增加料仓放料时是否放料前拍照

Rs.DeweyTester/Commom/GlobalVar.cs

@@ -17,6 +17,18 @@ namespace Rs.Framework
     {
         #region newpro
 
+        /// <summary>
+        /// 允许料仓放料前拍照
+        /// </summary>
+        [ParameterInit("bool", "true", "system", "允许料仓放料前拍照")]
+        public static bool EnableBeforePlaceProductGrab
+        {
+            get
+            {
+                return SysConfigParam.GetValue<bool>(nameof(EnableBeforePlaceProductGrab));
+            }
+        }
+
         /// <summary>
         /// 允许Ok tray 满料检查
         /// </summary>

Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs

@@ -74,11 +74,11 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
             step = EDischargeModuleGoSafePosFlowStep.到安全位;
             while (true && !finished)
             {
-                if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
-                {
-                    Thread.Sleep(10);
-                    continue;
-                }
+                //if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
+                //{
+                //    Thread.Sleep(10);
+                //    continue;
+                //}
                 switch (step)
                 {
                     case EDischargeModuleGoSafePosFlowStep.到安全位:

Rs.DeweyTester/Flow/SubFlow/StockGrabFlow.cs

@@ -79,7 +79,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         break;
                     case EStockGrabFlowStep.通知上料仓拍照:
                         vr = VisionHelper.Grab(Vision.EVisionScene.HaveOrNot);
-                        if (vr.Result)
+                        if (vr!=null && vr.Result)
                         {
                             flowStep = EStockGrabFlowStep.处理上料仓拍照数据;
                         }

Rs.DeweyTester/Flow/SubFlow/StockPlaceFlow.cs

@@ -4,6 +4,7 @@ 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.Linq;
@@ -16,6 +17,9 @@ namespace Rs.MotionPlat.Flow.SubFlow
     enum EStockPlaceFlowStep
     {
         待触发,
+        到料仓拍照位上方,
+        等待到料仓拍照位上方,
+        料仓学位拍照,
         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,
@@ -31,6 +35,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
     {
         public event Action<TestProduct> PlaceFinishedEvent;
         bool finished = true;
+        double slotOffsetX = 0.0;
+        double slotOffsetY = 0.0;
         EStockPlaceFlowStep flowStep = EStockPlaceFlowStep.待触发;
         public StockPlaceFlow()
         {
@@ -101,7 +107,67 @@ namespace Rs.MotionPlat.Flow.SubFlow
                 switch (flowStep)
                 {
                     case EStockPlaceFlowStep.待触发:
-                        flowStep = EStockPlaceFlowStep.到料仓放料位上方;
+                        slotOffsetX = 0;
+                        slotOffsetY = 0;
+                        if (GlobalVar.EnableBeforePlaceProductGrab)
+                        {
+                            flowStep = EStockPlaceFlowStep.到料仓拍照位上方;
+                        }
+                        else
+                        {
+                            flowStep = EStockPlaceFlowStep.到料仓放料位上方;
+                        }
+                        break;
+                    case EStockPlaceFlowStep.到料仓拍照位上方:
+                        curPlaceSlot = tray.GetSlot(slotIndex);
+                        if(curPlaceSlot!=null)
+                        {
+                            SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, curPlaceSlot.Index);
+                            if(sp!=null)
+                            {
+                                targetPosition.X = sp.X;
+                                targetPosition.Y1 = GlobalVar.StockSideY1;
+                                targetPosition.Y2 = sp.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("到料仓拍照位上方,", targetPosition, GetClassName());
+                                    flowStep = EStockPlaceFlowStep.等待到料仓拍照位上方;
+                                }
+                            }
+                        }
+                        break;
+                    case EStockPlaceFlowStep.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 = EStockPlaceFlowStep.料仓学位拍照;
+                            }
+                            else
+                            {
+                                flowStep = EStockPlaceFlowStep.到料仓拍照位上方;
+                            }
+                        }
+                        break;
+                    case EStockPlaceFlowStep.料仓学位拍照:
+                        UpCameraHelper.Grab();
+                        VisionResult vr = VisionHelper.Grab(Vision.EVisionScene.TrayLocation);
+                        if(vr!=null && vr.Result)
+                        {
+                            slotOffsetX = vr.OffsetX; slotOffsetY=vr.OffsetY;
+                            flowStep = EStockPlaceFlowStep.到料仓放料位上方;
+                        }
+                        else
+                        {
+                            Msgbox.ShowTipDialog(EButtonType.Retry, "料仓穴位定位失败", "", true);
+                        }
                         break;
                     case EStockPlaceFlowStep.到料仓放料位上方:
                         //curNozzle = NozzleManager.GetToUnloadNozzle();
@@ -112,6 +178,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
                             if (curPlaceSlot != null)
                             {
                                 targetPosition = NozzleManager.GetToTraySlot(trayType, curPlaceSlot.Index, curNozzle.NozzleIndex);
+                                targetPosition.X += slotOffsetX;
+                                targetPosition.Y2+= slotOffsetY;
                                 double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
                                 if (curLoadX - GlobalVar.FixtureSafePosX > 50)
                                 {

Rs.DeweyTester/Module/NozzleCollection.cs

@@ -510,13 +510,20 @@ namespace Rs.MotionPlat.Commom
         {
             TargetPosition targetPosition=new TargetPosition();
             SlotPoint curTakeSlotPoint = null;
-            if(trayType== ETrayType.Input)
+            if(GlobalVar.EnableBeforePlaceProductGrab)
             {
                 curTakeSlotPoint = TrayPointManager.GetSlotPoint(trayType, slotIndex);
             }
             else
             {
-                curTakeSlotPoint = TrayRunPointManager.GetSlotPoint(trayType, slotIndex);
+                if (trayType == ETrayType.Input)
+                {
+                    curTakeSlotPoint = TrayPointManager.GetSlotPoint(trayType, slotIndex);
+                }
+                else
+                {
+                    curTakeSlotPoint = TrayRunPointManager.GetSlotPoint(trayType, slotIndex);
+                }
             }
             MessageQueue.Instance.Insert($"基础loadx:{curTakeSlotPoint.X},loady2:{curTakeSlotPoint.Y}");
             if (curTakeSlotPoint != null)