软件打开后第一次收到排料任务后增加排料吸嘴、周转吸嘴、周转盘、治具中是否有产品的检测

Rs.SkyLine/Commom/GlobalVar.cs

@@ -1651,5 +1651,10 @@ namespace Rs.Framework
                 return SysConfigParam.GetValue<bool>(nameof(SocketHasProductCheck));
             }
         }
+
+        /// <summary>
+        /// 是否需要检测环境
+        /// </summary>
+        public static bool NeedCheckEnvironment { get; set; } = true;
     }
 }

Rs.SkyLine/Commom/Ops.cs

@@ -30,6 +30,7 @@ namespace Rs.MotionPlat.Commom
         public static bool Pause { get; set; } = false;
         public static void Init()
         {
+            GlobalVar.NeedCheckEnvironment = true;
             InitDb();
             SysConfigParam.Init();
             int errNum = 0;

Rs.SkyLine/Flow/AlarmConstID.cs

@@ -395,6 +395,10 @@ namespace Rs.MotionPlat.Flow
         /// </summary>
         public const int 正压输入偏低 = 1091;
 
+        /// <summary>
+        /// 工作环境检测
+        /// </summary>
+        public const int 工作环境检测 = 1092;
 
 
         /// <summary>

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -149,6 +149,7 @@ namespace Rs.MotionPlat.Flow
                             || LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Unload) > 0
                             || LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Change) > 0)
                         {
+                            
                             StockTrayToTurnoverTray = true;
                             logInfo = GetClassName() + $"接收到排料任务";
                             MessageQueue.Instance.Insert(logInfo);
@@ -167,17 +168,12 @@ namespace Rs.MotionPlat.Flow
                             }
                             else
                             {
-                                if (GlobalVar.FirstDischarge)
+                                if (GlobalVar.NeedCheckEnvironment)
                                 {
-                                    GlobalVar.FirstDischarge = false;
+                                    WorkEnvironment.Instance.Check();
-                                    //设备遗留产品检测
+                                    GlobalVar.NeedCheckEnvironment = false;
-                                    //吸嘴全部用真空吸检测，周转盘用上相机检测，SOCKET用镭射头检测
-                                    flowStep = EDischargeFlowStep.到取料位上方;
-                                }
-                                else
-                                {
-                                    flowStep = EDischargeFlowStep.到取料位上方;
                                 }
+                                flowStep = EDischargeFlowStep.到取料位上方;
                             }
 
                         }

Rs.SkyLine/Flow/WorkEnvironment.cs

@@ -1,4 +1,5 @@
-using Rs.AutoDischarge.V3.Flow;
+using NPOI.SS.Formula.Functions;
+using Rs.AutoDischarge.V3.Flow;
 using Rs.Framework;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Flow.Camera;
@@ -7,6 +8,7 @@ using Rs.MotionPlat.Flow.SubFlow;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Reflection;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -280,46 +282,120 @@ namespace Rs.MotionPlat.Flow
         /// </summary>
         public void Check()
         {
-            List<int> dischargeNozzles = new List<int>();
+            while(true)
-            List<int> turnoverNozzles = new List<int>();
-            List<int> turnoverTraySlots = new List<int>();
-            List<int> socketSlots = new List<int>();
-
-            //1 吸嘴检测
-            for(int i=1;i<9;i++)
             {
-                VacManager.DischargeVacSuction(EVacOperator.Open,true, i);
+                List<int> dischargeNozzles = new List<int>();
-                if(Ops.IsOn(""))
+                List<int> turnoverNozzles = new List<int>();
+                List<int> turnoverTraySlots = new List<int>();
+                List<int> socketSlots = new List<int>();
+                MessageQueue.Instance.Insert("discharge nozzle have or not product check");
+                //1 吸嘴检测
+                for (int i = 1; i < 9; i++)
                 {
-                    dischargeNozzles.Add(i);
+                    Ops.On($"{i}号吸嘴真空吸电磁阀");
+                    MessageQueue.Instance.Insert($"打开{i}号吸嘴真空吸电磁阀");
+                    Thread.Sleep(100);
+                    if (Ops.IsOn($"{i}号吸嘴真空吸检测"))
+                    {
+                        MessageQueue.Instance.Insert($"{i}号吸嘴有料");
+                        dischargeNozzles.Add(i);
+                    }
+                    else
+                    {
+                        MessageQueue.Instance.Insert($"{i}号吸嘴无料");
+                        Ops.Off($"{i}号吸嘴真空吸电磁阀");
+                        MessageQueue.Instance.Insert($"关闭{i}号吸嘴真空吸电磁阀");
+                    }
                 }
-            }
+                //2 周转吸头检测
-            //2 周转吸头检测
+                for (int i = 1; i < 17; i++)
-            for (int i=1;i<17;i++)
-            {
-                VacManager.TransitNozzleVacSuction(ETurnoverNozzlePosition.TurnoverTray, EVacOperator.Open, true, i);
-                if (Ops.IsOn(""))
                 {
-                    turnoverNozzles.Add(i);
+                    Ops.On($"周转{i}号吸嘴真空吸");
+                    MessageQueue.Instance.Insert($"打开周转{i}号吸嘴真空吸");
+                    Thread.Sleep(100);
+                    if (Ops.IsOn($"周转{i}号吸嘴真空吸检测"))
+                    {
+                        MessageQueue.Instance.Insert($"周转{i}号吸嘴有料");
+                        turnoverNozzles.Add(i);
+                    }
+                    else
+                    {
+                        MessageQueue.Instance.Insert($"周转{i}号吸嘴无料");
+                        Ops.Off($"周转{i}号吸嘴真空吸");
+                        MessageQueue.Instance.Insert($"关闭周转{i}号吸嘴真空吸");
+                    }
                 }
-            }
+                // 3周转盘穴位检测
-            // 3周转盘穴位检测
+                for (int i = 1; i < 33; i++)
-            for(int i=1;i<33;i++)
-            {
-                SlotProductHasOrNotResult result = UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null, i, true);
-                if(result.HasProduct)
                 {
-                    turnoverTraySlots.Add(i);
+                    Ops.On($"周转盘{i}号穴位真空吸");
+                    MessageQueue.Instance.Insert($"打开周转盘{i}号穴位真空吸");
+                    Thread.Sleep(100);
+                    if (Ops.IsOn($"周转盘{i}号穴位真空吸检测"))
+                    {
+                        Ops.Off($"周转盘{i}号穴位真空吸");
+                        MessageQueue.Instance.Insert($"周转盘{i}号穴位有料");
+                        turnoverTraySlots.Add(i);
+                    }
+                    else
+                    {
+                        MessageQueue.Instance.Insert($"周转盘{i}号穴位无料");
+                        Ops.Off($"周转盘{i}号穴位真空吸");
+                        MessageQueue.Instance.Insert($"关闭周转盘{i}号穴位真空吸");
+                    }
+                    //SlotProductHasOrNotResult result = UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null, i, true);
+                    //if(result.HasProduct)
+                    //{
+                    //    turnoverTraySlots.Add(i);
+                    //}
                 }
-            }
+                //DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
-            DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
+                //4 SOCKET穴位检测
-            //4 SOCKET穴位检测
+                for (int i = 1; i < 17; i++)
-            for (int i = 1; i < 17; i++)
+                {
-            {
+                    Ops.On($"测试{i}号穴位真空吸");
-                VacManager.TransitNozzleVacSuction( ETurnoverNozzlePosition.Socket, EVacOperator.Open, true, i);
+                    MessageQueue.Instance.Insert($"打开测试{i}号穴位真空吸");
-                if (Ops.IsOn(""))
+                    Thread.Sleep(100);
+                    if (Ops.IsOn($"测试{i}号穴位真空吸检测"))
+                    {
+                        Ops.Off($"测试{i}号穴位真空吸");
+                        MessageQueue.Instance.Insert($"测试{i}号穴位有料");
+                        socketSlots.Add(i);
+                    }
+                    else
+                    {
+                        MessageQueue.Instance.Insert($"测试{i}号穴位无料");
+                        Ops.Off($"测试{i}号穴位真空吸");
+                        LogHelper.Debug($"关闭测试{i}号穴位真空吸");
+                    }
+                }
+                if (dischargeNozzles.Count>0 || turnoverNozzles.Count>0 || turnoverTraySlots.Count>0 || socketSlots.Count>0)
+                {
+                    StringBuilder msg = new StringBuilder();
+                    if(dischargeNozzles.Count>0)
+                    {
+                        msg.AppendLine($"discharge nozzle {dischargeNozzles.ToJoinString()} has product");
+                    }
+
+                    if (turnoverNozzles.Count > 0)
+                    {
+                        msg.AppendLine($"turnover nozzle {turnoverNozzles.ToJoinString()} has product");
+                    }
+
+                    if (turnoverTraySlots.Count > 0)
+                    {
+                        msg.AppendLine($"turnover tray {turnoverTraySlots.ToJoinString()} has product");
+                    }
+
+                    if (socketSlots.Count > 0)
+                    {
+                        msg.AppendLine($"socket {socketSlots.ToJoinString()} has product");
+                    }
+                    PromptMessageBox.ShowDialog(AlarmConstID.工作环境检测, msg.ToString(), SchedulingMessageBox.ETipButton.Retry);
+                }
+                else
                 {
-                    turnoverNozzles.Add(i);
+                    break;
                 }
             }
         }

Rs.SkyLine/Properties/AssemblyInfo.cs

@@ -31,6 +31,6 @@ using System.Runtime.InteropServices;
 //
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
- [assembly: AssemblyVersion("3.20.24.07")]
+ [assembly: AssemblyVersion("3.20.24.08")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]