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
{
static List<TrayStop> SideMoves = new List<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);
SideMoves.Add(sideMove);
msg += m;
}
}
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
MsgService Msg;
PuYueRFID_C2S RFID_1 = null;
PuYueRFID_C2S RFID_2 = null;
AxisBean axis;
public TrayStop(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";
}
}
var axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[device.GroupName].AxisID);
if (axisc!=null)
axis = new AxisBean(axisc, device.GroupName);
}
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()
{
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;
}
}
enum LS_TypeE {
NoRfid,
OneWay,
TwoWay
}
}
}