TSAVStatus.cs
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using PUSICANLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TSA_V.Common;
namespace TSA_V.DeviceLibrary
{
public enum WaitTypeEnum
{/// <summary>
/// 等待结果，1=节点目标位置，2=节点原点返回，，3=时间, 4=烙铁加温,5=等待XY轴运动结束，6=IO信号
/// </summary>
None = 0,
NodeMove_1 = 1,
NodeHome_2 = 2,
Time_3 = 3,
Temp_4 = 4,
XYMoveEnd_5 = 5,
IOSingle_6 = 6,
WaitCode_7=7,
}
public class WaitResultInfo
{
private WaitResultInfo()
{
IsEnd = false;
}
public static WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.IOSingle_6;
wait.IoType = ioType;
wait.IoValue = ioValue;
return wait;
}
public static WaitResultInfo WaitNode(NodeInfo node, int targetPosition)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.NodeMove_1;
wait.Node = node;
wait.IsHomeMove = false;
wait.TargetPosition = targetPosition;
return wait;
}
public static WaitResultInfo WaitNode(NodeInfo node, bool isHomeMove)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.NodeHome_2;
wait.Node = node;
wait.IsHomeMove = true;
return wait;
}
public static WaitResultInfo WaitTime(int MScends)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.Time_3;
wait.TimeMSeconds = MScends;
return wait;
}
public static WaitResultInfo WaitSoldering(int temp, int tempMin, int tempMax)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.Temp_4;
wait.Temperature = temp;
wait.TemperatureMax = tempMax;
wait.TemperatureMin = tempMin;
return wait;
}
public static WaitResultInfo WaitCodeOk()
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = WaitTypeEnum.WaitCode_7;
return wait;
}
public string ToStr()
{
if (WaitType.Equals(WaitTypeEnum.NodeMove_1))
{
return "[" + Node.NodeName + "]目标位置[" + TargetPosition + "]";
}
else if (WaitType.Equals(WaitTypeEnum.NodeHome_2))
{
return "[" + Node.NodeName + "]原点返回";
}
else if (WaitType.Equals(WaitTypeEnum.IOSingle_6))
{
ConfigIO io = IOManager.getWaitIO(IoType);
return "IO等待[" + io.DisplayStr + "]=[" + IoValue + "]";
}
else if (WaitType.Equals(WaitTypeEnum.Time_3))
{
return "时间[" + TimeMSeconds + "]毫秒";
}
else if (WaitType.Equals(WaitTypeEnum.XYMoveEnd_5))
{
return "XY轴目标 [" + AxisValue + "] ";
//return "XY轴目标[" + MoveAxis.PortName + "][" + AxisValue + "] ";
}
else if (WaitType.Equals(WaitTypeEnum.Temp_4))
{
return "烙铁温度[" + Temperature + "] ";
}
else if (WaitType.Equals(WaitTypeEnum.WaitCode_7))
{
return "输入条码 ";
}
else
{
return "Wait位置类型：WaitType=【" + WaitType + "】";
}
}
public bool IsEnd { get; set; }
//public DACBean MoveAxis { get; set; }
public double AxisValue { get; set; }
/// <summary>
/// 当未结束时可以重复运动的次数
/// </summary>
public int CanWhileMoveCount { get; set; }
/// <summary>
/// 等待结果，1=节点目标位置，2=节点原点返回，，3=时间, 4=烙铁加温,5=等待XY轴运动结束，6=IO信号
/// </summary>
public WaitTypeEnum WaitType { get; set; }
/// <summary>
/// 轴运动时表示轴信息
/// </summary>
public NodeInfo Node { get; set; }
/// <summary>
/// IO类型
/// </summary>
public String IoType { get; set; }
/// <summary>
/// IO值
/// </summary>
public IO_VALUE IoValue { get; set; }
/// <summary>
/// 等待的毫秒
/// </summary>
public int TimeMSeconds { get; set; }
/// <summary>
/// 是否是原点返回
/// </summary>
public bool IsHomeMove = false;
/// <summary>
/// 电机目标位置
/// </summary>
public int TargetPosition { get; set; }
/// <summary>
/// 电机目标速度
/// </summary>
public int TargetSpeed { get; set; }
/// <summary>
/// 等待的温度温度
/// </summary>
public int Temperature { get; set; }
/// <summary>
/// 温度下限
/// </summary>
public int TemperatureMin { get; set; }
/// <summary>
/// 温度上限
/// </summary>
public int TemperatureMax { get; set; }
public int WhileMoveCount = 0;
public static bool GetWaitResult(List<WaitResultInfo> waitList, TimeSpan span,bool oneOkCanEnd, out string waitMsg)
{
waitMsg = "";
if (!IOManager.ShuddenOK())
return false;
try
{
if (waitList.Count <= 0)
{
return true;
}
bool isOk = true;
if (oneOkCanEnd)
{
isOk = false;
}
foreach (WaitResultInfo wait in waitList)
{
if (wait.IsEnd)
{
continue;
}
waitMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitTypeEnum.NodeMove_1))
{
string msg = "";
wait.IsEnd = PUSICANControl.MoveIsEnd(wait.Node.NodeId, wait.TargetPosition,out msg,out bool canWhileMove);
waitMsg = waitMsg + msg;
if (span.TotalSeconds >= 5 && canWhileMove && wait.WhileMoveCount.Equals(0))
{
wait.WhileMoveCount++;
LogUtil.info(waitMsg + ". 自动重新运动一次"+wait.WhileMoveCount);
PUSICANControl.AbsMove(wait.Node.NodeId, wait.TargetPosition);
}
}
else if (wait.WaitType.Equals(WaitTypeEnum.NodeHome_2))
{
if (!TSAVBean.IsInSuddenDown)
wait.IsEnd = PUSICANControl.IsHomeEnd(wait.Node.NodeId);
}
else if (wait.WaitType.Equals(WaitTypeEnum.IOSingle_6))
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
}
else if (wait.WaitType.Equals(WaitTypeEnum.Time_3))
{
wait.IsEnd =( span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitTypeEnum.Temp_4))
{
// wait.IsEnd = SolderingManager.IsRightTemp(wait.Temperature, wait.TemperatureMin, wait.TemperatureMax);
}
else if (wait.WaitType.Equals(WaitTypeEnum.XYMoveEnd_5))
{
//wait.IsEnd = wait.MoveAxis.LastVoltage.Equals(wait.AxisValue);
wait.IsEnd = true;
}
else if (wait.WaitType.Equals(WaitTypeEnum.WaitCode_7))
{
return MesUtil.CodeISOk;
}
if (!wait.IsEnd)
{
if (oneOkCanEnd.Equals(false))
{
isOk = false;
break;
}
}else
{
if (oneOkCanEnd)
{
isOk = true;
break;
}
}
}
return isOk;
}
catch (Exception ex)
{
LogUtil.error("出错：" + ex.ToString());
return false;
}
}
}
public enum TSAVStatus
{
/// <summary>
/// 等待启动
/// </summary>
Wait=0,
/// <summary>
/// 重置中
/// </summary>
Reset=1,
/// <summary>
/// 运行中
/// </summary>
Runing=2,
}
/// <summary>
/// 重置的步骤
/// </summary>
public enum ResetStep
{
/// <summary>
/// 打开CAN协议
/// </summary>
OpenCan_0=0,
/// <summary>
/// 添加节点
/// </summary>
AddNode_1=1,
/// <summary>
/// 等待XY节点上线,并设置默认的参数
/// </summary>
XYNodeOnline_2 = 2,
/// <summary>
/// 等待XY轴回原点
/// </summary>
XYHomeMove_3=3,
/// <summary>
/// 等待所有旋转轴在线，并初始化默认参数
/// </summary>
RNodeOnline_4 = 4,
/// <summary>
/// 所有旋转轴回原点
/// </summary>
NodeGoHome_5=5,
/// <summary>
/// 所有转盘转到待机点
/// </summary>
NodeGoDefaultPosition_6=6,
}
}