def calibrate(self, axis):
### click on calibrate X or Y button on dialpad
index = int(self.content.ids["cur_panel"].text)
x, y = inspection.get_panel_reference_1(self.project_data["Panel"],
index - 1)
if x == -1 and y == -1:
return
z = self.project_data["Setup"]["CameraParameters"]["FocusZ"]
br = self.project_data["Setup"]["CameraParameters"]["IlluminationPWM"]
# add offset for calibration
centerx = x
centery = y
if axis == "X":
x += self.project_data["Setup"]["CalibrationOffset"]
if axis == "Y":
y += self.project_data["Setup"]["CalibrationOffset"]
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.set_part_overlay(ref)
self.capture_video_inspectionpart = ref
# inspect xyz printer
gcode = robotcontrol.inspect_xyz(self.project_data, x, y, z, br,
centerx, centery, index - 1, ref)
self.queue_printer_command(gcode)
def get_panel_ref1(self):
### click on get1 button on dialpad
index = int(self.content.ids["cur_panel"].text)
x, y = inspection.get_panel_reference_1(self.project_data["Panel"],
index - 1)
if x == -1 and y == -1:
x = self.project_data["Setup"]["TravelX"]
y = self.project_data["Setup"]["TravelY"]
z = self.project_data["Setup"]["TravelZ"]
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
# set body and mask
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.set_part_overlay(ref)
self.capture_video_inspectionpart = ref
# go xyz printer
gcode = robotcontrol.go_xyz(self.project_data, x, y, z)
self.queue_printer_command(gcode)
def set_reference_panel(self):
# show dialpad
# print("ref")
self.ids["tab_panel"].switch_to(self.ids["tab_panel"].tab_list[0])
self.content = ControlPopup(
controlXYZ=self.control_XYZ,
set_panel_ref1=self.set_panel_ref1,
set_panel_ref2=self.set_panel_ref2,
get_panel_ref1=self.get_panel_ref1,
get_panel_ref2=self.get_panel_ref2,
calibrate=self.calibrate,
teachin_reference=self.teachin_reference,
cancel=self.dismiss_popup,
)
self.content.ids["cur_X"].text = format(
self.project_data["Setup"]["TravelX"], ".2f")
self.content.ids["cur_Y"].text = format(
self.project_data["Setup"]["TravelY"], ".2f")
self.content.ids["cur_Z"].text = format(
self.project_data["Setup"]["TravelZ"], ".2f")
self.content.ids["cur_panel"].text = "1"
self._popup = Popup(
title="Set reference point",
content=self.content,
size_hint=(0.4, 0.4),
background_color=[0, 0, 0, 0.0],
)
self._popup.pos_hint = {"center_x": 0.8, "center_y": 0.8}
self._popup.open()
self.project_data["CADMode"] = "None"
# set body and mask
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.capture_video_inspectionpart = ref
self.set_part_overlay(ref)
# home printer
gcode = robotcontrol.go_home(self.project_data)
self.queue_printer_command(gcode)
def panel_inspection(data, panelSelection):
capture = []
# header
zp = data["Setup"]["CameraParameters"]["FocusZ"]
br = data["Setup"]["CameraParameters"]["IlluminationPWM"]
parameters = {
"FocusZ": round(data["Setup"]["CameraParameters"]["FocusZ"], 2)
}
gcode = complete_template(data["GHeader"], parameters)
# soldering backside?
if data["InspectionSide"] == "Top":
flip = 1
else:
flip = -1
inspectionpath = data["InspectionPath"]
inspection.get_sorted_inspectionpath(inspectionpath)
# for each selected panel soldering
for p, elem in enumerate(panelSelection):
panel = data["Panel"][panelSelection[p]]
# get panel data
# teached panel coordinates
# TODO add correction based on marker here
xp1 = panel["RefX1"]
yp1 = panel["RefY1"]
xp2 = panel["RefX2"]
yp2 = panel["RefY2"]
if xp1 == -1 or xp2 == -1 or yp1 == -1 or yp2 == -1:
print("error missing reference, skipping panel", p)
continue
# solder toolpath
refNum1 = inspection.get_reference_1(inspectionpath)
ref1 = inspectionpath[refNum1]
xi1 = ref1["RefX"]
yi1 = ref1["RefY"]
refNum2 = inspection.get_reference_2(inspectionpath)
ref2 = inspectionpath[refNum2]
xi2 = ref2["RefX"]
yi2 = ref2["RefY"]
# print(xi1,yi1,xi2,yi2)
# calculate transformation
vp1 = array([xp1, yp1])
vi1 = array([xi1, yi1])
vp2 = array([xp2, yp2])
vi2 = array([xi2, yi2])
dvp = subtract(vp2, vp1)
dvi = subtract(vi2, vi1)
vplen = norm(dvp)
vilen = norm(dvi)
c = numpy.dot(dvp, dvi) / (vplen * vilen)
# some numerical issues
if c > 1.0:
c = 1.0
elif c < -1.0:
c = -1.0
radians = numpy.arccos(c)
scale = vplen / vilen
# print(vp1, vi1, vp2, vi2, dvp, dvi, vplen, vilen, c, scale, radians)
# iterate over each capturing position
for e in range(0,
inspection.get_number_inspectionpoints(inspectionpath)):
ip = inspection.get_inspectionpoint(inspectionpath, e)
ipindex = data["InspectionPath"][ip]["Partsdefinition"]
if ipindex == -1:
continue
pd = data["PartsDefinition"]["PartsDefinition"][ipindex]
xi = data["InspectionPath"][ip]["RefX"] * flip
yi = data["InspectionPath"][ip]["RefY"]
vi = array([xi, yi])
xp, yp = get_printer_point(vi, -radians, scale, vi1, vp1)
# create parameterlist
gpos = inspect_xyz(data, xp, yp, zp, br, xp, yp, panelSelection[p],
ip)
gcode += gpos
gcode += complete_template(data["GFooter"], {})
return gcode
if unassiged == test:
print("ok unassigned")
else:
print("nok unassigned")
# get index of a part by designator
inspectionpath = prjdata['InspectionPath']
index = inspection.helper_get_index_by_designator(inspectionpath, "M1")
if index == 6:
print("ok get index by designator")
else:
print("nok get index by designator")
# select reference points
inspection.set_reference_1(inspectionpath, 51.8160, 51.8160)
ref1index = inspection.get_reference_1(inspectionpath)
inspection.set_reference_2(inspectionpath, 98.2980, 68.1990)
ref2index = inspection.get_reference_2(inspectionpath)
if ref1index == 6 and ref2index == 2:
print("ok ref")
else:
print("nok ref", refindex1, refindex2)
# marker bounding box
xb, yb, rotb, shapeb = inspection.get_bounding_box(partsdefinition, 0, "Body",
0, 0, 0, 0)
xm, ym, rotm, shapem = inspection.get_bounding_box(partsdefinition, 0, "Mask",
0, 0, 0, 0)
if [xb, yb, rotb] == [0.0, 1.1, 0.0] and [xm, ym, rotm] == [1.5, 0.0, 0.0]: