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.Diagnostics;
using System.IO;
using System.Linq;
using System.Net.NetworkInformation;
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 = true;
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 XrayImage xrayImage = null;
public bool xRayCanStart = false;
public string LastXRayState = "未知";
public bool InXWork = false;
public int ThresholdValue = ConfigAppSettings.GetIntValue(Setting_Init.ThresholdValue);
private int ResultMinCount = -1;
private string path_XRAY = Application.StartupPath + @"\XRAY\";
private string path_XRAY_NGBck = Application.StartupPath + @"\XRAY\NGBck";
private string path1_tif = Application.StartupPath + @"\XRAY\tif";
private string path2_out = Application.StartupPath + @"\XRAY\out\";
//private string path3_area = Application.StartupPath + @"\XRAY\area.txt";
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");
XrayImage.setProcessLevel(4);
Task.Factory.StartNew(delegate
{
XRayLoad();
});
}
/// <summary>
/// 图像平板报错
/// </summary>
public bool carerayImageError = false;
private bool XRayLoad()
{
try
{
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);
if (!Directory.Exists(path1_tif))
{
Directory.CreateDirectory(path1_tif);
}
if (!Directory.Exists(path2_out))
{
Directory.CreateDirectory(path2_out);
}
ResultMinCount = ConfigAppSettings.GetIntValue(Setting_Init.ResultMinCount);
if (ResultMinCount == -1)
{
ResultMinCount = 100;
}
return true;
}
catch (Exception ex)
{
LogUtil.error("XRayLoad 出错：" + ex.ToString());
}
return true;
}
public bool ISXPlateReady = false;
public bool XPlateUP()
{
IOMove(IO_Type.X_Xplate_Power, IO_VALUE.HIGH);
LogUtil.info(Name + " 开始启动x光平板");
var p = Process.GetProcessesByName("server");
if (p.Length > 0)
{
LogUtil.info(Name + " kill server");
p.ToList().ForEach((a) => { a.Kill(); });
}
Thread.Sleep(1 * 1000);
Ping ping = new Ping();
var firstping = false;
var secondping = false;
var lastping = false;
int timecount = 0;
while (true)
{
var rr = ping.Send("192.168.68.1", 5);
if (rr.Status == IPStatus.Success)
{
if (!lastping && !firstping)
{
LogUtil.info(Name + " x光平板,第一次ping通");
firstping = true;
Thread.Sleep(1000 * 15);
}
if (!lastping && firstping && !secondping)
{
LogUtil.info(Name + " x光平板,第二次ping通");
secondping = true;
Thread.Sleep(1000 * 10);
break;
}
lastping = true;
}
else
{
LogUtil.info(Name + " x光平板,未ping通");
lastping = false;
}
Thread.Sleep(500);
timecount++;
if (timecount > 120 * 100 / 500)
{
LogUtil.info(Name + " x光平板,启动超时");
return false;
}
}
if (xrayImage != null)
{
try
{
xrayImage.Close();
}
catch { }
}
xrayImage = new XrayImage("XRay", XrayImage.DeviceType.CARREY);
//xrayImage = new CarerayImage("XRay");
bool cResult = xrayImage.Open();
LogUtil.info(Name + "carerayImage.Open()=" + cResult);
carerayImageError = !cResult;
if (carerayImageError)
XPlateReStart();
this.MoveStop = false;
ISXPlateReady = true;
return true;
}
public void XPlateReStart()
{
ISXPlateReady = false;
IOMove(IO_Type.X_Xplate_Power, IO_VALUE.LOW);
Thread.Sleep(1000*10);
XPlateUP();
}
public void XRayDispose()
{
try
{
if (xRay!=null && xRay.IsRayOpen)
{
xRay.Stop();
}
if (xRay != null)
xRay.Close();
xrayImage.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;
}
}
#region 启动，复位，停止
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("");
carerayImageError = false;
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6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(6000));
}
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))
{
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
WorkLog(" XRay复位 ：完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
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);
}
public override void StopRun()
{
SetAllTimer(false);
StopMove();
runStatus = RobotRunStatus.Wait;
}
#endregion
#region 定时器
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();
}
#endregion
#region 互锁信号处理
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 (MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep >= StepEnum.XW16_EndCount)
{
}
else
{
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;
}
#endregion
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;
}
}
}