static void Main(string[] args)
{
try
{
MainStep mainStep = new MainStep();
mainStep.Start();
}
catch (Exception ex)
{
Console.WriteLine("Error: {0}", ex.Message);
Console.WriteLine(ex.StackTrace);
Console.WriteLine("\r\nPress Any Key To Exist.");
Console.ReadKey();
System.Environment.Exit(0);
}
}
public MainStep GetStepByObj(MainStep ms)
{
// below are hardcoded instructions for demonstration only, all the instructions should be retrieved from a database
if (ms.TaskID == "c1-1" && ms.StepNum == 1)
{
ms.Instrn = "Write down the current time on a piece of paper according to the wall clock in the room.";
ms.TotalSubSteps = 3;
ms.SubSteps = new List<SubStep>();
SubStep ss;
for (int i = 0; i < ms.TotalSubSteps; i++)
{
ss = new SubStep();
ss.SubStepNum = i;
switch (ss.SubStepNum + 1)
{
case 1: ss.Instrn = "Get a piece of paper and a pen from the table.";
break;
case 2: ss.Instrn = "Read the time from the wall clock in the room.";
break;
case 3: ss.Instrn = "Write down the time on the piece of paper.";
break;
default: ss.Instrn = "None";
break;
}
ms.SubSteps.Add(ss);
}
}
else if (ms.TaskID == "c1-1" && ms.StepNum == 2)
{
ms.Instrn = "Find the meaning of the word \"Computer\" in the dictionary on the table, then write it down on the same piece of paper below the time.";
ms.TotalSubSteps = 3;
ms.SubSteps = new List<SubStep>();
SubStep ss;
for (int i = 0; i < ms.TotalSubSteps; i++)
{
ss = new SubStep();
ss.SubStepNum = i;
switch (ss.SubStepNum + 1)
{
case 1: ss.Instrn = "Use the dictionary on the table.";
break;
case 2: ss.Instrn = "Open the dictionary and look for the meaning of the search word.";
break;
case 3: ss.Instrn = "Write down the meaning of the search word on the paper below the time.";
break;
default: ss.Instrn = "None";
break;
}
ms.SubSteps.Add(ss);
}
}
else if (ms.TaskID == "c1-1" && ms.StepNum == 3)
{
ms.Instrn = "Write down the current time, then put the pen and paper on top of the dictionary neatly.";
ms.TotalSubSteps = 3;
ms.SubSteps = new List<SubStep>();
SubStep ss;
for (int i = 0; i < ms.TotalSubSteps; i++)
{
ss = new SubStep();
ss.SubStepNum = i;
switch (ss.SubStepNum + 1)
{
case 1: ss.Instrn = "Place the dictionary on the left side of the table.";
break;
case 2: ss.Instrn = "Write down the time on the same piece of paper.";
break;
case 3: ss.Instrn = "Put the piece of paper and pen on top of the dictionary.";
break;
default: ss.Instrn = "None";
break;
}
ms.SubSteps.Add(ss);
}
}
return ms;
}
private async void MainProc()
{
Step = MainStep.CheckInPlace;
float verticalOffset = 0;
double angle = 0;
float instance1 = 0;
float instance2 = 0;
float instance3 = 0;
RobotPos robotPos1 = new RobotPos();
RobotPos robotPos2 = new RobotPos();
while (!tokenSource.IsCancellationRequested)
{
try
{
switch (Step)
{
case MainStep.CheckInPlace:
bool isInPlace = await HardWareManager.Instance.XinJiePlc.ReadM(100);
if (!isInPlace)
{
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", null);
DelegateControls.Instance.DelegateTextbox("FormMain_productType", null);
verticalOffset = await HardWareManager.Instance.XinJiePlc.ReadD(510); //读取横向偏移量
if (Math.Abs(verticalOffset) > 80)
{
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平方向偏移超限", Color.Red);
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", verticalOffset.ToString());
HardWareManager.Instance.XinJiePlc.SetM(101, true);
// await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"0,{verticalOffset} ,0,0,0,0");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平测距完成");
Step = MainStep.GetAngleInstance;
break;
case MainStep.GetAngleInstance:
bool getInstance = await HardWareManager.Instance.XinJiePlc.ReadM(110);
if (!getInstance)
{
break;
}
instance1 = await HardWareManager.Instance.XinJiePlc.ReadD(500);
instance2 = await HardWareManager.Instance.XinJiePlc.ReadD(502);
HardWareManager.Instance.XinJiePlc.SetM(111, true);
instance1 = -instance1;
instance2 = -instance2;
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", instance1.ToString());
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", instance2.ToString());
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(13, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(14, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(15, $"{instance2},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(3, "1");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "垂直测距完成");
Step = MainStep.GetHolePoint2;
break;
case MainStep.GetInstance://获取两个差距值，用来计算角度
//bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
//if (!getInstance1)
// break;
//instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
//instance3 = -instance3;
//HardWareManager.Instance.XinJiePlc.SetM(121, true);
//DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
//Step = MainStep.GetHolePoint2;
break;
case MainStep.GetHolePoint1:
string rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "2\r\0")
{
break;
}
bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
if (!getInstance1)
{
break;
}
instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
// instance3 = -instance3;
HardWareManager.Instance.XinJiePlc.SetM(121, true);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
robotPos1 = await GetHolePoint(_image);
// length = 700 - length;
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"{-lengthX},{-lengthY},{instance3},0,0,{0}");
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", (lengthY).ToString());
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString());
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "2");
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", Math.Abs(robotPos1.Y - robotPos2.Y).ToString());
if ((robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMax + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMax - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "大号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "3");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceLittle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceLittle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "小号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "1");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMiddle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMiddle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "中号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "2");
}
else
{
throw new Exception("螺丝孔位置 无法匹配产品");
}
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第二次拍照完成");
Step = MainStep.CheckInPlace;
break;
case MainStep.GetHolePoint2:
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "1\r\0")
{
break;
}
_image = HardWareManager.Instance.Cmaera.SnapShot();
robotPos2 = await GetHolePoint(_image);
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
Step = MainStep.GetHolePoint1;
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
break;
//VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
//if (result != null)
//{
// HTuple hommate2d;
// HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
// HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
// RegionX regionX = new RegionX(hObject, "green");
// DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List<HalWindow.RegionX>() { regionX });
// HTuple _x = new HTuple();
// HTuple _y = new HTuple();
// VisionManager.Instance.Calibrate.GetRobotpoint(result.Row, result.Column, ref _x, ref _y);
// robotPos2 = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
// robotPos2.Y += _x;
// robotPos2.Z += _y;
// await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
//}
//else
//{
// DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, null);
// DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次取像未能找到第一个螺丝孔");
// HardWareManager.Instance.XinJiePlc.SetM(125, true);
// Step = MainStep.CheckInPlace;
// break;
//}
//await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
//Step = MainStep.GetHolePoint1;
//DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
//break;
}
}
catch (Exception ex)
{
HardWareManager.Instance.XinJiePlc.SetM(125, true);
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", ex.Message);
Step = MainStep.CheckInPlace;
}
Thread.Sleep(100);
}
}
