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@ -1,517 +0,0 @@
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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Flow.Common;
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using Rs.MotionPlat.Flow.NormalFlow;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Vision;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow.SubFlow
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{
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enum EFiveProductTestFlowStep
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{
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OK盘三点定位,
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到料仓拍照位上方,
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等待到料仓拍照位上方,
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料仓取料拍照,
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到料仓取料位上方,
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等待到料仓取料位上方,
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到料仓取料位下方,
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等待到料仓取料位下方,
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料仓取料完成抬起,
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等待料仓取料完成抬起,
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料仓取料真空吸检测,
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到料仓放料位上方,
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等待到料仓放料位上方,
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到料仓放料位下方,
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等待到料仓放料位下方,
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料仓放料完成抬起,
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等待料仓放料完成抬起,
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料仓放料完成粘料检测
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}
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public class FiveProductTestFlow
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{
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private Task mainTask;
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private FiveProductTestFlow() { }
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private static FiveProductTestFlow instance;
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public static FiveProductTestFlow Instance
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{
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get
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{
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if (instance == null)
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{
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instance = new FiveProductTestFlow();
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}
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return instance;
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}
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}
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private AlarmEntity alarmEntity;
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Stopwatch timeout = new Stopwatch();
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EFiveProductTestFlowStep flowStep = EFiveProductTestFlowStep.OK盘三点定位;
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int scanNum = 0;
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string logInfo = string.Empty;
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string alarmInfo = string.Empty;
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private bool stop = true;
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private bool run = true;
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TargetPosition targetPosition = new TargetPosition();
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ErrorCode errCode = ErrorCode.Ok;
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/// <summary>
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/// 当前取料穴位
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/// </summary>
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TraySlot curTakeSlot = null;
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/// <summary>
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/// 当前取料穴位的点位
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/// </summary>
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SlotPoint curTakeSlotPoint = null;
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//Nozzle curNozzle = null;
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Nozzle curTakeNozzle = null;
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Nozzle curDumpNozzle = null;
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TestFixture curFixture = null;
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//放料穴位
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TraySlot curDumpSlot = null;
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/// <summary>
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/// 最后一次换料的治具编号
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/// </summary>
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private int lastFixtureIndex = 0;
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/// <summary>
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/// 已经取走的产品数量
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/// </summary>
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private int takedNum = 0;
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//相机拍照结果
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VisionResult vResult = new VisionResult();
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ProductLocationResult vProductResult = new ProductLocationResult();
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List<TestFixture> needGrrFixtureList = new List<TestFixture>();
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/// <summary>
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/// 测试完成的数量
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/// </summary>
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private int testFinishedNum = 0;
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private void Reset()
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{
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curTakeSlot = null;
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curTakeSlotPoint = null;
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curTakeNozzle = null;
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curDumpNozzle = null;
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curFixture = null;
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curDumpSlot = null;
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lastFixtureIndex = 0;
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takedNum = 0;
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testFinishedNum = 0;
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VirtualBarCode.Reset();
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}
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bool binit = false;
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public void Init()
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{
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if(binit)
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{
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return;
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}
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binit = true;
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mainTask = new Task(Run);
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mainTask.Start();
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}
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public void Deinit()
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{
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run = false;
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}
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int takeNum = 0;
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private void Run()
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{
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while (run)
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{
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if (stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (flowStep)
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{
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#region 料仓取料
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case EFiveProductTestFlowStep.OK盘三点定位:
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ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
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flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
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break;
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case EFiveProductTestFlowStep.到料仓拍照位上方:
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//GlobalTray.InputTray.ChangeStatus(1, ESlotStatus.Have);
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//GlobalTray.InputTray.ChangeStatus(2, ESlotStatus.Have);
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//GlobalTray.InputTray.ChangeStatus(3, ESlotStatus.Have);
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//GlobalTray.InputTray.ChangeStatus(4, ESlotStatus.Have);
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//GlobalTray.InputTray.ChangeStatus(5, ESlotStatus.Have);
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curTakeSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
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if (curTakeSlot != null)
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{
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curTakeSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, curTakeSlot.Index);
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if (curTakeSlotPoint != null)
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{
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targetPosition.X = curTakeSlotPoint.X;
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targetPosition.Y1 = GlobalVar.StockSideY1;
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targetPosition.Y2 = curTakeSlotPoint.Y;
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//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
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//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
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//{
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// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
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//}
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if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
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{
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AxisPosPrint.PrintXY1Y2TargetPos("轴loadx,loady1,loady2已停止运动,", targetPosition, GetClassName());
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flowStep = EFiveProductTestFlowStep.等待到料仓拍照位上方;
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}
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}
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}
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else
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{
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//没有料了，判断是否需要换料
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GlobalTray.GrabTray.ChangeStatus(ESlotStatus.Have);
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}
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break;
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case EFiveProductTestFlowStep.等待到料仓拍照位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,", GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓拍照位上方,", GetClassName());
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flowStep = EFiveProductTestFlowStep.料仓取料拍照;
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}
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else
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{
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flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
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}
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}
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break;
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case EFiveProductTestFlowStep.料仓取料拍照:
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UpCameraHelper.Grab();
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string msg = VisionHelper.OneGrabOne();//.Grab(EVisionScene.SingleScanBarcode);
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vProductResult.Parse(msg);
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if (vProductResult != null && (vProductResult.Result == EOneGrabSixteenResult.Ok || vProductResult.Result== EOneGrabSixteenResult.LocationOkScanBarcodeFail))
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{
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flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
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}
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else if (vProductResult != null && vProductResult.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
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{
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GrrScanFailFrm scanFail = new GrrScanFailFrm((act, qrcode) => {
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if (act == 1)
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{
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vProductResult.SN = qrcode;
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flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
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}
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});
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scanFail.ShowDialog();
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//vProductResult.SN = VirtualBarCode.Code;
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}
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else
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.料仓取料拍照失败);
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Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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}
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break;
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case EFiveProductTestFlowStep.到料仓取料位上方:
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//获取空闲吸嘴
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//curTakeNozzle = NozzleManager.GetIdelNozzle();
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curTakeNozzle = NozzleManager.GetNozzle(1);
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if (curTakeNozzle != null)
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{
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targetPosition = NozzleManager.GetToTraySlot(ETrayType.Input, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
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if (curTakeNozzle != null)
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{
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targetPosition.X += vProductResult.OffsetX + offsetX;
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targetPosition.Y2 += vProductResult.OffsetY + offsetY;
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if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
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{
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AxisPosPrint.PrintXY1Y2TargetPos("到料仓取料位上方,", targetPosition, GetClassName());
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flowStep = EFiveProductTestFlowStep.等待到料仓取料位上方;
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}
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}
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}
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break;
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case EFiveProductTestFlowStep.等待到料仓取料位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴XY1Y2已停止运动,", GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("已运动到等待到料仓取料位上方,", GetClassName());
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flowStep = EFiveProductTestFlowStep.到料仓取料位下方;
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}
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else
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{
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flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
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}
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}
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break;
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case EFiveProductTestFlowStep.到料仓取料位下方:
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targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Input, curTakeNozzle.NozzleIndex);
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errCode = AxisControl.GetAxis($"NozzleZ{curTakeNozzle.NozzleIndex}").MovePos(targetPosition.NozzleZ, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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logInfo = $"{GetClassName()}到料仓取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFiveProductTestFlowStep.等待到料仓取料位下方;
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}
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break;
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case EFiveProductTestFlowStep.等待到料仓取料位下方:
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if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
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{
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logInfo = $"{GetClassName()}已运动到料仓取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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if (GlobalVar.RunSpace)
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{
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flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
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}
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else
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{
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Ops.On($"吸料真空{curTakeNozzle.NozzleIndex}吸");
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Thread.Sleep(100);
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flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
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}
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}
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break;
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case EFiveProductTestFlowStep.料仓取料完成抬起:
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if (NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
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{
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logInfo = $"{GetClassName()}料仓取料完成抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFiveProductTestFlowStep.等待料仓取料完成抬起;
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}
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break;
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case EFiveProductTestFlowStep.等待料仓取料完成抬起:
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if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
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{
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logInfo = $"{GetClassName()}料仓取料完成已抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFiveProductTestFlowStep.料仓取料真空吸检测;
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}
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break;
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case EFiveProductTestFlowStep.料仓取料真空吸检测:
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if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace)
|
|
|
|
|
{
|
|
|
|
|
curTakeNozzle.Product = new TestProduct() { SN = "", FromSlotIndex = curTakeSlot.Index };
|
|
|
|
|
curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(curTakeSlot.Index, ESlotStatus.NotHave);
|
|
|
|
|
logInfo = $"{GetClassName()}料仓{curTakeSlot.Index}号穴位取料完成真空检测OK,产品SN:{curTakeNozzle.Product.SN}被吸嘴{curTakeNozzle.NozzleIndex}取走";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.GRR取料失败报警);
|
|
|
|
|
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
#endregion
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//料仓放料
|
|
|
|
|
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓放料位上方:
|
|
|
|
|
//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
|
|
|
|
|
//目前先都方到OK料仓
|
|
|
|
|
//curDumpSlot = GlobalTray.GrrTray.GetSlot(ESlotStatus.NotHave);
|
|
|
|
|
curDumpSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
|
|
|
|
|
if (curDumpSlot != null)
|
|
|
|
|
{
|
|
|
|
|
//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
|
|
//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
|
|
|
|
|
//{
|
|
|
|
|
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
|
|
|
|
|
//}
|
|
|
|
|
targetPosition = NozzleManager.GetToTraySlot(ETrayType.Ok, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
|
|
|
|
|
{
|
|
|
|
|
AxisPosPrint.PrintXY1Y2TargetPos("到料仓放料位上方,", targetPosition, GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待到料仓放料位上方:
|
|
|
|
|
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("已运动到料仓放料位上方,", GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓放料位下方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓放料位下方:
|
|
|
|
|
targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Ok, curDumpNozzle.NozzleIndex);
|
|
|
|
|
if (NozzleManager.Go(curDumpNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}到料仓放料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓放料位下方;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待到料仓放料位下方:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}已运动到料仓放料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
if (GlobalVar.RunSpace)
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓放料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
curDumpNozzle.VacSuction(EIoOperate.Close, GetClassName());
|
|
|
|
|
curDumpNozzle.VacBreak(EIoOperate.Open, GetClassName());
|
|
|
|
|
curDumpNozzle.VacBreak(EIoOperate.Close, GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓放料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.料仓放料完成抬起:
|
|
|
|
|
if (NozzleManager.GotoSafePos(curDumpNozzle.NozzleIndex))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓放料完成抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待料仓放料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待料仓放料完成抬起:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓放料完成已抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
takedNum++;
|
|
|
|
|
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
|
|
|
|
|
{
|
|
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
|
|
stop = true;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
Thread.Sleep(5);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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()
|
|
|
|
|
{
|
|
|
|
|
stop = true;
|
|
|
|
|
}
|
|
|
|
|
private string GetClassName()
|
|
|
|
|
{
|
|
|
|
|
return "GrrFlow-";
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
private double offsetX = 0;
|
|
|
|
|
private double offsetY = 0;
|
|
|
|
|
public void SetOffset(double x,double y)
|
|
|
|
|
{
|
|
|
|
|
offsetX = x;
|
|
|
|
|
offsetY = y;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 获取吸嘴取料取不起来时，吸嘴在原取料位的偏移
|
|
|
|
|
/// 奇数向下偏移
|
|
|
|
|
/// 偶数向上偏移
|
|
|
|
|
/// </summary>
|
|
|
|
|
/// <param name="fetchNum"></param>
|
|
|
|
|
/// <returns></returns>
|
|
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
|
|
|
{
|
|
|
|
|
if (fetchNum == 0) return 0;
|
|
|
|
|
//先判断是奇数还是偶数
|
|
|
|
|
int count = 0;
|
|
|
|
|
int oddOrEven = fetchNum & 0x01;
|
|
|
|
|
|
|
|
|
|
double offsetDisct = 0.0;
|
|
|
|
|
if (oddOrEven == 1)
|
|
|
|
|
{
|
|
|
|
|
count = (fetchNum / 2) + 1;
|
|
|
|
|
offsetDisct = -0.1 * count;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
else if (oddOrEven == 0)
|
|
|
|
|
{
|
|
|
|
|
count = (fetchNum / 2);
|
|
|
|
|
offsetDisct = 0.1 * count;
|
|
|
|
|
}
|
|
|
|
|
return offsetDisct;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public string GetCurStep()
|
|
|
|
|
{
|
|
|
|
|
return flowStep.ToString();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void VirtualAxisSleep()
|
|
|
|
|
{
|
|
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
|
|
{
|
|
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
private void GotoNextFixture()
|
|
|
|
|
{
|
|
|
|
|
lastFixtureIndex = ((lastFixtureIndex + 1) % needGrrFixtureList.Count);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
lhiven
4 weeks ago