private void bn_Test2_Click(object sender, RoutedEventArgs e)
{
g_VisionManager._CamManager.fn_SetSimulFrame(ac_Align.fn_GetImageStream());
ST_VISION_RESULT vResult = new ST_VISION_RESULT();
g_VisionManager.fn_PreAlign(ref vResult, true);
fn_WriteResult($"X : {vResult.pntModel.X:F3} mm, Y : {vResult.pntModel.Y:F3} mm, Score : {vResult.dScore:F3}, Angle : {vResult.dTheta:F2}");
}
//---------------------------------------------------------------------------
void fn_ManualAlign(Rect rect)
{
// Manual align이라고 Log 표시 할 것. (Lot Log)
// - Map 바꿔줘야함 => Align을 Polishing으로.
// Inposition Check해야함.
int step_result = 0;
//bool bErr = false;
double dTiltInterpolation = 0.0;
Point pntStart = new Point();
Point pntEnd = new Point();
Point pntMillingStart = new Point();
Point pntMillingEnd = new Point();
Point pntModelSpan = new Point();
//ST_RESULT Result = new ST_RESULT();
ST_VISION_RESULT stvisionResult = new ST_VISION_RESULT(0);
double dPlateCenterX = MOTR[(int)EN_MOTR_ID.miSPD_X].GetPosToCmdId(EN_COMD_ID.User1);
double dPlateCenterY = MOTR[(int)EN_MOTR_ID.miPOL_Y].GetPosToCmdId(EN_COMD_ID.User1);
double dPlateInterpolationPosX = dPlateCenterX;
double dPlateInterpolationPosY = 0.0;
double dXOffset = 7;
double dYOffset = 7;
for (int step = 0; step < g_VisionManager.CurrentRecipe.Model[0].MillingCount; step++)
{
dTiltInterpolation = g_VisionManager.fn_GetTiltInterpolation(g_VisionManager.CurrentRecipe.Model[0].Milling[step].Tilt);
fn_WriteLog(this.Title + $"Tilt Interpolation : {dTiltInterpolation.ToString("0.000")}", UserEnum.EN_LOG_TYPE.ltVision);
pntStart.X = 0;
pntStart.Y = 0;
pntEnd.X = 0;
pntEnd.Y = 0;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseMilling = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Enable;
SEQ_SPIND.vresult.stRecipeList[step_result].dTilt = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Tilt;
SEQ_SPIND.vresult.stRecipeList[step_result].dRPM = g_VisionManager.CurrentRecipe.Model[0].Milling[step].RPM;
SEQ_SPIND.vresult.stRecipeList[step_result].dForce = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Force;
SEQ_SPIND.vresult.stRecipeList[step_result].dSpeed = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Speed;
SEQ_SPIND.vresult.stRecipeList[step_result].dPitch = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Pitch;
SEQ_SPIND.vresult.stRecipeList[step_result].nPathCnt = g_VisionManager.CurrentRecipe.Model[0].Milling[step].PathCount;
SEQ_SPIND.vresult.stRecipeList[step_result].nCycle = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Cycle;
SEQ_SPIND.vresult.stRecipeList[step_result].nUtilType = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilType;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseUtilFill = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilFill;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseUtilDrain = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilDrain;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseImage = g_VisionManager.CurrentRecipe.Model[0].Milling[step].MillingImage;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseEPD = g_VisionManager.CurrentRecipe.Model[0].Milling[step].EPD;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseToolChg = g_VisionManager.CurrentRecipe.Model[0].Milling[step].ToolChange;
SEQ_SPIND.vresult.stRecipeList[step_result].nToolType = g_VisionManager.CurrentRecipe.Model[0].Milling[step].ToolType;
SEQ_SPIND.vresult.stRecipeList[step_result].dTiltOffset = dTiltInterpolation;
//vs.stRecipeList[step_result].nUtility = CurrentRecipe.Model[nModelNum].Milling[step].Util;
// Milling Rect의 좌상단 좌표 1사분면으로 변환. (Start End Position 계산 때문에 Rect 중심계산 생략)
pntMillingStart = fn_GetPositionFromImageCenter(
new Point(
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Left,
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Top)
, g_VisionManager._RecipeVision.CamWidth, g_VisionManager._RecipeVision.CamHeight);
pntMillingEnd = fn_GetPositionFromImageCenter(
new Point(
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Right,
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Bottom)
, g_VisionManager._RecipeVision.CamWidth, g_VisionManager._RecipeVision.CamHeight);
fn_WriteLog(this.Title + $"Manual Align Step : {step}, MilPx X: {g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.X.ToString("0.000")}, MilPx Y: {g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Y.ToString("0.000")}, pntMilling : S({pntMillingStart.X.ToString("0.000")}, {pntMillingStart.Y.ToString("0.000")}), E({pntMillingEnd.X.ToString("0.000")}, {pntMillingEnd.Y.ToString("0.000")})", UserEnum.EN_LOG_TYPE.ltVision);
//---------------------------------------------------------------------------
// Tilt 보상 적용 할 것.
//---------------------------------------------------------------------------
// Position 계산.
// Left
pntStart.X = pntMillingStart.X + pntModelSpan.X;
pntStart.X *= (g_VisionManager._RecipeVision.ResolutionX / 1000.0); // um -> mm
// Top
pntStart.Y = pntMillingStart.Y + pntModelSpan.Y;
pntStart.Y *= (g_VisionManager._RecipeVision.ResolutionY / 1000.0); // um -> mm
pntStart.Y += dTiltInterpolation; // (mm Scale)
// Right
pntEnd.X = pntMillingEnd.X + pntModelSpan.X;
pntEnd.X *= (g_VisionManager._RecipeVision.ResolutionX / 1000.0); // um -> mm
// Bottom
pntEnd.Y = pntMillingEnd.Y + pntModelSpan.Y;
pntEnd.Y *= (g_VisionManager._RecipeVision.ResolutionY / 1000.0); // um -> mm
pntEnd.Y += dTiltInterpolation; // (mm Scale)
fn_WriteLog(this.Title + $"pntStart : ({pntStart.X.ToString("0.000")}, {pntStart.Y.ToString("0.000")}), pntEnd : ({pntEnd.X.ToString("0.000")}, {pntEnd.Y.ToString("0.000")})", UserEnum.EN_LOG_TYPE.ltVision);
// Start Position Direction Calculation.
switch (g_VisionManager.CurrentRecipe.Model[0].Milling[step].StartPos)
{
// Left-Bottom
case 0:
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X = pntStart.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y = pntEnd.Y;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X = pntEnd.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y = pntStart.Y;
break;
// Right-Bottom
case 1:
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X = pntEnd.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y = pntEnd.Y;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X = pntStart.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y = pntStart.Y;
break;
}
fn_WriteLog(this.Title + $"End Direction : ({SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X}, {SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y}), pntEnd : ({SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X}, {SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y})", UserEnum.EN_LOG_TYPE.ltVision);
//---------------------------------------------------------------------------
// Theta
//---------------------------------------------------------------------------
SEQ_SPIND.vresult.stRecipeList[step_result].dTheta = 0;
//---------------------------------------------------------------------------
step_result++;
}
//---------------------------------------------------------------------------
// 좌표계 변환. => Cam 기준 상대좌표. (3사분면 좌표계)
stvisionResult.pntModel.X *= g_VisionManager._RecipeVision.ResolutionX / 1000.0;
stvisionResult.pntModel.Y *= g_VisionManager._RecipeVision.ResolutionY / 1000.0;
//---------------------------------------------------------------------------
int nTotal = stvisionResult.nTotalStep;
double dXpos = MOTR.GetEncPos(EN_MOTR_ID.miSPD_X);
double dYpos = MOTR.GetEncPos(EN_MOTR_ID.miPOL_Y);
double dTHpos = MOTR.GetEncPos(EN_MOTR_ID.miPOL_TH);
//Save X,Y Value
for (int n = 0; n < nTotal; n++)
{
// + (Spindle)
// □ (Cam)
// Spindle X Pos Value > Cam X Pos Value
// Spindle이 더가야하므로 Offset + 부호
// + (Spindle)
// □ (Cam)
// Spindle X Pos Value < Cam X Pos Value
// Spindle이 덜가야하므로 Offset - 부호
stvisionResult.stRecipeList[n].dStartX = dXpos - stvisionResult.stRecipeList[n].pStartPos.X + g_VisionManager._RecipeVision.SpindleOffsetX;
stvisionResult.stRecipeList[n].dEndX = dXpos - stvisionResult.stRecipeList[n].pEndPos.X + g_VisionManager._RecipeVision.SpindleOffsetX;
stvisionResult.stRecipeList[n].dStartY = dYpos + stvisionResult.stRecipeList[n].pStartPos.Y - g_VisionManager._RecipeVision.SpindleOffsetY;
stvisionResult.stRecipeList[n].dEndY = dYpos + stvisionResult.stRecipeList[n].pEndPos.Y - g_VisionManager._RecipeVision.SpindleOffsetY;
fn_WriteLog($"-----------------------------Result Process------------------------", EN_LOG_TYPE.ltVision);
fn_WriteLog($"{n} - Start Pos : {stvisionResult.stRecipeList[n].dStartX}, {stvisionResult.stRecipeList[n].dStartY}", EN_LOG_TYPE.ltVision);
fn_WriteLog($"{n} - End Pos : {stvisionResult.stRecipeList[n].dEndX}, {stvisionResult.stRecipeList[n].dEndY}", EN_LOG_TYPE.ltVision);
stvisionResult.stRecipeList[n].dPosTH = dTHpos;
//---------------------------------------------------------------------------
// System Offset
//---------------------------------------------------------------------------
stvisionResult.stRecipeList[n].dStartX += FM.m_stProjectBase.dPolishOffset_X;
stvisionResult.stRecipeList[n].dEndX += FM.m_stProjectBase.dPolishOffset_X;
stvisionResult.stRecipeList[n].dStartY += FM.m_stProjectBase.dPolishOffset_Y;
stvisionResult.stRecipeList[n].dEndX += FM.m_stProjectBase.dPolishOffset_Y;
stvisionResult.stRecipeList[n].dTilt += FM.m_stProjectBase.dPolishOffset_TI;
//---------------------------------------------------------------------------
// Theta Offset 은 추가 스탭 작업 요함.
// => Theta 가공은 Align 이후 특정 각도를 돌려서 가공을 하기위함 이므로.
//stvisionResult.stRecipeList[n].dPosTH += FM.m_stProjectBase.dPolishOffset_TH;
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// Vision Align InPosition Error
//---------------------------------------------------------------------------
// Interpolation Tilt.
dPlateInterpolationPosY = dPlateCenterY + g_VisionManager.fn_GetTiltInterpolation(stvisionResult.stRecipeList[n].dTilt);
//vresult.stRecipeList[n].dTiltOffset = g_VisionManager.fn_GetTiltInterpolation(stvisionResult.stRecipeList[n].dTilt);
//Console.WriteLine($"TiltOffset- Offset - {n}:{stvisionResult.stRecipeList[n].dTiltOffset}, Tilt : {stvisionResult.stRecipeList[n].dTilt}");
//fn_WriteLog($"TiltOffset- Offset - {n}:{stvisionResult.stRecipeList[n].dTiltOffset}, Tilt : {stvisionResult.stRecipeList[n].dTilt}");
if (stvisionResult.stRecipeList[n].dStartX <dPlateInterpolationPosX - dXOffset || stvisionResult.stRecipeList[n].dStartX> dPlateInterpolationPosX + dXOffset)
{
fn_WriteLog($"Start X InPosition Error.{n}", EN_LOG_TYPE.ltVision);
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dEndX <dPlateInterpolationPosX - dXOffset || stvisionResult.stRecipeList[n].dEndX> dPlateInterpolationPosX + dXOffset)
{
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dStartY <dPlateInterpolationPosY - dYOffset || stvisionResult.stRecipeList[n].dStartY> dPlateInterpolationPosY + dYOffset)
{
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dEndY <dPlateInterpolationPosY - dYOffset || stvisionResult.stRecipeList[n].dEndY> dPlateInterpolationPosY + dYOffset)
{
//bErr = true;
}
}
//File Save
SEQ_SPIND.fn_LoadVisnResult(false);
DM.MAGA[(int)EN_MAGA_ID.POLISH].SetTo((int)EN_PLATE_STAT.ptsPolish);
}
