/// <summary>
/// 螺杆阀的非Polyline的打胶逻辑
/// </summary>
/// <returns></returns>
private Result SvValveNotPolyLogic(Line line, List <PointD> primaryPoints, List <PointD> simulPoints)
{
Result ret = Result.OK;
//如果坐标点总数不是偶数(正常情况下不可能存在)
if (primaryPoints.Count % 2 != 0)
{
return(Result.FAILED);
}
for (int i = 0; i < (primaryPoints.Count / 2); i++)
{
SvValveFludLineParam primaryLineParam = this.GetSvValveParam(line, primaryPoints[0 * 2], primaryPoints[0 * 2 + 1], line.LineCoordinateList[i]);
SvValveFludLineParam simulLineParam = this.GetSvValveParam(line, simulPoints[0 * 2], simulPoints[0 * 2 + 1], line.LineCoordinateList[i]);
double currZ = Machine.Instance.Robot.PosZ;
double targZ = 0;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = line.Program.RuntimeSettings.BoardZValue + line.LineCoordinateList[i].Param.DispenseGap;
}
else
{
targZ = Converter.NeedleBoard2Z(line.LineCoordinateList[i].Param.DispenseGap, line.CurMeasureHeightValue);
}
ret = this.SvValveMoveToLineStart(line, primaryPoints[i * 2], simulPoints[i * 2], currZ, targZ, line.LineCoordinateList[i].Param);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStartSpary(line, primaryLineParam, simulLineParam);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStopSpary(line, line.LineCoordinateList[i].Param);
if (!ret.IsOk)
{
return(ret);
}
}
return(ret);
}
private Result SvValveWetAndDryLogic(Arc arc)
{
Result ret = Result.OK;
//主阀的相关点
PointD start = arc.Start.ToNeedle(arc.Valve);
PointD end = arc.End.ToNeedle(arc.Valve);
PointD center = arc.Center.ToNeedle(arc.Valve);
//副阀的起点
PointD simulStart = this.GetSimulPos(arc, start);
SvValveFludLineParam arcParam = this.GetSvValveArcParam(arc, start, end, center);
double currZ = Machine.Instance.Robot.PosZ;
double targZ = 0;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = arc.Program.RuntimeSettings.BoardZValue + arc.Param.DispenseGap;
}
else
{
targZ = Converter.NeedleBoard2Z(arc.Param.DispenseGap, arc.CurMeasureHeightValue);
}
ret = this.SvValveMoveToArcStart(arc, start, simulStart, currZ, targZ);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStartSpary(arc, arcParam, center);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStopSpary(arc);
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
private Result SvValveStartSpary(Line line, SvValveFludLineParam primaryLineParam, SvValveFludLineParam simulLineParam)
{
Result ret = Result.OK;
if (line.RunnableModule.Mode == ModuleMode.MainMode && Machine.Instance.Setting.DualValveMode == DualValveMode.异步)
{
ret = Machine.Instance.DualValve.FluidLine(primaryLineParam, simulLineParam, FluidProgram.Current.MotionSettings.WeightAcc);
}
else
{
ret = Machine.Instance.Valve1.FluidLine(primaryLineParam, FluidProgram.Current.MotionSettings.WeightAcc);
}
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
/// <summary>
/// 开始走圆弧轨迹并出胶
/// </summary>
/// <param name="end"></param>
/// <param name="center"></param>
/// <returns></returns>
private Result SvValveStartSpary(Arc arc, SvValveFludLineParam arcParam, PointD center)
{
Result ret = Result.OK;
if (arc.RunnableModule.Mode == ModuleMode.MainMode && Machine.Instance.Setting.DualValveMode == DualValveMode.异步)
{
ret = Machine.Instance.DualValve.FluidArc(arcParam, center, arc.ClockWise, FluidProgram.Current.MotionSettings.WeightAcc);
}
else
{
ret = Machine.Instance.Valve1.FluidArc(arcParam, center, arc.ClockWise, FluidProgram.Current.MotionSettings.WeightAcc);
}
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
/// <summary>
/// 螺杆阀CV模式模式下的运行逻辑
/// </summary>
/// <returns></returns>
private Result SvValveCVLogic(MultiTraces multiTraces)
{
Result ret = Result.OK;
ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
if (multiTraces.Traces.Count == 0)
{
return(ret);
}
// 移动到轨迹起点
ret = Machine.Instance.Robot.MovePosXYAndReply(multiTraces.Traces[0].Start,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
SvValveFludLineParam primaryLineParam = this.GetSvValveParam(multiTraces, multiTraces.Traces);
// 连续插补
double[] vels = new double[multiTraces.Traces.Count];
for (int i = 0; i < vels.Length; i++)
{
vels[i] = this.getLineParam(multiTraces, multiTraces.Traces[i]).Speed;
}
List <ICrdable> crdList = Valve.GetCrdsBy(multiTraces.Traces, vels, FluidProgram.Current.MotionSettings.AccXY);
ret = Machine.Instance.Robot.MoveTrcXYReply(crdList);
if (!ret.IsOk)
{
return(ret);
}
List <ICrdable> backCrdList = Valve.GetCrdsBy(primaryLineParam.backTransTraces, primaryLineParam.backTrackVel, FluidProgram.Current.MotionSettings.AccXY);
return(Machine.Instance.Robot.MoveTrcXYReply(backCrdList));
}
/// <summary>
/// 螺杆阀的Poly线的打胶逻辑
/// </summary>
/// <param name="primaryPoints"></param>
/// <param name="simulPoints"></param>
/// <returns></returns>
private Result SvValvePolyLogic(Line line, List <PointD> primaryPoints, List <PointD> simulPoints)
{
Result ret = Result.OK;
SvValveFludLineParam primaryLineParam = this.GetSvValveParam(line, primaryPoints, line.LineCoordinateList);
SvValveFludLineParam simulLineParam = this.GetSvValveParam(line, simulPoints, line.LineCoordinateList);
double currZ = Machine.Instance.Robot.PosZ;
double targZ = 0;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = line.Program.RuntimeSettings.BoardZValue + line.LineCoordinateList[0].Param.DispenseGap;
}
else
{
targZ = Converter.NeedleBoard2Z(line.LineCoordinateList[0].Param.DispenseGap, line.CurMeasureHeightValue);
}
ret = this.SvValveMoveToLineStart(line, primaryPoints[0], simulPoints[0], currZ, targZ, line.LineCoordinateList[0].Param);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStartSpary(line, primaryLineParam, simulLineParam);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStopSpary(line, line.LineCoordinateList[0].Param);
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
/// <summary>
/// 螺杆阀的轨迹线的打胶逻辑
/// </summary>
/// <param name="primaryPoints"></param>
/// <param name="simulPoints"></param>
/// <returns></returns>
private Result SvValveTracesLogic(MultiTraces multiTraces, List <TraceBase> primaryTraces, List <TraceBase> simulTraces)
{
Result ret = Result.OK;
SvValveFludLineParam primaryLineParam = this.GetSvValveParam(multiTraces, primaryTraces);
SvValveFludLineParam simulLineParam = this.GetSvValveParam(multiTraces, simulTraces);
double currZ = Machine.Instance.Robot.PosZ;
double targZ = 0;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = multiTraces.Program.RuntimeSettings.BoardZValue + this.getLineParam(multiTraces, multiTraces.Traces[0]).DispenseGap;
}
else
{
targZ = Converter.NeedleBoard2Z(this.getLineParam(multiTraces, multiTraces.Traces[0]).DispenseGap, multiTraces.CurMeasureHeightValue);
}
ret = this.SvValveMoveToLineStart(multiTraces, primaryTraces[0].Start, simulTraces[0].Start, currZ, targZ, this.getLineParam(multiTraces, multiTraces.Traces[0]));
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStartSpary(multiTraces, primaryLineParam, simulLineParam);
if (!ret.IsOk)
{
return(ret);
}
ret = this.SvValveStopSpary(multiTraces, this.getLineParam(multiTraces, multiTraces.Traces[0]));
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
/// <summary> /// 螺杆阀的异步圆弧打胶 /// </summary> /// <param name="svValveArcParam"></param> /// <returns></returns> public abstract Result FluidArc(SvValveFludLineParam svValveArcParam, PointD center, short clockwize, double acc);
/// <summary> /// 螺杆阀异步执行打胶 /// </summary> /// <param name="primaryLineParam"></param> /// <param name="simulLineParam"></param> /// <returns></returns> public abstract Result FluidLine(SvValveFludLineParam primaryLineParam, SvValveFludLineParam simulLineParam, double acc);
/// <summary> /// 螺杆阀的直线运动 /// </summary> /// <returns></returns> public abstract Result FluidLine(SvValveFludLineParam svValveLineParam, double acc);