/// <summary>
///
/// </summary>
/// <param name="side"></param>
/// <param name="lcode">todo: describe lcode parameter on AddRobotRollQ</param>
/// <returns></returns>
private static RollPosition AddRobotRollQ(string lcode, string side)
{
var label = LableCode.QueryByLCode(lcode);
if (label == null)
{
onlog?.Invoke($"!{side} {lcode}在数据库中查不到", LogType.ROLL_QUEUE);
return(null);
}
if (label.Status >= (int)LableState.OnPanel)
{
onlog?.Invoke($"!{side} {label.LCode}已在板上,未加入机器人队列,交地{label.ToLocation}.", LogType.ROLL_QUEUE);
return(null);
}
if (label.CoordinatesIsEmpty())
{
onlog?.Invoke($"!{side} {label.LCode}未算位置，未加入机器人队列,交地{label.ToLocation}.", LogType.ROLL_QUEUE);
return(null);
}
var pinfo = LableCode.GetPanel(label.PanelNo);
var state = FrmMain.GetPanelState(label, pinfo);
var x = label.Cx;
var y = label.Cy;
var z = label.Cz + RollPosition.Z_START;
var rz = label.Crz;
if (rz == 0)
{
y = RollPosition.GetToolOffSet(y);
}
else
{
x = RollPosition.GetToolOffSet(x);
}
if (x + y > 0)
{
if (rz == 0)
{
rz = -180;
}
}
else
{
if (rz != 0)
{
rz = rz * -1;
}
}
if (RollPosition.robotRSidePanel.Contains(label.RealLocation))
{
rz = rz + 180;
}
var roll = new RollPosition(label, side, state, x, y, z, rz);
onlog?.Invoke($"来源: {nameof(AddRobotRollQ)}, {side} {label.LCode} 名义交地: {label.ToLocation}, 真实交地: {label.RealLocation}, {Enum.GetName(typeof(PanelState), state)}", LogType.ROLL_QUEUE);
return(roll);
}
