private async void button1_Click_1(object sender, EventArgs e)
{
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//DelegateControls.Instance.
ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
// return;
if (result != null)
{
HTuple hommate2d;
HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
RegionX regionX = new RegionX(hObject, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
HTuple _x = new HTuple();
HTuple _y = new HTuple();
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out _x, out _y);
double ox = -x + _x + VisionManager.Instance.Calibrate.ToolOffsetX;
double oy = -y + _y + VisionManager.Instance.Calibrate.ToolOffsetY;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
double x1 = ox + robotPos.Y;
double x2 = oy + robotPos.Z;
}
}
private void button2_Click(object sender, EventArgs e)
{
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
if (calibratedata != null)
{
HObject _image = m_Camera.SnapShot();
m_ShapeModle.BackImage = _image;
ModleFindResult result = m_ShapeModle.FindSimple();
if (result != null)
{
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out HTuple _x, out HTuple _y);
double ox = _x - x + offx;
double oy = _y - y + offy;
VisionManager.Instance.Calibrate.ToolOffsetX = ox;
VisionManager.Instance.Calibrate.ToolOffsetY = oy;
// Robot.RelativeMove(ox, oy);
}
}
}
private void btn_GetTargetPos_Click(object sender, EventArgs e)
{
DataGridViewRow dataGridViewRow = null;
if (dGV_CameraPos.SelectedRows.Count == 0)
{
MessageBox.Show("请选择一行来更新点位数据");
return;
}
dataGridViewRow = dGV_CameraPos.SelectedRows[0];
HObject _image = m_Camera.SnapShot();
m_ShapeModle.BackImage = _image;
ModleFindResult result = m_ShapeModle.FindSimple();
if (result != null)
{
dataGridViewRow.Cells[1].Value = result.Row.ToString();
dataGridViewRow.Cells[2].Value = result.Column.ToString();
}
}
private async void MainProc()
{
Step = MainStep.CheckInPlace;
float verticalOffset = 0;
double angle = 0;
float instance1 = 0;
float instance2 = 0;
float instance3 = 0;
Time_Meter time_Meter1 = new Time_Meter();
Time_Meter time_Meter2 = new Time_Meter();
RobotPos robotPos1 = new RobotPos();
RobotPos robotPos2 = new RobotPos();
while (!tokenSource.IsCancellationRequested)
{
try
{
switch (Step)
{
case MainStep.CheckInPlace:
bool isInPlace = await HardWareManager.Instance.XinJiePlc.ReadM(100);
if (!isInPlace)
{
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", null);
DelegateControls.Instance.DelegateTextbox("FormMain_productType", null);
verticalOffset = await HardWareManager.Instance.XinJiePlc.ReadD(510); //读取横向偏移量
if (Math.Abs(verticalOffset) > 80)
{
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平方向偏移超限", Color.Red);
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", verticalOffset.ToString());
HardWareManager.Instance.XinJiePlc.SetM(101, true);
// await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"0,{verticalOffset} ,0,0,0,0");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平测距完成");
time_Meter1.Start();
Step = MainStep.GetAngleInstance;
break;
case MainStep.GetAngleInstance:
bool getInstance = await HardWareManager.Instance.XinJiePlc.ReadM(110);
if (!getInstance)
{
break;
}
instance1 = await HardWareManager.Instance.XinJiePlc.ReadD(500);
instance2 = await HardWareManager.Instance.XinJiePlc.ReadD(502);
HardWareManager.Instance.XinJiePlc.SetM(111, true);
instance1 = -instance1;
instance2 = -instance2;
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", instance1.ToString());
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", instance2.ToString());
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(13, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(14, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(15, $"{instance2},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(3, "1");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "垂直测距完成");
Step = MainStep.GetHolePoint2;
break;
case MainStep.GetInstance://获取两个差距值，用来计算角度
//bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
//if (!getInstance1)
// break;
//instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
//instance3 = -instance3;
//HardWareManager.Instance.XinJiePlc.SetM(121, true);
//DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
//Step = MainStep.GetHolePoint2;
break;
case MainStep.GetHolePoint1:
string rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "2\r\0")
{
break;
}
bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
if (!getInstance1)
{
break;
}
instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
// instance3 = -instance3;
HardWareManager.Instance.XinJiePlc.SetM(121, true);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
robotPos1 = await GetHolePoint(_image);
// length = 700 - length;
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"{-lengthX},{-lengthY},{instance3},0,0,{0}");
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", (lengthY).ToString("f2"));
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString("f2"));
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "2");
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", Math.Abs(robotPos1.Y - robotPos2.Y).ToString());
if ((robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMax + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMax - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "大号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "3");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceLittle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceLittle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "小号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "1");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMiddle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMiddle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "中号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "2");
}
else
{
throw new Exception("螺丝孔位置 无法匹配产品");
}
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第二次拍照完成");
Step = MainStep.LockScrew;
break;
case MainStep.GetHolePoint2:
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "1\r\0")
{
break;
}
_image = HardWareManager.Instance.Cmaera.SnapShot();
//robotPos2 = await GetHolePoint(_image);
//await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
//Step = MainStep.GetHolePoint1;
//DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
//break;
VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
if (result != null)
{
HTuple hommate2d;
HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
RegionX regionX = new RegionX(hObject, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple _x = new HTuple();
HTuple _y = new HTuple();
VisionManager.Instance.Calibrate.GetRobotpoint(result.Row, result.Column, ref _x, ref _y);
robotPos2 = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
robotPos2.Y += _x;
robotPos2.Z += _y;
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
}
else
{
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, null);
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次取像未能找到第一个螺丝孔");
HardWareManager.Instance.XinJiePlc.SetM(125, true);
Step = MainStep.CheckInPlace;
break;
}
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
Step = MainStep.GetHolePoint1;
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
break;
case MainStep.LockScrew:
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(11);
if (rtn != "1\r\0")
{
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "本周期结束");
Step = MainStep.CheckInPlace;
break;
}
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(10);
if (rtn != "1\r\0")
{
break;
}
_image = HardWareManager.Instance.Cmaera.SnapShot();
await GetHolePoint(_image);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"{-lengthX},{-lengthY},{instance3},0,0,{0}");
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", (lengthY).ToString("f2"));
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString("f2"));
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(9, "1");
break;
}
}
catch (Exception ex)
{
HardWareManager.Instance.XinJiePlc.SetM(125, true);
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", ex.Message);
Step = MainStep.CheckInPlace;
}
Thread.Sleep(100);
}
}
