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Rs.SkyLine
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修复下相机定位失败提示错误

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master
lhiven 1 year ago
parent 84009e0691
commit cc825c66e4
1 changed files with 135 additions and 121 deletions
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256
Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
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@ -854,9 +854,12 @@ namespace Rs.MotionPlat.Flow
List<int> errCodeList = new List<int>();
foreach (MatchResult item in mrs)
{
if(item.IsOK&&GlobalVar.EnableScanBarCodeByDownCamera)
if(item.IsOK)
{
NozzleManager.GetNozzle(ni).SN = item.SN;
if(GlobalVar.EnableScanBarCodeByDownCamera)
{
NozzleManager.GetNozzle(ni).SN = item.SN;
}
}
else
{
@ -1545,180 +1548,191 @@ namespace Rs.MotionPlat.Flow
}
if(scanNum==1 || !GlobalVar.GRR)
{
//没有需要给周转盘上料的任务后，就开始上相机扫码
//判断周转盘第一行有没有产品,如果有产品则拍第一行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One))
if(GlobalVar.EnableVirtuleBarCode)
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
List<TurnoverTraySlot> slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
foreach (var slot in slots)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code);
}
}
else
{
//没有需要给周转盘上料的任务后，就开始上相机扫码
//判断周转盘第一行有没有产品,如果有产品则拍第一行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (vr.SearchModelOK)//定位成功
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
if (vr.SearchModelOK)//定位成功
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (vr.ScanBarCodeOK)
if (GlobalVar.RunSpace)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
int failNum = 1;
while (true)
if (vr.ScanBarCodeOK)
{
if (failNum < 4)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex);
box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
if (box.Button == ETipButton.Retry)
if (failNum < 4)
{
failNum = 1;
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex);
box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
//定位失败,或者超出指定范围
OnShowGrabResult?.Invoke(vr, false);
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
//OnUpCameraGrabResult?.Invoke(result);
}
//OnUpCameraGrabResult?.Invoke(result);
}
//判断周转盘第三行有没有产品,如果有产品则拍第三行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three))
{
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
//判断周转盘第三行有没有产品,如果有产品则拍第三行
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three))
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
//找拍照起点和终点
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17);
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (vr.SearchModelOK)//定位成功
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (!GlobalVar.EnableScanBarCodeByDownCamera)
if (vr.SearchModelOK)//定位成功
{
if (GlobalVar.RunSpace)
{
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
if (!GlobalVar.EnableScanBarCodeByDownCamera)
{
if (vr.ScanBarCodeOK)
if (GlobalVar.RunSpace)
{
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
}
else
{
int failNum = 1;
while (true)
if (vr.ScanBarCodeOK)
{
if (failNum < 4)
OnShowGrabResult?.Invoke(vr, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
}
else
{
int failNum = 1;
while (true)
{
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
if (failNum < 4)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
//如果扫码失败再重扫一次
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true);
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
if (vrsigle.ScanBarCodeOK)
{
OnShowGrabResult?.Invoke(vrsigle, true);
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
break;
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
failNum++;
OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
Thread.Sleep(1000);
}
}
else
{
box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else if (box.Button == ETipButton.Skip)
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip);
if (box.Button == ETipButton.Retry)
{
failNum = 1;
}
else if (box.Button == ETipButton.Skip)
{
//OnShowGrabResult?.Invoke(vrsigle, true);
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
break;
}
}
}
}
}
}
}
else
{
//定位失败,或者超出指定范围
}
}
else
{
//定位失败,或者超出指定范围
OnShowGrabResult?.Invoke(vr, false);
}
}
else
{
OnShowGrabResult?.Invoke(vr, false);
}
}
//OnUpCameraGrabResult?.Invoke(result);
//OnUpCameraGrabResult?.Invoke(result);
}
}
}
}

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