private void Install_Load(object sender, EventArgs e)
{
bool rtn = MotionHelper.Instance.InitCard(PathDefine.sPathCard);
if (!rtn)
{
MessageBox.Show("轴卡初始化失败");
}
SystemConfig.Load();
MotionHelper.Instance.StartMointorIO();
SpeedDefine.Load(); // 速度配置
CameraDefine.Load(); // 相机配置
IODefine.Load(); // IO配置
AxisDefine.Load(); // 轴配置
}
private void bUpdate_Click(object sender, EventArgs e)
{
CameraDefine.Save();
}
private void bAutoCliab1_Click(object sender, EventArgs e)
{
if (fm_SoftwareCliab.FindTemp == null || fm_SoftwareCliab.FindTemp.GetInvocationList().Length <= 0)
{
MessageBox.Show("请打开相机轴控界面!!");
return;
}
#region 九点标定
Task.Factory.StartNew(() =>
{
float.TryParse(this.tXSpace.Text, out this.xspace);
float.TryParse(this.tYSpace.Text, out this.yspace);
List <PointF> WorldPt = new List <PointF>();
PointF start = new PointF(orgPt.X - xspace, orgPt.Y - yspace);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
WorldPt.Add(new PointF(start.X + i * xspace, start.Y + j * yspace));
}
}
// 拍照 标定 记录图像坐标
List <PointContour> ImagePt = new List <PointContour>();
var camera = CameraDefine.Instance.CameraList[this.module.Module][this.calibRatio1.SelectCam];
var entiy = SystemEntiy.Instance[this.module.Module];
for (int I = 0; I < WorldPt.Count; ++I)
{
entiy.XYGoPosTillStop(WorldPt[I]);
// Grab Image and Calc
var result = fm_SoftwareCliab.FindTemp.Invoke(this.module.Module, this.calibRatio1.SelectCam);
if (result.State == VisionResultState.OK)
{
ImagePt.Add(result.Point);
}
else
{
MessageBox.Show("侦测失败!!");
return;
}
}
short rtn = 0;
var image = GetImage?.Invoke();
if (image == null)
{
MessageBox.Show("获取图片失败!!!");
return;
}
if (this.calibRatio1.SelectCam == Camera.Top || this.calibRatio1.SelectCam == Camera.Label)
{
this.AddCliab(this.module.Module, this.calibRatio1.SelectCam, 0, image, WorldPt, ImagePt);
}
else
{
if (this.calibRatio1.SelectNz == Nozzle.Nz1 || this.calibRatio1.SelectNz == Nozzle.Nz3)
{
this.AddCliab(this.module.Module, this.calibRatio1.SelectCam, 0, image, WorldPt, ImagePt);
}
else
{
this.AddCliab(this.module.Module, this.calibRatio1.SelectCam, 1, image, WorldPt, ImagePt);
}
}
if (rtn == 0)
{
CameraDefine.Save();
MessageBox.Show("相机标定成功!!");
}
else
{
MessageBox.Show("相机标定成功!!");
}
});
#endregion
}
public int SystemInit()
{
try
{
if (!SystemConfig.Load())
{
throw new Exception("系统配置文件");
}
if (!SpeedDefine.Load())
{
throw new Exception("速度配置文件");
}
if (!CameraDefine.Load())
{
throw new Exception("相机配置文件");
}
if (!IODefine.Load())
{
throw new Exception("IO配置文件");
}
if (!FeederDefine.Load())
{
throw new Exception("Feeder配置文件");
}
if (!HardwareOrgHelper.Load())
{
throw new Exception("机械校验文件");
}
if (!AxisDefine.Load())
{
throw new Exception("轴卡配置文件");
}
}
catch (Exception ex)
{
return(Error.Invoke(new SystemErrorEventArg {
Error = $"加载参数失败:[{ex.Message}]!!!"
}));
}
bool rtn = MotionHelper.Instance.InitCard(PathDefine.sPathCard);
if (!rtn)
{
return(Error.Invoke(new SystemErrorEventArg {
Error = "轴卡初始化失败!!!"
}));
}
Task <string> result = Task <string> .Factory.StartNew(() =>
{
return(CameraDefine.Instance.CameraConnected());
});
Axis_Advantech.DisableCamDO();
MotionHelper.Instance.ResetAllOuput();
MotionHelper.Instance.StartMointorIO();
Track.TrackManager.Instance.TrackInit();
Thread.Sleep(100);
if (MotionHelper.Instance.bServoWarning)
{
return(Error.Invoke(new SystemErrorEventArg {
Error = "伺服报警,请重新上电再复位!!!"
}));
}
if (MotionHelper.Instance.bEmg)
{
return(Error.Invoke(new SystemErrorEventArg {
Error = "急停按下,请打开急停重新上电再复位!!!"
}));
}
// 初始化实例
for (Module module = Module.Front; module <= Module.After; ++module)
{
Entiys.Add(module, new MachineEntiy(module));
this.FlowMachine.Add(module, new StateMachine(module));
Module index = module;
Task.Factory.StartNew(() => {
IODefine.Instance.MachineIO[index].Init();
IODefine.Instance.TrackIO[(Config.Track)(index)].Init();
if (index == Module.Front)
{
IODefine.Instance.OtherIO.Init();
}
});
}
result.Wait();
if (result.Result != string.Empty)
{
return(Error.Invoke(new SystemErrorEventArg {
Error = result.Result
}));
}
else
{
MotionHelper.Instance.MachineIOMointor.Tick += Entiys[Module.Front].MachineIOMointor;
MotionHelper.Instance.MachineIOMointor.Tick += Entiys[Module.After].MachineIOMointor;
}
return(0);
}
