private static bool queryValve(afmdbEntities ctx, ValveType type)
{
var valves = from v in ctx.valve where v.ValveType == (int)type select v;
valve vFind = valves.First();
return(vFind != null);
}
public static PointD ToCamera(this PointD point, ValveType valveType)
{
PointD rtn = null;
switch (valveType)
{
case ValveType.Valve1:
//rtn = (point.ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleCamera1 - Machine.Instance.Robot.CalibPrm.NeedleJet1).ToPoint().ToMachine();
rtn = (point.ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1 - Machine.Instance.Robot.CalibPrm.NeedleCamera1).ToPoint().ToMachine();
break;
case ValveType.Valve2:
if (Machine.Instance.Setting.DualValveMode != DualValveMode.跟随)
{
// todo 待处理--不转棋盘坐标么？？？
rtn = new PointD(
point.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X + Math.Abs(Machine.Instance.Robot.PosA),
point.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y + Math.Abs(Machine.Instance.Robot.PosB));
}
else
{
// todo 待处理--不转棋盘坐标么？？？
rtn = new PointD(point.X - Machine.Instance.Robot.CalibPrm.NeedleCamera2.X + Machine.Instance.Robot.CalibPrm.NeedleJet2.X,
point.Y - Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
break;
}
return(new PointD());
}
/// <summary>
/// 相机坐标转换倾斜喷嘴坐标
/// </summary>
/// <param name="point"></param>
/// <param name="valveType"></param>
/// <param name="tiltType"></param>
/// <returns></returns>
public static PointD ToNeedle(this PointD point, ValveType valveType, TiltType tiltType)
{
PointD rtn = null;
if (valveType == ValveType.Valve1 || valveType == ValveType.Both)
{
if (tiltType == TiltType.NoTilt)
{
return(rtn = (point.ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleCamera1 - Machine.Instance.Robot.CalibPrm.NeedleJet1).ToPoint().ToMachine());
}
AngleHeightPosOffset curTiltCalibPrm = Machine.Instance.Robot.CalibPrm.AngleHeightPosOffsetList.Find(t => t.TiltType.Equals(tiltType));
if (curTiltCalibPrm == null)
{
return(null);
}
rtn = (point.ToSystem() + curTiltCalibPrm.ValveCameraOffset - curTiltCalibPrm.DispenseOffset).ToPoint().ToMachine();
}
else
{
if (Machine.Instance.Setting.DualValveMode != DualValveMode.跟随)
{
rtn = new PointD(
point.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X + Math.Abs(Machine.Instance.Robot.PosA),
point.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y + Math.Abs(Machine.Instance.Robot.PosB));
}
else
{
rtn = new PointD(
point.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X,
point.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
}
return(rtn);
}
public PatternItem(int i, int j, PointD point, ValveType valve, bool enabled)
{
this.I = i;
this.J = j;
this.Point = point;
this.Valve = valve;
this.Enabled = enabled;
}
public SettingWeightForm Setup(ValveWeightPrm valWtPrm)
{
this.valveKey = valWtPrm.Key;
LngPropertyProxyTypeDescriptor proxyObj = new LngPropertyProxyTypeDescriptor(valWtPrm, this.GetType().Name);
this.propertyGrid1.SelectedObject = proxyObj;
this.valveWeightPrm = valWtPrm;
this.valveWeightPrmBackUp = (ValveWeightPrm)valWtPrm.Clone();
return(this);
}
public ValveDriver(IPacketTransmitter pPacketTransmitter, ValveType vt)
{
myPacketTransmitter = pPacketTransmitter;
switch (vt)
{
case ValveType.In:
bValveCommand = Constants.COMM_TX_VALVE_IN_DRIVE;
break;
case ValveType.Out:
bValveCommand = Constants.COMM_TX_VALVE_OUT_DRIVE;
break;
}
}
/// <summary>
/// 相机坐标 + 打胶偏移
/// </summary>
/// <param name="point"></param>
/// <param name="valveType"></param>
/// <returns></returns>
public static PointD ByNeedleJet(this PointD point, ValveType valveType)
{
PointD rtn = null;
switch (valveType)
{
case ValveType.Valve1:
rtn = (point.ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1).ToMachine();
break;
case ValveType.Valve2:
break;
}
return(rtn);
}
private void BtnGo_Click(object sender, EventArgs e)
{
Location loc = LocationMgr.Instance.FindBy(this.listBox1.SelectedItem.ToString());
ValveType valve = ValveType.Valve1;
if (this.rdoValve1Goto.Checked)
{
valve = ValveType.Valve1;
}
else
{
valve = ValveType.Valve2;
}
if (loc != null)
{
Machine.Instance.Robot.MoveToLoc(loc.ToNeedle(valve));
}
}
public IFluider CreatFluider(ValveType valveType)
{
if (valveType == ValveType.Both)
{
if (Machine.Instance.DualValve is JtDualValve)
{
return(new JtValveFluider());
}
else if (Machine.Instance.DualValve is SvDualValve)
{
return(new SvValveFluider());
}
else
{
return(new GearValveFluider());
}
}
else
{
Valve valve = null;
if (valveType == ValveType.Valve1)
{
valve = Machine.Instance.Valve1;
}
else
{
valve = Machine.Instance.Valve2;
}
if (valve is JtValve)
{
return(new JtValveFluider());
}
else if (valve is SvValve)
{
return(new SvValveFluider());
}
else
{
return(new GearValveFluider());
}
}
}
public static Location ToNeedle(this Location loc, ValveType valve)
{
Location rtn = null;
switch (valve)
{
case ValveType.Valve1:
rtn = new Location()
{
X = loc.X + Machine.Instance.Robot.CalibPrm.NeedleCamera1.X - Machine.Instance.Robot.CalibPrm.NeedleJet1.X,
Y = loc.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera1.Y - Machine.Instance.Robot.CalibPrm.NeedleJet1.Y,
Z = loc.Z
};
break;
case ValveType.Valve2:
if (Machine.Instance.Setting.DualValveMode != DualValveMode.跟随)
{
rtn = new Location()
{
X = loc.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X + Math.Abs(Machine.Instance.Robot.PosA),
Y = loc.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y + Math.Abs(Machine.Instance.Robot.PosB),
Z = loc.Z
};
}
else
{
rtn = new Location()
{
X = loc.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X,
Y = loc.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y,
Z = loc.Z
};
}
break;
}
return(rtn);
}
public TeachNeedleToHeightSensor(int vavelNo)
{
this.valvelNo = vavelNo;
if (valvelNo == 1)
{
this.curValve = ValveType.Valve1;
}
else
{
this.curValve = ValveType.Valve2;
}
InitializeComponent();
this.picDiagram.Image = Properties.Resources.TeachNeedleToHeightSensor;
UpdateByFlag();
this.txtState.ReadOnly = true;
this.txtRead.ReadOnly = true;
this.ReadLanguageResources();
this.lblDiagram.Text = this.lblTip[24];
this.txtLaserHeight.ReadOnly = true;
this.txtNeedlePosZ.ReadOnly = true;
this.FormClosed += TeachNeedleToHeightSensor_FormClosed;
}
public GearValve(ValveType valveType, Proportioner proportioner, Card card, short chn, ValvePrm prm) : base(valveType, ValveSeries.齿轮泵阀, proportioner, card, chn, prm)
{
this.Prm = prm.GearValvePrm;
}
public Valve()
{
valveType = ValveType.UNKNOWN;
}
