InputEquip.cs
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using Asa;
using DeviceLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class InputEquip : EquipBase
{
public InputEquip_Config Config;
public AxisBean MiddleAxis = null;
public AxisBean UpdownAxis = null;
public AxisBean InOutAxis = null;
private AxisBean[] moveAxisArray;
public BatchMoveBean LeftBatchMove = null;
public BatchMoveBean RightBatchMove = null;
public bool AutoInput = ConfigAppSettings.GetIntValue(Setting_Init.AutoInput).Equals(1);
public int DefautTargetP = 0;
public InputEquip(string cid, InputEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "入料模块" + " ").ToUpper();
Init();
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
Config.SetAxisParam();
MiddleAxis = new AxisBean(RobotManager.Config.Take_Middle_Axis, Name);
UpdownAxis = new AxisBean(RobotManager.Config.Take_UpDown_Axis, Name);
InOutAxis = new AxisBean(RobotManager.Config.Take_InOut_Axis, Name);
AxisBean LeftBatchAxis = new AxisBean(RobotManager.Config.Left_Batch_Axis, Name);
AxisBean RightBatchAxis = new AxisBean(RobotManager.Config.Right_Batch_Axis, Name);
moveAxisArray = new AxisBean[] { MiddleAxis, UpdownAxis, InOutAxis };
MoveInfo = new RobotMoveInfo(Name);
SecMoveInfo = new RobotMoveInfo( "[" + Name.Trim() + "-SMove]");
LeftBatchMove = new BatchMoveBean(Config, LeftBatchAxis, 1);
RightBatchMove = new BatchMoveBean(config, RightBatchAxis, 2);
}
public override bool StartRun()
{
if (CanStartRun().Equals(false))
{
return false;
}
if (!OpenAllAxis())
{
CloseAllAxis();
return false;
}
SetAllTimer(false);
MoveInfo.EndMove();
SecMoveInfo.EndMove();
LogInfo("StartRun ： 开始启动 ");
runStatus = RobotRunStatus.HomeMoving;
MoveInfo.NewMove(RobotMoveType.RHome);
StartReset();
SetAllTimer(true);
return true;
}
public override bool Reset()
{
StopMove();
if (!OpenAllAxis())
{
CloseAllAxis();
return false;
}
LogInfo("Reset 开始重置 ");
runStatus = RobotRunStatus.Reset;
MoveInfo.NewMove(RobotMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
//复位时设置状态为none
AgvClient.SetStatus(Config.LeftAgvName);
AgvClient.SetStatus(Config.RightAgvName);
// TimerMaxSeconds = 10;
SetWarnMsg("");
alarmType = AlarmType.None;
isInSuddenDown = false;
isNoAirCheck = false;
MoveInfo.NextMoveStep(StepEnum.IR01_Wait);
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.IR01_Wait))
{
MoveInfo.NextMoveStep(StepEnum.IR02_InoutHome);
WorkLog("复位：进出轴回原点");
InOutAxis.HomeMove(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.IR02_InoutHome))
{
MoveInfo.NextMoveStep(StepEnum.IR03_InoutToP1);
WorkLog("复位：进出轴到待机点P1");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IR03_InoutToP1))
{
MoveInfo.NextMoveStep(StepEnum.IR04_UpdownAxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
WorkLog("复位：升降轴原点返回，左右批量轴开始回原点");
UpdownAxis.HomeMove(MoveInfo);
LeftBatchMove.Reset();
RightBatchMove.Reset();
}
else if (MoveInfo.IsStep(StepEnum.IR04_UpdownAxisHome))
{
MoveInfo.NextMoveStep(StepEnum.IR05_UpdownToP1);
WorkLog("复位：升降轴运动到待机点P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IR05_UpdownToP1))
{
MoveInfo.NextMoveStep(StepEnum.IR06_MiddleAxisHome);
WorkLog("复位：旋转轴开始回原点");
MiddleAxis.HomeMove(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.IR06_MiddleAxisHome))
{
MoveInfo.NextMoveStep(StepEnum.IR07_MiddleToP1);
WorkLog("复位：旋转轴到待机点P1");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P1, Config.MiddleAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IR07_MiddleToP1))
{
MoveInfo.NextMoveStep(StepEnum.IR08_Clamping_Relax);
WorkLog("复位：夹爪放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IR08_Clamping_Relax))
{
MoveInfo.NextMoveStep(StepEnum.IR09_WaitBatchMove);
WorkLog("复位：等待左右批量轴模块复位完成");
}
else if (MoveInfo.IsStep(StepEnum.IR09_WaitBatchMove))
{
if (LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.None) && RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.None))
{
WorkLog("复位完成");
runStatus = RobotRunStatus.Runing;
MoveInfo.EndMove();
}
else if (MoveInfo.IsTimeOut(180))
{
if (!LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.None))
{
WarnMsg =Name+ "等待" + LeftBatchMove.Name + "复位完成超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error( WarnMsg);
Alarm(AlarmType.IoSingleTimeOut);
}
else
{
WarnMsg = Name + "等待" + LeftBatchMove.Name + "复位完成超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error( WarnMsg);
Alarm(AlarmType.IoSingleTimeOut);
}
}
}
}
internal override void StopMove()
{
//StopMove时设置状态为none
AgvClient.SetStatus(Config.LeftAgvName);
AgvClient.SetStatus(Config.RightAgvName);
MoveInfo.EndMove();
SecMoveInfo.EndMove();
LeftBatchMove.StopMove();
RightBatchMove.StopMove();
UpdownAxis.SuddenStop();
MiddleAxis.SuddenStop();
InOutAxis.SuddenStop();
CloseAllAxis();
}
public override void StopRun()
{
SetAllTimer(false);
runStatus = RobotRunStatus.Wait;
StopMove();
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(RobotMoveType.None) && NoErrorAlarm())
{
//若左侧或右侧在等待扫码结束的状态，需要开始去取料
if (LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) && LeftBatchMove.MoveInfo.IsStep(StepEnum.IB10_ScanOK))
{
string code = LeftBatchMove.MoveInfo.MoveParam.WareCode;
StartWorking(new WorkParam(1, 0, code));
}
else if (RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) && RightBatchMove.MoveInfo.IsStep(StepEnum.IB10_ScanOK))
{
string code = RightBatchMove.MoveInfo.MoveParam.WareCode;
StartWorking(new WorkParam(2, 0, code));
}
}
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None) && NoErrorAlarm())
{
if (RobotManager.robot.runStatus <= RobotRunStatus.Wait)
{
// StartCheckFixture();
}
}
LeftBatchMove.TimerProcess();
RightBatchMove.TimerProcess();
if (NoErrorAlarm())
{
CheckAxisAlarm();
}
}
internal bool CanStartWork()
{
//是否可以开始新的料串入料
if (LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
StepEnum step = LeftBatchMove.MoveInfo.MoveStep;
if (step < StepEnum.IB21_BatchToP1)
{
return false;
}
}
else if (RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
StepEnum step = RightBatchMove.MoveInfo.MoveStep;
if (step < StepEnum.IB21_BatchToP1)
{
return false;
}
}
return true ;
}
private DateTime checkAlarmTime = DateTime.Now;
public void CheckAxisAlarm()
{
if (alarmType.Equals(AlarmType.AxisAlarm) || alarmType.Equals(AlarmType.AxisMoveError))
{
return;
}
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
if (MoveInfo.MoveType.Equals(RobotMoveType.None))
{
if (span.TotalSeconds < 3)
{
return;
}
}
else if (span.TotalSeconds < 1)
{
return;
}
checkAlarmTime = DateTime.Now;
foreach (AxisBean axisInfo in moveAxisArray)
{
if (AxisIsAlarm(axisInfo))
{
return;
}
}
if (AxisIsAlarm(LeftBatchMove.BatchAxis,false ))
{
LeftBatchMove.WarnMsg = WarnMsg;
LeftBatchMove.Alarm(AlarmType.AxisAlarm);
return;
}
if (AxisIsAlarm(RightBatchMove.BatchAxis,false ))
{
RightBatchMove.WarnMsg = WarnMsg;
RightBatchMove.Alarm(AlarmType.AxisAlarm);
return;
}
}
public bool OpenAllAxis(bool isCheck = true)
{
if (RunMultiAxis(isCheck, IO_Type.TakeAxis_ON, IO_Type.Take_Axis_Break, moveAxisArray))
{
if (RunAxis(isCheck, LeftBatchMove.BatchAxis) && RunAxis(isCheck, RightBatchMove.BatchAxis))
{
return true;
}
}
return false;
}
public void CloseAllAxis()
{
IOMove(IO_Type.Take_Axis_Break, IO_VALUE.LOW);
IOMove(IO_Type.LeftBatchAxis_Break, IO_VALUE.LOW);
IOMove(IO_Type.RightBatchAxis_Break, IO_VALUE.LOW);
CloseMultiAxis(IO_Type.TakeAxis_ON, IO_Type.Take_Axis_Break, moveAxisArray);
CloseAxis(LeftBatchMove.BatchAxis);
CloseAxis(RightBatchMove.BatchAxis);
}
public override string GetMoveStr()
{
string msg = "";
int tLength = 15;
msg += "左侧料串：" + LeftBatchMove.CurrShelfId + " 右侧料串："+RightBatchMove.CurrShelfId+" \r\n";
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + " " + LeftBatchMove.alarmType +" " + RightBatchMove.alarmType +"\n";
msg += "Move：" + MoveInfo.MoveType + " "+MoveInfo.MoveStep + "\n";
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
msg += "料盘信息：" + MoveInfo.MoveParam.ToStr() + "\n";
}
else
{
msg+= "\n";
}
msg += "左侧上料 ：" + LeftBatchMove.GetMoveStr()+"\n";
msg += "右侧上料：" + RightBatchMove.GetMoveStr() + "\n";
return msg;
}
}
}