static void CenterPart()
{
Tape t = tapes[state.lastTape];
var retval = new Native.Vec2();
if (t.xOffset == 0 && t.yOffset == 0)
{
int fx = (int)(settings.downCamera.xPixelPerMm * t.partRects[0].width * 1.2m);
int fy = (int)(settings.downCamera.yPixelPerMm * t.partRects[0].height * 1.2m);
Native.findrectangle(0, fx, fy, 20, 20, fx * 4, fy * 4, retval);
}
else
{
int fx = (int)(settings.downCamera.xPixelPerMm * 1.6m);
int fy = (int)(settings.downCamera.yPixelPerMm * 1.6m);
Native.findcircle(0, fx / 2, 12, fx * 2, fy * 2, settings.downCamera.threshold1, settings.downCamera.threshold2, retval);
}
decimal mx = Decimal.Round(retval.x / settings.downCamera.xPixelPerMm, 2);
decimal my = Decimal.Round(retval.y / settings.downCamera.yPixelPerMm, 2);
Native.DrawText(1200, 810, 1, 0, "Got: " + mx + " " + my);
if (Math.Abs(mx) > 1 || Math.Abs(my) > 1)
{
Error("Part alignment too big: " + mx + ", " + my);
return;
}
channel.Move(x: mx, y: my, s: 1000);
updateState();
}
static void CorrectUpCam()
{
int dx = (int)(settings.downCamera.xPixelPerMm * 1.0m);
Native.Vec2 retval = new Native.Vec2();
Native.findcheck(0, settings.markXOffset, settings.markYOffset, dx, dx, dx * 4, dx * 4, retval);
decimal mx = Decimal.Round(retval.x / settings.downCamera.xPixelPerMm, 2);
decimal my = Decimal.Round(retval.y / settings.downCamera.yPixelPerMm, 2);
Native.DrawText(820, 560, 1, 0, "Camera Got: " + mx + " " + my);
if (Math.Abs(mx) > 0.8m || Math.Abs(my) > 0.8m)
{
Error("Camera correction too big: " + mx + ", " + my);
return;
}
channel.Move(x: mx, y: my, s: 1000);
channel.SetCoords(x: settings.upCamera.xOffset, y: settings.upCamera.yOffset);
updateState();
}
static void AlignFid(int fi)
{
int fx = (int)(settings.downCamera.xPixelPerMm / 2 * 1.0m);
var retval = new Native.Vec2();
Native.findcircle(0, fx / 2, 12, fx * 4, fx * 4, settings.downCamera.threshold1, settings.downCamera.threshold2, retval);
decimal mx = Decimal.Round(retval.x / settings.downCamera.xPixelPerMm, 2);
decimal my = Decimal.Round(retval.y / settings.downCamera.yPixelPerMm, 2);
Native.DrawText(820, 500, 1, 0, "Got: " + mx + " " + my);
if (Math.Abs(mx) < 0.5m && Math.Abs(my) < 0.5m)
{
channel.Move(x: mx, y: my, s: 1000);
updateState();
state.fiducials[fi].realX = channel.posX;
state.fiducials[fi].realY = channel.posY;
board.fiducials[fi].realX = channel.posX;
board.fiducials[fi].realY = channel.posY;
return;
}
Error("Fiducial correction too big: " + mx + ", " + my);
}
static void BoardCallback(long data)
{
if (board == null || board.steps == null || board.steps.Count == 0 || board.fiducials == null || board.fiducials.Count == 0)
{
return;
}
switch (data & 255)
{
case 1:
state.lastStep--;
if (state.lastStep <= 0)
{
state.lastStep = 0;
}
break;
case 2:
state.lastStep++;
if (state.lastStep >= board.steps.Count - 1)
{
state.lastStep = board.steps.Count - 1;
}
break;
case 3:
Placement pl = board.steps[state.lastStep];
var tp = boardPosToPnpPos(pl.posX, pl.posY);
channel.MoveTo(x: tp.Item1, y: tp.Item2, s: settings.speed);
updateState();
break;
case 4:
state.lastFid--;
if (state.lastFid <= 0)
{
state.lastFid = 0;
}
break;
case 5:
state.lastFid++;
if (state.lastFid >= board.fiducials.Count - 1)
{
state.lastFid = board.fiducials.Count - 1;
}
break;
case 6:
Run(() => MoveToFid(state.lastFid));
break;
case 7:
Run(() => AlignFid(state.lastFid));
break;
case 8:
var xy = CalcPartRelative();
channel.MoveTo(x: xy.Item1, y: xy.Item2, s: settings.speed);
updateState();
break;
case 9:
Fiducial f = board.fiducials[state.lastFid];
var tf = boardPosToPnpPos(f.posX, f.posY);
settings.boardZeroX += state.lastX - tf.Item1;
settings.boardZeroY += state.lastY - tf.Item2;
break;
case 10:
Run(() => MoveToFidReal(state.lastFid));
break;
case 11:
Native.Vec2 retval = new Native.Vec2();
Native.findsymmetry(0, 50, 50, 100, 100, retval);
Native.findsymmetry(1, 50, 50, 100, 100, retval);
Native.save_screen("test.bmp");
break;
case 20:
Run(AlignUpCam);
break;
case 21:
Run(CorrectUpCam);
break;
}
updateBoard();
}
static void TapeCallback(long data)
{
if (tapes == null || tapes.Count == 0)
{
return;
}
Tape t = tapes[state.lastTape];
switch (data & 255)
{
case 1:
state.lastTape--;
if (state.lastTape <= 0)
{
state.lastTape = 0;
}
updateCameras();
break;
case 2:
state.lastTape++;
if (state.lastTape >= tapes.Count - 1)
{
state.lastTape = tapes.Count - 1;
}
updateCameras();
break;
case 3:
if (t.lastPartX == 0)
{
if (t.x1 == 0)
{
return;
}
t.lastPartX = t.x1;
t.lastPartY = t.y1;
}
channel.MoveTo(x: t.lastPartX, y: t.lastPartY, s: settings.speed);
updateState();
break;
case 4:
t.x1 = state.lastX;
t.y1 = state.lastY;
break;
case 5:
t.x2 = state.lastX;
t.y2 = state.lastY;
break;
case 6:
t.lastPartX = state.lastX;
t.lastPartY = state.lastY;
break;
case 7:
t.lastDeltaX = state.lastX - t.x1;
t.lastDeltaY = state.lastY - t.y1;
break;
case 8:
t.zOffset = state.lastZ;
break;
case 9:
CenterPart();
break;
case 10:
if (t.x1 == 0)
{
return;
}
channel.MoveTo(x: t.x1, y: t.y1, s: settings.speed);
updateState();
break;
case 11:
channel.Move(x: -t.lastDeltaX, y: -t.lastDeltaY, s: settings.speed);
updateState();
break;
case 12:
channel.Move(x: t.lastDeltaX, y: t.lastDeltaY, s: settings.speed);
updateState();
break;
case 20:
Native.Vec2 retval = new Native.Vec2();
int sx = (int)(settings.downCamera.xPixelPerMm * 1.5m);
int sy = (int)(settings.downCamera.yPixelPerMm * 1.5m);
//Native.findrectangle(0, sx, sy, 10, 10, sx * 2, sy * 4, retval);
Native.findcircle(0, sx / 2, 12, sx * 2, sy * 4, settings.downCamera.threshold1, settings.downCamera.threshold2, retval);
decimal mx = Decimal.Round(retval.x / settings.downCamera.xPixelPerMm, 2);
decimal my = Decimal.Round(retval.y / settings.downCamera.yPixelPerMm, 2);
Native.DrawText(1200, 810, 1, 0, "Got: " + mx + " " + my);
if (Math.Abs(mx) < 1 && Math.Abs(my) < 4)
{
channel.Move(x: mx, y: my, s: 1000);
updateState();
}
break;
}
updateTape();
}
