/// <summary>
/// draw cicle with dots
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
/// <param name="radius"></param>
/// <param name="durationMsec"></param>
private static bool DrawCircleWithDots(ILaser laser, IRtc rtc, float radius, float durationMsec)
{
if (rtc.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
Console.WriteLine("WARNING !!! LASER IS BUSY ... DrawCircleWithDots");
timer = Stopwatch.StartNew();
bool success = true;
success &= rtc.ListBegin(laser);
for (float angle = 0; angle < 360; angle += 1)
{
double x = radius * Math.Sin(angle * Math.PI / 180.0);
double y = radius * Math.Cos(angle * Math.PI / 180.0);
success &= rtc.ListJump(new Vector2((float)x, (float)y));
//laser signal on during specific time (지정된 짧은 시간동안 레이저 출사)
success &= rtc.ListLaserOn(durationMsec);
if (!success)
{
break;
}
}
success &= rtc.ListEnd();
if (success)
{
success &= rtc.ListExecute(true);
}
Console.WriteLine($"Processing time = {timer.ElapsedMilliseconds / 1000.0:F3}s");
return(success);
}
private static bool DrawCircle(ILaser laser, IRtc rtc)
{
bool success = true;
var rtcDualHead = rtc as IRtcDualHead;
//리스트 시작
success &= rtc.ListBegin(laser);
//리스트 명령으로 오프셋 및 회전 처리 방법
//rtcDualHead.ListHeadOffset(ScannerHead.Primary, new Vector2(5, 0), 0);
//rtcDualHead.ListHeadOffset(ScannerHead.Secondary, new Vector2(-5, 0), 0);
for (int i = 0; i < 10; i++)
{
//직선을 그립니다.
success &= rtc.ListJump(new Vector2(0, 0));
success &= rtc.ListMark(new Vector2(10, 0));
success &= rtc.ListJump(new Vector2((float)10, 0));
success &= rtc.ListArc(new Vector2(0, 0), 360.0f);
if (!success)
{
break;
}
}
//리스트 명령으로 오프셋 및 회전 처리 방법
//rtcDualHead.ListHeadOffset(ScannerHead.Primary, Vector2.Zero, 0);
//rtcDualHead.ListHeadOffset(ScannerHead.Secondary, Vector2.Zero, 0);
//리스트 종료
if (success)
{
success &= rtc.ListEnd();
//나머지 데이타 가공 완료 대기
success &= rtc.ListExecute(true);
}
return(success);
}
/// <summary>
/// 지정된 반지름을 갖는 원 그리기
/// </summary>
/// <param name="rtc"></param>
/// <param name="radius"></param>
private static void DrawCircle(ILaser laser, IRtc rtc, double radius)
{
rtc.ListBegin(laser);
rtc.ListJump(new Vector2((float)radius, 0));
rtc.ListArc(new Vector2(0, 0), 360.0);
rtc.ListEnd();
}
/// <summary>
/// 레이어 안에 있는 모든 객체들을 마킹하기 (3x3 의 나선 객체가 마킹됨)
/// </summary>
/// <param name="rtc"></param>
/// <param name="doc"></param>
private static bool DrawForFieldCorrection(ILaser laser, IRtc rtc, IDocument doc)
{
bool success = true;
rtc.ListBegin(laser);
///레이어 순회
foreach (var layer in doc.Layers)
{
/// 해당 레이어의 개체들을 순회
foreach (var entity in layer)
{
var markerable = entity as IMarkerable;
///해당 개체가 레이저 가공이 가능한지를 판별
if (null != markerable)
{
success &= markerable.Mark(rtc); ///개체 가공
}
if (!success)
{
break;
}
}
if (!success)
{
break;
}
}
if (success)
{
rtc.ListEnd();
}
return(success);
}
private static void DrawCircleWithPosition(ILaser laser, IRtc rtc)
{
var motf = rtc as IRtcMOTF;
/// RTC 15핀 커넥터에 있는 /START , /STOP 입력핀을 시작, 중지 트리거로 사용합니다.
///turn on external /start
///turn on reset encoder when external start
var extCtrl = new RtcExternalControlMode();
extCtrl.Add(RtcExternalControlMode.Signal.EncoderReset);
extCtrl.Add(RtcExternalControlMode.Signal.ExternalStart);
extCtrl.Add(RtcExternalControlMode.Signal.ExternalStartAgain);
motf.CtlExternalControl(extCtrl);
rtc.ListBegin(laser);
///직선을 그립니다. (엔코더 입력과 무관합니다)
rtc.ListJump(new Vector2(0, 0));
rtc.ListMark(new Vector2(10, 0));
/// ListMOTFBegin 부터 ListMOTFEnd 사이의 모든 list 명령어는 엔코더증감값이 적용됩니다
motf.ListMOTFBegin();
/// 엔코더 X 값이 10mm 가 넘을때(Over) 까지 리스트 명령을 대기
motf.ListMOTFWait(RtcEncoder.EncX, 10, EncoderWaitCondition.Over);//wait until encoder x position over 10.0mm
///엔코더 X 값이 위 조건을 만족한이후 원 을 그린다
rtc.ListJump(new Vector2((float)10, 0));
rtc.ListArc(new Vector2(0, 0), 360.0f);
/// MOTF 중지및 0,0 위치(스캐너 중심 위치)로 jump 실시
motf.ListMOTFEnd(Vector2.Zero);
rtc.ListEnd();
///외부 트리거(/START)에 의해 시작되므로 execute 호출은 하지 않는다
///rtc.ListExecute(); /// its not need to call because its started by external trigger
}
private void OnTriggerEnter2D(Collider2D col)
{
ILaser laser = col.gameObject.GetComponent <ILaser>();
if (laser == null)
{
return;
}
float degree = 0;
switch (laser.GetCurrentDir())
{
case Direction.UP:
degree = 180;
break;
case Direction.Right:
degree = 90;
break;
case Direction.Down:
degree = 0;
break;
case Direction.Left:
degree = -90;
break;
}
EffectManager.Instance.CallEffect(col.transform.position, degree, 1);
laser.OnCollisionWall(ObjectType.Wall);
}
/// <summary>
/// 지정된 문서(Document)를 지정된 RTC 제어기로 가공하기
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
/// <param name="doc"></param>
static void DoBegin(ILaser laser, IRtc rtc, IDocument doc)
{
var timer = Stopwatch.StartNew();
bool success = true;
rtc.ListBegin(laser);
///레이어를 순회
foreach (var layer in doc.Layers)
{
///레이어 내의 개체(Entity)들을 순회
foreach (var entity in layer)
{
var markerable = entity as IMarkerable;
///레이저 가공이 가능한 개체(markerable)인지를 판단
if (null != markerable)
{
success &= markerable.Mark(rtc); /// 해당 개체(Entity) 가공
}
if (!success)
{
break;
}
}
if (!success)
{
break;
}
}
if (success)
{
rtc.ListEnd();
rtc.ListExecute(true);
}
Console.WriteLine($"processing time = {timer.ElapsedMilliseconds / 1000.0:F3}s");
}
/// <summary>
/// 레이어 안에 있는 모든 객체들을 마킹하기
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
/// <param name="doc"></param>
private static bool Draw(ILaser laser, IRtc rtc, IDocument doc)
{
var markerArg = new MarkerArgDefault()
{
Document = doc,
Rtc = rtc,
Laser = laser,
};
bool success = true;
success &= rtc.ListBegin(laser);
foreach (var layer in doc.Layers)
{
success &= layer.Mark(markerArg);
// or
//foreach (var entity in layer)
//{
// var markerable = entity as IMarkerable;
// if (null != markerable)
// success &= markerable.Mark(markerArg);
//}
if (!success)
{
break;
}
}
if (success)
{
success &= rtc.ListEnd();
success &= rtc.ListExecute(true);
}
return(success);
}
/// <summary>
/// 내부 리스트 메모리에 등록된 폰트를 이용한 시리얼 번호
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
private static bool MarkToSerial(ILaser laser, IRtc rtc)
{
if (rtc.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
bool success = true;
var rtcCharSet = rtc as IRtcCharacterSet;
//초기값: 1000, 증가값: 1
rtcCharSet.CtlSerialReset(1000, 1);
success &= rtc.ListBegin(laser, ListType.Single);
success &= rtc.ListJump(new Vector2(-10, -20));
success &= rtcCharSet.ListSerial(4, SerialFormat.LeadingWithZero);
success &= rtc.ListJump(new Vector2(-10, 0));
success &= rtcCharSet.ListSerial(4, SerialFormat.LeadingWithZero);
success &= rtc.ListJump(new Vector2(-10, 20));
success &= rtcCharSet.ListSerial(4, SerialFormat.LeadingWithZero);
if (success)
{
success &= rtc.ListEnd();
success &= rtc.ListExecute();
}
return(success);
}
/// <summary>
/// 선 그리기 = 실제 속도 기반 레이저 신호 (주파수 변조) 제어
/// iDRIVE 기반 스캐너 필요
/// 가공 출력 조건 = 50KHz (최소 40KHz, 최대 60KHz)
/// </summary>
private static bool DrawLine3(ILaser laser, IRtc rtc, float x1, float y1, float x2, float y2)
{
var alc = rtc as IRtcAutoLaserControl;
if (null == alc)
{
return(false);
}
bool success = true;
alc.AutoLaserControlByPositionFileName = string.Empty;
//target frequency : 100KHz
//lower cut off frequency : 50KHz
//upper cut off frequency : 120KHz
success &= alc.CtlAutoLaserControl <float>(AutoLaserControlSignal.Frequency, AutoLaserControlMode.ActualVelocity, 50 * 1000, 40 * 1000, 60 * 1000);
success &= rtc.ListBegin(laser);
success &= rtc.ListJump(new Vector2(x1, y1));
success &= rtc.ListMark(new Vector2(x2, y2));
if (success)
{
success &= rtc.ListEnd();
success &= rtc.ListExecute(true);
}
return(success);
}
public static ILaser CreateLaserController(LaserConfig laserPara, TcpClientStream tcpClient)
{
ILaser laser = null;
string typeStr = laserPara.LaserType.ToString();
switch (typeStr)
{
case "Raycus":
if (laserPara.ControlType == LaserControlTypes.Extern)
{
laser = new LaserController(tcpClient, laserPara.MaxVoltage);
}
else
{
var serialPortStream = new SerialPortStream(laserPara.PortName, 9600);
laser = new RaycusLaserController(serialPortStream);
}
break;
case "Other":
laser = new LaserController(tcpClient, laserPara.MaxVoltage);
break;
default:
throw new Exception("LaserFactory: not support!");
}
return(laser);
}
private static bool DrawByMarkerWithOffset(IDocument doc, IRtc rtc, ILaser laser)
{
var marker = new MarkerDefault(0);
marker.Name = "marker #2";
//가공 완료 이벤트 핸들러 등록
marker.OnFinished += Marker_OnFinished;
var markerArg = new MarkerArgDefault()
{
Document = doc,
Rtc = rtc,
Laser = laser,
};
// 9개의 오프셋 정보를 추가한다
markerArg.Offsets.Clear();
markerArg.Offsets.Add(new Offset(-20.0f, 20.0f, -90f));
markerArg.Offsets.Add(new Offset(0.0f, 20.0f, 0.0f));
markerArg.Offsets.Add(new Offset(20.0f, 20.0f, 90.0f));
markerArg.Offsets.Add(new Offset(-20.0f, 0.0f, -180.0f));
markerArg.Offsets.Add(new Offset(0.0f, 0.0f, 0.0f));
markerArg.Offsets.Add(new Offset(20.0f, 0.0f, 180.0f));
markerArg.Offsets.Add(new Offset(-20.0f, -20.0f, -270.0f));
markerArg.Offsets.Add(new Offset(0.0f, -20.0f, 0.0f));
markerArg.Offsets.Add(new Offset(20.0f, -20.0f, 270.0f));
bool success = true;
// 마커에 가공 문서(doc)및 rtc, laser 정보를 전달하고 가공 준비를 실시한다.
success &= marker.Ready(markerArg);
// 가공을 시작한다.
success &= marker.Start();
return(success);
}
private static bool DrawByMarker(IDocument doc, IRtc rtc, ILaser laser)
{
var marker = new MarkerDefault(0);
marker.Name = "marker #1";
//가공 완료 이벤트 핸들러 등록
marker.OnFinished += Marker_OnFinished;
var markerArg = new MarkerArgDefault()
{
Document = doc,
Rtc = rtc,
Laser = laser,
};
// 하나의 오프셋 정보(0,0 및 회전각도 0) 를 추가한다.
markerArg.Offsets.Add(Offset.Zero);
bool success = true;
// 마커에 가공 문서(doc)및 rtc, laser 정보를 전달하고 가공 준비를 실시한다.
success &= marker.Ready(markerArg);
// 가공을 시작한다.
success &= marker.Start();
return(success);
}
public void SetLaser(ILaser laser)
{
if (m_laser == null)
{
m_laser = laser;
}
}
/// <summary>
/// 직선으로 원 그리기
/// </summary>
/// <param name="rtc"></param>
/// <param name="radius"></param>
/// <param name="durationMsec"></param>
private static void DrawCircleWithLines(ILaser laser, IRtc rtc, float radius)
{
///스테이지의 원점은 통상 0,0 이기 때문에 - 영역에서는 모션구동이 불가능하므로
///+ 영역에서 처리되도록 안전한 위치로 이동하는 코드
rtc.MatrixStack.Push(radius * 2f, radius * 2f);///transit safety area
/// 스테이지 + 스캐너 동시 구동하여 원 그리기
rtc.ListBegin(laser, MotionType.StageAndScanner);
double x = radius * Math.Sin(0 * Math.PI / 180.0);
double y = radius * Math.Cos(0 * Math.PI / 180.0);
rtc.ListJump(new Vector2((float)x, (float)y));
for (float angle = 10; angle < 360; angle += 10)
{
x = radius * Math.Sin(angle * Math.PI / 180.0);
y = radius * Math.Cos(angle * Math.PI / 180.0);
rtc.ListMark(new Vector2((float)x, (float)y));
}
x = radius * Math.Sin(0 * Math.PI / 180.0);
y = radius * Math.Cos(0 * Math.PI / 180.0);
rtc.ListMark(new Vector2((float)x, (float)y));
rtc.ListEnd();
rtc.ListExecute(true);
rtc.MatrixStack.Pop();
}
private static void DrawByMarker(IRtc rtc, ILaser laser, IMarker marker)
{
#region load from sirius file
var dlg = new OpenFileDialog();
dlg.Filter = "sirius data files (*.sirius)|*.sirius|dxf cad files (*.dxf)|*.dxf|All Files (*.*)|*.*";
dlg.Title = "Open to data file";
DialogResult result = dlg.ShowDialog();
if (result != DialogResult.OK)
{
return;
}
string ext = Path.GetExtension(dlg.FileName);
IDocument doc = null;
if (0 == string.Compare(ext, ".dxf", true))
{
doc = DocumentSerializer.OpenDxf(dlg.FileName);
}
else if (0 == string.Compare(ext, ".sirius", true))
{
doc = DocumentSerializer.OpenSirius(dlg.FileName);
}
#endregion
Debug.Assert(null != doc);
marker.Ready(doc, rtc, laser);
marker.Offsets.Clear();
marker.Offsets.Add((0, 0, 0));
marker.Start();
}
/// <summary>
/// 레이어 안에 있는 모든 객체들을 마킹하기 (3x3 의 나선 객체가 마킹됨)
/// </summary>
/// <param name="rtc"></param>
/// <param name="doc"></param>
private static bool DrawForFieldCorrection(ILaser laser, IRtc rtc, IDocument doc)
{
bool success = true;
rtc.ListBegin(laser);
foreach (var layer in doc.Layers)
{
foreach (var entity in layer)
{
var markerable = entity as IMarkerable;
if (null != markerable)
{
success &= markerable.Mark(rtc);
}
if (!success)
{
break;
}
}
if (!success)
{
break;
}
}
if (success)
{
rtc.ListEnd();
}
return(success);
}
static void DoBegin(ILaser laser, IRtc rtc, IDocument doc)
{
var timer = new Stopwatch();
bool success = true;
rtc.ListBegin(laser);
foreach (var layer in doc.Layers)
{
foreach (var entity in layer)
{
var markerable = entity as IMarkerable;
if (null != markerable)
{
success &= markerable.Mark(rtc);
}
if (!success)
{
break;
}
}
if (!success)
{
break;
}
}
if (success)
{
rtc.ListEnd();
rtc.ListExecute(true);
}
Console.WriteLine($"processing time = {timer.ElapsedMilliseconds / 1000.0:F3}s");
}
public void FireLaser()
{
Vector3 offset = Vector3.zero;
switch (m_startDir)
{
case Direction.UP:
offset = new Vector3(0, +5, 0);
break;
case Direction.Right:
offset = new Vector3(5, 0, 0);
break;
case Direction.Down:
offset = new Vector3(0, -5, 0);
break;
case Direction.Left:
offset = new Vector3(-5, 0, 0);
break;
}
ILaser laser = Instantiate((Laser.Laser)m_laser, transform.position + offset, Quaternion.identity);
laser.DestroyEvent += LaserDestoryEvent;
laser.SetCurrentLaserDir(m_startDir);
}
/// <summary>
/// CreateILaser returns an ILaser interface
/// based on the current configuration.
/// </summary>
/// <returns>ILaser object if one is configured; NULL otherwise</returns>
public static ILaser CreateILaser()
{
//Declare a variable to return
ILaser rtn = null;
//Try to get an RDH2Laser object
try
{
//rtn = new Laser.RDH2Laser();
}
catch { }
//Try to get a LEGOLaser object if the RDH2Laser
//could not be created
if (rtn == null)
{
try
{
rtn = new Laser.LEGOLaser();
}
catch { }
}
//Return the result
return(rtn);
}
/// <summary>
/// 지정된 반지름을 갖는 원 그리기
/// </summary>
/// <param name="rtc"></param>
/// <param name="radius"></param>
private static void DrawCircle(ILaser laser, IRtc rtc, double radius)
{
/// 스캐너만 구동하여 원 그리기
rtc.ListBegin(laser, MotionType.ScannerOnly);
rtc.ListJump(new Vector2((float)radius, 0));
rtc.ListArc(new Vector2(0, 0), 360.0f);
rtc.ListEnd();
rtc.ListExecute(true);
}
private static void DrawByMarker(IDocument doc, IRtc rtc, ILaser laser)
{
var marker = new MarkerDefault(0);
marker.Name = "marker #1";
marker.OnFinished += Marker_OnFinished;
marker.Ready(doc, rtc, laser); //layer cloned
marker.Start();
}
private static void DrawCircleWith3D(ILaser laser, IRtc rtc, IRtc3D rtc3D)
{
rtc.ListBegin(laser);
//draw circle in z = +1 mm
rtc3D.ListJump3D(new Vector3((float)10, 0, 1));
rtc3D.ListArc3D(new Vector3(0, 0, 1), 360.0f);
rtc.ListEnd();
rtc.ListExecute();
}
private static void DrawCircle(ILaser laser, IRtc rtc)
{
float radius = 20.0f;
rtc.ListBegin(laser);
rtc.ListJump(new Vector2(radius, 0));
rtc.ListArc(new Vector2(0, 0), 360.0f);
rtc.ListEnd();
}
/// <summary>
/// 지정된 크기의 직사각형 그리기
/// </summary>
/// <param name="rtc"></param>
/// <param name="width"></param>
/// <param name="height"></param>
private static void DrawRectangle(ILaser laser, IRtc rtc, double width, double height)
{
rtc.ListBegin(laser);
rtc.ListJump(new Vector2((float)-width / 2, (float)height / 2));
rtc.ListMark(new Vector2((float)width / 2, (float)height / 2));
rtc.ListMark(new Vector2((float)width / 2, (float)-height / 2));
rtc.ListMark(new Vector2((float)-width / 2, (float)-height / 2));
rtc.ListMark(new Vector2((float)-width / 2, (float)height / 2));
rtc.ListEnd();
}
/// <summary>
/// FindHardware attempts to create the hardware objects
/// and display them to the user.
/// </summary>
private void FindHardware(Object parameter)
{
//Unpack the Parameters
WizardControl wizard = parameter as WizardControl;
//Set the button Enable states
wizard.Dispatcher.BeginInvoke(new DisableButtonsDelegate(this.DisableButtons));
//Set the Cursor on the WizardControl
wizard.Dispatcher.BeginInvoke(new ChangeCursorDelegate(this.ChangeCursor), Cursors.Wait);
//Create the Hardware objects
IMirror mirror = SHArKClassFactory.CreateIMirror();
IPotentiostat potstat = SHArKClassFactory.CreateIPotentiostat();
ILaser laser = SHArKClassFactory.CreateILaser();
//Get the names of the hardware -- default to not found
String mirrorName = Strings.DeviceNotFound;
String potstatName = Strings.DeviceNotFound;
String laserName = Strings.DeviceNotFound;
if (mirror != null)
{
mirrorName = mirror.Name;
mirror.Dispose();
}
if (potstat != null)
{
potstatName = potstat.Name;
potstat.Dispose();
}
if (laser != null)
{
laserName = laser.Name;
laser.Dispose();
}
//Set the labels in the Page
wizard.Dispatcher.BeginInvoke(new SetLabelTextDelegate(this.SetLabelText), TextBlockType.Mirror, mirrorName);
wizard.Dispatcher.BeginInvoke(new SetLabelTextDelegate(this.SetLabelText), TextBlockType.Potentiostat, potstatName);
wizard.Dispatcher.BeginInvoke(new SetLabelTextDelegate(this.SetLabelText), TextBlockType.Laser, laserName);
//Set the Cursor on the WizardControl
wizard.Dispatcher.BeginInvoke(new ChangeCursorDelegate(this.ChangeCursor), Cursors.Arrow);
//Enable the buttons as necessary
wizard.Dispatcher.BeginInvoke(new EnableButtonsDelegate(this.EnableButtons), wizard);
//Set the flag that the Hardware has been searched for
this._hardwareSearched = true;
}
/// <summary>
/// 원(호)를 따라 매 1도마다 점 찍기
/// </summary>
/// <param name="rtc"></param>
/// <param name="radius"></param>
/// <param name="durationMsec"></param>
private static void DrawCircleWithDots(ILaser laser, IRtc rtc, double radius, double durationMsec)
{
rtc.ListBegin(laser);
for (double angle = 0; angle < 360; angle += 1)
{
double x = radius * Math.Sin(angle * Math.PI / 180.0);
double y = radius * Math.Cos(angle * Math.PI / 180.0);
rtc.ListJump(new Vector2((float)x, (float)y));
rtc.ListLaserOn(durationMsec);
}
rtc.ListEnd();
}
/// <summary>
/// 행렬을 이용해 직선을 그릴때 1도마다 직선을 회전시켜 그리기
/// </summary>
/// <param name="rtc"></param>
/// <param name="angleStart"></param>
/// <param name="angleEnd"></param>
private static void DrawLinesWithRotate(ILaser laser, IRtc rtc, double angleStart, double angleEnd)
{
rtc.ListBegin(laser);
for (double angle = angleStart; angle <= angleEnd; angle += 1)
{
rtc.MatrixStack.Push(angle);
rtc.ListJump(new Vector2(-10, 0));
rtc.ListMark(new Vector2(10, 0));
rtc.MatrixStack.Pop();
}
rtc.ListEnd();
}
public bool ListBegin(ILaser laser, MotionType motionType)
{
Core.GenuineTest();
if (!string.IsNullOrEmpty(this.outputFileName))
{
this.stream?.Dispose();
this.stream = new StreamWriter(this.outputFileName);
}
this.aborted = false;
stream?.WriteLine($"; LIST HAS BEGAN : {DateTime.Now.ToString()}");
return(true);
}
private static void DrawTooHeavyAndSlowJob(ILaser laser, IRtc rtc)
{
if (rtc.CtlGetStatus(RtcStatus.Busy))
{
Console.WriteLine("Processing are working already !");
return;
}
Program.laser = laser;
Program.rtc = rtc;
Program.thread = new Thread(DoHeavyWork); //create new thread
Program.thread.Start();
}
