X_RAY_Equip.cs
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using Asa;
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;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
public partial class X_RAY_Equip : EquipBase
{
public bool OpenXLine = false;
public ReelInfo In_ReelInfo = new ReelInfo();
public ReelInfo Work_ReelInfo = new ReelInfo();
public ReelInfo Out_ReelInfo = new ReelInfo();
public XRay_Config Config;
public XRay xRay = null;
public CountImage countImage = null;
public CarerayImage carerayImage = null;
public bool xRayCanStart = false;
public string LastXRayState = "未知";
public bool InXWork = false;
private string path_XRAY = Application.StartupPath + @"\XRAY\";
private string path1_tif = Application.StartupPath + @"\XRAY\tif";
private string path2_png = Application.StartupPath + @"\XRAY\png";
private string path3_out = Application.StartupPath + @"\XRAY\out";
public X_RAY_Equip(string cid, XRay_Config config)
{
this.DeviceID = config.Id;
this.Config = config;
baseConfig = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "点料模块 ");
Init();
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
MoveInfo = new RobotMoveInfo(Name);
SecMoveInfo = new RobotMoveInfo( Name.Trim() + "-SMove");
Task.Factory.StartNew(delegate {
XRayLoad();
});
}
private void XRayLoad()
{
try
{
countImage = new CountImage("XRay");
countImage.SetDirectory(path1_tif, path2_png, path3_out);
LogUtil.info(Name + "CountImage path1【" + path1_tif + "】");
LogUtil.info(Name + "CountImage path2【" + path2_png + "】");
LogUtil.info(Name + "CountImage path3【" + path3_out + "】");
LogUtil.info(Name + "CountImage SetDirectory: 完成");
carerayImage = new CarerayImage("XRay");
bool cResult = carerayImage.Open();
LogUtil.info(Name + "carerayImage.Open()=" + cResult);
xRay = new XRay("XRay");
xRay.WarmUp += XRay_WarmUp;
string lastData = ConfigAppSettings.GetValue(Setting_Init.XRay_Data);
bool xresult = xRay.Open(Config.XRay_Port, lastData);
if (!xresult)
{
LastXRayState = "第一次 xRay.Open(" + Config.XRay_Port + "," + lastData + ")=" + xresult + ", 再打开一次";
LogUtil.info(Name + "第一次 xRay.Open(" + Config.XRay_Port + "," + lastData + ")=" + xresult + ", 再打开一次 ");
xresult = xRay.Open(Config.XRay_Port, lastData);
}
LastXRayState = "xRay.Open(" + Config.XRay_Port + "," + lastData + ")=" + xresult;
LogUtil.info(Name + "xRay.Open(" + Config.XRay_Port + "," + lastData + ")=" + xresult);
}
catch (Exception ex)
{
LogUtil.error("XRayLoad 出错：" + ex.ToString());
}
}
public void XRayDispose()
{
try
{
if (xRay.IsRayOpen)
{
xRay.Stop();
}
xRay.Close();
carerayImage.Close();
}
catch (Exception ex)
{
LogUtil.error("XRayDispose 出错：" + ex.ToString());
}
}
private void XRay_WarmUp(bool state, string text)
{
LastXRayState = state + "：" + text;
LogUtil.info(Name + "XRay_WarmUp [" + state + "] [" + text + "]");
if (state)
{
xRay.SetVC(Config.XRay_Voltage, Config.XRay_Electricity);
LogUtil.info(Name + "收到state= [" + state + "]，设置电流 [" + Config.XRay_Electricity + "]电压[" + Config.XRay_Voltage + "]");
xRayCanStart = true;
}
}
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光互锁信号");
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);
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH))
{
WorkLog("XRay复位 ：左侧们打开，右侧门打开，挡停下降");
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else
{
WorkLog("XRay复位 ：左侧们打开，右侧门打开，挡停不动作");
}
}
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_ReelCheck).Equals(IO_VALUE.LOW))
{
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_Down, IO_Type.X_InDoor_Up);
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.XR05_DoorClose))
{
WorkLog(" XRay复位 ：完成！");
MoveInfo.EndMove();
runStatus = RobotRunStatus.Runing;
}
}
internal override void StopMove()
{
SecMoveInfo.EndMove();
MoveInfo.EndMove();
InXWork = false;
if (xRay.IsRayOpen)
{
xRay.Stop();
}
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_OLine_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();
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());
}
}
LockOnProcess();
}
private void LockOnProcess()
{
//不在复位，可以验证是否打开互锁信号
if (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.HIGH))
{
if (!LockOnCanMove())
{
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
if (xRay.IsRayOpen)
{
LogUtil.error("LockOnProcess 需要关闭 X_Lock_On，发现 xRay.IsRayOpen，调用 xRay.Close");
xRay.Close();
}
}
}
else
{
if ((!MoveInfo.MoveType.Equals(RobotMoveType.Reset)) && (!MoveInfo.MoveType.Equals(RobotMoveType.RHome)))
{
if (LockOnCanMove() && (!isInSuddenDown) && (!isNoAirCheck))
{
IOMove(IO_Type.X_Lock_On, IO_VALUE.HIGH);
}
}
}
}
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 += "X光图片：" + lastFileName + "\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;
}
}
}