BoxBean.cs
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using log4net.Repository.Hierarchy;
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 partial class BoxBean : KTK_Store
{
public static bool IsRun = false;
public string CID = "";
public BoxConfig Config;
public string lastPosId = "";
public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline;
public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>();
private Dictionary<string, AxisAlarmInfo> AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
private bool UseCompress_Axis = true;
public HumitureBean humBean = null;
public LineConnect lineConnect = null;
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
private System.Timers.Timer IoCheckTimer = new System.Timers.Timer();
private System.Timers.Timer readDITimer = new System.Timers.Timer();
public BoxBean(BoxConfig config)
{
Init();
serverConnectTimer = new System.Timers.Timer();
serverConnectTimer.Interval = 1000;
serverConnectTimer.AutoReset = true;
serverConnectTimer.Enabled = false;
serverConnectTimer.Elapsed += server_connect_timer_Tick;
IoCheckTimer = new System.Timers.Timer();
IoCheckTimer.Interval = 300;
IoCheckTimer.AutoReset = true;
IoCheckTimer.Enabled = false;
IoCheckTimer.Elapsed += IoCheckTimer_Elapsed;
readDITimer = new System.Timers.Timer();
readDITimer.Interval = 20;
readDITimer.AutoReset = true;
readDITimer.Enabled = false;
readDITimer.Elapsed += ReadDITimer_Elapsed;
this.DeviceID = config.DeviceID;
this.baseConfig = config;
this.Config = config;
this.CID = config.CID;
//添加调试
IsDebug = config.ISDebug.Equals(1);
UseCompress_Axis = true;
Name = ("左侧BOX_" + config.GetStoreId() + " ").ToUpper();
if (config.DeviceID.Equals(2))
{
Name = ("右侧BOX_" + config.GetStoreId() + " ").ToUpper();
}
moveAxisList = new List<ConfigMoveAxis>();
MoveAxisConfig();
List<ACStorePosition> positionList = CSVPositionReader<ACStorePosition>.getPositionList();
PositionNumList = new List<string>();
foreach (ACStorePosition position in positionList)
{
bool result = ACStorePosition.CheckPosition(position, Config);
if (result && position.StoreId.Equals(config.GetStoreId()))
{
PositionNumList.Add(position.PositionNum);
}
}
humBean = new HumitureBean(config.Humiture_Port, Name);
lineConnect = new LineConnect(config.GetStoreId(),config.CID);
mainTimer.Enabled = false;
}
public void MoveAxisConfig()
{
moveAxisList = new List<ConfigMoveAxis>();
moveAxisList.Add(Config.Middle_Axis);
moveAxisList.Add(Config.UpDown_Axis);
moveAxisList.Add(Config.InOut_Axis);
this.AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.GetNameStr(), new AxisAlarmInfo());
this.AxisAlarmCodeMap.Add(Config.InOut_Axis.GetNameStr(), new AxisAlarmInfo());
this.AxisAlarmCodeMap.Add(this.Config.Middle_Axis.GetNameStr(), new AxisAlarmInfo());
moveAxisList.Add(Config.Comp_Axis);
this.AxisAlarmCodeMap.Add(this.Config.Comp_Axis.GetNameStr(), new AxisAlarmInfo());
}
public override bool StartRun()
{
autoNext = false;
mainTimer.Enabled = false;
alarmType = StoreAlarmType.None;
//急停按钮和气压检测需要一起判断
IO_VALUE suddenBtn = IOValue(IO_Type.SuddenStop_BTN);
IO_VALUE airCheck = IOValue(IO_Type.Airpressure_Check);
airCheck = IO_VALUE.HIGH;
if (suddenBtn.Equals(IO_VALUE.HIGH) && (airCheck.Equals(IO_VALUE.HIGH)))
{
lastAirCloseTime = DateTime.Now;
if (!OpenAllAxis(true))
{
return false;
}
LogUtil.info(Name + "开始启动，启动时间：" + StartTime.ToString());
//TODO 启动时先所有轴远点返回，测试暂时关闭
storeRunStatus = StoreRunStatus.HomeMoving;
storeStatus = StoreStatus.ResetMove;
//启动温湿度服务器
HumitureController.Init(Config.Humiture_Port);
lineConnect.StartConnect();
ReturnHome();
StartTime = DateTime.Now;
InProcess = false;
mainTimer.Enabled = true;
IoCheckTimer.Enabled = true;
serverConnectTimer.Enabled = true;
IsRun = true;
return true;
}
else
{
if (suddenBtn.Equals(IO_VALUE.LOW))
{
SetWarnMsg("启动失败：急停未开");
LogUtil.error(" (" + Name + ")启动出现错误：急停没开 ！启动失败！");
}
else
{
SetWarnMsg("启动失败：没有气压信号");
LogUtil.error(" (" + Name + ")启动出现错误：没有气压信号 ！启动失败！");
}
return false;
}
}
#region 原点返回和复位处理
private void ReturnHome()
{
isNoAirCheck = false;
isInSuddenDown = false;
WarnMsg = "";
CurrInOutACount = 0;
CurrInOutCount = 0;
storeRunStatus = StoreRunStatus.HomeMoving;
MoveInfo.NewMove(StoreMoveType.ReturnHome);
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
ACAxisHomeMove(Config.InOut_Axis);
LogUtil.info(Name + "开始原点返回，先把进出轴回原点");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
public void MoveToP1()
{
//压紧轴回原点，叉子回到P1,关闭门旋转轴和升降轴回到P1
MoveInfo.NewMove(StoreMoveType.StoreReset);
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_InOutToP1);
LogUtil.info(Name + "到待机状态，进出轴到P1，判断叉子没有料盘");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
}
public override void Reset(bool isNeedClearAuto = true)
{
CurrInOutCount = 0;
CurrInOutACount = 0;
//复位之前先停止运行
if (isNeedClearAuto)
{
autoNext = false;
}
AxisManager.instance.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
isInSuddenDown = false;
isNoAirCheck = false;
alarmType = StoreAlarmType.None;
storeRunStatus = StoreRunStatus.Reset;
storeStatus = StoreStatus.ResetMove;
MoveInfo.NewMove(StoreMoveType.StoreReset);
WarnMsg = "";
if (!OpenAllAxis(true))
{
LogUtil.info(Name + "复位时打开轴失败，需要再次复位，直接报警停止复位");
return;
}
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
LogUtil.info(Name + "复位中，进出轴开始原点返回");
ACAxisHomeMove(Config.InOut_Axis);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
switch (MoveInfo.MoveStep)
{
case StoreMoveStep.BOX_H_InOutMove:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
ACAxisHomeMove(Config.InOut_Axis);
LogUtil.info(Name + "" + MoveInfo.MoveType + "：进出轴开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case StoreMoveStep.BOX_H_InOutBack:
Thread.Sleep(200);
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1);
LogUtil.info(Name + "" + MoveInfo.MoveType + "：进出轴到待机点P1["+ Config.InOutAxis_P1_Position + "]，关闭舱门");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
CloseDoor();
break;
case StoreMoveStep.BOX_H_InOutToP1:
//如果此时轴三还在报警，需要提示错误并等待
if (AxisManager.instance.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{
if (AxisManager.instance.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{
WarnMsg = Name + "" + MoveInfo.MoveType + "进出轴报警！复位失败，请检查!";
LogUtil.error(Name + "" + MoveInfo.MoveType + "进出轴报警！复位失败，请检查！");
}
}
//复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
LogUtil.info(Name + "" + MoveInfo.MoveType + "： 压紧轴，旋转轴，上下轴开始 原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack);
MoveInfo.TimeOutSeconds = 100;
if (UseCompress_Axis)
{
ACAxisHomeMove(Config.Comp_Axis);
}
ACAxisHomeMove(Config.Middle_Axis);
ACAxisHomeMove(Config.UpDown_Axis);
break;
case StoreMoveStep.BOX_H_OtherAxisBack:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(Name + "" + MoveInfo.MoveType + "：旋转轴运动到P1[" + Config.MiddleAxis_P1_Position + "]，上下轴走到P1[" + Config.UpDownAxis_DoorOPosition_P1 + "]，压紧轴到P1[" + Config.CompressAxis_P1_Position + "]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position, Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(Name + "" + MoveInfo.MoveType + "完成");
storeRunStatus = StoreRunStatus.Runing;
MoveInfo.EndMove();
storeStatus = StoreStatus.StoreOnline;
if (alarmType.Equals(StoreAlarmType.None))
{
WarnMsg = "";
}
break;
case StoreMoveStep.BOX_M_H_TOP1_InOutToP1:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_CompressHome);
LogUtil.info(Name + "到待机状态，压紧轴回原点，关闭舱门");
if (UseCompress_Axis)
{
ACAxisHomeMove(Config.Comp_Axis);
}
//关闭舱门
CloseDoor();
break;
case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
LogUtil.info(Name + "" + MoveInfo.MoveType + "：旋转轴运动到P1[" + Config.MiddleAxis_P1_Position + "]，上下轴走到P1[" + Config.UpDownAxis_DoorOPosition_P1 + "]，压紧轴到P1[" + Config.CompressAxis_P1_Position + "]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position, Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogUtil.info(Name + "到待机状态完成");
MoveInfo.EndMove();
storeStatus = StoreStatus.StoreOnline;
storeRunStatus = StoreRunStatus.Runing;
if (alarmType.Equals(StoreAlarmType.None))
{
WarnMsg = "";
}
break;
default: break;
}
}
#endregion
#region 门开关，伺服开关操作
private void ComMoveToPosition(int targetPosition, int targetSpeed)
{
if (UseCompress_Axis)
{
ACAxisMove(Config.Comp_Axis, targetPosition, targetSpeed);
}
}
private bool DoorIsOpen()
{
if (IOValue(IO_Type.Door_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Door_Up).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public void OpenDoor(bool IsWait = true)
{
Thread.Sleep(60);
IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
if (IsWait)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
}
}
public void CloseDoor(bool IsWait = true)
{
IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
if (IsWait)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
}
}
public bool OpenAllAxis(bool isCheck)
{
foreach (ConfigMoveAxis moveAxis in moveAxisList)
{
string portName = moveAxis.DeviceName;
short slvAddr = moveAxis.GetAxisValue();
AxisManager.instance.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
AxisManager.instance.ServoOn(portName, slvAddr);
}
Thread.Sleep(500);
//打开所有轴
if (isCheck)
{
if (!CheckAndOpenAxis())
{
return false;
}
}
return true;
}
private bool CheckAndOpenAxis()
{
//判断轴是否正常
foreach (ConfigMoveAxis axis in moveAxisList)
{
if (AxisManager.instance.IsServeoOn(axis.DeviceName, axis.GetAxisValue()))
{
LogUtil.info(Name + "成功打开轴：" + axis.Explain);
}
else
{
//清理报警，再重新打开一次
LogUtil.info(Name + "第一次打开轴" + axis.Explain + "失败，先清理一下报警，再重新打开一次");
AxisManager.instance.AlarmClear(axis.DeviceName, axis.GetAxisValue());
System.Threading.Thread.Sleep(1200);
AxisManager.instance.ServoOn(axis.DeviceName, axis.GetAxisValue());
System.Threading.Thread.Sleep(100);
if (AxisManager.instance.IsServeoOn(axis.DeviceName, axis.GetAxisValue()))
{
LogUtil.info(Name + "清理报警后重新打卡轴成功：" + axis.Explain);
}
else
{
AxisManager.instance.ServoOff(axis.DeviceName, axis.GetAxisValue());
int alarmCode = GetAlarmCodeByAxis(axis);
WarnMsg = Name + "打开轴" + axis.Explain + "失败 ";
LogUtil.info(Name + WarnMsg);
Alarm(StoreAlarmType.AxisAlarm, GetAlarmCodeByAxis(axis).ToString(), WarnMsg, MoveInfo.MoveType);
return false;
}
}
}
return true;
}
public void CloseAllAxis()
{
LogUtil.info(Name + "关闭所有轴");
foreach (ConfigMoveAxis axis in moveAxisList)
{
AxisManager.instance.ServoOff(axis.DeviceName, axis.GetAxisValue());
}
}
private int GetAlarmCodeByAxis(ConfigMoveAxis axis)
{
int alarmCode = LineAlarm.InOutAxisAlarm;
int axisType = axis.GetAxisValue() % 4;
if (axisType == 1)
{
alarmCode = LineAlarm.MiddleAxisAlarm;
}
else if (axisType == 2)
{
alarmCode = LineAlarm.UpDownAxisAlarm;
}
else if (axisType == 3)
{
alarmCode = LineAlarm.InOutAxisAlarm;
}
else
{
alarmCode = LineAlarm.CompressAxisAlarm;
}
return alarmCode;
}
#endregion
public override void StopRun()
{
WarnMsg = "";
autoNext = false;
IoCheckTimer.Enabled = false;
serverConnectTimer.Enabled = false;
StopMove();
storeRunStatus = StoreRunStatus.Wait;
mainTimer.Enabled = false;
TimeSpan span = DateTime.Now - StartTime;
IsRun = false;
lineConnect.StopConnect();
IOManager.instance.CloseAllDO();
LogUtil.info(Name + ",停止运行，总运行时间：" + span.ToString());
}
public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType)
{
SaveAlarmInfo(alarmType, alarmDetial, alarmMsg, storeMoveType);
autoNext = false;
if (this.alarmType.Equals(alarmType) && alarmType != StoreAlarmType.SuddenStop && alarmType != StoreAlarmType.NoAirCheck)
{
return;
}
LogUtil.error(Name + " 报警，报警类型：" + alarmType);
this.alarmType = alarmType;
if (alarmType.Equals(StoreAlarmType.AxisAlarm) | alarmType.Equals(StoreAlarmType.AxisMoveError))
{
LogUtil.error(Name + "轴报警，关闭刹车，停止运动，关闭轴，打开报警灯");
//IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
StopMove();
}
else if (alarmType == StoreAlarmType.SuddenStop)
{
isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，关闭刹车，停止运动，关闭轴，打开报警灯 ");
//IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
StopMove();
storeStatus = StoreStatus.SuddenStop;
}
else if (alarmType.Equals(StoreAlarmType.NoAirCheck))
{
isNoAirCheck = true;
LogUtil.error(Name + " 未检测到气压信号 ,打开刹车，停止运动，关闭轴，打开报警灯 ");
//IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
StopMove();
storeStatus = StoreStatus.SuddenStop;
}
}
#region 急停，复位，气压检测
private void IoCheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
//return;
//判断急停
if (storeRunStatus >= StoreRunStatus.HomeMoving)
{
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
if (isInSuddenDown.Equals(false))
{
LogUtil.error(Name + "收到急停信号，等待100后再次验证急停");
Thread.Sleep(100);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，报警急停");
//WarnMsg = Name + "收到急停信号，报警急停";
SetWarnMsg( "收到急停信号，报警急停");
//报警时会关闭所有轴
Alarm(StoreAlarmType.SuddenStop, "1", WarnMsg, StoreMoveType.None);
}
}
}
else
{
if (IOValue(IO_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
{
//收到复位信号，若报警直接复位，若不报警且无操作，回到待机点
if (alarmType.Equals(StoreAlarmType.None) && isInSuddenDown.Equals(false) && isNoAirCheck.Equals(false))
{
if (MoveInfo.MoveType.Equals(StoreMoveType.None))
{
LogUtil.info("收到复位信号，当前无报警，且空闲中，只回到待机点");
MoveToP1();
}
else
{
LogUtil.info("收到复位信号，当前无报警， 在" + MoveInfo.MoveType + "处理中，不处理复位");
}
}
else
{
//收到复位信号
LogUtil.info("收到复位信号，自动复位");
WarnMsg = "收到复位信号，自动复位";
Reset();
}
}
else
{
AirCheckProcess();
}
}
}
}
private IO_VALUE preAirValue = IO_VALUE.HIGH;
private void AirCheckProcess()
{
IO_VALUE currAirValue = IOValue(IO_Type.Airpressure_Check);
if (isInSuddenDown|| isNoAirCheck)
{
return;
}
if (currAirValue.Equals(IO_VALUE.LOW))
{
//判断是否持续了3秒
if (preAirValue.Equals(IO_VALUE.LOW))
{
TimeSpan span = DateTime.Now - lastAirCloseTime;
if (span.TotalSeconds > StoreManager.Config.AirCheckSeconds)
{
SetWarnMsg( "未检测到气压信号");
preAirValue = IO_VALUE.LOW;
LogUtil.info("已持续【" + FormUtil.GetSpanStr(span) + "】未检测到气压信号，报警");
Alarm(StoreAlarmType.NoAirCheck, "2", WarnMsg, StoreMoveType.None);
return;
}
}
else
{
lastAirCloseTime = DateTime.Now;
isNoAirCheck = false;
}
}
else
{
isNoAirCheck = false;
}
preAirValue = currAirValue;
}
#endregion
private bool InProcess = false;
private bool IsChongfu = false;
private Stopwatch stopwatch = new Stopwatch();
private Stopwatch doorCheckWatch = new Stopwatch();
protected override void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (InProcess)
{
if (stopwatch.Elapsed.TotalMinutes < 1)
{
return;
}
else
{
LogUtil.error("主定时器：InProcess已等待" + stopwatch.Elapsed.ToString() + "重新处理");
IsChongfu = true;
}
}
try
{
InProcess = true;
stopwatch.Restart();
TimerProcess();
}
catch (Exception ex)
{
LogUtil.error(Name + "定时处理出错：" + ex.ToString());
}
IsChongfu = false;
InProcess = false;
}
private void ShowTimeLog(string info)
{
if (IsChongfu)
{
LogUtil.info("【" + info + "】 处理完成，耗时：" + stopwatch.Elapsed.ToString());
}
}
private void ReadDITimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SC_03_MoveToHBag) && IOValue(IO_Type.CheckPos).Equals(IO_VALUE.HIGH))
{
reelIsExist = true;
}
}
public void TimerProcess()
{
try
{
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH))
{
StoreManager.checkWatch(doorCheckWatch, 1000, false);
}
else
{
doorCheckWatch.Stop();
}
if (MoveInfo.MoveType != StoreMoveType.None)
{
BusyMoveProcess();
ShowTimeLog("BusyMoveProcess");
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing))
{
ShowTimeLog("判断是否需要出入库");
AutoResetProcess();
ShowTimeLog("AutoResetProcess");
IOTimeOutProcess();
ShowTimeLog("IOTimeOutProcess");
}
//检查运动轴报警
if (storeRunStatus > StoreRunStatus.Wait && (!isInSuddenDown) && (!isNoAirCheck))
{
CheckAxisAlarm();
ShowTimeLog("轴报警检测完成");
}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时处理出错:" + ex.ToString());
}
}
private DateTime preIoTimerOutTime = DateTime.Now;
/// <summary>
/// io检测异常
/// </summary>
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1)
{
preIoTimerOutTime = DateTime.Now;
if (!alarmType.Equals(StoreAlarmType.IoSingleTimeOut))
{
return;
}
if (storeRunStatus < StoreRunStatus.Runing)
{
return;
}
if (isInSuddenDown || isNoAirCheck)
{
return;
}
//if (WarnMsg.Contains("等待料仓门口检测到料盘"))
//{
// return;
//}
//若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.IsInWait == false)
{
LogUtil.info(Name + "之前有IO超时异常【" + alarmInfo.alarmDetail + "】,但是当前已经没有在等待中，清理信号超时异常！");
alarmType = StoreAlarmType.None;
WarnMsg = "";
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
}
}
/// <summary>
/// 超过配置次数时需要复位
/// </summary>
private void AutoResetProcess()
{
try
{
bool noInStore = lineConnect.WaitInStoreList.Count <= 0;
if (CurrInOutACount >= this.Config.Box_ResetACount && noInStore)
{
if (storeRunStatus < StoreRunStatus.Runing || MoveInfo.MoveType == StoreMoveType.InStore || MoveInfo.MoveType == StoreMoveType.OutStore)
{
LogUtil.info(Name + "已经累计出入库" + CurrInOutACount + "次，当时当前正在忙碌中暂不复位");
}
else
{
LogUtil.info(Name + "已经累计出入库" + CurrInOutACount + "次，需要复位一下");
Reset();
}
}
else if (CurrInOutCount >= this.Config.Box_ResetMCount && noInStore)
{
if (storeRunStatus < StoreRunStatus.Runing || MoveInfo.MoveType == StoreMoveType.InStore || MoveInfo.MoveType == StoreMoveType.OutStore)
{
LogUtil.info(Name + "已经累计出入库" + CurrInOutCount + "次，当时当前正在忙碌中暂不复位旋转轴");
}
else
{
LogUtil.info(Name + "已经累计出入库" + CurrInOutCount + "次，需要复位一下旋转轴");
}
}
else if (lineConnect.CanStartOut() || IsDebug)
{
InOutPosInfo currInOutFixture = null;
lock (waitOutListLock)
{
if (waitOutStoreList.Count > 0 && CanStarInOut())
{
currInOutFixture = waitOutStoreList[0];
waitOutStoreList.RemoveAt(0);
}
}
if (currInOutFixture != null)
{ //出库
LogUtil.info(Name + "开始执行排队中的出库【" + currInOutFixture.ToStr() + "】");
bool result = StartOutStoreMove(new InOutParam(currInOutFixture));
//bool result = StartOutStoreMove(new InOutParam("", currInOutFixture.PosId, currInOutFixture.plateH, currInOutFixture.plateW));
if (!result)
{
LogUtil.info(Name + " 执行排队中的出库【" + currInOutFixture.ToStr() + "】失败，重新加入等待队列");
AddWaitOutInfo(currInOutFixture);
}
}
}
}
catch (Exception ex)
{
LogUtil.error("处理出入库排队列表出错：" + ex.ToString());
}
}
private DateTime checkAlarmTime = DateTime.Now;
public bool CheckAxisAlarm()
{
if (alarmType.Equals(StoreAlarmType.AxisAlarm) || alarmType.Equals(StoreAlarmType.AxisMoveError))
{
return true;
}
TimeSpan span = DateTime.Now - checkAlarmTime;
//1秒钟检测一次轴报警
if (span.TotalSeconds < 1)
{
return false;
}
checkAlarmTime = DateTime.Now;
bool isInAlarm = false;
foreach (ConfigMoveAxis axisInfo in moveAxisList)
{
short axis = axisInfo.GetAxisValue();
string deviceName = axisInfo.GetNameStr();
AxisAlarmInfo info = AxisAlarmCodeMap[deviceName];
int alarmIo = AxisManager.instance.GetAlarmStatus(deviceName, axis);
if (alarmIo == 1)
{
WarnMsg = Name + " 运动轴" + axisInfo.Explain + "报警";
info.AlarmIoValue = alarmIo;
Alarm(StoreAlarmType.AxisAlarm, GetAlarmCodeByAxis(axisInfo).ToString(), WarnMsg, StoreMoveType.None);
isInAlarm = true;
}
else
{
if (!info.AlarmIoValue.Equals(alarmIo))
{
LogUtil.error(Name + " 运动轴 " + axisInfo.Explain + "，报警已解除！");
info.AlarmIoValue = alarmIo;
}
}
AxisAlarmCodeMap[deviceName] = info;
}
//判断报警状态
return isInAlarm;
}
public override void StopMove()
{
MoveInfo.EndMove();
//IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
//运动版停止
AxisManager.instance.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
AxisManager.instance.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
Thread.Sleep(300);
CloseAllAxis();
LogUtil.info(Name + "StopMove");
IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
isInPro = false;
}
public bool CanStarInOut()
{
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| storeStatus.Equals(StoreStatus.InStoreExecute) || storeStatus.Equals(StoreStatus.OutStoreExecute)
|| storeStatus.Equals(StoreStatus.InStoreEnd) || storeStatus.Equals(StoreStatus.OutStoreBoxEnd))
{
return false;
}
return true;
}
#region 入库命令处理
private int StrToInt(string str)
{
try
{
return Convert.ToInt32(str.Trim());
}
catch (Exception ex)
{
LogUtil.error(Name + "转换[" + str + "]出错：" + ex.ToString());
}
return 0;
}
private void ReviceInStoreProcess(string message, Operation resultOperation)
{
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
string posId = data[ParamDefine.posId];
string plateWStr = data[ParamDefine.plateW];
string plateHStr = data[ParamDefine.plateH];
int plateW = StrToInt(plateWStr);
int plateH = StrToInt(plateHStr);
InOutPosInfo inoutInfo = new InOutPosInfo(message, posId, plateH, plateW);
//根据发送的posId获取位置列表
ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = "入库未找到库位：【" + inoutInfo.ToStr() + "】 ";
LogUtil.error("收到服务器入库命令：入库未找到库位：【" + inoutInfo.ToStr() + "】");
LogUtil.info("收到服务器入库命令：入库未找到库位：【" + inoutInfo.ToStr() + "】");
return;
}
//TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
if (CanStarInOut())
{
InOutParam param = new InOutParam(inoutInfo);
StartInStoreMove(param);
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info(Name + " 收到服务器入库命令：【" + inoutInfo.ToStr() + "】开始入库！");
}
else
{
LogUtil.info(Name + " 收到服务器入库命令：【" + inoutInfo.ToStr() + "】 正在忙碌中，无法入库！");
}
}
}
public bool ReviceLineCheckInStoreCMD(string posId, int plateH, int plateW, string message, string rfid)
{
string logName = "入库库位验证【 " + message + "】【" + posId + "】：";
try
{
if (storeRunStatus.Equals(StoreRunStatus.Wait))
{
LogUtil.info(logName + " 设备未启动，验证失败");
return false;
}
//发送扫码内容到服务器进行入库操作
Operation operation = getLineBoxStatus();
operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", DeviceID.ToString() }, { "rfid", rfid } };
operation.data.Add("inPos", posId);
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
for (int i = 1; i <= 3; i++)
{
bool timeOut = false;
Operation resultOperation = HttpHelper.PostOP(StoreManager.GetPostApi(server), operation, out timeOut);
if (timeOut)
{
LogUtil.info(logName + " 第" + i + "次发送超时 ");
continue;
}
if (resultOperation == null)
{
// CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
LogUtil.info(logName + " 没有收到服务器反馈 ");
}
else if (!string.IsNullOrEmpty(resultOperation.msg))
{
//如果有提示消息，直接显示提示
LogUtil.info(logName + "服务器反馈 ：" + resultOperation.msg);
}
else if (resultOperation.op.Equals(1))
{
LogUtil.info(logName + " 成功");
return true;
}
break;
}
}
catch (Exception ex)
{
LogUtil.info(logName + " 出错：" + ex.ToString());
}
return false;
}
public void ReviceLineInStoreCMD(string posId, int plateH, int plateW, string message, string rfid)
{
string logName = "流水线入库命令【 " + message + "】【" + posId + "】：";
if (!lineConnect.WaitInStoreList.Contains(posId))
{
LogUtil.error(logName + "库位未验证通过，重新验证库位");
bool result = ReviceLineCheckInStoreCMD(posId, plateH, plateW, message, rfid);
if (!result)
{
return;
}
}
else
{
lineConnect.WaitInStoreList.Remove(posId);
}
//根据发送的posId获取位置列表
ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
LogUtil.error(logName + "未找到库位");
return;
}
//TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
if (CanStarInOut())
{
InOutPosInfo inout = new InOutPosInfo(message, posId, plateH, plateW);
inout.rfid = rfid;
InOutParam param = new InOutParam(inout);
LogUtil.info(logName + " 开始入库！");
StartInStoreMove(param);
//如果当前正在出入库中，需要记录下来，等待空闲时执行
}
else
{
LogUtil.info(logName + " 正在忙碌中，无法入库！");
}
}
#endregion
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private string CodeMsg = "";
private bool isInProcess = false;
private DateTime lastConTime = DateTime.Now;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
TimeSpan span = DateTime.Now - lastConTime;
if (span.TotalSeconds < 60)
{
return;
}
}
isInProcess = true;
lastConTime = DateTime.Now;
try
{
if (lineConnect.IsConnect())
{
int hasTray = (int)IOValue(IO_Type.TrayCheck_Door);
int ss = (int)storeStatus;
if (IsDebug)
{
ss = (int)StoreStatus.Debugging;
}
StoreSendBean store = lineConnect.GetBean( (int)ss, (int)storeRunStatus, hasTray, (int)alarmType );
lineConnect.SendHeart(store);
}
if (StoreManager.IsConnectServer)
{
try
{
SendLineStatus();
}
catch (Exception ex)
{
LogUtil.error("定时给服务器发送消息出错：" + ex.ToString());
}
}
humBean.HumidityProcess(this);
}
catch (Exception ex)
{
LogUtil.error("server_connect_timer_Tick出错：" + ex.ToString());
}
finally
{
isInProcess = false;
}
}
public Operation getLineBoxStatus()
{
//构建发送给服务器的对象
Operation lineOperation = new Operation();
lineOperation.msg = "";
lineOperation.alarmList = new List<AlarmInfo>();
lineOperation.cid = CID;
lineOperation.seq = ConfigAppSettings.nextSeq();
lineOperation.status = 1;
if (WarnMsg != "")
{
lineOperation.status = (int)StoreStatus.Warning;
lineOperation.msg = WarnMsg;
}
else if (IsRun)
{
lineOperation.status = (int)StoreStatus.StoreOnline;
}
lineOperation.status = (int)StoreStatus.StoreOnline;
BoxStatus boxStatus = new BoxStatus();
boxStatus.boxId = 1;
boxStatus.msg = WarnMsg;
lineOperation.msg = WarnMsg;
if (WarnMsg.Equals(""))
{
boxStatus.msg = CodeMsg;
lineOperation.msg = CodeMsg;
}
if (CodeMsg.Equals(""))
{
if (storeRunStatus.Equals(StoreRunStatus.Runing) && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
boxStatus.msg = "叉子料盘检测有料，请检查";
lineOperation.msg = "叉子料盘检测有料，请检查";
}
}
CodeMsg = "";
//WarnMsg = "";
//状态
boxStatus.status = (int)storeStatus;
if (IsDebug)
{
boxStatus.status = (int)StoreStatus.Debugging;
}
else if (storeStatus.Equals(StoreStatus.OutStoreBoxEnd) || storeStatus.Equals(StoreStatus.InStoreEnd))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
}
else if (!lastPosId.Equals(""))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.status = (int)lastPosIdStatus;
if (lastPosId != "")
{
LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + lastPosIdStatus + "】posId【" + lastPosId + "】");
}
lastPosId = "";
}
//如果在空闲中，且有入库未完成，直接发送入库执行中
if (boxStatus.status.Equals((int)StoreStatus.StoreOnline))
{
List<string> list = new List<string>(lineConnect.WaitInStoreList);
if (list.Count > 0 && (lineConnect.CanStartOut().Equals(false)))
{
boxStatus.status = (int)StoreStatus.InStoreExecute;
}
}
//温湿度
//ASTemperateParam param = HumitureServer.GetTemperateParam(Config.Temperate_Serveraddress);
//HumitureParam param = HumitureController.LastData;
if (humBean != null)
{
boxStatus.humidity = humBean.LastData.Humidity.ToString();
boxStatus.temperature = humBean.LastData.Temperate.ToString();
}
lineOperation.boxStatus.Add(1, boxStatus);
if (!alarmType.Equals(StoreAlarmType.None))
{
lineOperation.alarmList.Add(alarmInfo);
}
return lineOperation;
}
public void SendLineStatus()
{
DateTime time = DateTime.Now;
//构建发送给服务器的对象
Operation lineOperation = getLineBoxStatus();
//如果还没湿度范围，先获取
if (humBean.NeedGetTem())
{
lineOperation.op = 5;
LogUtil.error(Name + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op, DeviceID + 105);
}
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
bool isTimeout = false;
Operation resultOperation = HttpHelper.PostOP(StoreManager.GetPostApi(server), lineOperation, out isTimeout);
//发送状态信息到服务器
if (resultOperation == null || (resultOperation.op <= 0))
{
//判断服务端是否返回出库操作
return;
}
if (resultOperation.op.Equals(1))
{
ReviceInStoreProcess("", resultOperation);
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
private void ReviceOutStoreProcess(Operation resultOperation)
{
DateTime time = DateTime.Now;
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId)
&& data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
char splitChar = '|';
string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线, 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
string dataStr = JsonHelper.SerializeObject(data);
LogUtil.info("收到服务器出库消息：【" + dataStr + "】");
int index = -1;
foreach (string posId in posIdArray)
{
index++;
string plateWStr = plateWArray[index];
string plateHStr = plateHArray[index];
int plateW = StrToInt(plateWStr);
int plateH = StrToInt(plateHStr);
InOutPosInfo intouInfo = new InOutPosInfo(barcode, posId, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc);
//根据发送的posId获取位置列表
ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(posId);
if (position == null)
{
//出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = Name + "未找到库位：【" + intouInfo.ToStr() + "】";
LogUtil.error(WarnMsg);
continue;
}
try
{
//判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosInfo.PosId.Equals(posId))
{
LogUtil.info(Name + " 出库命令【" + intouInfo.ToStr() + "】重复，正在【" + posId + "】出库中");
continue;
}
else
{
//判断排队列表中是否已存在
List<InOutPosInfo> reviceList = new List<InOutPosInfo>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosId.Equals(posId) select m).ToList<InOutPosInfo>();
if (reviceList.Count > 0)
{
LogUtil.debug(Name + " 出库命令【" + intouInfo.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
}
}
}
catch (Exception ex)
{
LogUtil.error("验证出库【" + intouInfo.ToStr() + "】是否重复出错：" + ex.ToString());
}
if (CanStarInOut() && (lineConnect.CanStartOut() || IsDebug))
{
bool result = StartOutStoreMove(new InOutParam(intouInfo));
if (!result)
{
LogUtil.info(Name + " 执行出库【" + intouInfo.ToStr() + "】失败，加入等待队列");
AddWaitOutInfo(intouInfo);
}
}
else
{
LogUtil.error("执行出库【" + intouInfo.ToStr() + "】失败，当前在忙碌中，加入等待队列");
AddWaitOutInfo(intouInfo);
}
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
}
#endregion
public string GetWarnMsg()
{
string msg = WarnMsg;
return msg;
}
}
}