优化三点定位流程

Rs.DeweyTester/Commom/TrayPointManager.cs

@@ -60,112 +60,6 @@ namespace Rs.MotionPlat.Commom
             }
             return null;
         }
-
+       
-        /// <summary>
-        /// 获取异常料盘的点位
-        /// </summary>
-        /// <param name="recipeName"></param>
-        /// <param name="trayName"></param>
-        /// <param name="slotIndex"></param>
-        /// <param name="pointType"></param>
-        /// <returns></returns>
-        public static SlotPoint GetExceptionTrayPoint(int slotIndex)
-        {
-            string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
-            if (trayPoints.ContainsKey(key))
-            {
-                return trayPoints[key];
-            }
-            return null;
-        }
-
-        /// <summary>
-        /// 获取测试治具测高的点位
-        /// </summary>
-        /// <param name="recipeName"></param>
-        /// <param name="trayName"></param>
-        /// <param name="slotIndex"></param>
-        /// <param name="pointType"></param>
-        /// <returns></returns>
-        public static SlotPoint GetTestFixtureTrayCheckHeighPoint(int slotIndex)
-        {
-            string key = $"{GlobalVar.CurRecipe}-CheckHeightTestTray-{slotIndex}";
-            if (trayPoints.ContainsKey(key))
-            {
-                return trayPoints[key];
-            }
-            return null;
-        }
-
-        /// <summary>
-        /// 获取周转盘测高的点位
-        /// </summary>
-        /// <param name="recipeName"></param>
-        /// <param name="trayName"></param>
-        /// <param name="slotIndex"></param>
-        /// <param name="pointType"></param>
-        /// <returns></returns>
-        public static SlotPoint GetTurnoverTrayCheckHeighPoint(int slotIndex)
-        {
-            string key = $"{GlobalVar.CurRecipe}-CheckHeightTurnover-{slotIndex}";
-            if (trayPoints.ContainsKey(key))
-            {
-                return trayPoints[key];
-            }
-            return null;
-        }
-
-        /// <summary>
-        /// 获取周转盘强力吸嘴的点位
-        /// </summary>
-        /// <param name="recipeName"></param>
-        /// <param name="trayName"></param>
-        /// <param name="slotIndex"></param>
-        /// <param name="pointType"></param>
-        /// <returns></returns>
-        public static SlotPoint GetTurnoverTrayForceNozzlePoint(int slotIndex)
-        {
-            string key = $"{GlobalVar.CurRecipe}-ForceNozzleTurnover-{slotIndex}";
-            if (trayPoints.ContainsKey(key))
-            {
-                return trayPoints[key];
-            }
-            return null;
-        }
-
-        /// <summary>
-        /// 获取周转盘强力吸嘴的点位
-        /// </summary>
-        /// <param name="recipeName"></param>
-        /// <param name="trayName"></param>
-        /// <param name="slotIndex"></param>
-        /// <param name="pointType"></param>
-        /// <returns></returns>
-        public static SlotPoint GetExceptiontTrayPoint(int slotIndex)
-        {
-            string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
-            if (trayPoints.ContainsKey(key))
-            {
-                return trayPoints[key];
-            }
-            return null;
-        }
-
-
-        public static SlotPoint GetDistToNozzle1(int nozzleIndex)
-        {
-            //先获取相机的中心位置
-            SlotPoint point = new SlotPoint();
-            double nozzle1ToCameraCenterX = SysConfigParam.GetValue<double>("InkpadX") - SysConfigParam.GetValue<double>("CameraInkpadX");
-            double nozzle1ToCameraCenterY = SysConfigParam.GetValue<double>("InkpadY") - SysConfigParam.GetValue<double>("CameraInkpadY");
-
-            //再加上指定吸嘴到吸嘴1的距离
-            double distToNozzle1X = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterX") - SysConfigParam.GetValue<double>($"Nozzle1CenterX");
-            double distToNozzle1Y = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterY") - SysConfigParam.GetValue<double>($"Nozzle1CenterY");
-
-            point.X = nozzle1ToCameraCenterX + distToNozzle1X;
-            point.Y = nozzle1ToCameraCenterY + distToNozzle1Y;
-            return point;
-        }
     }
 }

Rs.DeweyTester/Flow/AlarmConstID.cs

@@ -134,5 +134,10 @@ namespace Rs.MotionPlat.Flow
         /// TakeTrayX运动异常报警
         /// </summary>
         public const int TakeTrayX运动异常报警 = 1026;
+
+        /// <summary>
+        /// 料盘定位失败
+        /// </summary>
+        public const int 料盘定位失败 = 1027;
     }
 }

Rs.DeweyTester/Flow/NormalFlow/GrrFlow.cs

@@ -263,7 +263,7 @@ namespace Rs.MotionPlat.Flow
                         curTakeNozzle = NozzleManager.GetIdelNozzle();
                         if (curTakeNozzle != null)
                         {
-                            targetPosition = NozzleManager.GotoTraySlot(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
+                            targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
                             if(curTakeNozzle != null)
                             {
                                 targetPosition.X += vResult.OffsetX;
@@ -768,7 +768,7 @@ namespace Rs.MotionPlat.Flow
                             if (curDumpSlot != null)
                             {
 
-                                targetPosition = NozzleManager.GotoTraySlot(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
+                                targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
                                 ////获取点位
                                 //SlotPoint slotPoint = TrayPointManager.GetSlotPoint(ETrayType.Ng, curDumpSlot.Index);
                                 //targetPosition.X = slotPoint.X + GlobalVar.Nozzle1ToCameraCenterOffsetX + NozzleManager.GetNozzleOffsetX(curDumpNozzle.NozzleIndex);

Rs.DeweyTester/Flow/NormalFlow/ThreePointLocationFlow.cs

@@ -3,6 +3,7 @@ using Rs.DataAccess;
 using Rs.Framework;
 using Rs.Motion;
 using Rs.MotionPlat.Commom;
+using Rs.MotionPlat.Entitys;
 using Rs.MotionPlat.Flow.Common;
 using Rs.MotionPlat.Vision;
 using System;
@@ -42,6 +43,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
         string logInfo = string.Empty;
         VisionResult vr = new VisionResult();
         List<VisionResult> vResult = new List<VisionResult>();
+        AlarmEntity alarmEntity=new AlarmEntity();
+        
         /// <summary>
         /// 三点定位（左上/右上/左下）
         /// </summary>
@@ -59,7 +62,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
             {
                 return;
             }
-            Task.Run(() => {
+            //Task.Run(() => {
                 while (!finished)
                 {
                     if(stop)
@@ -99,7 +102,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
                                 }
                                 else
                                 {
-
+                                    step = EThreePointLocationFlowStep.到拍照位;
                                 }
                             }
                             break;
@@ -121,12 +124,21 @@ namespace Rs.MotionPlat.Flow.NormalFlow
                                     CalcTrayRunPoint(trayType);
                                     TrayRunPointManager.LoadPoint();
                                     finished = true;
+                                    Msgbox.ShowDialog(EButtonType.Ok, "Three point location finished");
+                                }
+                            }
+                            else
+                            {
+                                alarmEntity = AlarmCollection.Get(AlarmConstID.料盘定位失败);
+                                if (alarmEntity != null)
+                                {
+                                    Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
                                 }
                             }
                             break;
                     }
                 }
-            });
+            //});
         }
 
         private void PrintXY1Y2CurrentPos(string prefixLog)
@@ -203,8 +215,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
                 {
                     for (int col = 1; col <= 16; col++)
                     {
-                        double x = y1 + (row - 1) * bigSpaceY + (col - 1) * smallSpaceX;
+                        double x = x1 + (row - 1) * bigSpaceX + (col - 1) * smallSpaceX;
-                        double y = x1 + (col - 1) * bigSpaceX + (row - 1) * smallSpaceY;
+                        double y = y1 + (col - 1) * bigSpaceY + (row - 1) * smallSpaceY;
                         
                         string insertSql = $"insert into trayrunpoints(trayid,recipename,trayname,slotindex,x,y) values(1,'{GlobalVar.CurRecipe}','{trayType}',{index},{x},{y})";
                         rowAffectNum = db.ExecuteNonQuery(insertSql);

Rs.DeweyTester/Module/NozzleCollection.cs

@@ -474,7 +474,7 @@ namespace Rs.MotionPlat.Commom
         /// <param name="slotIndex"></param>
         /// <param name="nozzleIndex"></param>
         /// <returns></returns>
-        public static TargetPosition GotoTraySlot(ETrayType trayType,int slotIndex,int nozzleIndex)
+        public static TargetPosition GetToTraySlot(ETrayType trayType,int slotIndex,int nozzleIndex)
         {
             TargetPosition targetPosition=new TargetPosition();
             SlotPoint curTakeSlotPoint = TrayPointManager.GetSlotPoint(trayType, slotIndex);

Rs.DeweyTester/Recipe/StockTrayLocationRecipe.cs

@@ -45,6 +45,12 @@ namespace Rs.MotionPlat.Recipe
         }
 
         private void BindPoints()
+        {
+            BindBasePoint();
+            BindRunPoint();
+        }
+
+        void BindBasePoint()
         {
             string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
             DataTable dtRunPoints = db.GetDataTable(querySql);
@@ -52,10 +58,12 @@ namespace Rs.MotionPlat.Recipe
             {
                 dgvBasePoints.DataSource = dtRunPoints;
             }
+        }
 
-
+        void BindRunPoint()
-            querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
+        {
-            dtRunPoints = db.GetDataTable(querySql);
+            string querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
+            DataTable dtRunPoints = db.GetDataTable(querySql);
             if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
             {
                 dgvRunPoints.DataSource = dtRunPoints;
@@ -166,7 +174,7 @@ namespace Rs.MotionPlat.Recipe
             if(selectedSlot!=null)
             {
                 int nozzleIndex = 0;
-                string querySql = $"select * from TrayPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
+                string querySql = $"select * from TrayRunPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
                 DataTable dtGoPosition = db.GetDataTable(querySql);
                 if(ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                 {
@@ -177,14 +185,10 @@ namespace Rs.MotionPlat.Recipe
                     if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                     {
                         nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
-                        SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
+                        //SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
-                        targetX += dist.X;
+
-                        targetY += dist.Y;
+                        targetX += NozzleManager.GetNozzleToCameraOffsetX(nozzleIndex);
-                    }
+                        targetY += NozzleManager.GetNozzleToCameraOffsetY2(nozzleIndex);
-                    if(subMenu.Text=="GrabPos")
-                    {
-                        targetX += GlobalVar.StockTakePictureOffsetX;
-                        targetY += GlobalVar.StockTakePictureOffsetY;
                     }
                     DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
                     if(dr== DialogResult.OK)
@@ -410,6 +414,7 @@ namespace Rs.MotionPlat.Recipe
                 {
                     ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
                 }
+                BindPoints();
             });
         }
     }