MainMachine _IOMonitor.cs
7.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
using CodeLibrary;
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;
using System.Windows.Forms;
namespace DeviceLibrary
{
partial class MainMachine
{
bool midinrun = false;
DateTime lastBtnUpPressTime = DateTime.MaxValue;
BtnActionE BtnAction = BtnActionE.None;
void ioMonitor()
{
airprocess();
var btnUP_L = IOValue(IO_Type.Mid_Up_Btn1).Equals(IO_VALUE.HIGH);
var btnUP_R = IOValue(IO_Type.Mid_Up_Btn2).Equals(IO_VALUE.HIGH);
var btnDown_L = IOValue(IO_Type.Mid_Down_Btn1).Equals(IO_VALUE.HIGH);
var btnDown_R = IOValue(IO_Type.Mid_Down_Btn2).Equals(IO_VALUE.HIGH);
var trueCount = 0;
trueCount += btnUP_L ? 1 : 0;
trueCount += btnUP_R ? 1 : 0;
trueCount += btnDown_L ? 1 : 0;
trueCount += btnDown_R ? 1 : 0;
if (lastBtnUpPressTime == DateTime.MaxValue && trueCount > 0)
{
lastBtnUpPressTime = DateTime.Now;
BtnAction = BtnActionE.None;
}
else if (lastBtnUpPressTime != DateTime.MaxValue && trueCount == 0)
{
lastBtnUpPressTime = DateTime.MaxValue;
BtnAction = BtnActionE.None;
}
else
{
var timediff = DateTime.Now - lastBtnUpPressTime;
if (timediff.TotalSeconds < 3 && trueCount == 2) {
if (btnUP_L && btnUP_R)
{
BtnAction = BtnActionE.Mid_Up;
}
else if (btnDown_L && btnDown_R)
{
BtnAction = BtnActionE.Mid_Down;
}
} else if (timediff.TotalSeconds > 3 && trueCount == 1) {
if (BtnAction == BtnActionE.None) {
if (btnUP_L)
{
BtnAction = BtnActionE.Left_IN;
} else if (btnUP_R)
{
BtnAction = BtnActionE.Right_IN;
}
}
}
}
if (!midinrun && BtnAction == BtnActionE.Mid_Up
&& IOValue(IO_Type.Left_Side_SafetyGrating).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Right_Side_SafetyGrating).Equals(IO_VALUE.HIGH)
)
{
midinrun = true;
IOMove(IO_Type.Mid_Up, IO_VALUE.HIGH);
IOMove(IO_Type.Mid_Down, IO_VALUE.LOW);
}
else if (!midinrun && BtnAction == BtnActionE.Mid_Down
&& IOValue(IO_Type.Left_Side_SafetyGrating).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Right_Side_SafetyGrating).Equals(IO_VALUE.HIGH))
{
midinrun = true;
IOMove(IO_Type.Mid_Up, IO_VALUE.LOW);
IOMove(IO_Type.Mid_Down, IO_VALUE.HIGH);
}
else if (midinrun && BtnAction == BtnActionE.None)
{
midinrun = false;
IOMove(IO_Type.Mid_Up, IO_VALUE.LOW);
IOMove(IO_Type.Mid_Down, IO_VALUE.LOW);
}
if (BtnAction == BtnActionE.Left_IN || BtnAction == BtnActionE.Right_IN) {
var side = BtnAction == BtnActionE.Left_IN ? InOutSideE.Left : InOutSideE.Right;
var ld = InOutDevice.InOutDeviceList[side];
if (ld.CanIn(out string msg))
{
ld.MoveInfo.NewMove(MoveStep.In01);
ld.MoveInfo.log("检测到手动按钮信号,开始入库流程");
ld.CurrnetDirection = InOutDirectionE.IN;
return;
}
else {
Msg.add(ld.Name + msg, MsgLevel.info);
}
}
}
public double Current_Humidity = 0;
public double Current_Temperate = 0;
bool airisopen = false;
DateTime lastAirprocesstime = DateTime.Now;
void airprocess()
{
if (IOManager.IOValue(IO_Type.AirValve_Open).Equals(IO_VALUE.HIGH) || IOManager.IOValue(IO_Type.FrontDoor_Check).Equals(IO_VALUE.LOW) || IOManager.IOValue(IO_Type.BackDoor_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AirValue, IO_VALUE.HIGH);
return;
}
if ((DateTime.Now - lastAirprocesstime).TotalSeconds < 5)
return;
lastAirprocesstime = DateTime.Now;
IOManager.IOMove(IO_Type.SafeDoor_Lock, IO_VALUE.HIGH);
//var temp = HumitureController.QueryData();
//var temp = HumitureController.LastData;
Current_Humidity = RobotManage.humitureControllers.Average(x => x.LastData.Humidity);
Current_Temperate = RobotManage.humitureControllers.Average(x => x.LastData.Temperate);
//var tempIsOK = Current_Temperate < ServerCM.Max_Temperature;
var humiNeedStart = Current_Humidity > ServerCM.Max_Humidity - Setting_Init.Device_HumidityStartOffser;
var humiNeedStop = Current_Humidity < ServerCM.Max_Humidity - Setting_Init.Device_HumidityEndOffser;
airisopen = IOValue(IO_Type.AirValue).Equals(IO_VALUE.LOW);
if (humiNeedStart && !airisopen)
{
IOMove(IO_Type.AirValue, IO_VALUE.LOW);
LogUtil.info($"开始吹气,当前最大湿度：{Current_Humidity} > {ServerCM.Max_Humidity}-{Setting_Init.Device_HumidityStartOffser}.");
}
else if (humiNeedStop && airisopen)
{
IOMove(IO_Type.AirValue, IO_VALUE.HIGH);
// airisopen = false;
LogUtil.info($"关闭吹气,当前最大湿度：{Current_Humidity} < {ServerCM.Max_Humidity}-{Setting_Init.Device_HumidityEndOffser}.");
}
}
bool lastTHoutRangeStatus = false;
DateTime lastTHoutRangeTime = DateTime.MaxValue;
bool IsTHoutRange()
{
if (RobotManage.humitureControllers.Average(x => x.LastData.Humidity) > ServerCM.Max_Humidity// || HumitureController.LastData.Humidity < ServerCM.Min_Humidity
|| RobotManage.humitureControllers.Average(x => x.LastData.Temperate) > ServerCM.Max_Temperature)
{
if (!lastTHoutRangeStatus)
lastTHoutRangeTime = DateTime.Now;
lastTHoutRangeStatus = true;
return true;
}
else
{
if (lastTHoutRangeStatus)
lastTHoutRangeTime = DateTime.MaxValue;
lastTHoutRangeStatus = false;
return false;
}
}
bool IsTHoutRangeOver30m()
{
return (DateTime.Now - lastTHoutRangeTime).TotalMinutes > 30;
}
enum BtnActionE
{
None,
Mid_Up,
Mid_Down,
Left_IN,
Right_IN
}
}
}