MainMachine_Labeling.cs
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using CodeLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
Task<(bool, string)> PrintTask = null;
int ScanTimes = 0;
List<CodeInfo> CodeList;
void LabelingProcess()
{
if (CheckWait(LabelingMoveInfo))
return;
//常规上料扫码流程
switch (LabelingMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.Labeling01:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling02);
FlipEquip.LiftDown(LabelingMoveInfo);
LabelingMoveInfo.log("翻转机构下降");
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.LOW);
break;
case MoveStep.Labeling02:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.HIGH);
LabelingMoveInfo.log("锡膏横移到右侧");
ScanTimes = 0;
CodeList = new List<CodeInfo>();
LabelingMoveInfo.MoveParam = new ReelParam();
break;
case MoveStep.Labeling03:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
RotateEquip.TurnDegree(36);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelingMoveInfo.log("滚动锡膏");
break;
case MoveStep.Labeling04:
if (RotateEquip.TurnWork.IsCompleted) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling05);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ScanCode();
}
break;
case MoveStep.Labeling05:
if (IsScanFinish) {
var xx = ScanTask.Result;
if (xx!=null && xx.Count > 0)
{
LabelingMoveInfo.log($"扫到部分条码:"+ string.Join(",", xx.Select(x => x.CodeType + ":" + x.CodeStr).ToArray()));
CodeList.AddRange(xx);
if (HasRightCode(xx.ToArray(), LabelingMoveInfo.MoveParam))
{
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
//ServerCM.SendInStoreRequest(new string[] { LabelingMoveInfo.MoveParam.SN }, LabelingMoveInfo.MoveParam, true);
return;
}
}
if (demomode && false)
{
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.MoveParam.WareCode = "Demo";
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
return;
}
ScanTimes++;
if (ScanTimes >= 10)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
LabelingMoveInfo.log($"未识别到有效二维码,送到NG口");
LabelingMoveInfo.MoveParam.IsNg = true;
LabelingMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
LabelingMoveInfo.log("继续扫码");
}
}
break;
case MoveStep.Labeling06:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling07);
RotateEquip.TurnDegree(-36);
LabelingMoveInfo.log("滚动锡膏");
break;
case MoveStep.Labeling07:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
var hc = CameraPointTest.ScanRectangle();
LabelingMoveInfo.log("检测到绿色宽度:"+hc);
if (demomode && false)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
return;
}
if (hc)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
}
}
break;
case MoveStep.Labeling08:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling09);
RotateEquip.TurnToEnd(false);
LabelingMoveInfo.log("滚动回位");
break;
case MoveStep.Labeling09:
if (RotateEquip.WaitStatus(null))
{
if (LabelingMoveInfo.MoveParam.IsNg)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling50);
LabelingMoveInfo.log("物料NG直接退出");
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
}
}
break;
case MoveStep.Labeling10:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling11);
PrintTask = RobotManage.printerHelper.PrintLabel(LabelingMoveInfo.MoveParam);
Setting_Init.Runtime_Step = Runtime_StepE.Printed;
LabelingMoveInfo.log("检测到打印任务开始打印:" + LabelingMoveInfo.MoveParam.ToDetailStr());
break;
case MoveStep.Labeling11:
if (PrintTask.IsCompleted)
{
var (result, msg) = PrintTask.Result;
if (result)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling12);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelingMoveInfo.log("打印成功,等待标签被取走");
}
else
{
Msg.add(crc.GetString("Res0106","打印机反馈:") + msg, MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0106","打印机反馈:") + msg);
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
LabelingMoveInfo.log("打印失败,再次打印");
}
}
break;
case MoveStep.Labeling12:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling13);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
LabelingMoveInfo.log("接标台上升");
break;
case MoveStep.Labeling13:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("接标台左移动");
break;
case MoveStep.Labeling14:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling15);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
Setting_Init.Runtime_Step = Runtime_StepE.LabelGot;
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.log("吸标下降");
break;
case MoveStep.Labeling15:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling16);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling16:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling50);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.log("吸标上升");
break;
case MoveStep.Labeling50:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling51);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.LOW);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling51:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
LabelingMoveInfo.log("贴标下降");
Setting_Init.Runtime_Step = Runtime_StepE.LabelPaste;
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling52:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling53);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
RotateEquip.TurnDouble();
break;
case MoveStep.Labeling53:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54);
Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
LabelingMoveInfo.log("滚动回位");
}
break;
case MoveStep.Labeling54:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling55);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling55:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.LOW);
//CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("锡膏横移到左侧");
break;
case MoveStep.Labeling56:
LabelingMoveInfo.NextMoveStep(MoveStep.Wait);
FlipEquip.LiftUp(LabelingMoveInfo);
LabelingMoveInfo.log("翻转机构上升");
break;
default:
LabelingMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
break;
}
}
string LabelingState() {
string state = crc.GetString("Res0107","空闲中");
if (LabelingMoveInfo.MoveStep >= MoveStep.StoreOut10)
{
state = $"{"出库中"},{"出库中"}:{StoreMoveInfo.MoveParam.PosID}";
}
else if (LabelingMoveInfo.MoveStep >= MoveStep.Labeling01)
{
state = $"{"入库中"},{"出库中"}:{StoreMoveInfo.MoveParam.PosID}";
}
return state;
}
public bool IsScanFinish
{
get
{
if (ScanTask == null)
return true;
return ScanTask.IsCompleted;
}
}
int scantrytimes = 0;
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
public void ScanCode()
{
LabelingMoveInfo.log("开始扫码");
try
{
ScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
var l = CodeManager.CameraScan(CodeManager.hikNameList);
//LastCodeList.AddRange(l);
return l;
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
public bool HasRightCode(CodeInfo[] codeInfos, ReelParam reelParam) {
foreach (var c in codeInfos) {
if (c.CodeStr.IndexOf("|") > 0) {
var cs = c.CodeStr.Split('|');
if (cs.Length == 7) {
reelParam.PN = cs[0].Substring(1);
reelParam.LOT = cs[3].Substring(1);
reelParam.EXP = cs[4].Substring(1);
reelParam.SN = cs[5].Substring(1);
reelParam.WareCode = reelParam.SN;
return true;
}
}
}
return false;
}
}
}