private void worker_DoWork(object sender, DoWorkEventArgs e)
{
// run all background tasks here
BackgroundWorker worker = sender as BackgroundWorker;
DataTable dtComponents = dsData.Tables["Components"];
DataView dv = new DataView(dtComponents);
dv.RowFilter = "Pick = 1";
int currentrow = 0;
int totalrows = dv.Count;
Nozzle1Xoffset = dh.Nozzle1Xoffset;
Nozzle1Yoffset = dh.Nozzle1Yoffset;
Nozzle2Xoffset = dh.Nozzle2Xoffset;
Nozzle2Yoffset = dh.Nozzle2Yoffset;
if (totalrows > 0)
{
/* Components table columns
* ComponentCode
* ComponentName
* PlacementX
* PlacementY
* PlacementRotate
* PlacementNozzle
*
* component list
* ComponentCode
* ComponentValue
* Package
*
* PlacementHeight
* FeederHeight
* FeederX
* FeederY
* VerifywithCamera
* TapeFeeder
*
*
* */
double pcbHeight = double.Parse(dsData.Tables["BoardInfo"].Rows[0][1].ToString());
double feedrate = 20000;
double feederPosX = 0;
double feederPosY = 0;
double feederPosZ = 0;
double placePosX = 0;
double placePosY = 0;
//double placePosZ = 0;
// double placePosA = 0;
// double placePosRotateZ = 0;
// double placePosRotateB = 0;
double ComponentRotation = 0;
double PlacementHeight = 0;
int PlacementNozzle = 1;
bool TapeFeeder = false;
while (currentrow < totalrows)
{
if (backgroundWorkerBuildPCB.CancellationPending)
{
e.Cancel = true;
dv.Dispose();
break;
}
PlacementNozzle = int.Parse(dv[currentrow]["PlacementNozzle"].ToString());
feederPosX = CalcXLocation(comp.GetFeederX(dv[currentrow]["ComponentCode"].ToString()), PlacementNozzle);
feederPosY = CalcYLocation(comp.GetFeederY(dv[currentrow]["ComponentCode"].ToString()), PlacementNozzle);
feederPosZ = comp.GetFeederHeight(dv[currentrow]["ComponentCode"].ToString());
PlacementHeight = comp.GetPlacementHeight(dv[currentrow]["ComponentCode"].ToString()) - pcbHeight;
TapeFeeder = comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString());
placePosX = CalcXLocation(double.Parse(dv[currentrow]["PlacementX"].ToString()), PlacementNozzle);
placePosY = CalcYLocation(double.Parse(dv[currentrow]["PlacementY"].ToString()), PlacementNozzle);
ComponentRotation = double.Parse(dv[currentrow]["PlacementRotate"].ToString());
PlacementNozzle = int.Parse(dv[currentrow]["PlacementNozzle"].ToString());
if (currentrow == 0)
{
SetFeederOutputs(comp.GetFeederID(dv[currentrow]["ComponentCode"].ToString())); // send feeder to position
}
kf.MoveSingleFeed(feedrate, feederPosX, feederPosY, ClearHeight, ClearHeight, 0, 0);
if (comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString()))
{
while (!usbController.getFeederReadyStatus())
{
Thread.Sleep(10);
}
Thread.Sleep(50);
// use picker 1
kf.MoveSingleFeed(feedrate, feederPosX, feederPosY, feederPosZ, ClearHeight, 0, 0);
Thread.Sleep(200);
// go down and turn on suction
usbController.setVAC1(true);
Thread.Sleep(150);
kf.MoveSingleFeed(feedrate, feederPosX, feederPosY, ClearHeight, ClearHeight, 0, 0);
}
else
{
// use picker 2
while (usbController.CheckChipMotorRunning())
{
Thread.Sleep(10);
}
kf.MoveSingleFeed(feedrate, feederPosX, feederPosY, ClearHeight, feederPosZ, 0, 0);
Thread.Sleep(200);
usbController.setVAC2(true);
Thread.Sleep(300);
kf.MoveSingleFeed(feedrate, feederPosX, feederPosY, ClearHeight, ClearHeight, 0, 0);
}
// send picker to pick next item
if (currentrow >= 0 && (currentrow + 1) < totalrows)
{
Thread.Sleep(100);
Thread.Sleep(100);
SetFeederOutputs(comp.GetFeederID(dv[currentrow + 1]["ComponentCode"].ToString())); // send feeder to position
}
// rotate head
//SetResultsLabelText("Placing Component");
if (comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString()))
{
kf.MoveSingleFeed(feedrate, placePosX, placePosY, ClearHeight, ClearHeight, 0, ComponentRotation);
kf.MoveSingleFeed(feedrate, placePosX, placePosY, PlacementHeight, ClearHeight, 0, ComponentRotation);
Thread.Sleep(200);
usbController.setVAC1(false);
Thread.Sleep(50);
kf.MoveSingleFeed(feedrate, placePosX, placePosY, ClearHeight, ClearHeight, 0, ComponentRotation);
}
else
{
// use picker 2 CalcXwithNeedleSpacing
kf.MoveSingleFeed(feedrate, placePosX, placePosY, ClearHeight, ClearHeight, ComponentRotation, 0);
Thread.Sleep(200);
kf.MoveSingleFeed(feedrate, placePosX, placePosY, ClearHeight, PlacementHeight, ComponentRotation, 0);
// go down and turn off suction
Thread.Sleep(300);
usbController.setVAC2(false);
Thread.Sleep(200);
kf.MoveSingleFeed(feedrate, placePosX, placePosY, ClearHeight, ClearHeight, ComponentRotation, 0);
}
currentrow++;
}
}
else
{
MessageBox.Show("Board file not loaded");
}
backgroundWorkerBuildPCB.CancelAsync();
usbController.setResetFeeder();
usbController.RunVibrationMotor(MotorRunLoop);
kf.RunHomeAll();
dv.Dispose();
dtComponents.Dispose();
}
