MainMachine _Common.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
/// <summary>
/// 发送托盘需求
/// </summary>
/// <param name="TrayType"></param>
public RemoteResult SendTrayRequest(string TrayType, ReelParam reelParam)
{
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "SetTrayRequest";
remoteLoad.GroupName = CID;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = TrayType;
remoteLoad.RequestLoadInfo.LoadParam = reelParam.clone();
remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_1;
remoteLoad.RequestLoadInfo.IsEmpty = true;
return Remote.SendAndWait(remoteLoad);
}
public void StopMove(bool ServoOff=false)
{
runStatus = RunStatus.Stop;
MoveInfo.List.ForEach((m)=> { m.EndMove(); });
AxisBean.StopMultiAxis(AxisBean.List);
if (ServoOff)
{
AxisBean.CloseMultiAxis(AxisBean.List);
}
}
public void OpenAllServo()
{
AxisBean.RunMultiAxis(true, out _, AxisBean.List);
}
int logType = 1000;
string WarnMsg = "";
public bool CheckWait(MoveInfo MoveInfo)
{
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (MoveInfo.WaitList.Count <= 0)
{
MoveInfo.EndStepWait();
return false;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
MoveInfo.WaitList.ForEach((w) => {
if (w.WaitType.Equals(WaitEnum.W014_Msg)) {
w.IsEnd = true;
Msg.add(w.ActionMsg, w.Data);
}
});
foreach (WaitResultInfo wait in MoveInfo.WaitList)
{
if (wait.IsEnd)
{
if(!wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
continue;
}
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(MoveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(MoveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(AlarmType.AxisMoveError, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
ConfigIO io = RobotManage.Config.getWaitIO(wait.IoType);
NotOkMsg = MoveInfo.Name + $" {crc.GetString(L.wait, "等待")}【" + io.ElectricalDefinition + " " + crc.GetString(io.ProName, io.Explain) + "】=【" + wait.IoValue + "】";
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
int timeOutMs = RobotManage.Config.IOSingle_TimerOut * 1000;
if (span.TotalMilliseconds > timeOutMs && NoAlarm())
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + $"] {crc.GetString(L.wait, "等待")}(" + io.ElectricalDefinition + " " + crc.GetString(io.ProName, io.Explain) + "=" + wait.IoValue + $") {crc.GetString(L.timeout, "超时")}";
Msg.add(WarnMsg, MsgLevel.alarm);
if (NoAlarm())
{
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
LogUtil.error(WarnMsg, logType + 14);
//MoveInfo.errlog(WarnMsg);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W013_Action))
{
wait.IsEnd = wait.Action.Invoke(wait);
LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
}
else if (wait.WaitType.Equals(WaitEnum.W008_BatchAxis))
{
AxisBean axisBean = null;
//等待信号亮或者走到绝对位置才停止
if (IOValue(axisBean.TargetIoType).Equals(axisBean.TargetIoValue))
{
LogUtil.info(Name + "CheckWaitResult 检测到" + axisBean.TargetIoType + "=" + axisBean.TargetIoValue + ",停止运行");
axisBean.StopAxisCheckMove();
if (AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
{
axisBean.SuddenStop();
}
wait.IsEnd = true;
}
else
{
bool isbusy = AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1);
if (!isbusy)
{
int outCount = AxisManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
LogUtil.info($"{wait.AxisInfo.Explain},当前位置:{outCount}");
int errorCount = Math.Abs(outCount - wait.TargetPosition);
if (errorCount <= wait.AxisInfo.CanErrorCountMax)
{
LogUtil.info($"{wait.AxisInfo.Explain},到达目标:errorCount:{errorCount},停止上升");
axisBean.StopAxisCheckMove();
wait.IsEnd = true;
}
else
{
LogUtil.info($"{wait.AxisInfo.DeviceName},继续上升:{wait.TargetPosition}");
axisBean.AbsMove(null, wait.TargetPosition, wait.TargetSpeed);
wait.IsEnd = false;
}
}
}
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
return false;
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + $"]{crc.GetString(L.wait, "等待")}" + NotOkMsg + $"{crc.GetString(L.timeout, "超时")}[" + Math.Round(span.TotalSeconds, 1) + "]秒";
int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
//MoveInfo.errlog(WarnMsg);
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm);
}
return true;
}
/// <summary>
/// 是否再报警中
/// </summary>
AlarmType alarmType = AlarmType.None;
DateTime LastAlarmTime = DateTime.Now;
public void Alarm(AlarmType _alarmType, string alarmMsg = "")
{
if (_alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
//SaveAlarmInfo(alarmType, alarmDetial, alarmMsg, storeMoveType);
if (this.alarmType.Equals(_alarmType))
{
return;
}
LogUtil.error(Name + " 报警，报警类型：" + _alarmType);
this.alarmType = _alarmType;
if (_alarmType.Equals(AlarmType.AxisAlarm) || _alarmType.Equals(AlarmType.AxisMoveError))
{
LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯");
StopMove(true);
}
else if (_alarmType == AlarmType.SuddenStop)
{
//isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，停止运动， 打开报警灯 ");
StopMove(true);
//storeStatus = StoreStatus.SuddenStop;
}
//else if (_alarmType.Equals(AlarmType.NoAirCheck))
//{
// //isNoAirCheck = true;
// LogUtil.error(Name + " 未检测到气压信号 ,停止运动， 打开报警灯 ");
// StopMove(true);
// //storeStatus = StoreStatus.SuddenStop;
//}
}
internal bool NoAlarm()
{
if (alarmType.Equals(AlarmType.None))
{
return true;
}
return false;
}
public void CylinderMove(MoveInfo moveInfo, string IoLowType, string IoHighType, IO_VALUE iO_VALUE = IO_VALUE.HIGH)
{
if (iO_VALUE == IO_VALUE.LOW)
{
//if (IOManager.DOValue(IoLowType).Equals(IO_VALUE.HIGH))
// return;
(IoLowType, IoHighType) = (IoHighType, IoLowType);
}
//if (IOManager.DOValue(IoHighType).Equals(IO_VALUE.HIGH))
// return;
IOMove(IoLowType, IO_VALUE.LOW);
IOMove(IoHighType, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
}
public IO_VALUE IOValue(string ioType) => IOManager.IOValue(ioType);
void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
{
if (msTime <= 0)
{
if (isCheck && (IOValue(IoType).Equals(value)))
{
return;
}
IOManager.IOMove(IoType, value);
}
else
{
Task.Run(()=>
{
IOManager.IOMove(IoType, value);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
LogUtil.info(Name + "定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
IOManager.IOMove(IoType, tValue);
});
}
}
public enum StringStateE
{
None=0,
InStore,
OutStore,
Full,
ManualOut
}
public enum StringTypeE
{
None=0,
In,
Out
}
}
}