InOutDevice.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public partial class InOutDevice
{
public static Dictionary<InOutSideE,InOutDevice> InOutDeviceList = new Dictionary<InOutSideE, InOutDevice>();
#region io定义
string DO_Agv_Rsp = IO_Type.Right_Agv_Rsp;
string DO_Lift_Break = IO_Type.Right_Lift_Break;
string DO_Moto_Run = IO_Type.Right_Moto_Run;
string DO_Moto_Rev = IO_Type.Right_Moto_Rev;
string DO_F_Stop_Up = IO_Type.Right_F_Stop_Up;
string DO_F_Stop_Down = IO_Type.Right_F_Stop_Down;
string DO_M_Stop_Up = IO_Type.Right_M_Stop_Up;
string DO_M_Stop_Down = IO_Type.Right_M_Stop_Down;
string DO_Door_Up = IO_Type.Right_Door_Up;
string DO_Door_Down = IO_Type.Right_Door_Down;
string IO_Entry_SafetyGrating = IO_Type.Right_Entry_SafetyGrating;
string IO_Side_SafetyGrating = IO_Type.Right_Side_SafetyGrating;
string IO_OverHead_Check = IO_Type.Right_OverHead_Check;
string IO_AgvIn_Req = IO_Type.Right_AgvIn_Req;
string IO_AgvOut_Req = IO_Type.Right_AgvOut_Req;
string IO_F_Stop_In = IO_Type.Right_F_Stop_In;
string IO_F_Stop_Out = IO_Type.Right_F_Stop_Out;
string IO_F_Stop_Up = IO_Type.Right_F_Stop_Up;
string IO_F_Stop_Down = IO_Type.Right_F_Stop_Down;
string IO_M_Stop_In = IO_Type.Right_M_Stop_In;
string IO_M_Stop_Out = IO_Type.Right_M_Stop_Out;
string IO_M_Stop_Up = IO_Type.Right_M_Stop_Up;
string IO_M_Stop_Down = IO_Type.Right_M_Stop_Down;
string IO_EndMaterialTop_Check = IO_Type.Right_EndMaterialTop_Check;
string IO_EndMaterialBottom_Check = IO_Type.Right_EndMaterialBottom_Check;
string IO_Lift_Up = IO_Type.Right_Lift_Up;
string IO_Lift_Down = IO_Type.Right_Lift_Down;
string IO_Door_Up = IO_Type.Right_Door_Up;
string IO_Door_Down = IO_Type.Right_Door_Down;
#endregion
public InOutSideE InOutSide;
public InOutModeE InOutMode;
public InOutDirectionE CurrnetDirection = InOutDirectionE.NONE;
public MoveInfo MoveInfo;
public LiftMonitor Lift;
public LineRunMonitor Line;
Robot_Config Config;
MainMachine mainMachine;
public string Name;
public DoorInfo DoorInfo=new DoorInfo(doorIndexE.LeftIn);
public InOutDevice(InOutSideE inOutSide, InOutModeE inOutMode, Robot_Config _Config, MainMachine _mainMachine)
{
AxisBean Lift_Moto;
Name = "右侧出入口";
InOutSide = inOutSide;
InOutMode = inOutMode;
Config = _Config;
mainMachine = _mainMachine;
if (InOutSide == InOutSideE.Left)
{
Lift_Moto = new AxisBean(Config.Left_Lift_Moto, Name);
Name = "左侧出入口";
#region io定义
DO_Agv_Rsp = IO_Type.Left_Agv_Rsp;
DO_Lift_Break = IO_Type.Left_Lift_Break;
DO_Moto_Run = IO_Type.Left_Moto_Run;
DO_Moto_Rev = IO_Type.Left_Moto_Rev;
DO_F_Stop_Up = IO_Type.Left_F_Stop_Up;
DO_F_Stop_Down = IO_Type.Left_F_Stop_Down;
DO_M_Stop_Up = IO_Type.Left_M_Stop_Up;
DO_M_Stop_Down = IO_Type.Left_M_Stop_Down;
DO_Door_Up = IO_Type.Left_Door_Up;
DO_Door_Down = IO_Type.Left_Door_Down;
IO_Entry_SafetyGrating = IO_Type.Left_Entry_SafetyGrating;
IO_Side_SafetyGrating = IO_Type.Left_Side_SafetyGrating;
IO_OverHead_Check = IO_Type.Left_OverHead_Check;
IO_AgvIn_Req = IO_Type.Left_AgvIn_Req;
IO_AgvOut_Req = IO_Type.Left_AgvOut_Req;
IO_F_Stop_In = IO_Type.Left_F_Stop_In;
IO_F_Stop_Out = IO_Type.Left_F_Stop_Out;
IO_F_Stop_Up = IO_Type.Left_F_Stop_Up;
IO_F_Stop_Down = IO_Type.Left_F_Stop_Down;
IO_M_Stop_In = IO_Type.Left_M_Stop_In;
IO_M_Stop_Out = IO_Type.Left_M_Stop_Out;
IO_M_Stop_Up = IO_Type.Left_M_Stop_Up;
IO_M_Stop_Down = IO_Type.Left_M_Stop_Down;
IO_EndMaterialTop_Check = IO_Type.Left_EndMaterialTop_Check;
IO_EndMaterialBottom_Check = IO_Type.Left_EndMaterialBottom_Check;
IO_Lift_Up = IO_Type.Left_Lift_Up;
IO_Lift_Down = IO_Type.Left_Lift_Down;
IO_Door_Up = IO_Type.Left_Door_Up;
IO_Door_Down = IO_Type.Left_Door_Down;
#endregion
}
else
{
Lift_Moto = new AxisBean(Config.Right_Lift_Moto, Name);
}
MoveInfo = new MoveInfo(Name);
MoveInfo.SetStateDelegate(State);
Lift = new LiftMonitor(IO_Lift_Up, IO_Lift_Down, DO_Lift_Break, Lift_Moto, Config.InLift_Moto_Speed, Config.InLift_Moto_DownSpeed);
Line = new LineRunMonitor(Name, Config.DOList[DO_Moto_Run].GetIOAddr(), Config.DOList[DO_Moto_Rev].GetIOAddr());
InOutDeviceList.Add(inOutSide,this);
}
bool SafeCheck()
{
bool ok = true;
if (IOValue(IO_Entry_SafetyGrating).Equals(IO_VALUE.LOW))
{
if (!mainMachine.IgnoreSafecheck && !mainMachine.IgnoreGratingSignal
&& IOValue(IO_AgvIn_Req).Equals(IO_VALUE.LOW) && IOValue(IO_AgvOut_Req).Equals(IO_VALUE.LOW))
{
ok = false;
Line.Pause();
//Lift.Pause();
}
Msg.add(Name + "正面安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
}
if (IOValue(IO_Side_SafetyGrating).Equals(IO_VALUE.LOW))
{
if (!mainMachine.IgnoreSafecheck && !mainMachine.IgnoreGratingSignal)
{
ok = false;
Line.Pause();
}
Msg.add(Name + "侧面光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
}
if (ok)
{
Line.Resume();
//Lift.Resume();
}
return ok;
}
public void Progress()
{
if (!SafeCheck())
return;
if (MoveInfo.MoveStep == MoveStep.Wait)
{
if (CanIn(out string msg))
{
if (IOValue(IO_AgvIn_Req).Equals(IO_VALUE.HIGH) || (IOValue(IO_F_Stop_In).Equals(IO_VALUE.HIGH) && IOValue(IO_Entry_SafetyGrating).Equals(IO_VALUE.LOW)))
{
MoveInfo.NewMove(MoveStep.AgvIn01);
MoveInfo.log("检测到入口周转箱信号,开始入库流程");
CurrnetDirection = InOutDirectionE.IN;
return;
}
}
else if (IOValue(IO_AgvIn_Req).Equals(IO_VALUE.HIGH)){
Msg.add(Name + msg, MsgLevel.warning);
}
CurrnetDirection = InOutDirectionE.NONE;
return;
}
if (CurrnetDirection == InOutDirectionE.IN)
InProcess();
else if (CurrnetDirection == InOutDirectionE.OUT)
OutProcess();
if (CurrnetDirection == InOutDirectionE.IN)
{
if (InOutSide == InOutSideE.Left)
DoorInfo.doorIndex = doorIndexE.LeftIn;
else if (InOutSide == InOutSideE.Right)
DoorInfo.doorIndex = doorIndexE.RightIn;
DoorInfo.hSerial = MoveInfo.MoveParam.hSerial;
DoorInfo.status = doorStatusE.inStore;
DoorInfo.hasContainer = false;
}
else if (CurrnetDirection == InOutDirectionE.OUT)
{
if (InOutSide == InOutSideE.Left)
DoorInfo.doorIndex = doorIndexE.LeftOut;
else if (InOutSide == InOutSideE.Right)
DoorInfo.doorIndex = doorIndexE.RightOut;
DoorInfo.hSerial = MoveInfo.MoveParam.hSerial;
DoorInfo.status = doorStatusE.outStore;
DoorInfo.hasContainer = true;
if (MoveInfo.MoveStep == MoveStep.OutWaitAgv)
{
DoorInfo.status = doorStatusE.fullBoxNeedLeave;
}
}
else
{
if (CanIn(out string msg))
{
if (InOutSide == InOutSideE.Left)
DoorInfo.doorIndex = doorIndexE.LeftIn;
else if (InOutSide == InOutSideE.Right)
DoorInfo.doorIndex = doorIndexE.RightIn;
DoorInfo.status = doorStatusE.needBox;
DoorInfo.hasContainer = false;
}
}
}
public bool CanIn(out string msg)
{
//if (CurrnetDirection == InOutDirectionE.IN && MoveInfo.MoveStep>= MoveStep.In09) {
// return true;
//}
msg = "";
if (MoveInfo.MoveStep != MoveStep.Wait)
{
msg = Name+"忙碌中";
return false;
}
if (InOutMode == InOutModeE.OnlyIN || InOutMode == InOutModeE.Both)
{
return true;
}
msg = Name+"设定不允许入库";
return false;
}
public bool CanOut()
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
if (InOutMode == InOutModeE.OnlyOUT || InOutMode == InOutModeE.Both)
{
//CurrnetDirection = InOutDirectionE.OUT;
//MoveInfo.NewMove(MoveStep.Out01);
return true;
}
return false;
}
string State()
{
string state = "";
if (MoveInfo.MoveStep >= MoveStep.In02)
{
return MoveInfo.MoveParam.ToStr();
}
else if (MoveInfo.MoveStep >= MoveStep.Wait)
{
state = "空闲中";
}
else if (MoveInfo.MoveStep < MoveStep.In02)
{
state = "入库扫描";
}
return state;
}
public void FrontStop(MoveInfo moveInfo, IO_VALUE iO_VALUE)
{
MainMachine.CylinderMove(moveInfo, DO_F_Stop_Down, DO_F_Stop_Up, iO_VALUE);
}
public void MiddleStop(MoveInfo moveInfo, IO_VALUE iO_VALUE)
{
MainMachine.CylinderMove(moveInfo, DO_M_Stop_Down, DO_M_Stop_Up, iO_VALUE);
}
public IO_VALUE IOValue(string ioType)
{
return MainMachine.IOValue(ioType);
}
public void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
{
MainMachine.IOMove(IoType, value, isCheck, msTime);
}
}
}