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using Rs.Controls;
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using Rs.Framework;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Flow.Common;
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using Rs.MotionPlat.Flow.SafePosFlow;
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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.IO;
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using System.Linq;
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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.SubFlow
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{
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enum EStockPlaceFlowStep
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{
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待触发,
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到料仓拍照位上方,
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等待到料仓拍照位上方,
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料仓穴位拍照,
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到料仓放料位上方,
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等待到料仓放料位上方,
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到料仓放料位下方,
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等待到料仓放料位下方,
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料仓放料完成抬起,
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等待料仓放料完成抬起,
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料仓放料完成粘料检测
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}
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/// <summary>
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/// 料仓放料流程
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/// </summary>
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public class StockPlaceFlow
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{
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public event Action<TestProduct> PlaceFinishedEvent;
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bool finished = true;
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double slotOffsetX = 0.0;
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double slotOffsetY = 0.0;
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EStockPlaceFlowStep flowStep = EStockPlaceFlowStep.待触发;
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public StockPlaceFlow()
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{
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}
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private static StockPlaceFlow instance;
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public static StockPlaceFlow 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 StockPlaceFlow();
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return instance;
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}
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}
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public string GetCurStep()
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{
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return flowStep.ToString();
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}
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/// <summary>
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/// 料仓放料
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/// </summary>
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/// <param name="tray">需要放入的料盘</param>
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/// <param name="nozzleIndex">哪个吸嘴放</param>
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/// <param name="className"></param>
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public void Place(ETrayType trayType,int slotIndex,int nozzleIndex,bool needStop=true)
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{
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RsTray tray = null;
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if (finished)
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finished = false;
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else
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return;
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switch (trayType)
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{
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case ETrayType.Ng:
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tray = GlobalTray.NgTray;
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break;
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case ETrayType.ReTest:
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tray = GlobalTray.RetestTray;
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break;
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case ETrayType.Grr:
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tray = GlobalTray.GrrTray;
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break;
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case ETrayType.Ok:
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tray = GlobalTray.OkTary;
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break;
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case ETrayType.Input:
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tray = GlobalTray.InputTray;
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break;
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default:
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break;
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}
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flowStep = EStockPlaceFlowStep.待触发;
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string logInfo = string.Empty;
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TargetPosition targetPosition = new TargetPosition();
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Nozzle curNozzle = NozzleManager.GetNozzle(nozzleIndex);
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TraySlot curPlaceSlot = null;
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DischargeFlow.Instance.ActionStart();
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while (!finished)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop && needStop)
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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 EStockPlaceFlowStep.待触发:
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slotOffsetX = 0;
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slotOffsetY = 0;
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if (GlobalVar.EnableBeforePlaceProductGrab)
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{
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flowStep = EStockPlaceFlowStep.到料仓拍照位上方;
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}
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else
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{
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flowStep = EStockPlaceFlowStep.到料仓放料位上方;
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}
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break;
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case EStockPlaceFlowStep.到料仓拍照位上方:
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curPlaceSlot = tray.GetSlot(slotIndex);
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if(curPlaceSlot!=null)
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{
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SlotPoint sp = TrayPointManager.GetSlotPoint(trayType, curPlaceSlot.Index);
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if(sp!=null)
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{
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targetPosition.X = sp.X;
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targetPosition.Y1 = GlobalVar.StockSideY1;
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targetPosition.Y2 = sp.Y;
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//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
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//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
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//{
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// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
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//}
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if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
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{
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AxisPosPrint.PrintXY1Y2TargetPos($"到{trayType}料仓拍照位上方,", targetPosition, GetClassName());
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flowStep = EStockPlaceFlowStep.等待到料仓拍照位上方;
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}
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}
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}
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break;
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case EStockPlaceFlowStep.等待到料仓拍照位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,", GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos($"已运动到{trayType}料仓拍照位上方,", GetClassName());
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flowStep = EStockPlaceFlowStep.料仓穴位拍照;
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}
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else
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{
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flowStep = EStockPlaceFlowStep.到料仓拍照位上方;
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}
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}
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break;
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case EStockPlaceFlowStep.料仓穴位拍照:
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VisionHelper.trayLocationVision.ClearQueue();
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UpCameraHelper.Grab();
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VisionResult vr = VisionHelper.Grab(Vision.EVisionScene.TrayLocation);
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if((vr!=null && vr.Result) || GlobalVar.RunSpace)
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{
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if(GlobalVar.RunSpace)
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{
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flowStep = EStockPlaceFlowStep.到料仓放料位上方;
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}
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else
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{
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curNozzle = NozzleManager.GetNozzle(nozzleIndex);
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slotOffsetX = vr.OffsetX;
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slotOffsetY = vr.OffsetY;
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string sn = "";
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if (curNozzle != null && curNozzle.Product != null && !string.IsNullOrEmpty(curNozzle.Product.SN))
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{
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sn = curNozzle.Product.SN;
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}
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string title = "index,sn,offsetx,offsety,time\r\n";
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string content = $"{slotIndex},{sn},{slotOffsetX},{slotOffsetY},{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss fff")}\r\n";
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string dataDir = $"d://data/placestock//{DateTime.Now.ToString("yyyy-MM-dd")}";
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if (!Directory.Exists(dataDir))
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{
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Directory.CreateDirectory(dataDir);
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}
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string dataFilePath = $"{dataDir}//{GlobalVar.LotName}_{trayType}.csv";
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if (!File.Exists(dataFilePath))
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{
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File.AppendAllText(dataFilePath, title);
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}
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File.AppendAllText(dataFilePath, content);
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flowStep = EStockPlaceFlowStep.到料仓放料位上方;
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}
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}
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else
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{
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Msgbox.ShowTipDialog(EButtonType.Retry, "stock slot location fail", "", true);
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}
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break;
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case EStockPlaceFlowStep.到料仓放料位上方:
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//curNozzle = NozzleManager.GetToUnloadNozzle();
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curNozzle = NozzleManager.GetNozzle(nozzleIndex);
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if (curNozzle != null)
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{
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curPlaceSlot = tray.GetSlot(slotIndex);
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if (curPlaceSlot != null)
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{
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targetPosition = NozzleManager.GetToTraySlot(trayType, curPlaceSlot.Index, curNozzle.NozzleIndex);
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targetPosition.X += slotOffsetX;
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targetPosition.Y2+= slotOffsetY;
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//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
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//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
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//{
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// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
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//}
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if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
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{
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AxisPosPrint.PrintXY1Y2TargetPos("到料仓放料位上方,", targetPosition, GetClassName());
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flowStep = EStockPlaceFlowStep.等待到料仓放料位上方;
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}
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}
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else
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{
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}
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}
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break;
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case EStockPlaceFlowStep.等待到料仓放料位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓放料位上方,", GetClassName());
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flowStep = EStockPlaceFlowStep.到料仓放料位下方;
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}
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else
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{
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flowStep = EStockPlaceFlowStep.到料仓放料位上方;
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}
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}
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break;
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case EStockPlaceFlowStep.到料仓放料位下方:
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targetPosition.StockZ = NozzleManager.GetNozzleToTrayTakeProductPos(trayType, curNozzle.NozzleIndex)-GlobalVar.PlaceProdcutToStockTrayOffsetHeight;
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if (NozzleManager.Go(curNozzle, targetPosition.StockZ, GlobalVar.WholeSpeed))
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{
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logInfo = $"{GetClassName()}到料仓放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockPlaceFlowStep.等待到料仓放料位下方;
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}
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break;
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case EStockPlaceFlowStep.等待到料仓放料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo = $"{GetClassName()}已运动到料仓放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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//关闭真空吸
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curNozzle.VacSuction(EIoOperate.Close, GetClassName());
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//打开真空破
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curNozzle.VacBreak(EIoOperate.Open, GetClassName());
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//关闭真空
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curNozzle.VacBreak(EIoOperate.Close, GetClassName());
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flowStep = EStockPlaceFlowStep.料仓放料完成抬起;
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}
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break;
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case EStockPlaceFlowStep.料仓放料完成抬起:
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if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
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{
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logInfo = $"{GetClassName()}料仓放料完成抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockPlaceFlowStep.等待料仓放料完成抬起;
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}
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break;
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case EStockPlaceFlowStep.等待料仓放料完成抬起:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo = $"{GetClassName()}放料完成已抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EStockPlaceFlowStep.料仓放料完成粘料检测;
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}
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break;
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case EStockPlaceFlowStep.料仓放料完成粘料检测:
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if (!curNozzle.HasProduct() || GlobalVar.RunSpace)
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{
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DischargeFlow.Instance.ActionEnd("拾取器将 1 个 DUT 卸载到output托盘（OK/NG）", "Picker unload 1 DUT to output trav (OK/NG)");
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if(curNozzle.Product!=null)
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{
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curNozzle.Product.ToSlotIndex = curPlaceSlot.Index;
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if (trayType != ETrayType.ReTest)
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{
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PlaceFinishedEvent?.Invoke(curNozzle.Product);
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}
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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";
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MessageQueue.Instance.Insert(logInfo);
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tray.ChangeStatus(curPlaceSlot.Index, ESlotStatus.Have);
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curNozzle.Product.Save(trayType);
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curNozzle.Product.ToString();
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curNozzle.Clear();
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}
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else
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{
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curNozzle.Clear();
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tray.ChangeStatus(curPlaceSlot.Index, ESlotStatus.Have);
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}
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finished = true;
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flowStep = EStockPlaceFlowStep.待触发;
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}
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else
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{
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AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.排料吸嘴粘料报警).Transform(curNozzle.NozzleIndex);
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if(alarmEntity != null)
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{
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Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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}
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else
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{
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Msg.ShowError("翻译文件中未找到 ‘排料吸嘴粘料报警’项");
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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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string GetClassName()
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{
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return $"{nameof(StockPlaceFlow)}-";
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}
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}
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}
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