CI.cs
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using ConfigHelper;
using HalconDotNet;
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 CI : DeviceBase, IDevice
{
public static Dictionary<string, CI> DeviceList = new Dictionary<string, CI>();
public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
msg = "";
CI sideMove = new CI(devices["CI"], out string m);
DeviceList.Add(devices["CI"].GroupName, sideMove);
msg += m;
}
DeviceGroup DeviceGroup;
public MoveInfo MoveInfo;
MoveInfo RoboMoveInfo;
//CylinderManger Location;
public AxisBean Comp;
//public AxisBean Rotate;
URRobotControl Robot;
public RobotHelper robotHelper;
BufferSlotsManger BufferSlotsManger;
string POS_Start = "CI";
string robotname = "";
public bool ManualCount = false;
public event EventHandler<string> ReelReady;
public event EventHandler<XRayStepE> XRayStep;
public CI(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 == "CI")
{
Robot = RobotManage.Robot_CI;
robotname = "R3";
}
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1");
}
public void Stop()
{
//robotHelper.Stop();
//Robot.StopRobot();
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行1");
}
public void Process()
{
try
{
LogUtil.OutputDebugString($"{GroupName} DeviceState:" + DeviceState.ToString());
if (!DeviceCheck())
{
return;
}
MsgService.MSList[GroupName + "-T"].clear();
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
RobotMoveProcess();
}
}
finally {
MsgService.MSList[GroupName + "-T"].Show();
}
}
public void Reset()
{
Robot.SendMoveCmd(1, Setting_Init.URRobot_CI_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
Config.Set("RuntimeRobot_" + robotname + "_MoveStep", "Wait");
Config.Set("RuntimeRobot_" + robotname + "_Arm_MoveStep", "Wait");
}
private bool DeviceCheck()
{
return true; // 没有机器人暂时屏蔽
if (!robotHelper.RobotStatus) {
Msg.add(POS_Start + crc.GetString("Res0058","机器人当前不可用"), MsgLevel.alarm);
return false;
}
return true;
}
JobInfo CurrentJobInfo;
public void OneWayProcess()
{
//Config.Set("RuntimeRobot_MoveStep", MoveInfo.MoveStep.ToString());
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
var hasoutjob = false;
if (hasoutjob)
{
MoveInfo.log("查询到出库任务,开始优先出库");
MoveInfo.NextMoveStep(MoveStep.MI_50);
}
//判断入库任务
LogUtil.OutputDebugString("InStoreJobList:" + InStoreJobList.Count.ToString());
if (InStoreJob != null)
{
CurrentJobInfo = InStoreJob.Clone();
InStoreJob = null;
MoveInfo.log("收到物料点料任务:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
MoveInfo.MoveParam.cid = CurrentJobInfo.CID;
MoveInfo.NextMoveStep(MoveStep.MI_01);
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo", JsonConvert.SerializeObject(MoveInfo.MoveParam));
var cc = MoveInfo.MoveParam.WareCode.Split('#');
if (cc.Count()>2)
ReelReady?.Invoke(this, cc[0].Substring(1) + "|" + cc[1].Substring(1));
else
ReelReady?.Invoke(this, MoveInfo.MoveParam.WareCode);
XRayStep?.Invoke(this, XRayStepE.WaitMTtoVJ);
MoveInfo.log($"开始点料");
VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode) + VJCounter.newline);
}
break;
case MoveStep.MI_01:
Msg.add("等待人员料盘放置到点料机", MsgLevel.warning);
MoveInfo.log("等待人员取走料盘");
break;
case MoveStep.MI_02:
MoveInfo.NextMoveStep(MoveStep.MI_10);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
TrayManager.TrayRelease(remoteLoad);
TrayStop.DeviceList[GroupName].TrayRelease();
MoveInfo.log("取料完成托盘放行");
TheLine.UpdateLocInfo("", remoteLoad.RequestLoadInfo.LoadParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
//VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.MI_10:
MoveInfo.NextMoveStep(MoveStep.MI_11);
///VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode));
//Thread.Sleep(1000);
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
MoveInfo.log("步骤1: 按下启动开始点料");
XRayStep?.Invoke(this, XRayStepE.Counting);
break;
case MoveStep.MI_11:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.MI_12);
MoveInfo.log("步骤2: 满抽屉正在进入");
}
else if (MoveInfo.IsTimeOut(2000))
{
MoveInfo.log("等待抽屉进入点料机超时");
Msg.add("等待抽屉进入点料机超时", MsgLevel.warning);
}
break;
case MoveStep.MI_12:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.MI_13);
MoveInfo.log("步骤3: 空抽屉已退出, 等待一会");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000*40));
}
else if (MoveInfo.IsTimeOut(5000))
{
MoveInfo.log("等待内部抽屉退出超时");
Msg.add("等待内部抽屉退出超时", MsgLevel.warning);
}
break;
case MoveStep.MI_13:
MoveInfo.NextMoveStep(MoveStep.MI_14);
MoveInfo.log("步骤4: 按启动按钮准备退出满抽屉");
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
break;
case MoveStep.MI_14:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.MI_15);
MoveInfo.log("步骤5: 空抽屉正在进入");
}
else if (MoveInfo.IsTimeOut(2000))
{
MoveInfo.log("等待抽屉进入点料机超时");
Msg.add("等待抽屉进入点料机超时", MsgLevel.warning);
}
break;
case MoveStep.MI_15:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.MI_16);
MoveInfo.log("步骤6: 满抽屉已退出, 点料完成");
//IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 1000);
XRayStep?.Invoke(this, XRayStepE.WaitCountResult);
}
else if (MoveInfo.IsTimeOut(60))
{
MoveInfo.log("等待内部抽屉退出超时");
Msg.add("等待内部抽屉退出超时", MsgLevel.warning);
}
break;
case MoveStep.MI_16:
if (RobotManage.folderWatcher.GetQty(MoveInfo.MoveParam.WareCode, out int qty)) {
MoveInfo.NextMoveStep(MoveStep.MI_17);
TheLine.UpdateReelQty(MoveInfo.MoveParam.WareCode, qty);
MoveInfo.MoveParam.WareCode = ProcessCodeInsertQty(MoveInfo.MoveParam.WareCode, qty);
MoveInfo.MoveParam.QTY=qty;
MoveInfo.log("步骤7: 获得点料结果:"+qty+ ", "+MoveInfo.MoveParam.WareCode);
}
else if (MoveInfo.IsTimeOut(120))
{
MoveInfo.NextMoveStep(MoveStep.MI_16);
MoveInfo.log("等待点料结果超时");
Msg.add("等待点料结果超时", MsgLevel.warning);
}
break;
case MoveStep.MI_17:
MoveInfo.NextMoveStep(MoveStep.MI_50);
MoveInfo.MoveParam = TheLine.Regetposid(MoveInfo.MoveParam, TrayTypeE.MTP1.ToString(), out string msg);
MoveInfo.log($"步骤8: 重新获取库位 msg:{msg},\t {MoveInfo.MoveParam.ToStr()}");
break;
case MoveStep.MI_50:
MoveInfo.NextMoveStep(MoveStep.MI_53);
break;
case MoveStep.MI_53:
if (!TrayStop.DeviceList[GroupName].IsFree())
{
MoveInfo.NextMoveStep(MoveStep.MI_54);
MoveInfo.log("机器人开始放料");
XRayStep?.Invoke(this, XRayStepE.WaitVJtoMT);
RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
RequestLoadInfo.DeviceGroupName = MoveInfo.MoveParam.cid;
RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
RequestLoadInfo.IsEmpty = false;
TrayManager.SetTrayLoadInfo(TrayStop.DeviceList["CI"].CurrrentRFID, RequestLoadInfo);
}
else
{
RemoteLoad remoteLoad1 = new RemoteLoad();
remoteLoad1.Action = "SetTrayRequest";
remoteLoad1.GroupName = GroupName;
remoteLoad1.RequestLoadInfo = new RequestLoadInfo();
remoteLoad1.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad1.RequestLoadInfo.IsEmpty = true;
remoteLoad1.RequestLoadInfo.DeviceGroupName = GroupName;
TrayManager.SetTrayRequest(remoteLoad1);
Msg.add(crc.GetString("Res0097.b5a12101", "等待空托盘"), MsgLevel.info);
}
break;
case MoveStep.MI_54:
Msg.add("等待人工放上料盘", MsgLevel.warning);
break;
case MoveStep.MI_55:
MoveInfo.log("点料任务结束");
XRayStep?.Invoke(this, XRayStepE.Finish);
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;
}
}
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("写入点料队列:" + trayParam.ToStr());
}
internal void EnqueueOutStore(JobInfo trayParam)
{
OutStoreJobList.Enqueue(trayParam.Clone());
MoveInfo.log("写入出库队列:" + trayParam.ToStr());
}
public void StartOutStore()
{
if (MoveInfo.MoveStep != MoveStep.MI_54)
{
MoveInfo.log("没有在等待托盘状态");
}
else
{
MoveInfo.log("人工完成放料");
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = MoveInfo.MoveParam.cid;
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);
TrayManager.ClearTrayRequest(GroupName);
MoveInfo.NextMoveStep(MoveStep.MI_55);
MoveInfo.log("完成点料放料");
}
}
string ProcessCodeInsertQty(string barcode, int qty) {
if (barcode.Count(c => c == '#') == 3)
{
MoveInfo.log("CI: 原条码:" + barcode + ", qty:" + qty);
var barcodes = barcode.Split('#');
barcodes[2] = qty.ToString();
var af = string.Join("#", barcodes);
MoveInfo.log("CI: 转换后:" + af);
return af;
}
MoveInfo.log("CI: Barcode转换失败:" + barcode);
return "";
}
string ProcessCodeGetVJType(string barcode)
{
if (barcode.Count(c => c == '#') == 3)
{
var barcodes = barcode.Split('#');
var vjcode = barcodes[0].Substring(1) + "|" + barcodes[1].Substring(1);
MoveInfo.log($"CI: VJ转换:{barcode} => {vjcode}");
return vjcode;
}
MoveInfo.log("CI: VJ转换失败:" + barcode);
return "";
}
/// <summary>
/// 释放托盘
/// </summary>
public void TrayRelease() {
//MoveInfo.log("释放托盘");
// MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
}
public void ResetProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.H01_HomeReset:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
MoveInfo.log("VJ点料机状态正常");
}
else {
Msg.add("VJ点料机状态异常",MsgLevel.warning);
}
break;
case MoveStep.H02_HomeReset:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
break;
}
}
/// <summary>
/// 设备是否有任务
/// </summary>
/// <param name="reelParam"></param>
/// <returns></returns>
public bool HasJob(ReelParam reelParam)
{
MoveInfo.log($"DeviceState:{DeviceState},{MoveInfo.MoveStep},{reelParam}");
if (DeviceState != DeviceStateE.Run)
return false;
if (reelParam == null && MoveInfo.MoveStep >= MoveStep.MI_53)//正在出库中
return true;
if (reelParam != null && MoveInfo.MoveStep == MoveStep.Wait)
return true;
return false;
}
public bool FrontCheck(int curaddr)
{
throw new NotImplementedException();
}
public bool IsFree()
{
throw new NotImplementedException();
}
public void FrontStopProcess()
{
//throw new NotImplementedException();
}
}
public enum XRayStepE {
WaitMTtoVJ,
Counting,
WaitCountResult,
WaitVJtoMT,
Finish
}
}