修复CSV数据保存问题与辅料与产品贴附角度偏差问题

TeamAAS-VM/Core/Management.cs

@@ -1261,7 +1261,7 @@ namespace TeamAAS_VP.Core
         Int16 _LastPickINC = 0;
         Int16[] _LastMesCheck = new Int16[10];
         DateTime[] _LastMesCheckTime = new DateTime[10];
-        Dictionary<string, string> mes_cc = new Dictionary<string, string>();
+        Dictionary<string, string> mes_cc { get; set; } = new Dictionary<string, string>();
         /// <summary>
         /// 当前压力值
         /// </summary>
@@ -1291,12 +1291,12 @@ namespace TeamAAS_VP.Core
                 }
 
                 ////获取产品编码
-                //_productService.CurrentProductCode = plc.ReadNode<string>(string.Format(addressConfig.In_Code.Address, 0));
-                ////如果产品编码为空，则以当前的时间戳作为编码
-                //if (string.IsNullOrEmpty(_productService.CurrentProductCode))
-                //{
-                //    _productService.CurrentProductCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
-                //}
+                _productService.CurrentProductCode = plc.ReadNode<string>(string.Format(addressConfig.In_Code.Address, 0));
+                //如果产品编码为空，则以当前的时间戳作为编码
+                if (string.IsNullOrEmpty(_productService.CurrentProductCode))
+                {
+                    _productService.CurrentProductCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
+                }
 
                 bool isDryMode = plc.ReadNode<bool>(addressConfig.In_DryMode.Address);
 
@@ -1884,27 +1884,24 @@ namespace TeamAAS_VP.Core
                             // 执行视觉任务
                             var _cts = new CancellationTokenSource();
                             var visionResult = await _remoteCommandService.ExecutePhotoGetDistance(1,process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, cameraIndex, null);
-                            if (visionResult.distance.Split(',')[0] == "1")
-                            {
-                                mes_cc.Clear();
-                            }
-                            if (visionResult.distance.Split(',')[0] == "2" && mes_cc.ContainsKey("2"))
-                            {
-                                mes_cc.Remove("2");
-                            }
-
                             if (visionResult.IsSucceed)
                             {
-                                mes_cc.Add(visionResult.distance.Split(',')[0], visionResult.distance.Split(',')[1]);
                                 await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
                                 SendTaskMessage($"点位{cameraIndex}检测OK", MessageLevel.Debug);
                             }
                             else
                             {
-                                mes_cc.Add($"{cameraIndex}", "0");
                                 await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)2);
                                 SendTaskMessage($"点位{cameraIndex}检测NG", MessageLevel.Error);
                             }
+                            if (mes_cc.ContainsKey(visionResult.distance.Split(',')[0]))
+                            {
+                                mes_cc[visionResult.distance.Split(',')[0]] = visionResult.distance.Split(',')[1];
+                            }
+                            else
+                            {
+                                mes_cc.Add(visionResult.distance.Split(',')[0], visionResult.distance.Split(',')[1]);
+                            }
                             await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
                         }
                         else
@@ -2109,7 +2106,7 @@ namespace TeamAAS_VP.Core
                             var point = currentProduct.ScrewPoints[0].Clone();
                             var pn = Vector<double>.Build.Dense(new double[] { upCameraX, upCameraY });
                             //目标角度：
-                            double angle = point.U_Position - (DowmCameraResults[1].Z - currentProduct.FixedUpCameraTempletAngle) - (upCameraU - currentProduct.MoveDownCamerTempletAngle);
+                            double angle = point.U_Position - (DowmCameraResults[1].Z - currentProduct.FixedUpCameraTempletAngle) + (upCameraU - currentProduct.MoveDownCamerTempletAngle);
 
                             var toolCoord = new ToolCoord();
                             toolCoord.SetTool(DowmCameraResults[1].X, DowmCameraResults[1].Y);
@@ -2368,7 +2365,7 @@ namespace TeamAAS_VP.Core
                                         SendTaskMessage("未启用mes", MessageLevel.Error);
                                         //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改
                                         await plc.WriteNodeAsync(addressConfig.Out_ScrewFeederIsChanged.Address, (Int16)1); //不发生改变
-                                        await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)2);
+                                        await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1);
                                     }
                                 }
                                 // 上传本站数据
@@ -2464,8 +2461,7 @@ namespace TeamAAS_VP.Core
                                     await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)3);
                                     LogHelper.WriteLogMes($"【mes结束ADD】");
                                     SendTaskMessage($"mes结束ADD", MessageLevel.Info);
-                                    mes_cc.Clear();
-
+                                    
                                     //是否保存当前的产品记录至CSV?
                                     if (stationConfig.SaveCsv)
                                     {
@@ -2475,49 +2471,31 @@ namespace TeamAAS_VP.Core
                                             bool assyPress = resultIndex == 1 ? true : false;
                                             var pre = FileHelper.ReadJsonFile<PressureModel>(FilePath.PressureParamterConfigPath);
                                             DFC.Clear();
-                                            DFC.Add(new DataFormCtq
-                                            {
-                                                PPID = ProductMainSN[i],
-                                                PROCESS_NAME = stationConfig.DataInfo.PROCESS_NAME,
-                                                PROCESS_START_TIME = _LastMesCheckTime[i].ToString(),
-                                                CTQ_NAME = "CC1",
-                                                CTQ_VALUE = cc.Split(",")[0],
-                                                CTQ_LSL = "",
-                                                CTQ_USL = "",
-                                                PROCESS_END_TIME = serverTimeResult.Now.ToString(),
-                                                SUPPLIER_NAME = stationConfig.DataInfo.SUPPLIER_NAME,
-                                                COMMODITY_TYPE = stationConfig.DataInfo.COMMODITY_TYPE,
-                                                REVISION = stationConfig.DataInfo.REVISION,
-                                                WO = wo[i],
-                                                MFG_LOT = stationConfig.DataInfo.MFG_LOT,
-                                                MFG_ASSY_LINE = stationConfig.DataInfo.MFG_ASSY_LINE,
-                                                PROCESS_OUTCOME = "PASS",
-                                                PROCESS_MACHINE_ID = stationConfig.DataInfo.PROCESS_MACHINE_ID,
-                                                CTQ_UNIT_OF_MEASURE = "mm",
-                                                ERROR_MESSAGE = assyPress ? "" : "CC OOS",                                            
-                                                
-                                            });
-                                            DFC.Add(new DataFormCtq
+
+                                            foreach (var item in mes_cc)
                                             {
-                                                PPID = ProductMainSN[i],
-                                                PROCESS_NAME = stationConfig.DataInfo.PROCESS_NAME,
-                                                PROCESS_START_TIME = _LastMesCheckTime[i].ToString(),
-                                                CTQ_NAME = "CC2",
-                                                CTQ_VALUE = cc.Split(",")[1],
-                                                CTQ_LSL = "",
-                                                CTQ_USL = "",
-                                                PROCESS_END_TIME = serverTimeResult.Now.ToString(),
-                                                SUPPLIER_NAME = stationConfig.DataInfo.SUPPLIER_NAME,
-                                                COMMODITY_TYPE = stationConfig.DataInfo.COMMODITY_TYPE,
-                                                REVISION = stationConfig.DataInfo.REVISION,
-                                                WO = wo[i],
-                                                MFG_LOT = stationConfig.DataInfo.MFG_LOT,
-                                                MFG_ASSY_LINE = stationConfig.DataInfo.MFG_ASSY_LINE,
-                                                PROCESS_OUTCOME = "PASS",
-                                                PROCESS_MACHINE_ID = stationConfig.DataInfo.PROCESS_MACHINE_ID,
-                                                CTQ_UNIT_OF_MEASURE = "mm",
-                                                ERROR_MESSAGE = assyPress ? "" : "CC OOS"
-                                            });
+                                                DFC.Add(new DataFormCtq
+                                                {
+                                                    PPID = ProductMainSN[i],
+                                                    PROCESS_NAME = stationConfig.DataInfo.PROCESS_NAME,
+                                                    PROCESS_START_TIME = _LastMesCheckTime[i].ToString(),
+                                                    CTQ_NAME = $"CC{item.Key}",
+                                                    CTQ_VALUE = item.Value,
+                                                    CTQ_LSL = "",
+                                                    CTQ_USL = "",
+                                                    PROCESS_END_TIME = serverTimeResult.Now.ToString(),
+                                                    SUPPLIER_NAME = stationConfig.DataInfo.SUPPLIER_NAME,
+                                                    COMMODITY_TYPE = stationConfig.DataInfo.COMMODITY_TYPE,
+                                                    REVISION = stationConfig.DataInfo.REVISION,
+                                                    WO = wo[i],
+                                                    MFG_LOT = stationConfig.DataInfo.MFG_LOT,
+                                                    MFG_ASSY_LINE = stationConfig.DataInfo.MFG_ASSY_LINE,
+                                                    PROCESS_OUTCOME = "PASS",
+                                                    PROCESS_MACHINE_ID = stationConfig.DataInfo.PROCESS_MACHINE_ID,
+                                                    CTQ_UNIT_OF_MEASURE = "mm",
+                                                    ERROR_MESSAGE = assyPress ? "" : "CC OOS",
+                                                });
+                                            } 
                                             DFC.Add(new DataFormCtq
                                             {
                                                 PPID = code,
@@ -2558,6 +2536,8 @@ namespace TeamAAS_VP.Core
                                     {
                                         SendTaskMessage($"{i}:{stationConfig.DeviceName}工位未配置保存产品记录", MessageLevel.Debug);
                                     }
+
+                                    mes_cc.Clear();
                                     return;
                                 }
                                 else

TeamAAS-VM/Services/CalibrationService.cs

@@ -301,7 +301,7 @@ namespace TeamAAS_VP.Services
             Matrix<double> matrix = Matrix<double>.Build.DenseOfArray(calib.AffineTransformationMaterial);
 
             // 某些安装方式需要取反角度以匹配机器人坐标系定义
-            if (calib.CameraMount == CameraMount.FixedDown || calib.CameraMount == CameraMount.MobileJ2 || calib.CameraMount == CameraMount.MobileJ4)
+            if (calib.CameraMount == CameraMount.FixedDown || calib.CameraMount == CameraMount.MobileJ2 || calib.CameraMount == CameraMount.MobileJ4|| calib.CameraMount == CameraMount.MobileDown_XYPlatform)
             {
                 angle *= -1;
             }

TeamAAS-VM/Services/RemoteCommandService.cs

@@ -1888,10 +1888,14 @@ namespace TeamAAS_VP.Services
                 //获取当前的产品SN
                 string productSN = _productService.CurrentProductCode;
                 //如果产品SN存在非法字符，则替换为下划线
-                foreach (char c in System.IO.Path.GetInvalidFileNameChars())
+                if (productSN != null)
                 {
-                    productSN = productSN.Replace(c, '_');
+                    foreach (char c in System.IO.Path.GetInvalidFileNameChars())
+                    {
+                        productSN = productSN.Replace(c, '_');
+                    }
                 }
+
                 //当前用户
                 string currentUser = _systemDatabaseService.GetCurrentUser()?.UserName;
 

TeamAAS-VM/Views/Home/ShowVisionRender.xaml.cs

@@ -520,8 +520,12 @@ namespace TeamAAS_VP.Views.Home
                                 formulaName = formulaName.Replace(c, '_');
 
                             string productSN = _productService.CurrentProductCode;
-                            foreach (char c in Path.GetInvalidFileNameChars())
-                                productSN = productSN.Replace(c, '_');
+                            if(productSN!=null)
+                            {
+                                foreach (char c in Path.GetInvalidFileNameChars())
+                                    productSN = productSN.Replace(c, '_');
+
+                            }
 
                             string resultStr = result ? "OK" : "NG";
                             Originalpath = $"{path}\\Original\\{now:yyyy-MM}\\{now:MM-dd}\\{formulaName}\\{productSN}\\{resultStr}\\{imgName}.bmp";