From 773369500892dcb5347e4a0059f8089960073030 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 15 七月 2020 22:08:34 +0800
Subject: [PATCH] 板卡回原点配置迁移到初始配置轴配置中 板卡回原点配置区分运动方向和捕捉方向，限制捕捉原点方向
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 41 ++++++++++++++++----
src/Bro.M071.Process/M071Process.cs | 12 ++++--
src/Bro.Common.Model/Model/MotionCardRelated.cs | 49 ++++++++++++++++--------
3 files changed, 73 insertions(+), 29 deletions(-)
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index 1037012..8d9ce6b 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -86,6 +86,13 @@
//[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
//public bool IsUseWarning { get; set; } = false;
+ [Category("鍘熺偣閰嶇疆")]
+ [DisplayName("鍥炲師鐐瑰弬鏁�")]
+ [Description("鍥炲師鐐瑰弬鏁�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public GoHomePara GoHomePara { get; set; } = new GoHomePara();
+
[Category("鏆傚仠閰嶇疆")]
[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
@@ -154,25 +161,19 @@
[Category("鍥炲師鐐瑰弬鏁�")]
[DisplayName("鍥炲師鐐规柟寮�")]
[Description("HomeMode锛氬洖鍘熺偣鏂瑰紡 锛圚OME_MODE_LIMIT = 10; HOME_MODE_LIMIT_HOME = 11; HOME_MODE_LIMIT_INDEX = 12; HOME_MODE_LIMIT_HOME_INDEX = 13;HOME_MODE_HOME = 20;HOME_MODE_HOME_INDEX = 22;HOME_MODE_INDEX = 30;")]
- public short HomeMode { get; set; } = 11;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
- public short HomeDir { get; set; } = 1;
+ public short HomeMode { get; set; } = 11;
[Category("鍥炲師鐐瑰弬鏁�")]
[DisplayName("杈圭紭")]
[Description("edge锛氳竟缂�")]
public short Edge { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐归�熷害")]
[DisplayName("鍥炲師鐐规渶浣庨�熷害")]
[Description("LowVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
public double LowVelocity { get; set; } = 50;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐归�熷害")]
[DisplayName("鍥炲師鐐规渶楂橀�熷害")]
[Description("HighVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
public double HighVelocity { get; set; } = 50;
@@ -182,16 +183,30 @@
//[Description("SearchHomeDistance锛氭悳绱㈣窛绂�")]
//public int SearchHomeDistance { get; set; } = 9999999;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐瑰亸绉�")]
[DisplayName("鍋忕Щ璺濈")]
[Description("HomeOffset锛氬亸绉昏窛绂�")]
public int HomeOffset { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐瑰亸绉�")]
[DisplayName("璺宠繃姝ラ暱")]
[Description("EscapeStep锛氳烦杩囨闀�")]
public int EscapeStep { get; set; } = 1000;
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("璧峰杩愬姩鏂瑰悜")]
+ [Description("鍥炲師鐐规椂锛岃酱鐨勫垵濮嬭繍鍔ㄦ柟鍚戯細true 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsHomeDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("鍘熺偣鎹曟崏鏂瑰悜")]
+ [Description("鎹曟崏鍘熺偣鏃讹紝杞寸殑杩愬姩鏂瑰悜锛歵rue 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsCaptureDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐硅秴鏃�")]
+ [DisplayName("鍥炲師鐐硅秴鏃�")]
+ [Description("鍥炲師鐐硅秴鏃讹紝鍗曚綅绉�")]
+ public int GoHomeTimeOut { get; set; } = 60;
}
/// <summary>
@@ -352,12 +367,12 @@
//}
//private GoHomePara goHomePara = new GoHomePara();
- [Category("杩愬姩閰嶇疆")]
- [DisplayName("鍥炲師鐐瑰弬鏁�")]
- [Description("GoHomePara锛氶�熷害鍙傛暟")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public GoHomePara GoHomePara { get; set; } = new GoHomePara();
+ //[Category("杩愬姩閰嶇疆")]
+ //[DisplayName("鍥炲師鐐瑰弬鏁�")]
+ //[Description("GoHomePara锛氶�熷害鍙傛暟")]
+ //[TypeConverter(typeof(ComplexObjectConvert))]
+ //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ //public GoHomePara GoHomePara { get; set; } = new GoHomePara();
//{
// get => goHomePara;
// set
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 2385a82..d87e661 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -888,7 +888,11 @@
{
try
{
- StartCapture:
+ var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
+ bool homeDirection = goHomePara.IsHomeDirPositive;
+ bool isRightLimitReached = false;
+
+ StartCapture:
PositionReset(movingOption.AxisIndex, 1);
ClearStatus(movingOption.AxisIndex, 1);
@@ -907,24 +911,24 @@
// 璁剧疆鐐逛綅妯″紡杩愬姩鍙傛暟
sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
// 璁剧疆鐐逛綅妯″紡鐩爣閫熷害锛屽嵆鍥炲師鐐归�熷害
- sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HighVelocity);
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);
// 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
// 鍚姩杩愬姩
sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
- int repeatTime = 1000;
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
short capture;
int pos;
uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(20);
+ Thread.Sleep(IConfig.MonitorInterval);
// 璇诲彇鎹曡幏鐘舵��
GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime--;
+ repeatTime -= IConfig.MonitorInterval;
} while (!(isStop || capture == 1 || repeatTime <= 0));
if (repeatTime <= 0)
@@ -941,7 +945,22 @@
if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
{
- movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+
+ //姝ｉ檺浣�
+ if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+
+ //璐熼檺浣�
+ if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+ homeDirection = !homeDirection;
goto StartCapture;
}
@@ -950,12 +969,18 @@
if (capture == 1)
{
+ if (!isRightLimitReached)
+ {
+ capture = 0;
+ goto StartCapture;
+ }
+
//鍏坰top
MoveStop((short)movingOption.AxisIndex, 0);
ClearStatus((short)movingOption.AxisIndex, 1);
//宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
// 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
// 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
isStop = false;
diff --git a/src/Bro.M071.Process/M071Process.cs b/src/Bro.M071.Process/M071Process.cs
index cf6b12d..325cccc 100644
--- a/src/Bro.M071.Process/M071Process.cs
+++ b/src/Bro.M071.Process/M071Process.cs
@@ -272,7 +272,7 @@
return;
}
- RunImageHandle(camera, s.CameraOp.OpConfig, set, s.Id, s.Name, pMeasure.Measurements);
+ RunImageHandle(s.CameraOp.OpConfig, set, s.Id, s.Name, pMeasure.Measurements);
});
BarCode = "";
@@ -1027,7 +1027,7 @@
}
#endregion
- private async void RunImageHandle(CameraBase camera, IOperationConfig opConfig, IImageSet imgSet, string snapshotId, string snapshotName, List<MeasurementUnit> measureList)
+ private async void RunImageHandle(IOperationConfig opConfig, IImageSet imgSet, string snapshotId, string snapshotName, List<MeasurementUnit> measureList)
{
await Task.Run(() =>
{
@@ -1095,7 +1095,10 @@
HOperatorSet.SelectObj(images, out HObject image, i);
string fileName = Path.Combine(dir, $"{i}.tif");
- image.ConvertHObjectToHImage().WriteImage("tiff", 0, fileName);
+ using (HImage temp = image.ConvertHObjectToHImage())
+ {
+ temp.WriteImage("tiff", 0, fileName);
+ }
keys.Where(u => u.ImageSeq == i).ToList().ForEach(k =>
{
@@ -1113,6 +1116,7 @@
_halconToolDict[keyToolKey].InputImageDic["INPUT_Image"] = image;
_halconToolDict[keyToolKey].InputTupleDic["INPUT_Resolution_X"] = scanParam.Resolution_X / 1000000.0;
_halconToolDict[keyToolKey].InputTupleDic["INPUT_Resolution_Z"] = scanParam.Resolution_Z / 1000000.0;
+ _halconToolDict[keyToolKey].InputTupleDic["INPUT_ImageId"] = $"{k.AliasName}_{DateTime.Now.ToString("HHmmssfff")}.tif";
if (!_halconToolDict[keyToolKey].RunProcedure(out string error))
{
LogAsync(DateTime.Now, $"{k.AliasName}妫�娴嬬畻娉曞紓甯革紝{error}", "");
@@ -1144,7 +1148,7 @@
});
});
- //image.Dispose();
+ image.Dispose();
}
//);
--
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