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Rs.DeweyTester
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优化排料流程

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master
lhiven 12 months ago
parent 5fb22861e2
commit 8a4c044cef
6 changed files with 342 additions and 18 deletions
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2
Rs.DeweyTester/Controls/UFixture.cs
Unescape Escape View File

@ -201,7 +201,7 @@ namespace Rs.MotionPlat
private void btnReset_Click(object sender, EventArgs e) private void btnReset_Click(object sender, EventArgs e)
{ {
TestFixtureManager.Instance.GetTestFixture(int.Parse(lblIndex.Text)).Home(); TestFixtureManager.Instance.GetTestFixture(3).Home();
} }
} }
} }

19
Rs.DeweyTester/Flow/NormalFlow/DischargeFlow.cs
Unescape Escape View File

@ -155,10 +155,18 @@ namespace Rs.MotionPlat.Flow
//检测吸嘴有几个产品，少于3个产品则需要从料仓上料 //检测吸嘴有几个产品，少于3个产品则需要从料仓上料
int idelNozzleNum = NozzleManager.GetIdleNozzleCount(); int idelNozzleNum = NozzleManager.GetIdleNozzleCount();
if (idelNozzleNum == 1 || GlobalVar.Clear) if (idelNozzleNum == 1 || GlobalVar.Clear)
{
if(TestFixtureManager.Instance.GetHasProuctFixtureCount()>0 || NozzleManager.GetToTestNozzle()!=null)
{ {
logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，没有空闲的吸嘴了，去治具换料"; logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，没有空闲的吸嘴了，去治具换料";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.到治具取料等待位; flowStep = EDischargeFlowStep.到治具取料等待位;
}
else
{
flowStep = EDischargeFlowStep.工作完成到安全位;
}
//flowStep = EDischargeFlowStep.判断是否需要放料到料仓; //flowStep = EDischargeFlowStep.判断是否需要放料到料仓;
//NozzleManager.GetNozzle(1).VacSuction(EIoOperate.Close); //NozzleManager.GetNozzle(1).VacSuction(EIoOperate.Close);
@ -227,7 +235,7 @@ namespace Rs.MotionPlat.Flow
} }
break; break;
case EDischargeFlowStep.进料盘产品定位: case EDischargeFlowStep.进料盘产品定位:
ProductLocationFlow.Instance.Grab(takeSlotIndex); ProductLocationFlow.Instance.Grab( ETrayType.Input, takeSlotIndex);
productLocationResult = OneGrabSixteenManager.Instance.GetResults(); productLocationResult = OneGrabSixteenManager.Instance.GetResults();
if(productLocationResult != null) if(productLocationResult != null)
{ {
@ -302,14 +310,14 @@ namespace Rs.MotionPlat.Flow
while (!exit) while (!exit)
{ {
ProductLocationResult fixtureret = FixedGrabProductFlow.Instance.Grab(ETrayType.Input, ret.SlotIndex); ProductLocationResult fixtureret = FixedGrabProductFlow.Instance.Grab(ETrayType.Input, ret.SlotIndex);
if (ret.Result == EOneGrabSixteenResult.Ok) if (fixtureret.Result == EOneGrabSixteenResult.Ok)
{ {
ret.Change(fixtureret.SN, fixtureret.OffsetX, fixtureret.OffsetY); ret.Change(fixtureret.SN, fixtureret.OffsetX, fixtureret.OffsetY);
takeSlotIndex++; takeSlotIndex++;
flowStep = EDischargeFlowStep.判断是否需要从料仓取料; flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
exit = true; exit = true;
} }
else if (ret.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail) else if (fixtureret.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
{ {
Nozzle idleNozzle = NozzleManager.GetIdelNozzle(); Nozzle idleNozzle = NozzleManager.GetIdelNozzle();
StockTakeFlow.Instance.Take(ret.SlotIndex, idleNozzle.NozzleIndex); StockTakeFlow.Instance.Take(ret.SlotIndex, idleNozzle.NozzleIndex);
@ -332,13 +340,16 @@ namespace Rs.MotionPlat.Flow
flowStep = EDischargeFlowStep.判断是否需要从料仓取料; flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
exit = true; exit = true;
} }
else if (ret.Result == EOneGrabSixteenResult.Slant) else if (fixtureret.Result == EOneGrabSixteenResult.Slant)
{ {
//报警弹框 //报警弹框
EButtonType buttonSelect = Msgbox.ShowDialog(EButtonType.Skip | EButtonType.Retry | EButtonType.EndInput, $"穴位{ret.SlotIndex}定位失败，请把产品手动取走后点击跳过"); EButtonType buttonSelect = Msgbox.ShowDialog(EButtonType.Skip | EButtonType.Retry | EButtonType.EndInput, $"穴位{ret.SlotIndex}定位失败，请把产品手动取走后点击跳过");
if (buttonSelect == EButtonType.Skip) if (buttonSelect == EButtonType.Skip)
{ {
exit = true;
GlobalTray.InputTray.ChangeStatus(ret.SlotIndex, ESlotStatus.NotHave); GlobalTray.InputTray.ChangeStatus(ret.SlotIndex, ESlotStatus.NotHave);
takeSlotIndex++;
flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
} }
else if (buttonSelect == EButtonType.EndInput) else if (buttonSelect == EButtonType.EndInput)
{ {

18
Rs.DeweyTester/Flow/SubFlow/ProductLocationFlow.cs
Unescape Escape View File

@ -43,7 +43,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
} }
} }
public void Grab(int slotIndex) public void Grab(ETrayType trayType, int slotIndex)
{ {
if (finished) if (finished)
finished = false; finished = false;
@ -60,11 +60,22 @@ namespace Rs.MotionPlat.Flow.SubFlow
{ {
case EProductLocationFlowStep.到料仓拍照起始位: case EProductLocationFlowStep.到料仓拍照起始位:
//grabEndSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have); //grabEndSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
if(trayType== ETrayType.Grr)
{
grabEndSlot = GlobalTray.InputTray.GetSlot(slotIndex); grabEndSlot = GlobalTray.InputTray.GetSlot(slotIndex);
grabStartSlot = GlobalTray.InputTray.GetSlot(grabEndSlot.Index + 15); grabStartSlot = GlobalTray.InputTray.GetSlot(grabEndSlot.Index + 15);
}
else if(trayType== ETrayType.Input)
{
grabEndSlot = GlobalTray.InputTray.GetSlot(slotIndex);
grabStartSlot = GlobalTray.InputTray.GetSlot(grabEndSlot.Index + 15);
}
//grabEndSlot = GlobalTray.InputTray.GetSlot(slotIndex);
//grabStartSlot = GlobalTray.InputTray.GetSlot(grabEndSlot.Index + 15);
if (grabEndSlot != null && grabStartSlot != null) if (grabEndSlot != null && grabStartSlot != null)
{ {
SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabStartSlot.Index); //SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabStartSlot.Index);
SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, grabStartSlot.Index);
if (sp != null) if (sp != null)
{ {
targetPosition.X = sp.X; targetPosition.X = sp.X;
@ -106,7 +117,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
case EProductLocationFlowStep.到料仓拍照结束位: case EProductLocationFlowStep.到料仓拍照结束位:
if (grabEndSlot != null) if (grabEndSlot != null)
{ {
SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabEndSlot.Index); //SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabEndSlot.Index);
SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, grabEndSlot.Index);
if (sp != null) if (sp != null)
{ {
VisionHelper.loadTakeProductVision.ClearQueue(); VisionHelper.loadTakeProductVision.ClearQueue();

10
Rs.DeweyTester/SysConfig/CommonConfig.cs
Unescape Escape View File

@ -162,11 +162,11 @@ namespace Rs.MotionPlat.SysConfig
if (txt.Name == "txtGrrProductNum" && cboxGRR.Checked) if (txt.Name == "txtGrrProductNum" && cboxGRR.Checked)
{ {
GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave); //GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
for (int i = 1; i <= GlobalVar.GrrProductNum; i++) //for (int i = 1; i <= GlobalVar.GrrProductNum; i++)
{ //{
GlobalTray.GrrTray.ChangeStatus(i, ESlotStatus.Have); // GlobalTray.GrrTray.ChangeStatus(i, ESlotStatus.Have);
} //}
} }
} }
} }

270
Rs.DeweyTester/TestFrm.Designer.cs generated
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@ -42,6 +42,25 @@
this.button9 = new System.Windows.Forms.Button(); this.button9 = new System.Windows.Forms.Button();
this.button11 = new System.Windows.Forms.Button(); this.button11 = new System.Windows.Forms.Button();
this.button12 = new System.Windows.Forms.Button(); this.button12 = new System.Windows.Forms.Button();
this.button13 = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton3 = new System.Windows.Forms.RadioButton();
this.radioButton4 = new System.Windows.Forms.RadioButton();
this.radioButton5 = new System.Windows.Forms.RadioButton();
this.radioButton6 = new System.Windows.Forms.RadioButton();
this.radioButton7 = new System.Windows.Forms.RadioButton();
this.radioButton8 = new System.Windows.Forms.RadioButton();
this.radioButton9 = new System.Windows.Forms.RadioButton();
this.radioButton10 = new System.Windows.Forms.RadioButton();
this.radioButton11 = new System.Windows.Forms.RadioButton();
this.radioButton12 = new System.Windows.Forms.RadioButton();
this.radioButton13 = new System.Windows.Forms.RadioButton();
this.radioButton14 = new System.Windows.Forms.RadioButton();
this.radioButton15 = new System.Windows.Forms.RadioButton();
this.radioButton16 = new System.Windows.Forms.RadioButton();
this.groupBox1.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// button7 // button7
@ -181,11 +200,242 @@
this.button12.UseVisualStyleBackColor = true; this.button12.UseVisualStyleBackColor = true;
this.button12.Click += new System.EventHandler(this.button12_Click); this.button12.Click += new System.EventHandler(this.button12_Click);
// //
// button13
//
this.button13.ForeColor = System.Drawing.Color.Black;
this.button13.Location = new System.Drawing.Point(71, 119);
this.button13.Name = "button13";
this.button13.Size = new System.Drawing.Size(191, 47);
this.button13.TabIndex = 28;
this.button13.Text = "飞拍整盘验证";
this.button13.UseVisualStyleBackColor = true;
this.button13.Click += new System.EventHandler(this.button13_Click);
//
// groupBox1
//
this.groupBox1.Controls.Add(this.radioButton16);
this.groupBox1.Controls.Add(this.radioButton6);
this.groupBox1.Controls.Add(this.radioButton15);
this.groupBox1.Controls.Add(this.radioButton5);
this.groupBox1.Controls.Add(this.radioButton14);
this.groupBox1.Controls.Add(this.radioButton3);
this.groupBox1.Controls.Add(this.radioButton13);
this.groupBox1.Controls.Add(this.radioButton8);
this.groupBox1.Controls.Add(this.radioButton12);
this.groupBox1.Controls.Add(this.radioButton4);
this.groupBox1.Controls.Add(this.radioButton11);
this.groupBox1.Controls.Add(this.radioButton7);
this.groupBox1.Controls.Add(this.radioButton10);
this.groupBox1.Controls.Add(this.radioButton2);
this.groupBox1.Controls.Add(this.radioButton9);
this.groupBox1.Controls.Add(this.radioButton1);
this.groupBox1.Controls.Add(this.button13);
this.groupBox1.ForeColor = System.Drawing.Color.White;
this.groupBox1.Location = new System.Drawing.Point(82, 599);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(336, 187);
this.groupBox1.TabIndex = 31;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "飞拍";
//
// radioButton1
//
this.radioButton1.AutoSize = true;
this.radioButton1.ForeColor = System.Drawing.Color.White;
this.radioButton1.Location = new System.Drawing.Point(22, 33);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(29, 16);
this.radioButton1.TabIndex = 29;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "1";
this.radioButton1.UseVisualStyleBackColor = true;
//
// radioButton2
//
this.radioButton2.AutoSize = true;
this.radioButton2.ForeColor = System.Drawing.Color.White;
this.radioButton2.Location = new System.Drawing.Point(57, 33);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(29, 16);
this.radioButton2.TabIndex = 29;
this.radioButton2.TabStop = true;
this.radioButton2.Text = "2";
this.radioButton2.UseVisualStyleBackColor = true;
//
// radioButton3
//
this.radioButton3.AutoSize = true;
this.radioButton3.ForeColor = System.Drawing.Color.White;
this.radioButton3.Location = new System.Drawing.Point(92, 33);
this.radioButton3.Name = "radioButton3";
this.radioButton3.Size = new System.Drawing.Size(29, 16);
this.radioButton3.TabIndex = 29;
this.radioButton3.TabStop = true;
this.radioButton3.Text = "3";
this.radioButton3.UseVisualStyleBackColor = true;
//
// radioButton4
//
this.radioButton4.AutoSize = true;
this.radioButton4.ForeColor = System.Drawing.Color.White;
this.radioButton4.Location = new System.Drawing.Point(126, 33);
this.radioButton4.Name = "radioButton4";
this.radioButton4.Size = new System.Drawing.Size(29, 16);
this.radioButton4.TabIndex = 29;
this.radioButton4.TabStop = true;
this.radioButton4.Text = "4";
this.radioButton4.UseVisualStyleBackColor = true;
//
// radioButton5
//
this.radioButton5.AutoSize = true;
this.radioButton5.ForeColor = System.Drawing.Color.White;
this.radioButton5.Location = new System.Drawing.Point(161, 33);
this.radioButton5.Name = "radioButton5";
this.radioButton5.Size = new System.Drawing.Size(29, 16);
this.radioButton5.TabIndex = 29;
this.radioButton5.TabStop = true;
this.radioButton5.Text = "5";
this.radioButton5.UseVisualStyleBackColor = true;
//
// radioButton6
//
this.radioButton6.AutoSize = true;
this.radioButton6.ForeColor = System.Drawing.Color.White;
this.radioButton6.Location = new System.Drawing.Point(196, 33);
this.radioButton6.Name = "radioButton6";
this.radioButton6.Size = new System.Drawing.Size(29, 16);
this.radioButton6.TabIndex = 29;
this.radioButton6.TabStop = true;
this.radioButton6.Text = "6";
this.radioButton6.UseVisualStyleBackColor = true;
//
// radioButton7
//
this.radioButton7.AutoSize = true;
this.radioButton7.ForeColor = System.Drawing.Color.White;
this.radioButton7.Location = new System.Drawing.Point(233, 33);
this.radioButton7.Name = "radioButton7";
this.radioButton7.Size = new System.Drawing.Size(29, 16);
this.radioButton7.TabIndex = 29;
this.radioButton7.TabStop = true;
this.radioButton7.Text = "7";
this.radioButton7.UseVisualStyleBackColor = true;
//
// radioButton8
//
this.radioButton8.AutoSize = true;
this.radioButton8.ForeColor = System.Drawing.Color.White;
this.radioButton8.Location = new System.Drawing.Point(268, 33);
this.radioButton8.Name = "radioButton8";
this.radioButton8.Size = new System.Drawing.Size(29, 16);
this.radioButton8.TabIndex = 29;
this.radioButton8.TabStop = true;
this.radioButton8.Text = "8";
this.radioButton8.UseVisualStyleBackColor = true;
//
// radioButton9
//
this.radioButton9.AutoSize = true;
this.radioButton9.ForeColor = System.Drawing.Color.White;
this.radioButton9.Location = new System.Drawing.Point(22, 76);
this.radioButton9.Name = "radioButton9";
this.radioButton9.Size = new System.Drawing.Size(29, 16);
this.radioButton9.TabIndex = 29;
this.radioButton9.TabStop = true;
this.radioButton9.Text = "9";
this.radioButton9.UseVisualStyleBackColor = true;
//
// radioButton10
//
this.radioButton10.AutoSize = true;
this.radioButton10.ForeColor = System.Drawing.Color.White;
this.radioButton10.Location = new System.Drawing.Point(57, 76);
this.radioButton10.Name = "radioButton10";
this.radioButton10.Size = new System.Drawing.Size(35, 16);
this.radioButton10.TabIndex = 29;
this.radioButton10.TabStop = true;
this.radioButton10.Text = "10";
this.radioButton10.UseVisualStyleBackColor = true;
//
// radioButton11
//
this.radioButton11.AutoSize = true;
this.radioButton11.ForeColor = System.Drawing.Color.White;
this.radioButton11.Location = new System.Drawing.Point(233, 76);
this.radioButton11.Name = "radioButton11";
this.radioButton11.Size = new System.Drawing.Size(35, 16);
this.radioButton11.TabIndex = 29;
this.radioButton11.TabStop = true;
this.radioButton11.Text = "15";
this.radioButton11.UseVisualStyleBackColor = true;
//
// radioButton12
//
this.radioButton12.AutoSize = true;
this.radioButton12.ForeColor = System.Drawing.Color.White;
this.radioButton12.Location = new System.Drawing.Point(126, 76);
this.radioButton12.Name = "radioButton12";
this.radioButton12.Size = new System.Drawing.Size(35, 16);
this.radioButton12.TabIndex = 29;
this.radioButton12.TabStop = true;
this.radioButton12.Text = "12";
this.radioButton12.UseVisualStyleBackColor = true;
//
// radioButton13
//
this.radioButton13.AutoSize = true;
this.radioButton13.ForeColor = System.Drawing.Color.White;
this.radioButton13.Location = new System.Drawing.Point(268, 76);
this.radioButton13.Name = "radioButton13";
this.radioButton13.Size = new System.Drawing.Size(35, 16);
this.radioButton13.TabIndex = 29;
this.radioButton13.TabStop = true;
this.radioButton13.Text = "16";
this.radioButton13.UseVisualStyleBackColor = true;
//
// radioButton14
//
this.radioButton14.AutoSize = true;
this.radioButton14.ForeColor = System.Drawing.Color.White;
this.radioButton14.Location = new System.Drawing.Point(92, 76);
this.radioButton14.Name = "radioButton14";
this.radioButton14.Size = new System.Drawing.Size(35, 16);
this.radioButton14.TabIndex = 29;
this.radioButton14.TabStop = true;
this.radioButton14.Text = "11";
this.radioButton14.UseVisualStyleBackColor = true;
//
// radioButton15
//
this.radioButton15.AutoSize = true;
this.radioButton15.ForeColor = System.Drawing.Color.White;
this.radioButton15.Location = new System.Drawing.Point(161, 76);
this.radioButton15.Name = "radioButton15";
this.radioButton15.Size = new System.Drawing.Size(35, 16);
this.radioButton15.TabIndex = 29;
this.radioButton15.TabStop = true;
this.radioButton15.Text = "13";
this.radioButton15.UseVisualStyleBackColor = true;
//
// radioButton16
//
this.radioButton16.AutoSize = true;
this.radioButton16.ForeColor = System.Drawing.Color.White;
this.radioButton16.Location = new System.Drawing.Point(196, 76);
this.radioButton16.Name = "radioButton16";
this.radioButton16.Size = new System.Drawing.Size(35, 16);
this.radioButton16.TabIndex = 29;
this.radioButton16.TabStop = true;
this.radioButton16.Text = "14";
this.radioButton16.UseVisualStyleBackColor = true;
//
// 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.groupBox1);
this.Controls.Add(this.button12); this.Controls.Add(this.button12);
this.Controls.Add(this.button11); this.Controls.Add(this.button11);
this.Controls.Add(this.button9); this.Controls.Add(this.button9);
@ -202,6 +452,8 @@
this.Controls.Add(this.button7); this.Controls.Add(this.button7);
this.Name = "TestFrm"; this.Name = "TestFrm";
this.Text = "TestFrm"; this.Text = "TestFrm";
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
} }
@ -221,5 +473,23 @@
private System.Windows.Forms.Button button9; private System.Windows.Forms.Button button9;
private System.Windows.Forms.Button button11; private System.Windows.Forms.Button button11;
private System.Windows.Forms.Button button12; private System.Windows.Forms.Button button12;
private System.Windows.Forms.Button button13;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.RadioButton radioButton16;
private System.Windows.Forms.RadioButton radioButton6;
private System.Windows.Forms.RadioButton radioButton15;
private System.Windows.Forms.RadioButton radioButton5;
private System.Windows.Forms.RadioButton radioButton14;
private System.Windows.Forms.RadioButton radioButton3;
private System.Windows.Forms.RadioButton radioButton13;
private System.Windows.Forms.RadioButton radioButton8;
private System.Windows.Forms.RadioButton radioButton12;
private System.Windows.Forms.RadioButton radioButton4;
private System.Windows.Forms.RadioButton radioButton11;
private System.Windows.Forms.RadioButton radioButton7;
private System.Windows.Forms.RadioButton radioButton10;
private System.Windows.Forms.RadioButton radioButton2;
private System.Windows.Forms.RadioButton radioButton9;
private System.Windows.Forms.RadioButton radioButton1;
} }
} }

31
Rs.DeweyTester/TestFrm.cs
Unescape Escape View File

@ -16,6 +16,7 @@ using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
using System.Drawing; using System.Drawing;
using System.IO;
using System.IO.Ports; using System.IO.Ports;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
@ -287,5 +288,35 @@ namespace Rs.MotionPlat
}); });
} }
private void button13_Click(object sender, EventArgs e)
{
Task.Run(() => {
foreach (Control item in groupBox1.Controls)
{
if(item is RadioButton)
{
if(((RadioButton)item).Checked)
{
int index = (int.Parse(item.Text)-1)*16+1;
ProductLocationFlow.Instance.Grab(ETrayType.Grr, index);
ProductLocationResult[] productLocationResult = OneGrabSixteenManager.Instance.GetResults();
if (productLocationResult != null)
{
//foreach (ProductLocationResult item in productLocationResult)
//{
// string msg = $"{item.SlotIndex},{item.Result}\r\n";
// File.AppendAllText("d://flyresult.csv", msg);
//}
}
break;
}
}
}
});
}
} }
} }

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