Rs.DeweyTester/Rs.DeweyTester/FormMain.cs

using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.AutoDischarge.V3.Flow;
using Rs.Camera;
using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.AuxiliaryEquipment;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys.Trays;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.SafePosFlow;
using Rs.MotionPlat.Flow.SubFlow;
using Rs.MotionPlat.SysConfig;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class FormMain : BaseForm
    {
        HObject defaultImage = new HObject();
        public FormMain()
        {
            InitializeComponent();
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            //获取运行信息
            while (MessageQueue.Instance.HaveMessage())
            {
                MessageItem runInfo = MessageQueue.Instance.GetMessage();
                if (runInfo != null)
                {
                    while (dgv_runinfo.Rows.Count > 500)
                    {
                        dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
                    }
                    dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
                }

                MessageItem errorInfo = MessageQueue.Instance.GetWarn();
                if (errorInfo != null)
                {
                    while (dgv_errinfo.Rows.Count > 500)
                    {
                        dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
                    }
                    dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
                }
            }
            if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
            {
                if (btnWholeHome.Visible == true)
                    btnWholeHome.Visible = false;
            }
            else
            {
                if (btnWholeHome.Visible == false)
                    btnWholeHome.Visible = true;
            }
        }

        private void FormMain_Load(object sender, EventArgs e)
        {
            tabControlEx1.TabPages.RemoveAt(1);
            SqliteHelper db = new SqliteHelper();
            string querySql = "select * from NormalTray";
            DataTable dt = db.GetDataTable(querySql);
            if (dt != null && dt.Rows.Count > 0)
            {
                DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
                if (dr != null)
                {
                    trayEmpty1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayEmpty1.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
                if (dr != null)
                {
                    trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ok").First();
                if (dr != null)
                {
                    trayOk.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayOk.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ng").First();
                if (dr != null)
                {
                    trayNg.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayNg.RowNum = int.Parse(dr["RowNum"].ToString());
                }


                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
                if (dr != null)
                {
                    trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
                }

                dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
                if (dr != null)
                {
                    trayEmpty2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                    trayEmpty2.RowNum = int.Parse(dr["RowNum"].ToString());
                }
            }

            timer1.Interval = 500;
            timer1.Enabled = true;

           
            trayTurnover.ItemName = "Turnover";
            trayEmpty1.ItemName = "Empty1";
            trayInput.ItemName = "Input";
            trayOk.ItemName = "Ok";
            trayNg.ItemName = "Ng";
            trayMulti.ItemName = "Multi";
            trayEmpty2.ItemName = "Empty2";


            trayEmpty1.InitSlotStatus = ESlotStatus.Null;
            trayInput.InitSlotStatus = ESlotStatus.Null;
            trayOk.InitSlotStatus = ESlotStatus.Null;
            trayNg.InitSlotStatus = ESlotStatus.Null;
            trayMulti.InitSlotStatus = ESlotStatus.Null;
            trayEmpty2.InitSlotStatus = ESlotStatus.Null;

            GlobalTray.Empty1Tray = trayEmpty1;
            GlobalTray.InputTray = trayInput;
            GlobalTray.OkTary = trayOk;
            GlobalTray.NgTray = trayNg;
            GlobalTray.MultiTray = trayMulti;
            GlobalTray.Empty2Tray = trayEmpty2;
            GlobalTray.TurnoverTray = trayTurnover;
            GlobalTray.TestTray = trayTest;
            GlobalTray.DischargeNozzle= trayDischargeNozzle;
            GlobalTray.TurnoverNozzle= trayTurnoverNozzle;
            //StockManager.Instance.Start();
            LoadStockStatus();
            HOperatorSet.ReadImage(out defaultImage, "default.bmp");
            switchButton1.Checked = GlobalVar.DeviceIsAuto;
        }
        
        

       

        private void btnWholeHome_Load(object sender, EventArgs e)
        {
            Ops.GoHome();
        }

        private void btnSpaceRun_BtnClick(object sender, EventArgs e)
        {
            //SpaceTest.Instance.Start();
            if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
            {
                //MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
                ////WorkFlow.Instance.Start();
                //TurnoverFlow.Instance.Start();
                //TakeTrayFlow.Instance.Start();

                Ops.Start();

                //TakeTrayFlow.Instance.Start();
                //StockManager.Instance.Start();
                //WorkEnvironment.Instance.Ready();


                //TakeDumpTest.Instance.Start();
            }
            else
            {
                MessageQueue.Instance.Warn($"device {MachineManage.Instance.MachineStatus} status，cann't start！");
            }
        }

        private void btnStop_BtnClick(object sender, EventArgs e)
        {

            Ops.Stop();
            //TakeDumpTest.Instance.Stop();
            //LoadAndUnloadTest.Instance.Stop();
            //TakeTrayTest.Instance.Stop();
            //TurnoverFlow.Instance.Stop();
            //TakeTrayFlow.Instance.Stop();
            ////ZRTest.Instance.Stop();
            ////CameraTriggerTest.Instance.Stop();
            ////SpaceTest.Instance.Stop();
            //WorkFlow.Instance.Stop();
            //MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
        }

        private void LoadStockStatus()
        {
            StringBuilder msg = new StringBuilder();
            if (StockManager.Instance.HasTray(ETrayType.Input))
            {
                msg.Append(ETrayType.Input.ToString()).Append(",");
            }
            if (StockManager.Instance.HasTray(ETrayType.Ok))
            {
                msg.Append(ETrayType.Ok.ToString()).Append(",");
            }
            if (StockManager.Instance.HasTray(ETrayType.Ng))
            {
                msg.Append(ETrayType.Ng.ToString()).Append(",");
            }
            if (StockManager.Instance.HasTray(ETrayType.Multi))
            {
                msg.Append(ETrayType.Multi.ToString()).Append(",");
            }
            if(msg.Length > 0)
            {
                Task.Run(() => {
                    Msg.ShowInfo("Stock " + msg.ToString().TrimEnd(new char[] { ',' }) + " has tray,please check products status");
                });
            }
            if (StockManager.Instance.HasTray(ETrayType.Empty1))
            {
                StockManager.Instance.GetStock(ETrayType.Empty1).ChangeStatus(EStockTrayStatus.Loaded);
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Empty1).Status = EStockTrayStatus.Empty.ToString();
            }
            if (StockManager.Instance.HasTray(ETrayType.Input))
            {
                StockManager.Instance.GetStock(ETrayType.Input).ChangeStatus(EStockTrayStatus.Loaded,false);
                TrayStatusManager.Init(ETrayType.Input);
                //GlobalTray.InputTray.ChangeStatus()
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Input).Status = EStockTrayStatus.Empty.ToString();
            }

            if (StockManager.Instance.HasTray(ETrayType.Ok))
            {
                StockManager.Instance.GetStock(ETrayType.Ok).ChangeStatus(EStockTrayStatus.Loaded, false);
                TrayStatusManager.Init(ETrayType.Ok);
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Ok).Status = EStockTrayStatus.Empty.ToString();
            }

            if (StockManager.Instance.HasTray(ETrayType.Ng))
            {
                StockManager.Instance.GetStock(ETrayType.Ng).ChangeStatus(EStockTrayStatus.Loaded, false);
                TrayStatusManager.Init(ETrayType.Ng);
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Ng).Status = EStockTrayStatus.Empty.ToString();
            }

            if (StockManager.Instance.HasTray(ETrayType.Multi))
            {
                StockManager.Instance.GetStock(ETrayType.Multi).ChangeStatus(EStockTrayStatus.Loaded, false);
                TrayStatusManager.Init(ETrayType.Multi);
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Multi).Status = EStockTrayStatus.Empty.ToString();
            }

            if (StockManager.Instance.HasTray(ETrayType.Empty2))
            {
                StockManager.Instance.GetStock(ETrayType.Empty2).ChangeStatus(EStockTrayStatus.Loaded);
            }
            else
            {
                GlobalTray.GetTray(ETrayType.Empty2).Status = EStockTrayStatus.Empty.ToString();
            }

            TrayStatusManager.InitDischargeNozzle();
            TrayStatusManager.InitTrunoverTray();
            TrayStatusManager.InitTurnoverNozzle();
            TrayStatusManager.InitFixtureTray();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            //PromptMessageBox.ShowDialog(111, "取料失败!! \r\n周转吸嘴取治具{}号穴位的物料时失败 \r\nPickup fail !!\r\nNozzle of tester from site{} socket\r\nPickup fail !!\r\nSite{} socket 으로부터 Unit을 pickup할때 pickup fail이 발생하였습니다.", ETipButton.Yes);
        }

        /// <summary>
        /// 治具盘画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTest_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TestTrayManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s=>s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if(status== ESlotStatus.Have)
                {
                    TestTrayManager.Instance.Slot(slotIndex).IsHasProduct = true;
                }
                else
                {
                    TestTrayManager.Instance.Slot(slotIndex).ResetStatus();
                }
            }
        }

        /// <summary>
        /// 周转盘画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTurnover_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TurnoverTrayManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if (status == ESlotStatus.Have)
                {
                    TurnoverTrayManager.Instance.Slot(slotIndex).IsHasProduct = true;
                }
                else
                {
                    TurnoverTrayManager.Instance.Slot(slotIndex).ResetStatus();
                }
            }
        }
        /// <summary>
        /// 周转吸嘴画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTurnoverNozzle_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TransitNozzleManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);

            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if(status== ESlotStatus.Have)
                {
                    //TransitNozzleManager.Instance.Nozzle(slotIndex).FromType = TurnoverType.Turnover;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).FromIndex = slotIndex - 1;
                    //TransitNozzleManager.Instance.Nozzle(slotIndex).ToType = TurnoverType.Multifunction;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).ToIndex = (slotIndex <= 8 ? slotIndex + 8 : slotIndex + 16) - 1;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).IsHasProduct = true;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).Update();
                }
                else
                {
                    TransitNozzleManager.Instance.Nozzle(slotIndex).ResetStaus();
                    TransitNozzleManager.Instance.Nozzle(slotIndex).Update();
                }
            }
        }
        /// <summary>
        /// 排料吸嘴画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayDischargeNozzle_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //NozzleManager.GetAllNozzles().ForEach((n) => { n.ResetStatus(); });
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if (status == ESlotStatus.Have)
                {
                    Nozzle nozzle = NozzleManager.GetNozzle(slotIndex);
                    if (nozzle != null)
                    {
                        //NozzleManager.GetNozzle(slotIndex).FromType = TurnoverType.Turnover;
                        nozzle.FromIndex = slotIndex - 1;
                        //NozzleManager.GetNozzle(slotIndex).ToType = TurnoverType.Multifunction;
                        nozzle.ToIndex = 0;
                        NozzleManager.GetNozzle(slotIndex).Status = ENozzleStatus.ToUnload;
                        nozzle.Update();
                    }
                }
                else
                {
                    NozzleManager.GetNozzle(slotIndex).ResetStatus();
                    NozzleManager.GetNozzle(slotIndex).Update();
                }
            }
        }

        private void switchButton1_Click(object sender, EventArgs e)
        {
            GlobalVar.DeviceIsAuto = switchButton1.Checked;
        }
    }
}