irPickTool: reject part that passed vision

I'm trying to figure out how to do something with irPickTool (which I admit I'm not terribly familiar with). This is a conveyor-tracking pick, with an irVision job triggering every Xmm of conveyor motion (no part sensor).

The parts sometimes come in oversized, and are rejected by the irVision job. But now, the customer would like to get the actual measurements of the parts, passed or rejected, sent to the cell PLC over GOs. I'm trying to figure out if this is even feasible.

To start with, I can't get any measurement data if the Blob Finder tool rejects a part for being oversized. My current thought is that I can open up the Blob parameters, and add some Measurement Output tools. But this still means that irPickTool will "see" a valid part from irVision and start calling the Pick program chain.

So, how can I "hijack" PickTool's call chain without breaking everything? I can add an IF statement to check VR[1].MEAS[1] in the Pick program, but if I just skip the pick moves, that'll leave the part in the PickTool queue, as I understand it, so I'd have to add something to dequeue that part. But all the buffering takes place in the black-box KAREL programs, so I'm sort of wandering around blindly here.

I suppose a really "hacky" solution would be to let the robot carry out the Pick program, and just use an IF-THEN to block the gripper if the part measurement is too large. That would let irPickTool recover naturally, but it really feels like a last-resort option.

Quote from gpunkt

CALL PKCSACKQUE (CStn ID=R[11:CSTN1 ID],Remove)

(But without the picking-sequence)

Ah! So, IF Pass THEN Pickxx, ELSE PKCSACKQUE(Remove)?

Now, where to do it? It has to be after the part has been "seen" by irVision and the Pick sequence has been started. Looks like I could do it in PK_CV_PICK11 -- there's an empty section with a "check reject" label in between PKCSCALWPOS and PKCSCHKPOS:

34:  CALL PKCSCALWPOS("CStn ID"=R[110:Pk1x StnId],"Ref Pos PR"=57,"Offset VR"=1,"GetQ stat"=R[123:Pk1x GetQ stat],"Do WaitMove Reg"=95,"Wait Pos PR"=55,"NoMove Distance"=150) ;
  35:   ;
  36:   ;
  37:  R[8]=R[95:TemporaryUse1]    ;
  38:   ;
  39:  --eg:Move to wait position ;
  40:  IF (R[95:TemporaryUse1]=0),CALL PK_CV_WAITPOS1("UTOOL Num"=R[107:Counter G1],"Appr Ofst PR"=56,"WaitPos PR"=55,"PkReachable Reg"=115) ;
  41:   ;
  42:  LBL[40:ChkGetQStat] ;
  43:  IF ((R[199:Buf Id G1]>0) AND (R[123:Pk1x GetQ stat]>0)),JMP LBL[10000] ;
  44:  IF R[123:Pk1x GetQ stat]<>0,JMP LBL[10] ;
  45:   ;
  46:   ;
  47:  LBL[50] ;
  48:   ;
  49:  LBL[60] ;
  50:  //--eg: Smart Pick ;
  51:   ;
  52:   ;
  53:  LBL[70] ;
  54:  //--eg: Check if a reject part ;
  55:   ;
  56:   ;
  57:  LBL[80] ;
  58:   ;
  59:  --eg: Set Utool ;
  60:  UTOOL_NUM=R[107:Counter G1] ;
  61:  IF R[115:Pk1x UsePosChk]=0,JMP LBL[85] ;
  62:  --eg:Check if tracking position is reachable ;
  63:  CALL PKCSCHKPOS("CStn ID"=R[110:Pk1x StnId],"Offset VR"=1,"Ref Pos PR"=57,"Appr Ofst PR"=56,"Tool Offset"=1,"Stat Reg"=108) ;
  64:  IF R[108:PosNotReach G1]<>0,JMP LBL[1000] ;