public void CalibrateWithTemplate(TapeObj t)
{
if (string.IsNullOrEmpty(t.TemplateFilename))
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "jpg (*.jpg)|*.jpg|png (*.png)|*.png|All Files (*.*)|*.*";
ofd.Title = "Select Template To Match The Part";
if (ofd.ShowDialog() != DialogResult.OK)
{
return;
}
t.TemplateFilename = ofd.FileName;
}
//now find the part
var loc = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 5, .1, null, t.TemplateFilename, .75);
if (loc == null)
{
return;
}
t.FirstPart = loc.ToPartLocation();
t.FirstHole = null;
// and calibrate
CalibrateTape(t);
MainForm.cameraView.DownCameraReset();
}
public bool SetAsFeeder(TapeObj t)
{
string input = Microsoft.VisualBasic.Interaction.InputBox("Number of components on reel", "Reel size", "Default", -1, -1);
int reelSize = int.Parse(input);
if (reelSize < 1)
{
return(false);
}
;
t.AvailableParts.Clear();
NamedLocation ReturnLocation;
for (int i = 1; i < reelSize + 1; i++)
{
ReturnLocation = new NamedLocation();
ReturnLocation.X = Cnc.CurrentX;
ReturnLocation.Y = Cnc.CurrentY;
ReturnLocation.A = t.OriginalPartOrientationVector.ToDegrees();
ReturnLocation.Name = t.ID + "_" + i.ToString();
t.AvailableParts.Add(ReturnLocation);
}
t.IsFullyCalibrated = true;
t.IsLocationBased = true;
return(true);
}
public TapeObj AddTapeObject(int row)
{
TapeObj t = new TapeObj();
tapeObjs.Insert(row, t);
return(t);
}
private PartLocation GetLocationBasedComponent(TapeObj t)
{
if (!t.IsFullyCalibrated || !t.IsLocationBased)
{
return(null);
}
if (t.CurrentPart >= t.NumberPartsAvailable)
{
return(null);
}
return(t.AvailableParts.ElementAt(t.CurrentPart));
}
public void setNextOptically(TapeObj to)
{
for (int i = 0; i < 1000; i++)
{
var pos = to.GetPartLocation(i);
if (pos.DistanceTo(Cnc.XYLocation) < 1)
{
to.SetPart(i);
MainForm.DisplayText("Setting " + to.ID + " next part # " + i, Color.Green);
return;
}
}
MainForm.ShowSimpleMessageBox("Couldn't Find corresponding part");
}
// ========================================================================================
// NeedleToNextPart_m(): Takes needle to exact location of the part, tape rotation taken in to account.
// The position is measured using tape holes and knowledge about tape width and pitch (see EIA-481 standard).
// Id tells the tape name.
public bool NeedleToNextPart_m(TapeObj to)
{
var loc = GetNextComponentPartLocation(to);
if (loc == null)
{
return(false);
}
if (!Needle.Move_m(loc))
{
return(false);
}
// Increment Part
to.IncrementPartNumber();
return(true);
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null)
{
return;
}
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null)
{
return;
}
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename))
{
File.Delete(filename);
}
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
// will go to the nearest hole to the next part and display what it will pick up gooz
public bool GoToNextComponent(TapeObj to)
{
SetCurrentTapeMeasurement(to.TapeType); //setup tape type to measure
if (to.FirstPart != null)
{
Cnc.CNC_XY(to.GetPartBasedLocation(to.CurrentPartIndex()));
return(true);
}
if (to.FirstHole == null)
{
MainForm.ShowSimpleMessageBox("First hole not set and part not set - calibrate this first");
return(false);
}
if (to.IsLocationBased)
{
Cnc.CNC_XY(GetLocationBasedComponent(to));
}
else
{
MainForm.cameraView.downSettings.FindCircles = true;
// move to closest hole to the part we are looking for
Cnc.CNC_XY(to.GetNearestCurrentPartHole());
var hole = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.5, .05);
if (hole == null)
{
//MainForm.ShowSimpleMessageBox("Unable to center on nearest hole");
return(false);
}
MainForm.cameraView.DownCameraReset();
// move camera on top of the part, and then move from there to the part to pick up
var offset = to.GetCurrentPartLocation() - to.GetNearestCurrentPartHole();
Cnc.CNC_XY(hole + offset);
}
var c = MainForm.cameraView.downVideoProcessing.FrameCenter;
MainForm.cameraView.downVideoProcessing.Arrows.Add(new Shapes.Arrow(c.X, c.Y, to.PartAngle, 100));
return(true);
}
public bool SetFirstHole(TapeObj t)
{
var originalPos = Cnc.XYLocation;
MainForm.cameraView.SetDownCameraFunctionSet(t.TapeType);
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
MainForm.cameraView.SetDownCameraFunctionSet("");
if (holepos == null)
{
switch (MainForm.ShowMessageBox("Cannot find hole, use manual position?", "Hole not found", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return(false);
}
holepos = originalPos;
}
t.FirstHole = holepos;
return(true);
}
public bool PopulateAvailableParts(TapeObj x)
{
if (x.FirstHole == null) return false; // currently only handling hole-calibrated harts
MainForm.Cnc.SlackCompensation = false;
SetCurrentTapeMeasurement(x.TapeType);
//find out the max number of parts
int i = 0;
PartLocation loc;
PartLocation addloc = new PartLocation(x.HoleToPartSpacingX, x.HoleToPartSpacingY).Rotate(x.TapeOrientation.ToRadians());
x.AvailableParts.Clear();
while (true) {
loc = x.GetHoleLocation(i);
if (!MainForm.Cnc.CNC_XY(loc)) { MainForm.Cnc.SlackCompensation = true; return false; }
var thing = VideoDetection.FindClosest(MainForm.cameraView.downVideoProcessing, Shapes.ShapeTypes.Circle, 1, 3);
if (thing == null) break;
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename))
{
loc += addloc;
x.AvailableParts.Add(new NamedLocation(loc, i.ToString()));
Global.Instance.mainForm.DisplayText("Adding part "+ i.ToString() +" to "+x.ID);
}
if (Cnc.AbortPlacement) { MainForm.Cnc.SlackCompensation = true; return false; }
i++;
}
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename) && i>0) return true;
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
double len = i * x.HolePitch;
double max_components = len / x.PartPitch + 2;
var list = x.AvailableParts;
list.Clear();
if (!MainForm.Cnc.CNC_XY(x.GetPartLocation(0))) { MainForm.Cnc.SlackCompensation = true; return false; } //start off with first part
for (i = 0; i < max_components; i++) {
if (Cnc.AbortPlacement) { MainForm.Cnc.SlackCompensation = true; return false; }
var location = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1, .1, x.TemplateFilename, .5);
if (location != null) {
list.Add(new NamedLocation(location, i.ToString()));
if (!MainForm.Cnc.CNC_XY(location + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180))) {
MainForm.Cnc.SlackCompensation = true;
return false;
}
} else {
if (!MainForm.Cnc.CNC_XY(Cnc.XYLocation + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180))) {
MainForm.Cnc.SlackCompensation = true;
return false;
}
}
}
Global.Instance.mainForm.DisplayText("Detected "+list.Count+" parts for "+x.ID+" ("+String.Join(" ",list)+")");
MainForm.Cnc.SlackCompensation = true;
return true;
}
// ========================================================================================
// NeedleToNextPart_m(): Takes needle to exact location of the part, tape rotation taken in to account.
// The position is measured using tape holes and knowledge about tape width and pitch (see EIA-481 standard).
// Id tells the tape name.
public bool NeedleToNextPart_m(TapeObj to)
{
var loc = GetNextComponentPartLocation(to);
if (loc == null) return false;
if (!Needle.Move_m(loc)) return false;
// Increment Part
to.IncrementPartNumber();
return true;
}
// will go to the nearest hole to the next part and display what it will pick up gooz
public bool GoToNextComponent(TapeObj to)
{
if (to.IsLocationBased)
{
Cnc.CNC_XY(GetLocationBasedComponent(to));
}
else
{
SetCurrentTapeMeasurement(to.TapeType); //setup tape type to measure
if (to.FirstPart != null)
{
Cnc.CNC_XY(to.GetPartBasedLocation(to.CurrentPartIndex()));
return true;
}
if (to.FirstHole == null)
{
MainForm.ShowSimpleMessageBox("First hole not set and part not set - calibrate this first");
return false;
}
MainForm.cameraView.downSettings.FindCircles = true;
// move to closest hole to the part we are looking for
Cnc.CNC_XY(to.GetNearestCurrentPartHole());
var hole = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.5, .05);
if (hole == null)
{
//MainForm.ShowSimpleMessageBox("Unable to center on nearest hole");
return false;
}
MainForm.cameraView.DownCameraReset();
// move camera on top of the part, and then move from there to the part to pick up
var offset = to.GetCurrentPartLocation() - to.GetNearestCurrentPartHole();
Cnc.CNC_XY(hole + offset);
}
var c = MainForm.cameraView.downVideoProcessing.FrameCenter;
MainForm.cameraView.downVideoProcessing.Arrows.Add(new Shapes.Arrow(c.X,c.Y, to.PartAngle, 100) );
return true;
}
public PartLocation GetNextComponentPartLocation(TapeObj tapeObj)
{
if (tapeObj == null) return null;
MainForm.DisplayText("GotoNextPart_m(), tape id: " + tapeObj.ID);
//Load & Parse Data
if (!tapeObj.IsFullyCalibrated) {
MainForm.ShowSimpleMessageBox("Tape " + tapeObj.ID + " is not yet calibrated. Please do so and retry");
return null;
}
PartLocation targetLocation = tapeObj.GetCurrentPartLocation();
MainForm.DisplayText("Part " + tapeObj.CurrentPartIndex() + " Source Location = " + targetLocation, Color.Blue);
// see if part exists for part based detection
if (tapeObj.TemplateBased) {
Global.Instance.mainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(targetLocation)) return null;
var thing = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 1, .2, null, tapeObj.TemplateFilename, .75);
if (thing == null) {
MainForm.DisplayText("No Part Detected At This Location", Color.Red);
return null;
}
MainForm.DisplayText("Part Detected : " + thing);
}
if (tapeObj.IsLocationBased) {
targetLocation = GetLocationBasedComponent(tapeObj);
} else
// enhanced part detection
if (tapeObj.FirstHole != null) {
SetCurrentTapeMeasurement(tapeObj.TapeType);
Cnc.CNC_XY(tapeObj.GetNearestCurrentPartHole());
var hole = MainForm.GoToClosestThing(Shapes.ShapeTypes.Circle, 1.5, .1);
if (hole == null) {
MainForm.DisplayText("Unable to detect part hole, aborting");
return null;
}
var offset = tapeObj.GetCurrentPartLocation() - tapeObj.GetNearestCurrentPartHole();
targetLocation = hole.ToPartLocation() + offset;
MainForm.cameraView.DownCameraReset();
}
//------------------- PART SPECIFIC LOGIC GOES HERE --------------------//
if (tapeObj.PartType == "QFN") {
MainForm.DisplayText("USING ENHANCE PART PICKUP", Color.HotPink);
if (!MainForm.Cnc.CNC_XY(targetLocation)) return null;
// setup view
SetCurrentTapeMeasurement(tapeObj.TapeType);
MainForm.cameraView.downSettings.FindRectangles = true;
// MainForm.cameraView.downVideoProcessing.FindRectangles = true;
// move closer and get exact coordinates plus rotation
var rect = (Shapes.Rectangle) MainForm.GoToClosestThing(Shapes.ShapeTypes.Rectangle, 1.5, .025);
if (rect == null) {
MainForm.cameraView.DownCameraReset();
return null;
}
Global.DoBackgroundWork(500);
var rectAngle = rect.AngleOffsetFrom90();
targetLocation = rect.ToPartLocation();
targetLocation.A = tapeObj.OriginalPartOrientationVector.ToDegrees() + rectAngle;
MainForm.cameraView.DownCameraReset();
}
return targetLocation;
}
public bool CalibrateTape(TapeObj x)
{
// Setup Camera
if (x.FirstHole == null && x.FirstPart == null)
{
x.FirstHole = Cnc.XYLocation; //defaults to hole based calibration
}
if (x.FirstHole != null)
{
SetCurrentTapeMeasurement(x.TapeType);
}
List <PartLocation> holes = new List <PartLocation>();
List <int> holeIndex = new List <int>();
if (x.FirstHole != null)
{
//1 - ensure first hole is correct
MainForm.DisplayText("Moving to first hole @ " + x.FirstHole, Color.Purple);
if (!MainForm.Cnc.CNC_XY(x.FirstHole))
{
return(false);
}
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
if (holepos == null)
{
return(false);
}
x.FirstHole = holepos;
MainForm.DisplayText("Found new hole locaiton @ " + x.FirstHole, Color.Purple);
// move to first hole for shits & giggles
if (!MainForm.Cnc.CNC_XY(x.FirstHole))
{
return(false);
}
holes.Add(x.FirstHole);
holeIndex.Add(0);
}
//2 - Look for for a few more holes
// XXX-should be adjsuted to acocomodate smaller strips
if (x.FirstHole != null)
{
for (int i = 2; i < 8; i += 2)
{
/* - hole based detection - */
/****************************/
if (!MainForm.Cnc.CNC_XY(x.GetHoleLocation(i)))
{
break;
}
Thread.Sleep(500);
var loc = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.2);
if (loc == null)
{
break;
}
holes.Add(loc);
holeIndex.Add(i);
}
}
else
{
for (int i = 0; i < 8; i += 1)
{
/* - part based detection - */
/****************************/
if (x.FirstPart != null)
{
if (!MainForm.Cnc.CNC_XY(x.GetPartBasedLocation(i)))
{
break;
}
Thread.Sleep(500);
var loc = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1.8, 0.2, x.TemplateFilename, .8);
if (loc == null)
{
break;
}
holes.Add(loc);
holeIndex.Add(i);
}
}
}
if (holes.Count < 2)
{
return(false); // didn't get enough points to calibrate this one
}
//3 - Do Linear Regression on data if we have 2+ points
// Fit circle to linear regression // y:x->a+b*x
Double[] Xs = holes.Select(xx => xx.X - ((x.FirstHole != null) ? x.FirstHole.X : x.FirstPart.X)).ToArray();
Double[] Ys = holes.Select(xx => xx.Y - ((x.FirstHole != null) ? x.FirstHole.Y : x.FirstPart.Y)).ToArray();
Tuple <double, double> result = SimpleRegression.Fit(Xs, Ys);
x.a = result.Item1; //this should be as close to zero as possible if things worked correctly
x.Slope = result.Item2; //this represents the slope of the tape
MainForm.DisplayText(String.Format("Linear Regression: {0} + (0,{1})+(0,{2})x", x.FirstHole, x.a, x.Slope), Color.Brown);
//4 - Determine Avg Hole Spacing
double spacing = 0;
for (int i = 0; i < holes.Count - 1; i++)
{
spacing += holes[i].DistanceTo(holes[i + 1]) / 2; //distance one hole to the next - /2 because we skip every other hole (step 2)
}
if (x.FirstHole != null)
{
x.HolePitch = spacing / (holes.Count - 1); //compute average for holes
}
else
{
x.PartPitch = 2 * spacing / (holes.Count - 1);
}
//5 - Done, specify that this is fully calibrated
x.IsFullyCalibrated = true;
MainForm.DisplayText("Tape " + x.ID + " Calibrated", Color.Brown);
//MainForm.DisplayText(String.Format("\tEquation = {3} + (0,{0}) + {1} * ({2} * holeNumber)", x.a, x.b, x.HolePitch), System.Drawing.Color.Brown);
MainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(x.FirstHole ?? x.FirstPart))
{
return(false);
}
return(true);
}
public void setNextOptically(TapeObj to)
{
for (int i = 0; i < 1000; i++) {
var pos = to.GetPartLocation(i);
if (pos.DistanceTo(Cnc.XYLocation) < 1) {
to.SetPart(i);
MainForm.DisplayText("Setting " + to.ID + " next part # " + i, Color.Green);
return;
}
}
MainForm.ShowSimpleMessageBox("Couldn't Find corresponding part");
}
public bool SetLastHole(TapeObj t)
{
if (t.FirstHole == null) {
MainForm.DisplayText("First hole not set", Color.Red);
return false;
}
var originalPos = Cnc.XYLocation;
MainForm.cameraView.SetDownCameraFunctionSet(t.TapeType);
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
MainForm.cameraView.SetDownCameraFunctionSet("");
if (holepos == null)
{
//MainForm.DisplayText("Cannot find hole", Color.Red);
//return false;
switch (MainForm.ShowMessageBox("Cannot find hole, use manual position?", "Hole not found", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return false;
}
holepos = originalPos;
}
double distance = t.FirstHole.DistanceTo(holepos);
if ((Math.Abs(distance % t.PartPitch) > 0.4) && ((t.PartPitch - Math.Abs(distance % t.PartPitch)) > 0.4)) {
// MainForm.DisplayText("Part pitch and hole position does not make sense, please redo", Color.Red);
switch (MainForm.ShowMessageBox("Part pitch and hole position seems inconsistent, continue?", "Inconsistency", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return false;
}
}
t.LastHole = holepos;
/* Calculate tape angle given the first and last hole
* the first hole is always considered to be the furthest away from the reel
*/
double Xd = t.LastHole.X - t.FirstHole.X;
double Yd = t.LastHole.Y - t.FirstHole.Y;
t.SetTapeOrientation(Xd, Yd);
double TapeAngle = t.TapeOrientation.ToRadians();
/* Calculate the X and Y movements required to get to the next hole */
double XMove = Math.Abs(t.PartPitch) * Math.Cos(TapeAngle);
double YMove = Math.Abs(t.PartPitch) * Math.Sin(TapeAngle);
/* Calculate the distance to the part from the hole given the angle */
double XHoleToSpacing = Math.Abs(t.HoleToPartSpacingX) * Math.Cos(-TapeAngle) + Math.Abs(t.HoleToPartSpacingY) * Math.Sin(-TapeAngle);
double YHoleToSpacing = Math.Abs(t.HoleToPartSpacingY) * Math.Cos(TapeAngle) + Math.Abs(t.HoleToPartSpacingX) * Math.Sin(TapeAngle);
t.AvailableParts.Clear();
if (t.PartPitch <= 0)
{
MainForm.ShowSimpleMessageBox("Part pitch not set, aborting");
return false;
}
NamedLocation ReturnLocation;
for (int i = 0; i < (Math.Round(t.LastHole.DistanceTo(t.FirstHole) / t.PartPitch)); i++)
{
ReturnLocation = new NamedLocation();
ReturnLocation.X = t.FirstHole.X + i * XMove + XHoleToSpacing;
ReturnLocation.Y = t.FirstHole.Y + i * YMove + YHoleToSpacing;
ReturnLocation.A = t.OriginalPartOrientationVector.ToDegrees();
ReturnLocation.Name = t.ID + "_" + i.ToString();
t.AvailableParts.Add(ReturnLocation);
}
t.IsFeeder = false;
t.IsFullyCalibrated = true;
t.IsLocationBased = true;
return true;
}
public PartLocation GetNextComponentPartLocation(TapeObj tapeObj)
{
if (tapeObj == null)
{
return(null);
}
MainForm.DisplayText("GotoNextPart_m(), tape id: " + tapeObj.ID);
//Load & Parse Data
if (!tapeObj.IsFullyCalibrated)
{
MainForm.ShowSimpleMessageBox("Tape " + tapeObj.ID + " is not yet calibrated. Please do so and retry");
return(null);
}
PartLocation targetLocation = tapeObj.GetCurrentPartLocation();
MainForm.DisplayText("Part " + tapeObj.CurrentPartIndex() + " Source Location = " + targetLocation, Color.Blue);
// see if part exists for part based detection
if (tapeObj.TemplateBased)
{
Global.Instance.mainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
var thing = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 1, .2, null, tapeObj.TemplateFilename, .75);
if (thing == null)
{
MainForm.DisplayText("No Part Detected At This Location", Color.Red);
return(null);
}
MainForm.DisplayText("Part Detected : " + thing);
}
if (tapeObj.IsLocationBased)
{
targetLocation = GetLocationBasedComponent(tapeObj);
}
else
// enhanced part detection
if (tapeObj.FirstHole != null)
{
SetCurrentTapeMeasurement(tapeObj.TapeType);
Cnc.CNC_XY(tapeObj.GetNearestCurrentPartHole());
var hole = MainForm.GoToClosestThing(Shapes.ShapeTypes.Circle, 1.5, .1);
if (hole == null)
{
MainForm.DisplayText("Unable to detect part hole, aborting");
return(null);
}
var offset = tapeObj.GetCurrentPartLocation() - tapeObj.GetNearestCurrentPartHole();
targetLocation = hole.ToPartLocation() + offset;
MainForm.cameraView.DownCameraReset();
}
//------------------- PART SPECIFIC LOGIC GOES HERE --------------------//
if (tapeObj.PartType == "QFN")
{
MainForm.DisplayText("USING ENHANCE PART PICKUP", Color.HotPink);
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
// setup view
SetCurrentTapeMeasurement(tapeObj.TapeType);
MainForm.cameraView.downSettings.FindRectangles = true;
// MainForm.cameraView.downVideoProcessing.FindRectangles = true;
// move closer and get exact coordinates plus rotation
var rect = (Shapes.Rectangle)MainForm.GoToClosestThing(Shapes.ShapeTypes.Rectangle, 1.5, .025);
if (rect == null)
{
MainForm.cameraView.DownCameraReset();
return(null);
}
Global.DoBackgroundWork(500);
var rectAngle = rect.AngleOffsetFrom90();
targetLocation = rect.ToPartLocation();
targetLocation.A = tapeObj.OriginalPartOrientationVector.ToDegrees() + rectAngle;
MainForm.cameraView.DownCameraReset();
}
return(targetLocation);
}
public bool SetLastHole(TapeObj t)
{
if (t.FirstHole == null)
{
MainForm.DisplayText("First hole not set", Color.Red);
return(false);
}
var originalPos = Cnc.XYLocation;
MainForm.cameraView.SetDownCameraFunctionSet(t.TapeType);
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
MainForm.cameraView.SetDownCameraFunctionSet("");
if (holepos == null)
{
//MainForm.DisplayText("Cannot find hole", Color.Red);
//return false;
switch (MainForm.ShowMessageBox("Cannot find hole, use manual position?", "Hole not found", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return(false);
}
holepos = originalPos;
}
double distance = t.FirstHole.DistanceTo(holepos);
if ((Math.Abs(distance % t.PartPitch) > 0.4) && ((t.PartPitch - Math.Abs(distance % t.PartPitch)) > 0.4))
{
// MainForm.DisplayText("Part pitch and hole position does not make sense, please redo", Color.Red);
switch (MainForm.ShowMessageBox("Part pitch and hole position seems inconsistent, continue?", "Inconsistency", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return(false);
}
}
t.LastHole = holepos;
/* Calculate tape angle given the first and last hole
* the first hole is always considered to be the furthest away from the reel
*/
double Xd = t.LastHole.X - t.FirstHole.X;
double Yd = t.LastHole.Y - t.FirstHole.Y;
t.SetTapeOrientation(Xd, Yd);
double TapeAngle = t.TapeOrientation.ToRadians();
/* Calculate the X and Y movements required to get to the next hole */
double XMove = Math.Abs(t.PartPitch) * Math.Cos(TapeAngle);
double YMove = Math.Abs(t.PartPitch) * Math.Sin(TapeAngle);
/* Calculate the distance to the part from the hole given the angle */
double XHoleToSpacing = Math.Abs(t.HoleToPartSpacingX) * Math.Cos(-TapeAngle) + Math.Abs(t.HoleToPartSpacingY) * Math.Sin(-TapeAngle);
double YHoleToSpacing = Math.Abs(t.HoleToPartSpacingY) * Math.Cos(TapeAngle) + Math.Abs(t.HoleToPartSpacingX) * Math.Sin(TapeAngle);
t.AvailableParts.Clear();
NamedLocation ReturnLocation;
for (int i = 0; i < (Math.Round(t.LastHole.DistanceTo(t.FirstHole) / t.PartPitch)); i++)
{
ReturnLocation = new NamedLocation();
ReturnLocation.X = t.FirstHole.X + i * XMove + XHoleToSpacing;
ReturnLocation.Y = t.FirstHole.Y + i * YMove + YHoleToSpacing;
ReturnLocation.A = t.OriginalPartOrientationVector.ToDegrees();
ReturnLocation.Name = t.ID + "_" + i.ToString();
t.AvailableParts.Add(ReturnLocation);
}
t.IsFullyCalibrated = true;
t.IsLocationBased = true;
return(true);
}
public void CalibrateWithHole(TapeObj t)
{
t.FirstHole = Cnc.XYLocation;
CalibrateTape(t);
MainForm.cameraView.DownCameraReset();
}
public bool SetAsFeeder(TapeObj t)
{
string input = Microsoft.VisualBasic.Interaction.InputBox("Number of components on reel", "Reel size", "5000", -1, -1);
if (input == "") { return false; }
int reelSize = int.Parse(input);
if (reelSize < 1) { return false; };
t.AvailableParts.Clear();
NamedLocation ReturnLocation;
for (int i = 1; i < reelSize+1; i++)
{
ReturnLocation = new NamedLocation();
ReturnLocation.X = Cnc.CurrentX;
ReturnLocation.Y = Cnc.CurrentY;
ReturnLocation.A = t.OriginalPartOrientationVector.ToDegrees();
ReturnLocation.Name = t.ID + "_" + i.ToString();
t.AvailableParts.Add(ReturnLocation);
}
t.IsFullyCalibrated = true;
t.IsLocationBased = true;
t.IsFeeder = true;
return true;
}
public bool SetFirstHole(TapeObj t)
{
var originalPos = Cnc.XYLocation;
MainForm.cameraView.SetDownCameraFunctionSet(t.TapeType);
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
MainForm.cameraView.SetDownCameraFunctionSet("");
if (holepos == null)
{
switch (MainForm.ShowMessageBox("Cannot find hole, use manual position?", "Hole not found", MessageBoxButtons.YesNo))
{
case DialogResult.No:
return false;
}
holepos = originalPos;
}
t.FirstHole = holepos;
return true;
}
public bool CalibrateTape(TapeObj x)
{
// Setup Camera
if (x.FirstHole == null && x.FirstPart == null) x.FirstHole = Cnc.XYLocation; //defaults to hole based calibration
if (x.FirstHole != null) SetCurrentTapeMeasurement(x.TapeType);
List<PartLocation> holes = new List<PartLocation>();
List<int> holeIndex = new List<int>();
if (x.FirstHole != null) {
//1 - ensure first hole is correct
MainForm.DisplayText("Moving to first hole @ " + x.FirstHole, Color.Purple);
if (!MainForm.Cnc.CNC_XY(x.FirstHole)) return false;
var holepos = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.1); //find this hole with high precision
if (holepos == null) return false;
x.FirstHole = holepos;
MainForm.DisplayText("Found new hole locaiton @ " + x.FirstHole, Color.Purple);
// move to first hole for shits & giggles
if (!MainForm.Cnc.CNC_XY(x.FirstHole)) return false;
holes.Add(x.FirstHole);
holeIndex.Add(0);
}
//2 - Look for for a few more holes
// XXX-should be adjsuted to acocomodate smaller strips
if (x.FirstHole != null) {
for (int i = 2; i < 8; i += 2 ) {
/* - hole based detection - */
/****************************/
if (!MainForm.Cnc.CNC_XY(x.GetHoleLocation(i))) break;
Thread.Sleep(500);
var loc = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.8, 0.2);
if (loc == null) break;
holes.Add(loc);
holeIndex.Add(i);
}
} else {
for (int i = 0; i < 8; i += 1) {
/* - part based detection - */
/****************************/
if (x.FirstPart != null) {
if (!MainForm.Cnc.CNC_XY(x.GetPartBasedLocation(i))) break;
Thread.Sleep(500);
var loc = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1.8, 0.2, x.TemplateFilename, .8);
if (loc == null) break;
holes.Add(loc);
holeIndex.Add(i);
}
}
}
if (holes.Count < 2) return false; // didn't get enough points to calibrate this one
//3 - Do Linear Regression on data if we have 2+ points
// Fit circle to linear regression // y:x->a+b*x
Double[] Xs = holes.Select(xx => xx.X - ((x.FirstHole != null) ? x.FirstHole.X : x.FirstPart.X )).ToArray();
Double[] Ys = holes.Select(xx => xx.Y - ((x.FirstHole != null) ? x.FirstHole.Y : x.FirstPart.Y)).ToArray();
Tuple<double, double> result = SimpleRegression.Fit(Xs, Ys);
x.a = result.Item1; //this should be as close to zero as possible if things worked correctly
x.Slope = result.Item2; //this represents the slope of the tape
MainForm.DisplayText(String.Format("Linear Regression: {0} + (0,{1})+(0,{2})x", x.FirstHole, x.a, x.Slope), Color.Brown);
//4 - Determine Avg Hole Spacing
double spacing = 0;
for (int i = 0; i < holes.Count - 1; i++) {
spacing += holes[i].DistanceTo(holes[i + 1]) / 2; //distance one hole to the next - /2 because we skip every other hole (step 2)
}
if (x.FirstHole != null) x.HolePitch = spacing / (holes.Count - 1); //compute average for holes
else x.PartPitch = 2 * spacing / (holes.Count - 1);
//5 - Done, specify that this is fully calibrated
x.IsFullyCalibrated = true;
MainForm.DisplayText("Tape " + x.ID + " Calibrated", Color.Brown);
//MainForm.DisplayText(String.Format("\tEquation = {3} + (0,{0}) + {1} * ({2} * holeNumber)", x.a, x.b, x.HolePitch), System.Drawing.Color.Brown);
MainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(x.FirstHole ?? x.FirstPart)) return false;
return true;
}
public TapeObj AddTapeObject(int row)
{
TapeObj t = new TapeObj();
tapeObjs.Insert(row, t);
return t;
}
private bool PickUpPart_m(TapeObj tape) {
var TapeID = tape.ID;
DisplayText("PickUpPart_m(), tape id: " + TapeID);
// Go to part location:
PumpOn();
VacuumOff();
if (!Tapes.NeedleToNextPart_m(tape)) return false;
//test vaccume pressure
int p1 = 0;
if (PressureSensorPresent) {
VacuumOn();
Thread.Sleep(1000);
p1 = Cnc.GetADC();
p1_label.Text = p1.ToString();
VacuumOff();
DisplayText("Vacuum Pressure W/O Part = " + p1);
}
// Pick it up:
if (!tape.IsPickupZSet) {
if (!Needle.ProbeDown()) return false;
tape.PickupZ = Cnc.CurrentZ - Properties.Settings.Default.General_ProbingBackOff;
DisplayText("PickUpPart_m(): Probing Z= " + Cnc.CurrentZ);
} else {
double Z = tape.PickupZ; //not sure why the .5 is there - increased pressure?
DisplayText("PickUpPart_m(): Part pickup, Z" + Z);
if (!Cnc.CNC_Z(Z)) return false;
}
VacuumOn();
DisplayText("PickUpPart_m(): needle up");
if (!Cnc.Zup()) return false;
if (PressureSensorPresent) {
int p2 = Cnc.GetADC();
p2_label.Text = p2.ToString() + " (Delta = " + (p1 - p2) + ")";
DisplayText("Vacuum Pressure W/ Part = " + p2 + " (" + Math.Abs(p1 - p2) + ") change");
if (Math.Abs(p1 - p2) < setting.vacuumDeltaExpected) {
//pickup failed - try again
Tapes.PickupFailed(TapeID);
DisplayText("Pressure sensor detected failed pickup", Color.Red);
VacuumOff();
PumpOff();
tape.PickupZ = -1; //reset pickupZ
return false;
}
}
return true;
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null) return;
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null) return;
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename)) File.Delete(filename);
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
public bool PopulateAvailableParts(TapeObj x)
{
if (x.FirstHole == null)
{
return(false); // currently only handling hole-calibrated harts
}
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename))
{
return(false);
}
MainForm.Cnc.SlackCompensation = false;
SetCurrentTapeMeasurement(x.TapeType);
//find out the max number of parts
int i = 0;
while (true)
{
if (!MainForm.Cnc.CNC_XY(x.GetHoleLocation(i)))
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
var thing = VideoDetection.FindClosest(MainForm.cameraView.downVideoProcessing, Shapes.ShapeTypes.Circle, 1, 3);
if (thing == null)
{
break;
}
if (Cnc.AbortPlacement)
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
i++;
}
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
double len = i * x.HolePitch;
double max_components = len / x.PartPitch + 2;
var list = x.AvailableParts;
list.Clear();
if (!MainForm.Cnc.CNC_XY(x.GetPartLocation(0)))
{
MainForm.Cnc.SlackCompensation = true; return(false);
} //start off with first part
for (i = 0; i < max_components; i++)
{
if (Cnc.AbortPlacement)
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
var location = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1, .1, x.TemplateFilename, .5);
if (location != null)
{
list.Add(new NamedLocation(location, i.ToString()));
if (!MainForm.Cnc.CNC_XY(location + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180)))
{
MainForm.Cnc.SlackCompensation = true;
return(false);
}
}
else
{
if (!MainForm.Cnc.CNC_XY(Cnc.XYLocation + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180)))
{
MainForm.Cnc.SlackCompensation = true;
return(false);
}
}
}
Global.Instance.mainForm.DisplayText("Detected " + list.Count + " parts for " + x.ID + " (" + String.Join(" ", list) + ")");
MainForm.Cnc.SlackCompensation = true;
return(true);
}
private PartLocation GetLocationBasedComponent(TapeObj t)
{
if (!t.IsFullyCalibrated || !t.IsLocationBased) { return null; }
if (t.CurrentPart >= t.NumberPartsAvailable) { return null; }
return t.AvailableParts.ElementAt(t.CurrentPart);
}
public void CalibrateWithHole(TapeObj t)
{
t.FirstHole = Cnc.XYLocation;
CalibrateTape(t);
MainForm.cameraView.DownCameraReset();
}
private void setTemplateImage(TapeObj t) {
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "jpg (*.jpg)|*.jpg|png (*.png)|*.png|All Files (*.*)|*.*";
ofd.Title = "Select Template To Match The Part";
if (ofd.ShowDialog() != DialogResult.OK) return;
t.TemplateFilename = ofd.FileName;
}
public void CalibrateWithTemplate(TapeObj t)
{
if (string.IsNullOrEmpty(t.TemplateFilename)) {
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "jpg (*.jpg)|*.jpg|png (*.png)|*.png|All Files (*.*)|*.*";
ofd.Title = "Select Template To Match The Part";
if (ofd.ShowDialog() != DialogResult.OK) return;
t.TemplateFilename = ofd.FileName;
}
//now find the part
var loc = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 5, .1, null, t.TemplateFilename, .75);
if (loc == null) return;
t.FirstPart = loc.ToPartLocation();
t.FirstHole = null;
// and calibrate
CalibrateTape(t);
MainForm.cameraView.DownCameraReset();
}