private readonly cVision vision; //接收视觉结果
public void ConectToVision()
{
string notes;
vision.initRcv();
RcvThread = new Thread(new ThreadStart(delegate
{
while (true)
{
vision.ReciveData();
notes = " X = " + vision.hitPar[1].ToString() +
"\n Y = " + vision.hitPar[2].ToString() +
"\n Z = " + vision.hitPar[3].ToString() +
"\n Vx = " + vision.hitPar[4].ToString() +
"\n Vy = " + vision.hitPar[5].ToString() +
"\n Vz = " + vision.hitPar[6].ToString() +
"\n tg = " + vision.hitPar[12].ToString();
if (vision.hitPar[0] == 1)
{
double[] padPar;
SlovePadPram(vision.hitPar, out padPar);
notes += "\n PadV = " + padPar[3].ToString() +
"\n PadS = " + padPar[4].ToString();
SetNotes(notes);
Control_Arm.Recv4Vision(vision.hitPar);
ZSPCt.SetZSP((int)vision.hitPar[3], (int)(padPar[4]), 127);
}
Thread.Sleep(50);
}
}
));
RcvThread.Start();
}
//=======================================
private void Window_Closed(object sender, EventArgs e)
{
//--------------------------------------------------------------
//关闭视觉程序
Process[] allProgresse = System.Diagnostics.Process.GetProcessesByName("colorCamera");
foreach (Process closeProgress in allProgresse)
{
if (closeProgress.ProcessName.Equals("colorCamera"))
{
closeProgress.Kill();
closeProgress.WaitForExit();
break;
}
}
//----------------------------------------------------------------
if (ZspThread != null && RcvThread.IsAlive)
{
ZspThread.Abort();
}
if (RcvThread != null && RcvThread.IsAlive)
{
if (vision != null)
{
vision.newsock.Close();
}
RcvThread.Abort();
}
Control_Arm.UserControl_Unloaded(this, null);
Thread.Sleep(100);
}
private readonly cVision vision; //接收视觉结果
public bool ConectToVision()
{
string notes;
if (vision.initRcv())
{
RcvThread = new Thread(new ThreadStart(delegate
{
while (true)
{
vision.ReciveData();
notes = " X = " + vision.hitPar[1].ToString("#0.0") + " Vx = " + vision.hitPar[4].ToString("#0.0") +
"\n Y = " + vision.hitPar[2].ToString("#0.0") + " Vy = " + vision.hitPar[5].ToString("#0.0") +
"\n Z = " + vision.hitPar[3].ToString("#0.0") + " Vz = " + vision.hitPar[6].ToString("#0.0") +
"\n tg = " + vision.hitPar[12].ToString("#0.0");
// if (vision.hitPar[0] == 1)
// {
double[] padPar;
SlovePadPram(vision.hitPar, out padPar);
notes += "\n PadV = " + padPar[4].ToString("#0.0") +
"\n PadS = " + padPar[5].ToString("#0.0");
SetNotes(notes);
//if (vision.hitPar[12] >0.01)
Control_Arm.Recv4Vision(padPar);
// }
//Thread.Sleep(10);
}
}
));
RcvThread.Start();
//ZspThread = new Thread(new ThreadStart(delegate
// {
// while(true)
// {
// if (!Control_Arm.flag_isMoving)
// {
// Control_Arm.HomeZsp();
// }
// Thread.Sleep(10);
// }
// }
// ));
//ZspThread.Start();
return(true);
}
return(false);
}
