private void btn_extract_Click(object sender, EventArgs e)
{
if (hDisplay1.GetSearchRegions().Count == 0)
{
MessageBox.Show("请先添加搜索区域");
return;
}
HTuple hv_Number;
HObject _roi = hDisplay1.GetSearchRegions().ElementAt(0);
HObject _region = new HObject();
HObject _imagereduced = new HObject();
HObject ho_ObjectSelected = new HObject();
HOperatorSet.ReduceDomain(m_image, _roi, out _imagereduced);
HOperatorSet.Threshold(_imagereduced, out _region, m_OcrParam.GrayMin, m_OcrParam.GrayMax);
HOperatorSet.Connection(_region, out _region);
HOperatorSet.SelectShape(_region, out _region, "area", "and", m_OcrParam.AreaMin, m_OcrParam.AreaMax);
HOperatorSet.CountObj(_region, out hv_Number);
HTuple hv_Index = new HTuple();
List <RegionX> _listregionx = new List <RegionX>();
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(_region, out ho_ObjectSelected, hv_Index);
RegionX _hregion = new RegionX(ho_ObjectSelected.CopyObj(1, -1), "green");
_listregionx.Add(_hregion);
}
DelegateUIControl.GetInstance().UpdateHDisplay("FormSetHDisplay", m_image, _listregionx, null);
}
private async void button1_Click_1(object sender, EventArgs e)
{
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//DelegateControls.Instance.
ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
// return;
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 calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
HTuple _x = new HTuple();
HTuple _y = new HTuple();
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out _x, out _y);
double ox = -x + _x + VisionManager.Instance.Calibrate.ToolOffsetX;
double oy = -y + _y + VisionManager.Instance.Calibrate.ToolOffsetY;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
double x1 = ox + robotPos.Y;
double x2 = oy + robotPos.Z;
}
}
private void btn_getPixelPoint_Click(object sender, EventArgs e)
{
DataGridViewRow dataGridViewRow = null;
if (dGV_pixelPoint.SelectedRows.Count == 0)
{
MessageBox.Show("请选择一行来更新点位数据");
return;
}
dataGridViewRow = dGV_pixelPoint.SelectedRows[0];
Bitmap _image = camClient.GrabOneFrame("AWG");
visionFun.Bitmap2HObjectBpp32(_image, out HObject _himage);
GetAwgPosition(_himage, out HTuple x, out HTuple y, out HObject corss);
dataGridViewRow.Cells[1].Value = x.D;
dataGridViewRow.Cells[2].Value = y.D;
hDisplay1.HImageX = _himage;
RegionX crossr = new RegionX(corss, "green");
hDisplay1.HRegionXList = new List <RegionX>()
{
crossr
};
}
public int parse(string strMid, string strMif)
{
m_listRegion.Clear();
int nRegions = 0;
RegionX region = null;
StringReader srMid = new StringReader(strMid);
string strLine = srMid.ReadLine();
while (strLine != null)
{
++nRegions;
region = new RegionX();
strLine = strLine.Replace("\"", string.Empty);
region.m_straAttributes = strLine.Split(',');
m_listRegion.Add(region);
strLine = srMid.ReadLine();
}
srMid.Close();
int nItem = -1, nItems = 0, nRegion = -1;
System.IO.StringReader srMif = new StringReader(strMif);
strLine = srMif.ReadLine();
while (strLine != null)
{
if (nItems > 0)
{
if (nItem == -1)
{
++nRegion;
region = m_listRegion[nRegion];
region.m_listPoint = new List <System.Drawing.Point>(nItems);
}
if (++nItem < nItems)
{
region.m_listPoint.Add(UTM.getCoordinate(m_nUTMZoneNo, strLine));
}
else
{
nItem = -1;
nItems = 0;
}
}
else if (strLine.Length >= 6 && strLine.Substring(0, 6) == "Region")
{
nItems = int.Parse(srMif.ReadLine());
}
strLine = srMif.ReadLine();
}
srMif.Close();
return(nRegions);
}
private async Task <RobotPos> GetHolePoint(HObject image)
{
try
{
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", image, null);
HOperatorSet.Threshold(image, out HObject region1, 0, 100);
HOperatorSet.Connection(region1, out HObject connectionregion);
HOperatorSet.OpeningCircle(connectionregion, out HObject regionopening, 7.5);
HOperatorSet.SelectShape(regionopening, out HObject selectedregion, "area", "and", 9000, 79999);
HOperatorSet.SelectShape(selectedregion, out selectedregion, "circularity", "and", 0.4, 1);
HOperatorSet.FillUp(selectedregion, out HObject regionfillup);
HOperatorSet.Union1(regionfillup, out HObject regionunion);
HOperatorSet.ReduceDomain(image, regionunion, out HObject imagereduced);
HOperatorSet.MinMaxGray(regionunion, imagereduced, 0, out HTuple min, out HTuple max, out HTuple range);//20191128
HOperatorSet.Threshold(imagereduced, out HObject region2, 0, min + 5);
HOperatorSet.ErosionCircle(region2, out HObject erosionregion, 2.5);
HOperatorSet.Connection(erosionregion, out HObject connectionregion2);
HOperatorSet.CountObj(connectionregion2, out HTuple number);
HOperatorSet.SelectShape(connectionregion2, out HObject selectregiion2, "area", "and", 2000, 6500);
HOperatorSet.CountObj(selectregiion2, out number);
HOperatorSet.SelectShape(selectregiion2, out HObject selectregiion3, "circularity", "and", 0.3, 1);
HOperatorSet.SelectShape(selectregiion3, out HObject selectregiion4, "outer_radius", "and", 25, 50);
HOperatorSet.AreaCenter(selectregiion4, out HTuple area, out HTuple r, out HTuple c);
HOperatorSet.ShapeTrans(selectregiion4, out HObject regiiontrans, "outer_circle");
RegionX regionX = new RegionX(regiiontrans, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple _x = new HTuple();
HTuple _y = new HTuple();
VisionManager.Instance.Calibrate.GetRobotpoint(r, c, ref _x, ref _y);
lengthY = _x + Param.Instance.HMakeUp;
lengthX = _y + Param.Instance.VMakeUp;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
// RobotPos robotPos = new RobotPos();
robotPos.Y += _x;
robotPos.Z += _y;
return(robotPos);
}
catch (Exception ex)
{
HOperatorSet.WriteImage(image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "Images\\Ng.bmp");
throw new Exception("GetHolePoint exception:第二次取像未找到螺丝孔位置");
}
}
private void UpdateDisplay(HDisplay _hDisplay, HObject image, HObject region)
{
if (_hDisplay.InvokeRequired)
{
_hDisplay.BeginInvoke(new Action(() =>
{
_hDisplay.HImageX = image;
RegionX crossr = new RegionX(region, "green");
_hDisplay.HRegionXList = new List <RegionX>()
{
crossr
};
}));
}
else
{
_hDisplay.HImageX = image;
RegionX crossr = new RegionX(region, "green");
_hDisplay.HRegionXList = new List <RegionX>()
{
crossr
};
}
}
private void btn_TrainOcr_Click(object sender, EventArgs e)
{
if (hDisplay1.GetSearchRegions().Count == 0)
{
MessageBox.Show("请先添加搜索区域");
return;
}
if (string.IsNullOrEmpty(txt_CharacterTrained.Text))
{
MessageBox.Show("请先填写要训练的字符");
return;
}
HTuple hv_Number;
HObject _roi = hDisplay1.GetSearchRegions().ElementAt(0);
HObject _region = new HObject();
HObject _imagereduced = new HObject();
HObject ho_ObjectSelected = new HObject();
HOperatorSet.ReduceDomain(m_image, _roi, out _imagereduced);
HOperatorSet.Threshold(_imagereduced, out _region, m_OcrParam.GrayMin, m_OcrParam.GrayMax);
HOperatorSet.Connection(_region, out _region);
HOperatorSet.SelectShape(_region, out _region, "area", "and", m_OcrParam.AreaMin, m_OcrParam.AreaMax);
if (cklb_SortRegionModle.GetItemChecked(0))
{
HOperatorSet.SortRegion(_region, out _region, "character", "true", "row");
}
else
{
HOperatorSet.SortRegion(_region, out _region, "character", "true", "column");
}
HOperatorSet.CountObj(_region, out hv_Number);
if (hv_Number.I == 0)
{
MessageBox.Show("分割字符为空");
return;
}
string[] _characterTrained = new string[] { };
_characterTrained = txt_CharacterTrained.Text.Split(',');
if (_characterTrained.Length != hv_Number.I)
{
MessageBox.Show("字符区域与字符个数不相等");
return;
}
HTuple hv_Index = new HTuple();
List <RegionX> _listregionx = new List <RegionX>();
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(_region, out ho_ObjectSelected, hv_Index);
RegionX _hregion = new RegionX(ho_ObjectSelected.CopyObj(1, -1), "green");
_listregionx.Add(_hregion);
}
string path = string.Empty;
string Foldername = string.Empty;
string trffilepath = string.Empty;
FolderBrowserDialog fbd = new FolderBrowserDialog();
fbd.ShowNewFolderButton = true;
if (fbd.ShowDialog() == DialogResult.OK)
{
path = fbd.SelectedPath;
if (!Directory.Exists(path))
{
MessageBox.Show($"不存在 '{path}' 路径!");
return;
}
string[] _f = path.Split('\\');
Foldername = _f[_f.Length - 1];
trffilepath = path + "\\" + Foldername + ".trf";
}
else
{
return;
}
HObject _characterRegion = new HObject();
HOperatorSet.GenEmptyObj(out _characterRegion);
for (int i = 0; i < hv_Number.I; i++)
{
HOperatorSet.AppendOcrTrainf(_region[i + 1], m_image, _characterTrained[i], trffilepath);
}
HTuple _ocrhandle = new HTuple();
HTuple error = new HTuple();
HTuple errorlog = new HTuple();
HOperatorSet.CreateOcrClassMlp(m_TrainParam.CharacterWidth, m_TrainParam.CharacterHeiht, m_TrainParam.ZoomModle, "default", _characterTrained,
80, "none", 10, 42, out _ocrhandle);
HOperatorSet.TrainfOcrClassMlp(_ocrhandle, trffilepath, 200, 1, 0.01, out error, out errorlog);
HOperatorSet.WriteOcrTrainf(_region, m_image, _characterTrained, trffilepath);
HOperatorSet.WriteOcrClassMlp(_ocrhandle, path + "\\" + Foldername);
DelegateUIControl.GetInstance().UpdateHDisplay("FormSetHDisplay", m_image, _listregionx, null);
}
private void btn_ReadCharacter_Click(object sender, EventArgs e)
{
if (m_ocrhandle == null)
{
MessageBox.Show("请先读取字符库");
return;
}
if (hDisplay1.GetSearchRegions().Count == 0)
{
MessageBox.Show("请先添加搜索区域");
return;
}
HTuple hv_Number;
HObject _roi = hDisplay1.GetSearchRegions().ElementAt(0);
HObject _region = new HObject();
HObject _imagereduced = new HObject();
HObject ho_ObjectSelected = new HObject();
HOperatorSet.ReduceDomain(m_image, _roi, out _imagereduced);
HOperatorSet.Threshold(_imagereduced, out _region, m_OcrParam.GrayMin, m_OcrParam.GrayMax);
HOperatorSet.Connection(_region, out _region);
HOperatorSet.SelectShape(_region, out _region, "area", "and", m_OcrParam.AreaMin, m_OcrParam.AreaMax);
HOperatorSet.CountObj(_region, out hv_Number);
HTuple hv_Index = new HTuple();
List <RegionX> _listregionx = new List <RegionX>();
List <ViewROI.StringX> _liststringx = new List <ViewROI.StringX>();
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(_region, out ho_ObjectSelected, hv_Index);
RegionX _hregion = new RegionX(ho_ObjectSelected.CopyObj(1, -1), "green");
_listregionx.Add(_hregion);
}
HTuple _characters = new HTuple();
HTuple _confidence = new HTuple();
// DelegateUIControl.GetInstance().UpdateHDisplay("FormSetHDisplay", m_image, _listregionx, null);
HOperatorSet.DoOcrMultiClassMlp(_region, m_image, m_ocrhandle, out _characters, out _confidence);
HTuple _row = new HTuple();
HTuple _column = new HTuple();
HTuple _area = new HTuple();
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(_region, out ho_ObjectSelected, hv_Index);
HOperatorSet.AreaCenter(ho_ObjectSelected, out _area, out _row, out _column);
ViewROI.StringX sx = new ViewROI.StringX(19, true, false);
sx.SetString(_characters[hv_Index - 1], (int)_row.D + 50, (int)_column.D, Color.Green);
_liststringx.Add(sx);
}
DelegateUIControl.GetInstance().UpdateHDisplay("FormSetHDisplay", m_image, _listregionx, _liststringx);
List <OcrResult> ocrresultlist = new List <OcrResult>();
for (int i = 0; i < _characters.TupleLength(); i++)
{
OcrResult _ocrresult = new OcrResult();
_ocrresult.character = _characters[i];
_ocrresult.scale = _confidence[i].D.ToString("F4");
ocrresultlist.Add(_ocrresult);
}
dGV_CharacterResult.DataSource = ocrresultlist;
}
private Packet InImprovedInstantMessageHandler(Packet packet, IPEndPoint sim)
{
if (RegionHandle != 0)
{
SoundTriggerPacket sound = new SoundTriggerPacket();
sound.SoundData.SoundID = new UUID("4c366008-65da-2e84-9b74-f58a392b94c6");
sound.SoundData.OwnerID = frame.AgentID;
sound.SoundData.ObjectID = frame.AgentID;
sound.SoundData.ParentID = UUID.Zero;
sound.SoundData.Handle = RegionHandle;
sound.SoundData.Position = CameraCenter;
sound.SoundData.Gain = 0.5f;
sound.Header.Reliable = false;
if (!File.Exists("mutesound.on"))
{
proxy.InjectPacket(sound, Direction.Incoming);
}
}
ImprovedInstantMessagePacket im = (ImprovedInstantMessagePacket)packet;
//block repeated crap
if (im.MessageBlock.Dialog == (byte)InstantMessageDialog.StartTyping)
{
if (PeopleWhoIMedMe.Contains(im.AgentData.AgentID) == false)
{
PeopleWhoIMedMe.Add(im.AgentData.AgentID);
ImprovedInstantMessagePacket im2 = new ImprovedInstantMessagePacket();
im2.AgentData = new ImprovedInstantMessagePacket.AgentDataBlock();
im2.AgentData.AgentID = im.AgentData.AgentID;
im2.AgentData.SessionID = im.AgentData.SessionID;
im2.MessageBlock = new ImprovedInstantMessagePacket.MessageBlockBlock();
im2.MessageBlock.FromGroup = im.MessageBlock.FromGroup;
im2.MessageBlock.ToAgentID = im.MessageBlock.ToAgentID;
im2.MessageBlock.ParentEstateID = im.MessageBlock.ParentEstateID;
im2.MessageBlock.RegionID = im.MessageBlock.RegionID;
im2.MessageBlock.Position = im.MessageBlock.Position;
im2.MessageBlock.Offline = im.MessageBlock.Offline;
im2.MessageBlock.Dialog = 0;
im2.MessageBlock.ID = im.MessageBlock.ID;
im2.MessageBlock.Timestamp = im.MessageBlock.Timestamp;
im2.MessageBlock.FromAgentName = im.MessageBlock.FromAgentName;
im2.MessageBlock.Message = Utils.StringToBytes("/me is typing a message...");
im2.MessageBlock.BinaryBucket = im.MessageBlock.BinaryBucket;
proxy.InjectPacket(im2, Direction.Incoming);
}
}
else if (im.MessageBlock.Dialog == 22) // teleport lure
{
string[] bbfields = Utils.BytesToString(im.MessageBlock.BinaryBucket).Split('|');
if (bbfields.Length < 5)
{
return(packet);
}
ushort MapX;
ushort MapY;
double RegionX;
double RegionY;
double RegionZ;
try
{
MapX = (ushort)(uint.Parse(bbfields[0]) / 256);
MapY = (ushort)(uint.Parse(bbfields[1]) / 256);
RegionX = double.Parse(bbfields[2]);
RegionY = double.Parse(bbfields[3]);
RegionZ = double.Parse(bbfields[4]);
}
catch
{
frame.SayToUser("WARNING! " + Utils.BytesToString(im.MessageBlock.FromAgentName) + "'s teleport lure IM seems to have unusual data in its BinaryBucket!");
return(packet);
}
// request region name
System.Timers.Timer myTimer = new System.Timers.Timer(10000);
string RegionName = null;
PacketDelegate replyCallback = delegate(Packet p, IPEndPoint s)
{
MapBlockReplyPacket reply = (MapBlockReplyPacket)p;
foreach (MapBlockReplyPacket.DataBlock block in reply.Data)
{
if ((block.X == MapX) && (block.Y == MapY))
{
RegionName = Utils.BytesToString(block.Name);
StringBuilder sb = new StringBuilder();
sb.Append(Utils.BytesToString(im.MessageBlock.FromAgentName) + "'s teleport lure is to ");
sb.Append(RegionName + " " + RegionX.ToString() + ", " + RegionY.ToString() + ", " + RegionZ.ToString() + " ");
sb.Append("secondlife://" + RegionName.Replace(" ", "%20") + "/" + RegionX.ToString() + "/" + RegionY.ToString() + "/" + RegionZ.ToString());
frame.SayToUser(sb.ToString());
}
}
return(null);
};
System.Timers.ElapsedEventHandler timerCallback = delegate(object sender, System.Timers.ElapsedEventArgs e)
{
if (RegionName == null)
{
frame.SayToUser("Couldn't resolve the destination of " + Utils.BytesToString(im.MessageBlock.FromAgentName) + "'s teleport lure: " + Utils.BytesToString(im.MessageBlock.BinaryBucket));
}
proxy.RemoveDelegate(PacketType.MapBlockReply, Direction.Incoming, replyCallback);
myTimer.Stop();
};
proxy.AddDelegate(PacketType.MapBlockReply, Direction.Incoming, replyCallback);
myTimer.Elapsed += timerCallback;
myTimer.Start();
MapBlockRequestPacket MapBlockRequest = new MapBlockRequestPacket();
MapBlockRequest.AgentData = new MapBlockRequestPacket.AgentDataBlock();
MapBlockRequest.AgentData.AgentID = frame.AgentID;
MapBlockRequest.AgentData.SessionID = frame.SessionID;
MapBlockRequest.AgentData.Flags = 0;
MapBlockRequest.AgentData.Godlike = false;
MapBlockRequest.PositionData = new MapBlockRequestPacket.PositionDataBlock();
MapBlockRequest.PositionData.MinX = MapX;
MapBlockRequest.PositionData.MaxX = MapX;
MapBlockRequest.PositionData.MinY = MapY;
MapBlockRequest.PositionData.MaxY = MapY;
proxy.InjectPacket(MapBlockRequest, Direction.Outgoing);
}
else if (im.MessageBlock.Dialog == (byte)InstantMessageDialog.InventoryOffered)
{
if (im.MessageBlock.BinaryBucket[0] == (byte)AssetType.Simstate)
{
frame.SayToUser(Utils.BytesToString(im.MessageBlock.FromAgentName) + " offered you a SimState :O");
return(null);
}
}
else if (im.MessageBlock.Dialog == 9)
{
if (im.MessageBlock.BinaryBucket[0] == (byte)AssetType.Simstate)
{
frame.SayToUser(im.AgentData.AgentID.ToString() + " offered you a SimState from an object at " + im.MessageBlock.Position.ToString() + " :O Message = " + Utils.BytesToString(im.MessageBlock.Message));
return(null);
}
}
// Don't get spammed bro
if (im.MessageBlock.Dialog == 0)
{
im.MessageBlock.ID = frame.AgentID.Equals(im.AgentData.AgentID) ? frame.AgentID : im.AgentData.AgentID ^ frame.AgentID;
packet = (Packet)im;
}
return(packet);
}
private async void MainProc()
{
Step = MainStep.CheckInPlace;
float verticalOffset = 0;
double angle = 0;
float instance1 = 0;
float instance2 = 0;
float instance3 = 0;
Time_Meter time_Meter1 = new Time_Meter();
Time_Meter time_Meter2 = new Time_Meter();
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");
time_Meter1.Start();
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("f2"));
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString("f2"));
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.LockScrew;
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;
case MainStep.LockScrew:
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(11);
if (rtn != "1\r\0")
{
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "本周期结束");
Step = MainStep.CheckInPlace;
break;
}
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(10);
if (rtn != "1\r\0")
{
break;
}
_image = HardWareManager.Instance.Cmaera.SnapShot();
await GetHolePoint(_image);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"{-lengthX},{-lengthY},{instance3},0,0,{0}");
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", (lengthY).ToString("f2"));
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString("f2"));
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(9, "1");
break;
}
}
catch (Exception ex)
{
HardWareManager.Instance.XinJiePlc.SetM(125, true);
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", ex.Message);
Step = MainStep.CheckInPlace;
}
Thread.Sleep(100);
}
}
