halcon+c#+abb机器人使用socket通讯组成的激光熔覆视觉工作站包

using HalconDotNet; using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Net; using System.Net.Sockets; using System.Text; using System.Threading; using System.Threading.Tasks; using System.Windows.Forms; namespace 填充工作站 { public partial class Form1 : Form { public Form1() { InitializeComponent(); } Socket socketwatch = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); Socket socketsend; byte[] sendbyte = new byte[1024]; HObject image = new HObject(); string send = null; string recv = null; string imageaddress; HTuple hv_pointxy = new HTuple(); byte[] receivebyte = new byte[1024]; HTuple wide; HTuple hight; private void button1_Click(object sender, EventArgs e) { OpenFileDialog openFileDialog = new OpenFileDialog(); openFileDialog.Title = "请选取一张图片"; openFileDialog.Filter = "Image files (*.jpg, *.jpeg, *.png, *.gif) | *.jpg; *.jpeg; *.png; *.gif"; openFileDialog.ShowDialog(); imageaddress = openFileDialog.FileName; ShowMsg(imageaddress); HOperatorSet.ReadImage(out image, imageaddress); HOperatorSet.GetImageSize(image, out wide, out hight); HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, hight, wide); HOperatorSet.DispObj(image, hWindowControl1.HalconWindow); } public void ShowMsg(string str) { if (richTextBox1.InvokeRequired) { richTextBox1.Invoke(new MethodInvoker(delegate { richTextBox1.AppendText(str + "\r\n"); })); } else { richTextBox1.AppendText(str + "\r\n"); } } ///打开服务器 private void button2_Click(object sender, EventArgs e) { IPAddress iP = IPAddress.Parse(textBox1.Text); int port = int.Parse(textBox2.Text); IPEndPoint point = new IPEndPoint(iP, port); socketwatch.Bind(point); ShowMsg("服务器开启，等待连接"); socketwatch.Listen(100); Task.Run(() => { socketsend = socketwatch.Accept(); ShowMsg(socketsend.RemoteEndPoint.ToString() + "——连接成功"); Thread th1 = new Thread(receiveprocess); th1.IsBackground = true; th1.Start(); }); } public void receiveprocess() { while (true) { int r = socketsend.Receive(receivebyte); recv = Encoding.UTF8.GetString(receivebyte, 0, r); if (recv != "") { ShowMsg(socketsend.RemoteEndPoint +"发来——"+ recv); } } } private void button3_Click(object sender, EventArgs e) { HObject ho_GrayImage, ho_ImageMedian; HObject ho_Region, ho_RegionFillUp, ho_RegionOpening, ho_RegionClosing; HObject ho_Rectangle = null, ho_RegionIntersection = null, ho_RegionClosing1 = null; HObject ho_Cross; // Local control variables HTuple hv_Row1 = new HTuple(), hv_Column1 = new HTuple(); HTuple hv_Row2 = new HTuple(), hv_Column2 = new HTuple(); HTuple hv_reclenwidth = new HTuple(); HTuple hv_str = new HTuple(), hv_x = new HTuple(), hv_y = new HTuple(); HTuple hv_n = new HTuple(), hv_Rows = new HTuple(), hv_Columns = new HTuple(); HTuple hv_Length = new HTuple(); // Initialize local and output iconic variables HOperatorSet.GenEmptyObj(out ho_GrayImage); HOperatorSet.GenEmptyObj(out ho_ImageMedian); HOperatorSet.GenEmptyObj(out ho_Region); HOperatorSet.GenEmptyObj(out ho_RegionFillUp); HOperatorSet.GenEmptyObj(out ho_RegionOpening); HOperatorSet.GenEmptyObj(out ho_RegionClosing); HOperatorSet.GenEmptyObj(out ho_Rectangle); HOperatorSet.GenEmptyObj(out ho_RegionIntersection); HOperatorSet.GenEmptyObj(out ho_RegionClosing1); HOperatorSet.GenEmptyObj(out ho_Cross); HOperatorSet.Rgb1ToGray(image, out ho_GrayImage); ho_ImageMedian.Dispose(); HOperatorSet.MedianImage(ho_GrayImage, out ho_ImageMedian, "circle", 1, "mirrored"); ho_Region.Dispose(); HOperatorSet.Threshold(ho_ImageMedian, out ho_Region, 0, 50); ho_RegionFillUp.Dispose(); HOperatorSet.FillUp(ho_Region, out ho_RegionFillUp); ho_RegionOpening.Dispose(); HOperatorSet.OpeningCircle(ho_RegionFillUp, out ho_RegionOpening, 30); ho_RegionClosing.Dispose(); HOperatorSet.ClosingCircle(ho_RegionOpening, out ho_RegionClosing, 30); hv_Row1.Dispose(); hv_Column1.Dispose(); hv_Row2.Dispose(); hv_Column2.Dispose(); HOperatorSet.SmallestRectangle1(ho_RegionClosing, out hv_Row1, out hv_Column1, out hv_Row2, out hv_Column2); hv_reclenwidth.Dispose(); using (HDevDisposeHelper dh = new HDevDisposeHelper()) { hv_reclenwidth = (hv_Column2 - hv_Column1) + 10; } hv_pointxy.Dispose(); hv_pointxy = ""; hv_str.Dispose(); hv_str = ""; hv_x.Dispose(); hv_x = new HTuple(); hv_y.Dispose(); hv_y = new HTuple(); HTuple end_val14 = (hv_Row2 - hv_Row1) / 10; HTuple step_val14 = 1; for (hv_n = 0; hv_n.Continue(end_val14, step_val14); hv_n = hv_n.TupleAdd(step_val14)) { using (HDevDisposeHelper dh = new HDevDisposeHelper()) { ho_Rectangle.Dispose(); HOperatorSet.GenRectangle1(out ho_Rectangle, (hv_Row1 + 3) + (hv_n * 10), hv_Column1 - 5, (hv_Row1 + 3) + (hv_n * 10), hv_Column2 + 5); } ho_RegionIntersection.Dispose(); HOperatorSet.Intersection(ho_Rectangle, ho_RegionClosing, out ho_RegionIntersection ); ho_RegionClosing1.Dispose(); HOperatorSet.ClosingRectangle1(ho_RegionIntersection, out ho_RegionClosing1, hv_reclenwidth, 1); hv_Rows.Dispose(); hv_Columns.Dispose(); HOperatorSet.GetRegionPoints(ho_RegionClosing1, out hv_Rows, out hv_Columns); hv_Length.Dispose(); HOperatorSet.TupleLength(hv_Columns, out hv_Length); if ((int)(new HTuple(hv_Length.TupleLess(3))) != 0) { continue; } if ((int)(new HTuple((((hv_n + 1) % 2)).TupleEqual(1))) != 0) { using (HDevDisposeHelper dh = new HDevDisposeHelper()) { { HTuple ExpTmpLocalVar_pointxy = (((((((hv_pointxy + (hv_Rows.TupleSelect( 0))) + new HTuple(",")) + (hv_Columns.TupleSelect(0))) + new HTuple(",")) + (hv_Rows.TupleSelect( hv_Length - 1))) + new HTuple(",")) + (hv_Columns.TupleSelect(hv_Length - 1))) + new HTuple(","); hv_pointxy.Dispose(); hv_poin