优化排料、周转流程

Rs.SkyLine/Flow/Camera/VisionManager.cs

@@ -207,8 +207,9 @@ namespace Rs.MotionPlat.Flow.Camera
                 out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
             if (score.Length > 0)
             {
-                vr.OffsetX = column;
-                vr.OffsetY = row;
+                vr.OffsetX = column-upCameraScanBarCodeModel.ModelMatchResult[1] * GlobalVar.UpCameraMmPerPixel;
+                vr.OffsetY = row- upCameraScanBarCodeModel.ModelMatchResult[0] * GlobalVar.UpCameraMmPerPixel;
+                vr.OffsetR = AngleTool.Rad2Deg((angle - upCameraScanBarCodeModel.ModelMatchResult[2]));
                 vr.SourceImage = image;
                 vr.SearchModelOK = true;
             }

Rs.SkyLine/Flow/Camera/VisionResult.cs

@@ -25,6 +25,11 @@ namespace Rs.MotionPlat.Flow.Camera
         /// 偏移量Y
         /// </summary>
         public double OffsetY { get; set; } = 0;
+
+        /// <summary>
+        /// 偏移量R
+        /// </summary>
+        public double OffsetR { get; set; } = 0;
         /// <summary>
         /// 扫码是否OK
         /// </summary>

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -1287,7 +1287,7 @@ namespace Rs.MotionPlat.Flow
                     {
                         if(curNozzle.ToType== TurnoverType.Turnover)
                         {
-                            if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0)
+                            if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0 && !GlobalVar.VirtualAxis)
                             {
                                 //没有需要给周转盘上料的任务后，就开始上相机扫码
                                 //判断周转盘第一行有没有产品,如果有产品则拍第一行

Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs

@@ -1457,117 +1457,10 @@ namespace Rs.MotionPlat.Flow
         public bool UnloadFinished()
         { return unloadOk; }
 
-        public void PressLoad(List<TurnoverInfo> taskList)
-        {
-            slots.Clear();
-            foreach(var slot in taskList)
-            {
-                slots.Add(slot.FromIndex+1);
-            }
-            pressLoad = true;
-            loadOk= false;
-        }
-
-        /// <summary>
-        /// 周转盘真空吸检测
-        /// </summary>
-        /// <returns></returns>
-        public List<int> TurnoverTrayVacCheck()
-        {
-            List<int> result = new List<int>();
-            foreach (var slot in slots)
-            { 
-                if (!Ops.IsOn($"周转盘{slot+8}号穴位真空吸检测"))
-                {
-                    result.Add(slot+8);
-                }
-            }
-            return result;
-        }
-
-        /// <summary>
-        /// 测试穴位真空吸检测
-        /// </summary>
-        /// <returns></returns>
-        public List<int> TestVacCheck()
-        {
-            List<int> result = new List<int>();
-            foreach (var slot in slots)
-            {
-                if (!Ops.IsOn($"测试{slot}号穴位真空吸检测"))
-                {
-                    result.Add(slot);   
-                }
-            }
-            return result;
-        }
-
-        public void PressUnload(List<TurnoverInfo> taskList)
-        {
-            slots.Clear();
-            foreach (var item in taskList)
-            {
-                slots.Add(item.FromIndex+1);
-            }
-            pressUnload = true;
-            unloadOk= false;
-        }
-        /// <summary>
-        /// 吸嘴真空吸检测
-        /// </summary>
-        /// <returns></returns>
-        List<int> CheckNozzleVac()
-        {
-            List<int> ngList = new List<int>();
-            //周转1号吸嘴真空吸检测
-            foreach (var slot in slots)
-            {
-                if (!Ops.IsOn($"周转{slot}号吸嘴真空吸检测"))
-                { 
-                    ngList.Add(slot);
-                }
-            }
-            return ngList;
-        }
-
-        void OpenNozzleVac()
-        {
-            foreach (var slot in slots)
-            {
-                Ops.On($"周转{slot}号吸嘴真空吸");
-            }
-        }
-
-        void CloseNozzleVac()
-        {
-            foreach (var slot in slots)
-            {
-                Ops.Off($"周转{slot}号吸嘴真空吸");
-            }
-        }
-
-        void OpenTurnoverTrayVac()
-        {
-            foreach (var slot in slots)
-            {
-                Ops.On($"周转盘{slot}号穴位真空吸");
-            }
-        }
-
-        void CloseTurnoverTrayVac()
-        {
-            foreach (var slot in slots)
-            {
-                Ops.Off($"周转盘{slot}号穴位真空吸");
-            }
-        }
 
-        void ClosePressVac()
+        public string GetStep()
         {
-            //foreach (var slot in slots)
-            //{
-            //    Ops.Off($"测试{slot}号穴位真空吸");
-            //}
+            return Step.ToString();
         }
 
     }