BoxBean_Partial.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
partial class BoxBean
{
#region 自动出入库参数
/// <summary>
/// 料仓内所有的位置列表
/// </summary>
public List<string> PositionNumList = new List<string>();
/// <summary>
/// 入库完成后自动出库，出库完成后自动入库 或者
/// 上一个盘点完，自动盘点下一个
/// </summary>
public bool autoNext = false;
/// <summary>
/// 自动出入库间隔
/// </summary>
public int autoJiange = 3;
public int autoPositionIndex = 0;
public string autoMsg = "";
public int AutoStartIndex = -1;
#endregion
#region 出入库参数
/// <summary>
/// 当前出入库的次数，超过配置的数量时，需要自动重置一下，再进行出入库
/// </summary>
private int CurrInOutCount = 0;
private int CurrInOutACount = 0;
private bool LoadParamPosition(InOutParam param)
{
if (param == null)
{
return false;
}
//加载位置
if (param.MoveP == null)
{
LineMoveP p = new LineMoveP();
ACStorePosition position = param.GetACPosition();
if (position == null)
{
LogUtil.error( Name + "出入库时发现param中取到的Position=null,没有库位不能执行出入库");
return false;
}
p.ComPress_P1 = Config.CompressAxis_P1_Position;
p.InOut_P1 = Config.InOutAxis_P1_Position;
p.Middle_P1 = Config.MiddleAxis_P1_Position;
p.InOut_P2 = position.InOutAxis_DoorPosition_P2;
p.UpDown_P1 = Config.UpDownAxis_DoorOPosition_P1;
p.UpDown_P8 = Config.UpDownAxis_DoorIBPosition_P8;
p.UpDown_P2 = Config.UpDownAxis_DoorIPosition_P2;
p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
p.ComPress_P2 = position.CompressAxis_Position_P2;
p.ComPress_P3 = position.CompressAxis_CPosition_P3;
p.InOut_P3 = position.InOutAxis_Position_P3;
p.Middle_P2 = position.MiddleAxis_Position_P2;
// p.Middle_P3 = position.MiddleAxis_Position_P3;
p.UpDown_P3 = position.UpDownAxis_IHPosition_P3;
p.UpDown_P4 = position.UpDownAxis_ILPosition_P4;
p.UpDown_P5 = position.UpDownAxis_OLPosition_P5;
p.UpDown_P6 = position.UpDownAxis_OHPosition_P6;
//p.UpDown_P9 = position.UpDownAxis_Position_P9;
param.MoveP = p;
if (param.PosInfo.PlateH <= 0)
{
param.PosInfo.PlateH = position.BagHigh;
}
if (param.PosInfo.PlateW <= 0)
{
param.PosInfo.PlateW = position.BagWidth;
}
return true;
}
else if ((param.PosInfo.PlateH <= 0) || (param.PosInfo.PlateW <= 0))
{
ACStorePosition position = param.GetACPosition();
if (position == null)
{
LogUtil.error( Name + "出入库时发现param中取到的Position=null,没有库位不能执行出入库");
return false;
}
if (param.PosInfo.PlateH <= 0)
{
param.PosInfo.PlateH = position.BagHigh;
}
if (param.PosInfo.PlateW <= 0)
{
param.PosInfo.PlateW = position.BagWidth;
}
return true;
}
return true;
}
#endregion
#region 出入库结果验证
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
int outCount = AxisManager.instance.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - InOut_P1);
if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
{
LogUtil.info("进出轴当前位置：" + outCount + "，已经在P1["+ InOut_P1 + "]，不需要再回P1");
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
}
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
private DateTime preRWTime = DateTime.Now;
private void CheckWait()
{
List<WaitResultInfo> list = MoveInfo.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
MoveInfo.EndStepWait();
return;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == 1)
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, MoveInfo.MoveType);
break;
}
}
else if (wait.WaitType == 2)
{
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_29_WaitTake ))
{
timeOutMs = 650000;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_27_CheckTray))
{
timeOutMs = 5000;
}
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SC_03_MoveToHBag))
{
timeOutMs = 20000;
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待" + io.DisplayStr + "=" + wait.IoValue + "超时 ";
if (WarnMsg.Contains("CheckPos") || WarnMsg.Contains("X03_点检"))
{
WarnMsg = "";
break;
}
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error( Name + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
break;
}
else if ((!wait.IsEnd) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_29_WaitTake) && lineConnect.CanReSend())
{
//判断是否需要重发入库结束命令
SendOutStoreEnd(MoveInfo);
}
TimeSpan rwSpan = DateTime.Now - preRWTime;
if (!wait.IsEnd && rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)
{
preRWTime = DateTime.Now;
string msg = Name + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Config.DOList.ContainsKey(ww.IoType))
{
isLog = true;
IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
if (isLog)
{
LogUtil.error(msg);
}
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == 7)
{
//wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
//if (wait.IsEnd)
//{
// LogUtil.debug("等待height=" + wait.HeightValue + "完成");
//}
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待超时 [" + NotOkMsg
+ "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
if (WarnMsg.Contains("CheckPos") || WarnMsg.Contains("X03_点检"))
{
WarnMsg = "";
return;
}
LogUtil.error( WarnMsg,100);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
private static DateTime lastComRHomeTime = DateTime.Now;
#endregion
#region 入库
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 开始入库移动移动
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
// bool isNeedCheckIO = true;
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosInfo.PosId : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(Name + " 启动入库【" + posId + "】出错，找不到库位信息");
return;
}
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
return;
}
LogUtil.info(Name + " 启动入库【" + posId + "】");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(StoreMoveType.InStore, param);
////料盘检测
//InStoreLog(" 入库：SI_00 入库等待仓门口料盘信号");
//MoveInfo.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
//MoveInfo.TimeOutSeconds = 5;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.HIGH));
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH))
{
doorCheckWatch.Restart();
}
else
{
doorCheckWatch.Stop();
}
SI_02_Move(param.MoveP);
}
else
{
LogUtil.error(Name + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
}
}
private void SI_02_Move(LineMoveP moveP)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_02_InOutToP1);
InStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1,打开舱门");
OpenDoor();
InOutBackToP1(moveP.InOut_P1);
}
private void SI_05_DeviceToDoor()
{
ConfigMoveAxis updown = Config.UpDown_Axis;
if (!AxisManager.instance.isInPosition(updown.DeviceName, updown.GetAxisValue(), MoveInfo.MoveParam.MoveP.UpDown_P1, updown.CanErrorCountMax,true))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_AxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InStoreLog("入库：SI_03已结束，发现升降轴不在待机点，重新运动 升降轴到P1 [" + MoveInfo.MoveParam.MoveP.UpDown_P1 + "] ");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
return;
}
ConfigMoveAxis middle = Config.Middle_Axis;
if (!AxisManager.instance.isInPosition(middle.DeviceName, middle.GetAxisValue(), MoveInfo.MoveParam.MoveP.Middle_P1, middle.CanErrorCountMax, true))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_AxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InStoreLog("入库：SI_03已结束，发现旋转轴不在待机点，重新运动 旋转轴到P1 [" + MoveInfo.MoveParam.MoveP.Middle_P1 + "]");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
return;
}
if (DoorIsOpen())
{
//判断仓门是否打开
MoveInfo.NextMoveStep(StoreMoveStep.SI_05_InoutToP2);
InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
//NeedCheckSafetyLight = 1;
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_04_ComToP3);
InStoreLog("入库：SI_04 叉子即将取料，发现门未上升到位，重新打开门 ");
OpenDoor();
}
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_00_TrayCheck))
{
//判断是否有料盘信号
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH) && StoreManager.checkWatch(doorCheckWatch, 1000, false))
{
SI_02_Move(moveP);
}
else if (MoveInfo.IsTimeOut(10))
{
WarnMsg = Name + "入库 等待料仓门口检测到料盘 [" + MoveInfo.MoveParam.PosInfo.barcode + "] [" + MoveInfo.MoveParam.PosInfo.PosId + "] 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg, 100);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_02_InOutToP1)
{
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
CodeMsg = "入库[" + posId + "]叉子去取料前，未检测到进料口有料";
LogUtil.error(CodeMsg);
}
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_AxisToP1);
InStoreLog("入库：SI_03 所有轴回到待机点，升降轴到P1 [" + moveP.UpDown_P1 + "]，旋转轴到P1 [" + moveP.Middle_P1 + "],，压紧轴到P3 [" + moveP.ComPress_P3 + "]，打开仓门");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ConfigMoveAxis updown = Config.UpDown_Axis;
if (!AxisManager.instance.isInPosition(updown.DeviceName, updown.GetAxisValue(), moveP.UpDown_P1, updown.CanErrorCountMax))
{
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else
{
InStoreLog("入库：SI_03 升降轴已在P1[" + moveP.UpDown_P1 + "]");
}
ConfigMoveAxis middle = Config.Middle_Axis;
if (!AxisManager.instance.isInPosition(middle.DeviceName, middle.GetAxisValue(), moveP.Middle_P1, middle.GetAxisValue()))
{
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else
{
InStoreLog("入库：SI_03 旋转轴已在P1 [" + moveP.Middle_P1 + "]");
}
OpenDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_03_AxisToP1)
{
SI_05_DeviceToDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_04_ComToP3)
{
SI_05_DeviceToDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_05_InoutToP2)
{
//NeedCheckSafetyLight = 0;
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_GetReel);
InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点))[" + moveP.ComPress_P2 + "] 升降轴至P7(进料口取料缓冲点) [" + moveP.UpDown_P7 + "]");
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_06_GetReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_07_InoutBack);
InStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点)[" + moveP.InOut_P1 + "] ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_07_InoutBack)
{
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
CodeMsg = "入库[" + posId + "]叉子取料后退后，未检测到料叉有料";
LogUtil.error(CodeMsg);
}
if (Config.IsUse_Tray_Check.Equals(1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_08_TrayCheck);
InStoreLog("入库：SI_08 等待检测到叉子料盘信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点)[" + moveP.Middle_P2 + "], 升降轴至P3(库位入库前点)[" + moveP.UpDown_P3 + "] ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
CloseDoor(false);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_08_TrayCheck)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点)[" + moveP.Middle_P2 + "], 升降轴至P3(库位入库前点)[" + moveP.UpDown_P3 + "] ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
CloseDoor(false);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_11_InoutToP3);
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) [" + moveP.InOut_P3 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_11_InoutToP3)
{
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
MoveInfo.NextMoveStep(StoreMoveStep.SI_12_PutReel);
InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点)[" + moveP.UpDown_P4 + "] ,压紧轴至P3(压紧前点) [" + moveP.ComPress_P3 + "]");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InStoreLog("入库：SI_13 叉子从库位中返回，进出轴动作至P1(待机点)[" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_14_GoBack);
InStoreLog("入库：SI_14_GoBack 返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_15_WaitNoReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_15_WaitNoReel);
InStoreLog("入库：SI_15_WaitNoReel 等待料叉无信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_14_GoBack)
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
LogUtil.info(Name + " 【" + posId + "】 整个入库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(StoreMoveType.InStore);
}
else
{
LogUtil.info(Name + " 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
private DateTime startOutStoreTime = DateTime.Now;
/// <summary>
/// 开始出库运动
/// </summary>
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosInfo.PosId : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error( Name + " 启动出库【" + posId + "】出错，找不到库位信息");
return false;
}
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
LogUtil.error( Name + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
return false;
}
storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info( Name + "启动出库【" + posId + "】 " );
storeRunStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(StoreMoveType.OutStore, param);
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_InoutBack);
OutStoreLog("出库： 进出轴到P1 ，打开舱门 ");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
else
{
LogUtil.error( Name + " 启动出库出错，当前状态，storeStatus=" + storeRunStatus);
}
return false;
}
protected override void OutStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep == StoreMoveStep.SO_02_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToBagP);
OutStoreLog("出库：压紧轴至P3(压紧前点)[" + moveP.ComPress_P3 + "] ,旋转轴至P2(库位点)[" + moveP.Middle_P2 + "], 升降轴至P5(库位出库前点)[" + moveP.UpDown_P5 + "]");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToBagP)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_InoutToP3);
OutStoreLog("出库： 进出轴至P3(库位取放料点) [" + moveP.InOut_P3 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_InoutToP3)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetWare);
OutStoreLog("出库：升降轴至P6(库位出料缓冲点)[" + moveP.ComPress_P2 + "]，压紧轴至P2(压紧点)[" + moveP.UpDown_P6 + "] ");
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetWare)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_InoutToP1);
OutStoreLog("出库：进出轴至P1(待机点) [" + moveP.InOut_P1 + "]");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_InoutToP1)
{
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
CodeMsg = "出库[" + posId + "]叉子从库位退出后，未检测到料叉有料";
LogUtil.error(CodeMsg);
}
if (Config.IsUse_Tray_Check.Equals(1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_TrayCheck);
OutStoreLog("出库：SO_07 等待叉子料盘检测信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else
{
if (MoveInfo.MoveParam.LoadLocationP())
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_11_MoveToBag);
OutStoreLog("出库定位：旋转轴 至P2（ 库位点）[" + MoveInfo.MoveParam.LocationPos.MiddleAxis_Position_P2 + "], 升降轴到P3(库位入库前点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_IHPosition_P3 + "] ");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.LocationPos.MiddleAxis_Position_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_IHPosition_P3, Config.UpDownAxis_P3_Speed);
}
else
{
SO_21_ToDoorP();
}
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_TrayCheck)
{
if (MoveInfo.MoveParam.LoadLocationP())
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_11_MoveToBag);
OutStoreLog("出库定位：旋转轴 至P2（ 库位点）[" + MoveInfo.MoveParam.LocationPos.MiddleAxis_Position_P2 + "], 升降轴到P3(库位入库前点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_IHPosition_P3 + "] ");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.LocationPos.MiddleAxis_Position_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_IHPosition_P3, Config.UpDownAxis_P3_Speed);
}
else
{
SO_21_ToDoorP();
}
}
#region 出库定位动作
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_11_MoveToBag)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_12_InoutToP3);
int p = MoveInfo.MoveParam.LocationPos.InOutAxis_Position_P3;
OutStoreLog("出库定位：进出轴到P3(库位取放料点）[" + p + "] ");
ACAxisMove(Config.InOut_Axis, p, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_12_InoutToP3)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_13_ComToP3);
OutStoreLog("出库定位：压紧轴到P3（ 压紧前点）[" + MoveInfo.MoveParam.LocationPos.CompressAxis_CPosition_P3 + "] ");
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.LocationPos.CompressAxis_CPosition_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_13_ComToP3)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_14_UpdownToP4);
OutStoreLog("出库定位：放下物品，升降轴到P4（ 库位入料缓冲点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_ILPosition_P4 + "] ");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_ILPosition_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_14_UpdownToP4)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_15_WaitTime);
OutStoreLog("出库定位：放下物品后等待200 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_15_WaitTime)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_16_GetWare);
OutStoreLog("出库定位：拿物品，升降轴到P6（ 库位出料缓冲点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_OHPosition_P6 + "]，压紧轴到P2(压紧点) [" + moveP.ComPress_P2 + "]");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_OHPosition_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_16_GetWare)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_17_UpdownToP42);
OutStoreLog("出库定位2：放下物品，压紧轴到P3[" + MoveInfo.MoveParam.LocationPos.CompressAxis_CPosition_P3 + "]，升降轴到P4（ 库位入料缓冲点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_ILPosition_P4 + "] ");
//压紧轴放松，压紧轴到压紧前点P3
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.LocationPos.CompressAxis_CPosition_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_ILPosition_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_17_UpdownToP42)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_18_WaitTime2);
OutStoreLog("出库定位2：放下物品后等待200 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_18_WaitTime2)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_19_GetWare2);
OutStoreLog("出库定位2：拿物品，升降轴到P6（ 库位出料缓冲点）[" + MoveInfo.MoveParam.LocationPos.UpDownAxis_OHPosition_P6 + "]，压紧轴到P2(压紧点) [" + moveP.ComPress_P2 + "]");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.LocationPos.UpDownAxis_OHPosition_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_19_GetWare2)
{
MoveInfo.NextMoveStep(StoreMoveStep.SOL_20_InoutToP1);
OutStoreLog("出库定位： 进出轴到P1（ 待机点）[" + Config.InOutAxis_P1_Position + "] ");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SOL_20_InoutToP1)
{
SO_21_ToDoorP();
}
#endregion
else if (MoveInfo.MoveStep == StoreMoveStep.SO_21_ToDoorP)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_WaitNoTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
OpenDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_22_WaitNoTray)
{
SO_53_InoutToP2();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_23_InoutToP2)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_24_PutWare);
OutStoreLog("出库：压紧轴到P1[" + moveP.ComPress_P1 + "]，升降轴至P8(进料口出料缓冲点)[" + moveP.UpDown_P8 + "] ");
//NeedCheckSafetyLight = 0;
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_24_PutWare)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_25_InoutToP1);
OutStoreLog("出库：进出轴动作至P1(待机点) [" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_25_InoutToP1)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_26_CloseDoor);
OutStoreLog("出库：轴2至P1(待机点)[" + moveP.UpDown_P1 + "] ,关闭舱门");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_26_CloseDoor)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_27_CheckTray);
OutStoreLog("出库：检测料仓门口料盘信号 ,最多1000");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_27_CheckTray))
{
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
string barcode = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.barcode : "";
CodeMsg = "" + posId + "_" + barcode + "_空出";
LogUtil.error(CodeMsg + "，取消出库任务");
StoreManager.cancelOutTask(barcode);
}
SO_28_GoBack();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_28_GoBack)
{
int OutStoreWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.OutStoreWaitSeconds);
if (OutStoreWaitSeconds <= 0)
{
OutStoreWaitSeconds = 600;
}
int ms = OutStoreWaitSeconds * 1000;
MoveInfo.NextMoveStep(StoreMoveStep.SO_29_WaitTake);
OutStoreLog("出库： 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ms));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitHeight(0));
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_29_WaitTake)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
storeStatus = StoreStatus.StoreOnline;
LogUtil.info(Name + " 【" + posId + "】 整个出库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore);
}
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
public bool OutCheckAlarm()
{
if (alarmType.Equals(StoreAlarmType.IoSingleTimeOut) && MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_27_CheckTray))
{
return true;
}
return false;
}
public void ContinueOut()
{
if (OutCheckAlarm())
{
LogUtil.info(Name + "执行用户操作：忽略检测信号，继续出库");
MoveInfo.EndStepWait();
}
}
private void SO_28_GoBack()
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_28_GoBack);
OutStoreLog("出库：轴2至P1(待机点)["+ MoveInfo.MoveParam.MoveP.UpDown_P1 + "] ,关闭舱门");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
//发送消息给流水线
SendOutStoreEnd(MoveInfo);
}
private void SO_21_ToDoorP()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
MoveInfo.NextMoveStep(StoreMoveStep.SO_21_ToDoorP);
OutStoreLog("出库：旋转轴至P1(待机点)["+ moveP.Middle_P1 + "]，升降轴至P2(进料口出料前点)["+ moveP.UpDown_P2 + "] ,打开舱门 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
private void SendOutStoreEnd(StoreMoveInfo storeMove)
{
int hasTray = (int)IOValue(IO_Type.TrayCheck_Door);
int ss = (int)storeStatus;
if (IsDebug)
{
ss = (int)StoreStatus.Debugging;
}
StoreSendBean store = lineConnect.GetBean((int)storeStatus, (int)storeRunStatus, hasTray, (int)alarmType);
store.data.Add(ParamDefine.posId, MoveInfo.MoveParam.PosInfo.PosId);
store.data.Add(ParamDefine.plateH, MoveInfo.MoveParam.PosInfo.PlateH.ToString());
store.data.Add(ParamDefine.plateW, MoveInfo.MoveParam.PosInfo.PlateW.ToString());
store.data.Add(ParamDefine.cutReel, MoveInfo.MoveParam.PosInfo.cutReel.ToString());
store.data.Add(ParamDefine.smallReel, MoveInfo.MoveParam.PosInfo.smallReel.ToString());
store.data.Add(ParamDefine.urgentReel, MoveInfo.MoveParam.PosInfo.urgentReel.ToString());
store.data.Add(ParamDefine.rfid, MoveInfo.MoveParam.PosInfo.rfid);
store.data.Add(ParamDefine.rfidLoc, MoveInfo.MoveParam.PosInfo.rfidLoc.ToString());
store.data.Add(ParamDefine.barcode, MoveInfo.MoveParam.PosInfo.barcode);
//store.PlateH = MoveInfo.MoveParam.PosInfo.PlateH;
//store.PlateW = MoveInfo.MoveParam.PosInfo.PlateW;
//store.cutReel = MoveInfo.MoveParam.PosInfo.cutReel;
//store.smallReel = MoveInfo.MoveParam.PosInfo.smallReel;
//store.urgentReel = MoveInfo.MoveParam.PosInfo.urgentReel;
//store.rfid = MoveInfo.MoveParam.PosInfo.rfid;
//store.rfidLoc = MoveInfo.MoveParam.PosInfo.rfidLoc;
lineConnect.OutStoreEnd(store);
}
private void SO_53_InoutToP2()
{
if (DoorIsOpen())
{
//判断仓门是否打开
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
MoveInfo.NextMoveStep(StoreMoveStep.SO_23_InoutToP2);
OutStoreLog("出库：进出轴至P2(进料口取料点) ["+ moveP.InOut_P2 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
//NeedCheckSafetyLight = 1;
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_WaitNoTray);
InStoreLog("出库：SO_09 叉子即将取料，发现门未上升到位，重新打开门 ");
OpenDoor();
}
}
public bool InOutAxisCanMove()
{
return true;
}
#endregion
public List<InOutPosInfo> waitOutStoreList = new List<InOutPosInfo>();
public object waitOutListLock = "";
public void AddWaitOutInfo(InOutPosInfo code)
{
lock (waitOutListLock)
{
waitOutStoreList.Add(code);
}
}
private string autoInoutCode = "AUTOINOUT";
private void InOutEndProcess( StoreMoveType storeMoveType)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
//是否自动进入出库状态
if (!autoNext)
{
return;
}
if (storeMoveType.Equals(StoreMoveType.InStore))
{
int newIndex = autoPositionIndex;
if (newIndex < 0)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
LogUtil.info(Name + "下一个索引不存在，重新开始自动出入库，索引【" + AutoStartIndex + "】");
}
else
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(Name + "下一个索引不存在，自动 出入库结束！");
return;
}
}
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(Name + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
Reset(false);
autoMsg = "自动出库：" + posid;
AddWaitOutInfo(inoutinfo);
}
else if (CurrInOutCount >= Config.Box_ResetMCount)
{
LogUtil.info(Name + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX旋转轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动出库：" + posid;
AddWaitOutInfo(inoutinfo);
}
else
{
LogUtil.info(Name + "自动进入下一个出库：posid=" + posid);
autoMsg = "自动出库：" + posid;
StartOutStoreMove(new InOutParam(inoutinfo));
}
}
else if (storeMoveType.Equals(StoreMoveType.OutStore))
{
int newIndex = autoPositionIndex - autoJiange;
if (newIndex < 0)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
LogUtil.info(Name + "下一个索引不存在，重新开始自动出入库，索引【" + AutoStartIndex + "】");
}
else
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(Name + "下一个索引不存在，自动 出入库结束！");
return;
}
}
autoPositionIndex = newIndex;
string posid = PositionNumList[newIndex];
InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
LogUtil.info(Name + "自动进入下一个入库：posid=" + posid);
autoMsg = "自动入库：" + posid;
StartInStoreMove(new InOutParam(inoutinfo));
}
}
catch (Exception ex)
{
LogUtil.error(" InOutEndProcess Error "+ex.ToString());
}
}
private void InStoreLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.PosId : "";
LogUtil.info( "【" + posId + "】" + msg );
}
private void OutStoreLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? "【" + MoveInfo.MoveParam.PosInfo.PosId + "】" : " ";
LogUtil.info( posId + MoveInfo.MoveStep + " " + msg );
}
}
}