public void Init()
{
MyProjectPara = ProjectParaManager.Instance.GetProjectPara(0);
LeftUpVisionPara = MyProjectPara.GetVisionPara("Ipad左上角拍照位");
RightDnVisionPara = MyProjectPara.GetVisionPara("Ipad右下角拍照位");
LeftUpView = DisplaySystem.GetViewControl("Ipad左上角拍照位1");
RightDnView = DisplaySystem.GetViewControl("Ipad右下角拍照位1");
VisionStateLeftUp = new VisionStateBase(LeftUpVisionPara, "Ipad左上角拍照位", LeftUpView);
VisionStateLeftUp = new VisionStateBase(RightDnVisionPara, "Ipad右下角拍照位", RightDnView);
VisionStateLeftUp.SetCamLight();
VisionStateRightDn.SetCamLight();
}
private void IpadLcoalThread(object Obj)
{
FeederThreadSwitch = true;
while (true)
{
if (FeerderCamTrigEvent.IsSet)
{
int StateNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(FeederCamStateNumAddr);
if (StateNum == 0) //Ipad左上角
{
VisionStateLeftUp.GrabingImg();
LD.Logic.PlcHandle.Instance.WriteValue(FeederCamGrabedAddr, 1);
VisionStateLeftUp.DoLocal();
VisionStateLeftUp.ShowRlt();
LeftUpLocalRlt = VisionStateLeftUp.GetLocalRlt();
LeftUpLocalIsOK = true;
}
else if (StateNum == 1) //Ipad右下角
{
VisionStateRightDn.GrabingImg();
LD.Logic.PlcHandle.Instance.WriteValue(FeederCamGrabedAddr, 1);
VisionStateRightDn.DoLocal();
VisionStateRightDn.ShowRlt();
RightDnLocalRlt = VisionStateRightDn.GetLocalRlt();
RightDnLocalIsOk = true;
}
}
if (LeftUpLocalIsOK && RightDnLocalIsOk)
{
//1.0Ipad放置时的示教坐标
Point2Db IpadLeftUpTeachPos = new Point2Db(LeftUpLocalRlt.TeachPosToRot.Col, LeftUpLocalRlt.TeachPosToRot.Row);
Point2Db IpadRightDnTeachPos = new Point2Db(RightDnLocalRlt.TeachPosToRot.Col, RightDnLocalRlt.TeachPosToRot.Row);
//2.0Ipad的当前坐标
Point2Db IpadLeftUpNowPos = new Point2Db(LeftUpLocalRlt.PosToRot.Col, LeftUpLocalRlt.PosToRot.Row);
Point2Db IpadRightDnNowPos = new Point2Db(RightDnLocalRlt.PosToRot.Col, RightDnLocalRlt.PosToRot.Row);
//3.0计算出偏移量
double AddX = 0, AddY = 0, AddTheta = 0;
MyVisionBase.CalculateThreeTapePos(IpadLeftUpNowPos, IpadRightDnNowPos, IpadLeftUpTeachPos, IpadRightDnTeachPos, out AddX, out AddY, out AddTheta);
FileLib.Logger.Pop(" 计算出的偏移补偿量：" + AddX.ToString("f3") + " " + AddY.ToString("f3") + " " + AddTheta.ToString("f3"), false, "运行日志");
int SystemOffSetX = 0, SystemOffsetY = 0;
SystemOffSetX = (int)(LeftUpVisionPara.localPara.localSetting.Offset_x * 1000); //系统误差补偿
SystemOffsetY = (int)(LeftUpVisionPara.localPara.localSetting.Offset_y * 1000); //系统误差补偿
int NewAddX = (int)(AddX * 1000) + SystemOffSetX;
int NewAddY = (int)(AddY * 1000) + SystemOffsetY;
int NewAddTheta = (int)(AddTheta * 1000);
LD.Logic.PlcHandle.Instance.WriteValue(FeederCamVisionFinishAddr, 1);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_X, NewAddX);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_Y, NewAddY); //移动屏幕
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_R, NewAddTheta);
//4.0 清空此次定位的数据，进入下次定位
LeftUpLocalIsOK = false;
RightDnLocalIsOk = false;
}
Thread.Sleep(1);
if (!FeederThreadSwitch)
{
break;
}
}
}
