MI.cs
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using ConfigHelper;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using RemoteSheardObject;
using Robot.UR;
using System;
using System.Collections.Generic;
using System.Collections.Specialized;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class MI : DeviceBase, IDevice
{
public static Dictionary<string, MI> DeviceList = new Dictionary<string, MI>();
public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
msg = "";
MI sideMove = new MI(devices["AMH-MI1"], out string m);
DeviceList.Add(devices["AMH-MI1"].GroupName, sideMove);
msg += m;
MI sideMove2 = new MI(devices["AMH-MI2"], out m);
DeviceList.Add(devices["AMH-MI2"].GroupName, sideMove2);
msg += m;
}
DeviceGroup DeviceGroup;
public MoveInfo MoveInfo;
MoveInfo RoboMoveInfo;
//CylinderManger Location;
public AxisBean Comp;
//public AxisBean Rotate;
URRobotControl Robot;
RobotHelper robotHelper;
BufferSlotsManger BufferSlotsManger;
string POS_Start = "MI1";
string robotname = "";
public MI(DeviceGroup device,out string msg) : base()
{
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName+"-T");
MoveInfo = new MoveInfo(GroupName + "-T");
RoboMoveInfo = new MoveInfo(GroupName + "-Robo");
if (device.GroupName == "AMH-MI1")
{
Robot = RobotManage.Robot_MI1;
robotname = "R1";
}
else
{
Robot = RobotManage.Robot_MI2;
POS_Start = "MI2";
robotname = "R2";
}
Robot.Name = robotname;
robotHelper = new RobotHelper(Robot, robotname);
Comp = AxisBean.List[DeviceGroup.GroupName][0];
//Rotate = AxisBean.List[DeviceGroup.GroupName][1];
BufferSlotsManger = new BufferSlotsManger(POS_Start);
}
public DeviceStateE DeviceState { get; set; }
public void Start()
{
OpenAllServo();
robotHelper.Start();
DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原");
}
public void Stop()
{
robotHelper.Stop();
Robot.StopRobot();
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
}
public void Process()
{
try
{
LogUtil.OutputDebugString($"{GroupName} DeviceState:" + DeviceState.ToString());
if (!DeviceCheck())
{
return;
}
MsgService.MSList[GroupName + "-T"].clear();
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
RobotMoveProcess();
}
}
finally {
MsgService.MSList[GroupName + "-T"].Show();
}
}
public void Reset()
{
Robot.SendMoveCmd(1, Setting_Init.URRobot_CI_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
Config.Set("RuntimeRobot_" + robotname + "_MoveStep", "Wait");
Config.Set("RuntimeRobot_" + robotname + "_Arm_MoveStep", "Wait");
}
private bool DeviceCheck()
{
//if (!Robot.ClientIsConnected)
//{
// Msg.add(POS_Start + crc.GetString("Res0011", "机器人未连接MT,无法操作."), MsgLevel.alarm);
// return false;
//}
if (!robotHelper.RobotStatus) {
Msg.add(POS_Start + crc.GetString("Res0058","机器人当前不可用"), MsgLevel.alarm);
return false;
}
return true;
}
int isalivetrytimes = 0;
int StopBufDelayMS = 500;
int StopDelayMS = 1500;
RobotPosition FromPos;
RobotPosition ToPos;
VStore CurrentVStore;
JobInfo CurrentJobInfo;
VStore CurrntOutReadyStore;
public void OneWayProcess()
{
Config.Set("RuntimeRobot_MoveStep", MoveInfo.MoveStep.ToString());
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//判断有无出库任务
var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs=>vs.TowerInfo.DeviceGroupName==GroupName).ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
var hasoutjob = false;
if (testInStoreError != null)
hasoutjob = true;
if (!hasoutjob)
{
var testOutReadyStore = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady);
if (testOutReadyStore != null)
hasoutjob = true;
}
if (hasoutjob) {
MoveInfo.log("查询到出库任务,开始优先出库");
MoveInfo.NextMoveStep(MoveStep.MI_50);
}
//判断入库任务
LogUtil.OutputDebugString("InStoreJobList:" + InStoreJobList.Count.ToString());
if (InStoreJob != null)
{
CurrentJobInfo = InStoreJob.Clone();
InStoreJob = null;
MoveInfo.log("收到物料入库任务:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
MoveInfo.MoveParam.cid = CurrentJobInfo.CID;
MoveInfo.NextMoveStep(MoveStep.MI_01);
FromPos = GetMIPosition(GroupName, POS_Start + "_MT");
var cid = MoveInfo.MoveParam.PosID;//.Split('_')[0];
CurrentVStore = VStoreCollection.VStoreList[cid];
ToPos = GetMIPosition(GroupName, TowerList.List[cid].PosID);
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo" , JsonConvert.SerializeObject(MoveInfo.MoveParam));
Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
Config.Set("Runtime_Robot_" + robotname + "_ToPos" , ToPos.PositionNum);
MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
}
break;
case MoveStep.MI_01:
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料");
break;
case MoveStep.MI_02:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_08)
{
MoveInfo.NextMoveStep(MoveStep.MI_03);
if (FromPos.PositionNum.EndsWith("MT"))
{
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.LoadParam = RoboMoveInfo.MoveParam.clone();
TrayManager.TrayRelease(remoteLoad);
TrayStop.DeviceList[GroupName].TrayRelease();
RoboMoveInfo.log("取料完成托盘放行");
TheLine.UpdateLocInfo("", remoteLoad.RequestLoadInfo.LoadParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
}
else
RoboMoveInfo.log("取料完成");
}
break;
case MoveStep.MI_03:
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
{
MoveInfo.NextMoveStep(MoveStep.MI_04);
}
break;
case MoveStep.MI_04:
if (CurrentVStore.RTStoreStatus == RTStoreStatus.Ready || CurrentVStore.RTStoreStatus == RTStoreStatus.LockToInStore)
{
MoveInfo.NextMoveStep(MoveStep.MI_05);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.log("机器人开始放料");
CurrentVStore.RequestInStore(new JobInfo(RoboMoveInfo.MoveParam.WareCode, "", RoboMoveInfo.MoveParam.PlateW, RoboMoveInfo.MoveParam.PlateH));
}
else {
MoveInfo.log("机器人放料时发现舱门口有料");
}
break;
case MoveStep.MI_05:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
MoveInfo.log("放入料仓口完成:"+ RoboMoveInfo.MoveParam.ToStr());
MoveInfo.NewMove(MoveStep.Wait);
}
break;
case MoveStep.MI_50:
var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
if (InStoreError != null)
{
var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrntOutReadyStore = InStoreError;
//InStoreError.ServerCM.cancelPutInTask(CurrntOutReadyStore.CurrentTerminalReelID);
CurrentJobInfo = new JobInfo(InStoreError.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
InStoreError.InStoreJobInfo = null;
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
MoveInfo.log("检测到有料仓入库NG:" + MoveInfo.MoveParam.NgMsg);
}
else
{
if (result != null)
MoveInfo.log(JsonConvert.SerializeObject(result));
MoveInfo.log($"没有找到,在等待出库的料仓 CID:{InStoreError.CID} SN:"+ InStoreError.CurrentTerminalReelID);
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return;
}
}
else {
var random = new Random(DateTime.Now.Millisecond);
CurrntOutReadyStore = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().FindAll(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady).OrderBy(x => random.Next()).FirstOrDefault();
if (CurrntOutReadyStore != null)
{
if (string.IsNullOrEmpty(CurrntOutReadyStore.CurrentTerminalReelID))
{
MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + "已是出库完成状态,但是还没有读到物料完成通知");
return;
}
if (!VStoreCollection.OutStoreReelInfo.ContainsKey(CurrntOutReadyStore.CurrentTerminalReelID))
{
MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + ",没有找到料盘信息:" + CurrntOutReadyStore.CurrentTerminalReelID);
var result = TheLine.GetReelSize<ResultData>(CurrntOutReadyStore.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrentJobInfo = new JobInfo(CurrntOutReadyStore.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
}
else
return;
}
else
{
var job = VStoreCollection.OutStoreReelInfo[CurrntOutReadyStore.CurrentTerminalReelID];
CurrentJobInfo = job.Clone();
}
}
else
{
MoveInfo.log("没有找到,在等待出库的料仓");
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return;
}
}
MoveInfo.log("收到物料出库任务:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
MoveInfo.MoveParam.cid = CurrntOutReadyStore.CID;
FromPos = GetMIPosition(GroupName, TowerList.List[MoveInfo.MoveParam.cid].PosID);
ToPos = GetMIPosition(GroupName, POS_Start + "_MT");
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo",JsonConvert.SerializeObject(MoveInfo.MoveParam));
Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
Config.Set("Runtime_Robot_" + robotname + "_ToPos", ToPos.PositionNum);
MoveInfo.NextMoveStep(MoveStep.MI_51);
MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
break;
case MoveStep.MI_51:
MoveInfo.NextMoveStep(MoveStep.MI_52);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料");
break;
case MoveStep.MI_52:
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
{
MoveInfo.NextMoveStep(MoveStep.MI_53);
lock (VStoreCollection.OutStoreReelInfo)
{
VStoreCollection.OutStoreReelInfo.Remove(MoveInfo.MoveParam.WareCode);
//CurrntOutReadyStore.CurrentTerminalReelID = "";
}
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
MoveInfo.log("机器人已取到料");
if (CurrntOutReadyStore.TerminalError) {
MoveInfo.log($"当前出库料仓[{CurrntOutReadyStore.CID}]存在状态错误:" + CurrntOutReadyStore.RTStoreStatus);
CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
}
if ((MoveInfo.MoveParam.IsNg || CurrntOutReadyStore.TerminalError) && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.log("机器人抓取NG料后发现夹爪上没有料,流程结束处理");
CurrntOutReadyStore.TerminalError = false;
TrayStop.DeviceList[GroupName].TrayRelease();
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.NextMoveStep(MoveStep.Wait);
}
else if (MoveInfo.MoveParam.IsNg){
CurrntOutReadyStore.ServerCM.cancelPutInTask(CurrntOutReadyStore.CurrentTerminalReelID);
MoveInfo.log("物料NG取消入库:"+ CurrntOutReadyStore.CurrentTerminalReelID);
}
}
break;
case MoveStep.MI_53:
if (!TrayStop.DeviceList["AMH-" + POS_Start].IsFree())
{
MoveInfo.NextMoveStep(MoveStep.MI_54);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.log("机器人开始放料");
}
else {
//RemoteLoad remoteLoad = new RemoteLoad();
//remoteLoad.Action = "SetTrayRequest";
//remoteLoad.GroupName= "AMH-" + POS_Start;
//remoteLoad.RequestLoadInfo = new RequestLoadInfo();
//remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
//remoteLoad.RequestLoadInfo.IsEmpty = true;
//TrayManager.SetTrayRequest(remoteLoad);
Msg.add(crc.GetString("Res0097.b5a12101","等待空托盘"), MsgLevel.info);
}
break;
case MoveStep.MI_54:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_44)
{
MoveInfo.log("机器人完成放料");
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = "AMH-" + POS_Start;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
remoteLoad.RequestLoadInfo.IsEmpty = false;
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();// 填充料盘信息
TrayManager.TrayRelease(remoteLoad); //这条会自动放行托盘并且写入托盘目的地
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
MoveInfo.NextMoveStep(MoveStep.MI_55);
}
break;
case MoveStep.MI_55:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
MoveInfo.log("机器人任务结束");
MoveInfo.NewMove(MoveStep.Wait);
}
break;
}
}
public void RobotMoveProcess()
{
Config.Set("RuntimeRobot_Arm_MoveStep", RoboMoveInfo.MoveStep.ToString());
if (CheckWait(RoboMoveInfo))
return;
switch (RoboMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
//机器人取料
case MoveStep.MI_01:
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
CompTOP1(RoboMoveInfo);
RoboMoveInfo.log("压紧轴到待机点");
robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
break;
case MoveStep.MI_02:
RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P5,0);
RoboMoveInfo.log("机器人到Take_P5");
break;
case MoveStep.MI_03:
RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
TrayStop.DeviceList[GroupName].Location.ToLow(MoveInfo);
CompTOCompression(RoboMoveInfo);
RoboMoveInfo.log("压紧轴都下压");
break;
case MoveStep.MI_04:
if (!Comp.IsBusy)
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P6,0);
RoboMoveInfo.log("压紧轴到位");
RoboMoveInfo.log("机器人到Take_P6");
}
break;
case MoveStep.MI_05:
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
CompTOCompression(RoboMoveInfo);
RoboMoveInfo.log("压紧轴都下压");
break;
case MoveStep.MI_06:
if (!Comp.IsBusy)
{
RoboMoveInfo.log("压紧轴到位脉冲值:" + Comp.GetAclPosition());
RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P7, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到Take_P7");
}
break;
case MoveStep.MI_07:
RoboMoveInfo.NextMoveStep(MoveStep.MI_08);
robotHelper.Move(RoboMoveInfo, FromPos.P1, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到P1");
break;
case MoveStep.MI_08:
RoboMoveInfo.NextMoveStep(MoveStep.MI_ReelTacked);
RoboMoveInfo.log("机器人取料完成");
break;
//机器人放料
case MoveStep.MI_40:
RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P2, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到Put_P2");
break;
case MoveStep.MI_41:
RoboMoveInfo.NextMoveStep(MoveStep.MI_42);
//Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
CompTOP1(RoboMoveInfo);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P3, robotHelper.lastWeight);
RoboMoveInfo.log("压紧轴释放");
RoboMoveInfo.log("机器人到Put_P3");
break;
case MoveStep.MI_42:
RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P4,0);
RoboMoveInfo.log("机器人到Put_P4");
break;
case MoveStep.MI_43:
RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
robotHelper.Move(RoboMoveInfo, ToPos.P1, 0);
RoboMoveInfo.log("机器人到P1");
break;
case MoveStep.MI_44:
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
RoboMoveInfo.log("放料完成");
break;
}
}
StoreJobList InStoreJobList = new StoreJobList(crc.GetString("Res0013","入库"));
volatile JobInfo InStoreJob;
StoreJobList OutStoreJobList = new StoreJobList(crc.GetString("Res0015","出库"));
internal void StartInStore(ReelParam trayParam)
{
//PosID== 料仓CID
InStoreJob = new JobInfo(trayParam.WareCode, trayParam.PosID, trayParam.PlateW, trayParam.PlateH);
InStoreJob.CID = trayParam.PosID;
InStoreJobList.Enqueue(new JobInfo(trayParam.WareCode, trayParam.PosID, trayParam.PlateW, trayParam.PlateH));
MoveInfo.log("写入入库队列:" + trayParam.ToStr());
}
internal void EnqueueOutStore(JobInfo trayParam)
{
OutStoreJobList.Enqueue(trayParam.Clone());
MoveInfo.log("写入出库队列:" + trayParam.ToStr());
}
internal void StartOutStore()
{
if (MoveInfo.MoveStep >= MoveStep.MI_50)
{
MoveInfo.log("机器人正在等待托盘");
}
else
{
MoveInfo.NewMove(MoveStep.MI_50);
MoveInfo.log("开始出库");
}
}
/// <summary>
/// 释放托盘
/// </summary>
public void TrayRelease() {
//MoveInfo.log("释放托盘");
// MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
}
void CompTOP1(MoveInfo MoveInfo)
{
if (Comp.HasHome())
Comp.AbsMove(MoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
else
Comp.HomeMove(MoveInfo);
}
void CompTOCompression(MoveInfo MoveInfo)
{
if (!Comp.HasHome())
return;
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
}
bool compdetereel = false;
int lastCmd = 0;
int lastStep = 0;
int lastPrefix = 0;
public void ResetProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
break;
case MoveStep.H01_HomeReset:
if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()), out MoveStep m1step))
m1step = MoveStep.Wait;
if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()), out MoveStep m2step))
m2step = MoveStep.Wait;
//var m1step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()));
//var m2step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()));
if (IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& m1step == MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
MoveInfo.log("没有最后的动作, 机器人回待机点");
}
else
{
MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Config.Get("Runtime_Robot_"+robotname+"_ReelInfo"));
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
FromPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_FromPos"));
ToPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_ToPos"));
CurrentVStore = VStoreCollection.VStoreList[MoveInfo.MoveParam.cid];
MoveInfo.NextMoveStep(m1step);
RoboMoveInfo.NextMoveStep(m2step);
DeviceState = DeviceStateE.Run;
}
break;
case MoveStep.H02_HomeReset:
if (!Robot.StartRobot()) {
MoveInfo.CanWhileCount--;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0016","机器人连接失败"), MoveInfo.CanWhileCount<=0 ? MsgLevel.alarm: MsgLevel.warning));
}else
MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
break;
case MoveStep.H03_HomeReset:
if (Robot.IsRun)
{
MoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
Robot.PlayProgram();
MoveInfo.log("Robot.ProgramState:" + Robot.ProgramState);
MoveInfo.log("Robot.ClientIsConnected:" + Robot.ClientIsConnected);
MoveInfo.log("Robot.IsRun:" + Robot.IsRun);
MoveInfo.log("Robot.IsStartConnect:" + Robot.IsStartConnect);
MoveInfo.log("Robot.CurCmdReponse:" + Robot.CurCmdReponse);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} else if (MoveInfo.IsTimeOut(30)) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0017", "机器人启动失败"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
break;
case MoveStep.H04_HomeReset:
if (Robot.ClientIsConnected && Robot.CurCmdReponse.Contains("Start Program"))
{
MoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
}
else if (MoveInfo.IsTimeOut(10))
{
MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0018", "机器人未连接MT"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
break;
case MoveStep.H05_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
return;
case MoveStep.H06_HomeReset:
if (Robot.MoveCmdOk())
{
//如果上一步是回到待机点,并且料叉上无物料
if (lastStep==1 && !compdetereel && !IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH))
{
//回原结束
return;
}
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
//如果上一步是回待机点,但料叉上有物料
if (lastStep == 1)
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
}
else if (lastStep == 0)//P5 取料低点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
}
else if (lastStep == 2)//P6 取料高点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
}
else if (lastStep == 5)//P7 取料退出过度点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
}
else if (lastStep == 1)//P2 放料高点P2
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
}
}
break;
case MoveStep.H09_HomeReset:
if (Robot.MoveCmdOk())
{
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
}
break;
//尝试解除安全保护
case MoveStep.H10_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
Robot.SendCMD("safetymode", 0);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H11_HomeReset:
MoveInfo.log("机器人反馈安全模式为:" + Robot.CurDashboardReponse);
if (Robot.CurDashboardReponse.Contains("PROTECTIVE_STOP"))
{
MoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else if (Robot.CurDashboardReponse.Contains("NORMAL")) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
else if (Robot.CurDashboardReponse.Contains("Starting program"))
{
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
else {
Msg.add(crc.GetString("Res0059","机器人状态异常:") + Robot.CurDashboardReponse, MsgLevel.alarm);
}
break;
case MoveStep.H12_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
MoveInfo.log("机器人反馈安全模式为:"+Robot.CurCmdReponse);
Robot.SendCMD("unlock protective stop", 0);
MoveInfo.log("尝试解除机器人保护");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H13_HomeReset:
if (Robot.CurCmdReponse.Contains("Protective stop releasing")) {
MoveInfo.log("机器人成功解除保护");
Robot.StopProgram();
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsTimeOut(5))
{
MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
}
break;
}
}
/// <summary>
/// 设备是否有任务
/// </summary>
/// <param name="reelParam"></param>
/// <returns></returns>
public bool HasJob(ReelParam reelParam)
{
if (DeviceState != DeviceStateE.Run)
return false;
if (reelParam==null && MoveInfo.MoveStep >= MoveStep.MI_50)//正在出库中
return true;
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
if (reelParam == null)
{
//空托盘,判断有没有出库任务
var sc = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs=>vs.RTStoreStatus==RTStoreStatus.OutStoreReady || vs.RTStoreStatus == RTStoreStatus.InStoreError|| vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
return (sc != null);
}
if (string.IsNullOrEmpty(reelParam.SubCID)) {
MoveInfo.log("SubCID为空");
return false;
}
if (!VStoreCollection.VStoreList.ContainsKey(reelParam.SubCID)) {
MoveInfo.log("RT料仓CID不存在:"+ reelParam.SubCID);
return false;
}
//有料托盘,判断目的地料仓是否空闲
if (VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus == RTStoreStatus.Ready)
{
VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus = RTStoreStatus.LockToInStore;
return true;
}
MoveInfo.log("RT料仓当前状态:" + VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus);
return false;
}
int bufferstoresindex = 0;
string[] bufferstores = new string[] { "B01", "B02", "B03", "B04", "B05", "B06", "B07", "B08" };
string GetNextBufferStore() {
if (bufferstoresindex >= bufferstores.Length)
bufferstoresindex = 0;
var c = POS_Start + "_"+bufferstores[bufferstoresindex];
bufferstoresindex++;
return c;
}
public bool FrontCheck(int curaddr)
{
throw new NotImplementedException();
}
public bool IsFree()
{
throw new NotImplementedException();
}
public RobotPosition GetMIPosition(string device, string pos) {
if (device == "AMH-MI1")
return RobotManage.MI1Postion[pos];
else if (device == "AMH-MI2")
return RobotManage.MI2Postion[pos];
else
return RobotManage.CIPostion[pos];
}
int GetWeight(ReelParam reelParam) {
int w = 0;
if (reelParam == null)
w = 0;
else if (reelParam.PlateW==7)
w= 1;
else if (reelParam.PlateW == 13 && reelParam.PlateH==8)
w= 2;
else if(reelParam.PlateW == 13)
w= 3;
else if(reelParam.PlateW == 15)
w= 3;
else
w= 2;
RoboMoveInfo.log($"机器人负载设定: {reelParam?.PlateW}x{reelParam?.PlateH}={w}");
return w;
}
public void FrontStopProcess()
{
//throw new NotImplementedException();
}
}
}