public override Result Execute()
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Log.Dprint("begin to execute Bad Mark");
Log.Dprint("move to position : " + Position);
// 移动到拍照位置
Result ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
ret = Machine.Instance.Robot.MovePosXYAndReply(Position,
this.Program.MotionSettings.VelXYMark,
this.Program.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
Log.Dprint("capture Bad mark");
VisionFindPrmBase visionFindPrm = null;
switch (this.FindType)
{
case BadMarkType.ModelFind:
visionFindPrm = this.ModelFindPrm;
break;
case BadMarkType.GrayScale:
visionFindPrm = this.GrayCheckPrm;
break;
}
visionFindPrm.PosInMachine = new PointD(Position.X, Position.Y);
//Machine.Instance.Light.SetLight(visionFindPrm.LightType);
Machine.Instance.Light.SetLight(visionFindPrm.ExecutePrm);
Machine.Instance.Camera.SetExposure(visionFindPrm.ExposureTime);
Machine.Instance.Camera.SetGain(visionFindPrm.Gain);
Thread.Sleep(visionFindPrm.SettlingTime);
byte[] bytes = Machine.Instance.Camera.TriggerAndGetBytes(TimeSpan.FromSeconds(1)).DeepClone();
if (bytes == null)
{
return(Result.FAILED);
}
Result result = Result.OK;
//移动到拍照高度
if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
{
Machine.Instance.Robot.MoveToMarkZAndReply();
}
if (this.FindType == BadMarkType.ModelFind)
{
ModelFindPrm.ImgData = bytes;
ModelFindPrm.ImgWidth = Machine.Instance.Camera.Executor.ImageWidth;
ModelFindPrm.ImgHeight = Machine.Instance.Camera.Executor.ImageHeight;
if (!ModelFindPrm.Execute())
{
result = Result.FAILED;
}
}
else if (this.FindType == BadMarkType.GrayScale)
{
GrayCheckPrm.CheckData = GrayCheckPrm.GetROI(bytes, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight);
GrayCheckPrm.CheckWidth = GrayCheckPrm.ModelWidth;
GrayCheckPrm.CheckHeight = GrayCheckPrm.ModelHeight;
if (!GrayCheckPrm.Execute())
{
result = Result.FAILED;
}
}
Log.Dprint(string.Format("bad mark result : {0}", result.IsOk));
// save mark image
if (this.Program.RuntimeSettings.SaveBadMarkImages)
{
bytes?.SaveMarkImage(
Machine.Instance.Camera.Executor.ImageWidth,
Machine.Instance.Camera.Executor.ImageHeight,
this.Program.Name, "BadMarks", "badmark");
}
////如果OK跳过则结果取反
//if (this.IsOkSkip)
//{
// result = result.IsOk ? Result.FAILED : Result.OK;
//}
return(result);
}
private Result doCheck()
{
Log.Dprint("capture Bad mark");
VisionFindPrmBase visionFindPrm = null;
switch (this.CheckThm)
{
case CheckThm.GrayScale:
visionFindPrm = this.GrayCheckPrm;
break;
case CheckThm.ModelFind:
visionFindPrm = this.ModelFindPrm;
break;
}
//设置拍照参数
visionFindPrm.PosInMachine = new PointD(Position.X, Position.Y);
//Machine.Instance.Light.SetLight(visionFindPrm.LightType);
Machine.Instance.Light.SetLight(visionFindPrm.ExecutePrm);
Machine.Instance.Camera.SetExposure(visionFindPrm.ExposureTime);
Machine.Instance.Camera.SetGain(visionFindPrm.Gain);
//采集图像
Thread.Sleep(visionFindPrm.SettlingTime);
byte[] bytes = Machine.Instance.Camera.TriggerAndGetBytes(TimeSpan.FromSeconds(1)).DeepClone();
if (bytes == null)
{
return(Result.FAILED);
}
//执行检测算法
Result result = Result.OK;
//移动到拍照高度
if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
{
Machine.Instance.Robot.MoveToMarkZAndReply();
}
if (this.CheckThm == CheckThm.GrayScale)
{
GrayCheckPrm.CheckData = GrayCheckPrm.GetROI(bytes, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight);
GrayCheckPrm.CheckWidth = GrayCheckPrm.ModelWidth;
GrayCheckPrm.CheckHeight = GrayCheckPrm.ModelHeight;
if (!GrayCheckPrm.Execute())
{
result = Result.FAILED;
}
}
else if (this.CheckThm == CheckThm.ModelFind)
{
ModelFindPrm.ImgData = bytes;
ModelFindPrm.ImgWidth = Machine.Instance.Camera.Executor.ImageWidth;
ModelFindPrm.ImgHeight = Machine.Instance.Camera.Executor.ImageHeight;
if (!ModelFindPrm.Execute())
{
result = Result.FAILED;
}
}
Log.Dprint(string.Format("bad mark result : {0}", result.IsOk));
//如果OK跳过则结果取反
if (this.IsOkAlarm)
{
result = result.IsOk ? Result.FAILED : Result.OK;
}
return(result);
}