Rs.ThressTemprature/Rs.ThreeTemprature/Commom/TrayPointManager.cs

using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.MotionPlat.Flow;
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
{
       /// <summary>
    /// 料盘点位管理
    /// </summary>
    public class TrayPointManager
    {
        static SqliteHelper db = new SqliteHelper();
        static ConcurrentDictionary<string, SlotPoint> trayPoints = new ConcurrentDictionary<string, SlotPoint>();
        public static void LoadPoint()
        {
            string querySql = "select * from TrayPoints";
            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 (!trayPoints.ContainsKey(key))
                    {
                        trayPoints.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(ETrayType trayType,int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-{trayType}-{slotIndex}";
            if(trayPoints.ContainsKey(key))
            {
                return trayPoints[key];
            }
            return null;
        }

        /// <summary>
        /// 获取异常料盘的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetExceptionTrayPoint(int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
            if (trayPoints.ContainsKey(key))
            {
                return trayPoints[key];
            }
            return null;
        }

        /// <summary>
        /// 获取测试治具测高的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetTestFixtureTrayCheckHeighPoint(int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-CheckHeightTestTray-{slotIndex}";
            if (trayPoints.ContainsKey(key))
            {
                return trayPoints[key];
            }
            return null;
        }

        /// <summary>
        /// 获取周转盘测高的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetTurnoverTrayCheckHeighPoint(int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-CheckHeightTurnover-{slotIndex}";
            if (trayPoints.ContainsKey(key))
            {
                return trayPoints[key];
            }
            return null;
        }

        /// <summary>
        /// 获取周转盘强力吸嘴的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetTurnoverTrayForceNozzlePoint(int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-ForceNozzleTurnover-{slotIndex}";
            if (trayPoints.ContainsKey(key))
            {
                return trayPoints[key];
            }
            return null;
        }

        /// <summary>
        /// 获取周转盘强力吸嘴的点位
        /// </summary>
        /// <param name="recipeName"></param>
        /// <param name="trayName"></param>
        /// <param name="slotIndex"></param>
        /// <param name="pointType"></param>
        /// <returns></returns>
        public static SlotPoint GetExceptiontTrayPoint(int slotIndex)
        {
            string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
            if (trayPoints.ContainsKey(key))
            {
                return trayPoints[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;
        }
    }
}