/// <summary>
/// 去皮带线取片，采用基准值+像素偏差*系数进行计算
/// </summary>
/// <param name="htResult"></param>
/// <returns></returns>
public StateComprehensive_enum BeltPick(out Hashtable htResult)
{
htResult = null;
try
{
StateComprehensive_enum stateComprehensive_e = g_BaseDealComprehensive.DealComprehensivePosNoDisplay(
g_UCDisplayCamera, g_HtUCDisplay, Pos_enum.Pos1, out htResult);
BaseResult result = (BaseResult)htResult[strCamera8Match1];
ResultTemplate temp = (ResultTemplate)htResult[strCamera8Template1];
if (result.X * result.Y == 0)
{
FinishPhotoPLC(2);
ShowState("皮带线定位失败");
return(StateComprehensive_enum.False);
}
Point4D dst = ModelParams.BeltPickPos;
dst.DblValue1 += result.DeltaY * ParCalibWorld.V_I[g_NoCamera];
dst.DblValue2 += result.DeltaX * ParCalibWorld.V_I[g_NoCamera];
LogicRobot.L_I.WriteRobotCMD(dst, ModelParams.cmd_BeltPick);
FinishPhotoPLC(1);
ShowState(string.Format("皮带线机器人取片位置：{0}", dst.ToString()));
return(StateComprehensive_enum.True);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(StateComprehensive_enum.False);
}
}
/// <summary>
/// 粗定位
/// </summary>
/// <param name="cellName"></param>
/// <param name="htResult"></param>
/// <returns></returns>
public StateComprehensive_enum CalcPickPos(string cellName, out Hashtable htResult)
{
htResult = null;
try
{
#region 空跑
if (ParStateSoft.StateMachine_e == StateMachine_enum.NullRun)
{
WriteTPick(0);
WritePickDelta(new Point2D(1, -1));
WriteQrCodeDelta(new Point2D(1, -1));
FinishPhotoPLC(CameraResult.OK);
SendTData(DataRegister1.TAngle_pickPlat1, DataRegister1.TAngleConfirm_pickPlat1, ModelParams.T_Roller, "机器人去平台取片");
return(StateComprehensive_enum.True);
}
#endregion
StateComprehensive_enum stateComprehensive_e = g_BaseDealComprehensive.DealComprehensivePosNoDisplay(
g_UCDisplayCamera, g_HtUCDisplay, Pos_enum.Pos1, out htResult);
ResultScaledShape result = (ResultScaledShape)htResult[cellName];
ResultTemplate template = (ResultTemplate)htResult[cellName + @"T"];
if (result.X * result.Y == 0)
{
g_UCDisplayCamera.ShowResult("未识别到产品", "red");
FinishPhotoPLC(CameraResult.NG);
}
else
{
CalcPickDelta(new Point2D(result.X, result.Y), ModelParams.stdPxlCamera1, ParCalibWorld.V_I[1]);
CalcQrCodeDelta(result.R_J + template.RCenterProfile / Math.PI * 180);
WriteTPick(-(result.R_J + template.RCenterProfile / Math.PI * 180) + ModelParams.adjTPickPlat);
//直接给确认信号
SendTData(DataRegister1.TAngle_pickPlat1, DataRegister1.TAngleConfirm_pickPlat1, ModelParams.T_Roller, "机器人去平台取片");
FinishPhotoPLC(CameraResult.OK);
}
return(StateComprehensive_enum.True);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
FinishPhotoPLC(CameraResult.NG);
return(StateComprehensive_enum.False);
}
}
internal StaticFunction()
: base(
(KeyValuePair <string, ParameterType>[])ArgumentsTemplate.Clone(),
(KeyValuePair <string, ParameterType>[])ResultTemplate.Clone())
{
}