增加放料到测试治具前检测穴位中是否有产品

Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs

@@ -158,7 +158,7 @@ namespace Rs.MotionPlat.Flow
         List<int> masticSlots = new List<int>();
         bool bTakeFlag = false;
         bool hasUnloadFlag = false;
-
+        int turnoverTrayToTestTrayNum = 1;
         /// <summary>
         /// 可以下料到周转盘
         /// </summary>
@@ -516,6 +516,10 @@ namespace Rs.MotionPlat.Flow
                             }
                             logInfo = GetClassName() + $"到测试放料位上方";
                             MessageQueue.Instance.Insert(logInfo);
+                            if(turnoverTrayToTestTrayNum==1)
+                            {
+                                TestTrayHasProduct();//异步检测
+                            }
                             Step = ETurnoverFlowStep.等待运动到测试放料位上方;
                         }
                         else
@@ -534,6 +538,26 @@ namespace Rs.MotionPlat.Flow
                     {
                         if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
                         {
+                            if (turnoverTrayToTestTrayNum == 1)
+                            {
+                                testTrayHasProductCheckEvent.WaitOne();
+                                if(testTrayHasProductList!=null &&  testTrayHasProductList.Count>0)
+                                {
+                                    while (true)
+                                    {
+                                        alarmInfo = $"测试穴位{testTrayHasProductList.ToJoinString()}中有产品，请取出后点击确定";
+                                        MsgBox.ShowDialog(1, alarmInfo, ETipButton.Ok);
+                                        //再次检测
+                                        TestTrayHasProduct();
+                                        testTrayHasProductCheckEvent.WaitOne();
+                                        if (testTrayHasProductList ==null  || testTrayHasProductList.Count == 0)
+                                        {
+                                            break;
+                                        }
+                                    }
+                                }
+                            }
+                            turnoverTrayToTestTrayNum++;
                             if (turnoverTakeFinishe == false && TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have).Count() == 0)
                             {
                                 turnoverTakeFinishe = true;
@@ -997,6 +1021,7 @@ namespace Rs.MotionPlat.Flow
                         errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
                         if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
                         {
+                            turnoverTrayToTestTrayNum = 1;
                             if (GlobalVar.VirtualAxis)
                             {
                                 Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
@@ -2125,5 +2150,26 @@ namespace Rs.MotionPlat.Flow
                 return false;
             return true;
         }
+
+        ManualResetEvent testTrayHasProductCheckEvent=new ManualResetEvent(false);
+        private List<int> testTrayHasProductList = new List<int>();
+        private void TestTrayHasProduct()
+        {
+            Task.Run(() => {
+                testTrayHasProductCheckEvent.Reset();
+                testTrayHasProductList.Clear();
+                //打开所有的真空
+                VacManager.TestTrayVacSuction(EVacOperator.Open, true, TestTrayManager.Instance.Slots.Select(s => s.Index).ToArray());
+                foreach (TestTraySlot slot in TestTrayManager.Instance.Slots)
+                {
+                    if (Ops.IsOn($"测试{slot.Index}号穴位真空吸检测"))
+                    {
+                        testTrayHasProductList.Add(slot.Index);
+                    }
+                }
+                VacManager.TestTrayVacSuction(EVacOperator.Close, true, TestTrayManager.Instance.Slots.Select(s => s.Index).ToArray());
+                testTrayHasProductCheckEvent.Set();
+            });
+        }
     }
 }