InOutDevice_IN.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class InOutDevice
{
/// <summary>
/// InMoveInfo.MoveStep == MoveStep.InWaitServerCallback
/// </summary>
public bool IsInStoreReady
{
get => MoveInfo.MoveStep == MoveStep.InWaitServerCallback;
}
public bool InWaitBoxLeave
{
get => MoveInfo.MoveStep == MoveStep.InWaitBoxLeave;
}
public void OpenDoor(MoveInfo moveInfo)
{
LogUtil.info($"OpenDoor:low:{DO_Door_Down},up:{DO_Door_Up}");
MainMachine.CylinderMove(moveInfo, DO_Door_Down, DO_Door_Up, IO_VALUE.HIGH);
}
public void CloseDoor(MoveInfo moveInfo)
{
MainMachine.CylinderMove(moveInfo, DO_Door_Down, DO_Door_Up, IO_VALUE.LOW);
}
/// <summary>
/// if (InMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
/// </summary>
/// <param name="jobInfo"></param>
/// <returns></returns>
public bool StartInStore(JobInfo jobInfo)
{
if (IsInStoreReady)
{
MoveInfo.MoveParam.WareCode = jobInfo.WareNum;
MoveInfo.MoveParam.PosID = jobInfo.PosId;
MoveInfo.MoveParam.hSerial = jobInfo.hSerial;
MoveInfo.NextMoveStep(MoveStep.StartInStore);
return true;
}
return false;
}
public void Rescan()
{
MoveInfo.NextMoveStep(MoveStep.In03);
MoveInfo.log("扫码失败重新扫码");
}
bool isScanError = false;
void InProcess()
{
if (mainMachine.CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.In01:
MoveInfo.NextMoveStep(MoveStep.In03);
Line.LineRun("work", false, 999);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
FrontStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.log("线体正转,放下前阻挡");
break;
case MoveStep.AgvIn01:
MoveInfo.NextMoveStep(MoveStep.In02);
Line.LineRun("work", false, 10);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
FrontStop(MoveInfo, IO_VALUE.LOW);
IOMove(DO_Agv_Rsp, IO_VALUE.HIGH);
MoveInfo.log("线体正转,放下前阻挡");
break;
case MoveStep.In02:
if (IOValue(IO_F_Stop_Out).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.In03);
Lift.LiftDown(null);
MoveInfo.log("检测到周转箱2,升降台下降,前往中间阻挡");
IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
}
else if (MoveInfo.IsTimeOut(3))
{
MoveInfo.log("没有检测到周转箱,结束入库");
IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
Line.LineStop("work");
MoveInfo.EndMove();
}
break;
case MoveStep.In03:
if (IOValue(IO_M_Stop_In).Equals(IO_VALUE.HIGH))
{
Line.LineStop("work");
MoveInfo.NextMoveStep(MoveStep.In04);
Lift.LiftDown(MoveInfo);
FrontStop(MoveInfo, IO_VALUE.HIGH);
ScanCode(100);
isScanError = false;
MoveInfo.log("开始扫码,入口阻挡上升, 线体停止");
}
else if (MoveInfo.IsTimeOut(10))
{
MoveInfo.log("没有检测到周转箱2,结束入库");
//MoveInfo.log("没有检测到周转箱,需要报警");
Line.LineStop("work");
//Msg.add("X26没有感应到周转箱", MsgLevel.alarm);
//RobotManage.UserPause("X26没有感应到周转箱", true);
MoveInfo.EndMove();
}
break;
case MoveStep.In04:
if (InScanTask.IsCompleted)
{
var x = InScanTask.Result;
if (x.Count == 0)
{
//MoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
MoveInfo.NextMoveStep(MoveStep.In03);
MoveInfo.log($"未识别到有效二维码,重新拍照");
return;
}
else
{
MoveInfo.NextMoveStep(MoveStep.In05);
Lift.LiftDown(MoveInfo);
MoveInfo.log($"放下入料阻挡");
}
}
else if (MoveInfo.IsTimeOut(10))
{
MoveInfo.NextMoveStep(MoveStep.In01);
MoveInfo.log($"等待扫码超时,重新扫码");
}
break;
case MoveStep.In05:
Line.LineRun("work", false, 999);
MoveInfo.NextMoveStep(MoveStep.In06);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.log("检测到周转箱3,中间阻挡下降");
break;
case MoveStep.In06:
if (IOValue(IO_OverHead_Check).Equals(IO_VALUE.LOW))
{
Line.LineStop("work");
MoveInfo.log($"X18检测到物料超高,停止滚筒");
MoveInfo.NextMoveStep(MoveStep.InOverHead);
mainMachine.ServerCM.cancelPutInTask("", MoveInfo.MoveParam.WareCode);
return;
}
//IOValue(IO_Type.InEndMaterialTop_Check).Equals(IO_VALUE.HIGH) &&
if (IOValue(IO_EndMaterialBottom_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.In09);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
Line.LineRun("work", false, 2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsTimeOut(15))
{
Msg.add("出口未感应到存储机构有料箱", MsgLevel.warning);//周转箱进入等待X31信号超时
MoveInfo.log($"周转箱进入超时");
}
break;
case MoveStep.In09:
MoveInfo.NextMoveStep(MoveStep.In10);
Lift.LiftUp(MoveInfo);
MoveInfo.log("顶升上升,等待周转箱到位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_EndMaterialTop_Check, IO_VALUE.HIGH));
break;
case MoveStep.In10:
MoveInfo.NextMoveStep(MoveStep.In11);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.In11:
//读取称重
bool res = BSQController.queryData(Config.WeightSensorPort, out double weight);
if (res)
{
if (weight > 0 && weight <= Config.StoreWeightLimited)
{
var x = InScanTask.Result;
{
MoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
MoveInfo.log($"已完成扫码,并称重完成 {weight}kg，等待服务器反馈库位 Count={x.Count}");
MoveInfo.MoveParam.IsNg = false;
MoveInfo.MoveParam.codeInfos = x;
MoveInfo.MoveParam.weight = weight;
//var cc = x.Select((a) => a.CodeStr);
//mainMachine.ServerCM.GetPosId(cc.ToArray(), this,weight);
}
}
else//超重
{
MoveInfo.NextMoveStep(MoveStep.InNG1);
Lift.LiftDown(MoveInfo);
Msg.add("周转箱超重，退出", MsgLevel.alarm);
MoveInfo.log($"周转箱当前重量{weight},超重。顶升下降，出库该周转箱");
}
}
else
{
MoveInfo.NextMoveStep(MoveStep.In10);
MoveInfo.log($"{Config.WeightSensorPort}获取周转箱重量{weight}失败，重新读取");
}
break;
case MoveStep.InWaitServerCallback:
if (RobotManage.InoutDebugMode)
{
//Msg.add("等待手动选择入库库位", MsgLevel.info);
MoveInfo.NextMoveStep(MoveStep.StartInStore);
return;
}
var cc = MoveInfo.MoveParam.codeInfos.Select((a) => a.CodeStr);
mainMachine.ServerCM.GetPosId(cc.ToArray(), this, MoveInfo.MoveParam.weight);
if (MoveInfo.IsTimeOut(5))
Msg.add("等待服务器返回库位", MsgLevel.info);
else if (MoveInfo.IsTimeOut(15))
{
isScanError = true;
MoveInfo.NextMoveStep(MoveStep.InNG1);
Lift.LiftDown(MoveInfo);
MoveInfo.log($"等待服务器返回库位超时");
}
break;
case MoveStep.StartInStore:
MoveInfo.NextMoveStep(MoveStep.InWaitBoxLeave);
break;
case MoveStep.InWaitBoxLeave:
Msg.add("周转箱等待入库", MsgLevel.info);
mainMachine.ServerCM.storeStatus = StoreStatus.InStoreExecute;
break;
case MoveStep.InBoxLeaved:
MoveInfo.NextMoveStep(MoveStep.Wait);
Lift.LiftDown(MoveInfo);
FrontStop(MoveInfo, IO_VALUE.HIGH);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
MoveInfo.log("周转箱已取走,顶升下降");
break;
case MoveStep.InOverHead:
Msg.add("料箱存储超高", MsgLevel.warning);//X19检测到物料超高,请取出周转箱
if (IOMonitor.IODebound(IO_M_Stop_In, Config, IO_VALUE.LOW))
{
MiddleStop(MoveInfo, IO_VALUE.HIGH);
MoveInfo.NewMove(MoveStep.Wait);
}
break;
case MoveStep.InReset:
FrontStop(MoveInfo, IO_VALUE.HIGH);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
//Lift.LiftDown(MoveInfo);
Line.LineStop("work");
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("入库线体状态重置");
break;
case MoveStep.InNG1:
MoveInfo.NextMoveStep(MoveStep.InNG2);
Line.LineRun("work", true, 999);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_F_Stop_Out, IO_VALUE.HIGH));
MoveInfo.log($"线体转动");
break;
case MoveStep.InNG2:
MoveInfo.NextMoveStep(MoveStep.InNG3);
Line.LineStop("work");
MoveInfo.log($"料箱抵达出口");
if (isScanError)
Msg.add("入库周转箱扫码失败,请确认料箱方向后重试", MsgLevel.alarm);
else
Msg.add("入库周转箱超重，已退出，请处理", MsgLevel.alarm);
RobotManage.UserPause("入库周转箱超重，退出线体");
break;
case MoveStep.InNG3:
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("入库线体状态重置");
break;
}
}
public bool IsScanRunning()
{
if (InScanTask == null)
return false;
return !InScanTask.IsCompleted;
}
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> InScanTask;
void ScanCode(int delay = 0)
{
MoveInfo.log("开始扫码");
//RightMoveInfo.OneWaitCanEndStep = true;
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
try
{
InScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
Task.Delay(delay).Wait();
List<CodeInfo> LastCodeList;
CodeManager.CloseCamera(InOutSide == InOutSideE.Left ? Config.CameraName_Left : Config.CameraName_Right);
LastCodeList = CodeManager.CameraScan(new List<string> { InOutSide == InOutSideE.Left ? Config.CameraName_Left : Config.CameraName_Right });
return LastCodeList;
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
}
}