392 lines
17 KiB
C#
392 lines
17 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using Aurora;
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using System.Reactive.Linq;
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using System.Windows;
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using Aurora.Api;
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using System.Collections.ObjectModel;
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using System.Windows.Input;
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using Aurora.View;
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using VisionCommon;
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using VisionSequence.Setup;
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using VisionCommonUI;
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using VisionCommonUI.Resources;
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using VisionSequence.Aligner;
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namespace VisionUI.Setup {
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/// <summary>
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/// 비전 반복 View Model
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/// </summary>
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public class VisionRepeatViewModel : Aurora.View.NotifyPropertyChangedBase, IUpdateRecipe {
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private Logger _Logger;
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private ISequence _Seq;
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private FovInfo _FovInfo;
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private FovRecipe _FovRecipe;
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private CsvManager _CsvManager = new CsvManager();
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private VisionRepeatRecipe _VisionRepeatRecipe;
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/// <summary>
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/// 비전 반복도 측정 레시피
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/// </summary>
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public VisionRepeatRecipe VisionRepeatRecipe { get => _VisionRepeatRecipe; set => SetProperty(ref _VisionRepeatRecipe, value); }
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private int _count;
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/// <summary>반복 횟수</summary>
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public int RepeatCount { get => _count; set => SetProperty(ref _count, value); }
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private bool _enalbed;
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/// <summary>활성화</summary>
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public bool Enabled { get => _enalbed; set => SetProperty(ref _enalbed, value); }
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/// <summary>비전 반복도 로그 아이템 리스트</summary>
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public ObservableCollection<VisionRepeatLog> VisionRepeatLogItems { get; set; } = new ObservableCollection<VisionRepeatLog>();
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private bool _isShapeModelFinder;
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/// <summary>패턴 종류가 Shape인 여부</summary>
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public bool IsShapeModelFinder {
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get => _isShapeModelFinder;
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set {
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SetProperty(ref _isShapeModelFinder, value);
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NotifyPropertyChanged(nameof(IsShapeModelFinder));
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}
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}
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private DateTime selectedDate;
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/// <summary>선택한 날짜</summary>
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public DateTime SelectedDate { get => selectedDate; set { SetProperty(ref selectedDate, value); CalendarChanged(value); } }
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private PatternInfo _selectedPatternInfo;
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public PatternInfo SelectedPatternInfo { get => _selectedPatternInfo; set => SetProperty(ref _selectedPatternInfo, value); }
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#region Image Pos Binding Properties
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private double _meanX_I;
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/// <summary>평균 X (이미지 좌표)</summary>
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public double MeanX_I { get => _meanX_I; set => SetProperty(ref _meanX_I, value); }
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private double _meanY_I;
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/// <summary>평균 Y (이미지 좌표)</summary>
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public double MeanY_I { get => _meanY_I; set => SetProperty(ref _meanY_I, value); }
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private double _sdX_I;
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/// <summary>SdX (이미지 좌표)</summary>
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public double SdX_I { get => _sdX_I; set => SetProperty(ref _sdX_I, value); }
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private double _sdY_I;
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/// <summary>SdY (이미지 좌표)</summary>
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public double SdY_I { get => _sdY_I; set => SetProperty(ref _sdY_I, value); }
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private double _minX_I;
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/// <summary>최소값 X (이미지 좌표)</summary>
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public double MinX_I { get => _minX_I; set => SetProperty(ref _minX_I, value); }
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private double _minY_I;
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/// <summary>최소값 Y (이미지 좌표)</summary>
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public double MinY_I { get => _minY_I; set => SetProperty(ref _minY_I, value); }
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private double _maxX_I;
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/// <summary>최댓값 X (이미지 좌표)</summary>
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public double MaxX_I { get => _maxX_I; set => SetProperty(ref _maxX_I, value); }
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private double _maxY_I;
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/// <summary>최댓값 Y (이미지 좌표)</summary>
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public double MaxY_I { get => _maxY_I; set => SetProperty(ref _maxY_I, value); }
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private double _rangeX_I;
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/// <summary>범위 X (이미지 좌표)</summary>
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public double RangeX_I { get => _rangeX_I; set => SetProperty(ref _rangeX_I, value); }
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private double _rangeY_I;
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/// <summary>범위 Y (이미지 좌표)</summary>
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public double RangeY_I { get => _rangeY_I; set => SetProperty(ref _rangeY_I, value); }
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#endregion
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#region Motion Pos Binding Properties
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/// <summary>반복도 로그 아이템리스트 (모터 좌표)</summary>
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private double _meanX_S;
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/// <summary>평균 X (모터 좌표)</summary>
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public double MeanX_S { get => _meanX_S; set => SetProperty(ref _meanX_S, value); }
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private double _meanY_S;
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/// <summary>평균 Y (모터 좌표)</summary>
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public double MeanY_S { get => _meanY_S; set => SetProperty(ref _meanY_S, value); }
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private double _sdX_S;
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/// <summary>SdX (모터 좌표)</summary>
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public double SdX_S { get => _sdX_S; set => SetProperty(ref _sdX_S, value); }
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private double _sdY_S;
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/// <summary>SdY (모터 좌표)</summary>
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public double SdY_S { get => _sdY_S; set => SetProperty(ref _sdY_S, value); }
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private double _minX_S;
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/// <summary>최소값 X (모터 좌표)</summary>
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public double MinX_S { get => _minX_S; set => SetProperty(ref _minX_S, value); }
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private double _minY_S;
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/// <summary>최소값 Y (모터 좌표)</summary>
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public double MinY_S { get => _minY_S; set => SetProperty(ref _minY_S, value); }
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private double _maxX_S;
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/// <summary>최댓값 X (모터 좌표)</summary>
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public double MaxX_S { get => _maxX_S; set => SetProperty(ref _maxX_S, value); }
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private double _maxY_S;
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/// <summary>최댓값 Y (모터 좌표)</summary>
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public double MaxY_S { get => _maxY_S; set => SetProperty(ref _maxY_S, value); }
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private double _rangeX_S;
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/// <summary>범위 X (모터 좌표)</summary>
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public double RangeX_S { get => _rangeX_S; set => SetProperty(ref _rangeX_S, value); }
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private double _rangeY_S;
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/// <summary>범위 Y (모터 좌표)</summary>
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public double RangeY_S { get => _rangeY_S; set => SetProperty(ref _rangeY_S, value); }
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#endregion
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#region Button Commands
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public ICommand ButtonCommandStart { get; set; }
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public ICommand ButtonCommandStartDynamic { get; set; }
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public ICommand ButtonCommandCancel { get; set; }
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public ICommand ButtonCommandSave { get; set; }
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public ICommand ButtonCommandLog { get; set; }
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#endregion
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/// <summary>
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/// 생성자
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/// </summary>
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/// <param name="fovInfo">Fov 정보</param>
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public VisionRepeatViewModel(FovInfo fovInfo) {
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_FovInfo = fovInfo;
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_FovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo);
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_Logger = new Logger(string.Format("VisionRepeatViewModel[{0}]", fovInfo.SubSysName));
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ButtonCommandStart = new DelegateCommand(new Action<object>(DoStart));
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ButtonCommandStartDynamic = new DelegateCommand(new Action<object>(DoStartDynamic));
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ButtonCommandCancel = new DelegateCommand(new Action<object>(DoCancel));
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ButtonCommandSave = new DelegateCommand(new Action<object>(DoSave));
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SelectedDate = DateTime.Now.Date;
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UpdateRecipeFromFile();
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SetObservable();
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}
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private void SetObservable() {
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VisionEnv.AuroraEnv.EventObservable.AsObservable(VisionEventId.UPDATE_VISION_REPEAT_LOG).
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Where(x => x.From == _FovInfo.GetKey()).Subscribe(param => UpdateVisionRepeatLog(param));
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}
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private void UpdateVisionRepeatLog(EventMessage msg) {
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var visionRepeatLog = msg.Param as VisionRepeatLog;
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Application.Current.Dispatcher.BeginInvoke(
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new Action(() => {
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VisionRepeatLogItems.Add(visionRepeatLog);
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}));
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}
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/// <summary>
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/// 비전 반복도 시퀀스 시작
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/// </summary>
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/// <param name="display"></param>
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public void DoStart(object display = null) {
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if (RepeatCount > 0 && RepeatCount <= 100) {
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if (MessageBoxUtil.ShowMessageBoxQuestion(
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string.Format(StrTokens.MSG_Q_ConfirmRunVisionRepeat)) == MessageBoxResult.Yes) {
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VisionRepeatLogItems.Clear();
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_FovRecipe = VisionRecipeManager.GetFovRecipe(_FovInfo);
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_Seq = Application.Current.AuroraEnv().SequenceEntry[VisionKeys.VisionRepeatSeqKey];
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_Seq?.Start(new SetupSeqParams_VisionRepeat(_FovInfo, SelectedPatternInfo, RepeatCount), OnCompleted);
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}
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}
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else {
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MessageBoxUtil.ShowMessageBoxError(
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string.Format(StrTokens.MSG_E_NumberInvalid, "Step Count", 0, 100));
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}
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}
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/// <summary>
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/// 다이나믹 반복 측정
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/// </summary>
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/// <param name="display"></param>
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public void DoStartDynamic(object display = null) {
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if (RepeatCount > 0 && RepeatCount <= 100) {
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if (MessageBoxUtil.ShowMessageBoxQuestion(
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string.Format(StrTokens.MSG_Q_ConfirmRunVisionRepeat)) == MessageBoxResult.Yes) {
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VisionRepeatLogItems.Clear();
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_FovRecipe = VisionRecipeManager.GetFovRecipe(_FovInfo);
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_Seq = Application.Current.AuroraEnv().SequenceEntry[VisionKeys.VisionRepeatDynamicSeqKey];
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_Seq?.Start(new SetupSeqParams_DynamicRepeat(_FovInfo, SelectedPatternInfo, motionRepeatCount: RepeatCount), OnCompletedDynamic);
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}
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}
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else {
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MessageBoxUtil.ShowMessageBoxError(
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string.Format(StrTokens.MSG_E_NumberInvalid, "Step Count", 0, 100));
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}
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}
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/// <summary>
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/// 시퀀스 정지
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/// </summary>
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/// <param name="display">null</param>
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public void DoCancel(object display = null) {
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_Seq?.Stop();
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}
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/// <summary>
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/// UI로부터 레시피 저장
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/// </summary>
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/// <param name="o">null</param>
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public void DoSave(object o = null) {
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UpdateRecipeFromUI();
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RecipeFileManager.SaveVisionRecipe();
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VisionEnv.AuroraEnv.EventPublisher.Publish(new EventMessage(
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_FovRecipe.FovName, VisionEventId.VISION_REPEAT_SAVE_PARAMS, VisionRepeatRecipe));
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}
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private void OnCompleted(SequenceActionResult SeqResult) {
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if (SeqResult == null) {
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_Logger.FuncE("SeqResult is null.");
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return;
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}
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Application.Current.Dispatcher.Invoke(() => {
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PrintVisionRepeatResult_I(SeqResult);
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PrintVisionRepeatResult_S(SeqResult);
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});
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}
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private void OnCompletedDynamic(SequenceActionResult SeqResult) {
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if (SeqResult == null) {
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_Logger.FuncE("SeqResult is null.");
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return;
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}
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Application.Current.Dispatcher.Invoke(() => {
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PrintVisionRepeatResult_I(SeqResult);
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PrintVisionRepeatResult_S(SeqResult);
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});
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}
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private void PrintVisionRepeatResult_I(SequenceActionResult SeqResult) {
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var visionRepeatSeqResult = SeqResult.Param as SetupSeqResultParams_VisionRepeat;
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if (visionRepeatSeqResult.ImagePoints.Count == 0) {
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return;
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}
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var imagePoints = visionRepeatSeqResult.ImagePoints.Select(item => item.Clone());
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int i = 1;
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MeanX_I = MeanY_I = SdX_I = SdY_I = MinX_I = MinY_I = MaxX_I = MaxY_I = RangeX_I = RangeY_I = 0.0;
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foreach (var imagePoint in imagePoints) {
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MeanX_I += imagePoint.X;
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MeanY_I += imagePoint.Y;
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if (i == 1) {
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MinX_I = imagePoint.X;
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MinY_I = imagePoint.Y;
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MaxX_I = imagePoint.X;
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MaxY_I = imagePoint.Y;
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}
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else {
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if (MinX_I > imagePoint.X) MinX_I = imagePoint.X;
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if (MinY_I > imagePoint.Y) MinY_I = imagePoint.Y;
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if (MaxX_I < imagePoint.X) MaxX_I = imagePoint.X;
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if (MaxY_I < imagePoint.Y) MaxY_I = imagePoint.Y;
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}
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i++;
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}
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MeanX_I /= imagePoints.Count();
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MeanY_I /= imagePoints.Count();
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foreach (var item in imagePoints)
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{
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#warning SdX_S 계산식 확인 할 것
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SdX_I = (item.X - MeanX_I) * (item.X - MeanX_I);
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SdY_I = (item.Y - MeanY_I) * (item.Y - MeanY_I);
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}
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if (imagePoints.Count() > 1) {
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SdX_I = Math.Sqrt(SdX_I) / (imagePoints.Count() - 1);
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SdY_I = Math.Sqrt(SdY_I) / (imagePoints.Count() - 1);
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RangeX_I = MaxX_I - MinX_I;
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RangeY_I = MaxY_I - MinY_I;
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}
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}
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private void PrintVisionRepeatResult_S(SequenceActionResult SeqResult) {
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var visionRepeatSeqResult = SeqResult.Param as SetupSeqResultParams_VisionRepeat;
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if (visionRepeatSeqResult.StaticPoints.Count == 0) {
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return;
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}
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var staticPoints = visionRepeatSeqResult.StaticPoints.Select(item => item.Clone());
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int i = 1;
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MeanX_S = MeanY_S = SdX_S = SdY_S = MinX_S = MinY_S = MaxX_S = MaxY_S = RangeX_S = RangeY_S = 0.0;
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foreach (var staticPoint in staticPoints) {
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MeanX_S += staticPoint.X;
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MeanY_S += staticPoint.Y;
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if (i == 1) {
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MinX_S = staticPoint.X;
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MinY_S = staticPoint.Y;
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MaxX_S = staticPoint.X;
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MaxY_S = staticPoint.Y;
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}
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else {
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if (MinX_S > staticPoint.X) MinX_S = staticPoint.X;
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if (MinY_S > staticPoint.Y) MinY_S = staticPoint.Y;
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if (MaxX_S < staticPoint.X) MaxX_S = staticPoint.X;
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if (MaxY_S < staticPoint.Y) MaxY_S = staticPoint.Y;
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}
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i++;
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}
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MeanX_S /= staticPoints.Count();
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MeanY_S /= staticPoints.Count();
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#warning SdX_S 계산식 확인 할 것
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foreach (var item in staticPoints) {
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SdX_S = (item.X - MeanX_S) * (item.X - MeanX_S);
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SdY_S = (item.Y - MeanY_S) * (item.Y - MeanY_S);
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}
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if (staticPoints.Count() > 1) {
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SdX_S = Math.Sqrt(SdX_S) / (staticPoints.Count() - 1);
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SdY_S = Math.Sqrt(SdY_S) / (staticPoints.Count() - 1);
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RangeX_S = MaxX_S - MinX_S;
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RangeY_S = MaxY_S - MinY_S;
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}
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}
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public void PatternChanged() {
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}
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/// <summary>
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/// 비전 레시피 Refresh
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/// </summary>
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public void RefreshVisionRecipes() {
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_FovRecipe = VisionRecipeManager.GetFovRecipe(_FovInfo);
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}
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/// <summary>
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/// 파일로부터 레시피 불러오기
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/// </summary>
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public void UpdateRecipeFromFile() {
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var visionRepeatRecipe = VisionRecipeManager.GetVisionRepeatRecipe(_FovInfo);
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VisionRepeatRecipe = visionRepeatRecipe.Clone();
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RepeatCount = VisionRepeatRecipe.RepeatCount;
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}
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/// <summary>
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/// UI로부터 레시피 불러오기
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/// </summary>
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public void UpdateRecipeFromUI() {
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var visionRepeatRecipe = VisionRecipeManager.GetVisionRepeatRecipe(_FovInfo);
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VisionRepeatRecipe.RepeatCount = RepeatCount;
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VisionRepeatRecipe.CopyTo(visionRepeatRecipe);
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}
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/// <summary>
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/// 현재 시간 기준으로 CSV 불러오기
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/// </summary>
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public void LoadCsvNow() {
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DateTime dateTime = DateTime.Now;
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LoadCsv(dateTime);
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}
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private void CalendarChanged(DateTime dateTime) {
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LoadCsv(dateTime);
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}
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private void LoadCsv(DateTime dateTime) {
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try {
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VisionRepeatLogItems?.Clear();
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List<VisionRepeatLog> items =
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_CsvManager.LoadCsv<VisionRepeatLog>(_FovInfo.ToSubSysInfo(), dateTime, eSaveDataType.VisionRepeat);
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if (items != null) { // 로드할 파일이 없으면 items가 null임.
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foreach (VisionRepeatLog item in items) {
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VisionRepeatLogItems.Add(item);
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}
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}
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}
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catch (Exception e) {
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_Logger.FuncE(e.Message);
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}
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}
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}
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} |