优化料盘定位算法

Rs.DeweyTester/Flow/NormalFlow/ThreePointLocationFlow.cs

@@ -18,8 +18,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
     {
         到拍照位,
         等待到拍照位,
-        通知相机拍照,
+        相机拍照处理
-        处理拍照结果
     }
     public class ThreePointLocationFlow
     {
@@ -96,7 +95,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
                                 {
                                     logInfo = $"已运动到拍照位,cloadx:{Ops.GetCurPosition(AxisControl.LoadX)},cloady1:{Ops.GetCurPosition(AxisControl.LoadY1)},cloady2:{Ops.GetCurPosition(AxisControl.LoadY2)}";
                                     MessageQueue.Instance.Insert(logInfo);
-                                    step = EThreePointLocationFlowStep.通知相机拍照;
+                                    step = EThreePointLocationFlowStep.相机拍照处理;
                                 }
                                 else
                                 {
@@ -104,62 +103,25 @@ namespace Rs.MotionPlat.Flow.NormalFlow
                                 }
                             }
                             break;
-                        case EThreePointLocationFlowStep.通知相机拍照:
+                        case EThreePointLocationFlowStep.相机拍照处理:
                             vr = VisionHelper.Grab(Vision.EVisionScene.TrayLocation);
                             if(vr!=null && vr.Result)
                             {
                                 vResult.Add(vr);
-                                step = EThreePointLocationFlowStep.处理拍照结果;
+                                //在这里先打印拍照结果
-                            }
+                                logInfo = JsonConvert.SerializeObject(vr);
-                            break;
+                                MessageQueue.Instance.Insert(logInfo);
-                        case EThreePointLocationFlowStep.处理拍照结果:
+                                points.RemoveAt(0);
-                            //在这里先打印拍照结果
+                                if (points.Count > 0)
-                            logInfo = JsonConvert.SerializeObject(vr);
-                            MessageQueue.Instance.Insert(logInfo);
-                            points.RemoveAt(0);
-                            if(points.Count > 0)
-                            {
-                                step = EThreePointLocationFlowStep.到拍照位;
-                            }
-                            else
-                            {
-
-                                string deleteSql = $"delete from trayrunpoints where recipeName='{GlobalVar.CurRecipe}' and trayname='{trayType}'";
-                                SqliteHelper db = new SqliteHelper();
-                                int rowAffectNum = db.ExecuteNonQuery(deleteSql);
-
-
-                                double x1 = TrayPointManager.GetSlotPoint(trayType, 1).X + vResult[0].OffsetX;
-                                double y1 = TrayPointManager.GetSlotPoint(trayType, 1).Y + vResult[0].OffsetY;
-
-                                double x2 = TrayPointManager.GetSlotPoint(trayType, 16).X + vResult[1].OffsetX;
-                                double y2 = TrayPointManager.GetSlotPoint(trayType, 16).Y + vResult[1].OffsetY;
-
-                                double x3 = TrayPointManager.GetSlotPoint(trayType, 241).X + vResult[2].OffsetX;
-                                double y3 = TrayPointManager.GetSlotPoint(trayType, 241).Y + vResult[2].OffsetY;
-                                double bigSpaceX = (x2 - x1) / 15;
-                                double smallSapceY = (y2 - y1) / 15;
-
-                                double bigSpaceY = (y3 - y1) / 15;
-                                double smallSpaceX = (x3 - x1) / 15;
-                                int index = 1;
-                                for (int row = 1; row <= 16; row++)
                                 {
-                                    for (int col = 1; col <= 16; col++)
+                                    step = EThreePointLocationFlowStep.到拍照位;
-                                    {
+                                }
-                                        double x = x1 + (col - 1) * bigSpaceX + (row - 1) * smallSpaceX;
+                                else
-                                        double y = y1 + (row - 1) * bigSpaceY + (col - 1) * smallSapceY;
+                                {
-                                        string insertSql = $"insert into trayrunpoints(trayid,recipename,trayname,slotindex,x,y) values(1,'{GlobalVar.CurRecipe}','{trayType}',{index},{x},{y})";
+                                    CalcTrayRunPoint(trayType);
-                                        rowAffectNum = db.ExecuteNonQuery(insertSql);
+                                    TrayRunPointManager.LoadPoint();
-                                        index++;
+                                    finished = true;
-                                    }
-
                                 }
-                                TrayRunPointManager.LoadPoint();
-                                finished = true;
-                                //Msg.ShowInfo("三点定位完成");
-                                //points = new List<int>() { 1, 16, 241 };
-                                //step = EThreePointLocationFlowStep.到拍照位;
                             }
                             break;
                     }
@@ -176,5 +138,81 @@ namespace Rs.MotionPlat.Flow.NormalFlow
         {
             return "ThreePointLocation-";
         }
+
+        /// <summary>
+        /// 生成三点定位数据
+        /// </summary>
+        /// <param name="trayType"></param>
+        private void CalcTrayRunPoint(ETrayType trayType)
+        {
+            if(false)
+            {
+                string deleteSql = $"delete from trayrunpoints where recipeName='{GlobalVar.CurRecipe}' and trayname='{trayType}'";
+                SqliteHelper db = new SqliteHelper();
+                int rowAffectNum = db.ExecuteNonQuery(deleteSql);
+
+                double x1 = TrayPointManager.GetSlotPoint(trayType, 1).X + vResult[0].OffsetX;
+                double y1 = TrayPointManager.GetSlotPoint(trayType, 1).Y + vResult[0].OffsetY;
+
+                double x2 = TrayPointManager.GetSlotPoint(trayType, 16).X + vResult[1].OffsetX;
+                double y2 = TrayPointManager.GetSlotPoint(trayType, 16).Y + vResult[1].OffsetY;
+
+                double x3 = TrayPointManager.GetSlotPoint(trayType, 241).X + vResult[2].OffsetX;
+                double y3 = TrayPointManager.GetSlotPoint(trayType, 241).Y + vResult[2].OffsetY;
+                double bigSpaceX = (x2 - x1) / 15;
+                double smallSapceY = (y2 - y1) / 15;
+
+                double bigSpaceY = (y3 - y1) / 15;
+                double smallSpaceX = (x3 - x1) / 15;
+                int index = 1;
+                for (int row = 1; row <= 16; row++)
+                {
+                    for (int col = 1; col <= 16; col++)
+                    {
+                        double x = x1 + (col - 1) * bigSpaceX + (row - 1) * smallSpaceX;
+                        double y = y1 + (row - 1) * bigSpaceY + (col - 1) * smallSapceY;
+                        string insertSql = $"insert into trayrunpoints(trayid,recipename,trayname,slotindex,x,y) values(1,'{GlobalVar.CurRecipe}','{trayType}',{index},{x},{y})";
+                        rowAffectNum = db.ExecuteNonQuery(insertSql);
+                        index++;
+                    }
+
+                }
+            }
+            else
+            {
+                string deleteSql = $"delete from trayrunpoints where recipeName='{GlobalVar.CurRecipe}' and trayname='{trayType}'";
+                SqliteHelper db = new SqliteHelper();
+                int rowAffectNum = db.ExecuteNonQuery(deleteSql);
+
+                double x1 = TrayPointManager.GetSlotPoint(trayType, 1).X + vResult[0].OffsetX;
+                double y1 = TrayPointManager.GetSlotPoint(trayType, 1).Y + vResult[0].OffsetY;
+
+                double x2 = TrayPointManager.GetSlotPoint(trayType, 16).X + vResult[1].OffsetX;
+                double y2 = TrayPointManager.GetSlotPoint(trayType, 16).Y + vResult[1].OffsetY;
+
+                double x3 = TrayPointManager.GetSlotPoint(trayType, 241).X + vResult[2].OffsetX;
+                double y3 = TrayPointManager.GetSlotPoint(trayType, 241).Y + vResult[2].OffsetY;
+
+                double bigSpaceX = (x3 - x1) / 15;
+                double smallSpaceY = (y3 - y1) / 15;
+
+                double bigSpaceY = (y2 - y1) / 15;
+                double smallSpaceX = (x2 - x1) / 15;
+                int index = 1;
+                for (int row = 1; row <= 16; row++)
+                {
+                    for (int col = 1; col <= 16; col++)
+                    {
+                        double x = y1 + (row - 1) * bigSpaceY + (col - 1) * smallSpaceX;
+                        double y = x1 + (col - 1) * bigSpaceX + (row - 1) * smallSpaceY;
+                        
+                        string insertSql = $"insert into trayrunpoints(trayid,recipename,trayname,slotindex,x,y) values(1,'{GlobalVar.CurRecipe}','{trayType}',{index},{x},{y})";
+                        rowAffectNum = db.ExecuteNonQuery(insertSql);
+                        index++;
+                    }
+
+                }
+            }
+        }
     }
 }

Rs.DeweyTester/Recipe/StockTrayLocationRecipe.Designer.cs

@@ -71,7 +71,7 @@
             this.panelEx3 = new Rs.Controls.PanelEx();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.btnThreePointLocation = new System.Windows.Forms.Button();
-            this.button2 = new System.Windows.Forms.Button();
+            this.btnCreateMatrix = new System.Windows.Forms.Button();
             this.btnSaveSlotOffsetDistY = new System.Windows.Forms.Button();
             this.btnTeachMarkY2 = new System.Windows.Forms.Button();
             this.btnSaveSlotOffsetDistX = new System.Windows.Forms.Button();
@@ -312,7 +312,7 @@
             // groupBox1
             // 
             this.groupBox1.Controls.Add(this.btnThreePointLocation);
-            this.groupBox1.Controls.Add(this.button2);
+            this.groupBox1.Controls.Add(this.btnCreateMatrix);
             this.groupBox1.Controls.Add(this.btnSaveSlotOffsetDistY);
             this.groupBox1.Controls.Add(this.btnTeachMarkY2);
             this.groupBox1.Controls.Add(this.btnSaveSlotOffsetDistX);
@@ -340,13 +340,13 @@
             this.btnThreePointLocation.UseVisualStyleBackColor = false;
             this.btnThreePointLocation.Click += new System.EventHandler(this.btnThreePointLocation_Click);
             // 
-            // button2
+            // btnCreateMatrix
             // 
-            resources.ApplyResources(this.button2, "button2");
+            resources.ApplyResources(this.btnCreateMatrix, "btnCreateMatrix");
-            this.button2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56)))));
+            this.btnCreateMatrix.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56)))));
-            this.button2.Name = "button2";
+            this.btnCreateMatrix.Name = "btnCreateMatrix";
-            this.button2.UseVisualStyleBackColor = false;
+            this.btnCreateMatrix.UseVisualStyleBackColor = false;
-            this.button2.Click += new System.EventHandler(this.btnCreateMatrix_Click);
+            this.btnCreateMatrix.Click += new System.EventHandler(this.btnCreateMatrix_Click);
             // 
             // btnSaveSlotOffsetDistY
             // 
@@ -770,7 +770,7 @@
         private Controls.PanelEx panelEx4;
         private System.Windows.Forms.GroupBox groupBox2;
         private Controls.RsTray rsTray1;
-        private System.Windows.Forms.Button button2;
+        private System.Windows.Forms.Button btnCreateMatrix;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.GroupBox groupBox4;
         private System.Windows.Forms.DataGridView dgvBasePoints;

Rs.DeweyTester/Recipe/StockTrayLocationRecipe.cs

@@ -100,6 +100,9 @@ namespace Rs.MotionPlat.Recipe
 
         private void btnCreateMatrix_Click(object sender, EventArgs e)
         {
+            btnCreateMatrix.Enabled = false;
+            btnThreePointLocation.Enabled = false;
+            List<string> executeSql = new List<string>();
             int rowEffect = 0;
             if (ObjectHelper.IsNotNullorEmpty(dt))
             {
@@ -124,17 +127,29 @@ namespace Rs.MotionPlat.Recipe
                             }
                             else if(rsTray1.SortDir== ESortDir.LeftBottomToTop)
                             {
-                                xRun = double.Parse(txtMarkX1.Text) + (j * double.Parse(txtSlotOffsetDistX.Text));
+                                xRun = double.Parse(txtMarkX1.Text) + (i * double.Parse(txtSlotOffsetDistX.Text));
-                                yRun = double.Parse(txtMarkY2.Text) + (i * double.Parse(txtSlotOffsetDistY.Text));
+                                yRun = double.Parse(txtMarkY2.Text) + (j * double.Parse(txtSlotOffsetDistY.Text));
                             }
                             
                             string insertRunSql = $"insert into TrayPoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
-                            db.ExecuteNonQuery(insertRunSql);
+                            executeSql.Add(insertRunSql);
+                            
                             index++;
                         }
                     }
+                    if(executeSql!=null&&executeSql.Count>0)
+                    {
+                        string sql = string.Join(";", executeSql);
+                        rowEffect = db.ExecuteNonQuery(sql);
+                        if(rowEffect>0)
+                        {
+                            Msgbox.ShowDialog(EButtonType.Ok, $"{rowEffect} data updated!");
+                        }
+                    }
                     BindPoints();
                     TrayPointManager.LoadPoint();
+                    btnCreateMatrix.Enabled = true;
+                    btnThreePointLocation.Enabled = true;
                 }
 
             }

Rs.DeweyTester/Recipe/StockTrayLocationRecipe.resx

@@ -369,31 +369,31 @@
   <data name="&gt;&gt;btnThreePointLocation.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
-  <data name="button2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+  <data name="btnCreateMatrix.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
-  <data name="button2.Location" type="System.Drawing.Point, System.Drawing">
+  <data name="btnCreateMatrix.Location" type="System.Drawing.Point, System.Drawing">
     <value>605, 101</value>
   </data>
-  <data name="button2.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="btnCreateMatrix.Size" type="System.Drawing.Size, System.Drawing">
     <value>159, 52</value>
   </data>
-  <data name="button2.TabIndex" type="System.Int32, mscorlib">
+  <data name="btnCreateMatrix.TabIndex" type="System.Int32, mscorlib">
     <value>56</value>
   </data>
-  <data name="button2.Text" xml:space="preserve">
+  <data name="btnCreateMatrix.Text" xml:space="preserve">
     <value>生成矩阵</value>
   </data>
-  <data name="&gt;&gt;button2.Name" xml:space="preserve">
+  <data name="&gt;&gt;btnCreateMatrix.Name" xml:space="preserve">
-    <value>button2</value>
+    <value>btnCreateMatrix</value>
   </data>
-  <data name="&gt;&gt;button2.Type" xml:space="preserve">
+  <data name="&gt;&gt;btnCreateMatrix.Type" xml:space="preserve">
     <value>System.Windows.Forms.Button, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;button2.Parent" xml:space="preserve">
+  <data name="&gt;&gt;btnCreateMatrix.Parent" xml:space="preserve">
     <value>groupBox1</value>
   </data>
-  <data name="&gt;&gt;button2.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;btnCreateMatrix.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
   <data name="btnSaveSlotOffsetDistY.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">