From 841997dc177be64d0ce1844e45381c7407053307 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Sun, 30 Jun 2024 11:29:35 +0800
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---
 Rs.SkyLine/Commom/NozzleCollection.cs       |  6 ++++++
 Rs.SkyLine/Commom/VisionProcess.cs          |  9 ++++++++-
 Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs | 10 +++++++++-
 3 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/Rs.SkyLine/Commom/NozzleCollection.cs b/Rs.SkyLine/Commom/NozzleCollection.cs
index 4421acd..91b346e 100644
--- a/Rs.SkyLine/Commom/NozzleCollection.cs
+++ b/Rs.SkyLine/Commom/NozzleCollection.cs
@@ -1,4 +1,5 @@
 using NPOI.SS.Formula.Eval;
+using Rs.Controls;
 using Rs.DataAccess;
 using Rs.Framework;
 using Rs.MotionPlat.Flow;
@@ -314,5 +315,10 @@ namespace Rs.MotionPlat.Commom
         {
             return nozzles;
         }
+
+        public static double GetNozzleGrabOffsetY(int nozzleIndex)
+        {
+            return SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterY") - SysConfigParam.GetValue<double>("Nozzle1CenterY");
+        }
     }
 }
diff --git a/Rs.SkyLine/Commom/VisionProcess.cs b/Rs.SkyLine/Commom/VisionProcess.cs
index 54a7cdd..8e8fa7a 100644
--- a/Rs.SkyLine/Commom/VisionProcess.cs
+++ b/Rs.SkyLine/Commom/VisionProcess.cs
@@ -76,9 +76,16 @@ namespace Rs.MotionPlat.Commom
             get
             {
                 if (LocationOk)
-                    return -1 * (Row - ModelRow) * GlobalVar.DownCameraMmPerPixel;
+                {
+                    double sourceOffsetY = (-1 * (Row - ModelRow) * GlobalVar.DownCameraMmPerPixel);
+                    double offsetY = NozzleManager.GetNozzleGrabOffsetY(NozzleIndex);
+                    //MessageQueue.Instance.Insert( $"吸嘴{NozzleIndex},补偿前:{sourceOffsetY},增加偏移量{offsetY},补偿后:{sourceOffsetY - offsetY}");
+                    return sourceOffsetY - offsetY;
+                } 
                 else
+                {
                     return 0;
+                } 
             }
         }
 
diff --git a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
index 711db5f..bc19bdf 100644
--- a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
+++ b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
@@ -813,7 +813,7 @@ namespace Rs.MotionPlat.Flow
                                     needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
                                     //targetX = SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 30;
                                     targetX = SysConfigParam.GetValue<double>($"Nozzle8CenterX") - 30;
-                                    targetY = SysConfigParam.GetValue<double>($"Nozzle8CenterY");
+                                    targetY = SysConfigParam.GetValue<double>($"Nozzle1CenterY");
                                     errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
                                     if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                                     {
@@ -1037,6 +1037,14 @@ namespace Rs.MotionPlat.Flow
                             //    NozzleManager.GetNozzle(ni).SN = item.SN;
                             //    ni++;
                             //}
+                            //foreach (MatchResult matchResult in mrs)
+                            //{
+                            //    if(matchResult.IsOK)
+                            //    {
+                                    
+                            //        matchResult.OffsetRow = matchResult.OffsetRow + offsetY;
+                            //    }
+                            //}
                             reGrabCount = 0;
                             OnMatchResult?.Invoke(mrs);
                             flowStep = EDischargeFlowStep.到放料位上方;