private void MeasureDownGt()
{
//start measure
if (Project.DownTestPositions.Count == 0)
{
Log($"MeasureGt No Test Points");
return;
}
//run measure loop
bool isFirst = true;
PosXYZ lastPos = PosXYZ.Zero;
foreach (var pos in Project.DownTestPositions)
{
int gt;
PosXYZ gtWorkZ;
PosXYZ newpos;
//add pos offset
if (!AddPosOffset(pos, out gt, out gtWorkZ, out newpos))
{
Log($"AddPosOffset GT Raw Index {gt} Error");
continue;
}
//convert pos to gt pos
var gtPosZ = gtWorkZ.Z - pos.Z;
var gtPos = PosXYZ.Zero;
if (gt == 1)
{
gtPos = new PosXYZ(Platform.GetPos("P->DOWN1", newpos.Data()))
{
Z = gtPosZ
};
}
else if (gt == 2)
{
gtPos = new PosXYZ(Platform.GetPos("P->DOWN2", newpos.Data()))
{
Z = gtPosZ
};
}
else
{
Log($"GT Raw Index {gt} Error", LogLevel.Error);
}
Log($"Transform {pos.Name} {pos.Description} {newpos} To {gtPos}");
//jump gt pos
PlatformJumpPos(isFirst, pos, lastPos, gtPos);
lastPos = pos;
isFirst = false;
//read gt
System.Threading.Thread.Sleep(CfgSettings.Common.GtReadDelay);
var gtRaw = GtController?.ReadData();
if (gtRaw != null)
{
Product.RawDataDown.Add(new PosXYZ()
{
Name = pos.Name,
Description = pos.Description,
X = pos.X,
Y = pos.Y,
Z = gtRaw[gt],
OffsetX = gtRaw[gt],
OffsetZ = gtPosZ,
});
}
else
{
Log($"GtController ReadData Error", LogLevel.Error);
}
}
}
protected override int RunLoop()
{
//start assert
Platform.AssertAutoMode(this);
Platform.LocateInPos("Wait");
Project.AssertNoNull(this);
//safe height check
var safeHeight = Platform["SafeHeight"]?.Data()[2];
var productHeight = Project.Height;
safeHeight = safeHeight - productHeight;
if (Platform.CurPos[2] > safeHeight)
{
Log($"Platform {Platform.Name} Z SAFE Height Error: {Platform.CurPos[2]:F2} > {safeHeight:F2}", LogLevel.Error);
}
//wait start
VioMeasureStart.WaitVioAndClear(this);
{
//assert
Product.AssertNoNull(this);
//clear client recv buffer
try
{
var msg1 = Camera.GetResult("result", 1);
Log($"RunLoop Start Clear Client Buffer: {msg1}");
}
catch (Exception ex)
{
Log($"RunLoop Start Clear Client Buffer Error: {ex.Message}");
}
var isFirst = true;
PosXYZ lastPos = null;
int index = 0;
//start measure loop
foreach (var pos in Project.CapturePos)
{
var newPos = pos;
if (CfgEnableRelCoordMode)
{
//conver FILE POS TO MOVE POS
newPos = new PosXYZ(Platform.GetPos("MOVE", pos.Data()));
newPos.Name = pos.Name;
newPos.Description = pos.Description;
Log($"EnableRelCoordMode Transform {pos} To {newPos}");
}
if (newPos.Z > safeHeight)
{
Log($"{newPos.Z} > Z limit ERROR", LogLevel.Error);
}
//optimize jump move
{
if (isFirst)
{
isFirst = false;
Platform.Jump(newPos, 0, zLimit: -12);
}
else
{
//select jumpHeight
if (newPos.Z < lastPos.Z)
{
var jumpHeight = -8 + newPos.Z - lastPos.Z;
Platform.Jump(newPos, jumpHeight, zLimit: -12);
}
else
{
Platform.Jump(newPos, 0, zLimit: -12);
}
}
lastPos = newPos;
}
//capture
index = TriggerCamera(pos, index);
if (CfgSettings.QuitOnProductError)
{
if (Product.Status == ProductStatus.ERROR)
{
Log($"Quit {Name} Loop On Error: {Product.Error}");
break;
}
}
}
//process result
try
{
if (string.IsNullOrEmpty(Product.Error))
{
var result = Camera.GetResult("result");
var msgData = result.Split(',');
Product.Status = msgData[0] == "OK" ? ProductStatus.OK : ProductStatus.NG;
if (msgData.Length > 2)
{
var spcItems = new List <Tuple <string, double> >();
//parse msgData to spcs
for (int i = 1; i < msgData.Length; i++)
{
if (string.IsNullOrEmpty(msgData[i]))
{
continue;
}
var spc = msgData[i].Split(':');
if (spc.Length >= 2)
{
try
{
var s = spc[0].Split('_')[1];
var val = double.Parse(spc[1]);
spcItems.Add(new Tuple <string, double>(s, val));
Product.RawData.Add(val);
}
catch (Exception e)
{
Log($"{spc[0]} {spc[1]} SetSpcError:{e.Message}");
}
}
}
//set spc
foreach (var s in spcItems)
{
Product.SetSpcItem(s.Item1, s.Item2);
}
}
Log($"Camera GetResult: {result}");
}
Product.SetSpcItem("STS", Product.Status == ProductStatus.OK ? 0 : 2);
}
catch (Exception ex)
{
Log($"Camera GetResult Exception: {ex.Message}");
}
Platform.MoveAbs("Wait");
}
//measure finish
VioMeasureFinish.SetVio(this);
return(0);
}
protected override int RunLoop()
{
//in case of manual operations
Platform.AssertAutoMode(this);
Platform.LocateInPos("Wait");
//check safe height
var safeHeight = Platform["GtWork"].Data()[2] - Project.Height - 6;
if (Platform.CurPos[2] > safeHeight)
{
Log($"{Name} {Platform.Name} SafeHeightError:{Platform.CurPos[2]:F2}>{safeHeight:F2}", LogLevel.Error);
}
//wait vio start
VioTransFinish.WaitVioAndClear(this);
{
//move wait
Platform.MoveAbs("Wait");
//measure up test positions
bool isFirst = true;
foreach (var pos in Project.UpTestPositions)
{
//transform gt work
var newpos = AddPosOffset(pos);
var gtWorkZ = Platform["GtWork"].Data()[2] - Project.Height;
var gtWork = new PosXYZ(Platform.GetPos("P->UP", newpos.Data()))
{
Z = gtWorkZ
};
Log($"Transform {pos.Name} {pos.Description} {newpos} To {gtWork}");
//move gt work
if (isFirst)
{
isFirst = false;
Platform.Jump(gtWork, 0);
}
else
{
var maxJumpHeight = -Platform.CurPos[2];
if (PlatformJumpHeight < maxJumpHeight)
{
Log($"{Platform.Name} Jump Height {PlatformJumpHeight} > {maxJumpHeight}", LogLevel.Warning);
PlatformJumpHeight = maxJumpHeight + 0.5;
}
Platform.Jump(gtWork, PlatformJumpHeight);
}
//read gt raw
Thread.Sleep(CfgSettings.Common.GtReadDelay);
var gtRaw = GtController?.ReadData();
if (gtRaw != null)
{
Product.RawDataUp.Add(new PosXYZ()
{
Name = pos.Name,
Description = pos.Description,
X = pos.X,
Y = pos.Y,
Z = gtRaw[0],
OffsetX = gtRaw[0],
OffsetZ = gtWorkZ,
});
}
}
//move wait
if (Project.UpTestPositions.Count > 0)
{
Platform.Jump("Wait", PlatformJumpHeight);
}
}
//set vio finish
VioMeasureFinish.SetVio(this);
return(0);
}