HY_OutLine.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
{
public class HY_OutLine : HYEquipBase
{
public HY_OutLine(string cid, HYEquip_Config config) : base(cid, config)
{
Name = (" "+config.LineName+"HY" + (DeviceID % 100).ToString().PadLeft(2, '0') + " ").ToUpper();
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
SecondMoveInfo.EndMove();
MoveInfo.NextMoveStep(LineMoveStep.HY_R_01StopMove);
LogInfo("开始" + MoveInfo.MoveType + "： 线体停止，顶升下降，阻挡上升 ");
LineStop(MoveInfo);
IOMove(IO_Type.HY_ShortL_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.HY_LongL_StopDown, IO_VALUE.LOW);
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
if (MoveInfo.IsStep(LineMoveStep.HY_R_01StopMove))
{
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
}
}
}
internal override void StopMove()
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
LogInfo("停止运动：横移线体停止，阻挡上升，顶升气缸下降，定位气缸下降 ");
LineStop();
IOMove(IO_Type.HY_ShortL_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.HY_LongL_StopDown, IO_VALUE.LOW);
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
//判断流水线打开了才可以运行
if ((!MoveStop))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line.CanProcessLine())
{
CheckFixture();
}
}
else
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
}
else
{
CheckStopWatch(trayCheck2LowWait, 30000, false);
}
if (MoveInfo.MoveType.Equals(LineMoveType.ReturnHome) || MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
else
{
FixtureProcess();
}
}
}
}
private Stopwatch trayCheckWait = new Stopwatch();//检测到托盘的时间
private Stopwatch trayCheck2LowWait = new Stopwatch();//上一个托盘离开的时间
private object lockObj = "";
private void CheckFixture()
{
if (Monitor.TryEnter(lockObj, 100))
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " CheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.HY_OL_Full_Check).Equals(IO_VALUE.LOW))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
if (!CylinderIsOk(IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down))
{
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
}
else
{
if (Config.DIList.ContainsKey(IO_Type.HY_LongL_StopCheck) && IOValue(IO_Type.HY_LongL_StopCheck).Equals(IO_VALUE.HIGH))
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk)
{
//托盘在前阻挡处
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
MoveInfo.NewMove(LineMoveType.CheckFixture);
MoveInfo.NextMoveStep(LineMoveStep.OHY01_LongLCheck);
LogInfo(" 出料线横移(长线)：" + MoveInfo.SLog + "，长线阻挡检测到托盘");
ClearTrayRFID();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_LongL_StopCheck, IO_VALUE.HIGH));
}
}
else if (Config.DIList.ContainsKey(IO_Type.HY_ShortL_StopCheck) && IOValue(IO_Type.HY_ShortL_StopCheck).Equals(IO_VALUE.HIGH))
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk)
{
//托盘在前阻挡处
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
MoveInfo.NewMove(LineMoveType.CheckFixture);
MoveInfo.NextMoveStep(LineMoveStep.OHY01_LongLCheck);
LogInfo(" 出料线横移(长线)：" + MoveInfo.SLog + "，短线阻挡检测到托盘");
ClearTrayRFID();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ShortL_StopCheck, IO_VALUE.HIGH));
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
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");
}
}
protected override void FixtureProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 托盘检测处理
#region 长线阻挡放行
if (MoveInfo.IsStep(LineMoveStep.OHY01_LongLCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY02_TopDown);
IOMove(IO_Type.HY_ShortL_StopDown, IO_VALUE.LOW);
CheckLog("出料线横移(长线)" + MoveInfo.SLog + " 顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else if (MoveInfo.IsStep(LineMoveStep.OHY02_TopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY03_LongLStopDown);
CheckLog("出料线横移(长线)" + MoveInfo.SLog + " 长线体阻挡下降");
IOMove(IO_Type.HY_LongL_StopDown, IO_VALUE.HIGH, 1200);
}
else if (MoveInfo.IsStep(LineMoveStep.OHY03_LongLStopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY04_WaitTray);
CheckLog("出料线横移(长线)" + MoveInfo.SLog + " 等待托盘检测信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_LongL_StopCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.OHY04_WaitTray))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY05_TrayCheck);
CheckLog("出料线横移(长线)" + MoveInfo.SLog + " 再次等待托盘检测信号500ms");
IOMove(IO_Type.HY_LongL_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.OHY05_TrayCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY21_WaitTrayLeave);
CheckLog("出料线横移(长线)" + MoveInfo.SLog + " 等待托盘离开");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
#endregion
#region 短线阻挡放行
else if (MoveInfo.IsStep(LineMoveStep.OHY11_ShortLCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY12_TopUp);
IOMove(IO_Type.HY_LongL_StopDown, IO_VALUE.LOW);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 顶升气缸上升");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
else if (MoveInfo.IsStep(LineMoveStep.OHY12_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY13_ShortLStopDown);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 短线阻挡下降1200，线体转动");
IOMove(IO_Type.HY_ShortL_StopDown, IO_VALUE.HIGH, 1200);
LineRun(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.OHY13_ShortLStopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY14_WaitTray);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 等待托盘检测信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ShortL_StopCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.OHY14_WaitTray))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY15_TrayCheck);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 再次等待托盘检测信号500ms");
IOMove(IO_Type.HY_ShortL_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.OHY15_TrayCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY16_TopDown);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else if (MoveInfo.IsStep(LineMoveStep.OHY16_TopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY21_WaitTrayLeave);
CheckLog("出料线横移(短线)" + MoveInfo.SLog + " 等待托盘离开");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
#endregion
else if (MoveInfo.IsStep(LineMoveStep.OHY21_WaitTrayLeave))
{
MoveInfo.NextMoveStep(LineMoveStep.OHY22_TrayLeave);
CheckLog("出料线横移" + MoveInfo.SLog + " 再次等待托盘检测信号500ms");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.OHY22_TrayLeave))
{
CheckLog("出料线横移" + MoveInfo.SLog + " 横移结束");
MoveInfo.EndMove();
}
else
{
LogUtil.error(Name + "FixtureProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
#endregion
}
}
}