/// <summary>
/// 扎针定位
/// </summary>
/// <param name="PlcItem"></param>
/// <param name="Obj"></param>
public void DoProject(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_01_TriggerGrab) //
{
NowVisionProcess = new DoVisionProcess();
//起始信号清零
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_TriggerGrab, 0);
FileLib.Logger.Pop("接受到PLC信号，开始扎针对位", false, "运行日志");
short ClearValue = 1;
object obj = new object();
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_01_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
}
}
System.Threading.Thread.Sleep(1);
//读取机台编号
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "运行日志");
System.Threading.Thread.Sleep(1);
//读取拍照位编号
short GrabNum = (short)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestGrabNum);
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
NowVisionPara = NowProjectPara.GetVisionPara(GrabNum);
NowVisionProcess.SetVisionPara(NowVisionPara);
NowVisionProcess.Do();
if (GrabNum == 0)
{
FirstLocalResult = NowVisionProcess.MyLocalResult;
FileLib.Logger.Pop(" 左边拍照定位完成，开始右边拍照定位：", false, "运行日志");
}
else
{
SecondLocalResult = NowVisionProcess.MyLocalResult;
//示教点到旋转中心的坐标
Point2Db TeachPt2d1 = new Point2Db(FirstLocalResult.TeachPosToRot.Col, FirstLocalResult.TeachPosToRot.Row);
Point2Db TeachPt2d2 = new Point2Db(SecondLocalResult.TeachPosToRot.Col, SecondLocalResult.TeachPosToRot.Row);
FileLib.Logger.Pop(" 示教产品到旋转中心的坐标(左右两点)：" + TeachPt2d1.Col.ToString("f3") + " " + TeachPt2d1.Row.ToString("f3") + " "
+ TeachPt2d2.Col.ToString("f3") + " " + TeachPt2d2.Row.ToString("f3"), false, "运行日志");
//当前产品到旋转中心的坐标
Point2Db NowPosPt2d1 = new Point2Db(FirstLocalResult.PosToRot.Col, FirstLocalResult.PosToRot.Row);
Point2Db NowPosPt2d2 = new Point2Db(SecondLocalResult.PosToRot.Col, SecondLocalResult.PosToRot.Row);
FileLib.Logger.Pop(" 当前产品到旋转中心的坐标(左右两点)：" + NowPosPt2d1.Col.ToString("f3") + " " + NowPosPt2d1.Row.ToString("f3") + " "
+ NowPosPt2d2.Col.ToString("f3") + " " + NowPosPt2d2.Row.ToString("f3"), false, "运行日志");
List <Point2Db> TeachPtList = new List <Point2Db>();
List <Point2Db> NowPtList = new List <Point2Db>();
//当前产品移动到产品示教时的位置，先计算出偏移矩阵
TeachPtList.Add(TeachPt2d1);
TeachPtList.Add(TeachPt2d2);
NowPtList.Add(NowPosPt2d1);
NowPtList.Add(NowPosPt2d2);
MyHomMat2D NowHomat = new MyHomMat2D();
bool IsTrue = false;
MyVisionBase.VectorToRigidHomMat(NowPtList, TeachPtList, out NowHomat, out IsTrue);
double AddX = 0, AddY = 0, AddTheta = 0;
MyVisionBase.CalculateThreeTapePos(NowPosPt2d1, NowPosPt2d2, TeachPt2d1, TeachPt2d2, out AddX, out AddY, out AddTheta);
FileLib.Logger.Pop(" 计算出的偏移补偿量：" + AddX.ToString("f3") + " " + AddY.ToString("f3") + " " + AddTheta.ToString("f3"), false, "运行日志");
///再根据偏移矩阵计算出偏移量
double AddX1 = 0, AddY1 = 0, AddTheta1 = 0;
MyVisionBase.HomMat2dToAffinePara(NowHomat, out AddTheta1, out AddY1, out AddX1);
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
view1.SetString(500, 500, "red", " AddX： " + AddX.ToString("f4") + " mm ");
view1.SetString(500, 600, "red", " AddY： " + AddY.ToString("f4") + " mm ");
view1.SetString(500, 700, "red", " AddTheta： " + AddTheta.ToString("f4") + " 度 ");
///
double addx0 = -AddX * 1000;
double addy0 = AddY * 1000;
double addtheta0 = AddTheta * 1000;
int addx = (int)addx0;
int addy = (int)addy0;
int addtheta = (int)addtheta0;
NowVisionPara = NowProjectPara.GetVisionPara(0);
int offsetx = (int)(NowVisionPara.localPara.localSetting.Offset_x * 1000);
int offsety = (int)(NowVisionPara.localPara.localSetting.Offset_y * 1000);
int offsettheta = (int)(NowVisionPara.localPara.localSetting.Offset_theta * 1000);
int newAddX = addx + offsetx;
int NewAddY = addy + offsety;
int NewAddTheta = -addtheta + offsettheta;
if (StageNum == 0 || StageNum == 2)//左边两个平台X轴为正常方向，后面两个平台为反方向
{
newAddX = addx + offsetx;
}
else
{
newAddX = -addx + offsetx;
}
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
int ReadAddX = 0;
int ReadAddY = 0;
int ReadAddTheta = 0;
object ObjRead = 0;
int WriteCount = 0;
while (true)
{
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddX);
System.Threading.Thread.Sleep(5);
ReadAddX = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddY);
System.Threading.Thread.Sleep(5);
ReadAddY = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddTheta);
System.Threading.Thread.Sleep(5);
ReadAddTheta = (int)ObjRead;
if (ReadAddX == newAddX && ReadAddY == NewAddY && ReadAddTheta == NewAddTheta)
{
FileLib.Logger.Pop(" 补偿值成功写入", false, "运行日志");
break;
}
else
{
WriteCount++;
if (WriteCount % 10 == 0)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
}
if (WriteCount > 300)
{
break;
}
}
}
if (SecondLocalResult.IsLocalOk)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC补偿量已经发给PLC：", false, "运行日志");
}
}
}
}
public override void Do()
{
//1.打开光源
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam0)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam1)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabImg);
view1.Repaint();
MyVisionBase.SaveImg(GrabImg, "扎针对位图片");
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
//6.执行定位
try
{
MyLocal.doLocal();
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1); //告诉PLC定位结果OK
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2); //告诉PLC定位结果OK
}
//7.告诉PLC定位结果完成
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
St_VectorAngle PixelVector = new St_VectorAngle(MyLocalResult.row, MyLocalResult.col, MyLocalResult.angle);
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
//将像素坐标转换到标定坐标
//MyLocalResult.AffineTransResult()
HalconDotNet.HTuple HomMatCali = new HalconDotNet.HTuple();
MyVisionBase.MyHomMatToHalcon(CaliPara.HomMat, out HomMatCali);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HomMatCali, out MyLocalResult.x, out MyLocalResult.y);
//MyVisionBase.AffineTransPt()
//获取当前坐标
//double X = 0, Y = 0, Z = 0, Theta = 0;
//if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.TeachCoordi) == CaliModelEnum.HandEyeCali)
//{
// MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
// MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
//}
//VectorAngle GrabPos = new VectorAngle(X, Y, Theta);
////9 计算出当前产品距离旋转中心的坐标
//EyeToHandPos.TransEyeToHandPos(PixelVector, CaliPara, GrabPos, out PosToRot);
////10计算出示教产品到旋转中心的坐标
//St_VectorAngle TeachPixelPos = new St_VectorAngle(MyLocalResult.TeachRow, MyLocalResult.TeachCol, MyLocalResult.TeachAngle);
//VectorAngle TeachGrabPos = new VectorAngle(MyLocalResult.TeachX, MyLocalResult.TeachY, MyLocalResult.TeachTheta);
//MyVisionBase.AdjImgRow(GrabImg, ref TeachPixelPos.Row);
//EyeToHandPos.TransEyeToHandPos(TeachPixelPos, CaliPara, TeachGrabPos, out TeachPosToRot);
//view1.Repaint();
//view1.SetString(100, 100, "red", "PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
// PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"));
//MyLocalResult.PosToRot = PosToRot;
//MyLocalResult.TeachPosToRot = TeachPosToRot;
}
public void DoFOFProject1(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_02_TriggerGrab)
{
FileLib.Logger.Pop("接受到PLC信号，偏移检测", false, "FOF运行日志");
NowUpVisionProcess = new DoUpDnVisionProcess();
NowUpLocalRlt = new LocalResult();
NowDnLocalRlt = new LocalResult();
//起始信号清零
FileLib.Logger.Pop("启动信号清零", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
System.Threading.Thread.Sleep(1);
short ClearValue = 1;
object obj = new object();
FileLib.Logger.Pop("启动地址清零成功", false, "FOF运行日志");
//读取机台编号 4 代表FOF左侧FOF偏移检测 ，5代表FOF右侧偏移检测
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "FOF运行日志");
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
double OffsetX = 0;
double OffsetY = 0;
try {
FileLib.Logger.Pop("开始FOF偏移检测上相机定位", false, "FOF运行日志");
NowVisionPara = NowProjectPara.GetVisionPara(0);
NowUpVisionProcess.SetVisionPara(NowVisionPara);
NowUpVisionProcess.Do();
NowUpLocalRlt = NowUpVisionProcess.MyLocalResult;
BlobLocalRlt FofRlt = (BlobLocalRlt)NowUpLocalRlt;
double x = FofRlt.ListWid[0] * NowVisionPara.localPara.Blobs.PixelSize;
double y = FofRlt.ListHei[1] * NowVisionPara.localPara.Blobs.PixelSize;
OffsetX = x + NowVisionPara.localPara.localSetting.Offset_x;
OffsetY = y + NowVisionPara.localPara.localSetting.Offset_y;
FileLib.Logger.Pop("偏移量： " + "OffsetX: " + OffsetX.ToString("f4") + " " + "OffsetY: "
+ OffsetY.ToString("f4"), false, "FOF运行日志");
}
catch (Exception e0) {
Logger.PopError1(e0, false, "视觉错误日志");
OffsetX = 999999;
OffsetY = 999999;
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
view1.SetString(500, 500, "red", "OffsetX: " + OffsetX.ToString("f4") + " mm");
view1.SetString(500, 600, "red", "OffsetY: " + OffsetY.ToString("f4") + " mm");
if (Math.Abs(OffsetX) < NowVisionPara.localPara.localSetting.Offset_x_range && Math.Abs(OffsetY)
< NowVisionPara.localPara.localSetting.Offset_y_range)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 1); //检测结果Ok
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：OK", false, "FOF运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 2); //检测结果NG
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：NG", false, "FOF运行日志");
}
FileLib.Logger.Pop("循环读取启动地址，保证清零成功", false, "FOF运行日志");
int ReadCount = 1;
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_02_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
if (ReadCount % 10 == 0)
{
FileLib.Logger.Pop("重新执行一次清零", false, "FOF运行日志");
ReadCount = 1;
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
}
if (ReadCount > 100)
{
FileLib.Logger.Pop("清零次数超过10，清零失败", false, "FOF运行日志");
}
}
ReadCount++;
}
FileLib.Logger.Pop("将偏移量写给PLC", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_x, (int)(OffsetX * 1000));
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_y, (int)(OffsetY * 1000));
FileLib.Logger.Pop("偏移量写给PLC完成", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
}
}
public virtual void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
FileLib.Logger.Pop(" 开始采图：", false, "运行日志");
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
//10.获取当前的机械坐标
double X = 0, Y = 0, Z = 0, Theta = 0;
if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.CoordiCam) == CaliModelEnum.HandEyeCali)
{
MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
FileLib.Logger.Pop("当前的坐标系为：" + MyVisionPara.localPara.localSetting.TeachCoordi.ToString(), false, "运行日志");
MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
FileLib.Logger.Pop("当前的机械坐标", false, "运行日志");
FileLib.Logger.Pop("X：" + X.ToString("f4") + " Y：" + Y.ToString("f4") +
" Z：" + Z.ToString("f4") + " Theta：" + Theta.ToString("f4"), false, "运行日志");
}
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 1); //拍照OK
FileLib.Logger.Pop(" 采图OK：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 2); //拍照NG
FileLib.Logger.Pop(" 采图NG：", false, "运行日志");
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam0)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam1)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabImg);
view1.Repaint();
MyVisionBase.SaveImg(GrabImg, "扎针对位图片");
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
FileLib.Logger.Pop(" 关闭光源：", false, "运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
//6.执行定位
try
{
MyLocal.doLocal();
//7.告诉PLC定位结果完成
if (MyVisionPara.ProjectVisionItem == ProjectVisionEnum.ProjectVision1)
{
FileLib.Logger.Pop(" 扎针右侧视觉定位完成，先不发给PLC信号，等计算出偏移量后，将信号发给PLC：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "运行日志");
}
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉错误日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 2); //告诉PLC定位结果NG
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "运行日志");
MyLocalResult.IsLocalOk = false;
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
//8.获取标定矩阵
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取示教的标定矩阵：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString(), false, "运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//9.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
St_VectorAngle PixelVector = new St_VectorAngle(MyLocalResult.row, MyLocalResult.col, MyLocalResult.angle);
FileLib.Logger.Pop("当前的像素坐标", false, "运行日志");
FileLib.Logger.Pop("Col：" + MyLocalResult.col.ToString("f4") + " Row：" + MyLocalResult.row.ToString("f4") +
" Theta：" + MyLocalResult.angle.ToString("f4"), false, "运行日志");
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
VectorAngle GrabPos = new VectorAngle(X, Y, Theta);
//9 计算出当前产品距离旋转中心的坐标
EyeToHandPos.TransEyeToHandPos(PixelVector, CaliPara, GrabPos, out PosToRot);
//10计算出示教产品到旋转中心的坐标
St_VectorAngle TeachPixelPos = new St_VectorAngle(MyLocalResult.TeachRow, MyLocalResult.TeachCol, MyLocalResult.TeachAngle);
VectorAngle TeachGrabPos = new VectorAngle(MyLocalResult.TeachX, MyLocalResult.TeachY, MyLocalResult.TeachTheta);
MyVisionBase.AdjImgRow(GrabImg, ref TeachPixelPos.Row);
EyeToHandPos.TransEyeToHandPos(TeachPixelPos, CaliPara, TeachGrabPos, out TeachPosToRot);
view1.Repaint();
view1.SetString(100, 100, "red", "PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"));
MyLocalResult.PosToRot = PosToRot;
MyLocalResult.TeachPosToRot = TeachPosToRot;
FileLib.Logger.Pop("示教的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"), false, "运行日志");
FileLib.Logger.Pop("当前的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + TeachPosToRot.Col.ToString("f3") + " Y： " +
TeachPosToRot.Row.ToString("f3") + " Theta： " + TeachPosToRot.Angle.ToString("f3"), false, "运行日志");
//11.计算出X Y Theta的补偿量，
////图像坐标转到机械坐标系
//MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
////
//MyVisionBase.AffineTransPt(MyLocalResult.TeachCol, MyLocalResult.TeachRow, HHomMat, out MyLocalResult.TeachX, out MyLocalResult.TeachY);
}
private void FrmUpDnCamCali_Load(object sender, EventArgs e)
{
view1 = DisplaySystem.GetViewControl("Cali");
LocalModelCbx.SelectedIndex = (int)TeachCaliPara.localPara.localSetting.localModel;
}
private void FrmCamLightCtrl_Load(object sender, EventArgs e)
{
view1 = DisplaySystem.GetViewControl("Test");
DisplaySystem.AddPanelForCCDView("Test", panel1);
this.CamCbx.SelectedIndexChanged += new System.EventHandler(this.CamCbx_SelectedIndexChanged);
}
public SubFrmFinish(ViewControl viewIn)
{
InitializeComponent();
InitCombobox();
view1 = viewIn;
}
public override void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "FOF运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
FileLib.Logger.Pop(" 开始采图：", false, "FOF运行日志");
if (GrabImg != null)
{
GrabImg.Dispose();
}
if (FilterImg != null)
{
FilterImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
FileLib.Logger.Pop(" 采图OK：", false, "FOF运行日志");
}
else
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
FileLib.Logger.Pop(" 采图NG：", false, "FOF运行日志");
}
ViewControl view1 = new ViewControl();
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
//3.关闭光源
//LightCtrlManager.Instance.SetAllLightTo0();
//FileLib.Logger.Pop(" 关闭光源：", false, "FOF运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
FileLib.Logger.Pop(" 开始偏移检测：", false, "FOF运行日志");
MyVisionBase.SaveImg(GrabImg, "FOF偏移检测图片");
if (MyVisionPara.camLightPara.IsFilter)
{
FileLib.Logger.Pop(" 开始频域滤波，FilterC：" + MyVisionPara.camLightPara.FilterC.ToString(), false, "FOF运行日志");
MyVisionBase.FilterImg(GrabImg, out FilterImg, MyVisionPara.camLightPara.FilterC);
view1.AddViewImage(FilterImg);
MyVisionBase.SaveImg(FilterImg, "FOF偏移检测图片");
MyLocal.SetParam(FilterImg, MyVisionPara.localPara);
}
else
{
view1.AddViewImage(GrabImg);
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
}
view1.Repaint();
//6.执行定位
try
{
FileLib.Logger.Pop(" 开始定位：", false, "FOF运行日志");
MyLocal.doLocal();
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1);
}
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "FOF运行日志");
}
catch (Exception e0)
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2);
}
Logger.PopError1(e0, false, "视觉错误日志");
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "FOF运行日志");
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
view1.Repaint();
//8.结合标定坐标计算出产品的实际位置
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取标定矩阵(CoordiEnumItem)：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString()
, false, "FOF运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "FOF运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//9.标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//10.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
FileLib.Logger.Pop("col: " + MyLocalResult.col.ToString("f3") + " row: " + MyLocalResult.row.ToString("f3"), false, "FOF运行日志");
FileLib.Logger.Pop("X: " + MyLocalResult.x.ToString("f3") + " Y: " + MyLocalResult.y.ToString("f3"), false, "FOF运行日志");
MyLocalResult.Theta = MyLocalResult.angle;
if (FilterImg != null)
{
FilterImg.Dispose();
}
if (GrabImg != null)
{
GrabImg.Dispose();
}
}
