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using ChoiceTech.Halcon.Control;
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using HalconDotNet;
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using Rs.AutoDischarge.V3.Flow;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.DataAccess;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.MotionPlat.AuxiliaryEquipment;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow;
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using Rs.MotionPlat.Flow.Camera;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.Space;
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using Rs.MotionPlat.Flow.SubFlow;
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using Rs.MotionPlat.SysConfig;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using static Rs.MotionPlat.Commom.SchedulingMessageBox;
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namespace Rs.MotionPlat
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{
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public partial class FormMain : BaseForm
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{
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HObject defaultImage = new HObject();
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public FormMain()
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{
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InitializeComponent();
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}
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private void Instance_OnMatchResult(List<MatchResult> obj)
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{
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int i = 1;
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foreach (MatchResult matchResult in obj)
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{
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HWindow_Final hwin = null;
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if (i == 9) return;
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switch (i)
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{
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case 1: hwin = himgNozzle1; break;
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case 2: hwin = himgNozzle2; break;
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case 3: hwin = himgNozzle3; break;
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case 4: hwin = himgNozzle4; break;
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case 5: hwin = himgNozzle5; break;
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case 6: hwin = himgNozzle6; break;
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case 7: hwin = himgNozzle7; break;
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case 8: hwin = himgNozzle8; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.ClearWindow();
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hwin.HobjectToHimage(matchResult.Himage);
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if (matchResult.IsOK)
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{
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hwin.DispObj(matchResult.ContourXld, "green");
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string OffsetCol = matchResult.OffsetCol.ToString("0.000");
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string OffsetRow = matchResult.OffsetRow.ToString("0.000");
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string OffsetA = matchResult.OffsetA.ToString("0.000");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"X:{OffsetCol}", 200, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"Y:{OffsetRow}", 400, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"R:{OffsetA}", 600, 20, "green");
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}
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else
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{
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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i++;
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}
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}
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}
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private void Instance_OnUpCameraGrabResult(List<Flow.Camera.VisionResult> obj)
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{
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foreach (VisionResult matchResult in obj)
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{
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HWindow_Final hwin = null;
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switch (matchResult.SlotIndex)
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{
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case 1: hwin = hwin_turnoverSlot1; break;
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case 2: hwin = hwin_turnoverSlot2; break;
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case 3: hwin = hwin_turnoverSlot3; break;
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case 4: hwin = hwin_turnoverSlot4; break;
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case 5: hwin = hwin_turnoverSlot5; break;
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case 6: hwin = hwin_turnoverSlot6; break;
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case 7: hwin = hwin_turnoverSlot7; break;
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case 8: hwin = hwin_turnoverSlot8; break;
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case 9: hwin = hwin_turnoverSlot9; break;
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case 10: hwin = hwin_turnoverSlot10; break;
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case 11: hwin = hwin_turnoverSlot11; break;
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case 12: hwin = hwin_turnoverSlot12; break;
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case 13: hwin = hwin_turnoverSlot13; break;
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case 14: hwin = hwin_turnoverSlot14; break;
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case 15: hwin = hwin_turnoverSlot15; break;
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case 16: hwin = hwin_turnoverSlot16; break;
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case 17: hwin = hwin_turnoverSlot17; break;
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case 18: hwin = hwin_turnoverSlot18; break;
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case 19: hwin = hwin_turnoverSlot19; break;
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case 20: hwin = hwin_turnoverSlot20; break;
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case 21: hwin = hwin_turnoverSlot21; break;
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case 22: hwin = hwin_turnoverSlot22; break;
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case 23: hwin = hwin_turnoverSlot23; break;
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case 24: hwin = hwin_turnoverSlot24; break;
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case 25: hwin = hwin_turnoverSlot25; break;
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case 26: hwin = hwin_turnoverSlot26; break;
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case 27: hwin = hwin_turnoverSlot27; break;
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case 28: hwin = hwin_turnoverSlot28; break;
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case 29: hwin = hwin_turnoverSlot29; break;
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case 30: hwin = hwin_turnoverSlot30; break;
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case 31: hwin = hwin_turnoverSlot31; break;
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case 32: hwin = hwin_turnoverSlot32; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.ClearWindow();
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if (matchResult.SearchModelOK)
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{
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hwin.HobjectToHimage(matchResult.SourceImage);
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN, 20, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetX}", 200, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetY}", 400, 20, "green");
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetR}", 600, 20, "green");
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}
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else
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{
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hwin.ClearWindow();
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HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
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}
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}
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}
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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//获取运行信息
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while (MessageQueue.Instance.HaveMessage())
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{
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MessageItem runInfo = MessageQueue.Instance.GetMessage();
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if (runInfo != null)
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{
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while (dgv_runinfo.Rows.Count > 500)
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{
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dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
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}
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dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
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}
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MessageItem errorInfo = MessageQueue.Instance.GetWarn();
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if (errorInfo != null)
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{
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while (dgv_errinfo.Rows.Count > 500)
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{
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dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
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}
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dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
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}
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}
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if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
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{
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if (btnWholeHome.Visible == true)
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btnWholeHome.Visible = false;
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}
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else
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{
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if (btnWholeHome.Visible == false)
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btnWholeHome.Visible = true;
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}
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}
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private void FormMain_Load(object sender, EventArgs e)
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{
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SqliteHelper db = new SqliteHelper();
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string querySql = "select * from NormalTray";
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DataTable dt = db.GetDataTable(querySql);
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if (dt != null && dt.Rows.Count > 0)
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{
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DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
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if (dr != null)
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{
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trayEmpty1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayEmpty1.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
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if (dr != null)
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{
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trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ok").First();
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if (dr != null)
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{
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trayOk.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayOk.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ng").First();
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if (dr != null)
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{
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trayNg.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayNg.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
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if (dr != null)
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{
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trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
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if (dr != null)
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{
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trayEmpty2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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trayEmpty2.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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}
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timer1.Interval = 500;
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timer1.Enabled = true;
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DischargeFlow.Instance.OnMatchResult += Instance_OnMatchResult;
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DischargeFlow.Instance.OnUpCameraGrabResult += Instance_OnUpCameraGrabResult;
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DischargeFlow.Instance.OnShowGrabResult += Instance_OnShowGrabResult;
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UpCameraCheckFlow.Instance.OnStockTrayHasOrNotResult += Instance_OnStockTrayProductHasOrNotResult;
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UpCameraCheckFlow.Instance.OnTurnTrayHasOrNotResult += Instance_OnTurnoverTrayProductHasOrNotResult;
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UpCameraScanBarCodeFlow.Instance.OnTurnoverTrayProductLocateResult += Instance_OnTurnoverTrayProductLocateResult;
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trayTurnover.ItemName = "Turnover";
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trayEmpty1.ItemName = "Empty1";
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trayInput.ItemName = "Input";
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trayOk.ItemName = "Ok";
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trayNg.ItemName = "Ng";
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trayMulti.ItemName = "Multi";
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trayEmpty2.ItemName = "Empty2";
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trayEmpty1.InitSlotStatus = ESlotStatus.Null;
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trayInput.InitSlotStatus = ESlotStatus.Null;
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trayOk.InitSlotStatus = ESlotStatus.Null;
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trayNg.InitSlotStatus = ESlotStatus.Null;
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trayMulti.InitSlotStatus = ESlotStatus.Null;
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trayEmpty2.InitSlotStatus = ESlotStatus.Null;
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GlobalTray.Empty1Tray = trayEmpty1;
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GlobalTray.InputTray = trayInput;
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GlobalTray.OkTary = trayOk;
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GlobalTray.NgTray = trayNg;
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GlobalTray.MultiTray = trayMulti;
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GlobalTray.Empty2Tray = trayEmpty2;
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GlobalTray.TurnoverTray = trayTurnover;
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GlobalTray.TestTray = trayTest;
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//StockManager.Instance.Start();
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LoadStockStatus();
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HOperatorSet.ReadImage(out defaultImage, "default.bmp");
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}
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/// <summary>
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/// 周转盘产品定位结果
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/// </summary>
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/// <param name="arg1">定位结果</param>
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/// <param name="isOK">定位是否OK</param>
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private void Instance_OnTurnoverTrayProductLocateResult(VisionResult arg1, bool isOK)
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{
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if(arg1!=null)
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{
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hWindow_Final3.ClearWindow();
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hWindow_Final3.HobjectToHimage(arg1.SourceImage);
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if(isOK)
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{
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, isOK ? "OK" : "NG", 20, 20, "green");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"X:{arg1.OffsetX.ToString("0.000")}", 200, 20, "green");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"Y:{arg1.OffsetY.ToString("0.000")}", 400, 20, "green");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"R:{arg1.OffsetR.ToString("0.000")}", 600, 20, "green");
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}
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else
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{
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, isOK ? "OK" : "NG", 20, 20, "red");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"X:{arg1.OffsetX.ToString("0.000")}", 200, 20, "red");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"Y:{arg1.OffsetY.ToString("0.000")}", 400, 20, "red");
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//HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"R:{arg1.OffsetR.ToString("0.000")}", 600, 20, "red");
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}
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}
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}
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private void Instance_OnTurnoverTrayProductHasOrNotResult(SlotProductHasOrNotResult obj)
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{
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if(obj !=null)
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{
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hwin_turnoverTrayHasOrNot.ClearWindow();
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hwin_turnoverTrayHasOrNot.HobjectToHimage(obj.SourceImage);
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if(obj.HasProduct)
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{
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//h//win_turnoverTrayHasOrNot.DispObj(obj.SearchRegion,"green");
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}
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else
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{
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//hwin_turnoverTrayHasOrNot.DispObj(obj.SearchRegion,"red");
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}
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}
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}
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private void Instance_OnStockTrayProductHasOrNotResult(SlotProductHasOrNotResult obj)
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{
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if (obj != null)
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{
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hWindow_Final4.ClearWindow();
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hWindow_Final4.HobjectToHimage(obj.SourceImage);
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if(obj.HasProduct)
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{
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//hWindow_Final4.DispObj(obj.SearchRegion,"green");
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}
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else
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{
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//hWindow_Final4.DispObj(obj.SearchRegion,"red");
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}
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}
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}
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private void Instance_OnShowGrabResult(VisionResult matchResult, bool arg2)
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{
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HWindow_Final hwin = null;
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switch (matchResult.SlotIndex)
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{
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case 1: hwin = hwin_turnoverSlot1; break;
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case 2: hwin = hwin_turnoverSlot2; break;
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case 3: hwin = hwin_turnoverSlot3; break;
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case 4: hwin = hwin_turnoverSlot4; break;
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case 5: hwin = hwin_turnoverSlot5; break;
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case 6: hwin = hwin_turnoverSlot6; break;
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case 7: hwin = hwin_turnoverSlot7; break;
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case 8: hwin = hwin_turnoverSlot8; break;
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case 9: hwin = hwin_turnoverSlot9; break;
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case 10: hwin = hwin_turnoverSlot10; break;
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case 11: hwin = hwin_turnoverSlot11; break;
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case 12: hwin = hwin_turnoverSlot12; break;
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case 13: hwin = hwin_turnoverSlot13; break;
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case 14: hwin = hwin_turnoverSlot14; break;
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case 15: hwin = hwin_turnoverSlot15; break;
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case 16: hwin = hwin_turnoverSlot16; break;
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case 17: hwin = hwin_turnoverSlot17; break;
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case 18: hwin = hwin_turnoverSlot18; break;
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case 19: hwin = hwin_turnoverSlot19; break;
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case 20: hwin = hwin_turnoverSlot20; break;
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case 21: hwin = hwin_turnoverSlot21; break;
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case 22: hwin = hwin_turnoverSlot22; break;
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case 23: hwin = hwin_turnoverSlot23; break;
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case 24: hwin = hwin_turnoverSlot24; break;
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case 25: hwin = hwin_turnoverSlot25; break;
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case 26: hwin = hwin_turnoverSlot26; break;
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case 27: hwin = hwin_turnoverSlot27; break;
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case 28: hwin = hwin_turnoverSlot28; break;
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case 29: hwin = hwin_turnoverSlot29; break;
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case 30: hwin = hwin_turnoverSlot30; break;
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case 31: hwin = hwin_turnoverSlot31; break;
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case 32: hwin = hwin_turnoverSlot32; break;
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default:
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break;
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}
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if (hwin != null)
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{
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hwin.ClearWindow();
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if (arg2)
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{
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if (matchResult.ScanBarCodeOK)
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{
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string SN = matchResult.SN;
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hwin.HobjectToHimage(matchResult.SourceImage);
|
|
|
HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"sn:{SN}", 20, 20, "green");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
hwin.HobjectToHimage(matchResult.SourceImage);
|
|
|
HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//加载默认图片
|
|
|
hwin.HobjectToHimage(defaultImage);
|
|
|
HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "no product", 20, 20, "red");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
private void btnWholeHome_Load(object sender, EventArgs e)
|
|
|
{
|
|
|
Ops.GoHome();
|
|
|
}
|
|
|
|
|
|
private void btnSpaceRun_BtnClick(object sender, EventArgs e)
|
|
|
{
|
|
|
//SpaceTest.Instance.Start();
|
|
|
if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
|
|
|
{
|
|
|
//MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
|
|
|
////WorkFlow.Instance.Start();
|
|
|
//TurnoverFlow.Instance.Start();
|
|
|
//TakeTrayFlow.Instance.Start();
|
|
|
|
|
|
Ops.Start();
|
|
|
|
|
|
//TakeTrayFlow.Instance.Start();
|
|
|
//StockManager.Instance.Start();
|
|
|
//WorkEnvironment.Instance.Ready();
|
|
|
|
|
|
|
|
|
//TakeDumpTest.Instance.Start();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MessageQueue.Instance.Warn($"device {MachineManage.Instance.MachineStatus} status，cann't start！");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void btnStop_BtnClick(object sender, EventArgs e)
|
|
|
{
|
|
|
|
|
|
Ops.Stop();
|
|
|
//TakeDumpTest.Instance.Stop();
|
|
|
//LoadAndUnloadTest.Instance.Stop();
|
|
|
//TakeTrayTest.Instance.Stop();
|
|
|
//TurnoverFlow.Instance.Stop();
|
|
|
//TakeTrayFlow.Instance.Stop();
|
|
|
////ZRTest.Instance.Stop();
|
|
|
////CameraTriggerTest.Instance.Stop();
|
|
|
////SpaceTest.Instance.Stop();
|
|
|
//WorkFlow.Instance.Stop();
|
|
|
//MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
|
|
|
}
|
|
|
|
|
|
private void LoadStockStatus()
|
|
|
{
|
|
|
StringBuilder msg = new StringBuilder();
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Input))
|
|
|
{
|
|
|
msg.Append(ETrayType.Input.ToString()).Append(",");
|
|
|
}
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Ok))
|
|
|
{
|
|
|
msg.Append(ETrayType.Ok.ToString()).Append(",");
|
|
|
}
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Ng))
|
|
|
{
|
|
|
msg.Append(ETrayType.Ng.ToString()).Append(",");
|
|
|
}
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Multi))
|
|
|
{
|
|
|
msg.Append(ETrayType.Multi.ToString()).Append(",");
|
|
|
}
|
|
|
if(msg.Length > 0)
|
|
|
{
|
|
|
Task.Run(() => {
|
|
|
Msg.ShowInfo("Stock " + msg.ToString().TrimEnd(new char[] { ',' }) + " has tray,please check products status");
|
|
|
});
|
|
|
}
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Empty1))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty1).ChangeStatus(EStockTrayStatus.Loaded);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Empty1).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Input))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Input).ChangeStatus(EStockTrayStatus.Loaded,false);
|
|
|
TrayStatusManager.Init(ETrayType.Input);
|
|
|
//GlobalTray.InputTray.ChangeStatus()
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Input).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Ok))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Ok).ChangeStatus(EStockTrayStatus.Loaded, false);
|
|
|
TrayStatusManager.Init(ETrayType.Ok);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Ok).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Ng))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Ng).ChangeStatus(EStockTrayStatus.Loaded, false);
|
|
|
TrayStatusManager.Init(ETrayType.Ng);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Ng).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Multi))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Multi).ChangeStatus(EStockTrayStatus.Loaded, false);
|
|
|
TrayStatusManager.Init(ETrayType.Multi);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Multi).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
|
|
|
if (StockManager.Instance.HasTray(ETrayType.Empty2))
|
|
|
{
|
|
|
StockManager.Instance.GetStock(ETrayType.Empty2).ChangeStatus(EStockTrayStatus.Loaded);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.GetTray(ETrayType.Empty2).Status = EStockTrayStatus.Empty.ToString();
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void button1_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
MsgBox.ShowDialog(111, "取料失败!! \r\n周转吸嘴取治具{}号穴位的物料时失败 \r\nPickup fail !!\r\nNozzle of tester from site{} socket\r\nPickup fail !!\r\nSite{} socket 으로부터 Unit을 pickup할때 pickup fail이 발생하였습니다.", ETipButton.Yes);
|
|
|
}
|
|
|
}
|
|
|
}
|