private void bUpdate2Set_Click(object sender, EventArgs e)
{
for (uint nz = 0; nz < Variable.NOZZLE_NUM; ++nz)
{
try
{
var ctl = (TextBox)(this.Controls.Find($"tZ{nz + 1}", true)[0]);
Z_RunParam zparam = Form_Main.Instance.Z_RunParamMap[nz];
zparam.PasteHeight = double.Parse(ctl.Text);
Form_Main.Instance.Ini_Sys.IniWriteNumber("Position", $"PasteHeightZ{nz + 1}", zparam.PasteHeight);
}
catch { return; }
}
}
private void CalPasueHeight(Z_RunParam zParam, ref PointF cur, ref Variable.VelMode vel)
{
zParam.MoveTrim(zParam.MoveDir * 0.5, vel);
Thread.Sleep(500);
if (!zParam.Check_vaccum.GetIO())
{
this.CalPasueHeight(zParam, ref cur, ref vel);
}
else
{
return;
}
}
private void CalLoop()
{
while (!Exit)
{
if (!this.calQueue.IsEmpty)
{
ResultItem item = null;
try
{
#region 计算
if (this.calQueue.TryDequeue(out item))
{
Stopwatch watch = new Stopwatch();
watch.Restart();
// 如果已有该吸嘴得计算结果顶替掉
Z_RunParam zParam = Form_Main.Instance.Z_RunParamMap[item.Nozzle];
var camera = Form_Main.Nozzle2Cam((int)item.Nozzle);
// 算法
zParam.CamResult = Form_Main.Instance.Auto_Detect1(ref Form_Main.Instance.Feeder[zParam.RUN_Nozzle_FeederIndex - 1].Label, zParam.CaptureImage, camera.Item1, (int)item.Nozzle);
Form_Main.Instance.CalNozzle(item.Nozzle, camera.Item1, camera.Item2);
zParam.CalFinished = true;
Form_Main.Instance.ShowVisionStatus((int)(item.Nozzle + 1), zParam.CamResult, zParam.CaptureImage);
Debug.WriteLine($"下视觉计算时间:{watch.ElapsedMilliseconds} ms");
}
#endregion
}
catch (Exception ex)
{
if (item != null)
{
// 如果已有该吸嘴得计算结果顶替掉
Z_RunParam zParam = Form_Main.Instance.Z_RunParamMap[item.Nozzle];
zParam.CalFinished = true;
zParam.RUN_dNozzleDownVisionED = 4;
Form_Main.Instance.PutInLog("D://下视觉//", "Log", $"下视觉计算错误 {ex.Message} \n 错误所在:{ex.StackTrace} 吸嘴{item.Nozzle + 1},贴附信息{zParam.RUN_PasteInfoIndex},{zParam.RUN_PastePointIndex}");//
}
}
}
else
{
Thread.Sleep(1);
}
}
}
private void bAutoSet_Click(object sender, EventArgs e)
{
if (MessageBox.Show("是否以当前位置为贴附点进行，贴附高度确认！！", "Tips", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
PointF cur = new PointF();
cur.X = (float)Form_Main.Instance.X.Pos;
cur.Y = (float)Form_Main.Instance.Y.Pos;
Variable.VelMode vel = new Variable.VelMode(0, 100, 300, 300);
for (uint nz = 0; nz < Variable.NOZZLE_NUM; ++nz)
{
Form_Main.Instance.XYGoPosTillStop(30000, Form_Main.Instance.NozzleToCamPoint(cur, (int)nz), vel);
Z_RunParam zparam = Form_Main.Instance.Z_RunParamMap[nz];
zparam.XI_vaccum.SetIO();
this.CalPasueHeight(zparam, ref cur, ref vel);
Thread.Sleep(500);
var ctl = (TextBox)(this.Controls.Find($"tZ{nz + 1}", true)[0]);
ctl.Text = zparam.Pos.ToString("f3");
zparam.GoSafePos(vel);
Thread.Sleep(2000);
zparam.XI_vaccum.ResetIO();
}
}
}
private void bAutoSet_Click(object sender, EventArgs e)
{
if (this.cbLabelIndex.SelectedIndex < 0)
{
return;
}
int labelIndex = this.cbLabelIndex.SelectedIndex;
//Task.Factory.StartNew(() =>
//{
try
{
var vel = Form_Main.VariableSys.VelMode_Current_Manual;
parent.All_ZGoSafeTillStop(3000, vel);
parent.XYGoPosTillStop(5000, Form_Main.VariableSys.pReadyPoint, vel);
parent.Turn.GoPosTillStop(5000, Form_Main.VariableSys.dTurnXIAngle, vel);
PointF camPt = new PointF();
camPt.X = float.Parse(this.FeederCtrl.Rows[labelIndex].Cells[0].Value.ToString());
camPt.Y = float.Parse(this.FeederCtrl.Rows[labelIndex].Cells[1].Value.ToString());
PointF nzPt = parent.Nz1ToOther(camPt, this.Nozzle);
double zHeight = this.Feeder.XIHeight[labelIndex][this.Nozzle];
double xiAngle = this.Feeder.XI_Degree[this.Nozzle];
Z_RunParam zParam = parent.Z_RunParamMap[(uint)this.Nozzle];
R_RunParam rParam = parent.R_RunParamMap[(uint)this.Nozzle];
zParam.PO_vaccum.ResetIO();
zParam.XI_vaccum.ResetIO();
parent.XYGoPosTillStop(5000, nzPt, vel);
rParam.GoPosTillStop(5000, xiAngle, vel);
if (this.Feeder.bReachXI)
{
zParam.XI_vaccum.SetIO();
}
else
{
zParam.XI_vaccum.ResetIO();
}
zParam.GoPosTillStop(5000, zHeight, vel);
zParam.XI_vaccum.SetIO();
Thread.Sleep(Form_Main.VariableSys.iDelay_BeforeXI);
var camera = Form_Main.Nozzle2Cam(this.Nozzle);
parent.LightON_Down_PASTE1(ref this.Feeder.Label);
parent.SetShutter((int)this.Feeder.Label.Shutter1, camera.Item1);
parent.All_ZGoSafeTillStop(5000, vel);
if (!parent.All_ZReachOrg())
{
return;
}
parent.XYGoPosTillStop(5000, Form_Main.VariableSys.pReadyPoint, vel);
parent.Turn.GoPosTillStop(5000, Form_Main.VariableSys.dTurnPasteAngle, vel);
// 拍照
Thread.Sleep(Form_Main.VariableSys.iDownCamDelay);
PointF curPos = Form_Main.VariableSys.pReadyPoint;
CameraDefine.Instance[camera.Item1]._Session.Snap(parent.imageSet.Image);
Variable.CamReturn cam = Form_Main.Instance.Auto_Detect1(ref this.Feeder.Label, parent.imageSet.Image, camera.Item1, this.Nozzle);
if (cam.IsOK)
{
// 识别出来的位置
PointF temp = parent.Point2CCDCenter(curPos, new PointContour(cam.X, cam.Y), camera.Item1, camera.Item2);
PointF rotateCenter = parent.Point2CCDCenter(curPos, Form_Main.VariableSys.pDownRotateCenter[0], camera.Item1, camera.Item2);
/// 识别与吸嘴旋转中心的误差
PointF offset = new PointF();
offset.X = temp.X - rotateCenter.X;
offset.Y = temp.Y - rotateCenter.Y;
this.nOffsetX.Value = (decimal)offset.X;
this.nOffsetY.Value = (decimal)offset.Y;
}
}
catch { }
//});
}
