MainMachine_Clamp.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;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
/// <summary>
/// 正在等待服务器反馈库位
/// </summary>
public bool IsInStoreReady
{
get => ClampMoveInfo.MoveStep == MoveStep.InWaitServerCallback;
}
/// <summary>
/// 料盘已获取库位在翻板门处准备好入库
/// </summary>
public bool IsWaitInStore
{
get => ClampMoveInfo.MoveStep == MoveStep.WaitInStore && !string.IsNullOrEmpty(ClampMoveInfo.MoveParam.PosID);
}
void ReelTaked()
{
ClampMoveInfo.NextMoveStep(MoveStep.ReelTaked);
}
public void NGPuted(string msg)
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
if (!string.IsNullOrEmpty(msg))
{
ClampMoveInfo.MoveParam.NgMsg = msg;
}
ClampMoveInfo.MoveParam.IsNg = true;
}
/// <summary>
/// if (InMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
/// </summary>
/// <param name="jobInfo"></param>
/// <returns></returns>
public bool StartInStore(JobInfo jobInfo)
{
if (IsInStoreReady)
{
ClampMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
ClampMoveInfo.MoveParam.PosID = jobInfo.PosId;
ClampMoveInfo.MoveParam.PlateH = jobInfo.plateH;
ClampMoveInfo.MoveParam.PlateW = jobInfo.plateW;
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.log($"料盘等待入库:{ClampMoveInfo.MoveParam.ToStr()}");
return true;
}
return false;
}
void SetReelHeight(int height)
{
if (ClampMoveInfo.MoveStep != MoveStep.ReelClamp_WaitGaugeHeight)
{
ClampMoveInfo.log($"不再等待测高的步骤们无法设置盘高:{height}");
return; }
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_GetHeight);
ClampMoveInfo.MoveParam.PlateH = height;
ClampMoveInfo.log($"设置盘高:{height}");
}
int ClampErrorCount = 0;
void ClampProcess()
{
if (CheckWait(ClampMoveInfo))
return;
switch (ClampMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IsGetReelReady && StoreMoveInfo.MoveStep < MoveStep.StoreOut10)
{
ClampMoveInfo.NewMove(MoveStep.ReelClamp_01);
OpenFlipDoor(ClampMoveInfo);
}
break;
case MoveStep.ReelClamp_01:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_02);
ClampMoveInfo.log($"取料夹爪下降");
Clamp_Axis.AbsMove(ClampMoveInfo,Config.Clamp_P2,Config.Clamp_P2_speed);
break;
case MoveStep.ReelClamp_02:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_03);
ClampMoveInfo.log($"取料夹爪张开");
CylinderMove(ClampMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.HIGH);
break;
case MoveStep.ReelClamp_03:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_04);
ClampMoveInfo.log($"取料夹爪退回待机点");
Clamp_Axis.AbsMove(ClampMoveInfo, Config.Clamp_P1, Config.Clamp_P1_speed);
break;
case MoveStep.ReelClamp_04:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_05);
ClampMoveInfo.log($"检测盘宽");
//CylinderMove(ClampMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
ClampMoveInfo.MoveParam.PlateW = GetWidth();
CloseFlipDoor(ClampMoveInfo);
break;
case MoveStep.ReelClamp_05:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_WaitGaugeHeight);
if (ClampMoveInfo.MoveParam.PlateW == 0)
{
ClampErrorCount++;
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_height, "未检测到盘宽");
ReelGetted(false);
//RobotManage.UserPause("未检测到盘", true);
}
else
{
ClampErrorCount = 0;
ReelGetted();
ClampMoveInfo.log($"检测到盘,盘宽:{ClampMoveInfo.MoveParam.PlateW},通知料串料已取走");
}
break;
case MoveStep.ReelClamp_WaitGaugeHeight:
//ClampMoveInfo.NextMoveStep(MoveStep.StringLoad_12);
ClampMoveInfo.log($"等待测高");
Msg.add(crc.GetString(L.wait_detect_reel_height, "等待料盘测高"), MsgLevel.info);
//BatchAxisToP2(ClampMoveInfo);
break;
case MoveStep.ReelClamp_GetHeight:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_07);
ClampMoveInfo.log($"取料夹爪下降到翻板门");
//if (ClampMoveInfo.MoveParam.IsNg)
var cappos = Config.Clamp_P3 - (ClampMoveInfo.MoveParam.PlateH - 8) * Config.Clamp_PoToMM;
Clamp_Axis.AbsMove(ClampMoveInfo, cappos, Config.Clamp_P3_speed);
break;
case MoveStep.ReelClamp_07:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_08);
ClampMoveInfo.log($"取料夹爪释放");
CylinderMove(ClampMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
break;
case MoveStep.ReelClamp_08:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_09);
ClampMoveInfo.log($"取料夹爪上升到待机点");
Clamp_Axis.AbsMove(ClampMoveInfo, Config.Clamp_P1, Config.Clamp_P1_speed);
break;
case MoveStep.ReelClamp_09:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_10);
if (RobotManage.InoutDebugMode)
{
ClampMoveInfo.log($"自动出入库模式,跳过拍照扫码");
ClampMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
}
else if (ClampMoveInfo.MoveParam.IsNg)
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
ClampMoveInfo.log($"料盘数据NG:{ClampMoveInfo.MoveParam.NgMsg}");
}
else
{
ClampMoveInfo.log($"拍照扫码");
scantrytimes = 0;
ScanCode();
}
break;
case MoveStep.ReelClamp_10:
if (ScanTask.IsCompleted)
{
var x = ScanTask.Result;
if (x.Count == 0)
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
ClampMoveInfo.log($"未识别到有效二维码,送到NG口");
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
return;
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
ClampMoveInfo.log($"已完成扫码,等待服务器反馈库位 Count={x.Count}");
ClampMoveInfo.MoveParam.IsNg = false;
ClampMoveInfo.MoveParam.codeInfos = x;
var cc = x.Select((a) => a.CodeStr);
LastCode = String.Join("##",cc);
ServerCM.SendInStoreRequest(cc.ToArray(), ClampMoveInfo.MoveParam,true);
}
}
else if (ClampMoveInfo.IsTimeOut(15))
{
scantrytimes++;
if (scantrytimes < 3)
{
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_10);
ClampMoveInfo.log($"扫码超时,第{scantrytimes}次重试,拍照扫码");
ScanTask = null;
ScanCode();
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
ClampMoveInfo.MoveParam.IsNg = false;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.scan_code_timeout, "扫码超时");
ClampMoveInfo.log($"等待扫码超时,NG口送出");
}
}
break;
case MoveStep.InWaitServerCallback:
if (RobotManage.InoutDebugMode)
{
Msg.add(crc.GetString(L.wait_user_select_pos, "等待手动选择入库库位"), MsgLevel.warning);
}
else if (ClampMoveInfo.IsTimeOut(20))
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.wait_server_response_pos_timeout, "服务器返回库位超时");
ClampMoveInfo.log($"等待服务器返回库位超时");
}
else if (ClampMoveInfo.IsTimeOut(5))
Msg.add(crc.GetString(L.wait_server_response_pos, "等待服务器返回库位"), MsgLevel.info);
break;
case MoveStep.WaitInStore:
Msg.add(crc.GetString(L.reel_wait_in_store, "料盘等待入库"), MsgLevel.info);
break;
case MoveStep.ReelTaked:
ClampMoveInfo.NextMoveStep(MoveStep.Wait);
ClampMoveInfo.log($"料盘已取走");
OpenFlipDoor(ClampMoveInfo);
break;
case MoveStep.NGOUT_00:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
//ClampMoveInfo.log("打开单料口门");
CloseFlipDoor(ClampMoveInfo);
break;
case MoveStep.NGOUT_01:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_02);
ClampMoveInfo.log("打开单料口门");
//CylinderMove(null, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(null);
break;
case MoveStep.NGOUT_02:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false) && !NGDoor_Tray_Test_Reel)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
RobotManage.UserPause(crc.GetString("Res0005","传感器X29未检测到单料口料盘"));
}
SingleDoor.ToHigh(ClampMoveInfo);
break;
case MoveStep.NGOUT_03:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
if (NGDoor_Tray_Test_Reel)
{
Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单料口料盘"), MsgLevel.alarm);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
{
//ClampMoveInfo.LastSetpTime = DateTime.Now;
//ClampMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (ConfigHelper.Config.Get("Device_ManualCloseSingleDoor", false))
RobotManage.UserPause(crc.GetString("please_take_ngdoor_reel", "等待取走单口料盘"));
}
else {
if (!ConfigHelper.Config.Get("CamTestReel_Ability", false))
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_04);
RobotManage.UserPause(crc.GetString("please_take_ngdoor_reel","等待取走单口料盘"));
}
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_04);
ClampMoveInfo.log("料盘已取走");
}
break;
case MoveStep.NGOUT_04:
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_05);
}
break;
case MoveStep.NGOUT_05:
//if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && NGDoor_Tray_Test_Reel)
//{
// ClampMoveInfo.log("NG口还是检测到料盘");
// ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
//}
//else
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_06);
ClampMoveInfo.log("关门NG口门");
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ClampMoveInfo);
OpenFlipDoor(ClampMoveInfo);
}
else
{
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
}
break;
case MoveStep.NGOUT_06:
ClampMoveInfo.NextMoveStep(MoveStep.Wait);
break;
case MoveStep.SingleIn:
ClampMoveInfo.NextMoveStep(MoveStep.SingleIn_01);
ClampMoveInfo.log("开始单盘入库, 合拢托盘");
CloseFlipDoor(ClampMoveInfo);
break;
case MoveStep.SingleIn_01:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInReady);
ClampMoveInfo.log("开始单盘入库, 打开紧急料口");
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ClampMoveInfo);
break;
case MoveStep.SingleInReady:
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待放入单盘入库料盘"), MsgLevel.warning);
break;
case MoveStep.SingleInRun:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_09);
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ClampMoveInfo);
ClampMoveInfo.MoveParam.PlateW = 7;
ClampMoveInfo.MoveParam.PlateH = 100;
if (!ConfigHelper.Config.Get("CamTestReel_Ability", false) || NGDoor_Tray_Test_Reel)
{ }
else {
ClampMoveInfo.log("单盘入库没有检测到放入料盘");
ClampMoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
default:
ClampMoveInfo.log($"未找到对应步骤:{ClampMoveInfo.MoveStep}");
break;
}
}
bool NGDoor_Tray_Test_Reel
{
get
{
if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
return CodeManager.TestHasReel(CodeManager.hikNameList[0]);
else
return IOValue(IO_Type.NGDoor_Tray_Check).Equals(IO_VALUE.HIGH);
}
}
private int GetWidth()
{
if(ConfigHelper.Config.Get("Device_IO_HasX20",true) && IOManager.IOValue(IO_Type.WidthCheck_15).Equals(IO_VALUE.HIGH))
{
return 15;
}
else if(IOManager.IOValue(IO_Type.WidthCheck_13).Equals(IO_VALUE.HIGH))
{
return 13;
}
else if (IOManager.IOValue(IO_Type.WidthCheck_7).Equals(IO_VALUE.HIGH))
{
return 7;
}
return 0;
}
string ClampState()
{
string state = "";
if (ClampMoveInfo.MoveStep == MoveStep.Wait)
{
return crc.GetString(L.free,"空闲中");
}
else if (ClampMoveInfo.MoveStep > MoveStep.NGOUT_01)
{
state = crc.GetString(L.ngdoor, "单料口:") +ClampMoveInfo.MoveParam.NgMsg;
}
else if (ClampMoveInfo.MoveStep >= MoveStep.ReelClamp_09)
{
return crc.GetString(L.scanning_code, "扫码中");
}
else if (ClampMoveInfo.MoveStep >= MoveStep.ReelClamp_01)
{
return crc.GetString(L.taking_code, "取料中");
}
return state;
}
public bool IsScanRunning() {
if (ScanTask == null)
return false;
return !ScanTask.IsCompleted;
}
int scantrytimes = 0;
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
public void ScanCode() {
ClampMoveInfo.log("开始扫码");
//RightMoveInfo.OneWaitCanEndStep = true;
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
try
{
ScanTask = Task.Run(new Func<List<CodeInfo>>(()=>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
List<CodeInfo> LastCodeList;
LastCodeList = CodeManager.CameraScan(CodeManager.hikNameList);
//BoxParam labelParam = new BoxParam();
//labelParam.codeInfos = new List<CodeInfo>(LastCodeList);
//if (!Common.codeProcess(labelParam, out _))
//{
// Task.Delay(500).Wait();
// LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName });
// LastCodeList.AddRange(LastCodeList2);
//}
//IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
return LastCodeList;
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
}
}