1、增加复测时最后托盘检测功能

2、优化搬运INPUT料盘到EMPTY1两次的问题

Rs.SkyLine/Commom/Scheduling.cs

@@ -1001,6 +1001,34 @@ namespace Rs.MotionPlat.Commom
         public SchedulingAlarms(params AlarmItem[] items) => Alarms = items;
     }
 
+    /// <summary>
+    /// 料仓托盘检查
+    /// </summary>
+    public class SchedulingCheckTray : Scheduling
+    {
+        /// <summary>
+        /// 料仓类型
+        /// </summary>
+        public SchedulingSiloBase.ESiloType Type { get; set; }
+        /// <summary>
+        /// 产品数量
+        /// </summary>
+        public int ProductCount { get; set; }
+
+        #region 反序列化以及相等比较
+        public static explicit operator SchedulingCheckTray(string json) => JsonConvert.DeserializeObject<SchedulingCheckTray>(json);
+
+        public override bool Equals(object obj) => Equals(obj as SchedulingCheckTray);
+
+        public bool Equals(SchedulingCheckTray other)
+            => Equals(other as Scheduling)
+               && Equals(other.Type, Type)
+               && Equals(other.ProductCount, ProductCount);
+
+
+        #endregion
+    }
+
     /// <summary>
     /// 指令
     /// </summary>
@@ -1151,7 +1179,15 @@ namespace Rs.MotionPlat.Commom
         /// <summary>
         /// 移动周转轴到安全位
         /// </summary>
-        MoveTurnoverArmToSafePoint
+        MoveTurnoverArmToSafePoint,
+        /// <summary>
+        /// 检查托盘 发送<see cref="SchedulingCheckTray"/>, 收到后原路返回
+        /// </summary>
+        CheckTray,
+        /// <summary>
+        /// 托盘检查结果, 排料机发送<see cref="SchedulingCheckTray"/>, 中控不做回复
+        /// </summary>
+        CheckTrayResult,
     }
 
     /// <summary>

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -144,6 +144,10 @@ namespace Rs.MotionPlat.Flow
 
         private bool stop = true;
         private bool run = true;
+        /// <summary>
+        /// 最后一次取料索引
+        /// </summary>
+        private int lastTaskSlotIndex = 0;
         public void Init()
         {
             mainTask = new Task(Run);
@@ -266,6 +270,7 @@ namespace Rs.MotionPlat.Flow
                                         }
                                         if (slot != null)
                                         {
+                                            lastTaskSlotIndex = slot.Index;
                                             curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, slot.Index);
                                             curNozzle.FromIndex = slot.Index - 1;
                                             logInfo = GetClassName() + $"排料{curNozzle.NozzleIndex}号吸嘴到{curTask.FromType.ToString()}盘{curNozzle.FromIndex + 1}号穴位取料";
@@ -321,6 +326,7 @@ namespace Rs.MotionPlat.Flow
                                                     TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty1,
                                                         () =>
                                                         {
+                                                            StockManager.Instance.GetStock(ETrayType.Input).PreLoad();
                                                             Task.Run(() =>
                                                             {
                                                                 StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);
@@ -333,7 +339,7 @@ namespace Rs.MotionPlat.Flow
                                                                 StockManager.Instance.GetStock(ETrayType.Empty1).Unload(EStockTrayUnLoadMode.Whole, null);
                                                             });
                                                         });
-                                                    StockManager.Instance.GetStock(ETrayType.Input).WaitFinished();
+                                                    StockManager.Instance.GetStock(ETrayType.Input).LoadedOK();
                                                 }
                                             }
                                             break;
@@ -2836,6 +2842,15 @@ namespace Rs.MotionPlat.Flow
             scanNum = 0;
         }
 
+        /// <summary>
+        /// 获取最后一次取Input盘的穴位索引
+        /// </summary>
+        /// <returns></returns>
+        public int GetLastTakeSlotIndex()
+        {
+            return lastTaskSlotIndex;
+        }
+
         ///// <summary>
         ///// 检测XY是否在目标位置上
         ///// </summary>

Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs

@@ -505,7 +505,10 @@ namespace Rs.AutoDischarge.V3.Flow
             return true;
         }
 
-
+        public void PreLoad()
+        {
+            actionFinishedEvent.Reset();
+        }
         public void Reset()
         {
             finished = true;
@@ -518,8 +521,24 @@ namespace Rs.AutoDischarge.V3.Flow
         /// 等待搬运任务完成
         /// </summary>
         public void WaitFinished()
+        {
+            Thread.Sleep(1000);
+            actionFinishedEvent.WaitOne();
+        }
+
+        public void LoadedOK()
         {
             actionFinishedEvent.WaitOne();
+            while( true ) {
+                if (Ops.IsOn($"{(int)m_stockType}号料仓料盘到位光电检测") || GlobalVar.VirtualAxis)
+                {
+                    break;
+                }
+                else
+                {
+                    Thread.Sleep(100);
+                }
+            }
         }
 
         public bool Unload(EStockTrayUnLoadMode unLoadMode, Action unloadFinishedEvent)

Rs.SkyLine/Flow/TestCenter.cs

@@ -5,6 +5,7 @@ using Rs.AutoDischarge.V3.Flow;
 using Rs.Controls;
 using Rs.Framework;
 using Rs.MotionPlat.Commom;
+using Rs.MotionPlat.Flow.Camera;
 using Rs.MotionPlat.Flow.SafePosFlow;
 using Rs.MotionPlat.Flow.SubFlow;
 using System;
@@ -25,6 +26,7 @@ namespace Rs.MotionPlat.Flow
     public class TestCenter
     {
         TcpClientHelper client = new TcpClientHelper("127.0.0.1",2048);
+        //TcpClientHelper client = new TcpClientHelper("192.168.31.120", 2048);
         SchedulingResult schedulResult = new SchedulingResult();
         SchedulingMaterial sm;
         Dictionary<int, AlarmItem> alarmInfos = new Dictionary<int, AlarmItem>();
@@ -145,6 +147,7 @@ namespace Rs.MotionPlat.Flow
             {
                 foreach (string json in Scheduling.GetJsons(msg))
                 {
+                    //MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
                     Scheduling schedule = JsonConvert.DeserializeObject<Scheduling>(json);
                     EInstruction eInstructioneInstruction = schedule.Instruction;
                     if (eInstructioneInstruction != EInstruction.InquireStatus)
@@ -153,6 +156,35 @@ namespace Rs.MotionPlat.Flow
                     }
                     switch (eInstructioneInstruction)
                     {
+                        case EInstruction.CheckTray:
+                            MachineManage.Instance.SetLoadUnloadStatus(ERunState.Busying);
+                            ReportToTestCenter(schedule);
+                            //这里开始检测料盘
+                            List<int> hasProduct = new List<int>();
+                            SchedulingCheckTray checkTraySchedule = (SchedulingCheckTray)json;
+                            int checkNum = checkTraySchedule.ProductCount;
+                            int lastIndex = DischargeFlow.Instance.GetLastTakeSlotIndex();
+                            for(int i=0;i<checkNum;i++)
+                            {
+                                lastIndex++;
+                                if(lastIndex <= (GlobalTray.InputTray.RowNum * GlobalTray.InputTray.ColumnNum))
+                                {
+                                    SlotProductHasOrNotResult result = UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(ETrayType.Input, lastIndex, true);
+                                    if (result.HasProduct)
+                                    {
+                                        hasProduct.Add(lastIndex);
+                                    }
+                                }
+                                else
+                                {
+                                    break;
+                                }
+                            }
+                            checkTraySchedule.Instruction = EInstruction.CheckTrayResult;
+                            checkTraySchedule.ProductCount = hasProduct.Count;
+                            ReportToTestCenter(checkTraySchedule);
+                            MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
+                            break;
                         case EInstruction.MoveTurnoverArmToSafePoint:
                             ReportToTestCenter(schedule);
                             Task.Run(() => {

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("3.20.24.45")]
+ [assembly: AssemblyVersion("3.20.24.51")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]