增加周转吸头取料失败后，把料重新放回料盘

Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs

@@ -238,6 +238,11 @@ namespace Rs.MotionPlat.Flow
                     List<TurnoverTraySlot> untestSlots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
                     if (untestSlots != null && untestSlots.Count > 0)
                     {
+                        undealTasks = LoadAndUnloadTask.Instance.GetTurnoverToTestTasks(ETaskDealStatus.Undeal);
+                        if(TurnoverDumpFlow.Instance.Dump(ETrayType.Turnover, undealTasks.Select(t => t.FromIndex + 1).ToList()))
+                        {
+                            TurnoverDumpFlow.Instance.Wait();
+                        }
                         bool exit = false;
                         while (!exit)
                         {
@@ -1220,6 +1225,11 @@ namespace Rs.MotionPlat.Flow
                     List<TestTraySlot> testedSlots = TestTrayManager.Instance.GetSlots(ETestTraySlotStatus.Have);
                     if (testedSlots != null && testedSlots.Count > 0)
                     {
+                        undealTasks = LoadAndUnloadTask.Instance.GetTestToTurnoverTasks(ETaskDealStatus.Undeal);
+                        if(TurnoverDumpFlow.Instance.Dump(ETrayType.Test, undealTasks.Select(t => t.FromIndex + 1).ToList()))
+                        {
+                            TurnoverDumpFlow.Instance.Wait();
+                        }
                         bool exit = false;
                         while (!exit)
                         {

Rs.SkyLine/Flow/SubFlow/TurnoverDumpFlow.cs

@@ -0,0 +1,139 @@
+using Rs.Controls;
+using Rs.Framework;
+using Rs.Motion;
+using Rs.MotionPlat.Commom;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Flow.SubFlow
+{
+    enum ETurnoverDumpFlowStep
+    {
+        到放料位下方,
+        等待到放料位下方,
+        放料完成抬起,
+        等待放料完成抬起
+    }
+    /// <summary>
+    /// 当周转吸嘴在治具或者周转盘取料失败时，自动把产品放下去，然后再报警
+    /// </summary>
+    public class TurnoverDumpFlow
+    {
+        private TurnoverDumpFlow() { }
+
+        private static TurnoverDumpFlow instance;
+        public static TurnoverDumpFlow Instance
+        {
+            get
+            {
+                if(instance==null)
+                    instance = new TurnoverDumpFlow();
+                return instance;
+            }
+        }
+        private ETurnoverDumpFlowStep step = ETurnoverDumpFlowStep.到放料位下方;
+        double targetPos = 0.0;
+        ErrorCode errCode = ErrorCode.Ok;
+        string logInfo = string.Empty;
+        ManualResetEvent dumpFinished = new ManualResetEvent(true);
+        bool finished = false;
+
+        public bool Dump(ETrayType trayType, List<int> transitNozzleList)
+        {
+            if (finished)
+            {
+                dumpFinished.Reset();
+                finished = false;
+            }
+            else
+                return false;
+            Task.Run(() => {
+                while (!finished)
+                {
+                    if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
+                    {
+                        Thread.Sleep(10);
+                        continue;
+                    }
+                    switch (step)
+                    {
+                        case ETurnoverDumpFlowStep.到放料位下方:
+                            targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset * 2;
+                            errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
+                            if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
+                            {
+                                logInfo = GetClassName() + $"到放料位下方";
+                                MessageQueue.Instance.Insert(logInfo);
+                                step = ETurnoverDumpFlowStep.等待到放料位下方;
+                            }
+                            else
+                            {
+                                MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
+                            }
+                            break;
+                        case ETurnoverDumpFlowStep.等待到放料位下方:
+                            if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
+                            {
+                                if (Ops.IsArrived(AxisControl.TurnoverZ))
+                                {
+                                    logInfo = GetClassName() + $"已运动到放料位下方";
+                                    MessageQueue.Instance.Insert(logInfo);
+                                    ////关闭真空吸
+                                    VacManager.TransitNozzleVacSuction(EVacOperator.Close, true, transitNozzleList.ToArray());
+                                    //打开真空破
+                                    VacManager.TransitNozzleVacBreak(EVacOperator.Open, true, transitNozzleList.ToArray());
+                                    //关闭真空破
+                                    VacManager.TransitNozzleVacBreak(EVacOperator.Close, false, transitNozzleList.ToArray());
+                                    step = ETurnoverDumpFlowStep.放料完成抬起;
+                                }
+
+                            }
+                            break;
+                        case ETurnoverDumpFlowStep.放料完成抬起:
+                            errCode = AxisControl.TurnoverZ.MovePos(0, GlobalVar.WholeSpeed);
+                            if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
+                            {
+                                logInfo = GetClassName() + $"放料完成抬起";
+                                MessageQueue.Instance.Insert(logInfo);
+                                step = ETurnoverDumpFlowStep.等待到放料位下方;
+                            }
+                            else
+                            {
+                                MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
+                            }
+                            break;
+                        case ETurnoverDumpFlowStep.等待放料完成抬起:
+                            if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
+                            {
+                                if (Ops.IsArrived(AxisControl.TurnoverZ))
+                                {
+                                    finished = true;
+                                    dumpFinished.Set();
+                                    logInfo = GetClassName() + $"放料完成已抬起";
+                                    MessageQueue.Instance.Insert(logInfo);
+                                    break;
+                                }
+                            }
+                            break;
+                    }
+                    Thread.Sleep(10);
+                }
+            });
+            return true;
+        }
+
+        public void Wait()
+        {
+            dumpFinished.WaitOne();
+        }
+
+        string GetClassName()
+        {
+            return "TurnoverDumpFlow-";
+        }
+    }
+}

Rs.SkyLine/Rs.SkyLine.csproj

@@ -213,6 +213,7 @@
     <Compile Include="Flow\MonitorSystemButton.cs" />
     <Compile Include="Flow\SubFlow\FiberWarningPressFlow.cs" />
     <Compile Include="Flow\SubFlow\TestFixtureVacSuctionCheckFlow.cs" />
+    <Compile Include="Flow\SubFlow\TurnoverDumpFlow.cs" />
     <Compile Include="Flow\SubFlow\UpCameraScanBarCodeFlow.cs" />
     <Compile Include="Flow\SubFlow\WarningSuckerNgFlow.cs" />
     <Compile Include="Flow\RearrangeFlow.cs" />