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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.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow.Camera;
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using Rs.MotionPlat.Flow.NgFlow;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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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.Flow
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{
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enum ERearrangeFlowStep
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{
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等待任务,
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到取料位上方,
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等待到取料位上方,
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到取料位下方,
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等待到取料位下方,
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开真空,
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取料真空检测,
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取料失败报警,
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取料完成抬起,
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等待取料完成抬起,
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到放料位上方,
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等待到放料位上方,
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到放料位下方,
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等待到放料位下方,
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到放料破真空位,
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等待到放料破真空位,
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放料完成抬起,
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等待放料完成抬起,
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放料真空检测,
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放料任务完成,
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任务结束到安全位,
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等待任务结束到安全位
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}
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public class RearrangeFlow
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{
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private string logInfo = string.Empty;
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private static RearrangeFlow instance;
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public static RearrangeFlow Instance
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{
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get
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{
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if (instance == null)
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{
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instance = new RearrangeFlow();
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}
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return instance;
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}
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}
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ERearrangeFlowStep flowStep = ERearrangeFlowStep.等待任务;
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Nozzle curNozzle;
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TurnoverInfo curTask;
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SlotPoint curSlotPoint;
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SlotPoint nozzleDist;
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double targetX = 0.0;
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double targetY = 0.0;
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int FetchNum = 0;//取料次数
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ErrorCode errCode = ErrorCode.Ok;
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string alarmInfo = string.Empty;
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ETrayType traytype;
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public void Rearrange()
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{
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bool finished = false;
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flowStep = ERearrangeFlowStep.等待任务;
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while (!finished)
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{
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switch (flowStep)
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{
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case ERearrangeFlowStep.等待任务:
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if (RearrangeTask.HasTask() && WorkEnvironment.Instance.EnvironmentOk)
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{
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DischargeFlow.Instance.Stop();
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logInfo = $"接收重排任务";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = ERearrangeFlowStep.到取料位上方;
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}
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break;
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case ERearrangeFlowStep.到取料位上方:
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curTask = RearrangeTask.GetTask();
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curNozzle = NozzleManager.GetIdelNozzle(true);
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if (curTask != null && curNozzle != null)
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{
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if (DischargeFlow.Instance.XYCanGoLocalArea() || GlobalVar.VirtualAxis)
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{
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curSlotPoint = null;
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traytype = ETrayType.Ok;
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switch (curTask.FromType)
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{
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case TurnoverType.Passed:
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traytype = ETrayType.Ok;
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break;
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case TurnoverType.Failed:
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traytype = ETrayType.Ng;
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break;
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case TurnoverType.Multifunction:
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traytype = ETrayType.Multi;
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break;
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default:
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break;
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}
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logInfo = $"吸嘴{curNozzle.NozzleIndex} 去{traytype}盘 {curTask.FromIndex + 1} 号穴位取料";
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curSlotPoint = TrayPointManager.GetSlotPoint(traytype, curTask.FromIndex + 1);
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MessageQueue.Instance.Insert(logInfo);
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if (curSlotPoint != null)
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{
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nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
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targetX = curSlotPoint.X + nozzleDist.X;
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targetY = curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
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errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
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if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.等待到取料位上方;
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}
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}
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}
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}
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else
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{
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logInfo = "loady move isn't safe";
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Msg.ShowError(logInfo);
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MessageQueue.Instance.Warn(logInfo);
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}
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}
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break;
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case ERearrangeFlowStep.等待到取料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "已运动到取料位上方";
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Thread.Sleep(100);
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MessageQueue.Instance.Insert(logInfo);
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flowStep = ERearrangeFlowStep.到取料位下方;
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}
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break;
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case ERearrangeFlowStep.到取料位下方:
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if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished || GlobalVar.VirtualAxis)
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{
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logInfo = "准备运动到取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.等待到取料位下方;
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}
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}
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else
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{
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logInfo = $"NozzleZ{curNozzle.NozzleIndex} 轴状态未回原，请手动回原后点击确定";
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Msg.ShowError(logInfo);
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LogHelper.Error(logInfo);
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}
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break;
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case ERearrangeFlowStep.等待到取料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "已运动到取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = ERearrangeFlowStep.开真空;
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}
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break;
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case ERearrangeFlowStep.开真空:
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VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
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flowStep = ERearrangeFlowStep.取料完成抬起;
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break;
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case ERearrangeFlowStep.取料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = "取料完成准备抬起";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = ERearrangeFlowStep.等待取料完成抬起;
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}
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break;
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case ERearrangeFlowStep.等待取料完成抬起:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "取料完成已运动到抬起位，准备真空检测";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = ERearrangeFlowStep.取料真空检测;
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}
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break;
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case ERearrangeFlowStep.取料真空检测:
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if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis)
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{
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FetchNum = 0;
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logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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curNozzle.Status = ENozzleStatus.ToUnload;
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curNozzle.FromType = curTask.FromType;
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curNozzle.ToType = curTask.ToType;
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curNozzle.ToIndex = curTask.ToIndex;
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curTask.SuckerNo = curNozzle.NozzleIndex;
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curNozzle.TurnoverGUID = curTask.GUID;
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if (curTask.FromType == TurnoverType.Passed)
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{
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curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ok).GetFloor();// StockManager.Instance.GetTray(EStockType.Ok).GetFloor();
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curNozzle.SN = GlobalTray.OkTary.GetSlot(curTask.FromIndex+1).SN;
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.OkTary.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
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}
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else if (curTask.FromType == TurnoverType.Failed)
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{
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curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ng).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor();
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curNozzle.SN = GlobalTray.NgTray.GetSlot(curTask.FromIndex + 1).SN;
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.NgTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
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}
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else if (curTask.FromType == TurnoverType.Multifunction)
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{
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curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Multi).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor();
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curNozzle.SN = GlobalTray.MultiTray.GetSlot(curTask.FromIndex + 1).SN;
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.MultiTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
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}
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curNozzle.Update();
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curTask.Dealed = true;
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if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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{
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logInfo = $"检测到还有条任务未执行，继续执行";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.到取料位上方;
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}
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else
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{
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flowStep = ERearrangeFlowStep.到放料位上方;
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}
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}
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else
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{
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if (FetchNum == 0)
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{
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//这个时候Z&R回原一次，然后再重新取料
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ZRHomeFlow.Instance.GoHome(curNozzle.NozzleIndex);
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}
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FetchNum++;
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if (FetchNum >= GlobalVar.DischargeRetakeNum)
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{
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DischargeDumpFlow.Instance.Start(curTask.FromType, curNozzle.NozzleIndex, curNozzle.FromIndex);
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alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘取料报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
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flowStep = ERearrangeFlowStep.取料失败报警;
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}
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else
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{
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flowStep = ERearrangeFlowStep.到取料位下方;
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}
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}
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break;
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//TestCenterMessageBox.Show(AlarmConstID.TrayTakeFailAlarm, alarmInfo, btnText, buttonText);
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case ERearrangeFlowStep.取料失败报警:
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ETipButton btnText = (ETipButton.Retry | ETipButton.Skip | ETipButton.Yes);
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Dictionary<ETipButton, string> buttonText = new Dictionary<ETipButton, string>();
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buttonText.Add(ETipButton.Retry, "重试|Retry");
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buttonText.Add(ETipButton.Skip, "跳过|Skip");
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buttonText.Add(ETipButton.Yes, "移动到安全位|MoveToSafePos");
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int alarmid = AlarmConstID.料仓tray盘取料报警;
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SchedulingMessageBox box = MsgBox.ShowDialog(alarmid, alarmInfo, btnText, buttonText);
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switch (box.Button)
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{
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case ETipButton.Retry:
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logInfo = GetClassName() + $"选择了重试，继续取料";
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MessageQueue.Instance.Insert(logInfo);
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if (curTask.FromType == TurnoverType.ToBeTested)
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{
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//检测料盘是否在上料位，在上料位则继续取料，不在上料位，则通知料仓把料盘送到上料位
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if (!StockManager.Instance.GetStock(ETrayType.Input).HasTray())
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{
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logInfo = GetClassName() + $"检测到料盘不在就绪状态，上料盘";
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MessageQueue.Instance.Insert(logInfo);
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StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
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}
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}
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FetchNum = 0;
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flowStep = ERearrangeFlowStep.到取料位上方;
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break;
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case ETipButton.Skip:
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SlotProductHasOrNotResult haveProduct = null;
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logInfo = GetClassName() + "选择了跳过";
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MessageQueue.Instance.Insert(logInfo);
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if (!StockManager.Instance.GetStock(traytype).HasTray())
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{
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logInfo = GetClassName() + $"检测到料盘不在上料位";
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MessageQueue.Instance.Insert(logInfo);
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StockManager.Instance.GetStock(traytype).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
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logInfo = GetClassName() + $"上料完成,通知相机拍照，检测产品是否已拿走";
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MessageQueue.Instance.Insert(logInfo);
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}
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haveProduct = UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(traytype, curNozzle.FromIndex + 1, true);
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if (!haveProduct.HasProduct)
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{
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logInfo = GetClassName() + "检测到产品已拿走，流程继续";
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MessageQueue.Instance.Insert(logInfo);
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FetchNum = 0;
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//执行料仓Tray取料NG时的处理流程，流程处理结束后，流程继续
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GlobalTray.GetTray(traytype).ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
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if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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{
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flowStep = ERearrangeFlowStep.到取料位上方;
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}
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else
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{
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flowStep = ERearrangeFlowStep.到放料位上方;
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}
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}
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else
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{
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alarmInfo = $"检测到{curNozzle.FromIndex + 1}号穴位产品未取出，请处理";
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flowStep = ERearrangeFlowStep.取料失败报警;
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}
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break;
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case ETipButton.Yes://移动到安全位
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//通知料仓把料盘退回到安全位
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if (curTask.FromType == TurnoverType.ToBeTested)
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{
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logInfo = GetClassName() + $"通知料仓把料盘退回到安全位";
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MessageQueue.Instance.Insert(logInfo);
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StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Back, null);//.UnLoad(EStockType.Input, EStockTrayUnLoadMode.Back);
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//StockManager.Instance.Wait(EStockType.Input);
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logInfo = GetClassName() + $"料仓已退回到安全位";
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MessageQueue.Instance.Insert(logInfo);
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}
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else if (curTask.FromType == TurnoverType.Turnover)
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{
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logInfo = GetClassName() + $"通知排料头回安全位";
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MessageQueue.Instance.Insert(logInfo);
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DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
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logInfo = GetClassName() + $"排料头已回到安全位";
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MessageQueue.Instance.Insert(logInfo);
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}
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alarmInfo = $"已运动到安全位,{curNozzle.NozzleIndex}号排料吸嘴取{curNozzle.FromIndex}号穴位产品次失败，请处理";
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flowStep = ERearrangeFlowStep.取料失败报警;
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break;
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default:
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break;
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}
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break;
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case ERearrangeFlowStep.到放料位上方:
|
|
|
if (DischargeFlow.Instance.XYCanGoLocalArea() || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
targetX = 0.0;
|
|
|
targetY = 0.0;
|
|
|
///获取需要放料的吸嘴
|
|
|
curSlotPoint = null;
|
|
|
curNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
if (curNozzle != null)
|
|
|
{
|
|
|
curSlotPoint = GetSlotPoint(curNozzle.ToType);
|
|
|
}
|
|
|
if (curSlotPoint != null)
|
|
|
{
|
|
|
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
|
|
|
targetX = curSlotPoint.X + nozzleDist.X;
|
|
|
targetY = curSlotPoint.Y + nozzleDist.Y;
|
|
|
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.GetAxis($"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("loady move isn't safe");
|
|
|
}
|
|
|
break;
|
|
|
case ERearrangeFlowStep.等待到放料位上方:
|
|
|
if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(100);
|
|
|
logInfo = "已运动到放料位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = ERearrangeFlowStep.到放料位下方;
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
case ERearrangeFlowStep.到放料位下方:
|
|
|
logInfo = "到放料位下方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
flowStep = ERearrangeFlowStep.等待到放料位下方;
|
|
|
}
|
|
|
break;
|
|
|
case ERearrangeFlowStep.等待到放料位下方:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Open, true, curNozzle.NozzleIndex);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Close, false, curNozzle.NozzleIndex);
|
|
|
flowStep = ERearrangeFlowStep.放料完成抬起;
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
case ERearrangeFlowStep.放料完成抬起:
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = "放料完成抬起";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = ERearrangeFlowStep.等待放料完成抬起;
|
|
|
}
|
|
|
break;
|
|
|
case ERearrangeFlowStep.等待放料完成抬起:
|
|
|
if (Ops.IsStop($"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);
|
|
|
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);
|
|
|
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())
|
|
|
{
|
|
|
flowStep = ERearrangeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = ERearrangeFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case ERearrangeFlowStep.任务结束到安全位:
|
|
|
logInfo = "任务结束到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("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);
|
|
|
if (RearrangeTask.ReportCenter() > 0)
|
|
|
{
|
|
|
logInfo = "通知中控任务完成";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
RearrangeTask.RemoveAll();
|
|
|
logInfo = "任务完成，清除任务";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
|
|
|
finished = true;
|
|
|
}
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
|
{
|
|
|
if (fetchNum == 0) return 0;
|
|
|
//先判断是奇数还是偶数
|
|
|
int count = 0;
|
|
|
int oddOrEven = fetchNum & 0x01;
|
|
|
|
|
|
double offsetDisct = 0.0;
|
|
|
if (oddOrEven == 1)
|
|
|
{
|
|
|
count = (fetchNum / 2) + 1;
|
|
|
offsetDisct = -0.1 * count;
|
|
|
}
|
|
|
|
|
|
else if (oddOrEven == 0)
|
|
|
{
|
|
|
count = (fetchNum / 2);
|
|
|
offsetDisct = 0.1 * count;
|
|
|
}
|
|
|
return offsetDisct;
|
|
|
}
|
|
|
|
|
|
private SlotPoint GetSlotPoint(TurnoverType trayType)
|
|
|
{
|
|
|
SlotPoint pt = new SlotPoint();
|
|
|
switch (trayType)
|
|
|
{
|
|
|
case TurnoverType.Passed:
|
|
|
logInfo = "到Pass盘放料位上方";
|
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Ok, curNozzle.ToIndex + 1);
|
|
|
break;
|
|
|
case TurnoverType.Failed:
|
|
|
logInfo = "到Ng盘放料位上方";
|
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Ng, curNozzle.ToIndex + 1);
|
|
|
break;
|
|
|
case TurnoverType.Multifunction:
|
|
|
logInfo = "到Multi盘放料位上方";
|
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Multi, curNozzle.ToIndex + 1);
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
return pt;
|
|
|
}
|
|
|
private string GetClassName()
|
|
|
{
|
|
|
return string.Empty;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
}
|