MainMachine.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
public partial class MainMachine : IRobot
{
public string Name { get; set; } = "MIMO_PLUS";
private bool _canRunning = true;
public bool canRunning
{
get { return _canRunning; }
set
{
if (_canRunning != value) {
Msg.setlogones();
}
_canRunning = value;
}
}
public bool isBusy { get; set; } = false;
public bool isAlarm { get; set; } = false;
public RunStatus runStatus { get; set; } = RunStatus.Stop;
public Robot_Config Config { get; set; }
public bool UserPause { get; set; } = false;
public MoveInfo ResetMoveInfo;
/// <summary>
/// 右侧移动信息
/// </summary>
public MoveInfo StoreMoveInfo;
public MoveInfo AIOTMoveInfo;
public delegate void ProcessMsg(List<Msg> msg);
public event ProcessMsg ProcessMsgEvent;
public event EventHandler<ErrInfo> ButtenEvent;
internal AxisBean Middle_Axis;
public AxisBean UpDown_Axis;
internal AxisBean InOut_Axis;
internal AxisBean Comp_Axis;
public LiftMonitor SingleDoor;
ReelTransport boxTransport;
public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public ServerCommunication ServerCM;
string CID = ServerCommunication.CID;
public RemoteClient Remote;
/// <summary>
/// 开始运行的时间
/// </summary>
public DateTime StartTime { get; set; }
/// <summary>
/// 是否在急停中
/// </summary>
public bool isInSuddenDown = false;
public MainMachine(Robot_Config _config) {
Config = _config;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
StoreMoveInfo = new MoveInfo(crc.GetString("Res0011","进出库调度"));
StoreMoveInfo.SetStateDelegate(StoreState);
ResetMoveInfo = new MoveInfo(crc.GetString("Res0012","重置"));
AIOTMoveInfo = new MoveInfo(crc.GetString("Res0013","出入库测试"));
Remote = new RemoteClient(CID, Setting_Init.Device_MT_Server);
Remote.AddAction("DoorRelease", (requestLoadInfo) =>
{
return DoorRelease(requestLoadInfo);
});
Remote.AddAction("DoorLock", (requestLoadInfo) =>
{
return DoorLock(requestLoadInfo);
});
ServerCM = new ServerCommunication();
ServerCM.InStoreEvent += ServerCM_InStoreEvent1;
ServerCM.OutStoreEvent += ServerCM_OutStoreEvent;
#region 初始化led灯
RunningLed = new Led(Config.DOList[IO_Type.AutoRun_HddLed].GetIOAddr(),LedColor.green);
StandbyLed = new Led(Config.DOList[IO_Type.RunSign_HddLed].GetIOAddr(), LedColor.yellow);
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_HddLed].GetIOAddr(), LedColor.red);
//NG_Led = new Led(Config.DOList[IO_Type.MaterialNG_Led].GetIOAddr());
#endregion
#region 初始化伺服轴
Middle_Axis = new AxisBean(Config.Middle_Axis, Name);
Middle_Axis.ForceSafeCheck = true;
Middle_Axis.interference += Middle_Axis_interference;
UpDown_Axis = new AxisBean(Config.UpDown_Axis, Name);
UpDown_Axis.interference += UpDown_Axis_interference;
InOut_Axis = new AxisBean(Config.InOut_Axis, Name);
InOut_Axis.ForceSafeCheck = true;
InOut_Axis.interference += InOut_Axis_interference;
Comp_Axis = new AxisBean(Config.Comp_Axis, Name);
Crc_LanguageChangeEvent(null, EventArgs.Empty);
#endregion
SingleDoor = new LiftMonitor(IO_Type.Door_Up, IO_Type.Door_Down, "", new AxisBean(Config.Door_Axis, Name), Config.Door_Length, Config.Door_Length_speed);// new DoorControl(Name, Config);
boxTransport = new ReelTransport(Config, this);
boxTransport.DoorControl += BoxTransport_DoorControl;
boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
{
InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
};
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, HomeReset_BTN, 2500, 3000);
LedProcessInit();
}
private void ServerCM_OutStoreEvent(JobInfo jobInfo)
{
AddOutStoreTask(jobInfo.WareNum, jobInfo.PosId, jobInfo.plateW, jobInfo.plateH);
}
private bool ServerCM_InStoreEvent1(JobInfo jobInfo, bool ng, string msg)
{
if (ng)
{
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = msg;
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(msg, MsgLevel.alarm));
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
return true;
}
else
{
return StartInStore(jobInfo, StoreMoveInfo);
}
}
public bool StartInStore(JobInfo jobInfo, MoveInfo moveInfo)
{
if (moveInfo.MoveStep == MoveStep.InWaitServerCallback)
{
moveInfo.MoveParam.WareCode = jobInfo.WareNum;
moveInfo.MoveParam.PosID = jobInfo.PosId;
moveInfo.MoveParam.PlateH = jobInfo.plateH;
moveInfo.MoveParam.PlateW = jobInfo.plateW;
moveInfo.NextMoveStep(MoveStep.StoreIn01);
moveInfo.log($"料盘等待入库:{moveInfo.MoveParam.ToStr()}");
return true;
}
return false;
}
private bool BoxTransport_DoorControl(bool arg)
{
if (arg)
{
if (SingleDoor.isAtTOP)
return true;
else
{
SingleDoor.LiftUp(null);
return false;
}
}
else
{
if (SingleDoor.isAtBOTTOM)
return true;
else
{
SingleDoor.LiftDown(null);
return false;
}
}
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
StoreMoveInfo.Name = crc.GetString(L.store_manage_equipment, "进出库调度");
ResetMoveInfo.Name = crc.GetString(L.reset_equipment, "重置");
AIOTMoveInfo.Name = crc.GetString(L.autotest_inout_equipment, "出入库测试");
}
private (bool, string) InOut_Axis_interference(int from, int to)
{
if (RobotManage.DisableUpdownProtect)
return (false, "");
if (Middle_Axis.IsBusy || UpDown_Axis.IsBusy)
return (true, crc.GetString("Res0056.95729a30","旋转或升降轴在运动,进出轴不可运动"));
if (to != Config.InOut_P2)
return (false, "");
var ismiddleatdoor = Middle_Axis.IsInPosition(Config.Middle_P1) || Middle_Axis.IsInPosition(Config.Middle_P2);
if (!ismiddleatdoor)
return (false, "");
var isupdownindoor = UpDown_Axis.IsInPosition(Config.UpDown_P1) || UpDown_Axis.IsInPosition(Config.UpDown_P2) || UpDown_Axis.IsInPosition(Config.UpDown_P3);
if (!isupdownindoor) {
return (true, crc.GetString("Res0014","升降轴不在单料口,进出轴不可运动"));
}
return (false, "");
}
private (bool, string) Middle_Axis_interference(int from, int to)
{
if (RobotManage.DisableUpdownProtect)
return (false, "");
if (InOut_Axis.IsInPosition(Config.InOut_P1))
return (false, "");
return (true, crc.GetString(L.Middle_Axis_interference_01, "进出轴不在待机点时无法移动旋转轴"));
}
private (bool, string) UpDown_Axis_interference(int from, int to)
{
if (RobotManage.DisableUpdownProtect)
return (false, "");
if (InOut_Axis.IsInPosition(Config.InOut_P1))
return (false, "");
return (true, crc.GetString(L.UpDown_Axis_interference_01, "进出轴不在待机点时无法移动升降轴"));
}
public bool hasAlarm = false;
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
bool mstart=true;
public void Run() {
mstart = true;
while (mstart) {
try
{
canRunning = DeviceCheck();
if (canRunning)
{
BtnProcess();
canRunning = SafeCheck();
//if (canRunning && !lastSafeCheckStatus){}
//lastSafeCheckStatus = canRunning;
}
Thread.Sleep(200);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
ioMonitor();
boxTransport.Process();
if (RobotManage.InoutDebugMode)
AutoInOutTestProcess();
else
StoreProcess();
}
else if (runStatus == RunStatus.HomeReset)
{
HomeReset();
}
}
catch (Exception ex)
{
Msg.add(ex.ToString(), MsgLevel.warning);
Msg.setlogones();
}
finally {
var m = Msg.get();
ProcessMsgEvent?.Invoke(m);
ServerCM.ProcessMsg(m);
StoreStatus currnetstoreStatus= StoreStatus.None;
if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
{
hasAlarm = false;
AlarmBuzzer.OFF();
if (ServerCM.storeStatus != StoreStatus.InStoreExecute
&& ServerCM.storeStatus != StoreStatus.OutStoreExecute
&& ServerCM.storeStatus != StoreStatus.ResetMove && ServerCM.storeStatus != StoreStatus.StoreOnline)
{
LogUtil.info($"test storeStatus is {ServerCM.storeStatus} change to StoreOnline");
currnetstoreStatus = StoreStatus.StoreOnline;
}
}
else {
hasAlarm = true;
AlarmBuzzer.ON();
currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
}
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
if (!UserPause)
Msg.clear();
else if(!hasAlarm)
currnetstoreStatus = StoreStatus.Debugging;
if (currnetstoreStatus!=StoreStatus.None)
ServerCM.storeStatus = currnetstoreStatus;
}
}
ServerCM.storeStatus = StoreStatus.None;
LogUtil.info("主线程已退出.");
}
public void Start() {
ServerCM.StartConnectServer();
Run();
}
public void Stop() {
mstart = false;
SafetyDevice.PauseAll();
AutoInOutTest = false;
ServerCM.StopConnectServer();
Thread.Sleep(300);
Alarm(AlarmType.None);
StopMove(true);
LedProcess(null);
}
public void BeginHomeReset(bool firstRun=false) {
if (!firstRun)
{
StopMove();
Thread.Sleep(500);
}
OpenAllServo();
boxTransport.Unlock();
Alarm(AlarmType.None);
runStatus = RunStatus.HomeReset;
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
ResetMoveInfo.log("开始回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
//强制回原
bool forceHome=true;
void HomeReset()
{
if (CheckWait(ResetMoveInfo))
return;
switch (ResetMoveInfo.MoveStep)
{
case MoveStep.H01_HomeReset:
ResetMoveInfo.log("开始回原");
ServerCM.storeStatus = StoreStatus.ResetMove;
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
break;
case MoveStep.H02_HomeReset_01:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
SingleDoor.LiftDown(ResetMoveInfo);
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("旋转轴,升降轴,回原,料叉P1待机点");
InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
ResetMoveInfo.log("旋转轴,升降轴,到P1待机点");
Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("压紧轴回原");
Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
ResetMoveInfo.log("旋转轴,升降轴,到P2,压紧轴p1");
Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P2, Config.UpDown_P2_speed);
Comp_Axis.AbsMove(ResetMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
break;
case MoveStep.H08_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
var TrayCheck_Fixture = IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH);
var TrayCheck_Door = IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH);
if (TrayCheck_Fixture || TrayCheck_Door)
{
ResetMoveInfo.log($"回原时检测到又滞留物料:TrayCheck_Fixture={TrayCheck_Fixture},TrayCheck_Door={TrayCheck_Door}");
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_PosID;
StoreMoveInfo.MoveParam.PlateH = Setting_Init.Runtime_PlateH;
StoreMoveInfo.MoveParam.PlateW = Setting_Init.Runtime_PlateW;
StoreMoveInfo.MoveParam.WareCode = Setting_Init.Runtime_WareCode;
StoreMoveInfo.MoveParam.IsNg = Setting_Init.Runtime_IsNg;
StoreMoveInfo.MoveParam.NgMsg = Setting_Init.Runtime_NgMsg;
if (Setting_Init.Runtime_IsInStore)
{
ResetMoveInfo.log("入库物料:" + StoreMoveInfo.MoveParam.ToStr());
if (TrayCheck_Fixture)
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
}
else if (TrayCheck_Fixture)
{
ResetMoveInfo.log("出库物料在料叉上:" + StoreMoveInfo.MoveParam.ToStr());
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
}
else
{
ResetMoveInfo.log("出库物料在门口:" + StoreMoveInfo.MoveParam.ToStr());
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
}
}
else if (!string.IsNullOrEmpty(Setting_Init.Runtime_PlateInFix.Val)) {
var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
var dc = CSVPositionReader<ACStorePosition>.GetPositon(Setting_Init.Runtime_PlateInFix);
boxTransport.Start(new BoxStorePosition(Config, dc, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
ResetMoveInfo.log($"开始转运料盘:{Setting_Init.Runtime_PlateInFix}=>{StoreMoveInfo.MoveParam.PosID}");
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
}
else
{
StoreMoveInfo.NewMove(MoveStep.Wait);
}
forceHome = false;
boxTransport.Reset();
ResetMoveInfo.log("回原完成");
ResetMoveInfo.EndMove();
runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline;
break;
case MoveStep.H09_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
break;
case MoveStep.H10_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString("Res0145", "回原时舱门口有料无法继续"), MsgLevel.alarm);
}
else
{
ResetMoveInfo.log("进出轴到p2单料们放料点");
InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P2, Config.InOut_P2_speed);
}
break;
case MoveStep.H14_HomeReset:
break;
case MoveStep.H15_HomeReset:
break;
case MoveStep.H16_HomeReset:
break;
case MoveStep.HEND_HomeReset:
forceHome = false;
StoreMoveInfo.NewMove(MoveStep.Wait);
boxTransport.Reset();
ResetMoveInfo.log("回原完成");
ResetMoveInfo.EndMove();
runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline;
break;
}
}
bool _IgnoreSafecheck = false;
public bool IgnoreSafecheck
{
get => _IgnoreSafecheck; set
{
_IgnoreSafecheck = value;
}
}
public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true;
bool SafeCheck() {
bool ok = true;
var ignorestring = "[" + crc.GetString(L.ignored, "已忽略") + "]";
if (IOValue(IO_Type.Door_Limit).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
UserPause = true;
}
Msg.add(crc.GetString("Res0015","后侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
}
if (!lastSafeCheckStatus && ok)
{
SafetyDevice.ResumeAll();
}
lastSafeCheckStatus = ok;
return ok;
}
void DeviceSuddenStop() {
if (lastSafeCheckStatus)
{
AxisBean.StopMultiAxis(AxisBean.List);
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
SafetyDevice.PauseAll();
if (runStatus == RunStatus.HomeReset)
{
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
}
}
}
/// <summary>
/// 最后一次气压检测变为0的时间
/// </summary>
DateTime lastAirCloseTime = DateTime.MinValue;
internal DateTime checkAlarmTime = DateTime.Now;
public bool DeviceCheck() {
bool ok = true;
isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
if (UserPause)
{
Msg.add(crc.GetString(L.system_pause, "系统暂停"), MsgLevel.warning);
DeviceSuddenStop();
lastSafeCheckStatus = false;
ok = false;
return ok;
}
else if (isInSuddenDown)
{
//Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm, ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
lastSafeCheckStatus = false;
ok = false;
}
else if (alarmType != AlarmType.None) {
//if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
//{
// Alarm(AlarmType.None);
//}
//else
{
Msg.add(crc.GetString(L.system_need_reset, "系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
ok = false;
}
}
if (ok && !AxisBean.RunMultiAxis(true, out string msg, AxisBean.List))
{
ok = false;
Msg.add(msg, MsgLevel.warning);
}
if (RobotManage.InoutDebugMode)
{
Msg.add(crc.GetString(L.store_inout_debug_mode, "进出库调试模式"), MsgLevel.info);
//ok = false;
}
if (alarmType!=AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
if (span.TotalSeconds > 2)
{
checkAlarmTime = DateTime.Now;
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
{
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
{
if (configMoveAxis.DeviceName == "Comp_Axis")
{
if (runStatus == RunStatus.Running || ResetMoveInfo.IsStep(MoveStep.H06_HomeReset))
{
Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+ crc.GetString(L.motion_alarm, "运动报警"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0016","压紧轴报警"), true);
AxisManager.AlarmClear(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
Thread.Sleep(2000);
SingleDoor.LiftUp(null);
}
}
else
{
Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+ crc.GetString(L.motion_alarm, "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
}
LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
ok = false;
}
}
}
}
return ok;
}
public void IgnoreX09() {
boxTransport.IgnoreX09 = true;
LogUtil.info("按下X09忽略");
}
}
}