/// <summary>
/// 根据示教Mark点的坐标找到对应的文件中的Mark点坐标
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public DataBase GetData(DataBase data)
{
try
{
if (data is DataAmphnol)
{
DataAmphnol dataAmphnol = data as DataAmphnol;
double anglePatternMark1 = 0;
double lengthPatternMark1 = 0;
this.findPointRelWorkPiece(this.workPieceMark1, this.workPieceMark1, dataAmphnol.MarkInMachine, out anglePatternMark1, out lengthPatternMark1);
foreach (ResultAmphnol item in this.patternMarksTransed)
{
double angleTmp = 0;
double lengthTmp = 0;
this.findPointRelWorkPiece(this.workpieceMark1Transed.position, this.workpieceMark2Transed.position, item.position, out angleTmp, out lengthTmp);
if (Math.Abs(anglePatternMark1 - angleTmp) < this.toleranceAngle && Math.Abs(lengthPatternMark1 - lengthTmp) < this.tolerancePos)
{
data.IsOk = true;
data.MarkFromFile = item.position;
return(data);
}
}
// 没匹配上可能是跳过的穴位
data.IsOk = true;
data.MarkFromFile = new PointD(10000, 10000);
}
}
catch (Exception e)
{
data.IsOk = false;
Log.Print(e.Message);
}
return(data);
}
public override Result Execute()
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Log.Dprint("begin to execute Mark");
Log.Dprint("move to position : " + this.Position);
Result ret = Result.OK;
if (this.IsFromFile)
{
this.ModelFindPrm.PosInMachine = new PointD(this.Position.X, this.Position.Y);
//从指定的位置获取当前mark
Custom.DataCentor.DataBase data = new DataAmphnol();
data.MarkInMachine = new PointD(this.Position.X, this.Position.Y);
data = Executor.Instance.GetCustom().GetData(data);
if (!data.IsOk)
{
ret = Result.FAILED;
}
this.ModelFindPrm.TargetInMachine = data.MarkFromFile;
}
else
{
// 移动到拍照位置
ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
ret = Machine.Instance.Robot.MovePosXYAndReply(this.Position,
this.Program.MotionSettings.VelXYMark,
this.Program.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
Log.Dprint("capture mark");
// 拍照并获取mark点位置
this.ModelFindPrm.PosInMachine = new PointD(this.Position.X, this.Position.Y);
Bitmap bmp;
ret = Machine.Instance.CaptureMark(this.ModelFindPrm, out bmp);
if (ret.IsOk)
{
Log.Dprint("mark real position : " + this.ModelFindPrm.TargetInMachine);
}
if (this.Program.RuntimeSettings.SaveMarkImages)
{
bmp?.SaveMarkImage(this.Program.Name, "Marks", "mark");
//if (bmp != null)
//{
// string filePath = RecordPathDef.Program_Marks_Date(this.Program.Name, "Marks")
// + "\\mark_" + DateTime.Now.ToString("yyyyMMddHHmmssfff") + ".jpg";
// DataServer.Instance.Fire(() =>
// {
// try
// {
// bmp.Save(filePath, ImageFormat.Jpeg);
// }
// catch (Exception e)
// {
// Log.Dprint("Mark Image Save error :" + e.Message);
// }
// });
//}
}
}
return(ret);
}
