324 lines
11 KiB
C#
324 lines
11 KiB
C#
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using MainShell.Common;
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using MainShell.Common.Display.Models;
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using MainShell.Log;
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using MainShell.Motion;
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using Maxwell.SemiFramework.DefaultConfig.Vision;
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using MwFramework.Controls.Components;
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using MwFramework.Controls.ControlCanvas.Model;
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using MwFramework.Controls.UIControl;
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using MwFramework.Device;
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using MwFramework.ManagerService;
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using Stylet;
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using StyletIoC;
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using System;
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using System.Collections.ObjectModel;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Input;
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namespace MainShell.Common.Display.ViewModel
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{
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public class CameraAxisViewModel : Screen
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{
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private const double DefaultFovX = 14.1 * 10;
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private const double DefaultFovY = 10.3 * 10;
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private const string SafeAxisMotionNotInjectedMessage = "SafeAxisMotion is not injected.";
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private readonly object _moveLock = new object();
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private CameraAxisDevices _cameraAxisDevices = new CameraAxisDevices();
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private double _xPixelPos;
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private double _yPixelPos;
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private double _cameraXIndex;
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private double _cameraYIndex;
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private GetConvertValue _convertFunXDelegate;
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private GetConvertValue _convertFunYDelegate;
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private ObservableCollection<PrimShape> _regions = new ObservableCollection<PrimShape>();
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private bool _isCameraEnable = true;
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private Visibility _controlVisibility = Visibility.Visible;
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private bool _isOpen;
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[Inject]
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public SafeAxisMotion SafeAxisMotion { get; set; }
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public CameraAxisViewModel()
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{
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ConvertFunXDelegate = new GetConvertValue(ConvertFunX);
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ConvertFunYDelegate = new GetConvertValue(ConvertFunY);
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OnLeftMouseDownCommand = new DelegateCommand<object>(OnLeftMouseDown);
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}
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public CameraAxisDevices CameraAxisDevices
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{
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get { return _cameraAxisDevices; }
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set { SetAndNotify(ref _cameraAxisDevices, value); }
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}
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public double XPixelPos
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{
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get { return _xPixelPos; }
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set { SetAndNotify(ref _xPixelPos, value); }
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}
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public double YPixelPos
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{
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get { return _yPixelPos; }
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set { SetAndNotify(ref _yPixelPos, value); }
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}
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public double CameraXIndex
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{
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get { return _cameraXIndex; }
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set { SetAndNotify(ref _cameraXIndex, value); }
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}
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public double CameraYIndex
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{
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get { return _cameraYIndex; }
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set { SetAndNotify(ref _cameraYIndex, value); }
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}
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public GetConvertValue ConvertFunXDelegate
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{
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get { return _convertFunXDelegate; }
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set { SetAndNotify(ref _convertFunXDelegate, value); }
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}
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public GetConvertValue ConvertFunYDelegate
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{
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get { return _convertFunYDelegate; }
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set { SetAndNotify(ref _convertFunYDelegate, value); }
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}
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public ObservableCollection<PrimShape> Regions
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{
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get { return _regions; }
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set { SetAndNotify(ref _regions, value); }
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}
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public bool IsCameraEnable
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{
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get { return _isCameraEnable; }
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set { SetAndNotify(ref _isCameraEnable, value); }
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}
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public Visibility ControlVisibility
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{
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get { return _controlVisibility; }
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set { SetAndNotify(ref _controlVisibility, value); }
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}
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public ICommand OnLeftMouseDownCommand { get; private set; }
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public bool IsOpen
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{
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get { return _isOpen; }
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set { SetAndNotify(ref _isOpen, value); }
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}
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public void OnLeftMouseDown(object sender)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return;
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}
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CameraAxisControlA controlA = sender as CameraAxisControlA;
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if (controlA == null)
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{
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return;
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}
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Point pixelPos = new Point(controlA.YPixPos, controlA.XPixPos);
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Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, false));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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public void MovePosAction()
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return;
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}
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Point pixelPos = new Point(YPixelPos, XPixelPos);
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Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, true));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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public double ConvertFunX(double interval)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return 0;
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}
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string name = selectedDevice.Camera.Id;
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double dx;
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double dy;
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VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
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double pixelX = interval / Math.Abs(dx);
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return pixelX;
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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return 0;
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}
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}
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public double ConvertFunY(double interval)
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{
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try
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{
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HardwareDevice selectedDevice;
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if (!TryGetSelectedDevice(out selectedDevice))
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{
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return 0;
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}
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string name = selectedDevice.Camera.Id;
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double dx;
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double dy;
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VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
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double pixelY = interval / Math.Abs(dy);
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return pixelY;
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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return 0;
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}
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}
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private bool TryGetSelectedDevice(out HardwareDevice selectedDevice)
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{
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selectedDevice = CameraAxisDevices != null ? CameraAxisDevices.SelectedHardwareDevice : null;
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if (!IsOpen || selectedDevice == null)
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{
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return false;
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}
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if (selectedDevice.Camera == null || selectedDevice.Camera.Camera == null)
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{
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ShowDeviceNotInitialized();
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return false;
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}
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if (!selectedDevice.Camera.Camera.IsGrabbing)
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{
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LocalizedMessageBox.Show(MessageKey.VisionCameraNotGrabbing, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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return false;
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}
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if (selectedDevice.AxisX == null || selectedDevice.AxisY == null)
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{
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ShowDeviceNotInitialized();
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return false;
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}
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return true;
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}
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private void MoveToPixelPoint(HardwareDevice selectedDevice, Point pixelPos, bool requireConfirmation)
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{
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lock (_moveLock)
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{
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try
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{
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IAxis axisX = selectedDevice.AxisX;
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IAxis axisY = selectedDevice.AxisY;
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Point rulerPos = new Point(axisX.State.ActualPos, axisY.State.ActualPos);
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Point newRulerPoint = Algorithm.Instance.MoveToPixelPoint(selectedDevice.Camera.Id, rulerPos, pixelPos);
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if (requireConfirmation)
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{
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double dx = newRulerPoint.X - rulerPos.X;
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double dy = newRulerPoint.Y - rulerPos.Y;
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if (!ValidateMoveRange(dx, dy))
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{
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return;
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}
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if (!ConfirmMove(newRulerPoint))
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{
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return;
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}
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}
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if (SafeAxisMotion == null)
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{
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InvalidOperationException exception = new InvalidOperationException(SafeAxisMotionNotInjectedMessage);
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LogManager.LogSysError(exception);
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ShowOperationFailed(SafeAxisMotionNotInjectedMessage);
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return;
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}
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SafeAxisMotion.SafeMove(
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MotionMoveRequest.ForAxis(axisX, newRulerPoint.X),
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MotionMoveRequest.ForAxis(axisY, newRulerPoint.Y));
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}
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catch (Exception ex)
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{
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LogManager.LogSysError(ex);
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ShowOperationFailed(ex.Message);
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}
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}
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}
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private static bool ValidateMoveRange(double dx, double dy)
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{
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if (Math.Abs(dx) > DefaultFovX || Math.Abs(dy) > DefaultFovY)
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{
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LocalizedMessageBox.Show(MessageKey.ParamOutOfRange, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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return false;
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}
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return true;
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}
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private static bool ConfirmMove(Point newRulerPoint)
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{
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string message = string.Format("新点的坐标({0},{1})，是否移动？", newRulerPoint.X, newRulerPoint.Y);
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return MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleConfirm), MessageBoxButton.OKCancel, MessageBoxImage.Question, MessageBoxResult.Cancel) == MessageBoxResult.OK;
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}
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private static void ShowDeviceNotInitialized()
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{
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LocalizedMessageBox.Show(MessageKey.DeviceNotInitialized, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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}
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private static void ShowOperationFailed(string message)
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{
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if (string.IsNullOrWhiteSpace(message))
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{
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LocalizedMessageBox.Show(MessageKey.CommonOperationFailed, MessageKey.TitleError, MessageBoxButton.OK, MessageBoxImage.Error);
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return;
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}
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MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleError), MessageBoxButton.OK, MessageBoxImage.Error);
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}
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}
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}
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