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
{
#region 出入库结果验证
public bool CompressSigTimeOut = false;
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 = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(StoreAlarmType.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(StoreAlarmType.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);
}
else if (wait.WaitType.Equals(WaitEnum.W007_ReelHeight))
{
}
else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
{
wait.IsEnd = (LastScanCodes.Count > 0);
}
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{
//if (wait.AgvAction.Equals((int)ClientAction.Ready))
//{
// //Ready时使用状态判断，arrive时需要判断料架号是否正确
// ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
// wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
//}
//if (!wait.IsEnd && span.TotalSeconds > 10)
//{
// //如果是等待AGV到达，等待有料架信号也算结束
// if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
// {
// if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
// {
// LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineTake_Check 信号，结束等待");
// wait.IsEnd = true;
// }
// else if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
// {
// LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineIn_Check 信号，结束等待");
// wait.IsEnd = true;
// }
// }
// else if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
// {
// if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
// {
// LogInfo("BS_03_WaitArrive 等待agv到达Arrive，检测到 LineTake_Check和LineIn_Check都没有信号，结束等待");
// wait.IsEnd = true;
// }
// }
//}
}
else if (wait.WaitType.Equals(WaitEnum.W011_DoorCloseEvent))
{
//if (AgvClient.closeDoorTimeMap.ContainsKey(Config.AgvNodeName))
//{
// DateTime time = AgvClient.closeDoorTimeMap[Config.AgvNodeName];
// if (time >= MoveInfo.LastSetpTime)
// {
// wait.IsEnd = true;
// }
//}
}
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(StoreAlarmType.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
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
#endregion
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
private List<string> LastScanCodes = new List<string>();
private int ComTargetPosition = 0;
private int LastWidth = 0;
private int LastHeight = 0;
private string CurrShelfID = "";
/// <summary>
/// 最后一次使用的料架号
/// </summary>
// private string LastRfidID = "";//服务器发送的出库rfid
//private InOutParam LastOutParam = new InOutParam();
#region 入库
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 开始单盘入库
/// </summary>
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(StoreMoveType.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(StoreMoveType.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");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
//LastRfidID = "";
}
/// <summary>
/// 开始料架入库
/// </summary>
public void StartShelfInStore()
{
//bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
// && MoveInfo.MoveType.Equals(StoreMoveType.None));
//if (!canStart || isInSuddenDown || isNoAirCheck || (alarmType.Equals(StoreAlarmType.None).Equals(false)))
//{
// return;
//}
//storeRunStatus = StoreRunStatus.Busy;
//storeStatus = StoreStatus.InStoreExecute;
//// EmprtShelfList = new ConcurrentQueue<string>();
//if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
//{
// MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
// MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
// MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
// LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + "");
// // CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
// // DoorBean.StartOpen(MoveInfo);
//}
//else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
//{
// MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
// MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
// MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
// LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + "");
//}
//else
//{
// LogInfo(" 空闲中，需要料架入库，料架入库 " + MoveInfo.SLog + "：入料口移门打开，更新 WaitShelfEnter=false");
// WaitShelfEnter = false;
// MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
// MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
// MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
// DoorBean.StartBack(MoveInfo);
//}
}
private void UpdateShelfId()
{
}
private void GetPosId()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("不扫码 " + MoveInfo.SLog + ": 获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
if (MoveInfo.IsShelfLocked)
{
bool result = GetPosIdByCode();
if (!result)//获取库位失败
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("锁定库位：获取入库库位失败");
}
else
{
MoveInfo.EndStepWait();
}
}
}
private void StartMoveToBag()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_51_MoveToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
private void StartSendTray(string str = "扫码失败")
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_71_ToNGDoor);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：" + str + "，升降轴到NG门口高点P12，旋转轴到NG门口P11");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
}
private void StartMoveTrayBack(string str = "料盘不属于该仓库")
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：" + str + "，走到料架位置，旋转轴至P101，升降轴至P102");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P12_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P11_Speed);
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料架取料盘扫码获取POSID
//if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_10_StartGetTray))
//{
// if (MoveInfo.IsShelfLocked)
// {
// if (MoveInfo.NextLockedShelfPos())
// {
// //新的料架库位
// startInStoreTime = DateTime.Now;
// MoveInfo.SingleInstore = false;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子后退到待机点P1, 重置盘信息");
// ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
// ClearLastTrayInfo();
// }
// else
// {
// //所有料盘已取料完成，送出料架
// StartShelfOut();
// }
// }
// else
// {
// if (MoveInfo.NextShelfPos())
// {
// //新的料架库位
// startInStoreTime = DateTime.Now;
// MoveInfo.SingleInstore = false;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子后退到待机点P1, 重置盘信息");
// ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
// ClearLastTrayInfo();
// }
// else
// {
// //所有料盘已取料完成，送出料架
// StartShelfOut();
// }
// }
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：升降轴到P101低点，旋转轴到P101点，压紧轴到压紧前点");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P11_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P11_Speed);
// ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子前进到P101点");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P11_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToP101))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：升降轴上升到P102点");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P12_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
//{
// if (MoveInfo.SingleInstore)
// {
// MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
// InOutStoreLog("单盘入库，料架取料 " + MoveInfo.SLog + "：压紧轴走到压紧点P2： " + MoveInfo.MoveParam.MoveP.ComPress_P2);
// ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
// Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
// ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
// ComAxisStartCheck();
// }
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_15_StartCompress))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis.DeviceName,Config.Comp_Axis.GetAxisValue());
// ComTargetPosition = currPosition;
// int targetP = currPosition + Config.CompAxis_Down_Position;
// LastHeight = Config.GetComP2PlateH(targetP);
// MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
// MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
// "]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
// InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子后退到扫码点");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
//{
// if (MoveInfo.SingleInstore)
// {
// //单盘入库，不需要扫码
// StartMoveToBag();
// }
// else if(MoveInfo.IsShelfLocked)
// {
// //该料架已锁定库位，不需要扫码,直接查询服务器
// GetPosId();
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.BI_21_ToScanPosition);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到P2,旋转轴到P1");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// }
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_ToScanPosition))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_22_InOutToP2);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴到P2");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码低点P1，压紧轴到压紧前点P3");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_24_InOutToP1);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴返回待机点P1");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_InOutToP1))
//{
// LastWidth = 7;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_25_ScanCode);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：料盘识别 宽度【" + LastWidth + "】，开始扫码");
// MoveInfo.OneWaitCanEndStep = true;
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
// Task.Factory.StartNew(delegate
// {
// IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
// LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
// if (LastScanCodes.Count <= 0)
// {
// Thread.Sleep(1);
// LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
// }
// IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
// });
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_ScanCode))
//{
// if (LastScanCodes.Count <= 0 && LastWidth.Equals(0) && LastHeight.Equals(8))
// {
// storeStatus = StoreStatus.InStoreExecute;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "： 扫码失败，尺寸" + LastWidth + "*" + LastHeight + "，认为没拿到料盘，继续循环料架取料盘");
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.BI_27_InoutToP2);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴到P2");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
// }
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_27_InoutToP2))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_28_GetScanPTray);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码高P2，压紧轴到压紧点P2");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_28_GetScanPTray))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_29_InoutBackP1);
// InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴返回");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_29_InoutBackP1))
//{
// if (LastScanCodes.Count <= 0)
// {
// StartSendTray();
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
// InOutStoreLog("扫码 " + MoveInfo.SLog + ": 获取库位号");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
// bool result = GetPosIdByCode(MoveInfo.currShelfIndex, out CodeResultType codeResult);
// if (!result)//获取库位失败
// {
// if (codeResult == CodeResultType.NotFoundPos)//库位不在该料仓，将该料盘放回料架
// {
// //MoveInfo.MoveParam.PosID = "";
// StartMoveTrayBack("此料盘不属于该仓库,放回料架");
// }
// else//无法获取库位信息
// {
// MoveInfo.MoveParam.PosID = "";
// StartSendTray("获取入库库位失败");
// }
// }
// else
// {
// MoveInfo.EndStepWait();
// }
// }
//}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_30_SetInstoreParam))
{
StartMoveToBag();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_51_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_52_DeviceToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_52_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_53_PutWareToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_53_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_54_DeviceBackFromBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_54_DeviceBackFromBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_55_GoBack);
InOutStoreLog("入库 " + MoveInfo.SLog + "：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_55_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
if (MoveInfo.SingleInstore)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogInfo(" 【" + posId + "】单盘入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
}
else
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】继续循环料架取料盘");
}
}
#endregion
#region 把料盘送到NG逻辑
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_71_ToNGDoor))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_72_NGDoorUp);
// InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：NG升降门上升");
// CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_72_NGDoorUp))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_73_InoutToNGDoor);
// InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：进出轴到NG料门口位置P11");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_73_InoutToNGDoor))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_74_UpdownDown);
// InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：升降轴到P11,压紧轴到P3，放下料盘");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_74_UpdownDown))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_75_InoutToP1);
// InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子后退到P1");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_75_InoutToP1))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_76_NGDoorDown);
// InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：关门NG料门，送出料盘结束");
// CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun);
// InOutStoreLog("料架入库 " + MoveInfo.SLog + "：NG流水线转动3000");
// IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
//{
// IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
// MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
// InOutStoreLog("料架入库 " + MoveInfo.SLog + "：停止NG线体转动，继续循环料架取料盘");
//}
#endregion
#region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P11_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P11_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("送出料盘结束 " + MoveInfo.SLog + "： 升降轴返回，升降轴到P1，顶升下降,继续循环料架取料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
#endregion
//料架进入逻辑
else if (MoveInfo.MoveStep < StoreMoveStep.BI_10_StartGetTray)
{
ShelfEnterProcess();
}
//料架送出逻辑
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogInfo(" 入库，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);
}
}
/// <summary>
/// 开始出库运动
/// </summary>
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(StoreMoveType.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(StoreMoveType.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");
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, 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;
}
#region 出入库步骤
//if (MoveInfo.MoveStep == StoreMoveStep.SO_01_InoutBack)
//{
// //判断是否需要送出料架，是否需要进入料架，是否可以直接开始
// if (MoveInfo.MoveParam.rfid.Equals(""))
// {
// SO_03_ToBagPosition();
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_02_TopDown);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：顶升下降");
// CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
// }
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_02_TopDown)
//{
// if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
// {
// string LastRfidID = GetLastRfid();
// // if (IsRightShelfId(CurrShelfID, MoveInfo.MoveParam.realRfid))
// if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
// {
// LogUtil.error("出库 【" + LastRfidID + "】 【" + MoveInfo.MoveParam.rfid + "，" + MoveInfo.MoveParam.realRfid + "】 同料架，开始取料");
// SO_03_ToBagPosition();
// return;
// }
// else
// {
// //重新记录
// LogInfo(" 执行出库【" + MoveInfo.MoveParam.ToStr() + "】失败，料架号不一致，加入等待队列");
// waitOutStoreList.Enqueue(MoveInfo.MoveParam);
// LogUtil.error(Name + "出库 【" + LastRfidID + "】 【" + MoveInfo.MoveParam.rfid + "，" + MoveInfo.MoveParam.realRfid + "】不同料架，送出当前料架，稍后重新出库");
// // MoveInfo.MoveParam.rfid = LastRfidID;
// MoveInfo.NewMove(StoreMoveType.OutStore, LastOutParam);
// //送出料架，并且记录出库信息，等会重新出库
// StartShelfOut();
// return;
// }
// }
// else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && (!MoveInfo.MoveParam.rfid.Equals("")))
// {
// if (CurrShelfID.EndsWith("00"))
// {
// CurrShelfID = "";
// }
// string mark = GetMarkInfo();
// // string rfid = MoveInfo.MoveParam.rfid;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_00_ReadyShelf);
// InOutStoreLog("出库 " + MoveInfo.SLog + "： NeedEnter[" + mark + "][" + MoveInfo.MoveParam.rfid + "]，等待agv_Arrive 或有料架，进出轴到P1");
// InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
// //需要先叫agv到达
// MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
// }
// else
// {
// SO_03_ToBagPosition();
// }
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToPosition)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToPos);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3(库位取放料点) ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_ToPos)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel);
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_06_InoutBack);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子从库位返回，进出轴至P1(待机点) ");
// //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
// InOutBackToP1(moveP.InOut_P1);
// //把库位的物品放到取到叉子上之后是出仓完成
// string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
// lastPosId = posId;
// lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
// storeStatus = StoreStatus.OutStoreBoxEnd;
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_InoutBack)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_CheckComSig);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 ");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH));
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_CheckComSig)
//{
// if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
// {
// IsIgnoreComSig = false;
// CompressSigTimeOut = false;
// MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102 ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P12_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P11_Speed);
// }
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_ToShelfPosition)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
//}
////此处需要等待移栽没有工作，才能把盘放入出料口
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_LocationDown)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_WaitNoTray)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P11_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P11_Speed);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// taskData = null;
// Task.Factory.StartNew(delegate
// {
// int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.ShelfPosID, ShelfPosList);
// //分盘料和紧急料发PutFinished
// if (MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
// {
// string msg = StoreManager.afterPutCut(Name, CurrShelfID, MoveInfo.MoveParam.WareCode, CID, posLoc, out taskData);
// if (String.IsNullOrEmpty(msg).Equals(false))
// {
// LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] afterPutCut 结果：" + msg);
// }
// }
// else
// {
// int newTaskCount = 0;
// string msg = StoreManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, CurrShelfID + "@" + posLoc.ToString(), out newTaskCount);
// if (String.IsNullOrEmpty(msg).Equals(false))
// {
// LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] UpdateTrayLoc 结果：" + msg);
// }
// if (newTaskCount > MoveInfo.MoveParam.taskCount)
// {
// InOutStoreLog("UpdateTrayLoc 返回 newTaskCount=" + newTaskCount + ",原有 taskCount=" + MoveInfo.MoveParam.taskCount + "，使用新数据");
// MoveInfo.MoveParam.taskCount = newTaskCount;
// }
// }
// });
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子从出料口返回， 进出轴到P1 ");
// InOutBackToP1(moveP.InOut_P1);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_14_GoBack);
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 升降轴返回，升降轴到P1，顶升下降");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// //发送消息给流水线
// // SendOutStoreEnd(MoveInfo);
// CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_14_GoBack)
//{
// //判断是否需要送出料架
// bool isNeedSend = false;
// string logName = "【" + CurrShelfID + "_" + GetLastRfid() + "】";
// //只有rfid不为空才需要送出料架
// if (String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
// {
// InOutStoreLog("出库完成，未设置rfid，不需要送出料架");
// isNeedSend = false;
// }
// else if (MoveInfo.MoveParam.cutReel)
// {
// if (taskData != null && taskData.cutPackageTask <= 0)
// {
// InOutStoreLog(logName + "分盘料出库完成，cutPackageTask=" + taskData.cutPackageTask + "，送出料架");
// isNeedSend = true;
// }
// else if (taskData == null)
// {
// InOutStoreLog(logName + "分盘料出库完成，taskData=null，送出料架");
// isNeedSend = true;
// }
// }
// else if (MoveInfo.MoveParam.urgentReel)
// {
// if (taskData != null && taskData.urgentPackageTask <= 0)
// {
// InOutStoreLog(logName + "紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "，送出料架");
// isNeedSend = true;
// }
// else if (taskData == null)
// {
// InOutStoreLog(logName + "紧急料出库完成，taskData=null，送出料架");
// isNeedSend = true;
// }
// }
// else if (MoveInfo.MoveParam.taskCount <= 0)
// {
// InOutStoreLog(logName + "出库完成，taskCount=" + MoveInfo.MoveParam.taskCount + " 送出料架");
// isNeedSend = true;
// }
// if (isNeedSend)
// {
// StartShelfOut();
// }
// else
// {
// TimeSpan span = DateTime.Now - startOutStoreTime;
// string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
// storeStatus = StoreStatus.StoreOnline;
// LogInfo(" 【" + posId + "】 " + logName + " 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
// if (!String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
// {
// if (StoreManager.Store.AutoShelfInstore)
// {
// LogInfo(" 料架" + logName + "还有出库任务，设置 AutoShelfInstore = false");
// ConfigAppSettings.SaveValue(Setting_Init.AutoShelfInstore, 0);
// StoreManager.Store.AutoShelfInstore = false;
// }
// }
// MoveEndToRuningStatus();
// AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
// }
//}
#endregion
else if (MoveInfo.MoveStep <= StoreMoveStep.SO_01_InoutBack)
{
ShelfEnterProcess();
}
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
}
}