RobotBean.cs
11.7 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
using log4net;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
public partial class RobotBean : RobotBase
{
public bool IsDebug = false;
public InputEquip inputEquip;
public X_RAY_Equip XrayBean;
public OutputEquip outputEquip;
public Dictionary<int, EquipBase> equipsMap = new Dictionary<int, EquipBase>();
public Robot_Config Config = null;
#region 初始化
private bool canStart = false;
public RobotBean(Robot_Config lineConfig, InputEquip_Config fconfig, XRay_Config xconfig, OutputEquip_Config pconfig)
{
equipsMap = new Dictionary<int, EquipBase>();
if (lineConfig.IOSingle_TimerOut <= 0)
{
lineConfig.IOSingle_TimerOut = 5000;
}
Init();
baseConfig = lineConfig;
this.Config = lineConfig;
this.DeviceID = lineConfig.Id;
Name = (" 自动点料机_" + " ").ToUpper();
MoveInfo = new RobotMoveInfo(Name);
IsDebug = Config.IsDebug.Equals(1);
List<string> ioList = new List<string>();
ioList = new List<string>(DeviceConfig.ProIOIpMap.Values);
inputEquip = new InputEquip("1", fconfig);
XrayBean = new X_RAY_Equip("2", xconfig);
outputEquip = new OutputEquip("3", pconfig);
equipsMap.Add(1, inputEquip);
equipsMap.Add(2, XrayBean);
equipsMap.Add(3, outputEquip);
IOManager.Init();
CodeManager.LoadConfig();
AgvClient.NodeList.Add(outputEquip.Config.AgvInName);
AgvClient.NodeList.Add(outputEquip.Config.AgvOutName);
AgvClient.NodeList.Add(inputEquip.Config.RightAgvName);
AgvClient.NodeList.Add(inputEquip.Config.LeftAgvName);
Task.Factory.StartNew(delegate
{
LogUtil.info(Name + "开始连接IO模块 ");
IOManager.instance.ConnectionIOList(ioList);
mainTimer.Enabled = true;
canStart = true;
AgvClient.Init();
});
}
#endregion
public string CanStart()
{
if (!canStart)
{
return "启动失败：设备未初始化完成";
}
return "";
}
public override bool StartRun()
{
string result = CanStart();
if (String.IsNullOrEmpty(result).Equals(false))
{
SetWarnMsg(result);
return false;
}
else if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg("启动失败：急停未开");
return false;
}
else
{
mainTimer.Enabled = false;
//lineStatus = LineStatus.ResetMove;
runStatus = RobotRunStatus.HomeMoving;
StartTime = DateTime.Now;
LogUtil.info(Name + "开始启动，启动时间：" + StartTime.ToString() + "");
Thread.Sleep(5);
mainTimer.Interval = 1000;
maxSeconds = 10;
alarmType = AlarmType.None;
mainTimer.Enabled = false;
isInSuddenDown = false;
isNoAirCheck = false;
SetWarnMsg("");
MoveInfo.NewMove(RobotMoveType.Reset);
MoveInfo.NextMoveStep(StepEnum.Wait);
foreach (EquipBase moveEquip in this.equipsMap.Values)
{
if (runStatus.Equals(RobotRunStatus.Wait))
{
LogUtil.error(Name + "启动过程中发现 runStatus=Wait，中断启动");
return false;
}
EquipStartRun(moveEquip);
}
if (runStatus.Equals(RobotRunStatus.Wait))
{ return false; }
RFIDManager.Open(new string[] { });
mainTimer.Enabled = true;
return true;
}
}
private void EquipStartRun(EquipBase moveEquip)
{
if (moveEquip.IsDebug)
{
LogUtil.info(moveEquip.Name + "调试状态，暂不启动");
}
else
{
bool result = moveEquip.StartRun();
Thread.Sleep(60);
}
}
public override bool Reset()
{
mainTimer.Enabled = false;
bool isNeedAllReset = false;
if (isInSuddenDown || isNoAirCheck)
{
//TrayManager.LineNeedEmptyTrayNum = 0;
isNeedAllReset = true;
LogUtil.error(Name + "收到复位信号，急停中或没有气压报警中，强制所有设备复位~");
}
else if ((runStatus == RobotRunStatus.HomeMoving || runStatus == RobotRunStatus.Reset) && NoAlarm())
{
LogUtil.error(Name + "收到复位信号，已经在复位或原点返回中，且当前无报警，不处理复位");
return false;
}
//停止运动
MoveInfo.EndMove();
runStatus = RobotRunStatus.Reset;
//重置通用处理
mainTimer.Interval = 1000;
maxSeconds = 10;
alarmType = AlarmType.None;
mainTimer.Enabled = false;
isInSuddenDown = false;
isNoAirCheck = false;
SetWarnMsg("");
MoveInfo.NewMove(RobotMoveType.Reset);
MoveInfo.NextMoveStep(StepEnum.Wait);
foreach (EquipBase equip in equipsMap.Values)
{
if (runStatus.Equals(RobotRunStatus.Wait))
{
LogUtil.error(Name + "复位过程中发现 runStatus=Wait，中断启动");
return false;
}
EquipReset(equip, isNeedAllReset);
}
if (runStatus.Equals(RobotRunStatus.Wait))
{
return false;
}
mainTimer.Enabled = true;
return true;
}
private void EquipReset(EquipBase equip, bool isNeedAllReset)
{
//调试状态不再重置
if (!equip.IsDebug)
{
if (isNeedAllReset || (!NoAlarm()))
{
LogUtil.info(Name + "收到复位信号，" + equip.Name + " 需要复位");
equip.Reset();
Thread.Sleep(60);
}
else
{
LogUtil.info(Name + "收到复位信号，" + equip.Name + " 正常无报警，不需要复位");
}
}
}
internal override void StopMove()
{
MoveInfo.EndMove();
foreach (EquipBase equip in this.equipsMap.Values)
{
if (!equip.IsDebug)
{
equip.StopRun();
}
}
}
public override void StopRun()
{
mainTimer.Enabled = false;
StopMove();
AgvClient.SetCancelState(true);
RFIDManager.Close();
runStatus = RobotRunStatus.Wait;
TimeSpan span = DateTime.Now - StartTime;
LogUtil.info(Name + ",停止运行，总运行时间：" + span.ToString());
}
private bool busyPro = false;
private DateTime busyProTime = DateTime.Now;
private int maxSeconds = 3;
protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
TimeSpan span = DateTime.Now - busyProTime;
if (busyPro && span.TotalSeconds < maxSeconds)
{
return;
}
try
{
busyPro = true;
busyProTime = DateTime.Now;
switch (runStatus)
{
case RobotRunStatus.HomeMoving:
ResetProcess();
break;
case RobotRunStatus.Reset:
ResetProcess();
break;
case RobotRunStatus.Runing:
if ((isInSuddenDown.Equals(false) && isNoAirCheck.Equals(false)))
{
//清理超时异常
IOTimeOutProcess();
}
break;
default: break;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "LineTimerPro 出错：", ex);
}
busyPro = false;
}
catch (Exception ex)
{
LogUtil.error(Name + "主定时器出错：" + ex.ToString());
}
Thread.Sleep(1);
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
bool isOk = true;
string msg = "";
//判断是否所有的已经返回完成
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
foreach (EquipBase moveEquip in this.equipsMap.Values)
{
if (moveEquip.runStatus.Equals(RobotRunStatus.HomeMoving) || moveEquip.runStatus.Equals(RobotRunStatus.Reset) || moveEquip.runStatus.Equals(RobotRunStatus.Wait))
{
if (moveEquip.NoAlarm())
{
msg = moveEquip.Name + "复位结束";
isOk = false;
break;
}
else
{
//LogUtil.error(Name + " " + moveEquip.Name + "在复位过程中报警，需要重新复位，调用 moveEquip.Reset();");
//moveEquip.Reset();
////如果小于80秒，继续等待
//if (span.TotalSeconds < 80)
//{
// isOk = false;
// break;
//}
}
}
}
if (isOk)
{
runStatus = RobotRunStatus.Runing;
MoveInfo.EndMove();
mainTimer.Interval = 300;
maxSeconds = 3;
AgvClient.SetCancelState(AgvClient.CurrCancelState);
LogUtil.info(Name + "复位完成 [" + FormUtil.GetSpanStr(span) + "]");
}
else if (span.TotalSeconds > 120)
{
WarnMsg = Name + "[" + MoveInfo.MoveStep + "][" + msg + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 903);
Alarm(AlarmType.IoSingleTimeOut);
}
}
}
}
}