diff --git a/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs b/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs index 084ca55..ed8c0a2 100644 --- a/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs +++ b/Rs.DeweyTester/Flow/SubFlow/FiveProductTestFlow.cs @@ -4,6 +4,7 @@ using Rs.Motion; using Rs.MotionPlat.Commom; using Rs.MotionPlat.Entitys; using Rs.MotionPlat.Flow.Common; +using Rs.MotionPlat.Flow.NormalFlow; using Rs.MotionPlat.Flow.SafePosFlow; using Rs.MotionPlat.Vision; using System; @@ -18,7 +19,7 @@ namespace Rs.MotionPlat.Flow.SubFlow { enum EFiveProductTestFlowStep { - + OK盘三点定位, 到料仓拍照位上方, 等待到料仓拍照位上方, 料仓取料拍照, @@ -59,7 +60,7 @@ namespace Rs.MotionPlat.Flow.SubFlow } private AlarmEntity alarmEntity; Stopwatch timeout = new Stopwatch(); - EFiveProductTestFlowStep flowStep = EFiveProductTestFlowStep.到料仓拍照位上方; + EFiveProductTestFlowStep flowStep = EFiveProductTestFlowStep.OK盘三点定位; int scanNum = 0; string logInfo = string.Empty; @@ -114,9 +115,14 @@ namespace Rs.MotionPlat.Flow.SubFlow testFinishedNum = 0; VirtualBarCode.Reset(); } - + bool binit = false; public void Init() { + if(binit) + { + return; + } + binit = true; mainTask = new Task(Run); mainTask.Start(); } @@ -125,7 +131,6 @@ namespace Rs.MotionPlat.Flow.SubFlow { run = false; } - int takeNum = 0; private void Run() { @@ -139,7 +144,16 @@ namespace Rs.MotionPlat.Flow.SubFlow switch (flowStep) { #region 料仓取料 + case EFiveProductTestFlowStep.OK盘三点定位: + ThreePointLocationFlow.Instance.Location(ETrayType.Ok); + flowStep = EFiveProductTestFlowStep.到料仓拍照位上方; + break; case EFiveProductTestFlowStep.到料仓拍照位上方: + //GlobalTray.InputTray.ChangeStatus(1, ESlotStatus.Have); + //GlobalTray.InputTray.ChangeStatus(2, ESlotStatus.Have); + //GlobalTray.InputTray.ChangeStatus(3, ESlotStatus.Have); + //GlobalTray.InputTray.ChangeStatus(4, ESlotStatus.Have); + //GlobalTray.InputTray.ChangeStatus(5, ESlotStatus.Have); curTakeSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have); if (curTakeSlot != null) { @@ -211,14 +225,15 @@ namespace Rs.MotionPlat.Flow.SubFlow break; case EFiveProductTestFlowStep.到料仓取料位上方: //获取空闲吸嘴 - curTakeNozzle = NozzleManager.GetIdelNozzle(); + //curTakeNozzle = NozzleManager.GetIdelNozzle(); + curTakeNozzle = NozzleManager.GetNozzle(1); 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; + targetPosition.Y2 += vProductResult.OffsetY + offsetY; if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed)) { AxisPosPrint.PrintXY1Y2TargetPos("到料仓取料位上方,", targetPosition, GetClassName()); @@ -289,7 +304,6 @@ namespace Rs.MotionPlat.Flow.SubFlow case EFiveProductTestFlowStep.料仓取料真空吸检测: if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace) { - takedNum++; curTakeNozzle.Product = new TestProduct() { SN = "", FromSlotIndex = curTakeSlot.Index }; curTakeNozzle.Status = ENozzleStatus.ToUnload; GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have); @@ -313,7 +327,8 @@ namespace Rs.MotionPlat.Flow.SubFlow //料仓放料 case EFiveProductTestFlowStep.到料仓放料位上方: - curDumpNozzle = NozzleManager.GetToUnloadNozzle(); + //curDumpNozzle = NozzleManager.GetToUnloadNozzle(); + curDumpNozzle = NozzleManager.GetNozzle(1); if (curDumpNozzle != null) { //吸嘴放料，加测吸嘴上的产品的测试结果，决定把料放到哪个料仓 @@ -393,17 +408,20 @@ namespace Rs.MotionPlat.Flow.SubFlow case EFiveProductTestFlowStep.等待料仓放料完成抬起: if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}")) { - logInfo = $"{GetClassName()}料仓放料完成已抬起"; MessageQueue.Instance.Insert(logInfo); takedNum++; - if(takedNum<5) + curDumpNozzle.Status = ENozzleStatus.IDLE; + GlobalTray.OkTary.ChangeStatus(curDumpSlot.Index, ESlotStatus.Have); + + if (takedNum < 5) { flowStep = EFiveProductTestFlowStep.到料仓拍照位上方; } else { - run = false; + DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.Stock); + stop = true; } } break; @@ -414,6 +432,19 @@ namespace Rs.MotionPlat.Flow.SubFlow public void Start() { + GlobalTray.InputTray.ChangeStatus(1, ESlotStatus.Have); + GlobalTray.InputTray.ChangeStatus(2, ESlotStatus.Have); + GlobalTray.InputTray.ChangeStatus(3, ESlotStatus.Have); + GlobalTray.InputTray.ChangeStatus(4, ESlotStatus.Have); + GlobalTray.InputTray.ChangeStatus(5, ESlotStatus.Have); + + GlobalTray.OkTary.ChangeStatus(1, ESlotStatus.NotHave); + GlobalTray.OkTary.ChangeStatus(2, ESlotStatus.NotHave); + GlobalTray.OkTary.ChangeStatus(3, ESlotStatus.NotHave); + GlobalTray.OkTary.ChangeStatus(4, ESlotStatus.NotHave); + GlobalTray.OkTary.ChangeStatus(5, ESlotStatus.NotHave); + flowStep = EFiveProductTestFlowStep.OK盘三点定位; + takedNum = 0; stop = false; } public void Stop() diff --git a/Rs.DeweyTester/TestFrm.Designer.cs b/Rs.DeweyTester/TestFrm.Designer.cs index 4dcfd64..5f01e15 100644 --- a/Rs.DeweyTester/TestFrm.Designer.cs +++ b/Rs.DeweyTester/TestFrm.Designer.cs @@ -61,6 +61,12 @@ this.textBox2 = new System.Windows.Forms.TextBox(); this.label4 = new System.Windows.Forms.Label(); this.textBox3 = new System.Windows.Forms.TextBox(); + this.button2 = new System.Windows.Forms.Button(); + this.button3 = new System.Windows.Forms.Button(); + this.button6 = new System.Windows.Forms.Button(); + this.textBox4 = new System.Windows.Forms.TextBox(); + this.button7 = new System.Windows.Forms.Button(); + this.button8 = new System.Windows.Forms.Button(); this.groupBox1.SuspendLayout(); this.groupBox2.SuspendLayout(); this.groupBox3.SuspendLayout(); @@ -454,11 +460,75 @@ this.textBox3.Size = new System.Drawing.Size(100, 21); this.textBox3.TabIndex = 34; // + // button2 + // + this.button2.Location = new System.Drawing.Point(280, 235); + this.button2.Name = "button2"; + this.button2.Size = new System.Drawing.Size(128, 52); + this.button2.TabIndex = 35; + this.button2.Text = "夹住料盘"; + this.button2.UseVisualStyleBackColor = true; + this.button2.Visible = false; + this.button2.Click += new System.EventHandler(this.button2_Click_2); + // + // button3 + // + this.button3.Location = new System.Drawing.Point(434, 235); + this.button3.Name = "button3"; + this.button3.Size = new System.Drawing.Size(128, 52); + this.button3.TabIndex = 35; + this.button3.Text = "松开料盘"; + this.button3.UseVisualStyleBackColor = true; + this.button3.Visible = false; + this.button3.Click += new System.EventHandler(this.button3_Click); + // + // button6 + // + this.button6.Location = new System.Drawing.Point(80, 555); + this.button6.Name = "button6"; + this.button6.Size = new System.Drawing.Size(198, 91); + this.button6.TabIndex = 36; + this.button6.Text = "button6"; + this.button6.UseVisualStyleBackColor = true; + this.button6.Click += new System.EventHandler(this.button6_Click_1); + // + // textBox4 + // + this.textBox4.Location = new System.Drawing.Point(92, 493); + this.textBox4.Name = "textBox4"; + this.textBox4.Size = new System.Drawing.Size(100, 21); + this.textBox4.TabIndex = 34; + // + // button7 + // + this.button7.Location = new System.Drawing.Point(322, 622); + this.button7.Name = "button7"; + this.button7.Size = new System.Drawing.Size(75, 23); + this.button7.TabIndex = 37; + this.button7.Text = "button7"; + this.button7.UseVisualStyleBackColor = true; + this.button7.Click += new System.EventHandler(this.button7_Click); + // + // button8 + // + this.button8.Location = new System.Drawing.Point(434, 623); + this.button8.Name = "button8"; + this.button8.Size = new System.Drawing.Size(75, 23); + this.button8.TabIndex = 37; + this.button8.Text = "button7"; + this.button8.UseVisualStyleBackColor = true; + // // 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.button8); + this.Controls.Add(this.button7); + this.Controls.Add(this.button6); + this.Controls.Add(this.button3); + this.Controls.Add(this.button2); + this.Controls.Add(this.textBox4); this.Controls.Add(this.textBox3); this.Controls.Add(this.textBox2); this.Controls.Add(this.label4); @@ -513,5 +583,11 @@ private System.Windows.Forms.TextBox textBox2; private System.Windows.Forms.Label label4; private System.Windows.Forms.TextBox textBox3; + private System.Windows.Forms.Button button2; + private System.Windows.Forms.Button button3; + private System.Windows.Forms.Button button6; + private System.Windows.Forms.TextBox textBox4; + private System.Windows.Forms.Button button7; + private System.Windows.Forms.Button button8; } } \ No newline at end of file diff --git a/Rs.DeweyTester/TestFrm.cs b/Rs.DeweyTester/TestFrm.cs index 4419b79..30f8d30 100644 --- a/Rs.DeweyTester/TestFrm.cs +++ b/Rs.DeweyTester/TestFrm.cs @@ -251,6 +251,67 @@ namespace Rs.MotionPlat private void button1_Click_2(object sender, EventArgs e) { FiveProductTestFlow.Instance.Init(); + FiveProductTestFlow.Instance.Start(); + } + + private void button2_Click_2(object sender, EventArgs e) + { + + //料仓夹磁气缸{0}夹|料仓夹磁气缸{0}开 + + IoManager.Instance.WriteOut("料仓夹磁气缸1关", 1); + Thread.Sleep(500); + IoManager.Instance.WriteOut("料仓夹磁气缸1开", 0); + //Ops.Off("料仓夹磁气缸1开"); + //Thread.Sleep(500); + //Ops.On("料仓夹磁气缸1关"); + //Thread.Sleep(500); + + + + //Ops.On("料仓夹磁气缸2开"); + //Thread.Sleep(100); + //Ops.Off("料仓夹磁气缸2关"); + } + + private void button3_Click(object sender, EventArgs e) + { + Ops.On("料仓夹磁气缸1开"); + Thread.Sleep(500); + Ops.Off("料仓夹磁气缸1关"); + Thread.Sleep(500); + + + //Ops.Off("料仓夹磁气缸2开"); + //Thread.Sleep(500); + //Ops.On("料仓夹磁气缸2关"); + } + + bool bStop = false; + private void button6_Click_1(object sender, EventArgs e) + { + //for(int i=1;i<6;i++) + //{ + + //} + Task.Run(() => { + + for(int j=0;j<20;j++) + { + for (int i = 1; i < 6; i++) + { + StockTakeFlow.Instance.Take(ETrayType.Input, i, 1); + DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.Stock); + StockPlaceFlow.Instance.Place(ETrayType.Input, i, 1); + } + } + }); + + } + + private void button7_Click(object sender, EventArgs e) + { + } } }