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))
{
if (param == null || param.PosInfo == null)
return false;
SetWarnMsg(Name + $" 启动入库出错，入口料盘无入库信息[barcode={param.PosInfo.barcode},PosSide={param.PosInfo.GetPosSide()}], 任务取消");
SServerManager.cancelPutInTask(Name, param.PosInfo.barcode);
return false;
}
if (!param.PosInfo.CheckPosition())
{
LogUtil.error(Name + " 启动入库【" + param.PosInfo.ToStr() + "】出错，找不到库位信息");
return false;
}
if (AutoInout.autoNext)
{
LogInfo(" 循环测试入库, 不做入库验证. ");
return true;
}
else
{
if (!ReviceInStoreCMD(param.PosInfo.PosId, param.PosInfo.PlateH, param.PosInfo.PlateW, param.PosInfo.barcode))
{
LogUtil.error($" 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.GetPosSide().Equals("A"))
{
BufferDataManager.AInStoreInfo = null;
LogInfo($"入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else if (MoveInfo.MoveParam.PosInfo.GetPosSide().Equals("B"))
{
BufferDataManager.BInStoreInfo = null;
LogInfo($"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.GetPosSide()}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 DateTime startTime;
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.MoveParam.PosInfo.PosId,MoveInfo.MoveParam.PosInfo.barcode);
MoveInfo.NextMoveStep(StepEnum.SI_01_Pull_Updown_ToPosition);
if (!IsMoveAxisInSafePos())
{
MoveAxisToP1();
LogInfo($"入库 行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
}
break;
case StepEnum.SI_01_Pull_Updown_ToPosition:
MoveInfo.NextMoveStep(StepEnum.SI_01_MoveAxis_Ready);
LogInfo($"入库 {MoveInfo.SLog}：到暂存区入料口，" +
$"行走机构到待机点P1，料屉升降轴到P1点,移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到取放料水平点P2,移栽X轴到P1,料屉升降轴到P1点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P3_P9();
ComAxis_To_P2();
MiddleAxis_To_P2();
XAxis_To_P1();
break;
case StepEnum.SI_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SI_02_ToBufferArea);
startTime = DateTime.Now;
break;
case StepEnum.SI_02_ToBufferArea:
if (!InDoorCheck(MoveInfo.MoveParam))
{
SetWarnMsg($"入库 {MoveInfo.SLog}：入口料盘无入库信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}], 任务取消");
if (MoveInfo.MoveParam.PosInfoBack == null)
{
LogInfo($"入库 {MoveInfo.SLog}：入口料盘因无入库信息且AB面料叉无料，结束入库");
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
}
else if (MoveInfo.MoveParam.PosInfoBack != null)//料叉有料，忽略当前入料口，直接入库
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"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.GetPosSide()}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($"入库 {MoveInfo.SLog}：入料口入库信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][posId={MoveInfo.MoveParam.PosInfo.PosId}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]，开始取料");
}
break;
case StepEnum.SI_03_VerifyBufferState:
if (!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff);
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2,行走机构到取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2();
MoveAxisToP2();
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break;
case StepEnum.SI_04_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SI_05_GetReel);
LogInfo($"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");
UpdownAxisTo_P2_P8();
ComAxis_To_P3();
break;
case StepEnum.SI_05_GetReel:
MoveInfo.NextMoveStep(StepEnum.SI_06_InOutBackToP1FromBuff);
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P1();
break;
case StepEnum.SI_06_InOutBackToP1FromBuff:
MoveInfo.NextMoveStep(StepEnum.SI_06_ClearBuffInfo);
//LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//清空暂存区料盘信息
ClearInDoorBuffer();
break;
case StepEnum.SI_06_ClearBuffInfo:
//存储当前料叉信息
if (MoveInfo.MoveParam.PosInfoBack == null)
{
if (CheckOtherSideIsThereReel(out InOutPosInfo inOutPosInfo))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_MoveAxis_Ready);
LogInfo($"入库 {MoveInfo.SLog}：取另一面暂存区的料,移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到取放料水平点P2,移栽X轴到P1,料屉升降轴到P1点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutPosInfo;
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutPosInfo.PosId);
UpdownAxisTo_P3_P9();
ComAxis_To_P2();
MiddleAxis_To_P2();
XAxis_To_P1();
}
else
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
//MiddleAxis_To_P3();
LogInfo($"入库 {MoveInfo.SLog}：另一面无料,直接入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3
}
}
else //另一个料叉已有料，进行入库
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
//MiddleAxis_To_P3();
LogInfo($"入库 {MoveInfo.SLog}：另一个料叉已有料,进行入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3
}
break;
//去库位点
case StepEnum.SI_07_MiddleToP3:
MoveInfo.NextMoveStep(StepEnum.SI_08_ToPosition);
LogInfo($"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," +
$"料斗拉取升降轴到料屉提取低点P4,料屉拉取进出轴到拍照点,移栽旋转轴到料屉库位垂直取放料点P3，移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P3();
PullAxis_Inout_To_Cam();
MiddleAxis_To_P3();
MoveAxisToP3();
PullAxis_UpdownToLowP4();
UpdownAxisTo_P6_P12();
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case StepEnum.SI_08_ToPosition:
if (CamCheckReelPosition())
{
MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray);
LogInfo($"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.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
CamDetectError = false;
IgnoreCamDect = false;
SaveSpecifiedImage();
}
break;
case StepEnum.SI_09_ToTray:
MoveInfo.NextMoveStep(StepEnum.SI_10_LiftTray);
LogInfo($"入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3();
break;
case StepEnum.SI_10_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
LogInfo($"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.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
break;
case StepEnum.SI_11_PullTray:
MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);
LogInfo($"入库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
SaveSpecifiedImage();
break;
case StepEnum.SI_12_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
LogInfo($"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.GetPosSide()}面]");
UpdownAxisToP7_P13();
break;
case StepEnum.SI_13_GetReel:
MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
LogInfo($"入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P2();
break;
case StepEnum.SI_14_ReleaseCompress:
MoveInfo.NextMoveStep(StepEnum.SI_15_UpDownBack);
LogInfo($"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.GetPosSide()}面]");
//入库完成
SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
UpdownAxisTo_P6_P12();
break;
case StepEnum.SI_15_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray);
LogInfo($"入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3();
break;
case StepEnum.SI_16_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray);
// LogInfo($"入库 {MoveInfo.SLog}：推到抽屉待机点采集图片，料斗拉取进出轴到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//PullAxis_Inout_To_P1();
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2();
break;
case StepEnum.SI_17_PushTray:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
LogInfo($"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/P4,移栽旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2();
//Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
//bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
//string res = rtn ? "OK" : "NG";
//LogInfo($"入库 {MoveInfo.SLog}：抓手检测结果:{res}");
//PullAxis_UpdownToMiddleP2();
//if (CheckASide())
//{
// LogInfo($"入库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
//}
//else
//{
// LogInfo($"入库 {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.SI_18_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
//LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4();
if (CheckASide())
{
LogInfo($"入库 {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($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
}
break;
case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();
SaveSpecifiedImage();
break;
case StepEnum.SI_19_InoutBack:
if (!CheckInStoreOtherSideInfo())
{
if (InDoorSigCheck())
{
MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1();
}
else
{
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore);
}
}
else
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"入库 {MoveInfo.SLog}：从{MoveInfo.MoveParam.PosInfo.GetPosSide()}面切换到另一面入库[{MoveInfo.MoveParam.PosInfoBack.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
}
break;
case StepEnum.SI_20_ToStandby:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore);
break;
}
}
#endregion
}
}