using A032.Process.Calibration;
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using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace A032.Process
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{
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public partial class ProcessControl
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{
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[ProcessMethod("CalibrationCollection", "RobotCalibration", "机器人9点标定", true)]
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public ProcessResponse RobotCalibration(IOperationConfig config)
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{
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return new ProcessResponse(true);
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}
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[ProcessMethod("CalibrationCollection", "StandardPointCalibration", "标准点位标定", true)]
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public ProcessResponse StandardPointCalibration(IOperationConfig config)
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{
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return new ProcessResponse(true);
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}
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public void SendCalibrationStartSignal(int stepNum)
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{
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}
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private int MultipleStepsCalibration(CalibrationConfigCollection configs, Action<List<CalibrationConfig>> FinalCalculation)
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{
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throw new NotImplementedException();
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//configs.Configs.ForEach(c =>
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//{
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// c.Image = null;
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//});
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//if (string.IsNullOrWhiteSpace(configs.CameraId) || !CameraDict.ContainsKey(configs.CameraId))
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//{
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// throw new ProcessException("标定配置未配置正确的相机编号");
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//}
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//if (string.IsNullOrWhiteSpace(configs.PositionCode))
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//{
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// throw new ProcessException("标定配置未指定路径位置");
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//}
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//CameraBase camera = CameraDict[configs.CameraId];
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//FrmCalib9PDynamic frm9PDynamic = new FrmCalib9PDynamic(this, camera, configs, FinalCalculation);
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//frm9PDynamic.ShowDialog();
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//if (configs.InputPara == null || configs.InputPara.Count <= 0)
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//{
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// return (int)PLCReplyValue.NG;
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//}
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//if (configs.InputPara[0] <= 0 || configs.InputPara[0] > configs.Configs.Count)
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//{
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// configs.InputPara = null;
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// return (int)PLCReplyValue.IGNORE;
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//}
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//int sequence = configs.InputPara[0];
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////第一次
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//if (sequence == 1)
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//{
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// configs.Configs.ForEach(c =>
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// {
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// c.Image = null;
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// c.OfflineImagePath = "";
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// c.CurrentPlatPoint = new CustomizedPoint();
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// c.ImageMarkPoint = new CustomizedPoint();
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// });
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//}
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//CalibrationConfig stepConfig = configs.Configs[sequence - 1];
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//HDevEngineTool tool = _halconToolDict[]
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//CalibMarkPoint(camera, stepConfig, sequence);
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////获取当前平台点位
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//stepConfig.CurrentPlatPoint = new CustomizedPoint(_monitorList.Skip(locationStartIndex).Take(4).ToList());
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////stepConfig.CurrentPlatPoint = new CustomizedPoint(configs.InputPara.Skip(1).Take(4).ToList());
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////最后一次
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//if (sequence == configs.Configs.Count)
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//{
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// FinalCalculation?.Invoke(configs.Configs);
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//}
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//configs.InputPara = null;
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//return (int)PLCReplyValue.OK;
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}
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}
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}
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