InOutDevice_OUT.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.Tasks;
namespace DeviceLibrary
{
partial class InOutDevice
{
public bool IsOutLiftEmpty
{
get
{
return IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.LOW) && Lift.isAtTOP && MoveInfo.MoveStep == MoveStep.WaitOutBox;
}
}
public bool TurnToOut(JobInfo jobInfo)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
MoveInfo.NewMove(MoveStep.Out01);
CurrnetDirection = InOutDirectionE.OUT;
MoveInfo.MoveParam.PosID = jobInfo.PosId;
MoveInfo.MoveParam.hSerial = jobInfo.hSerial;
MoveInfo.log("开始出库任务");
return true;
}
/// <summary>
/// 提升机末端上方物料检测
/// </summary>
public bool EndMaterialTop_Check
{
get { return IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.HIGH); }
}
void OutProcess()
{
if (mainMachine.CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.Out01:
MoveInfo.NextMoveStep(MoveStep.Out02);
Lift.LiftUp(MoveInfo);
FrontStop(MoveInfo, IO_VALUE.HIGH);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
MoveInfo.log("准备开始接料,顶升上升");
break;
case MoveStep.Out02:
if (IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.WaitOutBox);
MoveInfo.log("可以继续出库");
}
else
{
Msg.add("周转箱顶升感应到有物料,无法继续出库", MsgLevel.warning);
MoveInfo.log("周转箱顶升感应到有物料,无法继续出库");
}
break;
case MoveStep.WaitOutBox:
Msg.add("等待出库周转箱", MsgLevel.info);
break;
case MoveStep.OutBoxPutOn:
if (IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.LOW))
{
Msg.add("出口末端为检测到料箱", MsgLevel.alarm);//出口X39没有检测到周转箱
}
else
{
MoveInfo.NextMoveStep(MoveStep.Out05);
Lift.LiftDown(MoveInfo);
MoveInfo.log($"顶升机构下降");
}
break;
case MoveStep.Out05:
if (IOValue(IO_F_Stop_Out).Equals(IO_VALUE.HIGH))
{
Msg.add("有出库料箱，请拿走出口有周转箱", MsgLevel.warning);
MoveInfo.log("有出库料箱，请拿走出口有周转箱");
}
else
{
MoveInfo.NextMoveStep(MoveStep.Out06);
Line.LineRun("work", true, 999);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_EndMaterialTop_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_F_Stop_Out, IO_VALUE.HIGH));
MoveInfo.log($"线体转动");
}
break;
case MoveStep.Out06:
MoveInfo.NextMoveStep(MoveStep.Out07);
Line.LineStop("work");
MoveInfo.log($"料箱抵达出口");
break;
case MoveStep.Out07:
MoveInfo.NextMoveStep(MoveStep.OutWaitAgv);
mainMachine.ServerCM.SendStoreState(MoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
//IOMove(DO_Agv_Rsp, IO_VALUE.HIGH);
MoveInfo.log($"等待取走周转箱");
break;
case MoveStep.OutWaitAgv:
Msg.add("等待取走周转箱" + MoveInfo.MoveParam.WareCode, MsgLevel.info);
if (IOValue(IO_AgvOut_Req).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.Out08);
IOMove(DO_Agv_Rsp, IO_VALUE.HIGH);
FrontStop(MoveInfo, IO_VALUE.LOW);
Line.LineRun("work", true, 999);
MoveInfo.log($"收到agv抵达信号, 开始送出周转箱");
}
if (IOMonitor.IODebound(IO_F_Stop_Out, Config, IO_VALUE.LOW, 2000))
{
MoveInfo.log($"检测到周转箱已离开,结束出库");
RobotManage.mainMachine.IsClearWarnMsg = true;
MoveInfo.EndMove();
}
//else if (MoveInfo.IsTimeOut(60 * ConfigHelper.Config.Get("OutWaitAgvLeaveTimeout", 5)))
//{
// Msg.add($"等待取走周转箱", MsgLevel.warning);//等待周转箱[{MoveInfo.MoveParam.WareCode}]离开超时
// RobotManage.mainMachine.IsClearWarnMsg = false;
//}
break;
case MoveStep.Out08:
if (IOValue(IO_F_Stop_Out).Equals(IO_VALUE.LOW)
&& IOValue(IO_F_Stop_In).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.Out09);
Line.LineRun("work", true, 3);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.IsTimeOut(15))
{
Msg.add("周转箱转出至AGV超时", MsgLevel.alarm);
MoveInfo.log($"周转箱转出超时");
}
break;
case MoveStep.Out09:
IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
FrontStop(MoveInfo, IO_VALUE.HIGH);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
MoveInfo.EndMove();
break;
}
}
}
}