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添加 MX-PD-盘古 项目文件

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将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
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Shi.Ji
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
739 changed files with 99783 additions and 0 deletions
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225
MX-PD-盘古 - new/PanGu.DieBonderApp/MainShell/PageCalib/AlgorithmCalib/Task/FusionCalibTask.cs Normal file
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using JM1.JM1Params;
using MainShell.AlgorithmCalib.Model;
using MainShell.AlgorithmCalib.Service;
using MainShell.Common;
using MainShell.Hardware;
using MainShell.Motion;
using MaxwellFramework.Core.Interfaces;
using MwFramework.ManagerService;
using SemiconductorVisionAlgorithm.SemiParams;
using System;
using System.Collections.Generic;
using System.Data.Common;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
namespace MainShell.AlgorithmCalib
{
public class FusionCalibTask : DelegateBase
{
public Rectangle1 Rectangle { get; set; }
private HardwareManager _hardware;
private FusionCalibParItem _fusionCalibParItem;
private List<double> _calibPosList = new List<double>();
private SemiconductorVisionAlgorithm.SemiParams.Point[,] _initialwsPos;
private Dictionary<int, SemiconductorVisionAlgorithm.SemiParams.Point[,]> _calibResultPointData = new Dictionary<int, SemiconductorVisionAlgorithm.SemiParams.Point[,]>();
private FusionCalibMotionService _motion;
//private VisionOperation _visionOperation;
bool _isCancle = false;
private int _calibCount = 0;
private bool _isReDo = false;
private bool _isWaferCalib = false;
private double _initialwsRotate;
public override bool Check(object state)
{
_isWaferCalib = _fusionCalibParItem.IsWaferCalib;
IoC.Get<IProjectManager>().EnablePageAndDisableOther("视觉标定");
return true;
}
public override void Do(object state)
{
try
{
_isCancle = false;
if (_isReDo)
{
_isReDo = false;
}
else
{
_calibResultPointData.Clear();
_calibPosList.Clear();
}
var objects = state as object[];
_fusionCalibParItem = objects[0] as FusionCalibParItem;
//_visionOperation = IoC.Get<VisionOperation>();
double waferStep = _fusionCalibParItem.CalibStep;
string modelFileName = _fusionCalibParItem.ModelPath;
string path = System.AppDomain.CurrentDomain.BaseDirectory + modelFileName;
if (_calibPosList.Count != _fusionCalibParItem.Count || _calibResultPointData.Count != _fusionCalibParItem.Count)
{
_calibResultPointData.Clear();
_calibPosList.Clear();
_calibCount = 0;
for (int i = 0; i < _fusionCalibParItem.Count; i++)
{
_calibPosList.Add(0);
_calibResultPointData.Add(i, new SemiconductorVisionAlgorithm.SemiParams.Point[0, 0]);
}
}
_initialwsPos = ApprochTable(waferStep, _fusionCalibParItem.MoveAxisPos, _hardware.Axis_Y1.State.ActualPos, _fusionCalibParItem.ApproachXPos, _fusionCalibParItem.ApproachYPos, 0, path);
int count = 0;
for (int i = _calibCount; i < _fusionCalibParItem.Count; i++)
{
if (_isCancle)
{
return;
}
double x1, y1, x2, y2 = 0;
count++;
if (_fusionCalibParItem.IsWaferCalib)
{
x1 = _fusionCalibParItem.CameraAxisPos + _fusionCalibParItem.Step * i;
y1 = _fusionCalibParItem.StartY;
x2 = _fusionCalibParItem.StartX + _fusionCalibParItem.Step * i;
y2 = _hardware.Axis_Y2.State.ActualPos;
}
else
{
x1 = _fusionCalibParItem.StartX;
y1 = _fusionCalibParItem.CameraAxisPos + _fusionCalibParItem.Step * i;
x2 = _hardware.Axis_X2.State.ActualPos;
y2 = _fusionCalibParItem.StartY + _fusionCalibParItem.Step * i;
}
SemiconductorVisionAlgorithm.SemiParams.Point[,] points = null;
points = ApprochTable(waferStep, x1, y1, x2, y2, count, path);
if (_calibResultPointData.ContainsKey(i))
{
_calibResultPointData[i] = points;
}
else
{
_calibResultPointData.Add(i, points);
}
if (_fusionCalibParItem.IsWaferCalib)
{
_calibPosList[i] = _hardware.Axis_X1.State.ActualPos;
}
else
{
_calibPosList[i] = _hardware.Axis_X1.State.ActualPos;
}
}
if (_fusionCalibParItem.IsWaferCalib)
{
SemiJM1Vision.SemiJM1Manager.Instance.cal_wafer_fusion_die(_calibResultPointData, _calibPosList, _initialwsPos, _fusionCalibParItem.CalibStep, waferStep, _fusionCalibParItem.CalibCount);
string filePath = System.AppDomain.CurrentDomain.BaseDirectory + @"CalibData";
SemiJM1Vision.SemiJM1Manager.Instance.Save(filePath);
}
else
{
SemiJM1Vision.SemiJM1Manager.Instance.cal_wafer_fusion_pad(_fusionCalibParItem.Index,_calibResultPointData, _calibPosList, _initialwsPos, _fusionCalibParItem.CalibStep, waferStep, _fusionCalibParItem.CalibCount);
string filePath = System.AppDomain.CurrentDomain.BaseDirectory + @"CalibData";
SemiJM1Vision.SemiJM1Manager.Instance.set_center(new SemiconductorVisionAlgorithm.SemiParams.Point(0, 0));
SemiJM1Vision.SemiJM1Manager.Instance.Save(filePath);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
var result = MwMessageBox.Show("是否继续?", "继续", MessageBoxButton.YesNo, MessageBoxImage.Information);
if (result == MessageBoxResult.Yes)
{
_isReDo = true;
this.Do(state);
}
else
{
_isReDo = false;
}
}
MessageBox.Show("校正完成");
}
private SemiconductorVisionAlgorithm.SemiParams.Point[,] ApprochTable(double calibStep, double x1, double y1, double x2, double y2, int count, string path)
{
SemiconductorVisionAlgorithm.SemiParams.Point[,] pointArray =
new SemiconductorVisionAlgorithm.SemiParams.Point[_fusionCalibParItem.CalibCount, _fusionCalibParItem.CalibCount];
_motion.MoveWsAvoidance(x2, y1);
_motion.MovePhsAvoidance(x1, y2);
for (int y = 0; y < _fusionCalibParItem.CalibCount; y++)
{
double X1, X2, Y1, Y2 = 0;
Y1 = y * calibStep + y1;
Y2 = y * calibStep + y2;
for (int x = 0; x < _fusionCalibParItem.CalibCount; x++)
{
int index = y % 2 == 0 ? x : _fusionCalibParItem.CalibCount - 1 - x;
X2 = index * calibStep + x2;
X1 = index * calibStep + x1;
if (_isCancle)
{
return pointArray;
}
SemiconductorVisionAlgorithm.SemiParams.Point point = new SemiconductorVisionAlgorithm.SemiParams.Point();
if (_fusionCalibParItem.IsWaferCalib)
{
_motion.MoveWsAvoidance(X2, Y1);
//if (!_visionOperation.ApproachPointCircle(_hardware.TopCameraExtend, _hardware.Axis_X2, _hardware.Axis_Y1, path, Rectangle, out point))
//{
// Cancel();
//}
pointArray[index, y] = new SemiconductorVisionAlgorithm.SemiParams.Point(_hardware.Axis_X2.State.ActualPos, _hardware.Axis_Y1.State.ActualPos);
}
else
{
_motion.MovePhsAvoidance(X1, Y2);
//if (!_visionOperation.ApproachPointCircle(_hardware.TopCameraExtend, _hardware.Axis_X1, _hardware.Axis_Y2, path, Rectangle, out point))
//{
// Cancel();
//}
pointArray[index, y] = new SemiconductorVisionAlgorithm.SemiParams.Point(_hardware.Axis_X1.State.ActualPos, _hardware.Axis_Y2.State.ActualPos);
}
}
}
return pointArray;
}
public override void Finish()
{
base.Finish();
IoC.Get<IProjectManager>().SwitchState();
}
public override void Cancel()
{
_isCancle = true;
}
}
}