TrayStop.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 TrayStop : DeviceBase, IDevice
{
public static Dictionary<string, TrayStop> DeviceList = new Dictionary<string, TrayStop>();
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.StartsWith("RT"))
continue;
TrayStop sideMove = new TrayStop(devices[key],out string m);
DeviceList.Add(devices[key].GroupName, sideMove);
msg += m;
}
}
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
public PuYueRFID_C2S RFID_1 = null;
CylinderManger Location;
AxisBean axis;
AxisBean axis2;
public TrayStop(DeviceGroup device,out string msg) {
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName);
MoveInfo = new MoveInfo(GroupName);
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";
}
}
Location = new CylinderManger($"托盘顶升", GroupName, IO_Type.MI_Location_Up, IO_Type.MI_Location_Down);
var axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[GroupName].AxisID);
if (axisc != null)
axis = new AxisBean(axisc, GroupName);
axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[GroupName].Axis2ID);
if (axisc != null)
axis2 = new AxisBean(axisc, GroupName);
}
public DeviceStateE DeviceState { get; set; }
public void Start()
{
DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原");
}
public void Stop()
{
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
}
public void Process()
{
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
}
}
int StopBufDelayMS = 500;
int StopDelayMS = 1000;
public void OneWayProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.SideMove_01);
Location.ToLow(MoveInfo);
}
else {
Msg.add(crc.GetString("Res0184","空闲中"), MsgLevel.info);
}
break;
case MoveStep.TrayStop_01:
MoveInfo.NextMoveStep(MoveStep.SideMove_02);
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.HIGH, StopDelayMS);
MoveInfo.CanWhileCount = 3;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MI_In_Check, IO_VALUE.HIGH));
break;
case MoveStep.TrayStop_02:
if (RFID_1.ReadByte(0x20, 16, out byte[] data))
{
var rfid = Encoding.ASCII.GetString(data).Trim();
var through = TrayManager.Process(rfid, DeviceGroup.addr_1, out TrayInfo trayInfo);
if (through)
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
else
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadLeave);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.CanWhileCount > 0)
{
MoveInfo.CanWhileCount--;
MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次");
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016","RFid读取失败"), MsgLevel.warning));
}
else
{
MoveInfo.log("RFid读取失败,直接通过");
MoveInfo.NextMoveStep(MoveStep.SideMove_04);
}
break;
case MoveStep.TrayStop_03:
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, StopDelayMS);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MI_In_Check, IO_VALUE.LOW));
break;
case MoveStep.TrayStop_04:
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.log("托盘已放行");
break;
case MoveStep.TrayStop_WaitLoadLeave:
break;
case MoveStep.TrayStop_LoadLeaved:
MoveInfo.NextMoveStep(MoveStep.Wait);
Location.ToLow(MoveInfo);
MoveInfo.log("载荷离开, 顶升下降");
break;
}
}
public void ResetProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
MoveInfo.NextMoveStep(MoveStep.SideMove_01);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.SideMove_01:
MoveInfo.NextMoveStep(MoveStep.SideMove_02);
CylinderMove(MoveInfo, IO_Type.MI_Location_Down, IO_Type.MI_Location_Up, IO_VALUE.LOW);
break;
case MoveStep.SideMove_02:
MoveInfo.NextMoveStep(MoveStep.SideMove_03);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, StopDelayMS);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
break;
case MoveStep.SideMove_03:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
break;
}
}
}
}