MainMachine_StoreDemo.cs
28.3 KB
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using CodeLibrary;
using Newtonsoft.Json;
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;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
public const string LabelP = "LabelP";
public const string RFIDP = "RFIDP";
StoreJobList OutStoreJobList = new StoreJobList(crc.GetString("Res0108", "批量"));
public bool HasJob { get => OutStoreJobList.Count > 0; }
public void AddOutStoreTask(string warecode, string posId)
{
JobInfo jobInfo = new JobInfo(warecode, posId);
OutStoreJobList.Enqueue(jobInfo);
LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
}
public bool IsInStoreReady { get => true; }
List<string> nglist = new List<string>();
void StoreDemoProcess()
{
if (CheckWait(StoreMoveInfo))
return;
//常规上料扫码流程
switch (StoreMoveInfo.MoveStep)
{
case MoveStep.Wait:
StoreMoveInfo.MoveParam.ReelOnFixture = false;
if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW)) {
if (Setting_Init.Runtime_Step == Runtime_StepE.LabelProcess)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid + "," + Setting_Init.Runtime_FromPosid);
if (!string.IsNullOrEmpty(Setting_Init.Runtime_FromPosid))
{
LabelingMoveInfo.NewMove(MoveStep.Labeling01);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
}
else
{
Msg.add(crc.GetString("Res0133", "重置前物料正在贴标,无法继续,请手动处理"), MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause(crc.GetString("Res0133", "重置前物料正在贴标,无法继续,请手动处理"));
}
return;
}
else if (Setting_Init.Runtime_Step == Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次已完成贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid + "," + Setting_Init.Runtime_RFID);
StoreMoveInfo.NewMove(MoveStep.StoreIn03);
if (Setting_Init.Runtime_Posid.Val == "NG")
LabelingMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
return;
}
else if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid+","+ Setting_Init.Runtime_FromPosid);
Msg.add(crc.GetString("Res0133","重置前物料正在贴标,无法继续,请手动处理"), MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause(crc.GetString("Res0133","重置前物料正在贴标,无法继续,请手动处理"));
return;
}
else if (OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
else if (IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
{
//NGInfoList = new List<ReelParam>();
//StoreMoveInfo.NewMove(MoveStep.StoreIn01);
//StoreMoveInfo.log($"检测到入库抽屉已锁定");
}
Setting_Init.Runtime_Step = Runtime_StepE.None;
return;
}
if (Setting_Init.Runtime_Step!= Runtime_StepE.None)
StoreMoveInfo.log("Runtime_Step:"+ Setting_Init.Runtime_Step);
if (Setting_Init.Runtime_Step == Runtime_StepE.InToLabel) {
StoreMoveInfo.log("检测到上次正在准备去贴标:"+ Setting_Init.Runtime_Posid);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
var acto = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, acto, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, acto, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运入贴标机构");
}else if (Setting_Init.Runtime_Step == Runtime_StepE.InToStore)
{
StoreMoveInfo.log("检测到上次正在准备去库位:" + Setting_Init.Runtime_Posid);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
StoreMoveInfo.MoveParam.ReelOnFixture = true;
}
else if (Setting_Init.Runtime_Step == Runtime_StepE.Out)
{
StoreMoveInfo.log("检测到上次正在出库:" + Setting_Init.Runtime_Posid+","+ Setting_Init.Runtime_WareCode);
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10_1);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.WareCode= Setting_Init.Runtime_WareCode;
}
break;
case MoveStep.StoreIn01:
string inposid;
var slist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
foreach (var o in nglist.ToArray())
{
if (slist.Contains(o))
slist.Remove(o);
}
if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
//IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.LOW);
StoreMoveInfo.log($"没有检测到有入库物料");
return;
}
else
{
inposid = slist[0];
StoreMoveInfo.log($"检测到入库位有料:{inposid}, 其他有料入库位:{string.Join(",", slist)}");
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
var from = CSVPositionReader<ACStorePosition>.GetPositon(inposid);
var to = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
StoreMoveInfo.MoveParam.PosID = inposid;
Setting_Init.Runtime_FromPosid = inposid;
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运入贴标机构");
ServerCM.storeStatus = StoreStatus.InStoreExecute;
break;
case MoveStep.StoreIn02:
if (boxTransport.IsComplateOrFree)
{
if (LabelingMoveInfo.MoveStep == MoveStep.Wait)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
LabelingMoveInfo.NewMove(MoveStep.Labeling01);
StoreMoveInfo.log($"等待贴标完成");
}
else
{
StoreMoveInfo.log($"等待贴标机构空闲");
}
}
break;
case MoveStep.StoreIn03:
if (LabelingMoveInfo.MoveStep == MoveStep.Wait)
{
StoreMoveInfo.MoveParam = LabelingMoveInfo.MoveParam.clone();
if (StoreMoveInfo.MoveParam.IsNg)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
StoreMoveInfo.log($"收到完成贴标NG");
}
else
{
if (string.IsNullOrEmpty(LabelingMoveInfo.MoveParam.PosID))
{
Msg.add(crc.GetString("Res0138","等待服务器返回库位"), MsgLevel.info);
StoreMoveInfo.log($"等待服务器返回库位");
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.log($"收到完成贴标");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute);
}
}
else
{
StoreMoveInfo.log($"等待贴标完成");
}
break;
case MoveStep.StoreIn04:
if (boxTransport.IsComplateOrFree)
{
//var outposid= StoreMoveInfo.MoveParam.PosID;
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn05);
from = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
//StoreMoveInfo.MoveParam.PosID = outposid;
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运到RFID位置");
}
break;
case MoveStep.StoreIn05:
if (boxTransport.IsComplateOrFree)
{
if (StoreMoveInfo.MoveParam.RFID.Length > 12)
StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 12);
bool writeok = false;
for (int i = 0; i < 15; i++)
{
if (string.IsNullOrEmpty(StoreMoveInfo.MoveParam.RFID))
break;
RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(StoreMoveInfo.MoveParam.RFID));
Thread.Sleep(500);
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
var ds = Encoding.ASCII.GetString(data).Trim();
if (ds == StoreMoveInfo.MoveParam.RFID)
{
StoreMoveInfo.log("RFID 写入成功:" + ds);
writeok = true;
break;
}
else
{
StoreMoveInfo.log("失败的 RFID:" + ds);
}
}
}
if (!writeok)
{
var of = i * 1000 * (i % 2 == 0 ? 1 : -1);
var zp = Z_Axis.GetAclPosition() + of;
var yp = Y_Axis.GetAclPosition() + of;
var zt = Z_Axis.AbsMoveASYNC(zp, Config.Z_Axis_P1_speed);
var yt = Y_Axis.AbsMoveASYNC(yp, Config.Y_Axis_P1_speed);
Task.WaitAll(new Task[] { zt, yt }, 10000);
}
//Thread.Sleep(100);
}
if (!writeok) {
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = crc.GetString("Res0139", "RFID 写入失败");
StoreMoveInfo.log($"RFID 写入失败 NG");
ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.WareCode);
//Msg.add(crc.GetString("Res0139","RFID 写入失败"),MsgLevel.alarm);
//RobotManage.UserPause(crc.GetString("Res0139","RFID 写入失败"));
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运到入库位置");
}
break;
case MoveStep.StoreIn06:
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn07);
Z_Axis.AbsMove(StoreMoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
break;
case MoveStep.StoreIn07:
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
X_Axis.AbsMove(StoreMoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
Y_Axis.AbsMove(StoreMoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
break;
case MoveStep.StoreIn08:
if (boxTransport.IsComplateOrFree)
{
//var outposid = "";
//var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
//olist = RobotManage.PositionNumList.ToList().Where(p => { return p.StartsWith("L") && !olist.Contains(p); }).ToList();
//olist.Remove(LabelP);
//if (olist.Count == 0)
//{
// StoreMoveInfo.NextMoveStep(MoveStep.Wait);
// StoreMoveInfo.log($"没有检测到有空余库位");
// return;
//}
//else
//{
// outposid = olist[olist.Count-1];
// StoreMoveInfo.log($"检测到空库位:{outposid}, 其他空库位:{string.Join(",", olist)}");
//}
//nglist.Add(outposid);
ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.PosID);
nglist.Add(Setting_Init.Runtime_FromPosid);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_FromPosid;
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
from = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
to = CSVPositionReader<ACStorePosition>.GetPositon(Setting_Init.Runtime_FromPosid);
//StoreMoveInfo.MoveParam.PosID = outposid;
StoreMoveInfo.MoveParam.dateTime = DateTime.Now;
NGInfoList.Add(StoreMoveInfo.MoveParam.clone());
Setting_Init.Runtime_NGINFOLIST = JsonConvert.SerializeObject(NGInfoList);
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运");
}
break;
case MoveStep.StoreIn09:
if (boxTransport.IsComplateOrFree)
{
if(!StoreMoveInfo.MoveParam.IsNg)
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd);
if (OutStoreJobList.Count==0)
StoreMoveInfo.NewMove(MoveStep.StoreIn01);
else
StoreMoveInfo.NewMove(MoveStep.Wait);
StoreMoveInfo.log($"入库完成");
CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
}
break;
case MoveStep.StoreOut10:
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10_1);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0137","出库任务正在执行,请关好抽屉"), MsgLevel.warning);
}
else {
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
}
break;
case MoveStep.StoreOut10_1:
inposid = StoreMoveInfo.MoveParam.PosID;
Setting_Init.Runtime_Posid = inposid;
Setting_Init.Runtime_WareCode = StoreMoveInfo.MoveParam.WareCode;
{
var outposid="";
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
if (olist.Count == 0)
{
OutStoreJobList.ClearLastPosid();
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"没有检测到出库未有空位");
return;
}
else
{
outposid = olist[0];
StoreMoveInfo.log($"检测到出库位有料:{outposid}, 其他有料出库位:{string.Join(",", olist)}");
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
from = CSVPositionReader<ACStorePosition>.GetPositon(inposid);
to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
StoreMoveInfo.MoveParam.OutPosID = outposid;
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute);
}
break;
case MoveStep.StoreOut11:
if (boxTransport.IsComplateOrFree)
{
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
bool issame = false;
string ds="";
for (int i = 0; i < 15; i++)
{
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
ds = Encoding.ASCII.GetString(data).Trim();
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));
issame = true;
break;
}
}
}
Thread.Sleep(200);
}
if (!issame)
{
StoreMoveInfo.log("读取到 RFID:" + ds);
Msg.add(crc.GetString("Res0140","读取到的RFID与物料信息不符:") + ds, MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0141","读取到的RFID与物料信息不符"));
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.OutPosID);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
}
break;
case MoveStep.StoreOut12:
if (boxTransport.IsComplateOrFree)
{
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
StoreMoveInfo.log("出库完成");
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
OutStoreJobList.ClearLastPosid();
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
if (olist.Count == 0) {
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"出库库位已用完");
}
if (OutStoreJobList.Count==0)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"没有出库任务了");
}
}
break;
case MoveStep.StoreOut13:
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut14);
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
StoreMoveInfo.log($"出库抽屉解锁");
break;
case MoveStep.StoreOut14:
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut15);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else
{
Msg.add(crc.GetString("Res0115", "出库已完成请取走锡膏"), MsgLevel.warning);
}
break;
case MoveStep.StoreOut15:
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut16);
StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else
{
Msg.add(crc.GetString("Res0116", "等待出料抽屉关闭"), MsgLevel.warning);
}
break;
case MoveStep.StoreOut16:
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut17);
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
break;
case MoveStep.StoreOut17:
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NewMove(MoveStep.StoreIn01);
}
else
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut15);
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
break;
default:
StoreMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
break;
}
}
string StoreState()
{
string state = crc.GetString("Res0107", "空闲中");
if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
{
state = crc.GetString("Res0113", "出库中") + "," + crc.GetString("Res0071", "库位号") + StoreMoveInfo.MoveParam.PosID;
}
else if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn01)
{
state = crc.GetString("Res0114", "入库中") + "," + crc.GetString("Res0071", "库位号") + StoreMoveInfo.MoveParam.PosID;
if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn09)
{
state += "RFID:" + StoreMoveInfo.MoveParam.RFID;
}
}
return state;
}
}
}