VerticalStoreBean_InOut.cs
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using DeviceLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
partial class VerticalStoreBean
{
public bool WaitCanCloseDoor = false;
public bool CanCloseDoor = false;
private Stopwatch moveWatch = new Stopwatch();
#region 自动出入库参数
private int CurrInOutCount = 0;
private int CurrInOutACount = 0;
public List<string> PositionNumList = new List<string>();
public bool autoNext = false;
public int autoJiange = 3;
public int autoPositionIndex = 0;
public string autoMsg = "";
public int AutoStartIndex = -1;
#endregion
#region CheckWait
private void CheckWait()
{
List<WaitResultInfo> list = MoveInfo.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
MoveInfo.EndStepWait();
return;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == 1)
{
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 = msg;
Alarm(StoreAlarmType.AxisMoveError, wait.AxisInfo.ProName, WarnMsg, MoveInfo.MoveType);
break;
}
}
else if (wait.WaitType == 2)
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error(Name + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(7))
{
wait.IsEnd =( CanCloseDoor);
}
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 = Name + "【" + MoveInfo.MoveType + "】【" + MoveInfo.MoveStep + "】等待超时 [" + NotOkMsg
+ "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 100);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
#endregion
#region 入库
public override bool StartInStore(InOutParam param)
{
WaitCanCloseDoor = false;
param.paramType = MoveType.InStore;
string posId = param != null ? param.PosId : "";
if (runStatus.Equals(StoreRunStatus.Runing) && MoveInfo.MoveType.Equals(MoveType.None))
{
if (param.Position == null)
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位信息");
return false;
}
LogUtil.info(Name + " 启动 " + param.LogName);
moveWatch.Restart();
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, param);
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_Wait);
InStoreLog("开始入库：等待光栅未被遮挡");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SafetyLightCurtains, IO_VALUE.HIGH));
return true;
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "出错，当前状态:[" + runStatus + "],[" + MoveInfo.MoveType + "]");
return false;
}
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StoreMoveStep.SI_01_Wait))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_02_CloseDoor);
InStoreLog(" 关闭升降门，关闭所有灯");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartClose(MoveInfo);
LEDManager.GetLedModule(Config.LED_IP).AllLightOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_02_CloseDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_MiddleToP2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InStoreLog(" 旋转轴到P2点");
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Position.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_03_MiddleToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_04_OpenDoor);
InStoreLog(" 打开升降门，打开库位灯蓝色 ,更新状态为入仓完成 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartOpen(MoveInfo);
List<Light> lights = new List<Light>();
foreach(int index in MoveInfo.MoveParam.Position.GetLedList())
{
lights.Add(Light.BlueLight(MoveInfo.MoveParam.Position.LedDmx, index));
}
LEDManager.GetLedModule(Config.LED_IP).OnlyLightOn(lights.ToArray<Light>());
UpdateLastStatus(StoreStatus.InStoreEnd);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_04_OpenDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_05_WaitCloseDoor);
InStoreLog(" 等待关门 ");
WaitCanCloseDoor = true;
CanCloseDoor = false;
MoveInfo.WaitList.Add(WaitResultInfo.WaitCloseDoor());
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_05_WaitCloseDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_CloseDoor);
InStoreLog(" 开始关门 ");
WaitCanCloseDoor = false;
CanCloseDoor = false;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_06_CloseDoor))
{
TimeSpan span = moveWatch.Elapsed;
moveWatch.Stop();
LogUtil.info(Name + " 【" + MoveInfo.MoveParam.LogName + "】 结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
runStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(MoveType.InStore);
}
else
{
LogUtil.info(Name + " 入库，" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
public override bool StartOutStore(InOutParam param)
{
WaitCanCloseDoor = false;
param.paramType = MoveType.OutStore;
if (runStatus.Equals(StoreRunStatus.Runing) && MoveInfo.MoveType.Equals(MoveType.None))
{
if (param.Position == null)
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位信息");
return false;
}
moveWatch.Restart();
LogUtil.info(Name + "启动 " + param.LogName + " ");
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.OutStoreExecute;
MoveInfo.NewMove(MoveType.OutStore, param);
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_Wait);
InStoreLog("开始出库：等待光栅未被遮挡");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SafetyLightCurtains, IO_VALUE.HIGH));
return true;
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "出错，当前状态:[" + runStatus + "],[" + MoveInfo.MoveType + "]");
return false;
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StoreMoveStep.SO_01_Wait))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_CloseDoor);
InStoreLog(" 关闭升降门，关闭所有灯");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartClose(MoveInfo);
LEDManager.GetLedModule(Config.LED_IP).AllLightOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_02_CloseDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_MiddleToP2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InStoreLog(" 旋转轴到P2点");
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Position.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_03_MiddleToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_OpenDoor);
InStoreLog(" 打开升降门，打开库位灯绿色 ,更新状态为出仓完成 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartOpen(MoveInfo);
List<Light> lights = new List<Light>();
foreach (int index in MoveInfo.MoveParam.Position.GetLedList())
{
lights.Add(Light.GreenLight(MoveInfo.MoveParam.Position.LedDmx, index));
}
LEDManager.GetLedModule(Config.LED_IP).OnlyLightOn(lights.ToArray<Light>());
UpdateLastStatus(StoreStatus.OutStoreBoxEnd);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_04_OpenDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_WaitCloseDoor);
InStoreLog(" 等待关门 ");
WaitCanCloseDoor = true;
CanCloseDoor = false;
MoveInfo.WaitList.Add(WaitResultInfo.WaitCloseDoor());
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_05_WaitCloseDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_CloseDoor);
InStoreLog(" 开始关门 ");
WaitCanCloseDoor = false;
CanCloseDoor = false;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06_CloseDoor))
{
TimeSpan span = moveWatch.Elapsed;
moveWatch.Stop();
LogUtil.info(Name + " 【" + MoveInfo.MoveParam.LogName + "】 结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
runStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(MoveType.OutStore);
}
else
{
LogUtil.info(Name + " 出库，" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
public void SureCloseDoor()
{
if (MoveInfo.MoveType.Equals(MoveType.InStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.SI_05_WaitCloseDoor))
{
CanCloseDoor = true;
}
else if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_05_WaitCloseDoor))
{
CanCloseDoor = true;
}
}
private void UpdateLastStatus(StoreStatus status)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
lastPosId = posId;
lastPosIdStatus = status;
storeStatus = status;
LogUtil.info(Name + "更新 LastStatus [" + lastPosIdStatus + "] [" + lastPosId + "] ");
}
private void InOutEndProcess(MoveType storeMoveType)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
//是否自动进入出库状态
if (!autoNext)
{
return;
}
if (storeMoveType.Equals(MoveType.InStore))
{
int newIndex = autoPositionIndex - 1;
if (newIndex < 0)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
LogUtil.info(Name + "下一个索引不存在，重新开始自动出入库，索引【" + AutoStartIndex + "】");
}
else
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(Name + "下一个索引不存在，自动 出入库结束！");
}
}
else
{
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
InOutParam newParam = new InOutParam(MoveType.OutStore, posid);
LogUtil.info(Name + "自动进入下一个出库：posid=" + posid);
autoMsg = "自动出库：" + posid;
StartOutStore(newParam);
}
}
else if (storeMoveType.Equals(MoveType.OutStore))
{
int newIndex = autoPositionIndex - autoJiange;
if (newIndex < 0)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
LogUtil.info(Name + "下一个索引不存在，重新开始自动出入库，索引【" + AutoStartIndex + "】");
}
else
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(Name + "下一个索引不存在，自动 出入库结束！");
}
}
else
{
string posid = PositionNumList[newIndex];
InOutParam newParam = new InOutParam(MoveType.InStore, posid, "AAAAA");
LogUtil.info(Name + "自动进入下一个入库：posid=" + posid);
autoMsg = "自动入库：" + posid;
StartInStore(newParam);
}
}
}
catch (Exception ex)
{
LogUtil.error(ex.ToString());
}
}
private void InStoreLog(string msg)
{
string LogName = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.LogName : "";
LogUtil.info("" + LogName + " ["+MoveInfo.MoveStep+"]" + msg);
}
private void OutStoreLog(string msg)
{
string LogName = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.LogName : "";
LogUtil.info("" + LogName + " [" + MoveInfo.MoveStep + "]" + msg);
}
private void ResetLog(string msg)
{
LogUtil.info(Name+" "+MoveInfo.MoveType+ " ["+MoveInfo.MoveStep+"] " + msg);
}
}
}