public override async Task <byte[]> ReadAll(int outtime = 300)
{
if (!m_Client.Connected)
{
throw new InvalidOperationException("not connect to server");
}
byte[] data = await Task <byte[]> .Run(() =>
{
byte[] rtn;
NetworkStream ns = m_Client.GetStream();
{
Time_Meter time_Meter = new Time_Meter();
while (m_Client.Available == 0)
{
if (time_Meter.IstimeOn(outtime))
{
throw new Exception("time out");
}
Thread.Sleep(5);
}
long bufferLength = m_Client.Available;
rtn = new byte[bufferLength + 1];
if (ns.CanRead)
{
ns.Read(rtn, 0, Convert.ToInt32(bufferLength + 1));
}
}
return(rtn);
});
return(data);
}
public override async Task <byte[]> ReadBytes(int length, int outtime = 300)
{
if (!m_Client.Connected)
{
throw new InvalidOperationException("not connect to server");
}
byte[] data = await Task <byte[]> .Run(() =>
{
NetworkStream ns = m_Client.GetStream();
{
Time_Meter time_Meter = new Time_Meter();
byte[] rtn = new byte[length];
while (m_Client.Available < length)
{
if (time_Meter.IstimeOn(outtime))
{
throw new Exception("time out");
}
Thread.Sleep(5);
}
if (ns.CanRead)
{
ns.Read(rtn, 0, length);
}
return(rtn);
}
});
return(data);
}
//public HObject InputImage
//{
// get { return m_image; }
// set { m_image = value; }
//}
private void btn_Decode_Click(object sender, EventArgs e)
{
List <HObject> region = new List <HObject>();
List <HObject> imageReduced = new List <HObject>();
region = hDisplay1.GetSearchRegions();
Time_Meter time_Meter = new Time_Meter();
foreach (var member in region)
{
HObject _iamge = new HObject();
HOperatorSet.ReduceDomain(m_image, member, out _iamge);
HOperatorSet.CropDomain(_iamge, out _iamge);
imageReduced.Add(_iamge);
}
TDCode tdcode;
CodeResult sss = new CodeResult();
CodeResult[] results = new CodeResult[] { };
if (_form is FormDMCodeParam)
{
FormDMCodeParam form = (FormDMCodeParam)_form;
tdcode = new DMCode();
tdcode.SetCodeParam(form.CodeParameter);
results = tdcode.Decode(imageReduced);
txt_TimeUse.Text = (time_Meter.TimePass() * 1000).ToString();
}
else if (_form is FormQRCodeParam)
{
FormQRCodeParam form = (FormQRCodeParam)_form;
tdcode = new QRCode();
tdcode.SetCodeParam(form.CodeParameter);
results = tdcode.Decode(imageReduced);
}
List <StringX> ss = new List <StringX>();
List <HalWindow.RegionX> regions = new List <HalWindow.RegionX>();
foreach (var member in results)
{
if (member.code != string.Empty)
{
HTuple area = new HTuple();
HTuple row = new HTuple();
HTuple column = new HTuple();
HOperatorSet.AreaCenter(member.codexld, out area, out row, out column);
StringX sx = new StringX(15, false, false);
sx.SetString(member.code, (int)row.D, (int)column.D, System.Drawing.Color.Green);
ss.Add(sx);
HalWindow.RegionX regionX = new HalWindow.RegionX(member.codexld, "green");
regions.Add(regionX);
}
}
DelegateUIControl.GetInstance().UpdateHDisplay("FormSetHDisplay", m_image, regions, ss);
}
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);
}
}
