SideMove.cs
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using OnlineStore;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class SideMove:DeviceBase, IDevice
{
public static Dictionary<string,SideMove> DeviceList = new Dictionary<string, SideMove>();
public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
msg = "";
foreach (var key in devices.Keys) {
if (devices[key].DeviceType != "LS")
continue;
SideMove sideMove = new SideMove(devices[key],out string m);
DeviceList.Add(devices[key].GroupName, sideMove);
msg += m;
}
}
DeviceGroup DeviceGroup;
MoveInfo LSAMoveInfo;
MoveInfo LSBMoveInfo;
CylinderManger Location_A = null;
CylinderManger Location_B = null;
public PuYueRFID_C2S RFID_1 = null;
public PuYueRFID_C2S RFID_2 = null;
MsgService Msg;
public LineRunMonitor Line;
LS_TypeE LS_Type = LS_TypeE.NoRfid;
public SideMove(DeviceGroup device,out string msg) {
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName);
LSAMoveInfo = new MoveInfo(GroupName + "_A");
LSBMoveInfo = new MoveInfo(GroupName + "_B");
Location_A = new CylinderManger($"A侧顶升", GroupName, IO_Type.Ls_A_Location_Up, IO_Type.Ls_A_Location_Down);
Location_B = new CylinderManger($"B侧顶升", GroupName, IO_Type.Ls_B_Location_Up, IO_Type.Ls_B_Location_Down);
if (!string.IsNullOrEmpty(DeviceGroup.RFID_1))
{
RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1);
if (!RFID_1.Open()) {
msg += DeviceGroup.GroupName + " RFID 1:" + DeviceGroup.RFID_1 +","+crc.GetString("Res0183","打开失败")+ "\r\n";
}
}
if (!string.IsNullOrEmpty(DeviceGroup.RFID_2))
{
RFID_2 = new PuYueRFID_C2S(DeviceGroup.RFID_2);
if (!RFID_2.Open())
{
msg += DeviceGroup.GroupName + " RFID 2:" + DeviceGroup.RFID_2 + "," + crc.GetString("Res0183","打开失败") + "\r\n";
}
}
if (RobotManage.Config.DOList[device.GroupName].ContainsKey(IO_Type.Ls_A_LineRwd))
Line = new LineRunMonitor(GroupName, RobotManage.Config.DOList[GroupName][IO_Type.Ls_A_LineRun].GetIOAddr(), RobotManage.Config.DOList[GroupName][IO_Type.Ls_A_LineRwd].GetIOAddr());
else
Line = new LineRunMonitor(GroupName, RobotManage.Config.DOList[GroupName][IO_Type.Ls_A_LineRun].GetIOAddr());
if (RFID_1 == null && RFID_2 == null)
LS_Type = LS_TypeE.NoRfid;
else if (RFID_2 == null)
LS_Type = LS_TypeE.OneWay;
else
LS_Type = LS_TypeE.TwoWay;
}
public DeviceStateE DeviceState { get; set; }
public void Start()
{
DeviceState = DeviceStateE.HomeReset;
LSAMoveInfo.NewMove(MoveStep.H01_HomeReset);
LSAMoveInfo.log("开始回原");
}
public void Stop()
{
DeviceState = DeviceStateE.Stop;
Line.LineStop("n");
LSAMoveInfo.log("停止运行");
}
public void Process()
{
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
if (LS_Type == LS_TypeE.NoRfid)
NoRfidProcess();
else {
OneWayProcess(LSAMoveInfo);
OneWayProcess(LSBMoveInfo);
}
}
}
int StopBufDelayMS = 500;
int StopDelayMS = 1000;
#region 无Rfid横移
public void NoRfidProcess()
{
if (CheckWait(LSAMoveInfo))
return;
switch (LSAMoveInfo.MoveStep)
{
case MoveStep.Wait:
LSAMoveInfo.NewMove(MoveStep.SideMove_01);
break;
case MoveStep.SideMove_01:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
if (IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.HIGH))
{
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo);
}
else
{
Msg.add(crc.GetString("Res0184", "空闲中"), MsgLevel.info);
}
break;
case MoveStep.SideMove_02:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_03);
IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.HIGH, StopDelayMS);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_A_Tray_Check, IO_VALUE.HIGH));
break;
case MoveStep.SideMove_03:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04);
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH, 500);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_04:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_05);
Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo);
break;
case MoveStep.SideMove_05:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
Line.LineRun("n",false, 999);
break;
case MoveStep.SideMove_06:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_07);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.HIGH));
break;
case MoveStep.SideMove_07:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_08);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_08:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
Line.LineStop("n");
Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo);
break;
case MoveStep.SideMove_09:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.LOW));
break;
case MoveStep.SideMove_10:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_11);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_11:
LSAMoveInfo.NewMove(MoveStep.SideMove_01);
break;
}
}
#endregion
#region 单方向LS处理
public void OneWayProcess(MoveInfo moveInfo)
{
var Minfo = moveInfo;
if (CheckWait(Minfo))
return;
string side = Minfo== LSAMoveInfo? "A":"B";
var Ls_A_Front_Check = $"Ls_{side}_Front_Check";
var Ls_A_Location_Up = $"Ls_{side}_Location_Up";
var Ls_A_Location_Down = $"Ls_{side}_Location_Down";
var Ls_A_Front_Stop = $"Ls_{side}_Front_Stop";
var Ls_A_Stop = $"Ls_{side}_Stop";
var Ls_A_BufStop_Rwd = $"Ls_{side}_BufStop_Rwd";
var Ls_A_Tray_Check = $"Ls_{side}_Tray_Check";
var sideb = side == "A" ? "B" : "A";
var Ls_B_Location_Up = $"Ls_{sideb}_Location_Up";
var Ls_B_Location_Down = $"Ls_{sideb}_Location_Down";
var Ls_B_Front_Stop = $"Ls_{sideb}_Front_Stop";
var Ls_B_Stop = $"Ls_{sideb}_Stop";
var Ls_B_BufStop_Fwd = $"Ls_{sideb}_BufStop_Fwd";
var Ls_B_BufStop_Rwd = $"Ls_{sideb}_BufStop_Rwd";
var Ls_B_Tray_Check = $"Ls_{sideb}_Tray_Check";
var RFID = Minfo == LSAMoveInfo ? RFID_1 : RFID_2;
var lsb = (Minfo == LSAMoveInfo ? LSBMoveInfo : LSAMoveInfo);
var addr = (Minfo == LSAMoveInfo ? DeviceGroup.addr_1 : DeviceGroup.addr_2);
switch (Minfo.MoveStep)
{
case MoveStep.Wait:
Minfo.NewMove(MoveStep.SideMove_01);
break;
case MoveStep.SideMove_01:
Minfo.NextMoveStep(MoveStep.SideMove_01);
if (lsb.MoveStep >= MoveStep.SideMove_10) {
Msg.add(sideb+"侧穿越中", MsgLevel.info);
}
else if (IOValue(Ls_A_Front_Check).Equals(IO_VALUE.HIGH))
{
Minfo.NextMoveStep(MoveStep.SideMove_02);
CylinderMove(Minfo, Ls_A_Location_Up, Ls_A_Location_Down, IO_VALUE.LOW);
IOMove(IO_Type.Ls_A_Stop, IO_VALUE.LOW);
}
else
{
Msg.add(crc.GetString("Res0184", "空闲中"), MsgLevel.info);
}
break;
case MoveStep.SideMove_02:
Minfo.NextMoveStep(MoveStep.SideMove_03);
Minfo.CanWhileCount = 3;
IOMove(Ls_A_Front_Stop, IO_VALUE.HIGH, StopDelayMS);
IOMove(Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
Minfo.WaitList.Add(WaitResultInfo.WaitIO(Ls_A_Tray_Check, IO_VALUE.HIGH));
break;
case MoveStep.SideMove_03:
if (LS_Type == LS_TypeE.OneWay)
{
Minfo.NextMoveStep(MoveStep.SideMove_04);
return;
}
if (RFID.ReadByte(0x20,16,out byte[] data))
{
var rfid = Encoding.ASCII.GetString(data).Trim();
var through = TrayManager.Process(rfid, addr, out TrayInfo trayInfo);
if (through)
Minfo.NextMoveStep(MoveStep.SideMove_04);
else
Minfo.NextMoveStep(MoveStep.SideMove_10);
Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (Minfo.CanWhileCount > 0)
{
Minfo.CanWhileCount--;
Minfo.log($"RFid读取失败,重试第{3- Minfo.CanWhileCount}次");
Minfo.WaitList.Add(WaitResultInfo.WaitMsg("RFid读取失败",MsgLevel.warning));
}
else {
Minfo.log("RFid读取失败,直接通过");
Minfo.NextMoveStep(MoveStep.SideMove_04);
}
break;
///直接穿过流程
case MoveStep.SideMove_04:
Minfo.NextMoveStep(MoveStep.SideMove_05);
IOMove(Ls_A_Stop, IO_VALUE.HIGH, StopDelayMS);
break;
case MoveStep.SideMove_05:
Minfo.NextMoveStep(MoveStep.SideMove_06);
Minfo.WaitList.Add(WaitResultInfo.WaitIO(Ls_A_Tray_Check, IO_VALUE.LOW));
break;
case MoveStep.SideMove_06:
Minfo.NextMoveStep(MoveStep.SideMove_01);
Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
///横移流程
case MoveStep.SideMove_10:
if (lsb.MoveStep == MoveStep.SideMove_01)
{
Minfo.NextMoveStep(MoveStep.SideMove_11);
}
else if (lsb.MoveStep >= MoveStep.SideMove_11) {
Minfo.NextMoveStep(MoveStep.SideMove_04);
Minfo.log($"{sideb}侧也在等待横移,本侧直接穿过");
}
else
{
Msg.add($"等待{sideb}侧空闲", MsgLevel.info);
}
break;
case MoveStep.SideMove_11:
Minfo.NextMoveStep(MoveStep.SideMove_05);
Location_A.ToHigh(Minfo);
Location_B.ToHigh(Minfo);
IOMove(Ls_B_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
break;
case MoveStep.SideMove_12:
Minfo.NextMoveStep(MoveStep.SideMove_06);
Line.LineRun("n", false, 999);
Minfo.WaitList.Add(WaitResultInfo.WaitIO(Ls_B_Tray_Check, IO_VALUE.HIGH));
break;
case MoveStep.SideMove_13:
Minfo.NextMoveStep(MoveStep.SideMove_07);
Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_14:
Minfo.NextMoveStep(MoveStep.SideMove_08);
Line.LineStop("n");
Location_A.ToLow(Minfo);
Location_B.ToLow(Minfo);
break;
case MoveStep.SideMove_15:
Minfo.NextMoveStep(MoveStep.SideMove_09);
IOMove(Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS);
break;
case MoveStep.SideMove_16:
Minfo.NextMoveStep(MoveStep.SideMove_10);
Minfo.WaitList.Add(WaitResultInfo.WaitIO(Ls_B_Tray_Check, IO_VALUE.LOW));
break;
case MoveStep.SideMove_17:
Minfo.NextMoveStep(MoveStep.SideMove_11);
Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_18:
Minfo.NewMove(MoveStep.SideMove_01);
break;
}
}
#endregion
void ResetProcess()
{
if (CheckWait(LSAMoveInfo))
return;
switch (LSAMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.H01_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
var loAdown = IOValue(IO_Type.Ls_A_Location_Down).Equals(IO_VALUE.HIGH);
var loBdown = IOValue(IO_Type.Ls_B_Location_Down).Equals(IO_VALUE.HIGH);
var trayAstate = IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH);
var trayBstate = IOValue(IO_Type.Ls_B_Tray_Check).Equals(IO_VALUE.HIGH);
LSAMoveInfo.log($"Ls_A_Location_Down:{loAdown},Ls_B_Location_Down:{loBdown},Ls_A_Tray_Check:{trayAstate},Ls_B_Tray_Check:{trayBstate}");
if (loAdown && loBdown)
{
if (!trayAstate && !trayBstate)
{
LSAMoveInfo.log("托盘上没有料盘回原结束");
DeviceState = DeviceStateE.Run;
LSAMoveInfo.EndMove();
}
else if (LS_Type == LS_TypeE.NoRfid)
{
}
else if (trayAstate)
{
LSAMoveInfo.log("有过路料直接放行");
DeviceState = DeviceStateE.Run;
LSAMoveInfo.NewMove(MoveStep.SideMove_04);
}
else if (trayBstate)
{
LSBMoveInfo.log("有过路料直接放行");
DeviceState = DeviceStateE.Run;
LSBMoveInfo.NewMove(MoveStep.SideMove_04);
}
}
break;
case MoveStep.H02_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo);
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
break;
case MoveStep.H03_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
Line.LineRun("n", false, 10);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H04_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo);
break;
case MoveStep.H05_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
IOMove(IO_Type.Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H06_HomeReset:
LSAMoveInfo.log("回原完成");
DeviceState = DeviceStateE.Run;
LSAMoveInfo.EndMove();
break;
case MoveStep.HEND_HomeReset:
LSAMoveInfo.NewMove(MoveStep.SideMove_01);
DeviceState = DeviceStateE.Run;
break;
}
}
enum LS_TypeE {
NoRfid,
OneWay,
TwoWay
}
}
}