添加项目文件。

WaferAlignment.sln

@@ -0,0 +1,28 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 18
+VisualStudioVersion = 18.0.11205.157 d18.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WaferAlignment", "WaferAlignment\WaferAlignment.csproj", "{941B8ABC-436F-457D-95DA-A79E23C8CA5D}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Debug|x64 = Debug|x64
+		Release|Any CPU = Release|Any CPU
+		Release|x64 = Release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Debug|x64.ActiveCfg = Debug|x64
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Debug|x64.Build.0 = Debug|x64
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Release|Any CPU.Build.0 = Release|Any CPU
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Release|x64.ActiveCfg = Release|x64
+		{941B8ABC-436F-457D-95DA-A79E23C8CA5D}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

WaferAlignment/App.config

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
+    </startup>
+</configuration>

WaferAlignment/CalibForm.Designer.cs

@@ -0,0 +1,39 @@
+namespace WaferAlignment
+{
+    partial class CalibForm
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(800, 450);
+            this.Text = "CalibForm";
+        }
+
+        #endregion
+    }
+}

WaferAlignment/CalibForm.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace WaferAlignment
+{
+    public partial class CalibForm : Form
+    {
+        public CalibForm()
+        {
+            InitializeComponent();
+        }
+    }
+}

WaferAlignment/Camera.cs

@@ -0,0 +1,539 @@
+using HslCommunication;
+using HslCommunication.Profinet.Siemens;
+using MvCamCtrl.NET;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Timers;
+using System.Windows.Forms;
+
+namespace WaferAlignment
+{
+    public class Camera
+    {
+        private bool _isConnected = false;
+
+        public bool IsConnected
+        {
+            get { return _isConnected; }
+            set { _isConnected = value; }
+        }
+
+        private bool _isStarted = false;
+
+        public bool IsStarted
+        {
+            get { return _isStarted; }
+            set { _isStarted = value; }
+        }
+        public event Action<Bitmap> OutputImageEvent;
+        private float expo = 8;
+        private uint imgHeight = 4000;
+        private MyCamera _dev;
+        private CancellationTokenSource _startAcqToken;
+        private CancellationTokenSource _stopAcqToken;
+        private Task _imageAcquisitionTask;
+        private static Object BufForDriverLock = new Object();
+        private IntPtr m_BufForDriver = IntPtr.Zero;
+        private UInt32 m_nBufSizeForDriver = 0;
+        private MyCamera.MV_FRAME_OUT_INFO_EX m_stFrameInfo = new MyCamera.MV_FRAME_OUT_INFO_EX();
+        [DllImport("kernel32.dll", EntryPoint = "CopyMemory", SetLastError = false)]
+        public static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);
+        public void Connect()
+        {
+            IntPtr devIPtr;
+            try
+            {
+                MyCamera.MV_CC_DEVICE_INFO_LIST m_stDeviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();
+                MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE, ref m_stDeviceList);
+                if (m_stDeviceList.nDeviceNum > 0)
+                {
+                    devIPtr = m_stDeviceList.pDeviceInfo[0];
+                }
+                else
+                {
+                    throw new Exception("未找到相机连接！");
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("相机查找失败！");
+            }
+
+            MyCamera.MV_CC_DEVICE_INFO devInfo = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(devIPtr, typeof(MyCamera.MV_CC_DEVICE_INFO));
+            if (_dev != null)
+            {
+                throw new Exception("相机连接失败，原因:该设备实例已存在");
+            }
+            _dev = new MyCamera();
+            if (_dev == null)
+            {
+                throw new Exception("相机连接失败，原因:该设备实例化失败");
+            }
+            int status = _dev.MV_CC_CreateDevice_NET(ref devInfo);
+            if (status != MyCamera.MV_OK)
+            {
+                throw new Exception(String.Format("相机连接失败，原因:设备创建失败"));
+            }
+            status = _dev.MV_CC_OpenDevice_NET();
+            if (status != MyCamera.MV_OK)
+            {
+                throw new Exception(String.Format("相机连接失败，原因:设备启动失败"));
+            }
+            int nPacketSize = _dev.MV_CC_GetOptimalPacketSize_NET();
+            if (nPacketSize > 0)
+            {
+                status = _dev.MV_CC_SetIntValue_NET("GevSCPSPacketSize", (uint)nPacketSize);
+                if (status != MyCamera.MV_OK)
+                {
+                    throw new Exception(String.Format("相机连接失败，原因:获取本地包大小失败"));
+                }
+            }
+            else
+            {
+                throw new Exception(String.Format("相机连接失败，原因:获取本地包大小失败"));
+            }
+
+            // 连续采集
+            int nRet;
+            nRet = _dev.MV_CC_SetEnumValue_NET("AcquisitionMode", (uint)MyCamera.MV_CAM_ACQUISITION_MODE.MV_ACQ_MODE_CONTINUOUS);
+            // 手动曝光
+            nRet = _dev.MV_CC_SetEnumValue_NET("ExposureAuto", (uint)MyCamera.MV_CAM_EXPOSURE_AUTO_MODE.MV_EXPOSURE_AUTO_MODE_OFF);
+            // 行触发关闭
+            //nRet = _dev.MV_CC_SetEnumValue_NET("TriggerSelector", 9);
+            //nRet = _dev.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_OFF);
+            // 帧触发打开,软件触发
+            nRet = _dev.MV_CC_SetEnumValue_NET("TriggerSelector", 6);
+            nRet = _dev.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_ON);
+            nRet = _dev.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_COUNTER0);
+            nRet = _dev.MV_CC_SetFloatValue_NET("ExposureTime", expo);
+            //nRet = _dev.MV_CC_SetIntValue_NET("Width", 1600);
+            //nRet = _dev.MV_CC_SetIntValue_NET("Height", 1200);
+            //nRet = _dev.MV_CC_SetIntValue_NET("OffsetX", 1760);
+            //nRet = _dev.MV_CC_SetIntValue_NET("OffsetY", 1448);
+
+            _isConnected = true;
+        }
+
+        public void Disconnect()
+        {
+            if (_dev != null)
+            {
+                // 关闭设备
+                _dev.MV_CC_CloseDevice_NET();
+                _dev.MV_CC_DestroyDevice_NET();
+                _dev = null;
+                _isConnected = false;
+            }
+        }
+
+        public void Start()
+        {
+            if (_dev == null)
+            {
+                _isStarted = false;
+                MessageBox.Show("相机启动失败，相机未连接");
+                return;
+            }
+            ImageAcquisitionStart();
+            m_stFrameInfo.nFrameLen = 0;//取流之前先清除帧长度
+            m_stFrameInfo.enPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;
+            _dev.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_COUNTER0);
+            int nRet = _dev.MV_CC_StartGrabbing_NET();
+            if (MyCamera.MV_OK != nRet)
+            {
+                ImageAcquisitionStop();
+                _isStarted = false;
+                MessageBox.Show("相机启动失败，清除缓存区失败");
+                return;
+            }
+            _isStarted = true;
+        }
+        public void SoftwareGrab()
+        {
+            _dev.MV_CC_StopGrabbing_NET();
+            _dev.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
+            _dev.MV_CC_StartGrabbing_NET();
+            _dev.MV_CC_TriggerSoftwareExecute_NET();
+            Thread.Sleep(100);
+        }
+
+        public void Stop()
+        {
+            if (_dev == null)
+            {
+                _isStarted = false;
+                MessageBox.Show("相机停止失败，相机未连接");
+                return;
+            }
+            ImageAcquisitionStop();
+            int nRet = _dev.MV_CC_StopGrabbing_NET();
+            if (nRet != MyCamera.MV_OK)
+            {
+                _isStarted = false;
+                MessageBox.Show("相机停止失败");
+                return;
+            }
+            _isStarted = false;
+
+        }
+
+        private void ImageAcquisitionStart()
+        {
+            _startAcqToken = new CancellationTokenSource();
+            _imageAcquisitionTask = new Task(() => ImageAcquisitionProcess(), _startAcqToken.Token);
+            _imageAcquisitionTask.Start();
+        }
+        private void ImageAcquisitionStop()
+        {
+            try
+            {
+                _startAcqToken.Cancel();
+                Thread.Sleep(20);
+                _imageAcquisitionTask.Wait(_stopAcqToken.Token);
+                _imageAcquisitionTask.Dispose();
+            }
+            catch (OperationCanceledException ex)
+            {
+                _imageAcquisitionTask.Dispose();
+            }
+        }
+        private void ImageAcquisitionProcess()
+        {
+            _stopAcqToken = new CancellationTokenSource();
+            MyCamera.MV_FRAME_OUT stFrameInfo = new MyCamera.MV_FRAME_OUT();
+            while (true)
+            {
+                if (_startAcqToken.IsCancellationRequested)
+                    break;
+                int nRet = _dev.MV_CC_GetImageBuffer_NET(ref stFrameInfo, 1000);
+                Console.WriteLine("-----------------------Get Image Buffer:" + "Width[" + Convert.ToString(stFrameInfo.stFrameInfo.nWidth) + "] , Height[" + Convert.ToString(stFrameInfo.stFrameInfo.nHeight)
+           + "] ,Trigger[" + Convert.ToString(stFrameInfo.stFrameInfo.nTriggerIndex) + "], FrameNum[" + Convert.ToString(stFrameInfo.stFrameInfo.nFrameNum) + "]");
+                      
+                if (nRet == MyCamera.MV_OK)
+                {
+                    lock (BufForDriverLock)
+                    {
+                        if (m_BufForDriver == IntPtr.Zero || stFrameInfo.stFrameInfo.nFrameLen > m_nBufSizeForDriver)
+                        {
+                            if (m_BufForDriver != IntPtr.Zero)
+                            {
+                                Marshal.Release(m_BufForDriver);
+                                m_BufForDriver = IntPtr.Zero;
+                            }
+
+                            m_BufForDriver = Marshal.AllocHGlobal((Int32)stFrameInfo.stFrameInfo.nFrameLen);
+                            if (m_BufForDriver == IntPtr.Zero)
+                            {
+                                return;
+                            }
+                            m_nBufSizeForDriver = stFrameInfo.stFrameInfo.nFrameLen;
+                        }
+
+                        m_stFrameInfo = stFrameInfo.stFrameInfo;
+                        CopyMemory(m_BufForDriver, stFrameInfo.pBufAddr, stFrameInfo.stFrameInfo.nFrameLen);
+                    }
+
+                    if (RemoveCustomPixelFormats(stFrameInfo.stFrameInfo.enPixelType))
+                    {
+                        _dev.MV_CC_FreeImageBuffer_NET(ref stFrameInfo);
+                        continue;
+                    }
+                    //从缓存区获取图片
+                    IntPtr pTemp = IntPtr.Zero;
+                    MyCamera.MvGvspPixelType enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;
+                    if (m_stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
+                    {
+                        pTemp = m_BufForDriver;
+                        enDstPixelType = m_stFrameInfo.enPixelType;
+                    }
+                    else
+                    {
+                        //ErrorMsgEvent(DeviceName + " -> 图像格式错误");
+                    }
+
+                    _dev.MV_CC_FreeImageBuffer_NET(ref stFrameInfo);
+
+                    //************************Mono8 转 Bitmap*******************************
+                    Bitmap bmp = new Bitmap(m_stFrameInfo.nWidth, m_stFrameInfo.nHeight, m_stFrameInfo.nWidth * 1, PixelFormat.Format8bppIndexed, pTemp);
+                    ColorPalette cp = bmp.Palette;
+
+                    for (int i = 0; i < 256; i++)
+                    {
+                        cp.Entries[i] = Color.FromArgb(i, i, i);
+                    }
+                    bmp.Palette = cp;
+                    OutputImageEvent(bmp);
+                }
+                else
+                {
+                    Thread.Sleep(10);
+                }
+            }
+            _stopAcqToken.Cancel();
+        }
+        private bool RemoveCustomPixelFormats(MyCamera.MvGvspPixelType enPixelFormat)
+        {
+            Int32 nResult = ((int)enPixelFormat) & (unchecked((Int32)0x80000000));
+            if (0x80000000 == nResult)
+            {
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+        //public Bitmap Trigger()
+        //{
+        //    if (_dev == null)
+        //    {
+        //        throw new Exception(String.Format("相机触发失败，原因:该设备未连接"));
+        //    }
+        //    _dev.MV_CC_SetEnumValue_NET("TriggerSelector", 6);
+        //    int nRet = _dev.MV_CC_SetCommandValue_NET("TriggerSoftware");
+        //    if (MyCamera.MV_OK != nRet)
+        //    {
+        //        throw new Exception(String.Format("相机触发失败"));
+        //    }
+
+        //    MyCamera.MV_FRAME_OUT stFrameInfo = new MyCamera.MV_FRAME_OUT();
+        //    nRet = _dev.MV_CC_GetImageBuffer_NET(ref stFrameInfo, 1000);
+        //    if (nRet == MyCamera.MV_OK)
+        //    {
+        //        lock (BufForDriverLock)
+        //        {
+        //            if (m_BufForDriver == IntPtr.Zero || stFrameInfo.stFrameInfo.nFrameLen > m_nBufSizeForDriver)
+        //            {
+        //                if (m_BufForDriver != IntPtr.Zero)
+        //                {
+        //                    Marshal.Release(m_BufForDriver);
+        //                    m_BufForDriver = IntPtr.Zero;
+        //                }
+
+        //                m_BufForDriver = Marshal.AllocHGlobal((Int32)stFrameInfo.stFrameInfo.nFrameLen);
+        //                if (m_BufForDriver == IntPtr.Zero)
+        //                {
+        //                    return null;
+        //                }
+        //                m_nBufSizeForDriver = stFrameInfo.stFrameInfo.nFrameLen;
+        //            }
+
+        //            m_stFrameInfo = stFrameInfo.stFrameInfo;
+        //            CopyMemory(m_BufForDriver, stFrameInfo.pBufAddr, stFrameInfo.stFrameInfo.nFrameLen);
+        //        }
+
+        //        if (RemoveCustomPixelFormats(stFrameInfo.stFrameInfo.enPixelType))
+        //        {
+        //            _dev.MV_CC_FreeImageBuffer_NET(ref stFrameInfo);
+        //            return null;
+        //        }
+        //        //从缓存区获取图片
+        //        IntPtr pTemp = IntPtr.Zero;
+        //        MyCamera.MvGvspPixelType enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;
+        //        if (m_stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
+        //        {
+        //            pTemp = m_BufForDriver;
+        //            enDstPixelType = m_stFrameInfo.enPixelType;
+        //        }
+
+        //        _dev.MV_CC_FreeImageBuffer_NET(ref stFrameInfo);
+
+        //        //************************Mono8 转 Bitmap*******************************
+        //        Bitmap bmp = new Bitmap(m_stFrameInfo.nWidth, m_stFrameInfo.nHeight, m_stFrameInfo.nWidth * 1, PixelFormat.Format8bppIndexed, pTemp);
+        //        ColorPalette cp = bmp.Palette;
+        //        for (int i = 0; i < 256; i++)
+        //        {
+        //            cp.Entries[i] = Color.FromArgb(i, i, i);
+        //        }
+        //        bmp.Palette = cp;
+        //        return bmp;
+        //    }
+        //    else
+        //    {
+        //        return null;
+        //    }
+
+        //}
+
+        //private bool RemoveCustomPixelFormats(MyCamera.MvGvspPixelType enPixelFormat)
+        //{
+        //    Int32 nResult = ((int)enPixelFormat) & (unchecked((Int32)0x80000000));
+        //    if (0x80000000 == nResult)
+        //    {
+        //        return true;
+        //    }
+        //    else
+        //    {
+        //        return false;
+        //    }
+        //}
+    }
+
+    public class SiemensS7
+    {
+        private SiemensS7Net _s7;
+        private string _ip;
+        public bool OK { get; private set; }
+        private System.Timers.Timer _reconnectTimer;
+
+        public SiemensS7(string ip)
+        {
+            OK = false;
+            _ip = ip;
+
+            _reconnectTimer = new System.Timers.Timer(5000); // 设置定时器为5秒
+            _reconnectTimer.Elapsed += ReconnectTimerElapsed;
+            _reconnectTimer.AutoReset = true;
+        }
+        //public void Connect()
+        //{
+        //    _s7 = new SiemensS7Net(SiemensPLCS.S1200);
+        //    _s7.IpAddress = _ip;
+        //    _s7.Port = 102;
+        //    OperateResult operateResult = _s7.ConnectServer();
+        //    if (!operateResult.IsSuccess)
+        //    {
+        //        throw new Exception(string.Format("Siemens S7 S1200客户端连接失败"));
+        //    }
+        //}
+
+
+        public void Connect()
+        {
+            _s7 = new SiemensS7Net(SiemensPLCS.S1200);
+            _s7.IpAddress = _ip;
+            _s7.Port = 102;
+            TryConnect();
+        }
+
+        private void TryConnect()
+        {
+
+            OperateResult operateResult = _s7.ConnectServer();
+            if (!operateResult.IsSuccess)
+            {
+                OK = false;
+                Console.WriteLine("Siemens S7 S1200客户端连接失败，5秒后重试...");
+                _reconnectTimer.Start(); // 启动定时器
+            }
+            else
+            {
+                OK = true;
+                Console.WriteLine("Siemens S7 S1200客户端连接成功");
+                _reconnectTimer.Stop(); // 停止定时器
+            }
+        }
+
+        private void ReconnectTimerElapsed(object sender, ElapsedEventArgs e)
+        {
+            Console.WriteLine("尝试重新连接...");
+            TryConnect();
+        }
+        public void Disconnect()
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            OperateResult operateResult = _s7.ConnectClose();
+            if (!operateResult.IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200客户端断开失败"));
+            }
+        }
+        public bool GetValue(string address, out bool value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            OperateResult<bool> boolResult = _s7.ReadBool(address);
+            if (boolResult.IsSuccess)
+            {
+                value = boolResult.Content;
+                return true;
+            }
+            else
+            {
+                value = false;
+                return false;
+            }
+        }
+        public void SetValue(string address, bool value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+
+        public void SetValue(string address, int value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+
+        public void SetValue(string address, uint value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+
+        public void SetValue(string address, short value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+        public void SetValue(string address, ushort value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+        public void SetValue(string address, float value)
+        {
+            if (_s7 == null)
+            {
+                throw new Exception(string.Format("Siemens S7 S1200通信未连接"));
+            }
+            if (!_s7.Write(address, value).IsSuccess)
+            {
+                throw new Exception(string.Format("Siemens S7 S1500客户端发送数据失败"));
+            }
+        }
+    }
+}

WaferAlignment/CenterOfRotation.cs

@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Serialization;
+
+namespace WaferAlignment
+{
+    [XmlRootAttribute("CenterOfRotation", IsNullable = false)]
+
+    public class CenterOfRotation
+    {
+        private double center_X = 0;
+        private double center_Y = 0;
+        [XmlElementAttribute("Center_X")]
+        public double Center_X
+        {
+            get { return center_X; }
+            set { center_X = value; }
+        }
+        [XmlElementAttribute("Center_Y")]
+
+        public double Center_Y
+        {
+            get { return center_Y; }
+            set { center_Y = value; }
+        }
+    }
+}

WaferAlignment/ConfigStore.cs

@@ -0,0 +1,63 @@
+using System;
+using System.IO;
+using System.Text;
+using System.Xml;
+using System.Xml.Serialization;
+
+namespace ConVX.VXData
+{
+    public class ConfigStore
+    {
+
+        public object ReadConfigFromFile(Type objectType, string filePath)
+        {
+            try
+            {
+
+                object mxml = new object();
+
+                XmlSerializer serializer = new XmlSerializer(objectType);
+
+                StreamReader reader = new StreamReader(filePath);
+
+                mxml = serializer.Deserialize(reader);
+
+                reader.Close();
+                return mxml;
+
+            }
+            catch (Exception ex)
+            {
+                throw new Exception(ex.Message);
+            }
+        }
+
+        public void WriteConfigToFile(object config, Type objectType, string filePath)
+        {
+            try
+            {
+                object mConfig = new object();
+                mConfig = config;
+                XmlSerializer serializer = new XmlSerializer(objectType);
+
+                XmlWriterSettings settings = new XmlWriterSettings();
+                settings.Indent = true;
+                settings.Encoding = Encoding.Unicode;
+
+                StringWriter txtwriter = new StringWriter();
+                XmlWriter xmlwtr = XmlWriter.Create(txtwriter, settings);
+                serializer.Serialize(xmlwtr, mConfig);
+
+                StreamWriter writer = new StreamWriter(filePath);
+                writer.Write(txtwriter.ToString());
+
+                writer.Close();
+                txtwriter.Close();
+            }
+            catch (Exception ex)
+            {
+                throw new Exception(ex.Message);
+            }
+        }
+    }
+}

WaferAlignment/DataPostbox.cs

@@ -0,0 +1,138 @@
+using Cognex.VisionPro;
+using System;
+using System.Collections.Concurrent;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace ConVX.VXData
+{
+    public class DataPostbox
+    {
+        #region 字段
+        /// <summary>
+        /// 图像队列:来存储数据信封（CogImage8Grey）的队列。
+        /// </summary>
+        private ConcurrentQueue<CogImage8Grey> _queue;
+        /// <summary>
+        /// 判断线程状态
+        /// </summary>
+        private AutoResetEvent _autoReset = null;
+        /// <summary>
+        /// 线程
+        /// </summary>
+        private Task _task;
+        /// <summary>
+        /// 控制任务启动
+        /// </summary>
+        private CancellationTokenSource RuningToken;
+        /// <summary>
+        /// 控制任务终止
+        /// </summary>
+        private CancellationTokenSource StopToken;
+        /// <summary>
+        /// 最大队列容量
+        /// </summary>
+        private int _maxQueueSize = 10;
+        #endregion
+
+        #region 事件
+        /// <summary>
+        /// 当有信件被派发时触发的事件。
+        /// </summary>
+        public event Action<CogImage8Grey> DeliverLetterEvent;
+        /// <summary>
+        /// 当发生错误时触发的事件。
+        /// </summary>
+        public event Action<string> ErrorEvent;
+        #endregion
+
+        #region 公开的方法
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        public DataPostbox()
+        {
+            _queue = new ConcurrentQueue<CogImage8Grey>();
+            _autoReset = new AutoResetEvent(false);//线程非终止状态
+        }
+        /// <summary>
+        /// 启动派发
+        /// </summary>
+        public void Start()
+        {
+            RuningToken = new CancellationTokenSource();//创建启动
+            _task = new Task(() => EnvelopeProcessing(), RuningToken.Token);
+            _task.Start();//线程启动
+        }
+        /// <summary>
+        /// 停止派发
+        /// </summary>
+        public async void Stop()
+        {
+            try
+            {
+                RuningToken.Cancel();
+                _autoReset.Set();//为了避免线程正在执行或等待状态
+                await _task;
+            }
+            catch (OperationCanceledException ex)
+            {
+                _task.Dispose();
+                _task = null;
+            }
+        }
+        /// <summary>
+        /// 邮寄信件
+        /// </summary>
+        /// <param name="envelope">信息信件</param>
+        public void Mailing(CogImage8Grey envelope)
+        {
+            //if (_queue.Count > _maxQueueSize)
+            //{
+            //    ErrorEvent(string.Format("数据队列超出队列最大容量{0}", _maxQueueSize));
+            //}
+            //else
+            //{
+            //    _queue.Enqueue(envelope);
+            //    _autoReset.Set();
+            //}
+
+            _queue.Enqueue(envelope);
+            _autoReset.Set();
+        }
+        #endregion
+
+        #region 数据处理线程
+        private void EnvelopeProcessing()
+        {
+            StopToken = new CancellationTokenSource();
+            while (!RuningToken.IsCancellationRequested)
+            {
+                if (_queue.IsEmpty)
+                {
+                    _autoReset.WaitOne();
+                }
+                else
+                {
+                    try
+                    {
+                        CogImage8Grey envelope;
+                        if (_queue.TryDequeue(out envelope))
+                        {
+                            DeliverLetterEvent(envelope);
+                        }
+                        Thread.Sleep(20);
+                    }
+                    catch (Exception ex)
+                    {
+                        ErrorEvent(string.Format("数据队列出队失败，原因：{0}", ex.Message.ToString()));
+                    }
+                }
+            }
+            StopToken.Cancel();
+        }
+        #endregion
+
+
+    }
+}

WaferAlignment/Form1.Designer.cs

@@ -0,0 +1,562 @@
+namespace WaferAlignment
+{
+    partial class Form1
+    {
+        /// <summary>
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// 清理所有正在使用的资源。
+        /// </summary>
+        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows 窗体设计器生成的代码
+
+        /// <summary>
+        /// 设计器支持所需的方法 - 不要
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
+            this.splitContainer1 = new System.Windows.Forms.SplitContainer();
+            this.cogRecordDisplay1 = new Cognex.VisionPro.CogRecordDisplay();
+            this.lbl_Time = new System.Windows.Forms.Label();
+            this.txt_Time = new System.Windows.Forms.TextBox();
+            this.lbl_Times = new System.Windows.Forms.Label();
+            this.txt_Times = new System.Windows.Forms.TextBox();
+            this.lbl_RMS = new System.Windows.Forms.Label();
+            this.txt_RMS = new System.Windows.Forms.TextBox();
+            this.lbl_RotationR = new System.Windows.Forms.Label();
+            this.txt_RR = new System.Windows.Forms.TextBox();
+            this.lbl_CommunState = new System.Windows.Forms.Label();
+            this.lbl_Commun = new System.Windows.Forms.Label();
+            this.lbl_CameraState = new System.Windows.Forms.Label();
+            this.lbl_Camera = new System.Windows.Forms.Label();
+            this.lbl_DR = new System.Windows.Forms.Label();
+            this.txt_DR = new System.Windows.Forms.TextBox();
+            this.lbl_DY = new System.Windows.Forms.Label();
+            this.txt_DY = new System.Windows.Forms.TextBox();
+            this.lbl_DX = new System.Windows.Forms.Label();
+            this.txt_DX = new System.Windows.Forms.TextBox();
+            this.lbl_RotationY = new System.Windows.Forms.Label();
+            this.txt_RY = new System.Windows.Forms.TextBox();
+            this.lbl_RotationX = new System.Windows.Forms.Label();
+            this.txt_RX = new System.Windows.Forms.TextBox();
+            this.dataGridView1 = new System.Windows.Forms.DataGridView();
+            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.btn_RunTest = new System.Windows.Forms.Button();
+            this.lbl_R = new System.Windows.Forms.Label();
+            this.nud_SizeR = new System.Windows.Forms.NumericUpDown();
+            this.lbl_Y = new System.Windows.Forms.Label();
+            this.nud_SizeY = new System.Windows.Forms.NumericUpDown();
+            this.lbl_X = new System.Windows.Forms.Label();
+            this.nud_SizeX = new System.Windows.Forms.NumericUpDown();
+            this.btn_Action = new System.Windows.Forms.Button();
+            this.btn_ToZero = new System.Windows.Forms.Button();
+            ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
+            this.splitContainer1.Panel1.SuspendLayout();
+            this.splitContainer1.Panel2.SuspendLayout();
+            this.splitContainer1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.cogRecordDisplay1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeR)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeY)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeX)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // splitContainer1
+            // 
+            this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.splitContainer1.FixedPanel = System.Windows.Forms.FixedPanel.Panel2;
+            this.splitContainer1.Location = new System.Drawing.Point(0, 0);
+            this.splitContainer1.Name = "splitContainer1";
+            this.splitContainer1.Orientation = System.Windows.Forms.Orientation.Horizontal;
+            // 
+            // splitContainer1.Panel1
+            // 
+            this.splitContainer1.Panel1.Controls.Add(this.cogRecordDisplay1);
+            // 
+            // splitContainer1.Panel2
+            // 
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_Time);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_Time);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_Times);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_Times);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_RMS);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_RMS);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_RotationR);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_RR);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_CommunState);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_Commun);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_CameraState);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_Camera);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_DR);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_DR);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_DY);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_DY);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_DX);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_DX);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_RotationY);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_RY);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_RotationX);
+            this.splitContainer1.Panel2.Controls.Add(this.txt_RX);
+            this.splitContainer1.Panel2.Controls.Add(this.dataGridView1);
+            this.splitContainer1.Panel2.Controls.Add(this.btn_RunTest);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_R);
+            this.splitContainer1.Panel2.Controls.Add(this.nud_SizeR);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_Y);
+            this.splitContainer1.Panel2.Controls.Add(this.nud_SizeY);
+            this.splitContainer1.Panel2.Controls.Add(this.lbl_X);
+            this.splitContainer1.Panel2.Controls.Add(this.nud_SizeX);
+            this.splitContainer1.Panel2.Controls.Add(this.btn_Action);
+            this.splitContainer1.Panel2.Controls.Add(this.btn_ToZero);
+            this.splitContainer1.Size = new System.Drawing.Size(885, 806);
+            this.splitContainer1.SplitterDistance = 558;
+            this.splitContainer1.TabIndex = 1;
+            // 
+            // cogRecordDisplay1
+            // 
+            this.cogRecordDisplay1.ColorMapLowerClipColor = System.Drawing.Color.Black;
+            this.cogRecordDisplay1.ColorMapLowerRoiLimit = 0D;
+            this.cogRecordDisplay1.ColorMapPredefined = Cognex.VisionPro.Display.CogDisplayColorMapPredefinedConstants.None;
+            this.cogRecordDisplay1.ColorMapUpperClipColor = System.Drawing.Color.Black;
+            this.cogRecordDisplay1.ColorMapUpperRoiLimit = 1D;
+            this.cogRecordDisplay1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.cogRecordDisplay1.DoubleTapZoomCycleLength = 2;
+            this.cogRecordDisplay1.DoubleTapZoomSensitivity = 2.5D;
+            this.cogRecordDisplay1.Location = new System.Drawing.Point(0, 0);
+            this.cogRecordDisplay1.MouseWheelMode = Cognex.VisionPro.Display.CogDisplayMouseWheelModeConstants.Zoom1;
+            this.cogRecordDisplay1.MouseWheelSensitivity = 1D;
+            this.cogRecordDisplay1.Name = "cogRecordDisplay1";
+            this.cogRecordDisplay1.OcxState = ((System.Windows.Forms.AxHost.State)(resources.GetObject("cogRecordDisplay1.OcxState")));
+            this.cogRecordDisplay1.Size = new System.Drawing.Size(885, 558);
+            this.cogRecordDisplay1.TabIndex = 0;
+            // 
+            // lbl_Time
+            // 
+            this.lbl_Time.AutoSize = true;
+            this.lbl_Time.Location = new System.Drawing.Point(655, 25);
+            this.lbl_Time.Name = "lbl_Time";
+            this.lbl_Time.Size = new System.Drawing.Size(65, 12);
+            this.lbl_Time.TabIndex = 32;
+            this.lbl_Time.Text = "检测时间：";
+            // 
+            // txt_Time
+            // 
+            this.txt_Time.Location = new System.Drawing.Point(741, 22);
+            this.txt_Time.Name = "txt_Time";
+            this.txt_Time.ReadOnly = true;
+            this.txt_Time.Size = new System.Drawing.Size(129, 21);
+            this.txt_Time.TabIndex = 31;
+            // 
+            // lbl_Times
+            // 
+            this.lbl_Times.AutoSize = true;
+            this.lbl_Times.Location = new System.Drawing.Point(234, 15);
+            this.lbl_Times.Name = "lbl_Times";
+            this.lbl_Times.Size = new System.Drawing.Size(89, 12);
+            this.lbl_Times.TabIndex = 30;
+            this.lbl_Times.Text = "整体检测时间：";
+            // 
+            // txt_Times
+            // 
+            this.txt_Times.Location = new System.Drawing.Point(326, 12);
+            this.txt_Times.Name = "txt_Times";
+            this.txt_Times.ReadOnly = true;
+            this.txt_Times.Size = new System.Drawing.Size(129, 21);
+            this.txt_Times.TabIndex = 29;
+            // 
+            // lbl_RMS
+            // 
+            this.lbl_RMS.AutoSize = true;
+            this.lbl_RMS.Location = new System.Drawing.Point(655, 133);
+            this.lbl_RMS.Name = "lbl_RMS";
+            this.lbl_RMS.Size = new System.Drawing.Size(71, 12);
+            this.lbl_RMS.TabIndex = 28;
+            this.lbl_RMS.Text = "RMS偏差量：";
+            // 
+            // txt_RMS
+            // 
+            this.txt_RMS.Location = new System.Drawing.Point(741, 130);
+            this.txt_RMS.Name = "txt_RMS";
+            this.txt_RMS.ReadOnly = true;
+            this.txt_RMS.Size = new System.Drawing.Size(129, 21);
+            this.txt_RMS.TabIndex = 27;
+            // 
+            // lbl_RotationR
+            // 
+            this.lbl_RotationR.AutoSize = true;
+            this.lbl_RotationR.Location = new System.Drawing.Point(655, 106);
+            this.lbl_RotationR.Name = "lbl_RotationR";
+            this.lbl_RotationR.Size = new System.Drawing.Size(77, 12);
+            this.lbl_RotationR.TabIndex = 26;
+            this.lbl_RotationR.Text = "拟合半径 R：";
+            // 
+            // txt_RR
+            // 
+            this.txt_RR.Location = new System.Drawing.Point(741, 103);
+            this.txt_RR.Name = "txt_RR";
+            this.txt_RR.ReadOnly = true;
+            this.txt_RR.Size = new System.Drawing.Size(129, 21);
+            this.txt_RR.TabIndex = 25;
+            // 
+            // lbl_CommunState
+            // 
+            this.lbl_CommunState.BackColor = System.Drawing.Color.Red;
+            this.lbl_CommunState.ForeColor = System.Drawing.Color.White;
+            this.lbl_CommunState.Location = new System.Drawing.Point(86, 45);
+            this.lbl_CommunState.Name = "lbl_CommunState";
+            this.lbl_CommunState.Size = new System.Drawing.Size(89, 23);
+            this.lbl_CommunState.TabIndex = 24;
+            this.lbl_CommunState.Text = "未连接";
+            this.lbl_CommunState.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lbl_Commun
+            // 
+            this.lbl_Commun.AutoSize = true;
+            this.lbl_Commun.Location = new System.Drawing.Point(15, 50);
+            this.lbl_Commun.Name = "lbl_Commun";
+            this.lbl_Commun.Size = new System.Drawing.Size(59, 12);
+            this.lbl_Commun.TabIndex = 23;
+            this.lbl_Commun.Text = "PLC状态：";
+            // 
+            // lbl_CameraState
+            // 
+            this.lbl_CameraState.BackColor = System.Drawing.Color.Red;
+            this.lbl_CameraState.ForeColor = System.Drawing.Color.White;
+            this.lbl_CameraState.Location = new System.Drawing.Point(86, 12);
+            this.lbl_CameraState.Name = "lbl_CameraState";
+            this.lbl_CameraState.Size = new System.Drawing.Size(89, 23);
+            this.lbl_CameraState.TabIndex = 22;
+            this.lbl_CameraState.Text = "未连接";
+            this.lbl_CameraState.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lbl_Camera
+            // 
+            this.lbl_Camera.AutoSize = true;
+            this.lbl_Camera.Location = new System.Drawing.Point(15, 17);
+            this.lbl_Camera.Name = "lbl_Camera";
+            this.lbl_Camera.Size = new System.Drawing.Size(65, 12);
+            this.lbl_Camera.TabIndex = 21;
+            this.lbl_Camera.Text = "相机状态：";
+            // 
+            // lbl_DR
+            // 
+            this.lbl_DR.AutoSize = true;
+            this.lbl_DR.Location = new System.Drawing.Point(655, 214);
+            this.lbl_DR.Name = "lbl_DR";
+            this.lbl_DR.Size = new System.Drawing.Size(65, 12);
+            this.lbl_DR.TabIndex = 20;
+            this.lbl_DR.Text = "偏差量 R：";
+            // 
+            // txt_DR
+            // 
+            this.txt_DR.Location = new System.Drawing.Point(741, 211);
+            this.txt_DR.Name = "txt_DR";
+            this.txt_DR.ReadOnly = true;
+            this.txt_DR.Size = new System.Drawing.Size(129, 21);
+            this.txt_DR.TabIndex = 19;
+            // 
+            // lbl_DY
+            // 
+            this.lbl_DY.AutoSize = true;
+            this.lbl_DY.Location = new System.Drawing.Point(655, 187);
+            this.lbl_DY.Name = "lbl_DY";
+            this.lbl_DY.Size = new System.Drawing.Size(65, 12);
+            this.lbl_DY.TabIndex = 18;
+            this.lbl_DY.Text = "偏差量 Y：";
+            // 
+            // txt_DY
+            // 
+            this.txt_DY.Location = new System.Drawing.Point(741, 184);
+            this.txt_DY.Name = "txt_DY";
+            this.txt_DY.ReadOnly = true;
+            this.txt_DY.Size = new System.Drawing.Size(129, 21);
+            this.txt_DY.TabIndex = 17;
+            // 
+            // lbl_DX
+            // 
+            this.lbl_DX.AutoSize = true;
+            this.lbl_DX.Location = new System.Drawing.Point(655, 160);
+            this.lbl_DX.Name = "lbl_DX";
+            this.lbl_DX.Size = new System.Drawing.Size(65, 12);
+            this.lbl_DX.TabIndex = 16;
+            this.lbl_DX.Text = "偏差量 X：";
+            // 
+            // txt_DX
+            // 
+            this.txt_DX.Location = new System.Drawing.Point(741, 157);
+            this.txt_DX.Name = "txt_DX";
+            this.txt_DX.ReadOnly = true;
+            this.txt_DX.Size = new System.Drawing.Size(129, 21);
+            this.txt_DX.TabIndex = 15;
+            // 
+            // lbl_RotationY
+            // 
+            this.lbl_RotationY.AutoSize = true;
+            this.lbl_RotationY.Location = new System.Drawing.Point(655, 79);
+            this.lbl_RotationY.Name = "lbl_RotationY";
+            this.lbl_RotationY.Size = new System.Drawing.Size(77, 12);
+            this.lbl_RotationY.TabIndex = 14;
+            this.lbl_RotationY.Text = "拟合中心 Y：";
+            // 
+            // txt_RY
+            // 
+            this.txt_RY.Location = new System.Drawing.Point(741, 76);
+            this.txt_RY.Name = "txt_RY";
+            this.txt_RY.ReadOnly = true;
+            this.txt_RY.Size = new System.Drawing.Size(129, 21);
+            this.txt_RY.TabIndex = 13;
+            // 
+            // lbl_RotationX
+            // 
+            this.lbl_RotationX.AutoSize = true;
+            this.lbl_RotationX.Location = new System.Drawing.Point(655, 52);
+            this.lbl_RotationX.Name = "lbl_RotationX";
+            this.lbl_RotationX.Size = new System.Drawing.Size(77, 12);
+            this.lbl_RotationX.TabIndex = 12;
+            this.lbl_RotationX.Text = "拟合中心 X：";
+            // 
+            // txt_RX
+            // 
+            this.txt_RX.Location = new System.Drawing.Point(741, 49);
+            this.txt_RX.Name = "txt_RX";
+            this.txt_RX.ReadOnly = true;
+            this.txt_RX.Size = new System.Drawing.Size(129, 21);
+            this.txt_RX.TabIndex = 11;
+            // 
+            // dataGridView1
+            // 
+            this.dataGridView1.AllowUserToAddRows = false;
+            this.dataGridView1.AllowUserToDeleteRows = false;
+            this.dataGridView1.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dataGridView1.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
+            this.Column1,
+            this.Column2,
+            this.Column3,
+            this.Column4});
+            this.dataGridView1.Location = new System.Drawing.Point(181, 53);
+            this.dataGridView1.Name = "dataGridView1";
+            this.dataGridView1.ReadOnly = true;
+            this.dataGridView1.RowTemplate.Height = 23;
+            this.dataGridView1.Size = new System.Drawing.Size(461, 188);
+            this.dataGridView1.TabIndex = 10;
+            // 
+            // Column1
+            // 
+            this.Column1.HeaderText = "角度";
+            this.Column1.Name = "Column1";
+            this.Column1.ReadOnly = true;
+            // 
+            // Column2
+            // 
+            this.Column2.HeaderText = "X";
+            this.Column2.Name = "Column2";
+            this.Column2.ReadOnly = true;
+            // 
+            // Column3
+            // 
+            this.Column3.HeaderText = "Y";
+            this.Column3.Name = "Column3";
+            this.Column3.ReadOnly = true;
+            // 
+            // Column4
+            // 
+            this.Column4.HeaderText = "检测时间";
+            this.Column4.Name = "Column4";
+            this.Column4.ReadOnly = true;
+            // 
+            // btn_RunTest
+            // 
+            this.btn_RunTest.Location = new System.Drawing.Point(481, 12);
+            this.btn_RunTest.Name = "btn_RunTest";
+            this.btn_RunTest.Size = new System.Drawing.Size(161, 23);
+            this.btn_RunTest.TabIndex = 9;
+            this.btn_RunTest.Text = "启动检测";
+            this.btn_RunTest.UseVisualStyleBackColor = true;
+            this.btn_RunTest.Click += new System.EventHandler(this.btn_RunTest_Click);
+            // 
+            // lbl_R
+            // 
+            this.lbl_R.AutoSize = true;
+            this.lbl_R.Location = new System.Drawing.Point(15, 193);
+            this.lbl_R.Name = "lbl_R";
+            this.lbl_R.Size = new System.Drawing.Size(59, 12);
+            this.lbl_R.TabIndex = 7;
+            this.lbl_R.Text = "R轴位置：";
+            // 
+            // nud_SizeR
+            // 
+            this.nud_SizeR.DecimalPlaces = 2;
+            this.nud_SizeR.Location = new System.Drawing.Point(80, 191);
+            this.nud_SizeR.Maximum = new decimal(new int[] {
+            360,
+            0,
+            0,
+            0});
+            this.nud_SizeR.Minimum = new decimal(new int[] {
+            360,
+            0,
+            0,
+            -2147483648});
+            this.nud_SizeR.Name = "nud_SizeR";
+            this.nud_SizeR.Size = new System.Drawing.Size(95, 21);
+            this.nud_SizeR.TabIndex = 8;
+            // 
+            // lbl_Y
+            // 
+            this.lbl_Y.AutoSize = true;
+            this.lbl_Y.Location = new System.Drawing.Point(15, 166);
+            this.lbl_Y.Name = "lbl_Y";
+            this.lbl_Y.Size = new System.Drawing.Size(59, 12);
+            this.lbl_Y.TabIndex = 5;
+            this.lbl_Y.Text = "Y轴位置：";
+            // 
+            // nud_SizeY
+            // 
+            this.nud_SizeY.DecimalPlaces = 2;
+            this.nud_SizeY.Location = new System.Drawing.Point(80, 164);
+            this.nud_SizeY.Minimum = new decimal(new int[] {
+            100,
+            0,
+            0,
+            -2147483648});
+            this.nud_SizeY.Name = "nud_SizeY";
+            this.nud_SizeY.Size = new System.Drawing.Size(95, 21);
+            this.nud_SizeY.TabIndex = 6;
+            this.nud_SizeY.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            -2147483648});
+            // 
+            // lbl_X
+            // 
+            this.lbl_X.AutoSize = true;
+            this.lbl_X.Location = new System.Drawing.Point(15, 139);
+            this.lbl_X.Name = "lbl_X";
+            this.lbl_X.Size = new System.Drawing.Size(59, 12);
+            this.lbl_X.TabIndex = 3;
+            this.lbl_X.Text = "X轴位置：";
+            // 
+            // nud_SizeX
+            // 
+            this.nud_SizeX.DecimalPlaces = 2;
+            this.nud_SizeX.Location = new System.Drawing.Point(80, 137);
+            this.nud_SizeX.Minimum = new decimal(new int[] {
+            100,
+            0,
+            0,
+            -2147483648});
+            this.nud_SizeX.Name = "nud_SizeX";
+            this.nud_SizeX.Size = new System.Drawing.Size(95, 21);
+            this.nud_SizeX.TabIndex = 4;
+            this.nud_SizeX.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            // 
+            // btn_Action
+            // 
+            this.btn_Action.Location = new System.Drawing.Point(14, 218);
+            this.btn_Action.Name = "btn_Action";
+            this.btn_Action.Size = new System.Drawing.Size(161, 23);
+            this.btn_Action.TabIndex = 1;
+            this.btn_Action.Text = "执行动作";
+            this.btn_Action.UseVisualStyleBackColor = true;
+            this.btn_Action.Click += new System.EventHandler(this.btn_Action_Click);
+            // 
+            // btn_ToZero
+            // 
+            this.btn_ToZero.Location = new System.Drawing.Point(17, 99);
+            this.btn_ToZero.Name = "btn_ToZero";
+            this.btn_ToZero.Size = new System.Drawing.Size(161, 23);
+            this.btn_ToZero.TabIndex = 0;
+            this.btn_ToZero.Text = "三轴回零";
+            this.btn_ToZero.UseVisualStyleBackColor = true;
+            this.btn_ToZero.Click += new System.EventHandler(this.btn_ToZero_Click);
+            // 
+            // Form1
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(885, 806);
+            this.Controls.Add(this.splitContainer1);
+            this.Name = "Form1";
+            this.Text = "晶圆对位验证程序";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Form1_FormClosing);
+            this.Load += new System.EventHandler(this.Form1_Load);
+            this.splitContainer1.Panel1.ResumeLayout(false);
+            this.splitContainer1.Panel2.ResumeLayout(false);
+            this.splitContainer1.Panel2.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).EndInit();
+            this.splitContainer1.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.cogRecordDisplay1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeR)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeY)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nud_SizeX)).EndInit();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.SplitContainer splitContainer1;
+        private Cognex.VisionPro.CogRecordDisplay cogRecordDisplay1;
+        private System.Windows.Forms.Button btn_ToZero;
+        private System.Windows.Forms.Label lbl_R;
+        private System.Windows.Forms.NumericUpDown nud_SizeR;
+        private System.Windows.Forms.Label lbl_Y;
+        private System.Windows.Forms.NumericUpDown nud_SizeY;
+        private System.Windows.Forms.Label lbl_X;
+        private System.Windows.Forms.NumericUpDown nud_SizeX;
+        private System.Windows.Forms.Button btn_Action;
+        private System.Windows.Forms.Button btn_RunTest;
+        private System.Windows.Forms.Label lbl_RotationY;
+        private System.Windows.Forms.TextBox txt_RY;
+        private System.Windows.Forms.Label lbl_RotationX;
+        private System.Windows.Forms.TextBox txt_RX;
+        private System.Windows.Forms.DataGridView dataGridView1;
+        private System.Windows.Forms.Label lbl_DY;
+        private System.Windows.Forms.TextBox txt_DY;
+        private System.Windows.Forms.Label lbl_DX;
+        private System.Windows.Forms.TextBox txt_DX;
+        private System.Windows.Forms.Label lbl_DR;
+        private System.Windows.Forms.TextBox txt_DR;
+        private System.Windows.Forms.Label lbl_CameraState;
+        private System.Windows.Forms.Label lbl_Camera;
+        private System.Windows.Forms.Label lbl_CommunState;
+        private System.Windows.Forms.Label lbl_Commun;
+        private System.Windows.Forms.Label lbl_RotationR;
+        private System.Windows.Forms.TextBox txt_RR;
+        private System.Windows.Forms.Label lbl_RMS;
+        private System.Windows.Forms.TextBox txt_RMS;
+        private System.Windows.Forms.Label lbl_Times;
+        private System.Windows.Forms.TextBox txt_Times;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
+        private System.Windows.Forms.Label lbl_Time;
+        private System.Windows.Forms.TextBox txt_Time;
+
+    }
+}
+

WaferAlignment/Form1.resx

@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="cogRecordDisplay1.OcxState" mimetype="application/x-microsoft.net.object.binary.base64">
+    <value>
+        AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj00LjAuMC4w
+        LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACFTeXN0
+        ZW0uV2luZG93cy5Gb3Jtcy5BeEhvc3QrU3RhdGUBAAAABERhdGEHAgIAAAAJAwAAAA8DAAAAtwAAAAIB
+        AAAAAQAAAAAAAAAAAAAAAKIAAAAAAQAAeFsAAKw5AAATAAoKZAALAAAACwAAAAsA//8DAAAAAAADAAEA
+        AAAFAAAAAAAAAAAABQAAAAAAAAAAAAUAAAAAAAAA8D8TAAAAwAALAP//CwD//xMAAIAAAAMAAwAAAAsA
+        //8LAAAAAAAAAAAA4D8AAAAAAADgPwAAAAAAAOA/AAAAAAAA4D8BAAAAAQAAAAsA//8LAAAACwAAAAsA
+        //8L
+</value>
+  </data>
+  <metadata name="Column1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+</root>

WaferAlignment/Program.cs

@@ -0,0 +1,22 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace WaferAlignment
+{
+    static class Program
+    {
+        /// <summary>
+        /// 应用程序的主入口点。
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new Form1());
+        }
+    }
+}

WaferAlignment/Properties/AssemblyInfo.cs

@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的常规信息通过以下
+// 特性集控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("WaferAlignment")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("HP Inc.")]
+[assembly: AssemblyProduct("WaferAlignment")]
+[assembly: AssemblyCopyright("Copyright © HP Inc. 2024")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 使此程序集中的类型
+// 对 COM 组件不可见。  如果需要从 COM 访问此程序集中的类型，
+// 则将该类型上的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("1e41d94a-8082-46d2-83cd-92d60d48d97a")]
+
+// 程序集的版本信息由下面四个值组成: 
+//
+//      主版本
+//      次版本 
+//      生成号
+//      修订号
+//
+// 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值，
+// 方法是按如下所示使用“*”: 
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

WaferAlignment/Properties/Resources.Designer.cs

@@ -0,0 +1,63 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     运行时版本:4.0.30319.42000
+//
+//     对此文件的更改可能会导致不正确的行为，并且如果
+//     重新生成代码，这些更改将会丢失。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace WaferAlignment.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   一个强类型的资源类，用于查找本地化的字符串等。
+    /// </summary>
+    // 此类是由 StronglyTypedResourceBuilder
+    // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
+    // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
+    // (以 /str 作为命令选项)，或重新生成 VS 项目。
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "18.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   返回此类使用的缓存的 ResourceManager 实例。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("WaferAlignment.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   重写当前线程的 CurrentUICulture 属性，对
+        ///   使用此强类型资源类的所有资源查找执行重写。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

WaferAlignment/Properties/Resources.resx

@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

WaferAlignment/Properties/Settings.Designer.cs

@@ -0,0 +1,26 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     运行时版本:4.0.30319.42000
+//
+//     对此文件的更改可能会导致不正确的行为，并且如果
+//     重新生成代码，这些更改将会丢失。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace WaferAlignment.Properties {
+    
+    
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.14.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+        
+        public static Settings Default {
+            get {
+                return defaultInstance;
+            }
+        }
+    }
+}

WaferAlignment/Properties/Settings.settings

@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>

WaferAlignment/TCP.cs

@@ -0,0 +1,290 @@
+using FlyTcpFramework;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WaferAlignment
+{
+    class TCP
+    {
+        // 用于通讯的本地连接的IP地址
+        private string ipServer = "192.168.2.200";
+
+        // 定义IP服务器
+        private TcpSvr m_Svc;
+
+        // 允许连接的客户端IP地址列表
+        private List<string> allowedClientIps = new List<string> { "192.168.2.100" };
+
+        // 接收数据事件的委托
+        public event EventHandler<DataReceivedEventArgs> DataReceived;
+
+        // 用于存储客户端的字典
+        private Dictionary<string, TcpClientState> clientDictionary = new Dictionary<string, TcpClientState>();
+
+        // 启动服务器
+        public void StartServer()
+        {
+            try
+            {
+                ushort _port = 3000;
+                m_Svc = new TcpSvr(IPAddress.Parse(ipServer), _port, 10, new Coder(Coder.EncodingMothord.Default), AppDomain.CurrentDomain.BaseDirectory);
+
+                // 订阅事件
+                m_Svc.RecvData += new NetEvent(RecvData);
+                m_Svc.ClientConn += new NetEvent(ClientConnect);
+                m_Svc.ClientClose += new NetEvent(ClientClosed);
+
+                // 启动服务器
+                m_Svc.Start();
+
+                if (m_Svc.IsRun)
+                {
+                    Console.WriteLine("Server已上线");
+                }
+                else
+                {
+                    Console.WriteLine("Server未能上线");
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("启动服务器失败！" + ex);
+            }
+        }
+
+        // 停止服务器
+        public void StopServer()
+        {
+            try
+            {
+                if (m_Svc != null)
+                {
+                    // 取消订阅事件
+                    m_Svc.RecvData -= RecvData;
+                    m_Svc.ClientConn -= ClientConnect;
+                    m_Svc.ClientClose -= ClientClosed;
+
+                    // 停止服务器
+                    m_Svc.Stop();
+                    m_Svc = null;
+
+                    Console.WriteLine("Server已下线");
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("停止服务器失败！" + ex);
+            }
+        }
+
+        // 服务器接收数据TCPIP
+        private void RecvData(object sender, NetEventArgs e)
+        {
+            try
+            {
+                //string info = Encoding.ASCII.GetString(e.Client.Datagram); // 解码为 ASCII 字符串
+                string info = e.Client.Datagram;    // 收到的数据
+                string ip = ((IPEndPoint)e.Client.ClientSocket.RemoteEndPoint).Address.ToString();
+                // 触发处理收到的数据
+                OnDataReceived(new DataReceivedEventArgs(ip, info));
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("接收数据失败！" + ex.Message);
+            }
+        }
+        // 触发数据接收事件
+        protected virtual void OnDataReceived(DataReceivedEventArgs e)
+        {
+            // 将空条件运算符改为传统的 null 检查
+            EventHandler<DataReceivedEventArgs> handler = DataReceived;
+            if (handler != null)
+            {
+                handler(this, e);
+            }
+        }
+        // 发送数据到指定客户端
+        public void SendData(string clientIp, string data)
+        {
+            TcpClientState clientState;
+            if (clientDictionary.TryGetValue(clientIp, out clientState))
+            {
+                byte[] dataBytes = Encoding.Default.GetBytes(data);
+                clientState.ClientSocket.Send(dataBytes);
+                Console.WriteLine("向客户端 {0} 发送数据: {1}", clientIp, data);
+            }
+            else
+            {
+                throw new Exception("客户端未连接");
+            }
+        }
+        //// 触发数据接收事件
+        //protected virtual void OnDataReceived(DataReceivedEventArgs e)
+        //{
+        //    DataReceived?.Invoke(this, e);
+        //}
+
+        //// 发送数据到指定客户端
+        //public void SendData(string clientIp, string data)
+        //{
+        //    if (clientDictionary.TryGetValue(clientIp, out TcpClientState clientState))
+        //    {
+        //        byte[] dataBytes = Encoding.Default.GetBytes(data);
+        //        clientState.ClientSocket.Send(dataBytes);
+        //        Console.WriteLine($"向客户端 {clientIp} 发送数据: {data}");
+        //    }
+        //    else
+        //    {
+        //        throw new Exception("客户端未连接");
+        //    }
+        //}
+        
+        // 客户端是否链接判断
+        private void ClientConnect(object sender, NetEventArgs e)
+        {
+            try
+            {
+                string ip = ((IPEndPoint)e.Client.ClientSocket.RemoteEndPoint).Address.ToString();
+
+                // 检查客户端IP是否在允许列表中
+                if (allowedClientIps.Contains(ip))
+                {
+                    TcpClientState clientState = new TcpClientState(e.Client.ClientSocket, ip);
+                    clientDictionary[ip] = clientState;
+                    //Console.WriteLine($"客户端 {ip} 已连接");
+                }
+                else
+                {
+                    // 拒绝不在允许列表中的客户端连接
+                    //Console.WriteLine($"拒绝客户端 {ip} 的连接");
+                    e.Client.ClientSocket.Close();
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("TCP连接失败！" + ex);
+            }
+        }
+
+        // 客户端链接断开判断
+        private void ClientClosed(object sender, NetEventArgs e)
+        {
+            try
+            {
+                string ip = ((IPEndPoint)e.Client.ClientSocket.RemoteEndPoint).Address.ToString();
+                if (clientDictionary.ContainsKey(ip))
+                {
+                    clientDictionary.Remove(ip);
+                    //Console.WriteLine($"客户端 {ip} 已断开");
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new Exception("通信断开失败！" + ex);
+            }
+        }
+
+        ///// <summary>
+        ///// 客户端是否链接判断
+        ///// </summary>
+        ///// <param name="sender"></param>
+        ///// <param name="e"></param>
+        //void ClientConnect(object sender, NetEventArgs e)
+        //{
+        //    try
+        //    {
+        //        ip = ((IPEndPoint)e.Client.ClientSocket.RemoteEndPoint).Address.ToString();
+        //        if (ip == ip1)
+        //        {
+        //            //lb_ClientOnlineStatus.Text = "客户端已连接";
+        //            //lb_ClientOnlineStatus.BackColor = Color.GreenYellow;
+        //        }
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        throw new Exception("TCP连接失败！"+ ex.Message);
+
+        //    }
+
+        //}
+
+        ///// <summary>
+        ///// 客户端链接断开判断
+        ///// </summary>
+        ///// <param name="sender"></param>
+        ///// <param name="e"></param>
+        //void ClientClosed(object sender, NetEventArgs e)
+        //{
+        //    try
+        //    {
+        //        ip = ((IPEndPoint)e.Client.ClientSocket.RemoteEndPoint).Address.ToString();
+        //        if (ip == ip1)
+        //        {
+        //            //lb_ClientOnlineStatus.Text = "客户端已断开";
+        //            //lb_ClientOnlineStatus.BackColor = Color.Yellow;
+        //        }
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        throw new Exception("通信断开失败！"+ ex.Message);
+
+        //    }
+
+        //}
+
+    }
+
+    public class DataReceivedEventArgs : EventArgs
+    {
+        public string ClientIp { get;  private set;}
+        public string Data { get; private set; }
+
+        public DataReceivedEventArgs(string clientIp, string data)
+        {
+            ClientIp = clientIp;
+            Data = data;
+        }
+    }
+
+    public class TcpClientState
+    {
+        /// <summary>
+        /// 客户端的套接字
+        /// </summary>
+        public Socket ClientSocket { get; private set; }
+
+        /// <summary>
+        /// 客户端的IP地址
+        /// </summary>
+        public string ClientIp { get; private set; }
+
+        /// <summary>
+        /// 客户端连接的时间
+        /// </summary>
+        public DateTime ConnectionTime { get; private set; }
+
+        /// <summary>
+        /// 客户端的唯一标识符
+        /// </summary>
+        public string ClientId { get; private set; }
+
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        /// <param name="clientSocket">客户端的套接字</param>
+        /// <param name="clientIp">客户端的IP地址</param>
+        public TcpClientState(Socket clientSocket, string clientIp)
+        {
+            ClientSocket = clientSocket;
+            ClientIp = clientIp;
+            ConnectionTime = DateTime.Now;
+            ClientId = Guid.NewGuid().ToString();
+        }
+    }
+}

WaferAlignment/WaferAlignment.csproj

@@ -0,0 +1,150 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{941B8ABC-436F-457D-95DA-A79E23C8CA5D}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>WaferAlignment</RootNamespace>
+    <AssemblyName>WaferAlignment</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <DebugSymbols>true</DebugSymbols>
+    <OutputPath>bin\x64\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <DebugType>full</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
+    <Prefer32Bit>true</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <OutputPath>bin\x64\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <Optimize>true</Optimize>
+    <DebugType>pdbonly</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
+    <Prefer32Bit>true</Prefer32Bit>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="Cognex.VisionPro, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.Caliper, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505, processorArchitecture=AMD64" />
+    <Reference Include="Cognex.VisionPro.Controls, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505, processorArchitecture=AMD64" />
+    <Reference Include="Cognex.VisionPro.Core, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.CorePlus, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.Dimensioning, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505, processorArchitecture=AMD64" />
+    <Reference Include="Cognex.VisionPro.Display.Controls, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.FGGigE, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.ImageFile, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.ImageProcessing, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro.PMAlign, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505, processorArchitecture=AMD64" />
+    <Reference Include="Cognex.VisionPro.ToolGroup, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro3D, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro3D.Core, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro3D.Display.Controls, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="Cognex.VisionPro3D.Graphic, Version=59.2.0.0, Culture=neutral, PublicKeyToken=ef0f902af9dee505" />
+    <Reference Include="FlyTcpFramework">
+      <HintPath>.\FlyTcpFramework.dll</HintPath>
+    </Reference>
+    <Reference Include="HslCommunication">
+      <HintPath>.\HslCommunication.dll</HintPath>
+    </Reference>
+    <Reference Include="MvCameraControl.Net">
+      <HintPath>..\..\..\..\..\..\Program Files (x86)\MVS\Development\DotNet\win64\net40\MvCameraControl.Net.dll</HintPath>
+    </Reference>
+    <Reference Include="PresentationCore" />
+    <Reference Include="PresentationFramework" />
+    <Reference Include="QWhale.Common, Version=1.62.4104.36375, Culture=neutral, PublicKeyToken=da632fd1713dff10" />
+    <Reference Include="QWhale.Editor, Version=1.62.4104.36377, Culture=neutral, PublicKeyToken=da632fd1713dff10" />
+    <Reference Include="QWhale.Syntax, Version=1.62.4104.36376, Culture=neutral, PublicKeyToken=da632fd1713dff10" />
+    <Reference Include="QWhale.Syntax.Parsers, Version=1.62.4104.36376, Culture=neutral, PublicKeyToken=da632fd1713dff10" />
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xaml" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+    <Reference Include="WindowsBase" />
+    <Reference Include="WindowsFormsIntegration" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Camera.cs" />
+    <Compile Include="CenterOfRotation.cs" />
+    <Compile Include="ConfigStore.cs" />
+    <Compile Include="DataPostbox.cs" />
+    <Compile Include="Form1.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Form1.Designer.cs">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="TCP.cs" />
+    <EmbeddedResource Include="Form1.resx">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>