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LaserCut-2Head-Server
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master
bestlqiang 5 years ago
parent 8a5442f4c5
commit ad734ac4fe
32 changed files with 1245 additions and 219 deletions
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89
LaiPuLaser/CommonFlowMgr.cpp
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@ -1010,6 +1010,7 @@ bool CCommonFlowMgr::NormalMarkByPciCard(bool bSel,int times,int CyclicTimes)
//创建一个临时的area //创建一个临时的area
CMarkArea MarkArea(Dbxy(0,0),DbSize(100,100)); CMarkArea MarkArea(Dbxy(0,0),DbSize(100,100));
//收集加工数据 //收集加工数据
MarkArea.CollectOrgWorkData(bSel, Product);
MarkArea.CollectWorkData(bSel,Product); MarkArea.CollectWorkData(bSel,Product);
if(MarkArea.HasWorkData()) if(MarkArea.HasWorkData())
@ -1079,79 +1080,6 @@ bool CCommonFlowMgr::MultipleAreaMark(CProduct &Product,bool bSel)
gMarkAreaMgr->CollectWorkData(bSel,Product); gMarkAreaMgr->CollectWorkData(bSel,Product);
if(!gMarkAreaMgr->HasWorkData()) if(!gMarkAreaMgr->HasWorkData())
return false; return false;
//是否需要自动回原点
//bool bAutoFindOrigin = (m_FindOriginTimes>0 && m_CurWorktimes>=m_FindOriginTimes && Product.IsbLastOne());
//重置所有obj 的marked 状态
// gObjComponentMgr->ResetAllMarkedState();
/* CWorkCmdInvoker Invoker;
CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集
CmdContainer.Clear();*/
/* //开始之前的工作
{
CWorkCmd *pCmd = new CWorkCmdWorkStart();
CmdContainer.AddCmd(pCmd);
}
SetLightStateCmd(CmdContainer,true);//警示灯
//加工时亮绿灯-----------------------------------------
if(m_bSetLightState)
{
CWorkCmd *pCmd = new CWorkCmdPciPortSwitch(PCI_PORT_LIGHT_G,true);
CmdContainer.AddCmd(pCmd);
}
if(m_bVacuum)//打开真空吸附
{
CWorkCmd *pCmd = new CWorkCmdPciPortSwitch(PCI_PORT_VACUUM_OUT1,true);
CmdContainer.AddCmd(pCmd);
}
//等待运动结束
{
CWorkCmdWaitMotorStop *pCmd = new CWorkCmdWaitMotorStop();
if(gMotionCard_PCI1245->GetCurGpIdx() == 0)
pCmd->SetbWaitMotorX();
else
pCmd->SetbWaitMotorX2();
pCmd->SetbWaitMotorY();
pCmd->SetbCheckActCoord();//检测实际光栅尺的坐标
CmdContainer.AddCmd(pCmd);
}
//切换为工作速度
{
CWorkCmdSetMotorSpeed *pCmd = new CWorkCmdSetMotorSpeed();
if(gMotionCard_PCI1245->GetCurGpIdx() == 0)
pCmd->SetbSetMotorX();
else
pCmd->SetbSetMotorX2();
pCmd->SetbSetMotorY();
pCmd->SetSpeedType(_SpeedType_Work);
CmdContainer.AddCmd(pCmd);
}
/ * if(m_bVacuum)//关闭真空吸附
{
CWorkCmd *pCmd = new CWorkCmdPciPortSwitch(PCI_PORT_VACUUM_OUT1,false);
CmdContainer.AddCmd(pCmd);
}* /
//结束之后的工作
{
CWorkCmd *pCmd = new CWorkCmdWorkEnd();
CmdContainer.AddCmd(pCmd);
}
//执行指令-----------------------------------------------------
Invoker.ExcuteAllCmd();
if(Invoker.IsCancel())
return false;
if(!bSel)//记录工作次数
{
gProductMgr->WorkTimesInc();
}*/
gProductMgr->WorkTimesInc(); gProductMgr->WorkTimesInc();
return true;//全部加工一次才返回true return true;//全部加工一次才返回true
@ -1504,8 +1432,15 @@ bool CCommonFlowMgr::AutoMeasureVisionData()
ofstream file; ofstream file;
file.open(FilePath); file.open(FilePath);
//输出范围和间隔 //输出范围和间隔
file<<m_CalibrationRange<<","<<m_CalibrationRange<<","<<m_CalibrationPointGap<<","<<m_CalibrationPointGap; file<<m_CalibrationRange<<","<<m_CalibrationRange<<","<<m_CalibrationPointGap<<","<<m_CalibrationPointGap<<endl;
FileMgr.WriteDbxyVecToFile(ResultVec,&file); FileMgr.WriteDbxyVecToFile(ResultVec,&file);
file.close();
//复制到打标软件目录
CString DestPath = "C:\\Program Files\\Laipu Soft\\Marking System\\vision_data.dat";
if (!CopyFile(FilePath, DestPath, false))
{
AfxMessageBox("自动复制vision_data.dat到打标软件目录失败!\r\n请手动复制!!!");
}
return true; return true;
} }
return false; return false;
@ -1597,11 +1532,9 @@ void CCommonFlowMgr::MoveSelObjToCamera(CProduct &Product)
#endif #endif
void CCommonFlowMgr::SetAdjustOffsetAll(Dbxy Offset) void CCommonFlowMgr::SetAdjustOffsetAll(Dbxy Offset)
{ {
/* m_AdjustOffsetAll.x = Offset.x + m_ProductOffset.x; m_AdjustOffsetAll.x = Offset.x + m_ProductOffset.x;
m_AdjustOffsetAll.y = Offset.y + m_ProductOffset.y;*/ m_AdjustOffsetAll.y = Offset.y + m_ProductOffset.y;
m_AdjustOffsetAll.x = Offset.x ;
m_AdjustOffsetAll.y = Offset.y ;
} }
void CCommonFlowMgr::ResetProductOffset() void CCommonFlowMgr::ResetProductOffset()
{ {

15
LaiPuLaser/DlgTest.cpp
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@ -79,6 +79,7 @@ BEGIN_MESSAGE_MAP(CDlgTest, CDialogEx)
ON_BN_CLICKED(IDC_OPEN_MAK, &CDlgTest::OnBnClickedOpenMak) ON_BN_CLICKED(IDC_OPEN_MAK, &CDlgTest::OnBnClickedOpenMak)
ON_BN_CLICKED(IDC_ADJUST_PRODUCT_POS, &CDlgTest::OnBnClickedAdjustProductPos) ON_BN_CLICKED(IDC_ADJUST_PRODUCT_POS, &CDlgTest::OnBnClickedAdjustProductPos)
ON_BN_CLICKED(IDC_CREAT_VISION_DATA2, &CDlgTest::OnBnClickedCopyGridData)
END_MESSAGE_MAP() END_MESSAGE_MAP()
bool bObjToCcdMode = false; bool bObjToCcdMode = false;
@ -575,3 +576,17 @@ void CDlgTest::OnBnClickedAdjustProductPos()
} }
#endif #endif
void CDlgTest::OnBnClickedCopyGridData()
{
CString FilePath;
CFileMgr FileMgr;
FileMgr.GetFullFilePath(FilePath, "\\grid_data.dat");
CString SrcPath = "C:\\Program Files\\Laipu Soft\\Marking System\\grid_data.dat";
if (!CopyFile(SrcPath, FilePath, false))
{
AfxMessageBox("复制grid_data.dat到当前软件目录失败!\r\n请手动复制!!!");
}
}

1
LaiPuLaser/DlgTest.h
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@ -100,4 +100,5 @@ public:
afx_msg void OnBnClickedCreatVisionData(); afx_msg void OnBnClickedCreatVisionData();
afx_msg void OnBnClickedOpenMak(); afx_msg void OnBnClickedOpenMak();
afx_msg void OnBnClickedAdjustProductPos(); afx_msg void OnBnClickedAdjustProductPos();
afx_msg void OnBnClickedCopyGridData();
}; };

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LaiPuLaser/LaiPuLaser.rc
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18
LaiPuLaser/LaipuVbDllMgr.cpp
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@ -139,8 +139,21 @@ void CLaipuVbDllMgr::Marking_DA(double V,short XY)
#if 1 #if 1
void CLaipuVbDllMgr::CallMarkingData(vector<vector<Dbxy>> &vec) void CLaipuVbDllMgr::CallMarkingData(vector<vector<Dbxy>> &vec)
{ {
/*ofstream file;
string name = "MarkData.txt";
if (gProgram_SZ_XL->IsbSelMarkMode())
{
name = "MarkData-Sel.txt";
}
file.open(name);
for ( auto itr:vec)
{
for (auto data:itr)
{
file << data.x << "," << data.y<<endl;
}
}
file.close();*/
SAFEARRAY *pSafeArr = CreatSafeArray(vec); SAFEARRAY *pSafeArr = CreatSafeArray(vec);
if(pSafeArr) if(pSafeArr)
{ {
@ -168,6 +181,7 @@ int CLaipuVbDllMgr::CalElementsCnt(vector<double> &vec)
return ret; return ret;
} }
//封装SAFEARRAY 的创建过程(需要在调用后释放资源) //封装SAFEARRAY 的创建过程(需要在调用后释放资源)
SAFEARRAY * CLaipuVbDllMgr::CreatSafeArray(vector<vector<Dbxy>> &vec) SAFEARRAY * CLaipuVbDllMgr::CreatSafeArray(vector<vector<Dbxy>> &vec)
{ {

19
LaiPuLaser/Laser.cpp
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@ -52,6 +52,25 @@ CMFCPropertyGridProperty *CLaser::CreatGridProperty()
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie); gDevicePropertieMgr.Insert(p1, pPropertie);
} }
{
//添加属性变量映射
Name = _T("m_CutSpeedIncrement");//变量名字
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_CutSpeedIncrement);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示
PropertyName = _T("切速增量");
Description = _T("激光切割时,相对主机的速度增量.");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_CutSpeedIncrement, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_LaserCoord_x");//变量名字 Name = _T("m_LaserCoord_x");//变量名字

2
LaiPuLaser/Laser.h
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@ -24,6 +24,8 @@ public:
void AddAdjustFocalCmd(); void AddAdjustFocalCmd();
void OnOpen(); void OnOpen();
void OnClose(); void OnClose();
int m_CutSpeedIncrement = 0;//ÇиîËÙ¶ÈÔöÁ¿
private: private:
Dbxy m_LaserCoord;//激光垂直点在平台的坐标(PLATFORM_COORD) Dbxy m_LaserCoord;//激光垂直点在平台的坐标(PLATFORM_COORD)
int m_OpenDelay;//开关后延时 ms int m_OpenDelay;//开关后延时 ms

71
LaiPuLaser/MarkArea.cpp
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@ -225,6 +225,31 @@ bool CMarkArea::CheckbNeedMark()
} }
#endif #endif
//搜集在area 范围内的obj 数据(Product 是当前要加工的工件,主要用来偏移旋转数据) //搜集在area 范围内的obj 数据(Product 是当前要加工的工件,主要用来偏移旋转数据)
void CMarkArea::CollectOrgWorkData(bool bNeedSel, CProduct &Product)
{
vector<vector<Dbxy>> &WorkDataVec = m_WorkData.GetDataVec();
vector<vector<Dbxy>> &SpecialWorkDataVec = m_SpecialWorkData.GetDataVec();
m_WorkData.Clear();
m_SpecialWorkData.Clear();//特殊刀对象
//先搜集元件对象数据-----------------------------------
CollectComponentObj(WorkDataVec, bNeedSel);
//收集特殊对象增加的数据
gCommonFlowMgr->SetbCollectSpecialObj(true);
CollectComponentObj(SpecialWorkDataVec, bNeedSel);
gCommonFlowMgr->SetbCollectSpecialObj(false);
//如果没有收集到原件的数据才搜集layer 中obj 的数据
if (WorkDataVec.empty() && !gObjComponentMgr->HasObj())
{
//先找到在area 内的obj
CObjContainer ObjContainer;
CollectLayerObj(ObjContainer);
//提取obj 的数据点(理论值) 这些数据是相对于layer 中心的坐标
ObjContainer.GetObjPtData(WorkDataVec, bNeedSel);
}
}
void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product) void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
{ {
gLogMgr->WriteDebugLog("func : CMarkArea---->CollectWorkData"); gLogMgr->WriteDebugLog("func : CMarkArea---->CollectWorkData");
@ -233,40 +258,22 @@ void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
//不要移动area 的中心 //不要移动area 的中心
m_RealBasePt = m_BasePt; m_RealBasePt = m_BasePt;
auto AreaCenter = m_RealBasePt;
//将相对于layer 中心的数据转换为area 实际中心的数据 //将相对于layer 中心的数据转换为area 实际中心的数据
//数据的偏移调整(每个area 的单独调整量+ 整体性的调整量) //数据的偏移调整(每个area 的单独调整量+ 整体性的调整量)
Dbxy Offset; Dbxy Offset = gCommonFlowMgr->GetAdjustOffsetAll();
{
/*{
Dbxy AllOffset2; Dbxy AllOffset2;
AllOffset2 = gCommonFlowMgr->GetAdjustOffsetAll(); AllOffset2 = gCommonFlowMgr->GetAdjustOffsetAll();
Offset.x = AllOffset2.x;//-m_RealBasePt.x; Offset.x = AllOffset2.x;//-m_RealBasePt.x;
Offset.y = AllOffset2.y;// -m_RealBasePt.y; Offset.y = AllOffset2.y;// -m_RealBasePt.y;
} }*/
if(bNeedSel) if(1)
{ {
m_WorkData.Clear();
m_SpecialWorkData.Clear();//特殊刀对象
vector<vector<Dbxy>> &WorkDataVec = m_WorkData.GetDataVec(); vector<vector<Dbxy>> &WorkDataVec = m_WorkData.GetDataVec();
vector<vector<Dbxy>> &SpecialWorkDataVec = m_SpecialWorkData.GetDataVec(); vector<vector<Dbxy>> &SpecialWorkDataVec = m_SpecialWorkData.GetDataVec();
//先搜集元件对象数据-----------------------------------
CollectComponentObj(WorkDataVec,bNeedSel);
//收集特殊对象增加的数据
gCommonFlowMgr->SetbCollectSpecialObj(true);
CollectComponentObj(SpecialWorkDataVec,bNeedSel);
gCommonFlowMgr->SetbCollectSpecialObj(false);
//如果没有收集到原件的数据才搜集layer 中obj 的数据
if(WorkDataVec.empty() && !gObjComponentMgr->HasObj())
{
//先找到在area 内的obj
CObjContainer ObjContainer;
CollectLayerObj(ObjContainer);
//提取obj 的数据点(理论值) 这些数据是相对于layer 中心的坐标
ObjContainer.GetObjPtData(WorkDataVec,bNeedSel);
}
bool HasData = false;//判断有没有数据 bool HasData = false;//判断有没有数据
{ {
vector<vector<Dbxy>>::iterator iter = WorkDataVec.begin(); vector<vector<Dbxy>>::iterator iter = WorkDataVec.begin();
@ -282,13 +289,13 @@ void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
} }
if(!HasData) if(!HasData)
{ {
WorkDataVec.clear(); //WorkDataVec.clear();
SpecialWorkDataVec.clear(); //SpecialWorkDataVec.clear();
return; return;
} }
Product.TheoryDataToRealData(WorkDataVec, m_BasePt,Offset); Product.TheoryDataToRealData(WorkDataVec, AreaCenter,Offset);
Product.TheoryDataToRealData(SpecialWorkDataVec, m_BasePt,Offset); Product.TheoryDataToRealData(SpecialWorkDataVec, AreaCenter,Offset);
return; return;
//根据抓取两个mark 来计算拉伸数据 //根据抓取两个mark 来计算拉伸数据
@ -298,16 +305,16 @@ void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
Product.StretchDataToRealSize(SpecialWorkDataVec); Product.StretchDataToRealSize(SpecialWorkDataVec);
} }
//根据旋转偏移计算数据的实际值(相对于layer 中心) //根据旋转偏移计算数据的实际值(相对于layer 中心)
Product.TheoryDataToRealData(WorkDataVec,Offset); Product.TheoryDataToRealData0(WorkDataVec, AreaCenter,Offset);
Product.TheoryDataToRealData(SpecialWorkDataVec,Offset); Product.TheoryDataToRealData0(SpecialWorkDataVec, AreaCenter,Offset);
} }
else//全部加工时使用之前准备好的数据 else//全部加工时使用之前准备好的数据
{ {
//检查是否需要加工 //检查是否需要加工
if(CheckbNeedMark()) /* if(CheckbNeedMark())
{ {
Product.TheoryDataToRealData(m_SrcWorkData.GetDataVec(),m_DecWorkData.GetDataVec(),Offset); Product.TheoryDataToRealData(m_SrcWorkData.GetDataVec(),m_DecWorkData.GetDataVec(),Offset);
} }*/
} }
} }
bool CMarkArea::DrawObjComponentVec(vector<Sptr<CObjComponent>> &vec,CDC* pDC,bool bSel) bool CMarkArea::DrawObjComponentVec(vector<Sptr<CObjComponent>> &vec,CDC* pDC,bool bSel)

2
LaiPuLaser/MarkArea.h
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@ -24,6 +24,8 @@ public:
void SetBasePt(Dbxy pt); void SetBasePt(Dbxy pt);
DbSize GetSize(){return m_Size;}; DbSize GetSize(){return m_Size;};
void CollectOrgWorkData(bool bNeedSel, CProduct & Product);
void CollectWorkData(bool bNeedSel,CProduct &Product); void CollectWorkData(bool bNeedSel,CProduct &Product);
bool HasWorkData(); bool HasWorkData();
bool HasSpecialWorkData(); bool HasSpecialWorkData();

17
LaiPuLaser/MarkAreaMgr.cpp
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@ -329,18 +329,33 @@ void CMarkAreaMgr::MoveAllAreaToTargetPt(Dbxy TargetPt)
#endif #endif
#if 1 #if 1
void CMarkAreaMgr::CollectOrgWorkData(bool bNeedSel, CProduct &Product)
{
gLogMgr->WriteDebugLog("func : CMarkAreaMgr---->CollectWorkData");
//重置元件的收集状态
gObjComponentMgr->ResetObjCollectState(false);
vector<CMarkArea>::iterator iter = m_AreaVec.begin();
vector<CMarkArea>::iterator iter_end = m_AreaVec.end();
for (;iter != iter_end;iter++)
{
(*iter).CollectOrgWorkData(bNeedSel, Product);
}
}
//收集加工数据入口 //收集加工数据入口
void CMarkAreaMgr::CollectWorkData(bool bNeedSel,CProduct &Product) void CMarkAreaMgr::CollectWorkData(bool bNeedSel,CProduct &Product)
{ {
//Product.CalAffinePars();
gLogMgr->WriteDebugLog("func : CMarkAreaMgr---->CollectWorkData"); gLogMgr->WriteDebugLog("func : CMarkAreaMgr---->CollectWorkData");
//重置元件的收集状态 //重置元件的收集状态
gObjComponentMgr->ResetObjCollectState(false); gObjComponentMgr->ResetObjCollectState(false);
vector<CMarkArea>::iterator iter = m_AreaVec.begin(); vector<CMarkArea>::iterator iter = m_AreaVec.begin();
vector<CMarkArea>::iterator iter_end = m_AreaVec.end(); vector<CMarkArea>::iterator iter_end = m_AreaVec.end();
for(;iter!=iter_end;iter++) for(;iter!=iter_end;iter++)
{ {
(*iter).CollectWorkData(bNeedSel,Product); (*iter).CollectWorkData(bNeedSel, Product);
} }
} }

1
LaiPuLaser/MarkAreaMgr.h
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@ -35,6 +35,7 @@ public:
void MoveAllArea(double Val,DIRECTION dir); void MoveAllArea(double Val,DIRECTION dir);
void SelAreaByPt(Dbxy pt); void SelAreaByPt(Dbxy pt);
void SetAllMarkSize(); void SetAllMarkSize();
void CollectOrgWorkData(bool bNeedSel, CProduct & Product);
void CollectWorkData(bool bNeedSel,CProduct &Product); void CollectWorkData(bool bNeedSel,CProduct &Product);
void SelFristArea(); void SelFristArea();
void SetbDrawIdx(bool b){m_bDrawIdx = b;}; void SetbDrawIdx(bool b){m_bDrawIdx = b;};

4
LaiPuLaser/MarkCtrl.cpp
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@ -88,7 +88,7 @@ void CMarkCtrl::StartMarkPci(vector<vector<Dbxy>> &DateVec,vector<vector<Dbxy>>
LaipuVbDll.CallMarkingEnd(fileno,fileAll,MarkM,m_sel,head,NULL);//结束 LaipuVbDll.CallMarkingEnd(fileno,fileAll,MarkM,m_sel,head,NULL);//结束
#endif // NoPCI_MarkData2Txt #endif // NoPCI_MarkData2Txt
} }
#include "Laser.h"
//设置标刻参数 //设置标刻参数
void CMarkCtrl::SetMarkParam(CLaipuVbDllMgr &LaipuVbDll) void CMarkCtrl::SetMarkParam(CLaipuVbDllMgr &LaipuVbDll)
@ -97,7 +97,7 @@ void CMarkCtrl::SetMarkParam(CLaipuVbDllMgr &LaipuVbDll)
CMarkPar &MarkPar = gMarkParMgr->GetCurPen(); CMarkPar &MarkPar = gMarkParMgr->GetCurPen();
//振镜参数-------------------------------------------------------------- //振镜参数--------------------------------------------------------------
//float ms = MarkPar.ms;//标刻速度mm/s //float ms = MarkPar.ms;//标刻速度mm/s
float ms = (float)gCommonFlowMgr->GetCutSpeed(); float ms = (float)(gCommonFlowMgr->GetCutSpeed()+gLaser->m_CutSpeedIncrement);
float mms = MarkPar.mms;//空移速度mm/s float mms = MarkPar.mms;//空移速度mm/s
long tcf = MarkPar.tcf;//关激光前延时us long tcf = MarkPar.tcf;//关激光前延时us
long tch = MarkPar.tch;//关激光后延时us long tch = MarkPar.tch;//关激光后延时us

6
LaiPuLaser/MarkData.txt
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@ -1,6 +0,0 @@
MarkData: X=32.332754;Y=17.384913
MarkData: X=25.515365;Y=17.075846
MarkData: X=32.218140;Y=19.913061
MarkData: X=25.400751;Y=19.603994
MarkData: X=31.913434;Y=26.634239
MarkData: X=25.096045;Y=26.325171

10
LaiPuLaser/MarkData_Server.txt
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@ -0,0 +1,10 @@
TD: 87.873390,-5.896572
RD: 30.300570,20.521548
TD: 87.873390,-5.896572
RD: 30.300570,20.521548
TD: 87.646767,-5.699993
RD: 30.073516,20.717701
TD: 87.646767,-3.299999
RD: 30.068488,23.117649
TD: 87.857735,-3.086712
RD: 30.279026,23.331325

10
LaiPuLaser/ObjComponent.h
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@ -2,7 +2,7 @@
#include "GlobalDefine.h" #include "GlobalDefine.h"
#include "SmartPtr.h" #include "SmartPtr.h"
#include "ObjBase.h" #include "ObjBase.h"
#include <atomic>
//元件对象 //元件对象
class CObjComponent class CObjComponent
{ {
@ -55,6 +55,8 @@ public:
void SetbHide(bool b){m_bHide = b;}; void SetbHide(bool b){m_bHide = b;};
void SetbMark1Obj(bool b){m_bMark1Obj = b;}; void SetbMark1Obj(bool b){m_bMark1Obj = b;};
bool IsbMark1Obj(){return m_bMark1Obj;}; bool IsbMark1Obj(){return m_bMark1Obj;};
void SetbMark2Obj(bool b) { m_bMark2Obj = b; };
bool IsbMark2Obj() { return m_bMark2Obj; };
void SetSelObjPenNum(); void SetSelObjPenNum();
bool IsbSpecialObj(); bool IsbSpecialObj();
void SetObjOffset(Dbxy Offset){m_ObjOffset = Offset;}; void SetObjOffset(Dbxy Offset){m_ObjOffset = Offset;};
@ -67,12 +69,14 @@ private:
bool m_bBase;//是否为基准元件 bool m_bBase;//是否为基准元件
bool m_bSel;//是否被选中 bool m_bSel;//是否被选中
bool m_bCircle;//是否为圆形 bool m_bCircle;//是否为圆形
//atomic_bool m_bCollected;//数据是否已经被收集过了,避免重复收集
bool m_bCollected;//数据是否已经被收集过了,避免重复收集 bool m_bCollected;//数据是否已经被收集过了,避免重复收集
bool m_bMarked;//是否被加工过了 bool m_bMarked;//是否被加工过了
bool m_bCollecteData;//是否需要收集加工数据(false 的时候不收集obj 的数据) bool m_bCollecteData;//是否需要收集加工数据(false 的时候不收集obj 的数据)
bool m_bMarkObj;//是否为标记的obj (用于CCD 定位) bool m_bMarkObj;//是否为标记的obj (用于CCD 定位)
bool m_bMark1Obj;//第一个mark bool m_bMark1Obj=false;//是否为mark1
bool m_bMark3Obj;//是否为mark3 bool m_bMark2Obj=false;//是否为mark2
bool m_bMark3Obj=false;//是否为mark3
bool m_bHide;//是否隐藏 bool m_bHide;//是否隐藏
Dbxy m_BasePt;//元件的基准点(中心点) Dbxy m_BasePt;//元件的基准点(中心点)

77
LaiPuLaser/ObjComponentMgr.cpp
Unescape Escape View File

@ -379,15 +379,17 @@ void CObjComponentMgr::Draw(CDC* pDC)
{ {
if(m_ComponentVec[i].IsbMark1Obj()) if(m_ComponentVec[i].IsbMark1Obj())
str = "Mark1"; str = "Mark1";
else if (m_ComponentVec[i].IsbMark2Obj())
str = "Mark2"; str = "Mark2";
if (m_ComponentVec[i].IsbMark3Obj())
str = "Mark3";
gDraw->DrawTxt(pDC,str,m_ComponentVec[i].GetBasePt()); gDraw->DrawTxt(pDC,str,m_ComponentVec[i].GetBasePt());
} }
else if(m_ComponentVec[i].IsbMark3Obj()) /* else if(m_ComponentVec[i].IsbMark3Obj())
{ {
str = "Mark3"; str = "Mark3";
gDraw->DrawTxt(pDC,str,m_ComponentVec[i].GetBasePt()); gDraw->DrawTxt(pDC,str,m_ComponentVec[i].GetBasePt());
} }*/
m_ComponentVec[i].Draw(pDC); m_ComponentVec[i].Draw(pDC);
} }
Dbxy Offset; Dbxy Offset;
@ -635,7 +637,7 @@ void CObjComponentMgr::SetMarkObj()
bool CObjComponentMgr::GetTwoMarkPt(Dbxy &MarkPt1,Dbxy &MarkPt2) bool CObjComponentMgr::GetTwoMarkPt(Dbxy &MarkPt1,Dbxy &MarkPt2)
{ {
int MarkCnt = GetMarkObjCnt(); int MarkCnt = GetMarkObjCnt();
if(MarkCnt != 2) if(MarkCnt != 3)
{ {
return false; return false;
} }
@ -651,9 +653,8 @@ bool CObjComponentMgr::GetTwoMarkPt(Dbxy &MarkPt1,Dbxy &MarkPt2)
if((*iter).IsbMark1Obj()) if((*iter).IsbMark1Obj())
{ {
MarkPt1 = pt; MarkPt1 = pt;
bMark1 = false;
} }
else if ((*iter).IsbMark2Obj())
{ {
MarkPt2 = pt; MarkPt2 = pt;
} }
@ -1023,9 +1024,65 @@ void CObjComponentMgr::AnalyseMarkPt()
{ {
bool flg = false; bool flg = false;
int size = MarkVec.size(); int size = MarkVec.size();
if(size>=2) if (size == 3)
{
flg = true;
MarkVec[0]->SetbMark1Obj(true);
MarkVec[1]->SetbMark2Obj(true);
MarkVec[2]->SetbMark3Obj(true);
MarkVec[0]->SetbMarkObj(true);
MarkVec[1]->SetbMarkObj(true);
MarkVec[2]->SetbMarkObj(true);
}
/* if(size>=3)
{ {
double MaxX,MinX;
sort(MarkVec.begin(), MarkVec.end(), [](CObjComponent * & a, CObjComponent* & b) {return (a->GetBasePt().y) < (b->GetBasePt().y); });
vector<CObjComponent*> MaxYVec;//Y值最大的容器
vector<CObjComponent*> MinYVec;//Y值最小的容器
double MaxY = (*MarkVec.rbegin())->GetBasePt().y;
double MinY = (*MarkVec.begin())->GetBasePt().y;
for (auto it:MarkVec)
{
double tempY = (it->GetBasePt()).y;
if (IsTwoDbEqual(tempY,MaxY))
{
MaxYVec.push_back(it);
}
if (IsTwoDbEqual(tempY, MinY))
{
MinYVec.push_back(it);
}
}
sort(MaxYVec.begin(), MaxYVec.end(), [](CObjComponent * & a, CObjComponent* & b) {return (a->GetBasePt().x) < (b->GetBasePt().x); });
sort(MinYVec.begin(), MinYVec.end(), [](CObjComponent * & a, CObjComponent* & b) {return (a->GetBasePt().x) < (b->GetBasePt().x); });
if (MaxYVec.size() > 1)
{
(*MaxYVec.begin())->SetbMark1Obj(true);
(*MaxYVec.rbegin())->SetbMark2Obj(true);
(*MinYVec.begin())->SetbMark3Obj(true);
(*MaxYVec.begin())->SetbMarkObj(true);
(*MaxYVec.rbegin())->SetbMarkObj(true);
(*MinYVec.begin())->SetbMarkObj(true);
}
else
{
(*MinYVec.begin())->SetbMark1Obj(true);
(*MinYVec.rbegin())->SetbMark2Obj(true);
(*MaxYVec.begin())->SetbMark3Obj(true);
(*MinYVec.begin())->SetbMarkObj(true);
(*MinYVec.rbegin())->SetbMarkObj(true);
(*MaxYVec.begin())->SetbMarkObj(true);
}
flg = true;
/ *double MaxX,MinX;
double Mark1Idx = 0; double Mark1Idx = 0;
double Mark2Idx = 0; double Mark2Idx = 0;
double Mark3Idx = -1; double Mark3Idx = -1;
@ -1085,8 +1142,8 @@ void CObjComponentMgr::AnalyseMarkPt()
MarkVec[Mark3Idx]->SetbMark3Obj(true);//标记为mark3 MarkVec[Mark3Idx]->SetbMark3Obj(true);//标记为mark3
MarkVec[Mark3Idx]->NotCollect();//不要收集加工数据 MarkVec[Mark3Idx]->NotCollect();//不要收集加工数据
MarkVec[Mark3Idx]->SetbMark1Obj(false); MarkVec[Mark3Idx]->SetbMark1Obj(false);
} }* /
} }*/
if(!flg) if(!flg)
{ {
CMsgBox MsgBox; CMsgBox MsgBox;

162
LaiPuLaser/Product.cpp
Unescape Escape View File

@ -8,7 +8,7 @@
#include "CommonFlowMgr.h" #include "CommonFlowMgr.h"
#include "DrawSimpleShape.h" #include "DrawSimpleShape.h"
//IMPLEMENT_SERIAL(CProduct,CObject,1)
CProduct::CProduct(void) CProduct::CProduct(void)
{ {
m_bUsed = true;//是否使用 m_bUsed = true;//是否使用
@ -101,7 +101,6 @@ bool CProduct::IsSetRealMarkPt2()
//定位数据是否准备好了 //定位数据是否准备好了
bool CProduct::IsMarkReady() bool CProduct::IsMarkReady()
{ {
return true;
Dbxy MarkPt1; Dbxy MarkPt1;
Dbxy MarkPt2; Dbxy MarkPt2;
if(gObjComponentMgr->GetTwoMarkPt(MarkPt1,MarkPt2))//有定位点 if(gObjComponentMgr->GetTwoMarkPt(MarkPt1,MarkPt2))//有定位点
@ -113,7 +112,7 @@ bool CProduct::IsMarkReady()
return gCommonFlowMgr->IsNoMarkCanWork(); return gCommonFlowMgr->IsNoMarkCanWork();
} }
} }
//设置实际定位点坐标(CCD 的抓取结果) //设置实际定位点坐标(CCD 的抓取结果)抓完最后一个点时,计算数据旋转、平移、拉伸参数，用于后续计算
void CProduct::SetRealMarkPt(Dbxy pt) void CProduct::SetRealMarkPt(Dbxy pt)
{ {
if(IsSetRealMarkPt1() && IsSetRealMarkPt2()) if(IsSetRealMarkPt1() && IsSetRealMarkPt2())
@ -160,35 +159,68 @@ void CProduct::SetRealMarkPt(Dbxy pt)
CalTheoryToRealPar(); CalTheoryToRealPar();
} }
} }
#include"CameraHawkvis.h"
#include<opencv2/opencv.hpp> #include<opencv2/opencv.hpp>
using namespace cv; using namespace cv;
void CProduct::CalAffinePars() void CProduct::CalAffinePars()
{ {
//微调角度的仿射系数
{
Point2f PRThroryCoords[3];//旋转前理论值
Point2f ARRealCoords[3];//旋转后实际值
PRThroryCoords[0] = Point2f(0, -1000);
PRThroryCoords[1] = Point2f(1000, 0);
PRThroryCoords[2] = Point2f(0, 1000);
auto angle = gProductMgr->GetAdjustAngle();
angle = _360ToAngle(angle);
auto SinAngle = sin(angle);
auto CosAngle = cos(angle);
ARRealCoords[0] = Point2f(1000*SinAngle, -1000*CosAngle);
ARRealCoords[1] = Point2f(1000*CosAngle, 1000*SinAngle);
ARRealCoords[2] = Point2f(-1000*SinAngle, 1000*CosAngle);
Mat warp_mat(2, 3, CV_32FC1);
//得放射变换参数矩阵
warp_mat = getAffineTransform(PRThroryCoords, ARRealCoords);
warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1 后续计算会错误
//取出6个变换参数
m_rp00 = warp_mat.at<float>(0, 0);
m_rp01 = warp_mat.at<float>(0, 1);
m_p02 = warp_mat.at<float>(0, 2);
m_rp10 = warp_mat.at<float>(1, 0);
m_rp11 = warp_mat.at<float>(1, 1);
m_rp12 = warp_mat.at<float>(1, 2);
}
/*
CString logstr; CString logstr;
Dbxy T2oft = Dbxy(0, 0);
o_TheoryMarkPt1 = m_TheoryMarkPt1 - m_BasePt; o_TheoryMarkPt1 = m_TheoryMarkPt1 - m_BasePt-T2oft;
logstr.Format("TheoryMarkPt1 Coord(%f,%f)", o_TheoryMarkPt1.x, o_TheoryMarkPt1.y); logstr.Format("TheoryMarkPt1 Coord(%f,%f)", o_TheoryMarkPt1.x, o_TheoryMarkPt1.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
o_TheoryMarkPt2 = m_TheoryMarkPt2 - m_BasePt; o_TheoryMarkPt2 = m_TheoryMarkPt2 - m_BasePt-T2oft;
logstr.Format("TheoryMarkPt2 Coord(%f,%f)", o_TheoryMarkPt2.x, o_TheoryMarkPt2.y); logstr.Format("TheoryMarkPt2 Coord(%f,%f)", o_TheoryMarkPt2.x, o_TheoryMarkPt2.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
o_TheoryMarkPt3 = m_TheoryMarkPt3 - m_BasePt; o_TheoryMarkPt3 = m_TheoryMarkPt3 - m_BasePt-T2oft;
logstr.Format("TheoryMarkPt3 Coord(%f,%f)", o_TheoryMarkPt3.x, o_TheoryMarkPt3.y); logstr.Format("TheoryMarkPt3 Coord(%f,%f)", o_TheoryMarkPt3.x, o_TheoryMarkPt3.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt1 = m_RealMarkPt1 - m_BasePt; o_RealMarkPt1 = m_RealMarkPt1 - m_BasePt-T2oft;
logstr.Format("RealMarkPt1 Coord(%f,%f)", o_RealMarkPt1.x, o_RealMarkPt1.y); logstr.Format("RealMarkPt1 Coord(%f,%f)", o_RealMarkPt1.x, o_RealMarkPt1.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt2 = m_RealMarkPt2 - m_BasePt; o_RealMarkPt2 = m_RealMarkPt2 - m_BasePt-T2oft;
logstr.Format("RealMarkPt2 Coord(%f,%f)", o_RealMarkPt2.x, o_RealMarkPt2.y); logstr.Format("RealMarkPt2 Coord(%f,%f)", o_RealMarkPt2.x, o_RealMarkPt2.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt3 = m_RealMarkPt3 - m_BasePt; o_RealMarkPt3 = m_RealMarkPt3 - m_BasePt-T2oft;
logstr.Format("RealMarkPt3 Coord(%f,%f)", o_RealMarkPt3.x, o_RealMarkPt3.y); logstr.Format("RealMarkPt3 Coord(%f,%f)", o_RealMarkPt3.x, o_RealMarkPt3.y);
gLogMgr->WriteDebugLog(logstr); gLogMgr->WriteDebugLog(logstr);
@ -208,15 +240,16 @@ void CProduct::CalAffinePars()
{ {
gTrackWorkFlow1.RadAlamOnOff(true);//报警提示 gTrackWorkFlow1.RadAlamOnOff(true);//报警提示
ResetRealMarkPt(); ResetRealMarkPt();
CString LogStr("Mark 间距误差超出范围,定位可能误判!"); CString LogStr("Mark 间距误差超出范围,定位可能误判!\r\n");
logstr = LogStr + logstr;
AfxMessageBox(logstr); AfxMessageBox(logstr);
gTrackWorkFlow1.RadAlamOnOff(false);//报警提示 gTrackWorkFlow1.RadAlamOnOff(false);//报警提示
CExceptionMsg Msg; CExceptionMsg Msg;
Msg.SetMsg(CString("")); Msg.SetMsg(CString(""));
throw Msg;//抛出异常 throw Msg;//抛出异常
/* CExceptionMsg Msg; / * CExceptionMsg Msg;
Msg.SetMsg(LogStr); Msg.SetMsg(LogStr);
throw Msg;*/ throw Msg;* /
} }
Point2f ThroryCoords[3]; Point2f ThroryCoords[3];
@ -245,6 +278,7 @@ void CProduct::CalAffinePars()
m_p11 = warp_mat.at<float>(1, 1); m_p11 = warp_mat.at<float>(1, 1);
m_p12 = warp_mat.at<float>(1, 2); m_p12 = warp_mat.at<float>(1, 2);
*/
} }
//计算真实数据的偏移和旋转值 //计算真实数据的偏移和旋转值
@ -292,7 +326,6 @@ void CProduct::CalTheoryToRealPar()
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
if(DisDiff > abs(gProductMgr->GetMaxMarkDisDiff())) if(DisDiff > abs(gProductMgr->GetMaxMarkDisDiff()))
{ {
gTrackWorkFlow1.RadAlamOnOff(true);//报警提示 gTrackWorkFlow1.RadAlamOnOff(true);//报警提示
ResetRealMarkPt(); ResetRealMarkPt();
CString LogStr("Mark 间距误差超出范围,定位可能误判!"); CString LogStr("Mark 间距误差超出范围,定位可能误判!");
@ -348,34 +381,94 @@ void CProduct::TheoryDataToRealData(vector<Dbxy> &vec,Dbxy &Offset)
vector<Dbxy>::iterator iter_end = vec.end(); vector<Dbxy>::iterator iter_end = vec.end();
for(;iter!=iter_end;iter++) for(;iter!=iter_end;iter++)
{ {
(*iter) = TheoryPtToRealPt((*iter)); auto & it = (*iter);
(*iter).x += Offset.x; it = TheoryPtToRealPt(it);
(*iter).y += Offset.y; it = it + Offset;
//(*iter).x += Offset.x;
//(*iter).y += Offset.y;
}
}
void CProduct::TheoryDataToRealData0(vector<vector<Dbxy>>& vec, Dbxy & AreaCenter, Dbxy CutAdjust)
{
gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
vector<vector<Dbxy>>::iterator iter = vec.begin();
vector<vector<Dbxy>>::iterator iter_end = vec.end();
for (;iter != iter_end;iter++)
{
TheoryDataToRealData0(*iter, AreaCenter, CutAdjust);
}
}
void CProduct::TheoryDataToRealData0(vector<Dbxy>& vec, Dbxy & AreaCenter, Dbxy CutAdjust)
{
vector<Dbxy>::iterator iter = vec.begin();
vector<Dbxy>::iterator iter_end = vec.end();
for (;iter != iter_end;iter++)
{
auto & it = (*iter);
it = TheoryPtToRealPt(it);
it = it - AreaCenter;
//振镜缩放
Dbxy Scale = gProgram_SZ_XL->GetJig2Scale();
if (gServer->m_RcvCurTrackIndex == 1)
{
Scale = gProgram_SZ_XL->GetJig4Scale();
}
it.x *= Scale.x;
it.y *= Scale.y;
it = it + CutAdjust;
} }
} }
//理论数据转换为实际数据 //理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &BaseOffset, Dbxy CutAdjust) void CProduct::TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &AreaCenter, Dbxy CutAdjust)
{ {
vector<Dbxy>::iterator iter = vec.begin(); vector<Dbxy>::iterator iter = vec.begin();
vector<Dbxy>::iterator iter_end = vec.end(); vector<Dbxy>::iterator iter_end = vec.end();
//原图中心
//gObjComponentMgr->CalAllObjCenterPt();
//Dbxy DataCenter = gObjComponentMgr->GetAllObjCenterPt();
for (;iter != iter_end;iter++) for (;iter != iter_end;iter++)
{ {
//(*iter) = TheoryPtToRealPt((*iter)); //(*iter) = (*iter) - DataCenter; //移动至以(0,0)(全数据中心点)为原点
//(*iter) = (*iter) - m_BasePt;
auto x = (*iter).x; auto x = (*iter).x;
auto y = (*iter).y; auto y = (*iter).y;
double retx = m_p00*x + m_p01*y + m_p02+ CutAdjust.x;
double rety = m_p10*x + m_p11*y + m_p12+ CutAdjust.y;
(*iter).x = retx;
(*iter).y = rety;
auto temp = BaseOffset - m_BasePt; //根据仿射变换参数计算整图
double retx = m_p00*x + m_p01*y + m_p02;
double rety = m_p10*x + m_p11*y + m_p12;
//强制的微调旋转量
//double retx2 = m_rp00*retx + m_rp01*rety + m_rp02;
//double rety2 = m_rp10*retx + m_rp11*rety + m_rp12;
(*iter).x = retx;
(*iter).y= rety;
//移动至以区域中心为原点
auto temp = AreaCenter;//-DataCenter;
(*iter) = (*iter) - temp; (*iter) = (*iter) - temp;
/*(*iter).x += CutAdjust.x; //振镜缩放
(*iter).y += CutAdjust.y;*/ Dbxy Scale = gProgram_SZ_XL->GetJig2Scale();
if (gServer->m_RcvCurTrackIndex == 1)
{
Scale = gProgram_SZ_XL->GetJig4Scale();
}
(*iter).x *= Scale.x;
(*iter).y *= Scale.y;
//偏移调整
(*iter).x += CutAdjust.x;
(*iter).y +=CutAdjust.y;
} }
} }
void CProduct::ResetAffinePars() void CProduct::ResetAffinePars()
@ -467,6 +560,9 @@ void CProduct::StretchDataToRealSize(vector<vector<Dbxy>> &vec)
} }
} }
} }
/*
//理论数据转换为实际数据(SrcVec 和DecVec 的大小必须一致) //理论数据转换为实际数据(SrcVec 和DecVec 的大小必须一致)
void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset) void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset)
{ {
@ -500,9 +596,17 @@ void CProduct::TheoryDataToRealData(vector<Dbxy> &SrcVec,vector<Dbxy> &DecVec,Db
DecVec[k].y += Offset.y; DecVec[k].y += Offset.y;
} }
} }
*/
//(TheoryPt 先旋转,再相对偏移) //(TheoryPt 先旋转,再相对偏移)
Dbxy CProduct::TheoryPtToRealPt(Dbxy TheoryPt) Dbxy CProduct::TheoryPtToRealPt(Dbxy TheoryPt)
{ {
/*Dbxy ret;
ret.x = TheoryPt.x*m_p00 + TheoryPt.y*m_p01 + m_p02;
ret.y = TheoryPt.x*m_p10 + TheoryPt.y*m_p11 + m_p12;
return ret;*/
double RotateAng = m_RotateAng; double RotateAng = m_RotateAng;
Dbxy pt; Dbxy pt;
//先旋转---------------------------------- //先旋转----------------------------------
@ -530,14 +634,14 @@ void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec,Dbxy &Offset)
//理论数据转换为实际数据 //理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &BaseOffset, Dbxy CutAdjust) void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &AreaCenter, Dbxy CutAdjust)
{ {
gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData"); gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
vector<vector<Dbxy>>::iterator iter = vec.begin(); vector<vector<Dbxy>>::iterator iter = vec.begin();
vector<vector<Dbxy>>::iterator iter_end = vec.end(); vector<vector<Dbxy>>::iterator iter_end = vec.end();
for (;iter != iter_end;iter++) for (;iter != iter_end;iter++)
{ {
TheoryDataToRealData(*iter, BaseOffset,CutAdjust); TheoryDataToRealData(*iter, AreaCenter,CutAdjust);
} }
} }
#endif #endif

28
LaiPuLaser/Product.h
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@ -4,9 +4,10 @@
//工件产品 //工件产品
class CProduct class CProduct//:public CObject
{ {
friend class CProductMgr; friend class CProductMgr;
// DECLARE_SERIAL(CProduct)
public: public:
CProduct(void); CProduct(void);
~CProduct(void); ~CProduct(void);
@ -32,12 +33,18 @@ public:
void TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &Offset); void TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &Offset); void TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy>& vec, Dbxy & BaseOffset, Dbxy CutAdjust);
void TheoryDataToRealData0(vector<Dbxy>& vec, Dbxy & AreaCenter, Dbxy CutAdjust);//旧算法更改后
void TheoryDataToRealData0(vector<vector<Dbxy>>& vec, Dbxy & AreaCenter, Dbxy CutAdjust);//旧算法更改后
void TheoryDataToRealData(vector<Dbxy>& vec, Dbxy & AreaCenter, Dbxy CutAdjust);
void TheoryDataToRealData(vector<vector<Dbxy>>& vec, Dbxy & AreaCenter, Dbxy CutAdjust);
void ResetAffinePars();//重置仿射变换参数 void ResetAffinePars();//重置仿射变换参数
void TheoryDataToRealData(vector<vector<Dbxy>>& vec, Dbxy & BaseOffset, Dbxy CutAdjust);
void TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset); /*void TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec, vector<vector<Dbxy>> &DecVec, Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy> &SrcVec,vector<Dbxy> &DecVec,Dbxy &Offset); void TheoryDataToRealData(vector<Dbxy> &SrcVec, vector<Dbxy> &DecVec, Dbxy &Offset);*/
bool IsSetRealMarkPt1(); bool IsSetRealMarkPt1();
bool IsSetRealMarkPt2(); bool IsSetRealMarkPt2();
void UseDefualtOffset(); void UseDefualtOffset();
@ -46,8 +53,8 @@ public:
void SetbLastOne(bool b){m_bLastOne = b;}; void SetbLastOne(bool b){m_bLastOne = b;};
void SetbNewAddProduct(bool bNew) { m_bNewAddProduct = bNew; };//设置是否是改造新增的产品 void SetbNewAddProduct(bool bNew) { m_bNewAddProduct = bNew; };//设置是否是改造新增的产品
bool IsbNewAddProduct() { return m_bNewAddProduct; };//查询是否是改造新增的产品 bool IsbNewAddProduct() { return m_bNewAddProduct; };//查询是否是改造新增的产品
private:
void CalAffinePars(); void CalAffinePars();
private:
void CalTheoryToRealPar(); void CalTheoryToRealPar();
Dbxy CalRealProductScale(); Dbxy CalRealProductScale();
void StretchPt(Dbxy &Pt,SObjOperatePar &Par); void StretchPt(Dbxy &Pt,SObjOperatePar &Par);
@ -85,6 +92,14 @@ public:
float m_p10=0; float m_p10=0;
float m_p11=1; float m_p11=1;
float m_p12=0; float m_p12=0;
//强制（微调）旋转角度的仿射参数（应对平台不垂直）------------------------------------
float m_rp00 = 1;
float m_rp01 = 0;
float m_rp02 = 0;
float m_rp10 = 0;
float m_rp11 = 1;
float m_rp12 = 0;
public: public:
//实际偏移旋转结果--------------------------------- //实际偏移旋转结果---------------------------------
Dbxy m_Offset;//理论数据映射为平台坐标的偏移 Dbxy m_Offset;//理论数据映射为平台坐标的偏移
@ -93,5 +108,6 @@ public:
SObjOperatePar m_StretchParX;//X 方向拉伸参数 SObjOperatePar m_StretchParX;//X 方向拉伸参数
SObjOperatePar m_StretchParY;//Y 方向拉伸参数 SObjOperatePar m_StretchParY;//Y 方向拉伸参数
//virtual void Serialize(CArchive& ar);
}; };

543
LaiPuLaser/Product0.cpp
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@ -0,0 +1,543 @@
#include "StdAfx.h"
#include "Product.h"
#include "GlobalFunction.h"
#include "LogMgr.h"
#include "ObjComponentMgr.h"
#include "ExceptionMsg.h"
#include "ProductMgr.h"
#include "CommonFlowMgr.h"
#include "DrawSimpleShape.h"
CProduct::CProduct(void)
{
m_bUsed = true;//是否使用
m_MaxRotateAng = 0.3;//最大旋转角度
m_RotateAng = 0;
m_bLastOne = true;//是否为最后一个
m_bHasMarkPt3 = false;//是否有mark3
}
CProduct::~CProduct(void)
{
}
void CProduct::Draw(CDC* pDC)
{
CPen Pen;
Pen.CreatePen(PS_INSIDEFRAME,0.5,RGB_GREEN1);
DbRect Rect(m_BasePt,3);
DrawCrossX(pDC,Pen,Rect);
}
#if 1
//设置定位点理论坐标
void CProduct::SetTheoryMarkPt(Dbxy pt1,Dbxy pt2)
{
if(pt1.x<pt2.x)//保证左边的点为mark1
{
m_TheoryMarkPt1 = pt1;
m_TheoryMarkPt2 = pt2;
}
else
{
m_TheoryMarkPt1 = pt2;
m_TheoryMarkPt2 = pt1;
}
}
//获取定位点的大致实际坐标
void CProduct::GetMarkCoord(Dbxy &mark1,Dbxy &mark2)
{
mark1.x = m_TheoryMarkPt1.x;
mark1.y = m_TheoryMarkPt1.y;
mark2.x = m_TheoryMarkPt2.x;
mark2.y = m_TheoryMarkPt2.y;
}
#endif
#if 1
void CProduct::WriteWorkFile(vector<CLab> &LabVec)
{
LabVec.push_back(CLab(LAB_NULL,m_BasePt.x));
LabVec.push_back(CLab(LAB_NULL,m_BasePt.y));
LabVec.push_back(CLab(LAB_NULL,m_bUsed));
LabVec.push_back(CLab(LAB_NULL,m_TheoryMarkPt1.x));
LabVec.push_back(CLab(LAB_NULL,m_TheoryMarkPt1.y));
LabVec.push_back(CLab(LAB_NULL,m_TheoryMarkPt2.x));
LabVec.push_back(CLab(LAB_NULL,m_TheoryMarkPt2.y));
}
void CProduct::ReadWorkFile(CLabVecRang &LabVecRang)
{
int idx = LabVecRang.GetStart();
m_BasePt.x = LabVecRang.GetDouble(idx++);
m_BasePt.y = LabVecRang.GetDouble(idx++);
m_bUsed = LabVecRang.GetBool(idx++);
m_TheoryMarkPt1.x = LabVecRang.GetDouble(idx++);
m_TheoryMarkPt1.y = LabVecRang.GetDouble(idx++);
m_TheoryMarkPt2.x = LabVecRang.GetDouble(idx++);
m_TheoryMarkPt2.y = LabVecRang.GetDouble(idx++);
}
#endif
#if 1
//重设实际定位点
void CProduct::ResetRealMarkPt()
{
m_RealMarkPt1.x = 0;
m_RealMarkPt1.y = 0;
m_RealMarkPt2.x = 0;
m_RealMarkPt2.y = 0;
//m_RealMarkPt3.x = 0;
//m_RealMarkPt3.y = 0;
//偏移和旋转都要重设
m_Offset.x = 0;//理论数据映射为平台坐标的偏移X
m_Offset.y = 0;//理论数据映射为平台坐标的偏移Y
m_RotateAng = 0;//理论数据映射为平台坐标的旋转角度
}
bool CProduct::IsSetRealMarkPt1()
{
return (!IsDbxyZero(m_RealMarkPt1));
}
bool CProduct::IsSetRealMarkPt2()
{
return (!IsDbxyZero(m_RealMarkPt2));
}
//定位数据是否准备好了
bool CProduct::IsMarkReady()
{
return true;
Dbxy MarkPt1;
Dbxy MarkPt2;
if(gObjComponentMgr->GetTwoMarkPt(MarkPt1,MarkPt2))//有定位点
{
return IsSetRealMarkPt1() && IsSetRealMarkPt2();
}
else//无定位点
{
return gCommonFlowMgr->IsNoMarkCanWork();
}
}
//设置实际定位点坐标(CCD 的抓取结果)
void CProduct::SetRealMarkPt(Dbxy pt)
{
if(IsSetRealMarkPt1() && IsSetRealMarkPt2())
{
//重设实际定位点
ResetRealMarkPt();
}
//如果没有设置定位点1的情况先设置定位点1
if(!IsSetRealMarkPt1())
{
gLogMgr->WriteDebugLog("SetRealMarkPt1");
m_RealMarkPt1 = pt;
}
//设置了定位点1，没设置定位点2 时设置定位点2
else if(!IsSetRealMarkPt2())
{
gLogMgr->WriteDebugLog("SetRealMarkPt2");
m_RealMarkPt2 = pt;
double RotatoAdjustX = gCommonFlowMgr->GetRotatoAdjust();//mark点手动调整量
m_RealMarkPt2.x += RotatoAdjustX;
}
//需要同时设置了理论数据和真实数据的定位点坐标才能计算
if(!IsSetRealMarkPt1() || !IsSetRealMarkPt2())
return;
CalAffinePars();
return;
//计算偏移旋转
CalTheoryToRealPar();
//根据抓取两个mark 来计算拉伸数据
if(gCommonFlowMgr->IsbStretchDataToRealSize())
{
//计算拉伸实际尺寸拉伸参数
CalRealStretchPar();
//把理论定位点坐标拉伸
StretchPt(m_TheoryMarkPt1,m_StretchParX);
StretchPt(m_TheoryMarkPt1,m_StretchParY);
StretchPt(m_TheoryMarkPt2,m_StretchParX);
StretchPt(m_TheoryMarkPt2,m_StretchParY);
//重新计算旋转和偏移
CalTheoryToRealPar();
}
}
#include<opencv2/opencv.hpp>
using namespace cv;
void CProduct::CalAffinePars()
{
CString logstr;
o_TheoryMarkPt1 = m_TheoryMarkPt1 - m_BasePt;
logstr.Format("TheoryMarkPt1 Coord(%f,%f)", o_TheoryMarkPt1.x, o_TheoryMarkPt1.y);
gLogMgr->WriteDebugLog(logstr);
o_TheoryMarkPt2 = m_TheoryMarkPt2 - m_BasePt;
logstr.Format("TheoryMarkPt2 Coord(%f,%f)", o_TheoryMarkPt2.x, o_TheoryMarkPt2.y);
gLogMgr->WriteDebugLog(logstr);
o_TheoryMarkPt3 = m_TheoryMarkPt3 - m_BasePt;
logstr.Format("TheoryMarkPt3 Coord(%f,%f)", o_TheoryMarkPt3.x, o_TheoryMarkPt3.y);
gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt1 = m_RealMarkPt1 - m_BasePt;
logstr.Format("RealMarkPt1 Coord(%f,%f)", o_RealMarkPt1.x, o_RealMarkPt1.y);
gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt2 = m_RealMarkPt2 - m_BasePt;
logstr.Format("RealMarkPt2 Coord(%f,%f)", o_RealMarkPt2.x, o_RealMarkPt2.y);
gLogMgr->WriteDebugLog(logstr);
o_RealMarkPt3 = m_RealMarkPt3 - m_BasePt;
logstr.Format("RealMarkPt3 Coord(%f,%f)", o_RealMarkPt3.x, o_RealMarkPt3.y);
gLogMgr->WriteDebugLog(logstr);
double TheoryDis = CalDistance(o_TheoryMarkPt1, o_TheoryMarkPt2);
logstr.Format("[Mark1&2理论间距]: [%f]", TheoryDis);
gLogMgr->WriteDebugLog(logstr);
double RealDis = CalDistance(o_RealMarkPt1, o_RealMarkPt2);
logstr.Format("[Mark1&2真实间距]: [%f]", RealDis);
gLogMgr->WriteDebugLog(logstr);
double DisDiff = abs(TheoryDis - RealDis);
logstr.Format(_T("[Mark 间距误差] = [%f]"), DisDiff);
gLogMgr->WriteDebugLog(logstr);
if (DisDiff > abs(gProductMgr->GetMaxMarkDisDiff()))
{
gTrackWorkFlow1.RadAlamOnOff(true);//报警提示
ResetRealMarkPt();
CString LogStr("Mark 间距误差超出范围,定位可能误判!");
AfxMessageBox(logstr);
gTrackWorkFlow1.RadAlamOnOff(false);//报警提示
CExceptionMsg Msg;
Msg.SetMsg(CString(""));
throw Msg;//抛出异常
/* CExceptionMsg Msg;
Msg.SetMsg(LogStr);
throw Msg;*/
}
Point2f ThroryCoords[3];
Point2f RealCoords[3];
Mat warp_mat(2, 3, CV_32FC1);
ThroryCoords[1] = Point2f(o_TheoryMarkPt1.x, o_TheoryMarkPt1.y);
ThroryCoords[2] = Point2f(o_TheoryMarkPt2.x, o_TheoryMarkPt2.y);
ThroryCoords[0] = Point2f(o_TheoryMarkPt3.x, o_TheoryMarkPt3.y);
RealCoords[1] = Point2f(o_RealMarkPt1.x, o_RealMarkPt1.y);
RealCoords[2] = Point2f(o_RealMarkPt2.x, o_RealMarkPt2.y);
RealCoords[0] = Point2f(o_RealMarkPt3.x, o_RealMarkPt3.y);
//得放射变换参数矩阵
warp_mat = getAffineTransform(ThroryCoords, RealCoords);
warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1 后续计算会错误
//取出6个变换参数
m_p00 = warp_mat.at<float>(0, 0);
m_p01 = warp_mat.at<float>(0, 1);
m_p02 = warp_mat.at<float>(0, 2);
m_p10 = warp_mat.at<float>(1, 0);
m_p11 = warp_mat.at<float>(1, 1);
m_p12 = warp_mat.at<float>(1, 2);
}
//计算真实数据的偏移和旋转值
void CProduct::CalTheoryToRealPar()
{
gLogMgr->WriteDebugLog("func : CalTheoryToRealPar");
//以第一个点的来计算相对的偏移
m_Offset.x = m_RealMarkPt1.x - m_TheoryMarkPt1.x;
m_Offset.y = m_RealMarkPt1.y - m_TheoryMarkPt1.y;
//得到偏移后的第二个点(理论值)
Dbxy OffsetPt2 = m_TheoryMarkPt2;
OffsetPt2.x += m_Offset.x;
OffsetPt2.y += m_Offset.y;
//特殊处理(避免两个mark 在一条直线上时的角度计算错误)
if(IsTwoDbEqual(m_RealMarkPt1.x,OffsetPt2.x))
{
OffsetPt2.x += 0.001;
}
if(IsTwoDbEqual(m_RealMarkPt1.y,OffsetPt2.y))
{
OffsetPt2.y += 0.001;
}
//以第二个点的旋转来计算相对的角度
m_RotateAng = CalAngle(m_RealMarkPt1,OffsetPt2,m_RealMarkPt2);
m_RotateAng *= -1;
double RotateAng = AngleTo360(m_RotateAng);
//gLogMgr->SetbWriteDebugLog(true);
CString LogStr;
LogStr.Format(_T("[m_Offset.x] = [%f] ,[m_Offset.y] = [%f]"),m_Offset.x,m_Offset.y);
gLogMgr->WriteDebugLog(LogStr);
LogStr.Format(_T("[RotateAng] = [%f]"),m_RotateAng);//弧度角
gLogMgr->WriteDebugLog(LogStr);
LogStr.Format(_T("[RotateAng360] = [%f]"),RotateAng);
gLogMgr->WriteDebugLog(LogStr);
//gLogMgr->SetbWriteDebugLog(false);
//通过判断实际测量mark1 和mark2 的距离来避免抓取误差
double TheoryDis = CalDistance(m_TheoryMarkPt1,m_TheoryMarkPt2);//理论距离
double RealDis = CalDistance(m_RealMarkPt1,m_RealMarkPt2);//实际距离
double DisDiff = abs(TheoryDis - RealDis);
LogStr.Format(_T("[Mark 间距误差] = [%f]"),DisDiff);
gLogMgr->WriteDebugLog(LogStr);
if(DisDiff > abs(gProductMgr->GetMaxMarkDisDiff()))
{
gTrackWorkFlow1.RadAlamOnOff(true);//报警提示
ResetRealMarkPt();
CString LogStr("Mark 间距误差超出范围,定位可能误判!");
CExceptionMsg Msg;
Msg.SetMsg(LogStr);
throw Msg;
}
}
//使用默认偏移量
void CProduct::UseDefualtOffset()
{
m_Offset.x = m_Offset.y = 0;
m_RotateAng = 0;
}
#endif
#if 1
//获取旋转角度(360 度角)
double CProduct::GetRotateAng()
{
return AngleTo360(m_RotateAng);
}
//计算拉伸实际尺寸拉伸参数
void CProduct::CalRealStretchPar()
{
Dbxy ProductScale = CalRealProductScale();//伸缩比例
DbRect AllObjRect = gObjComponentMgr->GetAllObjRect2();
SObjOperatePar &StretchParX = m_StretchParX;
SObjOperatePar &StretchParY = m_StretchParY;
//计算X 方向拉伸参数
{
StretchParX.OpType = _OP_STRETCH;
StretchParX.BasePt = AllObjRect.GetCenterPt();
StretchParX.OldSize = AllObjRect.Width();
StretchParX.Diff = (ProductScale.x-1)*StretchParX.OldSize;
StretchParX.NewSize = StretchParX.OldSize + StretchParX.Diff;
StretchParX.xy = _X;
}
//计算Y 方向拉伸参数
{
StretchParY.OpType = _OP_STRETCH;
StretchParY.BasePt = AllObjRect.GetCenterPt();
StretchParY.OldSize = AllObjRect.Height();
StretchParY.Diff = (ProductScale.y-1)*StretchParY.OldSize;
StretchParY.NewSize = StretchParY.OldSize + StretchParY.Diff;
StretchParY.xy = _Y;
}
}
//理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<Dbxy> &vec,Dbxy &Offset)
{
vector<Dbxy>::iterator iter = vec.begin();
vector<Dbxy>::iterator iter_end = vec.end();
for(;iter!=iter_end;iter++)
{
(*iter) = TheoryPtToRealPt((*iter));
(*iter).x += Offset.x;
(*iter).y += Offset.y;
}
}
//理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &BaseOffset, Dbxy CutAdjust)
{
vector<Dbxy>::iterator iter = vec.begin();
vector<Dbxy>::iterator iter_end = vec.end();
for (;iter != iter_end;iter++)
{
//(*iter) = TheoryPtToRealPt((*iter));
//(*iter) = (*iter) - m_BasePt;
auto x = (*iter).x;
auto y = (*iter).y;
double retx = m_p00*x + m_p01*y + m_p02+ CutAdjust.x;
double rety = m_p10*x + m_p11*y + m_p12+ CutAdjust.y;
(*iter).x = retx;
(*iter).y = rety;
auto temp = BaseOffset;//-m_BasePt;
(*iter) = (*iter) - temp;
/*(*iter).x += CutAdjust.x;
(*iter).y += CutAdjust.y;*/
}
}
void CProduct::ResetAffinePars()
{
m_p00 = 1;
m_p01 = 0;
m_p02 = 0;
m_p10 = 0;
m_p11 = 1;
m_p12 = 0;
}
//获取实际产品的尺寸比例
Dbxy CProduct::CalRealProductScale()
{
Dbxy ProductScale;
//三个mark 的情况xy 方向拉伸比例分开计算
if(m_bHasMarkPt3)//3
{
ProductScale.x = CalRealProductScaleExt(m_TheoryMarkPt1,m_TheoryMarkPt2,m_RealMarkPt1,m_RealMarkPt2);
if(IsTwoDbEqual(m_TheoryMarkPt1.x,m_TheoryMarkPt3.x))//mark1 和mark3
{
ProductScale.y = CalRealProductScaleExt(m_TheoryMarkPt1,m_TheoryMarkPt3,m_RealMarkPt1,m_RealMarkPt3);
}
else
{
ProductScale.y = CalRealProductScaleExt(m_TheoryMarkPt2,m_TheoryMarkPt3,m_RealMarkPt2,m_RealMarkPt3);
}
}
else//两个mark 的情况
{
double Scale = CalRealProductScaleExt(m_TheoryMarkPt1,m_TheoryMarkPt2,m_RealMarkPt1,m_RealMarkPt2);
ProductScale.x = ProductScale.y = Scale;
}
CString LogStr;
LogStr.Format(_T("[拉伸比例x] = [%f]"),ProductScale.x);
gLogMgr->WriteDebugLog(LogStr);
LogStr.Format(_T("[拉伸比例y] = [%f]"),ProductScale.y);
gLogMgr->WriteDebugLog(LogStr);
return ProductScale;
}
double CProduct::CalRealProductScaleExt(Dbxy TheoryMarkPt1,Dbxy TheoryMarkPt2,Dbxy RealMarkPt1,Dbxy RealMarkPt2)
{
double TheoryMarkDis = CalDistance(TheoryMarkPt1,TheoryMarkPt2);
double RealMarkDis = CalDistance(RealMarkPt1,RealMarkPt2);
double Diff = (RealMarkDis-TheoryMarkDis);
double ProductScale = RealMarkDis/TheoryMarkDis;
CString LogStr;
LogStr.Format(_T("[间距理论值] = [%f]"),TheoryMarkDis);
gLogMgr->WriteDebugLog(LogStr);
LogStr.Format(_T("[间距实际值] = [%f]"),RealMarkDis);
gLogMgr->WriteDebugLog(LogStr);
LogStr.Format(_T("[尺寸误差] = [%f]"),Diff);
gLogMgr->WriteDebugLog(LogStr);
return ProductScale;
}
//拉伸
//BasePt 拉伸基准点
//Size 拉伸前的尺寸
//Diff 是旧尺寸和新尺寸的差
void CProduct::StretchPt(Dbxy &Pt,SObjOperatePar &Par)
{
if(Par.Diff == 0)
return;
if(Par.xy == _X)
{
Pt.x = Pt.x+Par.Diff*((Pt.x-Par.BasePt.x)/Par.OldSize);
}
else
{
Pt.y = Pt.y+Par.Diff*((Pt.y-Par.BasePt.y)/Par.OldSize);
}
}
//根据抓取两个mark 来计算拉伸数据(CenterPt计算的中心点)
void CProduct::StretchDataToRealSize(vector<vector<Dbxy>> &vec)
{
vector<vector<Dbxy>>::iterator iter = vec.begin();
vector<vector<Dbxy>>::iterator iter_end = vec.end();
for(;iter!=iter_end;iter++)
{
int size = (*iter).size();
for(int k=0;k<size;k++)
{
Dbxy &pt = (*iter)[k];
StretchPt(pt,m_StretchParX);
StretchPt(pt,m_StretchParY);
}
}
}
//理论数据转换为实际数据(SrcVec 和DecVec 的大小必须一致)
void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset)
{
gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
int size1 = SrcVec.size();
int size2 = DecVec.size();
if(size1!=size2)
{
gLogMgr->WriteDebugLog("SrcVec.size() != DecVec.size()");
return;
}
for(int k=0;k<size1;k++)
{
TheoryDataToRealData(SrcVec[k],DecVec[k],Offset);
}
}
//理论数据转换为实际数据(SrcVec 和DecVec 的大小必须一致)
void CProduct::TheoryDataToRealData(vector<Dbxy> &SrcVec,vector<Dbxy> &DecVec,Dbxy &Offset)
{
int size1 = SrcVec.size();
int size2 = DecVec.size();
if(size1!=size2)
{
gLogMgr->WriteDebugLog("SrcVec.size() != DecVec.size()");
return;
}
for(int k=0;k<size1;k++)
{
DecVec[k] = TheoryPtToRealPt(SrcVec[k]);
DecVec[k].x += Offset.x;
DecVec[k].y += Offset.y;
}
}
//(TheoryPt 先旋转,再相对偏移)
Dbxy CProduct::TheoryPtToRealPt(Dbxy TheoryPt)
{
double RotateAng = m_RotateAng;
Dbxy pt;
//先旋转----------------------------------
pt = RotatoPt(TheoryPt,RotateAng,m_TheoryMarkPt1);//旋转点是理论定位点
//再加上相对偏移-----------------------
Dbxy Offset;
Offset.x = m_Offset.x;
Offset.y = m_Offset.y;
pt.x = pt.x + Offset.x;
pt.y = pt.y + Offset.y;
return pt;
}
//理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec,Dbxy &Offset)
{
gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
vector<vector<Dbxy>>::iterator iter = vec.begin();
vector<vector<Dbxy>>::iterator iter_end = vec.end();
for(;iter!=iter_end;iter++)
{
TheoryDataToRealData(*iter,Offset);
}
}
//理论数据转换为实际数据
void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &BaseOffset, Dbxy CutAdjust)
{
gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
vector<vector<Dbxy>>::iterator iter = vec.begin();
vector<vector<Dbxy>>::iterator iter_end = vec.end();
for (;iter != iter_end;iter++)
{
TheoryDataToRealData(*iter, BaseOffset,CutAdjust);
}
}
#endif

97
LaiPuLaser/Product0.h
Unescape Escape View File

@ -0,0 +1,97 @@
#pragma once
#include "GlobalDefine.h"
#include "LabVecRang.h"
//工件产品
class CProduct
{
friend class CProductMgr;
public:
CProduct(void);
~CProduct(void);
void Draw(CDC* pDC);
void WriteWorkFile(vector<CLab> &LabVec);
void ReadWorkFile(CLabVecRang &LabVecRang);
void SetBasePt(Dbxy pt){m_BasePt = pt;};
Dbxy &GetProductBasePt(){return m_BasePt;};
Dbxy &GetOffset(){return m_Offset;};
double GetRotateAng();
bool &IsUsed(){return m_bUsed;};
void SetUsed(bool b){m_bUsed = b;};
void GetMarkCoord(Dbxy &mark1,Dbxy &mark2);
void SetRealMarkPt(Dbxy pt);
void ResetRealMarkPt();
void SetTheoryMarkPt(Dbxy pt1,Dbxy pt2);
void SetbHasMarkPt3(bool b){m_bHasMarkPt3 = b;};
void SetTheoryMark3Pt(Dbxy pt){m_TheoryMarkPt3 = pt;};
void SetRealMark3Pt(Dbxy pt){m_RealMarkPt3 = pt;};
Dbxy TheoryPtToRealPt(Dbxy TheoryMarkPt);
void StretchDataToRealSize(vector<vector<Dbxy>> &vec);
void TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy>& vec, Dbxy & BaseOffset, Dbxy CutAdjust);
void ResetAffinePars();//重置仿射变换参数
void TheoryDataToRealData(vector<vector<Dbxy>>& vec, Dbxy & BaseOffset, Dbxy CutAdjust);
void TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset);
void TheoryDataToRealData(vector<Dbxy> &SrcVec,vector<Dbxy> &DecVec,Dbxy &Offset);
bool IsSetRealMarkPt1();
bool IsSetRealMarkPt2();
void UseDefualtOffset();
bool IsMarkReady();
bool IsbLastOne(){return m_bLastOne;};
void SetbLastOne(bool b){m_bLastOne = b;};
void SetbNewAddProduct(bool bNew) { m_bNewAddProduct = bNew; };//设置是否是改造新增的产品
bool IsbNewAddProduct() { return m_bNewAddProduct; };//查询是否是改造新增的产品
private:
void CalAffinePars();
void CalTheoryToRealPar();
Dbxy CalRealProductScale();
void StretchPt(Dbxy &Pt,SObjOperatePar &Par);
void CalRealStretchPar();
double CalRealProductScaleExt(Dbxy TheoryMarkPt1,Dbxy TheoryMarkPt2,Dbxy RealMarkPt1,Dbxy RealMarkPt2);
private:
Dbxy m_BasePt;//工件的基准坐标点
bool m_bUsed;//是否使用
bool m_bLastOne;//是否为最后一个
bool m_bHasMarkPt3;//是否有mark3
bool m_bNewAddProduct = false;//是否是改造后新增的那块产品(201910)
public:
//用于定位的两个定位点---------------------------
Dbxy m_TheoryMarkPt1;//理论坐标(layer 中的坐标) mm
Dbxy m_TheoryMarkPt2;
Dbxy m_TheoryMarkPt3;
//ccd 抓取的实际值------------------------------------
Dbxy m_RealMarkPt1;//真实坐标(相对于激光中心点) mm
Dbxy m_RealMarkPt2;
Dbxy m_RealMarkPt3;
public:
Dbxy o_TheoryMarkPt1;//理论坐标(不移动时) mm
Dbxy o_TheoryMarkPt2;
Dbxy o_TheoryMarkPt3;
//ccd 抓取的实际值------------------------------------
Dbxy o_RealMarkPt1;//真实坐标(不移动时) mm
Dbxy o_RealMarkPt2;
Dbxy o_RealMarkPt3;
//仿射参数------------------------------------
float m_p00=1;
float m_p01=0;
float m_p02=0;
float m_p10=0;
float m_p11=1;
float m_p12=0;
public:
//实际偏移旋转结果---------------------------------
Dbxy m_Offset;//理论数据映射为平台坐标的偏移
double m_RotateAng;//理论数据映射为平台坐标的旋转角度(反正切角)
double m_MaxRotateAng;//最大旋转角度(360 度角)计算出来的旋转角度超过这个值时可能有错误,计算无效
SObjOperatePar m_StretchParX;//X 方向拉伸参数
SObjOperatePar m_StretchParY;//Y 方向拉伸参数
};

2
LaiPuLaser/ProductMgr.cpp
Unescape Escape View File

@ -156,7 +156,7 @@ CMFCPropertyGridProperty *CProductMgr::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("角度微调"); PropertyName = _T("角度微调");
Description = _T("产品偏移角度的微调值(弧度值)"); Description = _T("产品偏移角度的微调值(角度值)");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_AngleAdjust, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_AngleAdjust, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
pGroup->AddSubItem(p); pGroup->AddSubItem(p);

4
LaiPuLaser/ProductMgr.h
Unescape Escape View File

@ -41,13 +41,15 @@ public:
void WorkTimesInc(); void WorkTimesInc();
int GetCurWorkTimes(){return m_CurWorkTimes;}; int GetCurWorkTimes(){return m_CurWorkTimes;};
int GetTotalWorkTimes(){return m_TotalWorkTimes;}; int GetTotalWorkTimes(){return m_TotalWorkTimes;};
double GetAngleAdjust(){return m_AngleAdjust;}; //double GetAngleAdjust(){return m_AngleAdjust;};
void MoveObjToBasePt(Dbxy BasePt); void MoveObjToBasePt(Dbxy BasePt);
void UpdateProductState(); void UpdateProductState();
void SetDefualtRect(DbRect r){m_DefualtRect = r;}; void SetDefualtRect(DbRect r){m_DefualtRect = r;};
Dbxy GetDefualtBasePt(); Dbxy GetDefualtBasePt();
void SetProductCenterPt(); void SetProductCenterPt();
double GetMaxMarkDisDiff(){return m_MaxMarkDisDiff;}; double GetMaxMarkDisDiff(){return m_MaxMarkDisDiff;};
double GetAdjustAngle() { return m_AngleAdjust; };
private: private:
void InsertProduct(CMFCPropertyGridProperty* p); void InsertProduct(CMFCPropertyGridProperty* p);
void DrawMarkPoint(CDC* pDC,Dbxy pt,CString str); void DrawMarkPoint(CDC* pDC,Dbxy pt,CString str);

120
LaiPuLaser/Program_SZ_XL.cpp
Unescape Escape View File

@ -82,6 +82,92 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
PropertyName = _T("双轨设备"); PropertyName = _T("双轨设备");
CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName); CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName);
//-------------------------------------------------------------------------------// //-------------------------------------------------------------------------------//
if (gAuthorityMgr->CheckAuthority(_ADMIN))
{
PropertyName = _T("固定缩放比例");
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(PropertyName);
{
//添加属性变量映射
Name = _T("m_Jig2Scale_x");//变量名字
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Jig2Scale.x);
pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示
PropertyName = _T("治具2X");
Description = _T("治具2X方向缩放比例");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig2Scale.x, Description);
//p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie);
}
{
//添加属性变量映射
Name = _T("m_Jig2Scale_y");//变量名字
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Jig2Scale.y);
pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示
PropertyName = _T("治具2Y");
Description = _T("治具2Y方向缩放比例");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig2Scale.y, Description);
//p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie);
}
{
//添加属性变量映射
Name = _T("m_Jig4Scale_x");//变量名字
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Jig4Scale.x);
pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示
PropertyName = _T("治具4X");
Description = _T("治具4X方向缩放比例");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig4Scale.x, Description);
//p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie);
}
{
//添加属性变量映射
Name = _T("m_Jig4Scale");//变量名字
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Jig4Scale.y);
pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示
PropertyName = _T("治具4Y");
Description = _T("治具4Y方向缩放比例");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig4Scale.y, Description);
//p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie);
}
pGroup->AddSubItem(pGroup1);
}
if(gAuthorityMgr->CheckAuthority(_FACTORY)) if(gAuthorityMgr->CheckAuthority(_FACTORY))
{ {
PropertyName = _T("基础设置"); PropertyName = _T("基础设置");
@ -632,15 +718,17 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
} }
pGroup->AddSubItem(pGroup1); pGroup->AddSubItem(pGroup1);
}*/ }*/
if(gAuthorityMgr->CheckAuthority(_ADMIN)) if(gAuthorityMgr->CheckAuthority(_ADMIN))
{ {
PropertyName = _T("加工偏移"); PropertyName = _T("加工偏移");
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(PropertyName); CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(PropertyName);
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Track1MarkOffset_x");//±äÁ¿Ãû×Ö Name = _T("m_Jig2MarkOffset_x");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Track1MarkOffset.x); pPropertie->SetpVal((void*)&m_Jig2MarkOffset.x);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this); pPropertie->SetpModule(this);
pPropertie->SetPath(Path); pPropertie->SetPath(Path);
@ -650,16 +738,16 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("治具2振镜偏移X"); PropertyName = _T("治具2振镜偏移X");
Description = _T("轨道1上治具2的切割偏移X"); Description = _T("轨道1上治具2的切割偏移X");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track1MarkOffset.x, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig2MarkOffset.x, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p); pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie); PropertieMgr.Insert(p, pPropertie);
} }
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Track1MarkOffset_y");//±äÁ¿Ãû×Ö Name = _T("m_Jig2MarkOffset_y");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Track1MarkOffset.y); pPropertie->SetpVal((void*)&m_Jig2MarkOffset.y);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this); pPropertie->SetpModule(this);
pPropertie->SetPath(Path); pPropertie->SetPath(Path);
@ -669,16 +757,16 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("治具2振镜偏移Y"); PropertyName = _T("治具2振镜偏移Y");
Description = _T("轨道1上治具2的切割偏移Y"); Description = _T("轨道1上治具2的切割偏移Y");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track1MarkOffset.y, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig2MarkOffset.y, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p); pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie); PropertieMgr.Insert(p, pPropertie);
} }
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Track2MarkOffset_x");//±äÁ¿Ãû×Ö Name = _T("m_Jig4MarkOffset_x");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Track2MarkOffset.x); pPropertie->SetpVal((void*)&m_Jig4MarkOffset.x);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this); pPropertie->SetpModule(this);
pPropertie->SetPath(Path); pPropertie->SetPath(Path);
@ -688,16 +776,16 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("治具4振镜偏移X"); PropertyName = _T("治具4振镜偏移X");
Description = _T("轨道2上治具4的切割偏移X"); Description = _T("轨道2上治具4的切割偏移X");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2MarkOffset.x, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig4MarkOffset.x, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p); pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie); PropertieMgr.Insert(p, pPropertie);
} }
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Track2MarkOffset_y");//±äÁ¿Ãû×Ö Name = _T("m_Jig4MarkOffset_y");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Track2MarkOffset.y); pPropertie->SetpVal((void*)&m_Jig4MarkOffset.y);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this); pPropertie->SetpModule(this);
pPropertie->SetPath(Path); pPropertie->SetPath(Path);
@ -707,7 +795,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("治具4振镜偏移Y"); PropertyName = _T("治具4振镜偏移Y");
Description = _T("轨道2上治具4的切割偏移Y"); Description = _T("轨道2上治具4的切割偏移Y");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2MarkOffset.y, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Jig4MarkOffset.y, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
pGroup1->AddSubItem(p); pGroup1->AddSubItem(p);
PropertieMgr.Insert(p, pPropertie); PropertieMgr.Insert(p, pPropertie);
@ -878,9 +966,13 @@ Dbxy CProgram_SZ_XL::GetTrackMarkOffset(ETrackType TrackType)
else else
MarkOffset = m_Track2MarkOffset;*/ MarkOffset = m_Track2MarkOffset;*/
if (gServer->m_RcvCurTrackIndex == 0) if (gServer->m_RcvCurTrackIndex == 0)
MarkOffset = m_Track1MarkOffset; {
MarkOffset = m_Jig2MarkOffset;
}
else else
MarkOffset = m_Track2MarkOffset; {
MarkOffset = m_Jig4MarkOffset;
}
return MarkOffset; return MarkOffset;
} }
//打开,夹紧载盘/真空 //打开,夹紧载盘/真空

9
LaiPuLaser/Program_SZ_XL.h
Unescape Escape View File

@ -62,6 +62,8 @@ private:
public: public:
int m_ServerPort=2404;//监听的端口号 int m_ServerPort=2404;//监听的端口号
CString m_NetPath="W";//网盘的盘符 CString m_NetPath="W";//网盘的盘符
Dbxy GetJig2Scale() { return m_Jig2Scale; };
Dbxy GetJig4Scale() { return m_Jig4Scale; };
private: private:
int m_TrackComPort1;//轨道1 串口号 int m_TrackComPort1;//轨道1 串口号
int m_TrackComPort2;//轨道2 串口号 int m_TrackComPort2;//轨道2 串口号
@ -94,8 +96,11 @@ private:
Dbxy m_Track2Offset;//轨道2相对轨道1 的偏移量 Dbxy m_Track2Offset;//轨道2相对轨道1 的偏移量
Dbxy m_Track1MarkOffset;//轨道1的整体加工偏移 Dbxy m_Jig2MarkOffset;//治具2的加工偏移
Dbxy m_Track2MarkOffset;//轨道2的整体加工偏移 Dbxy m_Jig4MarkOffset;//治具4的加工偏移
Dbxy m_Jig2Scale=Dbxy(1,1);//治具2的加工缩放
Dbxy m_Jig4Scale=Dbxy(1,1);//治具4的加工缩放
double m_Track1DangerCoordStart;//轨道1 的危险范围start double m_Track1DangerCoordStart;//轨道1 的危险范围start
double m_Track1DangerCoordEnd;//轨道1 的危险范围end double m_Track1DangerCoordEnd;//轨道1 的危险范围end

16
LaiPuLaser/Program_SZ_XL_TrackWorkFlow.cpp
Unescape Escape View File

@ -814,11 +814,15 @@ void CTrackWorkFlow::MarkProcess()
SetCurTrackWorkStep(_ETrack_Step_Marking); SetCurTrackWorkStep(_ETrack_Step_Marking);
//XY 组切换 //XY 组切换
MarkProcessExt(); MarkProcessExt();
CString str = "READY";
gServer->BroadCast(str);
gLogMgr->WriteDebugLog(str);
//设置当前的工作步骤 //设置当前的工作步骤
SetCurTrackWorkStep(_ETrack_Step_Marking); SetCurTrackWorkStep(_ETrack_Step_Marking);
//数据移动回默认的位置 //数据移动回默认的位置
//gProgramCutMgr->MoveObjData(Dbxy(0, 0)); /* gProgramCutMgr->MoveObjData(Dbxy(0, 0));
//gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0)); gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));*/
//gCurLockTrackType = _ETrackType_NULL;//解锁 //gCurLockTrackType = _ETrackType_NULL;//解锁
@ -836,11 +840,12 @@ bool CTrackWorkFlow::MarkProcessExt()
Dbxy MarkOffset = gProgram_SZ_XL->GetTrackMarkOffset(m_TrackType); Dbxy MarkOffset = gProgram_SZ_XL->GetTrackMarkOffset(m_TrackType);
gCommonFlowMgr->SetAdjustOffsetAll(MarkOffset); gCommonFlowMgr->SetAdjustOffsetAll(MarkOffset);
//记录当前正在切割的轨道 //记录当前正在切割的轨道
//gProgram_SZ_XL->SetCurMarkingTrack(m_TrackType); gProgram_SZ_XL->SetCurMarkingTrack(m_TrackType);
CProduct &Product = gServer->m_RcvProduct; CProduct &Product = gServer->m_RcvProduct;
/*
/*
Dbxy BasePt = Product.GetProductBasePt(); Dbxy BasePt = Product.GetProductBasePt();
//=======移动obj============== //=======移动obj==============
gProgramCutMgr->MoveObjData(BasePt); gProgramCutMgr->MoveObjData(BasePt);
@ -848,8 +853,7 @@ bool CTrackWorkFlow::MarkProcessExt()
//计算所有obj 的中心点 //计算所有obj 的中心点
gObjComponentMgr->CalAllObjCenterPt(); gObjComponentMgr->CalAllObjCenterPt();
Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt(); Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt();
gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt); gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt);*/
*/
bool Ret; bool Ret;
//启动切割 //启动切割

86
LaiPuLaser/ServerMgr.cpp
Unescape Escape View File

@ -163,13 +163,12 @@ void CServerMgr::OnReceive(int nErrorCode)
} }
if (RcvStr.Find(ACTION_TANSPRODUCTINFO) != -1) //先告知数据类型,再传数据. if (RcvStr.Find(ACTION_TANSPRODUCTINFO) != -1) //传数据.
{ {
CString str = "EXECMD_OK;"; /* CString str = "EXECMD_OK;";
Send(str, str.GetLength()); Send(str, str.GetLength());
Receive(&gServer->m_RcvProduct, sizeof(CProduct));*/
Receive(&gServer->m_RcvProduct, sizeof(CProduct));
gLogMgr->WriteDebugLog(ACTION_TANSPRODUCTINFO + "OK"); gLogMgr->WriteDebugLog(ACTION_TANSPRODUCTINFO + "OK");
if (RcvStr.Find(TRACK_1) != -1) if (RcvStr.Find(TRACK_1) != -1)
@ -180,15 +179,47 @@ void CServerMgr::OnReceive(int nErrorCode)
{ {
gServer->m_RcvCurTrackIndex = 1; gServer->m_RcvCurTrackIndex = 1;
} }
int spos = 0;
int epos = 0;
CString temp;
vector<double> dvec;
for (int i = 0;i != 6;i++)
{
if ( (spos = RcvStr.Find("[",spos+1))<1|| (epos = RcvStr.Find("]",epos+1))<1)
{
AfxMessageBox("接收数据错误!");
return;
}
temp = RcvStr.Mid(spos+1, epos - spos-1);
dvec.push_back(atof(temp));
}
gServer->m_RcvProduct.m_p00 = dvec[0];
gServer->m_RcvProduct.m_p01 = dvec[1];
gServer->m_RcvProduct.m_p02 = dvec[2];
gServer->m_RcvProduct.m_p10 = dvec[3];
gServer->m_RcvProduct.m_p11 = dvec[4];
gServer->m_RcvProduct.m_p12 = dvec[5];
gTrackWorkFlow1.SetCurTrackWorkStep(_ETrack_Step_Catch_mark_End); gTrackWorkFlow1.SetCurTrackWorkStep(_ETrack_Step_Catch_mark_End);
} }
if (RcvStr.Find(ACTION_COLLECT) != -1) //收集数据.
{
gMarkAreaMgr->CollectOrgWorkData(gProgram_SZ_XL->IsbSelMarkMode(), gServer->m_RcvProduct);
gLogMgr->WriteDebugLog(ACTION_COLLECT + "OK");
}
if (RcvStr.Find(ACTION_STARTWORK) != -1) //启动加工 if (RcvStr.Find(ACTION_STARTWORK) != -1) //启动加工
{ {
int sPos = RcvStr.ReverseFind(';'); int sPos = RcvStr.ReverseFind(';');
int ePos = RcvStr.GetLength(); int ePos = RcvStr.GetLength();
CString Index = RcvStr.Mid(sPos + 1, ePos - sPos - 1); CString Index = RcvStr.Mid(sPos + 1, ePos - sPos - 1);
m_RcvAreaIndex = atoi(Index); m_RcvAreaIndex = atoi(Index);
/* StartMarkArea();
}*/
gCommonFlowMgr->MarkAreaByIdx(m_RcvAreaIndex);//根据加工区域索引加工 gCommonFlowMgr->MarkAreaByIdx(m_RcvAreaIndex);//根据加工区域索引加工
gLogMgr->WriteDebugLog("MarkArea " + Index + " Finished!"); gLogMgr->WriteDebugLog("MarkArea " + Index + " Finished!");
CString str = "AREA_FINISHED;"; CString str = "AREA_FINISHED;";
@ -197,6 +228,21 @@ void CServerMgr::OnReceive(int nErrorCode)
Sleep(50); Sleep(50);
} }
if (RcvStr.Find(ACTION_PAUSEWORK) != -1) //暂停加工
{
PauseMark();
}
if (RcvStr.Find(ACTION_RESUMEWORK) != -1) //恢复加工
{
ResumeMark();
}
if (RcvStr.Find(ACTION_EXITWORK) != -1) //退出加工
{
ExitMark();
}
if (RcvStr.Find(ACTION_SETSPECAILOBJ) != -1) //设置特殊对象 if (RcvStr.Find(ACTION_SETSPECAILOBJ) != -1) //设置特殊对象
{ {
CString str = "EXECMD_OK;"; CString str = "EXECMD_OK;";
@ -354,3 +400,35 @@ void CServerMgr::DeleteClientObject(CServerMgr * pConn)
} }
} }
void CServerMgr::StartMarkArea()
{
if (m_workThread.joinable())
{
return;
}
m_workThread=thread(&CCommonFlowMgr::MarkAreaByIdx, gCommonFlowMgr,m_RcvAreaIndex);//根据加工区域索引加工)
//gCommonFlowMgr->gCommonFlowMgr->MarkAreaByIdx(m_RcvAreaIndex);//根据加工区域索引加工(m_RcvAreaIndex);//根据加工区域索引加工
m_workThread.join();
gLogMgr->WriteDebugLog("MarkArea " +(CString) (to_string(m_RcvAreaIndex).c_str()) + " Finished!");
CString str = "AREA_FINISHED;";
Send(str, str.GetLength());
gLogMgr->WriteDebugLog("Send: " + str);
Sleep(50);
}
void CServerMgr::PauseMark()
{
SuspendThread(m_workThread.native_handle());
}
void CServerMgr::ResumeMark()
{
ResumeThread(m_workThread.native_handle());
}
void CServerMgr::ExitMark()
{
TerminateThread(m_workThread.native_handle(),0);
}

11
LaiPuLaser/ServerMgr.h
Unescape Escape View File

@ -2,7 +2,11 @@
#define ACTION_OPENFILE (CString)"OPEN_FILE;"//打开文件 #define ACTION_OPENFILE (CString)"OPEN_FILE;"//打开文件
#define ACTION_TANSPRODUCTINFO (CString)"TRANS_PRODUCT;" //传Product #define ACTION_TANSPRODUCTINFO (CString)"TRANS_PRODUCT;" //传Product
#define ACTION_COLLECT (CString)"COLLECT_DATA;" //收集数据
#define ACTION_STARTWORK (CString)"START_WORK;" //标刻指定区域 #define ACTION_STARTWORK (CString)"START_WORK;" //标刻指定区域
#define ACTION_PAUSEWORK (CString)"PAUSE_WORK;" //标刻指定区域
#define ACTION_RESUMEWORK (CString)"RESUME_WORK;" //标刻指定区域
#define ACTION_EXITWORK (CString)"EXIT_WORK;" //标刻指定区域
//#define ACTION_TRANSFILE (CString)"TRANS_FILE;"//传文件 //#define ACTION_TRANSFILE (CString)"TRANS_FILE;"//传文件
#define ACTION_SETSPECAILOBJ (CString)"SET_SPECAILOBJ;"//设置特殊对象 #define ACTION_SETSPECAILOBJ (CString)"SET_SPECAILOBJ;"//设置特殊对象
#define ACTION_BMARKSELOBJMODE (CString)"MARK_SELOBJMODE;"//设置选择加工模式 #define ACTION_BMARKSELOBJMODE (CString)"MARK_SELOBJMODE;"//设置选择加工模式
@ -66,6 +70,7 @@ CNetData ::~CNetData ()
#include "DlgSW_XL_Flow.h" #include "DlgSW_XL_Flow.h"
#include "Product.h" #include "Product.h"
#include <vector> #include <vector>
#include <thread>
using namespace std; using namespace std;
class CServerMgr : public CSocket class CServerMgr : public CSocket
{ {
@ -89,6 +94,12 @@ private:
static void DeleteClientObject(CServerMgr* pConn); static void DeleteClientObject(CServerMgr* pConn);
CurRcvDataType m_CurRcvDataType = DataType_String;//当前要接收的数据类型 CurRcvDataType m_CurRcvDataType = DataType_String;//当前要接收的数据类型
CDlgSW_XL_Flow * m_Dlg; CDlgSW_XL_Flow * m_Dlg;
thread m_workThread;
void StartMarkArea();
void PauseMark();
void ResumeMark();
void ExitMark();
}; };
extern CServerMgr * gServer; extern CServerMgr * gServer;

2
LaiPuLaser/WorkCmdInvoker.cpp
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@ -147,7 +147,7 @@ void CWorkCmdInvoker::ExcuteAllCmd(bool bNewThread)
gProgressMgr.SetWorkProgress(&dlg.GetProgress()); gProgressMgr.SetWorkProgress(&dlg.GetProgress());
#endif #endif
} }
CWinThread* pThread = AfxBeginThread(ExcuteAllCmdThread,this); CWinThread* pThread = AfxBeginThread(ExcuteAllCmdThread,this, THREAD_PRIORITY_HIGHEST);
if(CmdCnt>1)//只有一条指令时不要显示进度 if(CmdCnt>1)//只有一条指令时不要显示进度
{ {
#ifdef __PROGRESS_DLG__ #ifdef __PROGRESS_DLG__

4
LaiPuLaser/WorkCmdMarkArea.cpp
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@ -54,11 +54,11 @@ bool CWorkCmdMarkArea::Excute()
{ {
//重置所有area 的选择状态 //重置所有area 的选择状态
gMarkAreaMgr->ResetAllAreaSelState(); gMarkAreaMgr->ResetAllAreaSelState();
m_MarkArea.SetSelState(true);//选择当前加工的area //m_MarkArea.SetSelState(true);//选择当前加工的area
//设置markarea 内的obj 为已加工状态 //设置markarea 内的obj 为已加工状态
// gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(), m_bSelMark); // gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(), m_bSelMark);
gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(),true); // gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(),true);
//可能会引起报错? //可能会引起报错?
//m_pView->MoveViewCenter(); //m_pView->MoveViewCenter();
//m_pView->RefreshView(); //m_pView->RefreshView();

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LaiPuLaser/resource.h
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