SideMove.cs
4.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
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 SideMove:DeviceBase, IDevice
{
static List<SideMove> SideMoves = new List<SideMove>();
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 != "LS")
continue;
SideMove sideMove = new SideMove(devices[key],out string m);
SideMoves.Add(sideMove);
msg += m;
}
}
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
MsgService Msg;
PuYueRFID_C2S RFID_1 = null;
PuYueRFID_C2S RFID_2 = null;
LS_TypeE LS_Type = LS_TypeE.NoRfid;
public SideMove(DeviceGroup device,out string msg) {
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device;
Device = DeviceGroup.GroupName;
Msg = new MsgService(Device);
MoveInfo = new MoveInfo(device.GroupName);
if (!string.IsNullOrEmpty(DeviceGroup.RFID_1))
{
RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1);
if (!RFID_1.Open()) {
msg += DeviceGroup.DeviceType + " RFID 1:" + DeviceGroup.RFID_1 +","+crc.GetString("Res0183","打开失败")+ "\r\n";
}
}
if (!string.IsNullOrEmpty(DeviceGroup.RFID_2))
{
RFID_2 = new PuYueRFID_C2S(DeviceGroup.RFID_2);
if (!RFID_2.Open())
{
msg += DeviceGroup.DeviceType + " RFID 2:" + DeviceGroup.RFID_2 + "," + crc.GetString("Res0183","打开失败") + "\r\n";
}
}
if (RFID_1 == null && RFID_2 == null)
LS_Type = LS_TypeE.NoRfid;
else if (RFID_2 == null)
LS_Type = LS_TypeE.OneWay;
else
LS_Type = LS_TypeE.TwoWay;
}
public void Process()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IOValue(IO_Type.Ls_B_Tray_Check).Equals(IO_VALUE.HIGH)) {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if(IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.SideMove_01);
CylinderMove(MoveInfo, IO_Type.Ls_A_Location_Up, IO_Type.Ls_A_Location_Down, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.Ls_B_Location_Up, IO_Type.Ls_B_Location_Down, IO_VALUE.LOW);
IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.HIGH, false, 1000);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, false, 500);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_A_Tray_Check,IO_VALUE.HIGH));
}
else {
Msg.add(crc.GetString("Res0184","空闲中"), MsgLevel.info);
}
break;
case MoveStep.SideMove_01:
MoveInfo.NextMoveStep(MoveStep.SideMove_02);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.SideMove_02:
MoveInfo.NextMoveStep(MoveStep.SideMove_02);
CylinderMove(MoveInfo, IO_Type.Ls_A_Location_Up, IO_Type.Ls_A_Location_Down, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.Ls_B_Location_Up, IO_Type.Ls_B_Location_Down, IO_VALUE.HIGH);
break;
case MoveStep.SideMove_03:
MoveInfo.NextMoveStep(MoveStep.SideMove_04);
IOMove(IO_Type.Ls_A_LineRun, IO_VALUE.HIGH);
break;
}
}
public void ResetProcess()
{
throw new NotImplementedException();
}
enum LS_TypeE {
NoRfid,
OneWay,
TwoWay
}
}
}