X_RAY_Equip_Partial.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
partial class X_RAY_Equip
{
public delegate void GetImage(Bitmap bitmap);
public event GetImage GetImageEvent;
#region Label
public override bool StartLabelling(WorkParam param)
{
return false;
}
protected override void LabellingProcess()
{
}
private bool CountIsOk()
{
return false;
}
#endregion
#region 工作
public override bool StartWorking(WorkParam param)
{
if (!MoveInfo.MoveType.Equals(RobotMoveType.None))
{
return false ;
}
//出口有料
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
if (Work_ReelInfo.WareCount <= 0)
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("扫描区有料["+Work_ReelInfo.ToStr()+"]，还未进行点料，开始处理");
//IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
WorkLog("扫描区有料[" + Work_ReelInfo.ToStr() + "]，点料已完成，准备放出料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
}else if (IOValue(IO_Type.X_InLine_Check).Equals(IO_VALUE.HIGH))
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW01_WaitInReel);
WorkLog("入口皮带线有料[" + In_ReelInfo.ToStr() + "]，开始处理");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Check,IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.LOW));
}
return false;
}
protected override void WorkingProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel))
{
MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen);
WorkLog("料盘处理：左侧门打开,挡停下降");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{
// MoveInfo.NextMoveStep(StepEnum.XW03_StopCylinderDown);
// WorkLog("料盘处理：挡停下降");
// CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
//}
//else if (MoveInfo.IsStep(StepEnum.XW03_StopCylinderDown))
//{
MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun);
WorkLog("料盘处理：入口和中间皮带线转动，");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW04_InLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW05_WaitMCheck);
WorkLog("料盘处理：等待扫描区域信号检测");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW05_WaitMCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
Work_ReelInfo = In_ReelInfo.GetReelInfo();
In_ReelInfo = new ReelInfo();
WorkLog("料盘处理：更新Work_ReelInfo【" + Work_ReelInfo.ToStr() + "】，清空 In_ReelInfo，再转动2秒钟");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW06_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW07_InLineStop);
WorkLog("料盘处理：停止入口皮带线，中间皮带线");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW07_InLineStop))
{
MoveInfo.NextMoveStep(StepEnum.XW08_DoorClose);
WorkLog("料盘处理：左侧门关闭，右侧门关闭，准备开始点料");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Down, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Up, IO_VALUE.HIGH));
}
#region 点料处理
else if (MoveInfo.IsStep(StepEnum.XW08_DoorClose))
{
if (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StepEnum.XW11_StartCount);
WorkLog("料盘处理：开始点料，等待X射线可以启动");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
InXWork = true;
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name +"["+MoveInfo.MoveStep+"]"+ "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.XW11_StartCount))
{
if (xRayCanStart)
{
MoveInfo.NextMoveStep(StepEnum.XW12_XRayStart);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
bool result = xRay.Start();
WorkLog("料盘处理：启动X射线["+result+"]，等待1秒");
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 可以打开X射线 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.XW12_XRayStart))
{
MoveInfo.NextMoveStep(StepEnum.XW13_GetXRayImage);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000));
WorkLog("料盘处理：开始获取X射线图形 ");
string lastData = DateTime.Now.ToString("yyyy-MM-dd");
ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData);
carerayImage.GetImage();
carerayImage.WindowWidth = Config.WindowWidth;
carerayImage.WindowLevel = Config.WindowLevel;
Bitmap bmp = carerayImage.Get48bImage();
string fileP = Application.StartupPath + @"\XRAY\tif\" + DateTime.Now.ToString("HHmmss") + ".png";
bmp.Save(fileP, System.Drawing.Imaging.ImageFormat.Png);
WorkLog("料盘处理：获取X射线图形，并保存到： " + fileP + "，记录时间"+ lastData + "，停止X射线");
GetImageEvent?.Invoke(bmp);
bool result = xRay.Stop();
if (!result)
{
LogUtil.error(" xRay.Stop()失败：" + result);
}
MoveInfo.EndMove();
}
else if (MoveInfo.IsStep(StepEnum.XW13_GetXRayImage))
{
// MoveInfo.NextMoveStep(StepEnum.XW14_XRayStop);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// WorkLog("料盘处理：停止X射线");
// xRay.Stop();
//}
//else if (MoveInfo.IsStep(StepEnum.XW14_XRayStop))
//{
MoveInfo.NextMoveStep(StepEnum.XW15_GetResult);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (xRay.IsRayOpen)
{
xRay.Stop();
}
int count = 99999;
countImage.GetCount(out count);
InXWork = false;
WorkLog("料盘处理：获取点料结果，【" + count + "】,保存并上传结果");
if (Work_ReelInfo.WareCount <= 0)
{
MoveInfo.MoveParam.WareCount = count;
Work_ReelInfo.WareCount = count;
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
Task.Factory.StartNew(delegate
{
string msg = "暂不上传";
// string msg= SServerManager.Return_Material(Name, MoveInfo.MoveParam.WareCode, Work_ReelInfo.WareCount);
if (!String.IsNullOrEmpty(msg))
{
LogUtil.error(Name + "上传【" + MoveInfo.MoveParam.OutStr() + "】点料结果失败：" + msg);
}
});
}
else if (MoveInfo.IsStep(StepEnum.XW15_GetResult))
{
MoveInfo.NextMoveStep(StepEnum.XW16_EndCount);
WorkLog("料盘处理：点料结束，关闭X关机互锁信号");
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
}
#endregion
else if (MoveInfo.IsStep(StepEnum.XW16_EndCount))
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
MoveInfo.TimeOutSeconds = 120;
WorkLog("料盘处理：等待出口无料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StepEnum.XW21_WaitOutNoReel))
{
MoveInfo.NextMoveStep(StepEnum.XW22_OutDoorOpen);
WorkLog("料盘处理：右侧门打开，挡停放行");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up);
}
else if (MoveInfo.IsStep(StepEnum.XW22_OutDoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XW23_OutLineRun);
WorkLog("料盘处理：中间皮带线，出口皮带线转动");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW23_OutLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW24_WaitOutCheck);
WorkLog("料盘处理：等待出口皮带线检测到料盘");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW24_WaitOutCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW25_WaitTime);
Out_ReelInfo = Work_ReelInfo.GetReelInfo();
Work_ReelInfo = new ReelInfo();
WorkLog("料盘处理：清空 Work_ReelInfo，更新Out_ReelInfo【" + Out_ReelInfo.ToStr() + "】 再转动3秒");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW25_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW26_OutLineStop);
WorkLog("料盘处理：中间皮带线，出口皮带线停止");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW26_OutLineStop))
{
MoveInfo.NextMoveStep(StepEnum.XW27_OutDoorClose);
WorkLog("料盘处理：出口门关闭，挡停下降");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW27_OutDoorClose))
{
MoveInfo.EndMove();
WorkLog("料盘处理：料盘处理结束");
// MoveInfo.NextMoveStep(StepEnum.XW28_EndPro);
}
else if (MoveInfo.IsStep(StepEnum.XW28_EndPro))
{
MoveInfo.EndMove();
}
}
private bool IsInStoreNeed()
{
return false;
}
#endregion
}
}