/************************
 *   作者：CVE-安翀岚
 *   
 *  Vision:1.0.23.1007 (发布使用)
 *  Windows10 X64(PaddleOCR不能部署在32位操作系统上)
 *  PaddleOCR 3.10
 *  Vpro: 9.5 SR2
 *  
 ***********************/


using System;
using System.IO;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
using System.Windows.Forms;
using OfficeOpenXml;

using Cognex.VisionPro;
using Cognex.VisionPro.Comm;
using Cognex.VisionPro.QuickBuild;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro.ToolGroup;
using Cognex.VisionPro.ImageProcessing;
using PaddleOCRSharp;
using AVP.CRobot;
using log4net;
using LogShowLib;
using System.Text.RegularExpressions;
using TetraParkOCR;
using Bjcve.Comm.FFP;
using ThridLibray;
using CLIDelegate;

namespace TetraPackOCR
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            double a = CogMisc.RadToDeg(0.0273672);
            double r1 = Math.Cos((a * Math.PI) / 180);
            double r2 = Math.Sin((a * Math.PI) / 180);
            InitializeComponent();
            LogInit();
        }

        #region 字段 委托

        
        //创建字段log
        ILog log = LogManager.GetLogger(typeof(Form1));
        /// <summary>
        /// 声明一个cc24通讯对象
        /// </summary>
        CC24 cc24;
        /// <summary>
        /// 声明一个PaddleOCR对象
        /// </summary>
        PaddleOCREngine Engine;

        /// <summary>
        ///对应表格"P2生成数据"这一页
        /// </summary>
        ExcelWorksheet sheet1;
        /// <summary>
        /// 对应表格"QSV对应产品规格和梯度"这一页
        /// </summary>
        ExcelWorksheet sheet2;
        /// <summary>
        /// 对应"产品规格对应排布方式"这一页
        /// </summary>
        ExcelWorksheet sheet3;
        /// <summary>
        /// 表格路径
        /// </summary>
        string execlFileName = AppDomain.CurrentDomain.BaseDirectory + "Data\\Excle\\OCR文件0602.xlsx";

        /// <summary>
        /// 共印依据 QSV  Design, Layers, Colours,产品规格
        /// </summary>
        string Sequence, QSV, Design, Layers, Colours, ProductStandard, ord;
        /// <summary>
        /// 幅数 包材宽 梯度  X距离 Y距离
        /// </summary>
        double NumberOfLanes, width, Gradient, DistX, DistY;
        /// <summary>
        /// 定位Vpp文件
        /// </summary>
        string vppdetFile = AppDomain.CurrentDomain.BaseDirectory + "Data\\VPPFile\\liledet.vpp";
        /// <summary>
        /// OCRVpp文件
        /// </summary>
        string vppocrFile = AppDomain.CurrentDomain.BaseDirectory + "Data\\VPPFile\\lileOCR.vpp";
        /// <summary>
        /// 存图路径
        /// </summary>
        string SaveImageFileOCR = AppDomain.CurrentDomain.BaseDirectory + "SaveImage\\OCR";//ocr存图
        string SaveImageFileDET = AppDomain.CurrentDomain.BaseDirectory + "SaveImage\\Det";//ocr存图
        private CogJobManager myJobManager1, myJobManager2;
        private CogJob myJob1, myJob2;

        private string[] verocr = new string[20];

        bool Coprinted_ordeFlag = false; //是否为共印订单旗帜
        bool PlcContinueFlag = false; //PLC状态旗帜
        int mMatchingStr = 0;//接收当前OCR拍照位置

        List<float> ocrAcc = new List<float>();
        /// <summary>
        /// 相机对象 1和2
        /// </summary>
        IDevice m_dev_cam0, m_dev_cam1;
        List<IDeviceInfo> DeviceList;
        public string ImagePixelFormat = ""; //图像格式设置

        delegate void DetResultDelegate(Object Sender, CogJobManagerActionEventArgs e);
        delegate void OcrResultDelegate(Bitmap bmp);
        #endregion

        #region 窗体加载和关闭

        //private void MainPage_SizeChanged(object sender, EventArgs e)
        //{
        //    asf.controlAutoSize(this);
        //}

        /// <summary>
        /// 窗体加载
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Form1_Load(object sender, EventArgs e)
        {
            try
            {
                btn_manualDet.Enabled = false;
                btn_manualOcr.Enabled = false;
                check_Autorun.Enabled = false;
                btn_StarDet_manual.Enabled = false;
                //asf.controllInitializeSize(this);
                log.Info("软件正在加载...");
                Action action = (() =>
                {
                    //InitializeCamer1();
                    //InitializeCamer2();
                    InitializePaddleOCR();
                    myJobManager1 = CogSerializer.LoadObjectFromFile(vppdetFile) as CogJobManager;
                    myJobManager2 = CogSerializer.LoadObjectFromFile(vppocrFile) as CogJobManager;


                    InitializeCC24();

                    log.Info("模型文件加载完成");
                    this.check_Autorun.BackgroundImage = Image.FromFile(Application.StartupPath + "\\logo_image\\ON.png");
                    this.ttls_SystemStatusShow.Visible = true;
                    this.ttls_CamStatusShow.Visible = true;
                    this.Invoke(new Action(() =>
                    {
                        this.btn_manualOcr.Enabled = true;
                        this.btn_manualDet.Enabled = true;
                        check_Autorun.Enabled = true;
                        btn_StarDet_manual.Enabled = true;
                    }));
                });



                Task myTask = new Task(action);

                //实例化一个线程列表
                List<Task> tsk = new List<Task>();

                //将上面的加载vpp工作加入线程列表中
                tsk.Add(myTask);

                //读取线程列表内的工作让cpu为其开辟线程空间并执行程序
                foreach (var iteam in tsk)
                {
                    iteam.Start();

                }

                TaskFactory tskFactory = new TaskFactory();
                tskFactory.ContinueWhenAll(tsk.ToArray(), FlashFormView =>
                {


                    myJob1 = myJobManager1.Job(0);
                    myJob2 = myJobManager2.Job(0);

                    // 注册结果队列事件
                    myJobManager1.UserResultAvailable += new CogJobManager.CogUserResultAvailableEventHandler(DetResult);
                   // myJobManager2.UserResultAvailable += new CogJobManager.CogUserResultAvailableEventHandler(OCRResult);

                });


            }
            catch (Exception ex)
            {
                log.Error(ex.Message);
            }


        }



        /// <summary>
        /// 窗体关闭
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {

            try
            {
                if (myJob1.AcqFifo.FrameGrabber != null)
                {
                    myJob1.AcqFifo.FrameGrabber.Disconnect(true);
                }
                if (myJob2.AcqFifo.FrameGrabber != null)
                {
                    myJob2.AcqFifo.FrameGrabber.Disconnect(true);
                }

                ClossCam();

                // 注销结果队列事件
                myJobManager1.UserResultAvailable -= new CogJobManager.CogUserResultAvailableEventHandler(DetResult);
                //myJobManager2.UserResultAvailable -= new CogJobManager.CogUserResultAvailableEventHandler(OCRResult);
                myJobManager1.Shutdown();
                //myJobManager2.Shutdown();



                CloseCC24();

                Application.DoEvents();
                System.Environment.Exit(0);
            }
            catch
            {
                ClossCam();

                // 注销结果队列事件
                myJobManager1.UserResultAvailable -= new CogJobManager.CogUserResultAvailableEventHandler(DetResult);
                //myJobManager2.UserResultAvailable -= new CogJobManager.CogUserResultAvailableEventHandler(OCRResult);
                myJobManager1.Shutdown();
                //myJobManager2.Shutdown();



                CloseCC24();

                Application.DoEvents();
                System.Environment.Exit(0);
            }
        }

        #endregion

        #region 日志显示初始化

        private void LogInit()
        {
            try
            {
                //实例化日志助手
                LogShowLib.LogHelper lib = new LogShowLib.LogHelper();
                //为log4net导入配置文件
                //若传入目录未找到配置文件，将创建一个LogConfig.xml
                
                log4net.Config.XmlConfigurator.Configure(lib.GetXMLStream(AppDomain.CurrentDomain.BaseDirectory));
            }
            catch (Exception ex)
            {
                MessageBox.Show(string.Format("配置日志出错：{0}", ex.Message));
            }
        }



        #endregion

        #region 相机初始化

        #region 相机1  定义为OCR相机
        private void InitializeCamer1()
        {
            DeviceList = Enumerator.EnumerateDevices(); //发现设备，搜索所有大华相机

           // m_dev_cam0 = Enumerator.GetDeviceByIndex(0);//通过索引获取
            m_dev_cam0 = Enumerator.GetDeviceByKey("Machine Vision:CK21686DAK00001");//通过"设备厂商名:设备序列号"获取
            //m_dev_cam0 = Enumerator.GetDeviceByGigeIP("192.168.20.2");//通过IP地址获取

            m_dev_cam0.CameraOpened += m_dev0_CameraOpened;
            m_dev_cam0.CameraClosed += m_dev0_CameraClosed;
            m_dev_cam0.ConnectionLost += m_dev0_ConnectionLost;

            if(!m_dev_cam0.Open())
            {
                MessageBox.Show("OCR相机打开失败");
            }
            // 设置图像格式 
            // set PixelFormat 
            using (IEnumParameter p = m_dev_cam0.ParameterCollection[ParametrizeNameSet.ImagePixelFormat])
            {
                ImagePixelFormat = "BayerRG8";
                //ImagePixelFormat = "Mono8";
                p.SetValue(ImagePixelFormat);
            }

            // 设置曝光 
            
            using (IFloatParameter p = m_dev_cam0.ParameterCollection[ParametrizeNameSet.ExposureTime])
            {
                p.SetValue(80000);
            }
            // 设置增益 
            
            using (IFloatParameter p = m_dev_cam0.ParameterCollection[ParametrizeNameSet.GainRaw])
            {
                p.SetValue(2.5);
            }
            using (IEnumParameter p = m_dev_cam0.ParameterCollection[ParametrizeNameSet.AcquisitionMode])
            {
                p.SetValue("Continuous");
            }
            using (IEnumParameter p = m_dev_cam0.ParameterCollection[ParametrizeNameSet.TriggerMode])
            {
                p.SetValue("On");
            }
            
            //if (!m_dev_cam0.Open())
            //{
            //    MessageBox.Show(@"OCR相机连接失败");
            //    return;
            //}
            m_dev_cam0.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed_0;
            m_dev_cam0.StreamGrabber.GrabStarted += StreamGrabber_GrabStarted_0;
            // 打开Software Trigger 
            // Set Software Trigger 
            m_dev_cam0.TriggerSet.Open(TriggerSourceEnum.Software);
            if (!m_dev_cam0.GrabUsingGrabLoopThread())
            {

                // 开启采集失败
                log.Error("开启采集失败");
            }
            log.Info("OCR相机加载完毕");
        }
        #endregion

        #region 相机1事件响应  

        void m_dev0_ConnectionLost(object sender, EventArgs e)
        {
            MessageBox.Show(m_dev_cam0.DeviceInfo.Key + "OCR相机断线");
        }

        void m_dev0_CameraClosed(object sender, EventArgs e)
        {
            MessageBox.Show(m_dev_cam0.DeviceInfo.Key + "OCR相机关闭");
        }

        void m_dev0_CameraOpened(object sender, EventArgs e)
        {
            //  MessageBox.Show(m_dev_cam0.DeviceInfo.Key + "启动");
        }

        void StreamGrabber_GrabStarted_0(object sender, EventArgs e)
        {
            log.Info("OCR相机启动码流");
        }

        /// <summary>
        /// 拍照完成后触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void StreamGrabber_ImageGrabbed_0(object sender, GrabbedEventArgs e)
        {
            try
            {
                Bitmap bmp = null;

                bmp = e.GrabResult.ToBitmap(true);

                OCRResult(bmp);
               
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.ToString());
            }
        }
        #endregion

        #region 相机2 定义为定位相机
        private void InitializeCamer2()
        {
            DeviceList = Enumerator.EnumerateDevices(); //发现设备，搜索所有大华相机

            //m_dev_cam1 = Enumerator.GetDeviceByIndex(1);//通过索引获取
            m_dev_cam1 = Enumerator.GetDeviceByKey("Machine Vision:BK27185BAK00038");//通过"设备厂商名:设备序列号"获取
            //m_dev_cam1 = Enumerator.GetDeviceByGigeIP("192.168.10.1");//通过IP地址获取

            m_dev_cam1.CameraOpened += m_dev1_CameraOpened;
            m_dev_cam1.CameraClosed += m_dev1_CameraClosed;
            m_dev_cam1.ConnectionLost += m_dev1_ConnectionLost;

            if (!m_dev_cam1.Open())
            {
                MessageBox.Show("定位相机打开失败");
            }
            // 设置图像格式 
            // set PixelFormat 
            using (IEnumParameter p = m_dev_cam1.ParameterCollection[ParametrizeNameSet.ImagePixelFormat])
            {
                ImagePixelFormat = "Mono";
                p.SetValue(ImagePixelFormat);
            }

            // 设置曝光 

            using (IFloatParameter p = m_dev_cam1.ParameterCollection[ParametrizeNameSet.ExposureTime])
            {
                p.SetValue(80000);
            }
            // 设置增益 

            using (IFloatParameter p = m_dev_cam1.ParameterCollection[ParametrizeNameSet.GainRaw])
            {
                p.SetValue(1.0);
            }
            using (IEnumParameter p = m_dev_cam1.ParameterCollection[ParametrizeNameSet.AcquisitionMode])
            {
                p.SetValue("Continuous");
            }
            using (IEnumParameter p = m_dev_cam1.ParameterCollection[ParametrizeNameSet.TriggerMode])
            {
                p.SetValue("On");
            }
            //if (!m_dev_cam1.Open())
            //{
            //    MessageBox.Show(@"定位相机连接失败");
            //    return;
            //}
            m_dev_cam1.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed_1;
            m_dev_cam1.StreamGrabber.GrabStarted += StreamGrabber_GrabStarted_1;
            // 打开Software Trigger 
            // Set Software Trigger 
            m_dev_cam1.TriggerSet.Open(TriggerSourceEnum.Software);
            if (!m_dev_cam1.GrabUsingGrabLoopThread())
            {

                // 开启采集失败
                log.Error("开启采集失败");
            }
            log.Info("定位相机加载完毕");
        }
        #endregion

        #region 相机2事件响应  

        void m_dev1_ConnectionLost(object sender, EventArgs e)
        {
            MessageBox.Show(m_dev_cam1.DeviceInfo.Key + "定位相机断线");
        }

        void m_dev1_CameraClosed(object sender, EventArgs e)
        {
            MessageBox.Show(m_dev_cam1.DeviceInfo.Key + "定位相机关闭");
        }

        void m_dev1_CameraOpened(object sender, EventArgs e)
        {
            //  MessageBox.Show(m_dev_cam0.DeviceInfo.Key + "启动");
        }

        void StreamGrabber_GrabStarted_1(object sender, EventArgs e)
        {
            log.Info("定位相机启动码流");
        }

        /// <summary>
        /// 拍照完成后触发
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void StreamGrabber_ImageGrabbed_1(object sender, GrabbedEventArgs e)
        {
            try
            {
                Bitmap bmp = null;

                bmp = e.GrabResult.ToBitmap(true);


                
                //Bitmap bmp = new Bitmap(cogimg.ToBitmap());
                MemoryStream ms = new MemoryStream();
                bmp.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
                byte[] bytes = ms.GetBuffer();
                ms.Close();
                //保存DET图像
                if (!Directory.Exists(SaveImageFileDET))
                {
                    Directory.CreateDirectory(SaveImageFileDET);
                }
                string strTime = System.DateTime.Now.ToString("yyyyMMddHHmmss");

                FileStream fs = new FileStream(SaveImageFileDET + '\\' + strTime + ".bmp", FileMode.Create);
                BinaryWriter bw = new BinaryWriter(fs);
                bw.Write(bytes, 0, bytes.Length);
                bw.Close();
                fs.Close();
                log.Info("定位存图已完成");


                CogImage8Grey cogimage = new CogImage8Grey(bmp);

                //把图像给job中convertImagetool
                CogToolGroup myTG = myJob1.VisionTool as CogToolGroup;
                CogToolBlock myTB = myTG.Tools["CogToolBlock1"] as CogToolBlock;
                CogImageConvertTool cogImageConvert = myTB.Tools["CogImageConvertTool1"] as CogImageConvertTool;

                cogImageConvert.InputImage = cogimage;
                //运行jobmanager
                myJobManager1.Run();

            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.ToString());
            }
        }

        #endregion

        #region 相机关闭
        void ClossCam()
        {
            //注销相机事件
            m_dev_cam0.CameraOpened -= m_dev0_CameraOpened;
            m_dev_cam0.CameraClosed -= m_dev0_CameraClosed;
            m_dev_cam0.ConnectionLost -= m_dev0_ConnectionLost;

            m_dev_cam1.CameraOpened -= m_dev1_CameraOpened;
            m_dev_cam1.CameraClosed -= m_dev1_CameraClosed;
            m_dev_cam1.ConnectionLost -= m_dev1_ConnectionLost;

            m_dev_cam0.ShutdownGrab();
            m_dev_cam0.Dispose();
            m_dev_cam0 = null;
            m_dev_cam1.ShutdownGrab();
            m_dev_cam1.Dispose();
            m_dev_cam1 = null;
        }
        #endregion
        #endregion

        #region  OCR模型参数初始化
        private void InitializePaddleOCR()
        {
            //模型初始化    
            OCRModelConfig config = new OCRModelConfig();   //创建一个模型参数设置对象
            string rootPath = System.IO.Path.GetDirectoryName(typeof(OCRModelConfig).Assembly.Location);   //程序的根目录
            config.det_infer = rootPath + @"\Data\OCRModel\det_infer";    //文字检测模型路径
            config.cls_infer = rootPath + @"\Data\OCRModel\cls_infer";    //文本角度模型路径
            config.rec_infer = rootPath + @"\Data\OCRModel\rec_infer";    //文字内容识别模型路径
            //以上三个模型参数的文件路径只需要写到存放的文件夹名称
            //对于字典来说需要写全加上后缀
            config.keys = rootPath + @"\Data\OCRModel\keys\ppocr_keys.txt";         //词典路径

            //OCR参数设置  
            OCRParameter OcrParameter = new OCRParameter();  //创建一个检测参数设置对象
      
            OcrParameter.cpu_math_library_num_threads = 8;//预测并发线程数
            OcrParameter.enable_mkldnn = true;//web部署该值建议设置为0,否则出错，内存如果使用很大，建议该值也设置为0.
            OcrParameter.cls = true; //是否执行文字方向分类；默认false
            OcrParameter.det = true;//是否开启方向检测，用于检测识别180旋转
            OcrParameter.rec = true;
            OcrParameter.use_angle_cls = true;//是否开启方向检测，用于检测识别180旋转
            OcrParameter.det_db_score_mode = true;//是否使用多段线，即文字区域是用多段线还是用矩形，
            OcrParameter.det_db_unclip_ratio = 1.5f;
            OcrParameter.max_side_len = 1280;

            //初始化OCR
            Engine = new PaddleOCREngine(config, OcrParameter);

        }

        #endregion

        #region  按钮事件

        /// <summary>
        /// 自动运行状态改变按钮
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void check_Autorun_CheckedChanged(object sender, EventArgs e)
        {
            if (check_Autorun.Checked)
            {
                //CloseCC24();
                log.Info("PC断开PLC连接,只可进行本地操作。");
                this.check_Autorun.BackgroundImage = Image.FromFile(Application.StartupPath + "\\logo_image\\OFF.png");
                this.panel_Manual.Visible = true;
                this.btn_StarDet_manual.Enabled = false;
                this.ttls_PCLStatusShow.Visible = false;
            }
            else if (!check_Autorun.Checked)
            {
                //InitializeCC24();
                log.Info("PC加载PLC已完成");
                this.check_Autorun.BackgroundImage = Image.FromFile(Application.StartupPath + "\\logo_image\\ON.png");
                this.panel_Manual.Visible = false;
                this.btn_StarDet_manual.Enabled = true;
                this.ttls_PCLStatusShow.Visible = true;
            }
        }

        /// <summary>
        /// 此按钮事件主要是获取excel表格内的数据
        /// 包括定位偏移量，需要验证的字符
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btn_OrderNum_Click(object sender, EventArgs e)
        {
            try
            {
                ClearData();
                ClearDataShow();
                this.Invoke(new Action(() =>
                {
                    this.lbl_L1_verOcrRs.Text = "未启用";
                    this.lbl_L1_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L2_verOcrRs.Text = "未启用";
                    this.lbl_L2_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L3_verOcrRs.Text = "未启用";
                    this.lbl_L3_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L4_verOcrRs.Text = "未启用";
                    this.lbl_L4_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L5_verOcrRs.Text = "未启用";
                    this.lbl_L5_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L6_verOcrRs.Text = "未启用";
                    this.lbl_L6_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L7_verOcrRs.Text = "未启用";
                    this.lbl_L7_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L8_verOcrRs.Text = "未启用";
                    this.lbl_L8_verOcrRs.BackColor = Color.Gray;
                    this.lbl_L9_verOcrRs.Text = "未启用";
                    this.lbl_L9_verOcrRs.BackColor = Color.Gray;
                }));
                this.btn_OrderNum.Enabled = false;
                //通过订单号获取表格中需要的值
                string order = txt_OrderNum.Text;
                string laststr = order.Substring(order.Length - 1);
                if (laststr == "C")
                {
                    Coprinted_ordeFlag = true;
                    if (order == null)
                    {
                        log.Warn("订单号为空，请输入订单号。");
                        //MessageBox.Show("请输入订单号");
                    }
                    else
                    {
                        log.Info("当前订单号为：" + order);
                        //读取表格内容
                        ExcelPackage.LicenseContext = OfficeOpenXml.LicenseContext.NonCommercial;
                        using (ExcelPackage package = new ExcelPackage(execlFileName))
                        {
                            sheet1 = package.Workbook.Worksheets["P2生成数据"];
                            sheet2 = package.Workbook.Worksheets["QSV对应产品规格和梯度"];
                            sheet3 = package.Workbook.Worksheets["产品规格对应排布方式"];
                            //根据订单遍历sheet1  找Sequence QSV NumOFLanes 字符           
                            for (int i = 1; i < sheet1.Dimension.Rows; i++)
                            {
                                if (sheet1.GetValue(i, 3) != null)
                                {
                                    ord = sheet1.Cells[i, 3].Value.ToString();
                                }
                                else
                                {
                                    ord = null;
                                }
                                if (ord == order)
                                {
                                    Sequence = sheet1.Cells[i, 2].Value.ToString();
                                    QSV = sheet1.Cells[i, 4].Value.ToString();
                                    this.lbl_QSVShow.Text = QSV;
                                    log.Info("当前订单QSV:" + QSV);
                                    NumberOfLanes = Convert.ToInt32(sheet1.Cells[i, 5].Value.ToString());
                                    log.Info("当前订单Number Of Lanes:" + NumberOfLanes);
                                    this.lbl_NOFShow.Text = sheet1.Cells[i, 5].Value.ToString();

                                    ////获取字符 并显示在界面还需处理先预留在这   共印订单不在这取字符
                                    //Design = sheet1.Cells[i, 7].Value.ToString();
                                    //Layers = sheet1.Cells[i, 8].Value.ToString();
                                    //Colours = sheet1.Cells[i, 9].Value.ToString();

                                    //lbl_verOcrShow.Text = ExecelGetOcrDealWithForShow(Design, Layers, Colours);
                                    break;
                                }



                            }

                            if (Sequence != null)
                            {
                                for (int i = 1; i < sheet1.Dimension.Rows; i++)
                                {
                                    string seq;
                                    if (sheet1.GetValue(i, 2) != null)
                                    {
                                        seq = sheet1.Cells[i, 2].Value.ToString();
                                    }
                                    else
                                    {
                                        seq = null;
                                    }
                                    if (seq == Sequence)
                                    {
                                        Design = sheet1.Cells[i, 7].Value.ToString();
                                        Layers = sheet1.Cells[i, 8].Value.ToString();
                                        Colours = sheet1.Cells[i, 9].Value.ToString();
                                        string Lane = sheet1.Cells[i, 6].Value.ToString();
                                        Lane = Lane.Replace("[", ""); Lane = Lane.Replace("]", "");
                                        string[] lans = Lane.Split(',');
                                        for (int j = 0; j < lans.Length; j++)
                                        {
                                            verocr[Convert.ToInt32(lans[j])] = ExecelGetOcrDealWithForShow(Design, Layers);
                                        }

                                    }
                                }
                            }

                            if (QSV != null)
                            {
                                string qsv;
                                //根据得到的QSV遍历sheet2  找产品规格和宽度梯度
                                for (int j = 1; j <= sheet2.Dimension.Rows; j++)
                                {
                                    qsv = sheet2.Cells[j, 1].Value.ToString();
                                    if (qsv == QSV)
                                    {
                                        ProductStandard = sheet2.Cells[j, 2].Value.ToString();
                                        this.lbl_ProductStandardShow.Text = ProductStandard;
                                        log.Info("当前订单产品编号:" + ProductStandard);
                                        width = Convert.ToDouble(sheet2.Cells[j, 3].Value.ToString());
                                        this.lbl_widthShow.Text = sheet2.Cells[j, 3].Value.ToString();
                                        log.Info("当前订单幅宽:" + width);
                                        Gradient = Convert.ToDouble(sheet2.Cells[j, 4].Value.ToString());
                                        this.lbl_GradientShow.Text = sheet2.Cells[j, 4].Value.ToString();
                                        log.Info("当前订单梯度:" + Gradient);
                                    }
                                }
                                string str, ps;

                                //根据产品规格获取距离坐标 
                                for (int n = 1; n < sheet3.Dimension.Rows; n++)
                                {

                                    if (sheet3.GetValue(n, 1) != null)
                                    {
                                        ps = sheet3.Cells[n, 1].Value.ToString();
                                    }
                                    else
                                    {
                                        ps = null;
                                    }
                                    if (ps == null)
                                    {
                                        continue;
                                    }
                                    else if (ps == ProductStandard)//应该有另一个条件一同决定
                                    {
                                        str = sheet3.Cells[n, 4].Value.ToString();
                                        string[] x_y = str.Split(',');
                                        string[] X = x_y[0].Split(':');
                                        string[] Y = x_y[1].Split(':');
                                        DistX = Convert.ToDouble(X[1].Replace("mm", ""));
                                        this.lbl_DistXShow.Text = X[1].Replace("mm", "");
                                        log.Info("当前订单X偏移:" + DistX);
                                        DistY = Convert.ToDouble(Y[1].Replace("mm", ""));
                                        this.lbl_DistYShow.Text = Y[1].Replace("mm", "");
                                        log.Info("当前订单Y偏移:" + DistY);
                                    }
                                }
                                log.Info("相关数据已获取完成，且已显示在界面中，请查看。");
                            }
                            else
                            {
                                log.Debug("请检查订单号是否正确");
                            }
                        }
                    }
                }
                else
                {
                    Coprinted_ordeFlag = false;
                    if (order == null)
                    {
                        log.Warn("订单号为空，请输入订单号。");
                        //MessageBox.Show("请输入订单号");
                    }
                    else
                    {
                        log.Info("当前订单号为：" + order);
                        //读取表格内容
                        ExcelPackage.LicenseContext = OfficeOpenXml.LicenseContext.NonCommercial;
                        using (ExcelPackage package = new ExcelPackage(execlFileName))
                        {
                            sheet1 = package.Workbook.Worksheets["P2生成数据"];
                            sheet2 = package.Workbook.Worksheets["QSV对应产品规格和梯度"];
                            sheet3 = package.Workbook.Worksheets["产品规格对应排布方式"];
                            //根据订单遍历sheet1  找QSV NumOFLanes 字符           
                            for (int i = 1; i < sheet1.Dimension.Rows; i++)
                            {
                                if (sheet1.GetValue(i, 3) != null)
                                {
                                    ord = sheet1.Cells[i, 3].Value.ToString();
                                }
                                else
                                {
                                    ord = null;
                                }
                                if (ord == order)
                                {
                                    QSV = sheet1.Cells[i, 4].Value.ToString();
                                    this.lbl_QSVShow.Text = QSV;
                                    log.Info("当前订单QSV:" + QSV);
                                    NumberOfLanes = Convert.ToInt32(sheet1.Cells[i, 5].Value.ToString());
                                    log.Info("当前订单Number Of Lanes:" + NumberOfLanes);
                                    this.lbl_NOFShow.Text = sheet1.Cells[i, 5].Value.ToString();

                                    //获取字符 并显示在界面还需处理先预留在这
                                    Design = sheet1.Cells[i, 7].Value.ToString();
                                    Layers = sheet1.Cells[i, 8].Value.ToString();
                                    Colours = sheet1.Cells[i, 9].Value.ToString();

                                    lbl_verOcrShow.Text = ExecelGetOcrDealWithForShow(Design, Layers);
                                }

                            }
                            if (QSV != null)
                            {
                                string qsv;
                                //根据得到的QSV遍历sheet2  找产品规格和宽度梯度
                                for (int j = 1; j <= sheet2.Dimension.Rows; j++)
                                {
                                    qsv = sheet2.Cells[j, 1].Value.ToString();
                                    if (qsv == QSV)
                                    {
                                        ProductStandard = sheet2.Cells[j, 2].Value.ToString();
                                        this.lbl_ProductStandardShow.Text = ProductStandard;
                                        log.Info("当前订单产品编号:" + ProductStandard);
                                        width = Convert.ToDouble(sheet2.Cells[j, 3].Value.ToString());
                                        this.lbl_widthShow.Text = sheet2.Cells[j, 3].Value.ToString();
                                        log.Info("当前订单幅宽:" + width);
                                        Gradient = Convert.ToDouble(sheet2.Cells[j, 4].Value.ToString());
                                        this.lbl_GradientShow.Text = sheet2.Cells[j, 4].Value.ToString();
                                        log.Info("当前订单梯度:" + Gradient);
                                    }
                                }
                                string str, ps;

                                //根据产品规格获取距离坐标 
                                for (int n = 1; n < sheet3.Dimension.Rows; n++)
                                {

                                    if (sheet3.GetValue(n, 1) != null)
                                    {
                                        ps = sheet3.Cells[n, 1].Value.ToString();
                                    }
                                    else
                                    {
                                        ps = null;
                                    }
                                    if (ps == null)
                                    {
                                        continue;
                                    }
                                    else if (ps == ProductStandard)//应该有另一个条件一同决定
                                    {
                                        str = sheet3.Cells[n, 4].Value.ToString();
                                        string[] x_y = str.Split(',');
                                        string[] X = x_y[0].Split(':');
                                        string[] Y = x_y[1].Split(':');
                                        DistX = Convert.ToDouble(X[1].Replace("mm", ""));
                                        this.lbl_DistXShow.Text = X[1].Replace("mm", "");
                                        log.Info("当前订单X偏移:" + DistX);
                                        DistY = Convert.ToDouble(Y[1].Replace("mm", ""));
                                        this.lbl_DistYShow.Text = Y[1].Replace("mm", "");
                                        log.Info("当前订单Y偏移:" + DistY);
                                    }
                                }
                                log.Info("相关数据已获取完成，且已显示在界面中，请查看。");
                            }
                            else
                            {
                                log.Debug("请检查订单号是否正确");
                            }
                        }
                    }
                }
                ///判断当前Lans决定结果显示数量
                switch (NumberOfLanes)
                {
                    case 1:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 2:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 3:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 4:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 5:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L5_verOcrRs.Text = "启用";
                            this.lbl_L5_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 6:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L5_verOcrRs.Text = "启用";
                            this.lbl_L5_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L6_verOcrRs.Text = "启用";
                            this.lbl_L6_verOcrRs.BackColor = Color.Yellow;

                        }));
                        break;
                    case 7:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L5_verOcrRs.Text = "启用";
                            this.lbl_L5_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L6_verOcrRs.Text = "启用";
                            this.lbl_L6_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L7_verOcrRs.Text = "启用";
                            this.lbl_L7_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 8:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L5_verOcrRs.Text = "启用";
                            this.lbl_L5_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L6_verOcrRs.Text = "启用";
                            this.lbl_L6_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L7_verOcrRs.Text = "启用";
                            this.lbl_L7_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L8_verOcrRs.Text = "启用";
                            this.lbl_L8_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                    case 9:
                        this.Invoke(new Action(() =>
                        {
                            this.lbl_L1_verOcrRs.Text = "启用";
                            this.lbl_L1_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L2_verOcrRs.Text = "启用";
                            this.lbl_L2_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L3_verOcrRs.Text = "启用";
                            this.lbl_L3_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L4_verOcrRs.Text = "启用";
                            this.lbl_L4_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L5_verOcrRs.Text = "启用";
                            this.lbl_L5_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L6_verOcrRs.Text = "启用";
                            this.lbl_L6_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L7_verOcrRs.Text = "启用";
                            this.lbl_L7_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L8_verOcrRs.Text = "启用";
                            this.lbl_L8_verOcrRs.BackColor = Color.Yellow;
                            this.lbl_L9_verOcrRs.Text = "启用";
                            this.lbl_L9_verOcrRs.BackColor = Color.Yellow;
                        }));
                        break;
                }

                this.btn_OrderNum.Enabled = true;

            }
            catch (Exception ex)
            {
                log.Error(ex.Message + "请检查订单号是否正确,数据表中并无此订单号");
                this.btn_OrderNum.Enabled = true;
            }
        }
        /// <summary>
        /// 手动ocr
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btn_manualOcr_Click(object sender, EventArgs e)
        {
            m_dev_cam0.ExecuteSoftwareTrigger();//相机1触发 = OCR拍照
            log.Info("手动触发OCR");
        }
        /// <summary>
        /// 手动定位
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btn_manualDet_Click(object sender, EventArgs e)
        {
            m_dev_cam1.ExecuteSoftwareTrigger();
            log.Info("手动触发定位");
        }
        private void btn_StarDet_manual_Click(object sender, EventArgs e)
        {
            m_dev_cam1.ExecuteSoftwareTrigger();
            log.Info("手动触发开始");
        }

        /// <summary>
        /// 字符排序
        /// </summary>
        /// <param name="d">设计</param>
        /// <param name="l"></param>
        /// <param name="c"></param>
        /// <returns></returns>
        private string ExecelGetOcrDealWithForShow(string d, string l)
        {
            string rescult = "";
            string[] dd = d.Split('-');
            //for (int i = 0; i < dd.Length-1; i++)
            //{
            //    rescult = rescult + dd[0];
            //}
            //rescult = dd[0].Remove(0, 1);
            string[] ll = l.Split(',');
            for (int i = 0; i < ll.Length; i++)
            {
                ll[i] = ll[i].Replace(" ", ""); ll[i] = ll[i].Replace("[", ""); ll[i] = ll[i].Replace("]", "");
                string[] str = ll[i].Split('-');
                rescult = rescult + dd[1]+ str[1] + str[0];
            }
            return rescult;
        }
        /// <summary>
        /// 清空上次订单数据
        /// </summary>
        void ClearData()
        {

            QSV = null; Design = null; Layers = null; Colours = null; ProductStandard = null; ord = null;
            NumberOfLanes = 0; width = 0; Gradient = 0; DistX = 0; DistY = 0;
        }
        /// <summary>
        /// 清空上次订单显示区
        /// </summary>
        void ClearDataShow()
        {
            lbl_QSVShow.Text = "";
            lbl_NOFShow.Text = "";
            lbl_ProductStandardShow.Text = "";
            lbl_widthShow.Text = "";
            lbl_GradientShow.Text = "";
            lbl_DistXShow.Text = "";
            lbl_DistYShow.Text = "";
            lbl_verOcrShow.Text = "";


        }

        private void txt_OrderNum_KeyDown(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                this.btn_OrderNum_Click(sender, e);
            }
        }
        #endregion

        #region PLC触发相机

        #region 定位相机拍照触发处理函数
        /// <summary>
        /// 定位相机拍照信号过来程序需要进行的操作
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void DetCamTriger()
        {
            log.Info("PLC触发定位相机，正在拍照计算...");
            try
            {
                m_dev_cam1.ExecuteSoftwareTrigger();

            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
        #endregion

        #region OCR相机拍照触发处理函数
        /// <summary>
        /// OCR相机拍照信号过来需要进行的操作
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OcrCamTriger()
        {
            log.Info("PLC触发OCR相机，正在拍照计算...");
            try
            {
                m_dev_cam0.ExecuteSoftwareTrigger();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
        #endregion

        #endregion

        #region 结果处理

        #region 定位结果处理
        public void DetResult(object sender, CogJobManagerActionEventArgs e)
        {
            try
            {
                if (InvokeRequired)
                {
                    Invoke(new DetResultDelegate(DetResult), new object[] { sender, e });
                    return;
                }
                //清除上次的结果显示
                this.lbl_XShow.Text = "";
                this.lbl_YShow.Text = "";
                this.lbl_RShow.Text = "";

                CogToolGroup myTG = myJob1.VisionTool as CogToolGroup;
                CogToolBlock myTB = myTG.Tools["CogToolBlock1"] as CogToolBlock;
                CogPMAlignTool myPMA = myTB.Tools["CogPMAlignTool2"] as CogPMAlignTool;
                CogImageConvertTool myImage = myTB.Tools["CogImageConvertTool1"] as CogImageConvertTool;

                ////把vpro图像转为bitmap
                //ICogImage cogimg = myImage.OutputImage;
                //Bitmap bmp = new Bitmap(cogimg.ToBitmap());
                //MemoryStream ms = new MemoryStream();
                //bmp.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
                //byte[] bytes = ms.GetBuffer();
                //ms.Close();
                ////保存DET图像
                //if (!Directory.Exists(SaveImageFileDET))
                //{
                //    Directory.CreateDirectory(SaveImageFileDET);
                //}
                //string strTime = System.DateTime.Now.ToString("yyyyMMddHHmmss");

                //FileStream fs = new FileStream(SaveImageFileDET + '\\' + strTime + ".bmp", FileMode.Create);
                //BinaryWriter bw = new BinaryWriter(fs);
                //bw.Write(bytes, 0, bytes.Length);
                //bw.Close();
                //fs.Close();
                //log.Info("定位存图已完成");


                Location_Display.Image = myPMA.InputImage;
                Location_Display.StaticGraphics.Clear();
                Location_Display.InteractiveGraphics.Clear();
                Location_Display.Fit();
                if (myPMA.Results != null)
                {
                    int i = GetXYRonRightDown(myPMA.Results);//获取视野中最右下边的K标志坐标的索引
                    double xx = myPMA.Results[i].GetPose().TranslationX;
                    double yy = myPMA.Results[i].GetPose().TranslationY;
                    double rr = CogMisc.RadToDeg(myPMA.Results[i].GetPose().Rotation);

                    this.lbl_XShow.Text = xx.ToString();
                    this.lbl_YShow.Text = yy.ToString();
                    this.lbl_RShow.Text = rr.ToString();

                    //画模型轮廓
                    CogCompositeShape shape = myPMA.Results[i].CreateResultGraphics(CogPMAlignResultGraphicConstants.MatchFeatures);
                    CogCompositeShape shape1 = myPMA.Results[i].CreateResultGraphics(CogPMAlignResultGraphicConstants.CoordinateAxes);
                    this.Location_Display.InteractiveGraphics.Add(shape, "", false);
                    this.Location_Display.InteractiveGraphics.Add(shape1, "", false);
                    //画定位的十字点
                    CPMARunStatus.DrawPointMarker(xx, yy, CogMisc.DegToRad(rr), CogColorConstants.Orange, Location_Display, ".");
                    log.Info("定位计算已完成。");
                    sendToPLC(xx, yy, rr);
                }
                else
                {
                    log.Info("没有定位到K标志,请查看图像或相机是否正常");
                }
            }
            catch (Exception ex)
            {
                log.Error(ex.Message + "未检测到K标志");
                if (this.check_Autorun.Checked == false)
                {
                    byte[] datax = DataConverter.FloatToByte(0.0f, true);
                    cc24?.NotifyCamInspectionComplete(0, datax);
                    cc24?.NotifyCamAcqComplete(0);
                }
            }
        }

        /// <summary>
        /// 获取右下角定位标志坐标
        /// </summary>
        /// <param name="Results">PatMAX结果</param>
        /// <returns></returns>
        private int GetXYRonRightDown(CogPMAlignResults Results)
        {
           
            int i=0;
            double[] xx = new double[Results.Count], yy = new double[Results.Count], rr = new double[Results.Count];
            //第一次循环将所有坐标取出
            for (int j = 0; j < Results.Count; j++)
            {
                xx[j] = Results[j].GetPose().TranslationX;
                yy[j] = Results[j].GetPose().TranslationY;
                rr[j] = CogMisc.RadToDeg(Results[j].GetPose().Rotation);
            }
            if (Results.Count == 1)
            {
                i= 0;
            }
            else if (Results.Count == 2)
            {
                double Xdist,Ydist;
                Xdist = Math.Abs(xx[0] - xx[1]);
                Ydist = Math.Abs(yy[0] - yy[1]);
                if (Xdist>Ydist)
                {
                    i= Array.IndexOf(xx, xx.Min());
                }
                else if(Xdist<Ydist)
                {
                    i= Array.IndexOf(yy, yy.Max());
                }

            }
            else
            {
                double averageX = xx.Average();
                //第二次循环保留x比平均x值小的元素
                for (int j = 0; j < Results.Count; j++)
                {
                    if (averageX < xx[j])
                    {
                        xx[j] = -9999;
                        yy[j] = -9999;
                    }
                }
                //找出保留元素中Y值最大的
                i = Array.IndexOf(yy, yy.Max());
                
            }
        return i;
        }
        #endregion

        #region 排序算法
         List<Point> paixu(List<Point> points)
        {
            int rowDistance = 50;
            List<List<Point>> rows = new List<List<Point>>();

            for (int i = 0; i < points.Count; i++)
            {
                List<Point> row = new List<Point>();
                row.Add(points[i]);

                for (int j = i + 1; j < points.Count; j++)
                {
                    if (Math.Abs(points[j].y - points[i].y) < rowDistance)
                    {
                        row.Add(points[j]);
                    }
                }

                rows.Add(row);
            }

            List<Point> sortedPoints = new List<Point>();

            foreach (List<Point> row in rows)
            {
                row.Sort((x, y) => x.x - y.x);
                foreach (Point point in row)
                {
                    if (!sortedPoints.Contains(point))
                    {
                        sortedPoints.Add(point);

                    }

                }
            }

            return sortedPoints;
        }
        //ai suggest① 先按 y 排序 → ② 一次扫描把相邻且 Δy<50 的点归并成同一行 → ③ 每行内部按 x 排序 → ④ 按行收集。
        //List<Point> paixu(List<Point> points)
        //{
        //    const int rowDistance = 50;
        //    if (points.Count == 0) return new List<Point>();

        //    // 1. 先按纵坐标排序
        //    var src = points.OrderBy(p => p.y).ThenBy(p => p.x).ToList();

        //    var rows = new List<List<Point>>();
        //    List<Point> curRow = new List<Point> { src[0] };
        //    float baseY = src[0].y;

        //    // 2. 一次扫描分好行
        //    for (int i = 1; i < src.Count; i++)
        //    {
        //        if (Math.Abs(src[i].y - baseY) < rowDistance)
        //        {
        //            curRow.Add(src[i]);
        //        }
        //        else
        //        {
        //            rows.Add(curRow);
        //            curRow = new List<Point> { src[i] };
        //            baseY = src[i].y;
        //        }
        //    }
        //    rows.Add(curRow);   // 别忘了最后一行

        //    // 3. 行内再按 x 排一次（虽然 OrderBy 已做过，保险）
        //    foreach (var row in rows)
        //        row.Sort((a, b) => a.x.CompareTo(b.x));

        //    // 4. 按行先后汇总
        //    var sorted = new List<Point>();
        //    foreach (var row in rows)
        //        sorted.AddRange(row);

        //    return sorted;
        //}
        #endregion

        #region OCR结果处理
        private void OCRResult(Bitmap bmp)
        {
            try
            {
                if (InvokeRequired)
                {
                    Invoke(new OcrResultDelegate(OCRResult), new object[] { bmp });
                    return;
                }

                //CogToolGroup myTG = myJob2.VisionTool as CogToolGroup;
                //CogAcqFifoTool myImage = myTG.Tools["CogAcqFifoTool1"] as CogAcqFifoTool;

                //把vpro图像先转为bitmap
                //ICogImage cogimg = myImage.OutputImage;
                //Bitmap bmp = new Bitmap(cogimg.ToBitmap());      //有时会丢图cogimg为空，改为SDK取图
                MemoryStream ms = new MemoryStream();
                bmp.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
                byte[] bytes = ms.GetBuffer();
                ms.Close();
                string strtimef = DateTime.Now.ToString("yyyy-MM-dd");
                //保存ocr图像
                if (!Directory.Exists(SaveImageFileOCR + '\\' + strtimef))
                {
                    Directory.CreateDirectory(SaveImageFileOCR + '\\' + strtimef);
                }
                string strTime = System.DateTime.Now.ToString("yyyyMMddHHmmss");
                //string strtimef = DateTime.Now.ToString("yyyy-MM-dd");
                FileStream fs = new FileStream(SaveImageFileOCR + '\\' + strtimef + '\\' + strTime + ".bmp", FileMode.Create);
                BinaryWriter bw = new BinaryWriter(fs);
                bw.Write(bytes, 0, bytes.Length);
                bw.Close();
                fs.Close();
                log.Info("OCR存图已完成");

                CutPicture(SaveImageFileOCR + '\\' + strtimef + '\\' + strTime + ".bmp", 200, 1400, 5052, 1600);
                //List<PointD> temps = new List<PointD>();
                
                GetOCRImage getOCRImage = new GetOCRImage();
                GetOCRImage.FileTimeInfo file = getOCRImage.GetLatesFileImageName(SaveImageFileOCR + '\\' + strtimef, ".bmp");
                if (file != null)
                {
                    byte[] ocrimagebyte = File.ReadAllBytes(file.FileName);
                    Bitmap Bmp = new Bitmap(new MemoryStream(ocrimagebyte));
                    List<string> lastocr = new List<string>();  
                    OCRResult ocrResult = Engine.DetectText(ocrimagebyte);


                    //    log.Debug("读取原始数据1：" + ocrResult.JsonText);
                    List<Point> pointsList = new List<Point>();
                    
                    string[] sd = Design.Split('-');
                    foreach (var item in ocrResult.TextBlocks)    //将检测框绘制在图片上
                    {
                        if (item.Text.Contains(sd[1]))
                        {
                            using (Graphics g = Graphics.FromImage(Bmp))
                            {
                                g.DrawPolygon(new Pen(Brushes.Red, 2), item.BoxPoints.Select(x => new PointF() { X = x.X, Y = x.Y }).ToArray());
                            }
                            //lastocr.Add(item.Text);
                            
                            pointsList.Add(new Point(item.BoxPoints[0].X, item.BoxPoints[0].Y,item.Text));
                            
                        }
                    }

                    List<Point> paixujeguo = paixu(pointsList);
                    foreach (var it in paixujeguo)
                    {
                        lastocr.Add(it.txt);
                    }



                    //对图像显示区更新
                    Ocr_picBox.BackgroundImage = null;
                    Ocr_picBox.BackgroundImage = Bmp;

                    txt_readOcrResultShow.Clear();

                    if (!Coprinted_ordeFlag) //判断是否为共印订单
                    {
                        txt_readOcrResultShow.Text = GETOCR(lastocr, Design);
                        log.Info("字符读取结果：" + GETOCR(lastocr, Design));

                        int distance = CalculateAcc(ExecelGetOcrDealWithForShow(Design, Layers), GETOCR(lastocr, Design));
                        float maxLength = Math.Max(ExecelGetOcrDealWithForShow(Design, Layers).Length, GETOCR(lastocr, Design).Length);
                        float strSimilarity = (maxLength - distance) / maxLength;
                        ShowTheLansRs(mMatchingStr, strSimilarity);
                    }
                    else
                    {
                        txt_readOcrResultShow.Text = GETOCR(lastocr, Design);
                        log.Info("字符读取结果：" + GETOCR(lastocr, Design));

                        int distance = CalculateAcc(verocr[mMatchingStr], GETOCR(lastocr, Design));
                        float maxLength = Math.Max(verocr[mMatchingStr].Length, GETOCR(lastocr, Design).Length);
                        float strSimilarity = (maxLength - distance) / maxLength;

                        ShowTheLansRs(mMatchingStr, strSimilarity);

                    }

                    if (this.check_Autorun.Checked == false)
                    {
                        byte[] datas = DataConverter.FloatToByte(0.0f);

                        cc24?.NotifyCamAcqComplete(1); //通知PLC OCR相机已完成采集
                        cc24?.NotifyCamInspectionComplete(1, datas);
                    }
                }
        }
            catch (Exception ex)
            {
            log.Error(ex.Message + "未检测到字符");
            if (this.check_Autorun.Checked == false)
            {
            byte[] datax = DataConverter.FloatToByte(0.0f, true);
            cc24?.NotifyCamInspectionComplete(1, datax);
            cc24?.NotifyCamAcqComplete(1);
        }
        }
    }

        #region 图片裁剪
        private void CutPicture(String picPath, int x, int y, int width, int height)
        {
            //图片路径
            String oldPath = picPath;
            //新图片路径
            String newPath = System.IO.Path.GetExtension(oldPath);
            //计算新的文件名，在新文件名后加_new
            newPath = oldPath.Substring(0, oldPath.Length - newPath.Length) + "_new"+ mMatchingStr + newPath;
            //定义截取矩形
            System.Drawing.Rectangle cropArea = new System.Drawing.Rectangle(x, y, width, height);
            //要截取的区域大小
            //加载图片
            System.Drawing.Image img = System.Drawing.Image.FromStream(new System.IO.MemoryStream(System.IO.File.ReadAllBytes(oldPath)));
            //判断超出的位置否
            if ((img.Width < x + width) || img.Height < y + height)
            {
                MessageBox.Show("裁剪尺寸超出原有尺寸！");
                img.Dispose();
                return;
            }
            //定义Bitmap对象
            System.Drawing.Bitmap bmpImage = new System.Drawing.Bitmap(img);
            //进行裁剪
            System.Drawing.Bitmap bmpCrop = bmpImage.Clone(cropArea, bmpImage.PixelFormat);
            //保存成新文件
            bmpCrop.Save(newPath);
            //释放对象
            img.Dispose();
            bmpCrop.Dispose();
        }
        #endregion



        /// <summary>
        /// 使用正则表达式提取结果
        /// </summary>
        /// <param name="readOCR">读到的所有字符</param>
        /// <param name="design">设计</param>
        /// <param name="colours"></param>
        /// <returns></returns>
        private string GETOCR(List<string> readOCR, string design)
        {
            string ocrresult="";
            string[] d = design.Split('-');
            string pattern = @""+d[1]+"[A-Z0-9]{8}";
            for (int i = 0; i < readOCR.Count; i++)
            {
                readOCR[i]=readOCR[i].Replace("_", "");
                readOCR[i] = readOCR[i].Replace(" ", "");
            }
            MatchCollection matchResults;
            
                try
            {
                foreach (var item in readOCR)
                {
                        matchResults = Regex.Matches(item, pattern);
                        for (int i = 0; i < matchResults.Count; i++)
                        {
                            ocrresult = ocrresult + matchResults[i];
                        } 
                }
            }
            catch
            {
                ocrresult = null;
            }
            if (ocrresult != null)
            {
                return ocrresult;
            }
            else
            {
                return "未能匹配到对应字符请查看产品是否超标，或订单号是否正确";
            }
        }
        /// <summary>
        /// 使用Levenshtein Distance计算字符串相似度
        /// </summary>
        /// <param name="readocr">excel取到的验证字符</param>
        /// <param name="getocr">读取到的字符</param>
        int CalculateAcc(string readocr, string getocr)
        {
            int columnSize = getocr.Length;
            int rowSize = readocr.Length;
            if (columnSize == 0)
            {
                return rowSize;
            }
            if (rowSize == 0)
            {
                return columnSize;
            }
            int[,] matrix = new int[rowSize + 1, columnSize + 1];
            for (int i = 0; i <= columnSize; i++)
            {
                matrix[0, 1] = i;//ai提示此处应为matrix[0,i]=i;
            }
            for (int j = 1; j <= rowSize; j++)//ai提示此处应为j=0
            {
                matrix[j, 0] = j;
            }

            for (int i = 0; i < rowSize; i++)
            {
                for (int j = 0; j < columnSize; j++)
                {
                    int sign;
                    if (getocr[j].Equals(readocr[i]))
                        sign = 0;
                    else
                        sign = 1;
                    matrix[i + 1, j + 1] = Math.Min(Math.Min(matrix[i, j] + sign, matrix[i + 1, j] + 1), matrix[i, j + 1] + 1);
                }
            }

            return matrix[rowSize, columnSize];

        }
        /// <summary>
        /// 将结果显示在对应状态栏
        /// </summary>
        /// <param name="mM">PLC给的当前在第几道拍照</param>
        /// <param name="s">OCR字符相似度结果</param>
        void ShowTheLansRs(float mM, float s)
        {
            int mMnum = Convert.ToInt32(mM);
            //s = 1;//**************************************************************************************************注意
            switch (mMnum)
            {
                case 1:
                    this.lbl_L1_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L1_verOcrRs.BackColor = Color.Red;
                    }
                    else if(s>0.9 & s<1)
                    {
                        lbl_L1_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s);
                    this.lbl_L1_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 2:
                    this.lbl_L2_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L2_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L2_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s); 
                    this.lbl_L2_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 3:
                    this.lbl_L3_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L3_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L3_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s);
                    this.lbl_L3_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 4:
                    this.lbl_L4_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L4_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L4_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s); 
                    this.lbl_L4_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 5:
                    this.lbl_L5_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L5_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L5_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s);
                    this.lbl_L5_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 6:
                    this.lbl_L6_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L6_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L6_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s);
                    this.lbl_L6_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 7:
                    this.lbl_L7_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L7_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L7_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s);
                    this.lbl_L7_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 8:
                    this.lbl_L8_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L8_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L8_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s); 
                    this.lbl_L8_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
                case 9:
                    this.lbl_L9_verOcrRs.BackColor = Color.Lime;
                    if (s < 0.9)
                    {
                        lbl_L9_verOcrRs.BackColor = Color.Red;
                    }
                    else if (s > 0.9 & s < 1)
                    {
                        lbl_L9_verOcrRs.BackColor = Color.Lime;
                        s = 1;
                    }
                    ocrAcc.Add(s); 
                    this.lbl_L9_verOcrRs.Text = s * 100 + "%";
                    log.Info("字符对比结果：当前第" + mMnum + "道的读取字符与验证字符相似度为" + s * 100 + "%");
                    break;
            }
        }
        #endregion

        #endregion

        #region 通讯相关

        #region 通讯初始化
        void InitializeCC24()
        {
            try
            {
                cc24 = new CC24();

                cc24.VisionReceivedNewUserData += CC24_NewUserDataReceived;
                cc24.PlcConnectionStatusChanged += CC24_PlcConnectionStatusChanged;
                cc24.PlcTriggerCamAcqStart += CC24_PlcTriggerCamAcqStart;
                cc24.PlcTriggerCamAcqStop += CC24_PlcTriggerCamAcqStop;
                cc24.NotifyCamAcqEnabled += CC24_NotifyCamAcqEnabled;
                cc24.NotifyCamAcqDisabled += CC24_NotifyCamAcqDisabled;



                cc24.Initialize();
                cc24.NotifyCamAcqEnable(0);
                cc24.NotifyCamAcqEnable(1);

                this.Invoke(new Action(() =>
                {
                    if (cc24.SignalState.PlcConnectionStatus)
                    {
                        ttls_PCLStatusShow.Visible = true;
                    }
                    else
                    {
                        ttls_PCLStatusShow.Visible = false;

                    }
                }));

            }
            catch (Exception ex)
            {
                log.Error($"CommCard Initialize Error: {ex.Message}");
            }

        }
        #endregion

        #region 相机采集使能状态
        private void CC24_NotifyCamAcqEnabled(int cameraIndex, bool isEnabled)
        {

            this.Invoke(new Action(() =>
            {
                if (isEnabled)
                {
                    this.ttls_AcqEnableShow.Visible = true;
                }
                else
                {
                    this.ttls_AcqEnableShow.Visible = false;
                }
            }));
        }

        private void CC24_NotifyCamAcqDisabled(int cameraIndex, bool isEnabled)
        {
            this.Invoke(new Action(() =>
            {
                if (isEnabled)
                {
                    this.ttls_AcqEnableShow.Visible = true;
                }
                else
                {
                    this.ttls_AcqEnableShow.Visible = false;
                }
            }));

        }
        #endregion

        #region 接收PLC数据
        void CC24_NewUserDataReceived(object sender, CogNdmNewUserDataEventArgs e)
        {
            if (InvokeRequired)
            {
                Invoke(new CogNdmNewUserDataEventHandler(CC24_NewUserDataReceived), new object[] { sender, e });
                return;
            }

            byte[] data = cc24.ReadBytesFromPLC(0, 4);

            float mMatchingStrf = DataConverter.ByteToFloat(data, true);
            mMatchingStr = Convert.ToInt32(mMatchingStrf);

            log.Info("PC接收PLC数据：数据内容：" + mMatchingStr);
            if (NumberOfLanes+1 == mMatchingStr)
            {
               if(ocrAcc.Min()<0.95) 
                {
                    MessageBox.Show("当前检测中出现严重错误请注意!",this.Text, MessageBoxButtons.OK,MessageBoxIcon.Error);
                }
               else if(ocrAcc.Min()>0.95 & ocrAcc.Min()<1)
                {
                    MessageBox.Show("当前检测中出现可允许误差请注意!", this.Text, MessageBoxButtons.OK, MessageBoxIcon.Information);
                }
                ocrAcc.Clear();
            }
            
        }
        #endregion

        #region 接收触发相机信号
        void CC24_PlcTriggerCamAcqStart(object sender, CogNdmTriggerAcquisitionEventArgs e)
        {
            if (InvokeRequired)
            {
                Invoke(new CogNdmTriggerAcquisitionEventHandler(CC24_PlcTriggerCamAcqStart), new object[] { sender, e });
                return;
            }
            try
            {


                #region 接收到定位拍照信号
                if (e.CameraIndex == 0)
                {
                    DetCamTriger();
                }

                #endregion

                #region 接收到OCR拍照信号
                if (e.CameraIndex == 1)
                {
                    Thread.Sleep(100);
                    OcrCamTriger();
                }

                #endregion
            }
            catch (Exception ex)
            {
                log.Error($"Trigger AcqStart Error: {ex.Message}");
            }
        }
        #endregion

        #region 相机停止
        private void CC24_PlcTriggerCamAcqStop(object sender, CogNdmTriggerAcquisitionStopEventArgs e)
        {

            if (InvokeRequired)
            {
                Invoke(new CogNdmTriggerAcquisitionStopEventHandler(CC24_PlcTriggerCamAcqStop), new object[] { sender, e });
                return;
            }
            if (e.CameraIndex == 0)
            {
                log.Info("PLC中断定位相机拍照。");
            }
            if (e.CameraIndex == 1)
            {
                log.Info("PLC中断OCR相机拍照。");
            }

        }

        #endregion

        #region 通讯状态发生改变
        private void CC24_PlcConnectionStatusChanged(object sender, CogNdmProtocolStatusChangedEventArgs e)
        {
            // The event is raised from a non-GUI thread.
            // Invoke this function on the GUI thread.
            if (InvokeRequired)
            {
                Invoke(new CogNdmProtocolStatusChangedEventHandler(CC24_PlcConnectionStatusChanged), new object[] { sender, e });
                return;
            }
            if (e.ProtocolStatus == CogNdmConnectionStatusConstants.Connected)
            {
                PlcContinueFlag = true;
                log.Info("PLC已连接PC,可以进行相关操作");
                ttls_PCLStatusShow.Visible = true;
            }
            else if (e.ProtocolStatus != CogNdmConnectionStatusConstants.Connecting)
            {
                PlcContinueFlag = false;
                log.Info("PLC已断开PC，请查看相关设备是否连接");
                ttls_PCLStatusShow.Visible = false;
            }
        }
        #endregion

        #region 通讯发送坐标
        private void sendToPLC(double x, double y, double r)
        {
            
            try
            {
                string[] col = Colours.Split(',');
                

                float xx = (float)x;

                float yy = (float)y;
                float rr = (float)r;
                List<float> ocrxx = new List<float>();
                List<float> ocryy = new List<float>();




                switch (ProductStandard)
                {
                    case "TBA1000Slim":
                        switch (col.Length)
                        {
                            case 1:
                                xx = (float)x - 9.5f;
                                break;
                            case 2:
                                xx = (float)x - 19f;
                                break;
                            case 3:
                                xx = (float)x - 28.5f;
                                break;
                            case 4:
                                xx = (float)x - 38f;
                                break;
                            case 5:
                                xx = (float)x - 47.5f;
                                break;
                            case 6:
                                xx = (float)x - 57f;
                                break;
                        }
                        break;
                    case "TBA250B":
                        switch (col.Length)
                        {
                            case 1:
                                xx = (float)x - 9.5f;
                                break;
                            case 2:
                                xx = (float)x - 19f;
                                break;
                            case 3:
                                xx = (float)x - 28.5f;
                                break;
                            case 4:
                                xx = (float)x - 38f;
                                break;
                            case 5:
                                xx = (float)x - 38f;
                                break;
                            case 6:
                                xx = (float)x - 38f;
                                break;
                        }
                        break;
                    case "TBA125Slim":
                        switch (col.Length)
                        {
                            case 1:
                                xx = (float)x - 9.5f;
                                break;
                            case 2:
                                xx = (float)x - 19f;
                                break;
                            case 3:
                                xx = (float)x - 28.5f;
                                break;
                            case 4:
                                xx = (float)x - 28.5f;
                                break;
                            case 5:
                                xx = (float)x - 28.5f;
                                break;
                            case 6:
                                xx = (float)x - 28.5f;
                                break;
                        }
                        break;
                    case "TPA250SQ":
                        switch (col.Length)
                        {
                            case 1:
                                xx = (float)x - 9.5f;
                                break;
                            case 2:
                                xx = (float)x - 19f;
                                break;
                            case 3:
                                xx = (float)x - 19f;
                                break;
                            case 4:
                                xx = (float)x - 19f;
                                break;
                            case 5:
                                xx = (float)x - 19f;
                                break;
                            case 6:
                                xx = (float)x - 19f;
                                break;
                        }
                        break;

                }
                


                

                
                float ocrx = 0, ocry = 0;
                List<float> l = new List<float>();
                l.Add((float)NumberOfLanes);
                int nol = Convert.ToInt32(NumberOfLanes);
                log.Info("当前订单OCR区域共" + nol + "组:");
                for (int item = 0; item < nol; item++)
                {

                    if (item == 0)
                    {
                        ocrx = xx - ((float)DistX) * ((float)Math.Cos((rr * Math.PI) / 180));
                        l.Add(ocrx);
                        ocry = yy - ((float)DistY) * ((float)Math.Sin((rr * Math.PI) / 180));
                        l.Add(ocry);
                        ocrxx.Add(ocrx);
                        ocryy.Add(ocry);
                    }
                    else
                    {
                        ocrx = ocrx + ((float)width * ((float)Math.Cos((rr * Math.PI) / 180)));
                        l.Add(ocrx);
                        ocry = ocry - ((float)Gradient * ((float)Math.Cos((rr * Math.PI) / 180)));
                        l.Add(ocry);
                        ocrxx.Add(ocrx);
                        ocryy.Add(ocry);

                    }

                    log.Info("第" + (item + 1) + "组坐标为：X：" + ocrxx[item] + ",Y:" + ocryy[item] + "。");
                }

                if (this.check_Autorun.Checked == false)
                {
                    List<float> d = new List<float>();
                    for (int i=0;i<l.Count;i++)
                    {
                        if(i ==0)
                        {
                            d.Add(l[i]);
                        }
                        else if(i%2==1)
                        {
                            d.Add( l[l.Count - i-1]);
                            d.Add(l[l.Count - i]);
                        }
                    }
                    byte[] datax = DataConverter.FloatToByte(d, true);

                    cc24?.NotifyCamInspectionComplete(0, datax);
                    cc24?.NotifyCamAcqComplete(0);

                    log.Info("坐标已发送完成。");
                }

            }
            catch (Exception ex)
            {
                log.Error(ex.Message + "未检测到K标志");
                if (check_Autorun.Checked == false)
                {

                    byte[] datax = DataConverter.FloatToByte(0.0f, true);
                    cc24?.NotifyCamInspectionComplete(0, datax);
                    cc24?.NotifyCamAcqComplete(0);
                }
            }
        }
        #endregion

        #region 通讯关闭
        private void CloseCC24()
        {
            try
            {
                cc24.VisionReceivedNewUserData -= CC24_NewUserDataReceived;
                cc24.PlcConnectionStatusChanged -= CC24_PlcConnectionStatusChanged;
                cc24.PlcTriggerCamAcqStart -= CC24_PlcTriggerCamAcqStart;
                cc24.PlcTriggerCamAcqStop -= CC24_PlcTriggerCamAcqStop;
                cc24.NotifyCamAcqEnabled -= CC24_NotifyCamAcqEnabled;
                cc24.NotifyCamAcqDisabled -= CC24_NotifyCamAcqDisabled;


                cc24.Shutdown();

            }
            catch (Exception ex)
            {
                log.Error($"CommCard Closing Error: {ex.Message}");
            }
        }
        #endregion

        #endregion
    }
}