BoxEquip_OutExecute.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
{
/// <summary>
/// 料盘放到出料口成功，并将料盘信息写入该口
/// </summary>
private void SetReelInfoToBuff()
{
if (CheckASide())
{
BufferDataManager.AOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
}
else
{
BufferDataManager.BOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
}
}
#region 出库
private void OutstoreExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SO_00_StartOutstore:
PullAxisToP1("出库");
break;
case StepEnum.SO_01_PullAxis_Ready:
SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.NextMoveStep(StepEnum.SO_01_MoveAxis_Ready);
if(!IsMoveAxisInSafePos())
{
MoveAxisToP1();
LogInfo($"出库 行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
}
break;
case StepEnum.SO_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition);
startTime = DateTime.Now;
LogInfo($"出库 {MoveInfo.SLog}：到库位,行走机构到存储库位取放点位P3,移栽升降轴到料屉上方过渡点P6/P12," +
$"料斗拉取升降轴到料屉提取低点P4，移栽压紧轴到压紧前点P2,移栽X轴到库位取放点P3,移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();//料屉拉取进出轴到拍照点
MoveAxisToP3();
UpdownAxisTo_P6_P12();
PullAxis_UpdownToLowP4();
ComAxis_To_P2();
XAxis_To_P3();
MiddleAxis_To_P3();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case StepEnum.SO_02_ToPosition:
if(CamCheckReelPosition())
{
MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
LogInfo($"出库 {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.GetPosSide()}面]");
ToTray();
CamDetectError = false;
IgnoreCamDect = false;
}
break;
case StepEnum.SO_03_ToTray:
MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_04_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
LogInfo($"出库 {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.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
break;
case StepEnum.SO_05_PullTray:
MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
LogInfo($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break;
case StepEnum.SO_06_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel);
LogInfo($"出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13();
SaveSpecifiedImage();
break;
case StepEnum.SO_07_GetReel:
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P3();
break;
case StepEnum.SO_08_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack);
LogInfo($"出库 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到料屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12();
break;
case StepEnum.SO_09_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_10_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2();
XAxis_To_P1();
break;
//case StepEnum.SO_11_PushTray:
// MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
// PullAxis_UpdownToMiddleP2();
// if (CheckASide())
// {
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
// }
// else
// {
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
// }
// break;
case StepEnum.SO_12_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
//LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4();
if (CheckASide())
{
LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
}
else
{
LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
}
break;
case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();
break;
case StepEnum.SO_13_InoutBack:
//检查另一面是否有出库任务
if (MoveInfo.MoveParam.PosInfoBack == null)
{
if (CheckASide(MoveInfo.MoveParam))
{
if (waitBOutStoreList.Count > 0 && CheckBOutDoor())
{
if (waitBOutStoreList.TryDequeue(out InOutParam inOutParam))//B面料叉空且B面出料口无料，有出库任务
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：A面切换到B面，B面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
else
{
if (waitAOutStoreList.Count > 0 && CheckAOutDoor())
{
if (waitAOutStoreList.TryDequeue(out InOutParam inOutParam))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：B面切换到A面，A面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
}
//直接出库，执行该步骤的情况：1.另一个料叉有料；2.另一面有出库任务但出料口有料；3.另一面没有出库任务;
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
if (MoveInfo.MoveParam.PosInfoBack == null)
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区放料高点P4/P10");
else
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]取料完成，准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区放料高点P4/P10");
break;
case StepEnum.SO_14_GetReels_Ready:
//已出一边的料，切换到另一边
MoveInfo.NextMoveStep(StepEnum.SO_15_ToBufferArea);
//LogInfo($"出库 {MoveInfo.SLog}：到暂存区出料口，" +
// $"行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SO_15_ToBufferArea:
if (!OutDoorCheck(MoveInfo.MoveParam))
{
SetWarnMsg($"出库 {MoveInfo.SLog}：出料口有其他料盘，无法放置该料盘[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_16_VerifyBufferState);
LogInfo($"出库 {MoveInfo.SLog}：出料口无料盘确认，开始放料[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
break;
case StepEnum.SO_16_VerifyBufferState:
if(!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SO_17_InOutToBuff);
LogInfo($"出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2,行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2();
MoveAxisToP2();
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break;
case StepEnum.SO_17_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel);
LogInfo($"出库 {MoveInfo.SLog}：放料盘，移栽升降轴到下暂存区放料低点P5/P11，移栽压紧轴到压紧前点P2");
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId);
UpdownAxisTo_P5_P11();
ComAxis_To_P2();
break;
case StepEnum.SO_18_PutReel:
MoveInfo.NextMoveStep(StepEnum.SO_19_InOutBackFromBuff);
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}]出库完成[耗时：{(DateTime.Now-startTime).TotalSeconds.ToString("f2")}秒],移栽X轴到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P1();
break;
case StepEnum.SO_19_InOutBackFromBuff:
//出库料盘放置成功，将料盘信息写入对应出料口
SetReelInfoToBuff();
if (MoveInfo.MoveParam.PosInfoBack == null)
{
MoveInfo.NextMoveStep(StepEnum.SO_20_Finish);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉无料，出库结束[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉有料，开始出库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfoBack.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
}
break;
case StepEnum.SO_20_Finish:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
break;
}
}
#endregion
}
}