LimitedRotary.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.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class LimitedRotary : ISafetyDevice
{
string up;
string down;
string release;
string clamp;
AxisBean axisBean;
int upspeed;
int StrokeLength;
bool paused = false;
MoveInfo moveInfo = new MoveInfo(crc.GetString("Res0058","锡膏贴标旋转机构"), false);
public LimitedRotary(string _up, string _down,string _release,string _clamp, AxisBean _axisBean, int _StrokeLength, int _upspeed)
{
up = _up;
down = _down;
release = _release;
clamp = _clamp;
axisBean = _axisBean;
upspeed = _upspeed;
StrokeLength = _StrokeLength;
SafetyDevice.AddDevice(this);
TurnWork = Task.Run(() => { });
}
public bool isAtTOP
{
get
{
return IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH);
}
}
public bool isAtBOTTOM
{
get
{
return IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH);
}
}
Task<bool> work;
public Task<bool> TurnToEnd(bool isHorizontal,bool needclamp=false)
{
return work = Task.Run(() =>
{
string checkio = up;
if (!isHorizontal)
{
checkio = down;
}
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return false;
}
if (IOManager.IOValue(checkio).Equals(IO_VALUE.HIGH))
{
moveInfo.log($"{axisBean.AxisName},{checkio},已在位置,无需运动");
return true;
}
try
{
if (needclamp)
{
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
}
else {
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.LOW))
{
Task.Delay(100).Wait();
}
}
var len = (int)(StrokeLength * 1.6);
if (isHorizontal)
len = len * -1;
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
axisBean.RelMove(len, (double)upspeed);
//moveInfo.log($"{checkio}");
while (!IOManager.IOValue(checkio).Equals(IO_VALUE.HIGH))
{
Task.Delay(30).Wait();
if (paused)
{
paused = false;
return false;
}
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
LogUtil.info("设备急停");
Pause();
return true;
}
if (!axisBean.IsBusy) {
axisBean.RelMove(len, (double)upspeed);
}
}
Task.Delay(100).Wait();
axisBean.SuddenStop();
moveInfo.log($"{axisBean.AxisName},转到位");
degreeAdd = 0;
return true;
}
finally
{
RobotManage.mainMachine.CylinderMove(moveInfo, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Release).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
}
});
}
public Task TurnWork;
public Task TurnDegree(int degree) {
return TurnWork=Task.Run(()=>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
var len = (int)(StrokeLength / 90* degree);
if (len > 0)
{
TurnToEnd(false).Wait();
}
else if (len < 0)
{
TurnToEnd(true).Wait();
}
//moveInfo.log($"len:{len}");
axisBean.RelMove(len*-1, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy) {
Task.Delay(50).Wait();
}
if (len > 0)
{
TurnToEnd(false,true).Wait();
}
else if (len < 0)
{
TurnToEnd(true, true).Wait();
//Task.Delay(500).Wait();
//TurnToEnd(false, false).Wait();
}
});
}
public void TurnRound()
{
TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
var len = (int)(StrokeLength / 90 * 45);
if (len > 0)
{
TurnToEnd(false).Wait();
}
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
TurnToEnd(true, true).Wait();
TurnToEnd(false, true).Wait();
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Release).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
TurnToEnd(false).Wait();
});
}
public void TurnDouble()
{
TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
var len = (int)(StrokeLength / 90 * 45);
if (len > 0)
{
TurnToEnd(false).Wait();
}
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
TurnToEnd(true, true).Wait();
TurnToEnd(false, false).Wait();
TurnToEnd(true, true).Wait();
//TurnToEnd(false, false).Wait();
//TurnDegree(-20).Wait();
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Release).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
TurnToEnd(false).Wait();
});
}
int degreeAdd = 0;
public Task LockAndTurnDegree(int degree)
{
return TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
var len = (int)(StrokeLength / 90 * degree);
if (Math.Abs(degreeAdd + degree) > 90)
{
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(30).Wait();
}
if (len > 0)
{
TurnToEnd(true).Wait();
}
else if (len < 0)
{
TurnToEnd(false).Wait();
}
}
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(30).Wait();
}
//moveInfo.log($"len:{len}");
axisBean.RelMove(len, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy)
{
Task.Delay(50).Wait();
}
degreeAdd += degree;
});
}
public Task UnLock()
{
return TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
TurnToEnd(false).Wait();
});
}
public void SetWaitResultInfo(MoveInfo moveInfo)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitStatus), $"等待[{axisBean.Config.Explain}]机构完成"));
}
public bool WaitStatus(WaitResultInfo w) {
if (!work.IsCompleted) {
return false;
}
return work.Result;
}
public void Pause()
{
//paused = true;
axisBean.SuddenStop();
}
public void Resume()
{
//throw new NotImplementedException();
}
}
}