Rs.DeweyTester/Rs.DeweyTester/Flow/SubFlow/StockLocationFlow.cs

using Rs.Controls;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Flow.Common;
using Rs.MotionPlat.Vision;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow.SubFlow
{
    enum EStockLocationFlowStep
    {
        到料仓拍照起始位,
        等待到料仓拍照起始位,
        到料仓拍照结束位,
        等待到料仓拍照结束位,
        拍照结果处理
    }
    public class StockLocationFlow
    {
        EStockLocationFlowStep flowStep = EStockLocationFlowStep.到料仓拍照起始位;
        bool finished = false;
        private static StockLocationFlow instance;
        public static StockLocationFlow Instance
        {
            get
            {
                if(instance == null)
                    instance = new StockLocationFlow();
                return instance;
            }
        }
        public void Grab(ETrayType trayType,int slotIndex)
        {
            if (finished)
                finished = false;
            else
                return;
            flowStep = EStockLocationFlowStep.到料仓拍照起始位;
            string logInfo = string.Empty;
            TargetPosition targetPosition = new TargetPosition();
            TraySlot grabEndSlot = null;
            TraySlot grabStartSlot = null;
            Stopwatch tm = new Stopwatch();
            tm.Restart();
            while (!finished)
            {
                switch (flowStep)
                {
                    case EStockLocationFlowStep.到料仓拍照起始位:
                        //grabEndSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
                        if (trayType == ETrayType.Grr)
                        {
                            grabEndSlot = GlobalTray.InputTray.GetSlot(slotIndex);
                            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)
                        {
                            //SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabStartSlot.Index);
                            SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, grabStartSlot.Index);
                            if (sp != null)
                            {
                                targetPosition.X = sp.X;
                                targetPosition.Y1 = GlobalVar.StockSideY1;
                                targetPosition.Y2 = sp.Y - 30;
                                //double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
                                //if(curLoadX-GlobalVar.FixtureSafePosX>50)
                                //{
                                //    DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
                                //}
                                if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
                                {
                                    AxisPosPrint.PrintXY1Y2TargetPos("到料仓拍照位上方", targetPosition, GetClassName());
                                    flowStep = EStockLocationFlowStep.等待到料仓拍照起始位;
                                }
                            }
                        }
                        break;
                    case EStockLocationFlowStep.等待到料仓拍照起始位:
                        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))
                            {
                                SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, grabStartSlot.Index);
                                double[] triggerPos = new double[16];
                                //启动相机触发
                                for (int i = 0; i < 16; i++)
                                {
                                    triggerPos[i] = sp.Y + (i * 5);
                                }
                                AxisControl.LoadY2.SetPosCompare((ushort)GlobalVar.HightChannel, triggerPos);
                                AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓拍照位上方", GetClassName());
                                flowStep = EStockLocationFlowStep.到料仓拍照结束位;
                            }
                            else
                            {
                                logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
                                MessageQueue.Instance.Warn(logInfo);
                                flowStep = EStockLocationFlowStep.到料仓拍照起始位;
                            }
                        }
                        break;
                    case EStockLocationFlowStep.到料仓拍照结束位:
                        if (grabEndSlot != null)
                        {
                            //SlotPoint sp = TrayPointManager.GetSlotPoint(ETrayType.Input, grabEndSlot.Index);
                            SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, grabEndSlot.Index);
                            if (sp != null)
                            {
                                VisionHelper.loadTakeProductVision.ClearQueue();
                                targetPosition.X = sp.X;
                                targetPosition.Y1 = GlobalVar.StockSideY1;
                                targetPosition.Y2 = sp.Y + 2;
                                if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.FlyCameraSpeed, EGoWhichSide.StockSide))
                                {
                                    AxisPosPrint.PrintXY1Y2TargetPos("到料仓拍照结束位,", targetPosition, GetClassName());
                                    flowStep = EStockLocationFlowStep.等待到料仓拍照结束位;
                                }
                            }
                        }
                        break;
                    case EStockLocationFlowStep.等待到料仓拍照结束位:
                        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("已运动到料仓拍照结束位,", GetClassName());
                                flowStep = EStockLocationFlowStep.拍照结果处理;
                            }
                            else
                            {
                                logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
                                MessageQueue.Instance.Warn(logInfo);
                                flowStep = EStockLocationFlowStep.到料仓拍照结束位;
                            }
                        }
                        break;
                    case EStockLocationFlowStep.拍照结果处理:
                        //VisionResult vr = VisionHelper.Grab(Vision.EVisionScene.TrayLocation);
                        finished = true;
                        //if (!string.IsNullOrEmpty(vmsg) && vmsg.TrimEnd(new char[] { '#', ',' }).Split('#').Length == 16)
                        //{
                        //    OneGrabSixteenManager.Instance.ParseResult(vmsg, slotIndex);
                        //    finished = true;
                        //}
                        //else
                        //{
                        //    //alarmEntity = AlarmCollection.Get(AlarmConstID.一拍十六拍照失败报警);
                        //    //Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
                        //    //Msgbox.ShowTipDialog(EButtonType.Retry, "一拍十六拍照失败，请处理后点击重试","grab fail",true);
                        //    flowStep = EStockLocationFlowStep.到料仓拍照起始位;
                        //}
                        break;
                }
            }
            tm.Stop();
            long s = tm.ElapsedMilliseconds;
            MessageQueue.Instance.Insert($"total time:{s}");
        }

        private string GetClassName()
        {
            return "StockLocationFlow-";
        }
    }
}