519 lines
21 KiB
C#
519 lines
21 KiB
C#
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using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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using System;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using CalculatorModuleCs;
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using GlobalVariableModuleCs;
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using IfModuleCs;
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using ImageSourceModuleCs;
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using IMVSCircleFitModuCs;
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using IMVSLineFindModuCs;
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using SaveImageCs;
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using VM.Core;
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using VM.PlatformSDKCS;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.MachineVision.HikVision
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{
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public class HikVisionMasterSDK : BaseDevice, IDevice
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{
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string _sol = "";
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private PeriodicJob _thread;
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private bool _isInit = false;
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public HikVisionMasterSDK(string module, string scRoot, string name,bool isInit) : base(module, name, name, name)
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{
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IsProcessing = false;
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_sol = SC.SafeGetStringValue($"{Name}.VMSolutionAddress", "D:\\VMSolution\\123.sol");
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_thread = new PeriodicJob(200, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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_isInit = isInit;
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}
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public string Command { get; set; } = "";
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/// <summary>
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/// 标记当前执行的程序流程
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/// </summary>
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public string ProjectName { get; set; } = "";
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public bool ModuleStatus { get; set; } = false;
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public bool Result { get; set; } = false;
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public double[] SampleCircle { get; set; } = new double[3];
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public double[] CurrentCircle { get; set; } = new double[3];
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public double[] SampleData { get; set; }
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public double[] SampleData2 { get; set; }
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public double Distance { get; set; } = 0;
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public double Tolerance { get; set; } = 1;
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public double Tolerance2 { get; set; } = 1;
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public bool IsProcessing { get; set; } = false;
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public bool LoadFile { get; set; } = false;
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public byte[] OutputImage { get; set; } = null;
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public byte[] PreviewImage1 { get; set; } = null;
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public byte[] PreviewImage2 { get; set; } = null;
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public byte[] PreviewImage3 { get; set; } = null;
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public byte[] PreviewImage4 { get; set; } = null;
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public string LocalImageFilePath { get; set; }
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public bool Initialize()
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{
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LocalImageFilePath = SC.SafeGetStringValue($"{Name}.{nameof(LocalImageFilePath)}", "D:\\VMImage\\Input");
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if (!Directory.Exists(LocalImageFilePath))
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{
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// 创建文件夹
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Directory.CreateDirectory(LocalImageFilePath);
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Console.WriteLine($"Folder '{LocalImageFilePath}' created successfully.");
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}
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string s = SC.SafeGetStringValue($"{Name}.SampleData", "100,200,200,300,300,100"); //隐藏项
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string s2 = SC.SafeGetStringValue($"{Name}.SampleData2", "100,200,200,300,300,100"); //隐藏项
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SampleData = ConvertSample(s);
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SampleData2 = ConvertSample(s2);
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if (SampleData == null || SampleData2 == null)
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{
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EV.PostAlarmLog(Module, $"SampleData failed");
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return true;
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}
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Tolerance = SC.GetValue<double>($"{Name}.{nameof(Tolerance)}", 1);
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SC.RegisterValueChangedCallback($"{Name}.{nameof(Tolerance)}", (newvalue) => { Tolerance = (double)newvalue; LoadSolution(); }); //实时修改
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Tolerance2 = SC.GetValue<double>($"{Name}.{nameof(Tolerance2)}", 1);
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SC.RegisterValueChangedCallback($"{Name}.{nameof(Tolerance2)}", (newvalue) => { Tolerance2 = (double)newvalue; LoadSolution(); }); //实时修改
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DATA.Subscribe($"{Module}.{Name}.{nameof(ProjectName)}", () => ProjectName);
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DATA.Subscribe($"{Module}.{Name}.{nameof(ModuleStatus)}", () => ModuleStatus);
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DATA.Subscribe($"{Module}.{Name}.{nameof(IsProcessing)}", () => IsProcessing);
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DATA.Subscribe($"{Module}.{Name}.{nameof(SampleCircle)}", () => SampleCircle);
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DATA.Subscribe($"{Module}.{Name}.{nameof(CurrentCircle)}", () => CurrentCircle);
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DATA.Subscribe($"{Module}.{Name}.{nameof(Distance)}", () => Distance);
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DATA.Subscribe($"{Module}.{Name}.{nameof(OutputImage)}", () => OutputImage);
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DATA.Subscribe($"{Module}.{Name}.{nameof(Result)}", () => Result);
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DATA.Subscribe($"{Module}.{Name}.{nameof(LoadFile)}", () => LoadFile);
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DATA.Subscribe($"{Module}.{Name}.{nameof(PreviewImage1)}", () => PreviewImage1);
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DATA.Subscribe($"{Module}.{Name}.{nameof(PreviewImage2)}", () => PreviewImage2);
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DATA.Subscribe($"{Module}.{Name}.{nameof(PreviewImage3)}", () => PreviewImage3);
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DATA.Subscribe($"{Module}.{Name}.{nameof(PreviewImage4)}", () => PreviewImage4);
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if (!_isInit)
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{
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return true;
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}
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OP.Subscribe($"{Module}.{Name}.ExecuteLocalFile", (string cmd, object[] args) => ExecuteLocalFile((string)args[0]));
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OP.Subscribe($"{Module}.{Name}.SetSample", (string cmd, object[] args) => SetSample((string)args[0]));
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OP.Subscribe($"{Module}.{Name}.ReloadSolution", (string cmd, object[] args) => LoadSolution());
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OP.Subscribe($"{Module}.{Name}.ExecuteGrab", (string cmd, object[] args) => ExecuteGrab((string)args[0]));
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LoadSolution();
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return true;
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}
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private double[] ConvertSample(string s)
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{
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var ss = s.Split(',');
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if (ss.Length != 6) return null;
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double[] ff = new double[6];
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try
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{
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for (int i = 0; i < ff.Length; i++)
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{
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ff[i] = Convert.ToDouble(ss[i]);
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}
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}
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catch (Exception)
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{
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return null;
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}
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return ff;
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}
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private bool SetSample(string command)
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{
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if (command == "GroupCheck")
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{
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ProjectName = "FindEdge";
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}
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else if (command.Contains("WaferPlaceCheck"))
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{
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ProjectName = "FindEdge2";
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}
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else
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{
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EV.PostInfoLog(Module, $"VM command error");
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return false;
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}
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IMVSLineFindModuTool module1 = (IMVSLineFindModuTool)VmSolution.Instance[$"{ProjectName}.FindEdge1"];
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IMVSLineFindModuTool module2 = (IMVSLineFindModuTool)VmSolution.Instance[$"{ProjectName}.FindEdge2"];
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IMVSLineFindModuTool module3 = (IMVSLineFindModuTool)VmSolution.Instance[$"{ProjectName}.FindEdge3"];
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GlobalVariableModuleTool globalVar = (GlobalVariableModuleTool)VmSolution.Instance["全局变量1"];
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if (globalVar == null || module1 == null || module2 == null || module3 == null) return false;
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if (ProjectName == "FindEdge")
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{
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globalVar.SetGlobalVar("point1x", module1.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point1y", module1.ModuResult.Midpoint.Y.ToString());
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globalVar.SetGlobalVar("point2x", module2.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point2y", module2.ModuResult.Midpoint.Y.ToString());
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globalVar.SetGlobalVar("point3x", module3.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point3y", module3.ModuResult.Midpoint.Y.ToString());
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SampleData[0] = module1.ModuResult.Midpoint.X;
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SampleData[1] = module1.ModuResult.Midpoint.Y;
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SampleData[2] = module2.ModuResult.Midpoint.X;
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SampleData[3] = module2.ModuResult.Midpoint.Y;
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SampleData[4] = module3.ModuResult.Midpoint.X;
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SampleData[5] = module3.ModuResult.Midpoint.Y;
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}
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else if (ProjectName == "FindEdge2")
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{
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globalVar.SetGlobalVar("point1x_2", module1.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point1y_2", module1.ModuResult.Midpoint.Y.ToString());
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globalVar.SetGlobalVar("point2x_2", module2.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point2y_2", module2.ModuResult.Midpoint.Y.ToString());
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globalVar.SetGlobalVar("point3x_2", module3.ModuResult.Midpoint.X.ToString());
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globalVar.SetGlobalVar("point3y_2", module3.ModuResult.Midpoint.Y.ToString());
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SampleData2[0] = module1.ModuResult.Midpoint.X;
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SampleData2[1] = module1.ModuResult.Midpoint.Y;
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SampleData2[2] = module2.ModuResult.Midpoint.X;
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SampleData2[3] = module2.ModuResult.Midpoint.Y;
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SampleData2[4] = module3.ModuResult.Midpoint.X;
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SampleData2[5] = module3.ModuResult.Midpoint.Y;
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}
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var ss = $"{module1.ModuResult.Midpoint.X},{module1.ModuResult.Midpoint.Y},{module2.ModuResult.Midpoint.X},{module2.ModuResult.Midpoint.Y},{module3.ModuResult.Midpoint.X},{module3.ModuResult.Midpoint.Y}";
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if (ProjectName == "FindEdge")
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{
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SC.SetItemValue($"{Name}.SampleData", ss);
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}
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else if (ProjectName == "FindEdge2")
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{
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SC.SetItemValue($"{Name}.SampleData2", ss);
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}
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return true;
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}
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private bool SetInitSample(double[] sampleArray1,double tolerance1, double[] sampleArray2, double tolerance2)
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{
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if (sampleArray1.Length !=6 || sampleArray2.Length != 6)
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{
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return false;
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}
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GlobalVariableModuleTool globalVar = (GlobalVariableModuleTool)VmSolution.Instance["全局变量1"];
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if (globalVar == null) return false;
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try
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{
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globalVar.SetGlobalVar("point1x", sampleArray1[0].ToString());
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globalVar.SetGlobalVar("point1y", sampleArray1[1].ToString());
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globalVar.SetGlobalVar("point2x", sampleArray1[2].ToString());
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globalVar.SetGlobalVar("point2y", sampleArray1[3].ToString());
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globalVar.SetGlobalVar("point3x", sampleArray1[4].ToString());
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globalVar.SetGlobalVar("point3y", sampleArray1[5].ToString());
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globalVar.SetGlobalVar("tolerance", tolerance1.ToString());
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globalVar.SetGlobalVar("point1x_2", sampleArray2[0].ToString());
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globalVar.SetGlobalVar("point1y_2", sampleArray2[1].ToString());
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globalVar.SetGlobalVar("point2x_2", sampleArray2[2].ToString());
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globalVar.SetGlobalVar("point2y_2", sampleArray2[3].ToString());
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globalVar.SetGlobalVar("point3x_2", sampleArray2[4].ToString());
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globalVar.SetGlobalVar("point3y_2", sampleArray2[5].ToString());
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globalVar.SetGlobalVar("tolerance2", tolerance2.ToString());
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}
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catch (Exception ex)
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{
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return false;
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}
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return true;
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}
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private int _count = 0;
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private bool OnTimer()
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{
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if (IsProcessing)
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{
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if (ProjectName!="FindEdge" && ProjectName != "FindEdge2")
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{
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return true;
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}
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VmProcedure process = (VmProcedure)VmSolution.Instance[ProjectName];
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if (process.IsRunning)
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{
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_count++;
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if (_count > 10)
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{
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_count = 0;
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OutputImage = null;
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CurrentCircle = new double[3] { 0,0,0 };
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SampleCircle = new double[3] { 0,0,0 };
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Distance = 0;
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Result = false;
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ModuleStatus = false;
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IsProcessing = false;
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EV.PostInfoLog(Module, $"VM TimeOver");
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}
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return true;
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}
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else
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{
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try
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{
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IMVSCircleFitModuTool module1 = (IMVSCircleFitModuTool)VmSolution.Instance[$"{ProjectName}.圆拟合1"];
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IMVSCircleFitModuTool module2 = (IMVSCircleFitModuTool)VmSolution.Instance[$"{ProjectName}.圆拟合2"];
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CalculatorModuleTool module3 = (CalculatorModuleTool)VmSolution.Instance[$"{ProjectName}.变量计算1"];
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SaveImageTool module4 = (SaveImageTool)VmSolution.Instance[$"{ProjectName}.OutputImage"];
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IfModuleTool module5 = (IfModuleTool)VmSolution.Instance[$"{ProjectName}.条件检测2"];
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if (module4.ModuResult.ModuStatus == 1) OutputImage = BitmapToBytes(module4.ModuResult.OutputImage.ToBitmap());
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else OutputImage = null;
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if (Command == "WaferPlaceCheck")
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{
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PreviewImage1 = OutputImage;
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}
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else if (Command == "GroupCheck1")
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{
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PreviewImage2 = OutputImage;
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}
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else if (Command == "GroupCheck2")
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{
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PreviewImage3 = OutputImage;
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}
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else if (Command == "GroupCheck3")
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{
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PreviewImage4 = OutputImage;
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}
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var point1 = module1.ModuResult.OutputCircle.CenterPoint;
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var radius1 = module1.ModuResult.OutputCircle.Radius;
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var point2 = module2.ModuResult.OutputCircle.CenterPoint;
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var radius2 = module2.ModuResult.OutputCircle.Radius;
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var result = module3.ModuResult.GetOutputFloat("distance").pFloatVal;
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if (point1 == null || point2 == null || result == null)
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{
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CurrentCircle = new double[3] { 0, 0, 0 };
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SampleCircle = new double[3] { 0, 0, 0 };
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Distance = 0;
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Result = false;
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ModuleStatus = false;
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IsProcessing = false;
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EV.PostInfoLog(Module, $"VM Failed");
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return true;
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}
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CurrentCircle = new double[3] { point1.X, point1.Y, radius1 };
|
|||
|
|
SampleCircle = new double[3] { point2.X, point2.Y, radius2 };
|
|||
|
|
Distance = result.Length == 1 ? result[0] : -1;
|
|||
|
|
Result = module5.ModuResult.NIfResult == 1;
|
|||
|
|
|
|||
|
|
ModuleStatus = module4.ModuResult.ModuStatus == 1;
|
|||
|
|
}
|
|||
|
|
catch (Exception ex)
|
|||
|
|
{
|
|||
|
|
OutputImage = null;
|
|||
|
|
CurrentCircle = new double[3] { 0, 0, 0 };
|
|||
|
|
SampleCircle = new double[3] { 0, 0, 0 };
|
|||
|
|
Distance = 0;
|
|||
|
|
Result = false;
|
|||
|
|
ModuleStatus = false;
|
|||
|
|
IsProcessing = false;
|
|||
|
|
EV.PostInfoLog(Module, $"VM Test Failed");
|
|||
|
|
}
|
|||
|
|
IsProcessing = false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else _count = 0;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public byte[] BitmapToBytes(Bitmap bitmap)
|
|||
|
|
{
|
|||
|
|
using (MemoryStream ms = new MemoryStream())
|
|||
|
|
{
|
|||
|
|
bitmap.Save(ms, ImageFormat.Bmp); // 推荐Bmp格式保证数据完整性:ml-citation{ref="1,5" data="citationList"}
|
|||
|
|
return ms.ToArray(); // 比GetBuffer()更精确获取有效数据:ml-citation{ref="12" data="citationList"}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public bool ExecuteGrab(string command)
|
|||
|
|
{
|
|||
|
|
if (IsProcessing)
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"VM processing");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
var ccd = DEVICE.GetDevice<HikGigeCamera>($"LoadLock.HikGigeCamera");
|
|||
|
|
if (ccd == null)
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"ccd no install");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (ccd.ImageData == null)
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"ccd no picture");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (command.Contains("WaferPlaceCheck"))
|
|||
|
|
{
|
|||
|
|
ProjectName = "FindEdge2";
|
|||
|
|
}
|
|||
|
|
else if (command.Contains("GroupCheck"))
|
|||
|
|
{
|
|||
|
|
ProjectName = "FindEdge";
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"VM command error");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
ModuleStatus = false;
|
|||
|
|
Result = false;
|
|||
|
|
VmProcedure process = (VmProcedure)VmSolution.Instance[$"{ProjectName}"];
|
|||
|
|
ImageSourceModuleTool module = (ImageSourceModuleTool)VmSolution.Instance[$"{ProjectName}.Picture"];
|
|||
|
|
if (null == process || module == null) return true;
|
|||
|
|
|
|||
|
|
module.ModuParams.ImageSourceType = ImageSourceParam.ImageSourceTypeEnum.SDK;
|
|||
|
|
module.SetImageData(ccd.ImageData);
|
|||
|
|
|
|||
|
|
process.Run(command);
|
|||
|
|
IsProcessing = true;
|
|||
|
|
Command = command;
|
|||
|
|
}
|
|||
|
|
catch (VmException ex)
|
|||
|
|
{
|
|||
|
|
EV.PostAlarmLog(Module, $"Excute VM Procedure Failed {ex}");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public bool ExecuteLocalFile(string command)
|
|||
|
|
{
|
|||
|
|
if (IsProcessing)
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"VM processing");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
if (command.Contains("WaferPlaceCheck"))
|
|||
|
|
{
|
|||
|
|
ProjectName = "FindEdge2";
|
|||
|
|
}
|
|||
|
|
else if (command.Contains("GroupCheck"))
|
|||
|
|
{
|
|||
|
|
ProjectName = "FindEdge";
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
EV.PostInfoLog(Module, $"VM command error");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
VmProcedure process = (VmProcedure)VmSolution.Instance[$"{ProjectName}"];
|
|||
|
|
if (null == process) return true;
|
|||
|
|
|
|||
|
|
ImageSourceModuleTool module = (ImageSourceModuleTool)VmSolution.Instance[$"{ProjectName}.Picture"];
|
|||
|
|
if (module.ModuParams.ImageSourceType == ImageSourceParam.ImageSourceTypeEnum.SDK)
|
|||
|
|
{
|
|||
|
|
module.ModuParams.ImageSourceType = ImageSourceParam.ImageSourceTypeEnum.LocalImage;
|
|||
|
|
module.ClearAllInputImage();
|
|||
|
|
string[] filePaths = Directory.GetFiles(LocalImageFilePath);
|
|||
|
|
foreach (var item in filePaths)
|
|||
|
|
{
|
|||
|
|
module.AddInputImageByPath(item);
|
|||
|
|
}
|
|||
|
|
module.ModuParams.AutoPlay = true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
process.Run(command);
|
|||
|
|
IsProcessing = true;
|
|||
|
|
Command = command;
|
|||
|
|
}
|
|||
|
|
catch (VmException ex)
|
|||
|
|
{
|
|||
|
|
EV.PostAlarmLog(Module, $"Excute VM Procedure Failed {ex}");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void Reset()
|
|||
|
|
{
|
|||
|
|
//if (!_isInit)
|
|||
|
|
//{
|
|||
|
|
// return;
|
|||
|
|
//}
|
|||
|
|
//LoadSolution();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private bool LoadSolution()
|
|||
|
|
{
|
|||
|
|
LoadFile = false;
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
VmSolution.Load(_sol);
|
|||
|
|
|
|||
|
|
ImageSourceModuleTool module = (ImageSourceModuleTool)VmSolution.Instance["FindEdge.Picture"];
|
|||
|
|
module.ModuParams.ImageSourceType = ImageSourceParam.ImageSourceTypeEnum.LocalImage;
|
|||
|
|
module.ClearAllInputImage();
|
|||
|
|
string[] filePaths = Directory.GetFiles(LocalImageFilePath);
|
|||
|
|
foreach (var item in filePaths)
|
|||
|
|
{
|
|||
|
|
module.AddInputImageByPath(item);
|
|||
|
|
}
|
|||
|
|
module.ModuParams.AutoPlay = true;
|
|||
|
|
|
|||
|
|
module = (ImageSourceModuleTool)VmSolution.Instance["FindEdge2.Picture"];
|
|||
|
|
module.ModuParams.ImageSourceType = ImageSourceParam.ImageSourceTypeEnum.LocalImage;
|
|||
|
|
module.ClearAllInputImage();
|
|||
|
|
filePaths = Directory.GetFiles(LocalImageFilePath);
|
|||
|
|
foreach (var item in filePaths)
|
|||
|
|
{
|
|||
|
|
module.AddInputImageByPath(item);
|
|||
|
|
}
|
|||
|
|
module.ModuParams.AutoPlay = true;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
catch (Exception ex)
|
|||
|
|
{
|
|||
|
|
EV.PostAlarmLog(Module, $"Load VM file {_sol} Failed {ex}");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (!SetInitSample(SampleData, Tolerance, SampleData2, Tolerance2))
|
|||
|
|
{
|
|||
|
|
EV.PostAlarmLog(Module, $"Set SampleData failed");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
EV.PostInfoLog(Module, $"Load VisionMaster Success");
|
|||
|
|
LoadFile = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void Terminate()
|
|||
|
|
{
|
|||
|
|
VmSolution.Instance?.Dispose();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|