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TwoLaserHead-PushJig
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坐标系修改完成,待测试

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之前功能大致OK,分出改坐标系
bestlqiang 5 years ago
parent 858ed1990e
commit a19b098200
17 changed files with 327 additions and 83 deletions
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53
LaiPuLaser/Camera.cpp
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@ -258,8 +258,8 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("视场2基准坐标x"); PropertyName = _T("视场2相对坐标x");
Description = _T("CCD2 的视场基准点相对于平台原点的坐标(单位:mm)"); Description = _T("CCD2 的视场中心相对于CCD1中心的坐标(单位:mm)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.x, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.x, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
@ -277,8 +277,8 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("视场2基准坐标y"); PropertyName = _T("视场2相对坐标y");
Description = _T("CCD2 的视场基准点相对于平台原点的坐标(单位:mm)"); Description = _T("CCD2 的视场中心相对于CCD1中心的坐标(单位:mm)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.y, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.y, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
@ -288,7 +288,7 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Size_w");//变量名字 Name = _T("m_Size_w_pix");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Size.w); pPropertie->SetpVal((void*)&m_Size.w);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
@ -299,7 +299,7 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("视场宽度"); PropertyName = _T("视场宽度");
Description = _T("CCD 视场的实际宽度(单位:mm)"); Description = _T("CCD 视场的实际像素宽度(单位:像素)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.w, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.w, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
@ -307,7 +307,7 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
} }
{ {
//添加属性变量映射 //添加属性变量映射
Name = _T("m_Size_h");//变量名字 Name = _T("m_Size_h_pix");//变量名字
CPropertie *pPropertie = new CPropertie; CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_Size.h); pPropertie->SetpVal((void*)&m_Size.h);
pPropertie->SetType(_PROP_TYPE_DOUBLE); pPropertie->SetType(_PROP_TYPE_DOUBLE);
@ -318,7 +318,7 @@ CMFCPropertyGridProperty *CCamera::CreatGridProperty()
//添加属性显示 //添加属性显示
PropertyName = _T("视场高度"); PropertyName = _T("视场高度");
Description = _T("CCD 视场的实际高度(单位:mm)"); Description = _T("CCD 视场的实际像素高度(单位:像素)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.h, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.h, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
@ -348,6 +348,7 @@ void CCamera::Draw(CDC* pDC)
void CCamera::SetCoord(Dbxy pt) void CCamera::SetCoord(Dbxy pt)
{ {
m_Coord = pt; m_Coord = pt;
//m_Coord2=pt+
//强制保存所有的属性到文件 //强制保存所有的属性到文件
gDevicePropertieMgr.SaveAllPropertie(); gDevicePropertieMgr.SaveAllPropertie();
} }
@ -377,7 +378,7 @@ Dbxy CCamera::GetCoord()
{ {
if (m_CamIndex != 0) if (m_CamIndex != 0)
{ {
return m_Coord2; return m_Coord+m_Coord2;
} }
else else
{ {
@ -410,13 +411,6 @@ Dbxy CCamera::CCDcoord2Platformcoord(Dbxy CCDpt)
LogStr.Format(_T("CCDcoord2Platformcoord : CCD 返回值[x] = [%0.3f] ,[y] = [%0.3f]"),CCDpt.x,CCDpt.y); LogStr.Format(_T("CCDcoord2Platformcoord : CCD 返回值[x] = [%0.3f] ,[y] = [%0.3f]"),CCDpt.x,CCDpt.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
//像素坐标转换为mm 单位坐标-----------------------
if(m_bPixCoord)
{
CCDpt.x *= m_OnePixDis;
CCDpt.y *= m_OnePixDis;
}
if(((CCDpt.x<0)||(CCDpt.x>m_Size.w))||((CCDpt.y<0)||(CCDpt.y>m_Size.h)))//避免错误的返回值 if(((CCDpt.x<0)||(CCDpt.x>m_Size.w))||((CCDpt.y<0)||(CCDpt.y>m_Size.h)))//避免错误的返回值
{ {
CString str = _T("定位抓取失败"); CString str = _T("定位抓取失败");
@ -424,7 +418,15 @@ Dbxy CCamera::CCDcoord2Platformcoord(Dbxy CCDpt)
Msg.SetMsg(str); Msg.SetMsg(str);
throw Msg; throw Msg;
} }
//像素坐标转换为mm 单位坐标-----------------------
if (m_bPixCoord)
{
CCDpt.x = CCDpt.x - (m_Size.w / 2);
CCDpt.y = (m_Size.h / 2)- CCDpt.y;
CCDpt.x *= m_OnePixDis;
CCDpt.y *= m_OnePixDis;
}
LogStr.Format(_T("[MM_Coordx] = [%0.3f] ,[MM_Coordy] = [%0.3f]"),CCDpt.x,CCDpt.y); LogStr.Format(_T("[MM_Coordx] = [%0.3f] ,[MM_Coordy] = [%0.3f]"),CCDpt.x,CCDpt.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
@ -444,11 +446,11 @@ Dbxy CCamera::CCDcoord2Platformcoord(Dbxy CCDpt)
pt.x -= PlatformPt.x; pt.x -= PlatformPt.x;
pt.y -= PlatformPt.y; pt.y -= PlatformPt.y;
#else #else
Dbxy CameraCoord = m_Coord; //GetCenterPt(); Dbxy CameraCoord = GetCoord(); //GetCenterPt();
if (m_CamIndex != 0) /*if (m_CamIndex != 0)
{ {
CameraCoord = m_Coord2; CameraCoord = m_Coord2;
} }*/
LogStr.Format(_T("[CameraCoord.x] = [%0.3f] ,[CameraCoord.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y); LogStr.Format(_T("[CameraCoord.x] = [%0.3f] ,[CameraCoord.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
@ -459,14 +461,17 @@ Dbxy CCamera::CCDcoord2Platformcoord(Dbxy CCDpt)
} }
LogStr.Format(_T("[PlatformCoord.x] = [%0.3f] ,[PlatformCoord.y] = [%0.3f]"),PlatformPt.x,PlatformPt.y); LogStr.Format(_T("[PlatformCoord.x] = [%0.3f] ,[PlatformCoord.y] = [%0.3f]"),PlatformPt.x,PlatformPt.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
CameraCoord.x = CameraCoord.x - PlatformPt.x;
CameraCoord.y = CameraCoord.y + PlatformPt.y; Dbxy TheoryPt;
LogStr.Format(_T("[CameraCoord_Now.x] = [%0.3f] ,[CameraCoord_Now.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y); TheoryPt.x = CameraCoord.x - PlatformPt.x;
TheoryPt.y = CameraCoord.y + PlatformPt.y;
LogStr.Format(_T("[TheoryPtCoord_Now.x] = [%0.3f] ,[TheoryPtCoord_Now.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);
Dbxy pt; Dbxy pt;
pt.x = CameraCoord.x + CCDpt.x; pt.x = TheoryPt.x + CCDpt.x;
pt.y = CameraCoord.y - CCDpt.y; pt.y = TheoryPt.y + CCDpt.y;
LogStr.Format(_T("[CatchPt.x] = [%0.3f] ,[CatchPt.y] = [%0.3f]"),pt.x,pt.y); LogStr.Format(_T("[CatchPt.x] = [%0.3f] ,[CatchPt.y] = [%0.3f]"),pt.x,pt.y);
gLogMgr->WriteDebugLog(LogStr); gLogMgr->WriteDebugLog(LogStr);

3
LaiPuLaser/Camera.h
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@ -33,9 +33,10 @@ protected:
bool m_bLeftTop;//基准点是否为左上角(false 为左下角) bool m_bLeftTop;//基准点是否为左上角(false 为左下角)
bool m_bPixCoord;//相机抓取的是否为像素坐标(基恩士返回的是mm 单位的值) bool m_bPixCoord;//相机抓取的是否为像素坐标(基恩士返回的是mm 单位的值)
public:
Dbxy m_Coord;//CCD 视场基准点相对于平台原点的坐标值(一般是左上角,或者左下角) Dbxy m_Coord;//CCD 视场基准点相对于平台原点的坐标值(一般是左上角,或者左下角)
Dbxy m_Coord2;//信利双头,有两个相机,此为CCD2坐标 Dbxy m_Coord2;//信利双头,有两个相机,此为CCD2坐标
DbSize m_Size;//CCD 视场范围的实际尺寸(用来计算抓取定位的坐标值) DbSize m_Size=DbSize(2592,1944);//CCD 视场范围的实际尺寸(用来计算抓取定位的坐标值)
bool m_bRotatoPtByAngle;//是否根据相机的安装角度修正抓取结果 bool m_bRotatoPtByAngle;//是否根据相机的安装角度修正抓取结果
double m_Angle;//安装角度,相对于电机的X 轴(360 度角) double m_Angle;//安装角度,相对于电机的X 轴(360 度角)

41
LaiPuLaser/CommonFlowMgr.cpp
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@ -1071,7 +1071,7 @@ bool CCommonFlowMgr::NormalMarkByPciCard(bool bSel, int times, int CyclicTimes)
return false; return false;
} }
//移动到第一个area (不等待移动结束) //移动到第一个area (不等待移动结束)
void CCommonFlowMgr::MoveToFirstArea() void CCommonFlowMgr::MoveToFirstArea(Dbxy offset)
{ {
gLogMgr->WriteDebugLog("Fuc---->MoveToFirstArea"); gLogMgr->WriteDebugLog("Fuc---->MoveToFirstArea");
CWorkCmdContainer CmdContainer; CWorkCmdContainer CmdContainer;
@ -1096,8 +1096,8 @@ void CCommonFlowMgr::MoveToFirstArea()
{ {
Dbxy AreaRealBasePt = AreaVec[0].GetRealBasePt();//移动到实际位置 Dbxy AreaRealBasePt = AreaVec[0].GetRealBasePt();//移动到实际位置
Dbxy MovePt;//移动点= area 的理论点 Dbxy MovePt;//移动点= area 的理论点
MovePt.x = AreaRealBasePt.x; MovePt.x = AreaRealBasePt.x+offset.x;
MovePt.y = AreaRealBasePt.y; MovePt.y = AreaRealBasePt.y+offset.y;
CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY(); CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY();
pCmd->MoveToTargetPt(MovePt, TargetPt); pCmd->MoveToTargetPt(MovePt, TargetPt);
pCmd->InWorkState(); pCmd->InWorkState();
@ -1117,7 +1117,7 @@ bool CCommonFlowMgr::MultipleAreaMark(CProduct &Product, bool bSel)
gLogMgr->WriteDebugLog("Fuc---->MultipleAreaMark : bSel = " + Bool2Str(bSel)); gLogMgr->WriteDebugLog("Fuc---->MultipleAreaMark : bSel = " + Bool2Str(bSel));
//先移动到第一个area (不等待移动结束) //先移动到第一个area (不等待移动结束)
MoveToFirstArea(); MoveToFirstArea(Product.GetProductBasePt());
//搜集加工数据(这里比较耗费时间) //搜集加工数据(这里比较耗费时间)
gMarkAreaMgr->CollectWorkData(bSel, Product); gMarkAreaMgr->CollectWorkData(bSel, Product);
@ -1197,8 +1197,9 @@ bool CCommonFlowMgr::MultipleAreaMark(CProduct &Product, bool bSel)
{ {
Dbxy AreaRealBasePt = (*iter).GetRealBasePt();//移动到实际位置 Dbxy AreaRealBasePt = (*iter).GetRealBasePt();//移动到实际位置
Dbxy MovePt;//移动点= area 的理论点 Dbxy MovePt;//移动点= area 的理论点
MovePt.x = AreaRealBasePt.x; MovePt = AreaRealBasePt + Product.GetProductBasePt();
MovePt.y = AreaRealBasePt.y; /*MovePt.x = AreaRealBasePt.x;
MovePt.y = AreaRealBasePt.y;*/
CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY(); CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY();
pCmd->MoveToTargetPt(MovePt, TargetPt); pCmd->MoveToTargetPt(MovePt, TargetPt);
pCmd->InWorkState();//工作速度 pCmd->InWorkState();//工作速度
@ -1379,7 +1380,8 @@ void CCommonFlowMgr::CameraCatchTwoMark(CProduct &Product)
Dbxy MarkPt2; Dbxy MarkPt2;
if (gObjComponentMgr->GetTwoMarkPt(MarkPt1, MarkPt2))//从ObjComponent 中获取定位点 if (gObjComponentMgr->GetTwoMarkPt(MarkPt1, MarkPt2))//从ObjComponent 中获取定位点
{ {
Product.SetTheoryMarkPt(MarkPt1, MarkPt2);//设置定位点 Dbxy BasePt = Product.GetProductBasePt();
Product.SetTheoryMarkPt(MarkPt1+BasePt, MarkPt2+BasePt);//ÉčÖĂś¨Îťľă
CameraCatchMarkExt(Product); CameraCatchMarkExt(Product);
} }
else//没有两个定位点 else//没有两个定位点
@ -1396,7 +1398,7 @@ bool CCommonFlowMgr::CameraCatchMark3(CProduct &Product)
//获取mark 坐标的大致位置 //获取mark 坐标的大致位置
Dbxy MarkPt3; Dbxy MarkPt3;
//移动目标点(ccd 的中心) //移动目标点(ccd 的中心)
Dbxy CameraPt = Camera.GetCenterPt(); Dbxy CameraPt = Camera.GetCoord();
CWorkCmdInvoker Invoker; CWorkCmdInvoker Invoker;
CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集 CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集
@ -1413,21 +1415,15 @@ bool CCommonFlowMgr::CameraCatchMark3(CProduct &Product)
CmdContainer.AddCmd(pCmd); CmdContainer.AddCmd(pCmd);
} }
//如果有mark3 先识别mark3 //如果有mark3 先识别mark3
Product.SetbHasMarkPt3(false); //Product.SetbHasMarkPt3(false);
if (gObjComponentMgr->GetMark3Pt(MarkPt3)) if (gObjComponentMgr->GetMark3Pt(MarkPt3))
{ {
Product.SetbHasMarkPt3(true); Product.SetbHasMarkPt3(true);
Product.SetTheoryMark3Pt(MarkPt3); Product.SetTheoryMark3Pt(MarkPt3+Product.GetProductBasePt());
//移动mark 3 到CCD 中心 //移动mark 3 到CCD 中心
{ {
CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY(); CWorkCmdMovePlatformXY *pCmd = new CWorkCmdMovePlatformXY();
Dbxy P2CatchMarkPos = MarkPt3; Dbxy P2CatchMarkPos = MarkPt3 + Product.GetProductBasePt();
if (Product.IsbNewAddProduct())//改造新增工件抓取定位时,需要偏移到位.
{
Dbxy NPoffset = GetNPOffset();
P2CatchMarkPos.x += NPoffset.x;
P2CatchMarkPos.y += NPoffset.y;
}
pCmd->MoveToTargetPt(P2CatchMarkPos, CameraPt); pCmd->MoveToTargetPt(P2CatchMarkPos, CameraPt);
CmdContainer.AddCmd(pCmd); CmdContainer.AddCmd(pCmd);
} }
@ -1479,7 +1475,7 @@ bool CCommonFlowMgr::CameraCatchMarkExt(CProduct &Product)
Product.GetMarkCoord(MarkPt1, MarkPt2); Product.GetMarkCoord(MarkPt1, MarkPt2);
//移动目标点(ccd 的中心) //移动目标点(ccd 的中心)
Dbxy CameraPt = Camera.GetCenterPt(); Dbxy CameraPt = Camera.GetCoord();
CWorkCmdInvoker Invoker; CWorkCmdInvoker Invoker;
CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集 CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集
@ -1498,15 +1494,6 @@ bool CCommonFlowMgr::CameraCatchMarkExt(CProduct &Product)
Dbxy P2CatchMarkPos1 = MarkPt1; Dbxy P2CatchMarkPos1 = MarkPt1;
Dbxy P2CatchMarkPos2 = MarkPt2; Dbxy P2CatchMarkPos2 = MarkPt2;
if (Product.IsbNewAddProduct())
{
Dbxy NPoffset = GetNPOffset();
P2CatchMarkPos1.x += NPoffset.x;
P2CatchMarkPos1.y += NPoffset.y;
P2CatchMarkPos2.x += NPoffset.x;
P2CatchMarkPos2.y += NPoffset.y;
}
//识别mark1 和mark2 //识别mark1 和mark2
if (!Product.IsSetRealMarkPt1() || (Product.IsSetRealMarkPt1() && Product.IsSetRealMarkPt2())) if (!Product.IsSetRealMarkPt1() || (Product.IsSetRealMarkPt1() && Product.IsSetRealMarkPt2()))

2
LaiPuLaser/CommonFlowMgr.h
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@ -63,7 +63,7 @@ public:
private: private:
void SetLightStateCmd(CWorkCmdContainer &CmdContainer,bool bStart); void SetLightStateCmd(CWorkCmdContainer &CmdContainer,bool bStart);
bool CameraCatchMarkExt(CProduct &Product); bool CameraCatchMarkExt(CProduct &Product);
void MoveToFirstArea(); void MoveToFirstArea(Dbxy offset);
private: private:
CCamera *m_CurCamera;//当前使用的相机 CCamera *m_CurCamera;//当前使用的相机
int m_AlamDelay;//报警延时(ms) int m_AlamDelay;//报警延时(ms)

3
LaiPuLaser/DlgSW_XL_Flow.cpp
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@ -716,7 +716,8 @@ void CDlgSW_XL_Flow::OnBnClickedAdjustProductPos()
if (!gAuthorityMgr->CheckAuthority(_ADMIN,true)) if (!gAuthorityMgr->CheckAuthority(_ADMIN,true))
return; return;
gProductMgr->SetProductCenterPt(); //gProductMgr->SetProductCenterPt();
gProductMgr->SetCamCoord();
//保存加工参数 //保存加工参数
gProgramCutMgr->SaveWorkParFile(); gProgramCutMgr->SaveWorkParFile();
} }

4
LaiPuLaser/LaiPuLaser.cpp
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@ -213,7 +213,9 @@ int CLaiPuLaserApp::ExitInstance()
//TODO: 处理可能已添加的附加资源 //TODO: 处理可能已添加的附加资源
AfxOleTerm(FALSE); AfxOleTerm(FALSE);
gModuleDeviceMgr.OnExitApp(); gModuleDeviceMgr.OnExitApp();
return CWinAppEx::ExitInstance(); auto ret=CWinAppEx::ExitInstance();
quick_exit(ret);
return ret;
} }
// CLaiPuLaserApp 消息处理程序 // CLaiPuLaserApp 消息处理程序

8
LaiPuLaser/Laser.cpp
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@ -63,8 +63,8 @@ CMFCPropertyGridProperty *CLaser::CreatGridProperty()
pPropertie->SetName(Name); pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("激光坐标X"); PropertyName = _T("激光相对坐标X");
Description = _T("激光中心相对原点的坐标X"); Description = _T("激光中心相对CCD1中心的坐标X");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_LaserCoord.x, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_LaserCoord.x, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie); gDevicePropertieMgr.Insert(p1, pPropertie);
@ -80,8 +80,8 @@ CMFCPropertyGridProperty *CLaser::CreatGridProperty()
pPropertie->SetName(Name); pPropertie->SetName(Name);
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("激光坐标Y"); PropertyName = _T("激光相对坐标Y");
Description = _T("激光中心相对原点的坐标Y"); Description = _T("激光中心相对CCD1的坐标Y");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_LaserCoord.y, Description); CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_LaserCoord.y, Description);
pGroup->AddSubItem(p1); pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie); gDevicePropertieMgr.Insert(p1, pPropertie);

4
LaiPuLaser/Laser.h
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@ -1,6 +1,6 @@
#pragma once #pragma once
#include "module.h" #include "module.h"
#include "CameraHawkvis.h"
//¼¤¹â //¼¤¹â
class CLaser :public CModule class CLaser :public CModule
{ {
@ -12,7 +12,7 @@ public:
virtual void WriteWorkFileExt(vector<CLab> &LabVec); virtual void WriteWorkFileExt(vector<CLab> &LabVec);
virtual void ReadWorkFile(CLabVecRang &LabVecRang); virtual void ReadWorkFile(CLabVecRang &LabVecRang);
Dbxy GetCoord(){return m_LaserCoord;}; Dbxy GetCoord(){return m_LaserCoord+gCameraHawkvis->m_Coord;};
void SetCoord(Dbxy pt){m_LaserCoord = pt;}; void SetCoord(Dbxy pt){m_LaserCoord = pt;};
int GetOpenDelay(){return m_OpenDelay;}; int GetOpenDelay(){return m_OpenDelay;};
void SetOpenDelay(int n){m_OpenDelay = n;}; void SetOpenDelay(int n){m_OpenDelay = n;};

3
LaiPuLaser/MarkArea.cpp
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@ -145,9 +145,8 @@ void CMarkArea::SetBasePt(Dbxy pt)
//获取实际中心位置 //获取实际中心位置
Dbxy CMarkArea::GetRealBasePt() Dbxy CMarkArea::GetRealBasePt()
{ {
if (m_RealBasePt.Equal(Dbxy(0, 0))) /*if (m_RealBasePt.Equal(Dbxy(0, 0)))*/
m_RealBasePt = m_BasePt; m_RealBasePt = m_BasePt;
return m_RealBasePt; return m_RealBasePt;
} }
//计算实际中心点 //计算实际中心点

2
LaiPuLaser/MotionCard_PCI1245.cpp
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@ -784,7 +784,7 @@ Dbxy MotionCard_PCI1245::MovePlatformXY(Dbxy Coord)
} }
gLogMgr->WriteDebugLog("Fuc---->MovePlatformXY 1245L"); gLogMgr->WriteDebugLog("Fuc---->MovePlatformXY 1245L");
CString strTemp; CString strTemp;
strTemp.Format("Coord x : %f,Coord y : %f",Coord.y); strTemp.Format("***[Move To]===>Coord x : %f,Coord y : %f", Coord.x,Coord.y);
if (gLogMgr->IsDebuging()) if (gLogMgr->IsDebuging())
{ {
gLogMgr->LastTargetCoord = Coord; gLogMgr->LastTargetCoord = Coord;

14
LaiPuLaser/Product.cpp
Unescape Escape View File

@ -202,33 +202,33 @@ void CProduct::CalAffinePars()
CString logstr; CString logstr;
Dbxy DataCenter = gObjComponentMgr->GetAllObjCenterPt(); //Dbxy DataCenter = gObjComponentMgr->GetAllObjCenterPt();
/*Dbxy T2oft = Dbxy(0, 0); /*Dbxy T2oft = Dbxy(0, 0);
if (gCameraHawkvis->GetCamIndex()==1&&(!m_bNewAddProduct))//轨道2有额外偏移 （非新增那片） if (gCameraHawkvis->GetCamIndex()==1&&(!m_bNewAddProduct))//轨道2有额外偏移 （非新增那片）
T2oft = gProgram_SZ_XL->GetTrack2Offset(); */ T2oft = gProgram_SZ_XL->GetTrack2Offset(); */
o_TheoryMarkPt1 = m_TheoryMarkPt1-DataCenter; //o_TheoryMarkPt1 = m_TheoryMarkPt1-DataCenter;
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 - DataCenter; //o_TheoryMarkPt2 = m_TheoryMarkPt2 - DataCenter;
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 - DataCenter; //o_TheoryMarkPt3 = m_TheoryMarkPt3 - DataCenter;
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 - DataCenter; o_RealMarkPt1 = m_RealMarkPt1 - m_BasePt;
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 - DataCenter; o_RealMarkPt2 = m_RealMarkPt2 - m_BasePt;
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 - DataCenter; o_RealMarkPt3 = m_RealMarkPt3 - m_BasePt;
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);

65
LaiPuLaser/ProductMgr.cpp
Unescape Escape View File

@ -791,4 +791,69 @@ void CProductMgr::SetProductCenterPt()
MsgBox.Show("位置调整完成!"); MsgBox.Show("位置调整完成!");
} }
//通过设置product的中心点来控制默认抓取偏移
//mark 1移动到CCD 中心,然后点调整
void CProductMgr::SetCamCoord()
{
Dbxy MarkPt1;
Dbxy MarkPt2;
if (gObjComponentMgr->GetTwoMarkPt(MarkPt1, MarkPt2) == false)
{
CMsgBox MsgBox;
MsgBox.Show("没有定位点1!");
return;
}
//当前实际的坐标值
Dbxy CurPlatCoord = gPlatformXY->GetCoord();
CProduct &Product = m_ProductVec[0];
bool bETrackType_Track_2 = (CurPlatCoord.y > 200);//在X2 轴上调整
//将数据移动到当前product 的基准点上
//Dbxy CurBasePt = Product.GetProductBasePt();
if (bETrackType_Track_2)
{
Dbxy Track2Offset = gProgram_SZ_XL->GetTrack2Offset();
CurPlatCoord.x -= Track2Offset.x;
CurPlatCoord.y -= Track2Offset.y;
}
//gProgramCutMgr->MoveObjData(CurBasePt);
CCamera &Camera = *gCameraHawkvis;
Dbxy CameraPt;// = Camera.GetCoord();
CameraPt.x = CurPlatCoord.x + MarkPt1.x;
CameraPt.y =MarkPt1.y- CurPlatCoord.y;
Camera.SetCoord(CameraPt);
/*Dbxy PlatCoord;//MarkPt1 移到Camera 的理论坐标值
PlatCoord.x = CameraPt.x - MarkPt1.x;
PlatCoord.y = MarkPt1.y - CameraPt.y;
Dbxy Offset;//移动偏移量
Offset.x = PlatCoord.x - CurPlatCoord.x;
Offset.y = CurPlatCoord.y - PlatCoord.y;
CurBasePt.x += Offset.x;
CurBasePt.y += Offset.y;
if (bETrackType_Track_2)//按轨道1 来设置
{
Dbxy Track2Offset = gProgram_SZ_XL->GetTrack2Offset();
CurBasePt.x -= Track2Offset.x;
CurBasePt.y -= Track2Offset.y;
}
Product.SetBasePt(CurBasePt);*/
gDevicePropertieMgr.SaveAllPropertie();
CMsgBox MsgBox;
MsgBox.Show("位置调整完成!");
}
#endif #endif

1
LaiPuLaser/ProductMgr.h
Unescape Escape View File

@ -47,6 +47,7 @@ public:
void SetDefualtRect(DbRect r){m_DefualtRect = r;}; void SetDefualtRect(DbRect r){m_DefualtRect = r;};
Dbxy GetDefualtBasePt(); Dbxy GetDefualtBasePt();
void SetProductCenterPt(); void SetProductCenterPt();
void SetCamCoord();
double GetMaxMarkDisDiff(){return m_MaxMarkDisDiff;}; double GetMaxMarkDisDiff(){return m_MaxMarkDisDiff;};
double GetAdjustAngle() { return m_AngleAdjust; };//»ñÈ¡µ÷Õû½Ç¶È double GetAdjustAngle() { return m_AngleAdjust; };//»ñÈ¡µ÷Õû½Ç¶È
private: private:

12
LaiPuLaser/Program_SZ_XL.cpp
Unescape Escape View File

@ -463,7 +463,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("뱀돛2婁혤튤盧X"); PropertyName = _T("뱀돛2貫零튤盧X");
Description = _T("轨道2相对轨道1 的偏移量X"); Description = _T("轨道2相对轨道1 的偏移量X");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2Offset.x, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2Offset.x, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
@ -482,7 +482,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("뱀돛2婁혤튤盧Y"); PropertyName = _T("뱀돛2貫零튤盧Y");
Description = _T("轨道2相对轨道1 的偏移量Y"); Description = _T("轨道2相对轨道1 的偏移量Y");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2Offset.y, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Track2Offset.y, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
@ -503,7 +503,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("撈야2婁혤튤盧X"); PropertyName = _T("撈야2貫零튤盧X");
Description = _T("轨道1上治具2相对治具1位置偏移量X"); Description = _T("轨道1上治具2相对治具1位置偏移量X");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset1.x, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset1.x, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
@ -522,7 +522,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("撈야2婁혤튤盧Y"); PropertyName = _T("撈야2貫零튤盧Y");
Description = _T("轨道1上治具2相对治具1位置偏移量Y"); Description = _T("轨道1上治具2相对治具1位置偏移量Y");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset1.y, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset1.y, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
@ -543,7 +543,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("撈야4婁혤튤盧X"); PropertyName = _T("撈야4貫零튤盧X");
Description = _T("轨道2上治具4相对治具3位置偏移量X"); Description = _T("轨道2上治具4相对治具3位置偏移量X");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset2.x, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset2.x, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改
@ -562,7 +562,7 @@ CMFCPropertyGridProperty *CProgram_SZ_XL::CreatGridProperty()
pPropertie->WriteRead(true);//读取保存的属性 pPropertie->WriteRead(true);//读取保存的属性
//添加属性显示 //添加属性显示
PropertyName = _T("撈야4婁혤튤盧Y"); PropertyName = _T("撈야4貫零튤盧Y");
Description = _T("轨道2上治具4相对治具3位置偏移量Y"); Description = _T("轨道2上治具4相对治具3位置偏移量Y");
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset2.y, Description); CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_NPCatchOffset2.y, Description);
//p->AllowEdit(FALSE);//不可修改 //p->AllowEdit(FALSE);//不可修改

184
LaiPuLaser/Program_SZ_XL_TrackWorkFlow.cpp
Unescape Escape View File

@ -145,7 +145,7 @@ void CTrackWorkFlow::ExecuteCurStep()
MoveToWaitPos();//移动到等待位置 MoveToWaitPos();//移动到等待位置
break; break;
case _ETrack_Step_Mark_Waiting://等待加工 case _ETrack_Step_Mark_Waiting://等待加工
CatchMark();//ץȡ¶¨Î» CatchMarkNewly();//抓取定位
break; break;
case _ETrack_Step_Catch_mark_End://等待加工 case _ETrack_Step_Catch_mark_End://等待加工
MarkProcess();//尝试启动加工 MarkProcess();//尝试启动加工
@ -1085,6 +1085,188 @@ void CTrackWorkFlow::CatchMark()
//恢复报警状态 //恢复报警状态
gTrackWorkFlow1.RadAlamOnOff(false); gTrackWorkFlow1.RadAlamOnOff(false);
} }
void CTrackWorkFlow::CatchMarkNewly()
{
if (!gObjComponentMgr->GetTwoMarkPt(Dbxy(), Dbxy()))//获取定位点
{
CMsgBox MsgBox;
MsgBox.Show("没有加工图形!");
return;
}
//只有无锁定状态才能CatchMark
if (gCurLockTrackType != _ETrackType_NULL)
{
m_OldWorkStep = _ETrack_Step_NULL;//强制改变之前的状态
return;
}
gCurLockTrackType = m_TrackType;//锁定当前轨道
//收集未移动前的数据
gClientMgr->SendCmd_CollectData();
//gMarkAreaMgr->CollectOrgWorkData(gProgram_SZ_XL->IsbSelMarkMode());
thread t1(&CMarkAreaMgr::CollectOrgWorkData, gMarkAreaMgr, gProgram_SZ_XL->IsbSelMarkMode());
t1.detach();
SetCurTrackWorkStep(_ETrack_Step_Catch_mark);
CString Log = m_TrackName + " CatchMark";
gLogMgr->WriteDebugLog(Log);
//真空吸附
ProductCarrierOpenClose(false);
VacSorbOnOff(true);
bool Ret = true;
Ret = IsJigOK();
if (gProgram_SZ_XL->IsbShieldMarking() == false)//屏蔽加工过程
{
//切换平台XY 组编号
ChangePlatXYGroupIdx();
CProduct &Product = gProductMgr->GetProduct(m_ProductIdx);
gObjComponentMgr->GetTwoMarkPt(Product.o_TheoryMarkPt1, Product.o_TheoryMarkPt2);
gObjComponentMgr->GetMark3Pt(Product.o_TheoryMarkPt3);
//start----------料片2复制料片1信息------------start
CProduct Product2 = Product;
Product2.SetbNewAddProduct(true);
//end----------料片2复制料片1信息并偏移----------------end
///--------------------抓取治具1上料片的定位点--------------------///
//将数据移动到当前product 的基准点上
Dbxy BasePt(0,0);
Product.SetBasePt(BasePt);
//轨道2 要偏移基准点
if (m_TrackType == _ETrackType_Track_2)
{
Dbxy Track2Offset = gProgram_SZ_XL->GetTrack2Offset();
BasePt.x = Track2Offset.x;
BasePt.y = Track2Offset.y;
Product.SetBasePt(BasePt);//发给副机的需记录，因为接收到Product2才移动数据
}
/* //移动obj
gProgramCutMgr->MoveObjData(BasePt);
//移动area
//计算所有obj 的中心点
gObjComponentMgr->CalAllObjCenterPt();
Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt();
gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt);*/
Product.ResetRealMarkPt();
//识别定位点1
if (Ret)
{
gCommonFlowMgr->CameraCatchTwoMark(Product);//只抓取一个点
}
if (!Product.IsSetRealMarkPt1())
{
Ret = false;
}
//识别定位点3
Dbxy MarkPt3;
if (Ret&&gObjComponentMgr->GetMark3Pt(MarkPt3))
{
Ret = gCommonFlowMgr->CameraCatchMark3(Product);
}
//识别定位点2
if (Ret)
{
gCommonFlowMgr->CameraCatchTwoMark(Product);//只抓取一个点
}
if (!Product.IsMarkReady())//mark 识别错误
{
Ret = false;
}
///Start--------------------抓取治具2上料片的定位点--------------------///
Dbxy JigOft = gCommonFlowMgr->GetNPOffset();
Product2.SetBasePt(JigOft + BasePt);
Dbxy Product2MarkPt3;
if (gClientMgr->IsbDisableServer())//屏蔽副机，则不抓取
goto CatchProduct2Finished;
Product2.ResetRealMarkPt();
//识别定位点1
if (Ret)
{
gCommonFlowMgr->CameraCatchTwoMark(Product2);//只抓取一个点
if (!Product2.IsSetRealMarkPt1())
{
Ret = false;
}
}
//识别定位点3
if (gObjComponentMgr->GetMark3Pt(Product2MarkPt3) && Ret)
{
Ret = gCommonFlowMgr->CameraCatchMark3(Product2);
}
//识别定位点2
if (Ret)
{
gCommonFlowMgr->CameraCatchTwoMark(Product2);//只抓取一个点
}
if (!Product2.IsMarkReady())//mark 识别错误
{
Ret = false;
}
else
{
gClientMgr->SendCmd_ProductInfo(Product2);
}
///End--------------------抓取治具2上料片的定位点--------------------End///
CatchProduct2Finished:
//抓取失败时/非自动状态时
if (Ret == false || m_bAutoWorking == false)
{
VacSorbOnOff(false);//真空放开
//解除锁定
gCurLockTrackType = _ETrackType_NULL;
}
}
if (m_bAutoWorking)
{
if (Ret == false)
{
SetCurTrackWorkStep(_ETrack_Step_Catch_mark_Err);
}
else
{
SetCurTrackWorkStep(_ETrack_Step_Catch_mark_End);
}
}
else
{
//数据移动回默认的位置(防止area 移位)
gProgramCutMgr->MoveObjData(Dbxy(0, 0));
gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));
SetCurTrackWorkStep(_ETrack_Step_Stop);
//解除锁定
if (m_TrackType == gCurLockTrackType)
{
gCurLockTrackType = _ETrackType_NULL;
}
}
if (m_CurWorkStep != _ETrack_Step_Catch_mark_End)//异常停止时
{
//数据移动回默认的位置(防止area 移位)
gProgramCutMgr->MoveObjData(Dbxy(0, 0));
gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));
}
//恢复报警状态
gTrackWorkFlow1.RadAlamOnOff(false);
}
//加工过程 //加工过程
void CTrackWorkFlow::MarkProcess() void CTrackWorkFlow::MarkProcess()
{ {

1
LaiPuLaser/Program_SZ_XL_TrackWorkFlow.h
Unescape Escape View File

@ -101,6 +101,7 @@ private:
void ThrowEdge(); void ThrowEdge();
void UnLoad(); void UnLoad();
void CatchMark(); void CatchMark();
void CatchMarkNewly();
void ChangePlatXYGroupIdx(); void ChangePlatXYGroupIdx();
CString GetSendPlcMsgStr(ETrackPlcCmd PlcCmd); CString GetSendPlcMsgStr(ETrackPlcCmd PlcCmd);
void WriteRecordTimesToFile(); void WriteRecordTimesToFile();

4
LaiPuLaser/WorkCmdCameraCatch.cpp
Unescape Escape View File

@ -35,12 +35,12 @@ bool CWorkCmdCameraCatch::Excute()
//设置实际定位点的值 //设置实际定位点的值
if(m_pProduct != NULL) if(m_pProduct != NULL)
{ {
if (m_pProduct->IsbNewAddProduct()) /*if (m_pProduct->IsbNewAddProduct())
{ {
Dbxy NPoffset = gCommonFlowMgr->GetNPOffset(); Dbxy NPoffset = gCommonFlowMgr->GetNPOffset();
pt.x -= NPoffset.x; pt.x -= NPoffset.x;
pt.y -= NPoffset.y; pt.y -= NPoffset.y;
} }*/
if(m_bCatchMark3)//抓取的是mark3 if(m_bCatchMark3)//抓取的是mark3
{ {
m_pProduct->SetRealMark3Pt(pt); m_pProduct->SetRealMark3Pt(pt);

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