BoxTransport.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
class ReelTransport
{
Robot_Config Config;
BoxStorePosition From;
public BoxStorePosition To;
MainMachine mainMachine;
//using static mainMachine;
AxisBean X_Axis;
AxisBean Y_Axis;
AxisBean Z_Axis;
MoveInfo MoveInfo;
public string ErrMsgTxt = "";
public bool IgnoreX09 = false;
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait && !movelock; }
public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS20; }
public bool IsPutOnOut {get=> MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public ReelTransport(Robot_Config _Config, MainMachine _mainMachine)
{
Config = _Config;
mainMachine = _mainMachine;
MoveInfo = new MoveInfo(crc.GetString("Res0061","出入库机构"),false);
To = null;
From = null;
#region 初始化伺服轴
X_Axis = _mainMachine.X_Axis;
Y_Axis = _mainMachine.Y_Axis;
Z_Axis = _mainMachine.Z_Axis;
#endregion
}
public void Reset() {
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置");
To = null;
From = null;
}
StoreMoveType storeMoveType = StoreMoveType.None;
string WareCode="";
bool PreMove = false;
bool ignoreFixtureCheck = false;
int ToCheckOffset = 0;
int FromCheckOffset = 0;
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, bool premove=false)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
ignoreFixtureCheck = false;
storeMoveType = _storeMoveType;
PreMove = premove;
if (from == null)
{
WareCode = "NG";
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS20);
MoveInfo.log($"{storeMoveType}:开始运输料盘,直接到:{to.posid}");
MoveInfo.MoveParam.PosID = $"NA=>{To.posid}";
}
else
{
WareCode = from.Reel.WareCode;
From = from.clone();
To = to.clone();
ignoreFixtureCheck = Common.IsNeedIgnoreFixtureCheck(WareCode);
MoveInfo.NewMove(MoveStep.StoreTS01);
MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid},WareCode:{WareCode},ignoreFixtureCheck:{ignoreFixtureCheck}");
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
MoveInfo.MoveParam.ReelOnFixture = From.Reel.ReelOnFixture;
}
FromCheckOffset = CalcOffset(From.posid);
ToCheckOffset = CalcOffset(To.posid);
MoveInfo.MoveParam.WareCode = WareCode;
MoveInfo.log($"确认检查偏移: FromCheckOffset={FromCheckOffset},ToCheckOffset={ToCheckOffset}");
ErrMsgTxt = "";
return true;
//thread = new Thread(new ThreadStart(Run));
//thread.Start();
}
public bool Process()
{
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.StoreTS01:
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS02);
MoveInfo.log($"{storeMoveType}:检查安全状态");
break;
case MoveStep.StoreTS02:
if (MoveInfo.MoveParam.ReelOnFixture) {
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
MoveInfo.log($"{storeMoveType}:料盘已在料叉上");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreTS03);
if (From.posid != MainMachine.LabelP)
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴返回待机点P1");
}
break;
case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
Y_Axis.AbsMove(MoveInfo, From.Y_Axis_P2 + FromCheckOffset, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达取料点偏移点{From.Y_Axis_P2}+{FromCheckOffset}");
X_Axis.AbsMove(MoveInfo, From.X_Axis_P2, Config.X_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:X轴到达取料检测{From.X_Axis_P2}");
break;
case MoveStep.StoreTS04:
if (CheckPosStatus(MoveInfo, From.posid))
{
MoveInfo.NextMoveStep(MoveStep.StoreTS05);
var zp2 = From.Z_Axis_P3 - 205000;
if (zp2 < 0)
zp2 = 0;
Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达取料前点{From.Z_Axis_P2}");
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.LOW);
MoveInfo.log($"{storeMoveType}:松开夹爪");
IgnoreX09 = false;
}
break;
case MoveStep.StoreTS05:
if (!ignoreFixtureCheck && FromCheckOffset > 0 && !IgnoreX09 && IOManager.IOValue(FromCheckOffset>0?IO_Type.Taking_Left_Check: IO_Type.Taking_Right_Check).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0062","取料时没有检测到物料信号,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
MoveInfo.log($"取料时没有检测到物料信号,请检查.");
RobotManage.UserPause(crc.GetString("Res0063","取料时没有检测到物料信号,请检查"));
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
MoveInfo.log($"{storeMoveType}:检测有料");
}
break;
case MoveStep.StoreTS06:
MoveInfo.NextMoveStep(MoveStep.StoreTS07);
Y_Axis.AbsMove(MoveInfo, From.Y_Axis_P2, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达取料点{From.Y_Axis_P2}");
break;
case MoveStep.StoreTS07:
//RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
Z_Axis.AbsMove(MoveInfo, From.Z_Axis_P3, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达取料点{From.Z_Axis_P3}");
break;
case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09);
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.HIGH);
Setting_Init.Runtime_Posid = To.posid;
if (storeMoveType== StoreMoveType.InStore && To.posid==MainMachine.LabelP)
Setting_Init.Runtime_Step = Runtime_StepE.InToLabel;
if (storeMoveType == StoreMoveType.InStore && To.posid != MainMachine.LabelP)
Setting_Init.Runtime_Step = Runtime_StepE.InToStore;
else if (storeMoveType == StoreMoveType.OutStore)
Setting_Init.Runtime_Step = Runtime_StepE.Out;
MoveInfo.log($"{storeMoveType}:合拢夹爪");
break;
case MoveStep.StoreTS09:
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达待机点");
break;
case MoveStep.StoreTS10:
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS20);
MoveInfo.log($"{storeMoveType}:完成取料");
InOutEndProcess(StoreMoveType.OutStore, From.posid);
break;
case MoveStep.StoreTS20:
MoveInfo.NextMoveStep(MoveStep.StoreTS21);
Y_Axis.AbsMove(MoveInfo, To.Y_Axis_P2+ ToCheckOffset, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达目的地偏移点:{To.Y_Axis_P2}+{ToCheckOffset}");
X_Axis.AbsMove(MoveInfo, To.X_Axis_P2, Config.X_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:X轴到达目的地检测:{To.X_Axis_P2}");
break;
case MoveStep.StoreTS21:
if (CheckPosStatus(MoveInfo, To.posid)) {
MoveInfo.NextMoveStep(MoveStep.StoreTS22);
}
break;
case MoveStep.StoreTS22:
MoveInfo.NextMoveStep(MoveStep.StoreTS23);
MoveInfo.log($"{storeMoveType}:Z轴到达入库前点");
{
var zp2 = To.Z_Axis_P3 - 205000;
if (zp2 < 0)
zp2 = 0;
Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
}
break;
case MoveStep.StoreTS23:
if (!ignoreFixtureCheck && ToCheckOffset>0 && IOManager.IOValue(ToCheckOffset > 0 ? IO_Type.Taking_Left_Check : IO_Type.Taking_Right_Check).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString("Res0064","放料时发现库位已经有料,请检查."), MsgLevel.alarm);
MoveInfo.log($"放料时发现库位已经有料,请检查.");
RobotManage.UserPause(crc.GetString("Res0065","放料时发现库位已经有料,请检查"));
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS24);
MoveInfo.log($"{storeMoveType}:检测无料");
}
break;
case MoveStep.StoreTS24:
MoveInfo.NextMoveStep(MoveStep.StoreTS25);
Y_Axis.AbsMove(MoveInfo, To.Y_Axis_P2, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达目的地:{To.Y_Axis_P2}");
break;
case MoveStep.StoreTS25:
//RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS26);
Z_Axis.AbsMove(MoveInfo, To.Z_Axis_P3, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达目的地低点:{To.Z_Axis_P3}");
break;
case MoveStep.StoreTS26:
if (To.posid == MainMachine.RFIDP)
{
MoveInfo.NextMoveStep(MoveStep.StoreTS29);
MoveInfo.log("RFID口直接结束");
return true;
}
MoveInfo.NextMoveStep(MoveStep.StoreTS27);
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.LOW);
MoveInfo.log($"{storeMoveType}:释放夹爪");
if (To.posid == MainMachine.LabelP)
Setting_Init.Runtime_Step = Runtime_StepE.LabelProcess;
break;
case MoveStep.StoreTS27:
MoveInfo.NextMoveStep(MoveStep.StoreTS28);
if (To.posid == MainMachine.LabelP) {
var rfidp = CSVPositionReader<ACStorePosition>.GetPositon(MainMachine.RFIDP);
Z_Axis.AbsMove(MoveInfo, rfidp.Z_Axis_P3, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达待机点");
}
else
{
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达待机点");
}
break;
case MoveStep.StoreTS28:
MoveInfo.NextMoveStep(MoveStep.StoreTS29);
//RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
if (To.posid != MainMachine.LabelP)
{
Y_Axis.AbsMove(MoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
X_Axis.AbsMove(MoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
}
MoveInfo.log($"{storeMoveType}:完成放料");
InOutEndProcess(StoreMoveType.InStore, To.posid);
break;
case MoveStep.StoreTS29:
MoveInfo.log($"{storeMoveType}:转移料盘完成");
MoveInfo.EndMove();
ErrMsgTxt = "";
To.posid = "";
storeMoveType = StoreMoveType.None;
break;
default:
MoveInfo.log($"{storeMoveType}:未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
bool CheckPosStatus(MoveInfo moveInfo,string posid) {
if (posid.StartsWith("L"))
{
if (IOManager.IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH) &&
IOManager.DOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
moveInfo.log("入料抽屉已到位已锁定正常");
return true;
}
else if (IOManager.IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
{
//IOManager.IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
//moveInfo.log("抽屉已关上但未锁定,尝试锁定");
moveInfo.log("入料抽屉已到位未锁定");
Msg.add(crc.GetString("Res0066","入料抽屉未上锁,请上锁后继续"), MsgLevel.alarm);
return false;
}
else
{
moveInfo.log("入料抽屉未到位");
Msg.add(crc.GetString("Res0067","入料抽屉未关闭无法操作"), MsgLevel.alarm);
return false;
}
}
else if (posid.StartsWith("U"))
{
if (IOManager.IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) &&
IOManager.DOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
moveInfo.log("出料抽屉已到位已锁定正常");
return true;
}
else if (IOManager.IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH))
{
//IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
//moveInfo.log("抽屉已关上但未锁定,尝试锁定");
moveInfo.log("出料抽屉已到位未锁定");
Msg.add(crc.GetString("Res0068","出料抽屉未上锁,请上锁后继续"), MsgLevel.alarm);
return false;
}
else
{
moveInfo.log("出料抽屉未到位");
Msg.add(crc.GetString("Res0069","出料抽屉未关闭无法操作"), MsgLevel.alarm);
return false;
}
}
else if (Regex.IsMatch(posid,"^S[A-G]"))
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return true;
}
else if (Regex.IsMatch(posid, "^S[H-N][1-6]$"))
{
RobotManage.mainMachine.TPMove.ToHigh(moveInfo);
moveInfo.log($"{posid},上层库位移至右侧");
return true;
}
else if (Regex.IsMatch(posid, "^S[H-N]([7-9]|\\d{2})$"))
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return true;
}
else {
//moveInfo.log($"{posid},未知库位");
return true;
}
}
int CalcOffset(string posid) {
if (string.IsNullOrEmpty(posid))
return 0;
if (Regex.IsMatch(posid, "^S\\w12"))
return Config.X_Axis_Lcheck_Offset * -1;
if (Regex.IsMatch(posid, "^L\\w4"))
return Config.X_Axis_Lcheck_Offset * -1;
if (posid.StartsWith("LabelP") || posid.StartsWith("RFIDP"))
return 0;
return Config.X_Axis_Lcheck_Offset;
}
public void Continue() {
if (MoveInfo.MoveStep == MoveStep.StoreTS_WaitOutProcess)
{
MoveInfo.NextMoveStep(MoveStep.StoreTS_Continue);
MoveInfo.log($"{storeMoveType}:外部处理完成,继续");
}
else {
MoveInfo.log($"{storeMoveType}:当前不在外部处理状态");
}
}
bool movelock = false;
internal void Lock()
{
movelock = true;
}
internal void Unlock()
{
movelock = 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;
}
}
}