test_demo/MX-PD-盘古 - new/PanGu.DieBonderApp/MainShell/PageCalib/OriginCalib/Service/CalibrationPostProcessors.cs

using MainShell.Common;
using MainShell.Log;
using MainShell.Motion;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;

namespace MainShell.PageCalib.OriginCalib.Service
{
    /// <summary>
    /// ʾ<><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    /// </summary>
    public class VisionCapturePostProcessor : ICalibrationPostProcessor
    {
        public string Name => "VisionCapture";

        public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken,object pars= null)
        {
            "ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>...".LogInfo();

            // <20>ڴ˴<DAB4><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>
            // <20><><EFBFBD>磺await _visionService.CaptureAsync(cancellationToken);

            await Task.Delay(100, cancellationToken);

            "<22><><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɡ<EFBFBD>".LogInfo();
        }

    }

    /// <summary>
    /// <20>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>ִ<EFBFBD>бƽ<D0B1><C6BD><EFBFBD><EFBFBD><EFBFBD>
    /// </summary>
    public class ApproachAlignmentPostProcessor : ICalibrationPostProcessor
    {
        private readonly ApproachAlignmentService _approachAlignmentService;
        private readonly IReadOnlyList<ApproachAlignmentAxis> _alignmentAxes;
        private readonly CameraType _camera;

        /// <summary>
        /// <20><><EFBFBD>캯<EFBFBD><ECBAAF>
        /// </summary>
        /// <param name="approachAlignmentService"><3E>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD></param>
        /// <param name="alignmentAxes"><3E><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD></param>
        /// <param name="camera"><3E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>Ĭ<EFBFBD><C4AC>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD></param>
        public ApproachAlignmentPostProcessor(
            ApproachAlignmentService approachAlignmentService,
            IEnumerable<ApproachAlignmentAxis> alignmentAxes,
            CameraType camera = CameraType.TopPositionCamera)
        {
            _approachAlignmentService = approachAlignmentService ?? throw new ArgumentNullException(nameof(approachAlignmentService));

            if (alignmentAxes == null)
            {
                throw new ArgumentNullException(nameof(alignmentAxes));
            }

            _alignmentAxes = alignmentAxes.ToList().AsReadOnly();

            if (_alignmentAxes.Count == 0)
            {
                throw new ArgumentException("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫһ<D2AA><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᡣ", nameof(alignmentAxes));
            }

            _camera = camera;
        }

        public string Name => "ApproachAlignment";

        public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken,object pars= null)
        {
            "ִ<>бƽ<D0B1><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>...".LogInfo();

            try
            {
                ApproachAlignmentRequest alignmentRequest = new ApproachAlignmentRequest(_alignmentAxes, _camera);
                if(pars is CenterRecognitionParameters centerRecognitionParameters)
                {
                    alignmentRequest.RecognitionParameters = centerRecognitionParameters;
                }

                ApproachAlignmentResult alignmentResult = await _approachAlignmentService.ApproachAlignmentAsync(
                    alignmentRequest,
                    cancellationToken).ConfigureAwait(false);

                if (alignmentResult.Succeeded)
                {
                    string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>{0}", alignmentResult.CompletedIterations).LogInfo();
                }
                else
                {
                    string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>{0}", alignmentResult.Message).LogInfo();
                    throw alignmentResult.Exception ?? new InvalidOperationException(alignmentResult.Message);
                }
            }
            catch (OperationCanceledException)
            {
                "<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>".LogInfo();
                throw;
            }
            catch (Exception ex)
            {
                string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>{0}", ex.Message).LogInfo();
                throw;
            }
        }
    }

    /// <summary>
    /// <20><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>ִ<EFBFBD><D6B4>һ<EFBFBD><D2BB>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
    /// </summary>
    public class SingleAlignmentPostProcessor : ICalibrationPostProcessor
    {
        private readonly ApproachAlignmentService _approachAlignmentService;
        private readonly IReadOnlyList<ApproachAlignmentAxis> _alignmentAxes;
        private readonly CameraType _camera;

        public SingleAlignmentPostProcessor(
            ApproachAlignmentService approachAlignmentService,
            IEnumerable<ApproachAlignmentAxis> alignmentAxes,
            CameraType camera = CameraType.TopPositionCamera)
        {
            _approachAlignmentService = approachAlignmentService ?? throw new ArgumentNullException(nameof(approachAlignmentService));

            if (alignmentAxes == null)
            {
                throw new ArgumentNullException(nameof(alignmentAxes));
            }

            _alignmentAxes = alignmentAxes.ToList().AsReadOnly();

            if (_alignmentAxes.Count == 0)
            {
                throw new ArgumentException("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫһ<D2AA><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᡣ", nameof(alignmentAxes));
            }

            _camera = camera;
        }

        public string Name => "SingleAlignment";

        public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken, object pars = null)
        {
            "ִ<>е<EFBFBD><D0B5>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>...".LogInfo();

            try
            {
                ApproachAlignmentRequest alignmentRequest = new ApproachAlignmentRequest(_alignmentAxes, _camera);
                if (pars is CenterRecognitionParameters centerRecognitionParameters)
                {
                    alignmentRequest.RecognitionParameters = centerRecognitionParameters;
                }

                ApproachAlignmentResult alignmentResult = await _approachAlignmentService.SingleAlignmentAsync(
                    alignmentRequest,
                    cancellationToken).ConfigureAwait(false);

                if (alignmentResult.Succeeded)
                {
                    string.Format("<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ɣ<EFBFBD>ִ<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>{0}", alignmentResult.CompletedIterations).LogInfo();
                }
                else
                {
                    string.Format("<22><><EFBFBD>ζ<EFBFBD>λʧ<CEBB>ܣ<EFBFBD>{0}", alignmentResult.Message).LogInfo();
                    throw alignmentResult.Exception ?? new InvalidOperationException(alignmentResult.Message);
                }
            }
            catch (OperationCanceledException)
            {
                "<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>".LogInfo();
                throw;
            }
            catch (Exception ex)
            {
                string.Format("<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>{0}", ex.Message).LogInfo();
                throw;
            }
        }
    }
}