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434 lines
18 KiB
C#
434 lines
18 KiB
C#
using ChoiceTech.Halcon.Control;
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using HalconDotNet;
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using Rs.AutoDischarge.V3.Flow;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.DataAccess;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.MotionPlat.AuxiliaryEquipment;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow;
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using Rs.MotionPlat.Flow.Camera;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.Space;
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using Rs.MotionPlat.Flow.SubFlow;
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using Rs.MotionPlat.SysConfig;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using static Rs.MotionPlat.Commom.SchedulingMessageBox;
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namespace Rs.MotionPlat
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{
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public partial class FormMain : BaseForm
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{
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HObject defaultImage = new HObject();
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public FormMain()
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{
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InitializeComponent();
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}
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private void Instance_OnMatchResult(List<MatchResult> obj)
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{
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int i = 1;
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foreach (MatchResult matchResult in obj)
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{
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HWindow_Final hwin = null;
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if (i == 9) return;
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switch (i)
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{
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case 1: hwin = himgNozzle1; break;
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case 2: hwin = himgNozzle2; break;
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case 3: hwin = himgNozzle3; break;
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case 4: hwin = himgNozzle4; break;
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case 5: hwin = himgNozzle5; break;
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case 6: hwin = himgNozzle6; break;
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case 7: hwin = himgNozzle7; break;
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case 8: hwin = himgNozzle8; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.HobjectToHimage(matchResult.Himage);
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if(matchResult.IsOK)
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{
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hwin.DispObj(matchResult.ContourXld, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN,20,20,"green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetRow}", 200, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetCol}", 400, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetA}", 600, 20, "green");
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}
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else
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{
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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i++;
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}
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}
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}
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private void Instance_OnUpCameraGrabResult(List<Flow.Camera.VisionResult> obj)
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{
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foreach (VisionResult matchResult in obj)
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{
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HWindow_Final hwin = null;
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switch (matchResult.SlotIndex)
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{
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case 1: hwin = hwin_turnoverSlot1; break;
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case 2: hwin = hwin_turnoverSlot2; break;
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case 3: hwin = hwin_turnoverSlot3; break;
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case 4: hwin = hwin_turnoverSlot4; break;
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case 5: hwin = hwin_turnoverSlot5; break;
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case 6: hwin = hwin_turnoverSlot6; break;
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case 7: hwin = hwin_turnoverSlot7; break;
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case 8: hwin = hwin_turnoverSlot8; break;
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case 9: hwin = hwin_turnoverSlot9; break;
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case 10: hwin = hwin_turnoverSlot10; break;
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case 11: hwin = hwin_turnoverSlot11; break;
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case 12: hwin = hwin_turnoverSlot12; break;
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case 13: hwin = hwin_turnoverSlot13; break;
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case 14: hwin = hwin_turnoverSlot14; break;
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case 15: hwin = hwin_turnoverSlot15; break;
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case 16: hwin = hwin_turnoverSlot16; break;
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case 17: hwin = hwin_turnoverSlot17; break;
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case 18: hwin = hwin_turnoverSlot18; break;
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case 19: hwin = hwin_turnoverSlot19; break;
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case 20: hwin = hwin_turnoverSlot20; break;
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case 21: hwin = hwin_turnoverSlot21; break;
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case 22: hwin = hwin_turnoverSlot22; break;
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case 23: hwin = hwin_turnoverSlot23; break;
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case 24: hwin = hwin_turnoverSlot24; break;
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case 25: hwin = hwin_turnoverSlot25; break;
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case 26: hwin = hwin_turnoverSlot26; break;
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case 27: hwin = hwin_turnoverSlot27; break;
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case 28: hwin = hwin_turnoverSlot28; break;
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case 29: hwin = hwin_turnoverSlot29; break;
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case 30: hwin = hwin_turnoverSlot30; break;
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case 31: hwin = hwin_turnoverSlot31; break;
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case 32: hwin = hwin_turnoverSlot32; break;
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default:
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break;
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}
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if (hwin != null)
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{
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if (matchResult.SearchModelOK)
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{
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hwin.HobjectToHimage(matchResult.SourceImage);
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN, 20, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetX}", 200, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetY}", 400, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetR}", 600, 20, "green");
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}
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else
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{
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hwin.ClearWindow();
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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}
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}
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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//获取运行信息
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while (MessageQueue.Instance.HaveMessage())
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{
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MessageItem runInfo = MessageQueue.Instance.GetMessage();
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if (runInfo != null)
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{
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while (dgv_runinfo.Rows.Count > 500)
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{
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dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
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}
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dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
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}
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MessageItem errorInfo = MessageQueue.Instance.GetWarn();
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if (errorInfo != null)
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{
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while (dgv_errinfo.Rows.Count > 500)
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{
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dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
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}
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dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
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}
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}
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if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
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{
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if (btnWholeHome.Visible == true)
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btnWholeHome.Visible = false;
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}
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else
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{
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if (btnWholeHome.Visible == false)
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btnWholeHome.Visible = true;
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}
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}
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private void FormMain_Load(object sender, EventArgs e)
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{
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//SqliteHelper db = new SqliteHelper();
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//string querySql = "select * from NormalTray";
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//DataTable dt=db.GetDataTable(querySql);
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//if(dt!=null&&dt.Rows.Count>0)
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//{
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// DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
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// if(dr!=null)
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// {
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// trayEmpty1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayEmpty1.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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// dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
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// if (dr != null)
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// {
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// trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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// dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ok").First();
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// if (dr != null)
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// {
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// trayOk.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayOk.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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// dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ng").First();
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// if (dr != null)
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// {
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// trayNg.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayNg.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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// dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
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// if (dr != null)
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// {
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// trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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// dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
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// if (dr != null)
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// {
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// trayEmpty2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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// trayEmpty2.RowNum = int.Parse(dr["RowNum"].ToString());
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// }
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//}
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//timer1.Interval = 500;
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//timer1.Enabled = true;
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//DischargeFlow.Instance.OnMatchResult += Instance_OnMatchResult;
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//DischargeFlow.Instance.OnUpCameraGrabResult += Instance_OnUpCameraGrabResult;
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//DischargeFlow.Instance.OnShowGrabResult += Instance_OnShowGrabResult;
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//trayTurnover.ItemName = "Turnover";
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//trayEmpty1.ItemName = "Empty1";
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//trayInput.ItemName = "Input";
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//trayOk.ItemName = "Ok";
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//trayNg.ItemName = "Ng";
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//trayMulti.ItemName = "Multi";
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//trayEmpty2.ItemName = "Empty2";
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//trayEmpty1.InitSlotStatus = ESlotStatus.Null;
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//trayInput.InitSlotStatus = ESlotStatus.Null;
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//trayOk.InitSlotStatus = ESlotStatus.Null;
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//trayNg.InitSlotStatus = ESlotStatus.Null;
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//trayMulti.InitSlotStatus = ESlotStatus.Null;
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//trayEmpty2.InitSlotStatus = ESlotStatus.Null;
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//GlobalTray.Empty1Tray = trayEmpty1;
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//GlobalTray.InputTray = trayInput;
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//GlobalTray.OkTary= trayOk;
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//GlobalTray.NgTray= trayNg;
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//GlobalTray.MultiTray = trayMulti;
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//GlobalTray.Empty2Tray = trayEmpty2;
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//GlobalTray.TurnoverTray = trayTurnover;
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//GlobalTray.TestTray = trayTest;
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////StockManager.Instance.Start();
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//LoadStockStatus();
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HOperatorSet.ReadImage(out defaultImage, "default.bmp");
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}
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private void Instance_OnShowGrabResult(VisionResult matchResult, bool arg2)
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{
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HWindow_Final hwin = null;
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switch (matchResult.SlotIndex)
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{
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case 1: hwin = hwin_turnoverSlot1; break;
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case 2: hwin = hwin_turnoverSlot2; break;
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case 3: hwin = hwin_turnoverSlot3; break;
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case 4: hwin = hwin_turnoverSlot4; break;
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case 5: hwin = hwin_turnoverSlot5; break;
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case 6: hwin = hwin_turnoverSlot6; break;
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case 7: hwin = hwin_turnoverSlot7; break;
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case 8: hwin = hwin_turnoverSlot8; break;
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case 9: hwin = hwin_turnoverSlot9; break;
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case 10: hwin = hwin_turnoverSlot10; break;
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case 11: hwin = hwin_turnoverSlot11; break;
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case 12: hwin = hwin_turnoverSlot12; break;
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case 13: hwin = hwin_turnoverSlot13; break;
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case 14: hwin = hwin_turnoverSlot14; break;
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case 15: hwin = hwin_turnoverSlot15; break;
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case 16: hwin = hwin_turnoverSlot16; break;
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case 17: hwin = hwin_turnoverSlot17; break;
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case 18: hwin = hwin_turnoverSlot18; break;
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case 19: hwin = hwin_turnoverSlot19; break;
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case 20: hwin = hwin_turnoverSlot20; break;
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case 21: hwin = hwin_turnoverSlot21; break;
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case 22: hwin = hwin_turnoverSlot22; break;
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case 23: hwin = hwin_turnoverSlot23; break;
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case 24: hwin = hwin_turnoverSlot24; break;
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case 25: hwin = hwin_turnoverSlot25; break;
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case 26: hwin = hwin_turnoverSlot26; break;
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case 27: hwin = hwin_turnoverSlot27; break;
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case 28: hwin = hwin_turnoverSlot28; break;
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case 29: hwin = hwin_turnoverSlot29; break;
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case 30: hwin = hwin_turnoverSlot30; break;
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case 31: hwin = hwin_turnoverSlot31; break;
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case 32: hwin = hwin_turnoverSlot32; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.ClearWindow();
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if (arg2)
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{
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if (matchResult.ScanBarCodeOK)
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{
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hwin.HobjectToHimage(matchResult.SourceImage);
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"sn:{matchResult.SN}", 20, 20, "green");
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//HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetX}", 200, 20, "green");
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//HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetY}", 400, 20, "green");
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//HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetR}", 600, 20, "green");
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}
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else
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{
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hwin.HobjectToHimage(matchResult.SourceImage);
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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}
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else
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{
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//加载默认图片
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hwin.HobjectToHimage(defaultImage);
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "no product", 20, 20, "red");
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}
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}
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}
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private void btnWholeHome_Load(object sender, EventArgs e)
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{
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Ops.GoHome();
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}
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private void btnSpaceRun_BtnClick(object sender, EventArgs e)
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{
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//SpaceTest.Instance.Start();
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if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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//MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
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////WorkFlow.Instance.Start();
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//TurnoverFlow.Instance.Start();
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//TakeTrayFlow.Instance.Start();
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Ops.Start();
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//TakeTrayFlow.Instance.Start();
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//StockManager.Instance.Start();
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//WorkEnvironment.Instance.Ready();
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//TakeDumpTest.Instance.Start();
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}
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}
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private void btnStop_BtnClick(object sender, EventArgs e)
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{
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Ops.Stop();
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//TakeDumpTest.Instance.Stop();
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//LoadAndUnloadTest.Instance.Stop();
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//TakeTrayTest.Instance.Stop();
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//TurnoverFlow.Instance.Stop();
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//TakeTrayFlow.Instance.Stop();
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////ZRTest.Instance.Stop();
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////CameraTriggerTest.Instance.Stop();
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////SpaceTest.Instance.Stop();
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//WorkFlow.Instance.Stop();
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//MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
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}
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private void LoadStockStatus()
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{
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if (StockManager.Instance.HasTray(ETrayType.Empty1))
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{
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StockManager.Instance.GetStock(ETrayType.Empty1).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Empty1).Status = EStockTrayStatus.Empty.ToString();
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}
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if (StockManager.Instance.HasTray(ETrayType.Input))
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{
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StockManager.Instance.GetStock(ETrayType.Input).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Input).Status = EStockTrayStatus.Empty.ToString();
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}
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if (StockManager.Instance.HasTray(ETrayType.Ok))
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{
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StockManager.Instance.GetStock(ETrayType.Ok).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Ok).Status = EStockTrayStatus.Empty.ToString();
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}
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if (StockManager.Instance.HasTray(ETrayType.Ng))
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{
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StockManager.Instance.GetStock(ETrayType.Ng).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Ng).Status = EStockTrayStatus.Empty.ToString();
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}
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if (StockManager.Instance.HasTray(ETrayType.Multi))
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{
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StockManager.Instance.GetStock(ETrayType.Multi).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Multi).Status = EStockTrayStatus.Empty.ToString();
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}
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if (StockManager.Instance.HasTray(ETrayType.Empty2))
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{
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StockManager.Instance.GetStock(ETrayType.Empty2).ChangeStatus(EStockTrayStatus.Loaded);
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}
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else
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{
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GlobalTray.GetTray(ETrayType.Empty2).Status = EStockTrayStatus.Empty.ToString();
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}
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}
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}
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}
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