/// <summary>
/// 软拍照
/// </summary>
/// <param name="baslerCamera"></param>
/// <param name="picWidth"></param>
/// <param name="picHeight"></param>
/// <param name="threadName"></param>
/// <returns></returns>
private byte[] TakePicture(BaslerCamera.BaslerCamera baslerCamera, long picWidth, long picHeight, string threadName)
{
byte[] buff = new byte[picWidth * picHeight];
PolicyTypeA.Execute(() =>
{
if (1 == baslerCamera.TakeSinglePicture(buff, buff.Length))
{
throw new Exception(threadName + ":拍照失败");
}
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, threadName + ":拍照成功");
});
return(buff);
}
//机械手还需要处理的问题,
//1.目前机械手是回到待机位,才会激活视觉处理和写入产量,并且是同步的,需要优化
//2.需要考虑,报警,暂停等情况,恢复机械手时,判断机械手所处位置和是否抓着电池!
//3.产量写入,PPM计算未处理!
//机械手线程 控制机械手
public void ThreadRobot()
{
Stopwatch sw = new Stopwatch();
while (!bStopThread)
{
Thread.Sleep(5);
//if (m_SysState.GetSysCriticalError())
// m_SysState.m_iScaraStep = 0;
//if (m_SysState.GetStopFlag())
// m_SysState.m_iScaraStep = 0;
//if (!m_SysState.GetSysStart())
// continue;
//if (m_SysState.GetSysPause())
// continue;
//if (m_SysState.GetSysError())
// continue;
int threadStep = GetSysStatus <int>(p => p.Thread_RobotStep);
switch (threadStep)
{
case 0:
//TODO:缺死循环跳出机制
Thread.Sleep(500);
break;
case 1:
if (GetSysStatus(p => p.Sys_BatteryIsReady))
{
SetSysStatus(p => p.Sys_MoveInContinus = true);
if (EnumBisReturn_ResultType.NG == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
threadStep = 100;
}
else
{
threadStep++;
}
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:机械手开始工作");
}
Thread.Sleep(20);
break;
case 2:
//检查三个条件=> Bis结果为TrayA,TrayA已准备好,视觉检测已准备好
if (GetSysStatus(p => p.PLC_Output_IsReady_TrayA) && GetSysStatus(p => p.VisionChecked_TrayA) && EnumBisReturn_ResultType.TrayA == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayA = false);
SetSysStatus(p => p.VisionChecked_TrayA = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池,目标：TrayA");
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
// GetThePosition(EnumDefaultPosition.TrayA,),
GetThePosition(EnumDefaultPosition.TrayA, GetSysStatus(p => p.CurrentReleaseIndex_TrayA)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:完成抓放电池");
//待激活视觉检测功能
threadStep++;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayB) && GetSysStatus(p => p.VisionChecked_TrayB) && EnumBisReturn_ResultType.TrayB == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayB = false);
SetSysStatus(p => p.VisionChecked_TrayB = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池,目标：TrayB");
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.TrayB, GetSysStatus(p => p.CurrentReleaseIndex_TrayB)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:完成抓放电池");
//待激活视觉检测功能
threadStep++;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayC) && GetSysStatus(p => p.VisionChecked_TrayC) && EnumBisReturn_ResultType.TrayC == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayC = false);
SetSysStatus(p => p.VisionChecked_TrayC = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池,目标：TrayC");
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.TrayC, GetSysStatus(p => p.CurrentReleaseIndex_TrayC)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:完成抓放电池");
//待激活视觉检测功能
threadStep++;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayD) && GetSysStatus(p => p.VisionChecked_TrayD) && EnumBisReturn_ResultType.TrayD == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayD = false);
SetSysStatus(p => p.VisionChecked_TrayD = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池,目标：TrayD");
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.TrayD, GetSysStatus(p => p.CurrentReleaseIndex_TrayD)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:完成抓放电池");
//待激活视觉检测功能
threadStep++;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayE) && GetSysStatus(p => p.VisionChecked_TrayE) && EnumBisReturn_ResultType.TrayE == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayE = false);
SetSysStatus(p => p.VisionChecked_TrayE = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池,目标：TrayE");
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.TrayE, GetSysStatus(p => p.CurrentReleaseIndex_TrayE)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:完成抓放电池");
//待激活视觉检测功能
threadStep++;
}
else
{
if (EnumBisReturn_ResultType.TrayA == GetSysStatus(p => p.EnumBisReturn_ResultType_Running) || EnumBisReturn_ResultType.TrayB == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//抓到待机位A
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.StandyA),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池到待机位A");
threadStep = 200;
}
else
{
//抓到待机位B
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.StandyB),
GetSysConfig(p => p.ZAxiaSafePosition)
);
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, "ThreadRobot:开始抓取电池到待机位B");
threadStep = 300;
}
}
break;
case 3:
Task.Run(() => {
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, $"ThreadRobot:{GetSysStatus(p => p.EnumBisReturn_ResultType_Running).ToString()}开始视觉检测");
//视觉检测,TODO:此处视觉处理是机械到回到待机位才开始,需要优化!!! 移至料盘线程？！
BaslerCamera.BaslerCamera baslerCamera = null;
long picWidth, picHeight = 0;
if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayA)
{
baslerCamera = _trayACamera;
picWidth = m_CameraConfig.CameraWidth_TrayA; //.lTrayA_CameraWidth;
picHeight = m_CameraConfig.CameraHeight_TrayA;
//拍照+保存相片+视觉处理
TrayVisionHandle("TrayA", "ThreadRobot", mVision, baslerCamera, picWidth, picHeight);
SetSysStatus(p => p.VisionChecked_TrayA = true);
SetSysStatus(p => p.Sys_MoveInContinus = true);
//TODO:写入产量等操作 放到下一步
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayB)
{
baslerCamera = _trayBCamera;
picWidth = m_CameraConfig.CameraWidth_TrayB;
picHeight = m_CameraConfig.CameraHeight_TrayB;
TrayVisionHandle("TrayB", "ThreadRobot", mVision, baslerCamera, picWidth, picHeight);
SetSysStatus(p => p.VisionChecked_TrayB = true);
//TODO:写入产量等操作 放到下一步
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayC)
{
baslerCamera = _trayCCamera;
picWidth = m_CameraConfig.CameraWidth_TrayC;
picHeight = m_CameraConfig.CameraHeight_TrayC;
TrayVisionHandle("TrayC", "ThreadRobot", mVision, baslerCamera, picWidth, picHeight);
SetSysStatus(p => p.VisionChecked_TrayC = true);
//TODO:写入产量等操作 放到下一步
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayD)
{
baslerCamera = _trayDCamera;
picWidth = m_CameraConfig.CameraWidth_TrayD;
picHeight = m_CameraConfig.CameraHeight_TrayD;
TrayVisionHandle("TrayD", "ThreadRobot", mVision, baslerCamera, picWidth, picHeight);
SetSysStatus(p => p.VisionChecked_TrayD = true);
//TODO:写入产量等操作 放到下一步
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayE)
{
baslerCamera = _trayECamera;
picWidth = m_CameraConfig.CameraWidth_TrayE;
picHeight = m_CameraConfig.CameraHeight_TrayE;
TrayVisionHandle("TrayE", "ThreadRobot", mVision, baslerCamera, picWidth, picHeight);
SetSysStatus(p => p.VisionChecked_TrayE = true);
//TODO:写入产量等操作 放到下一步
}
else
{
throw new Exception("不存在此种情况");
}
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, $"ThreadRobot:{GetSysStatus(p => p.EnumBisReturn_ResultType_Running).ToString()}视觉检测完成");
#region //换料,出料,计算产量,计算PPM等操作
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, $"ThreadRobot:{GetSysStatus(p => p.EnumBisReturn_ResultType_Running).ToString()}开始写入产量");
//换料,出料,计算产量,计算PPM等操作
var qtyForCrib = GetProductParam(p => p.QTY_FOR_CRIB); //每lot数量
var qtyForTray = GetProductParam(p => p.QTY_FOR_TRAY); //每盘数量
if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayA)
{
var trayAReleaseIndex = GetSysStatus(p => p.CurrentReleaseIndex_TrayA);
if (qtyForTray >= 4)
{
if (qtyForTray - trayAReleaseIndex == 2) //倒数第二格
{
//通知PLC TrayA准备换盘了
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_ReadyForChange_TrayA), 1);
}
else if (qtyForTray - trayAReleaseIndex == 1) //最后一格
{
//TODO:换lot和换料盘等相关操作待定
//通知PLC TrayA换盘
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayA), 1);
SetSysStatus(p => p.VisionChecked_TrayA = false);
}
else
{
}
}
else
{
if (qtyForTray - trayAReleaseIndex == 1) //最后一格
{
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayA), 1);
SetSysStatus(p => p.VisionChecked_TrayA = false);
}
else
{
}
}
SetSysStatus(p => p.CurrentReleaseIndex_TrayA++);
//TODO:写入产量,计算PPM,计算Lot数量,当前数量,暂不处理
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayB)
{
var TrayBReleaseIndex = GetSysStatus(p => p.CurrentReleaseIndex_TrayB);
if (qtyForTray >= 4)
{
if (qtyForTray - TrayBReleaseIndex == 2) //倒数第二格
{
//通知PLC TrayB准备换盘了
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_ReadyForChange_TrayB), 1);
}
else if (qtyForTray - TrayBReleaseIndex == 1) //最后一格
{
//TODO:换lot和换料盘等相关操作待定
//通知PLC TrayB换盘
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayB), 1);
SetSysStatus(p => p.VisionChecked_TrayB = false);
}
else
{
}
}
else
{
if (qtyForTray - TrayBReleaseIndex == 1) //最后一格
{
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayB), 1);
SetSysStatus(p => p.VisionChecked_TrayB = false);
}
else
{
}
}
SetSysStatus(p => p.CurrentReleaseIndex_TrayB++);
//TODO:写入产量,计算PPM,计算Lot数量,当前数量,暂不处理
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayC)
{
var TrayCReleaseIndex = GetSysStatus(p => p.CurrentReleaseIndex_TrayC);
if (qtyForTray >= 4)
{
if (qtyForTray - TrayCReleaseIndex == 2) //倒数第二格
{
//通知PLC TrayC准备换盘了
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_ReadyForChange_TrayC), 1);
}
else if (qtyForTray - TrayCReleaseIndex == 1) //最后一格
{
//TODO:换lot和换料盘等相关操作待定
//通知PLC TrayC换盘
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayC), 1);
SetSysStatus(p => p.VisionChecked_TrayC = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
else
{
if (qtyForTray - TrayCReleaseIndex == 1) //最后一格
{
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayC), 1);
SetSysStatus(p => p.VisionChecked_TrayC = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
SetSysStatus(p => p.CurrentReleaseIndex_TrayC++);
//TODO:写入产量,计算PPM,计算Lot数量,当前数量,暂不处理
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayD)
{
var TrayDReleaseIndex = GetSysStatus(p => p.CurrentReleaseIndex_TrayD);
if (qtyForTray >= 4)
{
if (qtyForTray - TrayDReleaseIndex == 2) //倒数第二格
{
//通知PLC TrayD准备换盘了
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_ReadyForChange_TrayD), 1);
}
else if (qtyForTray - TrayDReleaseIndex == 1) //最后一格
{
//TODO:换lot和换料盘等相关操作待定
//通知PLC TrayD换盘
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayD), 1);
SetSysStatus(p => p.VisionChecked_TrayD = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
else
{
if (qtyForTray - TrayDReleaseIndex == 1) //最后一格
{
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayD), 1);
SetSysStatus(p => p.VisionChecked_TrayD = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
SetSysStatus(p => p.CurrentReleaseIndex_TrayD++);
//TODO:写入产量,计算PPM,计算Lot数量,当前数量,暂不处理
}
else if (GetSysStatus(p => p.EnumBisReturn_ResultType_Running) == EnumBisReturn_ResultType.TrayE)
{
var TrayEReleaseIndex = GetSysStatus(p => p.CurrentReleaseIndex_TrayE);
if (qtyForTray >= 4)
{
if (qtyForTray - TrayEReleaseIndex == 2) //倒数第二格
{
//通知PLC TrayE准备换盘了
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_ReadyForChange_TrayE), 1);
}
else if (qtyForTray - TrayEReleaseIndex == 1) //最后一格
{
//TODO:换lot和换料盘等相关操作待定
//通知PLC TrayE换盘
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayE), 1);
SetSysStatus(p => p.VisionChecked_TrayE = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
else
{
if (qtyForTray - TrayEReleaseIndex == 1) //最后一格
{
_netPLC.WriteUshort(GetPLCAddr(p => p.PLC_Input_Addr_Reload_TrayE), 1);
SetSysStatus(p => p.VisionChecked_TrayE = false);
}
else
{
//TODO:正常情况,暂不处理,留位
}
}
SetSysStatus(p => p.CurrentReleaseIndex_TrayE++);
//TODO:写入产量,计算PPM,计算Lot数量,当前数量,暂不处理
}
else
{
throw new Exception("不存在此种情况");
}
SYS_IBG_LOG(DEBUGL1MSG, 0, 0, $"ThreadRobot:{GetSysStatus(p => p.EnumBisReturn_ResultType_Running).ToString()}产量写入完成");
#endregion
});
threadStep = 1;
break;
case 4:
break;
case 5:
break;
case 6:
break;
case 7:
break;
case 100:
//NG流程
if (!GetSysStatus(p => p.Robot_Input_NGBoxInplace) || GetSysStatus(p => p.Robot_Input_NGBoxIsFull))
{
break;
}
//TODO:NG流程模式未设置
_robotController.ROBOT_CatchAndPutBattery(
0,
GetThePosition(EnumDefaultPosition.Catch),
GetThePosition(EnumDefaultPosition.NG),
GetSysConfig(p => p.ZAxiaSafePosition)
);
threadStep = 1;
break;
case 200:
//电池被抓到待机位A,等待条件准备好
if (GetSysStatus(p => p.PLC_Output_IsReady_TrayA) && GetSysStatus(p => p.VisionChecked_TrayA) && EnumBisReturn_ResultType.TrayA == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手从待机位A抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayA = false);
SetSysStatus(p => p.VisionChecked_TrayA = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.StandyA),
GetThePosition(EnumDefaultPosition.TrayA, GetSysStatus(p => p.CurrentReleaseIndex_TrayA)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
//跳到视觉检测
threadStep = 3;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayB) && GetSysStatus(p => p.VisionChecked_TrayB) && EnumBisReturn_ResultType.TrayB == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayB = false);
SetSysStatus(p => p.VisionChecked_TrayB = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.StandyA),
GetThePosition(EnumDefaultPosition.TrayB, GetSysStatus(p => p.CurrentReleaseIndex_TrayB)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
//跳到视觉检测
threadStep = 3;
}
else
{
//TODO:定义防呆功能,待定
}
break;
case 300:
if (GetSysStatus(p => p.PLC_Output_IsReady_TrayC) && GetSysStatus(p => p.VisionChecked_TrayC) && EnumBisReturn_ResultType.TrayC == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayC = false);
SetSysStatus(p => p.VisionChecked_TrayC = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.StandyB),
GetThePosition(EnumDefaultPosition.TrayC, GetSysStatus(p => p.CurrentReleaseIndex_TrayC)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
//跳到视觉检测
threadStep = 3;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayD) && GetSysStatus(p => p.VisionChecked_TrayD) && EnumBisReturn_ResultType.TrayD == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayD = false);
SetSysStatus(p => p.VisionChecked_TrayD = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.StandyB),
GetThePosition(EnumDefaultPosition.TrayD, GetSysStatus(p => p.CurrentReleaseIndex_TrayD)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
//跳到视觉检测
threadStep = 3;
}
else if (GetSysStatus(p => p.PLC_Output_IsReady_TrayE) && GetSysStatus(p => p.VisionChecked_TrayE) && EnumBisReturn_ResultType.TrayE == GetSysStatus(p => p.EnumBisReturn_ResultType_Running))
{
//机械手抓电池到Put位
SetSysStatus(p => p.PLC_Output_IsReady_TrayE = false);
SetSysStatus(p => p.VisionChecked_TrayE = false);
SetSysStatus(p => p.Sys_BatteryIsReady = false);
_robotController.ROBOT_CatchAndPutBattery(
0, //TODO:机械手运动模式未设置
GetThePosition(EnumDefaultPosition.StandyB),
GetThePosition(EnumDefaultPosition.TrayE, GetSysStatus(p => p.CurrentReleaseIndex_TrayE)),
GetSysConfig(p => p.ZAxiaSafePosition)
);
//跳到视觉检测
threadStep = 3;
}
else
{
//TODO:定义防呆功能,待定
}
break;
}
if (threadStep != GetSysStatus(p => p.Thread_RobotStep))
{
SetSysStatus(p => p.Thread_RobotStep = threadStep);
}
}
}
/// <summary>
/// 料盘拍照+相片保存+视觉检测
/// </summary>
/// <param name="trayType">TrayA,TrayB...</param>
/// <param name="threadName"></param>
/// <param name="vision"></param>
/// <param name="baslerCamera"></param>
/// <param name="picWidth"></param>
/// <param name="picHeight"></param>
/// <returns></returns>
private void TrayVisionHandle(string trayType, string threadName, Vision.Vision vision, BaslerCamera.BaslerCamera baslerCamera, long picWidth, long picHeight)
{
//TODO:料盘的偏差暂无法使用
double x, y, a = 0.0;
//TODO:tray相片储存路径
string trayPictureFilePath = string.Empty;
byte[] buff = TakePicture(baslerCamera, picWidth, picHeight, threadName);
if (0 == vision.CheckBatteryStatus(buff, picWidth, picHeight, 0, trayPictureFilePath, out x, out y, out a, GetSimulate <bool>(p => p.Simulate_Vision), true))
{
//保存相片,TODO:相片保存路径，是否需要经过视觉处理后才取得？，如不需要视觉处理后才取得则可异步，后续处理
Task.Run(() =>
{
mVision.SavePicJPEG(buff, (int)picWidth, (int)picHeight, trayPictureFilePath + ".jpg");
});
}
else
{
//TODO:视觉处理只有0,1两个状态?,需要报警具体信息?!
SYS_IBG_LOG(WARNINGERR, 0, 0, $"{threadName}:{trayType}料盘有异物");
//TODO:发现异物,需要暂停? 需要告诉PLC 机械手??
}
}
