X_RAY_Equip.cs
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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 X_RAY_Equip : EquipBase
{
public ReelInfo In_ReelInfo = new ReelInfo();
public ReelInfo Work_ReelInfo = new ReelInfo();
public ReelInfo Out_ReelInfo = new ReelInfo();
public XRay_Config Config;
public X_RAY_Equip(string cid, XRay_Config config)
{
this.DeviceID = config.Id;
this.Config = config;
baseConfig = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "XRay" + " ").ToUpper();
Init();
MoveInfo = new RobotMoveInfo(Name);
SecMoveInfo = new RobotMoveInfo( Name.Trim() + "-SMove");
}
public override bool StartRun()
{
if (CanStartRun().Equals(false))
{
return false;
}
SetAllTimer(false );
MoveInfo.EndMove();
SecMoveInfo.EndMove();
runStatus = RobotRunStatus.HomeMoving;
MoveInfo.NewMove(RobotMoveType.RHome);
LogInfo("开始 原点返回： ");
StartReset();
SetAllTimer(true);
return true;
}
public override bool Reset()
{
StopMove();
runStatus = RobotRunStatus.Reset;
MoveInfo.NewMove(RobotMoveType.Reset);
LogInfo("开始重置： ");
StartReset();
return true;
}
private void StartReset()
{
TimerMaxSeconds = 10;
SetWarnMsg("");
alarmType = AlarmType.None;
isInSuddenDown = false;
isNoAirCheck = false;
isInPro = false;
MoveInfo.NextMoveStep(StepEnum.XR01_CloseXLock);
WorkLog( "XRay复位 ：关闭X光机");
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.XR01_CloseXLock))
{
MoveInfo.NextMoveStep(StepEnum.XR02_DoorOpen);
WorkLog("XRay复位 ：左侧们打开，右侧门打开，挡停不动作");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
}
else if (MoveInfo.IsStep(StepEnum.XR02_DoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XR03_LineRun);
WorkLog(" XRay复位: 皮带转动3秒");
if (IOValue(IO_Type.X_InLine_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
}
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.IsStep(StepEnum.XR03_LineRun))
{
MoveInfo.NextMoveStep(StepEnum.XR04_LineStop);
WorkLog(" XRay复位: 皮带停止转动");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XR04_LineStop))
{
MoveInfo.NextMoveStep(StepEnum.XR05_DoorClose);
WorkLog(" XRay复位: 左右门关闭，挡停下降 ");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XR05_DoorClose))
{
WorkLog(" XRay复位 ：完成！");
MoveInfo.EndMove();
runStatus = RobotRunStatus.Runing;
}
}
internal override void StopMove()
{
SecMoveInfo.EndMove();
MoveInfo.EndMove();
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
IOMove(IO_Type.X_InLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_InDoor_Up, IO_VALUE.LOW);
IOMove(IO_Type.X_InDoor_Down, IO_VALUE.LOW);
IOMove(IO_Type.X_OutDoor_Up, IO_VALUE.LOW);
IOMove(IO_Type.X_OutDoor_Down, IO_VALUE.LOW);
IOMove(IO_Type.X_StopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.X_StopCylinder_Down, IO_VALUE.LOW);
}
public override void StopRun()
{
SetAllTimer(false);
StopMove();
runStatus = RobotRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
}
if(NoAlarm()&& MoveInfo.MoveType.Equals(RobotMoveType.None))
{
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH)||IOValue(IO_Type.X_InLine_Check ).Equals(IO_VALUE.HIGH))
{
StartWorking(new WorkParam());
}
}
}
public bool LockOnCanMove()
{
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.X_DoorLimit_Down).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.X_DoorLimit_Up).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.X_InDoor_Up).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.X_OutDoor_Up).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.X_InDoor_Down).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.X_OutDoor_Down).Equals(IO_VALUE.LOW)
)
{
return true;
}
return false;
}
public override string GetMoveStr()
{
string msg = "";
int tLength = 15;
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + "\n";
msg += "Move：" + MoveInfo.MoveType + " " + MoveInfo.MoveStep + "\n";
msg += "入口料盘：" + In_ReelInfo.ToStr() + " \r\n";
msg += "扫描区料盘：" + Work_ReelInfo.ToStr() + " \r\n";
msg += "出口料盘：" + Out_ReelInfo.ToStr() + " \r\n";
return msg;
}
}
}