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using NPOI.SS.Formula.Functions;
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using Rs.Framework;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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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.Reflection;
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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
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{
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enum EStockCheckStep
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{
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空闲,
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Input料仓是否就绪,
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Ok料仓是否就绪,
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Ng料仓是否就绪,
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Multi料仓是否就绪,
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等待搬运料盘就绪,
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等待所有料仓就绪
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}
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public class WorkEnvironment
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{
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string logInfo = string.Empty;
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EStockCheckStep step = EStockCheckStep.Input料仓是否就绪;
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EStockCheckStep restoreStep;
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public bool EnvironmentOk { get; set; } = false;
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public ManualResetEvent EnvReadyOkEvent = new ManualResetEvent(false);
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private static WorkEnvironment instance;
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private bool isRunning = false;
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public static WorkEnvironment 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 WorkEnvironment();
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return instance;
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}
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}
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public void Ready()
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{
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if (!isRunning)
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{
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isRunning = true;
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}
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else
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return;
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step = EStockCheckStep.Input料仓是否就绪;
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EnvReadyOkEvent.Reset();
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Task.Run(() =>
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{
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//EnvironmentOk = false;
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//while (isRunning)
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//{
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// Thread.Sleep(5);
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// switch (step)
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// {
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// case EStockCheckStep.Input料仓是否就绪:
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// if (!GlobalVar.CleanOut)
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// {
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// if ((!StockManager.Instance.GetStock(ETrayType.Input).HasTray() && StockManager.Instance.GetStock(ETrayType.Input).Status != EStockTrayStatus.Backed)
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// || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{ETrayType.Input}料仓无料盘，开始给{ETrayType.Input}料仓上料";
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// MessageQueue.Instance.Insert(logInfo);
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// Task.Run(() => {
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// StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Input, EStockTrayLoadMode.Whole);
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// });
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// }
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// else
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// {
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// logInfo = GetClassName() + $"{ETrayType.Input}料仓有料盘";
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// MessageQueue.Instance.Insert(logInfo);
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// }
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// }
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// if (!StockManager.Instance.GetStock(ETrayType.Empty2).HasTray() || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{ETrayType.Empty2}料仓无料盘，开始给{ETrayType.Empty2}料仓上料";
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// MessageQueue.Instance.Insert(logInfo);
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// Task.Run(() => {
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// StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Empty2, EStockTrayLoadMode.Whole);
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// });
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// }
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// else
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// {
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// logInfo = GetClassName() + $"{ETrayType.Empty2}料仓有料盘";
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// MessageQueue.Instance.Insert(logInfo);
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// }
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// step = EStockCheckStep.Ok料仓是否就绪;
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// break;
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// case EStockCheckStep.Ok料仓是否就绪:
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// if (!GlobalVar.CleanOut)
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// {
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// if (!StockManager.Instance.GetStock(ETrayType.Ok).HasTray() || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{ETrayType.Ok}料仓无料盘，开始给{ETrayType.Ok}料仓上料";
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// MessageQueue.Instance.Insert(logInfo);
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// //if (StockManager.Instance.HasTray(EStockType.Empty2))
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// {
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// //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ok");
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// //if(
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// TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ok,
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// () =>
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// {
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// GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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// });
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// }, null,
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// () =>
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// {
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Ok).Load(EStockTrayLoadMode.AfterTakeTray, null);
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// });
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// });
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// //)
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// //{
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// step = EStockCheckStep.Ng料仓是否就绪;
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// //}
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// //restoreStep = EStockCheckStep.Ng料仓是否就绪;
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// }
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// }
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// else
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// {
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// logInfo = GetClassName() + $"{ETrayType.Ok}料仓有料盘";
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// MessageQueue.Instance.Insert(logInfo);
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// step = EStockCheckStep.Ng料仓是否就绪;
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// }
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// }
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// else
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// {
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// step = EStockCheckStep.Ng料仓是否就绪;
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// }
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// break;
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// case EStockCheckStep.Ng料仓是否就绪:
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// if (!GlobalVar.CleanOut)
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// {
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// if (!StockManager.Instance.GetStock(ETrayType.Ng).HasTray() || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{ETrayType.Ng}料仓无料，开始给{ETrayType.Ng}料仓上料";
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// MessageQueue.Instance.Insert(logInfo);
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// //if (StockManager.Instance.HasTray(EStockType.Empty2))
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// {
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// //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ng");
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// //if (
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// TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ng,
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// () =>
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// {
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// GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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// });
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// }, null,
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// () =>
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// {
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Ng).Load(EStockTrayLoadMode.AfterTakeTray, null);
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// });
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// });
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// //)
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// //{
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// step = EStockCheckStep.Multi料仓是否就绪;
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// //}
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// //restoreStep = EStockCheckStep.Multi料仓是否就绪;
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// }
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// }
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// else
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// {
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// logInfo = GetClassName() + $"{ETrayType.Ng}料仓有料盘";
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// MessageQueue.Instance.Insert(logInfo);
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// step = EStockCheckStep.Multi料仓是否就绪;
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// }
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// }
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// else
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// {
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// step = EStockCheckStep.Multi料仓是否就绪;
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// }
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// break;
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// case EStockCheckStep.Multi料仓是否就绪:
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// if (!StockManager.Instance.GetStock(ETrayType.Multi).HasTray() || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{ETrayType.Multi}料仓无料，开始给{ETrayType.Multi}料仓上料";
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// MessageQueue.Instance.Insert(logInfo);
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// //if (StockManager.Instance.HasTray(EStockType.Empty2))
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// {
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// //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Multi");
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// //if (
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// TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Multi,
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// () =>
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// {
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// GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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// });
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// }, null,
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// () =>
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// {
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// Task.Run(() =>
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// {
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// StockManager.Instance.GetStock(ETrayType.Multi).Load(EStockTrayLoadMode.AfterTakeTray, null);
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// });
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// });
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// //)
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// //{
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// step = EStockCheckStep.等待所有料仓就绪;
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// //}
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// //restoreStep = EStockCheckStep.等待所有料仓就绪;
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// }
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// }
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// else
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// {
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// logInfo = GetClassName() + $"{ETrayType.Multi}料仓有料盘";
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// MessageQueue.Instance.Insert(logInfo);
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// step = EStockCheckStep.等待所有料仓就绪;
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// }
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// break;
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// //case EStockCheckStep.等待搬运料盘就绪:
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// // if(TakeTrayFlow.Instance.TakeStatus == ETakeStatus.TakeOK)
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// // {
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// // MessageQueue.Instance.Insert("搬运OK");
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// // step = restoreStep;
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// // restoreStep = EStockCheckStep.空闲;
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// // }
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// // break;
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// case EStockCheckStep.等待所有料仓就绪:
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// if (!GlobalVar.CleanOut)
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// {
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// if (StockManager.Instance.IsReady())
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// {
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// MessageQueue.Instance.Insert("所有料仓准备就绪");
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// EnvironmentOk = true;
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// isRunning = false;
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// EnvReadyOkEvent.Set();
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// }
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// }
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// else
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// {
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// if (StockManager.Instance.GetStock(ETrayType.Multi).Status == EStockTrayStatus.Loaded)
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// {
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// MessageQueue.Instance.Insert("多功能料仓准备就绪");
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// EnvironmentOk = true;
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// isRunning = false;
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// EnvReadyOkEvent.Set();
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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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}
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private string GetClassName()
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{
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return this.GetType().Name + "-";
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}
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public bool IsRunning()
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{
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return isRunning;
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}
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/// <summary>
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/// 检测排料吸嘴、周转吸嘴、周转盘穴位，SOCKET穴位中是否有产品
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/// </summary>
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public void Check()
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{
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while (true)
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{
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List<int> dischargeNozzles = new List<int>();
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List<int> turnoverNozzles = new List<int>();
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List<int> turnoverTraySlots = new List<int>();
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List<int> socketSlots = new List<int>();
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MessageQueue.Instance.Insert("discharge nozzle have or not product check");
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//1 吸嘴检测
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for (int i = 1; i < 9; i++)
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{
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Ops.On($"{i}号吸嘴真空吸电磁阀");
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MessageQueue.Instance.Insert($"打开{i}号吸嘴真空吸电磁阀");
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}
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Thread.Sleep(200);
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for (int i = 1; i < 9; i++)
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{
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//Ops.On($"{i}号吸嘴真空吸电磁阀");
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//MessageQueue.Instance.Insert($"打开{i}号吸嘴真空吸电磁阀");
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if (Ops.IsOn($"{i}号吸嘴真空吸检测"))
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{
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MessageQueue.Instance.Insert($"{i}号吸嘴有料");
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dischargeNozzles.Add(i);
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}
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else
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{
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MessageQueue.Instance.Insert($"{i}号吸嘴无料");
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Ops.Off($"{i}号吸嘴真空吸电磁阀");
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MessageQueue.Instance.Insert($"关闭{i}号吸嘴真空吸电磁阀");
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}
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}
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//2 周转吸头检测
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for (int i = 1; i < 17; i++)
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{
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Ops.On($"周转{i}号吸嘴真空吸");
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MessageQueue.Instance.Insert($"打开周转{i}号吸嘴真空吸");
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}
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Thread.Sleep(200);
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for (int i = 1; i < 17; i++)
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{
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//Ops.On($"周转{i}号吸嘴真空吸");
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//MessageQueue.Instance.Insert($"打开周转{i}号吸嘴真空吸");
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//Thread.Sleep(100);
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if (Ops.IsOn($"周转{i}号吸嘴真空吸检测"))
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{
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MessageQueue.Instance.Insert($"周转{i}号吸嘴有料");
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turnoverNozzles.Add(i);
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}
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else
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{
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MessageQueue.Instance.Insert($"周转{i}号吸嘴无料");
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Ops.Off($"周转{i}号吸嘴真空吸");
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MessageQueue.Instance.Insert($"关闭周转{i}号吸嘴真空吸");
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}
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}
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// 3周转盘穴位检测
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for (int i = 1; i < 33; i++)
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{
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Ops.On($"周转盘{i}号穴位真空吸");
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MessageQueue.Instance.Insert($"打开周转盘{i}号穴位真空吸");
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}
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Thread.Sleep(200);
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for (int i = 1; i < 33; i++)
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{
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//Ops.On($"周转盘{i}号穴位真空吸");
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//MessageQueue.Instance.Insert($"打开周转盘{i}号穴位真空吸");
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//Thread.Sleep(100);
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if (Ops.IsOn($"周转盘{i}号穴位真空吸检测"))
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{
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Ops.Off($"周转盘{i}号穴位真空吸");
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MessageQueue.Instance.Insert($"周转盘{i}号穴位有料");
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turnoverTraySlots.Add(i);
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}
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else
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{
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MessageQueue.Instance.Insert($"周转盘{i}号穴位无料");
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Ops.Off($"周转盘{i}号穴位真空吸");
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MessageQueue.Instance.Insert($"关闭周转盘{i}号穴位真空吸");
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}
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//SlotProductHasOrNotResult result = UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null, i, true);
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//if(result.HasProduct)
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//{
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// turnoverTraySlots.Add(i);
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//}
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}
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//DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
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//4 SOCKET穴位检测
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for (int i = 1; i < 17; i++)
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{
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Ops.On($"测试{i}号穴位真空吸");
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MessageQueue.Instance.Insert($"打开测试{i}号穴位真空吸");
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}
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Thread.Sleep(200);
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for (int i = 1; i < 17; i++)
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{
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if (Ops.IsOn($"测试{i}号穴位真空吸检测"))
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{
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Ops.Off($"测试{i}号穴位真空吸");
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MessageQueue.Instance.Insert($"测试{i}号穴位有料");
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socketSlots.Add(i);
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}
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else
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{
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MessageQueue.Instance.Insert($"测试{i}号穴位无料");
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Ops.Off($"测试{i}号穴位真空吸");
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LogHelper.Debug($"关闭测试{i}号穴位真空吸");
|
|
|
}
|
|
|
}
|
|
|
if (dischargeNozzles.Count > 0 || turnoverNozzles.Count > 0 || turnoverTraySlots.Count > 0 || socketSlots.Count > 0)
|
|
|
{
|
|
|
StringBuilder msg = new StringBuilder();
|
|
|
if (dischargeNozzles.Count > 0)
|
|
|
{
|
|
|
msg.AppendLine($"discharge nozzle {dischargeNozzles.ToJoinString()} has product");
|
|
|
}
|
|
|
|
|
|
if (turnoverNozzles.Count > 0)
|
|
|
{
|
|
|
msg.AppendLine($"turnover nozzle {turnoverNozzles.ToJoinString()} has product");
|
|
|
}
|
|
|
|
|
|
if (turnoverTraySlots.Count > 0)
|
|
|
{
|
|
|
msg.AppendLine($"turnover tray {turnoverTraySlots.ToJoinString()} has product");
|
|
|
}
|
|
|
|
|
|
if (socketSlots.Count > 0)
|
|
|
{
|
|
|
msg.AppendLine($"socket {socketSlots.ToJoinString()} has product");
|
|
|
}
|
|
|
//PromptMessageBox.ShowDialog(AlarmConstID.工作环境检测, msg.ToString(), SchedulingMessageBox.ETipButton.Retry);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|