优化最后一个批次流程

Rs.SkyLine/Commom/Ops.cs

@@ -122,7 +122,9 @@ namespace Rs.MotionPlat.Commom
             Ops.Off("下右相机光源触发");
             Ops.Off("上相机光源触发");
             TurnoverSlotOffset.Init();
-                MonitorSystemButton.Instance.Start();
+            MonitorSystemButton.Instance.Start();
+            TakeTrayFlow.Instance.Start();
+            StockManager.Instance.Start();
             //});
            
         }
@@ -133,7 +135,6 @@ namespace Rs.MotionPlat.Commom
             TakeTrayFlow.Instance.Start();
             StockManager.Instance.Start();
             Task.Run(() => {
-                MachineManage.Instance.MachineStatus = EMachineStatus.Working;
                 WorkEnvironment.Instance.Ready();
                 if (WorkEnvironment.Instance.EnvReadyOkEvent.WaitOne())
                 {
@@ -166,6 +167,8 @@ namespace Rs.MotionPlat.Commom
             TurnoverFlow.Instance.Stop();
             TakeTrayFlow.Instance.Stop();
             StockManager.Instance.Stop();
+            MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
+            MachineManage.Instance.SetLoadUnloadStatus(ERunState.Interrupt);
             MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
 
         }

Rs.SkyLine/Flow/Space/TrayTest.cs

@@ -70,6 +70,7 @@ namespace Rs.AutoDischarge.V3.Flow
         public bool NeedLoad = false;
         private bool finished = false;
         private bool m_bWholeLoad = true;
+        private int siloFloor = 0;
         //double baseHeight = -1;
         //private static StockTest instance;
         int stockNo = -1;//料仓编号
@@ -117,10 +118,11 @@ namespace Rs.AutoDischarge.V3.Flow
                             Thread.Sleep(200);
                             finished = false;
                             NeedUnload = false;
-                            Step = ETrayTestStep.到下料降速位;
+                            ReportSwitchTray(stockNo);
+                             Step = ETrayTestStep.到下料降速位;
 
                         }
-                        else if (NeedLoad && (Status!= ETrayStatus.Loading))
+                        else if (NeedLoad)
                         {
                             if(!Ops.IsOn($"{stockNo}号料仓料盘到位光电检测") || m_bWholeLoad==false)
                             {
@@ -131,6 +133,7 @@ namespace Rs.AutoDischarge.V3.Flow
                                 Status = ETrayStatus.Loading;
                                 finished = false;
                                 NeedLoad = false;
+                                ReportSwitchTray(stockNo);
                                 if (m_bWholeLoad)
                                     Step = ETrayTestStep.到上料接料盘位;
                                 else
@@ -277,6 +280,7 @@ namespace Rs.AutoDischarge.V3.Flow
                     {
                         if (IoManager.Instance.ReadIn($"{stockNo}号料仓料盘到位光电检测") == 1)
                         {
+                            siloFloor++;
                             switch (stockNo)
                             {
                                 case 1:
@@ -330,7 +334,25 @@ namespace Rs.AutoDischarge.V3.Flow
             }
         }
 
-        
+        public int GetFloor()
+        {
+            return siloFloor;
+        }
+
+        private void ReportSwitchTray(int no)
+        {
+            switch (no)
+            {
+                case 1: TestCenter.Instance.SwitchTray(EStockType.Empty1,siloFloor); break;
+                case 2: TestCenter.Instance.SwitchTray(EStockType.Input, siloFloor); break;
+                case 3: TestCenter.Instance.SwitchTray(EStockType.Ok, siloFloor); break;
+                case 4: TestCenter.Instance.SwitchTray(EStockType.Ng, siloFloor); break;
+                case 5: TestCenter.Instance.SwitchTray(EStockType.Multi, siloFloor); break;
+                case 6: TestCenter.Instance.SwitchTray(EStockType.Empty2, siloFloor); break;
+                default:
+                    break;
+            }
+        }
         public void Unload()
         {
             Status = ETrayStatus.Unloading;

Rs.SkyLine/Flow/StockManager.cs

@@ -92,6 +92,26 @@ namespace Rs.MotionPlat.Flow
             return true;
         }
 
+
+        public TrayTest GetTray(EStockType stockType)
+        {
+            switch (stockType)
+            {
+                case EStockType.Empty1:
+                    return Empty1Tray;
+                case EStockType.Input:
+                    return InputTray;
+                case EStockType.Ok:
+                    return OkTray;
+                case EStockType.Ng:
+                    return NgTray;
+                case EStockType.Multi:
+                    return MultiTray;
+                case EStockType.Empty2:
+                    return Empty2Tray;
+            }
+            return null;
+        }
         public List<EStockType> GetHasNotTrayStock()
         {
             List<EStockType> stockList = new List<EStockType>();
@@ -194,6 +214,7 @@ namespace Rs.MotionPlat.Flow
             return ETrayStatus.UnKnown;
         }
 
+
         public void ChangeStatus(EStockType stock, ETrayStatus status)
         {
             switch (stock)

Rs.SkyLine/Flow/TestCenter.cs

@@ -1,6 +1,7 @@
 using HalconDotNet;
 using Newtonsoft.Json;
 using Newtonsoft.Json.Converters;
+using Rs.AutoDischarge.V3.Flow;
 using Rs.Framework;
 using Rs.MotionPlat.Commom;
 using System;
@@ -8,7 +9,9 @@ using System.Collections.Generic;
 using System.IO;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
+using static Rs.MotionPlat.Commom.SchedulingSilo;
 using static System.Windows.Forms.AxHost;
 using static System.Windows.Forms.VisualStyles.VisualStyleElement;
 
@@ -16,7 +19,7 @@ namespace Rs.MotionPlat.Flow
 {
     public class TestCenter
     {
-        TcpClientHelper client = new TcpClientHelper("10.86.15.67",2048);
+        TcpClientHelper client = new TcpClientHelper("127.0.0.1",2048);
         SchedulingResult schedulResult = new SchedulingResult();
         SchedulingMaterial sm;
         public event Action<string> ReciveTaskEvent;
@@ -79,11 +82,14 @@ namespace Rs.MotionPlat.Flow
                 EInstruction eInstructioneInstruction = schedule.Instruction;
                 switch (eInstructioneInstruction)
                 {
+                    case EInstruction.Rearrange:
+                        Rearrange(json);
+                        break;
                     case EInstruction.InquireSiloStatus:
                         InquireSiloStatus(json);
                         break;
                     case EInstruction.RequestSwitchTray:
-
+                        RequestSwitchTray(json);
                         break;
                     case EInstruction.InquireConnectionInfo:
                         InquireConnectionInfo(json);
@@ -193,10 +199,6 @@ namespace Rs.MotionPlat.Flow
                         break;
                     case EInstruction.CancelTakingError:
                         break;
-                    case EInstruction.Rearrange:
-                        break;
-                    case EInstruction.RearrangeResult:
-                        break;
                     case EInstruction.ScanBarcode:
                         break;
                 }
@@ -210,6 +212,20 @@ namespace Rs.MotionPlat.Flow
 
         }
 
+        private void Rearrange(string json)
+        {
+            MachineManage.Instance.RunState = ERunState.Busying;
+            SiloRearrange info = JsonConvert.DeserializeObject<SiloRearrange>(json);
+            Send(info);
+
+            Thread.Sleep(2000);
+
+            TurnoverInfos tis = new TurnoverInfos();
+            tis.GroupID = 0;
+            tis.Instruction = EInstruction.RearrangeResult;
+            Send(tis);
+            MachineManage.Instance.RunState = ERunState.Waiting;
+        }
 
         private void LoadAndUnload(string json)
         {
@@ -240,36 +256,65 @@ namespace Rs.MotionPlat.Flow
         private void InquireSiloStatus(string json)
         {
             SchedulingSilo inquireSilo = JsonConvert.DeserializeObject<SchedulingSilo>(json);
+            inquireSilo.SiloFloor = 1;
             switch (inquireSilo.SiloType)
             {
                 case SchedulingSiloBase.ESiloType.ToBeTested:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Input));
                     break;
                 case SchedulingSiloBase.ESiloType.Passed:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Ok));
                     break;
                 case SchedulingSiloBase.ESiloType.Failed:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Ng));
                     break;
                 case SchedulingSiloBase.ESiloType.Multifunction:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Multi));
                     break;
                 case SchedulingSiloBase.ESiloType.EmptyInput:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;// StockManager.Instance.GetStockStatus(EStockType.Empty1);
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Empty1));
                     break;
                 case SchedulingSiloBase.ESiloType.EmptyOutput:
-                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    inquireSilo.SiloStatus = TranlateSiloStatus(StockManager.Instance.GetStockStatus(EStockType.Empty2));
                     break;
             }
             TestCenter.instance.Send(inquireSilo);
             //查询料仓状态
         }
+
+        private ESiloStatus TranlateSiloStatus(ETrayStatus status)
+        {
+            if (status == ETrayStatus.Loading || status == ETrayStatus.Unloading)
+                return ESiloStatus.Switching;
+            else if (status == ETrayStatus.Loaded || status == ETrayStatus.Unloaded)
+                return ESiloStatus.Standby;
+            return ESiloStatus.Stopped;
+        }
         /// <summary>
         /// 请求切盘
         /// </summary>
         private void RequestSwitchTray(string json)
         {
-
+            SchedulingSilo inquireSilo = JsonConvert.DeserializeObject<SchedulingSilo>(json);
+            switch (inquireSilo.SiloType)
+            {
+                case SchedulingSiloBase.ESiloType.ToBeTested:
+                    StockManager.Instance.UnLoad(EStockType.Input);
+                    break;
+                case SchedulingSiloBase.ESiloType.Passed:
+                    StockManager.Instance.UnLoad(EStockType.Ok);
+                    break;
+                case SchedulingSiloBase.ESiloType.Failed:
+                    StockManager.Instance.UnLoad(EStockType.Ng);
+                    break;
+                case SchedulingSiloBase.ESiloType.Multifunction:
+                    StockManager.Instance.UnLoad(EStockType.Multi);
+                    break;
+                case SchedulingSiloBase.ESiloType.EmptyInput:
+                    break;
+                case SchedulingSiloBase.ESiloType.EmptyOutput:
+                    break;
+            }
         }
 
         /// <summary>
@@ -353,5 +398,40 @@ namespace Rs.MotionPlat.Flow
             string content = JsonConvert.SerializeObject(msgBox, new StringEnumConverter());
             client.Send(content,Encoding.UTF8);
         }
+
+        public void SwitchTray(EStockType stockType,int floor)
+        {
+            MessageQueue.Instance.Insert($"{stockType} 切盘中");
+            SchedulingSilo tray = new SchedulingSilo();
+            tray.Instruction = EInstruction.BeginSwitchTray;
+            tray.SiloFloor = floor;
+            tray.TurnoverID = 0;
+            tray.GroupID = 0;
+            tray.SiloStatus = ESiloStatus.Switching;
+            switch (stockType)
+            {
+                case EStockType.Empty1:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.EmptyInput;
+                    break;
+                case EStockType.Input:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.ToBeTested;
+                    break;
+                case EStockType.Ok:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.Passed;
+                    break;
+                case EStockType.Ng:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.Failed;
+                    break;
+                case EStockType.Multi:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.Multifunction;
+                    break;
+                case EStockType.Empty2:
+                    tray.SiloType = SchedulingSiloBase.ESiloType.EmptyOutput;
+                    break;
+                default:
+                    break;
+            }
+            Send(tray);
+        }
     }
 }

Rs.SkyLine/Flow/WorkFlow.cs

@@ -343,8 +343,7 @@ namespace Rs.MotionPlat.Flow
                         LogHelper.Debug(logInfo);
                         curNozzle.Status = ENozzleStatus.ToUnload;
                         curNozzle.FromType = curTask.FromType;
-                        curNozzle.FromFloor = curTask.FromFloor;
+                        curNozzle.FromFloor = StockManager.Instance.GetTray(EStockType.Input).GetFloor();
-
                         curNozzle.ToType = curTask.ToType;
                         curNozzle.ToIndex = curTask.ToIndex;
                         curTask.SuckerNo = curNozzle.NozzleIndex ;