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585 lines
29 KiB
C#
585 lines
29 KiB
C#
using Rs.Camera;
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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace Rs.MotionPlat.Flow
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{
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enum ERearrangeFlowStep
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{
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等待任务,
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到取料位上方,
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等待到取料位上方,
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到取料位下方,
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等待到取料位下方,
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开真空,
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取料真空检测,
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取料完成抬起,
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等待取料完成抬起,
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到放料位上方,
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等待到放料位上方,
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到放料位下方,
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等待到放料位下方,
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到放料破真空位,
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等待到放料破真空位,
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放料完成抬起,
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等待放料完成抬起,
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放料真空检测,
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放料任务完成,
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任务结束到安全位,
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等待任务结束到安全位
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}
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public class RearrangeFlow:BaseFlow
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{
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private static RearrangeFlow instance;
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public static RearrangeFlow Instance
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{
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get
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{
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if (instance == null)
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{
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instance = new RearrangeFlow();
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}
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return instance;
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}
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}
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ERearrangeFlowStep flowStep = ERearrangeFlowStep.等待任务;
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Nozzle curNozzle;
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TurnoverInfo curTask;
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SlotPoint curSlotPoint;
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SlotPoint nozzleDist;
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double targetX = 0.0;
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double targetY = 0.0;
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int FetchNum = 0;//取料次数
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ErrorCode errCode = ErrorCode.Ok;
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public override void Run()
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{
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switch (flowStep)
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{
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case ERearrangeFlowStep.等待任务:
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if (RearrangeTask.HasTask() && WorkEnvironment.Instance.EnvironmentOk)
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{
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DischargeFlow.Instance.Stop();
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logInfo = $"接收重排任务";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.到取料位上方;
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}
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break;
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case ERearrangeFlowStep.到取料位上方:
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curTask = RearrangeTask.GetTask();
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curNozzle = NozzleManager.GetIdelNozzle();
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if (curTask != null && curNozzle != null)
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{
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if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis)
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{
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curSlotPoint = null;
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ETrayType traytype = ETrayType.Ok;
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switch (curTask.FromType)
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{
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case TurnoverType.Passed:
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traytype = ETrayType.Ok;
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break;
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case TurnoverType.Failed:
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traytype = ETrayType.Ng;
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break;
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case TurnoverType.Multifunction:
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traytype = ETrayType.Multi;
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break;
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default:
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break;
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}
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logInfo = $"吸嘴{curNozzle.NozzleIndex} 去{traytype}盘 {curTask.FromIndex+1} 号穴位取料";
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curSlotPoint = TrayPointManager.GetSlotPoint( traytype, curTask.FromIndex+1);
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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if (curSlotPoint != null)
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{
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nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
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targetX = curSlotPoint.X + nozzleDist.X;
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targetY = curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
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errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
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if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.等待到取料位上方;
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}
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}
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}
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}
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else
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{
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logInfo = "x y move isn't safe";
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Msg.ShowError(logInfo);
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LogHelper.Error(logInfo);
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MessageQueue.Instance.Warn(logInfo);
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}
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}
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break;
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case ERearrangeFlowStep.等待到取料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "已运动到取料位上方";
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Thread.Sleep(100);
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.到取料位下方;
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}
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break;
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case ERearrangeFlowStep.到取料位下方:
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if (GlobalVar.VirtualAxis)
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{
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Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
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flowStep = ERearrangeFlowStep.等待到取料位下方;
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}
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else
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{
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if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished)
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{
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logInfo = "准备运动到取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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flowStep = ERearrangeFlowStep.等待到取料位下方;
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}
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}
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else
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{
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logInfo = $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定";
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Msg.ShowError(logInfo);
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LogHelper.Error(logInfo);
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}
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}
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break;
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case ERearrangeFlowStep.等待到取料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "已运动到取料位下方";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.开真空;
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}
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break;
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case ERearrangeFlowStep.开真空:
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if (GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.取料完成抬起;
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}
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else
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{
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Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime);
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logInfo = $"打开{curNozzle.NozzleIndex}号吸嘴真空吸";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.取料完成抬起;
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}
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break;
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case ERearrangeFlowStep.取料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = "取料完成准备抬起";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.等待取料完成抬起;
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}
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break;
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case ERearrangeFlowStep.等待取料完成抬起:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "取料完成已运动到抬起位，准备真空检测";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.取料真空检测;
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}
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break;
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case ERearrangeFlowStep.取料真空检测:
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if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis)
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{
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FetchNum = 0;
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logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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curNozzle.Status = ENozzleStatus.ToUnload;
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curNozzle.FromType = curTask.FromType;
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curNozzle.ToType = curTask.ToType;
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curNozzle.ToIndex = curTask.ToIndex;
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curTask.SuckerNo = curNozzle.NozzleIndex;
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curNozzle.TurnoverGUID = curTask.GUID;
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if (curTask.FromType == TurnoverType.Passed)
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{
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curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ok).GetFloor();// StockManager.Instance.GetTray(EStockType.Ok).GetFloor();
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curNozzle.SN = "";
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.OkTary.ChangeStatus(curNozzle.FromIndex+1, ESlotStatus.NotHave);
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}
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else if (curTask.FromType == TurnoverType.Failed)
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{
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curNozzle.FromFloor = StockManager.Instance.GetStock(ETrayType.Ng).GetFloor();//StockManager.Instance.GetTray(EStockType.Ng).GetFloor();
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curNozzle.SN = "";
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.NgTray.ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
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}
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curNozzle.Update();
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curTask.Dealed = true;
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if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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{
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logInfo = $"检测到还有条任务未执行，继续执行";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.到取料位上方;
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}
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else
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{
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flowStep = ERearrangeFlowStep.到放料位上方;
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}
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}
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else
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{
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//FetchNum++;
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//if (FetchNum == 6)
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//{
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// //DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel);
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// CloseResult cr = new TakeFailMsg().ShowMsg($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定");
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// if (cr.Result == ECloseButton.Retry)
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// {
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// FetchNum = 0;
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// flowStep = ERearrangeFlowStep.到取料位下方;
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// }
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// else if (cr.Result == ECloseButton.Skip)//switch
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// {
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// FetchNum = 0;
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// if (curTask.FromType == TurnoverType.Turnover)
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// {
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// GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
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// }
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// else if (curTask.FromType == TurnoverType.ToBeTested)
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// {
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// GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
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// }
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// if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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// {
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// flowStep = ERearrangeFlowStep.到取料位上方;
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// }
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// else
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// {
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// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
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// }
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// }
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// else if (cr.Result == ECloseButton.EndInput)
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// {
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// FetchNum = 0;
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// TestCenter.Instance.EndInput();
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// LoadAndUnloadTask.Instance.ClearUndoTask();
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// if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
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// {
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// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
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// }
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// else
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// {
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// flowStep = ERearrangeFlowStep.任务结束到安全位;
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// }
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// }
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// else if (cr.Result == ECloseButton.Continue)
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// {
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// FetchNum = 0;
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// curNozzle.Status = ENozzleStatus.ToUnload;
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// curNozzle.FromType = curTask.FromType;
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// curNozzle.FromFloor = curTask.FromFloor;
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// curNozzle.ToType = curTask.ToType;
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// curNozzle.ToIndex = curTask.ToIndex;
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// curTask.SuckerNo = curNozzle.NozzleIndex;
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// curNozzle.TurnoverGUID = curTask.GUID;
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// if (curTask.FromType == TurnoverType.Turnover)
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// {
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// curNozzle.SN = curTask.SN;
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// curNozzle.FromIndex = curTask.FromIndex;
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// GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
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// }
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// else if (curTask.FromType == TurnoverType.ToBeTested)
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// {
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// curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index;
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// GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
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// }
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// curNozzle.Update();
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// curTask.Dealed = true;
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// if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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// {
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// flowStep = ERearrangeFlowStep.到取料位上方;
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// }
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// else
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// {
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// if (GlobalVar.VirtualAxis)
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// {
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// foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
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// {
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// if (string.IsNullOrEmpty(nl.SN))
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// nl.SN = nl.FromIndex.ToString().PadLeft(18, '0');
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// //nl.SN = GuidHelper.Create();
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// }
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// mrs = new List<MatchResult>();
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// for (int i = 0; i < needGrabNum; i++)
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// {
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// mrs.Add(new MatchResult());
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// }
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// flowStep = ERearrangeFlowStep.到放料位上方;
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// }
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// else
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// {
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// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
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// }
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// }
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// }
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//}
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//else
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//{
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// flowStep = ERearrangeFlowStep.到取料位下方;
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//}
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}
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break;
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case ERearrangeFlowStep.到放料位上方:
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if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis)
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{
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targetX = 0.0;
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targetY = 0.0;
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///获取需要放料的吸嘴
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curSlotPoint = null;
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curNozzle = NozzleManager.GetToUnloadNozzle();
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if (curNozzle != null)
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{
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curSlotPoint = GetSlotPoint(curNozzle.ToType);
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}
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if (curSlotPoint != null)
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{
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nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
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targetX = curSlotPoint.X + nozzleDist.X;
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targetY = curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.等待到放料位上方;
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}
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}
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}
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}
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}
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else
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{
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Msg.ShowError("x y move isn't safe");
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}
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break;
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case ERearrangeFlowStep.等待到放料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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Thread.Sleep(100);
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logInfo = "已运动到放料位上方";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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flowStep = ERearrangeFlowStep.到放料位下方;
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}
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break;
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case ERearrangeFlowStep.到放料位下方:
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logInfo = "到放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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flowStep = ERearrangeFlowStep.等待到放料位下方;
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}
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break;
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case ERearrangeFlowStep.等待到放料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = "已运动到放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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LogHelper.Debug(logInfo);
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Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
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Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
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Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
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Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
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Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
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flowStep = ERearrangeFlowStep.放料完成抬起;
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}
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break;
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case ERearrangeFlowStep.放料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = "放料完成抬起";
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MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
flowStep = ERearrangeFlowStep.等待放料完成抬起;
|
|
}
|
|
break;
|
|
case ERearrangeFlowStep.等待放料完成抬起:
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
|
|
{
|
|
logInfo = "放料完成已运动到抬起位，准备真空检测";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
flowStep = ERearrangeFlowStep.放料真空检测;
|
|
}
|
|
break;
|
|
case ERearrangeFlowStep.放料真空检测:
|
|
flowStep = ERearrangeFlowStep.放料任务完成;
|
|
break;
|
|
case ERearrangeFlowStep.放料任务完成:
|
|
logInfo = "放料任务完成";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
|
|
if (curNozzle.ToType == TurnoverType.Passed)
|
|
{
|
|
GlobalTray.OkTary.ChangeStatus(curNozzle.ToIndex+1, ESlotStatus.Have);
|
|
}
|
|
else if (curNozzle.ToType == TurnoverType.Failed)
|
|
{
|
|
GlobalTray.NgTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
}
|
|
else if (curNozzle.ToType == TurnoverType.Multifunction)
|
|
{
|
|
GlobalTray.MultiTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
}
|
|
curNozzle.Reset();
|
|
Thread.Sleep(100);
|
|
RearrangeTask.AddWaitReportTask(curNozzle);
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
{
|
|
flowStep = ERearrangeFlowStep.到放料位上方;
|
|
}
|
|
else
|
|
{
|
|
if (RearrangeTask.HasTask())
|
|
{
|
|
flowStep = ERearrangeFlowStep.到取料位上方;
|
|
}
|
|
else
|
|
{
|
|
flowStep = ERearrangeFlowStep.任务结束到安全位;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case ERearrangeFlowStep.任务结束到安全位:
|
|
logInfo = "任务结束到安全位";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
{
|
|
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
|
|
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
|
|
{
|
|
flowStep = ERearrangeFlowStep.等待任务结束到安全位;
|
|
}
|
|
}
|
|
break;
|
|
case ERearrangeFlowStep.等待任务结束到安全位:
|
|
if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
|
|
{
|
|
logInfo = "任务结束已回到安全位";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
if (RearrangeTask.ReportCenter()>0)
|
|
{
|
|
logInfo = "通知中控任务完成";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
|
|
RearrangeTask.RemoveAll();
|
|
logInfo = "任务完成，清除任务";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
LogHelper.Debug(logInfo);
|
|
}
|
|
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
|
|
flowStep = ERearrangeFlowStep.等待任务;
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
{
|
|
switch (fetchNum)
|
|
{
|
|
case 0:
|
|
return 0;
|
|
case 1:
|
|
return -0.1;
|
|
case 2:
|
|
return -0.2;
|
|
case 3:
|
|
return -0.3;
|
|
case 4:
|
|
return 0.1;
|
|
case 5:
|
|
return 0.2;
|
|
case 6:
|
|
return 0.3;
|
|
default:
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
private SlotPoint GetSlotPoint(TurnoverType trayType)
|
|
{
|
|
SlotPoint pt = new SlotPoint();
|
|
switch (trayType)
|
|
{
|
|
case TurnoverType.Passed:
|
|
logInfo = "到Pass盘放料位上方";
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Ok, curNozzle.ToIndex + 1);
|
|
break;
|
|
case TurnoverType.Failed:
|
|
logInfo = "到Ng盘放料位上方";
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Ng, curNozzle.ToIndex + 1);
|
|
break;
|
|
case TurnoverType.Multifunction:
|
|
logInfo = "到Multi盘放料位上方";
|
|
pt = TrayPointManager.GetSlotPoint( ETrayType.Multi, curNozzle.ToIndex + 1);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return pt;
|
|
}
|
|
}
|
|
}
|