From e561e4065483145d82017858418e7ec4e3c12cfc Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Sat, 30 Dec 2023 09:59:29 +0900
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=B7=A5=E4=BD=9C=E6=B5=81?=
 =?UTF-8?q?=E7=A8=8B=E5=AE=8C=E5=90=8EZR=E5=9B=9E=E5=8E=9F?=
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---
 Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs | 121 ++++++++++++++++++++++++++
 Rs.SkyLine/Rs.SkyLine.csproj          |   1 +
 2 files changed, 122 insertions(+)
 create mode 100644 Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs

diff --git a/Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs b/Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs
new file mode 100644
index 0000000..e9858cb
--- /dev/null
+++ b/Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs
@@ -0,0 +1,121 @@
+using Rs.Controls;
+using Rs.Framework;
+using Rs.Motion;
+using Rs.MotionPlat.Commom;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Flow.SubFlow
+{
+    enum EZRHomeFlowStep
+    {
+        StartHome,
+        WaitHomed,
+        GoStartPos,
+        WaitArrivedStartPos
+    }
+    public class ZRHomeFlow
+    {
+        private ZRHomeFlow() { }
+
+        private static ZRHomeFlow instance;
+        public static ZRHomeFlow Instance
+        {
+            get
+            {
+                if(instance==null)
+                    instance = new ZRHomeFlow();
+                return instance;
+            }
+        }
+        private ManualResetEvent homeFinished = new ManualResetEvent(false);
+        private EZRHomeFlowStep step = EZRHomeFlowStep.StartHome;
+        bool finished = false;
+
+        public void GoHome()
+        {
+            if (finished)
+            {
+                finished = false;
+            }
+            else
+                return;
+
+            Task.Run(() => {
+                while (!finished)
+                {
+                    switch (step)
+                    {
+                        case EZRHomeFlowStep.StartHome:
+                            AxisControl.NozzleZ1.Home();
+                            AxisControl.NozzleZ2.Home();
+                            AxisControl.NozzleZ3.Home();
+                            AxisControl.NozzleZ4.Home();
+                            AxisControl.NozzleZ5.Home();
+                            AxisControl.NozzleZ6.Home();
+                            AxisControl.NozzleZ7.Home();
+                            AxisControl.NozzleZ8.Home();
+
+                            AxisControl.NozzleR1.Home();
+                            AxisControl.NozzleR2.Home();
+                            AxisControl.NozzleR3.Home();
+                            AxisControl.NozzleR4.Home();
+                            AxisControl.NozzleR5.Home();
+                            AxisControl.NozzleR6.Home();
+                            AxisControl.NozzleR7.Home();
+                            AxisControl.NozzleR8.Home();
+                            step = EZRHomeFlowStep.WaitHomed;
+                            break;
+                        case EZRHomeFlowStep.WaitHomed:
+                            if(AxisControl.NozzleZ1.HomeStatus== EHomeStatus.Finished
+                                && AxisControl.NozzleZ2.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ3.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ4.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ5.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ6.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ7.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleZ8.HomeStatus == EHomeStatus.Finished
+                                 && AxisControl.NozzleR1.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR2.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR3.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR4.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR5.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR6.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR7.HomeStatus == EHomeStatus.Finished
+                                && AxisControl.NozzleR8.HomeStatus == EHomeStatus.Finished)
+                            {
+                                step = EZRHomeFlowStep.GoStartPos;
+                            }
+                            break;
+                        case EZRHomeFlowStep.GoStartPos:
+                            for(int i=1;i<9;i++)
+                            {
+                                double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{i}StartPos");
+                                AxisControl.GetAxis($"NozzleR{i}").MovePos(targetPos, GlobalVar.WholeSpeed);
+                            }
+                            step = EZRHomeFlowStep.WaitArrivedStartPos;
+                            break;
+                        case EZRHomeFlowStep.WaitArrivedStartPos:
+                            if(Ops.IsStop("NozzleR1")
+                                && Ops.IsStop("NozzleR2")
+                                && Ops.IsStop("NozzleR3")
+                                && Ops.IsStop("NozzleR4")
+                                && Ops.IsStop("NozzleR5")
+                                && Ops.IsStop("NozzleR6")
+                                && Ops.IsStop("NozzleR7")
+                                && Ops.IsStop("NozzleR8"))
+                            {
+                                finished = true;
+                                homeFinished.Set();
+                            }
+                            break;
+                    }
+                }
+            });
+        }
+    }
+}
diff --git a/Rs.SkyLine/Rs.SkyLine.csproj b/Rs.SkyLine/Rs.SkyLine.csproj
index 971a03d..7608461 100644
--- a/Rs.SkyLine/Rs.SkyLine.csproj
+++ b/Rs.SkyLine/Rs.SkyLine.csproj
@@ -235,6 +235,7 @@
     <Compile Include="Flow\NormalFlow\TakeTrayFlow.cs" />
     <Compile Include="Flow\SubFlow\LaserFlow.cs" />
     <Compile Include="Flow\SubFlow\UpCameraCheckFlow.cs" />
+    <Compile Include="Flow\SubFlow\ZRHomeFlow.cs" />
     <Compile Include="Flow\TestCenter.cs" />
     <Compile Include="Flow\NormalFlow\TurnoverFlow.cs" />
     <Compile Include="Flow\WorkEnvironment.cs" />