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update algo for position

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This commit is contained in:
gebo
2025-11-05 17:04:17 +08:00
parent b4d33c9c0e
commit 7f6bcb527d
2 changed files with 218 additions and 162 deletions
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47
TetraParkOCR/Form1.Designer.cs generated
View File

@@ -112,6 +112,9 @@
this.label5 = new System.Windows.Forms.Label(); this.label5 = new System.Windows.Forms.Label();
this.lbl_height = new System.Windows.Forms.Label(); this.lbl_height = new System.Windows.Forms.Label();
this.checkBox1 = new System.Windows.Forms.CheckBox(); this.checkBox1 = new System.Windows.Forms.CheckBox();
this.label11 = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.textBox1 = new System.Windows.Forms.TextBox();
this.tableLayoutPanel_productInformtion.SuspendLayout(); this.tableLayoutPanel_productInformtion.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.Location_Display)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.Location_Display)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.Ocr_picBox)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.Ocr_picBox)).BeginInit();
@@ -133,7 +136,7 @@
this.btn_OrderNum.BackColor = System.Drawing.Color.DeepSkyBlue; this.btn_OrderNum.BackColor = System.Drawing.Color.DeepSkyBlue;
this.btn_OrderNum.FlatStyle = System.Windows.Forms.FlatStyle.Popup; this.btn_OrderNum.FlatStyle = System.Windows.Forms.FlatStyle.Popup;
this.btn_OrderNum.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btn_OrderNum.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btn_OrderNum.Location = new System.Drawing.Point(519, 26); this.btn_OrderNum.Location = new System.Drawing.Point(520, 19);
this.btn_OrderNum.Name = "btn_OrderNum"; this.btn_OrderNum.Name = "btn_OrderNum";
this.btn_OrderNum.Size = new System.Drawing.Size(116, 29); this.btn_OrderNum.Size = new System.Drawing.Size(116, 29);
this.btn_OrderNum.TabIndex = 2; this.btn_OrderNum.TabIndex = 2;
@@ -145,7 +148,7 @@
// txt_OrderNum // txt_OrderNum
// //
this.txt_OrderNum.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.txt_OrderNum.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txt_OrderNum.Location = new System.Drawing.Point(328, 26); this.txt_OrderNum.Location = new System.Drawing.Point(329, 19);
this.txt_OrderNum.Name = "txt_OrderNum"; this.txt_OrderNum.Name = "txt_OrderNum";
this.txt_OrderNum.Size = new System.Drawing.Size(176, 29); this.txt_OrderNum.Size = new System.Drawing.Size(176, 29);
this.txt_OrderNum.TabIndex = 3; this.txt_OrderNum.TabIndex = 3;
@@ -154,7 +157,7 @@
// lbl_OrderNum // lbl_OrderNum
// //
this.lbl_OrderNum.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lbl_OrderNum.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lbl_OrderNum.Location = new System.Drawing.Point(231, 26); this.lbl_OrderNum.Location = new System.Drawing.Point(232, 19);
this.lbl_OrderNum.Name = "lbl_OrderNum"; this.lbl_OrderNum.Name = "lbl_OrderNum";
this.lbl_OrderNum.Size = new System.Drawing.Size(95, 29); this.lbl_OrderNum.Size = new System.Drawing.Size(95, 29);
this.lbl_OrderNum.TabIndex = 4; this.lbl_OrderNum.TabIndex = 4;
@@ -194,7 +197,7 @@
// lbl_verOcr // lbl_verOcr
// //
this.lbl_verOcr.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lbl_verOcr.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lbl_verOcr.Location = new System.Drawing.Point(25, 46); this.lbl_verOcr.Location = new System.Drawing.Point(14, 53);
this.lbl_verOcr.Name = "lbl_verOcr"; this.lbl_verOcr.Name = "lbl_verOcr";
this.lbl_verOcr.Size = new System.Drawing.Size(99, 29); this.lbl_verOcr.Size = new System.Drawing.Size(99, 29);
this.lbl_verOcr.TabIndex = 9; this.lbl_verOcr.TabIndex = 9;
@@ -1011,6 +1014,9 @@
// //
// panel_midup // panel_midup
// //
this.panel_midup.Controls.Add(this.textBox1);
this.panel_midup.Controls.Add(this.label12);
this.panel_midup.Controls.Add(this.label11);
this.panel_midup.Controls.Add(this.checkBox1); this.panel_midup.Controls.Add(this.checkBox1);
this.panel_midup.Controls.Add(this.button1); this.panel_midup.Controls.Add(this.button1);
this.panel_midup.Controls.Add(this.listBox1); this.panel_midup.Controls.Add(this.listBox1);
@@ -1146,6 +1152,36 @@
this.checkBox1.Text = "仅计算坐标"; this.checkBox1.Text = "仅计算坐标";
this.checkBox1.UseVisualStyleBackColor = true; this.checkBox1.UseVisualStyleBackColor = true;
// //
// label11
//
this.label11.AutoSize = true;
this.label11.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label11.Location = new System.Drawing.Point(209, 59);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(183, 16);
this.label11.TabIndex = 29;
this.label11.Text = "当前单颜色段字符长度：";
this.label11.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(458, 61);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(17, 12);
this.label12.TabIndex = 31;
this.label12.Text = "mm";
//
// textBox1
//
this.textBox1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.textBox1.Location = new System.Drawing.Point(391, 52);
this.textBox1.Name = "textBox1";
this.textBox1.Size = new System.Drawing.Size(61, 29);
this.textBox1.TabIndex = 32;
this.textBox1.Text = "19";
this.textBox1.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// Form1 // Form1
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -1266,6 +1302,9 @@
private System.Windows.Forms.Label lbl_height; private System.Windows.Forms.Label lbl_height;
private System.Windows.Forms.Label label5; private System.Windows.Forms.Label label5;
private System.Windows.Forms.CheckBox checkBox1; private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.TextBox textBox1;
private System.Windows.Forms.Label label12;
} }
} }

333
TetraParkOCR/Form1.cs
View File

@@ -90,6 +90,7 @@ namespace TetraPackOCR
/// </summary> /// </summary>
int NumberOfLanes; int NumberOfLanes;
double m_width, m_Gradient, m_DistX, m_DistY, m_height; double m_width, m_Gradient, m_DistX, m_DistY, m_height;
int m_ColorMax = 0;
/// <summary> /// <summary>
/// 定位Vpp文件 /// 定位Vpp文件
/// </summary> /// </summary>
@@ -105,7 +106,7 @@ namespace TetraPackOCR
bool PlcContinueFlag = false; //PLC状态旗帜 bool PlcContinueFlag = false; //PLC状态旗帜
int mMatchingStr = 0;//接收当前OCR拍照位置 int mMatchingStr = 0;//接收当前OCR拍照位置
List<float> ocrAcc = new List<float>(); List<double> ocrAcc = new List<double>();
/// <summary> /// <summary>
/// 相机对象 1和2 /// 相机对象 1和2
/// </summary> /// </summary>
@@ -142,6 +143,7 @@ namespace TetraPackOCR
InitializeCamerDET(); InitializeCamerDET();
InitializePaddleOCR(); InitializePaddleOCR();
log.Info("VPP文件加载中...");
try try
{ {
myJobManagerDET = CogSerializer.LoadObjectFromFile(vppdetFile) as CogJobManager; myJobManagerDET = CogSerializer.LoadObjectFromFile(vppdetFile) as CogJobManager;
@@ -169,16 +171,11 @@ namespace TetraPackOCR
})); }));
}); });
Task myTask = new Task(action); Task myTask = new Task(action);
//实例化一个线程列表 //实例化一个线程列表
List<Task> tsk = new List<Task>(); List<Task> tsk = new List<Task>();
//将上面的加载vpp工作加入线程列表中 //将上面的加载vpp工作加入线程列表中
tsk.Add(myTask); tsk.Add(myTask);
//读取线程列表内的工作让cpu为其开辟线程空间并执行程序 //读取线程列表内的工作让cpu为其开辟线程空间并执行程序
foreach (var iteam in tsk) foreach (var iteam in tsk)
{ {
@@ -305,7 +302,6 @@ namespace TetraPackOCR
m_dev_cam_ocr.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed_OCR; m_dev_cam_ocr.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed_OCR;
m_dev_cam_ocr.StreamGrabber.GrabStarted += StreamGrabber_GrabStarted_OCR; m_dev_cam_ocr.StreamGrabber.GrabStarted += StreamGrabber_GrabStarted_OCR;
// 打开Software Trigger // 打开Software Trigger
// Set Software Trigger
m_dev_cam_ocr.TriggerSet.Open(TriggerSourceEnum.Software); m_dev_cam_ocr.TriggerSet.Open(TriggerSourceEnum.Software);
if (!m_dev_cam_ocr.GrabUsingGrabLoopThread()) if (!m_dev_cam_ocr.GrabUsingGrabLoopThread())
{ {
@@ -775,6 +771,14 @@ namespace TetraPackOCR
m_DistY = Convert.ToDouble(Y[1].Replace("mm", "")); m_DistY = Convert.ToDouble(Y[1].Replace("mm", ""));
lbl_DistY.Text = Y[1].Replace("mm", ""); lbl_DistY.Text = Y[1].Replace("mm", "");
log.Info("当前订单Y偏移:" + m_DistY); log.Info("当前订单Y偏移:" + m_DistY);
string alignColor = sheet3.Cells[n + ocrTextRequest[1].Count - 1, 3].Value.ToString();
if (alignColor.Contains("单排"))
m_ColorMax = ocrTextRequest.Values.Select(x => x.Count).Max();// ocrTextRequest[1].Count;
else
m_ColorMax = alignColor.Replace("排布", "").Split('，').ToList().Select(int.Parse).Max();
log.Info("当前排布方式:" + alignColor);
log.Info("单行最大数量:" + m_ColorMax.ToString());
break; break;
} }
} }
@@ -977,6 +981,7 @@ namespace TetraPackOCR
} }
private bool autorunFlag = false; private bool autorunFlag = false;
private bool debugFlag = false; private bool debugFlag = false;
private double m_textWidth = 0;
private void btn_StarDet_manual_Click(object sender, EventArgs e) private void btn_StarDet_manual_Click(object sender, EventArgs e)
{ {
if (camOCROpened == false || camDETOpened == false) if (camOCROpened == false || camDETOpened == false)
@@ -998,6 +1003,7 @@ namespace TetraPackOCR
InitLableColumn(); InitLableColumn();
m_textWidth = Convert.ToDouble(textBox1.Text);
ocrAcc.Clear(); ocrAcc.Clear();
debugFlag = checkBox1.Checked; debugFlag = checkBox1.Checked;
autorunFlag = check_Autorun.Checked; autorunFlag = check_Autorun.Checked;
@@ -1122,7 +1128,7 @@ namespace TetraPackOCR
//画定位的十字点 //画定位的十字点
CPMARunStatus.DrawPointMarker(xx, yy, CogMisc.DegToRad(rr), CogColorConstants.Orange, Location_Display, "."); CPMARunStatus.DrawPointMarker(xx, yy, CogMisc.DegToRad(rr), CogColorConstants.Orange, Location_Display, ".");
log.Info("定位计算已完成。"); log.Info("定位计算已完成。");
sendToPLC(xx, yy, rr); SendToPLC(xx, yy, rr);
} }
else else
{ {
@@ -1368,7 +1374,7 @@ namespace TetraPackOCR
Ocr_picBox.BackgroundImage = Bmp; Ocr_picBox.BackgroundImage = Bmp;
int m1 = ocrTextResult.Count(x => x.Value); int m1 = ocrTextResult.Count(x => x.Value);
log.Info($"OCR识别完成，匹配成功{m1}个字符，匹配失败{ocrTextResult.Count - m1}个字符"); log.Info($"OCR识别完成，匹配成功{m1}个字符，匹配失败{ocrTextResult.Count - m1}个字符");
ShowTheLansRs(mMatchingStr, (float)m1 / (float)ocrTextResult.Count); ShowTheLansRs(mMatchingStr, (double)m1 / (double)ocrTextResult.Count);
} }
NoticePLCCompleteOCR(); NoticePLCCompleteOCR();
@@ -1539,7 +1545,7 @@ namespace TetraPackOCR
/// </summary> /// </summary>
/// <param name="mM">PLC给的当前在第几道拍照</param> /// <param name="mM">PLC给的当前在第几道拍照</param>
/// <param name="s">OCR字符相似度结果</param> /// <param name="s">OCR字符相似度结果</param>
void ShowTheLansRs(float mM, float s) void ShowTheLansRs(int mM, double s)
{ {
int mMnum = Convert.ToInt32(mM); int mMnum = Convert.ToInt32(mM);
switch (mMnum) switch (mMnum)
@@ -1849,194 +1855,205 @@ namespace TetraPackOCR
#endregion #endregion
#region 通讯发送坐标 #region 通讯发送坐标
private void sendToPLC(double x, double y, double r) private void SendToPLC(double x, double y, double r)
{ {
try try
{ {
float xx = (float)x; double xx = x;
float yy = (float)y; double yy = y;
float rr = (float)r; double rr = r;
List<float> ocrxx = new List<float>();
List<float> ocryy = new List<float>();
switch (m_ProductStandard) if (ocrTextRequest[1].Count == 0)
{ return;
case "TBA1000Slim": xx = x - (m_textWidth * m_ColorMax) / 2.0;
switch (ocrTextRequest[1].Count)
{
case 1:
xx = (float)x - 9.5f;
break;
case 2:
xx = (float)x - 19f;
break;
case 3:
xx = (float)x - 28.5f;
break;
case 4:
xx = (float)x - 38f;
break;
case 5:
xx = (float)x - 47.5f;
break;
case 6:
xx = (float)x - 57f;
break;
}
break;
case "TBA250B":
switch (ocrTextRequest[1].Count)
{
case 1:
xx = (float)x - 9.5f;
break;
case 2:
xx = (float)x - 19f;
break;
case 3:
xx = (float)x - 28.5f;
break;
case 4:
xx = (float)x - 38f;
break;
case 5:
xx = (float)x - 38f;
break;
case 6:
xx = (float)x - 38f;
break;
}
break;
case "TBA125Slim":
switch (ocrTextRequest[1].Count)
{
case 1:
xx = (float)x - 9.5f;
break;
case 2:
xx = (float)x - 19f;
break;
case 3:
xx = (float)x - 28.5f;
break;
case 4:
xx = (float)x - 28.5f;
break;
case 5:
xx = (float)x - 28.5f;
break;
case 6:
xx = (float)x - 28.5f;
break;
}
break;
case "TPA250SQ":
switch (ocrTextRequest[1].Count)
{
case 1:
xx = (float)x - 9.5f;
break;
case 2:
xx = (float)x - 19f;
break;
case 3:
xx = (float)x - 19f;
break;
case 4:
xx = (float)x - 19f;
break;
case 5:
xx = (float)x - 19f;
break;
case 6:
xx = (float)x - 19f;
break;
}
break;
case "TPA200SQ":
switch (ocrTextRequest[1].Count)
{
case 1:
xx = (float)x - 9.5f;
break;
case 2:
xx = (float)x - 9f;
break;
case 3:
xx = (float)x - 9f;
break;
case 4:
xx = (float)x - 9f;
break;
case 5:
xx = (float)x - 9f;
break;
case 6:
xx = (float)x - 9f;
break;
}
break;
}
float ocrx = 0, ocry = 0; //switch (m_ProductStandard)
List<float> l = new List<float>(); // {
l.Add((float)NumberOfLanes); // case "TBA1000Slim":
// switch (ocrTextRequest[1].Count)
// {
// case 1:
// xx = (float)x - 9.5f;
// break;
// case 2:
// xx = (float)x - 19f;
// break;
// case 3:
// xx = (float)x - 28.5f;
// break;
// case 4:
// xx = (float)x - 38f;
// break;
// case 5:
// xx = (float)x - 47.5f;
// break;
// case 6:
// xx = (float)x - 57f;
// break;
// }
// break;
// case "TBA250B":
// switch (ocrTextRequest[1].Count)
// {
// case 1:
// xx = (float)x - 9.5f;
// break;
// case 2:
// xx = (float)x - 19f;
// break;
// case 3:
// xx = (float)x - 28.5f;
// break;
// case 4:
// xx = (float)x - 38f;
// break;
// case 5:
// xx = (float)x - 38f;
// break;
// case 6:
// xx = (float)x - 38f;
// break;
// }
// break;
// case "TBA125Slim":
// switch (ocrTextRequest[1].Count)
// {
// case 1:
// xx = (float)x - 9.5f;
// break;
// case 2:
// xx = (float)x - 19f;
// break;
// case 3:
// xx = (float)x - 28.5f;
// break;
// case 4:
// xx = (float)x - 28.5f;
// break;
// case 5:
// xx = (float)x - 28.5f;
// break;
// case 6:
// xx = (float)x - 28.5f;
// break;
// }
// break;
// case "TPA250SQ":
// switch (ocrTextRequest[1].Count)
// {
// case 1:
// xx = (float)x - 9.5f;
// break;
// case 2:
// xx = (float)x - 19f;
// break;
// case 3:
// xx = (float)x - 19f;
// break;
// case 4:
// xx = (float)x - 19f;
// break;
// case 5:
// xx = (float)x - 19f;
// break;
// case 6:
// xx = (float)x - 19f;
// break;
// }
// break;
// case "TPA200SQ":
// switch (ocrTextRequest[1].Count)
// {
// case 1:
// xx = (float)x - 9.5f;
// break;
// case 2:
// xx = (float)x - 9f;
// break;
// case 3:
// xx = (float)x - 9f;
// break;
// case 4:
// xx = (float)x - 9f;
// break;
// case 5:
// xx = (float)x - 9f;
// break;
// case 6:
// xx = (float)x - 9f;
// break;
// }
// break;
// }
List<float> locationXY = new List<float>();
double ocrx = 0, ocry = 0;
locationXY.Add((float)NumberOfLanes);
int nol = Convert.ToInt32(NumberOfLanes); int nol = Convert.ToInt32(NumberOfLanes);
log.Info("当前订单OCR区域共" + nol + "组:"); log.Info("当前订单OCR区域共" + nol + "组:");
double degree = (rr * Math.PI) / 180;
for (int item = 0; item < nol; item++) for (int item = 0; item < nol; item++)
{ {
if (item == 0) if (item == 0)
{ {
ocrx = xx - ((float)m_DistX) * ((float)Math.Cos((rr * Math.PI) / 180)) - ((float)m_DistY) * ((float)Math.Sin((rr * Math.PI) / 180)); ocrx = xx - m_DistX * Math.Cos(degree) - m_DistY * Math.Sin(degree);
l.Add(ocrx); ocry = yy + m_DistY * Math.Cos(degree) - m_DistX * Math.Sin(degree);
ocry = yy + ((float)m_DistY) * ((float)Math.Cos((rr * Math.PI) / 180)) - ((float)m_DistX) * ((float)Math.Sin((rr * Math.PI) / 180));
l.Add(ocry);
ocrxx.Add(ocrx);
ocryy.Add(ocry);
} }
else else
{ {
ocrx = ocrx + ((float)m_width * ((float)Math.Cos((rr * Math.PI) / 180))) + ((float)m_Gradient * ((float)Math.Sin((rr * Math.PI) / 180))); ocrx = ocrx + m_width * Math.Cos(degree) + m_Gradient * Math.Sin(degree);
l.Add(ocrx); ocry = ocry - m_Gradient * Math.Cos(degree) + m_width * Math.Sin(degree);
ocry = ocry - ((float)m_Gradient * ((float)Math.Cos((rr * Math.PI) / 180))) + ((float)m_width * ((float)Math.Sin((rr * Math.PI) / 180)));
l.Add(ocry);
ocrxx.Add(ocrx);
ocryy.Add(ocry);
} }
log.Info("第" + (item + 1) + "组坐标为：X：" + ocrxx[item] + ",Y:" + ocryy[item] + "。"); log.Info("第" + (item + 1) + "组坐标为：X：" + ocrx + ",Y:" + ocry + "。");
if (ocrxx[item] < 0 || ocrxx[item] > 1600) if (ocrx < 0 || ocrx > 1600)
{ {
EnableStartDetect(); EnableStartDetect();
log.Error("x范围 0,1600！"); log.Error("x范围 0,1600！");
NoticePLCCompleteDet(DataConverter.FloatToByte(0.0f, true)); NoticePLCCompleteDet(DataConverter.FloatToByte(0.0f, true));
return; return;
} }
if (ocryy[item] < -50 || ocryy[item] > 400)
if (ocry < - 50)
{
ocrx = ocrx - m_height * Math.Sin(degree);
ocry = ocry + m_height * Math.Cos(degree);
log.Info("更新第" + (item + 1) + "组坐标为：X：" + ocrx + ",Y:" + ocry + "。");
}
else if (ocry > 400)
{
ocrx = ocrx + m_height * Math.Sin(degree);
ocry = ocry - m_height * Math.Cos(degree);
log.Info("更新第" + (item + 1) + "组坐标为：X：" + ocrx + ",Y:" + ocry + "。");
}
if (ocry < -50 || ocry > 400)
{ {
EnableStartDetect(); EnableStartDetect();
log.Error("y范围 -50,400！"); log.Error("y范围 -50,400！");
NoticePLCCompleteDet(DataConverter.FloatToByte(0.0f, true)); NoticePLCCompleteDet(DataConverter.FloatToByte(0.0f, true));
return; return;
} }
locationXY.Add((float)ocrx);
locationXY.Add((float)ocry);
} }
if (check_Autorun.Checked == false && !debugFlag) if (check_Autorun.Checked == false && !debugFlag)
{ {
List<float> d = new List<float>(); List<float> plcXY = new List<float>();
for (int i = 0; i < l.Count; i++) for (int i = 0; i < locationXY.Count; i++)
{ {
if (i == 0) if (i == 0)
{ {
d.Add(l[i]); plcXY.Add(locationXY[i]);
} }
else if (i % 2 == 1) else if (i % 2 == 1)
{ {
d.Add(l[l.Count - i - 1]); plcXY.Add(locationXY[locationXY.Count - i - 1]);
d.Add(l[l.Count - i]); plcXY.Add(locationXY[locationXY.Count - i]);
} }
} }
NoticePLCCompleteDet(DataConverter.FloatToByte(d, true)); NoticePLCCompleteDet(DataConverter.FloatToByte(plcXY, true));
log.Info("坐标已发送完成。"); log.Info("坐标已发送完成。");
} }
} }