private void roundButton_ReadImg_Click(object sender, EventArgs e)
{
for (int i = 0; i < comboBox_SelCam.Items.Count; i++)
{
CameraMgr.GetInstance().SetTriggerSoftMode(comboBox_SelCam.Items[i].ToString());
}
using (OpenFileDialog openFileDialog = new OpenFileDialog())
{
// openFileDialog.InitialDirectory = AppDomain.CurrentDomain.BaseDirectory;//注意这里写路径时要用c:\\而不是c:\
openFileDialog.Filter = "图片|*.jpg;*.png;*.gif;*.jpeg;*.bmp";
openFileDialog.RestoreDirectory = true;
openFileDialog.FilterIndex = 1;
openFileDialog.Multiselect = false;
openFileDialog.Title = "打开图片";
if (openFileDialog.ShowDialog() == DialogResult.OK)
{
//string fName = openFileDialog.FileName;
string strPath = openFileDialog.FileName;
HObject img = null;
HOperatorSet.ReadImage(out img, strPath);
visionControl1.DispImageFull(img);
}
}
}
private void roundButton_VisionPrTest_Click(object sender, EventArgs e)
{
if (comboBox_SelVisionPR.SelectedIndex == -1)
{
return;
}
string strVisionPrName = comboBox_SelVisionPR.Items[comboBox_SelVisionPR.SelectedIndex].ToString();
roundButton_VisionPrTest.Enabled = false;
Action action = new Action(() =>
{
string camname = VisionMgr.GetInstance().GetCamName(strVisionPrName);
double?Expouse = VisionMgr.GetInstance().GetExpourseTime(strVisionPrName);
double?Gain = VisionMgr.GetInstance().GetGain(strVisionPrName);
CameraMgr.GetInstance().SetCamExposure(camname, (double)Expouse);
CameraMgr.GetInstance().SetCamGain(camname, (double)Gain);
CameraMgr.GetInstance().BindWindow(camname, visionControl1);
CameraMgr.GetInstance().ClaerPr(camname);
CameraMgr.GetInstance().GetCamera(camname).SetTriggerMode(CameraModeType.Software);
}
);
action.BeginInvoke((ar) =>
{
roundButton_VisionPrTest.Invoke((MethodInvoker)(() => { roundButton_VisionPrTest.Enabled = true; }), null);
}, null);
}
private void button1_Click_1(object sender, EventArgs e)
{
#region 读图
//HObject img;
//HOperatorSet.ReadImage(out img, "d:\\1.jpg");
////hWindowControl1.SetFullImagePart((HImage)(object)img);
//HOperatorSet.DispObj(img, hWindowControl1.HalconID);
#endregion
#region 软触发
//CameraMgr.GetInstance().GetCamera("CHP").SetTriggerMode("SoftWare");
//uint nFrameNum =CameraMgr.GetInstance().GetCamera("CHP").FrameCount;
//CameraMgr.GetInstance().GetCamera("CHP").GarbBySoftTrigger();
//CameraMgr.GetInstance().GetCamera("CHP");
//Task s = new Task((icount) =>
//{
// uint frameCount =CameraMgr.GetInstance().GetCamera("CHP").FrameCount;
// while (frameCount <= nFrameNum)
// {
// frameCount = CameraMgr.GetInstance().GetCamera("CHP").FrameCount;
// Thread.Sleep(1);
// }
// HObject img = CameraMgr.GetInstance().GetCamera("CHP").GetImage();
// HOperatorSet.DispObj(img, (HTuple)CameraMgr.GetInstance().GetCamera("CHP").wnd);
//},nFrameNum) ;
//s.Start();
#endregion
string PagesItemName = this.Parent.Name;
// CameraMgr.GetInstance().GetCamera(PagesItemName).wnd = hWindowControl1.HalconID;
CameraMgr.GetInstance().GetCamera(PagesItemName).StartGrab();
}
public static void CloseHardWork()
{
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
}
private void Form_CameraDebug_Load(object sender, EventArgs e)
{
visionControl1.InitWindow();
HOperatorSet.SetDraw(visionControl1.GetHalconWindow(), "margin");
Thread.Sleep(10);
List <string> camname = CameraMgr.GetInstance().GetCameraNameArr();
foreach (var temp in camname)
{
this.Sel.Items.Add(temp.ToString());
comboBox_SelCam.Items.Add(temp.ToString());
CameraMgr.GetInstance().ClaerPr(temp.ToString());
}
if (camname.Count > 0)
{
comboBox_SelCam.SelectedIndex = 0;
}
textBox_exposureTimeVal.Text = CameraMgr.GetInstance().GetCamExposure(comboBox_SelCam.Text).ToString();
textBox_GainVal.Text = CameraMgr.GetInstance().GetCamGain(comboBox_SelCam.Text).ToString();
CameraMgr.GetInstance().BindWindow(comboBox_SelCam.Text, visionControl1);
CameraMgr.GetInstance().SetAcquisitionMode(comboBox_SelCam.Text);
UpdataVisionItems();
ParamSetMgr.GetInstance().m_eventLoadProductFileUpadata += UpdataVisionItems;
}
private void Form_Manual_Load(object sender, EventArgs e)
{
visionControl1.InitWindow();
Thread.Sleep(10);
List <string> camname = CameraMgr.GetInstance().GetCameraNameArr();
foreach (var temp in camname)
{
comboBox_SelCamera.Items.Add(temp.ToString());
}
if (camname != null && camname.Count > 0)
{
comboBox_SelCamera.Visible = true;
comboBox_SelCamera.SelectedIndex = 0;
}
else
{
visionControl1.Visible = false;
button_ContinuousSnap.Visible = false;
button2.Visible = false;
comboBox_SelVisionPR.Visible = false;
roundButton_VisionPrTest.Visible = false;
}
VisionMgr.GetInstance().PrItemChangedEvent += ChagedPrItem;
ChagedPrItem("");
}
private void roundButton_AddItem_Click(object sender, EventArgs e)
{
ItemAdd itemAdd = null;
if (CameraMgr.GetInstance().GetCameraNameArr() != null && CameraMgr.GetInstance().GetCameraNameArr().Count > 0)
{
itemAdd = new ItemAdd(CameraMgr.GetInstance().GetCameraNameArr().ToArray());
}
else
{
itemAdd = new ItemAdd(null);
}
DialogResult dialogResult = itemAdd.ShowDialog();
if (dialogResult == DialogResult.Yes)
{
if (VisionMgr.GetInstance().GetItemNamesAndTypes().ContainsKey(itemAdd.ItemName))
{
MessageBox.Show("视觉处理：名称重复", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
else
{
int index = dataGridViewProcessItem.Rows.Count;
CreateAndSaveItem(itemAdd.ItemName, itemAdd.VisionProcssName, itemAdd.CamName,
itemAdd.Exposure, itemAdd.Gain);
}
dataGridViewProcessItem.Rows.Add("False", itemAdd.ItemName,
itemAdd.VisionProcssName, itemAdd.CamName,
itemAdd.Exposure.ToString(), itemAdd.Gain.ToString());
}
}
private void comboBox_SelCamera_SelectedIndexChanged(object sender, EventArgs e)
{
for (int i = 0; i < comboBox_SelCamera.Items.Count; i++)
{
CameraMgr.GetInstance().SetTriggerSoftMode(comboBox_SelCamera.Items[i].ToString());
}
CameraMgr.GetInstance().BindWindow(comboBox_SelCamera.Text, visionControl1);
CameraMgr.GetInstance().SetAcquisitionMode(comboBox_SelCamera.Text);
}
private void OnShowChanged(object sender, EventArgs e)
{
List <string> camname = CameraMgr.GetInstance().GetCameraNameArr();
foreach (var tem in camname)
{
CameraMgr.GetInstance().ClaerPr(tem);
}
}
private void BtnSanp_Click(object sender, EventArgs e)
{
string strCamName = "Top";
CameraBase cameraBase = CameraMgr.GetInstance().GetCamera(strCamName);
cameraBase.StopGrap();
cameraBase.BindWindow(visionControl1);
cameraBase.SetTriggerMode(CameraModeType.Software);
CameraMgr.GetInstance().GetCamera(strCamName).StartGrab();
CameraMgr.GetInstance().GetCamera(strCamName).GarbBySoftTrigger();
}
private void comboBox_SelCam_SelectedIndexChanged(object sender, EventArgs e)
{
for (int i = 0; i < comboBox_SelCam.Items.Count; i++)
{
CameraMgr.GetInstance().SetTriggerSoftMode(comboBox_SelCam.Items[i].ToString());
}
textBox_exposureTimeVal.Text = CameraMgr.GetInstance().GetCamExposure(comboBox_SelCam.Text).ToString();
textBox_GainVal.Text = CameraMgr.GetInstance().GetCamGain(comboBox_SelCam.Text).ToString();
CameraMgr.GetInstance().BindWindow(comboBox_SelCam.Text, visionControl1);
CameraMgr.GetInstance().SetAcquisitionMode(comboBox_SelCam.Text);
}
private void roundButton_ContinuousSnap_Click(object sender, EventArgs e)
{
for (int i = 0; i < comboBox_SelCam.Items.Count; i++)
{
CameraMgr.GetInstance().SetTriggerSoftMode(comboBox_SelCam.Items[i].ToString());
}
CameraMgr.GetInstance().BindWindow(comboBox_SelCam.Text, visionControl1);
CameraMgr.GetInstance().SetAcquisitionMode(comboBox_SelCam.Text);
CameraMgr.GetInstance().GetCamera(comboBox_SelCam.Text).StartGrab();
// textBox_exposureTimeVal.Text = CameraMgr.GetInstance().GetCamExposure(comboBox_SelCam.Text).ToString();
// textBox_GainVal.Text = CameraMgr.GetInstance().GetCamGain(comboBox_SelCam.Text).ToString();
CameraMgr.GetInstance().SetCamExposure(comboBox_SelCam.Text, textBox_exposureTimeVal.Text.ToDouble());
CameraMgr.GetInstance().SetCamGain(comboBox_SelCam.Text, textBox_GainVal.Text.ToDouble());
}
private void ContinuousSnap_Click(object sender, EventArgs e)
{
string strCamName = "Top";
CameraBase cameraBase = CameraMgr.GetInstance().GetCamera(strCamName);
cameraBase.StopGrap();
cameraBase.SetTriggerMode(CameraModeType.Software);
double valexposure = cameraBase.GetExposureTime();
double valgain = cameraBase.GetGain();
cameraBase.BindWindow(visionControl1);
cameraBase.SetAcquisitionMode();
cameraBase.StartGrab();
}
private void button_ContinuousSnap_Click(object sender, EventArgs e)
{
if (comboBox_SelCamera.SelectedItem == null)
{
return;
}
CameraMgr.GetInstance().BindWindow(comboBox_SelCamera.Text, visionControl1);
CameraBase pCamer = CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString());
pCamer.SetTriggerMode(CameraModeType.Software);
Thread.Sleep(100);
CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).SetAcquisitionMode();
// CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).wnd = hWindowControl1.HalconID;
CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).StartGrab();
}
public static void InitCam(Form_Auto formauto)
{
List <CameraBase> cameraBases = new List <CameraBase>();
//默认添加的是海康相机 如果换相机 填上对应的类
CameraMgr.GetInstance().EnumDevices(new HikVisionCamera(""), out cameraBases);
foreach (var temp in cameraBases)
{
temp.Open();
temp.SetExposureTime(1000);
temp.SetGain(1);
temp.RegisterCallBack();
temp.SetAcquisitionMode();
temp.StartGrab();
}
}
private void button2_Click(object sender, EventArgs e)
{
if (comboBox_SelCamera.SelectedItem == null)
{
return;
}
for (int i = 0; i < comboBox_SelCamera.Items.Count; i++)
{
CameraMgr.GetInstance().ClaerPr(comboBox_SelCamera.Items[i].ToString());
CameraMgr.GetInstance().SetTriggerSoftMode(comboBox_SelCamera.Items[i].ToString());
}
CameraMgr.GetInstance().BindWindow(comboBox_SelCamera.Text, visionControl1);
CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).SetTriggerMode(CameraModeType.Software);
Thread.Sleep(100);
//CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).wnd = hWindowControl1.HalconID;
CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).StartGrab();
CameraMgr.GetInstance().GetCamera(comboBox_SelCamera.SelectedItem.ToString()).GarbBySoftTrigger();
}
public static void CloseHardWork()
{
//for (int i = 0; i < 6; i++)
// LightControl.GetInstance().CloseLight(i);
ResetIO();
AlarmMgr.GetIntance().StopAlarmBeet();
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
OtherDevices.ckPower.SetVoltage(1, 0);
OtherDevices.ckPower.SetVoltage(2, 0);
}
// LightControl.GetInstance().Close();
// Weighing.GetInstance().Close();
}
private void Form_CameraDebug_Load(object sender, EventArgs e)
{
visionControl1.InitWindow();
HOperatorSet.SetDraw(visionControl1.GetHalconWindow(), "margin");
Thread.Sleep(10);
List <string> camname = CameraMgr.GetInstance().GetCameraNameArr();
foreach (var temp in camname)
{
this.Sel.Items.Add(temp.ToString());
comboBox_SelCam.Items.Add(temp.ToString());
CameraMgr.GetInstance().ClaerPr(temp.ToString());
}
if (camname.Count > 0)
{
comboBox_SelCam.SelectedIndex = 0;
}
DataGridViewComboBoxColumn sd = (DataGridViewComboBoxColumn)dataGridViewProcessItem.Columns[2];
sd.Items.Clear();
TypeLists = AssemblyOperate.GetAllSubClassTypeOnRunDir(typeof(VisionSetpBase));
foreach (var temp in TypeLists)
{
string DescriptionName = AssemblyOperate.GetDescription(temp);
if (DescriptionName != "NoDescription")
{
sd.Items.Add(DescriptionName);
}
}
dataGridViewProcessItem.Columns[1].ReadOnly = true;
dataGridViewProcessItem.Columns[2].ReadOnly = true;
dataGridViewProcessItem.Columns[3].ReadOnly = true;
textBox_exposureTimeVal.Text = CameraMgr.GetInstance().GetCamExposure(comboBox_SelCam.Text).ToString();
textBox_GainVal.Text = CameraMgr.GetInstance().GetCamGain(comboBox_SelCam.Text).ToString();
CameraMgr.GetInstance().BindWindow(comboBox_SelCam.Text, visionControl1);
CameraMgr.GetInstance().SetAcquisitionMode(comboBox_SelCam.Text);
UpdataVisionItems();
ParamSetMgr.GetInstance().m_eventLoadProductFileUpadata += UpdataVisionItems;
}
private void roundButton_AddItem_Click(object sender, EventArgs e)
{
ItemAdd itemAdd = null;
if (CameraMgr.GetInstance().GetCameraNameArr() != null && CameraMgr.GetInstance().GetCameraNameArr().Count > 0)
{
itemAdd = new ItemAdd(CameraMgr.GetInstance().GetCameraNameArr().ToArray());
}
else
{
itemAdd = new ItemAdd(null);
}
DialogResult dialogResult = itemAdd.ShowDialog();
if (dialogResult == DialogResult.Yes)
{
dataGridViewProcessItem.Rows.Add("False", itemAdd.ItemName,
itemAdd.VisionProcssName, itemAdd.CamName,
itemAdd.Exposure.ToString(), itemAdd.Gain.ToString(), itemAdd.nLightVal.ToString());
}
}
public StationStep StepGoSnap(VisionControl visionControl, bool bmanual = false)
{
StationStep step = StationStep.Step_Stop;
//拍照识别是否有料,计算偏差（6月后做）
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", true);
//开始点胶(优先实现画轨迹)
//获取当前夹取位置是A工位还是B工位
int StationIndex = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
PathHelper.Disp_ID = StationIndex;
string stationAAName = StationIndex == 0 ? "A" : "B";
ParamSetMgr.GetInstance().SetBoolParam($"{stationAAName}工位点胶", true);
double CenterX = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶X轴半径");
double CenterY = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶Y轴半径");
double DelZ = ParamSetMgr.GetInstance().GetDoubleParam("点胶Z轴上升高度偏差");
int DispDelay = ParamSetMgr.GetInstance().GetIntParam("出胶延迟");
double DispRunAngle = ParamSetMgr.GetInstance().GetDoubleParam("画胶角度");
double DispEndAngle = ParamSetMgr.GetInstance().GetDoubleParam("收胶角度");
bool DispEnable = ParamSetMgr.GetInstance().GetBoolParam("屏蔽点胶");
bool DispPhoto = ParamSetMgr.GetInstance().GetBoolParam("点胶相机拍照定位");
double SafeZ = GetStationPointDic()[$"安全位置"].pointZ;
double X = 0;
double Y = 0;
double DispPhotoX = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointX;
double DispPhotoY = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointY;
double DispPhotoZ = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointZ;
double DispPosX = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointX;
double DispPosY = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointY;
double DispPosZ = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointZ;
double x1 = GetStationPointDic()["安全位置"].pointX;
CameraBase cam = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
cam = CameraMgr.GetInstance().GetCamera("Top");
cam.BindWindow(visionControl);
Task.Run(() =>
{
cam.StopGrap();
cam.SetTriggerMode(CameraModeType.Software);
cam.SetGain(ParamSetMgr.GetInstance().GetIntParam("点胶相机增益"));
cam.SetExposureTime(ParamSetMgr.GetInstance().GetIntParam("点胶相机曝光"));
cam.StartGrab();
});
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
retry_uplens:
IOMgr.GetInstace().WriteIoBit($"{stationAAName}Lens升降气缸", true);
WaranResult waranResult1 = CheckIobyName($"{stationAAName}Lens上升到位", true, $"{stationAAName}Lens上升到位", bmanual);
if (waranResult1 == WaranResult.Retry)
{
goto retry_uplens;
}
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
HObject img = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
img = cam.GetImage();
if (img == null || !img.IsInitialized())
{
img = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
//去画胶
Task.Run(() =>
{
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
double valueVoltage = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电压");
OtherDevices.ckPower.SetVoltage(StationIndex + 1, valueVoltage);
double valueCurrent = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电流");
OtherDevices.ckPower.SetCurrent(StationIndex + 1, valueCurrent);
}
IOMgr.GetInstace().WriteIoBit($"{stationAAName}模组上电", true);
IOMgr.GetInstace().WriteIoBit($"12V开启", ParamSetMgr.GetInstance().GetBoolParam("是否开启非程控12V"));
});
if (DispEnable)
{
step = StationStep.Step_CheckIpos;
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (DispPhoto)
{
////MoveY(DispPhotoY, SpeedType.High);
////MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
//拍照计算 +半径
double CenterdelX = 0;
double CenterdelY = 0;
X = CenterX + CenterdelX;
Y = CenterdelY;
DispPosX = DispPhotoX - X;
DispPosY = DispPhotoY + CenterdelY;
}
else
{
X = CenterX;
Y = 0;
}
// IOMgr.GetInstace().WriteIoBit("点胶机", false);
bool brtnExc = true;
MotionMgr.GetInstace().AddAxisToGroup("点胶群组", 2, new int[] { AxisX, AxisY });
MoveY(DispPosY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPosX, DispPosZ + DelZ + 10 }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + DelZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (ParamSetMgr.GetInstance().GetStringParam("点胶轨迹") == "Circle")
{
DateTime dateTime = DateTime.Now;
if (DispDelay >= 0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
}
else
{
Task.Run(() =>
{
while (true)
{
if ((DateTime.Now - dateTime).TotalSeconds > Math.Abs(DispDelay) / 1000.0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
break;
}
Thread.Sleep(10);
}
});
}
//走
brtnExc &= MotionMgr.GetInstace().ClearBufMove("点胶群组");
brtnExc &= MotionMgr.GetInstace().RestGpErr("点胶群组");
// GpState gps = MotionMgr.GetInstace().GetGpState("点胶群组");
brtnExc &= MotionMgr.GetInstace().AddBufMove("点胶群组", BufMotionType.buf_Arc2dAbsAngleCW, 1, 2, (double)SpeedType.Mid, (double)SpeedType.Mid, new double[2] {
X, Y
}, new double[2] {
DispPosZ, 0
});
brtnExc &= MotionMgr.GetInstace().BufTrans("点胶群组");//M314没有buf运动，所以放在这里star
brtnExc &= MotionMgr.GetInstace().BufStart("点胶群组");
Thread.Sleep(400);
if (!WaitXY(DispPosX, DispPosY))
{
IOMgr.GetInstace().WriteIoBit("点胶机", false);
return(step);
}
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
MoveY(DispPosY + CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX + CenterX * 2 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY - CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY, SpeedType.Mid);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 3 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 10 }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveSigleAxisPosWaitInpos(AxisX, DispPhotoX, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
HObject img2 = cam.GetImage();
if (img2 == null || !img2.IsInitialized())
{
img2 = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img2.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { SafeZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
MoveSigleAxisPosWaitInpos(AxisX, x1, (double)SpeedType.High, 0.005, bmanual, this);
step = StationStep.Step_CheckIpos;
//if (DialogResult.OK!= MessageBox.Show("请确定点胶效果是否OK，OK按确定", "Info", MessageBoxButtons.OKCancel, MessageBoxIcon.Information, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly))
//{
// ParamSetMgr.GetInstance().SetBoolParam("重新上料", true);
// return step;
//}
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
SocketMgr.GetInstance().SetSocketState(SocketNumOfUnloadLoad, SocketState.Have);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", true);
return(step);
}
private void roundButton_SnapSave_Click(object sender, EventArgs e)
{
// roundButton1_Click(null, null);
CameraMgr.GetInstance().SaveImg(comboBox_SelCam.Text);
}
