94 lines
3.1 KiB
C#
94 lines
3.1 KiB
C#
using Aurora.Api.DataType;
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using VisionCommon;
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using System;
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using System.Collections.Generic;
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using Aurora.Api;
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using Matrox.MatroxImagingLibrary;
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using VisionCalibrator;
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using VisionDirector;
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using Aurora.Api.Devices;
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using System.Threading.Tasks;
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using Aurora.View;
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namespace MilUI {
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public class MovePositionMode : DisplayMode {
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private readonly object _lockObj = new object();
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private Logger _logger = new Logger(typeof(MovePositionMode).Name);
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private FovInfo _fovInfo;
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private ImageSize _imageSize;
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private ImagePoint _imageCenter;
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private Calibrator _calibrator;
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private MotionDirector _teachingDirector;
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private bool _isMoving = false;
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public MovePositionMode(FovInfo fovInfo, ImageSize imageSize) {
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_fovInfo = fovInfo;
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_imageSize = imageSize;
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_imageCenter = new ImagePoint(imageSize.Width * 0.5, imageSize.Height * 0.5);
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_calibrator = CalibratorManager.GetCalibrator(_fovInfo);
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_teachingDirector = TeachingDirectorManager.Instance.GetDirector(fovInfo.ToSubSysInfo());
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}
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public override void MouseLeftDown(MIL_ID EventID) {
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}
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public override void MouseMove(MIL_ID EventID) {
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}
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public override void MouseRightDown(MIL_ID EventID) {
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lock (_lockObj) {
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if (IsMoving()) {
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MessageUtil.ShowErrorToast("Motor is Moving");
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return;
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}
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SetIsMoving(true);
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}
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var measureImagePoint = GetMousePoint(EventID);
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if (IsLocatedInImageArea(_imageSize, measureImagePoint)) {
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var referenceStaticPoint = _calibrator.TransformToCalibratedSpace(_imageCenter, _imageSize);
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var measureStaticPoint = _calibrator.TransformToCalibratedSpace(measureImagePoint, _imageSize);
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var moveStaticOffset = referenceStaticPoint - measureStaticPoint;
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var moveMotionOffset = _teachingDirector.ApplyDirection(moveStaticOffset);
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_logger.I($"{measureImagePoint}, {moveStaticOffset}, {moveMotionOffset}");
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RelMove(moveMotionOffset);
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}
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else {
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SetIsMoving(false);
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}
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}
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private bool IsMoving() {
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lock (_lockObj) {
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return _isMoving;
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}
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}
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private void SetIsMoving(bool isMovsing) {
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lock (_lockObj) {
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_isMoving = isMovsing;
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}
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}
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private async void RelMove(DoublePoint moveOffset) {
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await Task.Run(() => {
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EquipAdapter.Instance.TeachingMotionManager.RelMove(_fovInfo, new Position() { X = moveOffset.X, Y = moveOffset.Y });
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SetIsMoving(false);
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});
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}
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private bool IsLocatedInImageArea(ImageSize imageSize, ImagePoint p) {
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return (0 <= p.X) && (0 <= p.Y) &&
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(p.X < imageSize.Width) && (p.Y < imageSize.Height);
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}
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public override void GraphicSelectionModified(MIL_ID EventID) {
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}
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public override void Clear() {
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}
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}
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}
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