MI.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
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.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;
}
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
MoveInfo RoboMoveInfo;
CylinderManger Location;
public AxisBean Comp;
public AxisBean Rotate;
URRobotControl Robot;
string POS_Start = "MI1";
public MI(DeviceGroup device,out string msg) {
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;
else
{
Robot = RobotManage.Robot_MI2;
POS_Start = "MI2";
}
Comp = AxisBean.List[DeviceGroup.GroupName][0];
Rotate = AxisBean.List[DeviceGroup.GroupName][1];
Location = new CylinderManger($"物料顶升", GroupName, IO_Type.MI_Reel_Location_Up, IO_Type.MI_Reel_Location_Down);
}
public DeviceStateE DeviceState { get; set; }
public void Start()
{
OpenAllServo();
Robot.StartRobot();
Robot.PlayProgram();
DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原");
}
public void Stop()
{
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
}
public void Process()
{
LogUtil.OutputDebugString("DeviceState:" + DeviceState.ToString());
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
RobotMoveProcess();
}
}
int isalivetrytimes = 0;
int StopBufDelayMS = 500;
int StopDelayMS = 1500;
RobotPosition FromPos;
RobotPosition ToPos;
public void OneWayProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
LogUtil.OutputDebugString("InStoreJobList:" + InStoreJobList.Count.ToString());
if (InStoreJobList.Dequeue(out JobInfo job)) {
MoveInfo.log("收到物料入库任务:" + job.ToStr());
MoveInfo.MoveParam.WareCode = job.WareNum;
MoveInfo.MoveParam.PosID = job.PosId;
MoveInfo.MoveParam.PlateW = job.plateW;
MoveInfo.MoveParam.PlateH = job.plateH;
MoveInfo.NextMoveStep(MoveStep.MI_01);
FromPos = RobotManage.MI1Postion[POS_Start + "_MT"];
ToPos = RobotManage.MI1Postion[POS_Start + "_SCAN"];
MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
}
break;
case MoveStep.MI_01:
MoveInfo.NextMoveStep(MoveStep.MI_02);
Location.ToLow(MoveInfo);
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.Wait)
{
MoveInfo.NextMoveStep(MoveStep.MI_10);
Location.ToHigh(MoveInfo);
}
break;
case MoveStep.MI_10:
MoveInfo.NextMoveStep(MoveStep.MI_11);
Rotate.RelMove(RobotManage.Config.AMH_Route_PoToMM * 90, RobotManage.Config.AMH_Route_PoToMM_speed);
break;
case MoveStep.MI_11:
if (!Rotate.IsBusy)
{
MoveInfo.NextMoveStep(MoveStep.MI_20);
Location.ToLow(MoveInfo);
}
break;
case MoveStep.MI_20:
MoveInfo.NextMoveStep(MoveStep.MI_21);
FromPos = RobotManage.MI1Postion[POS_Start + "_SCAN"];
ToPos = RobotManage.MI1Postion[GetNextBufferStore()];
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
break;
case MoveStep.MI_21:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
InStoreJobList.ClearLastPosid();
MoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
}
}
public void RobotMoveProcess()
{
if (CheckWait(RoboMoveInfo))
return;
switch (RoboMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
//从流水线取料
case MoveStep.MI_01:
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
break;
case MoveStep.MI_02:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
Robot.SendMoveCmd(FromPos.Take_P5, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_03:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
Robot.SendMoveCmd(FromPos.Take_P6, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_04:
if (!Robot.IsMoving() && !Comp.IsBusy)
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
Robot.SendMoveCmd(FromPos.Take_P7, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_05:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
Robot.SendMoveCmd(FromPos.P1, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_06:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
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");
}else
RoboMoveInfo.log("取料完成");
}
break;
//放料到缓存位置
case MoveStep.MI_40:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
Robot.SendMoveCmd(ToPos.Put_P2, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_41:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_42);
Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
Robot.SendMoveCmd(ToPos.Put_P3, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_42:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
Robot.SendMoveCmd(ToPos.Put_P4, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_43:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
Robot.SendMoveCmd(ToPos.P1, Setting_Init.URRobot_MI1_Speed_Rate);
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
break;
case MoveStep.MI_44:
if (!Robot.IsMoving())
{
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
RoboMoveInfo.log("放料完成");
}
break;
}
}
StoreJobList InStoreJobList = new StoreJobList("入库");
internal void StartInStore(ReelParam trayParam)
{
InStoreJobList.Enqueue(new JobInfo(trayParam.WareCode, trayParam.PosID, trayParam.PlateW, trayParam.PlateH));
MoveInfo.log("写入入库队列:" + trayParam.ToStr());
}
/// <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:
MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
Comp.HomeMove(MoveInfo);
break;
case MoveStep.H01_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
Location.ToLow(MoveInfo);
break;
case MoveStep.H02_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
break;
case MoveStep.H03_HomeReset:
if (!Robot.IsMoving())
{
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
}
break;
}
}
public bool IsFree()
{
return MoveInfo.MoveStep == MoveStep.Wait;
}
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;
}
}
}