FeedingEquip.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 流水线自动料仓-入料装置类
/// </summary>
public partial class FeedingEquip : EquipBase
{
public FeedingEquip_Config Config;
public bool OutEndSendShelfOut = false;
public AxisBean BatchAxis = null;
public bool HasOutLine = false;//是否有出料线体，T3和T4
public FeedingEquip(string cid, FeedingEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
if (config.IsCanOut.Equals(1))
{
Name = (" " + "出料T" + DeviceID % 100 + " ").ToUpper();
}
else
{
Name = (" " + "入料T" + DeviceID % 100 + " ").ToUpper();
}
Init();
UseAxis = true;
UpdownAxis = new AxisBean(config.UpDown_Axis, Name);
BatchAxis = new AxisBean(config.Batch_Axis, Name);
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
RFIDIP = RFIDManager.GetRFIP(DeviceID);
HasOutLine = config.DOList.ContainsKey(IO_Type.SL_OutLine_Run);
addLastDI(IO_Type.SL_Reset_BTN, IO_VALUE.LOW);
//mainTimer.Enabled = true;
mainStart();
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
//if (isDebug)
//{ //连接AGV调度
// if (!AgvClient.ISConnected())
// {
// AgvClient.Init();
// }
//}
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg(Name + "启动失败：急停未开");
return false;
}
if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
{
//mainTimer.Enabled = false;
mainStop();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始原点返回： ");
MoveInfo.NewMove(LineMoveType.RHome);
StartReset();
if (isDebug)
{
LogInfo("开始调试，启动定时器 ");
//mainTimer.Start();
mainStart();
}
return true;
}
return false;
}
public override bool Reset()
{
runStatus = LineRunStatus.Reset;
StopMove("复位");
MoveInfo.NewMove(LineMoveType.Reset);
SecondMoveInfo.EndMove();
if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
{
alarmType = LineAlarmType.None;
LogInfo("开始重置： ");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
return false;
}
private void StartReset()
{
if (OutStoreHeight > 0)
{
LogInfo("复位前，清理出库高度：" + OutStoreHeight);
}
//复位时设置状态为none
AgvClient.SetStatus(Config.AgvInName);
AgvClient.SetStatus(Config.AgvOutName);
OutStoreHeight = -1;
//OutStoreCount = 0;
BatchAxisStopCheck();
ResetClearData();
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(LineMoveStep.FR_01_StopUp);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
//夹紧气缸放松
CylinderMove(null, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_StopDown, IO_VALUE.LOW));
isInPro = false;
}
//复位时，应该先提升伺服回原点，然后提升伺服下降到P2点，放开定位气缸，顶升气缸下降，提升伺服在上升到P1点。
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.Wait:
StartReset();
break;
case LineMoveStep.FR_01_StopUp:
MoveInfo.NextMoveStep(LineMoveStep.FR_02_LineRun);
int time = 4000;
if (HasOutLine)
{
time = 6000;
}
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：开始复位，放料顶升下降， 所有阻挡上升，链条先转动 " + time + " ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time));
//线体开始转动
AllLineMove(IO_VALUE.HIGH);
break;
case LineMoveStep.FR_02_LineRun:
MoveInfo.NextMoveStep(LineMoveStep.FR_03_CylinderUp);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：链条停止转动，清理RFID，上料横移机构上升，顶升气缸下降，所有阻挡气缸上升");
//线体停止
AllLineMove(IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW));
TopCylinderDown(MoveInfo);
//清理RFID
RFIDManager.ClearTrayNum(DeviceID);
break;
case LineMoveStep.FR_03_CylinderUp:
MoveInfo.NextMoveStep(LineMoveStep.FR_04_UpdownAxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 升降伺服回原点");
UpdownAxis.HomeMove(MoveInfo);
break;
case LineMoveStep.FR_04_UpdownAxisHome:
MoveInfo.NextMoveStep(LineMoveStep.FR_05_UpdownAxis_P1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_05_UpdownAxis_P1:
currTrayNum = -1;
if (LineManager.Line.TrayIsReady(DeviceID, out currTrayNum))
{
LogInfo("复位中，发现托盘准备完成，放托盘离开");
TrayMoveOk();
}
if (UpdownIsInP1())
{
MoveInfo.NextMoveStep(LineMoveStep.FR_06_CylinderGive);
if (Config.IsCanOut.Equals(1))
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸取料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸放料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FR_05_UpdownAxis_P1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料横移机构取料端 前升降轴先到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
break;
case LineMoveStep.FR_06_CylinderGive:
MoveInfo.NextMoveStep(LineMoveStep.FR_11_BatchAxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.TimeOutSeconds = 120;
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服回原点");
BatchAxis.HomeMove(MoveInfo);
break;
case LineMoveStep.FR_11_BatchAxisHome:
MoveInfo.NextMoveStep(LineMoveStep.FR_12_BatchAxisToP2);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服下降到P2点，");
MoveInfo.TimeOutSeconds = 120;
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
break;
case LineMoveStep.FR_12_BatchAxisToP2:
MoveInfo.NextMoveStep(LineMoveStep.FR_13_LocationDown);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 托盘定位气缸后退，升降伺服到P1");
TrayLCylinderAfter(MoveInfo);
Thread.Sleep(50);
break;
case LineMoveStep.FR_13_LocationDown:
MoveInfo.NextMoveStep(LineMoveStep.FR_14_FixedUp);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：固定气缸上升");
FixedCylinderUp(MoveInfo);
break;
case LineMoveStep.FR_14_FixedUp:
MoveInfo.NextMoveStep(LineMoveStep.FR_15_TopDown);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 定位气缸下降 ，夹紧气缸放松");
LocationCylinderDown(MoveInfo);
//CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
break;
case LineMoveStep.FR_15_TopDown:
RFIDData data = RFIDManager.GetShelfId(DeviceID);
if (data.Num > 0)
{
MoveInfo.NextMoveStep(LineMoveStep.FR_16_WaitLocationCheck);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：定位工位读取到料串 " + data.NumStr() + " ， 等待定位工位检测信号亮");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}
//判断定位工位是否有料架
else if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FR_17_BatchAxisToP1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：定位工位有料架，提升伺服不需要到P1");
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FR_17_BatchAxisToP1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：定位工位无料架，提升伺服上升到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
break;
case LineMoveStep.FR_16_WaitLocationCheck:
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FR_17_BatchAxisToP1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：定位工位有料架，提升伺服不需要到P1");
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FR_16_WaitLocationCheck);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：定位工位读取到料串 ， 等待定位工位检测信号亮");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}
break;
case LineMoveStep.FR_17_BatchAxisToP1:
MoveInfo.NextMoveStep(LineMoveStep.FR_18_ClampCheck);
DebugInfo(MoveInfo.MoveType + " : 等待夹爪料盘检测信号无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.LOW));
break;
case LineMoveStep.FR_18_ClampCheck:
LogInfo("重置完成！");
MoveEndS();
break;
default: break;
}
}
}
private void AllLineMove(IO_VALUE value)
{
IOMove(IO_Type.SL_Line_Run, value);
IOMove(IO_Type.SL_OutLine_Run, value);
IOMove(IO_Type.SL_LocationSideWay_Run, value);
IOMove(IO_Type.SL_OutSideWay_Run, value);
IOMove(IO_Type.SL_RollerLine_Run, value);
}
internal override void StopMove(string stopDes = "")
{
if (!String.IsNullOrEmpty(stopDes))
{
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) || MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
LogInfo("[" + stopDes + "]时中止运动: " + MoveInfo.ToStr());
}
}
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
//StopMove时设置状态为none
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
BatchAxisStopCheck();
BatchAxis.SuddenStop();
UpdownAxis.SuddenStop();
CloseAxis(BatchAxis);
CloseAxis(UpdownAxis);
//AllLineMove(IO_VALUE.LOW);
//CheckAndMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
//CheckAndMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
//CheckAndMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
CloseAllDO();
}
public override void StopRun()
{
runStatus = LineRunStatus.Wait;
//if (mainTimer != null)
//{
// mainTimer.Enabled = false;
//}
mainStop();
StopMove();
CloseLed();
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
}
protected override void BaseTimerProcess()
{
if (runStatus.Equals(LineRunStatus.Wait))
{
//取新的Io状态
IO_VALUE fuweiValue = IOValue(IO_Type.SL_Reset_BTN);
IO_VALUE lastFuwei = DILastValueMap[IO_Type.SL_Reset_BTN];
addLastDI(IO_Type.SL_Reset_BTN, fuweiValue);
//收到复位信号后启动
if (fuweiValue.Equals(IO_VALUE.HIGH) && lastFuwei.Equals(IO_VALUE.LOW))
{
//没有启动时收到启动按钮
LogUtil.info(Name + "没有启动时收到复位按钮，开始调用启动方法！");
bool isOk = StartRun();
if (!isOk)
{
LogUtil.error("启动失败，等待下次启动");
// mainTimer.Enabled = true;
mainStart();
}
}
return;
}
else
{
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
if (!isInSuddenDown)
{
LogUtil.error(Name + "收到急停信号，等待300后再次验证急停");
Thread.Sleep(300);
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg(Name + "收到急停信号，急停报警");
if (isInSuddenDown.Equals(false))
{
Alarm(LineAlarmType.SuddenStop);
}
return;
}
}
}
else if (IOValue(IO_Type.SL_Reset_BTN).Equals(IO_VALUE.HIGH))
{
if (NoAlarm())
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
LogUtil.error(Name + "收到复位信号，当前无报警，不需要复位");
}
else
{
LogUtil.error(Name + "收到复位信号，当前无报警,正在" + MoveInfo.MoveType + "处理中，不需要复位");
}
}
else
{
LogUtil.info(Name + "收到复位信号，开始复位");
Reset();
}
return;
}
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(LineMoveType.None) && NoErrorAlarm() && (!MoveStop))
{
if (Config.IsCanOut.Equals(0))
{
StartInStoreP();
}
else
{
StartOutStoreP();
}
OutLineProcess();
}
AgvStatusPro();
LedProcess();
if (UseAxis && runStatus >= LineRunStatus.Runing)
{
CheckAxisAlarm(UpdownAxis, BatchAxis);
}
}
}
private void CloseLed()
{
CheckAndMove(IO_Type.SL_AlarmLed, IO_VALUE.LOW);
CheckAndMove(IO_Type.SL_HddLed, IO_VALUE.LOW);
}
private DateTime lastProLedTime = DateTime.Now;
private void LedProcess()
{
try
{
TimeSpan span = DateTime.Now - lastProLedTime;
if (span.TotalMilliseconds < 500)
{
return;
}
lastProLedTime = DateTime.Now;
if (runStatus <= LineRunStatus.Wait)
{
CloseLed();
return;
}
//报警时红灯闪烁，待机时绿灯亮，复位时绿灯闪烁 忙碌时绿灯闪烁
bool isNeedAlarmLed = false;
bool isBusy = false;
if (runStatus.Equals(LineRunStatus.HomeMoving) || runStatus.Equals(LineRunStatus.Reset))
{
isBusy = true;
}
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) || MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
isBusy = true;
}
if (isInSuddenDown || isNoAirCheck || alarmType > LineAlarmType.AxisAlarm || (!alarmType.Equals(LineAlarmType.None)))
{
isNeedAlarmLed = true;
}
// 忙碌中，绿灯闪烁
if (isBusy)
{
if (IOValue(IO_Type.SL_HddLed).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.SL_HddLed, IO_VALUE.LOW);
}
}
else if (IOValue(IO_Type.SL_HddLed).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.SL_HddLed, IO_VALUE.LOW);
}
// 报警中 ，红灯闪烁
if (isNeedAlarmLed)
{
if (IOValue(IO_Type.SL_AlarmLed).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.SL_AlarmLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.SL_AlarmLed, IO_VALUE.LOW);
}
}
else if (IOValue(IO_Type.SL_AlarmLed).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.SL_AlarmLed, IO_VALUE.LOW);
}
}
catch (Exception ex)
{
LogUtil.error(Name + "灯处理定时器出错：", ex);
}
Thread.Sleep(5);
}
#region 气缸判断及动作
public void TopCylinderUp(LineMoveInfo moveinfo = null)
{
CylinderMove(moveinfo, IO_Type.SL_TopCylinder_Down, IO_Type.SL_TopCylinder_Up);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Down, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Up, IO_VALUE.HIGH));
}
}
public void TopCylinderDown(LineMoveInfo moveinfo = null)
{
CylinderMove(moveinfo, IO_Type.SL_TopCylinder_Up, IO_Type.SL_TopCylinder_Down);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Up, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Down, IO_VALUE.HIGH));
}
}
public void LocationCylinderUp(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_LocationCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationCylinder_Up, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Down1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Up1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Down2, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Up2, IO_VALUE.HIGH));
}
}
public void LocationCylinderDown(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_LocationCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationCylinder_Down, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Up1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Down1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Up2, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Down2, IO_VALUE.HIGH));
}
}
public void FixedCylinderUp(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_FixedCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.SL_FixedCylinder_Up, IO_VALUE.HIGH);
if (moveinfo != null)
{
if (Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up1) && Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up2))
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up2, IO_VALUE.HIGH));
}
else
{
moveinfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
if (Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Down1) && Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Down2))
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Down1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Down2, IO_VALUE.LOW));
}
}
}
public void FixedCylinderDown(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_FixedCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.SL_FixedCylinder_Down, IO_VALUE.HIGH);
if (moveinfo != null)
{
if (Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Down1) && Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Down2))
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Down1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Down2, IO_VALUE.HIGH));
}
else
{
moveinfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
if (Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up1) && Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up2))
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up2, IO_VALUE.LOW));
}
}
}
public void TrayLCylinderBefore(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.HIGH));
}
}
public void TrayLCylinderAfter(LineMoveInfo moveinfo = null)
{
if (TrayLCylinderCanAfter())
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.LOW);
}
else
{
if (IOValue(IO_Type.SL_TrayLocation1_After).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_TrayLocation1_Before).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SL_TrayLocation2_After).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_TrayLocation2_Before).Equals(IO_VALUE.LOW))
{
}
else
{
WarnMsg = Name + "TrayLCylinderAfter：提升轴当前不在下降位置P2，不后退定位气缸";
Alarm(LineAlarmType.IoSingleTimeOut);
LogUtil.error(Name + "TrayLCylinderAfter：提升轴当前不在下降位置P2，不后退定位气缸");
}
}
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.LOW));
}
}
public bool TrayLCylinderCanAfter()
{
int currP = BatchAxis.GetAclPosition();
int chaz = Config.BatchAxisP2 - currP;
if ((Math.Abs(chaz) < Math.Abs(Config.Height_ChangeValue * 2)))
{
return true;
}
return false;
}
public bool IsTrayLCylinderAfter()
{
if (IOValue(IO_Type.SL_TrayLocation1_After).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_TrayLocation1_Before).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SL_TrayLocation2_After).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_TrayLocation2_Before).Equals(IO_VALUE.LOW))
{
return true;
}
return false;
}
public bool IsFixedCylinderUp()
{
if (Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up1) && Config.DIList.ContainsKey(IO_Type.SL_FixedCylinder_Up1))
{
if (IOValue(IO_Type.SL_FixedCylinder_Up1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_FixedCylinder_Up2).Equals(IO_VALUE.HIGH))
{
return true;
}
}
else
{
if (IOValue(IO_Type.SL_FixedCylinder_Down1).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SL_FixedCylinder_Down2).Equals(IO_VALUE.LOW))
{
return true;
}
}
return false;
}
public bool UpdownIsInP1()
{
if (UpdownAxis.IsInPosition(Config.UpDownAxisP1))
{
return true;
}
return false;
}
#endregion
#region 提升轴匀速上升处理
public bool LastMoveIsTest = true;
public void BatchAxisToP3(bool isFirstMove = true, bool isWait = true, bool IsTest = false)
{
int targetP3 = Config.BatchAxisP3;
int targetSpeed = Config.BatchAxis_P3Speed;
if (!isFirstMove)
{
int currPosition = BatchAxis.GetAclPosition();
if (currPosition != -1)
{
targetP3 = currPosition + Config.Height_ChangeValue * 80;
if (targetP3 > Config.BatchAxisP3)
{
targetP3 = Config.BatchAxisP3;
}
LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
if (isWait)
{
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, targetSpeed));
}
Config.Batch_Axis.TargetPosition = targetP3;
BatchAxis.AbsMove(null, targetP3, targetSpeed);
//开始检测信号
BatchAxisStartCheck();
LastMoveIsTest = IsTest;
}
private System.Timers.Timer axisCheckTimer = null;
private string TargetIoType = IO_Type.SL_AxisLocationCheck;
private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
private bool BatchAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = IO_Type.SL_AxisLocationCheck;
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
public bool BatchAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
public bool IsBatchMove()
{
if (axisCheckTimer != null && axisCheckTimer.Enabled)
{
return true;
}
return false;
}
private bool IsInProcess = false;
private DateTime lastOkTime = DateTime.Now;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimeSpan pan = DateTime.Now - lastOkTime;
if (IsInProcess && pan.TotalMilliseconds < 300) { return; }
try
{
IsInProcess = true;
lastOkTime = DateTime.Now;
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
BatchAxis.SuddenStop();
BatchAxisStopCheck();
}
}
catch (Exception ex)
{
LogUtil.error("CheckTimer_Elapsed出错：", ex);
}
finally
{
IsInProcess = false;
}
}
#endregion
#region AGV
#region AGV状态处理
private Stopwatch needEnterWatch = new Stopwatch();
private Stopwatch needLeaveWatch = new Stopwatch();
//private void ResetEndAgvPro()
//{
// if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
// {
// ClientLevel level = ClientLevel.Low;
// if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
// {
// level = ClientLevel.Middle;
// }
// if (Config.IsCanOut.Equals(1))
// {
// level = ClientLevel.High;
// }
// LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave");
// AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// }
//}
private void AgvStatusPro()
{
if (NoErrorAlarm())
{
bool HasOutLine = Config.DOList.ContainsKey(IO_Type.SL_OutLine_Run);
if (HasOutLine && IOValue(IO_Type.SL_OutLine_Check).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(needLeaveWatch, 3000))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
level = ClientLevel.High;
}
else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
{
level = ClientLevel.Middle;
}
//线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
}
}
else if ((!HasOutLine) && IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(needLeaveWatch, 3000))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
level = ClientLevel.High;
}
else if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
{
level = ClientLevel.Middle;
}
//线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
}
}
else
{
needLeaveWatch.Stop();
AgvClient.SetToNone(Config.AgvOutName);
}
//入口无料架，
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(needEnterWatch, 3000))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
//如果是出料模块且当前无料架
if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
level = ClientLevel.High;
}
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
level = ClientLevel.Middle;
}
}
else
{
if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
level = ClientLevel.High;
}
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
level = ClientLevel.Middle;
}
}
AgvClient.NeedEnter(Config.AgvInName, "", level);
}
}
else
{
needEnterWatch.Stop();
AgvClient.SetToNone(Config.AgvInName);
}
}
else
{
needLeaveWatch.Stop();
AgvClient.SetToNone(Config.AgvOutName);
needEnterWatch.Stop();
AgvClient.SetToNone(Config.AgvInName);
}
}
#endregion
internal void AgvArrive(string nodeId, string rfid)
{
string logN = Name + "收到 AgvArrive 事件 [" + nodeId + "] [" + rfid + "] ";
if (nodeId.Equals(Config.AgvInName))
{
}
else if (nodeId.Equals(Config.AgvOutName))
{
}
LogUtil.info(logN + "：" + "暂无处理");
}
internal void AgvReady(string nodeId, string rfid)
{
string logN = Name + "收到 AgvReady 事件 [" + nodeId + "] [" + rfid + "] ";
if (nodeId.Equals(Config.AgvInName))
{
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info(logN + " ，入口有料架，暂不处理，重置 [" + nodeId + "] 状态为None");
AgvClient.SetStatus(nodeId);
return;
}
ShelfEnterProcess();
}
else if (nodeId.Equals(Config.AgvOutName))
{
string checkIo = IO_Type.SL_Out_Check;
if (HasOutLine)
{
checkIo = IO_Type.SL_OutLine_Check;
}
if (IOValue(checkIo).Equals(IO_VALUE.LOW))
{
LogUtil.info(logN + " ，未检测到出口有料架" + checkIo + "，暂不处理，重置 [" + nodeId + "] 状态为None");
AgvClient.SetStatus(nodeId);
return;
}
ShelfOutProcess();
}
}
private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false;
internal void ShelfOutProcess()
{
//AGV已到达，将料架送入AGV中
Task.Factory.StartNew(delegate
{
int StopDownMS = 0;
string checkIo = IO_Type.SL_Out_Check;
string lineDo = IO_Type.SL_OutSideWay_Run;
string stopDo = IO_Type.SL_Out_StopDown;
if (HasOutLine)
{
StopDownMS = 3000;
checkIo = IO_Type.SL_OutLine_Check;
lineDo = IO_Type.SL_OutLine_Run;
}
string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
try
{
LogUtil.info(logName + "开始，先设置状态为 MayLeave，阻挡下降" + StopDownMS);
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.MayLeave, ClientLevel.High, true);
if (IOValue(checkIo).Equals(IO_VALUE.HIGH))
{
ProcessShelfOut = true;
//出口阻挡下降，出口线体转动
IOMove(lineDo, IO_VALUE.HIGH);
Thread.Sleep(2000);
IOMove(stopDo, IO_VALUE.HIGH, StopDownMS);
bool result = WaitIo(checkIo, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 " + checkIo + "=LOW超时，等待8000后停止" + lineDo + "转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + checkIo + "=LOW ，等待8000后停止" + lineDo + "转动，发送FinishLeave");
}
//再转动8000
Thread.Sleep(8000);
//停止转动 ,阻挡上升
IOMove(lineDo, IO_VALUE.LOW);
IOMove(stopDo, IO_VALUE.LOW);
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.FinishLeave, ClientLevel.High, true);
Thread.Sleep(5000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfOut = false;
LogUtil.info(logName + ",停止转动，清空料架[" + LastOutShelfId + "]， 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理");
}
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
IOMove(lineDo, IO_VALUE.LOW);
ProcessShelfOut = false;
}
});
}
internal void ShelfEnterProcess()
{
Task.Factory.StartNew(delegate
{
string logName = Name + "AGV料架进入 [" + Config.AgvInName + "] ";
try
{
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logName + " 开始，设置状态=MayEnter");
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.MayEnter, ClientLevel.High, true);
ProcessShelfEnter = true;
//转动线体
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待进料检测信号
bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 600000);
LogUtil.info(logName + " 等待 SL_Entry_Check=High " + result + "， 等待 SL_Stop_Check 信号");
result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 600000);
LogUtil.info(logName + " 等待 SL_Stop_Check=High " + result + "，开始等待CloseDoor 超时10分钟");
try
{
result = WaitUtil.Wait(600000, delegate ()
{
return AgvClient.GetAction(Config.AgvInName).Equals(ClientAction.CloseDoor);
}, logName + "等待CloseDoor超时");
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
////等待 15000 毫秒后停止转动
//Thread.Sleep(15000);
if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_LineStart))
{
LogUtil.info(logName + " 完成, MoveInfo.MoveType= FI_03_LineStart 不需要停止链条转动");
}
else
{
LogUtil.info(logName + "完成，停止链条转动");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
//料架可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Thread.Sleep(5000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfEnter = false;
LogUtil.info(logName + " 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理，设置=None");
AgvClient.SetStatus(Config.AgvInName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
}
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
ProcessShelfEnter = false;
}
});
}
private bool ReadShelfId()
{
try
{
//判断料架的编码是否正确
RFIDData rfidD = RFIDManager.GetShelfId(DeviceID);
CurrShelfId = rfidD.NumStr();
//发送料架信息给调度系统
// AgvClient.SendRFID(Config.AgvInName, CurrShelfId);
LogUtil.info(Name + "读取到料架编号：" + CurrShelfId);
if (CurrShelfId.EndsWith("00"))
{
string saveShelf = GetShelfID();
if ((!String.IsNullOrEmpty(saveShelf)) && (!saveShelf.EndsWith("00")))
{
LogUtil.info(Name + "读取到的料架号【" + CurrShelfId + "】无效，使用 缓存料架RFID：" + saveShelf);
CurrShelfId = saveShelf;
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "UpdateShelfId出错：", ex);
}
return true;
}
private bool ProOutLine = false;
internal void OutLineProcess()
{
if (HasOutLine && IOValue(IO_Type.SL_OutLine_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.SL_OutLine_Run).Equals(IO_VALUE.LOW) && (!ProcessShelfOut))
{
string logName = Name + " 出料线体料架->出口";
Task.Factory.StartNew(delegate
{
ProOutLine = true;
try
{
LogUtil.info(logName + ", 开始转动出料线体");
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.HIGH);
bool result = WaitIo(IO_Type.SL_OutLine_Check, IO_VALUE.HIGH, 60000);
if (!ProcessShelfOut)
{
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
}
ProOutLine = false;
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
if (!ProcessShelfOut)
{
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
}
ProOutLine = false;
}
});
}
}
}
#region 料架号保存
private void UpdateLastShelfID(string currRfid = "")
{
string configStr = Setting_Init.Feed_LastShelfID_ + DeviceID;
ConfigAppSettings.SaveValue(configStr, currRfid);
LogUtil.info(Name + " UpdateLastShelfID 缓存料架RFID更改：【" + configStr + "】=【" + currRfid + "】");
}
private string GetShelfID()
{
string configStr = Setting_Init.Feed_LastShelfID_ + DeviceID;
return ConfigAppSettings.GetValue(configStr);
}
#endregion
#endregion
internal bool NeedEmptyTray()
{
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) &&
MoveInfo.MoveStep > LineMoveStep.FI_14_TrayLocation_Before &&
MoveInfo.MoveStep < LineMoveStep.FI_51_BatchAxisToP2)
{
return true;
}
return false;
}
private string lastcode = "";
public override string GetMoveStr()
{
string msg = "";
int tLength = 15;
string leftTask = "";
if (taskData != null)
{
leftTask = "剩余任务：" + taskData.ToStr();
}
msg += "料架：" + CurrShelfId + " " + leftTask + "\r\n";
if (LastOutParam.rfid != "")
{
msg += "出库信息：" + LastOutParam.ToShortStr() + "\r\n";
}
msg += "当前托盘：" + currTrayNum + " 上个托盘：" + preTrayNum + "\n";
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + "\n";
msg += "MoveT：" + MoveInfo.MoveType + " " + MoveInfo.SLog + "\n";
return msg;
}
public string GetLastTrayInfo()
{
return "" + LastWidth + "X" + LastHeight + "=" + lastcode + "[" + ((LastPosParam != null) ? LastPosParam.PosId : "") + "]";
}
}
}