MainMachine_InCar.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;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
/// <summary>
/// 通知料盘已取走
/// </summary>
void ReelGetted(bool success = true)
{
if (InCarMoveInfo.MoveStep == MoveStep.InCarReadyGet)
if (success)
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGot);
else
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGetFail);
else
InCarMoveInfo.log($"无法执行ReelGetted,因为当前步骤为:{InCarMoveInfo.MoveStep}");
}
bool InHasCar { get => (IOValue(IO_Type.Loading_Car_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Loading_Car1315_Check).Equals(IO_VALUE.HIGH)); }
public CarTypeE InCarType = CarTypeE.None;
public int InCurrentStringNum = 0;
bool innewreel = true;
int ReelGetFail = 0;
const bool oldtestheight = true;
void InCarProcess()
{
if (CheckWait(InCarMoveInfo))
return;
switch (InCarMoveInfo.MoveStep)
{
case MoveStep.Wait:
InCarType = CarTypeE.None;
var hascar = InHasCar;
if (hascar)
Loading_NOCar_Led.LedState = LedState.blink;
else
Loading_NOCar_Led.LedState = LedState.off;
if (hascar && IOValue(IO_Type.Loading_CarLock_Btn).Equals(IO_VALUE.HIGH))
{
InCarMoveInfo.NextMoveStep(MoveStep.InCar_01);
InCarMoveInfo.log("检测到小车到位");
}
else if (hascar && IOValue(IO_Type.Loading_Car_Location_Up).Equals(IO_VALUE.HIGH))
{
InCarMoveInfo.NextMoveStep(MoveStep.InCar_02);
InCarMoveInfo.log("小车已经到位");
}
break;
case MoveStep.InCar_01:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_02);
InCarMoveInfo.log($"提升定位气缸");
CylinderMove(InCarMoveInfo, IO_Type.Loading_Car_Location_Down, IO_Type.Loading_Car_Location_Up, IO_VALUE.HIGH);
break;
case MoveStep.InCar_02:
var car7 = IOValue(IO_Type.Loading_Car_Check).Equals(IO_VALUE.HIGH);
var car13 = IOValue(IO_Type.Loading_Car1315_Check).Equals(IO_VALUE.HIGH);
if (car7 || car13)
{
if (car7)
InCarType = CarTypeE.Car7;
else
InCarType = CarTypeE.Car13;
InCarMoveInfo.log($"检测到料车尺寸:{InCarType}");
InCarMoveInfo.NextMoveStep(MoveStep.InCar_03);
Loading_NOCar_Led.LedState = LedState.on;
}
else {
InCarMoveInfo.log($"小车丢失,重新检测");
CylinderMove(InCarMoveInfo, IO_Type.Loading_Car_Location_Down, IO_Type.Loading_Car_Location_Up, IO_VALUE.LOW);
InCarMoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
case MoveStep.InCar_03:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_04);
innewreel = true;
InCarMoveInfo.log($"新料串");
break;
case MoveStep.InCar_04:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_05);
InCarMoveInfo.log($"批量轴高速上升到顶部检测点");
BatchAxisToP2(InCarMoveInfo, Loading_Batch_Axis, INGetReelCheckIOList(),IO_VALUE.HIGH, Config.Loading_Batch_Axis_P2, Config.Loading_Batch_Axis_P1_speed);
break;
case MoveStep.InCar_05:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_06);
InCurrentStringNum = GetTopStringNum(INGetReelCheckIOList());
if (Loading_Batch_Axis.IsInPosition(Config.Loading_Batch_Axis_P2) && InCurrentStringNum==0)
{
StartMovePosition = Setting_Init.Runtime_StartMovePosition;
SetReelHeight(GetHeight(InCarMoveInfo));
InCarMoveInfo.log($"料车料盘检测为空");
InCarMoveInfo.NextMoveStep(MoveStep.InCarOut_01);
return;
}
var tpos1 = Loading_Batch_Axis.GetAclPosition() - Config.Loading_Batch_Axis_MMtoPOS * 10;
if (tpos1 < Config.Loading_Batch_Axis_P1)
tpos1 = Config.Loading_Batch_Axis_P1;
Loading_Batch_Axis.AbsMove(InCarMoveInfo, tpos1, Config.Loading_Batch_Axis_P1_speed);
InCarMoveInfo.log($"批量轴下降1cm");
break;
case MoveStep.InCar_06:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_07);
BatchAxisToP2(InCarMoveInfo, Loading_Batch_Axis, INGetReelCheckIOList(), IO_VALUE.HIGH, Config.Loading_Batch_Axis_P2, Config.Loading_Batch_Axis_P2_speed);
InCarMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("进料车料串正在上升",MsgLevel.warning));
break;
case MoveStep.InCar_07:
InCarMoveInfo.NextMoveStep(MoveStep.InCarReadyGet);
InCurrentStringNum = GetTopStringNum(INGetReelCheckIOList());
if (Loading_Batch_Axis.IsInPosition(Config.Loading_Batch_Axis_P2) && InCurrentStringNum == 0)
{
InCarMoveInfo.log($"料车料盘检测为空");
InCarMoveInfo.NextMoveStep(MoveStep.InCarOut_01);
return;
}
InCarMoveInfo.log($"料车料盘检测到新的当前串[{InCurrentStringNum}串]");
if (InCurrentStringNum == 0) {
InCarMoveInfo.NextMoveStep(MoveStep.InCar_06);
InCarMoveInfo.log($"再次上升");
return;
}
//if (!innewreel)
StartMovePosition = Setting_Init.Runtime_StartMovePosition;
SetReelHeight(GetHeight(InCarMoveInfo));
//innewreel = false;
break;
case MoveStep.InCarReadyGet:
Msg.add("入口料串取料准备就绪", MsgLevel.info);
break;
case MoveStep.InCarReelGot:
InCarMoveInfo.log($"料已取走,开始测高");
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGet_01);
break;
case MoveStep.InCarReelGet_01:
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGet_02);
BatchAxisToP2(InCarMoveInfo, Loading_Batch_Axis, INGetReelCheckIOList(InCurrentStringNum), IO_VALUE.HIGH, Config.Loading_Batch_Axis_P2, Config.Loading_Batch_Axis_P2_speed);
InCarMoveInfo.log($"批量轴[{InCurrentStringNum}串]上升检测信号:{INGetReelCheckIOList(InCurrentStringNum)[0]}");
break;
case MoveStep.InCarReelGet_02:
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGet_03);
SetReelHeight(GetHeight(InCarMoveInfo));
var topnum = GetTopStringNum(INGetReelCheckIOList());
if (InCurrentStringNum == topnum)
{
InCarMoveInfo.log($"最高侧等于当前侧:{InCurrentStringNum}");
}
else {
InCarMoveInfo.log($"最高侧不等于当前侧:{InCurrentStringNum}!={topnum}");
}
break;
case MoveStep.InCarReelGet_03:
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGet_04);
BatchAxisToP2(InCarMoveInfo, Loading_Batch_Axis, INGetReelCheckIOList(), IO_VALUE.LOW, Config.Loading_Batch_Axis_P1, Config.Loading_Batch_Axis_P1_speed);
InCarMoveInfo.log($"下降到所有传感器灭");
break;
case MoveStep.InCarReelGet_04:
if (GetTopStringNum(INGetReelCheckIOList()) != 0)
{
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGet_03);
InCarMoveInfo.log($"还未到底, 继续下降");
}
else
{
InCarMoveInfo.NextMoveStep(MoveStep.InCar_06);
InCarMoveInfo.log($"完成[{InCurrentStringNum}串]盘上料");
}
break;
case MoveStep.InCarReelGetFail:
InCarMoveInfo.log($"料盘取走失败,料盘下降");
ReelGetFail++;
InCarMoveInfo.NextMoveStep(MoveStep.InCarReelGetFail_02);
var tpos2 = Loading_Batch_Axis.GetAclPosition() - Config.Loading_Batch_Axis_MMtoPOS * 20;
if (tpos2 < 0)
tpos2 = 0;
Loading_Batch_Axis.AbsMove(InCarMoveInfo, tpos2, Config.Loading_Batch_Axis_P1_speed);
break;
case MoveStep.InCarReelGetFail_02:
InCarMoveInfo.NextMoveStep(MoveStep.InCar_06);
InCarMoveInfo.log($"[{InCurrentStringNum}串]料盘取走失败,重新上升");
break;
case MoveStep.InCarOut_01:
InCarMoveInfo.NextMoveStep(MoveStep.InCarOut_02);
incarProcessFinish = true;
InCarMoveInfo.log($"料串下降到P1点");
Loading_Batch_Axis.AbsMove(InCarMoveInfo, Config.Loading_Batch_Axis_P1, Config.Loading_Batch_Axis_P1_speed);
InCarMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在下降", MsgLevel.warning));
break;
case MoveStep.InCarOut_02:
InCarMoveInfo.NextMoveStep(MoveStep.InCarOut_Released);
InCarMoveInfo.log($"顶升下降");
CylinderMove(InCarMoveInfo, IO_Type.Loading_Car_Location_Down, IO_Type.Loading_Car_Location_Up, IO_VALUE.LOW);
break;
case MoveStep.InCarOut_Released:
InCarMoveInfo.log($"料串已回到待机点");
InCarMoveInfo.NewMove(MoveStep.Wait);
break;
default:
InCarMoveInfo.log($"未找到对应步骤:{InCarMoveInfo.MoveStep}");
break;
}
}
string InCarProcessState() {
string state = "";
if (InCarType == CarTypeE.Car13)
state = "13/15寸盘小车";
else if (InCarType == CarTypeE.Car7)
{
state = "7寸盘小车";
}
else if (InHasCar)
state = "检测到小车,尚未锁定";
if (InCarMoveInfo.MoveStep == MoveStep.Wait)
{
return "空闲中";
}
else if (InCarMoveInfo.MoveStep < MoveStep.InCarReadyGet)
{
return state + "," + "准备中";
}
else if (InCarMoveInfo.MoveStep >= MoveStep.InCarOut_01)
{
return state + "," + "释放中";
}
else if (InCarMoveInfo.MoveStep > MoveStep.InCar_06)
{
return state;
}
return state;
}
int StartMovePosition = 0;
void BatchAxisToP2(MoveInfo moveInfo, AxisBean axisBean, string[] CheckIoList, IO_VALUE iO_VALUE, int targetpos, int speed)
{
int targetP2 = targetpos;
int targetSpeed = speed;
moveInfo.log($"BatchAxis 目标P2: {targetP2},{speed},IO_VALUE={iO_VALUE},axisBean:{axisBean.Config.Explain},CheckIoList:{string.Join(",",CheckIoList)}");
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
if (axisBean== Loading_Batch_Axis)
StartMovePosition = axisBean.GetAclPosition();
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(axisBean.Config, targetP2, targetSpeed));
axisBean.Config.TargetPosition = targetP2;
axisBean.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
axisBean.BatchAxisStartCheck(CheckIoList, iO_VALUE);
}
int CalcHeight(int mm)
{
LogUtil.info($"获取mm:{mm}");
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
heightList.Reverse();
//heightList = (from m in heightList orderby m descending select m).ToList<int>();
//float minCha = height;
foreach (int h in heightList)
{
if (mm > h + 1)
{
return h;
}
}
return 8;
}
string LastCode = "";
private int GetHeight(MoveInfo moveInfo)
{
int LastHeight = 0;
int AxisChangeValue = Config.Loading_Batch_Axis_MMtoPOS;
//计算高度
int EndMovePosition = Loading_Batch_Axis.GetAclPosition();
float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
string buchongStr = "";
if (Loading_Batch_Axis.IsInPosition(Config.Loading_Batch_Axis_P2))
{
buchongStr = $"(最后一盘料已补充{Config.LastTrayAddHeight})";
height += Config.LastTrayAddHeight;
}
LastHeight = (int)height;
if (LastHeight <= 8) { LastHeight = 8; }
string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg);
if (LastHeight > 80)
LastHeight = 80;
return LastHeight;
if (moveInfo.MoveParam.PlateW == 15)
{
height -= 2;
}
else if (moveInfo.MoveParam.PlateW == 13)
{
//height -= 3;
}
//如果检测出<=15,都按照8计算
if (height < 12)
{
LastHeight = 8;
}
else
{
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
//heightList = (from m in heightList orderby m descending select m).ToList<int>();
//float minCha = height;
foreach (int h in heightList)
{
if (height > h)
{
LastHeight = h;
}
}
}
if (LastHeight <= 8) { LastHeight = 8; }
//string code = CodeManager.ProcessCode(LastCodeList);
msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg);
return LastHeight;
}
string[] INGetReelCheckIOList(int currentnum = 0) {
if (currentnum > 0)
return new string[] { "Loading_Batch_ReelCheck_T" + currentnum.ToString() };
if (InCarType == CarTypeE.Car7)
{
return new string[] { IO_Type.Loading_Batch_ReelCheck_T1, IO_Type.Loading_Batch_ReelCheck_T2, IO_Type.Loading_Batch_ReelCheck_T4, IO_Type.Loading_Batch_ReelCheck_T5 };
}
else
{
return new string[] { IO_Type.Loading_Batch_ReelCheck_T3 };
}
}
int GetTopStringNum(string[] checkiolist) {
foreach (var io in checkiolist) {
if (IOValue(io).Equals(IO_VALUE.HIGH))
{
return int.Parse(io.Substring(io.Length - 1));
}
}
return 0;
}
}
}