update toolblock for get circle center

WaferAlignment/Camera.cs

@@ -161,7 +161,6 @@ namespace WaferAlignment
             _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()
@@ -195,7 +194,7 @@ namespace WaferAlignment
             try
             {
                 _startAcqToken.Cancel();
-                Thread.Sleep(20);
+                Thread.Sleep(200);
                 _imageAcquisitionTask.Wait(_stopAcqToken.Token);
                 _imageAcquisitionTask.Dispose();
             }

WaferAlignment/DataPostbox.cs

@@ -16,7 +16,7 @@ namespace ConVX.VXData
         /// <summary>
         /// 判断线程状态
         /// </summary>
-        private AutoResetEvent _autoReset = null;
+        //private AutoResetEvent _autoReset = null;
         /// <summary>
         /// 线程
         /// </summary>
@@ -53,7 +53,7 @@ namespace ConVX.VXData
         public DataPostbox()
         {
             _queue = new ConcurrentQueue<CogImage8Grey>();
-            _autoReset = new AutoResetEvent(false);//线程非终止状态
+            //_autoReset = new AutoResetEvent(false);//线程非终止状态
         }
         /// <summary>
         /// 启动派发
@@ -72,7 +72,7 @@ namespace ConVX.VXData
             try
             {
                 RuningToken.Cancel();
-                _autoReset.Set();//为了避免线程正在执行或等待状态
+                //_autoReset.Set();//为了避免线程正在执行或等待状态
                 await _task;
             }
             catch (OperationCanceledException ex)
@@ -98,7 +98,7 @@ namespace ConVX.VXData
             //}
 
             _queue.Enqueue(envelope);
-            _autoReset.Set();
+            //_autoReset.Set();
         }
         #endregion
 
@@ -110,7 +110,8 @@ namespace ConVX.VXData
             {
                 if (_queue.IsEmpty)
                 {
-                    _autoReset.WaitOne();
+                    //_autoReset.WaitOne();
+                    Thread.Sleep(1);
                 }
                 else
                 {

WaferAlignment/FitCircleToolBlock.cs

@@ -0,0 +1,101 @@
+using Cognex.VisionPro;
+using Cognex.VisionPro.PMAlign;
+using Cognex.VisionPro.ToolBlock;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Documents;
+
+namespace WaferAdjust
+{
+    public delegate void OnFitCircleResult(double x, double y, double r, double rms);
+    internal class FitCircleToolBlock
+    {
+        private CogToolBlock cogToolBlock;
+        private bool initialized = false;
+        public event OnToolReady OnToolReady;
+        public event OnFitCircleResult OnFitCircleResult;
+        public CogImage8Grey FitCircleImage;
+        public void Initialize(string vpp)
+        {
+            try
+            {
+                if (cogToolBlock != null)
+                {
+                    cogToolBlock.Ran -= CogToolBlock_Ran;
+                    cogToolBlock.Dispose();
+                    cogToolBlock = null;
+                }
+                initialized = false;
+                cogToolBlock = CogSerializer.LoadObjectFromFile(vpp) as CogToolBlock;
+                cogToolBlock.Ran += CogToolBlock_Ran;
+                initialized = true;
+                OnToolReady?.Invoke(initialized);
+                LogHelper.LogInfo("FitCircleToolBlock initialized successfully: " + vpp);
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError(ex.Message);
+            }
+        }
+        private void CogToolBlock_Ran(object sender, EventArgs e)
+        {
+            try
+            {
+                FitCircleImage = cogToolBlock.Outputs["OutputImage"].Value as CogImage8Grey;
+                OnFitCircleResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["CenterX"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["CenterY"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["Radius"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["RMSError"].Value, 3));
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError(ex.Message + ex.StackTrace);
+            }
+        }
+        public void Run(Bitmap bmp, List<PointInfo> pointInfos)
+        {
+            try
+            {
+                CogImage8Grey image8Grey = new CogImage8Grey(bmp);
+                Run(image8Grey, pointInfos);
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError("ScanToolBlock Run Error: " + ex.Message);
+            }
+        }
+        public void Run(CogImage8Grey image8Grey, List<PointInfo> pointInfos)
+        {
+            try
+            {
+                cogToolBlock.Inputs["OutputImage"].Value = image8Grey;
+                CogFitCircleTool fitCircleTool = cogToolBlock.Tools["CogFitCircleTool1"] as CogFitCircleTool;
+                fitCircleTool.RunParams.NumPoints = 0;
+                foreach (var item in pointInfos)
+                    fitCircleTool.RunParams.AddPoint(item.X, item.Y);
+                cogToolBlock.Run();
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError("ScanToolBlock Run Error: " + ex.Message);
+            }
+        }
+        public bool Ready()
+        {
+            return initialized;
+        }
+        public void Stop()
+        {
+            if (cogToolBlock != null)
+            {
+                cogToolBlock.Ran -= CogToolBlock_Ran;
+                cogToolBlock.Dispose();
+                cogToolBlock = null;
+            }
+        }
+    }
+}

WaferAlignment/Form1.Designer.cs

@@ -68,6 +68,10 @@
             this.nud_SizeX = new System.Windows.Forms.NumericUpDown();
             this.btn_Action = new System.Windows.Forms.Button();
             this.btn_ToZero = new System.Windows.Forms.Button();
+            this.textBox2 = new System.Windows.Forms.TextBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.textBox3 = new System.Windows.Forms.TextBox();
+            this.label2 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.Panel1.SuspendLayout();
             this.splitContainer1.Panel2.SuspendLayout();
@@ -93,6 +97,10 @@
             // 
             // splitContainer1.Panel2
             // 
+            this.splitContainer1.Panel2.Controls.Add(this.textBox2);
+            this.splitContainer1.Panel2.Controls.Add(this.label1);
+            this.splitContainer1.Panel2.Controls.Add(this.textBox3);
+            this.splitContainer1.Panel2.Controls.Add(this.label2);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_Time);
             this.splitContainer1.Panel2.Controls.Add(this.txt_Time);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_Times);
@@ -167,7 +175,7 @@
             // lbl_Times
             // 
             this.lbl_Times.AutoSize = true;
-            this.lbl_Times.Location = new System.Drawing.Point(234, 15);
+            this.lbl_Times.Location = new System.Drawing.Point(182, 17);
             this.lbl_Times.Name = "lbl_Times";
             this.lbl_Times.Size = new System.Drawing.Size(89, 12);
             this.lbl_Times.TabIndex = 30;
@@ -175,7 +183,7 @@
             // 
             // txt_Times
             // 
-            this.txt_Times.Location = new System.Drawing.Point(326, 12);
+            this.txt_Times.Location = new System.Drawing.Point(274, 14);
             this.txt_Times.Name = "txt_Times";
             this.txt_Times.ReadOnly = true;
             this.txt_Times.Size = new System.Drawing.Size(129, 21);
@@ -383,9 +391,9 @@
             // 
             // btn_RunTest
             // 
-            this.btn_RunTest.Location = new System.Drawing.Point(481, 12);
+            this.btn_RunTest.Location = new System.Drawing.Point(409, 14);
             this.btn_RunTest.Name = "btn_RunTest";
-            this.btn_RunTest.Size = new System.Drawing.Size(161, 23);
+            this.btn_RunTest.Size = new System.Drawing.Size(119, 23);
             this.btn_RunTest.TabIndex = 9;
             this.btn_RunTest.Text = "启动检测";
             this.btn_RunTest.UseVisualStyleBackColor = true;
@@ -444,6 +452,7 @@
             0,
             0,
             -2147483648});
+            this.nud_SizeY.ValueChanged += new System.EventHandler(this.nud_SizeY_ValueChanged);
             // 
             // lbl_X
             // 
@@ -458,8 +467,13 @@
             // 
             this.nud_SizeX.DecimalPlaces = 2;
             this.nud_SizeX.Location = new System.Drawing.Point(80, 137);
+            this.nud_SizeX.Maximum = new decimal(new int[] {
+            6,
+            0,
+            0,
+            0});
             this.nud_SizeX.Minimum = new decimal(new int[] {
-            100,
+            8,
             0,
             0,
             -2147483648});
@@ -471,6 +485,7 @@
             0,
             0,
             0});
+            this.nud_SizeX.ValueChanged += new System.EventHandler(this.nud_SizeX_ValueChanged);
             // 
             // btn_Action
             // 
@@ -484,7 +499,7 @@
             // 
             // btn_ToZero
             // 
-            this.btn_ToZero.Location = new System.Drawing.Point(17, 99);
+            this.btn_ToZero.Location = new System.Drawing.Point(17, 95);
             this.btn_ToZero.Name = "btn_ToZero";
             this.btn_ToZero.Size = new System.Drawing.Size(161, 23);
             this.btn_ToZero.TabIndex = 0;
@@ -492,6 +507,42 @@
             this.btn_ToZero.UseVisualStyleBackColor = true;
             this.btn_ToZero.Click += new System.EventHandler(this.btn_ToZero_Click);
             // 
+            // textBox2
+            // 
+            this.textBox2.Location = new System.Drawing.Point(534, 22);
+            this.textBox2.Name = "textBox2";
+            this.textBox2.Size = new System.Drawing.Size(55, 21);
+            this.textBox2.TabIndex = 33;
+            this.textBox2.Text = "82";
+            this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(532, 7);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(53, 12);
+            this.label1.TabIndex = 34;
+            this.label1.Text = "相机计数";
+            // 
+            // textBox3
+            // 
+            this.textBox3.Location = new System.Drawing.Point(595, 22);
+            this.textBox3.Name = "textBox3";
+            this.textBox3.Size = new System.Drawing.Size(55, 21);
+            this.textBox3.TabIndex = 35;
+            this.textBox3.Text = "4096";
+            this.textBox3.TextChanged += new System.EventHandler(this.textBox3_TextChanged);
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(593, 7);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(41, 12);
+            this.label2.TabIndex = 36;
+            this.label2.Text = "总计数";
+            // 
             // Form1
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -556,7 +607,10 @@
         private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
         private System.Windows.Forms.Label lbl_Time;
         private System.Windows.Forms.TextBox txt_Time;
-
+        private System.Windows.Forms.TextBox textBox2;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.TextBox textBox3;
+        private System.Windows.Forms.Label label2;
     }
 }
 

WaferAlignment/Form1.cs

@@ -19,6 +19,7 @@ using System.Windows.Forms;
 using System.Xml.Serialization;
 using System.Diagnostics;
 using Cognex.VisionPro.PMAlign;
+using WaferAdjust;
 
 
 namespace WaferAlignment
@@ -54,20 +55,12 @@ namespace WaferAlignment
         /// </summary>
         string arAngle = "DB7.DBD76";//设置触发拍照的偏转角度
 
+        GetCircleToolBlock getCircleMachineToolBlock;
+        FitCircleToolBlock FitCircleMachineToolBlock;
+        TranslateCirclePoint translateCirclePoint;
+        CogGraphicCollection m_graphics;
+        CogGraphicCollection m_graphics2;
 
-
-        string vppPath;
-        CogToolBlock mTB;
-        CogToolBlock mTB_1;
-        CogToolBlock mTB_2;
-
-
-        float R = 11.25F;//1024->12
-        //CogImage8Grey OutputImg;
-
-        //旋转中心的坐标应将标定的数据保存后获取
-        double circleCenterX;
-        double circleCenterY;
         //XML文件读取与写入
         ConfigStore _ConfigStore = new ConfigStore();
         CenterOfRotation _center = new CenterOfRotation();
@@ -123,7 +116,6 @@ namespace WaferAlignment
                 _s7.SetValue(arSizeX, (float)0);
                 _s7.SetValue(arSizeY, (float)0);
                 _s7.SetValue(arSizeR, (float)0);
-                _s7.SetValue(arAngle, Convert.ToSingle(R));//角度为10
                 lbl_CommunState.BackColor = Color.Lime;
                 lbl_CommunState.Text = "已连接";
             }
@@ -150,9 +142,16 @@ namespace WaferAlignment
             try
             {
                 // 加载VPP文件
-                vppPath = Path.Combine(System.AppDomain.CurrentDomain.SetupInformation.ApplicationBase, "vpp", "ToolBlock.vpp");
+                getCircleMachineToolBlock = new GetCircleToolBlock();
+                getCircleMachineToolBlock.OnGetCircleResult += GetCircleMachineToolBlock_OnGetCircleResult;
+                getCircleMachineToolBlock.OnGetNashResult += GetCircleMachineToolBlock_OnGetNashResult;
+                getCircleMachineToolBlock.OnToolReady += GetCircleMachineToolBlock_OnToolReady;
 
-                mTB = CogSerializer.LoadObjectFromFile(vppPath) as CogToolBlock;
+                FitCircleMachineToolBlock = new FitCircleToolBlock();
+                FitCircleMachineToolBlock.OnFitCircleResult += FitCircleMachineToolBlock_OnFitCircleResult;
+                FitCircleMachineToolBlock.OnToolReady += FitCircleMachineToolBlock_OnToolReady;
+                translateCirclePoint = new TranslateCirclePoint();
+                m_graphics2 = new CogGraphicCollection();
             }
             catch (Exception ex)
             {
@@ -171,15 +170,117 @@ namespace WaferAlignment
             catch (Exception ex)
             {
                 MessageBox.Show(ex.Message);
-
+            }
         }
 
-            // 指定XML文件路径
+        private void FitCircleMachineToolBlock_OnToolReady(bool ready)
-            string filePath = Path.Combine(System.AppDomain.CurrentDomain.SetupInformation.ApplicationBase, "vpp", "CenterOfRotation.xml"); //@"D:\晶圆寻边机\XML文件\CenterOfRotation.xml";
+        {
-            _center = _ConfigStore.ReadConfigFromFile(_center.GetType(), filePath) as CenterOfRotation;
+            LogHelper.LogInfo("FitCircleMachineToolBlock_OnToolReady");
-            circleCenterX = _center.Center_X;
-            circleCenterY = _center.Center_Y;
         }
+
+        private void FitCircleMachineToolBlock_OnFitCircleResult(double x, double y, double r, double rms)
+        {
+            TCP_X = x.ToString("F4");
+            TCP_Y = y.ToString("F4");
+            TCP_RMS = rms.ToString("F4");
+            TCP_R = r.ToString("F4");
+
+            deviationX = Math.Round((x - translateCirclePoint.GetRotateX()), 3);
+            deviationY = Math.Round((y - translateCirclePoint.GetRotateY()), 3);
+
+            AddPointMarker(m_graphics2, x, y);
+            AddPointMarker(m_graphics2, translateCirclePoint.GetRotateX(), translateCirclePoint.GetRotateY(), CogColorConstants.Red);
+
+            PointInfo nPoint = translateCirclePoint.GetNashPoint();
+            if (nPoint != null)
+            {
+                AddPointMarker(m_graphics2, nPoint.X, nPoint.Y, CogColorConstants.Yellow);
+                AddLineMarker(m_graphics2, x, y, x, y - r);
+                AddLineMarker(m_graphics2, x, y, nPoint.X, nPoint.Y, CogColorConstants.Yellow);
+                angle = GetCounterClockwiseAngle360(x, y, x, y - r, nPoint.X, nPoint.Y);
+                AddLabelMarker(m_graphics2, angle.ToString(), x, y, CogColorConstants.Yellow);
+                LogHelper.LogInfo($"nash degree:{angle}");
+            }
+
+            LogHelper.LogInfo($"X:{x}, Y:{y}, RMS:{rms}");
+            LogHelper.LogInfo($"DiffX:{deviationX}, DiffY:{deviationY}, RMS:{rms}{Environment.NewLine}");
+            ImageDisplay(FitCircleMachineToolBlock.FitCircleImage);
+            ImageDisplay(m_graphics);
+            ImageDisplay(m_graphics2);
+            ImageDisplayFit();
+        }
+        private void AddPointMarker(CogGraphicCollection graphicCollection, double x, double y, CogColorConstants color = CogColorConstants.Green)
+        {
+            CogPointMarker marker = new CogPointMarker();
+            marker.X = x;
+            marker.Y = y;
+            marker.Color = color;
+            marker.Interactive = false;
+            graphicCollection.Add(marker);
+        }
+        private void AddLineMarker(CogGraphicCollection graphicCollection, double x1, double y1, double x2, double y2, CogColorConstants color = CogColorConstants.Green)
+        {
+            CogLineSegment line = new CogLineSegment();
+            line.SetStartEnd((int)x1, (int)y1, (int)x2, (int)y2);
+            line.Color = color;
+            line.Interactive = false;
+            graphicCollection.Add(line);
+        }
+        private void AddLabelMarker(CogGraphicCollection graphicCollection, string text, double x, double y, CogColorConstants color = CogColorConstants.Green)
+        {
+            CogGraphicLabel label = new CogGraphicLabel();
+            label.Text = text;
+            label.X = x;
+            label.Y = y;
+            label.Color = color;
+            graphicCollection.Add(label);
+        }
+        /// <summary>
+        /// 计算从 lineA 到 lineB 的逆时针有向角度（0-360度）
+        /// 坐标系：向右为正，向下为正（标准屏幕坐标系）
+        /// </summary>
+        public double GetCounterClockwiseAngle360(double x, double y, double x1, double y1, double x2, double y2)
+        {
+            // 2. 获取方向向量（dy 向下为正）
+            double dxA = x1 - x;
+            double dyA = y1 - y;
+
+            double dxB = x2 - x;
+            double dyB = y2 - y;
+
+            // 3. 将Y轴翻转，转换为标准数学坐标系（dy向上为正）
+            //    这样 Math.Atan2 返回的就是标准数学角度（逆时针为正）
+            double angleA = Math.Atan2(-dyA, dxA);  // 注意：y取负号
+            double angleB = Math.Atan2(-dyB, dxB);  // 注意：y取负号
+
+            // 4. 计算逆时针角度差（弧度）
+            double angleDiff = angleB - angleA;
+
+            // 5. 转换为角度并规范化为 [0, 360)
+            double angleDegrees = angleDiff * 180.0 / Math.PI;
+            angleDegrees = angleDegrees % 360.0;
+            if (angleDegrees < 0) angleDegrees += 360.0;
+
+            return Math.Round(angleDegrees, 3);
+        }
+        private void GetCircleMachineToolBlock_OnToolReady(bool ready)
+        {
+            LogHelper.LogInfo("GetCircleMachineToolBlock_OnToolReady");
+        }
+
+        private void GetCircleMachineToolBlock_OnGetNashResult(double x, double y)
+        {
+            translateCirclePoint.AddNashPoint(x, y);
+            LogHelper.LogInfo($"Update Nash X:{x}, Y:{y}");
+        }
+
+        private void GetCircleMachineToolBlock_OnGetCircleResult(double x, double y, double r)
+        {
+            translateCirclePoint.AddCircleCenter(x, y, r);
+            translateCirclePoint.AddCirclePoint(getCircleMachineToolBlock.PointInfos);
+            LogHelper.LogInfo($"X:{x}, Y:{y}, R:{r}");
+        }
+
         /// <summary>
         /// 接收到TCP数据时，根据接收到的数据，进行不同操作
         /// </summary>
@@ -217,17 +318,11 @@ namespace WaferAlignment
                     _tcp.SendData(e.ClientIp, "DetectionTime：" + TCP_time + " " + "X：" + TCP_X + " " + "Y：" + TCP_Y + " " + "Angle：" + TCP_R + " " + "RMS：" + TCP_RMS);
                 }
             }
-
-            
         }
 
         void _cam_OutputImageEvent(Bitmap obj)
         {
-            lstNasR.Add((acqNum + 1) * R);
             acqNum++;
-            //lstNasR.Add((testNum) * R);
-            //保存图像
-            //SaveImage(new CogImage8Grey(obj));
             ImageData.Mailing(new CogImage8Grey(obj));
             Images.Add(new CogImage8Grey(obj));
 
@@ -235,9 +330,8 @@ namespace WaferAlignment
 
         void ImageData_ErrorEvent(string obj)
         {
-            //throw new NotImplementedException();
-        }
             
+        }
 
         private void Form1_FormClosing(object sender, FormClosingEventArgs e)
         {
@@ -300,7 +394,6 @@ namespace WaferAlignment
                 this.splitContainer1.Invoke(new Action(() => this.splitContainer1.Panel2.Enabled = true));
             });
         }
-
         public string ToZero()
         {
             if (_s7 != null)
@@ -393,15 +486,7 @@ namespace WaferAlignment
             }
         }
 
-        List<double> lstRotation;
-        List<double> lstX;
-        List<double> lstY;
-        List<double> lstRadius;
-        List<double> lstNasX;
-        List<double> lstNasY;
-        List<double> lstNasR;
         List<CogImage8Grey> Images;
-
         int acqNum = 0;
         int testNum = 0;
         double angle = 0;
@@ -411,9 +496,11 @@ namespace WaferAlignment
         private void btn_RunTest_Click(object sender, EventArgs e)
         {
             SavePath = Path.Combine(System.AppDomain.CurrentDomain.SetupInformation.ApplicationBase, "SaveImage", DateTime.Now.ToString("yyyyMMdd_HHmmss"));
-
+            m_cameraCount = Convert.ToDouble(textBox2.Text);
+            m_codeCount = Convert.ToDouble(textBox3.Text);
+            m_roateX = Convert.ToDouble(nud_SizeX.Value);
+            m_roateY = Convert.ToDouble(nud_SizeY.Value);
             ClearDisplay();
-            ////---------------------------------------
             Task.Run(() =>
             {
                 this.splitContainer1.Invoke(new Action(() => this.splitContainer1.Panel2.Enabled = false));
@@ -423,8 +510,6 @@ namespace WaferAlignment
 
                 this.splitContainer1.Invoke(new Action(() => this.splitContainer1.Panel2.Enabled = true));
             });
-
-            //---------------------------------------
         }
 
         public string RunTest()
@@ -436,7 +521,6 @@ namespace WaferAlignment
             }
             else
             {
-
                 //R轴回0
                 if (_s7 != null)
                 {
@@ -480,13 +564,6 @@ namespace WaferAlignment
                     angle = 0;
                     acqNum = 0;
                     testNum = 0;
-                    lstRotation = new List<double>();
-                    lstX = new List<double>();
-                    lstY = new List<double>();
-                    lstRadius = new List<double>();
-                    lstNasX = new List<double>();
-                    lstNasY = new List<double>();
-                    lstNasR = new List<double>();
                     Images = new List<CogImage8Grey>();
 
                     sw_1 = new Stopwatch();//检测时间
@@ -495,6 +572,7 @@ namespace WaferAlignment
                     deviationY = 0;
                     times = 0;
                     //启动拍照
+                    translateCirclePoint.SetRotateXY(m_roateX, m_roateY, 360 * m_cameraCount / m_codeCount);
 
                     if (_s7 != null)
                     {
@@ -529,9 +607,7 @@ namespace WaferAlignment
                             }
                         }
                         //Thread.Sleep(100);
-
                     }
-
                 }
 
                 _cam.SoftwareGrab();
@@ -644,327 +720,62 @@ namespace WaferAlignment
                 return "NG_RUN";
             }
         }
-
+        private CogImage8Grey m_lastImage;
         //所有点
         // 调整vpp中CogCaliperTool工具数据需要同时调整Y值与 for (double i = Y; i < 12; i = i + 0.5)中12的值
         private void MonitorSpot(CogImage8Grey outputImg)
         {
             sw_1 = new Stopwatch();//检测时间
             sw_1.Start();
-            //double Y = -17;
-            //double X = 0;
-            double X = -15;
-            double Y = 0;
-            CogImage8Grey inputImg = new CogImage8Grey();
-            CogGraphicCollection graphics = new CogGraphicCollection();
-            CogImage8Grey _OutputImg = new CogImage8Grey();
 
-            inputImg = outputImg;
+            translateCirclePoint.AddCircleIndex();
-            mTB_1 = mTB.Tools["CogToolBlock1"] as CogToolBlock;
+            m_lastImage = outputImg;
-            mTB_2 = mTB.Tools["CogToolBlock2"] as CogToolBlock;
+            getCircleMachineToolBlock.Run(outputImg);
-            mTB_1.Inputs["InputImage"].Value = inputImg;
-            mTB_1.Run();
-            _OutputImg = mTB_1.Outputs["OutputImage"].Value as CogImage8Grey;
 
-            CogCaliperTool mCT = mTB_1.Tools["CogCaliperTool1"] as CogCaliperTool;
-
-
-            
-            //x′= cx + (x−cx)⋅cos(r)−(y−cy)⋅sin(r)
-            //y′= cy + (x−cx)⋅sin(r) + (y−cy)⋅cos(r)​
-
-            int _count = 0;
-
-            for (double i = X; i < 14; i = i + 0.5)
-            {
-                mCT.InputImage = _OutputImg;
-                mCT.Region.CenterX = i;
-                mCT.Run();
-                _count = mCT.Results.Count;
-
-                if (_count != 0)
-                {
-                    Y = mCT.Results[0].Edge0.PositionY;
-                    //旋转角度
-                    double r = lstNasR[testNum] / 180 * Math.PI;
-                    //旋转移动到实际位置
-                    lstNasX.Add(i * Math.Cos(r) - Y * Math.Sin(r) + circleCenterX * (1 - Math.Cos(r)) + circleCenterY * Math.Sin(r));
-                    lstNasY.Add(i * Math.Sin(r) + Y * Math.Cos(r) - circleCenterX * Math.Sin(r) + circleCenterY * (1 - Math.Cos(r)));
-
-                    CogPointMarker marker_1 = new CogPointMarker();//圆
-
-                    marker_1.X = i;
-                    marker_1.Y = Y;
-                    marker_1.Color = CogColorConstants.Blue;
-                    marker_1.Interactive = false;
-                    graphics.Add(marker_1);
-                }
-                else
-                {
-                    OKorNG = false;
-                    testNum++;
-                    return;
-                }
-                if (i == X)
-                {
-                    double r = lstNasR[testNum] / 180 * Math.PI;
-                    lstX.Add(i * Math.Cos(r) - Y * Math.Sin(r) + circleCenterX * (1 - Math.Cos(r)) + circleCenterY * Math.Sin(r));
-                    lstY.Add(i * Math.Sin(r) + Y * Math.Cos(r) - circleCenterX * Math.Sin(r) + circleCenterY * (1 - Math.Cos(r)));
-                }
-
-            }
             sw_1.Stop();
             TimeSpan ts = sw_1.Elapsed;
-            ImageDisplay(_OutputImg, graphics);
+            PointInfo pp = translateCirclePoint.GetFirstPoint();
-            DataDisplay(lstNasR[testNum], lstNasX[0], lstNasY[0], ts.TotalMilliseconds);
+            if (pp != null)
+                DataDisplay(translateCirclePoint.GetCurrentDegree(), pp.X, pp.Y, ts.TotalMilliseconds);
+            else
+                DataDisplay(translateCirclePoint.GetCurrentDegree(), 0, 0, ts.TotalMilliseconds);
             testNum++;
             times += ts.TotalMilliseconds;
             OKorNG = true;
         }
 
-        //比较半径和点间距，拟合圆
         private void FitCircle()
         {
             if (OKorNG)
             {
                 sw_2 = new Stopwatch();//检测时间
                 sw_2.Start();
-                int Image_i = -1;
-                // 调整vpp中CogCaliperTool工具数据需要同时调整step为x点数*2
-                int step = 58;
-                CogPMAlignTool mPM = mTB_2.Tools["CogPMAlignTool2"] as CogPMAlignTool;
 
+                LogHelper.LogInfo("转换机械坐标系下圆弧各点的原始坐标：\n");
+                var points = translateCirclePoint.DoTranslatePoint();
+                translateCirclePoint.DoTranslateNashPoint();
 
-
+                LogHelper.LogInfo("拟合机械坐标系下的圆中心：\n");
-                CogImage8Grey outputImg = mTB_1.Outputs["OutputImage"].Value as CogImage8Grey;
+                m_graphics = new CogGraphicCollection();
-                //添加找圆工具的  忽略点数  和  RMS偏差量
+                m_graphics2 = new CogGraphicCollection();
-                CogFitCircleTool fitCircle_1 = new CogFitCircleTool();
+                foreach (PointInfo pointInfo in points)
-                CogFitCircleTool fitCircle_2 = new CogFitCircleTool();
-
-
-                CogGraphicCollection graphics = new CogGraphicCollection();
-
-                fitCircle_1.InputImage = outputImg;
-                for (int i = 0; i < lstX.Count; i++)
                 {
-                    fitCircle_1.RunParams.AddPoint(lstX[i], lstY[i]);
+                    AddPointMarker(m_graphics, pointInfo.X, pointInfo.Y);
-
-                    //CogPointMarker marker_1 = new CogPointMarker();//圆
-
-                    //marker_1.X = lstNasX[i];
-                    //marker_1.Y = lstNasY[i];
-                    //marker_1.Color = CogColorConstants.White;
-                    //marker_1.Interactive = false;
-                    //graphics.Add(marker_1);
-
                 }
 
-                //fitCircle_1.RunParams.NumToIgnore = 0;
+                FitCircleMachineToolBlock.Run(m_lastImage, points);
-                fitCircle_1.Run();
-                if (fitCircle_1.Result != null)
-                {
-                    double _RMS = fitCircle_1.Result.RMSError;
-                    CogCircle circle_1 = new CogCircle(fitCircle_1.Result.GetCircle());
-                    circle_1.Color = CogColorConstants.Cyan;
-                    circle_1.Interactive = false;
-
-                    CogFitLineTool fitLine = new CogFitLineTool();
-
-                    //晶圆圆心位置
-                    double _centerX = circle_1.CenterX;
-                    double _centerY = circle_1.CenterY;
-                    double _radius = circle_1.Radius;
-
-
-                    fitCircle_2.InputImage = outputImg;
-
-                    CogDistancePointPointTool pTp = new CogDistancePointPointTool();
-                    pTp.InputImage = outputImg;
-                    pTp.StartX = _centerX;
-                    pTp.StartY = _centerY;
-                    //double[] _DistanceMin = new double[lstNasX.Count];
-                    //int _distanceMin_i = 0;
-                    for (int i = 0; i < lstNasX.Count; i += step)
-                    {
-
-                        for (int j = i; j < i + step && j < lstNasX.Count; j++)
-                        {
-                            if (j < (i + step - 15))//忽略重合数据的末尾的15个点
-                            {
-                                pTp.EndX = lstNasX[j];
-                                pTp.EndY = lstNasY[j];
-                                pTp.Run();
-                                double Distance = pTp.Distance;
-                                if (Distance - _radius < 0.1 && Distance - _radius > -0.1)
-                                {
-                                    fitCircle_2.RunParams.AddPoint(lstNasX[j], lstNasY[j]);
-                                    CogPointMarker marker_1 = new CogPointMarker();//圆
-
-                                    marker_1.X = lstNasX[j];
-                                    marker_1.Y = lstNasY[j];
-                                    marker_1.Color = CogColorConstants.Green;
-                                    marker_1.Interactive = false;
-                                    graphics.Add(marker_1);
-                                }
-                                else//忽略的点数
-                                {
-                                    if (!(Distance - _radius < 1 && Distance - _radius > -1))
-                                    {
-                                        if (Image_i == -1)
-                                        {
-                                            Image_i = (int)(j / step);
-                                        }
-                                    }
-
-
-                                    CogPointMarker marker_1 = new CogPointMarker();//圆
-
-                                    marker_1.X = lstNasX[j];
-                                    marker_1.Y = lstNasY[j];
-                                    marker_1.Color = CogColorConstants.Yellow;
-                                    marker_1.Interactive = false;
-                                    graphics.Add(marker_1);
-                                }
-                                //_DistanceMin[i] = Distance;
-                            }
-                            else
-                            {
-                                CogPointMarker marker_1 = new CogPointMarker();//圆
-
-                                marker_1.X = lstNasX[j];
-                                marker_1.Y = lstNasY[j];
-                                marker_1.Color = CogColorConstants.Red;
-                                marker_1.Interactive = false;
-                                //graphics.Add(marker_1);
-                            }
-                        }
-
-                    }
-                    //忽略的拟合点数
-                    fitCircle_2.RunParams.NumToIgnore = 0;
-                    fitCircle_2.Run();
-
-                    double RMS = fitCircle_2.Result.RMSError;
-                    CogCircle circle_2 = new CogCircle(fitCircle_2.Result.GetCircle());
-                    circle_2.Color = CogColorConstants.Cyan;
-                    circle_2.Interactive = false;
-                    //晶圆圆心位置
-                    double centerX = circle_2.CenterX;
-                    double centerY = circle_2.CenterY;
-                    double radius = circle_2.Radius;
-
-
-                    double PM_X = 0;
-                    double PM_Y = 0;
-                    int _count = 0;
-                    if (Image_i != -1)
-                    {
-                        mTB_2.Inputs["InputImage"].Value = Images[Image_i];
-                        mTB_2.Run();
-                        _count = mPM.Results.Count;
-
-                        if (_count != 0)
-                        {
-
-                            double r = lstNasR[Image_i] / 180 * Math.PI;
-                            PM_X = mPM.Results[0].GetPose().TranslationX * Math.Cos(r) - mPM.Results[0].GetPose().TranslationY * Math.Sin(r) + circleCenterX * (1 - Math.Cos(r)) + circleCenterY * Math.Sin(r);
-                            PM_Y = mPM.Results[0].GetPose().TranslationX * Math.Sin(r) + mPM.Results[0].GetPose().TranslationY * Math.Cos(r) - circleCenterX * Math.Sin(r) + circleCenterY * (1 - Math.Cos(r));
-
-                        }
-                    }
-                    //_distanceMin_i = DistanceMin(_DistanceMin);
-
-                    ////纳什口
-                    //CogLine line_ = new CogLine();
-                    //line_.SetFromStartXYEndXY(centerX, centerY, lstNasX[_distanceMin_i], lstNasY[_distanceMin_i]);
-                    //line_.Color = CogColorConstants.Green;
-                    //line_.Interactive = false;
-                    //graphics.Add(line_);
-                    //纳什口
-                    CogLine line_ = new CogLine();
-                    line_.SetFromStartXYEndXY(centerX, centerY, PM_X, PM_Y);
-                    line_.Color = CogColorConstants.Green;
-                    line_.Interactive = false;
-                    graphics.Add(line_);
-                    //角度值为0
-                    CogLine line_0 = new CogLine();
-                    line_0.SetXYRotation(centerX, centerY, 0);
-                    line_0.Color = CogColorConstants.Blue;
-                    line_0.Interactive = false;
-                    graphics.Add(line_0);
-                    CogAngleLineLineTool llTool = new CogAngleLineLineTool();
-                    llTool.InputImage = outputImg;
-                    llTool.LineA = line_0;
-                    llTool.LineB = line_;
-                    llTool.Run();
-                    angle = CogMisc.RadToDeg(llTool.Angle);
-
-                    CogPointMarker marker_2 = new CogPointMarker();//圆心
-
-                    marker_2.X = centerX;
-                    marker_2.Y = centerY;
-                    marker_2.Color = CogColorConstants.Green;
-                    marker_2.Interactive = false;
-                    graphics.Add(marker_2);
-
-                    CogPointMarker marker_3 = new CogPointMarker();//旋转圆心
-
-                    marker_3.X = circleCenterX;
-                    marker_3.Y = circleCenterY;
-                    marker_3.Color = CogColorConstants.Orange;
-                    marker_3.Interactive = false;
-                    graphics.Add(marker_3);
-                    graphics.Add(circle_2);
-
-
-                    deviationX = centerX - circleCenterX;
-                    deviationY = centerY - circleCenterY;
 
                 sw_2.Stop();
                 TimeSpan ts = sw_2.Elapsed;
 
                 times += ts.TotalMilliseconds;
-
-
-                    ImageDisplay(outputImg, graphics);
                 TCP_time = ts.TotalMilliseconds.ToString();
-                    TCP_X = centerX.ToString("F4");
-                    TCP_Y = centerY.ToString("F4");
-                    TCP_RMS = RMS.ToString("F4");
-                    TCP_R = angle.ToString("F4");
-                    ResultDisplay(times, ts.TotalMilliseconds, centerX, centerY, radius, RMS, deviationX, deviationY, angle);
 
-                    OKorNG = true;
+                ResultDisplay(times, ts.TotalMilliseconds, TCP_X, TCP_Y, TCP_R, TCP_RMS, deviationX, deviationY, angle);
-                }
-                else
-                {
-                    //MessageBox.Show("检测结果为空。");
-                    OKorNG = false;
             }
         }
 
-
+        private void ResultDisplay(double Times,double Time, string X, string Y, string R, string RMS, double dX, double dY, double dR)
-
-        }
-        //private int DistanceMin(double[] numbers)
-        //{
-        //    double number = numbers[0];
-        //    int num1 = 0;
-        //    double num2 = ((IEnumerable<double>)numbers).Sum() / (double)((IEnumerable<double>)numbers).Count<double>();
-        //    for (int index = 1; index < numbers.Length; ++index)
-        //    {
-        //        if (numbers[index] < number)
-        //        {
-        //            number = numbers[index];
-        //            num1 = index;
-        //        }
-        //    }
-        //    //return Math.Abs(number - num2) > 0.0 ? num1 : -1;
-        //    return num1;
-        //}
-
-
-        private void ResultDisplay(double Times,double Time, double X, double Y, double R, double RMS, double dX, double dY, double dR)
         {
             if (this.InvokeRequired)
             {
@@ -1013,7 +824,6 @@ namespace WaferAlignment
                 return;
             }
             this.cogRecordDisplay1.StaticGraphics.AddList(graphics, "");
-            this.cogRecordDisplay1.Fit(true);
         }
         private void ImageDisplay(CogImage8Grey img)
         {
@@ -1023,9 +833,17 @@ namespace WaferAlignment
                 return;
             }
             this.cogRecordDisplay1.Image = img;
-            this.cogRecordDisplay1.Fit(true);
+            cogRecordDisplay1.StaticGraphics.Clear();
+        }
+        private void ImageDisplayFit()
+        {
+            if (InvokeRequired)
+            {
+                BeginInvoke(new Action(() => ImageDisplayFit()));
+                return;
+            }
+            cogRecordDisplay1.Fit(true);
         }
-
         private void DataDisplay(double Rotation, double X, double Y, double Radius)
         {
             if (this.InvokeRequired)
@@ -1041,18 +859,6 @@ namespace WaferAlignment
 
         }
         string SavePath;
-        private void SaveImage(ICogImage img)
-        {
-            if (!Directory.Exists(SavePath))
-            {
-                Directory.CreateDirectory(SavePath);
-            }
-            using (CogImageFile imgFile = new CogImageFile())
-            {
-                imgFile.Open(Path.Combine(SavePath, DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + ".bmp"), CogImageFileModeConstants.Write);
-                imgFile.Append(img);
-            }
-        }
         private void Save()
         {
             if (!Directory.Exists(SavePath))
@@ -1068,5 +874,27 @@ namespace WaferAlignment
                 }
             }
         }
+        private double m_cameraCount = 82;
+        private double m_codeCount = 4096;
+        private void textBox2_TextChanged(object sender, EventArgs e)
+        {
+            m_cameraCount = Convert.ToDouble(textBox2.Text);
+        }
+
+        private void textBox3_TextChanged(object sender, EventArgs e)
+        {
+            m_codeCount = Convert.ToDouble(textBox3.Text);
+        }
+        private double m_roateX = 1;
+        private double m_roateY = -1;
+        private void nud_SizeX_ValueChanged(object sender, EventArgs e)
+        {
+            m_roateX = Convert.ToDouble(nud_SizeX.Value);
+        }
+
+        private void nud_SizeY_ValueChanged(object sender, EventArgs e)
+        {
+            m_roateY = Convert.ToDouble(nud_SizeY.Value);
+        }
     }
 }

WaferAlignment/Form1.resx

@@ -140,4 +140,16 @@
   <metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
+  <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/GetCircleToolBlock.cs

@@ -0,0 +1,117 @@
+using Cognex.VisionPro;
+using Cognex.VisionPro.Caliper;
+using Cognex.VisionPro.ToolBlock;
+using QWhale.Common;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WaferAdjust
+{
+    public delegate void OnGetCircleResult(double x, double y, double r);
+    public delegate void OnToolReady(bool ready);
+    public delegate void OnGetNashResult(double x, double y);
+    internal class GetCircleToolBlock
+    {
+        private CogToolBlock cogToolBlock;
+        private bool initialized = false;
+        public event OnToolReady OnToolReady;
+        public event OnGetCircleResult OnGetCircleResult;
+        public event OnGetNashResult OnGetNashResult;
+        public List<PointInfo> PointInfos;
+        public void Initialize(string vpp)
+        {
+            try
+            {
+                if (cogToolBlock != null)
+                {
+                    cogToolBlock.Ran -= CogToolBlock_Ran;
+                    cogToolBlock.Dispose();
+                    cogToolBlock = null;
+                }
+                initialized = false;
+                PointInfos = new List<PointInfo>();
+                cogToolBlock = CogSerializer.LoadObjectFromFile(vpp) as CogToolBlock;
+                cogToolBlock.Ran += CogToolBlock_Ran;
+                initialized = true;
+                OnToolReady?.Invoke(initialized);
+                LogHelper.LogInfo($"{vpp} initialized successfully: " + vpp);
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError(ex.Message);
+            }
+        }
+        private void CogToolBlock_Ran(object sender, EventArgs e)
+        {
+            try
+            {
+                CogFindCircleTool cogFindCircleTool = cogToolBlock.Tools["CogFindCircleTool1"] as CogFindCircleTool;
+                PointInfos.Clear();
+
+                if (cogFindCircleTool.Results != null)
+                {
+                    foreach (CogFindCircleResult item in cogFindCircleTool.Results)
+                    {
+                        if (item.Found && item.Used)
+                            PointInfos.Add(new PointInfo(item.X, item.Y, item.DistanceToCircle));
+                    }
+                }
+
+                OnGetCircleResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["CenterX"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["CenterY"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["Radius"].Value, 3));
+
+                if ((int)cogToolBlock.Outputs["Results_Count"].Value == 1)
+                {
+                    OnGetNashResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["TranslationX"].Value, 3),
+                    Math.Round((double)cogToolBlock.Outputs["TranslationY"].Value, 3));
+                }
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError(ex.Message + ex.StackTrace);
+            }
+        }
+        public void Run(Bitmap bmp)
+        {
+            try
+            {
+                CogImage8Grey image8Grey = new CogImage8Grey(bmp);
+                Run(image8Grey);
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError("ScanToolBlock Run Error: " + ex.Message);
+            }
+        }
+        public void Run(CogImage8Grey image8Grey)
+        {
+            try
+            {
+                cogToolBlock.Inputs["OutputImage"].Value = image8Grey;
+                cogToolBlock.Run();
+            }
+            catch (Exception ex)
+            {
+                LogHelper.LogError("ScanToolBlock Run Error: " + ex.Message);
+            }
+        }
+        public bool Ready()
+        {
+            return initialized;
+        }
+        public void Stop()
+        {
+            if (cogToolBlock != null)
+            {
+                cogToolBlock.Ran -= CogToolBlock_Ran;
+                cogToolBlock.Dispose();
+                cogToolBlock = null;
+            }
+        }
+    }
+}

WaferAlignment/LogHelper.cs

@@ -0,0 +1,22 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using NLog;
+
+namespace WaferAdjust
+{
+    public class LogHelper
+    {
+        private static readonly ILogger Logger = LogManager.GetCurrentClassLogger();
+        public static void LogInfo(string message)
+        {
+            Logger.Info(message);
+        }
+        public static void LogError(string message)
+        {
+            Logger.Error(message);
+        }
+    }
+}

WaferAlignment/Nlog.config

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
+      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+      autoReload="true"
+      throwConfigExceptions="true">
+	<variable name="generic" value="${time} | ${level} | ${message} | ${all-event-properties} ${exception:format=tostring}"/>
+  <targets async="true">
+	  <target xsi:type="File" name="logfile" fileName="${basedir}/logs/${shortdate}.log"
+	          layout="${generic}" encoding="utf-8"/>
+ </targets>
+	<rules>
+    <logger name="*" minlevel="Info" writeTo="logfile" />
+	</rules>
+</nlog>

WaferAlignment/PointInfo.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WaferAdjust
+{
+    internal class PointInfo
+    {
+        public double X;
+        public double Y;
+        public double Radius;
+        public PointInfo(double x, double y, double radius)
+        {
+            X = x;
+            Y = y;
+            Radius = radius;
+        }
+    }
+}

WaferAlignment/Rotation2D.cs

@@ -0,0 +1,176 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WaferAdjust
+{
+    /// <summary>
+    /// 二维坐标旋转计算器（支持自定义坐标系方向）
+    /// </summary>
+    public class Rotation2D
+    {
+        #region 正向旋转：求旋转后的坐标
+
+        /// <summary>
+        /// 点A绕点B逆时针旋转指定角度（角度制）
+        /// </summary>
+        /// <param name="ax">点A的X坐标</param>
+        /// <param name="ay">点A的Y坐标</param>
+        /// <param name="bx">旋转中心B的X坐标</param>
+        /// <param name="by">旋转中心B的Y坐标</param>
+        /// <param name="angleDegrees">旋转角度（角度制，逆时针）</param>
+        /// <param name="isRight">X轴正方向是否向右（默认true）</param>
+        /// <param name="isUp">Y轴正方向是否向上（默认true）</param>
+        /// <returns>旋转后的点A'坐标 (x', y')</returns>
+        public static (double x, double y) RotatePointDegrees(
+            double ax, double ay,
+            double bx, double by,
+            double angleDegrees,
+            bool isRight = true,
+            bool isUp = true)
+        {
+            return RotatePointRadians(ax, ay, bx, by,
+                DegreesToRadians(angleDegrees), isRight, isUp);
+        }
+
+        /// <summary>
+        /// 点A绕点B逆时针旋转指定角度（弧度制）
+        /// </summary>
+        /// <param name="ax">点A的X坐标</param>
+        /// <param name="ay">点A的Y坐标</param>
+        /// <param name="bx">旋转中心B的X坐标</param>
+        /// <param name="by">旋转中心B的Y坐标</param>
+        /// <param name="angleRadians">旋转角度（弧度制，逆时针）</param>
+        /// <param name="isRight">X轴正方向是否向右（默认true）</param>
+        /// <param name="isUp">Y轴正方向是否向上（默认true）</param>
+        /// <returns>旋转后的点A'坐标 (x', y')</returns>
+        public static (double x, double y) RotatePointRadians(
+            double ax, double ay,
+            double bx, double by,
+            double angleRadians,
+            bool isRight = true,
+            bool isUp = true)
+        {
+            // 1. 转换为标准数学坐标系（向右为正，向上为正）
+            double mathAx = isRight ? ax : -ax;
+            double mathAy = isUp ? ay : -ay;
+            double mathBx = isRight ? bx : -bx;
+            double mathBy = isUp ? by : -by;
+
+            // 2. 在标准坐标系中执行旋转
+            double cosR = Math.Cos(angleRadians);
+            double sinR = Math.Sin(angleRadians);
+
+            double dx = mathAx - mathBx;
+            double dy = mathAy - mathBy;
+
+            double rotatedDx = dx * cosR - dy * sinR;
+            double rotatedDy = dx * sinR + dy * cosR;
+
+            double mathNewX = mathBx + rotatedDx;
+            double mathNewY = mathBy + rotatedDy;
+
+            // 3. 转换回用户指定的坐标系
+            double outputX = isRight ? mathNewX : -mathNewX;
+            double outputY = isUp ? mathNewY : -mathNewY;
+
+            return (outputX, outputY);
+        }
+
+        #endregion
+
+        #region 反向旋转：求旋转前的原始坐标
+
+        /// <summary>
+        /// 已知旋转后的点A'，求绕点B逆时针旋转前的原始点A（角度制）
+        /// </summary>
+        /// <param name="rotatedX">旋转后的点A'的X坐标</param>
+        /// <param name="rotatedY">旋转后的点A'的Y坐标</param>
+        /// <param name="bx">旋转中心B的X坐标</param>
+        /// <param name="by">旋转中心B的Y坐标</param>
+        /// <param name="angleDegrees">旋转角度（角度制，逆时针）</param>
+        /// <param name="isRight">X轴正方向是否向右（默认true）</param>
+        /// <param name="isUp">Y轴正方向是否向上（默认true）</param>
+        /// <returns>原始的未旋转点A坐标 (x, y)</returns>
+        public static (double x, double y) GetOriginalPointDegrees(
+            double rotatedX, double rotatedY,
+            double bx, double by,
+            double angleDegrees,
+            bool isRight = true,
+            bool isUp = true)
+        {
+            return GetOriginalPointRadians(rotatedX, rotatedY, bx, by,
+                DegreesToRadians(angleDegrees), isRight, isUp);
+        }
+
+        /// <summary>
+        /// 已知旋转后的点A'，求绕点B逆时针旋转前的原始点A（弧度制）
+        /// </summary>
+        /// <param name="rotatedX">旋转后的点A'的X坐标</param>
+        /// <param name="rotatedY">旋转后的点A'的Y坐标</param>
+        /// <param name="bx">旋转中心B的X坐标</param>
+        /// <param name="by">旋转中心B的Y坐标</param>
+        /// <param name="angleRadians">旋转角度（弧度制，逆时针）</param>
+        /// <param name="isRight">X轴正方向是否向右（默认true）</param>
+        /// <param name="isUp">Y轴正方向是否向上（默认true）</param>
+        /// <returns>原始的未旋转点A坐标 (x, y)</returns>
+        public static (double x, double y) GetOriginalPointRadians(
+            double rotatedX, double rotatedY,
+            double bx, double by,
+            double angleRadians,
+            bool isRight = true,
+            bool isUp = true)
+        {
+            // 1. 转换为标准数学坐标系
+            double mathRotatedX = isRight ? rotatedX : -rotatedX;
+            double mathRotatedY = isUp ? rotatedY : -rotatedY;
+            double mathBx = isRight ? bx : -bx;
+            double mathBy = isUp ? by : -by;
+
+            // 2. 在标准坐标系中执行反向旋转
+            double cosR = Math.Cos(angleRadians);
+            double sinR = Math.Sin(angleRadians);
+
+            double dx = mathRotatedX - mathBx;
+            double dy = mathRotatedY - mathBy;
+
+            // 反向旋转（相当于顺时针旋转）
+            double originalDx = dx * cosR + dy * sinR;
+            double originalDy = -dx * sinR + dy * cosR;
+
+            double mathOriginalX = mathBx + originalDx;
+            double mathOriginalY = mathBy + originalDy;
+
+            // 3. 转换回用户指定的坐标系
+            double outputX = isRight ? mathOriginalX : -mathOriginalX;
+            double outputY = isUp ? mathOriginalY : -mathOriginalY;
+
+            return (outputX, outputY);
+        }
+
+        #endregion
+
+        #region 辅助方法
+
+        /// <summary>
+        /// 角度转弧度
+        /// </summary>
+        private static double DegreesToRadians(double degrees)
+        {
+            return degrees * Math.PI / 180.0;
+        }
+
+        /// <summary>
+        /// 弧度转角度（公共方法，供外部使用）
+        /// </summary>
+        public static double RadiansToDegrees(double radians)
+        {
+            return radians * 180.0 / Math.PI;
+        }
+
+        #endregion
+    }
+
+}

WaferAlignment/TranslateCirclePoint.cs

@@ -0,0 +1,92 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WaferAdjust
+{
+    internal class TranslateCirclePoint
+    {
+        private double rotateX;
+        private double rotateY;
+        List<PointInfo> totalPoints;
+        List<PointInfo> totalCenters;
+        private int circleIndex;
+        private double perAngle;
+        PointInfo nashPoint;
+        PointInfo firstPoint;
+        public void SetRotateXY(double x, double y, double angle)
+        {
+            rotateX = x; rotateY = y;
+            totalPoints = new List<PointInfo>();
+            totalCenters = new List<PointInfo>();
+            circleIndex = 0;
+            perAngle = angle;
+            nashPoint = null;
+            firstPoint = null;
+        }
+        public double GetRotateX()
+        {
+            return rotateX;
+        }
+        public double GetRotateY()
+        {
+            return rotateY;
+        }
+        public void AddCirclePoint(List<PointInfo> pointInfos)
+        {
+            if (pointInfos == null || pointInfos.Count == 0) return;
+            foreach (var item in pointInfos)
+            {
+                totalPoints.Add(new PointInfo(item.X, item.Y, circleIndex * perAngle));
+            }
+            firstPoint = pointInfos[0];
+        }
+        public PointInfo GetFirstPoint()
+        {
+            return firstPoint; 
+        }
+        public void AddCircleIndex()
+        {
+            circleIndex++;
+        }
+        public double GetCurrentDegree()
+        {
+            return circleIndex * perAngle;
+        }
+        public void AddNashPoint(double x, double y)
+        {
+            nashPoint = new PointInfo(x, y, circleIndex * perAngle);
+        }
+        public void AddCircleCenter(double x, double y, double r)
+        {
+            totalCenters.Add(new PointInfo(x, y, r));
+        }        
+        public List<PointInfo> DoTranslatePoint()
+        {
+            List<PointInfo> trans = new List<PointInfo>();
+            foreach (var item in totalPoints)
+            {
+                var res = Rotation2D.GetOriginalPointDegrees(item.X, item.Y,
+                    rotateX, rotateY, item.Radius, true, false);
+                trans.Add(new PointInfo(res.x, res.y, item.Radius));
+            }
+            return trans;
+        }
+        public void DoTranslateNashPoint()
+        {
+            if (nashPoint == null)
+                return;
+
+            var res = Rotation2D.GetOriginalPointDegrees(nashPoint.X, nashPoint.Y,
+                    rotateX, rotateY, nashPoint.Radius, true, false);
+
+            nashPoint = new PointInfo(res.x, res.y, nashPoint.Radius);
+        }
+        public PointInfo GetNashPoint()
+        {
+            return nashPoint;
+        }
+    }
+}

WaferAlignment/WaferAlignment.csproj

@@ -79,6 +79,9 @@
     <Reference Include="MvCameraControl.Net">
       <HintPath>..\..\..\..\..\..\Program Files (x86)\MVS\Development\DotNet\win64\net40\MvCameraControl.Net.dll</HintPath>
     </Reference>
+    <Reference Include="NLog, Version=6.0.0.0, Culture=neutral, PublicKeyToken=5120e14c03d0593c, processorArchitecture=MSIL">
+      <HintPath>..\packages\NLog.6.0.6\lib\net46\NLog.dll</HintPath>
+    </Reference>
     <Reference Include="PresentationCore" />
     <Reference Include="PresentationFramework" />
     <Reference Include="QWhale.Common, Version=1.62.4104.36375, Culture=neutral, PublicKeyToken=da632fd1713dff10" />
@@ -86,6 +89,7 @@
     <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.Configuration" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xaml" />
     <Reference Include="System.Xml.Linq" />
@@ -104,15 +108,21 @@
     <Compile Include="CenterOfRotation.cs" />
     <Compile Include="ConfigStore.cs" />
     <Compile Include="DataPostbox.cs" />
+    <Compile Include="FitCircleToolBlock.cs" />
     <Compile Include="Form1.cs">
       <SubType>Form</SubType>
     </Compile>
     <Compile Include="Form1.Designer.cs">
       <DependentUpon>Form1.cs</DependentUpon>
     </Compile>
+    <Compile Include="GetCircleToolBlock.cs" />
+    <Compile Include="LogHelper.cs" />
+    <Compile Include="PointInfo.cs" />
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Rotation2D.cs" />
     <Compile Include="TCP.cs" />
+    <Compile Include="TranslateCirclePoint.cs" />
     <EmbeddedResource Include="Form1.resx">
       <DependentUpon>Form1.cs</DependentUpon>
     </EmbeddedResource>
@@ -126,6 +136,10 @@
       <DependentUpon>Resources.resx</DependentUpon>
       <DesignTime>True</DesignTime>
     </Compile>
+    <None Include="Nlog.config">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>

WaferAlignment/packages.config

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="NLog" version="6.0.6" targetFramework="net48" />
+</packages>