BoxBean_Partial.cs
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using Asa;
using DeviceLib;
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;
namespace OnlineStore.DeviceLibrary
{
partial class BoxBean
{
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
#region 出入库结果验证
private void CheckWait()
{
List<WaitResultInfo> list = MoveInfo.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
MoveInfo.EndStepWait();
return;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(MoveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(MoveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(AlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, MoveInfo.MoveType);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn) ||
MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
timeOutMs = 30000;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
timeOutMs = 40000;
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs && NoAlarm())
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
Alarm(AlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error(Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", logType + 14);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待" + NotOkMsg
+ "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
int second = 10;
second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
Alarm(AlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
private bool AcInPosition(ConfigMoveAxis axis,int p)
{
return ACServerManager.isInPosition(axis.DeviceName, axis.GetAxisValue(), p, axis.CanErrorCountMax);
}
private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
if (AcInPosition(Config.InOut_Axis, InOut_P1))
{
LogUtil.debug(Name + "进出轴当前已经在P1，不需要再回P1");
}
else
{
InoutAxis.AbsMove(MoveInfo, InOut_P1, Config.InOutAxis_P1_Speed);
}
}
#endregion
#region 入库
private DateTime startInStoreTime = DateTime.Now;
public override void StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return;
}
if (!StoreManager.LoadInoutParam(param, true, this))
{
LogUtil.error(Name + " 启动入库【" + param.ToStr() + "】出错，找不到库位信息");
return;
}
LogInfo(" 启动入库【" + param.ToStr() + "】，压紧点P2【" + param.MoveP.ComPress_P2 + "】压紧前点P3【" + param.MoveP.ComPress_P3 + "】");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, param);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
MoveInfo.SingleInstore = true;
InOutStoreLog("料架取料：" + MoveInfo.SLog + " 叉子后退到待机点P1, 重置盘信息");
InoutAxis.AbsMove(MoveInfo, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
else
{
LogInfo(" 入库，MoveInfo.MoveStep=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
private DateTime startOutStoreTime = DateTime.Now;
public bool IsIgnoreComSig = false; //忽略料叉压紧信号
private void StartExecuctOut(InOutParam param)
{
bool result = StartOutStoreMove(param);
if (!result)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
waitOutStoreList.Enqueue(param);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + storeRunStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck);
return false;
}
if (!StoreManager.LoadInoutParam(param, false, this))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
storeStatus = StoreStatus.OutStoreExecute;
storeRunStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
LogInfo("启动出库【" + param.ToStr() + "】 ");
//出库前shelfPosID需要固定，出库时根据rfid判断是否需要出入料架
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
private void SO_03_ToBagPosition()
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点) ,顶升上升");
ComAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
protected override void OutStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
else if (MoveInfo.MoveStep <= StoreMoveStep.SO_01_InoutBack)
{
}
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
}
else
{
LogUtil.error(Name + " 出库处理，MoveInfo.MoveStep=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
}
}