RealSys.MotionPlat/Rs.MotionPlat/Commom/TrayPointManager.cs

using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Commom
{
    public enum EPointType
    {
        /// <summary>
        /// 基础点位
        /// </summary>
        BASE,
        /// <summary>
        /// 运行点位
        /// </summary>
        RUN
    }
    /// <summary>
    /// 料盘点位管理
    /// </summary>
    public class TrayPointManager
    {
        static SqliteHelper db = new SqliteHelper();
        static ConcurrentDictionary<string, SlotPoint> basePoints = new ConcurrentDictionary<string, SlotPoint>();
        static ConcurrentDictionary<string, SlotPoint> runPoints = new ConcurrentDictionary<string, SlotPoint>();
        public static void LoadPoint()
        {
            string querySql = "select * from TrayBasePoints";
            DataTable dt=db.GetDataTable(querySql);
            if(ObjectHelper.IsNotNullorEmpty(dt))
            {
                foreach (DataRow dataRow in dt.Rows)
                {
                    string recipeName = dataRow["recipename"].ToString();
                    string trayName = dataRow["trayname"].ToString();
                    string slotIndex = dataRow["slotIndex"].ToString();
                    float x = float.Parse(dataRow["x"].ToString());
                    float y = float.Parse(dataRow["y"].ToString());
                    string key = $"{recipeName}-{trayName}-{slotIndex}";
                    if (!basePoints.ContainsKey(key))
                    {
                        basePoints.TryAdd(key, new SlotPoint(x, y));
                    }
                }
            }

            querySql = "select * from TrayRunPoints";
            dt = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                foreach (DataRow dataRow in dt.Rows)
                {
                    string recipeName = dataRow["recipename"].ToString();
                    string trayName = dataRow["trayname"].ToString();
                    string slotIndex = dataRow["slotIndex"].ToString();
                    float x = float.Parse(dataRow["x"].ToString());
                    float y = float.Parse(dataRow["y"].ToString());
                    string key = $"{recipeName}-{trayName}-{slotIndex}";
                    if (!runPoints.ContainsKey(key))
                    {
                        runPoints.TryAdd(key, new SlotPoint(x, y));
                    }
                }
            }
        }

        /// <summary>
        /// 获取料盘的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetSlotPoint(string recipeName,string trayName,int slotIndex, EPointType pointType= EPointType.BASE)
        {
            string key = $"{recipeName}-{trayName}-{slotIndex}";
            if(pointType== EPointType.BASE && basePoints.ContainsKey(key))
            {
                return basePoints[key];
            }
            else if(pointType== EPointType.RUN && runPoints.ContainsKey(key))
            {
                return runPoints[key];
            }
            return null;
        }

        public static SlotPoint GetDistToNozzle1(int nozzleIndex)
        {
            //先获取相机的中心位置
            SlotPoint point = new SlotPoint();
            double nozzle1ToCameraCenterX = SysConfigParam.GetValue<double>("InkpadX") - SysConfigParam.GetValue<double>("CameraInkpadX");
            double nozzle1ToCameraCenterY = SysConfigParam.GetValue<double>("InkpadY") - SysConfigParam.GetValue<double>("CameraInkpadY");

            //再加上指定吸嘴到吸嘴1的距离
            double distToNozzle1X = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterX") - SysConfigParam.GetValue<double>($"Nozzle1CenterX");
            double distToNozzle1Y = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterY") - SysConfigParam.GetValue<double>($"Nozzle1CenterY");

            point.X = nozzle1ToCameraCenterX + distToNozzle1X;
            point.Y = nozzle1ToCameraCenterY + distToNozzle1Y;
            return point;
        }
    }
}