@Override
public void resolve(Configuration configuration) throws Exception {
configuration.resolve(driver);
for (ReferenceHead head : heads.values()) {
configuration.resolve(head);
}
for (ReferenceCamera camera : cameras) {
configuration.resolve(camera);
}
for (ReferenceFeeder feeder : feeders) {
configuration.resolve(feeder);
}
}
@SuppressWarnings("unused")
@Persist
private void persist() throws IOException {
if (templateImageDirty) {
File file = null;
if (templateImageName != null) {
file = Configuration.get().getResourceFile(this.getClass(), templateImageName);
} else {
file = Configuration.get().createResourceFile(this.getClass(), "tmpl_", ".png");
templateImageName = file.getName();
}
ImageIO.write(templateImage, "png", file);
templateImageDirty = false;
}
}
public static Placement createPlacement(
String id, String partId, double x, double y, double z, double rotation, Side side) {
Placement placement = new Placement(id);
placement.setPart(Configuration.get().getPart(partId));
placement.setLocation(new Location(LengthUnit.Millimeters, x, y, z, rotation));
placement.setSide(side);
return placement;
}
public ReferenceHead() {
Configuration.get()
.addListener(
new ConfigurationListener.Adapter() {
@Override
public void configurationLoaded(Configuration configuration) throws Exception {
machine = (ReferenceMachine) configuration.getMachine();
driver = machine.getDriver();
}
});
}
public static void main(String[] args) {
// http://developer.apple.com/library/mac/#documentation/Java/Conceptual/Java14Development/07-NativePlatformIntegration/NativePlatformIntegration.html#//apple_ref/doc/uid/TP40001909-212952-TPXREF134
System.setProperty("apple.laf.useScreenMenuBar", "true");
try {
UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
} catch (Exception e) {
throw new Error(e);
}
File configurationDirectory = new File(System.getProperty("user.home"));
configurationDirectory = new File(configurationDirectory, ".openpnp");
if (System.getProperty("configDir") != null) {
configurationDirectory = new File(System.getProperty("configDir"));
}
configurationDirectory.mkdirs();
configureLogging(configurationDirectory);
Configuration.initialize(configurationDirectory);
final Configuration configuration = Configuration.get();
EventQueue.invokeLater(
new Runnable() {
public void run() {
try {
MainFrame frame = new MainFrame(configuration);
frame.setVisible(true);
Logger.debug(
String.format(
"Bienvenue, Wilkommen, Hello, Namaskar, Welkom to OpenPnP version %s.",
Main.getVersion()));
configuration.getScripting().on("Startup", null);
} catch (Exception e) {
e.printStackTrace();
}
}
});
}
public Vision() {
Configuration.get()
.addListener(
new ConfigurationListener.Adapter() {
@Override
public void configurationComplete(Configuration configuration) throws Exception {
if (templateImageName != null) {
File file =
configuration.getResourceFile(Vision.this.getClass(), templateImageName);
templateImage = ImageIO.read(file);
}
}
});
}
/**
* Creates a basic job in memory and attempts to run it. The Driver is monitored to make sure it
* performs a pre-defined set of expected moves. This test is intended to test the primary motions
* and operation of the entire system, including feeding, picking, placing and basic job
* processing.
*
* <p>TODO: Don't ignore additional movements after the expected movements complete. This should
* cause the test to fail and it does not currently.
*
* @throws Exception
*/
@Test
public void testSimpleJob() throws Exception {
File workingDirectory = Files.createTempDir();
workingDirectory = new File(workingDirectory, ".openpnp");
System.out.println("Configuration directory: " + workingDirectory);
// Copy the required configuration files over to the new configuration
// directory.
FileUtils.copyURLToFile(
ClassLoader.getSystemResource("config/BasicJobTest/machine.xml"),
new File(workingDirectory, "machine.xml"));
FileUtils.copyURLToFile(
ClassLoader.getSystemResource("config/BasicJobTest/packages.xml"),
new File(workingDirectory, "packages.xml"));
FileUtils.copyURLToFile(
ClassLoader.getSystemResource("config/BasicJobTest/parts.xml"),
new File(workingDirectory, "parts.xml"));
Configuration.initialize(workingDirectory);
Configuration.get().load();
Machine machine = Configuration.get().getMachine();
ReferenceMachine referenceMachine = (ReferenceMachine) machine;
TestDriver testDriver = (TestDriver) referenceMachine.getDriver();
BasicJobTestDriverDelegate delegate = new BasicJobTestDriverDelegate();
testDriver.setDelegate(delegate);
Job job = createSimpleJob();
Head h1 = machine.getHead("H1");
Nozzle n1 = h1.getNozzle("N1");
Nozzle n2 = h1.getNozzle("N2");
delegate.expectMove(
"Move N1 Nozzle Change Unload", n1, new Location(LengthUnit.Millimeters, 40, 0, 0, 0), 1.0);
delegate.expectMove(
"Move N1 Nozzle Change Load", n1, new Location(LengthUnit.Millimeters, 50, 0, 0, 0), 1.0);
delegate.expectMove(
"Move N1 to F1", n1, new Location(LengthUnit.Millimeters, -10, 0, 0, 0), 1.0);
delegate.expectPick(n1);
delegate.expectMove(
"Move N2 to F1", n2, new Location(LengthUnit.Millimeters, -20, 0, 0, 0), 1.0);
delegate.expectPick(n2);
delegate.expectMove(
"Move N1 to R1, Safe-Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0, 45), 1.0);
delegate.expectMove(
"Move N1 to R1, Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0.825500, 45), 1.0);
delegate.expectPlace(n1);
delegate.expectMove(
"Move N1 to R1, Safe-Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0, 45), 1.0);
delegate.expectMove(
"Move N2 to R2, Safe-Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0, 90), 1.0);
delegate.expectMove(
"Move N2 to R2, Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0.825500, 90), 1.0);
delegate.expectPlace(n2);
delegate.expectMove(
"Move N2 to R2, Safe-Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0, 90), 1.0);
JobProcessor jobProcessor = machine.getPnpJobProcessor();
machine.setEnabled(true);
jobProcessor.initialize(job);
while (jobProcessor.next()) ;
}
private boolean step4() {
placementB = jobPanel.getSelectedPlacement();
if (placementB == null || placementB == placementA) {
MessageBoxes.errorBox(mainFrame, "Error", "Please select a second placement.");
return false;
}
if (placementA.getSide() != placementB.getSide()) {
MessageBoxes.errorBox(
mainFrame, "Error", "Both placements must be on the same side of the board.");
return false;
}
// Get the Locations we'll be using and convert to system units.
Location boardLocationA =
placementLocationA.convertToUnits(Configuration.get().getSystemUnits());
Location placementLocationA =
placementA.getLocation().convertToUnits(Configuration.get().getSystemUnits());
Location boardLocationB =
placementLocationB.convertToUnits(Configuration.get().getSystemUnits());
Location placementLocationB =
placementB.getLocation().convertToUnits(Configuration.get().getSystemUnits());
// If the placements are on the Bottom of the board we need to invert X
if (placementA.getSide() == Side.Bottom) {
// boardLocationA = boardLocationA.invert(true, false, false, false);
placementLocationA = placementLocationA.invert(true, false, false, false);
// boardLocationB = boardLocationB.invert(true, false, false, false);
placementLocationB = placementLocationB.invert(true, false, false, false);
}
logger.debug(String.format("locate"));
logger.debug(String.format("%s - %s", boardLocationA, placementLocationA));
logger.debug(String.format("%s - %s", boardLocationB, placementLocationB));
double x1 = placementLocationA.getX();
double y1 = placementLocationA.getY();
double x2 = placementLocationB.getX();
double y2 = placementLocationB.getY();
// Calculate the expected angle between the two coordinates, based
// on their locations in the placement.
double expectedAngle = Math.atan2(y1 - y2, x1 - x2);
expectedAngle = Math.toDegrees(expectedAngle);
logger.debug("expectedAngle " + expectedAngle);
// Then calculate the actual angle between the two coordinates,
// based on the captured values.
x1 = boardLocationA.getX();
y1 = boardLocationA.getY();
x2 = boardLocationB.getX();
y2 = boardLocationB.getY();
double indicatedAngle = Math.atan2(y1 - y2, x1 - x2);
indicatedAngle = Math.toDegrees(indicatedAngle);
logger.debug("indicatedAngle " + indicatedAngle);
// Subtract the difference and we have the angle that the board
// is rotated by.
double angle = indicatedAngle - expectedAngle;
logger.debug("angle " + angle);
// Now we want to derive the position of 0,0 in relation to the
// two captured coordinates. We will use the intersection of two
// circles centered at the coordinates with a radius of the
// distance from each coordinate to 0,0.
// Circle intersection solver borrowed from
// http://www.vb-helper.com/howto_circle_circle_intersection.html
// Get the two circles center points and radius.
double cx0 = boardLocationA.getX();
double cy0 = boardLocationA.getY();
double radius0 =
Math.sqrt(Math.pow(placementLocationA.getX(), 2) + Math.pow(placementLocationA.getY(), 2));
double cx1 = boardLocationB.getX();
double cy1 = boardLocationB.getY();
double radius1 =
Math.sqrt(Math.pow(placementLocationB.getX(), 2) + Math.pow(placementLocationB.getY(), 2));
logger.debug(String.format("%f %f %f %f %f %f", cx0, cy0, radius0, cx1, cy1, radius1));
// Calculate the distance between the two center points.
double dx = cx0 - cx1;
double dy = cy0 - cy1;
double dist = Math.sqrt(dx * dx + dy * dy);
double a = (radius0 * radius0 - radius1 * radius1 + dist * dist) / (2 * dist);
double h = Math.sqrt(radius0 * radius0 - a * a);
double cx2 = cx0 + a * (cx1 - cx0) / dist;
double cy2 = cy0 + a * (cy1 - cy0) / dist;
double intersectionx1 = cx2 + h * (cy1 - cy0) / dist;
double intersectiony1 = cy2 - h * (cx1 - cx0) / dist;
double intersectionx2 = cx2 - h * (cy1 - cy0) / dist;
double intersectiony2 = cy2 + h * (cx1 - cx0) / dist;
// We now have the locations of the two intersecting points on
// the circles. Now we have to figure out which one is correct.
Point p0 = new Point(intersectionx1, intersectiony1);
Point p1 = new Point(intersectionx2, intersectiony2);
logger.debug(String.format("p0 = %s, p1 = %s", p0, p1));
// Create two points based on the boardLocationA.
Point p0r = new Point(boardLocationA.getX(), boardLocationA.getY());
Point p1r = new Point(boardLocationA.getX(), boardLocationA.getY());
// Translate each point by one of the results from the circle
// intersection
p0r = Utils2D.translatePoint(p0r, p0.getX() * -1, p0.getY() * -1);
p1r = Utils2D.translatePoint(p1r, p1.getX() * -1, p1.getY() * -1);
// Rotate each point by the negative of the angle previously
// calculated. This effectively de-rotates the point with one of the
// results as the origin.
p0r = Utils2D.rotatePoint(p0r, angle * -1);
p1r = Utils2D.rotatePoint(p1r, angle * -1);
logger.debug(String.format("p0r = %s, p1r = %s", p0r, p1r));
// Now, whichever result is closer to the value of boardLocationA
// is the right result. So, calculate the linear distance between
// the calculated point and the placementLocationA.
double d0 =
Math.abs(
Math.sqrt(
Math.pow(p0r.x - placementLocationA.getX(), 2)
+ Math.pow(p0r.y - placementLocationA.getY(), 2)));
double d1 =
Math.abs(
Math.sqrt(
Math.pow(p1r.x - placementLocationA.getX(), 2)
+ Math.pow(p1r.y - placementLocationA.getY(), 2)));
logger.debug(String.format("d0 %f, d1 %f", d0, d1));
Point result = ((d0 < d1) ? p0 : p1);
logger.debug("Result: " + result);
Location boardLocation =
new Location(Configuration.get().getSystemUnits(), result.x, result.y, 0, angle * -1);
Location oldBoardLocation = jobPanel.getSelectedBoardLocation().getLocation();
oldBoardLocation = oldBoardLocation.convertToUnits(boardLocation.getUnits());
boardLocation = boardLocation.derive(null, null, oldBoardLocation.getZ(), null);
jobPanel.getSelectedBoardLocation().setLocation(boardLocation);
jobPanel.refreshSelectedBoardRow();
return true;
}
