LineBean_T3-C1.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class LineBean
{
private bool T3C1_Pro = false;
private DateTime T3C1_ProTime = DateTime.Now;
private static LineMoveInfo T3C1_MoveInfo = null;
public int T3C1_TrayNum = 0;
private void Update_T3C1_TrayNum()
{
T3C1_TrayNum = RFIDManager.GetTrayNum(T3C1_MoveInfo.Name, 300);
}
public void T3C1_Stop(LineMoveInfo moveInfo = null)
{
T3C1_MoveInfo.EndMove();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW);
CylinderMove(moveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
private void T3C1_TimerProcess()
{
TimeSpan span = DateTime.Now - T3C1_ProTime;
if (T3C1_Pro && span.TotalSeconds < 5)
{
return;
}
try
{
T3C1_Pro = true;
T3C1_ProTime = DateTime.Now;
if (!CanProcessLine())
{
T3C1_Pro = false;
return;
}
if (T3C1_MoveInfo.MoveType.Equals(LineMoveType.None))
{
T3C1_CheckFixture();
}
else
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
}
else
{
CheckStopWatch(trayCheck2LowWait, 30000, false);
}
T3C1_BusyProcess();
}
}
catch (Exception ex)
{
LogUtil.error(Name + "T3C1_TimerProcess 出错：", ex);
}
T3C1_Pro = false;
}
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheck2LowWait = new Stopwatch();
private object lockObj = "";
private void T3C1_CheckFixture()
{
if (Monitor.TryEnter(lockObj, 100))
{
try
{
if (T3C1_MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " T3C1_CheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (T3C1_MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
if ( CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
T3C1_MoveInfo.NewMove(LineMoveType.Fixture);
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
T3C1_Log("检测到阻挡托盘，" + T3C1_MoveInfo.SLog + " ，前阻挡上升，阻挡上升");
Update_T3C1_TrayNum();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW));
IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_StopDown, IO_VALUE.LOW));
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk )
{
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
//托盘在第一个阻挡处
T3C1_MoveInfo.NewMove(LineMoveType.Fixture);
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
T3C1_Log(" 托盘检测：" + T3C1_MoveInfo.SLog + "，检测到HY_FrontStopCheck，前阻挡下降 ， 等待 HY_FrontStopCheck=0，清理托盘RFID");
T3C1_TrayNum = 0;
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
T3C1_MoveInfo.OneWaitCanEndStep = true;
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
}
else
{
trayCheckWait.Stop();
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " CheckFixture " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockObj);
}
}
else
{
LogUtil.error(Name + " CheckFixture " + "失败，未得到锁");
}
}
private void T3C1_BusyProcess()
{
if (T3C1_MoveInfo.IsInWait)
{
CheckWait(T3C1_MoveInfo);
}
if (T3C1_MoveInfo.IsInWait)
{
return;
}
#region 托盘检测
if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_01_TrayCheck);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 前阻挡上升，等待 阻挡托盘检测=1");
IOMove(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_01_TrayCheck))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 再次等待托盘信号");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_03_StopUp))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " ,等待编码信号稳定 HY_TrayCheck=1");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_04_Wait))
{
try
{
Update_T3C1_TrayNum();
if (TrayNeedT3C1(T3C1_TrayNum))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 入库中需要空托盘，等待200");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
{
LogUtil.debug(Name + T3C1_MoveInfo.MoveNum + "*************** ，当前托盘【" + T3C1_TrayNum + "】放盘通过~");
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
}
catch (Exception ex)
{
LogUtil.error("判断托盘是否需要顶升出错：", ex);
}
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_05_WaitTime))
{
//如果是出库，且盘高大于30，暂不顶升
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopUp);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 顶升气缸上 升 ）");
CylinderMove(T3C1_MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_06_TopUp))
{
T3C1_Log("托盘阻挡*************** 托盘号【" + T3C1_TrayNum + "】");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
//托盘号正确
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (TrayNeedT3C1(T3C1_TrayNum))
{
T3C1_MoveInfo.MoveParam = new InOutParam(T3C1_TrayNum);
LogInfo(T3C1_MoveInfo.MoveNum + "*************** 空托盘【" + T3C1_TrayNum + "】，正在入库中，移栽料盘");
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
}
else
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
T3C1_Log("托盘检测" + T3C1_MoveInfo.SLog + " ，托盘号【" + T3C1_TrayNum + "】,直接放盘通过，顶升气缸下降 ");
CylinderMove(T3C1_MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
}
#endregion
#region 不需要出入库，直接放行
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_14_TopDown))
{
MO_16_Stop2Down();
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_15_WaitCanGo))
{
MO_16_Stop2Down();
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_16_Stop2Down))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);
T3C1_Log("托盘放行" + T3C1_MoveInfo.SLog + " ， 等待StopCylinder_Check2=0");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_17_Stop2Check))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_18_WaitTime);
T3C1_Log("托盘放行 " + T3C1_MoveInfo.SLog + " ， 等待300ms后阻挡2上升");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_18_WaitTime))
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_19_StopUp);
T3C1_Log("托盘放行" + T3C1_MoveInfo.SLog + " ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_StopDown, IO_VALUE.LOW));
}
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MO_19_StopUp))
{
T3C1_Log("托盘放行 SecondMove：(托盘放行结束） ");
T3C1_MoveInfo.EndMove();
}
#endregion
}
private void MO_16_Stop2Down()
{
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
T3C1_Log("托盘放行" + T3C1_MoveInfo.SLog + " ，阻挡气缸2下降 ");
IOMove(IO_Type.HY_StopDown, IO_VALUE.HIGH);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_StopDown, IO_VALUE.HIGH));
}
private bool TrayNeedT3C1(int trayNum)
{
try
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(trayNum);
if (trayInfo.IsFull)
{
return false;
}
//判断T3是否在入库等待托盘
FeedingEquip feedT3 = FeedingEquipMap[103];
if (feedT3.CurrTrayIsNeed(T3C1_TrayNum, false))
{
LogInfo("T3C1: T3在入库托盘等待中，拦截托盘【" + T3C1_TrayNum + "】");
return true;
}
}
catch (Exception ex)
{
LogUtil.error("TrayNeedT3C1_出错：" + ex.ToString());
}
return false;
}
private void T3C1_Log(string msg)
{
LogUtil.debug(Name + "[" + T3C1_TrayNum + "]" + msg);
}
internal bool T3C1TrayIsReady()
{
if (T3C1_MoveInfo.MoveType.Equals(LineMoveType.Fixture) && T3C1_MoveInfo.IsStep(LineMoveStep.MO_11_CodeRember))
{
return true;
}
return false;
}
internal void T3C1TrayCanLeave()
{
if (runStatus <= LineRunStatus.Wait)
{
return;
}
if (T3C1TrayIsReady())
{
MO_16_Stop2Down();
}
}
}
}