You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
238 lines
12 KiB
C#
238 lines
12 KiB
C#
using Rs.Controls;
|
|
using Rs.Framework;
|
|
using Rs.MotionPlat.Commom;
|
|
using Rs.MotionPlat.Entitys;
|
|
using Rs.MotionPlat.Flow.Common;
|
|
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 EStockTakeFlowStep
|
|
{
|
|
待触发,
|
|
到料仓取料位上方,
|
|
等待到料仓取料位上方,
|
|
到料仓取料位下方,
|
|
等待到料仓取料位下方,
|
|
料仓取料完成抬起,
|
|
等待料仓取料完成抬起,
|
|
料仓取料真空吸检测,
|
|
}
|
|
|
|
/// <summary>
|
|
/// 料仓取料流程
|
|
/// </summary>
|
|
public class StockTakeFlow
|
|
{
|
|
bool finished = true;
|
|
EStockTakeFlowStep flowStep = EStockTakeFlowStep.待触发;
|
|
private StockTakeFlow()
|
|
{
|
|
|
|
}
|
|
|
|
private static StockTakeFlow instance;
|
|
public static StockTakeFlow Instance
|
|
{
|
|
get
|
|
{
|
|
if (instance == null)
|
|
instance = new StockTakeFlow();
|
|
return instance;
|
|
}
|
|
}
|
|
|
|
|
|
public string GetCurStep()
|
|
{
|
|
return flowStep.ToString();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 料仓取料
|
|
/// </summary>
|
|
/// <param name="className"></param>
|
|
public void Take(ETrayType trayType, int slotIndex,int nozzleIndex)
|
|
{
|
|
if (finished)
|
|
finished = false;
|
|
else
|
|
return;
|
|
flowStep = EStockTakeFlowStep.待触发;
|
|
string logInfo = string.Empty;
|
|
TargetPosition targetPosition = new TargetPosition();
|
|
Nozzle curNozzle = null;
|
|
TraySlot waitTakeProductSlot = null;
|
|
while (!finished)
|
|
{
|
|
if (MachineManage.Instance.MachineStatus== EMachineStatus.Stop)
|
|
{
|
|
Thread.Sleep(10);
|
|
continue;
|
|
}
|
|
switch (flowStep)
|
|
{
|
|
case EStockTakeFlowStep.待触发:
|
|
flowStep = EStockTakeFlowStep.到料仓取料位上方;
|
|
break;
|
|
case EStockTakeFlowStep.到料仓取料位上方:
|
|
//获取空闲吸嘴
|
|
curNozzle = NozzleManager.GetNozzle(nozzleIndex);
|
|
if (curNozzle != null)
|
|
{
|
|
if(trayType== ETrayType.Input)
|
|
{
|
|
waitTakeProductSlot = GlobalTray.InputTray.GetSlot(slotIndex);
|
|
}
|
|
else if(trayType== ETrayType.Grr)
|
|
{
|
|
waitTakeProductSlot = GlobalTray.GrrTray.GetSlot(slotIndex);
|
|
}
|
|
targetPosition = NozzleManager.GetToTraySlot(trayType, waitTakeProductSlot.Index, curNozzle.NozzleIndex);
|
|
ProductLocationResult result = OneGrabSixteenManager.Instance.GetResultBySlotIndex(waitTakeProductSlot.Index);
|
|
if (result!=null || GlobalVar.RunSpace)
|
|
{
|
|
if(!GlobalVar.RunSpace)
|
|
{
|
|
MessageQueue.Instance.Insert($"拍照偏移量 x:{result.OffsetX},y:{result.OffsetY}");
|
|
targetPosition.X += result.OffsetX;
|
|
targetPosition.Y2 += result.OffsetY;
|
|
}
|
|
}
|
|
if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
|
|
{
|
|
AxisPosPrint.PrintXY1Y2TargetPos($"到料仓{waitTakeProductSlot.Index}号穴位取料位上方,", targetPosition, GetClassName());
|
|
flowStep = EStockTakeFlowStep.等待到料仓取料位上方;
|
|
}
|
|
}
|
|
|
|
break;
|
|
case EStockTakeFlowStep.等待到料仓取料位上方:
|
|
if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
|
|
{
|
|
AxisPosPrint.PrintXY1Y2CurrentPos("轴XY1Y2已停止运动,", GetClassName());
|
|
if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
{
|
|
AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓取料位上方,", GetClassName());
|
|
flowStep = EStockTakeFlowStep.到料仓取料位下方;
|
|
}
|
|
else
|
|
{
|
|
flowStep = EStockTakeFlowStep.到料仓取料位上方;
|
|
}
|
|
}
|
|
break;
|
|
case EStockTakeFlowStep.到料仓取料位下方:
|
|
targetPosition.StockZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Input, curNozzle.NozzleIndex);
|
|
if (NozzleManager.Go(curNozzle, targetPosition.StockZ, GlobalVar.WholeSpeed))
|
|
{
|
|
logInfo = $"{GetClassName()}到料仓取料位下方,tz:{targetPosition.StockZ}";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
flowStep = EStockTakeFlowStep.等待到料仓取料位下方;
|
|
}
|
|
break;
|
|
case EStockTakeFlowStep.等待到料仓取料位下方:
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
|
|
{
|
|
Thread.Sleep(200);
|
|
logInfo = $"{GetClassName()} 已运动到料仓取料位下方";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
if (!GlobalVar.RunSpace)
|
|
{
|
|
//打开真空吸
|
|
curNozzle.VacSuction(EIoOperate.Open, GetClassName());
|
|
}
|
|
flowStep = EStockTakeFlowStep.料仓取料完成抬起;
|
|
}
|
|
break;
|
|
case EStockTakeFlowStep.料仓取料完成抬起:
|
|
if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
|
|
{
|
|
logInfo =$"{GetClassName()} 料仓取料完成抬起";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
flowStep = EStockTakeFlowStep.等待料仓取料完成抬起;
|
|
}
|
|
break;
|
|
case EStockTakeFlowStep.等待料仓取料完成抬起:
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
|
|
{
|
|
logInfo =$"{GetClassName()} 料仓取料完成已抬起";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
flowStep = EStockTakeFlowStep.料仓取料真空吸检测;
|
|
}
|
|
break;
|
|
case EStockTakeFlowStep.料仓取料真空吸检测:
|
|
if (curNozzle.HasProduct()|| GlobalVar.RunSpace)
|
|
{
|
|
//curNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, TestNum = 0 };
|
|
if(GlobalVar.RunSpace)
|
|
{
|
|
curNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, TestNum = 0, From = $"R{waitTakeProductSlot.Row + 1}C{waitTakeProductSlot.Column + 1}" };
|
|
}
|
|
else
|
|
{
|
|
curNozzle.Product = new TestProduct() { SN = OneGrabSixteenManager.Instance.GetResultBySlotIndex(slotIndex).SN, TestNum = 0, From = $"R{waitTakeProductSlot.Row + 1}C{waitTakeProductSlot.Column + 1}" };
|
|
}
|
|
curNozzle.Status = ENozzleStatus.ToTest;
|
|
//curNozzle.Status = ENozzleStatus.ToUnload;
|
|
GlobalTray.NozzleTray.ChangeStatus(curNozzle.NozzleIndex, ESlotStatus.Have);
|
|
GlobalTray.InputTray.ChangeStatus(waitTakeProductSlot.Index, ESlotStatus.NotHave);
|
|
logInfo = $"{GetClassName()} from r{waitTakeProductSlot.Row+1}c{waitTakeProductSlot.Column+1} 穴位索引:{waitTakeProductSlot.Index} 产品：{curNozzle.Product.SN}被吸嘴{curNozzle.NozzleIndex}取料完成,";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
//flowStep = EStockTakeFlowStep.判断是否需要从料仓取料;
|
|
finished = true;
|
|
flowStep = EStockTakeFlowStep.待触发;
|
|
}
|
|
else
|
|
{
|
|
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.排料吸嘴取料失败报警).Transform($"{curNozzle.NozzleIndex}",$"{waitTakeProductSlot.Row}",$"{waitTakeProductSlot.Column}",$"{waitTakeProductSlot.Index}");
|
|
EButtonType btnSelect = Msgbox.ShowDialog(alarmEntity,EButtonType.EndInput | EButtonType.Retry | EButtonType.Skip | EButtonType.Recheck);
|
|
switch (btnSelect)
|
|
{
|
|
case EButtonType.EndInput:
|
|
logInfo = GetClassName() + $"选择了结束上料";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
GlobalVar.Clear = true;
|
|
finished = true;
|
|
flowStep = EStockTakeFlowStep.待触发;
|
|
break;
|
|
case EButtonType.Retry:
|
|
logInfo = GetClassName() + $"选择了重试";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
//先把产品放下
|
|
//StockPlaceFlow.Instance.Place(ETrayType.Input, waitTakeProductSlot.Index, curNozzle.NozzleIndex);
|
|
flowStep = EStockTakeFlowStep.到料仓取料位下方;
|
|
break;
|
|
case EButtonType.Recheck:
|
|
logInfo = GetClassName() + $"选择了重新检查真空";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
flowStep = EStockTakeFlowStep.料仓取料真空吸检测;
|
|
break;
|
|
case EButtonType.Skip:
|
|
logInfo = GetClassName() + $"选择了跳过";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
finished = true;
|
|
flowStep = EStockTakeFlowStep.待触发;
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
string GetClassName()
|
|
{
|
|
return $"{nameof(StockTakeFlow)}-";
|
|
}
|
|
}
|
|
}
|