/// <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();
}
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);
}
private static void DrawCircle(IRtc rtc, double radius)
{
rtc.ListBegin();
rtc.ListJump(new System.Numerics.Vector2((float)radius, 0));
rtc.ListArc(new System.Numerics.Vector2(0, 0), 360.0);
rtc.ListEnd();
}
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
}
/// <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 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>
/// laser processing
/// </summary>
/// <param name="rtc"></param>
/// <returns></returns>
public override bool Mark(IRtc rtc)
{
if (this.OutterDiameter <= 0)
{
return(false);
}
if (this.InnerDiameter > this.OutterDiameter)
{
return(false);
}
if (this.Revolutions <= 0)
{
return(false);
}
bool success = true;
///translate spiral's center
rtc.Matrix.Push(this.X, this.Y);
///jump to start pos
success &= rtc.ListJump(new Vector2((float)(this.InnerDiameter / 2.0), 0.0f));
///calculate radial pitch
double radialPitch = (this.OutterDiameter - this.InnerDiameter) / 2.0 / (double)this.Revolutions;
for (int i = 0; i < this.Revolutions; i++)
{
for (double t = 0; t < 360; t += 30.0) ///360/30 = 12 steps
{
double angle = t + 360.0 * (double)i;
double degInRad = angle * Math.PI / 180.0;
double d = InnerDiameter / 2.0 + radialPitch * (double)i + radialPitch * t / 360.0;
Vector2 v2;
v2.X = (float)(d * Math.Cos(degInRad));
v2.Y = (float)(d * Math.Sin(degInRad));
success &= rtc.ListMark(v2);
if (!success)
{
break;
}
}
if (!success)
{
break;
}
}
if (success && this.Closed)
{
success &= rtc.ListArc(new Vector2(0.0f, 0.0f), 360.0);
}
rtc.Matrix.Pop();
return(success);
}
/// <summary>
/// draw circle
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
/// <param name="radius"></param>
private static bool DrawCircle(ILaser laser, IRtc rtc, float radius)
{
if (rtc.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
var rtcMeasurement = rtc as IRtcMeasurement;
Debug.Assert(rtcMeasurement != null);
Console.WriteLine("WARNING !!! LASER IS BUSY ... Draw Circle");
timer = Stopwatch.StartNew();
var channels = new MeasurementChannel[4]
{
MeasurementChannel.SampleX, //X
MeasurementChannel.SampleY, //Y
MeasurementChannel.LaserOn, //Gate 0/1
MeasurementChannel.OutputPeriod, //KHz
};
float hz = 10 * 1000; //10KHz (샘플링 주기 : 100usec)
bool success = true;
success &= rtc.ListBegin(laser);
success &= rtcMeasurement.ListMeasurementBegin(hz, channels); //1Khz, 4개 채널
success &= rtc.ListFrequency(50 * 1000, 2); // 주파수 50KHz, 펄스폭 2usec
success &= rtc.ListSpeed(500, 500); // 점프, 마크 속도 500mm/s
success &= rtc.ListDelay(10, 100, 200, 200, 0); // 스캐너/레이저 지연값
success &= rtc.ListJump(new Vector2(radius, 0)); //원 시작 위치
success &= rtc.ListArc(new Vector2(0, 0), 360.0f); // 360도 원 그리기
success &= rtcMeasurement.ListMeasurementEnd();
success &= rtc.ListEnd();
if (success)
{
success &= rtc.ListExecute(true);
}
var measurementFile = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "plot", "measurement_circle.txt");
success &= MeasurementHelper.Save(measurementFile, rtcMeasurement, hz, channels, false);
if (success)
{
Console.WriteLine($"Processing time = {timer.ElapsedMilliseconds / 1000.0:F3}s. plot to file = {measurementFile}");
}
return(success);
}
/// <summary>
/// laser processing
/// </summary>
/// <param name="rtc"></param>
/// <returns></returns>
public override bool Mark(IRtc rtc)
{
if (this.Radius <= 0)
{
return(false);
}
bool success = true;
///translate circle's center
rtc.Matrix.Push(this.X, this.Y);
///jump to start pos
success &= rtc.ListJump(new Vector2((float)(this.Radius), 0.0f));
///rotate 360 degress with CCW
success &= rtc.ListArc(new Vector2(0.0f, 0.0f), 360.0);
rtc.Matrix.Pop();
return(success);
}
/// <summary>
/// laser processing
/// </summary>
/// <param name="rtc"></param>
/// <returns></returns>
public override bool Mark(IRtc rtc)
{
if (this.Radius <= 0)
{
return(false);
}
bool success = true;
///translate arc's center
rtc.Matrix.Push(this.X, this.Y);
///jump to start pos
double x = this.Radius * Math.Sin(this.StartAngle * Math.PI / 180.0);
double y = this.Radius * Math.Cos(this.SweepAngle * Math.PI / 180.0);
success &= rtc.ListJump(new Vector2((float)x, (float)y));
success &= rtc.ListArc(new Vector2(0.0f, 0.0f), this.SweepAngle);
///revert matrix
rtc.Matrix.Pop();
return(success);
}
/// <summary>
/// draw circle
/// </summary>
/// <param name="laser"></param>
/// <param name="rtc"></param>
/// <param name="radius"></param>
private static bool DrawCircle(ILaser laser, IRtc rtc, float radius)
{
if (rtc.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
Console.WriteLine("WARNING !!! LASER IS BUSY ... Draw Circle");
timer = Stopwatch.StartNew();
bool success = true;
success &= rtc.ListBegin(laser);
success &= rtc.ListJump(new Vector2(radius, 0));
success &= rtc.ListArc(new Vector2(0, 0), 360.0f);
success &= rtc.ListEnd();
if (success)
{
success &= rtc.ListExecute(true);
}
Console.WriteLine($"Processing time = {timer.ElapsedMilliseconds / 1000.0:F3}s");
return(success);
}
private static bool MotfWithCircleAndWaitEncoder(ILaser laser, IRtc rtc, bool externalStart)
{
var rtcMotf = rtc as IRtcMOTF;
var rtcExtension = rtc as IRtcExtension;
bool success = true;
// 리스트 시작
success &= rtc.ListBegin(laser, ListType.Single);
// 직선을 그립니다. (엔코더 입력과 무관합니다)
success &= rtc.ListJump(new Vector2(0, 0));
success &= rtc.ListMark(new Vector2(0, 10));
// ListMOTFBegin 부터 ListMOTFEnd 사이의 모든 list 명령어는 엔코더증감값이 적용됩니다
success &= rtcMotf.ListMOTFBegin();
// 엔코더 X 값이 10mm 가 넘을때(Over) 까지 리스트 명령들이 모두 대기됨
success &= rtcMotf.ListMOTFWait(RtcEncoder.EncX, 10, EncoderWaitCondition.Over);
// 엔코더 X 값이 위 조건을 만족한 이후 원 을 그린다
success &= rtc.ListJump(new Vector2((float)10, 0));
success &= rtc.ListArc(new Vector2(0, 0), 360.0f);
// MOTF 중지및 0,0 위치(스캐너 중심 위치)로 jump 실시
success &= rtcMotf.ListMOTFEnd(Vector2.Zero);
success &= rtc.ListEnd();
if (externalStart)
{
// RTC 15핀 커넥터에 있는 /START 을 리스트 시작 트리거로 사용합니다.
var extCtrl = new Rtc5ExternalControlMode();
extCtrl.Add(Rtc5ExternalControlMode.Bit.ExternalStart);
extCtrl.Add(Rtc5ExternalControlMode.Bit.ExternalStartAgain);
rtcExtension.CtlExternalControl(extCtrl);
}
else
{
// 외부 트리거(/START) 미사용
rtcExtension.CtlExternalControl(Rtc5ExternalControlMode.Empty);
if (success)
{
success &= rtc.ListExecute();
}
}
return(success);
}