/// <summary>
/// Load Camera theo Index
/// </summary>
/// <param name="CameraIndex"></param>
/// <returns></returns>
public bool Load(int CameraIndex)
{
currentCameraIndex = CameraIndex;
string[] writeStrings = new string[10];
string urlTool = Helper.CreatDirectionCameraVpro(CameraIndex);
if (!Directory.Exists(urlTool))
{
CopyTemplateCamera(urlTool);
}
try
{
CogAcqFifoEdit.Subject = (CogAcqFifoTool)Cognex.VisionPro.CogSerializer.LoadObjectFromFile(urlTool + "\\CogAcqFifoEdit.vpp");
CogCalibGrid.Subject = (CogCalibCheckerboardTool)Cognex.VisionPro.CogSerializer.LoadObjectFromFile(urlTool + "\\CogCalibGrid.vpp");
CogPMAlign.Subject = (CogPMAlignTool)Cognex.VisionPro.CogSerializer.LoadObjectFromFile(urlTool + "\\CogPMAlign.vpp");
RTCAutoCalibTool.Load(CameraIndex);
currentCameraIndex = CameraIndex;
//
CogDisplayOut.BackColor = System.Drawing.ColorTranslator.FromHtml("#FF394261");
CogDisplayOut.HorizontalScrollBar = false;
CogDisplayOut.VerticalScrollBar = false;
DisplayGraphic();
Helper.WriteLogString($"Load Camera {CameraIndex}");
Console.WriteLine($"Load Camera {CameraIndex}");
}
catch
{
Console.WriteLine($"Fail Load Camera {CameraIndex}");
return(false);
}
return(true);
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public PointWithTheta CalculateAlignRB()
{
PointWithTheta outputAlign = null;
CogAcqFifoEdit.Subject.Run();
// Chụp ảnh, gửi ảnh sang Tool Calib
if (CogAcqFifoEdit.Subject.RunStatus.Result != CogToolResultConstants.Accept)
{
MessageBox.Show(CogAcqFifoEdit.Subject.RunStatus.Exception.Message);
return(null);
}
else
{
CogCalibGrid.Subject.InputImage = CogAcqFifoEdit.Subject.OutputImage;
}
CogCalibGrid.Subject.Run();
// Calib xong gửi ảnh qua Tool Align
if (CogCalibGrid.Subject.RunStatus.Result != CogToolResultConstants.Accept)
{
MessageBox.Show(CogCalibGrid.Subject.RunStatus.Exception.Message);
return(null);
}
else
{
CogPMAlign.Subject.InputImage = CogCalibGrid.Subject.OutputImage;
}
CogPMAlign.Subject.Run();
// Chạy xong Tool Align trả tọa độ + góc ra đầu ra
if (CogPMAlign.Subject.RunStatus.Result != CogToolResultConstants.Accept)
{
MessageBox.Show(CogPMAlign.Subject.RunStatus.Exception.Message);
return(null);
}
else
{
DisplayGraphic();
try
{
float tempX = (float)CogPMAlign.Subject.Results[0].GetPose().TranslationX;
float tempY = (float)CogPMAlign.Subject.Results[0].GetPose().TranslationY;
float tempTheta = (float)CogPMAlign.Subject.Results[0].GetPose().Rotation;
// Trả hiển thị ra CogDisplay
//CogDisplayOut.Image = CogAcqFifoEdit.Subject.OutputImage;
//CogDisplayOut.StaticGraphics.Add(CogPMAlign.Subject.Results[0].CreateResultGraphics(CogPMAlignResultGraphicConstants.CoordinateAxes), "");
outputAlign = new PointWithTheta(tempX, tempY, tempTheta);
}
catch
{
outputAlign = null;
}
}
if (outputAlign != null)
{
return(RTCAutoCalibTool.Trans(outputAlign));
}
return(null);
}
/// <summary>
/// Lưu Tool Camera theo Index
/// </summary>
/// <param name="CameraIndex"></param>
/// <returns></returns>
public bool Save(int CameraIndex)
{
string[] writeStrings = new string[10];
string urlTool = Helper.CreatDirectionCameraVpro(CameraIndex);
if (!Directory.Exists(urlTool))
{
Directory.CreateDirectory(urlTool);
}
try
{
//
Cognex.VisionPro.CogSerializer.SaveObjectToFile(CogAcqFifoEdit.Subject as CogAcqFifoTool, urlTool + "\\CogAcqFifoEdit.vpp");
Cognex.VisionPro.CogSerializer.SaveObjectToFile(CogCalibGrid.Subject as CogCalibCheckerboardTool, urlTool + "\\CogCalibGrid.vpp");
Cognex.VisionPro.CogSerializer.SaveObjectToFile(CogPMAlign.Subject as CogPMAlignTool, urlTool + "\\CogPMAlign.vpp");
//
RTCAutoCalibTool.Save(CameraIndex);
}
catch
{
return(false);
}
return(true);
}
/// <summary>
/// Xử lý Command nhận vào từ cổng TCP
/// </summary>
/// <param name="cmd"></param>
public string Command(string cmd)
{
Console.WriteLine(cmd);
switch (Helper.GetCommandId(cmd))
{
case "HEB":
string result = CheckConditionStartAutoCalib();
if (result == "OK")
{
RTCAutoCalibTool.ResetReceiveData();
AutoCalibRunning = true;
}
else
{
MessageBox.Show("Không đủ điều kiện chạy!\r\n" + result);
return("HE,0");
}
break;
case "HE":
PointWithTheta tempCamPoint = GetNormalAlign();
PointWithTheta tempRobotPoint = Helper.GetRobotPointFromCmd(cmd);
if (tempCamPoint != null)
{
RTCAutoCalibTool.AddPoint(tempCamPoint, tempRobotPoint);
}
else
{
return("HE,0");
}
break;
case "HEE":
if (RTCAutoCalibTool.NumberPoints < 11)
{
MessageBox.Show("Not Enough Calib Point! N = " + RTCAutoCalibTool.NumberPoints.ToString());
return("HE,0");
}
if (RTCAutoCalibTool.Calculate())
{
MessageBox.Show("AutoCalib Done!");
AutoCalibRunning = false;
}
else
{
MessageBox.Show("AutoCalib Fail!");
AutoCalibRunning = false;
return("HE,0");
}
break;
case "TT":
var tempPointTT = GetNormalAlign();
if (tempPointTT != null)
{
RTCAutoCalibTool.CalTTTransMatrix(cmd, tempPointTT);
}
return("TT,1");
case "XT":
string tempMessage;
PointWithTheta tempPoint = CalculateAlignRB();
if (tempPoint != null)
{
tempMessage = Helper.CreatXTMessage(tempPoint);
}
else
{
return("XT,0");
}
return(tempMessage);
default:
break;
}
return("HE,1");
}
