DUOStoreBean.cs
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using Asa;
using log4net;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
public partial class DUOStoreBean : KTK_Store
{
private System.Timers.Timer ledProcessTimer = null;
public Dictionary<int, BOX_Config> BoxConfigMap { get; set; }
public Dictionary<int, BoxBean> BoxMap = new Dictionary<int, BoxBean>();
public Store_Config Config { get; set; }
public bool UseBuzzer = ConfigAppSettings.GetIntValue(Setting_Init.UseBuzzer).Equals(1);
public HoisterCylinder hoisterCylinder = new HoisterCylinder(0);
public AxisBean T1_BatchAxis = null;
public AxisBean T2_MiddleAxis = null;
public AxisBean T3_UpdownAxis = null;
#region 初始化
internal bool canStart = false;
public DUOStoreBean(Store_Config lineConfig, Dictionary<int, BOX_Config> configList)
{
BoxConfigMap = new Dictionary<int, BOX_Config>();
BoxMap = new Dictionary<int, BoxBean>();
if (lineConfig.IOSingle_TimerOut <= 0)
{
lineConfig.IOSingle_TimerOut = 5000;
}
Init();
InitTimer();
baseConfig = lineConfig;
this.Config = lineConfig;
this.ID = lineConfig.Id;
MoveInfo = new StoreMoveInfo(ID);
Name = (" DUO料仓_" + Config.CID + " ").ToUpper();
List<string> ioList = new List<string>();
AddDeviceName(ioList, Config.IOIPList);
foreach (BOX_Config config in configList.Values)
{
BoxBean equip = new BoxBean(config);
AddDeviceName(ioList, config.IOIPList);
BoxMap.Add(config.Id, equip);
BoxConfigMap.Add(config.Id, config);
}
Config.T3_Updown_Axis.BreakOnDO = IO_Type.MoveAxis_Break;
Config.T1_Batch_Axis.BreakOnDO = IO_Type.MoveAxis_Break;
T1_BatchAxis = new AxisBean(Config.T1_Batch_Axis, Name);
T2_MiddleAxis = new AxisBean(Config.T2_Middle_Axis,Name);
T3_UpdownAxis = new AxisBean(Config.T3_Updown_Axis,Name);
IOManager.Init();
CodeManager.LoadConfig();
Task.Factory.StartNew(delegate
{
// RFIDManager.RfidReader.Open(rfidList.ToArray());
IOManager.instance.ConnectionIOList(ioList);
addLastDI(IO_Type.Airpressure_Check, IOValue(IO_Type.Airpressure_Check));
addLastDI(IO_Type.SuddenStop_BTN, IOValue(IO_Type.SuddenStop_BTN));
addLastDI(IO_Type.Reset_BTN, IOValue(IO_Type.Reset_BTN));
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
mainTimer.Enabled = true;
canStart = true;
});
}
private void AddDeviceName(List<string> targetList, List<string> list)
{
foreach (string str in list)
{
if (!targetList.Contains(str))
{
targetList.Add(str);
}
}
}
public void InitTimer()
{
ledProcessTimer = new System.Timers.Timer();
ledProcessTimer.Interval = 1000;
ledProcessTimer.Elapsed += LedProcess;
ledProcessTimer.AutoReset = true;
ledProcessTimer.Enabled = false;
}
private void IoCheckTimerProcess(object sender, ElapsedEventArgs e)
{
}
#endregion
public override bool StartRun(bool isDebug = false)
{
if (!canStart)
{
SetWarnMsg("启动失败：设备未初始化完成");
return false;
}
if (BoxConfigMap == null)
{
SetWarnMsg("启动失败：未加载到料仓配置");
return false;
}
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg("启动失败：急停未开");
}
else if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
{
SetWarnMsg("启动失败：没有气压信号");
}
else
{
LogUtil.info(Name + "开始启动，连接agv调度，连接rfid，启动时间：" + StartTime.ToString());
storeRunStatus = StoreRunStatus.HomeMoving;
StartTime = DateTime.Now;
//AgvClient.SetCancelState(false);
//RFIDManager.Open(rfidList.ToArray());
mainTimer.Enabled = false;
isInSuddenDown = false;
isNoAirCheck = false;
alarmType = AlarmType.None;
WarnMsg = "";
foreach (BoxBean box in this.BoxMap.Values)
{
box.StartRun();
}
ledProcessTimer.Enabled = true;
mainTimer.Enabled = true;
return true;
}
return false;
}
public override void Reset(bool isNeedClearAuto = true)
{
mainTimer.Enabled = false;
//停止运动
MoveInfo.EndMove();
storeRunStatus = StoreRunStatus.Reset;
mainTimer.Enabled = false;
isInSuddenDown = false;
isNoAirCheck = false;
alarmType = AlarmType.None;
WarnMsg = "";
foreach (BoxBean equip in BoxMap.Values)
{
if (!equip.alarmType.Equals(AlarmType.None))
{
LogUtil.info(Name + "收到复位信号，" + equip.Name + " 需要复位");
equip.Reset();
}
else
{
LogUtil.info(Name + "收到复位信号，" + equip.Name + " 正常无报警，不需要复位");
}
}
mainTimer.Enabled = true;
}
public override void StopRun()
{
mainTimer.Enabled = false;
ledProcessTimer.Enabled = false;
//停止运行时，把阻挡气缸上升
StopMove();
foreach (BoxBean equip in BoxMap.Values)
{
equip.StopRun();
}
storeRunStatus = StoreRunStatus.Wait;
// RFIDManager.Close();
TimeSpan span = DateTime.Now - StartTime;
LogUtil.info( Name + ",停止运行，关闭rfid，总运行时间：" + span.ToString());
}
#region 灯光处理
private void LedProcess(object sender, ElapsedEventArgs e)
{
try
{
DateTime time = DateTime.Now;
bool isNeedAlarmLed = false;
bool isInOut = false;
StoreRunStatus runs = StoreRunStatus.Wait;
foreach (BoxBean box in BoxMap.Values)
{
if (!box.alarmType.Equals(AlarmType.None))
{
isNeedAlarmLed = true;
}
if (box.MoveInfo.MoveType.Equals(MoveType.InStore) || box.MoveInfo.MoveType.Equals(MoveType.OutStore))
{
isInOut = true;
}
if (box.storeRunStatus > runs)
{
runs = box.storeRunStatus;
}
}
//黄灯
if (runs.Equals(StoreRunStatus.HomeMoving) || runs.Equals(StoreRunStatus.Reset))
{
//开机执行中时黄灯闪烁
if (IsDoValue(IO_Type.RunSign_HddLed, IO_VALUE.HIGH))
{
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
}
else
{
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.HIGH);
}
}
else
{
if (IsDoValue(IO_Type.RunSign_HddLed, IO_VALUE.HIGH))
{
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
}
}
if (alarmType.Equals(AlarmType.None).Equals(false) || isNoAirCheck || isInSuddenDown )
{
isNeedAlarmLed = true;
}
//忙碌中，判断是否有移栽在出入库执行，绿灯闪烁
if (isInOut)
{
if (IsDoValue(IO_Type.AutoRun_HddLed, IO_VALUE.LOW))
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
}
}
else if (IsDoValue(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH))
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
}
//报警中 ，红灯闪烁
if (isNeedAlarmLed)
{
if (IsDoValue(IO_Type.Alarm_HddLed, IO_VALUE.LOW))
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
}
else if (IsDoValue(IO_Type.Alarm_HddLed, IO_VALUE.HIGH))
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
}
catch (Exception ex)
{
LogUtil.error(Name + "灯处理定时器出错：" + ex.ToString());
}
Thread.Sleep(5);
}
private bool IsDoValue(string ioType, IO_VALUE ioValue)
{
return IOValue(ioType).Equals(ioValue);
}
#endregion
protected override void timersTimer_Elapsed(object sender, ElapsedEventArgs e)
{
BusyMoveProcess();
}
public override void StopMove()
{
foreach (BoxBean equip in this.BoxMap.Values)
{
// if (!equip.IsDebug)
{
equip.StopMove();
}
}
MoveInfo.EndMove();
}
protected override void ResetProcess()
{
bool isOk = true;
//判断是否所有的已经返回完成
foreach (BoxBean box in this.BoxMap.Values)
{
if ((box.storeRunStatus.Equals(StoreRunStatus.HomeMoving) || box.storeRunStatus.Equals(StoreRunStatus.Reset)) )
//if ((box.storeRunStatus.Equals(StoreRunStatus.HomeMoving) || box.storeRunStatus.Equals(StoreRunStatus.Reset)) && box.IsDebug.Equals(false))
{
if (box.alarmType.Equals(AlarmType.None))
{
isOk = false;
break;
}
else
{
WarnMsg = box.Name + "在复位过程中报警，需要重新复位";
}
}
}
if (isOk)
{
//所有原点重置完成
storeRunStatus = StoreRunStatus.Runing;
LogUtil.info(Name + "所有设备重置完成");
}
}
public override void Alarm(AlarmType alarmType, string alarmDetial = "", string alarmMsg = "", MoveType storeMoveType = MoveType.None)
{
}
public void LineRun(StoreMoveInfo move)
{
if (move != null)
{
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_BackRun, IO_VALUE.LOW));
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.HIGH));
}
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
}
public void LineStop(StoreMoveInfo move)
{
if (move != null)
{
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_BackRun, IO_VALUE.LOW));
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.LOW));
}
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
public bool OpenAllAxis(bool isCheck = true)
{
if (RunMultiAxis(isCheck, IO_Type.MoveAxis_Run, IO_Type.MoveAxis_Break, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis}))
{
if (RunAxis(isCheck, T1_BatchAxis) )
{
return true;
}
}
return false;
}
public void CloseAllAxis()
{
IOMove(IO_Type.MoveAxis_Break, IO_VALUE.LOW);
IOMove(IO_Type.BatchAxis_Break, IO_VALUE.LOW);
CloseMultiAxis(IO_Type.MoveAxis_Run, IO_Type.MoveAxis_Break, new AxisBean[] { T3_UpdownAxis, T2_MiddleAxis });
CloseAxis(T1_BatchAxis);
}
}
}