BoxEquip_InExecute.cs
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using CodeLibrary;
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;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class BoxEquip
{
#region 入库
/// <summary>
/// 检查另一个料叉上是否有料，有料则开始入库
/// </summary>
/// <returns></returns>
private bool CheckInStoreOtherSideInfo()
{
if(MoveInfo.MoveParam.PosInfoBack !=null)
{
return true;
}
return false;
}
/// <summary>
/// 料屉行
/// </summary>
/// <returns></returns>
private int GetPosRow()
{
return MoveInfo.MoveParam.PosInfo.GetTrayRow();
}
/// <summary>
/// 料屉列
/// </summary>
/// <returns></returns>
private int GetPosColumn()
{
return MoveInfo.MoveParam.PosInfo.GetTrayColumn();
}
/// <summary>
/// 入库前料盘信息检查
/// </summary>
/// <param name="param"></param>
/// <returns></returns>
private bool PreInStoreCheck(InOutParam param)
{
if (!AutoInout.autoNext && InDoorCheck(param))
{
SetWarnMsg(Name + $" 启动入库出错，入口料盘无入库信息[barcode={param.PosInfo.barcode},PosSide={param.PosInfo.PosSide}], 任务取消");
SServerManager.cancelPutInTask(Name, param.PosInfo.barcode);
return false;
}
if (!param.PosInfo.CheckPosition())
{
LogUtil.error(Name + " 启动入库【" + param.PosInfo.ToStr() + "】出错，找不到库位信息");
return false;
}
if (AutoInout.autoNext)
{
LogInfo(" 循环测试入库, 不做入库验证. ");
return true;
}
else
{
if (!ReviceInStoreCMD(param.PosInfo.PosId, param.PosInfo.PlateH, param.PosInfo.PlateW, param.PosInfo.barcode))
{
LogUtil.error($" 入库验证失败:{param.PosInfo.ToStr()}");
return false;
}
}
return true;
}
/// <summary>
/// 清除入料暂存区的料盘信息
/// </summary>
private void ClearInDoorBuffer()
{
if(MoveInfo.MoveParam.PosInfo.PosId.Equals(BufferDataManager.AInStoreInfo.PosId))
{
BufferDataManager.AInStoreInfo = null;
LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
else if(MoveInfo.MoveParam.PosInfo.PosId.Equals(BufferDataManager.BInStoreInfo.PosId))
{
BufferDataManager.BInStoreInfo = null;
LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]");
}
}
/// <summary>
/// 检查另一边暂存区是否存在入库的料
/// </summary>
/// <returns></returns>
private bool CheckOtherSideIsThereReel(out InOutPosInfo inOutPosInfo)
{
inOutPosInfo = null;
if (CheckASide())
{
if (InDoorCheck(new InOutParam(BufferDataManager.AInStoreInfo)))
{
inOutPosInfo= BufferDataManager.AInStoreInfo.ToCopy();
return true;
}
}
else
{
if (InDoorCheck(new InOutParam(BufferDataManager.BInStoreInfo)))
{
inOutPosInfo = BufferDataManager.BInStoreInfo.ToCopy();
return true;
}
}
return false;
}
private void InstoreExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SI_00_StartInstore:
PullAxisToP1("入库");
break;
case StepEnum.SI_01_PullAxis_Ready:
SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy);
MoveInfo.NextMoveStep(StepEnum.SI_02_ToBufferArea);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：到暂存区入料口，" +
$"行走机构到进出料机构取放点P2，移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到进出料暂存区取放料水平点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P2, Config.MoveAxis_P2_Speed);
if (CheckASide())
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed);
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AHorizontal_Check, IO_VALUE.HIGH));
}
else
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed);
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BHorizontal_Check, IO_VALUE.HIGH));
}
break;
case StepEnum.SI_02_ToBufferArea:
if (!InDoorCheck(MoveInfo.MoveParam))
{
SetWarnMsg($" 存储机构-入库 {MoveInfo.SLog}：入口料盘无入库信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.PosSide}], 任务取消");
if (MoveInfo.MoveParam.PosInfoBack == null)
{
LogInfo($"存储机构-入库 {MoveInfo.SLog}：入口料盘因无入库信息且AB面料叉无料，结束入库");
SetBoxStatus(DeviceStatus.None, RunStatus.Runing);
MoveInfo.EndMove();
}
else if (MoveInfo.MoveParam.PosInfoBack != null)//料叉有料，忽略当前入料口，直接入库
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：入口料盘无入库信息，另一面料叉有料。先将当前移栽旋转轴到料屉库位垂直取放料点P3，然后对另一面入库[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MiddleAxis_To_P3();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
}
}
else
{
MoveInfo.NextMoveStep(StepEnum.SI_03_VerifyBufferState);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：入料口入库信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]，开始取料");
}
break;
case StepEnum.SI_03_VerifyBufferState:
MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
XAxis_To_P2();
break;
case StepEnum.SI_04_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SI_05_GetReel);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料盘，移栽升降轴到上暂存区取料高点P2/P8，移栽压紧轴到压紧点P3");
if (CheckASide())
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed);
}
else
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed);
}
break;
case StepEnum.SI_05_GetReel:
MoveInfo.NextMoveStep(StepEnum.SI_06_InOutBackFromBuff);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
//清空暂存区料盘信息
ClearInDoorBuffer();
XAxis_To_P3();
break;
case StepEnum.SI_06_InOutBackFromBuff:
//存储当前料叉信息
if (MoveInfo.MoveParam.PosInfoBack == null)
{
if(CheckOtherSideIsThereReel(out InOutPosInfo inOutPosInfo))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3,取另一面暂存区的料[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MiddleAxis_To_P3();
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutPosInfo;
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutPosInfo.PosId);
}
else
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MiddleAxis_To_P3();
}
}
else //另一个料叉已有料，进行入库
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MiddleAxis_To_P3();
}
break;
//去库位点
case StepEnum.SI_07_MiddleToP3:
MoveInfo.NextMoveStep(StepEnum.SI_08_ToPosition);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," +
$"料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_P3_Speed);
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
UpdownAxisTo_P6_P12();
break;
case StepEnum.SI_08_ToPosition:
if(CamCheckReelPosition())
{
MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
ToTray();
IgnoreCamDect = false;
}
break;
case StepEnum.SI_09_ToTray:
MoveInfo.NextMoveStep(StepEnum.SI_10_LiftTray);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_UpdownToP3();
break;
case StepEnum.SI_10_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Inout_To_P3_P5();
break;
case StepEnum.SI_11_PullTray:
MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P2, Config.PullAxis_Updown_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break;
case StepEnum.SI_12_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
UpdownAxisToP7_P13();
break;
case StepEnum.SI_13_GetReel:
MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
ComAxis_To_P2();
break;
case StepEnum.SI_14_ReleaseCompress:
MoveInfo.NextMoveStep(StepEnum.SI_15_UpDownBack);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：叉子从库位返回，[{MoveInfo.MoveParam.PosInfo.ToStr()}]入库完成，移栽升降轴到料屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
//入库完成
SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy);
UpdownAxisTo_P6_P12();
break;
case StepEnum.SI_15_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
break;
case StepEnum.SI_16_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray);
if (CheckASide())
{
LogInfo($"存储机构-入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
}
else
{
LogInfo($"存储机构-入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
}
break;
case StepEnum.SI_17_PushTray:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
break;
case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：料斗拉取进出轴到待机点P1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
break;
case StepEnum.SI_19_InoutBack:
if (!CheckInStoreOtherSideInfo())
{
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore);
}
else
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"存储机构-入库 {MoveInfo.SLog}：从{MoveInfo.MoveParam.PosInfo.PosSide}面切换到另一面入库[{MoveInfo.MoveParam.PosInfoBack.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
}
break;
}
}
#endregion
}
}