// will go to the nearest hole to the next part and display what it will pick up gooz
public bool GoToNextComponent(TapeObj to)
{
SetCurrentTapeMeasurement(to.TapeType); //setup tape type to measure
if (to.FirstPart != null)
{
Cnc.CNC_XY(to.GetPartBasedLocation(to.CurrentPartIndex()));
return(true);
}
if (to.FirstHole == null)
{
MainForm.ShowSimpleMessageBox("First hole not set and part not set - calibrate this first");
return(false);
}
if (to.IsLocationBased)
{
Cnc.CNC_XY(GetLocationBasedComponent(to));
}
else
{
MainForm.cameraView.downSettings.FindCircles = true;
// move to closest hole to the part we are looking for
Cnc.CNC_XY(to.GetNearestCurrentPartHole());
var hole = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.5, .05);
if (hole == null)
{
//MainForm.ShowSimpleMessageBox("Unable to center on nearest hole");
return(false);
}
MainForm.cameraView.DownCameraReset();
// move camera on top of the part, and then move from there to the part to pick up
var offset = to.GetCurrentPartLocation() - to.GetNearestCurrentPartHole();
Cnc.CNC_XY(hole + offset);
}
var c = MainForm.cameraView.downVideoProcessing.FrameCenter;
MainForm.cameraView.downVideoProcessing.Arrows.Add(new Shapes.Arrow(c.X, c.Y, to.PartAngle, 100));
return(true);
}
// will go to the nearest hole to the next part and display what it will pick up gooz
public bool GoToNextComponent(TapeObj to)
{
if (to.IsLocationBased)
{
Cnc.CNC_XY(GetLocationBasedComponent(to));
}
else
{
SetCurrentTapeMeasurement(to.TapeType); //setup tape type to measure
if (to.FirstPart != null)
{
Cnc.CNC_XY(to.GetPartBasedLocation(to.CurrentPartIndex()));
return true;
}
if (to.FirstHole == null)
{
MainForm.ShowSimpleMessageBox("First hole not set and part not set - calibrate this first");
return false;
}
MainForm.cameraView.downSettings.FindCircles = true;
// move to closest hole to the part we are looking for
Cnc.CNC_XY(to.GetNearestCurrentPartHole());
var hole = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.5, .05);
if (hole == null)
{
//MainForm.ShowSimpleMessageBox("Unable to center on nearest hole");
return false;
}
MainForm.cameraView.DownCameraReset();
// move camera on top of the part, and then move from there to the part to pick up
var offset = to.GetCurrentPartLocation() - to.GetNearestCurrentPartHole();
Cnc.CNC_XY(hole + offset);
}
var c = MainForm.cameraView.downVideoProcessing.FrameCenter;
MainForm.cameraView.downVideoProcessing.Arrows.Add(new Shapes.Arrow(c.X,c.Y, to.PartAngle, 100) );
return true;
}
public PartLocation GetNextComponentPartLocation(TapeObj tapeObj)
{
if (tapeObj == null) return null;
MainForm.DisplayText("GotoNextPart_m(), tape id: " + tapeObj.ID);
//Load & Parse Data
if (!tapeObj.IsFullyCalibrated) {
MainForm.ShowSimpleMessageBox("Tape " + tapeObj.ID + " is not yet calibrated. Please do so and retry");
return null;
}
PartLocation targetLocation = tapeObj.GetCurrentPartLocation();
MainForm.DisplayText("Part " + tapeObj.CurrentPartIndex() + " Source Location = " + targetLocation, Color.Blue);
// see if part exists for part based detection
if (tapeObj.TemplateBased) {
Global.Instance.mainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(targetLocation)) return null;
var thing = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 1, .2, null, tapeObj.TemplateFilename, .75);
if (thing == null) {
MainForm.DisplayText("No Part Detected At This Location", Color.Red);
return null;
}
MainForm.DisplayText("Part Detected : " + thing);
}
if (tapeObj.IsLocationBased) {
targetLocation = GetLocationBasedComponent(tapeObj);
} else
// enhanced part detection
if (tapeObj.FirstHole != null) {
SetCurrentTapeMeasurement(tapeObj.TapeType);
Cnc.CNC_XY(tapeObj.GetNearestCurrentPartHole());
var hole = MainForm.GoToClosestThing(Shapes.ShapeTypes.Circle, 1.5, .1);
if (hole == null) {
MainForm.DisplayText("Unable to detect part hole, aborting");
return null;
}
var offset = tapeObj.GetCurrentPartLocation() - tapeObj.GetNearestCurrentPartHole();
targetLocation = hole.ToPartLocation() + offset;
MainForm.cameraView.DownCameraReset();
}
//------------------- PART SPECIFIC LOGIC GOES HERE --------------------//
if (tapeObj.PartType == "QFN") {
MainForm.DisplayText("USING ENHANCE PART PICKUP", Color.HotPink);
if (!MainForm.Cnc.CNC_XY(targetLocation)) return null;
// setup view
SetCurrentTapeMeasurement(tapeObj.TapeType);
MainForm.cameraView.downSettings.FindRectangles = true;
// MainForm.cameraView.downVideoProcessing.FindRectangles = true;
// move closer and get exact coordinates plus rotation
var rect = (Shapes.Rectangle) MainForm.GoToClosestThing(Shapes.ShapeTypes.Rectangle, 1.5, .025);
if (rect == null) {
MainForm.cameraView.DownCameraReset();
return null;
}
Global.DoBackgroundWork(500);
var rectAngle = rect.AngleOffsetFrom90();
targetLocation = rect.ToPartLocation();
targetLocation.A = tapeObj.OriginalPartOrientationVector.ToDegrees() + rectAngle;
MainForm.cameraView.DownCameraReset();
}
return targetLocation;
}
public PartLocation GetNextComponentPartLocation(TapeObj tapeObj)
{
if (tapeObj == null)
{
return(null);
}
MainForm.DisplayText("GotoNextPart_m(), tape id: " + tapeObj.ID);
//Load & Parse Data
if (!tapeObj.IsFullyCalibrated)
{
MainForm.ShowSimpleMessageBox("Tape " + tapeObj.ID + " is not yet calibrated. Please do so and retry");
return(null);
}
PartLocation targetLocation = tapeObj.GetCurrentPartLocation();
MainForm.DisplayText("Part " + tapeObj.CurrentPartIndex() + " Source Location = " + targetLocation, Color.Blue);
// see if part exists for part based detection
if (tapeObj.TemplateBased)
{
Global.Instance.mainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
var thing = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 1, .2, null, tapeObj.TemplateFilename, .75);
if (thing == null)
{
MainForm.DisplayText("No Part Detected At This Location", Color.Red);
return(null);
}
MainForm.DisplayText("Part Detected : " + thing);
}
if (tapeObj.IsLocationBased)
{
targetLocation = GetLocationBasedComponent(tapeObj);
}
else
// enhanced part detection
if (tapeObj.FirstHole != null)
{
SetCurrentTapeMeasurement(tapeObj.TapeType);
Cnc.CNC_XY(tapeObj.GetNearestCurrentPartHole());
var hole = MainForm.GoToClosestThing(Shapes.ShapeTypes.Circle, 1.5, .1);
if (hole == null)
{
MainForm.DisplayText("Unable to detect part hole, aborting");
return(null);
}
var offset = tapeObj.GetCurrentPartLocation() - tapeObj.GetNearestCurrentPartHole();
targetLocation = hole.ToPartLocation() + offset;
MainForm.cameraView.DownCameraReset();
}
//------------------- PART SPECIFIC LOGIC GOES HERE --------------------//
if (tapeObj.PartType == "QFN")
{
MainForm.DisplayText("USING ENHANCE PART PICKUP", Color.HotPink);
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
// setup view
SetCurrentTapeMeasurement(tapeObj.TapeType);
MainForm.cameraView.downSettings.FindRectangles = true;
// MainForm.cameraView.downVideoProcessing.FindRectangles = true;
// move closer and get exact coordinates plus rotation
var rect = (Shapes.Rectangle)MainForm.GoToClosestThing(Shapes.ShapeTypes.Rectangle, 1.5, .025);
if (rect == null)
{
MainForm.cameraView.DownCameraReset();
return(null);
}
Global.DoBackgroundWork(500);
var rectAngle = rect.AngleOffsetFrom90();
targetLocation = rect.ToPartLocation();
targetLocation.A = tapeObj.OriginalPartOrientationVector.ToDegrees() + rectAngle;
MainForm.cameraView.DownCameraReset();
}
return(targetLocation);
}
