private GeometryExtents <double> AddLayer(MRecipe recipe, MRecipeDeviceLayer layer)
{
var extents = GeometryExtents <double> .CreateDefaultDouble();
// calculate layer's transform
var transform = MRecipe.GetRelativeTransform(recipe, layer);
// fetch geometries from pattern file
var geometries = _fetchDxfFunc(layer.PatternFilePath);
for (int i = 0; i < geometries?.Count; i++)
{
var clone = (IMarkGeometry)geometries[i].Clone();
clone.Transform(transform);
// render geometry
AddDefault(
clone,
DefaultColor
);
// update extents
extents = GeometryExtents <double> .Combine(
extents,
clone.Extents
);
}
return(extents);
}
public List <MRecipe> GetRecipe(string idRecipe)
{
List <MRecipe> recipeList = new List <MRecipe>();
{
sqlCon = con.openConnection();
sqlCom = new SqlCommand("select a.Id_Recipe, c.DrugName, b.Qty, b.Subtotal from Recipe.Recipe a join Recipe.RecipeDetail b on a.Id_Recipe = b.Id_Recipe join Recipe.Drug c on b.Id_Drug = c.Id_Drug where a.Id_Recipe = '" + idRecipe + "'", sqlCon);
sqlDa = new SqlDataAdapter(sqlCom);
DataTable dt = new DataTable();
sqlDa.Fill(dt);
if (dt.Rows.Count > 0)
{
for (int i = 0; i < dt.Rows.Count; i++)
{
MRecipe recipeData = new MRecipe();
recipeData.IdDrug = dt.Rows[i]["Id_Recipe"].ToString();
recipeData.NamaObat = dt.Rows[i]["DrugName"].ToString();
recipeData.Qty = dt.Rows[i]["Qty"].ToString();
recipeData.Fare = dt.Rows[i]["Subtotal"].ToString();
recipeList.Add(recipeData);
}
}
sqlCon.Close();
}
return(recipeList);
}
public void Redo()
{
if (_undoRedoHelper == null)
{
return;
}
lock (_undoRedoHelper)
{
_undoRedoHelper.Pause();
var data = _undoRedoHelper.Redo();
if (data != default(MRecipe))
{
_undoRedoHelper.DisposeSubscriptions();
RecipeItemsSource = data;
_undoRedoHelper.SaveStateOnPropertyChange(_mRecipe);
MRecipe.BeginGetNodes(_mRecipe, (baseNode) => {
_undoRedoHelper.SaveStateOnPropertyChange(baseNode);
});
}
_undoRedoHelper.Resume();
}
}
public virtual void AddLayerTiles(MRecipe recipe, MRecipeDeviceLayer layer)
{
// get layer's transform
var transform = MRecipe.GetRelativeTransform(recipe, layer);
// update layer's tile info
if (layer.TileDescriptions.Count <= 0)
{
layer.GenerateTileDescriptionsFromSettings(
(patternFilePath) =>
{
return(GeometricArithmeticModule.CalculateExtents(
_fetchDxfFunc(patternFilePath)
));
}
);
}
// render tiles
for (int i = 0; i < layer.TileDescriptions.Count; i++)
{
var tile = (MarkGeometryRectangle)layer.TileDescriptions[i];
tile.Transform(transform);
AddDefault(tile, TileColor);
}
}
public void GenerateRecipeInfo()
{
RecipeInfo.Clear();
int index = 0;
MRecipe.BeginGetAllLayers(RecipeVm, (layer) =>
{
if (layer.TileDescriptions.Count() <= 0)
{
layer.GenerateTileDescriptionsFromSettings(
GeometricArithmeticModule.CalculateExtents(FetchDXF(layer))
);
}
var info = new RecipeProcessEntityInfo()
{
Index = index++,
Layer = layer,
EstimatedTime = EstimateProcessTime(layer)
};
RecipeInfo.Add(info);
});
// fetch recipe's count and extents
(RecipeGeometriesCount, RecipeExtents) = MRecipe.CalculateExtents(RecipeVm);
}
private void okButton_Click(object sender, RoutedEventArgs e)
{
var dialog = new SaveFileDialog();
dialog.AddExtension = true;
dialog.Title = "Save Recipe";
dialog.Filter = MRecipe.FileFilter;
dialog.DefaultExt = MRecipe.DefaultFileExtension;
dialog.FileName = Path.GetFileNameWithoutExtension(_viewModel.PatternFilePath);
dialog.InitialDirectory = _viewModel.DefaultRecipeDirectory;
if (dialog.ShowDialog() != true)
{
return;
}
try
{
Recipe = _viewModel.GenerateRecipe(dialog.FileName);
if (Recipe == null)
{
throw new Exception("Missing or Invalid Parameters");
}
DialogResult = true;
}
catch (Exception exp)
{
MessageBox.Show(
exp.Message, "Error"
);
}
}
public virtual void AddRecipe(MRecipe recipe)
{
if (recipe == null)
{
return;
}
recipe.BeginGetAllPlates((plate) => AddRecipeNode(recipe, plate));
}
public int CountNumberOfFiducials(MRecipe recipeIn)
{
int count = 0;
MRecipe.BeginGetNodes(
recipeIn,
(node) => {
count += node.Fiducials.Count;
}
);
return(count);
}
public virtual void AddRecipeNode(MRecipe recipe, MRecipeBaseNode recipeNode)
{
if (recipe == null || recipeNode == null)
{
return;
}
var extents = GeometryExtents <double> .CreateDefaultDouble();
MRecipe.BeginGetAllLayers_Parallel(recipeNode, (layer) =>
{
extents = GeometryExtents <double> .Combine(
extents,
AddLayer(recipe, layer)
);
});
// calculate size of fiducial relative to the node
var fiducialSize = 0.025 * extents.Hypotenuse;
// generate fiducial pattern
GenerateFiducialPattern(fiducialSize);
// get node's transform
var parentsTransform = (recipeNode.Parent as MRecipeBaseNode)?.TransformInfo.ToMatrix4x4() ?? GeometricArithmeticModule.GetDefaultTransformationMatrix();
// render fiducials in parent's reference frame
foreach (var fiducial in recipeNode.Fiducials)
{
var transform = GeometricArithmeticModule.CombineTransformations(
GeometricArithmeticModule.GetTranslationTransformationMatrix(
fiducial.X, fiducial.Y, fiducial.Z
),
parentsTransform
);
foreach (var geometry in _fiducialPattern)
{
var clone = (IMarkGeometry)geometry.Clone();
clone.Transform(transform);
AddDefault(clone, FiducialColor);
}
}
}
public void UpdateItemsSource()
{
if (RecipeItemsSource != null)
{
_lastSelectedNode = null;
_mRecipe = RecipeItemsSource;
if (_undoRedoHelper?.IsPaused != true)
{
_undoRedoHelper = new UndoRedoHelper <MRecipe>(ref _mRecipe);
MRecipe.BeginGetNodes(_mRecipe, (baseNode) => {
_undoRedoHelper.SaveStateOnPropertyChange(baseNode);
});
_undoRedoHelper.SaveState();
}
NotifyPropertyChanged(nameof(MRecipe));
}
}
public async Task <Matrix4x4> GetAbsoluteTransformFromStageOrigin(
IProcessConfigurationTasksHandler taskHandler,
ICamToBeam cam2Beam,
MRecipe recipe,
MRecipeBaseNode recipeNode,
CancellationToken ctIn
)
{
// firstly, find closest parent with fiducials
var parent = recipeNode;
while (
parent != null &&
parent.Fiducials.Count <= 0
)
{
parent = parent.Parent as MRecipeBaseNode;
}
if (parent != null)
{
// recursion - get it's parent's transform
var baseTransform = await GetAbsoluteTransformFromStageOrigin(
taskHandler, cam2Beam, recipe, parent.Parent as MRecipeBaseNode, ctIn
);
var fiducialPoints = new List <MarkGeometryPoint>();
var measuredPoints = new List <MarkGeometryPoint>();
for (int i = 0; i < parent.Fiducials.Count; i++)
{
var fiducial = parent.Fiducials[i];
if (!_cachedFiducials.ContainsKey(fiducial))
{
// estimate stage position
var stageLocation = new MarkGeometryPoint(
fiducial.X, fiducial.Y, fiducial.Z
);
stageLocation.Transform(baseTransform);
// goto estimated position
if (!await taskHandler.GotoXY(
stageLocation.X, stageLocation.Y, ctIn
))
{
throw new Exception($"Failed to goto the estimated position; origin: {await taskHandler.GetStageOrigin(ctIn)}, fiducial: {(fiducial.X, fiducial.Y)} est: {stageLocation}");
}
// find and centre
{
if (!await cam2Beam.MoveBeamToCamOffset(ctIn))
{
throw new Exception($"Failed to move beam to cam offset");
}
if (!await taskHandler.MovetoCameraFocus(ctIn))
{
throw new Exception($"Failed to move camera to focus");
}
await taskHandler.SwitchCameraLedOn(ctIn);
// attempt to centre on fiducial
if (!await taskHandler.CentreOnVisibleObject(ctIn))
{
_logger.Info($"Failed to centre on fiducial");
// ask user to locate fiducials
Application.Current.Dispatcher.Invoke(
() =>
{
var fidVm = taskHandler.GetNewFidFindViewModel();
var inspectionDialog = new InspectionWindow(fidVm, Application.Current.MainWindow);
inspectionDialog.Owner = Application.Current.MainWindow;
if (inspectionDialog.ShowDialog() != true)
{
throw new Exception("Failed to find fiducial");
}
// TODO : think about updating the machine's origin
}
);
}
if (!await cam2Beam.MoveCamToBeamOffset(ctIn))
{
throw new Exception($"Failed to move camera to beam offset");
}
}
// read fiducial position
var(stgX, stgY, success) = await taskHandler.GetStageXY(ctIn);
if (!success)
{
throw new Exception("Failed to read the current stage position");
}
// update cache
_cachedFiducials[fiducial] = new MarkGeometryPoint(stgX, stgY);
}
// update measured points
fiducialPoints.Add(new MarkGeometryPoint(fiducial.X, fiducial.Y));
measuredPoints.Add(_cachedFiducials[fiducial]);
}
// calculate transform from measured fiducials
var parentTransform = GeometricArithmeticModule.EstimateTransformationMatrixFromPoints(
fiducialPoints, measuredPoints
);
return(GeometricArithmeticModule.CombineTransformations(
parentTransform,
await InvertTransform(
taskHandler,
parentTransform,
MRecipe.GetRelativeTransformFromParent(
parent, recipeNode
),
ctIn
)
));
}
var origin = await taskHandler.GetStageOrigin(ctIn);
var stageOrigin = GeometricArithmeticModule.GetTranslationTransformationMatrix(
origin.X, origin.Y
);
return(GeometricArithmeticModule.CombineTransformations(
stageOrigin,
await InvertTransform(
taskHandler,
stageOrigin,
MRecipe.GetRelativeTransform(
recipe, recipeNode
),
ctIn
)
));
}
public MRecipe GenerateRecipe(string outputFileName)
{
if (
_geometriesBuffer == null ||
_geometriesBuffer.Keys.Count <= 0 ||
!File.Exists(PatternFilePath)
)
{
throw new Exception("Missing or Invalid pattern");
}
var patternName = Path.GetFileNameWithoutExtension(outputFileName);
var device = new MRecipeDevice(patternName);
var recipe = new MRecipe(new MRecipePlate("Plate", device));
// add fiducials to recipe plate
recipe.Plates.First().Fiducials = new ObservableCollection <MFiducialInfo>(Fiducials);
if (SeperateLayers)
{
var dataDirectory = Path.Combine(
Path.GetDirectoryName(outputFileName),
$"{patternName} Data"
);
if (!Directory.Exists(dataDirectory))
{
Directory.CreateDirectory(dataDirectory);
}
foreach (var layerName in _geometriesBuffer?.Keys)
{
var fileName = Path.Combine(
dataDirectory, $"{layerName}.dxf"
);
GeometricArithmeticModule.SaveDXF(fileName, _geometriesBuffer[layerName]);
var layer = new MRecipeDeviceLayer(layerName);
layer.AlignmentType = AlignmentType;
layer.PatternFilePath = fileName;
layer.ProcessParametersFilePath = ProcessParametersFilePath;
layer.TargetProcessMode = TargetProcessMode?.Name.EnglishValue;
layer.TileSettings = (MTileSettings)TileSettings.Clone();
device.AddLayer(layer);
}
recipe.Save(
Path.Combine(
dataDirectory, $"{patternName}.{MRecipe.DefaultFileExtension}"
)
);
}
else
{
var layer = new MRecipeDeviceLayer(patternName);
layer.AlignmentType = AlignmentType;
layer.PatternFilePath = PatternFilePath;
layer.ProcessParametersFilePath = ProcessParametersFilePath;
layer.TargetProcessMode = TargetProcessMode?.Name.EnglishValue;
layer.TileSettings = (MTileSettings)TileSettings.Clone();
device.AddLayer(layer);
recipe.Save(
Path.Combine(
Path.GetDirectoryName(PatternFilePath), $"{patternName}.{MRecipe.DefaultFileExtension}"
)
);
}
// update recipe's parents
recipe.UpdateParents();
return(recipe);
}
public void Render()
{
_terminableTaskExecutor.CancelCurrentAndRun(
(ctIn) =>
{
// reset shader
MShader.Reset();
// stop if new render is requested
ctIn.ThrowIfCancellationRequested();
// as we only render one layer at a time
// choose the closest layer in the recipe tree
var layer = GetClosestLayer();
if (layer != null)
{
// extract device's absolute transform
var baseTransform = MRecipe.GetRelativeTransform(RecipeVm, layer);
// calculate layer's transform
var transform = GeometricArithmeticModule.CombineTransformations(
baseTransform,
layer.TransformInfo.ToMatrix4x4()
);
// fetch pattern
var pattern = FetchDXF(layer);
for (int j = 0; j < pattern?.Count; j++)
{
// get copy of geometry
var geometry = (IMarkGeometry)pattern[j].Clone();
// apply transform to geometry
geometry.Transform(transform);
// add geometry
MShader.AddDefault(geometry);
}
// overlay tiles
foreach (var tile in layer.TileDescriptions)
{
var rect = (MarkGeometryRectangle)tile;
// apply transform to rect
rect.Transform(transform);
// add geometry
MShader.AddDefault(rect, MGLShader.Violet);
}
}
// stop if new render is requested
ctIn.ThrowIfCancellationRequested();
MShader.Render();
UpdateStats();
}
);
}
public RunRecipeDialogViewModel(RunRecipeDialogModel modelIn, MRecipe recipe)
{
_model = modelIn;
_terminableTaskExecutor = new TerminableTaskExecutor();
_processTerminableTaskExecutor = new TerminableTaskExecutor();
_dxfCachedLoader = new CachedLoader <List <IMarkGeometry> >();
RecipeInfo = new ObservableCollection <RecipeProcessEntityInfo>();
_fiducialFinder = new FiducialFinder();
_processTimer.Elapsed += _processTimer_Elapsed;
IsPaused = false;
IsRunning = false;
try
{
IsLoading = true;
SelectedSubProcessInfo = null;
RecipeVm = recipe;
GenerateRecipeInfo();
Render();
}
catch (Exception exp)
{
_model.Log(exp);
_model.Log("Failed to load recipe");
}
finally
{
IsLoading = false;
}
StartRecipeCommand = new DelegateCommand(
() => {
StartProcess();
}
);
RestartCommand = new DelegateCommand(
async() =>
{
if (IsRunning)
{
Abort();
// wait a second for running tasks to stop
await Task.Delay(1000);
}
StartProcess();
}
);
PauseContinueCommand = new DelegateCommand(
() =>
{
try
{
if (!IsPaused)
{
DispatcherMessageBox.ShowBox(
"The process will be paused when it is safe to do so.",
"Pause Request"
);
PrintLog("Process Paused ...");
}
else
{
PrintLog("Continue Process");
}
IsPaused = !IsPaused;
}
finally
{
}
}
);
AbortRecipeCommand = new DelegateCommand(
() =>
{
Abort();
}
);
}
public MRecipe GenerateRecipe(string outputFileName)
{
if (
_stlModel == null ||
_stlSlices == null ||
_stlSlices.Count <= 0 ||
!File.Exists(PatternFilePath)
)
{
throw new Exception("Missing or Invalid pattern");
}
try
{
IsLoading = true;
string markParametersFilePath = TargetProcessMode?.ProcessParameterFileManager?.FilePath;
var recipeName = Path.GetFileNameWithoutExtension(outputFileName);
var dataDirectory = Path.Combine(
Path.GetDirectoryName(outputFileName),
$"{recipeName} Recipe Data"
);
// save recipe in it's Data Directory
var recipeFilePath = Path.Combine(
dataDirectory, Path.GetFileName(outputFileName)
);
// overwrite data directory if it exists
if (Directory.Exists(dataDirectory))
{
Directory.Delete(dataDirectory);
}
Directory.CreateDirectory(dataDirectory);
// copy the marking parameters to the data directory
var newMarkParametersFilePath = Path.Combine(
dataDirectory, Path.GetFileName(markParametersFilePath)
);
// copy the marking parameters to the data directory
if (File.Exists(newMarkParametersFilePath))
{
File.Delete(newMarkParametersFilePath);
}
File.Copy(markParametersFilePath, newMarkParametersFilePath);
// create device
var device = new MRecipeDevice("Slices");
// centre device about it's reference point
device.TransformInfo.OffsetX = -StlModelReferencePoint.X;
device.TransformInfo.OffsetY = -StlModelReferencePoint.Y;
// create template layers so that
// they can be updated in parallel
for (int i = 0; i < _stlSlices.Count; i++)
{
device.Layers.Add(new MRecipeDeviceLayer());
}
// generate and export DXFs
Parallel.For(0, _stlSlices.Count, (i) =>
{
// device - representing slices
var layer = device.Layers[i];
layer.Tag = $"Slice {i}";
layer.TargetProcessMode = TargetProcessMode?.Name.EnglishValue;
layer.ProcessParametersFilePath = markParametersFilePath;
layer.PatternFilePath = Path.Combine(dataDirectory, $"{layer.Tag}.dxf");
layer.TileSettings = TileSettings;
for (int j = 0; j < _stlSlices[i].Tiles.Count; j++)
{
layer.TileDescriptions.Add(
new MTileDescription(j, _stlSlices[i].Tiles[j])
);
}
_stlSlices[i].SaveAsDXF(layer.PatternFilePath);
});
// create recipe
var recipe = new MRecipe(new MRecipePlate(recipeName, device));
// set alignment type
recipe.Plates[0].AlignmentType = AlignmentType;
// add alignment fiducials to recipe plate
recipe.Plates[0].Fiducials = new ObservableCollection <MFiducialInfo>(Fiducials);
// update recipe's parents
recipe.UpdateParents();
recipe.Save(Path.Combine(dataDirectory, recipeFilePath));
return(recipe);
}
finally
{
IsLoading = false;
}
}