lhiven
/
Rs.DeweyTester
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

增加五个产品测试逻辑

Browse Source
master
lhiven 11 months ago
parent 0473700627
commit 251faa8264
4 changed files with 552 additions and 0 deletions
Show Stats Download Patch File Download Diff File

486
Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs
Unescape Escape View File

@ -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;
/// <summary>
/// 当前取料穴位
/// </summary>
TraySlot curTakeSlot = null;
/// <summary>
/// 当前取料穴位的点位
/// </summary>
SlotPoint curTakeSlotPoint = null;
//Nozzle curNozzle = null;
Nozzle curTakeNozzle = null;
Nozzle curDumpNozzle = null;
TestFixture curFixture = null;
//放料穴位
TraySlot curDumpSlot = null;
/// <summary>
/// 最后一次换料的治具编号
/// </summary>
private int lastFixtureIndex = 0;
/// <summary>
/// 已经取走的产品数量
/// </summary>
private int takedNum = 0;
//相机拍照结果
VisionResult vResult = new VisionResult();
ProductLocationResult vProductResult = new ProductLocationResult();
List<TestFixture> needGrrFixtureList = new List<TestFixture>();
/// <summary>
/// 测试完成的数量
/// </summary>
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;
}
/// <summary>
/// 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
/// </summary>
/// <param name="fetchNum"></param>
/// <returns></returns>
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);
}
}
}

1
Rs.DeweyTester/Rs.DeweyTester.csproj
Unescape Escape View File

@ -139,6 +139,7 @@
<Compile Include="Commom\TrayRunPointManager.cs" /> <Compile Include="Commom\TrayRunPointManager.cs" />
<Compile Include="Commom\UpCameraHelper.cs" /> <Compile Include="Commom\UpCameraHelper.cs" />
<Compile Include="Entitys\OneGrabSixteenManager.cs" /> <Compile Include="Entitys\OneGrabSixteenManager.cs" />
<Compile Include="Flow\SubFlow\FiveProductTestFlow.cs" />
<Compile Include="Flow\SubFlow\StockGrabFlow.cs" /> <Compile Include="Flow\SubFlow\StockGrabFlow.cs" />
<Compile Include="Flow\SubFlow\EnvironmentPrepareFlow.cs" /> <Compile Include="Flow\SubFlow\EnvironmentPrepareFlow.cs" />
<Compile Include="Flow\SubFlow\FixedGrabProductFlow.cs" /> <Compile Include="Flow\SubFlow\FixedGrabProductFlow.cs" />

60
Rs.DeweyTester/TestFrm.Designer.cs generated
Unescape Escape View File

@ -56,6 +56,11 @@
this.label1 = new System.Windows.Forms.Label(); this.label1 = new System.Windows.Forms.Label();
this.textBox1 = new System.Windows.Forms.TextBox(); this.textBox1 = new System.Windows.Forms.TextBox();
this.groupBox3 = new System.Windows.Forms.GroupBox(); 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.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
this.groupBox3.SuspendLayout(); this.groupBox3.SuspendLayout();
@ -405,11 +410,60 @@
this.groupBox3.TabStop = false; this.groupBox3.TabStop = false;
this.groupBox3.Text = "相机"; 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 // TestFrm
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1336, 854); 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.groupBox3);
this.Controls.Add(this.groupBox2); this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
@ -421,6 +475,7 @@
this.groupBox2.PerformLayout(); this.groupBox2.PerformLayout();
this.groupBox3.ResumeLayout(false); this.groupBox3.ResumeLayout(false);
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout();
} }
@ -453,5 +508,10 @@
private System.Windows.Forms.Label label1; private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox comboBox1; private System.Windows.Forms.ComboBox comboBox1;
private System.Windows.Forms.Label label2; 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;
} }
} }

5
Rs.DeweyTester/TestFrm.cs
Unescape Escape View File

@ -247,5 +247,10 @@ namespace Rs.MotionPlat
}); });
} }
private void button1_Click_2(object sender, EventArgs e)
{
FiveProductTestFlow.Instance.Init();
}
} }
} }

Write Preview
Loading…
Cancel
Save