private void AFTER_B_DOING()
{
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
if (!drawOnly)
{
isOver = ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
int b = currTask.AB_TASK_B;
int rest_p = currTask.AB_TASK_B;
if (taskList.Count == 1)
{// X 横向移动到休息位休息
if (b == 3 || b == 4)
{
rest_p = 2;
}
if (b == 5 || b == 6)
{
rest_p = 7;
}
if (b == 11 || b == 12)
{
rest_p = 10;
}
if (b > 12)
{
rest_p = 0;
}
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[rest_p].X, 50); // 平移至休息位
if (!drawOnly)
{
isOver = ABTask.X_TO(true, ABTask.loadPoints[rest_p].X, ABTask.xSpeed); // 平移至休息位
}
Thread.Sleep(10);
}
}
}
private void AFTER_B_DOING()
{
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
GenericOp.GREASEnum++; //每个AB流程中会有两次z轴上升运动，计数
if (!drawOnly)
{
isOver &= ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
int b = currTask.AB_TASK_B;
int rest_p = currTask.AB_TASK_B;
if (taskList.Count == 1)
{// X 横向移动到休息位休息
if (b == 3 || b == 4) rest_p = 2;
if (b == 5 || b == 6) rest_p = 7;
if (b >= 9) rest_p = 2;
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[rest_p].X, 50); // 平移至休息位
if (!drawOnly)
{
isOver &= ABTask.X_TO(true, ABTask.loadPoints[rest_p].X, ABTask.xSpeed); // 平移至休息位
}
Thread.Sleep(10);
}
/*if (currTask.AB_TASK_B == hyWorkFlow.POS_UNLOAD)//关闭后门
{
SerialManual.CloseStoveLid(8);
}*/
}
}
private void PRE_DOING(int pos_index)
{
// ----------------------------------------------------
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
if (!drawOnly)
{
isOver = ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
if (!drawOnly)
{
int a = currTask.AB_TASK_A;
if ((a == 6 || a == 11 || a == 12 || a == 10) && SerialWireless.GetGtryState(SerialWireless.GTRY_STATE_CLAMP))
{
Thread.Sleep(100000);
}
}
// 判断炉盖的状态，如果炉盖已经打开，则允许前行，否则不允许前行
// 需要打开炉盖的炉子有 _ _ _ 3、4、5、6 _ _ _ 10、11、12
if (!drawOnly)
{
int openStoveLidIndex;
for (openStoveLidIndex = 0; openStoveLidIndex < 7; openStoveLidIndex++)
{
if (stoveLidAction[openStoveLidIndex] == STOVE_LID_ACTION.OPEN)
{
break;// 发现有炉盖需要打开
}
}
//
SerialManual.STOVE_LID_STATE state;
if (openStoveLidIndex < 7)
{
// 有炉盖需要打开，则不断等待炉盖打开到位信号。
state = SerialManual.stoveLidState[openStoveLidIndex]; // 查看当前这个炉盖的状态
while (state != SerialManual.STOVE_LID_STATE.OPENED)
{ // 等待炉盖打开到位信号。
Thread.Sleep(100); // 等待炉盖打开
state = SerialManual.stoveLidState[openStoveLidIndex]; // 查看当前这个炉盖的状态
// 超时处理
// TODO: 如果60秒都没有等到炉盖打开的话，需要给出提示信息。告诉用户炉盖故障：接近开关故障。
timeout_openStoveLid++;
if (timeout_openStoveLid > 600)
{
GenericOp.errCode |= 0x01;
}
}
GenericOp.errCode &= ~0x01;
}
}
// ----------------------------------------------------
// 进入 A或者B 点区域
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[pos_index].X, 50); // 平移 --> A
if (!drawOnly)
{
isOver = ABTask.X_TO(true, ABTask.loadPoints[pos_index].X, ABTask.xSpeed); // 平移 --> A
}
Thread.Sleep(10);
}
}