537 lines
20 KiB
C#
537 lines
20 KiB
C#
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using MainShell.Common;
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using MainShell.DeviceMaintance.Model;
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using MainShell.Hardware;
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using MainShell.Log;
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using MainShell.Models;
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using MainShell.Motion;
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using MainShell.Parameter;
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using MaxwellControl.Tools;
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using MaxwellFramework.Core.Interfaces;
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using MwFramework.ManagerService;
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using Stylet;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Controls;
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namespace MainShell.DeviceMaintance.ViewModel
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{
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public class NeedleCameraPrintViewModel : DeviceMaintanceBaseViewModel
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{
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private NeedlePrintCalibrateSetting _needlePrintCalibrateSetting;
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private readonly IParamList _paramList;
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private readonly HardwareManager _device;
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private readonly SafeAxisMotion _safeMotion;
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private readonly GlobalParameterContext _globalParam;
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private CancellationTokenSource _cancellationTokenSource;
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private List<Point> _workPos;
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private readonly double _z1Speed = 70;
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private MaintanceRecord maintanceRecord;
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private ParameterHelper _parameterHelper = new ParameterHelper();
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public ParameterHelper ParameterHelper
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{
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get
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{
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return _parameterHelper;
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}
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set
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{
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_parameterHelper = value;
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OnPropertyChanged(nameof(ParameterHelper));
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}
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}
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private MPoint _cameraPoint;
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public MPoint CameraPoint
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{
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get { return _cameraPoint; }
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set { SetAndNotify(ref _cameraPoint, value); }
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}
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private MPoint _currentNeedlePoint;
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public MPoint CurrentNeedlePoint
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{
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get { return _currentNeedlePoint; }
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set { SetAndNotify(ref _currentNeedlePoint, value); }
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}
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private MPoint _currentNeedleOffsetPoint;
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public MPoint CurrentNeedleOffsetPoint
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{
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get { return _currentNeedleOffsetPoint; }
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set { SetAndNotify(ref _currentNeedleOffsetPoint, value); }
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}
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private NeedlePrintCalibrateParameter _needlePrintCalibrateParameter;
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public NeedlePrintCalibrateParameter NeedlePrintCalibrateParameter
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{
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get { return _needlePrintCalibrateParameter; }
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set { SetAndNotify(ref _needlePrintCalibrateParameter, value); }
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}
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private bool _uiEnable = true;
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public bool UiEnable
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{
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get { return _uiEnable; }
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set
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{
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if (SetAndNotify(ref _uiEnable, value))
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{
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OnUiStateChanged(value);
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}
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}
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}
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/*
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public NeedleCameraPrintViewModel(IParameterManager parameterManager, GlobalParam globalParam, HardwareManager hardwareManager, SafeAxisMotion safeAxisMotion)
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{
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_currentNeedleOffsetPoint = new MPoint();
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CurrentNeedlePoint = new MPoint();
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_cameraPoint = new MPoint();
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_workPos = new List<Point>();
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_device = hardwareManager;
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_safeMotion = safeAxisMotion;
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_globalParam = globalParam;
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_paramList = parameterManager as IParamList;
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_needlePrintCalibrateSetting = _globalParam.NeedlePrintCalibrateSetting;
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_needlePrintCalibrateParameter = _needlePrintCalibrateSetting.NeedlePrintCalibrateParameter;
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SetSpeed(50);
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CalculteWorkPos();
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maintanceRecord = new MaintanceRecord()
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{
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DeviceId = LogManager.MachineID,
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MaintanceType = MaintanceType.针印验证,
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};
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}
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protected override void OnViewLoaded()
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{
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base.OnViewLoaded();
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NeedlePrintCalibrateParameter = _needlePrintCalibrateSetting.NeedlePrintCalibrateParameter;
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var needleCalibrationSetting = _globalParam.NeedleCalibrationSetting;
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CurrentNeedleOffsetPoint.X = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetX;
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CurrentNeedleOffsetPoint.Y = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetY;
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}
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public void SpeedChanged(object sender, EventArgs eventArgs)
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{
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if (sender is RadioButton radioButton)
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{
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if (radioButton.Tag != null)
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{
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var speed = Convert.ToInt32(radioButton.Tag);
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SetSpeed(speed);
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}
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}
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}
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private void SetSpeed(double speed)
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{
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_safeMotion.SetAxisSpeed(_device.Axis_X1, speed);
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_safeMotion.SetAxisSpeed(_device.Axis_Y1, speed);
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_safeMotion.SetAxisSpeed(_device.Axis_X2, speed);
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_safeMotion.SetAxisSpeed(_device.Axis_Y2, speed);
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_safeMotion.SetAxisSpeed(_device.Axis_Z1, _z1Speed);
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}
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public void MoveToOrginPos()
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{
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CommonUti.RunOnUi(() =>
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{
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MoveOrgin();
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});
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}
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public void TeachWSPos()
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{
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CommonUti.RunOnUi(() =>
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{
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NeedlePrintCalibrateParameter.AvoidancePoint.X = _device.Axis_X2.GetPositionImmediate();
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NeedlePrintCalibrateParameter.AvoidancePoint.Y = _device.Axis_Y2.GetPositionImmediate();
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});
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}
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public void MoveToWsPos()
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{
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CommonUti.RunOnUi(() =>
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{
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MoveAvoidancePos();
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});
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}
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public void TeachZ1Pos()
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{
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CommonUti.RunOnUi(() =>
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{
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NeedlePrintCalibrateParameter.Z1WorkHeight = _device.Axis_Z1.GetPositionImmediate();
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});
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}
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public void MoveToZ1Pos()
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{
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CommonUti.RunOnUi(() =>
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{
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MoveZ1Pos();
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});
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}
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public void TeachZ2Pos()
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{
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CommonUti.RunOnUi(() =>
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{
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NeedlePrintCalibrateParameter.Z2WorkHeight = _device.Axis_Z2.GetPositionImmediate();
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});
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}
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public void MoveToZ2Pos()
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{
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CommonUti.RunOnUi(() =>
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{
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MoveZ2Pos();
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});
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}
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public void TeachStartPos()
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{
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CommonUti.RunOnUi(() =>
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{
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NeedlePrintCalibrateParameter.StartPoint.X = _device.Axis_X1.GetPositionImmediate();
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NeedlePrintCalibrateParameter.StartPoint.Y = _device.Axis_Y1.GetPositionImmediate();
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});
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}
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public void MoveToStartPos()
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{
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CommonUti.RunOnUi(() =>
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{
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_safeMotion.MoveAxis(new AxisPos
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{
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Axis = _device.Axis_X11,
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Pos = NeedlePrintCalibrateParameter.StartPoint.PointX
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}, new AxisPos
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{
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Axis = _device.Axis_Y11,
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Pos = NeedlePrintCalibrateParameter.StartPoint.PointY
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});
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});
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}
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public void TeachEndPos()
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{
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CommonUti.RunOnUi(() =>
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{
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NeedlePrintCalibrateParameter.EndPoint.X = _device.Axis_X1.GetPositionImmediate();
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NeedlePrintCalibrateParameter.EndPoint.Y = _device.Axis_Y1.GetPositionImmediate();
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});
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}
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public void MoveToEndPos()
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{
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CommonUti.RunOnUi(() =>
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{
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_safeMotion.SafeMove(new MotionData
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{
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Name = "X1",
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TargetPosition = NeedlePrintCalibrateParameter.EndPoint.X
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}, new MotionData
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{
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Name = "y1",
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TargetPosition = NeedlePrintCalibrateParameter.EndPoint.Y
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});
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});
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}
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private void MoveOrgin()
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{
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_safeMotion.SafeMoveAxis(new AxisPos
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{
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Axis = _device.Axis_CY,
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Pos = 0
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}, new AxisPos
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{
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Axis = _device.Axis_CZ,
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Pos = 0
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});
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}
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private void MoveAvoidancePos()
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{
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_safeMotion.MoveAxis(new AxisPos
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{
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Axis = _device.Axis_X21,
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Pos = NeedlePrintCalibrateParameter.AvoidancePoint.PointX
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}, new AxisPos
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{
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Axis = _device.Axis_Y21,
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Pos = NeedlePrintCalibrateParameter.AvoidancePoint.PointY
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});
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}
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private void MoveZ1Pos()
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{
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_safeMotion.MoveAxis(new AxisPos
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{
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Axis = _device.Axis_Z1,
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Pos = NeedlePrintCalibrateParameter.Z1WorkHeight
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});
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}
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private void MoveZ2Pos()
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{
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_safeMotion.MoveAxis(new AxisPos
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{
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Axis = _device.Axis_Z2,
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Pos = NeedlePrintCalibrateParameter.Z2WorkHeight
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});
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}
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private void MoveAvoidanceAndWorkPos(Point workP)
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{
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_safeMotion.MoveAxis(new AxisPos
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{
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Axis = _device.Axis_X21,
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Pos = NeedlePrintCalibrateParameter.AvoidancePoint.PointX
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}, new AxisPos
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{
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Axis = _device.Axis_Y21,
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Pos = NeedlePrintCalibrateParameter.AvoidancePoint.PointY
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}, new AxisPos
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{
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Axis = _device.Axis_X11,
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Pos = workP.X
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}, new AxisPos
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{
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Axis = _device.Axis_Y11,
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Pos = workP.Y
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});
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}
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public void StartVerify()
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{
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CommonUti.RunOnUi(() =>
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{
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InitCancelToken();
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if (_workPos.Count == 0)
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{
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MaxwellControl.Controls.MessageBox.Show("无法计算有效的下扎点，请检查铜箔示教的起始点坐标");
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return;
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}
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if (_workPos.Count <= NeedlePrintCalibrateParameter.UsedNum)
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{
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MaxwellControl.Controls.MessageBox.Show("当前铜箔已用完，请确认是否需要更换");
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}
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IoC.Get<IProjectManager>().EnablePageAndDisableOther("刺晶头校正");
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VisionParData visionParData = new VisionParData
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{
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LightSourceBack = 0,
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LightSourceRingBlue = 255,
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LightSourcePointBlue = 255,
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LightSourcePointRed = 255,
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LightSourceRingRed = 255,
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};
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_safeMotion.MoveZToEscape();
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visionParData.SetLightData();
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CheckCancel();
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var workPoint = _workPos[NeedlePrintCalibrateParameter.UsedNum];
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CurrentNeedlePoint.PointX = workPoint.X;
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CurrentNeedlePoint.PointY = workPoint.Y;
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MoveOrgin();
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MoveAvoidanceAndWorkPos(workPoint);
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MoveZ1Pos();
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CheckCancel();
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Thread.Sleep(NeedlePrintCalibrateParameter.SleepTime);
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_safeMotion.Z1MoveToEscape();
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CheckCancel();
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var cameraPoint = IoC.Get<VisionOperation>().GetCameraRulerPointByRulerNeedle(new Point(_device.Axis_X11.GetPositionImmediate(), _device.Axis_Y11.GetPositionImmediate()));
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_safeMotion.SafeMoveAxis(new AxisPos
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{
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Axis = _device.Axis_X11,
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Pos = cameraPoint.X
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}, new AxisPos
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{
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Axis = _device.Axis_Y11,
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Pos = cameraPoint.Y
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});
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MoveZ2Pos();
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NeedlePrintCalibrateParameter.UsedNum++;
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_needlePrintCalibrateSetting.Write();
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}, exceptionHandler: ex =>
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{
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_safeMotion.MoveZToEscape();
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CommonUti.ShowMessageBox(ex);
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}, begainAction: () =>
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{
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UiEnable = false;
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}, afterAction: () =>
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{
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UiEnable = true;
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IoC.Get<IProjectManager>().SwitchState();
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});
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}
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private void InitCancelToken()
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{
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if (_cancellationTokenSource != null)
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{
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_cancellationTokenSource.Cancel();
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_cancellationTokenSource.Dispose();
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}
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_cancellationTokenSource = new CancellationTokenSource();
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}
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private void CheckCancel()
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{
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_cancellationTokenSource.Token.ThrowIfCancellationRequested();
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|
|
}
|
|||
|
|
public void StopVerify()
|
|||
|
|
{
|
|||
|
|
_cancellationTokenSource?.Cancel();
|
|||
|
|
IoC.Get<CancelSourceManager>().CancelMotionAndCheck();
|
|||
|
|
IoC.Get<GlobalDeviceService>().StopMainAxis();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void void NeedleAlignment()
|
|||
|
|
{
|
|||
|
|
CommonUti.RunOnUi(() =>
|
|||
|
|
{
|
|||
|
|
var needlePoint = IoC.Get<VisionOperation>().GetNeedleRulerPointByRulerCamera(new Point(_device.Axis_X11.GetPositionImmediate(), _device.Axis_Y11.GetPositionImmediate()));
|
|||
|
|
_safeMotion.SafeMoveAxis(new AxisPos
|
|||
|
|
{
|
|||
|
|
Axis = _device.Axis_X11,
|
|||
|
|
Pos = needlePoint.X
|
|||
|
|
}, new AxisPos
|
|||
|
|
{
|
|||
|
|
Axis = _device.Axis_Y11,
|
|||
|
|
Pos = needlePoint.Y
|
|||
|
|
});
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
public void void CameraAlignment()
|
|||
|
|
{
|
|||
|
|
CommonUti.RunOnUi(() =>
|
|||
|
|
{
|
|||
|
|
var cameraPoint = IoC.Get<VisionOperation>().GetCameraRulerPointByRulerNeedle(new Point(_device.Axis_X11.GetPositionImmediate(), _device.Axis_Y11.GetPositionImmediate()));
|
|||
|
|
_safeMotion.SafeMoveAxis(new AxisPos
|
|||
|
|
{
|
|||
|
|
Axis = _device.Axis_X11,
|
|||
|
|
Pos = cameraPoint.X
|
|||
|
|
}, new AxisPos
|
|||
|
|
{
|
|||
|
|
Axis = _device.Axis_Y11,
|
|||
|
|
Pos = cameraPoint.Y
|
|||
|
|
});
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
public void SaveParam()
|
|||
|
|
{
|
|||
|
|
CommonUti.RunOnUi(() =>
|
|||
|
|
{
|
|||
|
|
CalculteWorkPos();
|
|||
|
|
if (_workPos.Count == 0)
|
|||
|
|
{
|
|||
|
|
MaxwellControl.Controls.MessageBox.Show("无法计算有效的下扎点，请检查铜箔示教的起始点坐标");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
_needlePrintCalibrateSetting.Write();
|
|||
|
|
Application.Current.Dispatcher.Invoke(() =>
|
|||
|
|
{
|
|||
|
|
ParameterHelper.RaiseValueAccept();
|
|||
|
|
});
|
|||
|
|
MaxwellControl.Controls.MessageBox.Show("操作成功");
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void ResetRecord()
|
|||
|
|
{
|
|||
|
|
NeedlePrintCalibrateParameter.UsedNum = 0;
|
|||
|
|
SaveParam();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void TeachCameraPos()
|
|||
|
|
{
|
|||
|
|
CameraPoint.PointX = _device.Axis_X11.GetPositionImmediate();
|
|||
|
|
CameraPoint.PointY = _device.Axis_Y11.GetPositionImmediate();
|
|||
|
|
}
|
|||
|
|
public void CalculateOffset()
|
|||
|
|
{
|
|||
|
|
CommonUti.RunOnUi(() =>
|
|||
|
|
{
|
|||
|
|
if (CameraPoint.PointX == 0 || CameraPoint.PointY == 0 || CurrentNeedlePoint.PointX == 0 || CurrentNeedlePoint.PointY == 0)
|
|||
|
|
{
|
|||
|
|
MaxwellControl.Controls.MessageBox.Show("请先示教相机位置和针尖位置");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
List<Point> cameraRealPointList = new List<Point>();
|
|||
|
|
List<Point> needleRealPointList = new List<Point>();
|
|||
|
|
VisionOperation visionOperation = IoC.Get<VisionOperation>();
|
|||
|
|
|
|||
|
|
Point cameraPointReal = visionOperation.GetRealByRuler(_device.Camera_Extend.Id, new Point(CameraPoint.PointX, CameraPoint.PointY));
|
|||
|
|
Point needlePointReal = visionOperation.GetRealByRuler(_device.Camera_Extend.Id, new Point(CurrentNeedlePoint.PointX, CurrentNeedlePoint.PointY));
|
|||
|
|
var needleCalibrationSetting = _paramList.GetParameter<NeedleCalibrationSetting>();
|
|||
|
|
needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetX = needlePointReal.X - cameraPointReal.X;
|
|||
|
|
needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetY = needlePointReal.Y - cameraPointReal.Y;
|
|||
|
|
var offsetX = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetX - needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetX;
|
|||
|
|
var offsetY = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetY - needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetY;
|
|||
|
|
if (Math.Abs(offsetY) >= 2 || Math.Abs(offsetX) > 2.5)
|
|||
|
|
{
|
|||
|
|
MaxwellControl.Controls.MessageBox.Show("当前相机与针尖偏差过大，请重新校准！");
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
needleCalibrationSetting.NeedleXYCalibrationItem.OffsetX = needleCalibrationSetting.NeedleXYCalibrationItem.CompensateX + needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetX;
|
|||
|
|
needleCalibrationSetting.NeedleXYCalibrationItem.OffsetY = needleCalibrationSetting.NeedleXYCalibrationItem.CompensateY + needleCalibrationSetting.NeedleXYCalibrationItem.InitialOffsetY;
|
|||
|
|
|
|||
|
|
CurrentNeedleOffsetPoint.PointX = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetX;
|
|||
|
|
CurrentNeedleOffsetPoint.PointY = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetY;
|
|||
|
|
|
|||
|
|
EquipmentParaSysSetting equipmentParaSysSetting = _paramList.GetParameter<EquipmentParaSysSetting>();
|
|||
|
|
equipmentParaSysSetting.SafeParaSysItem.NeedleCameraOffsetX = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetX;
|
|||
|
|
equipmentParaSysSetting.SafeParaSysItem.NeedleCameraOffsetY = needleCalibrationSetting.NeedleXYCalibrationItem.OffsetY;
|
|||
|
|
equipmentParaSysSetting.Write();
|
|||
|
|
needleCalibrationSetting.Write();
|
|||
|
|
maintanceRecord.WriteToFile($"当前相机与针尖与上次偏差 X：{offsetX} Y:{offsetY}");
|
|||
|
|
MaxwellControl.Controls.MessageBox.Show("操作成功");
|
|||
|
|
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
private void CalculteWorkPos()
|
|||
|
|
{
|
|||
|
|
_workPos.Clear();
|
|||
|
|
var startPoint = new Point(NeedlePrintCalibrateParameter.StartPoint.X, NeedlePrintCalibrateParameter.StartPoint.PointY);
|
|||
|
|
var width = NeedlePrintCalibrateParameter.EndPoint.X - NeedlePrintCalibrateParameter.StartPoint.X;
|
|||
|
|
var height = NeedlePrintCalibrateParameter.EndPoint.Y - NeedlePrintCalibrateParameter.StartPoint.Y;
|
|||
|
|
var xscale = width > 0 ? 1 : -1;
|
|||
|
|
var yscale = height > 0 ? 1 : -1;
|
|||
|
|
var xcount = Math.Floor(Math.Abs(width) / NeedlePrintCalibrateParameter.Xpitch);
|
|||
|
|
var ycount = Math.Floor(Math.Abs(height) / NeedlePrintCalibrateParameter.Ypitch);
|
|||
|
|
for (int i = 0; i < ycount; i++)
|
|||
|
|
{
|
|||
|
|
for (int j = 0; j < xcount; j++)
|
|||
|
|
{
|
|||
|
|
var cameraPoint = new Point
|
|||
|
|
{
|
|||
|
|
X = startPoint.X + xscale * i * NeedlePrintCalibrateParameter.Xpitch,
|
|||
|
|
Y = startPoint.Y + yscale * j * NeedlePrintCalibrateParameter.Ypitch,
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
var needlePoint = IoC.Get<VisionOperation>().GetNeedleRulerPointByRulerCamera(cameraPoint);
|
|||
|
|
_workPos.Add(needlePoint);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
private bool CheckPointInRange(Point point)
|
|||
|
|
{
|
|||
|
|
return IsPointInRange(NeedlePrintCalibrateParameter.StartPoint, NeedlePrintCalibrateParameter.EndPoint, point);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool IsPointInRange(MPoint p1, MPoint p2, Point current)
|
|||
|
|
{
|
|||
|
|
// 计算最小和最大 X 和 Y 值
|
|||
|
|
double minX = Math.Min(p1.X, p2.X);
|
|||
|
|
double maxX = Math.Max(p1.X, p2.X);
|
|||
|
|
double minY = Math.Min(p1.Y, p2.Y);
|
|||
|
|
double maxY = Math.Max(p1.Y, p2.Y);
|
|||
|
|
|
|||
|
|
// 检查待判断的点是否在范围内
|
|||
|
|
return (current.X >= minX && current.X <= maxX) && (current.Y >= minY && current.Y <= maxY);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|