MainMachine_Store.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
{
StoreJobList OutStoreJobList = new StoreJobList($"批量");
StoreJobList OutSingleJobList = new StoreJobList($"单盘");
public void AddOutStoreTask(string posId,int plateW,int plateH) {
JobInfo jobInfo = new JobInfo("", posId,plateW,plateH);
OutStoreJobList.Enqueue(jobInfo);
LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
}
public void AddSingleStoreTask(string posId, int plateW, int plateH)
{
JobInfo jobInfo = new JobInfo("", posId, plateW, plateH);
OutSingleJobList.Enqueue(jobInfo);
LogUtil.info($"添加单盘出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
}
void StoreProcess()
{
if (CheckWait(StoreMoveInfo))
return;
//常规上料扫码流程
switch (StoreMoveInfo.MoveStep)
{
case MoveStep.Wait:
//IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)
//if (StoreMoveInfo.IsTimeOut(5) && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture,Config,IO_VALUE.HIGH,5000) && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait) {
// StoreMoveInfo.NewMove(MoveStep.StoreOut_NGPre);
// StoreMoveInfo.MoveParam.PosID = "NG";
// StoreMoveInfo.MoveParam.PlateH = 56;
// StoreMoveInfo.MoveParam.PlateW = 7;
// StoreMoveInfo.MoveParam.IsNg = true;
// StoreMoveInfo.MoveParam.NgMsg = crc.GetString(L.tray_detect_reel_01, "料叉传感器X30感应到有料,请人工确认");
// StoreMoveInfo.log($"开始无信息料盘出库");
// ServerCM.storeStatus = StoreStatus.OutStoreExecute;
// CloseFlipDoor(StoreMoveInfo);
//}
//判断有没有料盘等待入库
if (IsWaitInStore)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
StoreMoveInfo.MoveParam = ClampMoveInfo.MoveParam.clone();
StoreMoveInfo.log($"入库料盘已准备好");
}
//判断有没有单盘出库任务, 需要入库空闲, 出口空闲
else if (OutSingleJobList.Count > 0 && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait)
{
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, 1000))
{
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
}
else
Msg.add(crc.GetString("Res0004","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 (OutSingleJobList.Dequeue(out JobInfo jobInfo))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = crc.GetString(L.ngdoor_reel_out, "单盘出库");
StoreMoveInfo.log($"开始单盘出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo);
}
}
//判断有没有出库任务, 需要入库空闲, 出口空闲
else if (OutStoreJobList.Count>0 && boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000))
{
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
}
else
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return;
}
else
boxTransport.IgnoreX09 = false;
TurnToOut();
if (IsPutReelReady && OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:"+ jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
}
break;
case MoveStep.StoreIn01:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"),MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运料盘");
break;
case MoveStep.StoreIn02:
break;
case MoveStep.StoreIn03:
if (boxTransport.IsTakedReel)
{
ReelTaked();
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.log($"料盘已取走");
}
else
{
Msg.add(crc.GetString(L.wait_reel_transfer, "单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.StoreIn04:
if (boxTransport.IsComplateOrFree)
{
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.EndMove();
}
break;
case MoveStep.StoreOut_NGPre:
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
break;
case MoveStep.StoreOut10:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
BoxStorePosition outTo;
if (StoreMoveInfo.MoveParam.IsNg)
outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
else
outTo = new BoxStorePosition(Config, StoreSide.String, StoreMoveInfo.MoveParam);
boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg ? "单料口" : "料串")}");
break;
case MoveStep.StoreOut11:
if (boxTransport.IsTakedReel)
{
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
StoreMoveInfo.log($"料盘已取走");
}
else
{
Msg.add(crc.GetString(L.wait_reel_transfer, "等待料盘到达."), MsgLevel.info);
}
break;
case MoveStep.StoreOut12:
if (boxTransport.IsPutOnOut)
{
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.log($"料盘已到达目的地");
if (StoreMoveInfo.MoveParam.IsNg)
{
NGPuted(StoreMoveInfo.MoveParam.NgMsg);
OutSingleJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
else
{
ReelPutted(StoreMoveInfo.MoveParam.PlateH);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
StoreMoveInfo.EndMove();
}
break;
default:
StoreMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
break;
}
}
string StoreState() {
string state = crc.GetString(L.free,"空闲中");
if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
{
state = $"{crc.GetString(L.reel_outting, "出库中")},{crc.GetString(L.posnum, "出库中")}:{StoreMoveInfo.MoveParam.PosID}";
}
else if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn01)
{
state = $"{crc.GetString(L.reel_ining, "入库中")},{crc.GetString(L.posnum, "出库中")}:{StoreMoveInfo.MoveParam.PosID}";
}
return state;
}
}
}