652 lines
29 KiB
C#
652 lines
29 KiB
C#
using Aurora;
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using Aurora.Api;
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using Aurora.Api.Devices;
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using Aurora.Api.Manager;
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using Aurora.View;
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using AuroraLaser;
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using AuroraLaserScanner;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using Microsoft.Win32;
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using MilUI;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Configuration;
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using System.Diagnostics;
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using System.IO;
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using System.Linq;
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using System.Reactive.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Input;
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using System.Windows.Threading;
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using VisionCommon;
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using WeldingCommon.Sequences;
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using WeldingCommon.Settings;
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using WeldingCommon.Utils;
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namespace WeldingCommon.Views
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{
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public class UCScannerCalibrationViewModel : NotifyPropertyChangedBase
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{
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private readonly Logger Log = new Logger("UCScannerCalibrationViewModel");
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public ICommand CMD_VisibleChanged { get; }
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public ICommand CMD_ApplyGridItems { get; }
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public ICommand CMD_SaveDataFile { get; }
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public ICommand CMD_RunCorreXionPro { get; }
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public ICommand CMD_RunMarkGrid { get; }
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public ICommand CMD_StopMarkGrid { get; }
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public ICommand CMD_RunScannerCalibration { get; }
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public ICommand CMD_StopScannerCalibration { get; }
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public ICommand CMD_FindPattern { get; }
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public ICommand CMD_CalculateDistance { get; }
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//public ICommand CMD_ChangedCaltype { get; }
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//public ICommand CMD_SeqStop { get; }
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private readonly IAuroraEnvironment _Aurora;
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private SystemParameter _SystemParameter;
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private readonly Scanner _Scanner;
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private readonly ILaserDevice _Laser;
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private readonly ScannerConfig _ScannerConfig;
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private ISequence _SeqMarkGrid;
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private bool _IsSequenceRunning_MarkGrid;
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public bool IsSequenceRunning_MarkGrid { get => _IsSequenceRunning_MarkGrid; set => SetProperty(ref _IsSequenceRunning_MarkGrid, value); }
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private ISequence _SeqScannerCalibration;
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private bool _IsSequenceRunning_ScannerCalibration;
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public bool IsSequenceRunning_ScannerCalibration { get => _IsSequenceRunning_ScannerCalibration; set => SetProperty(ref _IsSequenceRunning_ScannerCalibration, value); }
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// Support VisionCorrectionList Selection.
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private ObservableCollection<CorrectionUnit> _SelectedVisionCorrectionList;
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public ObservableCollection<CorrectionUnit> SelectedVisionCorrectionList { get => _SelectedVisionCorrectionList; set => SetProperty(ref _SelectedVisionCorrectionList, value); }
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private ObservableCollection<CorrectionUnit> _VisionCorrectionList;
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public ObservableCollection<CorrectionUnit> VisionCorrectionList { get => _VisionCorrectionList; set => SetProperty(ref _VisionCorrectionList, value); }
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private ObservableCollection<PatternCorrectionUnit> _PatternCorrectionList;
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public ObservableCollection<PatternCorrectionUnit> PatternCorrectionList { get => _PatternCorrectionList; set => SetProperty(ref _PatternCorrectionList, value); }
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// Correction Param
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private int _GridRowCount;
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public int GridRowCount { get => _GridRowCount; set => SetProperty(ref _GridRowCount, value); }
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private int _GridColumnCount;
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public int GridColumnCount { get => _GridColumnCount; set => SetProperty(ref _GridColumnCount, value); }
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private float _UnitLength;
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public float UnitLength { get => _UnitLength; set => SetProperty(ref _UnitLength, value); }
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private float _TiltingDegree;
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public float TiltingDegree { get => _TiltingDegree; set => SetProperty(ref _TiltingDegree, value); }
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private double _CurrentX;
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public double CurrentX { get => _CurrentX; set => SetProperty(ref _CurrentX, value); }
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private double _CurrentY;
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public double CurrentY { get => _CurrentY; set => SetProperty(ref _CurrentY, value); }
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private bool _Is1StepCalibration;
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public bool Is1StepCalibration { get => _Is1StepCalibration; set => SetProperty(ref _Is1StepCalibration, value); }
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private int _RetryNum;
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public int RetryNum { get => _RetryNum; set => SetProperty(ref _RetryNum, value); }
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private int _SelectedRowIndex;
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public int SelectedRowIndex { get => _SelectedRowIndex; set => SetProperty(ref _SelectedRowIndex, value); }
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// Vision Param
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private double _MPosOffsetX;
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public double MPosOffsetX { get => _MPosOffsetX; set => SetProperty(ref _MPosOffsetX, value); }
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private double _MPosOffsetY;
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public double MPosOffsetY { get => _MPosOffsetY; set => SetProperty(ref _MPosOffsetY, value); }
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private double _OffsetThreshold;
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public double OffsetThreshold { get => _OffsetThreshold; set => SetProperty(ref _OffsetThreshold, value); }
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// Vision Param - Calibration Type
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private bool _IsVisionCalibration;
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public bool IsVisionCalibration { get => _IsVisionCalibration; set => SetProperty(ref _IsVisionCalibration, value); }
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// Laser Param
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private double _MarkPower;
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public double MarkPower { get => _MarkPower; set => SetProperty(ref _MarkPower, value); }
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private double _MarkSpeed;
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public double MarkSpeed { get => _MarkSpeed; set => SetProperty(ref _MarkSpeed, value); }
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private double _MarkLength;
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public double MarkLength { get => _MarkLength; set => SetProperty(ref _MarkLength, value); }
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private bool _LaserStatus;
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public bool LaserStatus { get => _LaserStatus; set => SetProperty(ref _LaserStatus, value); }
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private bool _IsModulation;
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public bool IsModulation { get => _IsModulation; set => SetProperty(ref _IsModulation, value); }
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private uint _Frequency;
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public uint Frequency { get => _Frequency; set => SetProperty(ref _Frequency, value); }
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private uint _PulseDuration;
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public uint PulseDuration { get => _PulseDuration; set => SetProperty(ref _PulseDuration, value); }
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//Pixel Resolution
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private bool _IsGrabLiveLimage;
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public bool IsGrabLiveLimage { get => _IsGrabLiveLimage; set => SetProperty(ref _IsGrabLiveLimage, value); }
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private double _ReferenceDistance;
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public double ReferenceDistance { get => _ReferenceDistance; set => SetProperty(ref _ReferenceDistance, value); }
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private double _PixelDistanceMin;
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public double PixelDistanceMin { get => _PixelDistanceMin; set => SetProperty(ref _PixelDistanceMin, value); }
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private double _PixelDistanceMax;
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public double PixelDistanceMax { get => _PixelDistanceMax; set => SetProperty(ref _PixelDistanceMax, value); }
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private double _DistanceAverage;
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public double DistanceAverage { get => _DistanceAverage; set => SetProperty(ref _DistanceAverage, value); }
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private double _LensMagnification;
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public double LensMagnification { get => _LensMagnification; set => SetProperty(ref _LensMagnification, value); }
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private FovInfo _FovInfo;
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private CameraAgentBase _CameraAgent;
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private PatternAgentBase _PatternAgent;
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private object _GrabImage;
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private PatternResult _PatternResult;
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private readonly DispatcherTimer _MonitorTimer;
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//private string _CalibrationType;
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public UCScannerCalibrationViewModel(IAuroraEnvironment aurora)
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{
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_Aurora = aurora;
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_SystemParameter = aurora.SettingEntry[CommonSettingIds.SystemParameter] as SystemParameter;
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_Scanner = _Aurora.DeviceManager[CommonDeviceIds.Scanner] as Scanner;
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_Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as ILaserDevice;
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_ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(_Scanner.DeviceId) as ScannerConfig;
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_SeqMarkGrid = _Aurora.SequenceEntry[CommonSequenceIds.SeqMarkGrid] as ISequence;
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_SeqScannerCalibration = _Aurora.SequenceEntry[CommonSequenceIds.SeqScannerCalibration] as ISequence;
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_FovInfo = VisionRecipeManager.GetFovInfos().FirstOrDefault();
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_CameraAgent = CameraAgentManager.GetCameraAgent(_FovInfo);
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//FovInfo는 UI 생성자를 통해 전달된 Params의 FovInfo를 사용한다.
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_PatternAgent = PatternAgentManager.GetAgent(_FovInfo);
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//GrabImageBuffer를 Update할 필요가 있으면 아래 코드 사용
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//IpAdapter.Instance.IpEnvironment.FreeImage(_GrabImage);
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_GrabImage = _CameraAgent.CloneImageBuffer();
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VisionCorrectionList = new ObservableCollection<CorrectionUnit>();
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SelectedVisionCorrectionList = new ObservableCollection<CorrectionUnit>();
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PatternCorrectionList = new ObservableCollection<PatternCorrectionUnit>();
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InitVariable();
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CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
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CMD_ApplyGridItems = new DelegateCommand(PerformCmdApplyGridItems);
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CMD_SaveDataFile = new DelegateCommand(PerformCmdSaveDataFile);
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CMD_RunCorreXionPro = new DelegateCommand(PerformCmdRunCorreXionPro);
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CMD_RunMarkGrid = new DelegateCommand(PerformCmdRunMarkGrid);
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CMD_StopMarkGrid = new DelegateCommand(PerformCmdStopMarkGrid);
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CMD_RunScannerCalibration = new DelegateCommand(PerformCmdRunScannerCalibration);
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CMD_StopScannerCalibration = new DelegateCommand(PerformCmdStopScannerCalibration);
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CMD_FindPattern = new DelegateCommand(PerformCmdFindPattern);
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CMD_CalculateDistance = new DelegateCommand(PerformCmdCalculateDistance);
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_MonitorTimer = new DispatcherTimer();
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_MonitorTimer.Tick += OnMonitoring;
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_MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);
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// ian0513, 아래 Sequence 에서 보내 주는 걸로만 event 처리 하지 말고, event 등록 해서 처리 되도록 하는 것이 명확함.
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_Aurora.EventObservable.AsObservable(CommonSequenceIds.SeqScannerCalibration)
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.ObserveOnDispatcher().Subscribe(x => OnUpdateCorrectionTable(x));
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}
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private void InitVariable()
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{
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GridRowCount = 13;
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GridColumnCount = 13;
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UnitLength = 10;
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TiltingDegree = 0;
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MPosOffsetX = 0;
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MPosOffsetY = 0;
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OffsetThreshold = 0.01;
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IsVisionCalibration = true;
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MarkPower = 10;
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MarkSpeed = 100;
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MarkLength = 10;
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LaserStatus = false;
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Frequency = 10000;
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PulseDuration = 10000;
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//InitializeDataGridViewItem(GridColumnCount, GridRowCount, UnitLength, TiltingDegree);
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}
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private void VisibleChanged(object obj)
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{
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bool visible = (bool)obj;
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if (visible) {
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_MonitorTimer.Start();
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} else {
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_MonitorTimer.Stop();
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}
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}
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private void OnMonitoring(object sender, EventArgs e)
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{
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double xPos, yPos;
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if (_Scanner != null) {
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_Scanner.GetXYPos(out xPos, out yPos);
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CurrentX = xPos;
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CurrentY = yPos;
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}
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if (_Laser.GetLaserReady()) {
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LaserStatus = true;
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} else {
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LaserStatus = false;
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}
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}
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private void OnUpdateCorrectionTable(EventMessage obj)
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{
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var updateDataGridItem = obj.Param as UpdateDataGridItem;
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if (updateDataGridItem != null) {
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VisionCorrectionList[updateDataGridItem.Upositionindex].VisionX = updateDataGridItem.UVisionX;
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VisionCorrectionList[updateDataGridItem.Upositionindex].VisionY = updateDataGridItem.UVisionY;
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}
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}
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private void PerformCmdApplyGridItems(object obj)
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{
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// 1. 원래 있던 data table 을 전부 초기화한다
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// 2. 새로 적용된 row count 와 column count 로 새로 data table 을 만든다
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// 3. VisionX 와 VisionY 는 0값을 넣어둔다. Calibration에서 패턴매칭 값을 이벤트로 받아와서 업데이트한다.
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try {
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InitializeDataGridViewItem(GridColumnCount, GridRowCount, UnitLength, TiltingDegree);
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} catch (Exception ex) {
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MessageUtil.ShowErrorToast(ex.Message);
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}
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}
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private void PerformCmdSaveDataFile(object obj)
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{
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// 저장양식이 정해지면 업데이트하자
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// 이전 버전은 database 에 저장하게 되어있음
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try {
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SaveFileDialog dlg = new SaveFileDialog();
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dlg.InitialDirectory = @"D:\LASA.eqpdata\Scanner\Correction";
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dlg.DefaultExt = "dat";
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dlg.Filter = "data 파일 (*.dat)|*.dat";
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dlg.Title = "data 파일 저장";
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if (dlg.ShowDialog() == true) {
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using (StreamWriter sw = new StreamWriter(dlg.FileName, false, Encoding.Default)) {
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string oldCorrectionFile = IsVisionCalibration ?
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_Scanner.Config.CorrectionFile : _Scanner.Config.LaserCorrectionFile;
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FileInfo oldCorrectionFileInfo = new FileInfo(oldCorrectionFile);
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sw.WriteLine(string.Format("OLDCTFILE\t= {0}", oldCorrectionFileInfo.Name));
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sw.WriteLine(string.Format("NEWCTFILE\t= NewCorrectionTable.ct5"));
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sw.WriteLine(string.Format("\r\nTOLERANCE\t= 1.0"));
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uint newCal = (uint)Math.Round(_Scanner.Config.ScaleXYFactor);
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sw.WriteLine(string.Format("\r\nNEWCAL\t= {0}", newCal));
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//sw.WriteLine(string.Format("LIMITS"));
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sw.WriteLine(string.Format("\r\n// RTC-X [Bit] RTC-Y[Bit] REAL-X[mm] REAL-Y[mm]\r\n"));
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double visionX = 0;
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double visionY = 0;
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double realX = 0;
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double realY = 0;
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double tempX = 0;
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double tempY = 0;
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for (int i = 0; i < GridRowCount * GridColumnCount; i++) {
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visionX = Convert.ToDouble(VisionCorrectionList[i].VisionX);
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visionY = Convert.ToDouble(VisionCorrectionList[i].VisionY);
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realX = Convert.ToDouble(VisionCorrectionList[i].MasterX);
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realY = Convert.ToDouble(VisionCorrectionList[i].MasterY);
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sw.WriteLine(string.Format("{0}\t{1}\t{2}\t{3}", visionX, visionY, realX, realY));
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//string finalX;
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//string finalY;
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//if (tempX == 0)
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//{
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// finalX = "0,0";
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//}
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//else
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//{
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// string sX;
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// string upperX;
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// string lowerX;
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// if ((Math.Round(tempX, 3) - Math.Truncate(tempX)) == 0)
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// {
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// sX = Convert.ToString(Math.Truncate(tempX));
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// upperX = sX;
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// lowerX = "0";
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// }
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// else
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// {
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// //sX = Convert.ToString(Math.Round(tempX, 3));
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// sX = Math.Round(tempX, 3).ToString("f3");
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// upperX = sX.Substring(0, sX.IndexOf("."));
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// lowerX = sX.Substring(sX.IndexOf(".") + 1);
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// }
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// finalX = upperX + "," + lowerX;
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//}
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//if (tempY == 0)
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//{
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// finalY = "0,0";
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//}
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//else
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//{
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// string sY;
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// string upperY;
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// string lowerY;
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// if ((Math.Round(tempY, 3) - Math.Truncate(tempY)) == 0)
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// {
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// sY = Convert.ToString(Math.Truncate(tempY));
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// upperY = sY;
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// lowerY = "0";
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// }
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// else
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// {
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// //sY = Convert.ToString(Math.Round(tempY, 3));
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// sY = Math.Round(tempY, 3).ToString("f3");
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// upperY = sY.Substring(0, sY.IndexOf("."));
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// lowerY = sY.Substring(sY.IndexOf(".") + 1);
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// }
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// finalY = upperY + "," + lowerY;
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//}
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}
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}
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}
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} catch (Exception ex) {
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Log.E(string.Format(ex.Message));
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}
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}
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private void PerformCmdRunCorreXionPro(object obj)
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{
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var filePath = ConfigurationManager.AppSettings.Get("DATA_PATH");
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var fullPath = Path.Combine(filePath, "_device", "_scanner", "correXionPro.exe");
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if (File.Exists(fullPath)) {
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Process.Start(fullPath);
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} else {
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Log.I("correXionPro is not exist");
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}
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}
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private void PerformCmdRunMarkGrid(object obj)
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{
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if (_ScannerConfig.UseMarkingOnTheFly == true) {
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MessageUtil.ShowWarningToast(string.Format("Please Check Marking on the Fly(MOTF)"));
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return;
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}
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if (VisionCorrectionList.Count <= 0 || LaserStatus == false) {
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MessageUtil.ShowWarningToast(string.Format("Please Check DataCorrection or LaserStatus or LaserCalType"));
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return;
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}
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var result = MessageUtil.ShowYesNoMessageDialog("Laser Calibration", "Start Laser Calibration Sequence?");
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if (result == false) {
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return;
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}
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if (_SeqMarkGrid.RunState == SequenceRunState.Running) {
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MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "_SeqMarkGrid"));
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return;
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}
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var param = new SeqMarkGrid_InitParam() {
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ColumnCount = GridColumnCount,
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RowCount = GridRowCount,
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UnitLength = UnitLength,
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MarkPower = MarkPower,
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MarkSpeed = MarkSpeed,
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MarkLength = MarkLength,
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IsModulation = IsModulation,
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Frequnecy = Frequency,
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PulseDulation = PulseDuration
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};
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IsSequenceRunning_MarkGrid = true;
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_SeqMarkGrid.Start(param, OnCompleteMarkGrid);
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}
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private void OnCompleteMarkGrid(SequenceActionResult res)
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{
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if (res != null) {
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if (res.Param is SeqMarkGrid_OutParam result && result.Success == true) {
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IsSequenceRunning_MarkGrid = false;
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MessageUtil.ShowSuccessToast(string.Format("Success SeqMarkGrid"));
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return;
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}
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}
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IsSequenceRunning_MarkGrid = false;
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MessageUtil.ShowWarningToast(string.Format("Fail SeqMarkGrid"));
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}
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private void PerformCmdStopMarkGrid(object obj)
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{
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if (_SeqMarkGrid.RunState == SequenceRunState.Idle) {
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return;
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}
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IsSequenceRunning_MarkGrid = false;
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_SeqMarkGrid.Stop();
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}
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private void PerformCmdRunScannerCalibration(object obj)
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{
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if (_ScannerConfig.UseMarkingOnTheFly == true) {
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MessageUtil.ShowWarningToast(string.Format("Please Check Marking on the Fly(MOTF)"));
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return;
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}
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if (VisionCorrectionList.Count <= 0) {
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MessageUtil.ShowWarningToast(string.Format("\"Please Check Data Correction apply"));
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return;
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}
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var result = MessageUtil.ShowYesNoMessageDialog("Scanner Calibration", "Start Scanner Calibration Sequence?\nCheck Calibration Type\nTo calibrate after MarkGrid, CalType set to Laser");
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if (result == false) {
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return;
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}
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if (_SeqScannerCalibration.RunState == SequenceRunState.Running) {
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|
MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "_SeqScannerCalibration"));
|
|
return;
|
|
}
|
|
|
|
var param = new SeqScannerCalibration_InitParam() {
|
|
FovInfo = _FovInfo,
|
|
IsVisionCalibration = IsVisionCalibration,
|
|
|
|
ColumnCount = GridColumnCount,
|
|
RowCount = GridRowCount,
|
|
UnitLength = UnitLength,
|
|
TiltingDegree = TiltingDegree,
|
|
|
|
CheckOffset = OffsetThreshold,
|
|
MasterPosOffsetX = MPosOffsetX, // ian0513, 원본에는 MPosOffsetY 로 되어 있던데... 확인 필요.
|
|
MasterPosOffsetY = MPosOffsetY,
|
|
|
|
//1step Calibration Param
|
|
Is1StepCalibration = Is1StepCalibration,
|
|
RetryNum = RetryNum,
|
|
SelectedRowIndex = SelectedRowIndex
|
|
};
|
|
|
|
IsSequenceRunning_ScannerCalibration = true;
|
|
_SeqScannerCalibration.Start(param, OnCompleteScannerCalibration);
|
|
|
|
}
|
|
|
|
private void OnCompleteScannerCalibration(SequenceActionResult res)
|
|
{
|
|
if (res != null) {
|
|
if (res.Param is SeqScannerCalibration_OutParam result && result.Success == true) {
|
|
IsSequenceRunning_ScannerCalibration = false;
|
|
MessageUtil.ShowSuccessToast(string.Format("Success SeqScannerCalibration"));
|
|
return;
|
|
}
|
|
}
|
|
|
|
IsSequenceRunning_ScannerCalibration = false;
|
|
MessageUtil.ShowWarningToast(string.Format("Fail SeqScannerCalibration"));
|
|
}
|
|
|
|
private void PerformCmdStopScannerCalibration(object obj)
|
|
{
|
|
if (_SeqScannerCalibration.RunState == SequenceRunState.Idle) {
|
|
return;
|
|
}
|
|
|
|
IsSequenceRunning_ScannerCalibration = false;
|
|
_SeqScannerCalibration.Stop();
|
|
}
|
|
public void MoveScanner()
|
|
{
|
|
double scannerPosX = VisionCorrectionList[_SelectedRowIndex].MasterX;
|
|
double scannerPosY = VisionCorrectionList[SelectedRowIndex].MasterY;
|
|
var res = MessageUtil.ShowYesNoMessageDialog("Scanner", $"Move Scanner to Postion(X : {scannerPosX}, Y: {scannerPosY}) of Selected Cell?");
|
|
if (res) {
|
|
_Scanner.JumpAbs(scannerPosX, scannerPosY, eFunctionType.COMMAND);
|
|
}
|
|
}
|
|
private void InitializeDataGridViewItem(int columnCount, int rowCount, float unitLength, float tiltingDegree)
|
|
{
|
|
try {
|
|
VisionCorrectionList.Clear();
|
|
|
|
for (int column = 0; column < columnCount; column++) {
|
|
for (int row = 0; row < rowCount; row++) {
|
|
CorrectionUnit dtItem = new CorrectionUnit();
|
|
dtItem.Column = column + 1;
|
|
dtItem.Row = row + 1;
|
|
|
|
float tempX = unitLength * ((column % columnCount) - (columnCount - 1) / 2f);
|
|
float tempY = unitLength * ((row % rowCount) - (rowCount - 1) / 2f);
|
|
float masterX = tempX * (float)Math.Cos(tiltingDegree * Math.PI / 180) - tempY * (float)Math.Sin(tiltingDegree * Math.PI / 180);
|
|
float masterY = tempX * (float)Math.Sin(tiltingDegree * Math.PI / 180) + tempY * (float)Math.Cos(tiltingDegree * Math.PI / 180);
|
|
|
|
dtItem.MasterX = masterX;
|
|
dtItem.MasterY = masterY;
|
|
|
|
dtItem.VisionX = 0;
|
|
dtItem.VisionY = 0;
|
|
VisionCorrectionList.Add(dtItem);
|
|
}
|
|
}
|
|
} catch (Exception) {
|
|
MessageUtil.CreateAndShowMessageDialog("Correction", "Init Table Fail.");
|
|
}
|
|
}
|
|
private void PerformCmdFindPattern(object obj)
|
|
{
|
|
var cameraDisplay = CameraDisplayManager.GetDisplay(_FovInfo, eDisplayType.Pattern) as CameraDisplay;
|
|
var procPatternInfo = VisionRecipeManager.GetProcPatternInfo(_FovInfo, "Align1", eProcPatternId.ProcPattern1);
|
|
var patternInfo = _PatternAgent.GetPatternInfo(_FovInfo, procPatternInfo.PatternId);
|
|
|
|
// Live GrabImage 또는 LoadImage 둘다 사용할 수 있도록 한다.
|
|
if (IsGrabLiveLimage) {
|
|
_CameraAgent.GrabSync(cameraDisplay, ref _GrabImage);
|
|
} else {
|
|
_GrabImage = cameraDisplay.GetImage();
|
|
}
|
|
if (_GrabImage != null) {
|
|
_PatternResult = _PatternAgent.Find(patternInfo, _GrabImage, cameraDisplay);
|
|
} else {
|
|
Log.W("GrabImage is Null");
|
|
}
|
|
|
|
if(_PatternResult.Status == eFoundStatus.FoundOK) {
|
|
var resultsList = _PatternResult.Results.ToList();
|
|
|
|
PatternCorrectionList.Clear();
|
|
for (int i = 0; i < resultsList.Count; i++) {
|
|
PatternCorrectionUnit patternCorrectionUnit = new PatternCorrectionUnit();
|
|
patternCorrectionUnit.Index = i;
|
|
patternCorrectionUnit.PosX = Math.Round(resultsList[i].ImagePosition.X, 3);
|
|
patternCorrectionUnit.PosY = Math.Round(resultsList[i].ImagePosition.Y, 3);
|
|
PatternCorrectionList.Add(patternCorrectionUnit);
|
|
}
|
|
|
|
_PatternAgent.Draw(patternInfo, _PatternResult, cameraDisplay);
|
|
} else {
|
|
Log.W("Pattern is not found.");
|
|
}
|
|
}
|
|
|
|
private void PerformCmdCalculateDistance(object obj)
|
|
{
|
|
try {
|
|
List<double> lsDistances = new List<double>();
|
|
foreach (var item1 in PatternCorrectionList) {
|
|
double dDistanceMin = double.MaxValue;
|
|
foreach (var item2 in PatternCorrectionList) {
|
|
if (item1 == item2) continue;
|
|
double dDistance = Math.Sqrt(Math.Pow(item2.PosX - item1.PosX, 2) + Math.Pow(item2.PosY - item1.PosY, 2));
|
|
if (dDistance > PixelDistanceMin && dDistance < PixelDistanceMax)
|
|
lsDistances.Add(dDistance);
|
|
if (dDistance < dDistanceMin) {
|
|
dDistanceMin = dDistance;
|
|
}
|
|
}
|
|
if (lsDistances.Count > 0) {
|
|
item1.Distance = lsDistances.Average();
|
|
|
|
} else {
|
|
item1.Distance = dDistanceMin;
|
|
}
|
|
}
|
|
|
|
if (PatternCorrectionList.Count > 0) {
|
|
DistanceAverage = Math.Round(PatternCorrectionList.Average(x => x.Distance), 3);
|
|
} else {
|
|
DistanceAverage = 0;
|
|
}
|
|
|
|
LensMagnification = (DistanceAverage * _SystemParameter.CameraPixelSize) / (ReferenceDistance * 1000.0);
|
|
} catch (Exception e) {
|
|
Log.W($"{e.Message}");
|
|
}
|
|
}
|
|
}
|
|
public class CorrectionUnit : NotifyPropertyChangedBase
|
|
{
|
|
private int _Column;
|
|
public int Column { get => _Column; set => SetProperty(ref _Column, value); }
|
|
private int _Row;
|
|
public int Row { get => _Row; set => SetProperty(ref _Row, value); }
|
|
|
|
private float _MasterX;
|
|
public float MasterX { get => _MasterX; set => SetProperty(ref _MasterX, value); }
|
|
private float _MasterY;
|
|
public float MasterY { get => _MasterY; set => SetProperty(ref _MasterY, value); }
|
|
|
|
private int _VisionX;
|
|
public int VisionX { get => _VisionX; set => SetProperty(ref _VisionX, value); }
|
|
private int _VisionY;
|
|
public int VisionY { get => _VisionY; set => SetProperty(ref _VisionY, value); }
|
|
}
|
|
public class PatternCorrectionUnit : NotifyPropertyChangedBase
|
|
{
|
|
public int Index { get; set; }
|
|
private double _PosX;
|
|
public double PosX { get => _PosX; set => SetProperty(ref _PosX, value); }
|
|
private double _PosY;
|
|
public double PosY { get => _PosY; set => SetProperty(ref _PosY, value); }
|
|
// Distance : 가장 가까운 cross line 과의 거리
|
|
private double _Distance;
|
|
public double Distance { get => _Distance; set => SetProperty(ref _Distance, value); }
|
|
}
|
|
|
|
}
|