread.Sleep(5);
|
||
continue;
|
||
}
|
||
|
||
//
|
||
var task = pop();
|
||
try
|
||
{
|
||
if (task != null)
|
||
{
|
||
Stopwatch stopwatch = Stopwatch.StartNew();
|
||
//源图
|
||
//Bitmap bmp = yolo1.Read2Bmp(file_path);
|
||
//切割图像，输入图像格式14208*10640
|
||
stopwatch.Start();
|
||
task.bmps_cut = yolo1.OpenCVToCutsMat(task.bmp, task.cut_size.Width, task.cut_size.Height);
|
||
stopwatch.Stop();
|
||
task.stopwatch[0] = stopwatch.ElapsedMilliseconds;
|
||
|
||
//Resize图像
|
||
stopwatch.Restart();
|
||
task.bmps_resize = yolo1.OpenCVToResizesMat(task.bmps_cut, task.resize.Width, task.resize.Height);
|
||
stopwatch.Stop();
|
||
task.stopwatch[1] = stopwatch.ElapsedMilliseconds;
|
||
|
||
//预处理模型
|
||
stopwatch.Restart();
|
||
task.tensors = yolo1.PreprocessImageMat(task.bmps_resize);
|
||
stopwatch.Stop();
|
||
task.stopwatch[2] = stopwatch.ElapsedMilliseconds;
|
||
|
||
lock (taskOperationList)
|
||
taskOperationList.Add(task);
|
||
}
|
||
Thread.Sleep(5);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
WarningEvent?.Invoke(WarningEnum.Low, "DefectLib task1 err:" + ex.Message);
|
||
task.isSucceed = false;
|
||
task.resultInfo = ex.Message;
|
||
callback(task);
|
||
}
|
||
}
|
||
}
|
||
|
||
private void run2()
|
||
{
|
||
while (IsInit)
|
||
{
|
||
if (taskOperationList.Count < 1)
|
||
{
|
||
Thread.Sleep(5);
|
||
continue;
|
||
}
|
||
|
||
//
|
||
var task = pop2();
|
||
int liStep = 0;
|
||
try
|
||
{
|
||
if (task != null)
|
||
{
|
||
Stopwatch stopwatch = Stopwatch.StartNew();
|
||
//====运行推理（必需单队列）
|
||
stopwatch.Start();
|
||
IDisposableReadOnlyCollection<DisposableNamedOnnxValue>[] results = yolo1.RunModlel(_onnxSession, task.tensors);
|
||
liStep = 1;
|
||
if(task.ModelType == "pt")
|
||
task.informationList = yolo1.ScreeningResults_YD(results, task.bmps_resize, task.thresholds, task.thresholdsClass, task.recAreaThreshold);
|
||
else
|
||
task.informationList = yolo1.ScreeningResults_YD_RJ(results, task.bmps_resize, task.thresholds, task.thresholdsClass, task.recAreaThreshold);
|
||
liStep = 2;
|
||
|
||
//当前大图上缺陷个数
|
||
int currPicDefectCount = 0;
|
||
for (int x = 0; x < task.informationList.Count(); x++)
|
||
currPicDefectCount += task.informationList[x].Count();
|
||
task.defectCount = currPicDefectCount;
|
||
stopwatch.Stop();
|
||
task.stopwatch[3] = stopwatch.ElapsedMilliseconds;
|
||
liStep = 3;
|
||
if (task.informationList.Count > 0)
|
||
{
|
||
liStep = 4;
|
||
//lock (taskTagList)
|
||
// taskTagList.Add(task);
|
||
//====打标 ,有缺陷返回缺陷图片数组，没缺陷返回所有图片数组
|
||
stopwatch.Restart();
|
||
task.bmps_tag = yolo1.DrawYoloPrediction2Mat(task.bmps_cut, task.informationList, 27, SixLabors.ImageSharp.Color.OrangeRed, task.resize.Width,
|
||
task.Xmm, task.Ymm, out task.defectInfor2RestorationDesk);
|
||
|
||
liStep = 5;
|
||
if (Config.OpenFlawDistribution)
|
||
{
|
||
//大图缺陷坐标转换到图纸坐标
|
||
if (!string.IsNullOrWhiteSpace(task.drawingPagePath) && task.defectInfor2RestorationDesk != null && task.defectInfor2RestorationDesk.Count > 0)
|
||
task.defectInfor2RestorationDeskPage = yolo1.DefectDrawGerberImage(task.drawingPagePath, task.defectInfor2RestorationDesk);
|
||
}
|
||
stopwatch.Stop();
|
||
task.stopwatch[4] = stopwatch.ElapsedMilliseconds;
|
||
|
||
liStep = 6;
|
||
task.bmpCompress = yolo1.ResizesMat_4(task.bmp);
|
||
task.isSucceed = true;
|
||
callback(task);
|
||
}
|
||
else
|
||
{
|
||
task.isSucceed = true;
|
||
callback(task);
|
||
}
|
||
}
|
||
Thread.Sleep(5);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
WarningEvent?.Invoke(WarningEnum.Low, $"DefectLib task2 err({liStep}):" + ex.Message);
|
||
task.isSucceed = false;
|
||
task.resultInfo = ex.Message;
|
||
callback(task);
|
||
}
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 已不用
|
||
/// </summary>
|
||
private void run3()
|
||
{
|
||
while (IsInit)
|
||
{
|
||
if (taskTagList.Count < 1)
|
||
{
|
||
Thread.Sleep(0);
|
||
continue;
|
||
}
|
||
|
||
//
|
||
var task = pop3();
|
||
try
|
||
{
|
||
if (task != null)
|
||
{
|
||
Stopwatch stopwatch = Stopwatch.StartNew();
|
||
//====打标 ,有缺陷返回缺陷图片数组，没缺陷返回所有图片数组
|
||
stopwatch.Start();
|
||
task.bmps_tag = yolo1.DrawYoloPrediction2Mat(task.bmps_cut, task.informationList, 27, SixLabors.ImageSharp.Color.OrangeRed, task.resize.Width,
|
||
task.Xmm,task.Ymm,out task.defectInfor2RestorationDesk);
|
||
stopwatch.Stop();
|
||
task.stopwatch[4] = stopwatch.ElapsedMilliseconds;
|
||
task.isSucceed = true;
|
||
callback(task);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
WarningEvent?.Invoke(WarningEnum.Low, "DefectLib task3 err:" + ex.Message);
|
||
task.isSucceed = false;
|
||
task.resultInfo = ex.Message;
|
||
callback(task);
|
||
}
|
||
}
|
||
}
|
||
private void callback(DefectTask task)
|
||
{
|
||
//返回成功/失败,异步调用
|
||
if (task.finishEvent != null || (task.finishEvent = finishEvent) != null)
|
||
//task.finishEvent.BeginInvoke(result, errInfo, res => task.finishEvent.EndInvoke(res), null);
|
||
System.Threading.ThreadPool.QueueUserWorkItem(waitCallback, task);
|
||
}
|
||
//异步回调
|
||
WaitCallback waitCallback = new WaitCallback(o =>
|
||
{
|
||
var task = (DefectTask)o;
|
||
task.finishEvent(task);
|
||
});
|
||
|
||
public class DefectTask
|
||
{
|
||
public int stepIndex;
|
||
public string processName;
|
||
|
||
public string drawingPagePath;//图纸路径bmp
|
||
//图索引
|
||
public int index = 0;
|
||
/// <summary>
|
||
/// 绝对位置-----X2轴
|
||
/// </summary>
|
||
public double Xmm;
|
||
/// <summary>
|
||
/// 绝对位置-----Y轴
|
||
/// </summary>
|
||
public double Ymm;
|
||
/// <summary>
|
||
/// 源文件
|
||
/// </summary>
|
||
public Mat bmp;
|
||
public Mat bmpCompress;//压缩有缺陷大图
|
||
public System.Drawing.Size cut_size = new System.Drawing.Size(592, 532);
|
||
public System.Drawing.Size resize = new System.Drawing.Size(224, 224);
|
||
/// <summary>
|
||
/// 阈值
|
||
/// </summary>
|
||
public float thresholds = 0.4f;
|
||
/// <summary>
|
||
/// 种类阈值
|
||
/// </summary>
|
||
public string thresholdsClass;
|
||
/// <summary>
|
||
/// 缺陷在面积内数量
|
||
/// </summary>
|
||
public Dictionary<string, float> recAreaThreshold;
|
||
/// <summary>
|
||
/// 完成后回调
|
||
/// </summary>
|
||
public Action<DefectTask> finishEvent;
|
||
|
||
//
|
||
public long createTime = DateTime.Now.Ticks;
|
||
public DateTime nowTime;
|
||
//中间变量，供step2使用
|
||
public Mat[] bmps_cut;
|
||
public Mat[] bmps_resize;
|
||
//预处理模型
|
||
public Tensor<float>[] tensors;
|
||
|
||
//==结果返回
|
||
public List<Dictionary<int, List<string>[]>> informationList;
|
||
public int defectCount;//informationList中的缺陷数
|
||
|
||
public List<List<string>> defectInfor2RestorationDesk, defectInfor2RestorationDeskPage;//打标缺陷转为图纸的坐标
|
||
public Bitmap[] bmps_tag; //打标小图 //bmps_tag.count<=bmps_cut.count bmps_tag.count=informationList.count
|
||
public bool isSucceed;//转换是否成功
|
||
public string resultInfo = "";//成功或失败信息
|
||
public long[] stopwatch = new long[5];
|
||
|
||
public string ModelType = "";
|
||
}
|
||
|
||
public void add(DefectTask task)
|
||
{
|
||
lock (taskList)
|
||
taskList.Add(task);
|
||
}
|
||
/// <summary>
|
||
/// 打标 返回每张图的绝对位置X,Y
|
||
/// </summary>
|
||
/// <param name="defectBmpIndex">缺陷小图索引</param>
|
||
/// <param name="X">拍照位绝对位置-----X2轴</param>
|
||
/// <param name="Y">拍照位绝对位置-----Y轴</param>
|
||
/// <param name="imagewidth">裁剪小图的宽592</param>
|
||
/// <param name="imageheight">裁剪小图的高532</param>
|
||
public List<double> makeTag(int defectBmpIndex, double X, double Y, int imagewidth, int imageheight)
|
||
{
|
||
return yolo1.ImageXY(defectBmpIndex, X, Y, imagewidth, imageheight);
|
||
}
|
||
/// <summary>
|
||
/// 用相机1查看缺陷点
|
||
/// </summary>
|
||
/// <param name="defectBmpIndex"></param>
|
||
/// <param name="X"></param>
|
||
/// <param name="Y"></param>
|
||
/// <param name="imagewidth"></param>
|
||
/// <param name="imageheight"></param>
|
||
/// <returns></returns>
|
||
public List<double> viewTag(int defectBmpIndex, double X, double Y, int imagewidth, int imageheight)
|
||
{
|
||
return yolo1.ImageXY2(defectBmpIndex, X, Y, imagewidth, imageheight);
|
||
}
|
||
private DefectTask pop()
|
||
{
|
||
lock (taskList)
|
||
{
|
||
if (taskList.Count < 1)
|
||
return null;
|
||
|
||
//int index = 0;// taskList.FindIndex(p => { return p.isSync; });
|
||
//if (index < 0) index = 0;
|
||
var task = taskList[0];
|
||
taskList.RemoveAt(0);
|
||
return task;
|
||
}
|
||
}
|
||
private DefectTask pop2()
|
||
{
|
||
lock (taskOperationList)
|
||
{
|
||
if (taskOperationList.Count < 1)
|
||
return null;
|
||
|
||
//int index = 0;// taskList.FindIndex(p => { return p.isSync; });
|
||
//if (index < 0) index = 0;
|
||
var task = taskOperationList[0];
|
||
taskOperationList.RemoveAt(0);
|
||
return task;
|
||
}
|
||
}
|
||
private DefectTask pop3()
|
||
{
|
||
lock (taskTagList)
|
||
{
|
||
if (taskTagList.Count < 1)
|
||
return null;
|
||
|
||
//int index = 0;// taskList.FindIndex(p => { return p.isSync; });
|
||
//if (index < 0) index = 0;
|
||
var task = taskTagList[0];
|
||
taskTagList.RemoveAt(0);
|
||
return task;
|
||
}
|
||
}
|
||
|
||
public void Dispose()
|
||
{
|
||
stop();
|
||
}
|
||
}
|
||
}
|