MainMachine _AutoInOutTest.cs
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using CodeLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
public bool StartAutoInOutTest(int posindex, out string errmsg)
{
errmsg = "";
if (!boxTransport.IsComplateOrFree)
{
errmsg = crc.GetString("Res0151", "料仓忙碌中,无法启动");
return false;
}
AutoInOutTest = true;
StopAutoInOut = false;
CurrentPosIndex = posindex;
AIOTMoveInfo.NewMove(MoveStep.StoreIn01);
return true;
}
public bool ManualOut(int posindex, out string errmsg)
{
errmsg = "";
if (boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
}
else
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
return false;
}
else
boxTransport.IgnoreX09 = false;
CurrentPosIndex = posindex + 1;
AIOTMoveInfo.NewMove(MoveStep.StoreOut14);
AIOTMoveInfo.log($"开始出库任务:" + RobotManage.allPositionMap.Values.ToArray()[posindex].PositionNum);
}
else
{
errmsg = crc.GetString("Res0153", "料仓正在出入库中,无法出库");
}
return true;
}
public bool ManualIn(int posindex, out string errmsg)
{
errmsg = "";
if (boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
}
else
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
return false;
}
else
boxTransport.IgnoreX09 = false;
CurrentPosIndex = posindex;
StopAutoInOut = true;
AIOTMoveInfo.NewMove(MoveStep.StoreIn01);
AIOTMoveInfo.log($"开始入库任务:" + RobotManage.allPositionMap.Values.ToArray()[posindex].PositionNum);
}
else
{
errmsg = crc.GetString("Res0153", "料仓正在出入库中,无法出库");
}
return true;
}
public void StopAutoInOutTest()
{
StopAutoInOut = true;
}
int CurrentPosIndex = 0;
/// <summary>
/// 自动出入库状态
/// </summary>
public bool AutoInOutTest { get; set; } = false;
bool StopAutoInOut = false;
void AutoInOutTestProcess()
{
if (CheckWait(AIOTMoveInfo))
return;
//常规上料扫码流程
switch (AIOTMoveInfo.MoveStep)
{
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(IO_Type.TrayCheck_Door, Config, IO_VALUE.HIGH, 1000))
{
AIOTMoveInfo.log("有料盘在入口,请求服务器获取库位");
AIOTMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
AIOTMoveInfo.MoveParam.IsNg = false;
}
break;
case MoveStep.InWaitServerCallback:
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
AIOTMoveInfo.NextMoveStep(MoveStep.Wait);
AIOTMoveInfo.log($"入库料盘已离开");
}
break;
case MoveStep.StoreIn01:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn02);
var ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex];
var reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.InStore))
{
AIOTMoveInfo.log($"料仓周转启动失败");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始转运料盘第一盘");
break;
case MoveStep.StoreIn02:
if (boxTransport.IsTakedReel)
{
if (StopAutoInOut)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn04);
AIOTMoveInfo.log($"不在自动测试模式, 直接结束1");
}
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn03);
AIOTMoveInfo.log($"第一盘料盘已取走");
}
else
{
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.StoreIn03:
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH))
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn04);
AIOTMoveInfo.log($"入库料盘已准备好");
}
else
{
Msg.add(crc.GetString("Res0155", "请放入第二盘料."), MsgLevel.warning);
}
break;
case MoveStep.StoreIn04:
if (boxTransport.IsComplateOrFree)
{
if (StopAutoInOut)
{
AIOTMoveInfo.log($"不在自动测试模式, 直接结束2");
AIOTMoveInfo.EndMove();
return;
}
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn05);
AIOTMoveInfo.log($"第一盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10);
return;
}
AIOTMoveInfo.log($"开始转运料盘第二盘");
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.InStore))
{
AIOTMoveInfo.log($"料仓周转启动失败");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
}
break;
case MoveStep.StoreIn05:
if (boxTransport.IsTakedReel)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn06);
AIOTMoveInfo.log($"第二盘料盘已取走");
}
else
{
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.StoreIn06:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"第二盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10);
return;
}
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn07);
}
break;
case MoveStep.StoreIn07:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn08);
var ac1 = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex];
if (CurrentPosIndex - 2 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"A已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10);
CurrentPosIndex++;
return;
}
var ac2 = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 2];
reel = new ReelParam("auto", ac2.BagWidth, ac2.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac1, reel), new BoxStorePosition(Config, ac2, reel), StoreMoveType.InStore))
{
AIOTMoveInfo.log($"料仓周转启动失败");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始交替");
}
break;
case MoveStep.StoreIn08:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"B已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10);
return;
}
CurrentPosIndex--;
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn07);
}
break;
case MoveStep.StoreOut10:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut11);
CurrentPosIndex--;
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex];
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, StoreSide.NGDoor, reel), StoreMoveType.OutStore))
{
AIOTMoveInfo.log($"料仓周转启动失败");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始转运料盘");
break;
case MoveStep.StoreOut11:
if (boxTransport.IsPutOnOut)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut12);
AIOTMoveInfo.log($"料盘已到达目的地");
//AutoInOutTest = false;
}
break;
case MoveStep.StoreOut12:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut13);
AIOTMoveInfo.log($"料盘已到取走");
//AutoInOutTest = false;
}
break;
case MoveStep.StoreOut13:
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut14);
AIOTMoveInfo.log($"第2盘料盘已取走");
}
break;
case MoveStep.StoreOut14:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut15);
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, StoreSide.NGDoor, reel), StoreMoveType.OutStore))
{
AIOTMoveInfo.log($"料仓周转启动失败");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始转运料盘");
break;
case MoveStep.StoreOut15:
if (boxTransport.IsPutOnOut)
{
AIOTMoveInfo.log($"料盘已到达目的地");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut16);
}
break;
case MoveStep.StoreOut16:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"料盘已取走");
AIOTMoveInfo.EndMove();
AutoInOutTest = false;
}
break;
default:
AIOTMoveInfo.log($"未找到对应步骤:{AIOTMoveInfo.MoveStep}");
break;
}
}
}
}