MainMachine_Labeling.cs
11.0 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
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;
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;
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) {
ScanTimes++;
if (ScanTimes >= 3)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
LabelingMoveInfo.log("继续扫码");
}
}
break;
case MoveStep.Labeling06:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
RotateEquip.TurnDegree(36);
LabelingMoveInfo.log("滚动锡膏");
break;
case MoveStep.Labeling07:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling05);
var hc = CameraPointTest.ScanRectangle();
LabelingMoveInfo.log("检测到绿色宽度:"+hc);
if (hc>20) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
}
}
break;
case MoveStep.Labeling08:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
RotateEquip.TurnToEnd(false);
LabelingMoveInfo.log("滚动回位");
break;
case MoveStep.Labeling09:
if (RotateEquip.WaitStatus(null))
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
}
break;
case MoveStep.Labeling10:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling11);
ReelParam reel = new ReelParam();
reel.WareCode = "Test";
reel.ReeID = "Test";
PrintTask = RobotManage.printerHelper.PrintLabel(reel);
LabelingMoveInfo.log("检测到打印任务开始打印:" + reel.ToDetailStr());
break;
case MoveStep.Labeling11:
if (PrintTask.IsCompleted)
{
var (result, msg) = PrintTask.Result;
if (result)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling12);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
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_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("接标台左移动");
break;
case MoveStep.Labeling13:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
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.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);
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.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling52:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling53);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
RotateEquip.TurnRound();
break;
case MoveStep.Labeling53:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54);
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;
List<CodeInfo> LastCodeList;
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);
}
}
}
}