/// <summary>
/// 螺杆阀Inspect模式下的运行逻辑
/// </summary>
/// <returns></returns>
private Result SvValveInspectLogic(Line line)
{
Result ret = Result.OK;
List <PointD> points = this.CaculateSvValvePoints(line);
if (line.LineCmd.lineCmdLine == null || points == null)
{
return(ret);
}
if (line.LineCmd.lineCmdLine.LineMethod != LineMethod.Single)
{
return(ret);
}
for (int i = 0; i < points.Count; i++)
{
//为了去到线段的起点，会跳过list的奇数部分（终点）
if (i % 2 == 1)
{
continue;
}
else
{
ret = Machine.Instance.Robot.MovePosXYAndReply(points[i],
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
LineCmdLine lineCmdline = line.LineCmd.lineCmdLine;
InspectionLine inspectionLine = InspectionMgr.Instance.FindBy((int)lineCmdline.inspectionKey) as InspectionLine;
if (inspectionLine != null)
{
Thread.Sleep(inspectionLine.SettlingTime);
double width1, width2;
Machine.Instance.CaptureAndInspect(inspectionLine);
width1 = inspectionLine.PhyWidth1;
width2 = inspectionLine.PhyWidth2;
Log.Dprint(inspectionLine.CurrResultStr);
string resline = string.Format("{0},{1},{2},{3}", Math.Round(points[i].X, 3), Math.Round(points[i].Y, 3), Math.Round(width1, 3), Math.Round(width2, 3));
CsvUtil.WriteLine(line.Program.RuntimeSettings.FilePathInspectRect, resline);
Thread.Sleep(inspectionLine.DwellTime);
}
}
}
return(ret);
}
private void btnTest_Click(object sender, EventArgs e)
{
if (this.inspection == null)
{
return;
}
this.inspection.ExposureTime = this.cameraControl1.ExposureTime;
this.inspection.Gain = this.cameraControl1.Gain;
//this.inspection.LightType = this.cameraControl1.Lighting;
this.inspection.ExecutePrm = this.cameraControl1.ExecutePrm;
this.inspection.PosInMachine.X = tbLocationX.Value;
this.inspection.PosInMachine.Y = tbLocationY.Value;
Task.Factory.StartNew(() =>
{
if (this.rbnTaught.Checked)
{
Machine.Instance.Robot.MoveSafeZAndReply();
//Machine.Instance.Robot.MovePosXYAndReply(this.inspection.PosInMachine);
Machine.Instance.Robot.ManualMovePosXYAndReply(this.inspection.PosInMachine);
}
if (this.inspection is InspectionLine)
{
InspectionLine inspectionLine = this.inspection as InspectionLine;
this.inspection = inspectionLine;
}
//double imgX, imgY, dx, dy;
Result rtn = Machine.Instance.CaptureAndInspect(this.inspection);
this.BeginInvoke(new Action(() => {
if (rtn.IsOk)
{
this.txtResult.BackColor = Color.Green;
}
else
{
this.txtResult.BackColor = Color.Red;
}
this.txtResult.Text = this.inspection.CurrResultStr;
}));
});
}
/// <summary>
/// 执行单条线段命令，连续插补模式，将每条线压入插补队列
/// </summary>
/// <param name="line"></param>
/// <param name="accStart">加速区间距离</param>
/// <param name="decelEnd">减速区间距离</param>
/// <param name="speed">线段区间的运动速度</param>
/// <param name="points">每一滴胶水的点胶位置</param>
/// <param name="intervalSec">每一滴胶水的打胶时间，单位秒</param>
/// <returns></returns>
private Result executeSingleLine(Line directiveLine, LineCoordinate line, PointD accStart, PointD decelEnd, double speed, PointD[] points, double intervalSec)
{
double lineOffset = line.Param.Offset;
// 偏移调整
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Dry ||
Machine.Instance.Valve1.RunMode == ValveRunMode.Wet ||
Machine.Instance.Valve1.RunMode == ValveRunMode.AdjustLine)
{
if (directiveLine.LineCmd.RunnableModule.CommandsModule.IsReversePattern)
{
lineOffset += line.LookOffsetRevs;
}
else
{
lineOffset += line.LookOffset;
}
}
VectorD v = (line.End - line.Start).Normalize() * lineOffset;
//相机位置
PointD cameraLineStart = line.Start + v;
PointD cameraLineEnd = line.End + v;
PointD cameraAccStart = accStart + v;
PointD cameraDecEnd = decelEnd + v;
PointD[] cameraPoints = new PointD[points.Length];
PointD[] cameraPoints2 = new PointD[points.Length];//副阀的点位
for (int i = 0; i < points.Length; i++)
{
cameraPoints[i] = points[i] + v;
}
//胶枪点胶起点
PointD valveAccStart = cameraAccStart.ToNeedle(directiveLine.Valve, directiveLine.Tilt);
//副阀点胶起点位置(默认值为设定间距)
PointD simulStart = new PointD(directiveLine.Program.RuntimeSettings.SimulDistence, 0) /*-胶阀原点间距？*/;
///生成副阀相关参数(起点、插补点位)
if (directiveLine.RunnableModule.Mode == ModuleMode.MainMode)
{
//副阀插补坐标绝对值(X方向实际坐标取负值) = 主阀机械坐标-副阀机械坐标-双阀原点间距（理论情况-不考虑坐标系不平行）
VectorD SimulModuleOffset = Machine.Instance.Robot.CalibPrm.NeedleCamera2 - Machine.Instance.Robot.CalibPrm.NeedleCamera1;
for (int i = 0; i < points.Length; i++)
{
cameraPoints2[i] = cameraPoints[i] - directiveLine.RunnableModule.SimulTransformer.Transform(cameraPoints[i]).ToVector() - SimulModuleOffset;
//乘以系数得到AB轴的移动位移
cameraPoints2[i].X = -Math.Abs(cameraPoints2[i].X) / Machine.Instance.Robot.CalibPrm.HorizontalRatio;
cameraPoints2[i].Y = -cameraPoints2[i].Y / Machine.Instance.Robot.CalibPrm.VerticalRatio;
}
//副阀在加速段直接使用实际点胶起始位置
simulStart = cameraPoints2[0];
}
Result ret = Result.OK;
double targZ = 0;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = directiveLine.Program.RuntimeSettings.BoardZValue + line.Param.DispenseGap;
}
else
{
targZ = Converter.NeedleBoard2Z(line.Param.DispenseGap, directiveLine.CurMeasureHeightValue, directiveLine.Tilt);
}
if (Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.Look ||
Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.AdjustLine ||
Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.InspectRect)
{
ret = Machine.Instance.Robot.BufMoveSafeZ();
if (!ret.IsOk)
{
return(ret);
}
if (Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.Look)
{
ret = Machine.Instance.Robot.BufMoveLnXY(cameraLineStart,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
ret = Machine.Instance.Robot.BufMoveLnXY(cameraLineEnd,
line.Param.Speed,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
Log.Print("current position in LookMode: " + cameraAccStart.ToString() + " || the LookOffset:" + line.LookOffset);
}
else if (Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.AdjustLine)
{
ret = Machine.Instance.Robot.MovePosXYAndReply(cameraLineStart,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
LineCmdLine lineCmdline = directiveLine.LineCmd.lineCmdLine;
if (lineCmdline == null || line == null)
{
return(ret);
}
Machine.Instance.IsProducting = false;
Line.WaitMsg.Reset();
switch (lineCmdline.LineMethod)
{
case LineMethod.Single:
MsgCenter.Broadcast(MsgType.MSG_LINEEDITLOOK_SHOW, directiveLine, lineCmdline);
break;
case LineMethod.Multi:
case LineMethod.Poly:
MsgCenter.Broadcast(MsgType.MSG_LINEEDITLOOK_SHOW, directiveLine, lineCmdline, directiveLine.LineCoordinates.IndexOf(line));
break;
default:
break;
}
Line.WaitMsg.WaitOne();
Machine.Instance.IsProducting = true;
}
else if (Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.InspectRect)
{
ret = Machine.Instance.Robot.MovePosXYAndReply(cameraLineStart,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
LineCmdLine lineCmdline = directiveLine.LineCmd.lineCmdLine;
if (lineCmdline == null || line == null)
{
return(ret);
}
if (lineCmdline.LineMethod != LineMethod.Single)
{
return(ret);
}
InspectionLine inspectionLine = InspectionMgr.Instance.FindBy((int)lineCmdline.inspectionKey) as InspectionLine;
if (inspectionLine != null)
{
Thread.Sleep(inspectionLine.SettlingTime);
double width1, width2;
Machine.Instance.CaptureAndInspect(inspectionLine);
width1 = inspectionLine.PhyWidth1;
width2 = inspectionLine.PhyWidth2;
Log.Dprint(inspectionLine.CurrResultStr);
string resline = string.Format("{0},{1},{2},{3}", Math.Round(cameraLineStart.X, 3), Math.Round(cameraLineStart.Y, 3), Math.Round(width1, 3), Math.Round(width2, 3));
CsvUtil.WriteLine(directiveLine.Program.RuntimeSettings.FilePathInspectRect, resline);
Thread.Sleep(inspectionLine.DwellTime);
}
}
return(ret);
}
// 倾斜到位
Log.Dprint("change tilt status : " + directiveLine.Tilt.ToString());
ret = Machine.Instance.Valve1.BufChangeValveTiltStatus(directiveLine.Tilt, FluidProgram.Current.MotionSettings.VelU, FluidProgram.Current.MotionSettings.AccU);
if (!ret.IsOk)
{
return(ret);
}
double currZ = Machine.Instance.Robot.PosZ;
//到起点，Z轴到点胶位置
if (currZ > targZ)
{
// 移动到加速区间起始位置
Log.Dprint("move to position XY : " + valveAccStart);
if (directiveLine.RunnableModule.Mode == ModuleMode.MainMode)
{
ret = Machine.Instance.Robot.MovePosXYABAndReply(valveAccStart, simulStart,
FluidProgram.Current.MotionSettings.VelXYAB,
FluidProgram.Current.MotionSettings.AccXYAB,
(int)Machine.Instance.Setting.CardSelect);
}
else
{
ret = Machine.Instance.Robot.BufMoveLnXY(valveAccStart,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
}
if (!ret.IsOk)
{
return(ret);
}
Log.Dprint("move down to Z : " + targZ.ToString("0.000000") + ", DispenseGap=" + line.Param.DispenseGap.ToString("0.000000"));
ret = Machine.Instance.Robot.BufMovePosZ(targZ, line.Param.DownSpeed, line.Param.DownAccel);
if (!ret.IsOk)
{
return(ret);
}
}
else
{
Log.Dprint("move up to Z : " + targZ.ToString("0.000000") + ", DispenseGap=" + line.Param.DispenseGap.ToString("0.000000"));
ret = Machine.Instance.Robot.BufMovePosZ(targZ, line.Param.DownSpeed, line.Param.DownAccel);
if (!ret.IsOk)
{
return(ret);
}
// 移动到加速区间起始位置
Log.Dprint("move to position XY : " + valveAccStart);
if (directiveLine.RunnableModule.Mode == ModuleMode.MainMode)
{
ret = Machine.Instance.Robot.MovePosXYABAndReply(valveAccStart, simulStart,
FluidProgram.Current.MotionSettings.VelXYAB,
FluidProgram.Current.MotionSettings.AccXYAB,
(int)Machine.Instance.Setting.CardSelect);
}
else
{
ret = Machine.Instance.Robot.BufMoveLnXY(valveAccStart,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
}
if (!ret.IsOk)
{
return(ret);
}
}
// 移动： 加速区间--线段区间--减速区间
Log.Dprint("fluid line, accStart=" + cameraAccStart + " start=" + cameraLineStart + ", end=" + cameraLineEnd + ", decelEnd=" + cameraDecEnd + ", spped=" + speed);
//printPoints(newPoints);
if (directiveLine.RunnableModule.Mode == ModuleMode.MainMode)
{
ret = Machine.Instance.DualValve.FluidLine(cameraAccStart, cameraLineStart, cameraLineEnd, cameraDecEnd, speed, cameraPoints, intervalSec, simulStart, cameraPoints2, FluidProgram.Current.MotionSettings.WeightAcc);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(0, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(1, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
}
else if (directiveLine.RunnableModule.Mode == ModuleMode.DualFallow)
{
ret = Machine.Instance.DualValve.FluidLine(cameraAccStart, cameraLineStart, cameraLineEnd, cameraDecEnd, speed, cameraPoints, intervalSec, FluidProgram.Current.MotionSettings.WeightAcc);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(0, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(1, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
}
else if (directiveLine.RunnableModule.Mode == ModuleMode.AssignMode2)
{
ret = Machine.Instance.Valve2.FluidLine(cameraAccStart, cameraLineStart, cameraLineEnd, cameraDecEnd, speed, cameraPoints, intervalSec, FluidProgram.Current.MotionSettings.WeightAcc);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(1, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
}
else
{
ret = Machine.Instance.Valve1.BufFluidLine(cameraAccStart, cameraLineStart, cameraLineEnd, cameraDecEnd, speed, cameraPoints, intervalSec, FluidProgram.Current.MotionSettings.WeightAcc);
GlueManagerMgr.Instance.UpdateGlueRemainWeight(0, points.Length * directiveLine.Program.RuntimeSettings.SingleDropWeight);
}
if (!ret.IsOk)
{
return(ret);
}
if (Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.Wet ||
Machine.Instance.Valve1.RunMode == Drive.ValveSystem.ValveRunMode.Dry)
{
Log.Dprint("RetractDistance : " + line.Param.RetractDistance);
// 减速区间运动完成后，x y 轴速度为0， 此时需要抬升一段高度
if (line.Param.RetractDistance > 0)
{
Log.Dprint("move up RetractDistance : " + line.Param.RetractDistance);
ret = Machine.Instance.Robot.BufMoveIncZ(line.Param.RetractDistance, line.Param.RetractSpeed, line.Param.RetractAccel);
if (!ret.IsOk)
{
return(ret);
}
}
}
return(ret);
}
