// will only work with downcamera
public Shapes.Thing GoToClosestThing(Shapes.ShapeTypes type, double FindTolerance, double MoveTolerance, VideoProcessing vp = null, string template = null, double threshold = -1) {
DisplayText("GoToThing(" + type + "), FindTolerance: " + FindTolerance + ", MoveTolerance: " + MoveTolerance, Color.Orange);
vp = vp ?? cameraView.downVideoProcessing;
Shapes.Thing thing = null;
double dir = (vp.IsUpCamera()) ? -1 : 1;
for (int i = 0; i < 8; i++) { //move up to 8 times
Global.DoBackgroundWork();
thing = VideoDetection.FindClosest(vp, type, FindTolerance, 2, template, threshold);
if (thing == null) break; //couldn't find
thing.ToMMResolution();
DisplayText("--> round " + i + ", offset= " + thing.ToPartLocation() + " dist/tol = " + thing.ToPartLocation().VectorLength().ToString("F2") + " of " + FindTolerance);
// If we are further than move tolerance, go there, else end loop
if (thing.ToPartLocation().VectorLength() > MoveTolerance) {
Console.WriteLine("\tmoving by " + thing.ToPartLocation());
Cnc.CNC_XY(Cnc.XYLocation + (dir * thing.ToPartLocation()));
} else break;
}
//if (thing == null) ShowSimpleMessageBox("Optical positioning: Process is unstable, result is unreliable!");
if (thing != null) thing.AddOffset(Cnc.XYLocation);
return thing;
}
