diff --git a/Rs.SkyLine/Commom/RearrangeManager.cs b/Rs.SkyLine/Commom/RearrangeManager.cs index 673bb92..e913bbc 100644 --- a/Rs.SkyLine/Commom/RearrangeManager.cs +++ b/Rs.SkyLine/Commom/RearrangeManager.cs @@ -1,4 +1,5 @@ -using System; +using Rs.Controls; +using System; using System.Collections.Generic; using System.Linq; using System.Text; @@ -11,30 +12,34 @@ namespace Rs.MotionPlat.Commom /// public static class RearrangeManager { - public static List GeneralRearrangeTask(TurnoverType turnovertype,int slotNo,int floor) + public static List GeneralRearrangeTask(TurnoverType fromtray, TurnoverType totray, RsTray tray, TraySlot slot,int floor) { int needTakeNum = 0; - List task= new List(); - //需要取几颗料 - int lastRowCount = slotNo % 10; - if(lastRowCount> 5) + List task = new List(); + //首先判断总列数是奇数还是偶数 + if (tray.ColumnNum % 2 == 0)//偶数 { - needTakeNum = 10 - (slotNo % 10); + if (slot.Column+1 > tray.ColumnNum/2) + { + needTakeNum = tray.ColumnNum - slot.Column; + } + else + { + needTakeNum = slot.Column; + } } - else - { - needTakeNum = lastRowCount; - } - int baseIndex=(slotNo /10) * 10 ; + //找到要搬运的行的第一个和最后一个 + int last = slot.Index + (tray.ColumnNum - (slot.Column + 1)); + int first = slot.Index - slot.Column; for( int i=0;i($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed)); - errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed)); - if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis) + nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex); + targetX = curSlotPoint.X + nozzleDist.X; + targetY = curSlotPoint.Y + nozzleDist.Y; + errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) { - flowStep = ERearrangeFlowStep.等待到取料位上方; + errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed)); + errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed)); + if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis) + { + flowStep = ERearrangeFlowStep.等待到取料位上方; + } } } } + else + { + logInfo = "x y move isn't safe"; + Msg.ShowError(logInfo); + LogHelper.Error(logInfo); + MessageQueue.Instance.Warn(logInfo); + } + } + + break; + case ERearrangeFlowStep.等待到取料位上方: + if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) + { + logInfo = "已运动到取料位上方"; + Thread.Sleep(100); + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.到取料位下方; + + } + break; + case ERearrangeFlowStep.到取料位下方: + if (GlobalVar.VirtualAxis) + { + Thread.Sleep(GlobalVar.VirtualAxisMoveTime); + flowStep = ERearrangeFlowStep.等待到取料位下方; } else { - logInfo = "x y move isn't safe"; - Msg.ShowError(logInfo); - LogHelper.Error(logInfo); - MessageQueue.Instance.Warn(logInfo); + if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished) + { + logInfo = "准备运动到取料位下方"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok) + { + flowStep = ERearrangeFlowStep.等待到取料位下方; + } + } + else + { + logInfo = $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定"; + Msg.ShowError(logInfo); + LogHelper.Error(logInfo); + } } - } - - break; - case ERearrangeFlowStep.等待到取料位上方: - if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - logInfo = "已运动到取料位上方"; - Thread.Sleep(100); - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.到取料位下方; - } - break; - case ERearrangeFlowStep.到取料位下方: - if (GlobalVar.VirtualAxis) - { - Thread.Sleep(GlobalVar.VirtualAxisMoveTime); - flowStep = ERearrangeFlowStep.等待到取料位下方; - } - else - { - if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished) + break; + case ERearrangeFlowStep.等待到取料位下方: + if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) { - logInfo = "准备运动到取料位下方"; + logInfo = "已运动到取料位下方"; MessageQueue.Instance.Insert(logInfo); LogHelper.Debug(logInfo); - errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok) - { - flowStep = ERearrangeFlowStep.等待到取料位下方; - } + flowStep = ERearrangeFlowStep.开真空; + } + break; + case ERearrangeFlowStep.开真空: + if (GlobalVar.VirtualAxis) + { + flowStep = ERearrangeFlowStep.取料完成抬起; } else { - logInfo = $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定"; - Msg.ShowError(logInfo); - LogHelper.Error(logInfo); + Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀"); + Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime); + logInfo = $"打开{curNozzle.NozzleIndex}号吸嘴真空吸"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.取料完成抬起; } - } - - break; - case ERearrangeFlowStep.等待到取料位下方: - if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - logInfo = "已运动到取料位下方"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.开真空; - } - break; - case ERearrangeFlowStep.开真空: - if (GlobalVar.VirtualAxis) - { - flowStep = ERearrangeFlowStep.取料完成抬起; - } - else - { - Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀"); - Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime); - logInfo = $"打开{curNozzle.NozzleIndex}号吸嘴真空吸"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.取料完成抬起; - } - - break; - case ERearrangeFlowStep.取料完成抬起: - errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) - { - logInfo = "取料完成准备抬起"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.等待取料完成抬起; - } - break; - case ERearrangeFlowStep.等待取料完成抬起: - if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - logInfo = "取料完成已运动到抬起位，准备真空检测"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.取料真空检测; - } - break; - case ERearrangeFlowStep.取料真空检测: - if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis) - { - FetchNum = 0; - logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); + break; - curNozzle.Status = ENozzleStatus.ToUnload; - curNozzle.FromType = curTask.FromType; - curNozzle.ToType = curTask.ToType; - curNozzle.ToIndex = curTask.ToIndex; - curTask.SuckerNo = curNozzle.NozzleIndex; - curNozzle.TurnoverGUID = curTask.GUID; - if (curTask.FromType == TurnoverType.Passed) + case ERearrangeFlowStep.取料完成抬起: + errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) { - curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ok).GetFloor();// StockManager.Instance.GetTray(EStockType.Ok).GetFloor(); - curNozzle.SN = ""; - curNozzle.FromIndex = curTask.FromIndex; - GlobalTray.OkTary.ChangeStatus(curNozzle.FromIndex+1, ESlotStatus.NotHave); + logInfo = "取料完成准备抬起"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.等待取料完成抬起; } - else if (curTask.FromType == TurnoverType.Failed) + break; + case ERearrangeFlowStep.等待取料完成抬起: + if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) { - curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ng).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor(); - curNozzle.SN = ""; - curNozzle.FromIndex = curTask.FromIndex; - GlobalTray.NgTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave); + logInfo = "取料完成已运动到抬起位，准备真空检测"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.取料真空检测; } - curNozzle.Update(); - curTask.Dealed = true; - if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) + break; + case ERearrangeFlowStep.取料真空检测: + if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis) { - logInfo = $"检测到还有条任务未执行，继续执行"; + FetchNum = 0; + logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK"; MessageQueue.Instance.Insert(logInfo); LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.到取料位上方; + + curNozzle.Status = ENozzleStatus.ToUnload; + curNozzle.FromType = curTask.FromType; + curNozzle.ToType = curTask.ToType; + curNozzle.ToIndex = curTask.ToIndex; + curTask.SuckerNo = curNozzle.NozzleIndex; + curNozzle.TurnoverGUID = curTask.GUID; + if (curTask.FromType == TurnoverType.Passed) + { + curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ok).GetFloor();// StockManager.Instance.GetTray(EStockType.Ok).GetFloor(); + curNozzle.SN = GlobalTray.OkTary.GetSlot(curTask.FromIndex+1).SN; + curNozzle.FromIndex = curTask.FromIndex; + GlobalTray.OkTary.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave); + } + else if (curTask.FromType == TurnoverType.Failed) + { + curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ng).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor(); + curNozzle.SN = GlobalTray.NgTray.GetSlot(curTask.FromIndex + 1).SN; + curNozzle.FromIndex = curTask.FromIndex; + GlobalTray.NgTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave); + } + else if (curTask.FromType == TurnoverType.Multifunction) + { + curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Multi).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor(); + curNozzle.SN = GlobalTray.MultiTray.GetSlot(curTask.FromIndex + 1).SN; + curNozzle.FromIndex = curTask.FromIndex; + GlobalTray.MultiTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave); + } + curNozzle.Update(); + curTask.Dealed = true; + if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) + { + logInfo = $"检测到还有条任务未执行，继续执行"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.到取料位上方; + } + else + { + flowStep = ERearrangeFlowStep.到放料位上方; + } } else { - flowStep = ERearrangeFlowStep.到放料位上方; - } - } - else - { - //FetchNum++; - //if (FetchNum == 6) - //{ - // //DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel); - // CloseResult cr = new TakeFailMsg().ShowMsg($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定"); - // if (cr.Result == ECloseButton.Retry) - // { - // FetchNum = 0; - // flowStep = ERearrangeFlowStep.到取料位下方; - // } - // else if (cr.Result == ECloseButton.Skip)//switch - // { - // FetchNum = 0; - // if (curTask.FromType == TurnoverType.Turnover) - // { - // GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave); - // } - // else if (curTask.FromType == TurnoverType.ToBeTested) - // { - // GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave); - // } - // if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) - // { - // flowStep = ERearrangeFlowStep.到取料位上方; - // } - // else - // { - // flowStep = ERearrangeFlowStep.到下相机拍照起始位; - // } - // } - // else if (cr.Result == ECloseButton.EndInput) - // { - // FetchNum = 0; - // TestCenter.Instance.EndInput(); - // LoadAndUnloadTask.Instance.ClearUndoTask(); - // if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0) - // { - // flowStep = ERearrangeFlowStep.到下相机拍照起始位; - // } - // else - // { - // flowStep = ERearrangeFlowStep.任务结束到安全位; - // } - // } - // else if (cr.Result == ECloseButton.Continue) - // { - // FetchNum = 0; - // curNozzle.Status = ENozzleStatus.ToUnload; - // curNozzle.FromType = curTask.FromType; - // curNozzle.FromFloor = curTask.FromFloor; + //FetchNum++; + //if (FetchNum == 6) + //{ + // //DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel); + // CloseResult cr = new TakeFailMsg().ShowMsg($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定"); + // if (cr.Result == ECloseButton.Retry) + // { + // FetchNum = 0; + // flowStep = ERearrangeFlowStep.到取料位下方; + // } + // else if (cr.Result == ECloseButton.Skip)//switch + // { + // FetchNum = 0; + // if (curTask.FromType == TurnoverType.Turnover) + // { + // GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave); + // } + // else if (curTask.FromType == TurnoverType.ToBeTested) + // { + // GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave); + // } + // if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) + // { + // flowStep = ERearrangeFlowStep.到取料位上方; + // } + // else + // { + // flowStep = ERearrangeFlowStep.到下相机拍照起始位; + // } + // } + // else if (cr.Result == ECloseButton.EndInput) + // { + // FetchNum = 0; + // TestCenter.Instance.EndInput(); + // LoadAndUnloadTask.Instance.ClearUndoTask(); + // if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0) + // { + // flowStep = ERearrangeFlowStep.到下相机拍照起始位; + // } + // else + // { + // flowStep = ERearrangeFlowStep.任务结束到安全位; + // } + // } + // else if (cr.Result == ECloseButton.Continue) + // { + // FetchNum = 0; + // curNozzle.Status = ENozzleStatus.ToUnload; + // curNozzle.FromType = curTask.FromType; + // curNozzle.FromFloor = curTask.FromFloor; - // curNozzle.ToType = curTask.ToType; - // curNozzle.ToIndex = curTask.ToIndex; - // curTask.SuckerNo = curNozzle.NozzleIndex; - // curNozzle.TurnoverGUID = curTask.GUID; - // if (curTask.FromType == TurnoverType.Turnover) - // { - // curNozzle.SN = curTask.SN; - // curNozzle.FromIndex = curTask.FromIndex; - // GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave); - // } - // else if (curTask.FromType == TurnoverType.ToBeTested) - // { - // curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index; - // GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave); - // } - // curNozzle.Update(); - // curTask.Dealed = true; - // if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) - // { - // flowStep = ERearrangeFlowStep.到取料位上方; - // } - // else - // { - // if (GlobalVar.VirtualAxis) - // { - // foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)) - // { - // if (string.IsNullOrEmpty(nl.SN)) - // nl.SN = nl.FromIndex.ToString().PadLeft(18, '0'); - // //nl.SN = GuidHelper.Create(); - // } - // mrs = new List(); - // for (int i = 0; i < needGrabNum; i++) - // { - // mrs.Add(new MatchResult()); - // } - // flowStep = ERearrangeFlowStep.到放料位上方; - // } - // else - // { - // flowStep = ERearrangeFlowStep.到下相机拍照起始位; - // } + // curNozzle.ToType = curTask.ToType; + // curNozzle.ToIndex = curTask.ToIndex; + // curTask.SuckerNo = curNozzle.NozzleIndex; + // curNozzle.TurnoverGUID = curTask.GUID; + // if (curTask.FromType == TurnoverType.Turnover) + // { + // curNozzle.SN = curTask.SN; + // curNozzle.FromIndex = curTask.FromIndex; + // GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave); + // } + // else if (curTask.FromType == TurnoverType.ToBeTested) + // { + // curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index; + // GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave); + // } + // curNozzle.Update(); + // curTask.Dealed = true; + // if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0) + // { + // flowStep = ERearrangeFlowStep.到取料位上方; + // } + // else + // { + // if (GlobalVar.VirtualAxis) + // { + // foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)) + // { + // if (string.IsNullOrEmpty(nl.SN)) + // nl.SN = nl.FromIndex.ToString().PadLeft(18, '0'); + // //nl.SN = GuidHelper.Create(); + // } + // mrs = new List(); + // for (int i = 0; i < needGrabNum; i++) + // { + // mrs.Add(new MatchResult()); + // } + // flowStep = ERearrangeFlowStep.到放料位上方; + // } + // else + // { + // flowStep = ERearrangeFlowStep.到下相机拍照起始位; + // } - // } - // } - //} - //else - //{ - // flowStep = ERearrangeFlowStep.到取料位下方; - //} - } - break; - case ERearrangeFlowStep.到放料位上方: - if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis) - { - targetX = 0.0; - targetY = 0.0; - ///获取需要放料的吸嘴 - curSlotPoint = null; - curNozzle = NozzleManager.GetToUnloadNozzle(); - if (curNozzle != null) - { - curSlotPoint = GetSlotPoint(curNozzle.ToType); + // } + // } + //} + //else + //{ + // flowStep = ERearrangeFlowStep.到取料位下方; + //} } - if (curSlotPoint != null) + break; + case ERearrangeFlowStep.到放料位上方: + if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis) { - nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex); - targetX = curSlotPoint.X + nozzleDist.X; - targetY = curSlotPoint.Y + nozzleDist.Y; - errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) + targetX = 0.0; + targetY = 0.0; + ///获取需要放料的吸嘴 + curSlotPoint = null; + curNozzle = NozzleManager.GetToUnloadNozzle(); + if (curNozzle != null) + { + curSlotPoint = GetSlotPoint(curNozzle.ToType); + } + if (curSlotPoint != null) { - errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed); + nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex); + targetX = curSlotPoint.X + nozzleDist.X; + targetY = curSlotPoint.Y + nozzleDist.Y; + errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed); if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) { - errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset(0, GlobalVar.WholeSpeed); + errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed); if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) { - flowStep = ERearrangeFlowStep.等待到放料位上方; + errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset(0, GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) + { + flowStep = ERearrangeFlowStep.等待到放料位上方; + } } } } } - } - else - { - Msg.ShowError("x y move isn't safe"); - } - break; - case ERearrangeFlowStep.等待到放料位上方: - if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - Thread.Sleep(100); - logInfo = "已运动到放料位上方"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.到放料位下方; + else + { + Msg.ShowError("x y move isn't safe"); + } + break; + case ERearrangeFlowStep.等待到放料位上方: + if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) + { + Thread.Sleep(100); + logInfo = "已运动到放料位上方"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.到放料位下方; - } - break; - case ERearrangeFlowStep.到放料位下方: - logInfo = "到放料位下方"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) - { - flowStep = ERearrangeFlowStep.等待到放料位下方; - } - break; - case ERearrangeFlowStep.等待到放料位下方: - if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - logInfo = "已运动到放料位下方"; + } + break; + case ERearrangeFlowStep.到放料位下方: + logInfo = "到放料位下方"; MessageQueue.Instance.Insert(logInfo); LogHelper.Debug(logInfo); - Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀"); - Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime); - Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀"); - Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime); - Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀"); - Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime); - flowStep = ERearrangeFlowStep.放料完成抬起; + errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) + { + flowStep = ERearrangeFlowStep.等待到放料位下方; + } + break; + case ERearrangeFlowStep.等待到放料位下方: + if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) + { + logInfo = "已运动到放料位下方"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀"); + Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime); + Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀"); + Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime); + Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀"); + Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime); + flowStep = ERearrangeFlowStep.放料完成抬起; - } - break; - case ERearrangeFlowStep.放料完成抬起: - errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) - { - logInfo = "放料完成抬起"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.等待放料完成抬起; - } - break; - case ERearrangeFlowStep.等待放料完成抬起: - if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) - { - logInfo = "放料完成已运动到抬起位，准备真空检测"; + } + break; + case ERearrangeFlowStep.放料完成抬起: + errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) + { + logInfo = "放料完成抬起"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.等待放料完成抬起; + } + break; + case ERearrangeFlowStep.等待放料完成抬起: + if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis) + { + logInfo = "放料完成已运动到抬起位，准备真空检测"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + flowStep = ERearrangeFlowStep.放料真空检测; + } + break; + case ERearrangeFlowStep.放料真空检测: + flowStep = ERearrangeFlowStep.放料任务完成; + break; + case ERearrangeFlowStep.放料任务完成: + logInfo = "放料任务完成"; MessageQueue.Instance.Insert(logInfo); LogHelper.Debug(logInfo); - flowStep = ERearrangeFlowStep.放料真空检测; - } - break; - case ERearrangeFlowStep.放料真空检测: - flowStep = ERearrangeFlowStep.放料任务完成; - break; - case ERearrangeFlowStep.放料任务完成: - logInfo = "放料任务完成"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home(); - if (curNozzle.ToType == TurnoverType.Passed) - { - GlobalTray.OkTary.ChangeStatus(curNozzle.ToIndex+1, ESlotStatus.Have); - } - else if (curNozzle.ToType == TurnoverType.Failed) - { - GlobalTray.NgTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have); - } - else if (curNozzle.ToType == TurnoverType.Multifunction) - { - GlobalTray.MultiTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have); - } - curNozzle.Reset(); - Thread.Sleep(100); - RearrangeTask.AddWaitReportTask(curNozzle); - if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0) - { - flowStep = ERearrangeFlowStep.到放料位上方; - } - else - { - if (RearrangeTask.HasTask()) + AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home(); + if (curNozzle.ToType == TurnoverType.Passed) { - flowStep = ERearrangeFlowStep.到取料位上方; + GlobalTray.OkTary.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have); + } + else if (curNozzle.ToType == TurnoverType.Failed) + { + GlobalTray.NgTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have); + } + else if (curNozzle.ToType == TurnoverType.Multifunction) + { + GlobalTray.MultiTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have); + } + curNozzle.Reset(); + Thread.Sleep(100); + RearrangeTask.AddWaitReportTask(curNozzle); + if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0) + { + flowStep = ERearrangeFlowStep.到放料位上方; } else { - flowStep = ERearrangeFlowStep.任务结束到安全位; + if (RearrangeTask.HasTask()) + { + flowStep = ERearrangeFlowStep.到取料位上方; + } + else + { + flowStep = ERearrangeFlowStep.任务结束到安全位; + } } - } - break; + break; - case ERearrangeFlowStep.任务结束到安全位: - logInfo = "任务结束到安全位"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue("LoadXStartPos"), GlobalVar.WholeSpeed); - if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) - { - errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue("LoadYStartPos"), GlobalVar.WholeSpeed); + case ERearrangeFlowStep.任务结束到安全位: + logInfo = "任务结束到安全位"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue("LoadXStartPos"), GlobalVar.WholeSpeed); if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) { - flowStep = ERearrangeFlowStep.等待任务结束到安全位; + errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue("LoadYStartPos"), GlobalVar.WholeSpeed); + if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis) + { + flowStep = ERearrangeFlowStep.等待任务结束到安全位; + } } - } - break; - case ERearrangeFlowStep.等待任务结束到安全位: - if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis) - { - logInfo = "任务结束已回到安全位"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); - if (RearrangeTask.ReportCenter()>0) + break; + case ERearrangeFlowStep.等待任务结束到安全位: + if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis) { - logInfo = "通知中控任务完成"; + logInfo = "任务结束已回到安全位"; MessageQueue.Instance.Insert(logInfo); LogHelper.Debug(logInfo); + if (RearrangeTask.ReportCenter() > 0) + { + logInfo = "通知中控任务完成"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); - RearrangeTask.RemoveAll(); - logInfo = "任务完成，清除任务"; - MessageQueue.Instance.Insert(logInfo); - LogHelper.Debug(logInfo); + RearrangeTask.RemoveAll(); + logInfo = "任务完成，清除任务"; + MessageQueue.Instance.Insert(logInfo); + LogHelper.Debug(logInfo); + } + MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); + finished = true; } - MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); - flowStep = ERearrangeFlowStep.等待任务; - } - break; - default: - break; + break; + default: + break; + } } } diff --git a/Rs.SkyLine/Flow/TestCenter.cs b/Rs.SkyLine/Flow/TestCenter.cs index 9f3e79f..628727e 100644 --- a/Rs.SkyLine/Flow/TestCenter.cs +++ b/Rs.SkyLine/Flow/TestCenter.cs @@ -272,50 +272,60 @@ namespace Rs.MotionPlat.Flow SiloRearrange info = JsonConvert.DeserializeObject(json); ReportToTestCenter(info); Thread.Sleep(200); - //if(info.SiloType== SchedulingSiloBase.ESiloType.Multifunction) + if (info.SiloType == SchedulingSiloBase.ESiloType.Multifunction) { - TurnoverInfos tis = new TurnoverInfos(); - tis.GroupID = 0; - tis.Instruction = EInstruction.RearrangeResult; - ReportToTestCenter(tis); - MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); + TraySlot ts = GlobalTray.MultiTray.GetSlot(Controls.ESlotStatus.NotHave); + if (ts.Column == 0)//无需重排 + { + TurnoverInfos tis = new TurnoverInfos(); + tis.GroupID = 0; + tis.Instruction = EInstruction.RearrangeResult; + ReportToTestCenter(tis); + MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); + } + else + { + List rearrangeList = RearrangeManager.GeneralRearrangeTask(TurnoverType.Multifunction,TurnoverType.Multifunction, GlobalTray.MultiTray, ts, 1); + RearrangeTask.AddRanage(rearrangeList); + RearrangeFlow.Instance.Rearrange(); + } + } + else if (info.SiloType == SchedulingSiloBase.ESiloType.Passed) + { + TraySlot ts = GlobalTray.OkTary.GetSlot(Controls.ESlotStatus.NotHave); + if (ts.Column==0)//无需重排 + { + TurnoverInfos tis = new TurnoverInfos(); + tis.GroupID = 0; + tis.Instruction = EInstruction.RearrangeResult; + ReportToTestCenter(tis); + MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); + } + else + { + List rearrangeList = RearrangeManager.GeneralRearrangeTask(TurnoverType.Passed,TurnoverType.Passed, GlobalTray.OkTary, ts, 1); + RearrangeTask.AddRanage(rearrangeList); + RearrangeFlow.Instance.Rearrange(); + } + } + else if (info.SiloType == SchedulingSiloBase.ESiloType.Failed) + { + TraySlot ts = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave); + if (ts.Column == 0) + { + TurnoverInfos tis = new TurnoverInfos(); + tis.GroupID = 0; + tis.Instruction = EInstruction.RearrangeResult; + ReportToTestCenter(tis); + MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); + } + else + { + List rearrangeList = RearrangeManager.GeneralRearrangeTask(TurnoverType.Failed,TurnoverType.Failed, GlobalTray.NgTray,ts, 1); + RearrangeTask.AddRanage(rearrangeList); + RearrangeFlow.Instance.Rearrange(); + } } - //else if(info.SiloType== SchedulingSiloBase.ESiloType.Passed) - //{ - // TraySlot ts = GlobalTray.OkTary.GetSlot(Controls.ESlotStatus.NotHave); - // if((ts.Index-1)%10==0) - // { - // TurnoverInfos tis = new TurnoverInfos(); - // tis.GroupID = 0; - // tis.Instruction = EInstruction.RearrangeResult; - // Send(tis); - // MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); - // } - // else - // { - // List rearrangeList = RearrangeManager.GeneralRearrangeTask(TurnoverType.Passed, ts.Index-1, StockManager.Instance.GetTray(EStockType.Ok).GetFloor()); - // RearrangeTask.AddRanage(rearrangeList); - // RearrangeFlow.Instance.Start(); - // } - //} - //else if (info.SiloType == SchedulingSiloBase.ESiloType.Failed) - //{ - // TraySlot ts = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave); - // if ((ts.Index-1) % 10 == 0) - // { - // TurnoverInfos tis = new TurnoverInfos(); - // tis.GroupID = 0; - // tis.Instruction = EInstruction.RearrangeResult; - // Send(tis); - // MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting); - // } - // else - // { - // List rearrangeList = RearrangeManager.GeneralRearrangeTask(TurnoverType.Failed, ts.Index-1, StockManager.Instance.GetTray(EStockType.Ng).GetFloor()); - // RearrangeTask.AddRanage(rearrangeList); - // RearrangeFlow.Instance.Start(); - // } - //} } private void LoadAndUnload(string json)