BoxTransport.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
{
class ReelTransport
{
Robot_Config Config;
BoxStorePosition From;
BoxStorePosition To;
BoxStorePosition Fix;
MainMachine mainMachine;
//using static mainMachine;
AxisBean Middle_Axis;
AxisBean UpDown_Axis;
AxisBean InOut_Axis;
AxisBean Comp_Axis;
MoveInfo MoveInfo;
public string ErrMsgTxt = "";
public bool IgnoreX09 = false;
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
public bool IsPutOnOut { get => MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public ReelTransport(Robot_Config _Config, MainMachine _mainMachine)
{
Config = _Config;
mainMachine = _mainMachine;
MoveInfo = new MoveInfo(crc.GetString(L.transfer_equipment, "出入库机构"), false);
#region 初始化伺服轴
Middle_Axis = _mainMachine.Middle_Axis;
UpDown_Axis = _mainMachine.UpDown_Axis;
InOut_Axis = _mainMachine.InOut_Axis;
Comp_Axis = _mainMachine.Comp_Axis;
#endregion
}
public void Reset()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置");
}
StoreMoveType storeMoveType = StoreMoveType.None;
string WareCode = "";
int plateH = 0;
bool PreMove = false;
/// <summary>
/// 料盘放置在校准库位是否正常
/// </summary>
bool reelStatusInFix = true;
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, bool premove = false)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
storeMoveType = _storeMoveType;
PreMove = premove;
if (from == null)
{
WareCode = "NG";
plateH = 32;
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS10);
MoveInfo.log($"{storeMoveType}:开始运输料盘,直接到:{to.posid}");
MoveInfo.MoveParam.PosID = $"NA=>{To.posid}";
}
else
{
WareCode = from.Reel.WareCode;
plateH = from.Reel.PlateH;
From = from.clone();
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS01);
MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid}");
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
}
if (To.posid == BoxStorePosition.strings)
{
Fix = BoxStorePosition.GetFixPos(Config, To.Reel);
}
MoveInfo.MoveParam.WareCode = WareCode;
ErrMsgTxt = "";
return true;
//thread = new Thread(new ThreadStart(Run));
//thread.Start();
}
public bool ReadyToTakeBox()
{
if (MoveInfo.MoveStep != MoveStep.StoreTS05)
return false;
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
return true;
}
public bool Process()
{
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.StoreTS01:
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
Msg.add(crc.GetString(L.out_store_detect_material, "取料前料叉X30检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("出库时料叉X30检测到有物料无法继续,请检查");
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS02);
MoveInfo.log($"{storeMoveType}:检查安全状态");
}
break;
case MoveStep.StoreTS02:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PH, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1");
break;
case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
//if (isNotSameSide(From.Middle_P2,From.UpDown_PL))
//{
// UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
// Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
// MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
//}
break;
case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PL, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点{From.UpDown_PL}");
Middle_Axis.AbsMove(MoveInfo, From.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达取料点{From.Middle_P2}");
break;
case MoveStep.StoreTS05:
if (!PreMove)
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
break;
case MoveStep.StoreTS06:
MoveInfo.NextMoveStep(MoveStep.StoreTS07);
InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate();
MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
break;
case MoveStep.StoreTS07:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PH, Config.UpDown_P4_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
break;
case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.StoreTS09:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
if (To.posid == BoxStorePosition.strings && ConfigHelper.Config.Get("Device_Use_Fixpos", false) && Fix != null)
MoveInfo.NextMoveStep(MoveStep.StoreFIX01);
else
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
MoveInfo.log($"{storeMoveType}:X30取到料");
InOutEndProcess(StoreMoveType.OutStore, From.posid);
}
break;
case MoveStep.StoreFIX01:
MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{Fix.UpDown_PH}");
break;
case MoveStep.StoreFIX02:
MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate();
break;
case MoveStep.StoreFIX03:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
MoveInfo.NextMoveStep(MoveStep.StoreFIX04);
Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PH, Config.Comp_P2_speed);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:压紧轴高点:{Fix.Comp_PH}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{Fix.UpDown_PL}");
break;
case MoveStep.StoreFIX04:
if (ConfigHelper.Config.Get("Func_CheckReelLocInFix", false))
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_01_InoutBackToP1);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴回到待机点");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break;
#region 料盘放置位置检查
case MoveStep.StoreFIX04_01_InoutBackToP1:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_UpToCamLoc);
var fixpos = "fix#" + To.Reel.PlateW.ToString();
int camPos = ConfigHelper.Config.Get($"CamPos_{fixpos}", Fix.UpDown_PL);
UpDown_Axis.AbsMove(MoveInfo, camPos, Config.UpDown_P3_speed/2);
MoveInfo.log($"{storeMoveType}:升降轴到拍照点");
break;
case MoveStep.StoreFIX04_02_UpToCamLoc:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_CheckLocation);
fixpos = "fix#" + To.Reel.PlateW.ToString();
reelStatusInFix = VisionHelper.ReelStatusCheck(fixpos);
break;
case MoveStep.StoreFIX04_03_CheckLocation:
if (reelStatusInFix)
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:料盘放置正常，升降轴到库位低点");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_ReloadPos);
To = new BoxStorePosition(Config, StoreSide.NGDoor, To.Reel);
MoveInfo.log($"{storeMoveType}:料盘放置异常,更改料盘目的地为NG口");
mainMachine.StoreMoveInfo.MoveParam.IsNg = true;
mainMachine.StoreMoveInfo.MoveParam.NgMsg = crc.GetString("reel_not_in_right_status", "料盘放置异常");
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
}
break;
case MoveStep.StoreFIX04_04_ReloadPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
mainMachine.CloseFlipDoor(MoveInfo);
Comp_Axis.AbsMove(MoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:翻板关闭，压紧轴到待机点，升降轴到库位低点,准备送到NG口");
break;
case MoveStep.StoreFIX04_05_DownToFixLow:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate();
break;
case MoveStep.StoreFIX04_06_InoutToPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
break;
#endregion
case MoveStep.StoreFIX05:
MoveInfo.NextMoveStep(MoveStep.StoreFIX06);
Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PL, Config.Comp_P2_speed);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P3_speed);
MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{Fix.Comp_PL}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
break;
case MoveStep.StoreFIX06:
MoveInfo.NextMoveStep(MoveStep.StoreFIX07);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.StoreFIX07:
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
MoveInfo.log($"{storeMoveType}:X30取到料");
}
break;
case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos();
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}");
break;
case MoveStep.StoreTS11:
if (To.posid == BoxStorePosition.strings)
{
if (!mainMachine.IsPutReelReady)
{
//if (MoveInfo.IsTimeOut(20))
Msg.add(crc.GetString(L.out_store_wait_string_ready, "等待料串准备好放料."), MsgLevel.warning);
MoveInfo.log($"等待料串准备好放料");
return false;
}
else if(MoveInfo.IsTimeOut(10))
{
mainMachine.TurnToOut();
}
}
else if (To.posid == BoxStorePosition.ngdoor)
{
if (mainMachine.ClampMoveInfo.MoveStep != MoveStep.Wait)
{
//if (MoveInfo.IsTimeOut(20))
Msg.add(crc.GetString(L.out_store_wait_ngdoor_ready, "等待单料口空闲."), MsgLevel.warning);
MoveInfo.log($"等待单料口空闲");
return false;
}
}
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
break;
case MoveStep.StoreTS12:
MoveInfo.NextMoveStep(MoveStep.StoreTS13);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate();
break;
case MoveStep.StoreTS13:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS14);
Comp_Axis.AbsMove(MoveInfo, To.Comp_PH, Config.Comp_P2_speed);
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PL, Config.UpDown_P3_speed);
MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{To.Comp_PH}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{To.UpDown_PL}");
break;
case MoveStep.StoreTS14:
MoveInfo.NextMoveStep(MoveStep.StoreTS15);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.StoreTS15:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString(L.in_store_detect_material, "放料后料叉X30上任然检测到物料,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("入库后料叉X30上任然检测到物料,请检查");
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS16);
MoveInfo.log($"{storeMoveType}:安全检查");
}
break;
case MoveStep.StoreTS16:
MoveInfo.NextMoveStep(MoveStep.StoreTS17);
if (From.posid != BoxStorePosition.strings && From.posid != BoxStorePosition.ngdoor
&& To.posid != BoxStorePosition.strings && To.posid != BoxStorePosition.ngdoor
)
{
MoveInfo.log($"{storeMoveType}:库位测试模式,上下轴,旋转不返回待机点");
break;
}
if (To.posid == BoxStorePosition.strings)
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P5, Config.UpDown_P1_speed);
else
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P3, Config.UpDown_P1_speed);
Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴,旋转返回待机点P1");
ErrMsgTxt = "";
break;
case MoveStep.StoreTS17:
//MoveInfo.NextMoveStep(MoveStep.StoreTS16);
MoveInfo.log($"{storeMoveType}:转移料盘完成");
MoveInfo.EndMove();
ErrMsgTxt = "";
InOutEndProcess(StoreMoveType.InStore, To.posid);
storeMoveType = StoreMoveType.None;
break;
default:
MoveInfo.log($"{storeMoveType}:未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
private void InOutEndProcess(StoreMoveType storeMoveType, string posid)
{
InOutEndProcessEvent?.Invoke(posid, storeMoveType, true);
}
HIKCamera GetCamera(int pos)
{
//return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB;
return RobotManage.CameraA;
}
}
}