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
{
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 (MoveInfo.MoveStep == StoreMoveStep.SO_18_WaitTake)
{
timeOutMs = 650000;
}
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);
}
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, bool isNeedCheckIO = 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);
if (isNeedCheckIO)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_TrayCheck);
InStoreLog(" 检测料盘信号");
}
else
{
//SI_02_InOutToP1(MoveInfo.MoveParam.MoveP);
}
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()
{
//StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
//if (MoveInfo.IsInWait)
//{
// CheckWait();
//}
//if (MoveInfo.IsInWait)
//{
// return;
//}
//if (MoveInfo.IsStep(StoreMoveStep.SI_01_TrayCheck))
//{
// SI_02_InOutToP1(moveP);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_02_InOutToP1))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_03_Clamping_Relax);
// InStoreLog(" 夹爪放松");
// CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_03_Clamping_Relax))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_04_AxisToP1);
// InStoreLog(" 轴2、轴1 动作到P1 ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_04_AxisToP1))
//{
// SI_05_InoutToP2();
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_05_InoutToP2))
//{
// NeedCheckSafetyLight = 0;
// MoveInfo.NextMoveStep(StoreMoveStep.SI_06_Clamping_Work);
// InStoreLog("夹爪夹紧 ");
// CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_06_Clamping_Work))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_07_UpdownToP7);
// InStoreLog("升降轴到P7 ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_07_UpdownToP7))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_08_InOutToP1);
// InOutBackToP1(moveP.InOut_P1);
// ConfigMoveAxis axis = GetPosTAxis();
// InStoreLog("进出轴返回待机点P1, " + axis.ProName + "停止匀速运动 ");
// AxisSuddenStop(axis);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_08_InOutToP1))
//{
// ConfigMoveAxis axis = GetPosTAxis();
// MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// InStoreLog("移动到库位点，旋转轴 至P2（ 库位点）升降轴至P3(库位入库前点）关闭仓门 " + axis.ProName + "开始原点返回");
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
// CylinderMove(null, IO_Type.Door_Up, IO_Type.Door_Down);
// ACAxisHomeMove(axis);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_09_MoveToBag))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_10_TargetAxisToP2);
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// InStoreLog("冷藏旋转轴到P2 ");
// ACAxisMove(Config.Colding_Axis, moveP.Cold_P2, Config.ColdingAxis_P2_Speed);
// }
// else
// {
// InStoreLog("回温旋转轴到P2 ");
// ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_10_TargetAxisToP2))
//{
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SI_11_OpenColddoor);
// InStoreLog("打开冷藏门，关闭仓门 ");
// CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
// CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SI_12_InoutToP3);
// InStoreLog("进出轴到P3 ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_11_OpenColddoor))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_12_InoutToP3);
// InStoreLog("进出轴到P3 ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_12_InoutToP3))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_13_UpdownToP4);
// InStoreLog("升降轴到入料缓冲点P4 ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_13_UpdownToP4))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_14_Clamping_Relax);
// InStoreLog(" 夹爪放松");
// CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_14_Clamping_Relax))
//{
// // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
// UpdateLastStatus(StoreStatus.InStoreEnd);
// MoveInfo.NextMoveStep(StoreMoveStep.SI_15_InOutToP1);
// InStoreLog(" 进出轴返回待机点P1");
// InOutBackToP1(moveP.InOut_P1);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_15_InOutToP1))
//{
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SI_16_CloseColddoor);
// InStoreLog(" 关闭冷藏区门");
// CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
// }
// else
// {
// SI_17_GoBack();
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_16_CloseColddoor))
//{
// SI_17_GoBack();
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SI_17_GoBack))
//{
// TimeSpan span = moveWatch.Elapsed;
// moveWatch.Stop();
// LogUtil.info(Name + " 【" + MoveInfo.MoveParam.LogName + "】 结束，开始旋转，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，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
//}
}
private void SI_02_InOutToP1( )
{
//MoveInfo.NextMoveStep(StoreMoveStep.SI_02_InOutToP1);
//InStoreLog(" 进出轴到P1,打开舱门");
//CylinderMove(MoveInfo, IO_Type.Door_Down, IO_Type.Door_Up);
//InOutBackToP1(moveP.InOut_P1);
}
private void SI_05_InoutToP2()
{
//MoveInfo.NextMoveStep(StoreMoveStep.SI_05_InoutToP2);
//InStoreLog("进出轴到P2");
//ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
//NeedCheckSafetyLight = 1;
}
private void SI_17_GoBack()
{
//MoveInfo.NextMoveStep(StoreMoveStep.SI_17_GoBack);
//ConfigMoveAxis axis = GetPosTAxis();
//InStoreLog(" 升降轴，旋转轴返回P1，" + axis.ProName + "开始匀速运转");
//ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//StartWork(MoveInfo.MoveParam.Position.PosType);
}
private void InOutBackToP1(int InOut_P1)
{
////判断是否在P1，如果是，不需要运行
//int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
//int errorCount = Math.Abs(outCount - InOut_P1);
//if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
//{
// LogUtil.info("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
//}
//else
//{
// ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
//}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
#endregion
#region 出库
public override bool StartOutStore(InOutParam param)
{
//param.paramType = MoveType.OutStore;
//if (runStatus.Equals(StoreRunStatus.Runing) && MoveInfo.MoveType.Equals(MoveType.None))
//{
// if (!param.LoadParam(Config))
// {
// LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位");
// return false;
// }
// if (IOManager.IOValue(IO_Type.TinCheck_Fixture).Equals(IO_VALUE.HIGH))
// {
// LogUtil.error(Name + " 启动 " + param.LogName + "失败，叉子料盘检测有料");
// 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_InoutToP1);
// ConfigMoveAxis axis = GetPosTAxis();
// OutStoreLog(" 叉子先运动到P1 ，" + axis.ProName + "停止匀速运动");
// InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
// AxisSuddenStop(axis);
// 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()
{
//StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
//if (MoveInfo.MoveStep .Equals( StoreMoveStep.SO_01_InoutToP1))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_02_AxisHome);
// ConfigMoveAxis axis = GetPosTAxis();
// OutStoreLog(" " + axis.ProName + "开始原点返回");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// ACAxisHomeMove(axis);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_02_AxisHome))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToBag);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// ConfigMoveAxis axis = GetPosTAxis();
// OutStoreLog(" 旋转轴至P2(库位点),升降轴至P5(库位出库前点)，" + axis.ProName + "到P2");
// ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// ACAxisMove(Config.Colding_Axis, moveP.Cold_P2, Config.ColdingAxis_P2_Speed);
// }
// else
// {
// ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_03_ToBag))
//{
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_04_OpenCold);
// OutStoreLog("打开冷藏区门 ");
// CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutToP3);
// OutStoreLog(" 进出轴至P3(库位取放料点) ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_04_OpenCold))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutToP3);
// OutStoreLog(" 进出轴至P3(库位取放料点) ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_05_InoutToP3))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_06_Clamping_Work);
// OutStoreLog("夹爪夹紧 ");
// CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_06_Clamping_Work))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_UpdownToP6);
// OutStoreLog(" 升降轴至P6(库位出料缓冲点) ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_07_UpdownToP6))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP1);
// OutStoreLog(" 进出轴至P1(待机点) ");
// InOutBackToP1(moveP.InOut_P1);
// //把库位的物品放到取到叉子上之后是出仓完成
// UpdateLastStatus(StoreStatus.OutStoreBoxEnd);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP1))
//{
// if (IOManager.IOValue(IO_Type.TinCheck_Fixture).Equals(IO_VALUE.LOW))
// {
// CodeMsg = MoveInfo.MoveParam.LogName + " 叉子从库位退出后，未检测到料盘有料";
// LogUtil.error(CodeMsg);
// }
// if (MoveInfo.MoveParam.Position.PosType.Equals(1))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_09_CloseCold);
// OutStoreLog("关闭冷藏区门 ");
// CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToDoorPosition);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// OutStoreLog("旋转轴至P1(待机点)升降轴至P2(进料口出料前点),");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// }
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_09_CloseCold))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToDoorPosition);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// OutStoreLog("旋转轴至P1(待机点)升降轴至P2(进料口出料前点),");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_10_ToDoorPosition))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_11_OpenDoor);
// ConfigMoveAxis axis = GetPosTAxis();
// OutStoreLog("打开仓门 ," + axis.ProName + "开始匀速运转");
// CylinderMove(MoveInfo, IO_Type.Door_Down, IO_Type.Door_Up);
// StartWork(MoveInfo.MoveParam.Position.PosType);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_11_OpenDoor))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
// OutStoreLog("等待仓门口无料盘 ");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(MoveInfo.MoveParam.GetDoorTinCheck(), IO_VALUE.LOW));
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitNoTray))
//{
// SO_13_InoutToP2();
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_13_InoutToP2))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_14_UpdownToP8);
// OutStoreLog("进出轴到出料缓冲点P8 ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
//}
////此处需要等待移栽没有工作，才能把盘放入出料口
//else if (MoveInfo.IsStep(StoreMoveStep.SO_14_UpdownToP8))
//{
// NeedCheckSafetyLight = 0;
// MoveInfo.NextMoveStep(StoreMoveStep.SO_15_Clamping_Relax);
// OutStoreLog("夹爪放松 ");
// CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_15_Clamping_Relax))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_16_InoutToP1);
// OutStoreLog("进出轴动作至P1(待机点) ");
// InOutBackToP1(moveP.InOut_P1);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_16_InoutToP1))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_17_CloseDoor);
// OutStoreLog("关闭仓门 ");
// CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_17_CloseDoor))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_18_WaitTake);
// int OutStoreWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.OutStoreWaitSeconds);
// if (OutStoreWaitSeconds <= 0)
// {
// OutStoreWaitSeconds = 600;
// }
// int ms = OutStoreWaitSeconds * 1000;
// OutStoreLog(" 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ms));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(MoveInfo.MoveParam.GetDoorTinCheck(), IO_VALUE.LOW));
// MoveInfo.OneWaitCanEndStep = true;
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SO_18_WaitTake))
//{
// TimeSpan span = moveWatch.Elapsed;
// moveWatch.Stop();
// storeStatus = StoreStatus.StoreOnline;
// LogUtil.info(Name + " 【" + MoveInfo.MoveParam.LogName + "】 结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
// MoveInfo.EndMove();
// runStatus = StoreRunStatus.Runing;
// InOutEndProcess(MoveType.OutStore);
//}
//else
//{
// LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
//}
}
private void SO_13_InoutToP2()
{
//StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
//MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutToP2);
//OutStoreLog(" 进出轴至P2(进料口取料点) ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
//NeedCheckSafetyLight = 1;
}
public bool InOutAxisCanMove()
{
return true;
}
#endregion
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 AddWaitMoveParam(InOutParam newParam)
{
throw new NotImplementedException();
}
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 MovePosLog(string msg)
{
string LogName = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.LogName : "";
LogUtil.info("" + LogName + " [" + MoveInfo.MoveStep + "]" + msg);
}
private void StiringLog(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);
}
}
}