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增加排料运动日志/周转盘状态显示

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master
lhiven 2 years ago
parent 38206d24ed
commit 97fa17ce90
1 changed files with 172 additions and 31 deletions
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197
Rs.SkyLine/Flow/WorkFlow.cs
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@ -121,6 +121,9 @@ namespace Rs.MotionPlat.Flow
int needGrabNum = 0;//需要拍照的吸嘴数量
int reGrabCount = 0;//重拍次数
ErrorCode errCode = ErrorCode.Ok;
string logInfo = "";
List<TurnoverInfo> testLoadList = new List<TurnoverInfo>();
List<TurnoverInfo> testUnLoadList = new List<TurnoverInfo>();
public override void Run()
{
switch (flowStep)
@ -132,14 +135,23 @@ namespace Rs.MotionPlat.Flow
{
if(LoadAndUnloadTask.Instance.GetTaskNum(ETaskMode.TestLoad)>0)
{
logInfo = $"接收到测试工位上料任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.测试工位上料;
}
else if(LoadAndUnloadTask.Instance.GetTaskNum( ETaskMode.TestUnload)>0)
{
logInfo = $"接收到测试工位下料任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.测试工位下料;
}
else
{
logInfo = $"接收到排料任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.到取料位上方;
}
}
@ -167,22 +179,29 @@ namespace Rs.MotionPlat.Flow
curSlotPoint = null;
if (curTask.FromType == TurnoverType.Turnover)
{
logInfo = $"吸嘴{curTask.FromIndex + 1} 去周转盘 {curTask.FromIndex + 1} 号穴位取料";
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curTask.FromIndex + 1, EPointType.RUN);
MessageQueue.Instance.Insert($"吸嘴{curTask.FromIndex + 1} 去周转盘 {curTask.FromIndex + 1} 号穴位取料");
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
}
else if (curTask.FromType == TurnoverType.ToBeTested)
{
TraySlot slot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
if (slot != null)
{
logInfo = $"吸嘴{curNozzle.NozzleIndex} 去Input盘 {slot.Index} 号穴位取料";
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", slot.Index, EPointType.BASE);
MessageQueue.Instance.Insert($"吸嘴{curNozzle.NozzleIndex} 去Input盘 {slot.Index} 号穴位取料");
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
}
else
{
// Msg.ShowInfo("Input料盘缺料，请手动切盘后点击确定");
// GlobalTray.InputTray.ResetTray();
// GlobalTray.InputTray.Fill();
logInfo = "检测到Input料盘无料，准备上料盘";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
TakeTrayFlow.Instance.Take(EStockType.Input, EStockType.Empty1, ELoadUnloadType.Unload);
restoreFlowStep = EWorkFlowStep.到取料位上方;
flowStep = EWorkFlowStep.等待Input料盘搬运完成;
@ -214,7 +233,10 @@ namespace Rs.MotionPlat.Flow
}
else
{
Msg.ShowError("x y move isn't safe");
logInfo = "x y move isn't safe";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
MessageQueue.Instance.Warn(logInfo);
}
}
@ -222,16 +244,20 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.等待到取料位上方:
if (Ops.IsStop("LoadX","LoadY", $"NozzleR{curNozzle.NozzleIndex}"))
{
logInfo = "已运动到取料位上方";
Thread.Sleep(100);
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.到取料位下方;
MessageQueue.Instance.Insert("已运动到取料位上方");
}
break;
case EWorkFlowStep.到取料位下方:
if(AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus== EHomeStatus.Finished)
{
MessageQueue.Instance.Insert("准备运动到取料位下方");
logInfo = "准备运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (curTask.FromType == TurnoverType.Turnover)
{
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
@ -247,49 +273,75 @@ namespace Rs.MotionPlat.Flow
}
else
{
Msg.ShowError($"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定");
logInfo = $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
}
break;
case EWorkFlowStep.等待到取料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
{
Thread.Sleep(GlobalVar.AxisArrivedWaittime);
MessageQueue.Instance.Insert("已运动到取料位下方");
logInfo = "已运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.开真空;
}
break;
case EWorkFlowStep.开真空:
Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
MessageQueue.Instance.Insert($"打开{curNozzle.NozzleIndex}号吸嘴真空吸");
Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime);
logInfo = $"打开{curNozzle.NozzleIndex}号吸嘴真空吸";
MessageQueue.Instance.Insert(logInfo);
LogHelper .Debug(logInfo);
if (curTask.FromType == TurnoverType.Turnover)
{
logInfo = $"关闭周转盘{curTask.FromIndex + 1}号穴位真空吸";
Ops.Off($"周转盘{curTask.FromIndex+1}号穴位真空吸");
Thread.Sleep(GlobalVar.TurnoverTrayCloseVacSuctionDelaytime);
MessageQueue.Instance.Insert(logInfo);
LogHelper .Debug(logInfo);
logInfo = $"打开周转盘{curTask.FromIndex + 1}号穴位真空破";
Ops.On($"周转盘{curTask.FromIndex + 1}号穴位真空破");
Thread.Sleep(GlobalVar.TurnoverTrayOpenVacBreakDelaytime);
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
logInfo = $"关闭周转盘{curTask.FromIndex + 1}号穴位真空破";
Ops.Off($"周转盘{curTask.FromIndex + 1}号穴位真空破");
Thread.Sleep(GlobalVar.TurnoverTrayCloseVacBreakDelaytime);
MessageQueue.Instance.Insert(logInfo);
LogHelper .Debug(logInfo);
}
flowStep = EWorkFlowStep.取料完成抬起;
break;
case EWorkFlowStep.取料完成抬起:
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok)
{
logInfo = "取料完成准备抬起";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug (logInfo);
flowStep = EWorkFlowStep.等待取料完成抬起;
}
break;
case EWorkFlowStep.等待取料完成抬起:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
{
logInfo = "取料完成已运动到抬起位，准备真空检测";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.取料真空检测;
}
break;
case EWorkFlowStep.取料真空检测:
if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace)
{
FetchNum = 0;
logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
curNozzle.Status = ENozzleStatus.ToUnload;
curNozzle.FromType = curTask.FromType;
curNozzle.FromFloor = curTask.FromFloor;
@ -298,8 +350,6 @@ namespace Rs.MotionPlat.Flow
curNozzle.ToIndex = curTask.ToIndex;
curTask.SuckerNo = curNozzle.NozzleIndex ;
curNozzle.TurnoverGUID = curTask.GUID;
FetchNum = 0;
if (curTask.FromType == TurnoverType.Turnover)
{
curNozzle.SN = curTask.SN;
@ -313,8 +363,12 @@ namespace Rs.MotionPlat.Flow
}
curNozzle.Update();
curTask.Dealed = true;
if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode)>0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
int undoTaskNum = LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode);
if (undoTaskNum > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
{
logInfo = $"检测到还有{undoTaskNum}条任务未执行，继续执行";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.到取料位上方;
}
else
@ -411,6 +465,9 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.到下相机拍照起始位:
if (XYCanMove())
{
logInfo = "到下相机拍照起始位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
ImageProcess.ClearAutoTrigger();
HikCamera.Instance.SetExposure("locationCamera", GlobalVar.FlyGrabExposureTime);
HikCamera.Instance.SetGain("locationCamera", GlobalVar.FlyGrabGain);
@ -432,6 +489,9 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.等待到下相机拍照起始位:
if (Ops.IsStop("LoadX", "LoadY"))
{
logInfo = "已运动到下相机拍照起始位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Thread.Sleep(100);
HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
List<double> grabPoints = new List<double>();
@ -463,6 +523,9 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.到下相机拍照结束位:
if (XYCanMove())
{
logInfo = "到下相机拍照结束位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
IoManager.Instance.WriteOut("下左相机光源触发", 1);
Thread.Sleep(50);
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
@ -483,6 +546,10 @@ namespace Rs.MotionPlat.Flow
if (Ops.IsStop("LoadX"))
{
logInfo = "已运动到下相机拍照结束位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
AxisControl.LoadX.ClearCompare(1);
IoManager.Instance.WriteOut("下左相机光源触发", 0);
flowStep = EWorkFlowStep.等待相机拍照完成;
@ -493,6 +560,10 @@ namespace Rs.MotionPlat.Flow
imgs = ImageProcess.GetAutoImage();
if (imgs != null && imgs.Length == needGrabNum)
{
logInfo = "相机拍照完成，准备处理照片";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
{
imgs = imgs.Reverse().ToArray();
@ -524,6 +595,9 @@ namespace Rs.MotionPlat.Flow
mrs = VisionProcess.Instance.MatchDownCam(imgs);
if (mrs != null && mrs.Count == imgs.Length && mrs.Where(m=>m.IsOK==true).Count()==imgs.Length)
{
logInfo = "图片处理完成，准备放料";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
//foreach (Nozzle nozzle in NozzleManager.GetNozzles())
//{
// nozzle.SN = Guid.NewGuid().ToString();
@ -585,6 +659,7 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.到放料位上方:
if (XYCanMove())
{
turnoverOffsetPoint.Reset();
tray = null;
targetX = 0.0;
@ -596,15 +671,22 @@ namespace Rs.MotionPlat.Flow
{
if (curNozzle.ToType == TurnoverType.Turnover)
{
logInfo = "到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curNozzle.ToIndex + 1, EPointType.RUN);
turnoverOffsetPoint = TurnoverSlotOffset.GetOffsetPoint(curNozzle.ToIndex + 1);
}
else if (curNozzle.ToType == TurnoverType.ToBeTested)
{
logInfo = "到input盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
downSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.NotHave);
if (downSlot != null)
{
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", downSlot.Index, EPointType.RUN);
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", downSlot.Index, EPointType.BASE);
}
else
{
@ -619,6 +701,10 @@ namespace Rs.MotionPlat.Flow
}
else if (curNozzle.ToType == TurnoverType.Passed)
{
logInfo = "到Pass盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
//OK料仓切盘
downSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
if (downSlot != null)
@ -641,6 +727,10 @@ namespace Rs.MotionPlat.Flow
}
else if (curNozzle.ToType == TurnoverType.Failed)
{
logInfo = "到Ng盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
downSlot = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave);
if (downSlot != null)
{
@ -660,6 +750,9 @@ namespace Rs.MotionPlat.Flow
}
else if (curNozzle.ToType == TurnoverType.Multifunction)
{
logInfo = "到Multi盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
downSlot = GlobalTray.MultiTray.GetSlot(ESlotStatus.NotHave);
if (downSlot != null)
{
@ -716,12 +809,17 @@ namespace Rs.MotionPlat.Flow
if (Ops.IsStop("LoadX", "LoadY",$"NozzleR{curNozzle.NozzleIndex}"))
{
Thread.Sleep(100);
logInfo = "已运动到放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.到放料位下方;
}
break;
case EWorkFlowStep.到放料位下方:
logInfo = "到放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (curNozzle.ToType == TurnoverType.Turnover)
{
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
@ -739,6 +837,9 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.等待到放料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
{
logInfo = "已运动到放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (curNozzle.ToType== TurnoverType.Turnover)
{
Ops.On($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸");
@ -800,12 +901,18 @@ namespace Rs.MotionPlat.Flow
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok)
{
logInfo = "放料完成抬起";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.等待放料完成抬起;
}
break;
case EWorkFlowStep.等待放料完成抬起:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
{
logInfo = "放料完成已运动到抬起位，准备真空检测";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.放料真空检测;
}
break;
@ -814,10 +921,17 @@ namespace Rs.MotionPlat.Flow
{
if (Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
{
logInfo = $"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测 OK";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = EWorkFlowStep.放料任务完成;
}
else
{
logInfo = $"放料时周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
MessageQueue.Instance.Warn(logInfo);
LogHelper.Debug(logInfo);
DialogResult dr = Msg.ShowError($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常,点击确定后跳过");
if (dr == DialogResult.OK)
{
@ -831,6 +945,9 @@ namespace Rs.MotionPlat.Flow
}
break;
case EWorkFlowStep.放料任务完成:
logInfo = "放料任务完成";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
//Ops.HomeAndGoStartPos($"NozzleR{NozzleIndex}");
if (curNozzle.ToType == TurnoverType.Turnover)
@ -874,6 +991,9 @@ namespace Rs.MotionPlat.Flow
break;
case EWorkFlowStep.任务结束到安全位:
logInfo = "任务结束到安全位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
if(errCode== ErrorCode.Ok)
{
@ -887,16 +1007,27 @@ namespace Rs.MotionPlat.Flow
case EWorkFlowStep.等待任务结束到安全位:
if(Ops.IsStop("LoadX","LoadY"))
{
logInfo = "任务结束已回到安全位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (TestCenter.Instance.LoadResult())
{
logInfo = "通知中控任务完成";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
LoadAndUnloadTask.Instance.Clear();
logInfo = "任务完成，清除任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
}
MachineManage.Instance.RunState = ERunState.Waiting;
flowStep = EWorkFlowStep.等待任务;
}
break;
case EWorkFlowStep.测试工位上料:
TurnoverFlow.Instance.PressLoad(LoadAndUnloadTask.Instance.GetTestLoadTasks());
testLoadList = LoadAndUnloadTask.Instance.GetTestLoadTasks();
TurnoverFlow.Instance.PressLoad(testLoadList);
flowStep = EWorkFlowStep.等待测试工位上料完成;
break;
case EWorkFlowStep.等待测试工位上料完成:
@ -906,35 +1037,45 @@ namespace Rs.MotionPlat.Flow
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++)
foreach (TurnoverInfo turnoverInfo in testLoadList)
{
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
GlobalTray.TurnoverTray.ChangeStatus(turnoverInfo.FromIndex, ESlotStatus.NotHave);
}
//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;
case EWorkFlowStep.测试工位下料:
TurnoverFlow.Instance.PressUnload(LoadAndUnloadTask.Instance.GetTestUnLoadTasks());
testUnLoadList = LoadAndUnloadTask.Instance.GetTestUnLoadTasks();
TurnoverFlow.Instance.PressUnload(testUnLoadList);
flowStep = EWorkFlowStep.等待测试工位下料完成;
break;
case EWorkFlowStep.等待测试工位下料完成:
if (TurnoverFlow.Instance.UnloadFinished())
{
//logInfo = string.Join(",",testUnLoadList.Select(t=>t.ToIndex).ToList());
TestCenter.Instance.LoadTestUnLoadResult();
LoadAndUnloadTask.Instance.Clear();
//切换穴位状态
for (int i = 9; i < 17; i++)
foreach (TurnoverInfo turnoverInfo in testUnLoadList)
{
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
}
for (int i = 25; i < 33; i++)
{
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
GlobalTray.TurnoverTray.ChangeStatus(turnoverInfo.ToIndex, ESlotStatus.Have);
}
//for (int i = 9; i < 17; i++)
//{
// GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
//}
//for (int i = 25; i < 33; i++)
//{
// GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
//}
MachineManage.Instance.RunState = ERunState.Waiting;
flowStep = EWorkFlowStep.等待任务;
}

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