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.Text.RegularExpressions;
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("进入扫码贴标机构");
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.LockAndTurnDegree(-20);
// break;
case MoveStep.Labeling03:
if (RotateEquip.TurnWork==null || RotateEquip.TurnWork.IsCompleted) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
TakePicture();
}
break;
case MoveStep.Labeling04:
if (IsTackPictureFinish)
{
if (TakePictureTask.Result)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling05);
RotateEquip.LockAndTurnDegree(-20);
ScanCode();
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
LabelingMoveInfo.log("拍照失败,重试");
}
}
break;
case MoveStep.Labeling05:
if (IsScanFinish) {
var xx = ScanTask.Result;
if (xx!=null && xx.Count > 0)
{
LabelingMoveInfo.log($"扫到部分条码:"+ string.Join(",", xx.Select(x => x.CodeType + ":" + x.CodeStr).ToArray()));
CodeList.AddRange(xx);
if (HasRightCode(CodeList.ToArray(), LabelingMoveInfo.MoveParam))
{
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
LabelingMoveInfo.MoveParam.PlateH = 50;
LabelingMoveInfo.MoveParam.PlateW = 7;
LabelingMoveInfo.log("code: "+LabelingMoveInfo.MoveParam.WareCode);
ScanTimes = 0;
ServerCM.SendInStoreRequest(new string[] { LabelingMoveInfo.MoveParam.WareCode }, LabelingMoveInfo.MoveParam, true);
Setting_Init.Runtime_Posid = LabelingMoveInfo.MoveParam.PosID;
Setting_Init.Runtime_RFID = LabelingMoveInfo.MoveParam.RFID;
return;
}
}
ScanTimes++;
if (ScanTimes >= 18*2)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
LabelingMoveInfo.log($"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(-75);
//LabelingMoveInfo.log("滚动锡膏");
break;
case MoveStep.Labeling07:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
var hc = CameraPointTest.ScanRectangle();
ScanTimes++;
if (hc)
{
LabelingMoveInfo.log("检测到绿色区域");
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
}
else if (ScanTimes > 10) {
LabelingMoveInfo.log("未找到绿色区域");
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
LabelingMoveInfo.MoveParam.IsNg = true;
LabelingMoveInfo.MoveParam.NgMsg = crc.GetString("Res0136","未找到绿色区域");
ServerCM.cancelPutInTask("",LabelingMoveInfo.MoveParam.WareCode);
}//else
//LabelingMoveInfo.log("本次未找到绿色区域,转动后再次查找,"+ ScanTimes);
}
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);
LabelingMoveInfo.log("开始贴标");
}
}
break;
case MoveStep.Labeling10:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling11);
PrintTask = RobotManage.printerHelper.PrintLabel(LabelingMoveInfo.MoveParam);
Setting_Init.Runtime_Step = Runtime_StepE.Printed;
LabelingMoveInfo.log("开始打印标签:" + 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_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("开始贴标");
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);
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(500));
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);
}
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);
RotateEquip.TurnDegree(90);
break;
case MoveStep.Labeling56:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling57);
Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
LabelingMoveInfo.log("贴标完成");
RotateEquip.TurnToEnd(false);
if (LabelingMoveInfo.MoveParam.IsNg)
Setting_Init.Runtime_Posid = "NG";
}
break;
case MoveStep.Labeling57:
if (RotateEquip.WaitStatus(null))
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling58);
}
break;
case MoveStep.Labeling58:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling59);
CylinderMove(null, 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.Labeling59:
LabelingMoveInfo.NextMoveStep(MoveStep.Wait);
FlipEquip.LiftUp(LabelingMoveInfo);
LabelingMoveInfo.log("完成扫码贴标");
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.Labeling57)
{
state = "";
}else
if (LabelingMoveInfo.MoveStep >= MoveStep.Labeling10)
{
state = crc.GetString("Res0147.aa2e38a6","贴标中");
}else
if (LabelingMoveInfo.MoveStep >= MoveStep.Labeling04)
{
state = crc.GetString("Res0148.fc8069d9","扫码中");
}
return state;
}
public bool IsTackPictureFinish
{
get
{
if (TakePictureTask == null)
return true;
return TakePictureTask.IsCompleted;
}
}
public bool IsScanFinish
{
get
{
if (ScanTask == null)
return true;
return ScanTask.IsCompleted;
}
}
int scantrytimes = 0;
/// <summary>
/// 拍照线程
/// </summary>
Task<bool> TakePictureTask;
public void TakePicture()
{
LabelingMoveInfo.log("开始拍照");
TakePictureTask = Task.Run(new Func<bool>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
return CodeManager.TakePicture(CodeManager.hikNameList);
}));
}
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
public void ScanCode()
{
LabelingMoveInfo.log("开始扫码");
ScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
return CodeManager.ScanCode();
}));
}
public bool HasRightCode(CodeInfo[] codeInfos, ReelParam reelParam) {
string rightcode = "";
string[] code = new string[7];
foreach (var cc in codeInfos)
{
if (cc.CodeStr.IndexOf('|') > 0)
{
var cs = cc.CodeStr.Split('|');
if (cs.Length >= 7)
{
rightcode = cc.CodeStr;
break;
}
}
//PN[5:0:-1]|BATCH[2:0:-1]|LOT|QTY[2:0:3]|RI|SP[3:0:-1]|EXPDATEdd-MM-yyyy[2:0:-1]|xxx|xxx|xxx|MSL[1:0:-1]
if (cc.CodeStr.StartsWith("P")) //pn
code[0] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("21P")) //batch
code[1] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("1P")) //lot
code[2] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("1T")) //lot
code[3] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("2D")) //qty
code[4] = cc.CodeStr;
else if(cc.CodeStr.StartsWith("S"))// if (Regex.IsMatch(cc.CodeStr, @"S[A-Za-z\-]*\d+")) //ri
code[5] = cc.CodeStr;
}
if (string.IsNullOrEmpty(rightcode))
{
if (string.IsNullOrEmpty(code[0]))
return false;
if (string.IsNullOrEmpty(code[3]))
return false;
if (string.IsNullOrEmpty(code[4]))
return false;
if (string.IsNullOrEmpty(code[5]))
return false;
for (int i = 0; i < code.Length; i++)
{
if (string.IsNullOrEmpty(code[i]))
code[i] = "XXX";
}
rightcode=string.Join("|", code);
}
if (!string.IsNullOrEmpty(rightcode))
{
var cs = rightcode.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 = rightcode;
reelParam.ReeID = reelParam.SN;
reelParam.RFID = reelParam.SN.Substring(1);
return true;
}
}
return false;
}
}
}