上相机定位、扫码增加打印日志

Rs.SkyLine/Flow/SubFlow/UpCameraScanBarCodeFlow.cs

@@ -266,7 +266,6 @@ namespace Rs.MotionPlat.Flow.SubFlow
         {
             VisionResult singleResult = null;
             if (exit == false) return null;
-            //grabFinishedEvent.Reset();
             HObject imageSingle = new HObject();
             exit = false;
             if(!needGo)
@@ -282,7 +281,6 @@ namespace Rs.MotionPlat.Flow.SubFlow
             {
                 fixedStep = EUpCameraFixedScanBarCodeFlowStep.到扫码位上方;
             }
-            //Task.Run(() => {
             while (!exit)
             {
                 if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
@@ -300,7 +298,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                             errCode = AxisControl.LoadY.MovePos(targetPoint.Y, GlobalVar.FlyCameraSpeed);
                             if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
                             {
-                                    logInfo = GetClassName() + $"到扫码起始位";
+                                logInfo = GetClassName() + $"到{SlotIndex}号穴位拍照位上方";
                                 MessageQueue.Instance.Insert(logInfo);
                                 fixedStep = EUpCameraFixedScanBarCodeFlowStep.等待运动到扫码位上方;
                             }
@@ -318,13 +316,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         if (Ops.IsStop(AxisAlias.LoadX, AxisAlias.LoadY) || GlobalVar.VirtualAxis)
                         {
                             Thread.Sleep(200);
+
+                            logInfo = GetClassName() + $"已运动到{SlotIndex}号穴位拍照位上方";
+                            MessageQueue.Instance.Insert(logInfo);
                             ImageProcess.ClearManualTrigger();
                             HikCamera.Instance.SetTrigger("upCamera", ETriggerMode.Manual);
                             HikCamera.Instance.SetExposure("upCamera", GlobalVar.UpCameraExposureTime);
                             HikCamera.Instance.SetGain("upCamera", GlobalVar.UpCameraGain);
                             AxisControl.LoadX.ComparePulse(2, false);
-                                logInfo = GetClassName() + $"已运动到扫码起始位";
-                                MessageQueue.Instance.Insert(logInfo);
                             scanBarCodeWait.Restart();
                             fixedStep = EUpCameraFixedScanBarCodeFlowStep.等待扫码结束;
                         }
@@ -335,26 +334,28 @@ namespace Rs.MotionPlat.Flow.SubFlow
                             HObject image = ImageProcess.GetManualImage();
                             if (image != null)
                             {
+                                logInfo = GetClassName() + "拍照完成";
+                                MessageQueue.Instance.Insert(logInfo);
                                 imageSingle = ImageRotate.Rotate(image, "upCamera");
                                 fixedStep = EUpCameraFixedScanBarCodeFlowStep.拍照结果处理;
                             }
                         }
                         else
                         {
+                            logInfo = GetClassName() + "拍照超时，重新拍照";
+                            MessageQueue.Instance.Warn(logInfo);
                             fixedStep = EUpCameraFixedScanBarCodeFlowStep.到扫码位上方;
                         }
-                           
                         break;
                     case EUpCameraFixedScanBarCodeFlowStep.拍照结果处理:
                         singleResult = VisionManager.TurnoverTrayDumpProductOK(imageSingle, bNeedLocate, bNeedScanBarcode, SlotIndex);
                         singleResult.SlotIndex = SlotIndex;
                         exit = true;
-                            //grabFinishedEvent.Set();
+                        logInfo = GetClassName() + "拍照处理完成";
+                        MessageQueue.Instance.Warn(logInfo);
                         break;
                 }
             }
-            //});
-
             return singleResult;
 
         }