diff --git a/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs b/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs
new file mode 100644
index 0000000..084ca55
--- /dev/null
+++ b/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs
@@ -0,0 +1,486 @@
+using Rs.Controls;
+using Rs.Framework;
+using Rs.Motion;
+using Rs.MotionPlat.Commom;
+using Rs.MotionPlat.Entitys;
+using Rs.MotionPlat.Flow.Common;
+using Rs.MotionPlat.Flow.SafePosFlow;
+using Rs.MotionPlat.Vision;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Flow.SubFlow
+{
+ enum EFiveProductTestFlowStep
+ {
+
+ 到料仓拍照位上方,
+ 等待到料仓拍照位上方,
+ 料仓取料拍照,
+ 到料仓取料位上方,
+ 等待到料仓取料位上方,
+ 到料仓取料位下方,
+ 等待到料仓取料位下方,
+ 料仓取料完成抬起,
+ 等待料仓取料完成抬起,
+ 料仓取料真空吸检测,
+
+
+ 到料仓放料位上方,
+ 等待到料仓放料位上方,
+ 到料仓放料位下方,
+ 等待到料仓放料位下方,
+ 料仓放料完成抬起,
+ 等待料仓放料完成抬起,
+ 料仓放料完成粘料检测
+ }
+
+ public class FiveProductTestFlow
+ {
+ private Task mainTask;
+ private FiveProductTestFlow() { }
+
+ private static FiveProductTestFlow instance;
+ public static FiveProductTestFlow Instance
+ {
+ get
+ {
+ if (instance == null)
+ {
+ instance = new FiveProductTestFlow();
+ }
+ return instance;
+ }
+ }
+ private AlarmEntity alarmEntity;
+ Stopwatch timeout = new Stopwatch();
+ EFiveProductTestFlowStep flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
+
+ int scanNum = 0;
+ string logInfo = string.Empty;
+ string alarmInfo = string.Empty;
+
+ private bool stop = true;
+ private bool run = true;
+ TargetPosition targetPosition = new TargetPosition();
+ ErrorCode errCode = ErrorCode.Ok;
+ ///
+ /// 当前取料穴位
+ ///
+ TraySlot curTakeSlot = null;
+ ///
+ /// 当前取料穴位的点位
+ ///
+ SlotPoint curTakeSlotPoint = null;
+ //Nozzle curNozzle = null;
+ Nozzle curTakeNozzle = null;
+ Nozzle curDumpNozzle = null;
+ TestFixture curFixture = null;
+ //放料穴位
+ TraySlot curDumpSlot = null;
+ ///
+ /// 最后一次换料的治具编号
+ ///
+ private int lastFixtureIndex = 0;
+ ///
+ /// 已经取走的产品数量
+ ///
+ private int takedNum = 0;
+ //相机拍照结果
+ VisionResult vResult = new VisionResult();
+ ProductLocationResult vProductResult = new ProductLocationResult();
+
+ List needGrrFixtureList = new List();
+ ///
+ /// 测试完成的数量
+ ///
+ private int testFinishedNum = 0;
+
+ private void Reset()
+ {
+ curTakeSlot = null;
+ curTakeSlotPoint = null;
+ curTakeNozzle = null;
+ curDumpNozzle = null;
+ curFixture = null;
+ curDumpSlot = null;
+ lastFixtureIndex = 0;
+ takedNum = 0;
+ testFinishedNum = 0;
+ VirtualBarCode.Reset();
+ }
+
+ public void Init()
+ {
+ mainTask = new Task(Run);
+ mainTask.Start();
+ }
+
+ public void Deinit()
+ {
+ run = false;
+ }
+
+ int takeNum = 0;
+ private void Run()
+ {
+ while (run)
+ {
+ if (stop || !GlobalVar.DeviceIsAuto)
+ {
+ Thread.Sleep(10);
+ continue;
+ }
+ switch (flowStep)
+ {
+ #region 料仓取料
+ case EFiveProductTestFlowStep.到料仓拍照位上方:
+ curTakeSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
+ if (curTakeSlot != null)
+ {
+ curTakeSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, curTakeSlot.Index);
+ if (curTakeSlotPoint != null)
+ {
+ targetPosition.X = curTakeSlotPoint.X;
+ targetPosition.Y1 = GlobalVar.StockSideY1;
+ targetPosition.Y2 = curTakeSlotPoint.Y;
+ double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
+ if (curLoadX - GlobalVar.FixtureSafePosX > 50)
+ {
+ DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
+ }
+ if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
+ {
+ AxisPosPrint.PrintXY1Y2TargetPos("轴loadx,loady1,loady2已停止运动,", targetPosition, GetClassName());
+ flowStep = EFiveProductTestFlowStep.等待到料仓拍照位上方;
+ }
+ }
+ }
+ else
+ {
+ //没有料了，判断是否需要换料
+ GlobalTray.GrabTray.ChangeStatus(ESlotStatus.Have);
+ }
+ break;
+ case EFiveProductTestFlowStep.等待到料仓拍照位上方:
+ if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,", GetClassName());
+ if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓拍照位上方,", GetClassName());
+ flowStep = EFiveProductTestFlowStep.料仓取料拍照;
+ }
+ else
+ {
+ flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.料仓取料拍照:
+ UpCameraHelper.Grab();
+ string msg = VisionHelper.OneGrabOne();//.Grab(EVisionScene.SingleScanBarcode);
+ vProductResult.Parse(msg);
+ if (vProductResult != null && (vProductResult.Result == EOneGrabSixteenResult.Ok || vProductResult.Result== EOneGrabSixteenResult.LocationOkScanBarcodeFail))
+ {
+ flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
+ }
+ else if (vProductResult != null && vProductResult.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
+ {
+ GrrScanFailFrm scanFail = new GrrScanFailFrm((act, qrcode) => {
+ if (act == 1)
+ {
+ vProductResult.SN = qrcode;
+ flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
+ }
+ });
+ scanFail.ShowDialog();
+ //vProductResult.SN = VirtualBarCode.Code;
+
+ }
+ else
+ {
+ alarmEntity = AlarmCollection.Get(AlarmConstID.料仓取料拍照失败);
+ Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
+ }
+ break;
+ case EFiveProductTestFlowStep.到料仓取料位上方:
+ //获取空闲吸嘴
+ curTakeNozzle = NozzleManager.GetIdelNozzle();
+ if (curTakeNozzle != null)
+ {
+ targetPosition = NozzleManager.GetToTraySlot(ETrayType.Input, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
+ if (curTakeNozzle != null)
+ {
+ targetPosition.X += vProductResult.OffsetX + offsetX;
+ targetPosition.Y2 += vProductResult.OffsetY +offsetY;
+ if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
+ {
+ AxisPosPrint.PrintXY1Y2TargetPos("到料仓取料位上方,", targetPosition, GetClassName());
+ flowStep = EFiveProductTestFlowStep.等待到料仓取料位上方;
+ }
+ }
+ }
+
+ break;
+ case EFiveProductTestFlowStep.等待到料仓取料位上方:
+ if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("轴XY1Y2已停止运动,", GetClassName());
+ if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("已运动到等待到料仓取料位上方,", GetClassName());
+ flowStep = EFiveProductTestFlowStep.到料仓取料位下方;
+ }
+ else
+ {
+ flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.到料仓取料位下方:
+ targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Input, curTakeNozzle.NozzleIndex);
+ errCode = AxisControl.GetAxis($"NozzleZ{curTakeNozzle.NozzleIndex}").MovePos(targetPosition.NozzleZ, GlobalVar.WholeSpeed);
+ if (errCode == ErrorCode.Ok)
+ {
+ logInfo = $"{GetClassName()}到料仓取料位下方";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.等待到料仓取料位下方;
+ }
+ break;
+ case EFiveProductTestFlowStep.等待到料仓取料位下方:
+ if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
+ {
+ logInfo = $"{GetClassName()}已运动到料仓取料位下方";
+ MessageQueue.Instance.Insert(logInfo);
+ if (GlobalVar.RunSpace)
+ {
+ flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
+ }
+ else
+ {
+ Ops.On($"吸料真空{curTakeNozzle.NozzleIndex}吸");
+ Thread.Sleep(100);
+ flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.料仓取料完成抬起:
+ if (NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
+ {
+ logInfo = $"{GetClassName()}料仓取料完成抬起";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.等待料仓取料完成抬起;
+ }
+ break;
+ case EFiveProductTestFlowStep.等待料仓取料完成抬起:
+ if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
+ {
+ logInfo = $"{GetClassName()}料仓取料完成已抬起";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.料仓取料真空吸检测;
+ }
+ break;
+ case EFiveProductTestFlowStep.料仓取料真空吸检测:
+ if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace)
+ {
+ takedNum++;
+ curTakeNozzle.Product = new TestProduct() { SN = "", FromSlotIndex = curTakeSlot.Index };
+ curTakeNozzle.Status = ENozzleStatus.ToUnload;
+ GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
+ GlobalTray.InputTray.ChangeStatus(curTakeSlot.Index, ESlotStatus.NotHave);
+ logInfo = $"{GetClassName()}料仓{curTakeSlot.Index}号穴位取料完成真空检测OK,产品SN:{curTakeNozzle.Product.SN}被吸嘴{curTakeNozzle.NozzleIndex}取走";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
+ }
+ else
+ {
+ alarmEntity = AlarmCollection.Get(AlarmConstID.GRR取料失败报警);
+ Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
+ flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
+ }
+ break;
+ #endregion
+
+
+
+
+ //料仓放料
+
+ case EFiveProductTestFlowStep.到料仓放料位上方:
+ curDumpNozzle = NozzleManager.GetToUnloadNozzle();
+ if (curDumpNozzle != null)
+ {
+ //吸嘴放料，加测吸嘴上的产品的测试结果，决定把料放到哪个料仓
+ //目前先都方到OK料仓
+ //curDumpSlot = GlobalTray.GrrTray.GetSlot(ESlotStatus.NotHave);
+ curDumpSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
+ if (curDumpSlot != null)
+ {
+ double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
+ if (curLoadX - GlobalVar.FixtureSafePosX > 50)
+ {
+ DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
+ }
+ targetPosition = NozzleManager.GetToTraySlot(ETrayType.Ok, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
+ if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
+ {
+ AxisPosPrint.PrintXY1Y2TargetPos("到料仓放料位上方,", targetPosition, GetClassName());
+ flowStep = EFiveProductTestFlowStep.等待到料仓放料位上方;
+ }
+ }
+ else
+ {
+ GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.等待到料仓放料位上方:
+ if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,", GetClassName());
+ if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
+ {
+ AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓放料位上方,", GetClassName());
+ flowStep = EFiveProductTestFlowStep.到料仓放料位下方;
+ }
+ else
+ {
+ flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.到料仓放料位下方:
+ targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Ok, curDumpNozzle.NozzleIndex);
+ if (NozzleManager.Go(curDumpNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
+ {
+ logInfo = $"{GetClassName()}到料仓放料位下方";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.等待到料仓放料位下方;
+ }
+ break;
+ case EFiveProductTestFlowStep.等待到料仓放料位下方:
+ if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
+ {
+ logInfo = $"{GetClassName()}已运动到料仓放料位下方";
+ MessageQueue.Instance.Insert(logInfo);
+ if (GlobalVar.RunSpace)
+ {
+ flowStep = EFiveProductTestFlowStep.料仓放料完成抬起;
+ }
+ else
+ {
+ curDumpNozzle.VacSuction(EIoOperate.Close, GetClassName());
+ curDumpNozzle.VacBreak(EIoOperate.Open, GetClassName());
+ curDumpNozzle.VacBreak(EIoOperate.Close, GetClassName());
+ flowStep = EFiveProductTestFlowStep.料仓放料完成抬起;
+ }
+ }
+ break;
+ case EFiveProductTestFlowStep.料仓放料完成抬起:
+ if (NozzleManager.GotoSafePos(curDumpNozzle.NozzleIndex))
+ {
+ logInfo = $"{GetClassName()}料仓放料完成抬起";
+ MessageQueue.Instance.Insert(logInfo);
+ flowStep = EFiveProductTestFlowStep.等待料仓放料完成抬起;
+ }
+ break;
+ case EFiveProductTestFlowStep.等待料仓放料完成抬起:
+ if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
+ {
+
+ logInfo = $"{GetClassName()}料仓放料完成已抬起";
+ MessageQueue.Instance.Insert(logInfo);
+ takedNum++;
+ if(takedNum<5)
+ {
+ flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
+ }
+ else
+ {
+ run = false;
+ }
+ }
+ break;
+ }
+ Thread.Sleep(5);
+ }
+ }
+
+ public void Start()
+ {
+ stop = false;
+ }
+ public void Stop()
+ {
+ stop = true;
+ }
+ private string GetClassName()
+ {
+ return "GrrFlow-";
+ }
+
+ private double offsetX = 0;
+ private double offsetY = 0;
+ public void SetOffset(double x,double y)
+ {
+ offsetX = x;
+ offsetY = y;
+ }
+
+ ///
+ /// 获取吸嘴取料取不起来时，吸嘴在原取料位的偏移
+ /// 奇数向下偏移
+ /// 偶数向上偏移
+ ///
+ ///
+ ///
+ private double GetVacOffsetHeight(int fetchNum)
+ {
+ if (fetchNum == 0) return 0;
+ //先判断是奇数还是偶数
+ int count = 0;
+ int oddOrEven = fetchNum & 0x01;
+
+ double offsetDisct = 0.0;
+ if (oddOrEven == 1)
+ {
+ count = (fetchNum / 2) + 1;
+ offsetDisct = -0.1 * count;
+ }
+
+ else if (oddOrEven == 0)
+ {
+ count = (fetchNum / 2);
+ offsetDisct = 0.1 * count;
+ }
+ return offsetDisct;
+ }
+
+ public string GetCurStep()
+ {
+ return flowStep.ToString();
+ }
+
+ public void VirtualAxisSleep()
+ {
+ if (GlobalVar.VirtualAxis)
+ {
+ Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
+ }
+ }
+
+
+ private void GotoNextFixture()
+ {
+ lastFixtureIndex = ((lastFixtureIndex + 1) % needGrrFixtureList.Count);
+ }
+
+
+ }
+}
diff --git a/Rs.DeweyTester/Rs.DeweyTester.csproj b/Rs.DeweyTester/Rs.DeweyTester.csproj
index a760dc4..34bc211 100644
--- a/Rs.DeweyTester/Rs.DeweyTester.csproj
+++ b/Rs.DeweyTester/Rs.DeweyTester.csproj
@@ -139,6 +139,7 @@
+
diff --git a/Rs.DeweyTester/TestFrm.Designer.cs b/Rs.DeweyTester/TestFrm.Designer.cs
index e27b13e..4dcfd64 100644
--- a/Rs.DeweyTester/TestFrm.Designer.cs
+++ b/Rs.DeweyTester/TestFrm.Designer.cs
@@ -56,6 +56,11 @@
this.label1 = new System.Windows.Forms.Label();
this.textBox1 = new System.Windows.Forms.TextBox();
this.groupBox3 = new System.Windows.Forms.GroupBox();
+ this.button1 = new System.Windows.Forms.Button();
+ this.label3 = new System.Windows.Forms.Label();
+ this.textBox2 = new System.Windows.Forms.TextBox();
+ this.label4 = new System.Windows.Forms.Label();
+ this.textBox3 = new System.Windows.Forms.TextBox();
this.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox3.SuspendLayout();
@@ -405,11 +410,60 @@
this.groupBox3.TabStop = false;
this.groupBox3.Text = "相机";
//
+ // button1
+ //
+ this.button1.Location = new System.Drawing.Point(29, 339);
+ this.button1.Name = "button1";
+ this.button1.Size = new System.Drawing.Size(190, 68);
+ this.button1.TabIndex = 33;
+ this.button1.Text = "5个产品单拍测试";
+ this.button1.UseVisualStyleBackColor = true;
+ this.button1.Click += new System.EventHandler(this.button1_Click_2);
+ //
+ // label3
+ //
+ this.label3.AutoSize = true;
+ this.label3.ForeColor = System.Drawing.Color.White;
+ this.label3.Location = new System.Drawing.Point(39, 238);
+ this.label3.Name = "label3";
+ this.label3.Size = new System.Drawing.Size(41, 12);
+ this.label3.TabIndex = 28;
+ this.label3.Text = "X偏移:";
+ //
+ // textBox2
+ //
+ this.textBox2.Location = new System.Drawing.Point(92, 238);
+ this.textBox2.Name = "textBox2";
+ this.textBox2.Size = new System.Drawing.Size(100, 21);
+ this.textBox2.TabIndex = 34;
+ //
+ // label4
+ //
+ this.label4.AutoSize = true;
+ this.label4.ForeColor = System.Drawing.Color.White;
+ this.label4.Location = new System.Drawing.Point(39, 285);
+ this.label4.Name = "label4";
+ this.label4.Size = new System.Drawing.Size(41, 12);
+ this.label4.TabIndex = 28;
+ this.label4.Text = "Y偏移:";
+ //
+ // textBox3
+ //
+ this.textBox3.Location = new System.Drawing.Point(92, 285);
+ this.textBox3.Name = "textBox3";
+ this.textBox3.Size = new System.Drawing.Size(100, 21);
+ this.textBox3.TabIndex = 34;
+ //
// TestFrm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1336, 854);
+ this.Controls.Add(this.textBox3);
+ this.Controls.Add(this.textBox2);
+ this.Controls.Add(this.label4);
+ this.Controls.Add(this.button1);
+ this.Controls.Add(this.label3);
this.Controls.Add(this.groupBox3);
this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox1);
@@ -421,6 +475,7 @@
this.groupBox2.PerformLayout();
this.groupBox3.ResumeLayout(false);
this.ResumeLayout(false);
+ this.PerformLayout();
}
@@ -453,5 +508,10 @@
private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox comboBox1;
private System.Windows.Forms.Label label2;
+ private System.Windows.Forms.Button button1;
+ private System.Windows.Forms.Label label3;
+ private System.Windows.Forms.TextBox textBox2;
+ private System.Windows.Forms.Label label4;
+ private System.Windows.Forms.TextBox textBox3;
}
}
\ No newline at end of file
diff --git a/Rs.DeweyTester/TestFrm.cs b/Rs.DeweyTester/TestFrm.cs
index 4efe484..4419b79 100644
--- a/Rs.DeweyTester/TestFrm.cs
+++ b/Rs.DeweyTester/TestFrm.cs
@@ -247,5 +247,10 @@ namespace Rs.MotionPlat
});
}
+
+ private void button1_Click_2(object sender, EventArgs e)
+ {
+ FiveProductTestFlow.Instance.Init();
+ }
}
}