From 31cbfc905fe81dd840d6f8a85cef0fa73d10f7e6 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Thu, 1 Aug 2024 08:56:14 +0800
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---
 .../DischargeModuleGoSafePosFlow.cs           | 90 +++++++++++++++++++
 1 file changed, 90 insertions(+)

diff --git a/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs b/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
index 62a4ad4..615fc5f 100644
--- a/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
+++ b/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
@@ -130,6 +130,96 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
             //taskFinishedEvent.WaitOne();
         }
 
+        /// <summary>
+        /// 移动X到安全位
+        /// </summary>
+        public void MoveXToSafe()
+        {
+            bool arrivedSafePos = false;
+            EDischargeModuleGoSafePosFlowStep moveXStep = EDischargeModuleGoSafePosFlowStep.到安全位;
+            //判断Y1当前在治具还是在料仓，只有在治具侧才需要把X先移动到安全位
+            double curLoadY1 = Ops.GetCurPosition(AxisControl.LoadY1);
+            double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
+            if(Math.Abs(curLoadY1-GlobalVar.FixtureSideY1)>1 && (curLoadX-GlobalVar.FixtureSafePosX>50))
+            {
+                while (true && !arrivedSafePos)
+                {
+                    switch (moveXStep)
+                    {
+                        case EDischargeModuleGoSafePosFlowStep.到安全位:
+                            targetPos.X = GlobalVar.FixtureSafePosX;
+                            targetPos.Y1 = Ops.GetCurPosition(AxisControl.LoadY1);
+                            targetPos.Y2 = Ops.GetCurPosition(AxisControl.LoadY2);
+                            if (GroupAxisMove.XY1Y2MovePos(targetPos, GlobalVar.WholeSpeed))
+                            {
+                                AxisPosPrint.PrintXY1Y2TargetPos("到安全位,", targetPos, GetClassName());
+                                if (GlobalVar.VirtualAxis)
+                                {
+                                    Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
+                                }
+                                moveXStep = EDischargeModuleGoSafePosFlowStep.等待运动到安全位;
+                            }
+                            break;
+                        case EDischargeModuleGoSafePosFlowStep.等待运动到安全位:
+                            if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
+                            {
+                                AxisPosPrint.PrintXY1Y2CurrentPos("已运动到安全位,", GetClassName());
+                                arrivedSafePos = true;
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                    Thread.Sleep(10);
+                }
+            }
+        }
+
+        /// <summary>
+        /// 移动Y1到治具侧
+        /// </summary>
+        public void MoveY1ToFixtureSide(double targetLoadX)
+        {
+            bool arrivedSafePos = false;
+            EDischargeModuleGoSafePosFlowStep moveY1Step = EDischargeModuleGoSafePosFlowStep.到安全位;
+            //判断Y1当前在治具还是在料仓，只有在料仓侧才需要把Y1先移动治具那边
+            double curLoadY1 = Ops.GetCurPosition(AxisControl.LoadY1);
+            double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
+            if (Math.Abs(curLoadY1 - GlobalVar.StockSideY1) > 1 && (targetLoadX - GlobalVar.FixtureSafePosX > 50))
+            {
+                while (true && !arrivedSafePos)
+                {
+                    switch (moveY1Step)
+                    {
+                        case EDischargeModuleGoSafePosFlowStep.到安全位:
+                            targetPos.X = Ops.GetCurPosition(AxisControl.LoadX);
+                            targetPos.Y1 = GlobalVar.FixtureSideY1;
+                            targetPos.Y2 = Ops.GetCurPosition(AxisControl.LoadY2);
+                            if (GroupAxisMove.XY1Y2MovePos(targetPos, GlobalVar.WholeSpeed))
+                            {
+                                AxisPosPrint.PrintXY1Y2TargetPos("到安全位,", targetPos, GetClassName());
+                                if (GlobalVar.VirtualAxis)
+                                {
+                                    Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
+                                }
+                                moveY1Step = EDischargeModuleGoSafePosFlowStep.等待运动到安全位;
+                            }
+                            break;
+                        case EDischargeModuleGoSafePosFlowStep.等待运动到安全位:
+                            if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
+                            {
+                                AxisPosPrint.PrintXY1Y2CurrentPos("已运动到安全位,", GetClassName());
+                                arrivedSafePos = true;
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                    Thread.Sleep(10);
+                }
+            }
+        }
+
         /// <summary>
         /// 判断是否在安全位
         /// </summary>