增加当测试工位下料到周转盘后，如果周转盘没有测试料，则让周转Y轴回到安全位

Rs.MotionPlat/Commom/NozzleCollection.cs

@@ -84,7 +84,7 @@ namespace Rs.MotionPlat.Commom
         public static void Init() 
         {
             nozzles.Clear();
-            string querySql = "select * from nozzle where enable=1";
+            string querySql = "select * from nozzle where enable=1 and nozzleindex<=8";
             DataTable dt = db.GetDataTable(querySql);
             if(dt!=null&&dt.Rows.Count>0)
             {
@@ -108,7 +108,7 @@ namespace Rs.MotionPlat.Commom
         {
             if(nozzles!=null && nozzles.Count>0)
             {
-                return nozzles.Where(n => n.Status == status).ToList();
+                return nozzles.Where(n => n.Status == status).OrderBy(n=>n.NozzleIndex).ToList();
             }
             return null;
         }

Rs.MotionPlat/Flow/LoadAndUnloadTask.cs

@@ -272,7 +272,7 @@ namespace Rs.MotionPlat.Flow
             ti.FromType = ai.Load.Type;
             ti.FromFloor = ai.Load.Floor;
             ti.FromIndex = ai.Load.Index;
-
+            ti.SN = ai.SN;
             ti.ToType = ai.To.Type;
             ti.ToFloor = ai.To.Floor;
             ti.ToIndex = ai.To.Index;

Rs.MotionPlat/Flow/TestStationFlow.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Flow
+{
+    public class TestStationFlow
+    {
+    }
+}

Rs.MotionPlat/Flow/TurnoverFlow.cs

@@ -65,7 +65,9 @@ namespace Rs.MotionPlat.Flow
         gotoTurnoverDownPosDumpPro,
         waitArriveTurnoverDownPosDumpPro,
         gotoTurnoverUpPosDumpOver,
-        waitArriveTurnoverUpPosDumpOver
+        waitArriveTurnoverUpPosDumpOver,
+        gotoSafePos,
+        waitArriveSafePos,
 
     }
 
@@ -497,12 +499,42 @@ namespace Rs.MotionPlat.Flow
                         }
                         MessageQueue.Instance.Insert($"arrived turnover tray up position TurnoverZ at:{Ops.GetCurPosition("TurnoverZ")}");
                         Thread.Sleep(100);
-                        count++;
+                        //判断周转盘是否有需要测试的穴位
+                        List<TraySlot> haveSlots =GlobalTray.TurnoverTray.GetSlots(ESlotStatus.Have);
+                        if(haveSlots!=null&&haveSlots.Count>0)
+                        {
+                            if(haveSlots.Where(s=>((s.Index>=1 && s.Index<=8)||(s.Index>=17 && s.Index<=24))).Count()==0)
+                            {
+                                //周转盘没有需要测试的穴位，把轴移动到安全位
+                                Step = ETurnoverFlowStep.gotoSafePos;
+                            }
+                            else
+                            {
                                 unloadOk = true;
                                 Step = ETurnoverFlowStep.waitCommand;
                             }
+                        }
+                        else
+                        {
+                            unloadOk = true;
+                            Step = ETurnoverFlowStep.waitCommand;
+                        }
+                        
+                    }
+                    break;
+                case ETurnoverFlowStep.gotoSafePos:
+                    AxisControl.TurnoverY.MovePos(SysConfigParam.GetValue<double>("PressTakeY"), GlobalVar.WholeSpeed);
+                    Step = ETurnoverFlowStep.waitArriveSafePos;
+                    break;
+                case ETurnoverFlowStep.waitArriveSafePos:
+                    if(Ops.IsStop("TurnoverY"))
+                    {
+                        
+                        Step = ETurnoverFlowStep.waitCommand;
+                    }
                     break;
 
+
             }
         }
 

Rs.MotionPlat/Flow/WorkFlow.cs

@@ -82,14 +82,6 @@ namespace Rs.MotionPlat.Flow
             //};
         }
 
-        /// <summary>
-        /// 当前取料穴位
-        /// </summary>
-        private ushort CurFetchSlotIndex = 1;
-        /// <summary>
-        /// 当前组装穴位
-        /// </summary>
-        private ushort CurAssembleSlotInex = 1;
         /// <summary>
         /// 吸嘴索引
         /// </summary>
@@ -113,6 +105,7 @@ namespace Rs.MotionPlat.Flow
         SlotPoint nozzleDist = new SlotPoint();
         List<Nozzle> unloadNozzles = new List<Nozzle>();
         TraySlot downSlot = new TraySlot();
+        int needGrabNum = 0;//需要拍照的吸嘴数量
         ErrorCode errCode = ErrorCode.Ok;
         public override void Run()
         {
@@ -121,14 +114,14 @@ namespace Rs.MotionPlat.Flow
                 case EWorkFlowStep.等待任务:
                     if (LoadAndUnloadTask.Instance.Count > 0)
                     {
-                        totalTask = LoadAndUnloadTask.Instance.GetTask();
+                        //totalTask = LoadAndUnloadTask.Instance.GetTask();
-                        int totalNum = totalTask.Count;
+                        //int totalNum = totalTask.Count;
-                        LoadAndUnloadTask.Instance.Categories.Count();
+                        //LoadAndUnloadTask.Instance.Categories.Count();
-                        string from_to = totalTask[0].FromType.ToString() + "_" + totalTask[0].ToType.ToString();
+                        //string from_to = totalTask[0].FromType.ToString() + "_" + totalTask[0].ToType.ToString();
-                        if (LoadAndUnloadTask.Instance.Categories.Count > 1)
+                        //if (LoadAndUnloadTask.Instance.Categories.Count > 1)
-                        {
+                        //{
-                            string from_to2 = totalTask[16].FromType.ToString() + "_" + totalTask[16].ToType.ToString();
+                        //    string from_to2 = totalTask[16].FromType.ToString() + "_" + totalTask[16].ToType.ToString();
-                        }
+                        //}
                         //if (totalTask[0].FromType == TurnoverType.Turnover && totalTask[0].ToType == TurnoverType.Tester)
                         //{
                         //    TestCenter.Instance.LoadAndUnloadResult(totalTask);
@@ -163,6 +156,7 @@ namespace Rs.MotionPlat.Flow
                     idleNozzle = NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE);
                     if (idleNozzle != null && idleNozzle.Count > 0)
                     {
+                        //这里改变吸嘴的状态
                         NozzleIndex = idleNozzle[0].NozzleIndex;
                         idleNozzle[0].Status = ENozzleStatus.ToUnload;
                         idleNozzle[0].ToType = curTurnoverTask.ToType;
@@ -258,13 +252,13 @@ namespace Rs.MotionPlat.Flow
                         FetchNum = 0;
                         if (curTurnoverTask.FromType == TurnoverType.Turnover)
                         {
-                            //curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curTurnoverTask.FromIndex + 1, EPointType.RUN);
+                            GlobalTray.TurnoverTray.ChangeStatus(curTurnoverTask.FromIndex+1, ESlotStatus.NotHave);
                         }
                         else if (curTurnoverTask.FromType == TurnoverType.ToBeTested)
                         {
                             GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
                         }
-                        if (totalTask.Where(t => t.Dealed == false).Count() > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count >1)
+                        if (totalTask.Where(t => t.Dealed == false).Count() > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count >0)
                         {
                             flowStep = EWorkFlowStep.到取料位上方;
                         }
@@ -272,7 +266,6 @@ namespace Rs.MotionPlat.Flow
                         {
                             flowStep = EWorkFlowStep.到下相机拍照起始位;
                         }
-                        CurFetchSlotIndex++;
                     }
                     else
                     {
@@ -303,7 +296,9 @@ namespace Rs.MotionPlat.Flow
                         Thread.Sleep(100);
                         HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
                         List<double> grabPoints = new List<double>();
-                        for(int i=1;i<9;i++)
+                        //获取有几个吸嘴需要拍照
+                        needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
+                        for(int i=1;i< needGrabNum+1; i++)
                         {
                             grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
                         }
@@ -320,7 +315,7 @@ namespace Rs.MotionPlat.Flow
                     {
                         IoManager.Instance.WriteOut("下左相机光源触发", 1);
                         Thread.Sleep(50);
-                        AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle9CenterX") - 10, GlobalVar.FlyCameraSpeed);
+                        AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 10, GlobalVar.FlyCameraSpeed);
                         flowStep = EWorkFlowStep.等待到下相机拍照结束位;
                     }
 
@@ -338,7 +333,7 @@ namespace Rs.MotionPlat.Flow
                     break;
                 case EWorkFlowStep.等待相机拍照完成:
                     imgs = ImageProcess.GetAutoImage();
-                    if (imgs != null && imgs.Length == 8)
+                    if (imgs != null && imgs.Length == needGrabNum)
                     {
                         CameraOkEvent?.Invoke(imgs, null);
                         if (GlobalVar.RunSpace)
@@ -390,7 +385,6 @@ namespace Rs.MotionPlat.Flow
                         {
                             NozzleIndex = unloadNozzles[0].NozzleIndex;
                         }
-
                         if (unloadNozzles[0].ToType == TurnoverType.Turnover)
                         {
                             curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", unloadNozzles[0].ToIndex + 1, EPointType.RUN);
@@ -511,11 +505,9 @@ namespace Rs.MotionPlat.Flow
                             }
                             else
                             {
-                                //回复中控，排料完成
                                 flowStep = EWorkFlowStep.任务结束到安全位;
                             }
                         }
-                        CurAssembleSlotInex++;
                     }
                     break;
                 case EWorkFlowStep.任务结束到安全位:
@@ -550,6 +542,15 @@ namespace Rs.MotionPlat.Flow
                         TestCenter.Instance.LoadAndUnloadResult(totalTask);
                         LoadAndUnloadTask.Instance.Clear();
                         MachineManage.Instance.RunState = ERunState.Waiting;
+                        //切换穴位状态
+                        for(int i=1;i<9;i++)
+                        {
+                            GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
+                        }
+                        for (int i = 17; i < 25; i++)
+                        {
+                            GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
+                        }
                         flowStep = EWorkFlowStep.等待任务;
                     }
                     break;
@@ -562,6 +563,15 @@ namespace Rs.MotionPlat.Flow
                     {
                         TestCenter.Instance.LoadAndUnloadResult(totalTask);
                         LoadAndUnloadTask.Instance.Clear();
+                        //切换穴位状态
+                        for (int i = 9; i < 17; i++)
+                        {
+                            GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
+                        }
+                        for (int i = 25; i < 33; i++)
+                        {
+                            GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
+                        }
                         MachineManage.Instance.RunState = ERunState.Waiting;
                         flowStep = EWorkFlowStep.等待任务;
                     }
@@ -593,9 +603,21 @@ namespace Rs.MotionPlat.Flow
                     return 0;
             }
         }
-
+        /// <summary>
+        /// 检测排料Y轴是否可以到周转盘
+        /// </summary>
+        /// <returns></returns>
+        private bool CanGoTurnoverTray()
+        {
+            //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>("PressY") < -1)
+                return false;
+            return true;
+        }
         private bool XYCanMove()
         {
+            
             //AxisControl.VacZ1.GetOrgStatus(out bool bOrgZ1);
             //AxisControl.VacZ2.GetOrgStatus(out bool bOrgZ2);
             //if (AxisControl.LoadX.HomeStatus == EHomeStatus.Finished

Rs.MotionPlat/Rs.MotionPlat.csproj

@@ -159,6 +159,7 @@
     <Compile Include="Flow\Space\TakeTrayTest.cs" />
     <Compile Include="Flow\Space\ZRTest.cs" />
     <Compile Include="Flow\TestCenter.cs" />
+    <Compile Include="Flow\TestStationFlow.cs" />
     <Compile Include="Flow\TurnoverFlow.cs" />
     <Compile Include="Flow\WorkFlow.cs" />
     <Compile Include="Form1.cs">