DeviceBase.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class DeviceBase
{
public static Dictionary<int, IDevice> DeviceListByAddr = new Dictionary<int, IDevice>();
public string CurrrentRFID = "";
public TrayInfo CurrrentTrayInfo { get => TrayManager.Traylist[CurrrentRFID]; }
public MsgService Msg { get; set; }
public string Name { get; set; }
public string GroupName { get; set; }
public static bool FwdFree(int curaddr) {
int nextaddr = curaddr + 1;
if (nextaddr > 20)
nextaddr = 0;
if (!DeviceListByAddr.ContainsKey(nextaddr))
return true;
return DeviceListByAddr[nextaddr].FrontCheck(nextaddr);
}
public void StopMove(bool ServoOff = false)
{
//runStatus = RunStatus.Stop;
MoveInfo.List.ForEach((m) => { m.EndMove(); });
if (AxisBean.List.ContainsKey(GroupName))
AxisBean.StopMultiAxis(AxisBean.List[GroupName]);
if (ServoOff)
{
if (AxisBean.List.ContainsKey(GroupName))
AxisBean.CloseMultiAxis(AxisBean.List[GroupName]);
}
}
public void OpenAllServo()
{
if (AxisBean.List.ContainsKey(GroupName))
AxisBean.RunMultiAxis(true, out _, AxisBean.List[GroupName]);
else
LogUtil.info($"{GroupName},没有伺服");
}
int logType = 1000;
string WarnMsg = "";
public bool CheckWait(MoveInfo MoveInfo)
{
if (Msg == null) {
LogUtil.info("msg为空");
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (MoveInfo.WaitList.Count <= 0)
{
MoveInfo.EndStepWait();
return false;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
MoveInfo.WaitList.ForEach((w) => {
if (w.WaitType.Equals(WaitEnum.W014_Msg)) {
w.IsEnd = true;
Msg.add(w.ActionMsg, w.Data);
}
});
foreach (WaitResultInfo wait in MoveInfo.WaitList)
{
if (wait.IsEnd)
{
if (!wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
continue;
}
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(MoveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(MoveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(AlarmType.AxisMoveError, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
ConfigIO io = RobotManage.Config.GetWaitIO(wait.IoType, GroupName);
if (io == null)
throw new Exception($"找不到io:{wait.IoType},{GroupName}");
NotOkMsg = MoveInfo.Name + crc.GetString("Res0157", "等待") + "【" + io.DisplayStr + "】=【" + wait.IoValue + "】";
wait.IsEnd = IOManager.IOValue(wait.IoType, GroupName).Equals(wait.IoValue);
if (!wait.IsEnd)
{
int timeOutMs = RobotManage.Config.IOSingle_TimerOut * 1000;
if (span.TotalMilliseconds > timeOutMs && NoAlarm())
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + crc.GetString("Res0157", "等待") + "(" + io.DisplayStr + "=" + wait.IoValue + $")" + crc.GetString("Res0158", "超时");
Msg.add(WarnMsg, MsgLevel.alarm);
if (NoAlarm())
{
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
MoveInfo.error(WarnMsg);
//MoveInfo.errlog(WarnMsg);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W013_Action))
{
wait.IsEnd = wait.Action.Invoke(wait);
MoveInfo.log($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
return false;
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + crc.GetString("Res0157", "等待") + NotOkMsg + crc.GetString("Res0158", "超时");
int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
MoveInfo.error(WarnMsg);
//MoveInfo.errlog(WarnMsg);
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm);
}
return true;
}
/// <summary>
/// 是否再报警中
/// </summary>
protected AlarmType alarmType = AlarmType.None;
DateTime LastAlarmTime = DateTime.Now;
public void Alarm(AlarmType _alarmType, string alarmMsg = "")
{
if (_alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
//SaveAlarmInfo(alarmType, alarmDetial, alarmMsg, storeMoveType);
if (this.alarmType.Equals(_alarmType))
{
return;
}
LogUtil.error(Name + " 报警，报警类型：" + _alarmType);
this.alarmType = _alarmType;
if (_alarmType.Equals(AlarmType.AxisAlarm) || _alarmType.Equals(AlarmType.AxisMoveError))
{
LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯");
StopMove(true);
}
else if (_alarmType == AlarmType.SuddenStop)
{
//isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，停止运动， 打开报警灯 ");
StopMove(true);
//storeStatus = StoreStatus.SuddenStop;
}
//else if (_alarmType.Equals(AlarmType.NoAirCheck))
//{
// //isNoAirCheck = true;
// LogUtil.error(Name + " 未检测到气压信号 ,停止运动， 打开报警灯 ");
// StopMove(true);
// //storeStatus = StoreStatus.SuddenStop;
//}
}
internal bool NoAlarm()
{
if (alarmType.Equals(AlarmType.None))
{
return true;
}
return false;
}
public void CylinderMove(MoveInfo moveInfo, string IoLowType, string IoHighType, IO_VALUE iO_VALUE = IO_VALUE.HIGH)
{
if (iO_VALUE == IO_VALUE.LOW)
{
//if (IOManager.DOValue(IoLowType).Equals(IO_VALUE.HIGH))
// return;
(IoLowType, IoHighType) = (IoHighType, IoLowType);
}
//if (IOManager.DOValue(IoHighType).Equals(IO_VALUE.HIGH))
// return;
IOMove(IoLowType, IO_VALUE.LOW);
IOMove(IoHighType, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
}
public IO_VALUE IOValue(string ioType) => IOManager.IOValue(ioType, GroupName);
public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
{
if (msTime <= 0)
{
IOManager.IOMove(IoType, value, GroupName);
}
else
{
Task.Run(() =>
{
IOManager.IOMove(IoType, value, GroupName);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
//LogUtil.info("[" + GroupName + "]定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
IOManager.IOMove(IoType, tValue, GroupName);
});
}
}
public void IOMove(string IoType, IO_VALUE value, string whenIoType, IO_VALUE whenvalue, int msTime = 0)
{
IOMove(IoType, value, msTime);
return;
Task.Run(() =>
{
IOManager.IOMove(IoType, value, GroupName);
//Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
for (int i = 0; i < 30; i++)
{
Task.Delay(100).Wait();
if (IOManager.IOValue(whenIoType, GroupName).Equals(whenvalue))
{
break;
}
}
//Task.Delay(msTime).Wait();
IOManager.IOMove(IoType, tValue, GroupName);
});
}
}
}