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using NPOI.SS.Formula.Eval;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow.Common;
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using Rs.MotionPlat.Flow.NormalFlow;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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using Rs.MotionPlat.Vision;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Diagnostics.Eventing.Reader;
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using System.IO;
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using System.Linq;
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using System.Net.Http;
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using System.Runtime.CompilerServices;
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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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using System.Windows.Forms;
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namespace Rs.MotionPlat.Flow
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{
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public enum EDischargeFlowStep
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{
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//开始排料前准备
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等待启动,
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工作前准备,
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//料仓取料
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判断是否需要从料仓取料,
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进料盘产品定位,
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料仓取料,
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//治具换料
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到治具取料等待位,
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等待到治具取料等待位,
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等待治具测试完成换料,
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治具取放料,
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治具放料,
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//料仓放料
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判断是否需要放料到料仓,
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料仓放料,
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工作完成到安全位,
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等待工作完成到安全位,
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工作完成收料,
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等待收料完成
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}
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/// <summary>
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/// 排料流程
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/// </summary>
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public class DischargeFlow
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{
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private Task mainTask;
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private DischargeFlow() { }
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private static DischargeFlow instance;
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public static DischargeFlow 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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{
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instance = new DischargeFlow();
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}
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return instance;
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}
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}
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public event Action workFinishedEvent;
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private AlarmEntity alarmEntity;
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Stopwatch timeout = new Stopwatch();
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EDischargeFlowStep flowStep = EDischargeFlowStep.等待启动;
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int scanNum = 0;
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string logInfo = string.Empty;
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string alarmInfo = string.Empty;
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private bool stop = true;
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private bool run = true;
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TargetPosition targetPosition = new TargetPosition();
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ErrorCode errCode = ErrorCode.Ok;
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TraySlot slot = null;
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Nozzle curNozzle = null;
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TestFixture curFixture = null;
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//放料穴位
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TraySlot curDumpSlot = null;
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/// <summary>
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/// 拍照的起始穴位
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/// </summary>
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TraySlot grabStartSlot = null;
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/// <summary>
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/// 拍照的结束穴位
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/// </summary>
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TraySlot grabEndSlot = null;
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/// <summary>
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/// 将要取料的穴位
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/// </summary>
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TraySlot waitTakeProductSlot = null;
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Nozzle needPlaceNozzle = null;
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/// <summary>
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/// 取料学位索引
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/// </summary>
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int takeSlotIndex = 1;
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/// <summary>
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/// 一拍十六定位结果
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/// </summary>
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ProductLocationResult[] productLocationResult;
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/// <summary>
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/// 最后一次换料的治具编号
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/// </summary>
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private int lastFixtureIndex = 0;
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List<int> checkFixtureList = new List<int>();
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public void Init()
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{
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mainTask = new Task(Run);
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mainTask.Start();
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}
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public void Deinit()
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{
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run = false;
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}
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private void Run()
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{
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while (run)
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{
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if (stop || !GlobalVar.DeviceIsAuto)
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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 EDischargeFlowStep.等待启动:
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{
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//EButtonType button = Msgbox.ShowDialog(EButtonType.Ok | EButtonType.Cancel, "清除 NG料盘 数据 确定清除 选择OK 保留 选择否Cancel");
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//if(button== EButtonType.Ok)
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//{
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// GlobalTray.NgTray.ChangeStatus(ESlotStatus.NotHave);
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//}
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//button = Msgbox.ShowDialog(EButtonType.Ok | EButtonType.Cancel, "清除 OK料盘 数据 确定清除 选择OK 保留 选择否Cancel");
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//if (button == EButtonType.Ok)
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//{
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// GlobalTray.NgTray.ChangeStatus(ESlotStatus.NotHave);
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//}
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//EButtonType button = Msgbox.ShowDialog(EButtonType.Ok | EButtonType.Cancel, "请确认 LOT 信息 信息正确 选择OK 信息错误退出重写 选择Cancel");
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EButtonType button =Msgbox.ShowTipDialog(EButtonType.Ok | EButtonType.Cancel, "请确认 LOT信息\r\n信息正确 选择OK\r\n信息错误退出重写 选择Cancel");
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if(button== EButtonType.Ok)
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{
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button = Msgbox.ShowTipDialog(EButtonType.Ok | EButtonType.Cancel, "是否清除之前数据?\r\n清除点击OK\r\n不清楚点击Cancel");
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if(button== EButtonType.Ok)
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{
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TestFixtureManager.Instance.GetTestFixture(1).ClearData();
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TestFixtureManager.Instance.GetTestFixture(2).ClearData();
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TestFixtureManager.Instance.GetTestFixture(3).ClearData();
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TestFixtureManager.Instance.GetTestFixture(4).ClearData();
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TestFixtureManager.Instance.GetTestFixture(5).ClearData();
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TestFixtureManager.Instance.GetTestFixture(6).ClearData();
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GlobalTray.NgTray.ChangeStatus(ESlotStatus.NotHave);
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GlobalTray.RetestTray.ChangeStatus(ESlotStatus.NotHave);
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GlobalTray.OkTary.ChangeStatus(ESlotStatus.NotHave);
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flowStep = EDischargeFlowStep.工作前准备;
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}
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else if(button== EButtonType.Cancel)
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{
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flowStep = EDischargeFlowStep.工作前准备;
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}
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}
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else if(button== EButtonType.Cancel)
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{
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Ops.Stop();
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}
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}
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//flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
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break;
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#region 临时屏蔽
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case EDischargeFlowStep.工作前准备:
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if(!GlobalVar.RunSpace)
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{
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EnvironmentPrepareFlow.Instance.Prepare();
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}
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flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
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break;
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#endregion
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#region 料仓取料
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//料仓取料
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case EDischargeFlowStep.判断是否需要从料仓取料:
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//检测吸嘴有几个产品，少于3个产品则需要从料仓上料
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int idelNozzleNum = NozzleManager.GetIdleNozzleCount();
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if (idelNozzleNum == 1 || GlobalVar.Clear)
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{
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if(TestFixtureManager.Instance.GetHasProuctFixtureCount()>0 || NozzleManager.GetToTestNozzle()!=null)
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{
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logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，没有空闲的吸嘴了，去治具换料";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EDischargeFlowStep.到治具取料等待位;
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}
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else
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{
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flowStep = EDischargeFlowStep.工作完成到安全位;
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}
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//flowStep = EDischargeFlowStep.判断是否需要放料到料仓;
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//NozzleManager.GetNozzle(1).VacSuction(EIoOperate.Close);
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//NozzleManager.GetNozzle(2).VacSuction(EIoOperate.Close);
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//NozzleManager.GetNozzle(3).VacSuction(EIoOperate.Close);
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//NozzleManager.GetNozzle(1).Status = ENozzleStatus.IDLE;
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//NozzleManager.GetNozzle(2).Status = ENozzleStatus.IDLE;
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//NozzleManager.GetNozzle(3).Status = ENozzleStatus.IDLE;
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//GlobalTray.NozzleTray.ChangeStatus(1, ESlotStatus.NotHave);
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//GlobalTray.NozzleTray.ChangeStatus(2, ESlotStatus.NotHave);
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//GlobalTray.NozzleTray.ChangeStatus(3, ESlotStatus.NotHave);
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}
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else
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{
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logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，继续取料";
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MessageQueue.Instance.Insert(logInfo);
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//GlobalTray.InputTray.ChangeStatus(ESlotStatus.Have);
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//检测料仓的拍照结果，如果还有未取的料则先取料，否则需要先拍照
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//获取有料的穴位
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//GlobalTray.InputTray.ChangeStatus(ESlotStatus.Have);
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//TraySlot waitTakeProductSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
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TraySlot waitTakeProductSlot = GlobalTray.InputTray.GetSlot(takeSlotIndex);
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if (waitTakeProductSlot!=null)
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{
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if (waitTakeProductSlot.Index % 16 == 1)
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{
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//没有可以取的穴位了，先拍照
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flowStep = EDischargeFlowStep.进料盘产品定位;
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}
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else
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{
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flowStep = EDischargeFlowStep.料仓取料;
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}
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}
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else
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{
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//换料盘
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//GlobalTray.InputTray.ChangeStatus(ESlotStatus.Have);
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//先判断是否时最后一盘料，如果时最后一盘料，则提示客户换料
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//if(Stock2Flow.Instance.GetCurrentLayer()==1)
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if(StockManager.GetCurrentLayer(2)==1)
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{
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EButtonType btn = Msgbox.ShowTipDialog( EButtonType.Retry| EButtonType.EndInput,"请更换料盘","tip",true);
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if(btn== EButtonType.Retry)
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{
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//先把轴移动到安全位
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DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
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//TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty);
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//Stock2Flow.Instance.PrepareTray();
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StockManager.PrepareTray(2);
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TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty);
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}
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else if(btn== EButtonType.EndInput)
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{
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GlobalVar.Clear = true;
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}
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}
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else
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{
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//先把轴移动到安全位
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DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
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TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty);
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GlobalTray.InputTray.ChangeStatus(ESlotStatus.Have);
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takeSlotIndex = 1;
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}
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}
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}
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break;
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case EDischargeFlowStep.进料盘产品定位:
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if(GlobalVar.RunSpace)
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{
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flowStep = EDischargeFlowStep.料仓取料;
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productLocationResult = OneGrabSixteenManager.Instance.GetResults();
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}
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else
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{
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ProductLocationFlow.Instance.Grab(ETrayType.Input, takeSlotIndex);
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productLocationResult = OneGrabSixteenManager.Instance.GetResults();
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if (productLocationResult != null)
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{
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//foreach (ProductLocationResult item in results)
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//{
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// if(item.Result== EOneGrabSixteenResult.Slant || item.Result== EOneGrabSixteenResult.LocationOkScanBarcodeFail)
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// {
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// bool exit = false;
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// while (!exit)
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// {
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// //凡是定位失败的，需要定位重拍
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// ProductLocationResult vr = FixedGrabProductFlow.Instance.Grab(ETrayType.Input, item.SlotIndex);
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// if (vr.Result == EOneGrabSixteenResult.Ok)//拍照OK
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// {
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// item.Change(vr.SN, vr.OffsetX, vr.OffsetY);
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// exit = true;
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// }
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// else if (vr.Result == EOneGrabSixteenResult.Slant)//拍照失败
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// {
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// //报警弹框
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// EButtonType buttonSelect = Msgbox.ShowDialog(EButtonType.Skip| EButtonType.Retry, $"穴位{item.SlotIndex}定位失败，请把产品手动取走后点击跳过");
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// if (buttonSelect == EButtonType.Skip)
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// {
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// GlobalTray.InputTray.ChangeStatus(item.SlotIndex, ESlotStatus.NotHave);
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// exit = true;
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// }
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// }
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// else if (vr.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)//定位成功，拍照失败
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// {
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// //这里需要把产品取到拍照NG料盘中
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// //取料
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// Nozzle idleNozzle = NozzleManager.GetIdelNozzle();
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// StockTakeFlow.Instance.Take(item.SlotIndex, idleNozzle.NozzleIndex);
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// //放料
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// TraySlot noProductSlot = GlobalTray.RetestTray.GetSlot(ESlotStatus.NotHave);
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// if (noProductSlot != null)
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// {
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// StockPlaceFlow.Instance.Place(ETrayType.ReTest, noProductSlot.Index, idleNozzle.NozzleIndex);
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// }
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// else
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// {
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// Msgbox.ShowDialog(EButtonType.Ok, "Retest料盘已放满，请更换料盘，更换完成后点击确定");
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// GlobalTray.RetestTray.ChangeStatus(ESlotStatus.NotHave);
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// ThreePointLocationFlow.Instance.Location(ETrayType.ReTest);
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// //放料
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// noProductSlot = GlobalTray.RetestTray.GetSlot(ESlotStatus.NotHave);
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// StockPlaceFlow.Instance.Place(ETrayType.ReTest, noProductSlot.Index, idleNozzle.NozzleIndex);
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// }
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// exit = true;
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// }
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// }
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// }
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//}
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//对结果进行处理
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flowStep = EDischargeFlowStep.料仓取料;
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}
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}
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break;
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case EDischargeFlowStep.料仓取料:
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ProductLocationResult ret = productLocationResult.Where(r => r.SlotIndex == takeSlotIndex).FirstOrDefault();
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if(ret != null || GlobalVar.RunSpace)
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{
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if((ret!= null && ret.Result== EOneGrabSixteenResult.Ok) || GlobalVar.RunSpace)
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{
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StockTakeFlow.Instance.Take( ETrayType.Input, takeSlotIndex, NozzleManager.GetIdelNozzle().NozzleIndex);
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takeSlotIndex++;
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flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
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}
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else
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{
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bool exit = false;
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while (!exit)
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{
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ProductLocationResult fixtureret = FixedGrabProductFlow.Instance.Grab(ETrayType.Input, ret.SlotIndex);
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if (fixtureret.Result == EOneGrabSixteenResult.Ok)
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{
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ret.Change(fixtureret.SN, fixtureret.OffsetX, fixtureret.OffsetY);
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//takeSlotIndex++;
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flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
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exit = true;
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}
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else if (fixtureret.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
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{
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Nozzle idleNozzle = NozzleManager.GetIdelNozzle();
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StockTakeFlow.Instance.Take( ETrayType.Input, ret.SlotIndex, idleNozzle.NozzleIndex);
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//放料
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TraySlot noProductSlot = GlobalTray.RetestTray.GetSlot(ESlotStatus.NotHave);
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if (noProductSlot != null)
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{
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StockPlaceFlow.Instance.Place(ETrayType.ReTest, noProductSlot.Index, idleNozzle.NozzleIndex);
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}
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else
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|
|
{
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, "Retest料盘已放满，请更换料盘，更换完成后点击确定","tip",true);
|
|
|
GlobalTray.RetestTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.ReTest);
|
|
|
//放料
|
|
|
noProductSlot = GlobalTray.RetestTray.GetSlot(ESlotStatus.NotHave);
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.ReTest, noProductSlot.Index, idleNozzle.NozzleIndex);
|
|
|
}
|
|
|
takeSlotIndex++;
|
|
|
flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
exit = true;
|
|
|
}
|
|
|
else if (fixtureret.Result == EOneGrabSixteenResult.Slant)
|
|
|
{
|
|
|
//报警弹框
|
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.取料定位失败报警);
|
|
|
EButtonType buttonSelect = Msgbox.ShowDialog(alarmEntity, EButtonType.Skip | EButtonType.Retry | EButtonType.EndInput, true);
|
|
|
//EButtonType buttonSelect = Msgbox.ShowDialog(EButtonType.Skip | EButtonType.Retry | EButtonType.EndInput, $"穴位{ret.SlotIndex}定位失败，请把产品手动取走后点击跳过","tip",true);
|
|
|
if (buttonSelect == EButtonType.Skip)
|
|
|
{
|
|
|
exit = true;
|
|
|
GlobalTray.InputTray.ChangeStatus(ret.SlotIndex, ESlotStatus.NotHave);
|
|
|
takeSlotIndex++;
|
|
|
flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
}
|
|
|
else if (buttonSelect == EButtonType.EndInput)
|
|
|
{
|
|
|
exit = true;
|
|
|
GlobalVar.Clear = true;
|
|
|
takeSlotIndex++;
|
|
|
flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
}
|
|
|
//if (GlobalTray.InputTray.GetSlot(takeSlotIndex).SlotStatus == ESlotStatus.Have)
|
|
|
//{
|
|
|
// StockTakeFlow.Instance.Take(takeSlotIndex, NozzleManager.GetIdelNozzle().NozzleIndex);
|
|
|
//}
|
|
|
//takeSlotIndex++;
|
|
|
//flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
break;
|
|
|
#endregion
|
|
|
|
|
|
#region 治具换料
|
|
|
//治具换料
|
|
|
case EDischargeFlowStep.到治具取料等待位:
|
|
|
//先去第一个治具拍照位上方等待
|
|
|
if(TestFixtureManager.Instance.GetTestFixture(lastFixtureIndex+1).Product==null)
|
|
|
{
|
|
|
targetPosition = FixtureManager.GetFixtureGrabPos(lastFixtureIndex + 1);
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
targetPosition = NozzleManager.GetNozzleToFixturePos(lastFixtureIndex + 1, NozzleManager.GetIdelNozzle().NozzleIndex);
|
|
|
targetPosition.X += TestFixtureManager.Instance.GetTestFixture(lastFixtureIndex + 1).PlaceProductOffsetX;
|
|
|
targetPosition.Y2 += TestFixtureManager.Instance.GetTestFixture(lastFixtureIndex + 1).PlaceProductOffsetY;
|
|
|
}
|
|
|
|
|
|
if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
|
|
|
{
|
|
|
AxisPosPrint.PrintXY1Y2TargetPos("到治具放料缓冲位,", targetPosition, GetClassName());
|
|
|
flowStep = EDischargeFlowStep.等待到治具取料等待位;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到治具取料等待位:
|
|
|
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))
|
|
|
{
|
|
|
CreateCheckFixtureQueue();
|
|
|
AxisPosPrint.PrintXY1Y2CurrentPos("已运动到放料缓冲位,", GetClassName());
|
|
|
flowStep = EDischargeFlowStep.等待治具测试完成换料;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到治具取料等待位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待治具测试完成换料:
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count==3)
|
|
|
{
|
|
|
double curXpos = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
if(curXpos-GlobalVar.FixtureSafePosX>1)
|
|
|
{
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.Fixture);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.判断是否需要放料到料仓;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
foreach (int i in checkFixtureList)
|
|
|
{
|
|
|
TestFixture fixture = TestFixtureManager.Instance.GetTestFixture(i);
|
|
|
if (fixture != null && fixture.Status == ETestFixtureStatus.IDLE)
|
|
|
{
|
|
|
//在这里检测吸嘴上有没有产品可以方到这个治具，如果有就把这个产品取起来，如果没有等待下一个就绪的治具
|
|
|
curFixture = fixture;
|
|
|
//判断治具是否有产品，没有产品则直接放料
|
|
|
if (curFixture.Product != null)
|
|
|
{
|
|
|
//在这里判断这个治具上的产品，有没有吸嘴上的产品和它进行交换的，如果没有，则继续轮询下一个治具
|
|
|
needPlaceNozzle = GetPlaceNozzle(curFixture);
|
|
|
if (needPlaceNozzle != null)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.治具取放料;
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//治具里面有产品但是吸嘴已经没有可以产品可以交换
|
|
|
if (GlobalVar.Clear && NozzleManager.GetIdelNozzle() != null)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.治具取放料;
|
|
|
break;
|
|
|
//在这里先去把要放的产品给放下去，再回来取
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
needPlaceNozzle=GetPlaceNozzle(curFixture);
|
|
|
//needPlaceNozzle = NozzleManager.GetToTestNozzle();
|
|
|
if (needPlaceNozzle != null)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.治具放料;
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EDischargeFlowStep.治具取放料:
|
|
|
FixtureTakeFlow.Instance.Take(curFixture.Index);
|
|
|
if(needPlaceNozzle != null)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.治具放料;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
int num = TestFixtureManager.Instance.GetHaveProductFixtureList().Count();
|
|
|
if(GlobalVar.Clear && NozzleManager.GetToTestNozzle()==null && ((num==0) ||(NozzleManager.GetIdelNozzle() == null)))
|
|
|
{
|
|
|
if(curFixture.Index==6)
|
|
|
{
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.Fixture);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.判断是否需要放料到料仓;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到治具取料等待位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.治具放料:
|
|
|
//curNozzle = NozzleManager.GetToTestNozzle();
|
|
|
if(needPlaceNozzle!=null)
|
|
|
{
|
|
|
FixturePlaceFlow.Instance.Place(curFixture.Index, needPlaceNozzle.NozzleIndex);
|
|
|
lastFixtureIndex = curFixture.Index == checkFixtureList.Max() ? checkFixtureList.Min()-1 : curFixture.Index;
|
|
|
//lastFixtureIndex = curFixture.Index == 6 ? 0 : curFixture.Index;
|
|
|
if (NozzleManager.GetToTestNozzle() != null || (GlobalVar.Clear && TestFixtureManager.Instance.GetHasProuctFixtureCount()>0))
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到治具取料等待位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (curFixture.Index == 6)
|
|
|
{
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.Fixture);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.判断是否需要放料到料仓;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
#region 料仓放料
|
|
|
//料仓放料
|
|
|
case EDischargeFlowStep.判断是否需要放料到料仓:
|
|
|
//检测有没有需要放料到料仓的吸嘴
|
|
|
if(NozzleManager.GetToUnloadNozzle()!=null)
|
|
|
{
|
|
|
Nozzle placeNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
int placeNozzleIndex = placeNozzle.NozzleIndex;
|
|
|
logInfo = GetClassName() + $"检查到吸嘴{placeNozzle.NozzleIndex}号吸嘴产品检测结果{placeNozzle.Product.Result},bin:{placeNozzle.Product.Bin}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
//placeNozzle.Product.Result
|
|
|
//这里先方到OK料仓
|
|
|
if (placeNozzle.Product.Result=="PASS")
|
|
|
{
|
|
|
if(GlobalVar.EnableBin)//需要分Bin
|
|
|
{
|
|
|
if(placeNozzle.Product.Bin== GlobalVar.BinToGrr)//最好的产品，放入grr盘
|
|
|
{
|
|
|
#region 最好的产品，放入GRR盘
|
|
|
TraySlot waitPlaceSlot = GlobalTray.GrrTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (waitPlaceSlot != null)
|
|
|
{
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Grr, waitPlaceSlot.Index, placeNozzleIndex);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//提示更换料盘
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, "Grr料盘已满，请更换料盘，更换完成后点击确定", "tip", true);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Grr);
|
|
|
GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
#region OK产品，分BIN存放
|
|
|
int placeSlotIndex = BinManager.GetPlaceSlot(GlobalVar.CurrentUsedBin, ETrayType.Ok, placeNozzle.Product.Bin);
|
|
|
if (placeSlotIndex > 0)
|
|
|
{
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Ok, placeSlotIndex, placeNozzleIndex);
|
|
|
}
|
|
|
else if (placeSlotIndex == 0)//此区域已经无穴位放产品
|
|
|
{
|
|
|
//料盘放满了，更换料盘
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
if (GlobalVar.EnableFullAlarm)
|
|
|
{
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, $"{placeNozzle.Product.Bin} area hasn't slot to place product,you can redraw ok tray bin area after click ok button,", "tip", true);
|
|
|
}
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty, ETrayType.Ok, true, true);
|
|
|
GlobalTray.OkTary.ChangeStatus(ESlotStatus.NotHave);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, $"cann't find {placeNozzle.Product.Bin} area,you can redraw ok tray area after click ok button", "tip", true);
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
|
|
|
TraySlot waitPlaceSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
|
|
|
if (waitPlaceSlot != null)
|
|
|
{
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Ok, waitPlaceSlot.Index, placeNozzleIndex);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//料盘放满了，更换料盘
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty, ETrayType.Ok, true, true);
|
|
|
GlobalTray.OkTary.ChangeStatus(ESlotStatus.NotHave);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
|
|
|
//料盘已满
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if(GlobalVar.EnableBin)
|
|
|
{
|
|
|
#region NG产品，分BIN存放
|
|
|
int placeSlotIndex = BinManager.GetPlaceSlot(GlobalVar.CurrentUsedBin, ETrayType.Ng, placeNozzle.Product.Bin);
|
|
|
if (placeSlotIndex > 0)
|
|
|
{
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Ng, placeSlotIndex, placeNozzleIndex);
|
|
|
}
|
|
|
else if (placeSlotIndex == 0)//此区域已经无穴位放产品
|
|
|
{
|
|
|
//料盘放满了，更换料盘
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
if (GlobalVar.EnableFullAlarm)
|
|
|
{
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, $"{placeNozzle.Product.Bin} area hasn't slot to place product,you can redraw ok tray bin area after click ok button,", "tip", true);
|
|
|
}
|
|
|
//提示更换料盘
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, "NG料盘已满，请更换料盘，更换完成后点击确定", "tip", true);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Ng);
|
|
|
GlobalTray.NgTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, $"cann't find {placeNozzle.Product.Bin} area,you can redraw ok tray area after click ok button", "tip", true);
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//logInfo = GetClassName() + $"检查到吸嘴{placeNozzle.NozzleIndex}号吸嘴产品检测结果{placeNozzle.Product.Result}";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
TraySlot waitPlaceSlot = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (waitPlaceSlot != null)
|
|
|
{
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Ng, waitPlaceSlot.Index, placeNozzleIndex);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//提示更换料盘
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, "NG料盘已满，请更换料盘，更换完成后点击确定", "tip", true);
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Ng);
|
|
|
GlobalTray.NgTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
// flowStep = EDischargeFlowStep.到料仓放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if(GlobalVar.Clear)
|
|
|
{
|
|
|
if(TestFixtureManager.Instance.GetHaveProductFixtureList().Count()==0)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.工作完成到安全位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到治具取料等待位;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
//flowStep = EDischargeFlowStep.判断是否需要从料仓取料;
|
|
|
}
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
case EDischargeFlowStep.工作完成到安全位:
|
|
|
targetPosition.X = GlobalVar.DischargeSafePostionX;
|
|
|
targetPosition.Y1 = GlobalVar.StockSideY1;
|
|
|
targetPosition.Y2 = GlobalVar.DischargeSafePostionY2;
|
|
|
if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.等待工作完成到安全位;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待工作完成到安全位:
|
|
|
if(Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
|
|
|
{
|
|
|
AxisPosPrint.PrintXY1Y2CurrentPos("运动已停止,",GetClassName());
|
|
|
if(AxisArrived.LoadXY1Y2IsArrived(targetPosition.X,targetPosition.Y1,targetPosition.Y2))
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.工作完成收料;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.工作完成收料:
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty, ETrayType.Ok,true,true);
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty, ETrayType.Input);
|
|
|
Task.Run(() => {
|
|
|
StockManager.DischargeFinish(1);
|
|
|
});
|
|
|
Task.Run(() => {
|
|
|
StockManager.DischargeFinish(2);
|
|
|
});
|
|
|
Task.Run(() => {
|
|
|
StockManager.DischargeFinish(3);
|
|
|
});
|
|
|
flowStep = EDischargeFlowStep.等待收料完成;
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待收料完成:
|
|
|
if(StockManager.AllReady())
|
|
|
{
|
|
|
StockManager.Reset(1);
|
|
|
StockManager.Reset(2);
|
|
|
StockManager.Reset(3);
|
|
|
Ops.Stop();
|
|
|
takeSlotIndex = 1;
|
|
|
GlobalVar.Clear = false;
|
|
|
workFinishedEvent?.Invoke();
|
|
|
flowStep = EDischargeFlowStep.等待启动;
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
Thread.Sleep(5);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public void Start()
|
|
|
{
|
|
|
stop = false;
|
|
|
}
|
|
|
public void Stop()
|
|
|
{
|
|
|
stop = true;
|
|
|
}
|
|
|
private string GetClassName()
|
|
|
{
|
|
|
return "DischargeFlow-";
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 获取吸嘴取料取不起来时，吸嘴在原取料位的偏移
|
|
|
/// 奇数向下偏移
|
|
|
/// 偶数向上偏移
|
|
|
/// </summary>
|
|
|
/// <param name="fetchNum"></param>
|
|
|
/// <returns></returns>
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
|
{
|
|
|
if (fetchNum == 0) return 0;
|
|
|
//先判断是奇数还是偶数
|
|
|
int count = 0;
|
|
|
int oddOrEven = fetchNum & 0x01;
|
|
|
|
|
|
double offsetDisct = 0.0;
|
|
|
if (oddOrEven == 1)
|
|
|
{
|
|
|
count = (fetchNum / 2) + 1;
|
|
|
offsetDisct = -0.1 * count;
|
|
|
}
|
|
|
|
|
|
else if (oddOrEven == 0)
|
|
|
{
|
|
|
count = (fetchNum / 2);
|
|
|
offsetDisct = 0.1 * count;
|
|
|
}
|
|
|
return offsetDisct;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 判断XY是否可以在本区域运动
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
public bool XYCanGoLocalArea()
|
|
|
{
|
|
|
//获取周转Y轴的位置，当排料Y轴去周转盘的时候，检测是否安全
|
|
|
double turnoverYPos = Ops.GetCurPosition("TurnoverY");
|
|
|
if (turnoverYPos - SysConfigParam.GetValue<double>("TurnoverDumpY") < -0.5)
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
public string GetCurStep()
|
|
|
{
|
|
|
return flowStep.ToString();
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 生成检测治具状态的队列
|
|
|
/// </summary>
|
|
|
void CreateCheckFixtureQueue()
|
|
|
{
|
|
|
checkFixtureList.Clear();
|
|
|
for (int i = 0; i < 6; i++)
|
|
|
{
|
|
|
int number = ((lastFixtureIndex+1) + i - 1) % 6 + 1;
|
|
|
if(TestFixtureManager.Instance.GetTestFixture(number).Enable)
|
|
|
{
|
|
|
checkFixtureList.Add(number);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 根据当前治具的产品判断吸嘴上的产品有没有交换的
|
|
|
/// </summary>
|
|
|
/// <param name="fixture"></param>
|
|
|
/// <returns></returns>
|
|
|
Nozzle GetPlaceNozzle(TestFixture fixture)
|
|
|
{
|
|
|
//ABC模式
|
|
|
switch (GlobalVar.TestMethod)
|
|
|
{
|
|
|
|
|
|
case "A":
|
|
|
foreach (Nozzle item in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToTest))
|
|
|
{
|
|
|
if (item.Product != null)
|
|
|
{
|
|
|
return item;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case "AAB":
|
|
|
if(fixture.Product!=null && fixture.Product.TestNum==1 && fixture.Product.Result=="NG")
|
|
|
{
|
|
|
return NozzleManager.GetIdelNozzle();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
foreach (Nozzle item in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToTest))
|
|
|
{
|
|
|
if (item.Product != null && (item.Product.TestedFixtures == null || !item.Product.TestedFixtures.Contains(curFixture.Index)))
|
|
|
{
|
|
|
return item;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case "ABC"://必须更换治具
|
|
|
foreach (Nozzle item in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToTest))
|
|
|
{
|
|
|
if (item.Product != null)
|
|
|
{
|
|
|
if (item.Product.TestNum == 0)
|
|
|
return item;
|
|
|
if (!item.Product.TestedFixtures.Contains(fixture.Index))
|
|
|
return item;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
return null;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|