StoreMachine_Store.cs
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using CodeLibrary;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using RemoteSheardObject;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class StoreMachine
{
public bool IsInStoreReady { get => IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH)
|| StoreMoveInfo.MoveStep== MoveStep.Wait || StoreMoveInfo.MoveStep == MoveStep.InWaitServerCallback; }
StoreJobList OutStoreJobList = new StoreJobList("");
public void AddOutStoreTask(string warecode,string posId,int plateW,int plateH) {
JobInfo jobInfo = new JobInfo(warecode, posId,plateW,plateH);
OutStoreJobList.Enqueue(jobInfo);
LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
}
public bool DoorRelease(RequestLoadInfo requestLoadInfo) {
if (requestLoadInfo.IsEmpty)
{
var s = IOValue(SIO_Type.Door_Tray_Check,Config);
StoreMoveInfo.log("释放舱门时 TrayCheck_Door=" + s);
return s.Equals(IO_VALUE.LOW);
}
else {
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
StoreMoveInfo.MoveParam = requestLoadInfo.LoadParam.clone();
StoreMoveInfo.MoveParam.IsInStore = true;
ConfigHelper.Config.Set($"Runtime_{MachineSide}_DoorInfo", JsonConvert.SerializeObject(StoreMoveInfo.MoveParam));
ConfigHelper.Config.Set($"Runtime_{MachineSide}_IsInStore", true);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PosID", StoreMoveInfo.MoveParam.PosID);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateH", StoreMoveInfo.MoveParam.PlateH);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateW", StoreMoveInfo.MoveParam.PlateW);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_WareCode", StoreMoveInfo.MoveParam.WareCode);
StoreMoveInfo.log("写入舱门口信息:" + StoreMoveInfo.MoveParam.ToStr());
}
return true;
}
public bool DoorLock(RequestLoadInfo requestLoadInfo) {
if (runStatus== RunStatus.Running && StoreMoveInfo.MoveStep == MoveStep.Wait && !requestLoadInfo.IsEmpty)
{
var s = IOValue(SIO_Type.Door_Tray_Check,Config);
if (s.Equals(IO_VALUE.LOW))
{
StoreMoveInfo.NextMoveStep(MoveStep.WaitInStore);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LogUtil.info("锁定料仓等待入库");
return true;
}
else
{
LogUtil.info("料仓口有料无法锁定");
return false;
}
}
else if (StoreMoveInfo.MoveStep == MoveStep.StoreOut_WaitMT && requestLoadInfo.IsEmpty)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut14);
StoreMoveInfo.log("出库等待中.允许取走料盘");
return true;
}
else {
StoreMoveInfo.log("料仓忙碌中,不可锁定");
return false;
}
}
void StoreProcess()
{
if (CheckWait(StoreMoveInfo))
return;
//常规上料扫码流程
switch (StoreMoveInfo.MoveStep)
{
case MoveStep.WaitInStore:
StoreMoveInfo.NextMoveStep(MoveStep.WaitInStore);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (IsLineFree() == RemoteResult.True)
{
StoreMoveInfo.log($"MT已经不在入库模式");
StoreMoveInfo.EndMove();
}
else
Msg.add(crc.GetString("Res0020","等待入库物料"), MsgLevel.info);
break;
case MoveStep.Wait:
//判断有没有出库任务, 需要入库空闲, 出口空闲
if (IOMonitor.IODebound(SIO_Type.Door_Tray_Check, Config, IO_VALUE.LOW, 2000) && OutStoreJobList.Count > 0 && boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(SIO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(SIO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
Msg.add(crc.GetString("Res0152","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
}
else
Msg.add(crc.GetString("Res0152","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return;
}
else
boxTransport.IgnoreX09 = false;
if (OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ConfigHelper.Config.Set($"Runtime_{MachineSide}_IsInStore", false);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PosID", StoreMoveInfo.MoveParam.PosID);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateH", StoreMoveInfo.MoveParam.PlateH);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateW", StoreMoveInfo.MoveParam.PlateW);
ConfigHelper.Config.Set($"Runtime_{MachineSide}_WareCode", StoreMoveInfo.MoveParam.WareCode);
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
return;
}
}
if (!AutoInOutTest && IOMonitor.IODebound(SIO_Type.Door_Tray_Check, Config, IO_VALUE.HIGH, 1000) )
{
StoreMoveInfo.log("有料盘在入口,请求服务器获取库位");
StoreMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
ServerCM.SendInStoreRequest(new string[] { "Server" }, new ReelParam());
}
break;
case MoveStep.InWaitServerCallback:
if (StoreMoveInfo.IsTimeOut(10))
{
StoreMoveInfo.log("入口料盘,获取库位失败");
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = $"[{CID}]" + crc.GetString("Res0009","无信息物料");
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
}
break;
case MoveStep.StoreIn01:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute))
{
Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
return;
}
SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0012","开始入库"), StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
break;
case MoveStep.StoreIn02:
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
if (ac == null) {
StoreMoveInfo.log($"找不到库位:"+ StoreMoveInfo.MoveParam.PosID);
}
boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运料盘");
break;
case MoveStep.StoreIn03:
if (boxTransport.IsTakedReel)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.log($"料盘已取走");
}
else
{
Msg.add(crc.GetString("Res0154","单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.StoreIn04:
if (boxTransport.IsPutIn)
{
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
{
Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn05);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
else
{
Msg.add(crc.GetString("Res0157","等待料盘送到指定位置."), MsgLevel.info);
}
break;
case MoveStep.StoreIn05:
if (boxTransport.IsComplateOrFree)
{
SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0013","完成入库"), StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.EndMove();
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
break;
case MoveStep.StoreOut10:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute))
{
Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
BoxStorePosition outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
StoreMoveInfo.log($"开始转运料盘");
SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0014","开始出库"), StoreMoveInfo.MoveParam.PosID);
break;
case MoveStep.StoreOut11:
if (boxTransport.IsTakedReel)
{
boxTransport.Pause();
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd))
{
Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
StoreMoveInfo.log($"料盘已取走");
}
else
{
Msg.add(crc.GetString("Res0158","等待料盘到达."), MsgLevel.info);
}
break;
case MoveStep.StoreOut12:
boxTransport.Resume();
if (boxTransport.IsPutOnOut)
{
if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0159","单料门口没有检测到出库料盘") + "," + crc.GetString("Res0160","出库库位号:") + StoreMoveInfo.MoveParam.PosID, MsgLevel.alarm);
UserPause = true;
return;
}
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd))
{
Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
StoreMoveInfo.log($"料盘已到达目的地");
TheLine.UpdateLocInfo("", StoreMoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, CID);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
break;
case MoveStep.StoreOut_WaitMT:
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
var tt = TrayTypeE.MTP2.ToString();
if (StoreMoveInfo.MoveParam.PlateW<=15)
tt = TrayTypeE.MTP1.ToString();
if (SendTrayRequest(tt, StoreMoveInfo.MoveParam) >RemoteResult.Timeout) {
SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0015","完成出库"), StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0161", "等聊单料门料盘被取走"), MsgLevel.warning));
}
else
{
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016","请求环形线空托盘失败"), MsgLevel.warning));
}
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
break;
case MoveStep.StoreOut14:
Msg.add(crc.GetString("Res0017","等待环形线取走料盘"), MsgLevel.warning);
if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.LOW))
{
if (IsLineFree() == RemoteResult.True)
{
StoreMoveInfo.log($"料盘已被取走");
StoreMoveInfo.EndMove();
}
}
break;
default:
StoreMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
break;
}
}
string StoreState() {
string state = crc.GetString("Res0162","空闲中");
if (StoreMoveInfo.MoveStep == MoveStep.WaitInStore)
{
state = crc.GetString("Res0020","等待入库物料") + ":" + StoreMoveInfo.MoveParam.PosID;
}
else if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
{
state = crc.GetString("Res0163","出库中")+":"+StoreMoveInfo.MoveParam.PosID;
}
else if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn01)
{
state = crc.GetString("Res0164","入库中")+":"+StoreMoveInfo.MoveParam.PosID;
}
return state;
}
}
}