From 6428fad15dbe79e30a48ffc9aabe31e03a45426c Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期四, 05 十二月 2019 12:50:13 +0800
Subject: [PATCH] 1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数
---
src/A032.Process/Calibration/CtrlCalib9PDynamic.cs | 52 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 33 insertions(+), 19 deletions(-)
diff --git a/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs b/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs
index dcf6c73..1cce895 100644
--- a/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs
+++ b/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs
@@ -20,7 +20,7 @@
namespace A032.Process.Calibration
{
[Device("Calibration_9P_Dynamic", "鍔ㄦ��9鐐规爣瀹�", EnumHelper.DeviceAttributeType.OperationConfigCtrl)]
- public partial class CtrlCalib9PDynamic : UserControl, IConfigCtrl<CameraBase, CalibrationConfigCollection>
+ public partial class CtrlCalib9PDynamic : UserControl//, IConfigCtrl<CameraBase, CalibrationConfigCollection>
{
PubSubCenter PubSubCenter = PubSubCenter.GetInstance();
AutoResetEvent _confirmHandle = new AutoResetEvent(false);
@@ -30,20 +30,29 @@
InitializeComponent();
}
- public CtrlCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
+ public CtrlCalib9PDynamic(ProcessControl process, CalibrationConfigCollection calibConfig, AGVBindUnit bind, PathPosition position, Action<AGVBindUnit, int, int> commuAction, Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> finalCalculation)
{
InitializeComponent();
ProcessControl = process;
- Camera = device as CameraBase;
- Config = config as CalibrationConfigCollection;
+
+ Config = calibConfig as CalibrationConfigCollection;
+
+ Camera = bind.Camera as CameraBase;
+
+ Bind = bind;
+ Position = position;
+ CommuAction = commuAction;
FinalCalculation = finalCalculation;
}
- public CalibrationConfigCollection Config { get; set; }
- public CameraBase Camera { get; set; }
- public ProcessControl ProcessControl { get; set; }
- public Action<List<CalibrationConfig>> FinalCalculation { get; set; }
+ AGVBindUnit Bind { get; set; }
+ PathPosition Position { get; set; }
+ Action<AGVBindUnit, int, int> CommuAction;
+ CalibrationConfigCollection Config { get; set; }
+ CameraBase Camera { get; set; }
+ ProcessControl ProcessControl { get; set; }
+ Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> FinalCalculation { get; set; }
public CalibrationConfigCollection GetConfig()
{
@@ -159,7 +168,7 @@
if (chkManualConfirm.Checked)
{
- this.Invoke(new Action(() => btnContinueCalib.Visible = true)); ;
+ this.Invoke(new Action(() => btnContinueCalib.Visible = true)); ;
_confirmHandle.WaitOne();
}
@@ -188,14 +197,16 @@
private void btnStartCalib_Click(object sender, EventArgs e)
{
- if (chkOfflineCalib.Checked)
- {
- //ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
- }
- else
- {
- //ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
- }
+ //if (chkOfflineCalib.Checked)
+ //{
+ // //ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
+ //}
+ //else
+ //{
+ // //ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
+ //}
+
+ ProcessControl.MultipleStepsProcess(Config, Bind, CommuAction);
}
private void btnLoadOfflineImages_Click(object sender, EventArgs e)
@@ -213,7 +224,7 @@
private void btnStepRun_Click(object sender, EventArgs e)
{
- //CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
+ CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
//if (!chkOfflineRun.Checked)
//{
// ProcessControl.CalibMarkPoint(Camera, config, _selectedStepIndex + 1);
@@ -224,11 +235,14 @@
//}
//tsslInfo.Text = $"鍗曟杩愮畻瀹屾垚銆傛爣璁扮偣鍧愭爣锛歿config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";
+
+ ProcessControl.SingleStepProcess(config, CommuAction, Bind, Position.PositionNo, _selectedStepIndex);
+ tsslInfo.Text = $"鍗曟杩愮畻瀹屾垚銆傛爣璁扮偣鍧愭爣锛歿config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";
}
private void btnCalcuMatrix_Click(object sender, EventArgs e)
{
- FinalCalculation.Invoke(Config.Configs);
+ FinalCalculation.Invoke(Config, Bind, Position);
}
private void btnSnap_Click(object sender, EventArgs e)
--
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