BoxAutoPoint.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class BoxAutoPoint
{
private StoreMoveInfo MoveInfo;
private BoxBean box = null;
private System.Timers.Timer toolTimer = new System.Timers.Timer();
public PToolInfo paramInfo = new PToolInfo();
private string LogName = "";
public string WarnMsg = "";
public BoxAutoPoint(BoxBean box)
{
toolTimer.Enabled = false;
toolTimer.Interval = 500;
toolTimer.AutoReset = true;
toolTimer.Elapsed += ToolTimer_Elapsed;
this.box = box;
LogName = box.Name + "校准点位 ";
MoveInfo = new StoreMoveInfo(box.DeviceID);
MoveInfo.NextMoveStep( StoreMoveStep.Wait);
}
public bool IsStop()
{
return !toolTimer.Enabled;
}
public void Start()
{
WarnMsg = "";
MoveInfo.NextMoveStep(StoreMoveStep.AP_01_InoutHome);
LogUtil.info(LogName + MoveInfo + "第" + paramInfo.CurrIndex + "列，旋转轴位置[" + paramInfo.GetCurrMiddleP() + "] ：进出轴先原点返回");
ConfigMoveAxis axis = box.Config.InOut_Axis;
AxisManager.instance.HomeMove(axis.DeviceName, (short)axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
toolTimer.Interval = 500;
toolTimer.Start();
}
private bool isInProcesss = false;
private bool HomeIsEnd(ConfigMoveAxis moveAxis)
{
if (AxisManager.instance.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = AxisManager.instance.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount <= moveAxis.CanErrorCountMax)
{
return true;
}
}
return false;
}
private bool AbsMoveIsEnd(ConfigMoveAxis moveAxis, int targetP)
{
bool countError = false;
return AxisManager.instance.AbsMoveIsEnd(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetP, moveAxis.CanErrorCountMax, out countError);
}
public DateTime LastTime = DateTime.Now;
private void ToolTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimeSpan span = DateTime.Now - LastTime;
if (isInProcesss && span.TotalSeconds < 1)
{
return;
}
isInProcesss = true;
LastTime = DateTime.Now;
try
{
int currIndex = paramInfo.CurrIndex;
if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_01_InoutHome))
{
if (HomeIsEnd(box.Config.InOut_Axis))
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_02_UpdownHome);
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：升降轴原点返回");
ConfigMoveAxis axis = box.Config.UpDown_Axis;
AxisManager.instance.HomeMove(axis.DeviceName, (short)axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = LogName + "[" + MoveInfo.MoveStep + "]等待进出轴原点返回 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg,(int)MoveInfo.MoveStep);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_02_UpdownHome))
{
if (HomeIsEnd(box.Config.UpDown_Axis))
{
if (paramInfo.UpdownStartPosition.Equals(0))
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_04_MiddleMove);
ConfigMoveAxis axis = box.Config.Middle_Axis;
int p = paramInfo.GetCurrMiddleP();
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：旋转轴移动到目标位置：" + p);
AxisManager.instance.AbsMove(axis.DeviceName, (short)axis.GetAxisValue(), p, box.Config.MiddleAxis_P1_Speed, axis.AddSpeed, axis.DelSpeed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_03_UpdownMove);
ConfigMoveAxis iaxis = box.Config.UpDown_Axis;
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：升降轴移动到开始位置：" + paramInfo.UpdownStartPosition);
AxisManager.instance.AbsMove(iaxis.DeviceName, (short)iaxis.GetAxisValue(), paramInfo.UpdownStartPosition, box.Config.UpDownAxis_P1_Speed, iaxis.AddSpeed, iaxis.DelSpeed);
}
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = LogName + "[" + MoveInfo.MoveStep + "]等待升降轴原点返回 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg, (int)MoveInfo.MoveStep);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_03_UpdownMove))
{
if (AbsMoveIsEnd(box.Config.UpDown_Axis, paramInfo.UpdownStartPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_04_MiddleMove);
ConfigMoveAxis axis = box.Config.Middle_Axis;
int p = paramInfo.GetCurrMiddleP();
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：旋转轴移动到目标位置：" + p);
AxisManager.instance.AbsMove(axis.DeviceName, (short)axis.GetAxisValue(), p, box.Config.MiddleAxis_P1_Speed, axis.AddSpeed, axis.DelSpeed);
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = LogName + "[" + MoveInfo.MoveStep + "]等待升降轴到开始位置：" + paramInfo.UpdownStartPosition + " 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg, (int)MoveInfo.MoveStep);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_04_MiddleMove))
{
int p = paramInfo.GetCurrMiddleP();
if (AbsMoveIsEnd(box.Config.Middle_Axis, p))
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_05_InoutToP);
ConfigMoveAxis iaxis = box.Config.InOut_Axis;
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：进出轴移动到目标位置：" + paramInfo.InoutTargetPosition);
AxisManager.instance.AbsMove(iaxis.DeviceName, (short)iaxis.GetAxisValue(), paramInfo.InoutTargetPosition, box.Config.InOutAxis_P1_Speed, iaxis.AddSpeed, iaxis.DelSpeed);
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = LogName + "[" + MoveInfo.MoveStep + "]旋转轴移动到目标位置"+ p + " 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg, (int)MoveInfo.MoveStep);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_05_InoutToP))
{
if (AbsMoveIsEnd(box.Config.InOut_Axis, paramInfo.InoutTargetPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.AP_06_UpdownMove);
ConfigMoveAxis axis = box.Config.UpDown_Axis;
LogUtil.info(LogName + MoveInfo + " " + currIndex + "：升降轴移动到目标位置：" + paramInfo.UpdownTargetPosition);
AxisManager.instance.AbsMove(axis.DeviceName, (short)axis.GetAxisValue(), paramInfo.UpdownTargetPosition, paramInfo.UpdownSpeed, axis.AddSpeed, axis.DelSpeed);
toolTimer.Interval = 50;
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = LogName + "[" + MoveInfo.MoveStep + "]进出轴移动到目标位置" + paramInfo.InoutTargetPosition + " 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(WarnMsg, (int)MoveInfo.MoveStep);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.AP_06_UpdownMove))
{
try
{
ConfigMoveAxis axis = box.Config.UpDown_Axis;
int moveS = AxisManager.instance.GetBusyStatus(axis.DeviceName, axis.GetAxisValue());
if (moveS.Equals(1))
{
IO_VALUE currValue = box.IOValue(IO_Type.CheckPos);
TimeSpan checkSpan = DateTime.Now - paramInfo.LastGetPTime;
//间隔两秒以上才有效
if (paramInfo.LastValue.Equals(IO_VALUE.LOW) && currValue.Equals(IO_VALUE.HIGH) && checkSpan.TotalSeconds > 2)
{
int currPos = AxisManager.instance.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
paramInfo.PositionList.Add(currPos);
int num = paramInfo.PositionList.Count;
int preValue = 0;
if (paramInfo.PositionList.Count > 1)
{
preValue = paramInfo.PositionList[num - 2];
}
LogUtil.info(LogName + MoveInfo + " " + currIndex + "【" + num + "】【" + currPos + "】【" + Math.Abs(currPos - preValue) + "】");
paramInfo.LastValue = IO_VALUE.HIGH;
paramInfo.LastGetPTime = DateTime.Now;
}
paramInfo.LastValue = currValue;
}
else
{
//TODO 下一个
SaveAndNext(true);
}
}
catch (Exception ex)
{
LogUtil.error(LogName + "ToolTimer_Elapsed" + ex.ToString());
}
}
else
{
LogUtil.error("BoxAutoPoint ToolTimer_Elapsed 出错：未找到" + MoveInfo.MoveStep + "的处理");
}
}catch(Exception ex)
{
LogUtil.error("BoxAutoPoint ToolTimer_Elapsed 出错：" + ex.ToString());
}
isInProcesss = false;
}
private void SaveAndNext(bool needNext = true)
{
toolTimer.Stop();
if (paramInfo.PositionList.Count > 0)
{
LogUtil.info(LogName + "当前第"+paramInfo.CurrIndex+"列运动结束，停止定时器，记录数据");
List<string> strList = new List<string>();
strList.Add("编号,旋转轴位置,标准位置,库位差值,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4");
int index = 1;
foreach (int p in paramInfo.PositionList)
{
int P3 = p + paramInfo.P3Offset;
int P4 = p + paramInfo.P4Offset;
int P5 = p + paramInfo.P5Offset;
int P6 = p + paramInfo.P6Offset;
int cha = 0;
if (index > 1)
{
cha = p - paramInfo.PositionList[index - 2];
}
string spilt = ",";
string resultstr = index + spilt + paramInfo.GetCurrMiddleP()+ spilt + p + spilt + cha+ spilt + P5 + spilt + P6 + spilt + P3 + spilt + P4 + "";
strList.Add(resultstr);
index++;
}
int count = paramInfo.CurrIndex + 1;
string fileName = "position"+count+"_" + paramInfo.GetCurrMiddleP()+ ".csv";
string filePath = paramInfo.FileTargetPath + fileName;
try
{
File.WriteAllLines(filePath, strList.ToArray(), Encoding.UTF8);
LogUtil.error(LogName + "保存位置到文件【" + filePath + "】成功");
}
catch (Exception ex)
{
LogUtil.error(LogName + "保存位置到文件【" + filePath + "】出错：" + ex.ToString());
}
}
else
{
LogUtil.info(LogName + "当前第" + paramInfo.CurrIndex + "列运动结束，停止定时器，暂无点位需要保存");
}
if (needNext)
{
int nextIndex = paramInfo.CurrIndex + 1;
if (nextIndex < paramInfo.MiddlePositionList.Count)
{
LogUtil.info(LogName + "开始下一列点位校准");
paramInfo.PositionList = new List<int>();
paramInfo.CurrIndex = nextIndex;
Start();
}
else
{
LogUtil.info(LogName + "已经是最后一列，位置校准结束");
}
}
//workMoveStatus(true);
}
public void StopMove()
{
SaveAndNext(false);
ACServerManager.instance.SuddenStop(box.Config.UpDown_Axis.DeviceName, box.Config.UpDown_Axis.GetAxisValue());
ACServerManager.instance.SuddenStop(box.Config.InOut_Axis.DeviceName, box.Config.InOut_Axis.GetAxisValue());
ACServerManager.instance.SuddenStop(box.Config.Middle_Axis.DeviceName, box.Config.Middle_Axis.GetAxisValue());
}
public string CurrStr()
{
string str= "位置校准中："+MoveInfo.MoveStep + " "+MoveInfo.LastSetpTime.ToLongTimeString()+"\r\n" +
"当前第" + (paramInfo.CurrIndex + 1) + "/" + paramInfo.MiddlePositionList.Count + "列，已校准库位" + paramInfo.PositionList.Count + "个";
return str;
}
}
public class PToolInfo
{
public int P3Offset = 0;
public int P4Offset = 0;
public int P5Offset = 0;
public int P6Offset = 0;
public int UpdownSpeed = 20;
/// <summary>
/// 升降轴开始位置
/// </summary>
public int UpdownStartPosition = 0;
/// <summary>
/// 升降轴目标位置
/// </summary>
public int UpdownTargetPosition = 0;
/// <summary>
/// 进出轴目标位置
/// </summary>
public int InoutTargetPosition = 0;
/// <summary>
/// 旋转轴位置
/// </summary>
public List<int> MiddlePositionList = new List<int>();
/// <summary>
/// 当前列
/// </summary>
public int CurrIndex = 0;
public int GetCurrMiddleP()
{
return MiddlePositionList[CurrIndex];
}
public string FileTargetPath = "";
public List<int> PositionList = new List<int>();
public IO_VALUE LastValue = IO_VALUE.LOW;
public DateTime LastGetPTime = DateTime.Now;
public string ParamStr()
{
string msgStr = "请确认以下对点位参数，点击“确定”按钮开始自动校准点位：\r\n";
msgStr += " 进出轴前进位置：" + InoutTargetPosition + "\r\n";
msgStr += " 升降轴开始位置："+UpdownStartPosition+"，目标位置：" + UpdownTargetPosition + "，速度："+UpdownSpeed+"\r\n";
msgStr += " 旋转轴位置列表：";
foreach (int mP in MiddlePositionList)
{
msgStr += mP + "，";
}
if (msgStr.EndsWith("，"))
{
msgStr = msgStr.Substring(0, msgStr.Length - 1);
}
msgStr += "\r\n";
msgStr += " 点位偏移量：P3[" + P3Offset+"]，P4["+P4Offset+"]，P5["+P5Offset+"]，P6["+P6Offset+"]\r\n";
msgStr += " 文件保存位置：" + FileTargetPath;
return msgStr;
}
}
}