public void AddComponent(PhysicalComponent[] x)
{
_components.AddRange(x); UpdateComponents();
}
// =================================================================================
// BuildMachineCoordinateData_m():
private bool BuildMachineCoordinateData_m()
{
double X_nom = 0;
double Y_nom = 0;
if (Properties.Settings.Default.Placement_SkipMeasurements)
{
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
// Cad data is validated.
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out X_nom);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Y_nom);
X_nom += Properties.Settings.Default.General_JigOffsetX;
Y_nom += Properties.Settings.Default.General_JigOffsetY;
Row.Cells["X_machine"].Value = X_nom.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Y_machine"].Value = Y_nom.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Rotation_machine"].Value = Row.Cells["Rotation"].Value;
}
// Refresh UI:
Update_GridView(CadData_GridView);
return true;
};
if (ValidMeasurement_checkBox.Checked)
{
return true;
}
// Check, that our data is good:
if (!ValidateCADdata_m())
return false;
// Find the fiducials form CAD data:
int FiducialsRow = 0;
if (!FindFiducials_m(out FiducialsRow))
{
return false;
}
// OriginalFiducials are at JobData_GridView.Rows[FiducialsRow]
string[] FiducialDesignators = JobData_GridView.Rows[FiducialsRow].Cells["ComponentList"].Value.ToString().Split(',');
// Are there at least two?
if (FiducialDesignators.Length < 2)
{
ShowMessageBox(
"Only one fiducial found.",
"Too few fiducials",
MessageBoxButtons.OK);
return false;
}
// Get ready for position measurements
DisplayText("SetFiducialsMeasurement");
SetFiducialsMeasurement();
// Move them to our array, checking the data:
PhysicalComponent[] Fiducials = new PhysicalComponent[FiducialDesignators.Length]; // store the data here
// double X_nom = 0;
// double Y_nom = 0;
for (int i = 0; i < FiducialDesignators.Length; i++) // for each fiducial in our OriginalFiducials array,
{
Fiducials[i] = new PhysicalComponent();
Fiducials[i].Designator = FiducialDesignators[i];
// find the fiducial in CAD data.
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
if (Row.Cells["Component"].Value.ToString() == FiducialDesignators[i]) // If this is the fiducial we want,
{
// Get its nominal position (value already checked).
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out X_nom);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Y_nom);
break;
}
}
Fiducials[i].X_nominal = X_nom;
Fiducials[i].Y_nominal = Y_nom;
// And measure it's true location:
if (!MeasureFiducial_m(ref Fiducials[i]))
{
return false;
}
// We could put the machine data in place at this point. However,
// we don't, as if the algorithms below are correct, the data will not change more than measurement error.
// During development, that is a good checkpoint.
}
// Find the homographic tranformation from CAD data (fiducials.nominal) to measured machine coordinates
// (fiducials.machine):
Transform transform = new Transform();
HomographyEstimation.Point[] nominals = new HomographyEstimation.Point[Fiducials.Length];
HomographyEstimation.Point[] measured = new HomographyEstimation.Point[Fiducials.Length];
// build point data arrays:
for (int i = 0; i < Fiducials.Length; i++)
{
nominals[i].X = Fiducials[i].X_nominal;
nominals[i].Y = Fiducials[i].Y_nominal;
nominals[i].W = 1.0;
measured[i].X = Fiducials[i].X_machine;
measured[i].Y = Fiducials[i].Y_machine;
measured[i].W = 1.0;
}
// find the tranformation
bool res = transform.Estimate(nominals, measured, ErrorMetric.Transfer, 450, 450); // the PCBs are smaller than 450mm
if (!res)
{
ShowMessageBox(
"Transform estimation failed.",
"Data error",
MessageBoxButtons.OK);
return false;
}
// Analyze the transform: Displacement is for debug. We could also calculate X & Y stretch and shear, but why bother.
// Find out the displacement in the transform (where nominal origin ends up):
HomographyEstimation.Point Loc, Loc2;
Loc.X = 0.0;
Loc.Y = 0.0;
Loc.W = 1.0;
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
DisplayText("Transform:");
DisplayText("dX= " + (Loc.X).ToString());
DisplayText("dY= " + Loc.Y.ToString());
// We do need rotation. Find out by rotatíng a unit vector:
Loc2.X = 1.0;
Loc2.Y = 0.0;
Loc2.W = 1.0;
Loc2 = transform.TransformPoint(Loc2);
Loc2 = Loc2.NormalizeHomogeneous();
DisplayText("dX= " + Loc2.X.ToString());
DisplayText("dY= " + Loc2.Y.ToString());
double angle = Math.Asin(Loc2.Y - Loc.Y) * 180.0 / Math.PI; // in degrees
DisplayText("angle= " + angle.ToString());
// Calculate machine coordinates of all components:
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
// build a point from CAD data values
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out Loc.X);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Loc.Y);
Loc.W = 1;
// transform it
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
// store calculated location values
Row.Cells["X_machine"].Value = Loc.X.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Y_machine"].Value = Loc.Y.ToString("0.000", CultureInfo.InvariantCulture);
// handle rotation
double rot;
double.TryParse(Row.Cells["Rotation"].Value.ToString(), out rot);
rot += angle;
while (rot > 360.0)
{
rot -= 360.0;
}
while (rot < 0.0)
{
rot += 360.0;
}
Row.Cells["Rotation_machine"].Value = rot.ToString("0.0000", CultureInfo.InvariantCulture);
}
// Refresh UI:
Update_GridView(CadData_GridView);
// For debug, compare fiducials true measured locations and the locations.
// Also, if a fiducials moves more than 0.5mm, something is off (maybe there
// was a via too close to a fid, and we picked that for a measurement). Warn the user!
bool DataOk = true;
double dx, dy;
for (int i = 0; i < Fiducials.Length; i++)
{
Loc.X = Fiducials[i].X_nominal;
Loc.Y = Fiducials[i].Y_nominal;
Loc.W = 1.0;
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
dx = Math.Abs(Loc.X - Fiducials[i].X_machine);
dy = Math.Abs(Loc.Y - Fiducials[i].Y_machine);
DisplayText(Fiducials[i].Designator +
": x_meas= " + Fiducials[i].X_machine.ToString("0.000", CultureInfo.InvariantCulture) +
", x_calc= " + Loc.X.ToString("0.000", CultureInfo.InvariantCulture) +
", dx= " + dx.ToString("0.000", CultureInfo.InvariantCulture) +
": y_meas= " + Fiducials[i].Y_machine.ToString("0.000", CultureInfo.InvariantCulture) +
", y_calc= " + Loc.Y.ToString("0.000", CultureInfo.InvariantCulture) +
", dy= " + dy.ToString("0.000", CultureInfo.InvariantCulture));
if ((Math.Abs(dx) > 0.4) || (Math.Abs(dy) > 0.4))
{
DataOk = false;
}
};
if (!DataOk)
{
DisplayText(" ** A fiducial moved more than 0.4mm from its measured location");
DisplayText(" ** when applied the same calculations than regular componets.");
DisplayText(" ** (Maybe the camera picked a via instead of a fiducial?)");
DisplayText(" ** Placement data is likely not good.");
DialogResult dialogResult = ShowMessageBox(
"Nominal to machine trasnformation seems to be off. (See log window)",
"Cancel operation?",
MessageBoxButtons.OKCancel
);
if (dialogResult == DialogResult.Cancel)
{
return false;
}
}
// Done!
ValidMeasurement_checkBox.Checked = true;
return true;
}// end BuildMachineCoordinateData_m
public void AddComponent(PhysicalComponent x)
{
_components.Add(x); UpdateComponents();
}
// =================================================================================
// MeasureFiducial_m():
// Takes the parameter nominal location and measures its physical location.
// Assumes measurement parameters already set.
private bool MeasureFiducial_m(ref PhysicalComponent fid) {
Cnc.CNC_XY(fid.nominal + JobOffset + PCBZeroLocation);
var type = Properties.Settings.Default.use_template ? Shapes.ShapeTypes.Fiducial : Shapes.ShapeTypes.Circle;
var loc = FindPositionAndMoveToClosest(type, 3, .1);
if (loc == null) {
ShowSimpleMessageBox("Can't Find Fiducial " + fid.Designator);
return false;
}
fid.machine = loc;
return true;
}
// =================================================================================
// MeasureFiducial_m():
// Takes the parameter nominal location and measures its physical location.
// Assumes measurement parameters already set.
private bool MeasureFiducial_m(ref PhysicalComponent fid)
{
CNC_XY_m(fid.X_nominal + JobOffsetX + Properties.Settings.Default.General_JigOffsetX,
fid.Y_nominal + JobOffsetY + Properties.Settings.Default.General_JigOffsetY);
// If more than 3mm off here, not good.
double X;
double Y;
if (!GoToCircleLocation_m(3, 0.1, out X, out Y))
{
ShowMessageBox(
"Finding fiducial: Can't regognize fiducial " + fid.Designator,
"No Circle found",
MessageBoxButtons.OK);
return false;
}
fid.X_machine = Cnc.CurrentX + X;
fid.Y_machine = Cnc.CurrentY + Y;
// For user confidence, show it:
for (int i = 0; i < 50; i++)
{
Application.DoEvents();
Thread.Sleep(10);
}
return true;
}
private bool PickUpLoosePart_m(bool Probe, PhysicalComponent comp) {
if (!Cnc.CNC_XY(Locations.GetLocation("Pickup"))) {
return false;
}
// ask for it
string ComponentType = comp.TypePlusFootprint;
DialogResult dialogResult = ShowMessageBox(
"Put one " + ComponentType + " to the pickup location.",
"Placing " + comp.Designator,
MessageBoxButtons.OKCancel);
if (dialogResult == DialogResult.Cancel) {
return false;
}
// Find component
double X = 0;
double Y = 0;
double A = 0.0;
cameraView.SetDownCameraFunctionSet("component");
// If we don't get a look from straight up (more than 2mm off) we need to re-measure
for (int i = 0; i < 2; i++) {
// measure 5 averages, component must be 8.0mm from its place
int count = VideoDetection.MeasureClosestComponentInPx(out X, out Y, out A, cameraView.downVideoProcessing, (8.0 / Properties.Settings.Default.DownCam_XmmPerPixel), 5);
if (count == 0) {
ShowMessageBox(
"Could not see component",
"No component",
MessageBoxButtons.OK);
return false;
}
X = X * Properties.Settings.Default.DownCam_XmmPerPixel;
Y = -Y * Properties.Settings.Default.DownCam_YmmPerPixel;
DisplayText("PickUpLoosePart_m(): measurement " + i + ", X: " + X + ", Y: " + Y + ", A: " + A);
if ((Math.Abs(X) < 2.0) && (Math.Abs(Y) < 2.0)) {
break;
}
if (!Cnc.CNC_XY(Cnc.CurrentX + X, Cnc.CurrentY + Y)) {
return false;
}
}
Needle.Move_m(Cnc.CurrentX + X, Cnc.CurrentY + Y, A);
// pick it up
if (Probe) {
DisplayText("PickUpLoosePart_m(): Probing pickup Z");
if (!Needle.ProbeDown()) {
return false;
}
LoosePartPickupZ = Cnc.CurrentZ;
DisplayText("PickUpLoosePart_m(): Probing Z= " + Cnc.CurrentZ);
} else {
DisplayText("PickUpLoosePart_m(): Part pickup, Z" + LoosePartPickupZ);
if (!Cnc.CNC_Z(LoosePartPickupZ)) {
return false;
}
}
VacuumOn();
DisplayText("PickUpLoosePart_m(): needle up");
if (!Cnc.Zup()) {
return false;
}
if (AbortPlacement) {
return false;
}
return true;
}
private bool PlacePart_m(bool LoosePart, bool resetTapeZ, PhysicalComponent comp) {
if (AbortPlacement) return false;
if (resetTapeZ && !LoosePart && !Tapes.ClearHeights_m(comp.MethodParameters)) return false;
// Pickup:
if (AbortPlacement) return false;
if (LoosePart && !PickUpLoosePart_m(resetTapeZ, comp)) return false;
bool win = false;
var to = Tapes.GetTapeObjByID(comp.MethodParameters);
if (to == null) return false;
int startingPart = to.CurrentPart;
for (int i = 0; i < NextPartRetryCount; i++) {
for (int j = 0; j < SamePartRetryCount; j++) {
if (AbortPlacement) return false;
win = PickUpPart_m(comp.MethodParameters);
if (win) break;
}
if (win) break;
Tapes.GetTapeObjByID(comp.MethodParameters).IncrementPartNumber(); //try skipping a part
}
if (!win) {
to.CurrentPart = startingPart; //didn't pick up anything so don't modify next part
return false;
}
// Take the part to position:
if (AbortPlacement) return false;
DisplayText("PlacePart_m: " + comp.Designator + " At" + comp.machine, Color.Blue);
if (!Needle.Move_m(comp.machine)) return false;
// Place it:
if (AbortPlacement) return false;
if (LoosePart && !PutLoosePartDown_m(resetTapeZ)) return false;
if (!PutPartDown_m(comp.MethodParameters)) return false;
return true;
}
// =================================================================================
// PlaceComponent_m()
// This routine does the actual placement of a single component.
// Component is the component name (Such as R15); based to this, we'll find the coordinates from CAD data
// GroupRow is the row index to Job data grid view.
// =================================================================================
private bool PlaceComponent(PhysicalComponent comp) {
DisplayText("PlaceComponent_m: Component: " + comp.Designator);
if (comp.IsFiducial) return true; //skip fiducials
if ((comp.Method == "LoosePart") || (comp.Method == "Place") || (comp.Method == "Place Fast")) {
PlacedComponent_label.Text = comp.Designator;
PlacedComponent_label.Update();
PlacedValue_label.Text = comp.TypePlusFootprint;
PlacedValue_label.Update();
var tapeObj = Tapes.GetTapeObjByID(comp.MethodParameters);
if (tapeObj != null && !string.IsNullOrEmpty(tapeObj.TemplateFilename)) {
var image = Image.FromFile(tapeObj.TemplateFilename);
placement_Picturebox.Image = image;
placement_Picturebox.Visible = true;
} else {
placement_Picturebox.Image = null;
placement_Picturebox.Visible = false;
}
};
if (AbortPlacement) return false;
// Component is at CadData_GridView.Rows[CADdataRow].
// What to do to it is at JobData_GridView.Rows[GroupRow].
switch (comp.Method) {
case "?":
ShowMessageBox(
"Method is ? at run time",
"Sloppy programmer error",
MessageBoxButtons.OK);
return false;
case "Pause":
ShowMessageBox(
"Job pause, click OK to continue.",
"Pause",
MessageBoxButtons.OK);
return true;
case "LoosePart":
if (comp.IsPlaced && skippedPlacedComponents_checkBox.Checked) return true;
if (!PlacePart_m(true, comp.IsFirstInRow, comp)) {
comp.IsError = true;
return false;
}
comp.IsPlaced = true;
break;
case "Place Fast":
case "Place":
if (comp.IsPlaced && skippedPlacedComponents_checkBox.Checked) return true;
if (!PlacePart_m(false, comp.IsFirstInRow, comp)) {
comp.IsError = true;
return false;
}
comp.IsPlaced = true;
break;
case "Change needle":
if (!ChangeNeedle_m()) return false;
break;
case "Recalibrate":
if (!PrepareToPlace_m()) return false;
break;
case "Ignore":
return true;
case "Fiducials":
return true;
default:
ShowSimpleMessageBox("No way to handle method " + comp.Method);
return false;
}
return true;
}
// i think this is my favorite linq implementation especially how terse it is. so clean but very legible.
public JobData FindJobDataThatContainsComponent(PhysicalComponent component)
{
return(JobData.FirstOrDefault(j => Enumerable.Contains(j.Components, component)));
}
public bool ParseCadData_m(String[] AllLines, bool KiCad)
{
int ComponentIndex = -1;
int ValueIndex = -1;
int FootPrintIndex = -1;
int X_Nominal_Index = -1;
int Y_Nominal_Index = -1;
int RotationIndex = -1;
int LayerIndex = -1;
bool LayerDataPresent = false;
int i;
int LineIndex = 0;
// Parse header. Skip empty lines and comment lines (starting with # or "//")
Regex skip_header = new Regex(@"^$|^#.*|//.*");
foreach (string s in AllLines)
{
if (skip_header.IsMatch(s))
{
LineIndex++; continue;
}
break;
}
char delimiter;
if (KiCad)
{
delimiter = ' ';
}
else
{
if (!FindDelimiter_m(AllLines[0], out delimiter))
{
return(false);
}
;
}
// Determien which column is what
string[] h = SplitCSV(AllLines[LineIndex++], delimiter).ToArray();
Regex header_regexp = new Regex(@"^(designator|part|refdes|ref|component)$", RegexOptions.IgnoreCase);
Regex value_regexp = new Regex(@"^(value|val|comment)$", RegexOptions.IgnoreCase);
Regex footprint_regexp = new Regex(@"^(footprint|package|pattern)$", RegexOptions.IgnoreCase);
Regex x_regexp = new Regex(@"^(x|x \(mm\)|posx|ref x)$", RegexOptions.IgnoreCase);
Regex y_regexp = new Regex(@"^(y|y \(mm\)|posy|ref y)$", RegexOptions.IgnoreCase);
Regex rotate_regexp = new Regex(@"^(rotation|rot|rotate)$", RegexOptions.IgnoreCase);
Regex layer_regexp = new Regex(@"^(layer|side|tb)$", RegexOptions.IgnoreCase);
for (int j = 0; j < h.Length; j++)
{
if (header_regexp.IsMatch(h[j]))
{
ComponentIndex = j;
}
if (value_regexp.IsMatch(h[j]))
{
ValueIndex = j;
}
if (footprint_regexp.IsMatch(h[j]))
{
FootPrintIndex = j;
}
if (x_regexp.IsMatch(h[j]))
{
X_Nominal_Index = j;
}
if (y_regexp.IsMatch(h[j]))
{
Y_Nominal_Index = j;
}
if (rotate_regexp.IsMatch(h[j]))
{
RotationIndex = j;
}
if (layer_regexp.IsMatch(h[j]))
{
LayerIndex = j; LayerDataPresent = true;
}
}
if (ComponentIndex == -1 || ValueIndex == -1 || FootPrintIndex == -1 || X_Nominal_Index == -1 ||
Y_Nominal_Index == -1 || RotationIndex == -1)
{
Global.Instance.DisplayText("Headers not set correctly - unable to parse cad file");
return(false);
}
// Parse data
string peek;
Regex skip_lines_regex = new Regex("^$|^\"\"|^#.*|^//.*");
Regex top_regex = new Regex(@"top|f\.cu|t", RegexOptions.IgnoreCase);
Regex bot_regex = new Regex(@"bottom|b\.cu|b|bot", RegexOptions.IgnoreCase);
for (i = LineIndex; i < AllLines.Count(); i++) // for each component
{
peek = AllLines[i];
// Skip: empty lines and comment lines (starting with # or "//")
if (skip_lines_regex.IsMatch(AllLines[i]))
{
continue;
}
List <String> Line = SplitCSV(AllLines[i], delimiter);
// If layer is indicated and the component is not on this layer, skip it
if (LayerDataPresent & MainForm.Bottom_checkBox.Checked & top_regex.IsMatch(Line[LayerIndex]))
{
continue;
}
if (LayerDataPresent & !MainForm.Bottom_checkBox.Checked & bot_regex.IsMatch(Line[LayerIndex]))
{
continue;
}
PhysicalComponent p = new PhysicalComponent();
p.Designator = Line[ComponentIndex];
p.Type = Line[ValueIndex];
p.Footprint = Line[FootPrintIndex];
p.nominal.X = double.Parse(Line[X_Nominal_Index].Replace("mm", "").Replace(",", "."));
if (LayerDataPresent && MainForm.Bottom_checkBox.Checked)
{
p.nominal.X *= -1;
}
p.nominal.Y = double.Parse(Line[Y_Nominal_Index].Replace("mm", "").Replace(",", "."));
p.Rotation = double.Parse(Line[RotationIndex]);
p.PropertyChanged += (s, e) => { if (e.PropertyName.Equals("IsPlaced"))
{
MainForm.ReColorComponentsTable();
}
};
ComponentData.Add(p);
}
MainForm.ReColorComponentsTable();
return(true);
} // end ParseCadData
/* // If components are edited, update count automatically
private void JobData_GridView_CellEndEdit(object sender, DataGridViewCellEventArgs e)
{
if (JobData_GridView.CurrentCell.ColumnIndex == 4)
{
// components
List<String> Line = CAD.SplitCSV(JobData_GridView.CurrentCell.Value.ToString(), ',');
int row = JobData_GridView.CurrentCell.RowIndex;
JobData_GridView.Rows[row].Cells["ComponentCount"].Value = Line.Count.ToString();
Update_GridView(JobData_GridView);
}
}
*/
// =================================================================================
// Do someting to a group of components:
// =================================================================================
// Several rows are selected at Job data:
private void PlaceThese_button_Click(object sender, EventArgs e) {
int selectedCount = JobData_GridView.SelectedRows.Count;
if (selectedCount == 0) {
CleanupPlacement(false);
ShowSimpleMessageBox("Nothing selected");
return;
}
if (!PrepareToPlace_m()) {
ShowSimpleMessageBox("Placement operation failed, nothing done.");
return;
}
List<PhysicalComponent> toPlace = new List<PhysicalComponent>();
for (int i = 0; i < JobData_GridView.Rows.Count; i++) {
for (int j = 0; j < selectedCount; j++) {
if (JobData_GridView.SelectedRows[j].Index == i) {
var job = (JobData)JobData_GridView.SelectedRows[j].DataBoundItem;
//var job = (JobData) row.DataBoundItem;
if (job.Method == "Change nozzle" || job.Method == "Recalibrate")
{
PhysicalComponent x = new PhysicalComponent();
x.Method = job.Method;
x.MethodParameters = job.MethodParameters;
x.JobData = job;
toPlace.Add(x);
}
else
{
foreach (var component in job.GetComponents())
{
component.JobData = job;
if (!toPlace.Contains(component)) toPlace.Add(component);
}
}
break;
}
}
}
if (!PlaceComponents(toPlace)) {
ShowSimpleMessageBox("Placement operation failed. Review job status.");
CleanupPlacement(false);
return;
}
CleanupPlacement(false);
}
public void AddComponent(PhysicalComponent x)
{
_components.Add(x); UpdateComponents();
}