From 045c14a5ed27c38f2c1f86e203f73a12eea4c3d5 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Mon, 11 Dec 2023 17:18:58 +0900
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=8E=92=E6=96=99=E3=80=81?=
 =?UTF-8?q?=E5=91=A8=E8=BD=AC=E6=B5=81=E7=A8=8B?=
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---
 Rs.SkyLine/Flow/Camera/VisionManager.cs     |   5 +-
 Rs.SkyLine/Flow/Camera/VisionResult.cs      |   5 +
 Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs |   2 +-
 Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs  | 111 +-------------------
 4 files changed, 11 insertions(+), 112 deletions(-)

diff --git a/Rs.SkyLine/Flow/Camera/VisionManager.cs b/Rs.SkyLine/Flow/Camera/VisionManager.cs
index df8ea2d..24bd9b4 100644
--- a/Rs.SkyLine/Flow/Camera/VisionManager.cs
+++ b/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;
             }
diff --git a/Rs.SkyLine/Flow/Camera/VisionResult.cs b/Rs.SkyLine/Flow/Camera/VisionResult.cs
index 2eb68f1..e00664f 100644
--- a/Rs.SkyLine/Flow/Camera/VisionResult.cs
+++ b/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>
diff --git a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
index 6e242f4..818cc8c 100644
--- a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
+++ b/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
diff --git a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs
index 9f5ee0d..28c3037 100644
--- a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs
+++ b/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();
         }
 
     }