using LB_VisionControl;
|
using LB_VisionProcesses.Cameras;
|
using System;
|
using System.Collections.Generic;
|
using System.ComponentModel;
|
using System.Data;
|
using System.Diagnostics;
|
using System.Drawing;
|
using System.Linq;
|
using System.Text;
|
using System.Text.RegularExpressions;
|
using System.Threading.Tasks;
|
using System.Windows;
|
using System.Windows.Forms;
|
using static ZXing.QrCode.Internal.Mode;
|
|
namespace LB_SmartVision.Forms.Pages.MotionControlPage
|
{
|
public partial class MotionControlForm : Form
|
{
|
BaseCamera camera { get; set; }
|
UserPictureBox onlinePictureBox { get; set; }
|
public MotionControlForm()
|
{
|
InitializeComponent();
|
}
|
|
public MotionControlForm(BaseCamera camera)
|
{
|
InitializeComponent();
|
|
if (camera == null)
|
return;
|
|
this.camera = camera;
|
this.Text = camera.SN;
|
textBoxSN.Text = camera.SN;
|
|
onlinePictureBox = new UserPictureBox(uiGroupBoxImage);
|
this.uiGroupBoxImage.Controls.Clear();
|
this.uiGroupBoxImage.Controls.Add(onlinePictureBox);
|
onlinePictureBox.Dock = DockStyle.Fill;
|
|
//加载回调函数
|
Subscribe();
|
}
|
|
private void CameraForm_FormClosing(object sender, FormClosingEventArgs e)
|
{
|
if (camera == null)
|
return;
|
|
camera.StopGrabbing();
|
|
camera.StartGrabbing();
|
|
Unsubscribe();
|
}
|
|
public void Unsubscribe()
|
{
|
try
|
{
|
if (camera == null)
|
return;
|
//取消回调函数
|
camera.ImageGrabbed -= GetImageBllComplete;
|
}
|
catch (Exception ex)
|
{
|
// 记录错误信息
|
Debug.WriteLine($"错误: {ex.Message}");
|
}
|
|
}
|
|
public void Subscribe()
|
{
|
try
|
{
|
if (camera == null)
|
return;
|
|
//取消回调函数
|
camera.ImageGrabbed -= GetImageBllComplete;
|
//加载回调函数
|
camera.ImageGrabbed += GetImageBllComplete;
|
}
|
catch (Exception ex)
|
{
|
// 记录错误信息
|
Debug.WriteLine($"错误: {ex.Message}");
|
}
|
}
|
|
/// <summary>
|
/// 相机回调运行
|
/// </summary>
|
/// <param name="CCDName"></param>
|
/// <param name="image"></param>
|
private void GetImageBllComplete(object sender, CameraEventArgs e)
|
{
|
if (e.Bitmap == null)
|
return;
|
|
lock (e.Bitmap)
|
{
|
if (this.InvokeRequired) // 检查是否需要在UI线程上调用
|
{
|
this.Invoke(new Action(() =>
|
{
|
onlinePictureBox.Image = e.Bitmap;
|
})); // 递归调用自身，但这次在UI线程上
|
}
|
else
|
{
|
onlinePictureBox.Image = e.Bitmap;
|
}
|
}
|
}
|
|
private void uiButtonGrabOnce_Click(object sender, EventArgs e)
|
{
|
if (camera == null)
|
return;
|
|
Task.Factory.StartNew(() =>
|
{
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
|
DateTime startTime = DateTime.Now; // 当前时间
|
camera.GetImageWithSoftTrigger(out Bitmap bitmap);
|
});
|
}
|
|
private void uiButtonCloseSoftGrab_Click(object sender, EventArgs e)
|
{
|
if (camera == null)
|
return;
|
|
Task.Factory.StartNew(() =>
|
{
|
camera.StopGrabbing();
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
|
camera.StartGrabbing();
|
});
|
}
|
|
private void uiButtonHardGrabWithPLC_Click(object sender, EventArgs e)
|
{
|
if (camera == null)
|
return;
|
|
Task.Factory.StartNew(() =>
|
{
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Line0);
|
camera.StopGrabbing();
|
camera.StartWith_HardTriggerModel();
|
});
|
}
|
|
private void uiButtonDecreaseX_Click(object sender, EventArgs e)
|
{
|
float xPosition = 0;
|
xPosition = float.Parse(textBoxXPosition.Text);
|
MovePosition(-xPosition, 0, 0, 0);
|
PositionNow();
|
}
|
|
private void uiButtonIncreaseX_Click(object sender, EventArgs e)
|
{
|
float xPosition = 0;
|
xPosition = float.Parse(textBoxXPosition.Text);
|
MovePosition(xPosition, 0, 0, 0);
|
PositionNow();
|
}
|
|
private void uiButtonDecreaseY_Click(object sender, EventArgs e)
|
{
|
float yPosition = 0;
|
yPosition = float.Parse(textBoxYPosition.Text);
|
MovePosition(0, -yPosition, 0, 0);
|
PositionNow();
|
}
|
|
private void uiButtonIncreaseY_Click(object sender, EventArgs e)
|
{
|
float yPosition = 0;
|
yPosition = float.Parse(textBoxYPosition.Text);
|
MovePosition(0, yPosition, 0, 0);
|
PositionNow();
|
}
|
|
private void uiButtonDecreaseZ_Click(object sender, EventArgs e)
|
{
|
float zPosition = 0;
|
zPosition = float.Parse(textBoxZPosition.Text);
|
MovePosition(0, 0, -zPosition, 0);
|
PositionNow();
|
}
|
|
private void uiButtonIncreaseZ_Click(object sender, EventArgs e)
|
{
|
float zPosition = 0;
|
zPosition = float.Parse(textBoxZPosition.Text);
|
MovePosition(0, 0, zPosition, 0);
|
PositionNow();
|
}
|
|
private void uiButtonDecreasePitchAngle_Click(object sender, EventArgs e)
|
{
|
float pitchanglePosition = 0;
|
pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
|
MovePosition(0, 0, 0, -pitchanglePosition);
|
AngNow();
|
}
|
|
private void uiButtonIncreasePitchAngle_Click(object sender, EventArgs e)
|
{
|
float pitchanglePosition = 0;
|
pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
|
MovePosition(0, 0, 0, pitchanglePosition);
|
AngNow();
|
}
|
|
public float XPositionDt;
|
public float YPositionDt;
|
public float ZPositionDt;
|
public float AnglePositionDt;
|
public void MovePosition(float fDeltaX, float fDeltaY, float fDeltaZ, float fDeltAngle)
|
{
|
XPositionDt += fDeltaX;
|
YPositionDt += fDeltaY;
|
ZPositionDt += fDeltaZ;
|
AnglePositionDt += fDeltAngle;
|
}
|
|
private void textBoxPointSpeed_TextChanged(object sender, EventArgs e)
|
{
|
float pointspeed = 0;
|
pointspeed = float.Parse(textBoxPointSpeed.Text);
|
}
|
|
private void textBoxAngSpeed_TextChanged(object sender, EventArgs e)
|
{
|
float angspeed = 0;
|
angspeed = float.Parse(textBoxAngSpeed.Text);
|
}
|
|
private void textBoxPositionNow_TextChanged(object sender, EventArgs e)
|
{
|
textBoxPositionNow.Enabled = false;
|
|
string x;
|
string y;
|
string z;
|
x = Convert.ToString(Math.Round(XPositionDt, 3));
|
y = Convert.ToString(Math.Round(YPositionDt, 3));
|
z = Convert.ToString(Math.Round(ZPositionDt, 3));
|
|
textBoxPositionNow.Text = "(" + x + "," + y + "," + z + ")";
|
}
|
|
private void textBoxAngleNow_TextChanged(object sender, EventArgs e)
|
{
|
textBoxAngleNow.Enabled = false;
|
|
string ang;
|
ang = Convert.ToString(Math.Round(AnglePositionDt, 3));
|
|
textBoxAngleNow.Text = ang;
|
}
|
|
private void PositionNow()
|
{
|
string x;
|
string y;
|
string z;
|
x = Convert.ToString(Math.Round(XPositionDt, 3));
|
y = Convert.ToString(Math.Round(YPositionDt, 3));
|
z = Convert.ToString(Math.Round(ZPositionDt, 3));
|
|
textBoxPositionNow.Text = "(" + x + y + z + ")";
|
}
|
private void AngNow()
|
{
|
string ang;
|
ang = Convert.ToString(Math.Round(AnglePositionDt, 3));
|
|
textBoxAngleNow.Text = "(" + ang + ")";
|
}
|
|
private void uiGroupBoxMotionControl_Enter(object sender, EventArgs e)
|
{
|
|
}
|
|
private void label1_Click(object sender, EventArgs e)
|
{
|
|
}
|
|
private void tableLayoutPanel3_Paint(object sender, PaintEventArgs e)
|
{
|
|
}
|
|
private void uiSplitContainer1_Panel1_Paint(object sender, PaintEventArgs e)
|
{
|
|
}
|
|
// 使用KeyDown事件更适合处理回车键
|
private void textBoxXPosition_KeyDown(object sender, KeyEventArgs e)
|
{
|
if (e.KeyCode == Keys.Enter)
|
{
|
//// 验证输入
|
//if (ValidateXPosition())
|
//{
|
// // 执行确认操作
|
// ProcessXPosition();
|
//}
|
|
// 阻止系统声音并让文本框失去焦点
|
e.SuppressKeyPress = true;
|
e.Handled = true;
|
|
this.ActiveControl = null;
|
}
|
}
|
|
// 使用KeyPress验证实时输入
|
private void textBoxXPosition_KeyPress(object sender, KeyPressEventArgs e)
|
{
|
// 允许回车键（虽然KeyDown会处理它）
|
if (e.KeyChar == (char)Keys.Enter)
|
return;
|
|
// 允许退格键
|
if (e.KeyChar == (char)Keys.Back)
|
return;
|
|
// 只允许数字
|
if (!char.IsDigit(e.KeyChar))
|
{
|
e.Handled = true; // 阻止输入
|
}
|
}
|
|
// 验证方法
|
private bool ValidateXPosition()
|
{
|
if (string.IsNullOrWhiteSpace(textBoxXPosition.Text))
|
return false;
|
|
return Regex.IsMatch(textBoxXPosition.Text, @"^\d+$");
|
}
|
|
// 处理确认的方法
|
private void ProcessXPosition()
|
{
|
if (int.TryParse(textBoxXPosition.Text, out int xPosition))
|
{
|
// 执行逻辑
|
//LogInfo?.Invoke($"X位置已更新为: {xPosition}", LogInfoType.INFO);
|
}
|
}
|
|
private void tableLayoutPanel1_Paint(object sender, PaintEventArgs e)
|
{
|
|
}
|
}
|
}
|
