BoxEquip_AutoFindPos.cs
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using CodeLibrary;
using HuichuanLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
using static eyemLib_Sharp.EyemLibDemo;
namespace OnlineStore.DeviceLibrary
{
public partial class BoxEquip
{
//public Dictionary<string, List<DrawerInfo>> DrawerNums = new Dictionary<string, List<DrawerInfo>>();
AutoFindPos autoFindPos;
private bool autoFindPosMode = false;
private void InitDrawInfos()
{
autoFindPos = new AutoFindPos(Config);
//DrawerNums.Add("A", new List<DrawerInfo>());
//DrawerNums.Add("B", new List<DrawerInfo>());
//List<DrawerPosition> drawerPositions = CSVPositionReader<DrawerPosition>.getPositionList();
//foreach (DrawerPosition position in drawerPositions)
//{
// if (position.StoreId.Equals(DeviceID))
// {
// DrawerNums[PosSide(position.PositionNum)].Add(new DrawerInfo(position.PositionNum,PositionNumList));
// }
//}
}
/// <summary>
/// 获取抽屉/仓位所在面
/// </summary>
/// <param name="pos">位置</param>
/// <returns></returns>
private string PosSide(string pos)
{
if (pos.Substring(2, 2).Equals("AA")) return "A";
else if (pos.Substring(2, 2).Equals("BB")) return "B";
return "";
}
/// <summary>
/// 获取轴的负限位
/// </summary>
/// <param name="axisNo"></param>
/// <returns></returns>
public bool GetAxisNelSts(short axisNo)
{
AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
return sts.NEL == 1;
}
/// <summary>
/// 获取轴的正限位
/// </summary>
/// <param name="axisNo"></param>
/// <returns></returns>
public bool GetAxisPelSts(short axisNo)
{
AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
return sts.PEL == 1;
}
public void AutoFindPosProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
switch(MoveInfo.MoveStep)
{
case StepEnum.SA_Drawer_Start_Find_Pos:
MoveInfo.NextMoveStep(StepEnum.SA_01_To_Drawer_StartPoint);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：到抽屉起始点，" +
$"行走机构到进出料机构取放点P2，移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到进出料暂存区取放料水平点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P2, Config.MoveAxis_P2_Speed);
break;
case StepEnum.SA_01_To_Drawer_StartPoint:
break;
case StepEnum.SA_02_Pos_AcqImg:
break;
case StepEnum.SA_03_Pos_AdjPos:
break;
case StepEnum.SA_04_Pos_NextDrawer:
break;
case StepEnum.SA_05_Neg_AcqImg:
break;
case StepEnum.SA_06_Neg_AdjPos:
break;
case StepEnum.SA_07_Neg_NextDrawer:
break;
//case StepEnum.:
// //如果行>抽屉行数，直接退出。否则获取图片、得到mark的坐标，并与模板坐标比较。根据误差范围外对行走机构和移栽升降轴移动
// //在误差范围内，保存该位置脉冲同时生成库位位置信息。列加1进行第二步
// break;
//case StepEnum.:
// //如果列>抽屉列数，判断行是否大于抽屉的行数？大于则结束；否则行加1，移栽升降轴运动，到第三步
// //否则行走机构移动一个行间距的距离，到第一步
// break;
//case StepEnum.:
// //如果行>抽屉行数，直接退出。否则获取图片、得到mark的坐标，并与模板坐标比较。根据误差范围外对行走机构和移栽升降轴移动
// //在误差范围内，保存该位置脉冲同时生成库位位置信息。列减1进行第四步
// break;
//case StepEnum.:
// //如果列《1，判断行是否大于抽屉的行数？大于则结束；否则行加1，移栽升降轴运动，到第一步
// //否则行走机构移动一个行间距的距离，到第三步
// break;
//case StepEnum.:
// break;
}
}
}
public class AutoFindPos
{
/// <summary>
/// 当前行
/// </summary>
public int CurRow { get; set; } = 1;
/// <summary>
/// 当前行脉冲
/// </summary>
public int CurRowPulse { get; set; } = 0;
/// <summary>
/// 当前列脉冲
/// </summary>
public int CurColumnPulse { get; set; } = 0;
/// <summary>
/// 坐标到脉冲的转换系数
/// </summary>
public float CoeffOfCoorToPulse { get; set; } = 1;
/// <summary>
/// 当前列
/// </summary>
public int CurColumn { get; set; } = 1;
/// <summary>
/// 抽屉行数
/// </summary>
public int Rows { get; private set; }
/// <summary>
/// 抽屉列数
/// </summary>
public int Columns { get; private set; }
/// <summary>
/// 抽屉间行间距
/// </summary>
public int Row_Spacing { get; private set; }
/// <summary>
/// 抽屉间列间距
/// </summary>
public int Column_Spacing { get; private set; }
public AutoFindPos(BoxEquip_Config boxEquip_Config)
{
Row_Spacing = boxEquip_Config.Row_Spacing;
Column_Spacing = boxEquip_Config.Column_Spacing;
Rows = boxEquip_Config.Drawer_Rows;
Columns = boxEquip_Config.Drawer_Columns;
}
/// <summary>
/// Mark点坐标信息
/// </summary>
/// <param name="bitmap">输入图片</param>
/// <param name="markCoor">mark点坐标信息</param>
/// <returns>0 正常 -4未定位到 </returns>
public static int GetMarkInfo(Bitmap bitmap,out EyemOcsFXYR markCoor)
{
int flag;
markCoor = new EyemOcsFXYR();
EyemImage image = eyemCvtToEyemImage(bitmap);
flag = eyemMarkerTracing(image, 130, ref markCoor);
Marshal.FreeHGlobal(image.vpImage);
return flag;
}
}
public class DrawerInfo
{
/// <summary>
/// 抽屉信息
/// </summary>
/// <param name="pos">抽屉位置</param>
/// <param name="posNums">仓位列表</param>
public DrawerInfo(string pos, List<string> posNums)
{
PositionNum = pos;
Positions = posNums.FindAll(s => s.StartsWith(pos));
}
/// <summary>
/// 抽屉位置
/// </summary>
public string PositionNum { get; private set; }
/// <summary>
/// 抽屉内的仓位位置
/// </summary>
public List<string> Positions { get; private set; }
}
}