public FormCalibrate(YaskawaRobot Robot, ShapeModle shapeModle, CameraBase cameraBase)
{
InitializeComponent();
this.Robot = Robot;
m_ShapeModle = shapeModle;
m_Camera = cameraBase;
Init();
}
public FormCamera(CameraBase cameraBase, ShapeModle shapeModle)
{
InitializeComponent();
this.FormClosing += FormCamera_FormClosing;
Camera = cameraBase;
ShapeModle = shapeModle;
ShapeModle.Dock = DockStyle.Fill;
tabPage_Model.Controls.Add(ShapeModle);
}
public void Init()
{
m_shapeModle = new ShapeModle();
if (!Directory.Exists(AppDomain.CurrentDomain.BaseDirectory + "Model"))
{
FileOperate.Log.WriteString("shap modle file not exist");
return;
}
try
{
m_shapeModle.LoadModle(AppDomain.CurrentDomain.BaseDirectory + "Model");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "successfull to load shape Model");
}
catch (Exception ex)
{
FileOperate.Log.WriteString($"failed to load shape modle ,{ex.Message}");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "failed to load shape modle", Color.Red);
}
m_calibrate = new Calibrate();
if (!File.Exists(AppDomain.CurrentDomain.BaseDirectory + "CalibrateData\\calibratedata.tup"))
{
FileOperate.Log.WriteString("calibratedata file not exist");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "failed to load calibratedata,the file not exist", Color.Red);
return;
}
m_calibrate.LoadCalibrateData(AppDomain.CurrentDomain.BaseDirectory + "CalibrateData\\calibratedata.tup");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "successfull to load calibrate data");
if (!File.Exists(AppDomain.CurrentDomain.BaseDirectory + "CalibrateData\\tooloffset.tup"))
{
FileOperate.Log.WriteString("tooloffset file not exist");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "failed to load tooloffset,the file not exist", Color.Red);
return;
}
m_calibrate.LoadToolOffset(AppDomain.CurrentDomain.BaseDirectory + "CalibrateData\\tooloffset.tup");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "successfull to load tool offset data");
}
