#include "stdafx.h"
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#include "LocProcess.h"
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#include "VisionRecipe.h"
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#include "BlSideData.h"
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#include "FileRecipe.h"
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CLocProcess::CLocProcess(){
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/* code */
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for (int i = 0; i < 2; i++) {
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m_dot[i] = NULL;
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}
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m_topMark.x = 0;
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m_topMark.y = 0;
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m_botMark.x = 0;
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m_botMark.y = 0;
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m_botPoint.x = 0;
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m_botPoint.y = 0;
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m_topPoint.x = 0;
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m_topPoint.y = 0;
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}
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CLocProcess::CLocProcess(DimensionDir eDir) {
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/* code */
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m_eDir = eDir;
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for (int i = 0; i < 2; i++) {
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CNccDotProcess *dot = new CNccDotProcess(m_eDir, i);
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m_dot[i] = dot;
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}
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m_topMark.x = 0;
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m_topMark.y = 0;
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m_botMark.x = 0;
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m_botMark.y = 0;
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m_botPoint.x = 0;
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m_botPoint.y = 0;
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m_topPoint.x = 0;
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m_topPoint.y = 0;
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}
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CLocProcess::~CLocProcess(){
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/* code */
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Release();
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}
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void CLocProcess::Release(void) {
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/* code */
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for (int i = 0; i < 2; i++) {
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CNccDotProcess *dot = m_dot[i];
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if (NULL == dot) continue;
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delete dot;
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dot = NULL;
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m_dot[i] = NULL;
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}
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}
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void CLocProcess::Init(void) {
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/* code */
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for (int i = 0; i < 2; i++) {
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CNccDotProcess *dot = new CNccDotProcess(m_eDir, i);
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m_dot[i] = dot;
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}
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m_topMark.x = 0;
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m_topMark.y = 0;
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m_botMark.x = 0;
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m_botMark.y = 0;
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}
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CNccDotProcess* CLocProcess::getDot(int index) {
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/* code */
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if (index < 0 || index > 1) return NULL;
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CNccDotProcess *dot = m_dot[index];
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return dot;
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}
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void CLocProcess::setPose(Point2I pose, int nType) {
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/* code */
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (nullptr == pSideData) return;
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double dMmvspX = pSideData->m_dPixelSizeX; //X·½ÏòµÄÏñËØ´óС
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double dMmvspY = pSideData->m_dPixelSizeY; //Y·½ÏòµÄÏñËØ´óС
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Point2I point;
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point.x = (int)(pose.x * dMmvspX);
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point.y = (int)(pose.y * dMmvspY);
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if (0 == nType) {
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m_topMark = point;
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pSideData->m_mTopBzMark = point;
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}
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else if (1 == nType){
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m_botMark = point;
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pSideData->m_mBotBzMark = point;
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}
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else if (2 == nType) {
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m_topPoint = point;
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pSideData->m_mTopBzPoint = point;
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}
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else if (3 == nType) {
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m_botPoint = point;
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pSideData->m_mBotBzPoint = point;
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}
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}
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Point2I CLocProcess::getPose(int nType) {
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/* code */
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if (0 == nType) {
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return m_topMark;
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}
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else if (1 == nType) {
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return m_botMark;
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}
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else if (2 == nType) {
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return m_topPoint;
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}
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else if (3 == nType) {
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return m_botPoint;
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}
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return m_topMark;
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}
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int CLocProcess::execute(DimensionDir eDir) {
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/* code */
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return 0;
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pSideData->m_bTopPoint_Find = FALSE;
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pSideData->m_bBotPoint_Find = FALSE;
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// Point2I offset, pose;
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Point2I offset;
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for (int i = 0; i < 2; i++) {
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CNccDotProcess *dot = m_dot[i];
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if (NULL == dot) continue;
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SetPos(dot);
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// pose = dot->getPose();
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// offset = getOffset(pose);
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offset.x = 0;
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offset.y = 0;
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dot->execute(eDir, offset);
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SetResult(dot);
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}
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return 0;
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}
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void CLocProcess::SetPos(CNccDotProcess* dot) {
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/* code */
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return;
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if (NULL == dot) return;
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Point2I pose = GetPos(dot);
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if (0 == pose.x && 0 == pose.y) return;
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double dx = pose.x - m_topMark.x;
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double dy = pose.y - m_topMark.y;
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double dist0 = sqrt(dx * dx + dy * dy);
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dx = pose.x - m_botMark.x;
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dy = pose.y - m_botMark.y;
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double dist1 = sqrt(dx * dx + dy * dy);
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double dMmvspX = pSideData->m_dPixelSizeX; //X·½ÏòµÄÏñËØ´óС
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double dMmvspY = pSideData->m_dPixelSizeY; //Y·½ÏòµÄÏñËØ´óС
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if (dist0 < dist1) {
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if (!pSideData->m_bTopMark_Find) return;
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Point2I topMark = pSideData->m_mTopMark;
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Point2D offset;
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offset.x = dMmvspX * topMark.x - m_topMark.x;
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offset.y = dMmvspY * topMark.y - m_topMark.y;
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Point2I locPose;
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locPose.x = (int)((pose.x + offset.x) / dMmvspX);
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locPose.y = (int)((pose.y + offset.y) / dMmvspY);
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dot->setPose(locPose);
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}
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else {
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if (!pSideData->m_bBotMark_Find) return;
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Point2I botMark = pSideData->m_mBotMark;
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Point2D offset;
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offset.x = dMmvspX * botMark.x - m_botMark.x;
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offset.y = dMmvspY * botMark.y - m_botMark.y;
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Point2I locPose;
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locPose.x = (int)((pose.x + offset.x) / dMmvspX);
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locPose.y = (int)((pose.y + offset.y) / dMmvspY);
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dot->setPose(locPose);
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}
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}
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Point2I CLocProcess::GetPos(CNccDotProcess* dot) {
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/* code */
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Point2I pose;
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pose.x = 0;
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pose.y = 0;
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if (0 == dot->getID()) {
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pose = m_topPoint;
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}
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else {
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pose = m_botPoint;
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}
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return pose;
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}
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void CLocProcess::SetResult(CNccDotProcess *dot) {
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/* code */
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if (NULL == m_dot) return;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return;
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int id = dot->getID();
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if (0 == id) {
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if (fabs(dot->m_ptResult.x) < 0.01 && fabs(dot->m_ptResult.y) < 0.01) return;
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pSideData->m_bTopPoint_Find = TRUE;
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pSideData->m_mTopPoint.x = (int)(dot->m_ptResult.x);
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pSideData->m_mTopPoint.y = (int)(dot->m_ptResult.y);
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}
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else if (1 == id) {
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if (fabs(dot->m_ptResult.x) < 0.01 && fabs(dot->m_ptResult.y) < 0.01) return;
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pSideData->m_bBotPoint_Find = TRUE;
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pSideData->m_mBotPoint.x = (int)(dot->m_ptResult.x);
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pSideData->m_mBotPoint.y = (int)(dot->m_ptResult.y);
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}
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}
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Point2I CLocProcess::getOffset(Point2I pose) {
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/* code */
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Point2I result;
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result.x = 0;
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result.y = 0;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return result;
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if (0 == pose.x && 0 == pose.y) return result;
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double dx = pose.x - m_topMark.x;
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double dy = pose.y - m_topMark.y;
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double dist0 = sqrt(dx * dx + dy * dy);
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dx = pose.x - m_botMark.x;
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dy = pose.y - m_botMark.y;
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double dist1 = sqrt(dx * dx + dy * dy);
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if (dist0 < dist1) {
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if (pSideData->m_bTopMark_Find) {
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result.x = pSideData->m_mTopMark.x - m_topMark.x;
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result.y = pSideData->m_mTopMark.y - m_topMark.y;
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}
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else if (pSideData->m_bBotMark_Find) {
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result.x = pSideData->m_mBotMark.x - m_botMark.x;
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result.y = pSideData->m_mBotMark.y - m_botMark.y;
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}
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}
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else {
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if (pSideData->m_bBotMark_Find) {
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result.x = pSideData->m_mBotMark.x - m_botMark.x;
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result.y = pSideData->m_mBotMark.y - m_botMark.y;
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}
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else if(pSideData->m_bTopMark_Find) {
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result.x = pSideData->m_mTopMark.x - m_topMark.x;
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result.y = pSideData->m_mTopMark.y - m_topMark.y;
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}
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}
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return result;
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}
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Json::Value CLocProcess::WriteToJson(std::string &strDir) {
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/* code */
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Json::Value jsValue;
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jsValue["type"] = LOC_VISION_PROCESS;
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jsValue["side"] = (int)(m_eDir);
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jsValue["TopMark X"] = m_topMark.x;
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jsValue["TopMark Y"] = m_topMark.y;
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jsValue["BotMark X"] = m_botMark.x;
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jsValue["BotMark Y"] = m_botMark.y;
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jsValue["TopPoint X"] = m_topPoint.x;
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jsValue["TopPoint Y"] = m_topPoint.y;
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jsValue["BotPoint X"] = m_botPoint.x;
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jsValue["BotPoint Y"] = m_botPoint.y;
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for (int i = 0; i < 2; i++) {
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std::string name = ClsVision::FormatString("Dot%d", i);
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jsValue[name.c_str()] = m_dot[i]->WriteToJson(strDir);
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}
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return jsValue;
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}
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int CLocProcess::DecodeJson(std::string &strDir, Json::Value &jsValue) {
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/* code */
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int num = (int)jsValue.size();
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if (num < 1) return -1;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (nullptr == pSideData) return -1;
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//1. Side
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std::string strName = "side";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_eDir = (DimensionDir)(jsValue[strName.c_str()].asInt());
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}
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//2. TopMark X,//3. TopMark Y
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strName = "TopMark X";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_topMark.x = jsValue[strName.c_str()].asInt();
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pSideData->m_mTopBzMark.x = m_topMark.x;
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}
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strName = "TopMark Y";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_topMark.y = jsValue[strName.c_str()].asInt();
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pSideData->m_mTopBzMark.y = m_topMark.y;
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}
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strName = "BotMark X";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_botMark.x = jsValue[strName.c_str()].asInt();
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pSideData->m_mBotBzMark.x = m_botMark.x;
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}
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strName = "BotMark Y";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_botMark.y = jsValue[strName.c_str()].asInt();
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pSideData->m_mBotBzMark.y = m_botMark.y;
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}
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strName = "TopPoint X";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_topPoint.x = jsValue[strName.c_str()].asInt();
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pSideData->m_mTopBzPoint.x = m_topPoint.x;
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}
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strName = "TopPoint Y";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_topPoint.y = jsValue[strName.c_str()].asInt();
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pSideData->m_mTopBzPoint.y = m_topPoint.y;
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}
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strName = "BotPoint X";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_botPoint.x = jsValue[strName.c_str()].asInt();
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pSideData->m_mBotBzPoint.x = m_botPoint.x;
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}
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strName = "BotPoint Y";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_botPoint.y = jsValue[strName.c_str()].asInt();
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pSideData->m_mBotBzPoint.y = m_botPoint.y;
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}
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for (int i = 0; i < 2; i++) {
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std::string name = ClsVision::FormatString("Dot%d", i);
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if (jsValue.isMember(name.c_str()) && jsValue[name.c_str()].isObject()) {
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Json::Value jsData = jsValue[name.c_str()];
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m_dot[i]->DecodeJson(strDir, jsData);
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}
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}
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return 0;
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}
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