BoxTransport.cs
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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 BoxTransport
{
Robot_Config Config;
BoxStorePosition From;
BoxStorePosition To;
MainMachine mainMachine;
//using static mainMachine;
AxisBean XAxis;
AxisBean YAxis;
AxisBean ZAxis;
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 IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
public bool IsPutOnOut { get => (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor) && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public BoxTransport(Robot_Config _Config, MainMachine _mainMachine)
{
Config = _Config;
mainMachine = _mainMachine;
MoveInfo = new MoveInfo("行走机构", false);
#region 初始化伺服轴
XAxis = _mainMachine.XAxis;
YAxis = _mainMachine.YAxis;
ZAxis = _mainMachine.ZAxis;
#endregion
}
public void Reset()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置");
}
StoreMoveType storeMoveType = StoreMoveType.None;
string WareCode = "";
bool PreMove = false;
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, string warecode, bool premove = false)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
WareCode = warecode;
storeMoveType = _storeMoveType;
PreMove = premove;
if (from == null)
{
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS10);
MoveInfo.log($"{storeMoveType}:开始运输周转箱,直接到:{to.posid}");
}
else
{
From = from.clone();
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS01);
MoveInfo.log($"{storeMoveType}:开始运输周转箱,从:{From.posid},到:{To.posid}");
}
MoveInfo.MoveParam.WareCode = WareCode;
MoveInfo.MoveParam.PosID = $"{(From == null ? "None" : From.posid)}=>{To.posid}";
ErrMsgTxt = "";
return true;
//thread = new Thread(new ThreadStart(Run));
//thread.Start();
}
bool isNotSameSide(int x_to, int y_to)
{
var p = XAxis.GetAclPosition();
var rtx = p + Config.XAxis.CanErrorCountMax;
var ltx = p - Config.XAxis.CanErrorCountMax;
var py = YAxis.GetAclPosition();
var uty = py + Config.YAxis.CanErrorCountMax;
var dty = py - Config.YAxis.CanErrorCountMax;
if (y_to <= Config.Yaxis_P1)
return true;
if (dty <= Config.Yaxis_P1)
return true;
//从外侧到内测,判断目标位置是否小于p1
if (rtx >= Config.Xaxis_P1 && x_to < Config.Xaxis_P1)
{
if (y_to < Config.Yaxis_P1)
return true;
}
//从内测到外侧判断当前位置是否小于p1
if (ltx <= Config.Xaxis_P1 && x_to > Config.Xaxis_P1)
{
}
return false;
}
public bool ReadyToTakeBox()
{
if (MoveInfo.MoveStep != MoveStep.StoreTS05)
return false;
if (From.posid == BoxStorePosition.rightdoor || From.posid == BoxStorePosition.leftdoor)
{
if (InOutDevice.InOutDeviceList[From.CurrentSide].InWaitBoxLeave)
{
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
MoveInfo.log($"{storeMoveType}:{From.CurrentSide}:防护门打开");
InOutDevice.InOutDeviceList[From.CurrentSide].OpenDoor(MoveInfo);
}
else
{
if (MoveInfo.IsTimeOut(10))
{
Msg.add("等待入库料箱升降台到位", MsgLevel.warning);
MoveInfo.log($"{storeMoveType}:等待入库料箱升降台到位");
}
}
}
else
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
return true;
}
public bool Process()
{
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.StoreTS01:
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
if(IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config,IO_VALUE.HIGH,2000)||
IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
}
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
Msg.add("出库时伸缩叉X05检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("出库时伸缩叉X05检测到有物料无法继续,请检查");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreTS02);
MoveInfo.log($"{storeMoveType}:检查安全状态");
}
break;
case MoveStep.StoreTS02:
MoveInfo.NextMoveStep(MoveStep.StoreTS03);
ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1");
break;
case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
//if (isNotSameSide(From.Xaxis_P2,From.Yaxis_PL))
//{
// YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
// XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
// MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
//}
YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");
XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
break;
case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS05);
//YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
//MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");
//XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed);
//MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
break;
case MoveStep.StoreTS05:
if (!PreMove)
{
//if (From.posid == BoxStorePosition.rightdoor || From.posid == BoxStorePosition.leftdoor)
//{
// if (InOutDevice.InOutDeviceList[From.CurrentSide].InWaitBoxLeave)
// {
// MoveInfo.NextMoveStep(MoveStep.StoreTS06);
// MoveInfo.log($"{storeMoveType}:{From.CurrentSide}:防护门打开");
// InOutDevice.InOutDeviceList[From.CurrentSide].OpenDoor(MoveInfo);
// }
// else
// {
// if (MoveInfo.IsTimeOut(10))
// {
// Msg.add("等待入库料箱升降台到位", MsgLevel.warning);
// MoveInfo.log($"{storeMoveType}:等待入库料箱升降台到位");
// }
// }
//}
//else
//{
// MoveInfo.NextMoveStep(MoveStep.StoreTS06);
// MoveInfo.log($"{BoxStorePosition.rightdoor}:{BoxStorePosition.leftdoor}");
// MoveInfo.log($"{storeMoveType}:{From.posid}:{From.posid == BoxStorePosition.rightdoor}:{From.posid == BoxStorePosition.leftdoor}");
//}
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
}
break;
case MoveStep.StoreTS06:
MoveInfo.NextMoveStep(MoveStep.StoreTS07);
ZAxis.AbsMove(MoveInfo, From.Zaxis_P2, Config.Zaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达取料点");
break;
case MoveStep.StoreTS07:
GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
break;
case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09);
ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.StoreTS09:
GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
}
else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
{
Msg.add("出库时伸缩叉X05没有检测到有物料无法继续,请检查", MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
RobotManage.UserPause("出库时伸缩叉X05没有检测到有物料无法继续,请检查");
}
else
{
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
if (From.posid == BoxStorePosition.rightdoor || From.posid == BoxStorePosition.leftdoor)
InOutDevice.InOutDeviceList[From.CurrentSide].CloseDoor(MoveInfo);
if (isNotSameSide(To.Xaxis_P2, To.Yaxis_PL))
{
YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
}
InOutEndProcess(StoreMoveType.OutStore, From.posid);
}
break;
case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11);
XAxis.AbsMove(MoveInfo, To.Xaxis_P2, Config.Xaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地");
YAxis.AbsMove(MoveInfo, To.Yaxis_PH, Config.Yaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点");
break;
case MoveStep.StoreTS11:
if (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor)
{
if (!InOutDevice.InOutDeviceList[To.CurrentSide].IsOutLiftEmpty)
{
if (MoveInfo.IsTimeOut(20))
Msg.add("等待出口顶升清空周转箱", MsgLevel.warning);
return false;
}
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
InOutDevice.InOutDeviceList[To.CurrentSide].OpenDoor(MoveInfo);
return false;
}
else
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
break;
case MoveStep.StoreTS12:
MoveInfo.NextMoveStep(MoveStep.StoreTS13);
ZAxis.AbsMove(MoveInfo, To.Zaxis_P2, Config.Zaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
break;
case MoveStep.StoreTS13:
if (To != null)
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
if (From != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS14);
YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点");
break;
case MoveStep.StoreTS14:
MoveInfo.NextMoveStep(MoveStep.StoreTS15);
ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.StoreTS15:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
if (From != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
}
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
Msg.add("入库后伸缩叉X05上任然检测到物料,请检查", MsgLevel.alarm);
RobotManage.UserPause("入库后伸缩叉X05上任然检测到物料,请检查");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreTS16);
if (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor)
InOutDevice.InOutDeviceList[To.CurrentSide].CloseDoor(MoveInfo);
MoveInfo.log($"{storeMoveType}:安全检查");
}
break;
case MoveStep.StoreTS16:
MoveInfo.NextMoveStep(MoveStep.StoreTS17);
YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
ErrMsgTxt = "";
break;
case MoveStep.StoreTS17:
//MoveInfo.NextMoveStep(MoveStep.StoreTS16);
MoveInfo.log($"{storeMoveType}:转移周转箱完成");
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;
}
}
}