TrayStop.cs
29.6 KB
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using RemoteSheardObject;
using System;
using System.Collections.Generic;
using System.Collections.Specialized;
using System.Diagnostics;
using System.Linq;
using System.Security.Cryptography;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class TrayStop : DeviceBase, IDevice
{
public static Dictionary<string, TrayStop> DeviceList = new Dictionary<string, 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);
DeviceList.Add(devices[key].GroupName, sideMove);
msg += m;
DeviceListByAddr[devices[key].addr_1] = sideMove;
}
}
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
public PuYueRFID_C2S RFID_1 = null;
public CylinderManger Location;
public AxisBean axis;
public AxisBean axis2;
public TrayStop(DeviceGroup device, out string msg) : base()
{
msg = "";
Name = device.Name + "(" + device.GroupName + ")";
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName);
MoveInfo = new MoveInfo(GroupName);
if (!string.IsNullOrEmpty(DeviceGroup.RFID_1))
{
RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1);
if (!RFID_1.Open())
{
msg += DeviceGroup.GroupName + " RFID 1:" + DeviceGroup.RFID_1 + "," + crc.GetString("Res0183", "打开失败") + "\r\n";
}
}
Location = new CylinderManger($"托盘顶升", GroupName, IO_Type.MI_Location_Up, IO_Type.MI_Location_Down);
var axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[GroupName].AxisID);
if (axisc != null)
axis = new AxisBean(axisc, GroupName);
axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[GroupName].Axis2ID);
if (axisc != null)
axis2 = new AxisBean(axisc, GroupName);
}
public DeviceStateE DeviceState { get; set; }
public void Start()
{
OpenAllServo();
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");
Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW); });
}
public void Process()
{
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
}
}
int StopBufDelayMS = 500;
int StopDelayMS = 1500;
public void OneWayProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041","ML5料口门光栅被遮挡"), MsgLevel.warning);
return;
}
if (IOValue(IO_Type.MI_In_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.log("中间检测到托盘");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
Location.ToLow(MoveInfo);
}
else if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_01);
Location.ToLow(MoveInfo);
MoveInfo.log("入口检测到托盘");
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsTimeOut(120))
{
Msg.add(crc.GetString("Res0100.9451681e","入口长时间未检测到托盘,请检查."), MsgLevel.alarm);
}
break;
case MoveStep.TrayStop_01:
if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_02);
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
}
else if (MoveInfo.IsTimeOut(10)){
MoveInfo.NextMoveStep(MoveStep.Wait);
}
//IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.HIGH, IO_Type.AMH_Front_Check, IO_VALUE.LOW, StopDelayMS);
break;
case MoveStep.TrayStop_02:
if (IOValue(IO_Type.MI_In_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.CanWhileCount = 3;
//Location.ToHigh(MoveInfo);
} else if (MoveInfo.IsTimeOut(10)){
MoveInfo.log("没有检测到托盘");
MoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
case MoveStep.TrayStop_03:
if (RFID_1.ReadByte(0x20, 16, out byte[] data, out string errmsg))
{
CurrrentRFID = Common.RfidFilter(data);
TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH)?1:0, out TrayInfo trayInfo);
var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _);
MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
#region MI1,Mi2的情况判断
if ((GroupName == "AMH-MI1" || GroupName == "AMH-MI2") && trayInfo.TrayType == TrayTypeE.MTP1)
{
/*
* 请求一个空托盘
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = "AMH-MI1";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-MI1";
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
TrayManager.SetTrayRequest(remoteLoad);
*/
/*物料出库
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = "AMH-MI1";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
remoteLoad.RequestLoadInfo.IsEmpty = false;
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.LoadParam = new ReelParam();// 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
*/
//伺服,压紧和旋转,
// TrayStop.DeviceList["AMH-MI1"].axis;
// TrayStop.DeviceList["AMH-MI1"].axis2;
//物料信息: trayInfo.TrayParam.clone()
//托盘直接放行: MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
//托盘处理完放行,全局方法: TrayStop.DeviceList["AMH-MI1"].TrayRelease();
//if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
if (MI.DeviceList.ContainsKey(GroupName) && MI.DeviceList[GroupName].robotHelper.EMERGENCY_STOP)
{
MoveInfo.log("检测到机器人急停,托盘放行处理");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
else
if (!trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//请求的空托盘到达时
var device = MI.DeviceList[GroupName];
if (!device.HasJob(null))
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
device.StartOutStore();
}
}
else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
TrayManager.SetTrayError(CurrrentRFID);
Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
MoveInfo.log("托盘没有检测到物料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
var cid = trayInfo.TrayParam.PosID;
if (VStoreCollection.VStoreList[cid].RTStoreStatus == RTStoreStatus.Offline)
{
MoveInfo.log($"当前需求设备CID:{cid}已离线");
var rm = TheLine.Regetposid(trayInfo.TrayParam, trayInfo.TrayType.ToString(), out string msg);
MoveInfo.log($"重新获取库位 msg:{msg},\t {rm.ToStr()}");
RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
RequestLoadInfo.LoadParam = rm.clone();
RequestLoadInfo.DeviceGroupName = rm.cid;
RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
RequestLoadInfo.IsEmpty = false;
TrayManager.SetTrayLoadInfo(CurrrentRFID, RequestLoadInfo);
//查询新库位, 检查料仓状态
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
return;
}
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//抵达了一个有物料的托盘等待处理
var device = MI.DeviceList[GroupName];
if (!device.HasJob(trayInfo.TrayParam))
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
device.StartInStore(trayInfo.TrayParam);
}
}
}
else
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
else if (GroupName == "CI" && trayInfo.TrayType == TrayTypeE.MTP1) {
var device = CI.DeviceList[GroupName];
if (!device.ManualCount)
{
MoveInfo.log($"点料机当前不可用,NG处理");
RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
RequestLoadInfo.LoadParam.IsNg=true;
RequestLoadInfo.LoadParam.NgMsg="XRay not enable";
RequestLoadInfo.DeviceGroupName = "AMH-MI2";
RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
RequestLoadInfo.IsEmpty = false;
TrayManager.SetTrayLoadInfo(CurrrentRFID, RequestLoadInfo);
//查询新库位, 检查料仓状态
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
return;
}
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//抵达了一个有物料的托盘等待处理
if (!device.HasJob(trayInfo.TrayParam))
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
device.StartInStore(trayInfo.TrayParam);
}
}
}
#endregion
if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
//空托盘
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
remoteLoad.RequestLoadInfo.IsEmpty = true;
MoveInfo.remoteLoad = remoteLoad;
if (RemoteService.SendAndWait(GroupName, remoteLoad) != RemoteResult.True)
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
SRec.info(crc.GetString("Res0042","托盘挡停"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0043","准备接料"), CurrrentRFID);
return;
}
else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
TrayManager.SetTrayError(CurrrentRFID);
Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
MoveInfo.log("托盘没有检测到物料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
//有物料
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
remoteLoad.RequestLoadInfo.IsEmpty = false;
MoveInfo.remoteLoad = remoteLoad;
var result = RemoteService.SendAndWait(GroupName, remoteLoad);
if (result == RemoteResult.False)
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
MoveInfo.log($"{GroupName} 请求出库失败:{result}");
}
else if (result == RemoteResult.Timeout)
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
MoveInfo.log($"{GroupName} 请求出库失败:{result}");
}
else
{
SRec.info(crc.GetString("Res0042","托盘挡停"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0044","等待物料被接走"), CurrrentRFID, remoteLoad.RequestLoadInfo.LoadParam.WareCode);
MoveInfo.log($"{GroupName} 请求出库成功"+ remoteLoad.RequestLoadInfo.LoadParam.ToStr());
}
return;
}
else
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
}
else if (MoveInfo.CanWhileCount > 0)
{
MoveInfo.CanWhileCount--;
MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次");
MoveInfo.log("RFIDerr:" + errmsg);
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning));
}
else
{
MoveInfo.log("RFid读取失败,直接通过");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
}
Location.ToLow(MoveInfo);
break;
case MoveStep.TrayStop_04:
if (!FwdFree(DeviceGroup.addr_1))
return;
MoveInfo.NextMoveStep(MoveStep.TrayStop_05);
Location.ToLow(MoveInfo);
break;
case MoveStep.TrayStop_05:
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041", "ML5料口门光栅被遮挡"), MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(MoveStep.TrayStop_06);
//IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, IO_Type.MI_In_Check, IO_VALUE.LOW, StopDelayMS);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH);
break;
case MoveStep.TrayStop_06:
if (IOValue(IO_Type.MI_In_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.log("托盘已放行");
}
else if (MoveInfo.IsTimeOut(10))
{
MoveInfo.log("托盘放行失败, 重新放行");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
}
break;
case MoveStep.TrayStop_07:
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
if (GroupName != "AMH-MI1" && GroupName != "AMH-MI2" && GroupName != "CI")
{
Location.ToHigh(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break;
case MoveStep.TrayStop_WaitLoadProcess:
//if (MI.DeviceList.ContainsKey(GroupName) && MI.DeviceList[GroupName].robotHelper.EMERGENCY_STOP) {
// MoveInfo.log("检测到机器人急停,托盘放行处理");
// MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
// return;
//}
Msg.add(crc.GetString("Res0046","等待处理物料"),MsgLevel.info);
if (GroupName != "AMH-MI1" && GroupName != "AMH-MI2" && GroupName != "CI")
{
Msg.add(crc.GetString("Res0047","托盘上有物料,等待同步物料信息."), MsgLevel.info);
//if (result == RemoteResult.True && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.HIGH))
if (IsDoorSafe())
{
Debug.WriteLine("IsDoorSafe:True");
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
{
//MoveInfo.log($"{GroupName} 料仓状态不明:{result},有物料");
TrayRelease();
}
else
{
TrayManager.Traylist[CurrrentRFID].SetToEmpty();
//MoveInfo.log($"{GroupName} 料仓状态不明:{result},无物料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
}
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0046","等待处理物料"), MsgLevel.info));
}
}
break;
case MoveStep.TrayStop_LoadProcessed:
if (TrayManager.Traylist.ContainsKey(CurrrentRFID) && TrayManager.Traylist[CurrrentRFID].HasLoad)
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0062","托盘放料后没有检测到物料"), MsgLevel.alarm);
MoveInfo.log("托盘放料后没有检测到物料");
return;
}
}
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
Location.ToLow(MoveInfo);
MoveInfo.log("物料离开, 顶升下降");
SRec.info(crc.GetString("Res0042","托盘挡停"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0048","处理结束"), CurrrentRFID);
break;
}
}
bool IsDoorSafe() {
if (GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2")
{
var remoteLoad = new RemoteLoad();
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "IsSafe";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
var result = RemoteService.SendAndWait(GroupName, remoteLoad,6000);
if (result == RemoteResult.True)
{
Debug.WriteLine("Remote IsSafe:True");
return true;
}
else if (result == RemoteResult.False)
{
Debug.WriteLine("Remote IsSafe:False");
return false;
}
else if (result == RemoteResult.Timeout)
{
Debug.WriteLine("Remote Timeout IsSafe:False");
return false;
}
else if (RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041", "ML5料口门光栅被遮挡"), MsgLevel.warning);
return false;
}
else
{
Debug.WriteLine("Remote UnKnow:True");
return true;
}
}
return true;
}
/// <summary>
/// 释放托盘
/// </summary>
public void TrayRelease() {
MoveInfo.log("释放托盘:" + CurrrentRFID);
MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
if (TrayManager.Traylist.ContainsKey(CurrrentRFID) && TrayManager.Traylist[CurrrentRFID].HasLoad)
{
var ri = TrayManager.Traylist[CurrrentRFID].TrayParam;
TheLine.UpdateLocInfo("", ri.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
}
}
public void ResetProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H01_HomeReset:
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041", "ML5料口门光栅被遮挡"), MsgLevel.warning);
break;
}
var dl = new string[] { "AMH-MI1", "AMH-MI2" };
foreach (var d in dl)
{
if (GroupName == d && MI.DeviceList[d].DeviceState != DeviceStateE.Run
&& MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
{
Msg.add(crc.GetString("Res0157","等待") + d + crc.GetString("Res0063","完成复位"), MsgLevel.warning);
}
else if (GroupName == d && MI.DeviceList[d].DeviceState == DeviceStateE.Run
&& MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
DeviceState = DeviceStateE.Run;
return;
}
}
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
Location.ToLow(MoveInfo);
break;
case MoveStep.H02_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041","ML5料口门光栅被遮挡"), MsgLevel.warning);
break;
}
//IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, IO_Type.MI_In_Check, IO_VALUE.LOW, StopDelayMS);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MI_In_Check,IO_VALUE.LOW));
break;
case MoveStep.H03_HomeReset:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
break;
}
}
/// <summary>
/// MoveInfo.MoveStep == MoveStep.TrayStop_WaitLoadProcess
/// 是返回false
/// </summary>
/// <returns></returns>
public bool IsFree()
{
if (MoveInfo.MoveStep == MoveStep.TrayStop_WaitLoadProcess)
{
return false;
}
return true;
}
public bool FrontCheck(int curaddr)
{
return IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW);
}
public void FrontStopProcess()
{
if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
}
}
}
}