RealSys.MotionPlat/Rs.MotionPlat/SysConfig/TrayLocationRecipe.cs

using HalconDotNet;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion.Base.Config;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class TrayLocationConfig : BaseForm
    {
        string m_trayname = "";
        public TrayLocationConfig(string trayname)
        {
            InitializeComponent();
            m_trayname = trayname;
            cameraTemplate1.ItemName = m_trayname;
            //cameraTemplate1.SetFindShapeMode( EFindShapeMode.SelfDefine );
           // cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
        }

        private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final arg1, HalconDotNet.HObject arg2)
        {
            /*
                gen_rectangle1 (Rectangle, Row1, Column1, Row2, Column2)
                reduce_domain (Image21212121, Rectangle, ImageReduced)
                threshold (ImageReduced, Region, 0, 100)
                connection (Region, ConnectedRegions)
                select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 3000, 4000)
                select_shape (SelectedRegions, SelectedRegions1, 'circularity', 'and', 0.8, 1)
                smallest_circle (SelectedRegions1, Row, Column, Radius)
                gen_circle (Circle, Row, Column, Radius)
             */
            HOperatorSet.GenRectangle1(out HObject rectSearch, 502, 291, 982, 785);
            HOperatorSet.ReduceDomain(arg2, rectSearch, out HObject imageReduced);
            HOperatorSet.Threshold(imageReduced, out HObject region, 0, 100);
            HOperatorSet.Connection(region, out HObject connectRegion);
            if(connectRegion.IsInitialized()&&connectRegion.CountObj()>0)
            {
                HOperatorSet.SelectShape(connectRegion, out HObject select1Regions, "area","and", 3000, 4000);
                HOperatorSet.SelectShape(select1Regions, out HObject select2Regions, "circularity", "and", 0.8, 1);
                HOperatorSet.SmallestCircle(select2Regions,out HTuple circleRow,out HTuple circleColumn,out HTuple circleRadius);
                if(circleRadius.Length>0 && circleRadius.DArr.Length==1)
                {
                    HOperatorSet.GenCrossContourXld(out HObject cross, circleRow, circleColumn, 20, 0);
                    arg1.DispObj(cross, "green");
                }
            }
        }

        public TrayLocationConfig()
        {
            InitializeComponent();
        }

        private void TrayLocationRecipe_Load(object sender, EventArgs e)
        {
            PositionHelper.BindPosition(groupBox5);
            PositionHelper.BindPosition(groupBox1);
            PositionHelper.BindPosition(groupBox2);
            PositionHelper.BindPosition(groupBox3);
            PositionHelper.BindPosition(groupBox4);
            PositionHelper.BindPosition(groupBox6);

            //txtTrayEmpty1CenterX.Text = SysConfigParam.GetValue<string>("Tray"+ m_trayname + txtTrayEmpty1CenterX.Name.Replace("txt", ""));
            //txtTrayEmpty1CenterY.Text = SysConfigParam.GetValue<string>("Tray" + m_trayname + txtTrayEmpty1CenterY.Name.Replace("txt", ""));
        }

        private void BtnTeach_Click(object sender, EventArgs e)
        {
            PositionHelper.Teach(this, sender);
            //Button btnTeach = (Button)sender;
            //string name = btnTeach.Name.Replace("btnTeach", "");
            //string txtname = "txt" + name;
            //string varName =name;
            //Control txt = ControlManager.FindControl(this, txtname);
            //if(txt != null)
            //{
            //    string axisName=txt.Tag.ToString();
            //    double targetPos  = Ops.GetCurPosition(axisName);
            //    txt.Text = targetPos.ToString("0.000");
            //    SysConfigParam.Update(varName, targetPos.ToString());
            //}
        }

        private void btnMove_Click(object sender, EventArgs e)
        {

            PositionHelper.Move2This(this, sender);


            //Button btnTeach = (Button)sender;
            //string name = btnTeach.Name.Replace("btnMove", "");
            //string txtname = "txt" + name;
            //string varName = name;
            //Control txt = ControlManager.FindControl(this, txtname);
            //if (txt != null)
            //{
            //    string axisName = txt.Tag.ToString();
            //    AxisControl.GetAxis(axisName).MovePos(double.Parse(txt.Text), 4);
            //    //double targetPos = Ops.GetCurPosition(axisName);
            //    //txt.Text = targetPos.ToString("0.000");
            //    //SysConfigParam.Update(varName, targetPos.ToString());
            //}
        }

        public void txtSysParam_KeyUp(object sender, KeyEventArgs e)
        {
            UpdateSysParam((TextBox)sender);
        }
    }
}