增加重测NG流程

搬运料盘增加周转轴防呆

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -1887,7 +1887,7 @@ namespace Rs.MotionPlat.Flow
                 return false;
             return true;
         }
-        private bool XYCanMove()
+        public bool XYCanMove()
         {
             if (!CanGoTurnoverTray())
                 return false;

Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs

@@ -1,6 +1,7 @@
 using Rs.AutoDischarge.V3.Flow;
 using Rs.Controls;
 using Rs.Framework;
+using Rs.Motion;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Flow.Space;
 using System;
@@ -101,6 +102,8 @@ namespace Rs.MotionPlat.Flow
                 switch (step)
                 {
                     case ETakeTrayFlowStep.到取料盘上方:
+                        if(DischargeFlow.Instance.XYCanMove())
+                        {
                             //double centerX = SysConfigParam.GetValue<double>($"Tray{m_fromTray.ToString()}CenterX");
                             //double centerY = SysConfigParam.GetValue<double>($"Tray{m_fromTray.ToString()}CenterY");
                             double cameraCenterX = SysConfigParam.GetValue<double>("ClampCenter2UpCameraCenterX");
@@ -130,14 +133,22 @@ namespace Rs.MotionPlat.Flow
                             {
                                 MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
                             }
+                        }
+                        else
+                        {
+                            Msg.ShowError("周转Y轴不在安全位，请移动到安全后点击确定");
+                        }
                         break;
                     case ETakeTrayFlowStep.等待到取料盘上方:
                         if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
+                        {
+                            if(Ops.IsArrived(AxisControl.LoadX,AxisControl.LoadY))
                             {
                                 logInfo = GetClassName() + $"已运动到{m_fromTray}料仓取料盘位上方";
                                 MessageQueue.Instance.Insert(logInfo);
                                 step = ETakeTrayFlowStep.等待料盘准备就绪;
                             }
+                        }
                         break;
                     case ETakeTrayFlowStep.等待料盘准备就绪:
                         if (StockManager.Instance.GetStock(m_fromTray).Status == EStockTrayStatus.Loaded)
@@ -254,6 +265,8 @@ namespace Rs.MotionPlat.Flow
                         }
                         break;
                     case ETakeTrayFlowStep.到放料盘上方:
+                        if (DischargeFlow.Instance.XYCanMove())
+                        {
                             //if(GlobalVar.RunSpace)
                             //{
                             //    Thread.Sleep(2000);
@@ -261,12 +274,12 @@ namespace Rs.MotionPlat.Flow
                             //centerX = SysConfigParam.GetValue<double>($"Tray{m_toTray.ToString()}CenterX");
                             //centerY = SysConfigParam.GetValue<double>($"Tray{m_toTray.ToString()}CenterY");
                             takeTrayFinishedEvent?.Invoke();
-                        cameraCenterX = SysConfigParam.GetValue<double>("ClampCenter2UpCameraCenterX");
+                            double cameraCenterX = SysConfigParam.GetValue<double>("ClampCenter2UpCameraCenterX");
-                        cameraCenterY = SysConfigParam.GetValue<double>("ClampCenter2UpCameraCenterY");
+                            double cameraCenterY = SysConfigParam.GetValue<double>("ClampCenter2UpCameraCenterY");
                             targetX = SysConfigParam.GetValue<double>($"{m_toTray.ToString()}TakeTrayX");
                             targetY = SysConfigParam.GetValue<double>($"{m_toTray.ToString()}TakeTrayY");
 
-                        errCode = AxisControl.LoadX.MovePos(targetX+ cameraCenterX, GlobalVar.TakeTraySpeed);
+                            ErrorCode errCode = AxisControl.LoadX.MovePos(targetX + cameraCenterX, GlobalVar.TakeTraySpeed);
                             if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
                             {
                                 errCode = AxisControl.LoadY.MovePos(targetY + cameraCenterY - 2, GlobalVar.TakeTraySpeed);
@@ -290,15 +303,23 @@ namespace Rs.MotionPlat.Flow
                                 MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
 
                             }
+                        }
+                        else
+                        {
+                            Msg.ShowError("周转Y轴不在安全位，请移动到安全后点击确定");
+                        }
                         break;
                     case ETakeTrayFlowStep.等待到放料盘上方:
                         if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
+                        {
+                            if (Ops.IsArrived(AxisControl.LoadX, AxisControl.LoadY))
                             {
                                 logInfo = GetClassName() + $"已运动到{toTray}料仓放料盘上方";
                                 MessageQueue.Instance.Insert(logInfo);
                                 arrivedDumpPosEvent?.Invoke();
                                 step = ETakeTrayFlowStep.等待放料仓准备就绪;
                             } 
+                        }
                         break;
                     case ETakeTrayFlowStep.等待放料仓准备就绪:
                         if ((StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Unloaded|| StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Empty) || GlobalVar.VirtualAxis)

Rs.SkyLine/Flow/SubFlow/NgTrayToInputTrayFlow.cs

@@ -48,8 +48,6 @@ namespace Rs.MotionPlat.Flow.SubFlow
                     });
                 });
             }
-
-            Thread.Sleep(5000);
             while (true)
             {
                 if(Ops.IsOff("4号料仓料盘到位光电检测"))//如果ng料仓处没有料盘
@@ -68,13 +66,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
                 }
                 logInfo = "start take ng tray to input stock";
                 MessageQueue.Instance.Insert(logInfo );
-                TakeTrayFlow.Instance.Take(ETrayType.Ng, ETrayType.Input, null, null, () =>{
+                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);
                     });
                 });
             }
-            Ops.Stop();
         }
     }
 }

Rs.SkyLine/Flow/TestCenter.cs

@@ -126,9 +126,10 @@ namespace Rs.MotionPlat.Flow
                 switch (eInstructioneInstruction)
                 {
                     case EInstruction.TransferSiloTray:
-                        //ReportToTestCenter(schedule);
+                        ReportToTestCenter(schedule);
-                        //MachineManage.Instance.SetLoadUnloadStatus(ERunState.Busying);
+                        MachineManage.Instance.SetLoadUnloadStatus(ERunState.Busying);
-                        //NgTrayToInputTrayFlow.Instance.MoveToInput();
+                        NgTrayToInputTrayFlow.Instance.MoveToInput();
+                        MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
                         break;
                     case EInstruction.TestFinished:
                         MessageQueue.Instance.Insert("测试完成:"+JsonConvert.SerializeObject(schedule, new StringEnumConverter()));

Rs.SkyLine/SysConfig/StockControl.cs

@@ -212,6 +212,8 @@ namespace Rs.MotionPlat.SysConfig
                 tostock = ETrayType.Multi;
             if (btnToEmpty2.Checked)
                 tostock = ETrayType.Empty2;
+            Task.Run(() => {
+
                 StockManager.Instance.GetStock(fromstock).Load(EStockTrayLoadMode.Whole, null);
                 TakeTrayFlow.Instance.Take(fromstock, tostock,
                     null,
@@ -221,6 +223,7 @@ namespace Rs.MotionPlat.SysConfig
                     () => {
                         StockManager.Instance.GetStock(tostock).Unload(EStockTrayUnLoadMode.Whole, null);
                     });
+            });
         }
     }
 }