OutShelfBean.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class OutShelfBean
{
public string Name;
//agv小车检测
public string Agv_Detect = "Agv_Detect";
//出料口前端料格检测
public string Shelf_Front_Check = "Shelf_Front_Check";
//出料口后端料格检测
public string Shelf_Back_Check = "Shelf_Back_Check";
//出料口定位上升端
public string Location_Up = "Location_Up";
//出料口定位下降端,
public string Location_Down = "Location_Down";
//电机正传
public static string Moto_Fwd = "Moto_Fwd";
//电机反转
public static string Moto_Rwd = "Moto_Rwd";
MoveInfo MoveInfo;
public string ErrMsgTxt = "";
private MainMachine mainMachine;
/// <summary>
/// 出料口定位气缸，high=up，low=down
/// </summary>
private CylinderManger locationCylinder;
public string currShelfRfid;
public TrayInfo CurrShelf;
public OutShelfBean(string name )
{
this.Name = name;
MoveInfo = new MoveInfo(name, false);
#region 初始化IO
string ioStr = name + "_";
Agv_Detect = ioStr + Agv_Detect;
Shelf_Front_Check = ioStr + Shelf_Front_Check;
Shelf_Back_Check = ioStr + Shelf_Back_Check;
Location_Up = ioStr + Location_Up;
Location_Down = ioStr + Location_Down;
Moto_Fwd = ioStr + Moto_Fwd;
Moto_Rwd = ioStr + Moto_Rwd;
locationCylinder = new CylinderManger(name + "出料口定位", Location_Up, Location_Down);
#endregion
}
public void Reset()
{
MoveInfo.NewMove(MoveStep.SR01_LocationDown);
MoveInfo.log("执行重置，定位气缸下降");
locationCylinder.ToLow(MoveInfo);
ErrMsgTxt = "";
pause = false;
}
private StoreMoveType storeMoveType = StoreMoveType.None;
bool PreMove = false;
public bool ShelfValid()
{
//料架是否有效可放料
if (currShelfRfid != "")
{
if (MoveInfo.MoveStep.Equals(MoveStep.S10_ShelfReady)||MoveInfo.MoveStep.Equals(MoveStep.S11_PutReel))
{
return true;
}
}
return false;
}
public bool ShelfReady()
{
if (MoveInfo.MoveStep.Equals(MoveStep.S10_ShelfReady))
{
return true;
}
return false;
}
public bool StartPutReel()
{
if (ShelfReady())
{
MoveInfo.NewMove(MoveStep.S11_PutReel);
MoveInfo.log("开始放料");
return true;
}
return false;
}
bool pause = false;
public void Pause()
{
pause = true;
}
public void Resume()
{
pause = false;
}
private void LineFRun(MoveInfo move = null)
{
lineMove(IO_VALUE.LOW, IO_VALUE.HIGH, move);
}
private void LineRRun(MoveInfo move = null)
{
lineMove(IO_VALUE.HIGH, IO_VALUE.LOW, move);
}
private void LineStopRun(MoveInfo move = null)
{
lineMove(IO_VALUE.LOW, IO_VALUE.LOW, move);
}
private void lineMove(IO_VALUE rValue,IO_VALUE fValue,MoveInfo move)
{
IOManager.IOMove(Moto_Rwd, rValue);
IOManager.IOMove(Moto_Fwd, fValue);
if (move != null)
{
move.WaitList.Add(WaitResultInfo.WaitIO(Moto_Fwd, fValue));
move.WaitList.Add(WaitResultInfo.WaitIO(Moto_Rwd, rValue));
}
}
public bool Process()
{
if (pause)
return false;
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//判断定位气缸是否下降到位
if (locationCylinder.IsLow())
{
if (IOManager.IOValue(Shelf_Front_Check).Equals(IO_VALUE.HIGH) || IOManager.IOValue(Shelf_Back_Check).Equals(IO_VALUE.HIGH))
{
//默认是进来的料架
MoveInfo.NewMove(MoveStep.S02_LineFRun);
MoveInfo.log("检测到料架信号，电机正传");
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
}
else if (IOManager.IOValue(Agv_Detect).Equals(IO_VALUE.HIGH))
{
//小车已到位
//默认是进来的料架
MoveInfo.NewMove(MoveStep.S02_LineFRun);
MoveInfo.log("检测到AGV小车，电机正传");
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
}
}
break;
case MoveStep.SR01_LocationDown:
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("复位完成");
break;
case MoveStep.S02_LineFRun:
MoveInfo.NewMove(MoveStep.S04_WaitTime);
MoveInfo.log("检测到料架前端信号，再转动1秒钟");
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.S04_WaitTime:
MoveInfo.NewMove(MoveStep.S05_LocationUp);
MoveInfo.log("电机停止，定位气缸上升");
LineStopRun();
locationCylinder.ToHigh(MoveInfo);
break;
case MoveStep.S05_LocationUp:
MoveInfo.NextMoveStep(MoveStep.S06_ReadRFID);
MoveInfo.log("读取RFID");
MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
break;
case MoveStep.S10_ShelfReady:
break;
case MoveStep.S11_PutReel:
break;
case MoveStep.S21_ShelfNeedLeave:
//呼叫AGV小车
break;
case MoveStep.S22_WaitAGV:
//呼叫agv拉料
break;
case MoveStep.S23_AgvDetect:
MoveInfo.NextMoveStep(MoveStep.S24_LocationDown);
MoveInfo.log("定位气缸下降");
locationCylinder.ToLow(MoveInfo);
break;
case MoveStep.S24_LocationDown:
MoveInfo.NextMoveStep(MoveStep.S25_LineRRun);
MoveInfo.log("电机反转");
LineRRun();
break;
case MoveStep.S25_LineRRun:
MoveInfo.NextMoveStep(MoveStep.S26_ShelfBackHigh);
MoveInfo.log("等待后端检测信号亮");
LineRRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.HIGH));
break;
case MoveStep.S26_ShelfBackHigh:
MoveInfo.NextMoveStep(MoveStep.S27_ShelfBackLow);
MoveInfo.log("等待后端检测信号灭");
LineRRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.LOW));
break;
case MoveStep.S27_ShelfBackLow:
MoveInfo.NextMoveStep(MoveStep.S28_WaitTime);
MoveInfo.log("继续转动2秒");
LineRRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.S28_WaitTime:
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.log("料架已离开");
LineStopRun();
break;
default:
MoveInfo.log($"{storeMoveType}:未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
bool movelock = false;
internal void Lock()
{
movelock = true;
}
internal void Unlock()
{
movelock = false;
}
public bool IsDis()
{
return false;
}
internal bool IsRightShelf(TrayInfo CurrTray, out string ShelfPosId)
{
ShelfPosId = "";
if (IsDis())
{
return false;
}
if (ShelfValid())
{
if (CurrShelf.realRFID.Equals(CurrTray.realRFID))
{
if (String.IsNullOrEmpty(CurrShelf.rfid))
{
CurrShelf.rfid = CurrTray.rfid;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
}
ShelfPosId = Name + CurrTray.shelfP;
return true;
}
else if (String.IsNullOrEmpty(CurrTray.realRFID))
{
if ((!CurrShelf.rfid.Equals("")) && CurrShelf.rfid.Equals(CurrTray.rfid))
{
CurrTray.realRFID = CurrShelf.realRFID;
ShelfPosId = Name + CurrTray.shelfP;
return true;
}
if (!String.IsNullOrEmpty(CurrTray.usedRfidList))
{
string[] array = CurrTray.usedRfidList.Split(',');
//若料架已使用过，直接返回false
if (array.Contains(CurrShelf.realRFID))
{
return false;
}
}
if (CurrShelf.rfid.Equals(""))
{
CurrShelf.rfid = CurrTray.rfid;
CurrTray.realRFID = CurrShelf.realRFID;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
ShelfPosId = Name + CurrTray.shelfP;
return true;
}
}
}
return false;
}
}
}