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.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
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>>();
public AutoFindPos autoFindPos;
public 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>
/// 获取抽屉/仓位所在面的相机序号
/// </summary>
/// <param name="pos">位置</param>
/// <returns></returns>
private int CamPosSide(string pos)
{
if (pos.Substring(2, 2).Equals("AA")) return 0;
else if (pos.Substring(2, 2).Equals("BB")) return 1;
return 0;
}
/// <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;
}
private void ToDrawer_StartPoint()
{
MoveAxis.AbsMove(MoveInfo, autoFindPos.CurRow * autoFindPos.Row_Spacing, Config.MoveAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, autoFindPos.CurColumn * autoFindPos.Column_Spacing, Config.Updown_P1_Speed);
}
private bool CheckMarkXPoint(EyemOcsFXYR eyemOcsFXYR)
{
if (Math.Abs(Config.Drawer_X - eyemOcsFXYR.fX) < Config.Drawer_X_Error)
return true;
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：Mark点X轴坐标{eyemOcsFXYR.fX},模板Mark点X轴坐标{Config.Drawer_X},X轴偏差{(Config.Drawer_X - eyemOcsFXYR.fX)}，" +
$"行走机构相对移动{(Config.Drawer_X - eyemOcsFXYR.fX) * autoFindPos.XCoeffOfCoorToPulse}[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MoveAxis.AbsMove(MoveInfo, Convert.ToInt32(MoveAxis.GetAclPosition() + (Config.Drawer_X - eyemOcsFXYR.fX) * autoFindPos.XCoeffOfCoorToPulse), Config.MoveAxis_P1_Speed / 2);
return false;
}
private bool CheckMarkYPoint(EyemOcsFXYR eyemOcsFXYR)
{
if (Math.Abs(Config.Drawer_Y - eyemOcsFXYR.fY) < Config.Drawer_Y_Error)
return true;
UpdownAxis.AbsMove(MoveInfo, Convert.ToInt32(UpdownAxis.GetAclPosition() + (Config.Drawer_Y - eyemOcsFXYR.fY) * autoFindPos.YCoeffOfCoorToPulse), Config.Updown_P1_Speed / 2);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：Mark点Y轴坐标{eyemOcsFXYR.fY},模板Mark点Y轴坐标{Config.Drawer_Y},Y轴偏差{(Config.Drawer_Y - eyemOcsFXYR.fY)}，" +
$"移栽升降轴相对移动{(Config.Drawer_Y - eyemOcsFXYR.fY) * autoFindPos.YCoeffOfCoorToPulse}[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
return false;
}
public void StartFindPos(InOutParam param)
{
if (isInSuddenDown || isNoAirpressure_Check ||
(!runStatus.Equals(RunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{
LogUtil.error(Name + " 启动视觉对位出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check);
return;
}
LogInfo(" 启动视觉对位【" + param.PosInfo.ToStr() + "】 ");
MoveInfo.NewMove(MoveType.Working, param);
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Busy);
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
}
private bool SaveDrawerPosition()
{
StringBuilder stringBuilder = new StringBuilder(MoveInfo.MoveParam.PosInfo.PosId);
stringBuilder.Append(autoFindPos.CurRow.ToString().PadLeft(2, '0'));
stringBuilder.Append(autoFindPos.CurColumn.ToString().PadLeft(2, '0'));
List<string> curDrawer = PositionNumList.FindAll(s => s.StartsWith(stringBuilder.ToString()));
if (curDrawer != null && curDrawer.Count > 0)
{
foreach (string item in curDrawer)
{
BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(item);
if (ktkPosition != null)
{
ktkPosition.MoveAxis_P3 = MoveAxis.GetAclPosition();
ktkPosition.Updown_P7_P13 = UpdownAxis.GetAclPosition();
}
//位置配置
string appPath = Application.StartupPath;
//如果总配置文件存在，保存到总的配置文件
string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_BoxPosition);
if (!File.Exists(positionConfigFile))
{
string nameStr = DeviceID.ToString();
positionConfigFile = positionConfigFile.Replace(".csv", "_" + nameStr + ".csv");
}
bool result = CSVPositionReader<BoxPosition>.SavePostion(positionConfigFile, ktkPosition);
if (!result)
{
SetWarnMsg("库位【" + item + "】保存失败！");
}
else
{
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：库位[{item}]保存成功[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
return result;
}
}
return false;
}
public void FindPosEnd()
{
MoveInfo.EndMove();
if (MoveInfo.MoveParam != null)
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：对位结束[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
EyemOcsFXYR ocsFXYR;
public void AutoFindPosProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (!autoFindPosMode)
return;
switch (MoveInfo.MoveStep)
{
case StepEnum.SA_01_Pos_Start_Find_Pos:
MoveInfo.NextMoveStep(StepEnum.SA_02_Pos_To_Drawer_StartPoint);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：到抽屉起始点，" +
$"行走机构到抽屉起始点，移栽升降轴到抽屉起始点[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
ToDrawer_StartPoint();
break;
case StepEnum.SA_02_Pos_To_Drawer_StartPoint:
//取图
//Bitmap bitmap = null;
AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId), out Bitmap bitmap);
int res = AutoFindPos.GetMarkInfo(bitmap, out ocsFXYR);
if (res == 0)
{
MoveInfo.NextMoveStep(StepEnum.SA_03_Pos_AcqImg);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：取图[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
else if (res == -4)
{
SetWarnMsg($"存储机构-视觉对位异常[code={res}]，未找到Mark点。对位失败的行={autoFindPos.CurRow}[{MoveAxis.GetAclPosition()}]，列={autoFindPos.CurColumn}[{UpdownAxis.GetAclPosition()}]");
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer);
}
else
{
SetWarnMsg($"存储机构-视觉对位异常[code={res}]，未找到Mark点。对位失败的行={autoFindPos.CurRow}[{MoveAxis.GetAclPosition()}]，列={autoFindPos.CurColumn}[{UpdownAxis.GetAclPosition()}]");
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer);
}
break;
case StepEnum.SA_03_Pos_AcqImg:
if (CheckMarkXPoint(ocsFXYR) && CheckMarkYPoint(ocsFXYR))
{
//存储抽屉位置信息
if (SaveDrawerPosition())
{
}
else
{
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
}
MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer);
}
else
{
MoveInfo.NextMoveStep(StepEnum.SA_04_Pos_AdjPos);
}
break;
case StepEnum.SA_04_Pos_AdjPos:
MoveInfo.NextMoveStep(StepEnum.SA_02_Pos_To_Drawer_StartPoint);
break;
case StepEnum.SA_05_Pos_NextDrawer:
if (autoFindPos.CurColumn < autoFindPos.Columns)
{
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
autoFindPos.CurColumn++;
}
else
{
if (autoFindPos.CurRow < autoFindPos.Rows)
{
MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
autoFindPos.CurRow++;
}
else//结束
{
FindPosEnd();
}
}
break;
case StepEnum.SA_06_Neg_Start_Find_Pos:
MoveInfo.NextMoveStep(StepEnum.SA_07_Neg_To_Drawer_StartPoint);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：到抽屉起始点，" +
$"行走机构到抽屉起始点，移栽升降轴到抽屉起始点[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
ToDrawer_StartPoint();
break;
case StepEnum.SA_07_Neg_To_Drawer_StartPoint:
//取图
//Bitmap bitmap1 = null;
AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId), out Bitmap bitmap1);
int res1 = AutoFindPos.GetMarkInfo(bitmap1, out ocsFXYR);
if (res1 == 0)
{
MoveInfo.NextMoveStep(StepEnum.SA_08_Neg_AcqImg);
LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：取图[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
else if (res1 == -4)
{
SetWarnMsg($"存储机构-视觉对位异常[code={res1}]，未找到Mark点。对位失败的行={autoFindPos.CurRow}[{MoveAxis.GetAclPosition()}]，列={autoFindPos.CurColumn}[{UpdownAxis.GetAclPosition()}]");
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer);
}
else
{
SetWarnMsg($"存储机构-视觉对位异常[code={res1}]，未找到Mark点。对位失败的行={autoFindPos.CurRow}[{MoveAxis.GetAclPosition()}]，列={autoFindPos.CurColumn}[{UpdownAxis.GetAclPosition()}]");
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer);
}
break;
case StepEnum.SA_08_Neg_AcqImg:
if (CheckMarkXPoint(ocsFXYR) && CheckMarkYPoint(ocsFXYR))
{
//存储抽屉位置信息
if (SaveDrawerPosition())
{
}
else
{
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
}
MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer);
}
else
{
MoveInfo.NextMoveStep(StepEnum.SA_09_Neg_AdjPos);
}
break;
case StepEnum.SA_09_Neg_AdjPos:
MoveInfo.NextMoveStep(StepEnum.SA_07_Neg_To_Drawer_StartPoint);
break;
case StepEnum.SA_10_Neg_NextDrawer:
if (autoFindPos.CurColumn > 1)
{
MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
autoFindPos.CurColumn--;
}
else
{
if (autoFindPos.CurRow < autoFindPos.Rows)
{
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
autoFindPos.CurRow++;
}
else//结束
{
FindPosEnd();
}
}
break;
}
}
}
public class AutoFindPos
{
/// <summary>
/// 当前行
/// </summary>
public int CurRow { get; set; } = 1;
/// <summary>
/// x坐标到脉冲的转换系数
/// </summary>
public float XCoeffOfCoorToPulse { get; set; } = 1;
/// <summary>
/// 坐标到脉冲的转换系数
/// </summary>
public float YCoeffOfCoorToPulse { 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 List<string> FailedDrawers { get; set; }
BoxEquip_Config boxEquip_Config;
public AutoFindPos(BoxEquip_Config boxEquip_Config)
{
this.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;
FailedDrawers = new List<string>();
}
public void SetParam(int curRow, int curColumn, float xCooef, float yCooef)
{
CurRow = curRow;
CurColumn = curColumn;
Row_Spacing = boxEquip_Config.Row_Spacing;
Column_Spacing = boxEquip_Config.Column_Spacing;
Rows = boxEquip_Config.Drawer_Rows;
Columns = boxEquip_Config.Drawer_Columns;
XCoeffOfCoorToPulse = xCooef;
YCoeffOfCoorToPulse = yCooef;
}
/// <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;
}
}
}