private void DataReceived_Client1(object sender, SuperSimpleTcp.DataReceivedEventArgs e) //Client trả tín hiệu OK/NG

        {

            try

            {

                var tact_time = System.Diagnostics.Stopwatch.StartNew();

                var tact_time2 = System.Diagnostics.Stopwatch.StartNew();

​

                string tempDataRecv = Encoding.UTF8.GetString(e.Data.Array, 0, e.Data.Count);

                HienLenTextBox("Motion 1 --> Vision: " + tempDataRecv);

                double ttTakeImg = 0;

                if (tempDataRecv == "check")

                {

                    pDoc.ImgOrigin[0] = null;

                    pDoc.ChuoiGuiClient1 = "";

​

                    pDoc.resultDeviation1 = "";

                    pDoc.RunCamera1 = true;

​

                    if (cameraDino[0].IsOpen || cameraBasler[0].IsOpen || cameraHIK[0].IsOpen || cameraIMI[0].IsOpen)

                    {

                        if (pDoc._Type[0] == "Trigger" && cbUsing_Light1.Checked)

                        {

                            string strVal1 = "0";

                            string strVal2 = "0";

                            string strVal3 = "0";

                            string strVal4 = "0";

                            int nVal1 = 0;

                            int nVal2 = 0;

                            int nVal3 = 0;

                            int nVal4 = 0;

                            int.TryParse(pDoc.Value_Ch1[1], out nVal1);

                            int.TryParse(pDoc.Value_Ch2[1], out nVal2);

                            int.TryParse(pDoc.Value_Ch3[1], out nVal3);

                            int.TryParse(pDoc.Value_Ch4[1], out nVal4);

​

                            string strRep = "150";

                            strVal1 = nVal1 > 20 ? strRep : pDoc.Value_Ch1[1];

                            strVal2 = nVal2 > 20 ? strRep : pDoc.Value_Ch2[1];

                            strVal3 = nVal3 > 20 ? strRep : pDoc.Value_Ch3[1];

                            strVal4 = nVal4 > 20 ? strRep : pDoc.Value_Ch4[1];

​

                            LightOn(serialPort1, Properties.Settings.Default.m_type1, pDoc.Value_Ch1[0], pDoc.Value_Ch2[0], pDoc.Value_Ch3[0], pDoc.Value_Ch4[0], pDoc.Value_Ch5[0], pDoc.Value_Ch6[0], pDoc.Value_Ch7[0], pDoc.Value_Ch8[0]);

                            LightOn(serialPort2, Properties.Settings.Default.m_type2, strVal1, strVal2, strVal3, strVal4, pDoc.Value_Ch5[1], pDoc.Value_Ch6[1], pDoc.Value_Ch7[1], pDoc.Value_Ch8[1]);

                            Snap_Cam(0);

                            LightOff(serialPort1, Properties.Settings.Default.m_type1);

                            LightOff(serialPort2, Properties.Settings.Default.m_type2);

                        }

                        else

                            Snap_Cam(0);

​

                        //Tool cắt ROI dùng khi chạy Auto

                        Creat_Image_Regions_Cam(pDoc.ImgOrigin[pDoc.CameraSelect], pDoc.CameraSelect);

                    }

                    tact_time2.Stop();

                    ttTakeImg = tact_time2.ElapsedMilliseconds / 1000.0;

                    if (pDoc.ImgOrigin[0] == null)

                    {

                        HienLenTextBox("Camera 1 can not take image");

                        return;

                    }

                    Mat image = pDoc.ImgOrigin[0].Clone();

​

​

                    Task task = Task.Run(() => WorkerThread1.ImageProcessThread(image));

                    task.Wait();

​

                    //Time out chờ kết quả scanner

                    var watch = System.Diagnostics.Stopwatch.StartNew();

                    StatusLabel.Text = "Processing...";

                    while (pDoc.RunCamera1)

                    {

                        if (watch.ElapsedMilliseconds >= 10000)

                        {

                            watch.Stop();

                            HienLenTextBox("Time out 10000ms Camera 1! ");

                            Sent_to_Client("ERROR"); //Robot thả NG

                            pDoc.RunCamera1 = false;

                        }

                        Thread.Sleep(20);

                    }

​

                    string strDryRun = "";

                    if (lbModelName.Text.Trim().ToLower() == "model: dryrun")

                    {

                        pDoc.ChuoiGuiClient1 = "OK_OK_OK_OK_OK_OK_OK_OK_OK_OK";

                        strDryRun = "dryRun ";

                    }

​

                    Sent_to_Client(pDoc.ChuoiGuiClient1); //Robot thả NG

                    HienLenTextBox(strDryRun + "Camera 1 complete. " + pDoc.resultDeviation1);

                    HienlenDataCam1(pDoc.ChuoiGuiClient1);

                    //

                    if (pDoc.ChuoiGuiClient1.Contains("NG") || pDoc.ChuoiGuiClient1.Contains("NO"))

                    {

                        VisionFail(0);

                    }

                    else

                    {

                        VisionPass(0);

                    }

                }

                else

                    HienLenTextBox("Client phản hồi không đúng định dạng: " + tempDataRecv);

​

                //Tact time

                tact_time.Stop();

                double cycleTime = tact_time.ElapsedMilliseconds / 1000.0;

                cycleTime1.Invoke(new MethodInvoker(() =>

                {

                    cycleTime1.Text = cycleTime.ToString("F3") + " s";

                }));

                HienLenTextBox("Tact time Cam 1 : take " + ttTakeImg.ToString("F3") + " >> process " + (cycleTime - ttTakeImg).ToString("F3") + " >> " + cycleTime.ToString("F3") + " s");

​

                GC.Collect();

                GC.WaitForPendingFinalizers();

            }

            catch (Exception ex)

            {

                MessageBox.Show("Lỗi ở DataReceived TCP/IP" + ex, "Error",

                MessageBoxButtons.OK, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);

                return;

            }

        }