public override void Close()
{
try
{
base.Close();
MCreateShapeModel.Close();
MCreateShapeModel = null;
MFindShapeMode.Close();
MFindShapeMode = null;
MGrabPointSetting.Close();
MGrabPointSetting = null;
MPZT_Detection.Close();
MPZT_Detection = null;
MGrab_Intervene.Close();
MGrab_Intervene = null;
MLM_DP.Close();
MLM_DP = null;
MFangDai.Close();
MFangDai = null;
MLanQuan.Close();
MLanQuan = null;
NotifyExcInfo = null;
}
catch (Exception ex)
{
Util.WriteLog(this.GetType(), ex);
Util.Notify("工具删除异常");
}
}
//序列化
public override void SerializeCheck()
{
NotifyExcInfo = null;
MCreateShapeModel.SerializeCheck();
MFindShapeMode.SerializeCheck();
MGrabPointSetting.SerializeCheck();
using (Stream objectStream = new MemoryStream())
{
System.Runtime.Serialization.IFormatter formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
formatter.Serialize(objectStream, this);
}
}
public void SetGrabPoint(double x, double y)
{
//转换camera 、 projection
MGrabPointSetting.X = x;
MGrabPointSetting.Y = y;
HTuple Cx, Cy, Cz, homMat3d;
HOperatorSet.PoseToHomMat3d(worldPose, out homMat3d);
HOperatorSet.AffineTransPoint3d(homMat3d, x, y, 0, out Cx, out Cy, out Cz);
HTuple row, column;
HOperatorSet.Project3dPoint(Cx, Cy, Cz, cameraParam, out row, out column);
MGrabPointSetting.SetGrabPoint(row.D, column.D);
}
public override void ShowResult(HWndCtrl viewCtrl)
{
if (!bFindShapeMode)
{
return;
}
if (MFindShapeMode.row == null || MFindShapeMode.row.Length < 1)
{
return;
}
if (RuningFinish == false)
{
return;
}
MFindShapeMode.ShowResult(viewCtrl);
if (bGrabPointSetting)
{
MGrabPointSetting.ShowGrabPoint(viewCtrl);
}
if (bFangDai_Enable && bFangDai_Result)
{
MFangDai.Show(viewCtrl);
}
if (NotifyExcInfo != null)
{
string temp = GetSendResult();
NotifyExcInfo("发送结果：" + temp);
}
if (row_Send != null && row_Send.Length > 0)
{
for (int i = 0; i < row_Send.Length; i++)
{
if (id_Send[i].I == 1)
{
viewCtrl.AddText("OK", (int)(row_Send[i].D), (int)(col_Send[i].D), 80, "green");
}
else
{
viewCtrl.AddText("NG", (int)(row_Send[i].D), (int)(col_Send[i].D), 80, "green");
}
}
}
}
public override void ShowResult(HWndCtrl viewCtrl)
{
if (!bFindShapeMode)
{
return;
}
if (MFindShapeMode.row == null || MFindShapeMode.row.Length < 1)
{
return;
}
if (RuningFinish == false)
{
return;
}
MFindShapeMode.ShowResult(viewCtrl);
if (bGrabPointSetting)
{
MGrabPointSetting.ShowGrabPoint(viewCtrl);
}
if (bPZT_Detection_Result && bPZT_Detection_Enble)
{
MPZT_Detection.Show(viewCtrl);
}
if (bLM_DP_Enble && bLM_DP_Result)
{
MLM_DP.Show(viewCtrl);
}
if (bGrab_Intervene_Result && bGrab_Intervene_Enble)
{
MGrab_Intervene.Show(viewCtrl);
}
if (bFangDai_Enable && bFangDai_Result)
{
MFangDai.Show(viewCtrl);
}
if (bLanQuan_Enable && bLanQuan_Result)
{
MLanQuan.Show(viewCtrl);
}
string temp = GetSendResult();
if (NotifyExcInfo != null)
{
NotifyExcInfo("发送结果：" + temp);
}
if (row_Send != null && row_Send.Length > 0)
{
for (int i = 0; i < row_Send.Length; i++)
{
if (id_Send[i].I == 1)
{
viewCtrl.AddText("OK", (int)(row_Send[i].D), (int)(col_Send[i].D), 80, "green");
}
}
}
if (row_NG == null || row_NG.Length < 1)
{
return;
}
for (int i = 0; i < row_NG.Length; i++)
{
viewCtrl.AddText("NG:" + NG_Reason[i].S, (int)(row_NG[i].D), (int)(col_NG[i].D), 40, "red");
}
}
