Rs.ThressTemprature/Rs.ThreeTemprature/Recipe/TurnoverTrayProductLocate.cs

using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.Camera;
using Rs.MotionPlat.Flow.SubFlow;
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.Recipe
{
    /// <summary>
    /// 周转盘产品定位
    /// </summary>
    public partial class TurnoverTrayProductLocate : BaseForm
    {
        private TraySlot selectedSlot;
        private string m_trayName = ETrayType.Turnover.ToString();
        DataTable dt = new DataTable();
        SqliteHelper db = new SqliteHelper();

        public TurnoverTrayProductLocate()
        {
            InitializeComponent();
            cameraTemplate1.ItemName = "周转盘产品定位";
            cameraTemplate1.CustomDefineGrabEvent += () => {
                AxisControl.LoadX.ComparePulse(2, false);
            };
            //cameraTemplate1.SetFindShapeMode(EFindShapeMode.SelfDefine);
            //cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
        }

        private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final arg1, HalconDotNet.HObject arg2)
        {
            string sn = BarCodeManager.FindCode(arg2);
            //throw new NotImplementedException();
        }

        private void BindPoints()
        {
            string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
            DataTable dtBasePoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtBasePoints))
            {
                dgvBasePoints.DataSource = dtBasePoints;
            }
        }


        private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot = arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void goToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (selectedSlot != null)
            {
                int nozzleIndex = 0;
                string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and slotindex={selectedSlot.Index}";
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if (ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    ToolStripMenuItem subMenu = sender as ToolStripMenuItem;
                    ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
                    if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                    {
                        nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
                        SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
                        targetX += dist.X;
                        targetY += dist.Y;
                    }
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
                    if (dr == DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("LoadX").MovePos(targetX, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loadx move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("LoadY").MovePos(targetY, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loady move fail,ret={errCode}");
                            return;
                        }
                    }
                }
            }
        }

        private void TurnoverTrayProductLocate_Load(object sender, EventArgs e)
        {
            dgvBasePoints.AutoGenerateColumns = false;
            BindPoints();
            PositionHelper.BindSinglePosition(txtTurnoverTrayLocateXRange);
            PositionHelper.BindSinglePosition(txtTurnoverTrayLocateYRange);
            PositionHelper.BindSinglePosition(txtTurnoverTrayLocateRRange);
        }

        private void btnLocateCheck_Click(object sender, EventArgs e)
        {
            Task.Run(() =>
            {
                Invoke(new Action(() => {
                    btnLocateCheck.Enabled = false;
                }));

                VisionResult vr = UpCameraScanBarCodeFlow.Instance.ScanSingle(1,false,true,false);
                //VisionResult vr=  UpCameraScanBarCodeFlow.Instance.WaitSingle();
                if(vr != null)
                {
                    bool result  = UpCameraScanBarCodeFlow.Instance.CheckResult(vr);
                    if(result) {
                        Invoke(new Action(() =>
                        {
                            lblResult.BackColor = Color.Lime;
                            lblResult.Text = "OK";
                        }));
                    }
                    else
                    {
                        Invoke(new Action(() =>
                        {
                            lblResult.BackColor = Color.Red;
                            lblResult.Text = "NG";
                        }));
                    }
                }
                Invoke(new Action(() =>
                {
                    btnLocateCheck.Enabled = true;
                }));

            });
        }

        private void txtTurnoverTrayLocateRange_KeyUp(object sender, KeyEventArgs e)
        {
            TextBox txt = (TextBox)sender;
            UpdateSysParam(txt);
        }
    }
}