Rs.DeweyTester/Rs.DeweyTester/Flow/SubFlow/StockPlaceFlow.cs

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

namespace Rs.MotionPlat.Flow.SubFlow
{
    enum EStockPlaceFlowStep
    {
        待触发,
        到料仓放料位上方,
        等待到料仓放料位上方,
        到料仓放料位下方,
        等待到料仓放料位下方,
        料仓放料完成抬起,
        等待料仓放料完成抬起,
        料仓放料完成粘料检测
    }
    /// <summary>
    /// 料仓放料流程
    /// </summary>
    public class StockPlaceFlow
    {
        public event Action<TestProduct> PlaceFinishedEvent;
        bool finished = true;
        EStockPlaceFlowStep flowStep = EStockPlaceFlowStep.待触发;
        public StockPlaceFlow()
        {

        }

        private static StockPlaceFlow instance;
        public static StockPlaceFlow Instance
        {
            get
            {
                if (instance == null)
                    instance = new StockPlaceFlow();
                return instance;
            }
        }

        public string GetCurStep()
        {
            return flowStep.ToString();
        }

        /// <summary>
        /// 料仓放料
        /// </summary>
        /// <param name="tray">需要放入的料盘</param>
        /// <param name="nozzleIndex">哪个吸嘴放</param>
        /// <param name="className"></param>
        public void Place(ETrayType trayType,int slotIndex,int nozzleIndex)
        {
            RsTray tray = null;
            if (finished)
                finished = false;
            else
                return;
            switch (trayType)
            {
                case ETrayType.Ng:
                    tray = GlobalTray.NgTray;
                    break;
                case ETrayType.ReTest:
                    tray = GlobalTray.RetestTray;
                    break;
                case ETrayType.Grr:
                    tray = GlobalTray.GrrTray;
                    break;
                case ETrayType.Ok:
                    tray = GlobalTray.OkTary;
                    break;
                case ETrayType.Input:
                    tray = GlobalTray.InputTray;
                    break;
                default:
                    break;
            }
            flowStep = EStockPlaceFlowStep.待触发;
            string logInfo = string.Empty;
            TargetPosition targetPosition = new TargetPosition();
            Nozzle curNozzle = NozzleManager.GetNozzle(nozzleIndex);
            TraySlot curPlaceSlot = null;
            while (!finished)
            {
                if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
                {
                    Thread.Sleep(10);
                    continue;
                }
                switch (flowStep)
                {
                    case EStockPlaceFlowStep.待触发:
                        flowStep = EStockPlaceFlowStep.到料仓放料位上方;
                        break;
                    case EStockPlaceFlowStep.到料仓放料位上方:
                        //curNozzle = NozzleManager.GetToUnloadNozzle();
                        curNozzle = NozzleManager.GetNozzle(nozzleIndex);
                        if (curNozzle != null)
                        {
                            curPlaceSlot = tray.GetSlot(slotIndex);
                            if (curPlaceSlot != null)
                            {
                                targetPosition = NozzleManager.GetToTraySlot(trayType, curPlaceSlot.Index, curNozzle.NozzleIndex);
                                if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
                                {
                                    AxisPosPrint.PrintXY1Y2TargetPos("到料仓放料位上方,", targetPosition, GetClassName());
                                    flowStep = EStockPlaceFlowStep.等待到料仓放料位上方;
                                }
                            }
                            else
                            {
                                
                            }
                        }
                        break;
                    case EStockPlaceFlowStep.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 = EStockPlaceFlowStep.到料仓放料位下方;
                            }
                            else
                            {
                                flowStep = EStockPlaceFlowStep.到料仓放料位上方;
                            }
                        }
                        break;
                    case EStockPlaceFlowStep.到料仓放料位下方:
                        targetPosition.StockZ = NozzleManager.GetNozzleToTrayTakeProductPos(trayType, curNozzle.NozzleIndex);
                        if (NozzleManager.Go(curNozzle, targetPosition.StockZ, GlobalVar.WholeSpeed))
                        {
                            logInfo = $"{GetClassName()}到料仓放料位下方";
                            MessageQueue.Instance.Insert(logInfo);
                            flowStep = EStockPlaceFlowStep.等待到料仓放料位下方;
                        }
                        break;
                    case EStockPlaceFlowStep.等待到料仓放料位下方:
                        if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
                        {
                            logInfo = $"{GetClassName()}已运动到料仓放料位下方";
                            MessageQueue.Instance.Insert(logInfo);
                            //关闭真空吸
                            curNozzle.VacSuction(EIoOperate.Close, GetClassName());
                            //打开真空破
                            curNozzle.VacBreak(EIoOperate.Open, GetClassName());
                            //关闭真空
                            curNozzle.VacBreak(EIoOperate.Close, GetClassName());
                            flowStep = EStockPlaceFlowStep.料仓放料完成抬起;
                        }
                        break;
                    case EStockPlaceFlowStep.料仓放料完成抬起:
                        if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
                        {
                            logInfo = $"{GetClassName()}料仓放料完成抬起";
                            MessageQueue.Instance.Insert(logInfo);
                            flowStep = EStockPlaceFlowStep.等待料仓放料完成抬起;
                        }
                        break;
                    case EStockPlaceFlowStep.等待料仓放料完成抬起:
                        if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
                        {
                            logInfo = $"{GetClassName()}放料完成已抬起";
                            MessageQueue.Instance.Insert(logInfo);
                            flowStep = EStockPlaceFlowStep.料仓放料完成粘料检测;
                        }
                        break;
                    case EStockPlaceFlowStep.料仓放料完成粘料检测:
                        if (!curNozzle.HasProduct() || GlobalVar.RunSpace)
                        {
                            PlaceFinishedEvent?.Invoke(curNozzle.Product);
                            logInfo = $"{GetClassName()}检测到吸嘴{curNozzle.NozzleIndex}无粘料，吸嘴{curNozzle.NozzleIndex}把产品SN:{curNozzle.Product.SN}放入OK料盘{curPlaceSlot.Index}穴位";
                            MessageQueue.Instance.Insert(logInfo);
                            tray.ChangeStatus(curPlaceSlot.Index, ESlotStatus.Have);
                            curNozzle.Product.ToString();
                            curNozzle.Clear();
                            finished = true;
                            flowStep = EStockPlaceFlowStep.待触发;
                        }
                        else
                        {
                            AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.排料吸嘴粘料报警).Transform(curNozzle.NozzleIndex);
                            if(alarmEntity != null)
                            {
                                Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
                            }
                            else
                            {
                                Msg.ShowError("翻译文件中未找到 ‘排料吸嘴粘料报警’项");
                            }
                        }
                        break;
                }
            }
        }

        string GetClassName()
        {
            return $"{nameof(StockPlaceFlow)}-";
        }
    }
}