|
|
using HalconDotNet;
|
|
|
using Rs.AutoDischarge.V3.Flow;
|
|
|
using Rs.Camera;
|
|
|
using Rs.Controls;
|
|
|
using Rs.Framework;
|
|
|
using Rs.Motion;
|
|
|
using Rs.MotionPlat.Commom;
|
|
|
using Rs.MotionPlat.Entitys;
|
|
|
using Rs.MotionPlat.Entitys.Trays;
|
|
|
using Rs.MotionPlat.Flow.Camera;
|
|
|
using Rs.MotionPlat.Flow.NgFlow;
|
|
|
using Rs.MotionPlat.Flow.SafePosFlow;
|
|
|
using Rs.MotionPlat.Flow.Space;
|
|
|
using Rs.MotionPlat.Flow.SubFlow;
|
|
|
using System;
|
|
|
using System.Collections.Generic;
|
|
|
using System.Diagnostics;
|
|
|
using System.Diagnostics.Eventing.Reader;
|
|
|
using System.IO;
|
|
|
using System.Linq;
|
|
|
using System.Runtime.CompilerServices;
|
|
|
using System.Text;
|
|
|
using System.Threading;
|
|
|
using System.Threading.Tasks;
|
|
|
using System.Windows.Forms;
|
|
|
using static Rs.MotionPlat.Commom.SchedulingMessageBox;
|
|
|
|
|
|
namespace Rs.MotionPlat.Flow
|
|
|
{
|
|
|
public enum EDischargeFlowStep
|
|
|
{
|
|
|
等待任务,
|
|
|
/*取料*/
|
|
|
到取料位上方,
|
|
|
等待到取料位上方,
|
|
|
到取料位下方,
|
|
|
等待到取料位下方,
|
|
|
开真空,
|
|
|
取料完成后真空检测,
|
|
|
取料失败报警,
|
|
|
取料完成抬起,
|
|
|
等待取料完成抬起,
|
|
|
/*拍照*/
|
|
|
到下相机拍照起始位,
|
|
|
等待到下相机拍照起始位,
|
|
|
到下相机拍照结束位,
|
|
|
等待到下相机拍照结束位,
|
|
|
等待相机拍照完成,
|
|
|
等待视觉处理结果,
|
|
|
/*放料*/
|
|
|
到放料位上方,
|
|
|
等待到放料位上方,
|
|
|
丢料检测,
|
|
|
到放料位下方,
|
|
|
等待到放料位下方,
|
|
|
到放料关破真空位,
|
|
|
等待到放料关破真空位,
|
|
|
周转盘放料位真空检测,
|
|
|
放料完成抬起,
|
|
|
等待放料完成抬起,
|
|
|
放料真空检测,
|
|
|
粘料检测,
|
|
|
周转盘放料真空报警,
|
|
|
放料任务完成,
|
|
|
任务结束到安全位,
|
|
|
等待任务结束到安全位,
|
|
|
IDLE
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 排料流程
|
|
|
/// </summary>
|
|
|
public class DischargeFlow : BaseFlow
|
|
|
{
|
|
|
private DischargeFlow() { }
|
|
|
|
|
|
private static DischargeFlow instance;
|
|
|
|
|
|
public event Action<List<MatchResult>> OnMatchResult;
|
|
|
public event Action<List<VisionResult>> OnUpCameraGrabResult;
|
|
|
public event Action<VisionResult,bool> OnShowGrabResult;
|
|
|
public event Action<SlotProductHasOrNotResult> OnStockTrayProductHasOrNotResult;
|
|
|
public event Action<SlotProductHasOrNotResult> OnTurnoverTrayProductHasOrNotResult;
|
|
|
public static DischargeFlow Instance
|
|
|
{
|
|
|
get
|
|
|
{
|
|
|
if (instance == null)
|
|
|
{
|
|
|
instance = new DischargeFlow();
|
|
|
}
|
|
|
return instance;
|
|
|
}
|
|
|
}
|
|
|
Stopwatch timeout = new Stopwatch();
|
|
|
EDischargeFlowStep flowStep = EDischargeFlowStep.等待任务;
|
|
|
EDischargeFlowStep restoreFlowStep = EDischargeFlowStep.IDLE;
|
|
|
HObject[] imgs = new HObject[2];
|
|
|
List<MatchResult> mrs = new List<MatchResult>();
|
|
|
int reFetchNum = 0;//重取料次数
|
|
|
bool bFetchBack = false;
|
|
|
double targetX = 0.0;
|
|
|
double targetY = 0.0;
|
|
|
double targetPos = 0.0;
|
|
|
TraySlot tray = new TraySlot();
|
|
|
// List<TurnoverInfo> totalTask = new List<TurnoverInfo>();
|
|
|
List<TurnoverInfo> dealTask = new List<TurnoverInfo>();
|
|
|
//TurnoverInfo curTurnoverTask = new TurnoverInfo();
|
|
|
TurnoverInfo curTask = new TurnoverInfo();
|
|
|
List<Nozzle> idleNozzle = new List<Nozzle>();
|
|
|
Nozzle curNozzle = new Nozzle();
|
|
|
/// <summary>
|
|
|
/// 当前穴位的点位
|
|
|
/// </summary>
|
|
|
SlotPoint curSlotPoint = new SlotPoint();
|
|
|
SlotPoint nozzleDist = new SlotPoint();
|
|
|
//List<Nozzle> unloadNozzles = new List<Nozzle>();
|
|
|
TraySlot downSlot = new TraySlot();
|
|
|
OffsetPoint turnoverOffsetPoint = new OffsetPoint();
|
|
|
int needGrabNum = 0;//需要拍照的吸嘴数量
|
|
|
int reGrabCount = 0;//重拍次数
|
|
|
ErrorCode errCode = ErrorCode.Ok;
|
|
|
List<TurnoverInfo> testLoadList = new List<TurnoverInfo>();
|
|
|
List<TurnoverInfo> testUnLoadList = new List<TurnoverInfo>();
|
|
|
/// <summary>
|
|
|
/// 从料仓到周转盘
|
|
|
/// </summary>
|
|
|
private bool StockTrayToTurnoverTray = true;
|
|
|
SchedulingMessageBox msgBox;
|
|
|
/// <summary>
|
|
|
/// 未执行的任务数量
|
|
|
/// </summary>
|
|
|
private int undoTaskNum = 0;
|
|
|
int scanNum = 0;
|
|
|
|
|
|
public override void Run()
|
|
|
{
|
|
|
switch (flowStep)
|
|
|
{
|
|
|
case EDischargeFlowStep.等待任务:
|
|
|
if (WorkEnvironment.Instance.EnvironmentOk)
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Load) > 0
|
|
|
|| LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Unload) > 0
|
|
|
|| LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Change) > 0)
|
|
|
{
|
|
|
StockTrayToTurnoverTray = true;
|
|
|
logInfo = GetClassName()+$"接收到排料任务";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.到取料位上方:
|
|
|
//先取上料任务,再取下料任务，最后取换料任务
|
|
|
if(StockTrayToTurnoverTray)
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Load) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetLoadTask();
|
|
|
}
|
|
|
else if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Unload) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetUnLoadTask();
|
|
|
}
|
|
|
else if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Change) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetChangeTask();
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Unload) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetUnLoadTask();
|
|
|
}
|
|
|
else if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Load) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetLoadTask();
|
|
|
}
|
|
|
else if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Change) > 0)
|
|
|
{
|
|
|
curTask = LoadAndUnloadTask.Instance.GetChangeTask();
|
|
|
}
|
|
|
}
|
|
|
curNozzle = NozzleManager.GetIdelNozzle();
|
|
|
if (curTask!=null && curNozzle != null)
|
|
|
{
|
|
|
if (XYCanGoLocalArea() || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
curSlotPoint = null;
|
|
|
curNozzle.FromType=curTask.FromType;
|
|
|
if (curTask.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint( ETrayType.Turnover, curTask.FromIndex + 1);
|
|
|
curNozzle.FromIndex = curTask.FromIndex;
|
|
|
logInfo = GetClassName()+ $"排料{curNozzle.NozzleIndex}号吸嘴到{curTask.FromType.ToString()}盘{curNozzle.FromIndex + 1}号穴位取料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else if (curTask.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
TraySlot slot = null;
|
|
|
if (Ops.IsOff("2号料仓缺盘光电检测"))
|
|
|
{
|
|
|
slot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have,true);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
slot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
|
|
|
}
|
|
|
if (slot != null)
|
|
|
{
|
|
|
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";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//上料完成后判断是否时最后一盘料
|
|
|
//while (true)
|
|
|
{
|
|
|
if (Ops.IsOff("2号料仓缺盘光电检测"))
|
|
|
{
|
|
|
logInfo = "Input料仓最后一盘料，请确认是否继续上料?";
|
|
|
msgBox = MsgBox.ShowDialog(111, logInfo, (ETipButton.Yes | ETipButton.No),new Dictionary<ETipButton, string>() { { ETipButton.Yes, "是|Yes" },{ETipButton.No, "结束上料|EndInput" } });
|
|
|
if (msgBox.Button == ETipButton.Yes)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//endInputClicked = true;
|
|
|
//结束上料
|
|
|
TestCenter.Instance.EndInput();
|
|
|
LoadAndUnloadTask.Instance.ClearUndoTask();
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetUnDealedTask().Count > 0)
|
|
|
{
|
|
|
StockTrayToTurnoverTray = !StockTrayToTurnoverTray;
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
logInfo = GetClassName() + $"{curTask.FromType.ToString()}盘无料,准备切换料盘";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty1,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
}, null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty1).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).WaitFinished();
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
if (curSlotPoint != null)
|
|
|
{
|
|
|
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
|
|
|
targetX = curSlotPoint.X + nozzleDist.X;
|
|
|
targetY = curSlotPoint.Y + nozzleDist.Y;
|
|
|
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
//if(Ops.IsHomedAndNearStartPos($"NozzleR{NozzleIndex}"))
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
|
|
|
if(errCode== ErrorCode.Ok|| GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
targetPos = SysConfigParam.GetValue<Double>($"NozzleR{curNozzle.NozzleIndex}StartPos");
|
|
|
errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.等待到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleR{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
|
|
|
}
|
|
|
}
|
|
|
//else
|
|
|
// {
|
|
|
// Msg.ShowError($"吸头 NozzleR{NozzleIndex} 不在起始位，请手动手动回原后运动到起始位");
|
|
|
// }
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
logInfo = "x y r move is unsafe";
|
|
|
Msg.ShowError(logInfo);
|
|
|
MessageQueue.Instance.Warn(logInfo);
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.等待到取料位上方:
|
|
|
if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName()+$"已运动到{WitchTrayWitchSlot(curNozzle.FromType,curNozzle.FromIndex)}取料位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.到取料位下方;
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.到取料位下方:
|
|
|
if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (curTask.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
targetPos = GetVacOffsetHeight(reFetchNum) + SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight");
|
|
|
//在周转盘取料，提前把真空吸打开
|
|
|
VacManager.DischargeVacSuction(EVacOperator.Open, false, curNozzle.NozzleIndex);
|
|
|
VacManager.TurnoverTrayVacSuction(EVacOperator.Close, false, curNozzle.FromIndex + 1);
|
|
|
}
|
|
|
else if (curTask.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
targetPos = GetVacOffsetHeight(reFetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight");
|
|
|
}
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"到{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位取料位下方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.等待到取料位下方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleZ{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
logInfo = GetClassName()+ $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定";
|
|
|
MessageQueue.Instance.Warn(logInfo);
|
|
|
MsgBox.ShowDialog(AlarmConstID.AxisNotAtHomeAlarm, logInfo, ETipButton.Ok);
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.等待到取料位下方:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName()+ $"已运动到{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位取料位下方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.开真空;
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.开真空:
|
|
|
/*打开排料吸嘴真空吸*/
|
|
|
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime);
|
|
|
|
|
|
//logInfo = GetClassName()+ $"打开{curNozzle.NozzleIndex}号排料吸嘴真空吸";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
if (curTask.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
/*关闭周转盘真空吸*/
|
|
|
//logInfo = GetClassName() + $"关闭周转盘{curTask.FromIndex + 1}号穴位真空吸";
|
|
|
//Ops.Off($"周转盘{curTask.FromIndex + 1}号穴位真空吸");
|
|
|
//Thread.Sleep(GlobalVar.TurnoverTrayCloseVacSuctionDelaytime);
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//VacManager.TurnoverTrayVacSuction(EVacOperator.Close, true, curNozzle.FromIndex+1);
|
|
|
/*打开周转盘真空破*/
|
|
|
//logInfo = GetClassName() + $"打开周转盘{curTask.FromIndex + 1}号穴位真空破";
|
|
|
//Ops.On($"周转盘{curTask.FromIndex + 1}号穴位真空破");
|
|
|
//Thread.Sleep(GlobalVar.TurnoverTrayOpenVacBreakDelaytime);
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
VacManager.TurnoverTrayVacBreak( EVacOperator.Open,true,curNozzle.FromIndex + 1);
|
|
|
/*关闭周转盘真空破*/
|
|
|
//logInfo = GetClassName() + $"关闭周转盘{curTask.FromIndex + 1}号穴位真空破";
|
|
|
//Ops.Off($"周转盘{curTask.FromIndex + 1}号穴位真空破");
|
|
|
//Thread.Sleep(GlobalVar.TurnoverTrayCloseVacBreakDelaytime);
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.取料完成抬起;
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.取料完成抬起:
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if(GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
logInfo = GetClassName()+ $"取{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位产品完成抬起";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.等待取料完成抬起;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleZ{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待取料完成抬起:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName()+$"取{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位产品完成已抬起";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (curTask.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
///周转盘取料抬起后把真空破关闭,这里关破真空不等待
|
|
|
VacManager.TurnoverTrayVacBreak(EVacOperator.Close,false, curNozzle.FromIndex + 1);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.取料完成后真空检测;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.取料完成后真空检测:
|
|
|
if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
reFetchNum = 0;
|
|
|
logInfo = GetClassName()+$"排料吸嘴{curNozzle.NozzleIndex}号真空检测OK";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
UpdateNozzleStatus(curNozzle, curTask);
|
|
|
undoTaskNum = LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode);
|
|
|
if (undoTaskNum > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
|
|
|
{
|
|
|
logInfo =GetClassName()+ $"还有{undoTaskNum}条任务未执行，并且有空闲吸嘴，继续取料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if(reFetchNum==0)
|
|
|
{
|
|
|
//这个时候Z&R回原一次，然后再重新取料
|
|
|
ZRHomeFlow.Instance.GoHome(curNozzle.NozzleIndex);
|
|
|
}
|
|
|
reFetchNum++;
|
|
|
if (reFetchNum >= GlobalVar.DischargeRetakeNum)
|
|
|
{
|
|
|
DischargeDumpFlow.Instance.Start(curTask.FromType, curNozzle.NozzleIndex, curNozzle.FromIndex);
|
|
|
//alarmInfo = $"排料{curNozzle.NozzleIndex}号吸嘴取{curNozzle.FromIndex+1}号穴位产品{reFetchNum}次失败";
|
|
|
if(curTask.FromType== TurnoverType.ToBeTested)
|
|
|
{
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘取料报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
|
|
|
}
|
|
|
else if(curTask.FromType== TurnoverType.Turnover)
|
|
|
{
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头在周转盘取料失败报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.取料失败报警;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到取料位下方;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.取料失败报警:
|
|
|
ETipButton btnText = (ETipButton.Retry | ETipButton.Skip| ETipButton.Yes);
|
|
|
Dictionary<ETipButton, string> buttonText = new Dictionary<ETipButton, string>();
|
|
|
buttonText.Add(ETipButton.Retry, "重试|Retry");
|
|
|
buttonText.Add(ETipButton.Skip, "跳过|Skip");
|
|
|
buttonText.Add(ETipButton.Yes, "移动到安全位|MoveToSafePos");
|
|
|
if (curTask.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
buttonText.Add(ETipButton.No, "结束上料|EndInput");
|
|
|
btnText |= ETipButton.No;
|
|
|
}
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.TrayTakeFailAlarm, alarmInfo, btnText, buttonText);
|
|
|
int alarmid = AlarmConstID.排料头在周转盘取料失败报警;
|
|
|
if (curTask.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
alarmid = AlarmConstID.料仓tray盘取料报警;
|
|
|
}
|
|
|
SchedulingMessageBox box = MsgBox.ShowDialog(alarmid, alarmInfo, btnText, buttonText);// TestCenterMessageBox.WaitResult(AlarmConstID.TrayTakeFailAlarm);
|
|
|
switch (box.Button)
|
|
|
{
|
|
|
case ETipButton.Retry:
|
|
|
logInfo = GetClassName() + $"选择了重试，继续取料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if(curTask.FromType== TurnoverType.ToBeTested)
|
|
|
{
|
|
|
//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
|
|
|
if (!StockManager.Instance.GetStock(ETrayType.Input).HasTray())
|
|
|
{
|
|
|
logInfo = GetClassName() + $"检测到料盘不在就绪状态，上料盘";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
|
|
|
}
|
|
|
}
|
|
|
reFetchNum = 0;
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
break;
|
|
|
case ETipButton.Skip:
|
|
|
SlotProductHasOrNotResult haveProduct = null;
|
|
|
logInfo = GetClassName() + "选择了跳过";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if(curTask.FromType== TurnoverType.ToBeTested)
|
|
|
{
|
|
|
if(!StockManager.Instance.GetStock(ETrayType.Input).HasTray())
|
|
|
{
|
|
|
logInfo = GetClassName() + $"检测到料盘不在上料位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
|
|
|
logInfo = GetClassName() + $"上料完成,通知相机拍照，检测产品是否已拿走";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
haveProduct = UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(ETrayType.Input, curNozzle.FromIndex+1, true);
|
|
|
OnStockTrayProductHasOrNotResult?.Invoke(haveProduct);
|
|
|
}
|
|
|
else if(curTask.FromType== TurnoverType.Turnover)
|
|
|
{
|
|
|
if(GlobalVar.EnableExceptionHandlingNozzle)
|
|
|
{
|
|
|
//首先把排料吸头移动到安全位
|
|
|
if(!DischargeModuleGoSafePosFlow.Instance.IsInSafePostion())
|
|
|
{
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
}
|
|
|
logInfo = GetClassName()+$"通知强力吸头到{ETrayType.Turnover}盘{curTask.FromIndex}穴位取异常料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
WarningSuckerNgFlow.Instance.DealNgProduct(ETrayType.Turnover, curTask.FromIndex);
|
|
|
WarningSuckerNgFlow.Instance.Wait();
|
|
|
logInfo = GetClassName()+$"{ETrayType.Turnover}盘{curTask.FromIndex}穴位异常料处理完成";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
haveProduct = UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null,curTask.FromIndex+1);
|
|
|
OnStockTrayProductHasOrNotResult?.Invoke(haveProduct);
|
|
|
}
|
|
|
}
|
|
|
if(!haveProduct.HasProduct)
|
|
|
{
|
|
|
logInfo = GetClassName() + "检测到产品已拿走，流程继续";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
reFetchNum = 0;
|
|
|
//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
|
|
|
if (curTask.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
|
|
|
curTask.Dealed = true;
|
|
|
}
|
|
|
else if (curTask.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
GlobalTray.InputTray.ChangeStatus(curNozzle.FromIndex+1, ESlotStatus.NotHave);
|
|
|
}
|
|
|
undoTaskNum = LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode);
|
|
|
if (undoTaskNum > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
|
|
|
{
|
|
|
logInfo = GetClassName()+ $"跳过后检测到还有{undoTaskNum}条任务未执行，继续取料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
alarmInfo = $"检测到{curNozzle.FromIndex+1}号穴位产品未取出，请处理";
|
|
|
flowStep = EDischargeFlowStep.取料失败报警;
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case ETipButton.Yes://移动到安全位
|
|
|
//通知料仓把料盘退回到安全位
|
|
|
if(curTask.FromType== TurnoverType.ToBeTested)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"通知料仓把料盘退回到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Back,null);//.UnLoad(EStockType.Input, EStockTrayUnLoadMode.Back);
|
|
|
//StockManager.Instance.Wait(EStockType.Input);
|
|
|
logInfo = GetClassName() + $"料仓已退回到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else if(curTask.FromType== TurnoverType.Turnover)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"通知排料头回安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
logInfo = GetClassName() + $"排料头已回到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
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";
|
|
|
flowStep = EDischargeFlowStep.取料失败报警;
|
|
|
break;
|
|
|
case ETipButton.No://结束上料
|
|
|
logInfo = GetClassName() + $"选择了结束上料，通知中控结束上料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
reFetchNum = 0;
|
|
|
TestCenter.Instance.EndInput();
|
|
|
LoadAndUnloadTask.Instance.ClearUndoTask();
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetUnDealedTask().Count > 0)
|
|
|
{
|
|
|
StockTrayToTurnoverTray = !StockTrayToTurnoverTray;
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
ScanBarCode();
|
|
|
flowStep = EDischargeFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.到下相机拍照起始位:
|
|
|
if (XYCanGoTurnoverTray() || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"到下相机拍照起始位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if(!GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
ImageProcess.ClearAutoTrigger();
|
|
|
HikCamera.Instance.SetExposure("locationCamera", GlobalVar.FlyGrabExposureTime);
|
|
|
HikCamera.Instance.SetGain("locationCamera", GlobalVar.FlyGrabGain);
|
|
|
}
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 30, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>($"Nozzle8CenterY"), GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.等待到下相机拍照起始位;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterX") + 30, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterY"), GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.等待到下相机拍照起始位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
logInfo = GetClassName() + $"检测到排料吸嘴没有需要下料的产品，任务结束回安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到下相机拍照起始位:
|
|
|
if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"已运动到下相机拍照起始位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (!GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
|
|
|
}
|
|
|
|
|
|
List<double> grabPoints = new List<double>();
|
|
|
//获取有几个吸嘴需要拍照
|
|
|
needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
for (int i = needGrabNum; i >= 1; i--)
|
|
|
{
|
|
|
grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
for (int i = 1; i < needGrabNum + 1; i++)
|
|
|
{
|
|
|
grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
|
|
|
}
|
|
|
}
|
|
|
|
|
|
errCode = AxisControl.LoadX.SetPosCompare(1, grabPoints.ToArray());
|
|
|
if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照结束位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.到下相机拍照结束位:
|
|
|
if (XYCanGoTurnoverTray() || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"到下相机拍照结束位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
//IoManager.Instance.WriteOut("下左相机光源触发", 1);
|
|
|
//Thread.Sleep(50);
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle1CenterX") + 10, GlobalVar.FlyCameraSpeed);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 10, GlobalVar.FlyCameraSpeed);
|
|
|
}
|
|
|
if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.等待到下相机拍照结束位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到下相机拍照结束位:
|
|
|
if (Ops.IsStop("LoadX") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"已运动到下相机拍照结束位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if(!GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
AxisControl.LoadX.ClearCompare(1);
|
|
|
}
|
|
|
//IoManager.Instance.WriteOut("下左相机光源触发", 0);
|
|
|
timeout.Restart();
|
|
|
flowStep = EDischargeFlowStep.等待相机拍照完成;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待相机拍照完成:
|
|
|
if(timeout.ElapsedMilliseconds<3000)
|
|
|
{
|
|
|
imgs = ImageProcess.GetAutoImage();
|
|
|
if ((imgs != null && imgs.Length == needGrabNum) || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"相机拍照完成，准备处理照片";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
imgs = imgs.Reverse().ToArray();
|
|
|
}
|
|
|
if (GlobalVar.RunSpace)
|
|
|
{
|
|
|
if(GlobalVar.EnableScanBarCodeByDownCamera)
|
|
|
{
|
|
|
foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
|
|
|
{
|
|
|
if (string.IsNullOrEmpty(nl.SN))
|
|
|
{
|
|
|
nl.SN = VirtualBarCode.Code;// (nl.FromIndex + 1).ToString().PadLeft(18, '0');
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
mrs = new List<MatchResult>();
|
|
|
for (int i = 0; i < needGrabNum; i++)
|
|
|
{
|
|
|
mrs.Add(new MatchResult());
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.到放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//拍照完成
|
|
|
flowStep = EDischargeFlowStep.等待视觉处理结果;
|
|
|
}
|
|
|
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MessageQueue.Instance.Warn("下相机拍照超时，重拍");
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待视觉处理结果:
|
|
|
if (mrs != null && mrs.Count > 0)
|
|
|
{
|
|
|
mrs.Clear();
|
|
|
GC.Collect();
|
|
|
}
|
|
|
mrs = VisionProcess.Instance.MatchDownCam(imgs);
|
|
|
if (mrs != null && mrs.Count == imgs.Length && (mrs.Where(m=>m.IsOK==true).Count()==imgs.Length || GlobalVar.DownCameraFlyRegrabNum==0))
|
|
|
{
|
|
|
logInfo = GetClassName() + $"图片处理完成，准备放料";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
int count = 0;
|
|
|
if(GlobalVar.EnableScanBarCodeByDownCamera)
|
|
|
{
|
|
|
foreach (Nozzle nozzle in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
|
|
|
{
|
|
|
nozzle.SN = mrs[count].SN;
|
|
|
count++;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
//int ni = 1;
|
|
|
//foreach (MatchResult item in mrs)
|
|
|
//{
|
|
|
// NozzleManager.GetNozzle(ni).SN = item.SN;
|
|
|
// ni++;
|
|
|
//}
|
|
|
reGrabCount = 0;
|
|
|
OnMatchResult?.Invoke(mrs);
|
|
|
flowStep = EDischargeFlowStep.到放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
int ni = 1;
|
|
|
List<int> errCodeList = new List<int>();
|
|
|
foreach (MatchResult item in mrs)
|
|
|
{
|
|
|
if(item.IsOK)
|
|
|
{
|
|
|
if(GlobalVar.EnableScanBarCodeByDownCamera)
|
|
|
{
|
|
|
NozzleManager.GetNozzle(ni).SN = item.SN;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
errCodeList.Add(ni);
|
|
|
NozzleManager.GetNozzle(ni).SN = null;
|
|
|
}
|
|
|
ni++;
|
|
|
}
|
|
|
OnMatchResult?.Invoke(mrs);
|
|
|
if(reGrabCount < GlobalVar.DownCameraFlyRegrabNum)
|
|
|
{
|
|
|
reGrabCount++;
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
reGrabCount = 0;
|
|
|
alarmInfo = $"{string.Join(",", errCodeList)}号排料吸嘴拍照失败";
|
|
|
//DialogResult dr = Msg.ShowQuestion(, System.Windows.Forms.MessageBoxButtons.RetryCancel);
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.DownCameraFlyFailAlarm, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
|
|
|
box = MsgBox.ShowDialog(AlarmConstID.DownCameraFlyFailAlarm, alarmInfo, ETipButton.Retry | ETipButton.Cancel);// TestCenterMessageBox.WaitResult(AlarmConstID.DownCameraFlyFailAlarm);
|
|
|
if (box.Button== ETipButton.Cancel)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到放料位上方;
|
|
|
}
|
|
|
else if (box.Button == ETipButton.Retry)
|
|
|
{
|
|
|
Thread.Sleep(500);
|
|
|
flowStep = EDischargeFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.到放料位上方:
|
|
|
{
|
|
|
bool canGo = false;
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
canGo = XYCanGoTurnoverTray();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
canGo = XYCanGoLocalArea();
|
|
|
}
|
|
|
if (canGo || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
turnoverOffsetPoint.Reset();
|
|
|
tray = null;
|
|
|
targetX = 0.0;
|
|
|
targetY = 0.0;
|
|
|
///获取需要放料的吸嘴
|
|
|
curSlotPoint = null;
|
|
|
curNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
if (curNozzle != null)
|
|
|
{
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{curNozzle.ToType}盘{curNozzle.ToIndex + 1}号穴位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, curNozzle.ToIndex + 1);
|
|
|
turnoverOffsetPoint = TurnoverSlotOffset.GetOffsetPoint(curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
downSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curNozzle.ToIndex = downSlot.Index - 1;
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, downSlot.Index);
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{curNozzle.ToType}盘{curNozzle.ToIndex + 1}号穴位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Input,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
},
|
|
|
null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterTakeTray, () => {
|
|
|
GlobalTray.GetTray(ETrayType.Input).ChangeStatus(ESlotStatus.NotHave);
|
|
|
});
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).WaitFinished();
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Passed)
|
|
|
{
|
|
|
if (GlobalVar.InputTrayLoop)
|
|
|
{
|
|
|
downSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.NotHave);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
downSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
|
|
|
}
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curNozzle.ToIndex = downSlot.Index - 1;
|
|
|
if (GlobalVar.InputTrayLoop)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, downSlot.Index);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Ok, downSlot.Index);
|
|
|
}
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{curNozzle.ToType}盘{curNozzle.ToIndex + 1}号穴位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Ok).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ok,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
},
|
|
|
null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Ok).Load(EStockTrayLoadMode.AfterTakeTray, null);
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Ok).WaitFinished();
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Failed)
|
|
|
{
|
|
|
downSlot = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curNozzle.ToIndex = downSlot.Index - 1;
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Ng, downSlot.Index);
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{curNozzle.ToType}盘{curNozzle.ToIndex + 1}号穴位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Ng).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ng,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
},
|
|
|
null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Ng).Load(EStockTrayLoadMode.AfterTakeTray, null);
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Ng).WaitFinished();
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Multifunction)
|
|
|
{
|
|
|
//如果吸嘴是1，并且最后一列
|
|
|
downSlot = GlobalTray.MultiTray.GetSlot(ESlotStatus.NotHave);
|
|
|
#region 为了解决第一个吸嘴到不了最后一列的问题
|
|
|
if (curNozzle.NozzleIndex == 1 && downSlot != null && (downSlot.Column == 0))
|
|
|
{
|
|
|
if (downSlot.Column == 0)
|
|
|
{
|
|
|
downSlot = GlobalTray.MultiTray.GetSlot(downSlot.Index + 1);
|
|
|
}
|
|
|
}
|
|
|
#endregion
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curNozzle.ToIndex = downSlot.Index - 1;
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Multi, downSlot.Index);
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{curNozzle.ToType}盘{curNozzle.ToIndex + 1}号穴位上方,SN={curNozzle.SN}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Multi).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Multi,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
},
|
|
|
null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
StockManager.Instance.GetStock(ETrayType.Multi).Load(EStockTrayLoadMode.AfterTakeTray, null);
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Multi).WaitFinished();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
if (curSlotPoint != null)
|
|
|
{
|
|
|
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
|
|
|
if (mrs[curNozzle.NozzleIndex - 1].OffsetRow < 3 && mrs[curNozzle.NozzleIndex - 1].OffsetCol < 3)
|
|
|
{
|
|
|
targetX = mrs[curNozzle.NozzleIndex - 1].OffsetCol + curSlotPoint.X + nozzleDist.X + turnoverOffsetPoint.X;
|
|
|
targetY = mrs[curNozzle.NozzleIndex - 1].OffsetRow + curSlotPoint.Y + nozzleDist.Y + turnoverOffsetPoint.Y;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
targetX = curSlotPoint.X + nozzleDist.X + turnoverOffsetPoint.X;
|
|
|
targetY = curSlotPoint.Y + nozzleDist.Y + turnoverOffsetPoint.Y;
|
|
|
}
|
|
|
logInfo = $"运动到放料位上方 X:{targetX}Y:{targetY}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset((mrs[curNozzle.NozzleIndex - 1].OffsetA) + turnoverOffsetPoint.A, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.等待到放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleR{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
alarmInfo = "x y r move isn't safe";
|
|
|
MessageQueue.Instance.Warn(alarmInfo);
|
|
|
MsgBox.ShowDialog(AlarmConstID.MoveUnsafeAlarm, alarmInfo, ETipButton.Ok);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到放料位上方:
|
|
|
if (Ops.IsStop("LoadX", "LoadY",$"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
//当放料到tray盘区域时，并且周转再盘已经没有要下料的穴位时，通知周转模组可以运动了
|
|
|
if(curNozzle.ToType!= TurnoverType.Turnover && TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.Tested, ETurnoverTraySlotStatus.Have).Count()==0)
|
|
|
{
|
|
|
TurnoverFlow.Instance.CanMoveFromTestTrayToTurnoverTray();
|
|
|
}
|
|
|
logInfo = GetClassName()+$"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType,curNozzle.ToIndex)}放料位上方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.丢料检测;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.丢料检测:
|
|
|
if (!curNozzle.HasProduct()&&!GlobalVar.RunSpace)
|
|
|
{
|
|
|
bool exit = false;
|
|
|
while (!exit)
|
|
|
{
|
|
|
//弹框报警
|
|
|
//alarmInfo = $"{curNozzle.NozzleIndex}吸嘴真空吸异常，可能丢料，请检查吸嘴的状态";
|
|
|
if(curNozzle.ToType== TurnoverType.Turnover)
|
|
|
{
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料投在周转盘放料时丢料报警), curNozzle.NozzleIndex);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘放料时丢料报警), curNozzle.NozzleIndex,curNozzle.ToType.ToString());
|
|
|
}
|
|
|
alarmid = AlarmConstID.料仓tray盘放料时丢料报警;
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
alarmid = AlarmConstID.排料投在周转盘放料时丢料报警;
|
|
|
}
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.DischargeNozzleLostProductAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
|
|
|
msgBox = MsgBox.ShowDialog(alarmid, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());// TestCenterMessageBox.WaitResult(AlarmConstID.DischargeNozzleLostProductAlarm);
|
|
|
switch (msgBox.Button)
|
|
|
{
|
|
|
case ETipButton.Skip:
|
|
|
if (!curNozzle.HasProduct())
|
|
|
{
|
|
|
curNozzle.Reset();
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
curNozzle.VacBreak(EIoOperate.Open);
|
|
|
curNozzle.VacBreak(EIoOperate.Close);
|
|
|
exit = true;
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
case ETipButton.Yes:
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
DischargeModuleGoSafePosFlow.Instance.Wait();
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到放料位下方;
|
|
|
}
|
|
|
|
|
|
//if (GlobalVar.RunSpace || GlobalVar.VirtualAxis)
|
|
|
//{
|
|
|
// flowStep = EDischargeFlowStep.到放料位下方;
|
|
|
//}
|
|
|
//else
|
|
|
//{
|
|
|
|
|
|
// #region 临时屏蔽
|
|
|
// // //获取所有需要放料的吸嘴，检测真空是否还在，如果真空异常则报警
|
|
|
// // List<Nozzle> lostNozzles = new List<Nozzle>();
|
|
|
// // List<Nozzle> toUnloadNozzles = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload);
|
|
|
// // if (toUnloadNozzles.Count > 0)
|
|
|
// // {
|
|
|
|
|
|
// // foreach (var nozzle in toUnloadNozzles)
|
|
|
// // {
|
|
|
// // if (!nozzle.HasProduct())
|
|
|
// // {
|
|
|
// // //lostNozzles.Add(nozzle);
|
|
|
// // while (!bSkip)
|
|
|
// // {
|
|
|
|
|
|
// // }
|
|
|
// // }
|
|
|
// // }
|
|
|
// // if (lostNozzles.Count > 0)
|
|
|
// // {
|
|
|
// // bool bSkip = false;
|
|
|
// // while (!bSkip)
|
|
|
// // {
|
|
|
// // //弹框报警
|
|
|
// // alarmInfo = $"检测到{lostNozzles.Select(ln => ln.NozzleIndex).ToJoinString()}吸嘴真空吸异常，可能丢料，请检查吸嘴的状态";
|
|
|
// // TestCenterMessageBox.Show(AlarmConstID.DischargeNozzleLostProductAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
|
|
|
// // msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.DischargeNozzleLostProductAlarm);
|
|
|
// // switch (msgBox.Button)
|
|
|
// // {
|
|
|
// // case ETipButton.Skip:
|
|
|
// // bSkip = true;
|
|
|
// // lostNozzles.ForEach(ln => ln.Reset());
|
|
|
// // break;
|
|
|
// // case ETipButton.Yes:
|
|
|
// // DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
// // break;
|
|
|
// // default:
|
|
|
// // break;
|
|
|
// // }
|
|
|
// // }
|
|
|
// // }
|
|
|
// // else
|
|
|
// // {
|
|
|
// // if (curNozzle.Status == ENozzleStatus.ToUnload)
|
|
|
// // {
|
|
|
// // flowStep = EDischargeFlowStep.到放料位下方;
|
|
|
// // }
|
|
|
// // else
|
|
|
// // {
|
|
|
// // flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
// // }
|
|
|
// // }
|
|
|
// // }
|
|
|
// // else
|
|
|
// // {
|
|
|
// // flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
// // }
|
|
|
// #endregion
|
|
|
//}
|
|
|
break;
|
|
|
//case EDischargeFlowStep.到放料位下方:
|
|
|
// DischargeDumpFlow.Instance.Start(curNozzle.ToType, curNozzle.NozzleIndex, curNozzle.ToIndex);
|
|
|
// flowStep = EDischargeFlowStep.等待放料完成抬起;
|
|
|
// break;
|
|
|
case EDischargeFlowStep.到放料位下方:
|
|
|
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight");
|
|
|
/*提前打开周转盘真空吸*/
|
|
|
VacManager.TurnoverTrayVacSuction(EVacOperator.Open, false, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
targetPos = SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight") + GlobalVar.DischargeNozzleDumpStockTrayOffsetHeight;
|
|
|
}
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号到{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料位下方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
VirtualAxisSleep();
|
|
|
flowStep = EDischargeFlowStep.等待到放料位下方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleZ{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到放料位下方:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName()+ $"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料位下方";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
/*关闭排料吸嘴真空吸*/
|
|
|
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
|
|
|
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
|
|
|
/*打开排料吸嘴真空破*/
|
|
|
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Open, true,curNozzle.NozzleIndex);
|
|
|
flowStep = EDischargeFlowStep.到放料关破真空位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
/*关闭排料吸嘴真空吸*/
|
|
|
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
|
|
|
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
|
|
|
/*打开排料吸嘴真空破*/
|
|
|
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Open,true, curNozzle.NozzleIndex);
|
|
|
/*关闭排料吸嘴真空破*/
|
|
|
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空破";
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Close,false, curNozzle.NozzleIndex);
|
|
|
flowStep = EDischargeFlowStep.放料完成抬起;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.到放料关破真空位:
|
|
|
targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight")+GlobalVar.DischargeNozzleDumpTurnoverTrayOffset;
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号周转盘放料完成，准备抬起{GlobalVar.DischargeNozzleDumpTurnoverTrayOffset}mm后关闭破真空";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.等待到放料关破真空位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleZ{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待到放料关破真空位:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
/*关闭排料吸嘴真空破*/
|
|
|
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
|
|
|
VacManager.DischargeVacBreak(EVacOperator.Close,false,curNozzle.NozzleIndex);
|
|
|
logInfo = GetClassName() + $"关闭排料{curNozzle.NozzleIndex}号吸嘴真空破";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.放料完成抬起;
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.放料完成抬起:
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料完成抬起";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.等待放料完成抬起;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog($"NozzleZ{curNozzle.NozzleIndex}", errCode);
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待放料完成抬起:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName()+$"排料吸嘴{curNozzle.NozzleIndex}号{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料完成已起位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if(curNozzle.ToType== TurnoverType.Turnover)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.放料真空检测;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.粘料检测;
|
|
|
}
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.放料真空检测:
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
if (Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测OK";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//打开真空吸
|
|
|
curNozzle.VacSuction(EIoOperate.Open);
|
|
|
//如果粘料
|
|
|
if (curNozzle.HasProduct())
|
|
|
{
|
|
|
bool skip = false;
|
|
|
while (!skip)
|
|
|
{
|
|
|
//粘料报警,提示用户粘料，移动到安全位，或者点击跳过
|
|
|
//alarmInfo = $"排料{curNozzle.NozzleIndex}号吸嘴可能粘料，请查看吸嘴状态后处理";
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头粘料报警), curNozzle.NozzleIndex);
|
|
|
MessageQueue.Instance.Warn(GetClassName() + alarmInfo);
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.NozzleTackinessAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
|
|
|
msgBox = MsgBox.ShowDialog(AlarmConstID.排料头粘料报警, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());// TestCenterMessageBox.WaitResult(AlarmConstID.NozzleTackinessAlarm);
|
|
|
switch (msgBox.Button)
|
|
|
{
|
|
|
case ETipButton.Skip:
|
|
|
logInfo = GetClassName() + "选择了跳过按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (!curNozzle.HasProduct())
|
|
|
{
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
curNozzle.Reset();
|
|
|
skip = true;
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
case ETipButton.Yes:
|
|
|
logInfo = GetClassName() + "选择了移动到安全位按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//如果没有粘料，说明产品放下去了，这个时候用相机检测产品是否在穴位种
|
|
|
UpCameraScanBarCodeFlow.Instance.ScanSingle(curNozzle.ToIndex + 1, true,true,false);
|
|
|
VisionResult vr = UpCameraScanBarCodeFlow.Instance.WaitSingle();
|
|
|
if (UpCameraScanBarCodeFlow.Instance.CheckResult(vr))
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号SN={curNozzle.SN}放{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//异常处理
|
|
|
bool exit = false;
|
|
|
Dictionary<ETipButton, string> buttons = new Dictionary<ETipButton, string>()
|
|
|
{
|
|
|
{ ETipButton.Retry,"重拍|Regrab" },
|
|
|
{ETipButton.Skip,"跳过|Skip" },
|
|
|
{ETipButton.Yes,"移动到安全位|MoveToSafePos" }
|
|
|
};
|
|
|
while (!exit)
|
|
|
{
|
|
|
//alarmInfo = $"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头放料到周转盘后周转盘真空吸报警), curNozzle.NozzleIndex, curNozzle.ToIndex + 1);
|
|
|
MessageQueue.Instance.Warn(GetClassName() + alarmInfo);
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.TurnoverDumpFailAlarm, alarmInfo, ETipButton.Retry | ETipButton.Skip | ETipButton.Yes, buttons);
|
|
|
msgBox = MsgBox.ShowDialog(AlarmConstID.排料头放料到周转盘后周转盘真空吸报警, alarmInfo, ETipButton.Retry | ETipButton.Skip | ETipButton.Yes, buttons);// TestCenterMessageBox.WaitResult(AlarmConstID.TurnoverDumpFailAlarm);
|
|
|
if (msgBox != null)
|
|
|
{
|
|
|
switch (msgBox.Button)
|
|
|
{
|
|
|
case ETipButton.Retry://重拍
|
|
|
logInfo = GetClassName() + $"选择了重拍";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
UpCameraScanBarCodeFlow.Instance.ScanSingle(curNozzle.ToIndex + 1, true,true,true);
|
|
|
vr = UpCameraScanBarCodeFlow.Instance.WaitSingle();
|
|
|
if (UpCameraScanBarCodeFlow.Instance.CheckResult(vr))
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号SN={curNozzle.SN}放{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
exit = true;
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
case ETipButton.Skip://跳过
|
|
|
logInfo = GetClassName() + $"选择了跳过";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (GlobalVar.EnableExceptionHandlingNozzle)
|
|
|
{
|
|
|
//排料轴先回到安全位，等待异常处理吸嘴过来处理这颗异常料
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
WarningSuckerNgFlow.Instance.DealNgProduct(ETrayType.Turnover, curNozzle.ToIndex + 1);
|
|
|
VacManager.TurnoverTrayVacSuction(EVacOperator.Close, true, curNozzle.ToIndex + 1);
|
|
|
curNozzle.Reset();
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
exit = true;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (!UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null, curNozzle.ToIndex + 1).HasProduct)
|
|
|
{
|
|
|
VacManager.TurnoverTrayVacSuction(EVacOperator.Close, true, curNozzle.ToIndex + 1);
|
|
|
curNozzle.Reset();
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
exit = true;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case ETipButton.Yes://移动到安全位
|
|
|
logInfo = GetClassName() + $"选择了移动到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
DischargeModuleGoSafePosFlow.Instance.Wait();
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EDischargeFlowStep.粘料检测:
|
|
|
//打开真空吸
|
|
|
curNozzle.VacSuction(EIoOperate.Open);
|
|
|
if(curNozzle.HasProduct())
|
|
|
{
|
|
|
bool skip = false;
|
|
|
while(!skip)
|
|
|
{
|
|
|
//粘料报警,提示用户粘料，移动到安全位，或者点击跳过
|
|
|
//alarmInfo = $"排料{curNozzle.NozzleIndex}号吸嘴可能粘料，请查看吸嘴状态后处理";
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头粘料报警), curNozzle.NozzleIndex);
|
|
|
MessageQueue.Instance.Warn(GetClassName()+ alarmInfo);
|
|
|
//TestCenterMessageBox.Show(AlarmConstID.NozzleTackinessAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
|
|
|
msgBox = MsgBox.ShowDialog(AlarmConstID.排料头粘料报警, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());// TestCenterMessageBox.WaitResult(AlarmConstID.NozzleTackinessAlarm);
|
|
|
switch (msgBox.Button)
|
|
|
{
|
|
|
case ETipButton.Skip:
|
|
|
logInfo = GetClassName() + "选择了跳过按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (!curNozzle.HasProduct())
|
|
|
{
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
curNozzle.Reset();
|
|
|
skip = true;
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
case ETipButton.Yes:
|
|
|
logInfo = GetClassName() + "选择了移动到安全位按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号SN={curNozzle.SN}放{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
curNozzle.VacSuction(EIoOperate.Close);
|
|
|
flowStep = EDischargeFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.放料任务完成:
|
|
|
|
|
|
//AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
|
|
|
//MessageQueue.Instance.Insert($"{curNozzle.NozzleIndex}号排料吸嘴回原");
|
|
|
//Ops.HomeAndGoStartPos($"NozzleR{NozzleIndex}");
|
|
|
if (curNozzle.Status == ENozzleStatus.ToUnload)
|
|
|
{
|
|
|
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料任务完成";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
TurnoverTrayManager.Instance.Slot(curNozzle.ToIndex + 1).AddProduct(curNozzle);
|
|
|
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
curNozzle.ToFloor = StockManager.Instance.GetStock(ETrayType.Input).GetFloor();
|
|
|
GlobalTray.InputTray.ChangeStatus(curNozzle.ToIndex+1, ESlotStatus.Have);
|
|
|
TrayStatusManager.Fill(ETrayType.Input, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Passed)
|
|
|
{
|
|
|
if (GlobalVar.InputTrayLoop)
|
|
|
{
|
|
|
curNozzle.ToFloor = StockManager.Instance.GetStock(ETrayType.Input).GetFloor();
|
|
|
GlobalTray.InputTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
TrayStatusManager.Fill(ETrayType.Input, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
curNozzle.ToFloor = StockManager.Instance.GetStock(ETrayType.Ok).GetFloor();
|
|
|
GlobalTray.OkTary.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
TrayStatusManager.Fill(ETrayType.Ok, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Failed)
|
|
|
{
|
|
|
curNozzle.ToFloor = StockManager.Instance.GetStock(ETrayType.Ng).GetFloor();
|
|
|
GlobalTray.NgTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
TrayStatusManager.Fill(ETrayType.Ng, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Multifunction)
|
|
|
{
|
|
|
curNozzle.ToFloor = StockManager.Instance.GetStock(ETrayType.Multi).GetFloor();
|
|
|
GlobalTray.MultiTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
TrayStatusManager.Fill(ETrayType.Multi, curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
LoadAndUnloadTask.Instance.AddTurnoverResult(curNozzle);
|
|
|
|
|
|
}
|
|
|
curNozzle.Reset();
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.到放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//release memory
|
|
|
//foreach (var item in mrs)
|
|
|
//{
|
|
|
// item.Dispose();
|
|
|
//}
|
|
|
//mrs.Clear();
|
|
|
if(mrs!=null&&mrs.Count>0)
|
|
|
{
|
|
|
Array.Clear(imgs, 0, imgs.Length);
|
|
|
mrs.Clear();
|
|
|
GC.Collect();
|
|
|
}
|
|
|
|
|
|
//GC.Collect();
|
|
|
if(curNozzle.ToType== TurnoverType.Turnover)
|
|
|
{
|
|
|
ScanBarCode();
|
|
|
}
|
|
|
|
|
|
if (LoadAndUnloadTask.Instance.GetUnDealedTask().Count > 0)
|
|
|
{
|
|
|
StockTrayToTurnoverTray = !StockTrayToTurnoverTray;
|
|
|
flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EDischargeFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EDischargeFlowStep.任务结束到安全位:
|
|
|
//检测一下是否需要换盘
|
|
|
{
|
|
|
#region 通知中控排料任务结束
|
|
|
if(curNozzle.ToType!= TurnoverType.Turnover)
|
|
|
{
|
|
|
if (TestCenter.Instance.LoadResult())
|
|
|
{
|
|
|
logInfo = GetClassName() + $"通知中控任务完成";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
LoadAndUnloadTask.Instance.Clear();
|
|
|
logInfo = GetClassName() + $"任务完成，清除任务";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
TraySlot slot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
|
|
|
if (slot != null)
|
|
|
{
|
|
|
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)
|
|
|
{
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
}
|
|
|
logInfo = GetClassName() + $"排料任务结束到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.等待任务结束到安全位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadY, errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.LoadX, errCode);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//if(!endInputClicked)
|
|
|
{
|
|
|
//这里检测到料盘种已经没有产品了，需要切盘
|
|
|
bool skip = false;
|
|
|
while (!skip)
|
|
|
{
|
|
|
if (Ops.IsOn("2号料仓缺盘光电检测"))
|
|
|
{
|
|
|
logInfo = GetClassName() + $"{curTask.FromType.ToString()}盘无料,准备切换料盘";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
TakeTrayFlow.Instance.Take(ETrayType.Input, ETrayType.Empty1,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);
|
|
|
});
|
|
|
}, null,
|
|
|
() =>
|
|
|
{
|
|
|
Task.Run(() =>
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty1).Unload(EStockTrayUnLoadMode.Whole, null);
|
|
|
});
|
|
|
});
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).WaitFinished();
|
|
|
skip = true;
|
|
|
//logInfo = "Input料仓最后一盘料，请确认是否继续上料?";
|
|
|
//msgBox = MsgBox.ShowDialog(111, logInfo, (ETipButton.Yes | ETipButton.No), new Dictionary<ETipButton, string>() { { ETipButton.Yes, "是|Yes" }, { ETipButton.No, "结束上料|EndInput" } });
|
|
|
//if (msgBox.Button == ETipButton.Yes)
|
|
|
//{
|
|
|
// //flowStep = EDischargeFlowStep.到取料位上方;
|
|
|
//}
|
|
|
//else
|
|
|
//{
|
|
|
// //结束上料
|
|
|
// endInputClicked = true;
|
|
|
// TestCenter.Instance.EndInput();
|
|
|
// skip = true;
|
|
|
//}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
flowStep = EDischargeFlowStep.等待任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EDischargeFlowStep.等待任务结束到安全位:
|
|
|
if(Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
if (TestCenter.Instance.LoadResult())
|
|
|
{
|
|
|
logInfo = GetClassName() + $"通知中控任务完成";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
LoadAndUnloadTask.Instance.Clear();
|
|
|
logInfo = GetClassName() + $"任务完成，清除任务";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
|
|
|
}
|
|
|
TurnoverFlow.Instance.CanMoveFromTestTrayToTurnoverTray();
|
|
|
}
|
|
|
logInfo = GetClassName()+ $"任务结束已回到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
flowStep = EDischargeFlowStep.等待任务;
|
|
|
}
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 判断排料轴是否可以干其他的活
|
|
|
/// </summary>
|
|
|
public void WaitCanMove()
|
|
|
{
|
|
|
while(true)
|
|
|
{
|
|
|
if(flowStep== EDischargeFlowStep.等待任务 && Ops.AllZHomed())
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
Thread.Sleep(10);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void ScanBarCode()
|
|
|
{
|
|
|
SchedulingMessageBox box = new SchedulingMessageBox();
|
|
|
if(GlobalVar.RunSpace)
|
|
|
{
|
|
|
List<TurnoverTraySlot> slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
|
|
|
foreach (var slot in slots)
|
|
|
{
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0)
|
|
|
{
|
|
|
if (GlobalVar.GRR)
|
|
|
{
|
|
|
scanNum++;
|
|
|
}
|
|
|
if (scanNum == 1 || !GlobalVar.GRR)
|
|
|
{
|
|
|
if (GlobalVar.EnableVirtuleBarCode)
|
|
|
{
|
|
|
List<TurnoverTraySlot> slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have);
|
|
|
foreach (var slot in slots)
|
|
|
{
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//没有需要给周转盘上料的任务后，就开始上相机扫码
|
|
|
//判断周转盘第一行有没有产品,如果有产品则拍第一行
|
|
|
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One))
|
|
|
{
|
|
|
//找拍照起点和终点
|
|
|
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
|
|
|
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
|
|
|
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false);
|
|
|
//List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
|
|
|
foreach (var vr in result)
|
|
|
{
|
|
|
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
|
|
|
{
|
|
|
if (vr.SearchModelOK)//定位成功
|
|
|
{
|
|
|
if (!GlobalVar.EnableScanBarCodeByDownCamera)
|
|
|
{
|
|
|
if (GlobalVar.RunSpace)
|
|
|
{
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (vr.ScanBarCodeOK)
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vr, true);
|
|
|
//复制二维码
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
int failNum = 1;
|
|
|
while (true)
|
|
|
{
|
|
|
if (failNum < 4)
|
|
|
{
|
|
|
//如果扫码失败再重扫一次
|
|
|
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true,false,true);
|
|
|
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
|
|
|
if (vrsigle.ScanBarCodeOK)
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN;
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
failNum++;
|
|
|
OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
//复制二维码
|
|
|
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
|
|
|
Thread.Sleep(1000);
|
|
|
}
|
|
|
if(vrsigle != null)
|
|
|
{
|
|
|
vrsigle=null;
|
|
|
GC.Collect();
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex);
|
|
|
box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel);
|
|
|
if (box.Button == ETipButton.Retry)
|
|
|
{
|
|
|
failNum = 1;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
//复制二维码
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = "";
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//定位失败,或者超出指定范围
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vr, false);
|
|
|
}
|
|
|
//vr.Dispose();
|
|
|
}
|
|
|
if (result != null && result.Count > 0)
|
|
|
{
|
|
|
result.Clear();
|
|
|
GC.Collect();
|
|
|
}
|
|
|
//OnUpCameraGrabResult?.Invoke(result);
|
|
|
}
|
|
|
//判断周转盘第三行有没有产品,如果有产品则拍第三行
|
|
|
if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three))
|
|
|
{
|
|
|
//找拍照起点和终点
|
|
|
SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17);
|
|
|
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
|
|
|
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true);
|
|
|
// List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
|
|
|
foreach (var vr in result)
|
|
|
{
|
|
|
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
|
|
|
{
|
|
|
|
|
|
if (vr.SearchModelOK)//定位成功
|
|
|
{
|
|
|
if (!GlobalVar.EnableScanBarCodeByDownCamera)
|
|
|
{
|
|
|
if (GlobalVar.RunSpace)
|
|
|
{
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (vr.ScanBarCodeOK)
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vr, true);
|
|
|
//复制二维码
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN);
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
int failNum = 1;
|
|
|
while (true)
|
|
|
{
|
|
|
if (failNum < 4)
|
|
|
{
|
|
|
|
|
|
//如果扫码失败再重扫一次
|
|
|
UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true,false,true);
|
|
|
VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle();
|
|
|
if (vrsigle.ScanBarCodeOK)
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN);
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN;
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
failNum++;
|
|
|
OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
//复制二维码
|
|
|
//LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
|
|
|
Thread.Sleep(1000);
|
|
|
}
|
|
|
if(vrsigle != null)
|
|
|
{
|
|
|
vrsigle = null;
|
|
|
GC.Collect();
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip);
|
|
|
if (box.Button == ETipButton.Retry)
|
|
|
{
|
|
|
failNum = 1;
|
|
|
}
|
|
|
else if (box.Button == ETipButton.Skip)
|
|
|
{
|
|
|
//OnShowGrabResult?.Invoke(vrsigle, true);
|
|
|
//复制二维码
|
|
|
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, "");
|
|
|
TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = "";
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//定位失败,或者超出指定范围
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
OnShowGrabResult?.Invoke(vr, false);
|
|
|
}
|
|
|
//vr.Dispose();
|
|
|
}
|
|
|
if (result != null && result.Count > 0)
|
|
|
{
|
|
|
result.Clear();
|
|
|
GC.Collect();
|
|
|
}
|
|
|
//OnUpCameraGrabResult?.Invoke(result);
|
|
|
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 取料完成后更新吸嘴状态
|
|
|
/// </summary>
|
|
|
private void UpdateNozzleStatus(Nozzle nozzle,TurnoverInfo turnoverInfo)
|
|
|
{
|
|
|
nozzle.Status = ENozzleStatus.ToUnload;
|
|
|
//nozzle.FromType = turnoverInfo.FromType;
|
|
|
nozzle.ToType = turnoverInfo.ToType;
|
|
|
nozzle.ToIndex = turnoverInfo.ToIndex;
|
|
|
turnoverInfo.SuckerNo = nozzle.NozzleIndex;
|
|
|
nozzle.TurnoverGUID = turnoverInfo.GUID;
|
|
|
if (turnoverInfo.FromType == TurnoverType.Turnover)
|
|
|
{
|
|
|
TurnoverTrayManager.Instance.Slot(turnoverInfo.FromIndex + 1).ClearProduct();
|
|
|
nozzle.FromFloor = turnoverInfo.FromFloor;
|
|
|
nozzle.SN = turnoverInfo.SN;
|
|
|
//nozzle.FromIndex = turnoverInfo.FromIndex;
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(nozzle.FromIndex + 1, ESlotStatus.NotHave);
|
|
|
}
|
|
|
else if (turnoverInfo.FromType == TurnoverType.ToBeTested)
|
|
|
{
|
|
|
nozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Input).GetFloor();
|
|
|
nozzle.SN = "";
|
|
|
//nozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index - 1;
|
|
|
GlobalTray.InputTray.ChangeStatus(nozzle.FromIndex+1, ESlotStatus.NotHave);
|
|
|
TrayStatusManager.Clear(ETrayType.Input, nozzle.FromIndex + 1);
|
|
|
}
|
|
|
nozzle.Update();
|
|
|
turnoverInfo.Dealed = true;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 获取吸嘴取料取不起来时，吸嘴在原取料位的偏移
|
|
|
/// 奇数向下偏移
|
|
|
/// 偶数向上偏移
|
|
|
/// </summary>
|
|
|
/// <param name="fetchNum"></param>
|
|
|
/// <returns></returns>
|
|
|
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;
|
|
|
}
|
|
|
/// <summary>
|
|
|
/// 检测排料Y轴是否可以到周转盘
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
private bool CanGoTurnoverTray()
|
|
|
{
|
|
|
//获取周转Y轴的位置，当排料Y轴去周转盘的时候，检测是否安全
|
|
|
double turnoverYPos = Ops.GetCurPosition("TurnoverY");
|
|
|
if (turnoverYPos - SysConfigParam.GetValue<double>("PressY") < -1)
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
/// <summary>
|
|
|
/// 检测XY是否可以去周转盘
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
public bool XYCanGoTurnoverTray()
|
|
|
{
|
|
|
if (!CanGoTurnoverTray())
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 判断XY是否可以在本区域运动
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
public bool XYCanGoLocalArea()
|
|
|
{
|
|
|
//获取周转Y轴的位置，当排料Y轴去周转盘的时候，检测是否安全
|
|
|
double turnoverYPos = Ops.GetCurPosition("TurnoverY");
|
|
|
if (turnoverYPos - SysConfigParam.GetValue<double>("TurnoverDumpY") < -0.5)
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
public string GetCurStep()
|
|
|
{
|
|
|
return flowStep.ToString();
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 到哪个盘哪个穴位
|
|
|
/// </summary>
|
|
|
/// <param name="trayType"></param>
|
|
|
/// <param name="slotIndex"></param>
|
|
|
/// <returns></returns>
|
|
|
public string WitchTrayWitchSlot(TurnoverType trayType,int slotIndex)
|
|
|
{
|
|
|
return $"{trayType}盘{slotIndex+1}穴位";
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|