234 lines
11 KiB
C#
234 lines
11 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using VisionCommon;
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namespace VisionSequence.Setup {
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/// <summary>
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/// 캘리브레이션 플랜
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/// </summary>
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public class CalPlan {
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private const int FIRST_STEP = 0;
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private const int SECOND_STEP = 1;
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private const int BACKLASH_STEP = 2;
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/// <summary>X, Y축 수평 이동 횟수</summary>
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public int _MoveCalStep { get; private set; }
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/// <summary>T축 회전 이동 횟수</summary>
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public int _MoveThetaStep { get; private set; }
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/// <summary>현재까지 이동 횟수</summary>
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public int _CurrentStep { get; private set; }
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/// <summary>X, Y축으로 1회 이동 거리</summary>
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public double _AxisCalLength { get; private set; }
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/// <summary>T축으로 1회 회전 각도(Degree)</summary>
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public double _ThetaCalDegree { get; private set; }
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private int _CalXaxisStep { get; set; }
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private int _CalYaxisStep { get; set; }
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private int _CalTaxisStep { get; set; }
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private Dictionary<string, object> Plan = new Dictionary<string, object>();
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/// <summary>
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/// 생성자
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/// </summary>
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/// <param name="moveStep">X, Y축 수평 이동 횟수</param>
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/// <param name="axisLength">X, Y축으로 1회 이동 거리</param>
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/// <param name="thetaStep">T축 회전 이동 횟수</param>
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/// <param name="thetaDegree">T축으로 1회 회전 각도(Degree)</param>
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public CalPlan(int moveStep, double axisLength, int thetaStep, double thetaDegree) {
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_MoveCalStep = moveStep;
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_MoveThetaStep = thetaStep;
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_AxisCalLength = axisLength;
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_ThetaCalDegree = thetaDegree;
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_CalXaxisStep = moveStep + BACKLASH_STEP;
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_CalYaxisStep = moveStep + BACKLASH_STEP;
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_CalTaxisStep = thetaStep + BACKLASH_STEP;
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_CurrentStep = 1;
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}
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private void MakeXaxisCalPlan(string axis, string actionType) {
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if (_CalXaxisStep == BACKLASH_STEP) {
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return;
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}
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else {
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MakeAxisCalPlan(_CalXaxisStep, _AxisCalLength, axis, actionType);
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}
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}
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private void MakeYaxisCalPlan(string axis, string actionType) {
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if (_CalYaxisStep == BACKLASH_STEP) {
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return;
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}
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else {
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MakeAxisCalPlan(_CalYaxisStep, _AxisCalLength, axis, actionType);
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}
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}
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private void MakeTaxisCalPlan(string axis, string actionType) {
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if (_CalTaxisStep == BACKLASH_STEP) {
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return;
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}
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MakeAxisCalPlan(_CalTaxisStep, _ThetaCalDegree, axis, actionType);
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}
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private void MakeAxisCalPlan(int calAxisStep, double calAxisLength, string moveAxis, string actionType) {
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string MoveAxis = moveAxis.Remove(1);
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double CalAxisLength = calAxisLength;
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double BackLash = -calAxisLength;
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try {
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for (int i = 0; i <= calAxisStep; i++) {
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Dictionary<string, object> CalDistance = new Dictionary<string, object>();
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Dictionary<string, object> CalMove = new Dictionary<string, object>();
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Dictionary<string, object> CalAction = new Dictionary<string, object>();
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Dictionary<string, object> CalAxis = new Dictionary<string, object>();
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if (i == FIRST_STEP) {
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if (MoveAxis == Constants.X) {
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double startPosition = CalculateStartPosition(_MoveCalStep, CalAxisLength) + BackLash;
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CalDistance.Add(Constants.X, startPosition.ToString());
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.Y) {
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double startPosition = CalculateStartPosition(_MoveCalStep, CalAxisLength) + BackLash;
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, startPosition.ToString());
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.T) {
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double startPosition = CalculateStartPosition(_MoveThetaStep, CalAxisLength) + BackLash;
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, startPosition.ToString());
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}
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else {
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Console.WriteLine("Axis Error");
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}
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CalMove.Add(Constants.BACKLASH, CalDistance);
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CalAxis.Add(moveAxis, CalMove);
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CalAction.Add(actionType, CalAxis);
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Plan.Add(_CurrentStep.ToString(), CalAction);
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}
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else if (i == SECOND_STEP) {
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if (MoveAxis == Constants.X) {
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CalDistance.Add(Constants.X, (-BackLash).ToString());
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.Y) {
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, (-BackLash).ToString());
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.T) {
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, (-BackLash).ToString());
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}
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else {
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Console.WriteLine("Axis Error");
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}
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CalMove.Add(Constants.MOVE, CalDistance);
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CalAxis.Add(moveAxis, CalMove);
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CalAction.Add(actionType, CalAxis);
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Plan.Add(_CurrentStep.ToString(), CalAction);
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}
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else if (i == calAxisStep) {
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if (MoveAxis == Constants.X) {
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double measurePosition = CalculateMeasurePosition(_MoveCalStep, CalAxisLength);
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CalDistance.Add(Constants.X, measurePosition.ToString());
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.Y) {
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double measurePosition = CalculateMeasurePosition(_MoveCalStep, CalAxisLength);
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, measurePosition.ToString());
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.T) {
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double measurePosition = CalculateMeasurePosition(_MoveThetaStep, CalAxisLength);
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, measurePosition.ToString());
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}
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else {
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Console.WriteLine("Axis Error");
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}
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CalMove.Add(Constants.CALCULATION, CalDistance);
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CalAxis.Add(moveAxis, CalMove);
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CalAction.Add(actionType, CalAxis);
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Plan.Add(_CurrentStep.ToString(), CalAction);
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}
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else {
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if (MoveAxis == Constants.X) {
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CalDistance.Add(Constants.X, CalAxisLength.ToString());
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.Y) {
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, CalAxisLength.ToString());
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CalDistance.Add(Constants.T, "0");
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}
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else if (MoveAxis == Constants.T) {
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CalDistance.Add(Constants.X, "0");
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CalDistance.Add(Constants.Y, "0");
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CalDistance.Add(Constants.T, CalAxisLength.ToString());
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}
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else {
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Console.WriteLine("Axis Error");
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}
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CalMove.Add(Constants.MOVE, CalDistance);
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CalAxis.Add(moveAxis, CalMove);
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CalAction.Add(actionType, CalAxis);
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Plan.Add(_CurrentStep.ToString(), CalAction);
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}
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_CurrentStep++;
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}
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}
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catch (Exception e) {
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Console.WriteLine(e.ToString());
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}
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}
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private double CalculateStartPosition(int calAxisStep, double calAxisLength) {
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int stepsToStartPos = (calAxisStep + 1) / 2;
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int directionToStartPos = -1;
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return (calAxisLength * stepsToStartPos * directionToStartPos);
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}
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private double CalculateMeasurePosition(int calAxisStep, double calAxisLength) {
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int stepsToMeasurePos = calAxisStep / 2;
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return (stepsToMeasurePos * calAxisLength * (-1));
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}
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/// <summary>
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/// 캘리브레이션 플랜을 생성한다.
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/// </summary>
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/// <param name="isCalPixelExist">픽셀 사이즈 측정 플래그</param>
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/// <param name="isX">X축 캘리브레이션 사용 플래그</param>
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/// <param name="isY">Y축 캘리브레이션 사용 플래그</param>
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/// <param name="isT">T축 캘리브레이션 사용 플래그</param>
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/// <returns></returns>
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public Dictionary<string, object> MakeCalPlan(bool isCalPixelExist, bool isX, bool isY, bool isT) {
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if (isCalPixelExist) {
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if (isX) {
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MakeXaxisCalPlan(Constants.X_PLUS, Constants.X_CAL);
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}
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if (isY) {
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MakeYaxisCalPlan(Constants.Y_PLUS, Constants.Y_CAL);
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}
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}
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if (isT) {
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MakeTaxisCalPlan(Constants.T_PLUS, Constants.THETA_CAL);
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}
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return Plan;
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}
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}
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}
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