EquipBase.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public abstract class EquipBase : KTK_Store
{
public bool StopInstore = false;
public bool MoveStop = false;
public string CurrShelfId = "";//当前的料架ID
public string LastOutShelfId = "";//最后一个出口
public string RFIDIP = "";
public LineMoveInfo SecondMoveInfo = null;
public bool IsDebug = false;
public bool UseAxis = false;
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
public List<InOutParam> waitInStoreList = new List<InOutParam>();
internal object waitInListLock = "";
protected int trayCount = 0;
internal int preTrayNum = 0;
public int currTrayNum = 0;
public AxisBean UpdownAxis = null;
public delegate void TrayProcessEnd(int swNum, int trayNum);
protected abstract void BaseTimerProcess();
protected abstract void FixtureProcess();
protected override void mainThread_Process()
{
TimerProcess();
}
public DateTime LastAlarmTime = DateTime.Now;
public override void Alarm(LineAlarmType alarmType)
{
if (alarmType.Equals(LineAlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
if (this.alarmType.Equals(alarmType))
{
return;
}
if (alarmType.Equals(LineAlarmType.SuddenStop))
{
isInSuddenDown = true;
}
else if (alarmType.Equals(LineAlarmType.NoAirCheck))
{
isNoAirCheck = true;
}
this.alarmType = alarmType;
if (alarmType.Equals(LineAlarmType.SuddenStop) || alarmType.Equals(LineAlarmType.NoAirCheck)
|| alarmType.Equals(LineAlarmType.AxisAlarm) || alarmType.Equals(LineAlarm.AxisErrorStop))
{
StopMove(alarmType + "报警");
}
}
public virtual void CheckAlarmProcess(LineMoveInfo moveInfo, LineAlarmType alarmType)
{
}
protected virtual void CloseAllDO()
{
List<string> doList = new List<string>(baseConfig.DOList.Keys);
foreach (string doType in doList)
{
if (doType.Equals(IO_Type.SL_AlarmLed) || doType.Equals(IO_Type.SL_HddLed))
{
continue;
}
if (IOValue(doType).Equals(IO_VALUE.HIGH))
{
IOMove(doType, IO_VALUE.LOW);
}
}
}
private DateTime lastProTimer = DateTime.Now;
protected int TimerMaxSeconds = 3;
public void TimerProcess()
{
TimeSpan span = DateTime.Now - lastProTimer;
if (isInPro && span.TotalSeconds < TimerMaxSeconds)
{
return;
}
isInPro = true;
lastProTimer = DateTime.Now;
try
{
if (runStatus <= LineRunStatus.Wait && (!baseConfig.DType.Equals(DeviceType.FeedingEquip)))
{
isInPro = false;
return;
}
BaseTimerProcess();
if (TimerMaxSeconds > 3 && runStatus >= LineRunStatus.Runing)
{
TimerMaxSeconds = 3;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "TimerProcess出错：", ex);
}
isInPro = false;
}
protected DateTime preIoTimerOutTime = DateTime.Now;
protected virtual void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < LineRunStatus.Runing || isInSuddenDown || isNoAirCheck)
{
return;
}
//若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.MoveType.Equals(LineMoveType.None) && SecondMoveInfo.MoveType.Equals(LineMoveType.None) && MoveInfo.IsInWait.Equals(false) && SecondMoveInfo.IsInWait.Equals(false))
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = LineAlarmType.None;
SetWarnMsg("");
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：", ex);
}
}
protected override void BusyMoveProcess()
{
try
{
if (MoveStop)
{
return;
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.Fixture))
{
FixtureProcess();
}
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) || this.SecondMoveInfo.MoveType.Equals(LineMoveType.InStore))
{
InStoreProcess();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) || SecondMoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
OutStoreProcess();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.RHome))
{
ResetProcess();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
}
catch (Exception ex)
{
LogUtil.error(Name + " BusyMoveProcess 出错：" + ex.ToString());
}
}
//protected void MoveTimeOut(LineMoveInfo move, string msg)
//{
// WarnMsg = move.Name + "[" + move.MoveStep + "] "+ msg + " [" +FormUtil.GetSpanStr( move.StepSpan()) + "]";
// int logId = DeviceID * 10000 + (int)move.MoveStep;
// LogUtil.error(WarnMsg, logId);
// Alarm(LineAlarmType.IoSingleTimeOut);
//}
//protected void ClearTimeoutAlarm(string msg)
//{
// if (isInSuddenDown || isNoAirCheck)
// {
// return;
// }
// if (WarnMsg.Contains(msg) && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
// {
// LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
// alarmType = LineAlarmType.None;
// SetWarnMsg("");
// }
//}
protected bool CanStartRun()
{
string canResult = LineManager.Line.CanStart();
if (String.IsNullOrEmpty(canResult).Equals(false))
{
SetWarnMsg(Name + canResult);
return false;
}
return true;
}
protected void ResetClearData()
{
TimerMaxSeconds = 10;
trayCount = 0;
SetWarnMsg("");
alarmType = LineAlarmType.None;
isInSuddenDown = false;
isNoAirCheck = false;
preTrayNum = 0;
currTrayNum = 0;
}
public void ChangeDebug(bool isDebug)
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip))
{
if (isDebug)
{
IsDebug = true;
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH);
IOMove(IO_Type.StopDown2, IO_VALUE.HIGH);
LogInfo("从正常状态切换到调试状态！");
}
else
{
IsDebug = false;
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH);
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
LogInfo("从调试状态切换到正常状态！");
}
}
else if (baseConfig.DType.Equals(DeviceType.HYEquip))
{
if (isDebug)
{
IsDebug = true;
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH);
IOMove(IO_Type.HY_StopDown, IO_VALUE.HIGH);
LogInfo("从正常状态切换到调试状态！");
}
else
{
IsDebug = false;
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH);
IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW);
LogInfo("从调试状态切换到正常状态！");
}
}
else
{
if (isDebug)
{
IsDebug = true;
LogInfo("从正常状态切换到调试状态！");
}
else
{
IsDebug = false;
LogInfo("从调试状态切换到正常状态！");
}
}
}
internal virtual void OpenStopBlock()
{
preRWTime = DateTime.Now;
if (baseConfig.DType.Equals(DeviceType.MoveEquip))
{
LogInfo("OpenStopCylinder: 下降阻挡气缸，上下气缸上升，顶升气缸下降");
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH);
IOMove(IO_Type.StopDown2, IO_VALUE.HIGH);
//上下气缸上升
if (!UseAxis)
{
CylinderMove(null, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
//顶升气缸下降
CylinderMove(null, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
Thread.Sleep(30);
}
else if (baseConfig.DType.Equals(DeviceType.FeedingEquip))
{
}
}
internal virtual bool OpenStopBlockOk(TimeSpan span)
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
if (baseConfig.DType.Equals(DeviceType.MoveEquip))
{
if (IOValue(IO_Type.StopDown1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.StopDown2).Equals(IO_VALUE.HIGH))
{
return true;
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH);
IOMove(IO_Type.StopDown2, IO_VALUE.HIGH);
}
}
else if (baseConfig.DType.Equals(DeviceType.FeedingEquip))
{
return true;
}
return true;
}
internal virtual void CloseStopBlock()
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip))
{
LogInfo("CloseCylinderStop: 上升阻挡气缸，关闭上下气缸，顶升气缸IO");
IOMove(IO_Type.StopDown1, IO_VALUE.LOW);
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
//上下气缸上升
if (!UseAxis)
{
IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
}
//顶升气缸下降
IOMove(IO_Type.TopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
Thread.Sleep(30);
}
else if (baseConfig.DType.Equals(DeviceType.FeedingEquip))
{
}
}
internal bool UpdateTrayNum()
{
trayCount++;
//此处先对托盘号进行验证
preTrayNum = currTrayNum;
currTrayNum = RFIDManager.GetTrayNum(Name, DeviceID, true);
SServerManager.updateTray(currTrayNum);
if (String.IsNullOrEmpty(RFIDIP)) { }
else
{
LogUtil.LOGGER.Info(Name + " [" + trayCount + "] IP [" + RFIDManager.GetRFIP(DeviceID) + "] 当前托盘 [" + currTrayNum + "] 上个托盘 [" + preTrayNum + "] ");
if (preTrayNum.Equals(currTrayNum) && currTrayNum > 0)
{ //如果是接驳台HY，不需要验证托盘号是否重复
List<int> jHy = new List<int>() { 210, 212, 217 };
if (jHy.Contains(DeviceID))
{
LogUtil.error(Name + "：当前托盘 [" + currTrayNum + "] 上个托盘[" + preTrayNum + "] ，连续两个托盘号一样，当前为出料口横移，不需要处理托盘号重复");
}
else
{
TrayManager.TrayErrorMsg = DateTime.Now.ToLongTimeString() + " " + Name + "托盘号错乱：当前托盘 [" + currTrayNum + "] 上个托盘[" + preTrayNum + "] ，连续两个托盘号一样";
LogUtil.error(Name + "托盘号错乱：当前托盘 [" + currTrayNum + "] 上个托盘[" + preTrayNum + "] ，连续两个托盘号一样");
//托盘号一样，返回false
return false;
}
}
}
return true;
}
internal void ClearTrayRFID()
{
RFIDManager.ClearTrayNum(DeviceID);
}
#region 伺服运动
public bool RunAxis(bool isCheck, AxisBean axis)
{
if (!UseAxis)
{
return true;
}
string msg = "";
bool result = axis.Open(isCheck, out msg);
if (result && String.IsNullOrEmpty(msg))
{
return true;
}
SetWarnMsg(Name + msg, axis.Config.DisplayStr + "_轴报警");
Alarm(LineAlarmType.AxisAlarm);
return false;
}
public void CloseAxis(AxisBean axis)
{
LogUtil.info(Name + "关闭伺服 " + axis.AxisName);
axis.ServoOff();
Thread.Sleep(100);
}
private DateTime checkAlarmTime = DateTime.Now;
public bool CheckAxisAlarm(params AxisBean[] axisList)
{
if (!NoErrorAlarm())
{
return true;
}
TimeSpan span = DateTime.Now - checkAlarmTime;
//1秒钟检测一次轴报警
if (span.TotalSeconds < 3)
{
return false;
}
checkAlarmTime = DateTime.Now;
bool isInAlarm = false;
foreach (AxisBean axisInfo in axisList)
{
short axis = axisInfo.Config.GetAxisValue();
string deviceName = axisInfo.Config.GetNameStr();
int alarmIo = AxisManager.instance.GetAlarmStatus(deviceName, axis);
if (alarmIo == 1)
{
string msg = Name + " 运动轴" + axisInfo.Config.Explain + "报警";
//LogUtil.error(WarnMsg);
SetWarnMsg(msg, axisInfo.Config.Explain + "轴报警");
Alarm(LineAlarmType.AxisAlarm);
isInAlarm = true;
}
}
//判断报警状态
return isInAlarm;
}
#endregion
#region CheckWait处理
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(LineMoveInfo moveInfo)
{
try
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
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))
{
TimeSpan axisSpan = DateTime.Now - preCheckAxisTime;
if (axisSpan.TotalSeconds > 1)
{
preCheckAxisTime = DateTime.Now;
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
if (wait.IsEnd)
{
RunLogUtil.AxisLog(new AxisMoveLog(Name, wait.AxisInfo.Explain, "回原点", 0, wait.AxisInfo.HomeHighSpeed, moveInfo.LastSetpTime, DateTime.Now, moveInfo.MoveParam.PosId, moveInfo.MoveParam.WareCode));
}
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
if (wait.IsEnd)
{
RunLogUtil.AxisLog(new AxisMoveLog(Name, wait.AxisInfo.Explain, "绝对运动", wait.TargetPosition, wait.TargetSpeed, moveInfo.LastSetpTime, DateTime.Now, moveInfo.MoveParam.PosId, moveInfo.MoveParam.WareCode));
}
}
if (!msg.Equals(""))
{
isOk = false;
string type = moveInfo.GetStepDes() + "_轴运动报警";
// WarnMsg = Name + msg;
SetWarnMsg(msg, type, moveInfo);
Alarm(LineAlarmType.AxisMoveError);
CheckAlarmProcess(moveInfo, LineAlarmType.AxisMoveError);
LogUtil.error(WarnMsg, DeviceID * 1000 + 14);
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + "]";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
if (wait.IoType.Equals(IO_Type.SL_Line_Run))
{
IOMove(wait.IoType, wait.IoValue);
LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
}
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut && alarmType <= LineAlarmType.IoSingleTimeOut)
{
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
string warnmsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
SetWarnMsg(warnmsg, moveInfo.GetStepDes() + "_超时报警", moveInfo);
LogUtil.error(WarnMsg, DeviceID * 1000 + 13);
if (NoAlarm())
{
Alarm(LineAlarmType.IoSingleTimeOut);
CheckAlarmProcess(moveInfo, LineAlarmType.IoSingleTimeOut);
}
}
if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType, baseConfig.Id).Equals(ww.IoValue).Equals(false))
{
isLog = true;
IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
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.W008_InStoreCheckOK))
{
string posId = moveInfo.MoveParam.PosId;
int id = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.RightInPosId(id, posId);
}
else if (wait.WaitType.Equals(WaitEnum.W009_BoxCanInstore))
{
int storeId = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId, out NotOkMsg);
}
else
{
wait.IsEnd = CheckWaitResult(moveInfo, wait);
}
//else if (wait.WaitType.Equals(10))
//{
// wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
//}
if (wait.IsEnd)
{
if (moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
moveInfo.EndStepWait();
ClearStepAlarm(moveInfo.GetStepDes());
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{
int second = 10;
if (IsLowAlarm(moveInfo))
{
second = 30;
}
second = (int)(span.TotalSeconds / moveInfo.TimeOutSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
string msg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg
+ "超时[" + FormUtil.GetSpanStr(span) + "]";
string type = moveInfo.GetStepDes() + "_" + "超时报警";
//判断是等待抓料直接返回
List<WaitResultInfo> noTrayAlarm = (from m in list where m.WaitType.Equals(WaitEnum.W1000_NoTrayAlarm) select m).ToList();
if (noTrayAlarm.Count > 0)
{
msg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]未抓起料盘,请取走料盘后复位[" + FormUtil.GetSpanStr(span) + "]";
type = MoveInfo.GetStepDes() + "_" + "未抓起料";
}
//LogUtil.error(WarnMsg, DeviceID * 1000 + 15, second);
SetWarnMsg(msg, type, moveInfo, second);
Alarm(LineAlarmType.IoSingleTimeOut);
CheckAlarmProcess(moveInfo, LineAlarmType.IoSingleTimeOut);
}
}
catch (Exception ex)
{
LogUtil.error(moveInfo.Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
private bool IsLowAlarm(LineMoveInfo moveInfo)
{
//托盘卡的信号不报警，只提示
// [_进仓_14-SMove] [CheckFixture] [MO_17_Stop2Check] 等待[X462 - 进仓14阻挡2托盘检测 - StopCylinder_Check2 = LOW] 超时[181.7]秒
if (moveInfo.MoveType.Equals(LineMoveType.Fixture) &&
(moveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down) ||
moveInfo.IsStep(LineMoveStep.MIO_02_TrayCheck) ||
moveInfo.IsStep(LineMoveStep.MO_17_Stop2Check)))
{
return true;
}
return false;
}
protected virtual bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
return false;
}
#endregion
protected void CheckLog(string msg)
{
LogUtil.debug(Name + "" + msg);
}
protected void InLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? "[" + currTrayNum + "][" + MoveInfo.MoveParam.PosId + "][" + MoveInfo.MoveParam.WareCode + "]" : "";
//baseConfig.DType.Equals(DeviceType.HYEquip)
if (baseConfig.DType.Equals(DeviceType.MoveEquip))
{
LogUtil.debug(Name + " " + posId + msg);
}
else
{
LogUtil.info(Name + " " + posId + msg);
}
}
/// <summary>
///
/// </summary>
/// <param name="msg"></param>
/// <param name="levle">-1是默认值，0时打印debug,1打印info</param>
protected void OutLog(string msg, int levle = -1)
{
string posId = MoveInfo.MoveParam != null ? "[" + currTrayNum + "][" + MoveInfo.MoveParam.PosId + "][" + MoveInfo.MoveParam.WareCode + "]" : "";
if (levle.Equals(-1) && baseConfig.DType.Equals(DeviceType.MoveEquip))
{
levle = 0;
}
if (baseConfig.DType.Equals(DeviceType.FeedingEquip))
{
levle = 1;
}
List<int> jHy = new List<int>() { 210, 212 };
if (jHy.Contains(DeviceID))
{
//三个接驳台打印日志
levle = 1;
}
if (levle.Equals(1))
{
LogUtil.info(Name + " " + posId + msg);
}
else if (levle.Equals(0))
{
LogUtil.debug(Name + " " + posId + msg);
}
}
public virtual string GetMoveStr()
{
string msg = "";
int tLength = 15;
if (!String.IsNullOrEmpty(RFIDIP))
{
msg += "当前托盘：" + currTrayNum + " 上个托盘：" + preTrayNum + "\n";
}
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + " " + LastAlarmTime.ToLongTimeString() + "\n";
msg += "Move：" + MoveInfo.MoveType + " " + MoveInfo.SLog + "\n";
msg += "SMove：" + SecondMoveInfo.MoveType + " " + SecondMoveInfo.MoveStep + "\n";
return msg;
}
internal void MoveEndS()
{
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
}
public string GetColorDes()
{
return
"橘色：复位中\r\n" +
"蓝色：正常待机中\r\n" +
"绿色：忙碌中\r\n" +
"珊瑚色：信号超时报警\r\n" +
"红色：严重报警\r\n";
}
public Color GetShowColor()
{
if (runStatus.Equals(LineRunStatus.Wait))
{
if (IsDebug)
{
return Color.LightGray;
}
else
{
return Color.White;
}
}
else if (alarmType.Equals(LineAlarmType.IoSingleTimeOut))
{
return Color.LightCoral;
}
else if (alarmType.Equals(LineAlarmType.None).Equals(false))
{
return Color.Red;
}
else if (runStatus.Equals(LineRunStatus.HomeMoving) || runStatus.Equals(LineRunStatus.Reset))
{
return Color.Orange;
}
else if (runStatus.Equals(LineRunStatus.Busy))
{
return Color.LimeGreen;
}
else if (runStatus.Equals(LineRunStatus.Runing))
{
return Color.LightBlue;
}
return Color.White;
}
}
}