BatchMoveBean.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class BatchMoveBean
{
public bool ShelfAutoOut = true;
public bool ShelfNeedLeave = false;
public string Name = "料口";
public AxisBean BatchAxis = null;
public int ShelfType = 1;//1=左侧A，2=右侧B
public DeviceMoveInfo MoveInfo;
public string WarnMsg = "";
public BatchMoveConfig Config = null;
private InputEquip Robot
{
get { return StoreManager.XLRStore.inputEquip; }
}
public BatchMoveBean(InputEquip_Config config, AxisBean axis, int inType = 1)
{
Config = new BatchMoveConfig();
this.ShelfType = inType;
this.BatchAxis = axis;
string ioAdd = "_A";
if (ShelfType.Equals(1))
{
ioAdd = "_A";
Name = "A料口 ";
Config.BatchAxisP1 = config.BatchAxisP1_A;
Config.BatchAxisP2 = config.BatchAxisP2_A;
Config. AgvName = config.AgvName_A;
Config.CameraName = config.CameraNameList_A;
Config.RfidIP = config.PRO_RFIP_A;
}
else
{
ioAdd = "_B";
Name = "B料口 ";
Config.BatchAxisP1 = config.BatchAxisP1_B;
Config.BatchAxisP2 = config.BatchAxisP2_B;
Config. AgvName = config.AgvName_B;
Config.CameraName = config.CameraNameList_B;
Config.RfidIP = config.PRO_RFIP_B;
}
Config.LoadIO(ioAdd);
MoveInfo = new DeviceMoveInfo(Name);
}
internal void TimerProcess()
{
if (MoveInfo.MoveType.Equals(MoveType.None))
{
if (Robot.MoveInfo.MoveType.Equals(MoveType.Reset) || Robot.MoveInfo.MoveType.Equals(MoveType.RHome))
{
}
else
{
if (Robot.AutoInput && Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH))
{
StartInstore(new InOutParam());
}
}
}
else if (MoveInfo.MoveType.Equals(MoveType.Reset))
{
ResetProcess();
}
else if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
InstoreProcess();
}
else if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
OutstoreProcess();
}
//判断是否无料串
if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.LOW)
&& Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.LOW)
&& Robot.CylinderIsOk(Config.IO_Shelf_StopUp, Config.IO_Shelf_StopDown))
{
if (StoreManager.checkWatch(shelfWatch, 10000, true))
{
var agvcallresult = AgvClient.NeedEnter(Config.AgvName, "", Asa.ClientLevel.High);
WorkLog("无料串,：通知agv来送料串AgvName:" + Config.AgvName + ",agvcallresult:" + agvcallresult.ToString());
}
}
else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) && Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH)
&& AgvClient.GetAction(Config.AgvName) != Asa.ClientAction.NeedLeave && AgvClient.GetAction(Config.AgvName) != Asa.ClientAction.MayLeave && AgvClient.GetAction(Config.AgvName) != Asa.ClientAction.FinishLeave)
{
shelfWatch.Stop();
AgvClient.SetToNone(Config.AgvName);
}
}
private Stopwatch shelfWatch = new Stopwatch();
public bool Reset(bool needStop = false)
{
if (Robot.CanStartRun())
{
if (Robot.runStatus >= RunStatus.HomeMoving)
{
if (needStop)
{
StopMove();
}
WarnMsg = "";
alarmType = AlarmType.None;
MoveInfo.NewMove(MoveType.Reset);
MoveInfo.NextMoveStep(StepEnum.IBR01_StopDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
WorkLog("开始复位，定位气缸下降");
StopDown(MoveInfo);
}
else
{
WarnMsg = Name + "复位失败：入料机构未启动";
}
}
else
{
WarnMsg = Name + "复位失败";
}
return false;
}
private void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.IBR01_StopDown))
{
if (Robot.IOValue(Config.IO_LineIn_Check).Equals(Robot.IOValue(Config.IO_LineEnd_Check)))
{
LineStop();
MoveInfo.NextMoveStep(StepEnum.IBR04_BatchHome);
WorkLog("复位：批量轴开始回原点");
BatchAxis.HomeMove(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IBR02_LineRun);
WorkLog("复位：链条正转3秒");
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
else if (MoveInfo.IsStep(StepEnum.IBR02_LineRun))
{
LineStop();
MoveInfo.NextMoveStep(StepEnum.IBR04_BatchHome);
WorkLog("复位：批量轴开始回原点");
BatchAxis.HomeMove(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.IBR04_BatchHome))
{
MoveInfo.NextMoveStep(StepEnum.IBR05_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
else if (MoveInfo.IsStep(StepEnum.IBR05_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.IBR06_BatchToP1);
WorkLog("复位：批量轴走到待机点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Robot.Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IBR06_BatchToP1))
{
WorkLog("复位完成");
MoveInfo.EndMove();
}
}
internal void StopMove()
{
MoveInfo.EndMove();
BatchAxis.AxisStopCheckMove();
BatchAxis.SuddenStop();
}
public DateTime LastAlarmTime = DateTime.Now;
public AlarmType alarmType = AlarmType.None;
internal void Alarm(AlarmType alarmType)
{
if (alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
if (this.alarmType.Equals(alarmType))
{
return;
}
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirpressure_Check) || alarmType.Equals(AlarmType.AxisAlarm))
{
StopMove();
}
}
#region 气缸操作
public void LineRun(DeviceMoveInfo moveInfo = null)
{
Robot.IOMove(Config.IO_LineBack, IO_VALUE.LOW);
Robot.IOMove(Config.IO_LineStart, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineBack, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineStart, IO_VALUE.HIGH));
}
}
public void LineBack(DeviceMoveInfo moveInfo = null)
{
Robot.IOMove(Config.IO_LineBack, IO_VALUE.HIGH);
Robot.IOMove(Config.IO_LineStart, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineBack, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineStart, IO_VALUE.HIGH));
}
}
public void LineStop(DeviceMoveInfo moveInfo = null)
{
Robot.IOMove(Config.IO_LineBack, IO_VALUE.LOW);
Robot.IOMove(Config.IO_LineStart, IO_VALUE.LOW);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineBack, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineStart, IO_VALUE.LOW));
}
}
public void StopDown(DeviceMoveInfo moveInfo = null)
{
Robot.IOMove(Config.IO_Shelf_StopUp, IO_VALUE.LOW);
Robot.IOMove(Config.IO_Shelf_StopDown, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopUp, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopDown, IO_VALUE.HIGH));
}
}
public void StopUp(DeviceMoveInfo moveInfo = null)
{
Robot.IOMove(Config.IO_Shelf_StopDown, IO_VALUE.HIGH);
Robot.IOMove(Config.IO_Shelf_StopUp, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopDown, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_StopUp, IO_VALUE.HIGH));
}
}
#endregion
#region 提升轴匀速上升处理
public bool LastMoveIsTest = true;
public void BatchAxisToP2(bool isFirstMove = true, bool isWait = true, bool IsTest = false)
{
int targetP2 = Config.BatchAxisP2;
int targetSpeed = Robot.Config.BatchAxis_P2Speed;
if (!isFirstMove)
{
int currPosition = BatchAxis.GetAclPosition();
if (currPosition != -1)
{
targetP2 = currPosition + Robot.Config.Height_ChangeValue * 80;
if (targetP2 > Config.BatchAxisP2)
{
targetP2 = Config.BatchAxisP2;
}
LogUtil.info(Name + " BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
if (isWait)
{
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(BatchAxis.Config, targetP2, targetSpeed));
}
BatchAxis.Config.TargetPosition = targetP2;
BatchAxis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
BatchAxis.BatchAxisStartCheck(Config.IO_ReelCheck, IO_VALUE.HIGH);
LastMoveIsTest = IsTest;
}
#endregion
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(DeviceMoveInfo moveInfo)
{
int DeviceID = 10 + ShelfType;
try
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = !moveInfo.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
TimeSpan axisSpan = DateTime.Now - preCheckAxisTime;
if (axisSpan.TotalSeconds > 1)
{
preCheckAxisTime = DateTime.Now;
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = Name + msg;
Alarm(AlarmType.AxisMoveError);
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + IOManager.GetDI(wait.IoType, Robot.DeviceID).DisplayStr + "=" + wait.IoValue + "]";
wait.IsEnd = Robot.IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd && (!moveInfo.IsStep(StepEnum.IB23_ShelfOut)))
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalSeconds > StoreManager.Config.IOSingle_TimerOut && alarmType <= AlarmType.IoSingleTimeOut)
{
ConfigIO io = Robot.Config.getWaitIO(wait.IoType);
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
if (alarmType.Equals(AlarmType.None))
{
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < StoreManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Robot.Config.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType, Robot.Config.Id).Equals(ww.IoValue).Equals(false))
{
isLog = true;
Robot.IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
//等待信号亮或者走到绝对位置才停止
if (Robot.IOValue(BatchAxis.TargetIoType).Equals(BatchAxis.TargetIoValue))
{
WorkLog(Name + "CheckWaitResult 检测到" + BatchAxis.TargetIoType + "=" + BatchAxis.TargetIoValue + ",停止运行");
BatchAxis.AxisStopCheckMove();
if (AxisManager.instance.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
{
BatchAxis.SuddenStop();
}
wait.IsEnd = true;
}
else
{
if (AxisManager.instance.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0))
{
BatchAxis.AxisStopCheckMove();
wait.IsEnd = true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
if (LastCodeList.Count > 0)
{
wait.IsEnd = true;
}
}
else
{
LogUtil.error(Name + "未找到WaitType=" + wait.WaitType + "的处理");
}
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 = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg + "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
//int second = 10;
//second = (int)(span.TotalSeconds/ moveInfo.TimeOutSeconds) * 10;
//if (second > 120)
//{
// second = 120;
//}
//else if (second < 10)
//{
// second = 10;
//}
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
catch (Exception ex)
{
LogUtil.error(moveInfo.Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
internal bool ShelfReadyOut(InOutPosInfo posInfo = null, bool SendShelfOut = false)
{
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.IsStep(StepEnum.IS11_ShelfReady))
{
if (posInfo == null)
{
return true;
}
//TODO 验证料串是否同一个，不是同一个直接送出料串
if (String.IsNullOrEmpty(CurrShelf.XuniRfid))
{
return true;
}
else if (posInfo.rfid.Equals(CurrShelf.XuniRfid))
{
return true;
}
else if (SendShelfOut)
{
LogUtil.error($"当前料串【{CurrShelf.ToStr()}】出库料盘【{posInfo.ToStr()}】料串不一致，送出当前料串");
SendOutShelfLeave($"料串{CurrShelf.XuniRfid}与{posInfo.rfid}不一致");
}
}
return false;
}
public string GetMoveStr()
{
if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
string code = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.ToStr() : "";
return CurrShelf.ToStr() + "， 出料：" + " " + MoveInfo.MoveStep + " \r\n" + code + "\n";
}
else if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
string code = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.ToStr() : "";
return CurrShelf.ToStr() + "， 入料：" + " " + MoveInfo.MoveStep + " \r\n" + code + "\n";
}
else
{
if (!String.IsNullOrEmpty(CurrShelf.ShelfRfid))
{
return "空闲中";
}
else
{
return CurrShelf.ToStr();
}
}
}
public Color GetShowColor()
{
Color color = Robot.GetShowColor();
if (Robot.runStatus > RunStatus.Wait)
{
if (alarmType.Equals(AlarmType.IoSingleTimeOut))
{
color = Color.LightCoral;
}
else if (alarmType.Equals(AlarmType.None).Equals(false))
{
color = Color.Red;
}
else if (MoveInfo.MoveType.Equals(MoveType.InStore) || MoveInfo.MoveType.Equals(MoveType.OutStore))
{
color = Color.LimeGreen;
}
}
return color;
}
protected void WorkLog(string msg)
{
LogUtil.info(Name + " [" + MoveInfo.MoveStep + "]" + msg);
}
}
public class BatchMoveConfig
{
internal List<string> DIList = new List<string>();
internal List<string> DOList = new List<string>();
public string CameraName = "";
public string AgvName = "";
public int BatchAxisP1 = 0;
public int BatchAxisP2 = 0;
internal string RfidIP = "";
#region 左右入料口共有IO
//伺服料盘检测
internal string IO_ReelCheck = "ReelCheck";
//料串前端检测
internal string IO_LineIn_Check = "LineIn_Check";
//料串到位检测
internal string IO_LineEnd_Check = "LineEnd_Check";
//料串阻挡上升
internal string IO_Shelf_StopUp = "Shelf_StopUp";
//料串阻挡下降
internal string IO_Shelf_StopDown = "Shelf_StopDown";
//线体正转
internal string IO_LineStart = "LineStart";
//线体反转
internal string IO_LineBack = "LineBack";
internal void LoadIO(string ioAdd)
{
IO_ReelCheck = IO_ReelCheck + ioAdd;
IO_LineIn_Check = IO_LineIn_Check + ioAdd;
IO_LineEnd_Check = IO_LineEnd_Check + ioAdd;
IO_Shelf_StopUp = IO_Shelf_StopUp + ioAdd;
IO_Shelf_StopDown = IO_Shelf_StopDown + ioAdd;
IO_LineStart = IO_LineStart + ioAdd;
IO_LineBack = IO_LineBack + ioAdd;
DIList.Add(IO_ReelCheck);
DIList.Add(IO_LineIn_Check);
DIList.Add(IO_LineEnd_Check);
DIList.Add(IO_Shelf_StopUp);
DIList.Add(IO_Shelf_StopDown);
DOList.Add(IO_Shelf_StopUp);
DOList.Add(IO_Shelf_StopDown);
DOList.Add(IO_LineStart);
DOList.Add(IO_LineBack);
}
#endregion
}
}