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1 优化重测NG流程

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2 修复当只有8个产品时，结束上料不再周转盘不扫码的问题
master
lhiven 1 year ago
parent b9ea59e857
commit 46ceacce74
4 changed files with 229 additions and 197 deletions
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400
Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
Unescape Escape View File

@ -632,6 +632,7 @@ namespace Rs.MotionPlat.Flow
}
else
{
ScanBarCode();
flowStep = EDischargeFlowStep.任务结束到安全位;
}
}
@ -1542,202 +1543,7 @@ namespace Rs.MotionPlat.Flow
{
if(curNozzle.ToType== TurnoverType.Turnover)
{
if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0 && !GlobalVar.VirtualAxis)
{
if(GlobalVar.GRR)
{
scanNum++;
}
if(scanNum==1 || !GlobalVar.GRR)
{
if(GlobalVar.EnableVirtuleBarCode)
{
List<TurnoverTraySlot> slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
foreach (var slot in slots)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code);
}
}
else
{
//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
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK)//定位成功
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
if (vr.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
if (failNum < 4)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex);
box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
}
//OnUpCameraGrabResult?.Invoke(result);
}
//判断周转盘第三行有没有产品,如果有产品则拍第三行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK)//定位成功
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
if (vr.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
if (failNum < 4)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else if (box.Button == ETipButton.Skip)
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
}
//OnUpCameraGrabResult?.Invoke(result);
}
}
}
}
ScanBarCode();
}
if (LoadAndUnloadTask.Instance.GetUnDealedTask().Count > 0)
@ -1817,6 +1623,207 @@ namespace Rs.MotionPlat.Flow
}
}
private void ScanBarCode()
{
SchedulingMessageBox box = new SchedulingMessageBox();
if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0 && !GlobalVar.VirtualAxis)
{
if (GlobalVar.GRR)
{
scanNum++;
}
if (scanNum == 1 || !GlobalVar.GRR)
{
if (GlobalVar.EnableVirtuleBarCode)
{
List<TurnoverTraySlot> slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
foreach (var slot in slots)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code);
}
}
else
{
//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
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK)//定位成功
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
if (vr.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
if (failNum < 4)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex);
box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
}
//OnUpCameraGrabResult?.Invoke(result);
}
//判断周转盘第三行有没有产品,如果有产品则拍第三行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK)//定位成功
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
if (vr.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
if (failNum < 4)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else if (box.Button == ETipButton.Skip)
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
}
//OnUpCameraGrabResult?.Invoke(result);
}
}
}
}
}
/// <summary>
/// 取料完成后更新吸嘴状态
/// </summary>
@ -1910,4 +1917,5 @@ namespace Rs.MotionPlat.Flow
return $"{trayType}盘{slotIndex+1}穴位";
}
}
}

2
Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs
Unescape Escape View File

@ -465,6 +465,7 @@ namespace Rs.AutoDischarge.V3.Flow
{
finished = false;
}
actionFinishedEvent.Reset();
IAxis StockFlow = AxisControl.GetAxis($"StockFlow{(int)m_stockType}");
logInfo = GetClassName() + $"{GetTrayName()} 料仓收到下料任务";
MessageQueue.Instance.Insert(logInfo);
@ -679,6 +680,7 @@ namespace Rs.AutoDischarge.V3.Flow
}
Thread.Sleep(10);
}
actionFinishedEvent.Set();
return true;
}

23
Rs.SkyLine/Flow/SubFlow/NgTrayToInputTrayFlow.cs
Unescape Escape View File

@ -69,9 +69,30 @@ namespace Rs.MotionPlat.Flow.SubFlow
TakeTrayFlow.Instance.Take(ETrayType.Ng, ETrayType.Input, () => {
StockManager.Instance.GetStock(ETrayType.Ng).ChangeStatus(EStockTrayStatus.Empty);
}, null, () =>{
Task.Run(() => {
StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Whole, null);
if (Ops.IsOn("4号料仓缺盘光电检测"))//如果还有需要搬运的料盘
StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Whole, null);
else
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterTakeTray, () =>
{
StockManager.Instance.GetStock(ETrayType.Input).ChangeStatus(EStockTrayStatus.Loaded, true);
});
});
bool needTake = false;
Task.Run(() =>
{
if (Ops.IsOn("4号料仓缺盘光电检测"))//如果还有需要搬运的料盘
{
needTake = true;
StockManager.Instance.GetStock(ETrayType.Ng).Load(EStockTrayLoadMode.Whole, null);
}
});
Thread.Sleep(1000);
StockManager.Instance.GetStock(ETrayType.Input).WaitFinished();
if(needTake) {
StockManager.Instance.GetStock(ETrayType.Ng).WaitFinished();
}
});
}
}

1
Rs.SkyLine/Flow/TestCenter.cs
Unescape Escape View File

@ -130,6 +130,7 @@ namespace Rs.MotionPlat.Flow
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Busying);
NgTrayToInputTrayFlow.Instance.MoveToInput();
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
Ops.Stop();
break;
case EInstruction.TestFinished:
MessageQueue.Instance.Insert("测试完成:"+JsonConvert.SerializeObject(schedule, new StringEnumConverter()));

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