private void MeasureDownGt()
{
//start measure
if (Project.DownTestPositions.Count == 0)
{
Log($"MeasureGt No Test Points");
return;
}
//run measure loop
bool isFirst = true;
PosXYZ lastPos = PosXYZ.Zero;
foreach (var pos in Project.DownTestPositions)
{
int gt;
PosXYZ gtWorkZ;
PosXYZ newpos;
//add pos offset
if (!AddPosOffset(pos, out gt, out gtWorkZ, out newpos))
{
Log($"AddPosOffset GT Raw Index {gt} Error");
continue;
}
//convert pos to gt pos
var gtPosZ = gtWorkZ.Z - pos.Z;
var gtPos = PosXYZ.Zero;
if (gt == 1)
{
gtPos = new PosXYZ(Platform.GetPos("P->DOWN1", newpos.Data()))
{
Z = gtPosZ
};
}
else if (gt == 2)
{
gtPos = new PosXYZ(Platform.GetPos("P->DOWN2", newpos.Data()))
{
Z = gtPosZ
};
}
else
{
Log($"GT Raw Index {gt} Error", LogLevel.Error);
}
Log($"Transform {pos.Name} {pos.Description} {newpos} To {gtPos}");
//jump gt pos
PlatformJumpPos(isFirst, pos, lastPos, gtPos);
lastPos = pos;
isFirst = false;
//read gt
System.Threading.Thread.Sleep(CfgSettings.Common.GtReadDelay);
var gtRaw = GtController?.ReadData();
if (gtRaw != null)
{
Product.RawDataDown.Add(new PosXYZ()
{
Name = pos.Name,
Description = pos.Description,
X = pos.X,
Y = pos.Y,
Z = gtRaw[gt],
OffsetX = gtRaw[gt],
OffsetZ = gtPosZ,
});
}
else
{
Log($"GtController ReadData Error", LogLevel.Error);
}
}
}
protected override int RunLoop()
{
//in case of manual operations
Platform.AssertAutoMode(this);
Platform.LocateInPos("Wait");
//check safe height
var safeHeight = Platform["GtWork"].Data()[2] - Project.Height - 6;
if (Platform.CurPos[2] > safeHeight)
{
Log($"{Name} {Platform.Name} SafeHeightError:{Platform.CurPos[2]:F2}>{safeHeight:F2}", LogLevel.Error);
}
//wait vio start
VioTransFinish.WaitVioAndClear(this);
{
//move wait
Platform.MoveAbs("Wait");
//measure up test positions
bool isFirst = true;
foreach (var pos in Project.UpTestPositions)
{
//transform gt work
var newpos = AddPosOffset(pos);
var gtWorkZ = Platform["GtWork"].Data()[2] - Project.Height;
var gtWork = new PosXYZ(Platform.GetPos("P->UP", newpos.Data()))
{
Z = gtWorkZ
};
Log($"Transform {pos.Name} {pos.Description} {newpos} To {gtWork}");
//move gt work
if (isFirst)
{
isFirst = false;
Platform.Jump(gtWork, 0);
}
else
{
var maxJumpHeight = -Platform.CurPos[2];
if (PlatformJumpHeight < maxJumpHeight)
{
Log($"{Platform.Name} Jump Height {PlatformJumpHeight} > {maxJumpHeight}", LogLevel.Warning);
PlatformJumpHeight = maxJumpHeight + 0.5;
}
Platform.Jump(gtWork, PlatformJumpHeight);
}
//read gt raw
Thread.Sleep(CfgSettings.Common.GtReadDelay);
var gtRaw = GtController?.ReadData();
if (gtRaw != null)
{
Product.RawDataUp.Add(new PosXYZ()
{
Name = pos.Name,
Description = pos.Description,
X = pos.X,
Y = pos.Y,
Z = gtRaw[0],
OffsetX = gtRaw[0],
OffsetZ = gtWorkZ,
});
}
}
//move wait
if (Project.UpTestPositions.Count > 0)
{
Platform.Jump("Wait", PlatformJumpHeight);
}
}
//set vio finish
VioMeasureFinish.SetVio(this);
return(0);
}
