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322 lines
16 KiB
C#
322 lines
16 KiB
C#
using Rs.Controls;
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using Rs.Framework;
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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.SafePosFlow;
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using System;
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using System.Collections.Generic;
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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 EStockTakeFlowStep
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{
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待触发,
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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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}
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public enum EStockScanBarcodeMode
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{
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Multi,
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Single
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}
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/// <summary>
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/// 料仓取料流程
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/// </summary>
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public class StockTakeFlow
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{
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bool finished = true;
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Nozzle curNozzle = null;
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TraySlot waitTakeProductSlot = null;
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EStockTakeFlowStep flowStep = EStockTakeFlowStep.待触发;
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private StockTakeFlow()
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{
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}
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private static StockTakeFlow instance;
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public static StockTakeFlow 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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instance = new StockTakeFlow();
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return instance;
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}
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}
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public string GetCurStep()
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{
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return flowStep.ToString();
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}
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/// <summary>
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/// 料仓取料
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/// </summary>
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/// <param name="className"></param>
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public void Take(ETrayType trayType, int slotIndex,int nozzleIndex, EStockScanBarcodeMode scanBarCodeMode= EStockScanBarcodeMode.Multi, ProductLocationResult locaResult=null,bool needStop=true)
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{
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if (finished)
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finished = false;
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else
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return;
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flowStep = EStockTakeFlowStep.待触发;
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string logInfo = string.Empty;
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TargetPosition targetPosition = new TargetPosition();
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DischargeFlow.Instance.ActionStart();
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while (!finished)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop && needStop)
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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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case EStockTakeFlowStep.待触发:
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flowStep = EStockTakeFlowStep.到料仓取料位上方;
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break;
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case EStockTakeFlowStep.到料仓取料位上方:
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//获取空闲吸嘴
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curNozzle = NozzleManager.GetNozzle(nozzleIndex);
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if (curNozzle != null)
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{
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if (trayType== ETrayType.Input)
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{
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waitTakeProductSlot = GlobalTray.InputTray.GetSlot(slotIndex);
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}
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else if(trayType== ETrayType.Grr)
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{
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waitTakeProductSlot = GlobalTray.GrrTray.GetSlot(slotIndex);
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}
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targetPosition = NozzleManager.GetToTraySlot(trayType, waitTakeProductSlot.Index, curNozzle.NozzleIndex);
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if (scanBarCodeMode== EStockScanBarcodeMode.Single)
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{
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MessageQueue.Instance.Insert($"拍照偏移量 x:{locaResult.OffsetX},y:{locaResult.OffsetY}");
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targetPosition.X += locaResult.OffsetX;
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targetPosition.Y2 += locaResult.OffsetY;
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}
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else
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{
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ProductLocationResult result = OneGrabSixteenManager.Instance.GetResultBySlotIndex(waitTakeProductSlot.Index);
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if (!GlobalVar.RunSpace)
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{
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//MessageQueue.Instance.Insert($"拍照偏移量 x:{result.OffsetX},y:{result.OffsetY}");
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targetPosition.X += result.OffsetX;
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targetPosition.Y2 += result.OffsetY;
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}
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}
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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($"{WhatNozzleIndex()}到料仓{WhatTraySlot()}取料位上方,", targetPosition, GetClassName());
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flowStep = EStockTakeFlowStep.等待到料仓取料位上方;
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}
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}
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break;
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case EStockTakeFlowStep.等待到料仓取料位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴XY1Y2已停止运动,", GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos($"{WhatNozzleIndex()}已运动到料仓{WhatTraySlot()}取料位上方,", GetClassName());
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flowStep = EStockTakeFlowStep.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 = EStockTakeFlowStep.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 EStockTakeFlowStep.到料仓取料位下方:
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targetPosition.StockZ = NozzleManager.GetNozzleToTrayTakeProductPos(trayType, curNozzle.NozzleIndex);
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if (NozzleManager.Go(curNozzle, targetPosition.StockZ, GlobalVar.WholeSpeed))
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{
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logInfo = $"{GetClassName()}{WhatNozzleIndex()}到料仓{WhatTraySlot()}取料位下方,tz:{targetPosition.StockZ}";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockTakeFlowStep.等待到料仓取料位下方;
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}
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break;
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case EStockTakeFlowStep.等待到料仓取料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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Thread.Sleep(100);
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logInfo = $"{GetClassName()}{WhatNozzleIndex()}已运动到料仓{WhatTraySlot()}取料位下方:{curNozzle.GetCurrentPos()}";
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MessageQueue.Instance.Insert(logInfo);
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if (!GlobalVar.RunSpace)
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{
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//打开真空吸
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curNozzle.VacSuction(EIoOperate.Open, GetClassName());
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}
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flowStep = EStockTakeFlowStep.料仓取料完成抬起;
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}
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break;
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case EStockTakeFlowStep.料仓取料完成抬起:
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if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
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{
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logInfo =$"{GetClassName()} 料仓取料完成抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockTakeFlowStep.等待料仓取料完成抬起;
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}
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break;
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case EStockTakeFlowStep.等待料仓取料完成抬起:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo =$"{GetClassName()} 料仓取料完成已抬起:{curNozzle.GetCurrentPos()}";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockTakeFlowStep.料仓取料真空吸检测;
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}
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break;
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case EStockTakeFlowStep.料仓取料真空吸检测:
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if (curNozzle.HasProduct()|| GlobalVar.RunSpace)
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{
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//curNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, TestNum = 0 };
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if(GlobalVar.RunSpace)
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{
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curNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, FromSlotIndex = waitTakeProductSlot.Index, TestNum = 0, From = $"R{waitTakeProductSlot.Row + 1}C{waitTakeProductSlot.Column + 1}" };
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}
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else
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{
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string sn = string.Empty;
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if(GlobalVar.EnableVirtualBarCode)
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{
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sn = VirtualBarCode.Code;
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}
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else
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{
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if (scanBarCodeMode == EStockScanBarcodeMode.Multi)
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{
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ProductLocationResult vResult = OneGrabSixteenManager.Instance.GetResultBySlotIndex(slotIndex);
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sn = vResult.SN;
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}
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else
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{
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sn = locaResult.SN;
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}
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}
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curNozzle.Product = new TestProduct() { SN = sn, TestNum = 0, FromSlotIndex = waitTakeProductSlot.Index, From = $"R{waitTakeProductSlot.Row + 1}C{waitTakeProductSlot.Column + 1}" };
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//ProductLocationResult vResult = OneGrabSixteenManager.Instance.GetResultBySlotIndex(slotIndex);
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//if (vResult!=null || locaResult!=null)
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//{
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// string sn = string.Empty;
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// if(GlobalVar.EnableVirtualBarCode)
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// {
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// sn = VirtualBarCode.Code;
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// }
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// else
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// {
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// if (scanBarCodeMode== EStockScanBarcodeMode.Multi)
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// sn = vResult.SN;
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// else
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// sn = locaResult.SN;
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// }
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//}
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}
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curNozzle.Status = ENozzleStatus.ToTest;
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//curNozzle.Status = ENozzleStatus.ToUnload;
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curNozzle.ChangeStatus(ESlotStatus.Have);
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GlobalTray.GetTray(trayType).ChangeStatus(waitTakeProductSlot.Index, ESlotStatus.NotHave);
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//GlobalTray.InputTray.ChangeStatus(waitTakeProductSlot.Index, ESlotStatus.NotHave);
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if(curNozzle.Product!=null)
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{
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logInfo = $"{GetClassName()} from r{waitTakeProductSlot.Row + 1}c{waitTakeProductSlot.Column + 1} 穴位索引:{WhatTraySlot()} 产品：{curNozzle.Product.SN}被{WhatNozzleIndex()}取料完成,";
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MessageQueue.Instance.Insert(logInfo);
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}
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//flowStep = EStockTakeFlowStep.判断是否需要从料仓取料;
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finished = true;
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flowStep = EStockTakeFlowStep.待触发;
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DischargeFlow.Instance.ActionEnd("PnP 从输入托盘拾取 1 个 DUT", "PhP pick up 1 DUT from input tray");
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}
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else
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{
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AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.排料吸嘴取料失败报警).Transform($"{curNozzle.NozzleIndex}",$"{waitTakeProductSlot.Row}",$"{waitTakeProductSlot.Column}",$"{waitTakeProductSlot.Index}");
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EButtonType btnSelect = Msgbox.ShowDialog(alarmEntity,EButtonType.EndInput | EButtonType.Retry | EButtonType.Skip | EButtonType.Recheck,true);
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switch (btnSelect)
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{
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case EButtonType.EndInput:
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logInfo = GetClassName() + $"选择了结束上料";
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MessageQueue.Instance.Insert(logInfo);
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GlobalVar.Clear = true;
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finished = true;
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flowStep = EStockTakeFlowStep.待触发;
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break;
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case EButtonType.Retry:
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logInfo = GetClassName() + $"选择了重试";
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MessageQueue.Instance.Insert(logInfo);
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curNozzle.VacBreak(EIoOperate.Close, GetClassName());
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curNozzle.VacSuction(EIoOperate.Close, GetClassName());
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//先把产品放下
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//StockPlaceFlow.Instance.Place(ETrayType.Input, waitTakeProductSlot.Index, curNozzle.NozzleIndex);
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flowStep = EStockTakeFlowStep.到料仓取料位下方;
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break;
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case EButtonType.Recheck:
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logInfo = GetClassName() + $"选择了重新检查真空";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockTakeFlowStep.料仓取料真空吸检测;
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break;
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case EButtonType.Skip:
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logInfo = GetClassName() + $"选择了跳过";
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curNozzle.VacBreak(EIoOperate.Close, GetClassName());
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curNozzle.VacSuction(EIoOperate.Close, GetClassName());
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MessageQueue.Instance.Insert(logInfo);
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finished = true;
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flowStep = EStockTakeFlowStep.待触发;
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break;
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default:
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break;
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}
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}
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break;
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}
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}
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}
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string GetClassName()
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{
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return $"{nameof(StockTakeFlow)}-";
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}
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/// <summary>
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/// 获取几号吸嘴
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/// </summary>
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/// <returns></returns>
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private string WhatNozzleIndex()
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{
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return $"{curNozzle.NozzleIndex}号吸嘴";
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}
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/// <summary>
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/// 获取料仓的几号穴位
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/// </summary>
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/// <returns></returns>
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private string WhatTraySlot()
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{
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return $"{waitTakeProductSlot.Index}号穴位";
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}
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}
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}
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