CCDCount/TestWork.DLL/MainThreadClass.cs

using CCDCount.DLL.AlarmTools;
using CCDCount.DLL.CanBus;
using CCDCount.DLL.SqlDataClass;
using CCDCount.DLL.Tools;
using CCDCount.MODEL.CameraClass;
using CCDCount.MODEL.ConfigModel;
using CCDCount.MODEL.ResultModel;
using CCDCount.MODEL.ShuLiModel;
using LogClass;
using MvCameraControl;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data.Entity.Core.Common.CommandTrees.ExpressionBuilder;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;

namespace CCDCount.DLL
{
    public class MainThreadClass
    {
        #region 变量与实例
        private bool IsSwitch = false;
        public ShuLiClass shuLiClass = null;
        CameraClass cameraClass = new CameraClass();
        public ShuLiConfigClass shuLiConfig 
        {
            get
            {
                return ConfigManager.Instance.SaveConfigModel.ShuLiConfigClass;
            }
            set
            {
                ConfigManager.Instance.SaveConfigModel.ShuLiConfigClass = value;
            }
        }
        public CameraConfig cameraConfig
        {
            get
            {
                return ConfigManager.Instance.SaveConfigModel.CameraConfig;
            }
            set
            {
                ConfigManager.Instance.SaveConfigModel.CameraConfig = value;
            }
        }
        public bool CameraConfigIsChange = false;
        public string BatchNumber = "";
        public int ThisCamerNo = -1;
        public double XCoefficient {
            get
            {
                shuLiClass.GetXYCoefficient(out double XCoefficient, out double YCoefficient);
                return XCoefficient;
            }
            set 
            {
                shuLiClass.SetXCoefficient(value);
            }
        }
        public double YCoefficient {
            get
            {
                shuLiClass.GetXYCoefficient(out double XCoefficient, out double YCoefficient);
                return YCoefficient;
            }
            set
            {
                shuLiClass.SetYCoefficient(value);
            }
        }

        public bool CameraStatic { get { return _CameraStatic; } }
        private bool _CameraStatic = false;

        // 返回交换线程状态
        public bool CameraRunStatic { get { return IsSwitch; } }
        public bool CameraSendMessageStatic { get { return IsSend; } }

        public bool IsOpenLoadThread { get  { return _IsOpenLoadThread; }}
        private bool _IsOpenLoadThread = false;

        public int HistoryActiveNum { get { return shuLiClass.HistoryActiveNum; } }
        public int OkHistoryNum { get { return shuLiClass.OkHistoryNum; } }
        public int NgHistoryNum { get { return shuLiClass.NgHistoryNum; } }

        // 数粒信息发送线程
        Thread SendBottLogicMessageThread = null;
        bool IsSend = false;

        // Modbus客户端实例
        public ModbusTcpClient modbusTcpClient = new ModbusTcpClient();

        // 颗粒结果待发送队列
        //ConcurrentQueue<ushort> SendQueue = new ConcurrentQueue<ushort>();
        ConcurrentQueue<TestSenMessage> SendQueue = new ConcurrentQueue<TestSenMessage>();
        ConcurrentQueue<CanSenMessage> CanSendQueue = new ConcurrentQueue<CanSenMessage>();

        /// <summary>
        /// 数粒状态计时器
        /// </summary>
        Stopwatch stopwatch = Stopwatch.StartNew();
        /// <summary>
        /// 数粒状态
        /// </summary>
        private bool _ShuLiState = true;
        public bool ShuLiState { get { return _ShuLiState; } }

        private bool _IsDebug = true;
        public bool IsDebug { get { return _IsDebug; } }
        private bool IsConnectModbus = false;

        public static ActionMesSqliteDataClass actionMesSqliteDataClass = null;

        ConcurrentQueue<IFrameOut> _images = new ConcurrentQueue<IFrameOut>();

        public string FormulationName { get; set; } = string.Empty;
        public bool IsLoadFormulation = false;

        private long lastframeNum = -1;

        #endregion

        #region 公共方法
        /// <summary>
        /// 设置ModbusTcpClient
        /// </summary>
        /// <param name="modbusTcpClient"></param>
        public void ConnectModbus(string ipAddress)
        {
            Task.Run(() =>
            {
                int i = 10;
                while(!modbusTcpClient.Connect(ipAddress)&&i>0)
                {
                    IsConnectModbus = false;
                    //SystemAlarm.AlarmAlert(AlarmMessageList.数粒通讯连接失败, $"Modbus通讯连接失败,目标IP:{ipAddress}", "DLL:MainThreadClass-ConnectModbus");
                    SystemAlarm.AlarmAlert(AlarmMessageList.数粒通讯连接失败,
                        $"Number counting communication connection failed, target IP:{ipAddress}",
                        $"Modbus通讯连接失败,目标IP:{ipAddress}",
                        "DLL:MainThreadClass-ConnectModbus");
                    i--;
                    Task.Delay(1000);
                }
                SystemAlarm.AlarmCancel(AlarmMessageList.数粒通讯连接失败);
                LOG.log("数粒通讯成功", 6);
                IsConnectModbus = true;
            });
        }

        /// <summary>
        /// 初始化构造方法
        /// </summary>
        /// <param name="configClass"></param>
        /// <param name="CameraConfig"></param>
        public MainThreadClass(ShuLiConfigClass configClass,CameraConfig CameraConfig)
        {
            shuLiConfig = configClass;
            cameraConfig = CameraConfig;
            // 数粒配置文件地址
            if (configClass!=null)
            {
                // 创建数粒对象(配置文件)
                shuLiClass = new ShuLiClass(shuLiConfig);
            }
            else
            {
                // 创建数粒对象(默认)
                shuLiClass = new ShuLiClass();
            }

            _IsOpenLoadThread = cameraConfig.IsOpenLoad;
            ThisCamerNo = cameraConfig.CamerNo;
        }

        /// <summary>
        /// 加载相机
        /// </summary>
        /// <returns></returns>
        public bool LoadCamera()
        {
            bool result = false;
            // 相机列表
            try
            {
                // 获取相机列表
                cameraClass.GetCameraList(out List<CameraInfoClass> list);
                if (list.Count == 0)
                {
                    //FaultLog.RecordErrorMessage(string.Format("{0}：没有相机", "MainThreadClass-StartMianThread"));
                    SystemAlarm.AlarmAlert(AlarmMessageList.未检测到相机,
                        "No Camera",
                        "没有相机",
                        "DLL:MainThreadClass-LoadCamera");
                    // 如果没有相机，则退出
                    return result;
                }
                SystemAlarm.AlarmCancel(AlarmMessageList.未检测到相机);
                // 加载相机
                // cameraClass.LoadCamereDevice(list.First().DeviceSN);
                if (!cameraClass.LoadCamereDevice(cameraConfig))
                {
                    //FaultLog.RecordErrorMessage(string.Format("{0}：相机加载失败", "MainThreadClass-StartMianThread"));
                    SystemAlarm.AlarmAlert(AlarmMessageList.相机加载失败, 
                        "No LoadCamera",
                        "相机加载失败",
                        "DLL:MainThreadClass-LoadCamera");
                    return result;
                }
                SystemAlarm.AlarmCancel(AlarmMessageList.相机加载失败);
                CameraConfigIsChange = false;
            }
            catch(Exception ex)
            {
                Console.WriteLine($"MainThreadClass-LoadCamera:加载相机失败: {ex.Message}");
            }
            return result;
        }

        /// <summary>
        /// 重新加载相机配置
        /// </summary>
        public void ReLoadCameraConfig()
        {
            if(CameraConfigIsChange)
            {
                CameraConfig  OldcameraConfig = cameraClass.GetConfigValue();
                if(OldcameraConfig.CameraSNNum != cameraConfig.CameraSNNum)
                {
                    cameraClass.LoadCamereDevice(cameraConfig);
                }
                else
                {
                    cameraClass.ReLoadCameraConfig(cameraConfig);
                }
            }
        }

        /// <summary>
        /// 开始主线程
        /// </summary>
        public bool StartMianThread()
        {
            bool result = false;
            try
            {
                if (BatchNumber == "")
                {
                    FaultLog.RecordErrorMessage($"Camera {cameraConfig.CamerNo} does not have a batch number, and it failed to start", "Dll:MainThreadClass-StartMianThread");
                    return result;
                }
                //if (!IsConnectModbus)
                //{
                //    FaultLog.RecordErrorMessage($"Camera {cameraConfig.CamerNo} does not have a PLC connection, resulting in startup failure", "Dll:MainThreadClass-StartMianThread");
                //    return result;
                //}
                timeBeginPeriod(1); // 设置为1ms精度
                actionMesSqliteDataClass = new ActionMesSqliteDataClass($"{AppDomain.CurrentDomain.BaseDirectory}DATA\\ActiveObjectData\\Cam{cameraConfig.CamerNo}\\ActiveObjectData_{BatchNumber}.db");
                //actionMesSqliteDataClass = new ActionMesSqliteDataClass($"{AppDomain.CurrentDomain.BaseDirectory}DATA\\ActiveObjectData\\Cam{cameraConfig.CamerNo}\\ActiveObjectData20250827.db");
                actionMesSqliteDataClass.GetAllActionMinStartMaxEndLine(out int num, out int StartLine, out int EndLine);
                shuLiClass.InitCurrentLine(EndLine);
                shuLiClass.InitNum(num);

                shuLiClass.QueueSemaphore = new SemaphoreSlim(0);
                cameraClass.FrameGrabbedEvent += SwitchIdentifyImageEvent;
                IsSwitch = true;
                // 取图开启
                if (!cameraClass.StartCamera())
                {
                    return result;
                }
                _CameraStatic = true;
                StartCanSendBottLogicMessageThread();

                // 为数粒算法的识别成功一粒回调函数添加方法
                //shuLiClass.WorkCompleted += Worker_OneGrainCompleted;
                shuLiClass.WorkCompleted += Worker_OneGrainCompletedUseCan;
                // 开启识别线程
                shuLiClass.StartIdentifyFuntion(cameraClass.GetCamereImageSize().Width);
                result = true;
            }
            catch(Exception ex)
            {
                Console.WriteLine($"MainThreadClass-StartMianThread:启动失败: {ex.Message}");
            }
            return result;
        }

        /// <summary>
        /// 停止主线程
        /// </summary>
        public bool StopMianThread()
        {
            bool result = false;
            try
            {

                // 数粒识别线程关闭
                shuLiClass.StopIdentifyFuntion();
                LOG.log("执行数粒识别线程关闭成功",6);
                _CameraStatic = false;
                //shuLiClass.WorkCompleted -= Worker_OneGrainCompleted;
                shuLiClass.WorkCompleted -= Worker_OneGrainCompletedUseCan;
                LOG.log("识别回调取消完成",6);
                // 相机取图关闭
                cameraClass.StopCamera();
                cameraClass.FrameGrabbedEvent -= SwitchIdentifyImageEvent;
                LOG.log("相机回调取消完成", 6);
                IsSwitch = false;
                StopSendBottLogicMessageThread();
                LOG.log("发送线程关闭完成", 6);
                result = true;
                actionMesSqliteDataClass.Dispose();
                LOG.log("批处理实例释放完成", 6);
            }
            catch(Exception ex)
            {
               LOG.error($"MainThreadClass-StopMianThread:停止失败: {ex.Message}");
            }
            return result;
        }

        /// <summary>
        /// 释放相机资源
        /// </summary>
        public void DisposeCamera()
        {
            cameraClass.StopCamera();
            cameraClass.DisPoseCamera();
        }

        /// <summary>
        /// 重加载相机
        /// </summary>
        /// <param name="CameraSN"></param>
        /// <returns></returns>
        public bool ReLoadCamera(string CameraSN)
        { 
            bool result;
            result = cameraClass.ReLoadCameraDevice(CameraSN);
            if (result)
            {
                cameraConfig = cameraClass.GetConfigValue();
            }
            return  result;
             
        }

        /// <summary>
        /// 获取显示用的图片数据
        /// </summary>
        /// <param name="ImageHeight"></param>
        /// <param name="Data"></param>
        public void GetShowImage(int ImageHeight,out Bitmap ImageData)
        {
            List<RowStartEndCol> RowsShowList = new List<RowStartEndCol>();
            ActiveObjectClass NewActive = shuLiClass.GetLastActive();
            if (NewActive == null)
            {
                LOG.log(string.Format("{0}：没有获取到数粒数据", "MainThreadClass-GetShowImage"));
                ImageData = GetNullShowImage(4096, ImageHeight);
                return;
            }
            List<ActiveObjectClass> Data = shuLiClass.GetHistoryActive().Where(o => o.LastSeenLine > NewActive.LastSeenLine - ImageHeight).ToList();
            Bitmap BitmapImage = new Bitmap(NewActive.ImageWidth, ImageHeight);
            if (Data.Count > 0)
            {
                int ThisImageStartLine = (int)Data.Max(o => o.LastSeenLine) - ImageHeight;
                using (Graphics g = Graphics.FromImage(BitmapImage))
                {
                    g.Clear(Color.White);

                    var redPen = new Pen(Color.Red, 1);
                    var bluePen = new Pen(Color.FromArgb(0,146,255), 1);
                    var GreenPen = new Pen(Color.SeaGreen, 5);

                    using (Pen RedPan = new Pen(Color.Black, 5))
                    {
                        for (int i = 0; i < shuLiClass.ChannelsRoi.Count - 1; i++)
                        {
                            g.DrawLine(RedPan, new Point(shuLiClass.ChannelsRoi[i], 0), new Point(shuLiClass.ChannelsRoi[i], BitmapImage.Height));
                        }
                    }

                    foreach (var item in Data)
                    {
                        int roix = item.MinStartCol - 5;
                        int roiy = (int)(item.StartLine - ThisImageStartLine) - 5 < 0 ? 0 : (int)(item.StartLine - ThisImageStartLine) - 5;
                        int roiheight = (int)(item.LastSeenLine - ThisImageStartLine - roiy) + 10;
                        int roiwidth = item.MaxEndCol - item.MinStartCol + 10;
                        g.DrawRectangle(GreenPen, new Rectangle(roix, roiy, roiwidth, roiheight));

                        Font font = new Font("Arial", 20);
                        g.DrawString(item.Num.ToString(), font, Brushes.Black, new Point(roix - 20*item.Num.ToString().Length, roiy - 20));

                        foreach (var item1 in item.RowsData)
                        {
                            if((int)(item1.RowsCol - ThisImageStartLine)<0) continue;
                            int yPos = (int)(item1.RowsCol - ThisImageStartLine);
                            g.DrawLine(item.StateCode == 0 ? bluePen : redPen, new Point(item1.StartCol, yPos), new Point(item1.EndCol, yPos));
                        }
                    }
                }
            }
            ImageData = BitmapImage.Clone() as Bitmap;
            BitmapImage.Dispose();
            //GC.Collect();
        }

        public void GetShowImage(int ImageHeight, int ImageWidth , out Bitmap ImageData)
        {
            List<RowStartEndCol> RowsShowList = new List<RowStartEndCol>();
            ActiveObjectClass NewActive = shuLiClass.GetLastActive();
            if (NewActive == null)
            {
                LOG.log(string.Format("{0}：没有获取到数粒数据", "MainThreadClass-GetShowImage"));
                ImageData = GetNullShowImage(ImageWidth, ImageHeight);
                return;
            }
            List<ActiveObjectClass> Data = shuLiClass.GetHistoryActive().Where(o => o.StartLine > NewActive.StartLine - ImageHeight).ToList();
            Bitmap BitmapImage = new Bitmap(NewActive.ImageWidth, ImageHeight);
            if (Data.Count > 0)
            {
                int ThisImageStartLine = (int)Data.Max(o => o.LastSeenLine) - ImageHeight;
                using (Graphics g = Graphics.FromImage(BitmapImage))
                {
                    g.Clear(Color.White);

                    var redPen = new Pen(Color.Red, 1);
                    var bluePen = new Pen(Color.FromArgb(0, 146, 255), 1);
                    var GreenPen = new Pen(Color.SeaGreen, 5);

                    using (Pen RedPan = new Pen(Color.Black, 5))
                    {
                        for (int i = 0; i < shuLiClass.ChannelsRoi.Count - 1; i++)
                        {
                            g.DrawLine(RedPan, new Point(shuLiClass.ChannelsRoi[i], 0), new Point(shuLiClass.ChannelsRoi[i], BitmapImage.Height));
                        }
                    }

                    foreach (var item in Data)
                    {
                        int roix = item.MinStartCol - 5;
                        int roiy = ImageHeight - (int)(item.LastSeenLine - ThisImageStartLine) - 5 < 0 ? 0 : ImageHeight - (int)(item.LastSeenLine - ThisImageStartLine) - 5;
                        int roiheight = ImageHeight - (int)(item.StartLine - ThisImageStartLine) - roiy + 10;
                        int roiwidth = item.MaxEndCol - item.MinStartCol + 10;
                        g.DrawRectangle(GreenPen, new Rectangle(roix, roiy, roiwidth, roiheight));

                        Font font = new Font("Arial", 20);
                        g.DrawString(item.Num.ToString(), font, Brushes.Black, new Point(roix - 20 * item.Num.ToString().Length, roiy - 20));

                        foreach (var item1 in item.RowsData)
                        {
                            if ((int)(item1.RowsCol - ThisImageStartLine) < 0) continue;
                            int yPos = ImageHeight - (int)(item1.RowsCol - ThisImageStartLine);
                            g.DrawLine(item.StateCode == 0 ? bluePen : redPen, new Point(item1.StartCol, yPos), new Point(item1.EndCol, yPos));
                        }
                    }
                }
            }
            ImageData = BitmapImage.Clone() as Bitmap;
            BitmapImage.Dispose();
            //GC.Collect();
        }

        /// <summary>
        /// 获取无数据的图片
        /// </summary>
        /// <param name="ImageWidth"></param>
        /// <param name="ImageHeight"></param>
        /// <param name="ImageData"></param>
        public Bitmap GetNullShowImage(int ImageWidth, int ImageHeight)
        {
            if(ImageWidth==0)
            {
                return null;
            }
            Bitmap BitmapImage = new Bitmap(ImageWidth, ImageHeight);
            using (Graphics g = Graphics.FromImage(BitmapImage))
            {
                g.Clear(Color.White);
                using (Pen RedPan = new Pen(Color.Black, 8))
                {
                    for (int i = 0; i < shuLiClass.ChannelsRoi.Count - 1; i++)
                    {
                        g.DrawLine(RedPan, new Point(shuLiClass.ChannelsRoi[i], 0), new Point(shuLiClass.ChannelsRoi[i], BitmapImage.Height));
                    }
                }
            }
            return BitmapImage;
        }

        /// <summary>
        /// 获取此刻的Config数据
        /// </summary>
        /// <param name="config"></param>
        public void GetAllConfigValue(out CameraConfig Camconfig,out ShuLiConfigClass shuLiConfig)
        {
            //判断是否加载了相机
            if(cameraClass.IsLoadCamera())
            {
                //获取已经加载的相机的配置
                cameraConfig = cameraClass.GetConfigValue();
                Camconfig = cameraConfig;
            }
            else
            {
                cameraConfig = new CameraConfig();
                Camconfig = cameraConfig;
            }
            //读取视觉配置
            shuLiConfig = shuLiClass.GetConfigValue();
            this.shuLiConfig = shuLiConfig;
        }

        /// <summary>
        /// 获取相机此刻的Config数据
        /// </summary>
        /// <param name="CameraConfig"></param>
        public CameraConfig GetCameraConfig()
        {
            CameraConfig result = null;
            //判断是否加载了相机
            if (cameraClass.IsLoadCamera())
            {
                //获取已经加载的相机的配置
                result = cameraClass.GetConfigValue();
                cameraConfig = result;
            }
            return result;
        }

        /// <summary>
        /// 保存所有Config
        /// </summary>
        public void SaveAllConfig()
        {
            shuLiClass.SaveConfig();
        }

        /// <summary>
        /// 获取相机连接状态
        /// </summary>
        /// <returns></returns>
        public bool GetCameraConnectStatic()
        {
            bool result = false;
            if(cameraClass != null)
                result = cameraClass.IsConnectCamera();
            return result;
        }

        /// <summary>
        /// 清除历史数据
        /// </summary>
        /// <returns></returns>
        public bool ClearHistoryActive()
        {
            bool result = false;
            if(shuLiClass != null)
                result = shuLiClass.ClearHistoryActive();
            return result;
        }

        public bool ClearSendQueue()
        {
            bool result = false;
            while(SendQueue.Count>0)
            {
                SendQueue.TryDequeue(out TestSenMessage testSen);
            }
            result = true;
            return result;
        }

        /// <summary>
        /// 获取过去一秒内颗粒数量
        /// </summary>
        /// <returns></returns>
        public int GetOneSecondActiveNum()
        {
            int result = 0;
            if(shuLiClass != null)
                result = shuLiClass.GetHistoryActive().Where(o=>o.EndCheckTime>DateTime.Now-TimeSpan.FromSeconds(1)).Count();
            return result;
        }

        /// <summary>
        /// 获取相机原图一张
        /// </summary>
        /// <returns></returns>
        public Bitmap GetCamImageOnce()
        {
            Bitmap result = null;
            if(_images.Count>0)
            {
                _images.TryDequeue(out IFrameOut image);
                if(image != null)
                    result = image.Image.ToBitmap();
            }
            return result;
        }

        public void ParameterTrain(List<ActiveObjectClass> ListValues)
        { 
            if(ListValues.Count() > 0)
            {
                if(ListValues.Count()>500)
                {
                    ListValues = ListValues.Take(500).OrderByDescending(o=>o.Area).ToList();
                }
                int MaxArea = ListValues.Max(x => x.Area);
                int MinArea = ListValues.Min(x => x.Area);
                double MaxLength = ListValues.Max(x => x.MaxLength);
                double MinLength = ListValues.Min(x => x.MaxLength);
                if(ListValues.Count<2) return;
                int ChazhiId = -1;
                int MaxChazhi = 0;
                for (int i = 1; i < ListValues.Count; i++)
                {
                    int Chazhi = (ListValues[i - 1].Area -  ListValues[i].Area);
                    if (Chazhi > MaxChazhi*10)
                    {
                        MaxChazhi = Chazhi;
                        ChazhiId = i;
                    }
                }
                if(ChazhiId == -1)
                    return;
                int yuzhi = (int)Math.Sqrt(2) + 2;
            } 
        }

        /// <summary>
        /// 运行参数训练
        /// </summary>
        /// <returns></returns>
        public ParaTrainResultClass ParameterTrain()
        {
            var ListValues = shuLiClass.GetHistoryActive();
            ParaTrainResultClass Result = new ParaTrainResultClass();
            if (ListValues.Count() > 0)
            {
                if (ListValues.Count() > 500)
                {
                    ListValues = ListValues.Skip(ListValues.Count - 500).OrderByDescending(o => o.Area).ToList();
                }
                if (ListValues.Count < 2)
                {
                    Result = null;
                    return Result;
                }

                Result.NoiseFilterThreshold = 5;

                var LengthListValues = ListValues.OrderBy(o => o.MaxLength).Skip(100).Take(300).ToList();
                Result.MaxLength = Convert.ToInt32(ListValues.Max(x => x.MaxLength) * 1.1);
                Result.MinLength = Convert.ToInt32(ListValues.Min(x => x.MaxLength) * 0.9);

                var AreaListValues = ListValues.OrderBy(o => o.Area).Skip(100).Take(300).ToList();
                Result.MaxArea = Convert.ToInt32(ListValues.Max(x => x.Area) * 1.1);
                Result.MinArea = Convert.ToInt32(ListValues.Min(x => x.Area) * 0.9);
            }
            return Result;
        }
        public ParaTrainResultClass ParameterTrain(int KeliW,int KeliL)
        {
            var ListValues = shuLiClass.GetHistoryActive();
            ParaTrainResultClass Result = new ParaTrainResultClass();
            List<ActiveObjectClass> LengthListValues = null;
            List<ActiveObjectClass> AreaListValues = null;
            if (ListValues.Count() > 0)
            {
                try
                {
                    LOG.log("参数训练-数据筛选", 6);
                    if (ListValues.Count() > 1000)
                    {
                        ListValues = ListValues.Skip(ListValues.Count - 1000).OrderByDescending(o => o.Num).ToList();
                    }
                    if (ListValues.Count < 2)
                    {
                        Result = null;
                        return Result;
                    }
                    List<MaxLengthModel> maxLengthModels = new List<MaxLengthModel>();
                    LOG.log("参数训练-凸包计算-未标定长度检测", 6);
                    foreach (var item in ListValues)
                    {
                        List<Point> points = shuLiClass.ConvexHull(item.RowsData);
                        var itemLenValue = shuLiClass.CoefficientCalculateMinimumBoundingRectangle(points);
                        var UseValue = new MaxLengthModel()
                        {
                            MaxLength = itemLenValue.Height,
                            Point1 = itemLenValue.HeightPoints[0],
                            Point2 = itemLenValue.HeightPoints[1]
                        };
                        maxLengthModels.Add(UseValue);
                    }

                    LOG.log("参数训练-标定计算", 6);
                    var ScaleResult = LineScanCameraCalibrator.CalculateLineScanPixelScale(maxLengthModels, KeliL);

                    shuLiClass.SetXCoefficient(ScaleResult.XScale);
                    shuLiClass.SetYCoefficient(ScaleResult.YScale);
                    shuLiConfig.ScaleX = ScaleResult.XScale;
                    shuLiConfig.ScaleY = ScaleResult.YScale;
                    Result.ScaleX = ScaleResult.XScale;
                    Result.ScaleY = ScaleResult.YScale;

                    Result.NoiseFilterThreshold = 5;
                    LOG.log("参数训练-计算标定后的长度", 6);
                    foreach (var item in ListValues)
                    {
                        item.MaxLength = shuLiClass.SizeCalculation(item.RowsData).Height;
                    }
                    LOG.log("参数训练-长度数据筛选", 6);
                    if (ListValues.Count >= 1000)
                    {
                        LengthListValues = ListValues.OrderBy(o => o.MaxLength).Skip(10).Take(980).ToList();
                    }
                    else
                    {
                        LengthListValues = ListValues.OrderBy(o => o.MaxLength).Skip(10).Take(ListValues.Count - 20).ToList();
                    }
                    LOG.log("参数训练-长度数据计算", 6);
                    Result.MaxLength = Convert.ToInt32(LengthListValues.Max(x => x.MaxLength)) + 2;
                    Result.MinLength = Convert.ToInt32(LengthListValues.Min(x => x.MaxLength) - 2);
                    LOG.log("参数训练-面积数据筛选", 6);
                    if (ListValues.Count >= 1000)
                    {
                        AreaListValues = ListValues.OrderBy(o => o.Area).Skip(10).Take(980).ToList();
                    }
                    else
                    {
                        AreaListValues = ListValues.OrderBy(o => o.Area).Skip(10).Take(ListValues.Count - 20).ToList();
                    }
                    LOG.log("参数训练-面积数据计算", 6);
                    Result.MaxArea = Convert.ToInt32(AreaListValues.Max(x => x.Area)) + 50;
                    Result.MinArea = Convert.ToInt32(AreaListValues.Min(x => x.Area)) - 50;
                }
                catch(Exception ex)
                {
                    LOG.error(ex.Message);
                }
            }
            return Result;
        }
        #endregion

        #region 私有方法
        public DateTime FromUnixTimestamp(long timestamp, bool isMilliseconds = false)
        {
            try
            {
                // 如果未指定单位，尝试自动检测
                if (!isMilliseconds)
                {
                    // 如果时间戳看起来像毫秒级（13位数字）
                    if (timestamp.ToString().Length > 10)
                    {
                        isMilliseconds = true;
                    }
                }

                if (isMilliseconds)
                {
                    // 验证毫秒级时间戳范围
                    const long minMilliTimestamp = -62135596800000; // 0001-01-01 00:00:00 UTC
                    const long maxMilliTimestamp = 253402300799999; // 9999-12-31 23:59:59 UTC

                    if (timestamp < minMilliTimestamp || timestamp > maxMilliTimestamp)
                    {
                        throw new ArgumentOutOfRangeException(nameof(timestamp),
                            "毫秒级时间戳超出有效范围");
                    }

                    DateTime origin = new DateTime(1970, 1, 1, 0, 0, 0, 0, DateTimeKind.Utc).AddMilliseconds(timestamp);
                    return TimeZoneInfo.ConvertTimeFromUtc(origin, TimeZoneInfo.Local);
                }
                else
                {
                    // 验证秒级时间戳范围
                    const long minTimestamp = -62135596800;
                    const long maxTimestamp = 253402300799;

                    if (timestamp < minTimestamp || timestamp > maxTimestamp)
                    {
                        throw new ArgumentOutOfRangeException(nameof(timestamp),
                            "秒级时间戳超出有效范围");
                    }

                    DateTime origin = new DateTime(1970, 1, 1, 0, 0, 0, 0, DateTimeKind.Utc).AddSeconds(timestamp);
                    return TimeZoneInfo.ConvertTimeFromUtc(origin, TimeZoneInfo.Local);
                }
            }
            catch (ArgumentOutOfRangeException)
            {
                throw;
            }
            catch (Exception ex)
            {
                throw new ArgumentException($"无法转换时间戳 {timestamp}: {ex.Message}", ex);
            }
        }

        //bool IsFill = false;
        //bool IsXuanZhuanCloseFaMen = false;
        /// <summary>
        /// 每数完一粒识别线程执行的事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Worker_OneGrainCompleted(object sender, ActiveObjectEventArgsClass e)
        {
            //LOG.log("有活跃物体转换为了历史物体，回调事件被触发！", 6);
            //LOG.log(string.Format("图像处理实例中的待识别图像缓存队列长度{0}", shuLiClass.ImageNum), 6);
            if (e.Actives.Where(o => o.StateCode == 7).Count() > 0)
            {
                stopwatch.Restart();
                _ShuLiState = false;
            }
            else if (stopwatch.ElapsedMilliseconds > 1000)
            {
                stopwatch.Stop();
                _ShuLiState = true;
            }

            //Int16 result = new Int16();
            ushort[] result = new ushort[2];
            var Hset = new HashSet<int>();
            // 事件处理逻辑
            foreach (ActiveObjectClass oneActive in e.Actives)
            {
                //往数组中计数
                var UseTime = (oneActive.EndCheckTime - oneActive.StartCheckTime).TotalMilliseconds;
                var QutuYanshiTime = (DateTime.Now - oneActive.PictureEndReadTime).TotalMilliseconds;
                if (BatchNumber!="") oneActive.BatchNumber = BatchNumber;
                LOG.log(string.Format("输出当前颗粒信息，颗粒编号：{0},开始时间：{1},第一张图像读取时间：{2}，\n" +
                    "识别耗时：{3},尾图到输出的时间：{4}，颗粒状态：{5},通道数：{6}",
                    oneActive.Num, oneActive.StartCheckTime.ToString("O"), oneActive.PictureStartReadTime.ToString("O"),
                    UseTime.ToString(), QutuYanshiTime.ToString(), oneActive.StateCode, oneActive.ChannelNO), 6);
                if (QutuYanshiTime > 30)
                {
                    //LOG.error($"结果输出延时超过了30ms，耗时{QutuYanshiTime}");
                    Console.WriteLine($"结果输出延时超过了30ms，耗时{QutuYanshiTime}");
                }
                switch (oneActive.StateCode)
                {
                    case 1:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超长粒,
                            "Counting extra-long particles",
                            "数粒超长粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 2:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超短粒,
                            "Counting ultra-short particles",
                            "数粒超短粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 5:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超大粒,
                            "Counting extra-large particles",
                            "数粒超大粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 6:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超小粒,
                            "Counting ultra-small particles",
                            "数粒超小粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 8:
                        SystemAlarm.AlarmAlert(AlarmMessageList.疑似叠粒,
                            "Count overlapping particles",
                            "疑似叠粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 10:
                        SystemAlarm.AlarmAlert(AlarmMessageList.丢帧颗粒,
                            "Counting frame loss particles",
                            "丢帧颗粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                }

                //记录到数据库
                ThreadPool.QueueUserWorkItem(_ =>
                {
                    if (actionMesSqliteDataClass != null)
                    {
                        try
                        {
                            actionMesSqliteDataClass.AddData(oneActive);
                        }
                        catch (Exception ex)
                        {
                            LOG.error("MianThread-Worker_OneGrainCompleted-Task:" + ex.Message);
                        }
                    }
                });

                if (!Hset.Add(oneActive.ChannelNO))
                {
                    //有重复的通道的异常记录流程
                    var EResult = new ushort[2];
                    //正常运行流程
                    if (oneActive.ChannelNO == -1)
                    {
                        //FaultLog.RecordErrorMessage("颗粒通道判定异常");
                        FaultLog.RecordErrorMessage("Abnormal particle channel determination");
                        continue;
                    }
                    if (oneActive.StateCode == 0)
                    {
                        //单通道合格计数
                        EResult[0] |= (ushort)(1 << oneActive.ChannelNO);
                    }
                    else
                    {
                        if (oneActive.StateCode != 7 && oneActive.StateCode != 9)
                        {
                            //单通道不合格计数
                            EResult[1] |= (ushort)(1 << (oneActive.ChannelNO));
                        }
                        else if (oneActive.StateCode == 7)
                        {
                            //FaultLog.RecordErrorMessage("视野存在遮挡，请检查相机");
                            FaultLog.RecordErrorMessage("The field of view is obstructed. Please check the camera");
                        }
                    }
                    //SendQueue.Enqueue(new TestSenMessage()
                    //{
                    //    Message = EResult,
                    //    NumMessage = new ushort[] { (ushort)oneActive.Num },
                    //    count = 1
                    //});
                    continue;
                }
                else
                {
                    //正常运行流程
                    if (oneActive.ChannelNO == -1)
                    {
                        //FaultLog.RecordErrorMessage("颗粒通道判定异常");
                        FaultLog.RecordErrorMessage("Abnormal particle channel determination");
                        continue;
                    }
                    if (oneActive.StateCode == 0)
                    {
                        //单通道合格计数
                        result[0] |= (ushort)(1 << oneActive.ChannelNO);
                    }
                    else
                    {
                        if (oneActive.StateCode != 7 && oneActive.StateCode != 9)
                        {
                            //单通道不合格计数
                            result[1] |= (ushort)(1 << (oneActive.ChannelNO));
                        }
                        else if (oneActive.StateCode == 7)
                        {
                            //FaultLog.RecordErrorMessage("视野存在遮挡，请检查相机");
                            FaultLog.RecordErrorMessage("The field of view is obstructed. Please check the camera");
                        }
                    }
                }

            }
            //LOG.log("当前待发送队列数量：" + SendQueue.Count, 6);
            if (IsSend)
            {
                SendQueue.Enqueue(new TestSenMessage()
                {
                    Message = result,
                    //NumMessage = new ushort[] { (ushort)oneActive.Num },
                    NumMessage = e.Actives.Select(o => (ushort)o.Num).ToArray(),
                    count = (ushort)e.Actives.Count
                });
            }
        }

        /// <summary>
        /// 每数完一粒识别线程执行的事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Worker_OneGrainCompletedUseCan(object sender, ActiveObjectEventArgsClass e)
        {
            //LOG.log("有活跃物体转换为了历史物体，回调事件被触发！", 6);
            //LOG.log(string.Format("图像处理实例中的待识别图像缓存队列长度{0}", shuLiClass.ImageNum), 6);
            if (e.Actives.Where(o => o.StateCode == 7).Count() > 0)
            {
                stopwatch.Restart();
                _ShuLiState = false;
            }
            else if (stopwatch.ElapsedMilliseconds > 1000)
            {
                stopwatch.Stop();
                _ShuLiState = true;
            }
            var Hset = new HashSet<int>();
            byte result = new byte();
            bool IsOK = false;
            // 事件处理逻辑
            foreach (ActiveObjectClass oneActive in e.Actives)
            {
                //往数组中计数
                var UseTime = (oneActive.EndCheckTime - oneActive.StartCheckTime).TotalMilliseconds;
                var QutuYanshiTime = (DateTime.Now - oneActive.PictureEndReadTime).TotalMilliseconds;
                if (BatchNumber != "") oneActive.BatchNumber = BatchNumber;
                LOG.log(string.Format("输出当前颗粒信息，颗粒编号：{0},开始时间：{1},第一张图像读取时间：{2}，\n" +
                    "识别耗时：{3},尾图到输出的时间：{4}，颗粒状态：{5},通道数：{6}",
                    oneActive.Num, oneActive.StartCheckTime.ToString("O"), oneActive.PictureStartReadTime.ToString("O"),
                    UseTime.ToString(), QutuYanshiTime.ToString(), oneActive.StateCode, oneActive.ChannelNO), 6);
                if (QutuYanshiTime > 30)
                {
                    //LOG.error($"结果输出延时超过了30ms，耗时{QutuYanshiTime}");
                    Console.WriteLine($"结果输出延时超过了30ms，耗时{QutuYanshiTime}");
                }
                switch (oneActive.StateCode)
                {
                    case 1:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超长粒,
                            "Counting extra-long particles",
                            "数粒超长粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 2:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超短粒,
                            "Counting ultra-short particles",
                            "数粒超短粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 5:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超大粒,
                            "Counting extra-large particles",
                            "数粒超大粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 6:
                        SystemAlarm.AlarmAlert(AlarmMessageList.数粒超小粒,
                            "Counting ultra-small particles",
                            "数粒超小粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 8:
                        SystemAlarm.AlarmAlert(AlarmMessageList.疑似叠粒,
                            "Count overlapping particles",
                            "疑似叠粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                    case 10:
                        SystemAlarm.AlarmAlert(AlarmMessageList.丢帧颗粒,
                            "Counting frame loss particles",
                            "丢帧颗粒",
                            "MianThreadClass-Worker_OneGrainCompleted");
                        break;
                }

                //记录到数据库
                ThreadPool.QueueUserWorkItem(_ =>
                {
                    if (actionMesSqliteDataClass != null)
                    {
                        try
                        {
                            actionMesSqliteDataClass.InsertActiveObject(oneActive);
                        }
                        catch (Exception ex)
                        {
                            LOG.error("MianThread-Worker_OneGrainCompleted-Task:" + ex.Message);
                        }
                    }
                });

                if (!Hset.Add(oneActive.ChannelNO))
                {
                    //有重复的通道的异常记录流程
                    var EResult = new byte();
                    bool EIsOK = false;
                    //正常运行流程
                    if (oneActive.ChannelNO == -1)
                    {
                        //FaultLog.RecordErrorMessage("颗粒通道判定异常");
                        FaultLog.RecordErrorMessage("Abnormal particle channel determination");
                        continue;
                    }
                    if (oneActive.StateCode == 0)
                    {
                        //单通道合格计数
                        EResult |= (byte)(1 << oneActive.ChannelNO);
                        EIsOK = true;
                    }
                    else
                    {
                        if (oneActive.StateCode != 7 && oneActive.StateCode != 9)
                        {
                            //单通道不合格计数
                            EResult |= (byte)(1 << (oneActive.ChannelNO));
                        }
                        else if (oneActive.StateCode == 7)
                        {
                            //FaultLog.RecordErrorMessage("视野存在遮挡，请检查相机");
                            FaultLog.RecordErrorMessage("The field of view is obstructed. Please check the camera");
                        }
                    }
                    CanSendQueue.Enqueue(new CanSenMessage()
                    {
                        SendDate = EResult,
                        IsOK = EIsOK,
                        TaiHao = 0
                    });
                    continue;
                }
                else
                {
                    //正常运行流程
                    if (oneActive.ChannelNO == -1)
                    {
                        //FaultLog.RecordErrorMessage("颗粒通道判定异常");
                        FaultLog.RecordErrorMessage("Abnormal particle channel determination");
                        continue;
                    }
                    if (oneActive.StateCode == 0)
                    {
                        //单通道合格计数
                        result |= (byte)(1 << oneActive.ChannelNO);
                    }
                    else
                    {
                        if (oneActive.StateCode != 7 && oneActive.StateCode != 9)
                        {
                            //单通道不合格计数
                            result |= (byte)(1 << (oneActive.ChannelNO));
                        }
                        else if (oneActive.StateCode == 7)
                        {
                            //FaultLog.RecordErrorMessage("视野存在遮挡，请检查相机");
                            FaultLog.RecordErrorMessage("The field of view is obstructed. Please check the camera");
                        }
                    }
                }
            }

            if (IsSend)
            {
                CanSendQueue.Enqueue(new CanSenMessage()
                {
                    SendDate = result,
                    IsOK = IsOK,
                    TaiHao = 0
                });
            }

        }

        #endregion

        #region 线程方法

        /// <summary>
        /// 交换数据事件-赋予给相机回调方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void SwitchIdentifyImageEvent(object sender, FrameGrabbedEventArgs e)
        {
            if (e.FrameOut!=null)
            {
                //var QutuYanshiTime = (DateTime.Now - FromUnixTimestamp((long)e.FrameOut.HostTimeStamp)).TotalMilliseconds;
                //if (QutuYanshiTime > 12)
                //{
                //    Console.WriteLine($"GetOnceImage-识别延时超过了12ms，耗时{QutuYanshiTime}");
                //}
                if (lastframeNum == -1)
                {
                    lastframeNum = e.FrameOut.FrameNum;
                }
                else if (lastframeNum == e.FrameOut.FrameNum - 1)
                {
                    lastframeNum = e.FrameOut.FrameNum;
                }
                else
                {
                    //丢帧记录
                    LOG.log(string.Format("lost frame: Width[{0}] , Height[{1}] , FrameNum[{2}] ，Frevous[{3}]",
                        e.FrameOut.Image.Width, e.FrameOut.Image.Height, e.FrameOut.FrameNum, lastframeNum), 6);
                    Console.WriteLine("lost frame: Width[{0}] , Height[{1}] , FrameNum[{2}] ，Frevous[{3}]",
                        e.FrameOut.Image.Width, e.FrameOut.Image.Height, e.FrameOut.FrameNum, lastframeNum);
                    lastframeNum = e.FrameOut.FrameNum;
                }
                //Debug模式,不进行图像处理
                if (_IsDebug)
                {
                    _images.Enqueue(e.FrameOut.Clone() as IFrameOut);
                    if (_images.Count > 5)
                    {
                        _images.TryDequeue(out IFrameOut image);
                        image.Dispose();
                    }
                }
                shuLiClass.SetOnceIdentifyImageData(e.FrameOut);
                shuLiClass.QueueSemaphore.Release(); // 通知处理线程有新数据
            }
            e.FrameOut.Dispose();
        }

        /// <summary>
        /// 启动发送消息线程
        /// </summary>
        private bool StartSendBottLogicMessageThread()
        {
            bool result = false;
            try
            {
                if(!IsConnectModbus) return result;
                IsSend = true;
                SendBottLogicMessageThread = new Thread(SendBottLogicMessageProcess);
                SendBottLogicMessageThread.Start();
                SystemAlarm.AlarmCancel(AlarmMessageList.结果发送线程启动失败);
                result = true;
            }
            catch (Exception ex)
            {
                //FaultLog.RecordErrorMessage("MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message);
                SystemAlarm.AlarmAlert(AlarmMessageList.结果发送线程启动失败,
                    "MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message,
                    "结果发送线程启动失败," + ex.Message,
                    "DLL:MainThreadClass-StartSendBottLogicMessageThread");
                Console.WriteLine("MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message);
                result = false;
            }
            return result;
        }

        /// <summary>
        /// 停止发送消息线程
        /// </summary>
        private void StopSendBottLogicMessageThread()
        {
            try
            {
                // 标志位设为false

                if (SendBottLogicMessageThread != null && SendBottLogicMessageThread.IsAlive)
                {
                    try
                    {
                        IsSend = false;
                        SendBottLogicMessageThread.Join();
                        //SendBottLogicMessageThread.Interrupt();
                    }
                    catch (ThreadStateException)
                    {
                        // 忽略异常
                    }
                }
                //if (modbusTcpClient != null) modbusTcpClient.Disconnect();
                SystemAlarm.AlarmCancel(AlarmMessageList.结果发送线程停止失败);
            }
            catch (Exception ex)
            {
                //FaultLog.RecordErrorMessage("Start thread failed!, " + ex.Message);
                SystemAlarm.AlarmAlert(AlarmMessageList.结果发送线程停止失败,
                    "MianThread-StopSendBottLogicMessageThread:Stop thread failed!, " + ex.Message,
                    "结果发送线程停止失败, " + ex.Message,
                    "DLL:MainThreadClass-StopSendBottLogicMessageThread");
                throw;
            }
        }

        /// <summary>
        /// 启动发送消息线程
        /// </summary>
        private bool StartCanSendBottLogicMessageThread()
        {
            bool result = false;
            try
            {
                IsSend = true;
                SendBottLogicMessageThread = new Thread(SendBottLogicMessageProcessUseCan);
                SendBottLogicMessageThread.Start();
                SystemAlarm.AlarmCancel(AlarmMessageList.结果发送线程启动失败);
                result = true;
            }
            catch (Exception ex)
            {
                //FaultLog.RecordErrorMessage("MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message);
                SystemAlarm.AlarmAlert(AlarmMessageList.结果发送线程启动失败,
                    "MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message,
                    "结果发送线程启动失败," + ex.Message,
                    "DLL:MainThreadClass-StartSendBottLogicMessageThread");
                Console.WriteLine("MianThread-StartSendBottLogicMessageThread:Start thread failed!, " + ex.Message);
                result = false;
            }
            return result;
        }

        /// <summary>
        /// 信息发送线程
        /// </summary>
        private void SendBottLogicMessageProcess()
        {
            //获取数据
            TestSenMessage sendMessage;
            Stopwatch sw = Stopwatch.StartNew();
            Stopwatch WriteDoneTime = Stopwatch.StartNew();
            ushort writedoneMes = 0;
            writedoneMes |= (ushort)(1 << 0);
            while (IsSend)
            {
                //LOG.log("进入线程", 6);
                sendMessage = new TestSenMessage();
                ushort[] ReturnValue = null;
                ushort[] result = new ushort[20];
                modbusTcpClient.ReadHoldingRegisters(slaveId: 1, startAddress: 0, numRegisters: 1, out ReturnValue);
                if (ReturnValue == null)
                {
                    continue;
                }
                if ((ReturnValue[0] & 1) == 0)
                {
                    WriteDoneTime.Restart();
                    while (SendQueue.Count==0&& IsSend)
                    {
                        //Thread.Sleep(1);
                    }
                    sw.Restart();
                    int SendMessageCount = SendQueue.Count > 10 ? 10 : SendQueue.Count;
                    
                    for (int i = 0; i < SendMessageCount; i++)
                    {
                        if (!SendQueue.TryDequeue(out sendMessage))
                        {
                            //FaultLog.RecordErrorMessage("MainThreadClass-SendBottLogicMessageProcess-SendQueue.TryDequeue failed!");
                        }
                        if (sendMessage.Message == null)
                        {
                            continue;
                        }
                        result[i * 2] = sendMessage.Message[0];
                        result[i * 2 + 1] = sendMessage.Message[1];
                    }
                    //写入数据
                    modbusTcpClient.WriteMultipleRegisters(slaveId: 1, startAddress: 100, values: result);
                    modbusTcpClient.WriteSingleRegister(slaveId: 1, registerAddress: 0, value: writedoneMes);
                    if (result[0] > 0 || result[1]>0)
                    {
                        sw.Stop();
                        WriteDoneTime.Stop();
                        LOG.log(string.Format("待发送数量{0}", SendQueue.Count), 6);
                        LOG.log(string.Format("SendMess1Ok:{0},SendMess1Ng:{1},SendMess2Ok:{2},SendMess2Ng:{3}," +
                            "\nSendMessage3Ok:{4},SendMessage3Ng:{5},SendMessage4Ok:{6},SendMessage4Ng:{7}," +
                            "\nSendMessage5Ok:{8},SendMessage5Ng:{9},SendMessage6Ok:{10},SendMessage6Ng:{11}," +
                            "\nSendMessage7Ok:{12},SendMessage7Ng:{13},SendMessage8Ok:{14},SendMessage8Ng:{15}," +
                            "\nSendMessage9Ok:{16},SendMessage9Ng:{17},SendMessage10Ok:{18},SendMessage10Ng:{19}," +
                            "\n此次写值耗时：{20},此次WriteDone耗时：{21},此次写入数据量{22}",
                            result[0], result[1], result[2], result[3],
                            result[4], result[5], result[6], result[7],
                            result[8], result[9], result[10], result[11],
                            result[12], result[13], result[14], result[15],
                            result[16], result[17], result[18], result[19],
                            sw.Elapsed,WriteDoneTime.Elapsed,sendMessage.count), 6);
                        if (sw.ElapsedMilliseconds > 10)
                            LOG.error("通讯超时");
                    }
                }
                Thread.Sleep(1);
            }
        }

        private void SendBottLogicMessageProcessUseCan()
        {
            //获取数据
            CanSenMessage sendMessage;
            Stopwatch sw = Stopwatch.StartNew();
            Stopwatch WriteDoneTime = Stopwatch.StartNew();
            CanManagerClass canManager = new CanManagerClass();
            bool isFrist = true;
            try
            {
                canManager.OpenDevice();
                canManager.InitCan();
            }
            catch (Exception ex)
            {
                LOG.error(string.Format("MainThreadClass-SendBottLogicMessageProcessUseCan-Open:{0}", ex.Message));
            }
            while (IsSend)
            {
                try
                {
                    //LOG.log("进入线程", 6);
                    sendMessage = new CanSenMessage();
                    bool IsTrigger = canManager.GetTrigger(ref isFrist);
                    if (!IsTrigger)
                    {
                        continue;
                    }
                    else
                    {
                        WriteDoneTime.Restart();
                        while (CanSendQueue.Count == 0 && IsSend)
                        {
                            Thread.Sleep(1);
                        }
                        sw.Restart();

                        if (!CanSendQueue.TryDequeue(out sendMessage))
                        {
                            FaultLog.RecordErrorMessage("MainThreadClass-SendBottLogicMessageProcess-SendQueue.TryDequeue failed!");
                        }
                        canManager.SenMessage(sendMessage);
                    }
                }
                catch (Exception ex)
                {
                    LOG.error(string.Format("MainThreadClass-SendBottLogicMessageProcessUseCan-Send:{0}", ex.Message));
                }

            }
            try
            {
                canManager.CloseCan();
            }
            catch (Exception ex)
            {
                LOG.error(string.Format("MainThreadClass-SendBottLogicMessageProcessUseCan-Close:{0}", ex.Message));
            }
            LOG.log("发送线程关闭完成", 6);
        }
        #endregion

        #region 外部函数
        [DllImport("winmm.dll")]
        static extern uint timeBeginPeriod(uint period);
        #endregion
    }

    public class TestSenMessage
    {
        public ushort[] Message { get; set; }
        //public Int16 Message { get; set; }
        public ushort[] NumMessage { get; set; }
        public ushort count { get; set; }
    }
    public class CanSenMessage
    {
        public byte SendDate {  get; set; }
        public bool IsOK {  get; set; }
        public int TaiHao {  get; set; }
    }
}