public PolishCleanFun(string name) : base(name + "打磨清洗模块")
{
switch (name.ToString())
{
case "左":
ID = 0;
break;
case "右":
ID = 1;
break;
}
Axis = new IOandAxisFun();
}
public SolderPlatform(string name) : base(name + "焊锡平台")
{
SolderClean = new TinCleanFun(name);
SolderCT = new SolderCTFun(name);
Solder = new SolderFun(name);
Axis = new IOandAxisFun();
switch (name)
{
case "左":
ID = 0;
break;
case "右":
ID = 1;
break;
}
}
public PolishPlatform(string name) : base(name + "打磨平台")
{
PolishCT = new PolishCTFun(name);
Polish = new PolishFun(name);
PolishClean = new PolishCleanFun(name);
switch (name)
{
case "左":
ID = 0;
break;
case "右":
ID = 1;
break;
}
Axis = new IOandAxisFun();
}
public ResetLogicDef() : base("整机复位")
{
Axis = new IOandAxisFun();
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //RZ到位
ProcessData.SolderList[ID].Clear();
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
NUM = 0;
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //拍照
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderData[ID].CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionProject.Instance.visionApi.TrigComplete()||*/ TaskManager.Default.FSM.MODE == 1)
{
if (TaskManager.Default.FSM.MODE == 1)
{
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
if (ProjectData.Instance.SaveData.processdata.Agingdataforsolder == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforsolder = new SolderDef();
}
ProjectData.Instance.SaveData.processdata.Agingdataforsolder.Z = 25;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.Agingdataforsolder;
ProcessData.SolderList[ID].Add(_pos); //增加到list里
NUM++;
if (NUM < ProjectData.Instance.SaveData.processdata.SolderCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichSolder(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID))
{
float Tx = 0;
float Ty = 0;
float Tr = 0;
float x = 0;
float y = 0;
float cAng = (float)(p.ListPos[num].R * Math.PI / 180);
if (ProjectData.Instance.SaveData.SolderPlatform[ID].UseR) //使用旋转中心
{
x = p.ModelPos.X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
y = p.ModelPos.Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
IOandAxisFun.Transorm(ID, x, y, x + p.ListPos[num].X, y + p.ListPos[num].Y, cAng, out Tx, out Ty);
}
else
{
Tx = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
Ty = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
Tr = 0;
}
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = Tx;
_pos.Pos.Y = Ty;
_pos.Pos.R = Tr;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID)[type].solderdata[num].Clone();
num++;
SolderOrderList.Add(_pos); //增加到list里
}
}
foreach (SolderPosData data in SolderOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //排序
{
ProcessData.SolderList[ID].Add(data); //加到上锡位置
}
NUM++;
if (ProcessData.SolderCTPos[ID].Count() > NUM)
{
LG.ImmediateStepNext(2); //去下一个拍照位置
}
else
{
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断上锡列表里的数据
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无上锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
public LogicLoopRun() : base("报警等循环扫描")
{
Axis = new IOandAxisFun();
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.PolishData[ID];
switch (LG.Step)
{
case 1: //RZ到拍照位
ProjectData.Instance.SaveData.processdata.PolishList[ID].Clear();
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
NUM = 0;
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(para.SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到拍照位
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.PolishX[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X);
Axis.PolishY[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //延时拍照
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0 && LG.Delay(para.CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionInteraction.Instance.TriggerCamera(ID)*/ true)
{
if (TaskManager.Default.FSM.MODE == 1)
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
//_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
if (ProjectData.Instance.SaveData.processdata.Agingdataforpolish == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforpolish = new PolishDef();
}
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
ProjectData.Instance.SaveData.processdata.Agingdataforpolish.Z = 20;
_pos.polishData = ProjectData.Instance.SaveData.processdata.Agingdataforpolish;
NUM++;
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(_pos);
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichPolish(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID))
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = p.ListPos[num].R;
_pos.polishData = ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID)[type].polishData[num].Clone();
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
num++;
PolishOrderList.Add(_pos); //增加到list里
}
}
foreach (PolishPosData data in PolishOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //对list里的点进行排序
{
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(data); //把排列好的点写进打磨list里
}
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断打磨列表里的数据
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台没有打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
