/// <summary>
/// recogThreadの行う処理です．このメソッドを直接呼び出さないでください．
/// </summary>
private void recogThread_Task()
{
App.logger.Info("Surface.recogThread_Task() start");
if (Started != null)
{
Started(this, new EventArgs());
}
Camera camera = Camera.GetInstance();
camera.Start();
/* Z軸をSpeed1(低速)でマイナス方向に動かして，最下点もしくは下降距離分だけ移動させる．*/
MotorControler mc = MotorControler.GetInstance(parameterManager);
speedBeforeStart = mc.Speed;
bool flag;
double temp_z;
mc.Inch(PlusMinus.Minus, motorSpeed, VectorId.Z);
flag = true;
while (flag)
{
int brightness = CountHitPixels();
if (brightness > 8000)
{
flag = false;
}
//if (brightness < 10000) flag = false;//
}
/*
* UpTopRecognized(this, new eventArgs());
* LowBottomRecognized(this, new eventArgs());
* LowTopRecognized(this, new eventArgs());
* UpBottomRecognized(this, new eventArgs());
*/
mc.SlowDownStop(VectorId.Z);
surfaces[0] = mc.GetPoint().Z;
System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
Thread.Sleep(100);
mc.Move(new Vector3(0.0, 0.0, -0.2));
mc.Join();
Thread.Sleep(100);
mc.Inch(PlusMinus.Minus, motorSpeed, VectorId.Z);
flag = true;
while (flag)
{
int brightness = CountHitPixels();
if (brightness < 5000)
{
flag = false; //
}
// if (brightness < 4000) flag = false;
}
surfaces[1] = mc.GetPoint().Z;//
// surfaces[2] = mc.GetPoint().Z;
System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
flag = true;
while (flag)
{
int brightness = CountHitPixels();
//if (brightness > 4000) flag = false;
if (brightness > 5000)
{
flag = false;
}
}
mc.SlowDownStop(VectorId.Z);
// surfaces[1] = mc.GetPoint().Z;
surfaces[2] = mc.GetPoint().Z;//
System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
Thread.Sleep(100);
// Thread.Sleep(150);//
// mc.Move(new Vector3(0.0, 0.0, -0.2));
mc.Move(new Vector3(0.0, 0.0, -0.23));//
mc.Join();
Thread.Sleep(100);
//Thread.Sleep(150);//
mc.Inch(PlusMinus.Minus, motorSpeed, VectorId.Z);
flag = true;
while (flag)
{
int brightness = CountHitPixels();
// if (brightness < 2000) flag = false;
if (brightness < 3000)
{
flag = false; //
}
}
mc.SlowDownStop(VectorId.Z);
surfaces[3] = mc.GetPoint().Z;
System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
Thread.Sleep(100);
// Thread.Sleep(150);//
// temp_z = (surfaces[0] - 0.05) - mc.GetPoint().Z;
temp_z = (surfaces[0] + 0.02) - mc.GetPoint().Z;//
mc.Move(new Vector3(0.0, 0.0, temp_z));
mc.Join();
Thread.Sleep(100);
//Thread.Sleep(150);//
/*
* // モータZ軸をマイナス方向(下方向)に稼働させる
* try {
* // 下降の開始
* mc.SetMotorSpeed(IO.MotorSpeed.Speed3);
* mc.Inch(MechaAxisAddress.ZAddress, PlusMinus.Plus);
* } catch (MotorAxisException) {
* // すでに最下点に位置していた場合は，catchのスコープが実行される．
* isOnBottomLimit = true;
* }
*
* // 最下点もしくは下降距離分に下降したかを監視する．
* double startPoint = mc.GetPoint().Z;
* while (!isOnBottomLimit) {
* // 移動距離の確認
* if (loweringDistance != 0) {
* isOnBottomLimit = (loweringDistance <= Math.Abs(mc.GetPoint().Z - startPoint));
* }
*
* // モータの移動可能最下点到達か否かの確認
* isOnBottomLimit |=
* (mc.GetAbnomalState(MechaAxisAddress.ZAddress)
* == MotorAbnomalState.AxisLimitPlus);
* }
* // 最下点に到達したため，モータの移動を止める．
* // 最下点に到達時のイベントを発生させる
* mc.StopInching(MechaAxisAddress.ZAddress);
* if (OnMotorBottomLimited != null) {
* OnMotorBottomLimited(this, new EventArgs());
* }
*
* // 遅延を行わないとモータドライバが動作不良を起こす場合がある.
* Thread.Sleep(300);
*
* */
/* -------------------- 下降の完了 ---------------- */
/* 上昇しながら撮影中の画像を分析する */
// 最下点からZ軸をプラス方向に動かす．
// 撮影中の画像がゲルの中か否かを判定する．
// ベース及びその他の場所と，ゲルの中の境界である座標を記録する．
/*
*
*
* mc.Inch(PlusMinus.Plus, motorSpeed, VectorId.Z);
* startPoint = mc.GetPoint().Z;
*
*
* // bool flag = true;
*
* while (flag) {
* //Thread.Sleep(delayTime);
*
* byte[] b = camera.ArrayImage;
* Mat src = new Mat(440, 512, MatType.CV_8U, b);
* Mat mat = src.Clone();
*
* Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1);
* Mat gau = mat.Clone();
* Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1);
* Cv2.Subtract(gau, mat, mat);
* Cv2.Threshold(mat, mat, 10, 1, ThresholdType.Binary);
* int brightness = Cv2.CountNonZero(mat);
*
* if (brightness > 3000) flag = false;
* }
*
* mc.StopInching(MechaAxisAddress.ZAddress);
* surfaces[3] = mc.GetPoint().Z;
* System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
*
*
*
* // Vector3 speed = new Vector3(30, 30, 0.4);//つかわないけど
* // Vector3 tolerance = new Vector3(0.001, 0.001, 0.001);//つかわないけど
* // Vector3 distance = new Vector3(0, 0, 0.3);
* // mc.Move(distance, speed, tolerance);
*
* Thread.Sleep(100);
*
*
*/
/*
*
*
* mc.Inch(PlusMinus.Plus, MotorSpeed, VectorId.Z);
* double currentPoint = mc.GetPoint().Z;
*
* bool dice = true;
*
* while (dice) {
*
* double nowPoint = mc.GetPoint().Z;
*
* double renge = nowPoint - currentPoint;
*
* if (renge > 0.20) dice = false;
*
*
*
*
* }
* mc.StopInching(MechaAxisAddress.ZAddress);
*
* Thread.Sleep(100);
*
*
* /
*
*
* // mc.MoveDistance(0.2, VectorId.Z);
* // mc.Join();
* // Thread.Sleep(2000);
* // System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
* /*
*
* mc.Inch(PlusMinus.Plus, motorSpeed, VectorId.Z);
* flag = true;
* while (flag) {
*
* byte[] b = camera.ArrayImage;
* Mat src = new Mat(440, 512, MatType.CV_8U, b);
* Mat mat = src.Clone();
*
* Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1);
* Mat gau = mat.Clone();
* Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1);
* Cv2.Subtract(gau, mat, mat);
* Cv2.Threshold(mat, mat, 10, 1, ThresholdType.Binary);
* int brightness = Cv2.CountNonZero(mat);
*
* if (brightness < 4000) flag = false;
* }
*
*
* surfaces[2] = mc.GetPoint().Z;
* System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
*
*/
/*
*
*
* flag = true;
* while (flag) {
*
* byte[] b = camera.ArrayImage;
* Mat src = new Mat(440, 512, MatType.CV_8U, b);
* Mat mat = src.Clone();
*
* Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1);
* Mat gau = mat.Clone();
* Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1);
* Cv2.Subtract(gau, mat, mat);
* Cv2.Threshold(mat, mat, 10, 1, ThresholdType.Binary);
* int brightness = Cv2.CountNonZero(mat);
*
* if (brightness > 4000) flag = false;
* }
*
* mc.StopInching(MechaAxisAddress.ZAddress);
* surfaces[1] = mc.GetPoint().Z;
* System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
*
*
* //mc.Move(distance, speed, tolerance);
*
*
*
*
*
*
*
* // 遅延を行わないとモータドライバが動作不良を起こす場合がある.
* Thread.Sleep(100);
*
*
*/
/*
*
* mc.Inch(PlusMinus.Plus, MotorSpeed, VectorId.Z);
* double current2Point = mc.GetPoint().Z;
*
* bool dice2 = true;
*
* while (dice2) {
*
* double nowPoint = mc.GetPoint().Z;
*
* double renge = nowPoint - current2Point;
*
* if (renge > 0.20) dice2 = false;
*
*
*
*
* }
*
* mc.StopInching(MechaAxisAddress.ZAddress);
*
* Thread.Sleep(100);
*
*/
// mc.MoveDistance(0.2, VectorId.Z);
// mc.Join();
// Thread.Sleep(2000);
// System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
/* mc.Inch(PlusMinus.Plus, motorSpeed, VectorId.Z);
* flag = true;
* while (flag) {
*
* byte[] b = camera.ArrayImage;
* Mat src = new Mat(440, 512, MatType.CV_8U, b);
* Mat mat = src.Clone();
*
* Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1);
* Mat gau = mat.Clone();
* Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1);
* Cv2.Subtract(gau, mat, mat);
* Cv2.Threshold(mat, mat, 10, 1, ThresholdType.Binary);
* int brightness = Cv2.CountNonZero(mat);
*
* if (brightness < 12000) flag = false;
* }
* mc.StopInching(MechaAxisAddress.ZAddress);
* surfaces[0] = mc.GetPoint().Z;
* System.Diagnostics.Debug.WriteLine(string.Format("{0}", mc.GetPoint().Z));
*
*
*
*/
//////////////
// mc.AAAAAA();
/*
* stopWatch = new System.Diagnostics.Stopwatch();
* stopWatch.Start();
*
* int idNo = 0;
* int index = 3;
#if false
* bool[] votes = new bool[numOfVoting];
* int[] values = new int[numOfVoting];
* double[] points = new double[numOfVoting];
*
* Thread.Sleep(delayTime);
*
* // 今回の入力画像の演算結果を多数決配列の最後尾に設定する．
* // 同時に今回の判定値やモータの座標もそれぞれ保持する．
* votes[votes.Length - 1] = IsInGel();
* values[values.Length - 1] = brightness;
* points[points.Length - 1] = mc.GetPoint().Z;
*
* // 今回と過去一定回数分の結果で多数決をとる．
* presentResult = Vote(votes);
*
* // 多数決の結果配列を一つずつシフトする
* for (int i = 0; i < values.Length; ++i) {
* votes[i] = (i == votes.Length - 1 ? false : votes[i + 1]);
* values[i] = (i == values.Length - 1 ? 0 : values[i + 1]);
* points[i] = (i == points.Length - 1 ? 0 : points[i + 1]);
* }
#endif
*
* double previousZVal, presentZVal;
* int previousBrightness , presentBrightness;
* bool previousResult = false, presentResult = false;
* while (index >= 0) {
* Thread.Sleep(delayTime);
* presentZVal = Math.Round(mc.GetPoint().Z, 5);
* presentResult = IsInGel();
* bool isBorder = isBoudarySurface(previousResult, presentResult, index);
*
* // 撮像・入力画像の確認のイベントを発生させる．
* SurfaceEventArgs eventArgs = new SurfaceEventArgs();
* eventArgs.Id = idNo;
#if false
* eventArgs.ZValue = points[0];
* eventArgs.Brightness = values[0];
* eventArgs.Distance = Math.Abs(points[0] - startPoint);
#endif
*
* presentBrightness = brightness;
* eventArgs.ZValue = presentZVal;
* eventArgs.Brightness = presentBrightness;
* eventArgs.Distance = Math.Abs(presentZVal - startPoint);
* eventArgs.IsInGel = presentResult;
* eventArgs.IsBoundary = isBorder;
* eventArgs.Second = Time;
++idNo;
* if (Shooting != null) {
* Thread t = new Thread(new ThreadStart(delegate() {
* Shooting(this, eventArgs);
* }));
* t.IsBackground = true;
* t.Start();
* }
*
* if (isBorder) {
* // 境界面であった場合，多数決に用いたZ座標の値の内，最も古い値を境界面の座標として採用する．
* // ここでは境界面として，その座標値を保持している．
* //surfaces[index] = points[0];
* surfaces[index] = presentZVal;
*
* // 境界面認識時のイベントを発生させる．
* switch (index) {
* case 3:
* if (LowBottomRecognized != null) {
* LowBottomRecognized(this, eventArgs);
* }
* break;
* case 2:
* if (LowTopRecognized != null) {
* LowTopRecognized(this, eventArgs);
* }
* break;
* case 1:
* if (UpBottomRecognized != null) {
* UpBottomRecognized(this, eventArgs);
* }
* break;
* case 0:
* if (UpTopRecognized != null) {
* UpTopRecognized(this, eventArgs);
* }
* break;
* }
*
* --index;
* }
* previousResult = presentResult;
* previousBrightness = presentBrightness;
* previousZVal = presentZVal;
*
* // 距離によるエラー終了
* if (mc.GetPoint().Z - startPoint > distanceOut) {
* mc.StopInching(MechaAxisAddress.ZAddress);
* throw new SurfaceFailedException("Distance limit out");
* }
* }
*
* mc.StopInching(MechaAxisAddress.ZAddress);
* stopWatch.Stop();
* dateTime = DateTime.Now;
* latestCoord = new Vector2(mc.GetPoint().X, mc.GetPoint().Y);
*/
}
