private void _worker_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
//TODO: Update number of actions performed per total...
int performed = ActionList.Where(x => x.IsTaskPerformed == true).Count();
int total = ActionList.Count();
if (OnUpdateNumberOfTasksPerformed != null)
{
OnUpdateNumberOfTasksPerformed(this, string.Format("{0}|{1}", performed, total));
}
}
void process_actionOfCups(Objects detectObject, Mat mat, TextBlock label_msg, TextBlock label_s, float[] pos, int drawY1, int drawY2)
{
if (wantTrans == true)
{
pos = camToWorkSpace(pos);
}
detectObject.setPos_m(pos[0], pos[1], pos[2]);
Objects.states s = detectObject.State();
if (startDemo == true)
{
if (s == Objects.states.stop)
{
CvInvoke.Line(mat, new Point(timeTick, drawY1), new Point(timeTick, drawY2), new MCvScalar(50, 50, 50));
}
else if (s == Objects.states.move)
{
CvInvoke.Line(mat, new Point(timeTick, drawY1), new Point(timeTick, drawY2), new MCvScalar(50, 150, 150));
if (handing == detectObject)//如果拿著的東西跟移動的東西一樣，代表繼續移動
{
}
else//如果拿著的東西跟移動的東西"不"一樣，代表要新增東西
{
if (cups.All(cup => cup != handing))//代表前面不是杯子 這樣才會有place //第一次也會進入(因為handing會是null)
{
}
else//代表前面有東西
{//所以這個時候handing是前一個拿起的東西(已經被放下的那個)
this.Dispatcher.Invoke((Action)(() =>
{
ActionList.Add(new ActionBaseList("Place", handing.Name, new SolidColorBrush(Colors.Black), new SolidColorBrush(handing.color)));
LV_actionBase.Items.Add(ActionList[ActionList.Count() - 1]);
if (handing.Distanse(dripTrayPos) < dripTrayD)//代表在drip tray上
{
ActionList.Add(new ActionBaseList(" to", subactInfo.place.DripTray.ToString(), new SolidColorBrush(Colors.Black), new SolidColorBrush(Colors.Black)));
LV_actionBase.Items.Add(ActionList[ActionList.Count() - 1]);
}
else
{
ActionList.Add(new ActionBaseList(" to", (handing.getNowPos()).ToString("mm", "3(", "0"), new SolidColorBrush(Colors.Black), new SolidColorBrush(handing.color)));
LV_actionBase.Items.Add(ActionList[ActionList.Count() - 1]);
}
}));
//ActionBaseAdd("Place", handing.Name, color1: Color.FromArgb(240, 230, 176), color2: handing.color);
}
this.Dispatcher.Invoke((Action)(() =>
{
if (detectObject.Distanse(dripTrayPos) < dripTrayD)//代表在drip tray上
{
ActionList.Add(new ActionBaseList("Pick up", subactInfo.place.DripTray.ToString(), new SolidColorBrush(Colors.Black), new SolidColorBrush(Colors.Black)));
LV_actionBase.Items.Add(ActionList[ActionList.Count() - 1]);
}
else
{
ActionList.Add(new ActionBaseList("Pick up", detectObject.Name, new SolidColorBrush(Colors.Black), new SolidColorBrush(detectObject.color)));
LV_actionBase.Items.Add(ActionList[ActionList.Count() - 1]);
}
}));
// ActionBaseAdd("Pick up", detectObject.Name, color1: Color.FromArgb(255, 200, 14), color2: detectObject.color);
}
handing = detectObject;
}
}//startDemo == true
this.Dispatcher.Invoke((Action)(() =>
{
label_s.Text = s.ToString();
label_msg.Text = ($"{ (detectObject.getX_m() * 1000).ToString("0.0")},{(detectObject.getY_m() * 1000).ToString("0.0")},{(detectObject.getZ_m() * 1000).ToString("0.0")}mm");
}));
}