/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD pOrigin = (patternOldOrigin.ToSystem() + Origin).ToMachine();
PointD pHend = (patternOldOrigin.ToSystem() + HorizontalEnd).ToMachine();
PointD pVend = (patternOldOrigin.ToSystem() + VerticalEnd).ToMachine();
// 校正后的机械坐标
pOrigin = coordinateTransformer.Transform(pOrigin);
pHend = coordinateTransformer.Transform(pHend);
pVend = coordinateTransformer.Transform(pVend);
// 相对系统坐标
Origin.X = (pOrigin.ToSystem() - patternNewOrigin.ToSystem()).X;
Origin.Y = (pOrigin.ToSystem() - patternNewOrigin.ToSystem()).Y;
HorizontalEnd.X = (pHend.ToSystem() - patternNewOrigin.ToSystem()).X;
HorizontalEnd.Y = (pHend.ToSystem() - patternNewOrigin.ToSystem()).Y;
VerticalEnd.X = (pVend.ToSystem() - patternNewOrigin.ToSystem()).X;
VerticalEnd.Y = (pVend.ToSystem() - patternNewOrigin.ToSystem()).Y;
foreach (DoCmdLine doCmdLine in DoCmdLineList)
{
PointD p = (patternOldOrigin.ToSystem() + doCmdLine.Origin).ToMachine();
p = coordinateTransformer.Transform(p);
doCmdLine.Origin.X = (p.ToSystem() - patternNewOrigin.ToSystem()).X;
doCmdLine.Origin.Y = (p.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD pStart = (patternOldOrigin.ToSystem() + Start).ToMachine();
PointD pEnd = (patternOldOrigin.ToSystem() + End).ToMachine();
// 校正后的机械坐标
pStart = coordinateTransformer.Transform(pStart);
pEnd = coordinateTransformer.Transform(pEnd);
// 相对系统坐标
Start.X = (pStart.ToSystem() - patternNewOrigin.ToSystem()).X;
Start.Y = (pStart.ToSystem() - patternNewOrigin.ToSystem()).Y;
End.X = (pEnd.ToSystem() - patternNewOrigin.ToSystem()).X;
End.Y = (pEnd.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
//根据拍照目标位置更新系统坐标
//if (!this.modelFindPrm.IsUnStandard)
//{
// VectorD v = modelFindPrm.TargetInMachine.ToSystem() - patternNewOrigin.ToSystem();
// PosInPattern.X = v.X;
// PosInPattern.Y = v.Y;
//}
//else
//{
// PointD oldPosMachine = (PosInPattern + patternOldOrigin.ToSystem()).ToMachine();
// PointD newPosMachine = coordinateTransformer.Transform(oldPosMachine);
// VectorD v = newPosMachine.ToSystem() - patternNewOrigin.ToSystem();
// PosInPattern.X = v.X;
// PosInPattern.Y = v.Y;
//}
// 此时已经传入了坐标校正器和新的pattern原点，可以直接用旧的理论坐标转换为新的理论坐标
// 语义层使用 TargetInMachine 有风险，可能为null，或是之前的目标值。
PointD oldPosMachine = (PosInPattern + patternOldOrigin.ToSystem()).ToMachine();
PointD newPosMachine = coordinateTransformer.Transform(oldPosMachine);
VectorD v = newPosMachine.ToSystem() - patternNewOrigin.ToSystem();
PosInPattern.X = v.X;
PosInPattern.Y = v.Y;
}
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
PointD oldPosMachine = (PosInPattern + patternOldOrigin.ToSystem()).ToMachine();
PointD newPosMachine = coordinateTransformer.Transform(oldPosMachine);
VectorD v = newPosMachine.ToSystem() - patternNewOrigin.ToSystem();
this.PosInPattern.X = v.X;
this.PosInPattern.Y = v.Y;
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD p1 = (patternOldOrigin.ToSystem() + point1).ToMachine();
PointD p2 = (patternOldOrigin.ToSystem() + point2).ToMachine();
PointD p3 = (patternOldOrigin.ToSystem() + point3).ToMachine();
// 校正后的机械坐标
p1 = coordinateTransformer.Transform(p1);
p2 = coordinateTransformer.Transform(p2);
p3 = coordinateTransformer.Transform(p3);
// 相对系统坐标
point1.X = (p1.ToSystem() - patternNewOrigin.ToSystem()).X;
point1.Y = (p1.ToSystem() - patternNewOrigin.ToSystem()).Y;
point2.X = (p2.ToSystem() - patternNewOrigin.ToSystem()).X;
point2.Y = (p2.ToSystem() - patternNewOrigin.ToSystem()).Y;
point3.X = (p3.ToSystem() - patternNewOrigin.ToSystem()).X;
point3.Y = (p3.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD p = (patternOldOrigin.ToSystem() + position).ToMachine();
// 校正后的机械坐标
p = coordinateTransformer.Transform(p);
// 相对系统坐标
position.X = (p.ToSystem() - patternNewOrigin.ToSystem()).X;
position.Y = (p.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
private void correctPoint(PointD point, PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD pMachine = (patternOldOrigin.ToSystem() + point).ToMachine();
// 校正后的机械坐标
pMachine = coordinateTransformer.Transform(pMachine);
// 相对系统坐标
point.X = (pMachine.ToSystem() - patternNewOrigin.ToSystem()).X;
point.Y = (pMachine.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
/// <summary>
/// 编程界面校准
/// </summary>
/// <param name="patternOldOrigin"></param>
/// <param name="coordinateTransformer"></param>
/// <param name="patternNewOrigin"></param>
public void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
foreach (PointD item in this.symbolPoints)
{
// 校正前的机械坐标
PointD newPoint = (patternOldOrigin.ToSystem() + item).ToMachine();
// 校正后的机械坐标
newPoint = coordinateTransformer.Transform(newPoint);
// 相对系统坐标
item.X = (newPoint.ToSystem() - patternNewOrigin.ToSystem()).X;
item.Y = (newPoint.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="patternOldOrigin">Pattern原点被校正前的位置</param>
/// <param name="coordinateTransformer">根据Mark点拍摄结果生成的坐标校正器</param>
/// <param name="patternNewOrigin">Pattern原点被校正后的位置</param>
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
// 校正前的机械坐标
PointD pStart = (patternOldOrigin.ToSystem() + start).ToMachine();
PointD pMiddle = (patternOldOrigin.ToSystem() + middle).ToMachine();
PointD pEnd = (patternOldOrigin.ToSystem() + end).ToMachine();
PointD pCenter = (patternOldOrigin.ToSystem() + center).ToMachine();
// 校正后的机械坐标
pStart = coordinateTransformer.Transform(pStart);
pMiddle = coordinateTransformer.Transform(pMiddle);
pEnd = coordinateTransformer.Transform(pEnd);
pCenter = coordinateTransformer.Transform(pCenter);
// 相对系统坐标
start.X = (pStart.ToSystem() - patternNewOrigin.ToSystem()).X;
start.Y = (pStart.ToSystem() - patternNewOrigin.ToSystem()).Y;
middle.X = (pMiddle.ToSystem() - patternNewOrigin.ToSystem()).X;
middle.Y = (pMiddle.ToSystem() - patternNewOrigin.ToSystem()).Y;
end.X = (pEnd.ToSystem() - patternNewOrigin.ToSystem()).X;
end.Y = (pEnd.ToSystem() - patternNewOrigin.ToSystem()).Y;
center.X = (pCenter.ToSystem() - patternNewOrigin.ToSystem()).X;
center.Y = (pCenter.ToSystem() - patternNewOrigin.ToSystem()).Y;
}
/// <summary>
/// 校正本级Pattern，且递归校正子Pattern
/// </summary>
/// <param name="pattern"></param>
/// <param name="patternOldOrigin"></param>
/// <param name="patternNewOrigin"></param>
/// <param name="coordinateTransformer"></param>
public void correctPatternRecursive(Pattern pattern, PointD patternOldOrigin, PointD patternNewOrigin, CoordinateTransformer coordinateTransformer)
{
// 校正轨迹命令坐标
foreach (CmdLine cmdLine in pattern.CmdLineList)
{
cmdLine.Correct(patternOldOrigin, coordinateTransformer, patternNewOrigin);
}
// 校正子Pattern的原点
foreach (var child in pattern.getChildren())
{
PointD childOldOriginPos = new PointD(child.GetOriginPos());
PointD childNewOriginPos = coordinateTransformer.Transform(childOldOriginPos);
// Pattern原点为相对Workpiece的系统坐标
child.Origin.X = (childNewOriginPos.ToSystem() - pattern.Program.Workpiece.GetOriginSys()).X;
child.Origin.Y = (childNewOriginPos.ToSystem() - pattern.Program.Workpiece.GetOriginSys()).Y;
List <MarkCmdLine> childMarks = child.GetMarkCmdLines();
// 有Mark的拼版只校准拼版原点位置和拼版Mark的拍照位置
if (childMarks.Count > 0)
{
foreach (MarkCmdLine item in childMarks)
{
PointD oldPosInMachine = item.PosInPattern + childOldOriginPos;
PointD newPosInMachine = coordinateTransformer.Transform(oldPosInMachine);
VectorD v = newPosInMachine - childNewOriginPos;
item.PosInPattern.X = v.X;
item.PosInPattern.Y = v.Y;
}
}
else
{
// 递归校正子Pattern
correctPatternRecursive(child, childOldOriginPos, childNewOriginPos, coordinateTransformer);
}
}
}
public override void Correct(PointD patternOldOrigin, CoordinateTransformer coordinateTransformer, PointD patternNewOrigin)
{
PointD oldPosMachine = (PosInPattern + patternOldOrigin.ToSystem()).ToMachine();
PointD newPosMachine = coordinateTransformer.Transform(oldPosMachine);
VectorD v = newPosMachine.ToSystem() - patternNewOrigin.ToSystem();
this.PosInPattern.X = v.X;
this.PosInPattern.Y = v.Y;
if (this.MeasureContent.HasFlag(MeasureContents.GlueHeight) && this.MeasureHeightCmdLines != null && this.MeasureHeightCmdLines.Count == 2)
{
foreach (var item in this.MeasureHeightCmdLines)
{
item.Correct(patternOldOrigin, coordinateTransformer, patternNewOrigin);
}
}
}
private PointD CalcuDotsCenter(List <DotCmdLine> dotCmdLines)
{
//double
if (dotCmdLines.Count < 2)
{
return(null);
}
PointD center = new PointD();
PointD org1 = dotCmdLines[0].OrgOffset;
PointD real1 = dotCmdLines[0].Position;
PointD org2 = dotCmdLines[1].OrgOffset;
PointD real2 = dotCmdLines[1].Position;
CoordinateTransformer transformer = new CoordinateTransformer();
transformer.SetMarkPoint(org1, org2, real1, real2);
center = transformer.Transform(new PointD(0, 0));
return(center);
}
/// <summary>
/// 根据拍照得到Workpiece1 和Workpiece2，将patternMarksZero 转换为实际位置
/// </summary>
/// <param name="marks"></param>
public bool TransPoint(List <MarkCmd> marks)
{
if (marks.Count != 2)
{
MessageBox.Show("校正文件mark必须两个mark点");
return(false);
}
try
{
this.patternMarksTransed.Clear();
this.workpieceMark1Transed = (ResultAmphnol)this.workpieceMark1Zero.Clone();
this.workpieceMark1Transed.position = marks[0].ModelFindPrm.TargetInMachine;
this.workpieceMark2Transed = (ResultAmphnol)this.workpieceMark2Zero.Clone();
this.workpieceMark2Transed.position = marks[1].ModelFindPrm.TargetInMachine;
this.workPieceMark1 = marks[0].ModelFindPrm.TargetInMachine.Clone() as PointD;
this.workPieceMark2 = marks[1].ModelFindPrm.TargetInMachine.Clone() as PointD;
CoordinateTransformer transformer = new CoordinateTransformer();
//根据拍照的workpiece Mark校正所有的 pattern Mark的点位
transformer.SetMarkPoint(this.workpieceMark1Zero.position, this.workpieceMark2Zero.position, this.workPieceMark1, this.workPieceMark2);
foreach (ResultAmphnol item in this.patternMarksZero)
{
ResultAmphnol amphnol = (ResultAmphnol)item.Clone();
amphnol.position = transformer.Transform(amphnol.position);
this.patternMarksTransed.Add(amphnol);
}
return(true);
}
catch (Exception e)
{
MessageBox.Show(e.Message);
return(false);
}
}
/// <summary>
/// Load程序后，第一次加载显示Pattern内容后，拍摄Mark点校正Pattern原点及轨迹命令坐标
/// </summary>
/// <param name="pattern"></param>
/// <param name="onStart"></param>
/// <param name="onFinished"></param>
/// <param name="onError"></param>
/// <param name="mustCorrect">必须校正，即使NeedMarkCorrect为false</param>
/// <returns>-1：执行失败，1：不需要校正，0：校正成功</returns>
public int Correct(Pattern pattern)
{
if (pattern == null)
{
Log.Print(TAG, "pattern is null.");
return(-1);
}
//if (!pattern.NeedMarkCorrect)
//{
// Log.Print(TAG, "pattern NeedMarkCorrect : false");
// return 1;
//}
var tuple = this.getMarksRecursive(pattern);
var markCmdLines = tuple.Item2;
if (markCmdLines.Count <= 0)
{
return(1);
}
//if (pattern.GetMarkCmdLines().Count <= 0)
//{
// Log.Print(TAG, "pattern marks count : 0");
// return 1;
//}
// 拍摄Mark点
Result ret = Result.OK;
foreach (MarkCmdLine markCmdLine in markCmdLines)
{
ret = executeMark(tuple.Item1, markCmdLine);
if (!ret.IsOk)
{
return(-1);
}
}
// 生成坐标校正器
CoordinateTransformer coordinateTransformer = new CoordinateTransformer();
if (markCmdLines.Count == 1)
{
if (markCmdLines[0].ModelFindPrm.IsUnStandard)
{
PointD p = new PointD(markCmdLines[0].ModelFindPrm.ReferenceX, markCmdLines[0].ModelFindPrm.ReferenceY);
PointD refXY = (p + tuple.Item1.GetOriginSys()).ToMachine();
if (markCmdLines[0].ModelFindPrm.UnStandardType == 0)
{
coordinateTransformer.SetMarkPoint(refXY, markCmdLines[0].ModelFindPrm.ReferenceA,
markCmdLines[0].ModelFindPrm.TargetInMachine, markCmdLines[0].ModelFindPrm.Angle);
}
else
{
PointD p2 = new PointD(markCmdLines[0].ModelFindPrm.ReferenceX2, markCmdLines[0].ModelFindPrm.ReferenceY2);
PointD refXY2 = (p2 + tuple.Item1.GetOriginSys()).ToMachine();
coordinateTransformer.SetMarkPoint(refXY, refXY2,
markCmdLines[0].ModelFindPrm.TargetInMachine, markCmdLines[0].ModelFindPrm.TargetInMachine2);
}
}
else
{
coordinateTransformer.SetMarkPoint(
markCmdLines[0].ModelFindPrm.PosInMachine,
markCmdLines[0].ModelFindPrm.TargetInMachine);
}
}
else if (markCmdLines.Count == 2)
{
coordinateTransformer.SetMarkPoint(
markCmdLines[0].ModelFindPrm.PosInMachine,
markCmdLines[1].ModelFindPrm.PosInMachine,
markCmdLines[0].ModelFindPrm.TargetInMachine,
markCmdLines[1].ModelFindPrm.TargetInMachine);
}
// 校正Pattern原点
PointD patternOldOrigin = new PointD(pattern.GetOriginPos());
PointD patternNewOrigin = coordinateTransformer.Transform(patternOldOrigin);
if (pattern is Workpiece)
{//workpiece原点为机械坐标
Workpiece w = pattern as Workpiece;
w.OriginPos.X = patternNewOrigin.X;
w.OriginPos.Y = patternNewOrigin.Y;
FluidProgram.Current.GetWorkPieceCmdLine().Origin.X = w.OriginPos.X;
FluidProgram.Current.GetWorkPieceCmdLine().Origin.Y = w.OriginPos.Y;
}
else
{//Pattern原点为相对workpiece的系统坐标
VectorD v = patternNewOrigin.ToSystem() - pattern.Program.Workpiece.GetOriginPos().ToSystem();
pattern.Origin.X = v.X;
pattern.Origin.Y = v.Y;
}
//// 校正轨迹命令坐标
//foreach (CmdLine cmdLine in pattern.CmdLineList)
//{
// cmdLine.Correct(patternOldOrigin, coordinateTransformer, patternNewOrigin);
//}
//// 校正子Pattern的原点
//foreach (var item in pattern.Children)
//{
// PointD newOriginPos = coordinateTransformer.Transform(item.GetOriginPos());
// // Pattern原点为相对Workpiece的系统坐标
// item.Origin.X = (newOriginPos.ToSystem() - pattern.Program.Workpiece.GetOriginSys()).X;
// item.Origin.Y = (newOriginPos.ToSystem() - pattern.Program.Workpiece.GetOriginSys()).Y;
//}
correctPatternRecursive(pattern, patternOldOrigin, patternNewOrigin, coordinateTransformer);
//pattern.NeedMarkCorrect = false;
return(0);
}