private VisionResult Fm_SoftwareCliab_DetectLabel(string arg1, Module arg2, Nozzle arg3)
{
VisionResult rtn = new VisionResult();
if (this.bSet_CamLive)
{
this.bCamLive_Click(this, new EventArgs());
Thread.Sleep(100);
}
Camera camera = Camera.Bottom1;
if (arg3 == Nozzle.Nz3 || arg3 == Nozzle.Nz4)
{
camera = Camera.Bottom2;
}
var roi = SystemEntiy.Instance[arg2].MachineConfig[arg3].ViewRoi;
using (VisionImage img = CameraDefine.Instance.Camera[arg2][camera].Snap())
{
rtn = VisionCalHelper.Instance.DetectUI(arg1, img, roi);
Algorithms.Copy(img, this.imageSet.imageSet.Image);
}
return(rtn);
}
private void sliderthroat_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e) //funcion que cambia la forma de la tubera
{
try
{
canvasNozzle.Children.Clear();
double k = this.sliderthroat.Value * this.dx;
this.nozzle = new Nozzle(this.numR, this.dx, k);
this.pilaNozzle = new Stack <Nozzle>();
// Courant condition --> stability
this.dt = this.nozzle.getdt(this.C, this.dx);
this.positionThroat = this.nozzle.getthroatpos();
contadortxt.Text = " Contador: " + this.contadordt.ToString() + " Δt";
this.listdt = new List <double>(); this.listdt.Add(this.contadordt);
this.listdendt = new List <double>(); this.listdendt.Add(this.nozzle.GetRectangulo(this.positionThroat).GetDensP());
this.listpredt = new List <double>(); this.listpredt.Add(this.nozzle.GetRectangulo(this.positionThroat).GetPresP());
this.listtempdt = new List <double>(); this.listtempdt.Add(this.nozzle.GetRectangulo(this.positionThroat).GetTempP());
this.listveldt = new List <double>(); this.listveldt.Add(this.nozzle.GetRectangulo(this.positionThroat).GetVelP());
this.listmassflowdt = new List <double>(); this.listmassflowdt.Add(listdendt[this.contadordt] * this.nozzle.GetRectangulo(this.positionThroat).GetArea() * this.listveldt[this.contadordt]);
fillCanvasNozzleSlider();
refreshCanvas();
updateParameterlist();
crearDataTable();
}
catch { }
}
public short RGoAngle(double angle, Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
rtn += this.MachineAxis.R[(int)nozzle].GoPos(angle, SpeedDefine.Instance[Module][shceme, GeneralAxis.U]);
return(rtn);
}
// Use this for initialization
void Start()
{
mainThruster = gameObject.transform.Find("Thrusters/MainThruster").GetComponent <Nozzle> ();
frontLeftThruster = gameObject.transform.Find("Thrusters/FrontLeftThruster").GetComponent <Nozzle> ();
frontRightThruster = gameObject.transform.Find("Thrusters/FrontRightThruster").GetComponent <Nozzle> ();
backLeftThruster = gameObject.transform.Find("Thrusters/BackLeftThruster").GetComponent <Nozzle> ();
backRightThruster = gameObject.transform.Find("Thrusters/BackRightThruster").GetComponent <Nozzle> ();
frontThruster1 = gameObject.transform.Find("Thrusters/FrontThruster1").GetComponent <Nozzle> ();
frontThruster2 = gameObject.transform.Find("Thrusters/FrontThruster2").GetComponent <Nozzle> ();
if (weapons.Count != 0)
{
activeWeapon = weapons[0]; weaponNr = 1;
}
else
{
weaponNr = 0;
}
pidController = gameObject.GetComponent <PIDController> ();
if (gameObject.tag == "Vessel")
{
StartCoroutine(ClearSpaceAroundShip(false, 0.1f));
}
initialFuel = fuel; fuelIsBingo = false;
initialHealth = health;
}
/// <summary>
/// 根据吸嘴获得实际坐标
/// </summary>
/// <param name="nz">输入-吸嘴</param>
/// <param name="capturePt"></param>
/// <param name="imagePt"></param>
/// <param name="wroldPt"></param>
/// <returns></returns>
public bool WroldPt(Nozzle nz, PointF capturePt, PointContour imagePt, out PointF wroldPt)
{
Camera camera = Camera.Bottom1;
if (nz == Nozzle.Nz3 || nz == Nozzle.Nz4)
{
camera = Camera.Bottom2;
}
int i = 0;
if (nz == Nozzle.Nz2 || nz == Nozzle.Nz4)
{
i = 1;
}
wroldPt = new PointF();
try
{
PointF pt1 = CameraDefine.Instance.CameraList[this.Module][camera].Mat2D[i].Pixel2World(imagePt);
wroldPt = pt1;
wroldPt.X = capturePt.X - (pt1.X - CameraDefine.Instance.CameraList[this.Module][camera].Mat2D[i].CliabCenter.X);
wroldPt.Y = capturePt.Y - (pt1.Y - CameraDefine.Instance.CameraList[this.Module][camera].Mat2D[i].CliabCenter.Y);
return(true);
}
catch { return(false); }
}
public ulong this[Nozzle nz]
{
get
{
if (ZDropCount.ContainsKey(nz))
{
return(ZDropCount[nz]);
}
else
{
return(0);
}
}
set
{
if (!ZDropCount.ContainsKey(nz))
{
ZDropCount.Add(nz, value);
}
else
{
ZDropCount[nz] = value;
}
}
}
public override void OnEnter()
{
for (Nozzle nz = Nozzle.Nz1; nz <= Nozzle.Nz4; ++nz)
{
switch (this.machine.RunData.RUN_NzData[nz].State)
{
case NZ_State.Sucked:
case NZ_State.DownSuccessed:
case NZ_State.DownFailed:
this.RejectList.Add(nz);
this.MoveParam.NzUsed[(int)nz] = true;
this.MoveParam.ZPos[(int)nz] = this.entiy.MachineConfig[nz].DropHeight;
this.MoveParam.MoveR = true;
this.MoveParam.MoveZ = true;
this.MoveParam.XYPos = this.entiy.MachineConfig.DropPoint;
break;
case NZ_State.Pasted:
this.machine.RunData.RUN_NzData[nz].State = NZ_State.NoUsed;
break;
}
}
base.OnEnter();
}
public Anderson()
{
InitializeComponent();
// creamos el nozzle con las condiciones iniciales
this.Ax = 0.1;
this.nozzle = new Nozzle(30, this.Ax);
this.At = this.nozzle.getdt(0.5, this.Ax);
// creamos las tablas
AndersonTabla_FisrtStep = new DataTable();
AndersonTabla_SteadyState = new DataTable();
AndersonTabla_InitialConditions = new DataTable();
NozzleTabla_FirstStep = new DataTable();
NozzleTabla_SteadyState = new DataTable();
NozzleTabla_InitialConditions = new DataTable();
ErrorDataTable_FirstStep = new DataTable();
ErrorDataTable_SteadyState = new DataTable();
ErrorDataTable_InitialConditions = new DataTable();
this.createTables();
// por defecto: first step table
andersongrid.ItemsSource = AndersonTabla_FisrtStep.DefaultView;
andersongrid.DataContext = AndersonTabla_FisrtStep.DefaultView;
andersongrid.Items.Refresh();
datasimgrid.ItemsSource = NozzleTabla_FirstStep.DefaultView;
datasimgrid.DataContext = NozzleTabla_FirstStep.DefaultView;
datasimgrid.Items.Refresh();
errorgrid.ItemsSource = ErrorDataTable_FirstStep.DefaultView;
errorgrid.DataContext = ErrorDataTable_FirstStep.DefaultView;
errorgrid.Items.Refresh();
}
public PointF GetPasteOffset(Nozzle nz, PointF upPt, PointF pastePt)
{
PointF realPt = pastePt;
double p1, p2, p3, p4, os, os2;
if (HardwareOrgHelper.Instance.HardWare[this.Module].XPoly != null)
{
p1 = HardwareOrgHelper.Instance.HardWare[this.Module].XPoly.Evaluate(upPt.X);
p2 = HardwareOrgHelper.Instance.HardWare[this.Module].XPoly.Evaluate(this.MachineConfig[nz].UpMarkPt.X);
os = p2 - p1;
p3 = HardwareOrgHelper.Instance.HardWare[this.Module].XPoly.Evaluate(pastePt.X);
p4 = HardwareOrgHelper.Instance.HardWare[this.Module].XPoly.Evaluate(this.MachineConfig[nz].PastePt.X);
os2 = p3 - p4;
realPt.X += (float)(os + os2);
}
if (HardwareOrgHelper.Instance.HardWare[this.Module].YPoly != null)
{
p1 = HardwareOrgHelper.Instance.HardWare[this.Module].YPoly.Evaluate(upPt.Y);
p2 = HardwareOrgHelper.Instance.HardWare[this.Module].YPoly.Evaluate(this.MachineConfig[nz].UpMarkPt.Y);
os = p2 - p1;
p3 = HardwareOrgHelper.Instance.HardWare[this.Module].YPoly.Evaluate(pastePt.Y);
p4 = HardwareOrgHelper.Instance.HardWare[this.Module].YPoly.Evaluate(this.MachineConfig[nz].PastePt.Y);
os2 = p3 - p4;
realPt.Y += (float)(os + os2);
}
return(realPt);
}
/// <summary>
/// 初始化运行时变量
/// </summary>
/// <param name="multiInfo"></param>
public void Restet(MultiPasteInfo multiInfo)
{
RUN_CamMarkIsDone = false;
RUN_CamBadmarkIsDone = false;
RUN_CamPanelIsDone = false;
RUN_CamCodeIsDone = false;
RUN_NzData = new ConcurrentDictionary <Nozzle, NZ_RunData>();
RUN_PCBData = new List <Board_RunData>();
for (Nozzle nz = Nozzle.Nz1; nz <= Nozzle.Nz4; ++nz)
{
RUN_NzData.TryAdd(nz, new NZ_RunData());
}
for (int i = 0; i < multiInfo.PasteInfos.Count; ++i)
{
RUN_PCBData.Add(new Board_RunData());
RUN_PCBData[i].MarkData = new Mark_RunData();
RUN_PCBData[i].PcsData = new Pcs_RunData[multiInfo.PasteInfos[i].PasteList.Count];
for (int j = 0; j < multiInfo.PasteInfos[i].PasteList.Count; ++j)
{
RUN_PCBData[i].PcsData[j] = new Pcs_RunData();
if (!multiInfo.PasteInfos[i].PasteList[j].CanPaste)
{
RUN_PCBData[i].PcsData[j].iPasteState = 3;
}
RUN_PCBData[i][j].UpPastePt = multiInfo.PasteInfos[i].PasteList[j].Pos;
}
}
ChangePasteRegion?.Invoke(this.module);
UpdateChart?.Invoke(this.module);
}
public UpdateCalculationRequest()
{
HoseLength = 0;
TipSize = 0;
HoseSize = 0;
NozzleType = Nozzle.SmoothBoreHand;
}
// Use this for initialization
void Start()
{
mainThruster = gameObject.transform.Find("Thrusters/MainThruster").GetComponent <Nozzle> ();
frontLeftThruster = gameObject.transform.Find("Thrusters/FrontLeftThruster").GetComponent <Nozzle> ();
frontRightThruster = gameObject.transform.Find("Thrusters/FrontRightThruster").GetComponent <Nozzle> ();
backLeftThruster = gameObject.transform.Find("Thrusters/BackLeftThruster").GetComponent <Nozzle> ();
backRightThruster = gameObject.transform.Find("Thrusters/BackRightThruster").GetComponent <Nozzle> ();
frontThruster1 = gameObject.transform.Find("Thrusters/FrontThruster1").GetComponent <Nozzle> ();
frontThruster2 = gameObject.transform.Find("Thrusters/FrontThruster2").GetComponent <Nozzle> ();
if (weapons.Length != 0)
{
activeWeapon = weapons[0]; weaponIndex = 1;
}
else
{
weaponIndex = 0;
}
radar = gameObject.transform.Find("Radar").GetComponent <RadarController>();
radar.pingReach = radarRange;
radar.SetRadarOff();
initialFuel = fuel; fuelIsBingo = false;
pidController = gameObject.GetComponent <PIDController> ();
if (gameObject.tag == "Vessel")
{
StartCoroutine(ClearSpaceAroundShip(false, 0.1f));
}
}
private void bUpdateRotate_Click(object sender, EventArgs e)
{
try
{
double x = double.Parse(this.tDetectX.Text);
double y = double.Parse(this.tDetectY.Text);
this.tRotateX.Text = this.tDetectX.Text;
this.tRotateY.Text = this.tDetectY.Text;
SystemEntiy.Instance[this.module.Module].MachineConfig[this.selectNz2.SelectNz].RotatePoint = new PointContour(x, y);
SystemEntiy.Instance[this.module.Module].MachineConfig[this.selectNz2.SelectNz].RotateCamPoint = SystemEntiy.Instance[this.module.Module].XYPos;
SystemConfig.Save();
PointF captrue = SystemEntiy.Instance[this.module.Module].XYPos;
for (Nozzle nz = Nozzle.Nz1; nz <= Nozzle.Nz4; ++nz)
{
if (SystemEntiy.Instance[this.module.Module].MachineConfig[this.selectNz2.SelectNz].RotateCamPoint != captrue)
{
MessageBox.Show("吸嘴拍照位置不一致!!请确认");
return;
}
}
}
catch { }
}
public void SetNozzle(int index, Nozzle nozzle)
{
if (index < equippedNozzles_.Count())
{
this.equippedNozzles_[index] = nozzle;
}
}
public override void OnEnter()
{
if (SystemConfig.Instance.General.EnableNozzleCheck &&
SystemConfig.Instance.General.RunMode == RunMode.Normal)
{
#region 设置曝光和打光
if (SystemConfig.Instance.General.RunMode == RunMode.Normal)
{
for (Nozzle nz = Nozzle.Nz1; nz <= Nozzle.Nz4; ++nz)
{
if (this.machine.RunData.RUN_NzData[nz].State == NZ_State.Pasted)
{
if (nz == Nozzle.Nz1 || nz == Nozzle.Nz2)
{
VisionCalHelper.Instance.SetShutterAndLight(entiy.Module, Camera.Bottom1
, this.machine.RunData.RUN_NzData[nz].SuckLabel);
}
else
{
VisionCalHelper.Instance.SetShutterAndLight(entiy.Module, Camera.Bottom2
, this.machine.RunData.RUN_NzData[nz].SuckLabel);
}
break;
}
}
}
#endregion
base.OnEnter();
}
else
{
this.OnExit();
}
}
public override void OnEnter()
{
this.MoveParam.XYPos = entiy.MachineConfig[Nozzle.Nz1].RotateCamPoint;
// 设置曝光和打光
Task.Factory.StartNew(() => {
bool c1Light = false;
bool c2Light = false;
for (Nozzle nz = Nozzle.Nz1; nz <= Nozzle.Nz4; ++nz)
{
if (this.machine.RunData.RUN_NzData[nz].State == NZ_State.Sucked)
{
if ((nz == Nozzle.Nz1 || nz == Nozzle.Nz2) && !c1Light)
{
VisionCalHelper.Instance.SetShutterAndLight(entiy.Module, Camera.Bottom1
, this.machine.RunData.RUN_NzData[nz].SuckLabel);
c1Light = true;
}
if ((nz == Nozzle.Nz3 || nz == Nozzle.Nz4) && !c2Light)
{
VisionCalHelper.Instance.SetShutterAndLight(entiy.Module, Camera.Bottom2
, this.machine.RunData.RUN_NzData[nz].SuckLabel);
c2Light = true;
}
}
}
});
base.OnEnter();
}
public NozzleConfig this[Nozzle nozzle]
{
get
{
return(NozzleMap[nozzle]);
}
}
private void button2_Click(object sender, EventArgs e)
{
try
{
if (!ValidateInputNozzel())
{
return;
}
Nozzle type = new Nozzle();
type.Id = commonFunctions.ToInt(lbl_nozzel.Text.Trim());
type.PumpId = commonFunctions.ToInt(lbl_id.Text.Trim());
type.FuelTypeId = commonFunctions.ToInt(cmb_fueltypes.SelectedValue.ToString());
type.TankId = commonFunctions.ToInt(cmb_tanks.SelectedValue.ToString());
type.UnitPrice = txt_unitPrice.Value;
type.NozzelName = txt_nozzelName.Text.Trim();
type.LastTotalizerReading = 0;
type.GroupOfCompanyID = 1;
type.ModifiedUser = commonFunctions.LoginuserID;
type.ModifiedDate = DateTime.Now;
type.CreatedUser = commonFunctions.LoginuserID;
type.CreatedDate = DateTime.Now;
type.DataTransfer = 1;
if (MessageBox.Show("Do you want to insert this record?", Messaging.MessageCaption, MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
{
repoNozzle.Update(type);
GetData();
}
}
catch (Exception ex)
{
MessageBox.Show("Error Has found when Saving data. Please forword following details to technical" + Environment.NewLine + "[" + ex.Message + Environment.NewLine + ex.Source + "]", Messaging.MessageCaption, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void CalNz(Nozzle nz, string funcName, VisionImage image)
{
if (this.machine.RunData.RUN_NzData[nz].State == NZ_State.Sucked)
{
// 移动完成开始拍照
var item = new Tool.ResultItem();
if (nz == Nozzle.Nz1 || nz == Nozzle.Nz2)
{
item.Camera = Camera.Bottom1;
}
else
{
item.Camera = Camera.Bottom2;
}
int offset = 0;
if (nz == Nozzle.Nz2 || nz == Nozzle.Nz4)
{
offset = 800;
}
item.Key = ResultKey.DownVision;
item.ROI = this.machine.MachineEntiy.MachineConfig[nz].ViewRoi;
item.NZIndex = nz;
item.funcName = funcName;
item.PCBIndex = this.machine.RunData.RUN_NzData[nz].PCBIndex;
item.PCSIndex = this.machine.RunData.RUN_NzData[nz].PCSIndex;
item.CaptruePos = this.entiy.MachineConfig[Nozzle.Nz1].RotateCamPoint;
VisionCalHelper.Instance.VisionDetect(entiy.Module, item, image, offset);
}
}
public PointF NozzleToCam(Nozzle nozzle, PointF nzPt)
{
PointF cur = this.XYPos;
cur.X = nzPt.X + this.MachineConfig[nozzle].NzToCam.X;
cur.Y = nzPt.Y + this.MachineConfig[nozzle].NzToCam.Y;
return(cur);
}
public static IList <Pressure> GetPressureFor(Nozzle nozzle)
{
var ret = from p in _db.Table <Pressure>()
where p.NozzleId == nozzle.Id
select p;
return(ret.ToList());
}
/// <summary>
/// 相机位转吸嘴位
/// </summary>
/// <param name="nz"></param>
/// <param name="labelPt"></param>
/// <returns></returns>
public PointF LabelToNz(Nozzle nz, PointF labelPt)
{
PointF nzPt = new PointF();
nzPt.X = labelPt.X - this.MachineConfig[nz].NzToLabelDist.X;
nzPt.Y = labelPt.Y - this.MachineConfig[nz].NzToLabelDist.Y;
return(nzPt);
}
/// <summary>
/// 吸嘴位转相机位
/// </summary>
/// <param name="nz"></param>
/// <param name="nzPt"></param>
/// <returns></returns>
public PointF NzToLabel(Nozzle nz, PointF nzPt)
{
PointF label = new PointF();
label.X = nzPt.X + this.MachineConfig[nz].NzToLabelDist.X;
label.Y = nzPt.Y + this.MachineConfig[nz].NzToLabelDist.Y;
return(label);
}
public short ZGoPosTillStop(Nozzle nozzle, double pos, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
double curPos = this.MachineAxis.Z[(int)nozzle].Pos;
rtn += this.MachineAxis.Z[(int)nozzle].GoPosTillStop(ConstDefine.iActionTimeout, pos, SpeedDefine.Instance[Module][curPos, pos, shceme, GeneralAxis.Z]);
return(rtn);
}
public short RGoAngleTillStop(double angle, Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
double curPos = this.MachineAxis.R[(int)nozzle].Pos;
rtn += this.MachineAxis.R[(int)nozzle].GoPosTillStop(ConstDefine.iActionTimeout, angle, SpeedDefine.Instance[Module][curPos, angle, shceme, GeneralAxis.U]);
return(rtn);
}
/// <summary>
/// 相机 转 吸嘴坐标
/// </summary>
/// <param name="camPt"></param>
/// <returns></returns>
public PointF CamToNozzle(Nozzle nozzle, PointF camPt)
{
PointF cur = this.XYPos;
cur.X = camPt.X - this.MachineConfig[nozzle].NzToCam.X;
cur.Y = camPt.Y - this.MachineConfig[nozzle].NzToCam.Y;
return(cur);
}
public ActionResult DeleteConfirmed(long id)
{
Nozzle nozzle = db.Nozzles.Find(id);
db.Nozzles.Remove(nozzle);
db.SaveChanges();
return(RedirectToAction("Index"));
}
public static IList <WaterFlow> GetWaterFlowFor(Nozzle nozzle)
{
var ret = from wf in _db.Table <WaterFlow>()
where wf.NozzleId == nozzle.Id
select wf;
return(ret.ToList());
}
public DataTable SimularUnCiclo() // simula un único ciclo y da la tabla con los resultados
{
Nozzle newnozzle = new Nozzle(this.nozzle);
newnozzle.EjecutarCiclo(this.At, this.Ax, 1.4);
newnozzle.ActualizarEstados();
return(newnozzle.GetEstado(this.Ax));
}
private void bCalRotateCenter_Click(object sender, EventArgs e)
{
if (fm_SoftwareCliab.FindTemp == null || fm_SoftwareCliab.FindTemp.GetInvocationList().Length <= 0)
{
MessageBox.Show("请打开相机轴控界面!!");
return;
}
Task.Factory.StartNew(() => {
var entiy = SystemEntiy.Instance[this.module.Module];
PointF curPos = entiy.XYPos;
Nozzle nz = this.selectNz2.SelectNz;
PointContour circle = new PointContour();
List <PointF> ImagePt = new List <PointF>();
Camera camera = Camera.Bottom1;
if (nz == Nozzle.Nz3 || nz == Nozzle.Nz4)
{
camera = Camera.Bottom2;
}
// 12 次拟合
for (int I = 0; I < 6; ++I)
{
entiy.RGoAngleTillStop(I * 60, nz);
Thread.Sleep(200);
var result = fm_SoftwareCliab.FindTemp.Invoke(this.module.Module, camera);
if (result.State == VisionResultState.OK)
{
ImagePt.Add(new PointF((float)result.Point.X, (float)result.Point.Y));
}
else
{
MessageBox.Show("侦测失败!!");
return;
}
}
double x, y, r = 0;
if (VisionHelper.FitCircle(ImagePt.ToArray(), out x, out y, out r))
{
circle.X = x;
circle.Y = y;
this.BeginInvoke(new Action(() => {
this.tDetectX.Text = x.ToString("f3");
this.tDetectY.Text = y.ToString("f3");
}));
MessageBox.Show("旋转中心检测成功!!");
}
else
{
MessageBox.Show("拟合圆失败!!");
}
});
}
