AxisBean.cs
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using DeviceLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AxisBean
{
public ConfigMoveAxis Config = null;
public static int TimeoutInterval = 500;
public int LastPosition = 0;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
{
this.Config = axisConfig;
AxisName = "[" + Config.Explain + "_" + Config.DeviceName + "_" + Config.GetAxisValue() + "]";
}
private bool IsIntSlvBlock = false;
public bool Open(bool isCheck, out string Msg)
{
Msg = "";
string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue();
//打开所有轴
int bot = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
ACServerManager.OpenPort(Config.DeviceName, bot);
Thread.Sleep(50);
//初始化
if (!IsIntSlvBlock)
{
ACServerManager.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed);
Thread.Sleep(100);
}
ACServerManager.AlarmClear(portName, slvAddr);
Thread.Sleep(100);
ACServerManager.ServoOn(portName, slvAddr);
//打开所有轴
if (isCheck)
{
Thread.Sleep(1000);
if (!AxisIsOpen(out Msg))
{
return false;
}
}
IsIntSlvBlock = true;
return true;
}
public bool AxisIsOpen(out string msg)
{
msg = "";
//判断轴是否正常
string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue();
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(AxisName + "成功打开");
}
else
{
//清理报警，再重新打开一次
LogUtil.info(AxisName + "打开失败，清理报警，重新打开");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(300);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(AxisName + "重新打开成功");
}
else
{
ACServerManager.ServoOff(portName, slvAddr);
msg = AxisName+ "打开失败 ";
LogUtil.info(AxisName + msg);
return false;
}
}
return true;
}
public void ServoOff()
{
LogUtil.info("ServoOff【" + AxisName + "】");
ACServerManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
}
public void HomeMove(RobotMoveInfo MoveInfo)
{
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
ACServerManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed);
}
public void AbsMove(RobotMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
if (MoveInfo == null)
{
AbsMove(targetPosition, targetSpeed);
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed);
}
}
public static bool ACAxisMoveIsEnd(RobotMoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (isOk)
{
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = " " + MoveInfo.MoveStep + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警";
LogUtil.error(msg, MoveInfo.ErrorLogType);
}
}
return false;
}
public static bool HomeMoveIsEnd(RobotMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{
msg = "";
if (ACServerManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, true);
MoveInfo.CanWhileCount--;
}
else
{
msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
public int GetAclPosition()
{
int p = ACServerManager.GetActualtPosition(Config.DeviceName, Config.GetAxisValue());
return p;
}
public bool IsInPosition(int targetP)
{
int currp = GetAclPosition();
int chaz = targetP - currp;
if (Math.Abs(chaz) < Config.CanErrorCountMax)
{
return true;
}
return false;
}
private void AbsMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
return;
}
LastPosition = -1;
if (targetSpeed > Config.TargetSpeed || targetSpeed <= 0)
{
targetSpeed = Config.TargetSpeed;
}
//小于1，表示是目标速度的百分比
else if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed);
}
public void SuddenStop(bool needCheck = false )
{
if (needCheck)
{
if(ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()).Equals(0))
{
return;
}
}
ACServerManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
}
#region 匀速上升处理
private System.Timers.Timer axisCheckTimer = null;
internal string TargetIoType = "";
internal IO_VALUE TargetIoValue = IO_VALUE.HIGH;
public bool BatchAxisStartCheck(string targetIo , IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = "";
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
IsInProcess = false;
axisCheckTimer.Start();
return true;
}
public bool AxisStopCheckMove()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private DateTime lastOkTime = DateTime.Now;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimeSpan pan = DateTime.Now - lastOkTime;
if (IsInProcess && pan.TotalMilliseconds < 100) { return; }
try
{
IsInProcess = true;
lastOkTime = DateTime.Now;
if (IOManager.IOValue(TargetIoType, 0).Equals(TargetIoValue))
{
AxisStopCheckMove();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动,AclPosition=" + GetAclPosition().ToString());
SuddenStop();
}
}
catch (Exception ex)
{
LogUtil.error("CheckTimer_Elapsed出错：", ex);
}
finally
{
IsInProcess = false;
}
}
#endregion
}
}