From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/A032.Process/ProcessControl_Calibration.cs | 184 +++------------------------------------------
1 files changed, 15 insertions(+), 169 deletions(-)
diff --git a/src/A032.Process/ProcessControl_Calibration.cs b/src/A032.Process/ProcessControl_Calibration.cs
index 44a19ea..6c8770e 100644
--- a/src/A032.Process/ProcessControl_Calibration.cs
+++ b/src/A032.Process/ProcessControl_Calibration.cs
@@ -1,23 +1,18 @@
锘縰sing A032.Process.Calibration;
-using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
+using Bro.Device.AuboRobot;
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;
namespace A032.Process
{
public partial class ProcessControl
{
- CalibReplyMsg _calibReply = new CalibReplyMsg();
-
[ProcessMethod("CalibrationCollection", "RobotCalibration", "鏈哄櫒浜�9鐐规爣瀹�", true)]
public ProcessResponse RobotCalibration(IOperationConfig config, IDevice device)
{
@@ -29,7 +24,7 @@
throw new ProcessException("鏈兘鑾峰彇缁戝畾璁惧淇℃伅");
}
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == calibConfig.PositionNo);
+ PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionCode == calibConfig.PositionCode);
if (position == null)
{
throw new ProcessException("鏈兘鑾峰彇姝ｇ‘浣嶇疆淇℃伅");
@@ -42,64 +37,15 @@
if (calibConfig.IsStartedFromUI)
{
- FrmCalib9PDynamic frm = new FrmCalib9PDynamic(this, calibConfig, bind, position, SendMessageToRobot_Calibration, CalculateMatrix);
+ FrmCalib9PDynamic frm = new FrmCalib9PDynamic(this, calibConfig, bind, position, CalculateMatrix);
frm.ShowDialog();
}
else
{
- MultipleStepsProcess(calibConfig, bind, SendMessageToRobot_Calibration);
+ MultipleStepsProcess(calibConfig, bind);
CalculateMatrix(calibConfig, bind, position);
}
-
- //for (int i = 0; i < calibConfig.Configs.Count; i++)
- //{
- // bind.Robot.SendMsg(Bro.Device.AuboRobot.RobotMsgAction.Calibration, Bro.Device.AuboRobot.RobotMsgParas.None, calibConfig.PositionNo, new List<float>() { i + 1 });
-
- // _calibReply.CalibHandle.WaitOne();
-
- // if (_calibReply.CalibIndex != (i + 1) || _calibReply.CalibPositionNo != calibConfig.PositionNo)
- // {
- // throw new ProcessException("鏍囧畾鍙嶉鐨勭储寮曟垨浣嶇疆淇℃伅涓嶄竴鑷�");
- // }
-
- // calibConfig.Configs[i].CurrentPlatPoint = new CustomizedPoint(_calibReply.RobotPosition.X, _calibReply.RobotPosition.Y);
-
- // using (HObject hImage = CollectHImage(bind.Camera, calibConfig.Configs[i].CameraOpConfig, "RobotCalibration"))
- // {
- // var tool = _halconToolDict[calibConfig.Configs[i].CameraOpConfig.AlgorithemPath];
-
- // tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
- // tool.RunProcedure();
-
- // float x = (float)tool.GetResultTuple("OUTPUT_X").D;
- // float y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- // float angel = (float)tool.GetResultTuple("OUTPUT_Angle").D;
- // if (x < 0 || y < 0)
- // {
- // throw new ProcessException("鑾峰彇鐐逛綅淇℃伅涓嶆纭�");
- // }
-
- // calibConfig.Configs[i].ImageMarkPoint = new CustomizedPointWithAngle(x, y, angel);
- // }
- //}
-
- //HOperatorSet.VectorToHomMat2d(new HTuple(calibConfig.Configs.Select(u => u.ImageMarkPoint.X).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.ImageMarkPoint.Y).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.CurrentPlatPoint.X).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.CurrentPlatPoint.Y).ToArray()), out HTuple matrix);
-
- //var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == position.PositionCode);
- //if (visionConfig != null)
- //{
- // visionConfig.Matrix = new List<double>() { matrix[0], matrix[1], 0, matrix[3], matrix[4], 0 };
- //}
- //else
- //{
- // Config.VisionConfigCollection.Add(new PositionVisionConfig()
- // {
- // CameraId = bind.CameraId,
- // PositionCode = position.PositionCode,
- // Matrix = new List<double>() { matrix[0], matrix[1], 0, matrix[3], matrix[4], 0 },
- // });
- //}
return new ProcessResponse(true);
}
@@ -115,7 +61,7 @@
throw new ProcessException("鏈兘鑾峰彇缁戝畾璁惧淇℃伅");
}
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == calibConfig.PositionNo);
+ PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionCode == calibConfig.PositionCode);
if (position == null)
{
throw new ProcessException("鏈兘鑾峰彇姝ｇ‘浣嶇疆淇℃伅");
@@ -128,72 +74,22 @@
if (calibConfig.IsStartedFromUI)
{
- FrmCalib9PDynamic frm = new FrmCalib9PDynamic(this, calibConfig, bind, position, SendMessageToRobot_Standard, CalculateStandardPoint);
+ FrmCalib9PDynamic frm = new FrmCalib9PDynamic(this, calibConfig, bind, position, CalculateStandardPoint);
frm.ShowDialog();
}
else
{
- MultipleStepsProcess(calibConfig, bind, SendMessageToRobot_Standard);
+ MultipleStepsProcess(calibConfig, bind);
CalculateStandardPoint(calibConfig, bind, position);
}
-
- //for (int i = 0; i < calibConfig.Configs.Count; i++)
- //{
- // bind.Robot.SendMsg(Bro.Device.AuboRobot.RobotMsgAction.Calibration, Bro.Device.AuboRobot.RobotMsgParas.None, calibConfig.PositionNo, new List<float>() { i + 1 });
-
- // _calibReply.CalibHandle.WaitOne();
-
- // if (_calibReply.CalibPositionNo != calibConfig.PositionNo)
- // {
- // throw new ProcessException("鏍囧畾鍙嶉鐨勪綅缃俊鎭笉涓�鑷�");
- // }
-
- // calibConfig.Configs[i].CurrentPlatPoint = new CustomizedPoint(_calibReply.RobotPosition.X, _calibReply.RobotPosition.Y);
-
- // using (HObject hImage = CollectHImage(bind.Camera, calibConfig.Configs[i].CameraOpConfig, "RobotCalibration"))
- // {
- // var tool = _halconToolDict[calibConfig.Configs[i].CameraOpConfig.AlgorithemPath];
-
- // tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
- // tool.RunProcedure();
-
- // float x = (float)tool.GetResultTuple("OUTPUT_X").D;
- // float y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- // float angel = (float)tool.GetResultTuple("OUTPUT_Angle").D;
- // if (x < 0 || y < 0)
- // {
- // throw new ProcessException("鑾峰彇鐐逛綅淇℃伅涓嶆纭�");
- // }
-
- // calibConfig.Configs[i].ImageMarkPoint = new CustomizedPointWithAngle(x, y, angel);
- // }
- //}
-
- //CustomizedPointWithAngle markPoint = calibConfig.Configs[0].ImageMarkPoint;
- //var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == position.PositionCode);
- //if (visionConfig != null)
- //{
- // visionConfig.StandardPoint = new CustomizedPointWithAngle(markPoint.X, markPoint.Y, markPoint.Angle);
- //}
- //else
- //{
- // Config.VisionConfigCollection.Add(new PositionVisionConfig()
- // {
- // CameraId = bind.CameraId,
- // PositionCode = position.PositionCode,
- // StandardPoint = new CustomizedPointWithAngle(markPoint.X, markPoint.Y, markPoint.Angle),
- // });
- //}
return new ProcessResponse(true);
}
public void CalculateMatrix(CalibrationConfigCollection calibConfig, AGVBindUnit bind, PathPosition position)
{
- //HOperatorSet.VectorToHomMat2d(new HTuple(calibConfig.Configs.Select(u => u.ImageMarkPoint.X).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.ImageMarkPoint.Y).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.CurrentPlatPoint.X).ToArray()), new HTuple(calibConfig.Configs.Select(u => u.CurrentPlatPoint.Y).ToArray()), out HTuple matrix);
-
- List<double> matrix = GetMovementMatrix(calibConfig.Configs.Select(u => u.ImageMarkPoint as CustomizedPoint).ToList(), calibConfig.Configs.Select(u => u.CurrentPlatPoint).ToList(), out string msg);
+ List<double> matrix = GetMovementMatrix(calibConfig.Configs.Select(u => u.ImageMarkPoint as CustomizedPoint).ToList(), calibConfig.Configs.Select(u => new CustomizedPoint(u.PlatPoint.X, u.PlatPoint.Y)).ToList(), out string msg);
var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == position.PositionCode);
if (visionConfig != null)
@@ -235,7 +131,6 @@
sum += Math.Sqrt((Math.Pow((m.D - platPoints[i].X), 2) + Math.Pow((n.D - platPoints[i].Y), 2)));
}
- //sum = ((sum / (double)Config.LengthPulseRatio) * 100.0) / ((double)imagePoints.Count);
sum = sum / (double)imagePoints.Count;
msg = $"鏍囧畾鐐规暟閲�:{imagePoints.Count};鍗曠偣璇樊:{sum.ToString()}鑴夊啿";
@@ -251,18 +146,6 @@
public void CalculateStandardPoint(CalibrationConfigCollection calibConfig, AGVBindUnit bind, PathPosition position)
{
- //var bind = Config.AGVBindCollection.FirstOrDefault(u => u.CameraId == calibConfig.CameraId);
- //if (bind == null)
- //{
- // throw new ProcessException("鏈兘鑾峰彇缁戝畾璁惧淇℃伅");
- //}
-
- //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == calibConfig.PositionNo);
- //if (position == null)
- //{
- // throw new ProcessException("鏈兘鑾峰彇姝ｇ‘浣嶇疆淇℃伅");
- //}
-
CustomizedPointWithAngle markPoint = calibConfig.Configs[0].ImageMarkPoint;
var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == position.PositionCode);
if (visionConfig != null)
@@ -282,51 +165,25 @@
PubSubCenter.Publish(PubTag.CalibAllDone.ToString(), "", $"鏍囧畾瀹屾垚锛屾爣鍑嗙偣:{markPoint.GetDisplayText()}", true);
}
- public void MultipleStepsProcess(CalibrationConfigCollection calibConfig, AGVBindUnit bind, Action<AGVBindUnit, int, int> sendMessageToRobot)
+ public void MultipleStepsProcess(CalibrationConfigCollection calibConfig, AGVBindUnit bind)
{
for (int i = 0; i < calibConfig.Configs.Count; i++)
{
- SingleStepProcess(calibConfig.Configs[i], sendMessageToRobot, bind, calibConfig.PositionNo, i);
+ SingleStepProcess(calibConfig.Configs[i], bind, i);
}
}
- public void SendMessageToRobot_Calibration(AGVBindUnit bind, int positionNo, int index)
+ public void SingleStepProcess(CalibrationConfig config, AGVBindUnit bind, int index)
{
- bind.Robot.SendMsg(Bro.Device.AuboRobot.RobotMsgAction.Calibration, Bro.Device.AuboRobot.RobotMsgParas.None, positionNo, new List<float>() { index + 1 });
-
- _calibReply.CalibHandle.WaitOne();
-
- if (_calibReply.CalibIndex != (index + 1) || _calibReply.CalibPositionNo != positionNo)
- {
- throw new ProcessException("鏍囧畾鍙嶉鐨勭储寮曟垨浣嶇疆淇℃伅涓嶄竴鑷�");
- }
- }
-
- public void SendMessageToRobot_Standard(AGVBindUnit bind, int positionNo, int index)
- {
- bind.Robot.SendMsg(Bro.Device.AuboRobot.RobotMsgAction.StandardPoint, Bro.Device.AuboRobot.RobotMsgParas.None, positionNo);
-
- _calibReply.CalibHandle.WaitOne();
-
- if (_calibReply.CalibPositionNo != positionNo)
- {
- throw new ProcessException("鏍囧畾鍙嶉鐨勪綅缃俊鎭笉涓�鑷�");
- }
- }
-
- //PubSubCenter.Subscribe(PubTag.CalibStepDone.ToString(), CalibStepDone);
- //PubSubCenter.Subscribe(PubTag.CalibAllDone.ToString(), CalibAllDone);
- public void SingleStepProcess(CalibrationConfig config, Action<AGVBindUnit, int, int> sendMessageToRobot, AGVBindUnit bind, int positionNo, int index)
- {
- sendMessageToRobot.Invoke(bind, positionNo, index);
-
- config.CurrentPlatPoint = new CustomizedPoint(_calibReply.RobotPosition.X, _calibReply.RobotPosition.Y);
+ bind.Robot.Move(config.PlatPoint, MoveType.AbsoluteMove, true);
using (HObject hImage = CollectHImage(bind.Camera, config.CameraOpConfig, "RobotCalibration"))
{
var tool = _halconToolDict[config.CameraOpConfig.AlgorithemPath];
- tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
+ tool.InputImageDic.Clear();
+ tool.InputImageDic["INPUT_Image"] = hImage;
+
tool.RunProcedure();
float x = (float)tool.GetResultTuple("OUTPUT_X").D;
@@ -342,16 +199,5 @@
PubSubCenter.Publish(PubTag.CalibStepDone.ToString(), index, "", true);
}
- }
-
- public class CalibReplyMsg
- {
- public AutoResetEvent CalibHandle { get; set; } = new AutoResetEvent(false);
-
- public int CalibIndex { get; set; } = 0;
-
- public int CalibPositionNo { get; set; }
-
- public CustomizedPoint RobotPosition { get; set; } = new CustomizedPoint();
}
}
--
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