public DialogCalibCamera Setup()
{
this.CamCtrl.HideROI();
this.prm.ModelWidth = 200;
this.prm.ModelHeight = 200;
this.prm.ModelTopLeftX = this.CamCtrl.ImgCenter.X - this.prm.ModelWidth / 2;
this.prm.ModelTopLeftY = this.CamCtrl.ImgCenter.Y - this.prm.ModelHeight / 2;
this.prm.SearchTopLeftX = 0;
this.prm.SearchTopLeftY = 0;
this.prm.SearchWidth = this.CamCtrl.ImgWidth;
this.prm.SearchHeight = this.CamCtrl.ImgHeight;
this.nudRoiWidth.Maximum = this.CamCtrl.ImgWidth;
this.nudRoiHeight.Maximum = this.CamCtrl.ImgHeight;
this.nudRoiWidth.Value = this.prm.ModelWidth;
this.nudRoiHeight.Value = this.prm.ModelHeight;
this.lblAngle.Text = Machine.Instance.Robot.CalibBy9dPrm.Angle.ToString();
this.lblScale.Text = Machine.Instance.Robot.CalibBy9dPrm.Scale.ToString();
this.lblOffsetX.Text = Machine.Instance.Robot.CalibBy9dPrm.OffsetX.ToString();
this.lblOffsetY.Text = Machine.Instance.Robot.CalibBy9dPrm.OffsetY.ToString();
this.prmBackUp = (ModelFindPrm)this.prm?.Clone();
return(this);
}
public MarkCmd(RunnableModule runnableModule, MarkCmdLine markCmdLine) : base(runnableModule, markCmdLine)
{
// 转换成机械坐标
var structure = runnableModule.CommandsModule.program.ModuleStructure;
position = structure.ToMachine(runnableModule, markCmdLine.PosInPattern);
modelFindPrm = markCmdLine.ModelFindPrm;
this.IsFromFile = markCmdLine.IsFromFile;
}
public BadMarkCmd(RunnableModule runnableModule, BadMarkCmdLine badMarkCmdLine) : base(runnableModule, badMarkCmdLine)
{
// 转换成机械坐标
var structure = runnableModule.CommandsModule.program.ModuleStructure;
position = structure.ToMachine(runnableModule, badMarkCmdLine.Position);
modelFindPrm = badMarkCmdLine.ModelFindPrm;
GrayCheckPrm = badMarkCmdLine.GrayCheckPrm;
this.FindType = badMarkCmdLine.FindType;
this.IsOkSkip = badMarkCmdLine.IsOkSkip;
}
public Result FlyMarksInit(ModelFindPrm modelFindPrm, int gain, int ExpExposureTime)
{
//高速IO设备的切换
DOMgr.Instance.FindBy(2).Set(true);
//光源设置
//Machine.Instance.Light.SetLight(lightType);
Machine.Instance.Light.SetLight(modelFindPrm.ExecutePrm);
//相机参数设置
Machine.Instance.Camera.StopGrabing();
Machine.Instance.Camera.SetTriggerMode(true);
Machine.Instance.Camera.SetGain(gain);
Machine.Instance.Camera.SetExposure(ExpExposureTime);
Machine.Instance.Camera.StartGrabing();
return(Result.OK);
}
public EditModelFindForm(ModelFindPrm modelFindPrm, Pattern pattern, bool isManual = false)
: base(pattern == null ? new PointD(0, 0): pattern.GetOriginPos())
{
InitializeComponent();
this.Init();
this.UpdateByFlag();
this.camera = Machine.Instance.Camera;
this.light = Machine.Instance.Light;
if (modelFindPrm == null)
{
modelFindPrm = new ModelFindPrm();
}
else
{
if (modelFindPrm.ExecutePrm.PrmOPT.ListCls.Count == 0)
{
modelFindPrm.ExecutePrm.PrmOPT = this.light.ExecutePrm.PrmOPT;
}
this.light.SetLight(modelFindPrm.ExecutePrm);
this.SetupLight(modelFindPrm.ExecutePrm);
}
this.modelFindPrm = modelFindPrm;
this.modelFindPrm.ExposureTime = this.camera.Prm.Exposure;
this.modelFindPrm.Gain = this.camera.Prm.Gain;
//this.modelFindPrm.LightType = this.camera.Prm.LightType;
this.modelFindPrm.ExecutePrm = this.light.ExecutePrm.Clone() as ExecutePrm;
this.Setup(this.modelFindPrm);
this.pattern = pattern;
this.isManual = isManual;
this.ckbFrmFile.Checked = modelFindPrm.IsFromFile;
if (this.isManual)
{
this.gbxContent.Enabled = false;
this.BtnPrev.Enabled = false;
this.BtnNext.Enabled = false;
this.BtnTeach.Enabled = false;
this.BtnDone.Enabled = true;
this.BtnCancel.Enabled = true;
}
this.UpdateByFlag();
this.ReadLanguageResources();
if (this.modelFindPrm != null)
{
this.modelFindPrmBackUp = (ModelFindPrm)this.modelFindPrm.Clone();
}
}
public NozzleCheckCmd(RunnableModule runnableModule, NozzleCheckCmdLine nozzleCheckCmdLine, MeasureHeightCmd mhCmd) : base(runnableModule, nozzleCheckCmdLine)
{
// 转换成机械坐标
var structure = runnableModule.CommandsModule.program.ModuleStructure;
position = structure.ToMachine(runnableModule, nozzleCheckCmdLine.Position);
DotStyle = nozzleCheckCmdLine.DotStyle;
modelFindPrm = nozzleCheckCmdLine.ModelFindPrm;
GrayCheckPrm = nozzleCheckCmdLine.GrayCheckPrm;
CheckThm = nozzleCheckCmdLine.CheckThm;
IsOkAlarm = nozzleCheckCmdLine.IsOkAlarm;
this.associatedMeasureHeightCmd = mhCmd;
IsWeightControl = nozzleCheckCmdLine.IsWeightControl;
Weight = nozzleCheckCmdLine.Weight;
this.nozzleStyle = nozzleCheckCmdLine.NozzleStyle;
this.isGlobal = nozzleCheckCmdLine.isGlobal;
}
private EditModelFindForm Setup(ModelFindPrm modelFindPrm)
{
if (TempVisionData.Ins.TempModelFindPrm == null)
{
TempVisionData.Ins.TempModelFindPrm = new ModelFindPrm();
TempVisionData.Ins.TempModelFindPrm.ModelTopLeftX = this.CamCtrl.ImgCenter.X - 100;
TempVisionData.Ins.TempModelFindPrm.ModelTopLeftY = this.CamCtrl.ImgCenter.Y - 100;
TempVisionData.Ins.TempModelFindPrm.ModelWidth = 200;
TempVisionData.Ins.TempModelFindPrm.ModelHeight = 200;
TempVisionData.Ins.TempModelFindPrm.SearchTopLeftX = 100;
TempVisionData.Ins.TempModelFindPrm.SearchTopLeftY = 100;
TempVisionData.Ins.TempModelFindPrm.SearchWidth = this.CamCtrl.ImgWidth - 200;
TempVisionData.Ins.TempModelFindPrm.SearchHeight = this.CamCtrl.ImgHeight - 200;
TempVisionData.Ins.TempModelFindPrm.AcceptScore = 0.6;
TempVisionData.Ins.TempModelFindPrm.SettlingTime = 50;
TempVisionData.Ins.TempModelFindPrm.Tolerance = 2;
}
if (modelFindPrm.ModelId == 0)
{
TempVisionData.Ins.TempModelFindPrm.CopyTempDataTo(modelFindPrm);
}
this.CamCtrl.HideROI();
this.CamCtrl.SetExposure(this.modelFindPrm.ExposureTime).SetGain(this.modelFindPrm.Gain);
//this.CamCtrl.SelectLight(this.modelFindPrm.LightType);
this.CamCtrl.SelectLight(this.modelFindPrm.ExecutePrm);
this.SetupLight(this.modelFindPrm.ExecutePrm);
this.nudModelSizeWidth.Maximum = this.camera.Executor.ImageWidth;
this.nudModelSizeHeight.Maximum = this.camera.Executor.ImageHeight;
this.nudSearchWindowWidth.Maximum = this.camera.Executor.ImageWidth;
this.nudSearchWindowHeight.Maximum = this.camera.Executor.ImageHeight;
this.nudSearchWindowWidth.Value = MathUtils.Limit(this.modelFindPrm.SearchWidth, 0, this.camera.Executor.ImageWidth);
this.nudSearchWindowHeight.Value = MathUtils.Limit(this.modelFindPrm.SearchHeight, 0, this.camera.Executor.ImageHeight);
this.nudModelSizeWidth.Value = MathUtils.Limit(this.modelFindPrm.ModelWidth, 0, this.camera.Executor.ImageWidth);
this.nudModelSizeHeight.Value = MathUtils.Limit(this.modelFindPrm.ModelHeight, 0, this.camera.Executor.ImageHeight);
this.nudAcceptThreshold.Value = (decimal)MathUtils.Limit(this.modelFindPrm.AcceptScore, 0, 1);
this.nudTolerance.Value = (decimal)MathUtils.Limit(this.modelFindPrm.Tolerance, (double)this.nudTolerance.Minimum, (double)this.nudTolerance.Maximum);
this.nudSettlingTime.Value = MathUtils.Limit(this.modelFindPrm.SettlingTime, 0, (int)this.nudSettlingTime.Maximum);
return(this);
}
public override Result Execute()
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Log.Dprint("begin to execute Bad Mark");
Log.Dprint("move to position : " + Position);
// 移动到拍照位置
Result ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
ret = Machine.Instance.Robot.MovePosXYAndReply(Position,
this.Program.MotionSettings.VelXYMark,
this.Program.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
Log.Dprint("capture Bad mark");
VisionFindPrmBase visionFindPrm = null;
switch (this.FindType)
{
case BadMarkType.ModelFind:
visionFindPrm = this.ModelFindPrm;
break;
case BadMarkType.GrayScale:
visionFindPrm = this.GrayCheckPrm;
break;
}
visionFindPrm.PosInMachine = new PointD(Position.X, Position.Y);
//Machine.Instance.Light.SetLight(visionFindPrm.LightType);
Machine.Instance.Light.SetLight(visionFindPrm.ExecutePrm);
Machine.Instance.Camera.SetExposure(visionFindPrm.ExposureTime);
Machine.Instance.Camera.SetGain(visionFindPrm.Gain);
Thread.Sleep(visionFindPrm.SettlingTime);
byte[] bytes = Machine.Instance.Camera.TriggerAndGetBytes(TimeSpan.FromSeconds(1)).DeepClone();
if (bytes == null)
{
return(Result.FAILED);
}
Result result = Result.OK;
//移动到拍照高度
if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
{
Machine.Instance.Robot.MoveToMarkZAndReply();
}
if (this.FindType == BadMarkType.ModelFind)
{
ModelFindPrm.ImgData = bytes;
ModelFindPrm.ImgWidth = Machine.Instance.Camera.Executor.ImageWidth;
ModelFindPrm.ImgHeight = Machine.Instance.Camera.Executor.ImageHeight;
if (!ModelFindPrm.Execute())
{
result = Result.FAILED;
}
}
else if (this.FindType == BadMarkType.GrayScale)
{
GrayCheckPrm.CheckData = GrayCheckPrm.GetROI(bytes, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight);
GrayCheckPrm.CheckWidth = GrayCheckPrm.ModelWidth;
GrayCheckPrm.CheckHeight = GrayCheckPrm.ModelHeight;
if (!GrayCheckPrm.Execute())
{
result = Result.FAILED;
}
}
Log.Dprint(string.Format("bad mark result : {0}", result.IsOk));
// save mark image
if (this.Program.RuntimeSettings.SaveBadMarkImages)
{
bytes?.SaveMarkImage(
Machine.Instance.Camera.Executor.ImageWidth,
Machine.Instance.Camera.Executor.ImageHeight,
this.Program.Name, "BadMarks", "badmark");
}
////如果OK跳过则结果取反
//if (this.IsOkSkip)
//{
// result = result.IsOk ? Result.FAILED : Result.OK;
//}
return(result);
}
private Result doCheck()
{
Log.Dprint("capture Bad mark");
VisionFindPrmBase visionFindPrm = null;
switch (this.CheckThm)
{
case CheckThm.GrayScale:
visionFindPrm = this.GrayCheckPrm;
break;
case CheckThm.ModelFind:
visionFindPrm = this.ModelFindPrm;
break;
}
//设置拍照参数
visionFindPrm.PosInMachine = new PointD(Position.X, Position.Y);
//Machine.Instance.Light.SetLight(visionFindPrm.LightType);
Machine.Instance.Light.SetLight(visionFindPrm.ExecutePrm);
Machine.Instance.Camera.SetExposure(visionFindPrm.ExposureTime);
Machine.Instance.Camera.SetGain(visionFindPrm.Gain);
//采集图像
Thread.Sleep(visionFindPrm.SettlingTime);
byte[] bytes = Machine.Instance.Camera.TriggerAndGetBytes(TimeSpan.FromSeconds(1)).DeepClone();
if (bytes == null)
{
return(Result.FAILED);
}
//执行检测算法
Result result = Result.OK;
//移动到拍照高度
if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
{
Machine.Instance.Robot.MoveToMarkZAndReply();
}
if (this.CheckThm == CheckThm.GrayScale)
{
GrayCheckPrm.CheckData = GrayCheckPrm.GetROI(bytes, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight);
GrayCheckPrm.CheckWidth = GrayCheckPrm.ModelWidth;
GrayCheckPrm.CheckHeight = GrayCheckPrm.ModelHeight;
if (!GrayCheckPrm.Execute())
{
result = Result.FAILED;
}
}
else if (this.CheckThm == CheckThm.ModelFind)
{
ModelFindPrm.ImgData = bytes;
ModelFindPrm.ImgWidth = Machine.Instance.Camera.Executor.ImageWidth;
ModelFindPrm.ImgHeight = Machine.Instance.Camera.Executor.ImageHeight;
if (!ModelFindPrm.Execute())
{
result = Result.FAILED;
}
}
Log.Dprint(string.Format("bad mark result : {0}", result.IsOk));
//如果OK跳过则结果取反
if (this.IsOkAlarm)
{
result = result.IsOk ? Result.FAILED : Result.OK;
}
return(result);
}
