MainMachine _AutoInOutTest.cs
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using OnlineStore;
using OnlineStore.LoadCSVLibrary;
using System.Linq;
namespace DeviceLibrary
{
partial class MainMachine
{
private bool canStartTest(out string errmsg)
{
errmsg = "";
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
errmsg = crc.GetString("Res0152", "收到任务,但料叉上有料,无法启动,请检查");
}
else
{
errmsg = crc.GetString("Res0152", "收到任务,但料叉上有料,无法启动,请检查");
}
return false;
}
else
{
IgnoreGratingSignal = true;
}
if (!boxTransport.IsComplateOrFree)
{
errmsg = crc.GetString("Res0151", "料仓忙碌中,无法启动");
return false;
}
return true;
}
public bool StartAutoTest(string posName, out string errmsg)
{
if (!canStartTest(out errmsg))
{
return false;
}
CurrentPosName = posName;
CurrStartPos = GetAutoStartPos(1);
AutoInOutTest = true;
StopAutoInOut = false;
CurrentPosIndex = RobotManage.PositionNumList.IndexOf(posName);
AIOTMoveInfo.NewMove(MoveStep.A01_WaitReel);
return true;
}
public bool ManualTest(string startPos, string posName, out string errmsg)
{
if (!canStartTest(out errmsg))
{
return false;
}
CurrentPosName = posName;
CurrentPosIndex = RobotManage.PositionNumList.IndexOf(posName);
CurrStartPos = startPos;
AutoInOutTest = false;
StopAutoInOut = true;
AIOTMoveInfo.NewMove(MoveStep.A01_Ready);
AIOTMoveInfo.log($"开始放料任务:" + startPos + "->" + posName);
return true;
}
public void StopAutoInOutTest()
{
StopAutoInOut = true;
}
private int CurrentPosIndex = 0;
private string CurrentPosName = "";
/// <summary>
/// 自动出入库状态
/// </summary>
public bool AutoInOutTest { get; set; } = false;
bool StopAutoInOut = false;
string CurrStartPos = "IN_1";
private string GetAutoStartPos(int count=0)
{
if (count == 0)
{
if (CurrStartPos.Equals("IN_1"))
{
CurrStartPos = "IN_2";
}
else
{
CurrStartPos = "IN_1";
}
}
else
{
return CurrStartPos = "IN_" + count;
}
return CurrStartPos;
}
private ACStorePosition getPos(int index)
{
if (index <= 0)
{
return null;
}
CurrentPosName = RobotManage.PositionNumList[index];
if (!RobotManage.allPositionMap.ContainsKey(CurrentPosName))
{
return null;
}
ACStorePosition storePosition = RobotManage.allPositionMap[CurrentPosName];
return storePosition;
}
void AutoInOutTestProcess()
{
if (CheckWait(AIOTMoveInfo))
return;
//常规上料扫码流程
switch (AIOTMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.A01_WaitReel:
if (IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.HIGH))
{
AIOTMoveInfo.NextMoveStep(MoveStep.A01_Ready);
AIOTMoveInfo.log($"料盘1已准备好");
}
else
{
Msg.add(crc.GetString("Res0155", "请放入测试料盘1"), MsgLevel.warning);
}
break;
case MoveStep.A01_Ready:
AIOTMoveInfo.NextMoveStep(MoveStep.A02_StartPutOne);
ACStorePosition ac = null;
if (string.IsNullOrEmpty(CurrentPosName))
{
ac = RobotManage.allPositionMap[CurrentPosName];
}
else
{
ac = getPos(CurrentPosIndex);
}
var reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
var startPos = RobotManage.allPositionMap[CurrStartPos];
if (!boxTransport.Start(new BoxStorePosition(Config, startPos, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel))
{
AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始匀速料盘第一盘");
break;
case MoveStep.A02_StartPutOne:
if (boxTransport.IsTakedReel)
{
if (StopAutoInOut)
{
AIOTMoveInfo.NextMoveStep(MoveStep.A04_WaitOneComplate);
AIOTMoveInfo.log($"不在自动测试模式, 直接结束1");
}
else
{
AIOTMoveInfo.NextMoveStep(MoveStep.A03_WaitRee2);
AIOTMoveInfo.log($"第一盘料盘已取走");
}
}
else
{
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.A03_WaitRee2:
if (IOValue(IO_Type.IN_2_Reel_Check).Equals(IO_VALUE.HIGH))
{
AIOTMoveInfo.NextMoveStep(MoveStep.A04_WaitOneComplate);
AIOTMoveInfo.log($"测试料盘2已准备好");
}
else
{
Msg.add(crc.GetString("Res0155", "请放入测试料盘2."), MsgLevel.warning);
}
break;
case MoveStep.A04_WaitOneComplate:
if (boxTransport.IsComplateOrFree)
{
if (StopAutoInOut)
{
AIOTMoveInfo.log($"不在自动测试模式, 直接结束2");
AIOTMoveInfo.EndMove();
return;
}
AIOTMoveInfo.NextMoveStep(MoveStep.A05_StartPutTwo);
AIOTMoveInfo.log($"第一盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex}，或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return;
}
AIOTMoveInfo.log($"开始匀速料盘第二盘");
ac =getPos(CurrentPosIndex-1);
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
startPos = RobotManage.allPositionMap[GetAutoStartPos()];
if (!boxTransport.Start(new BoxStorePosition(Config, startPos, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel))
{
AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
}
break;
case MoveStep.A05_StartPutTwo:
if (boxTransport.IsTakedReel)
{
AIOTMoveInfo.NextMoveStep(MoveStep.A06_WaitTwoEnd);
AIOTMoveInfo.log($"第二盘料盘已取走");
}
else
{
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
}
break;
case MoveStep.A06_WaitTwoEnd:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"第二盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return;
}
AIOTMoveInfo.NextMoveStep(MoveStep.A07_NextPos);
}
break;
case MoveStep.A07_NextPos:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.NextMoveStep(MoveStep.A8_WaitPosEnd);
if (CurrentPosIndex - 2 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"A已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
CurrentPosIndex++;
return;
}
var ac1 = getPos(CurrentPosIndex);
var ac2 =getPos(CurrentPosIndex - 2);
reel = new ReelParam("auto", ac2.BagWidth, ac2.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac1, reel), new BoxStorePosition(Config, ac2, reel), StoreMoveType.PutReel))
{
AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始交替：【{ac1.PositionNum}】->【{ac2.PositionNum}】");
}
break;
case MoveStep.A8_WaitPosEnd:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return;
}
CurrentPosIndex--;
AIOTMoveInfo.NextMoveStep(MoveStep.A07_NextPos);
AIOTMoveInfo.log($"CurrentPosIndex={CurrentPosIndex}");
}
break;
case MoveStep.A10_LastPos:
AIOTMoveInfo.NextMoveStep(MoveStep.A11_R1StartBack);
CurrentPosIndex--;
CurrStartPos = GetAutoStartPos(1);
ACStorePosition start1 = RobotManage.allPositionMap[CurrStartPos];
ac = getPos(CurrentPosIndex );
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, start1, reel), StoreMoveType.OutStore))
{
AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start1.PositionNum}】");
break;
case MoveStep.A11_R1StartBack:
if (boxTransport.IsPutOnOut)
{
AIOTMoveInfo.NextMoveStep(MoveStep.A12_WR1End);
AIOTMoveInfo.log($"料盘已到达目的地");
//AutoInOutTest = false;
}
break;
case MoveStep.A12_WR1End:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.NextMoveStep(MoveStep.A13_R1End);
AIOTMoveInfo.log($"料盘已到取走");
//AutoInOutTest = false;
}
break;
case MoveStep.A13_R1End:
AIOTMoveInfo.NextMoveStep(MoveStep.A15_StartR2Back);
CurrStartPos = GetAutoStartPos(2);
ACStorePosition start2 = RobotManage.allPositionMap[CurrStartPos];
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, start2, reel), StoreMoveType.OutStore))
{
AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false;
StopAutoInOut = true;
return;
}
AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start2.PositionNum}】");
break;
case MoveStep.A15_StartR2Back:
if (boxTransport.IsPutOnOut)
{
AIOTMoveInfo.log($"料盘已到达目的地");
AIOTMoveInfo.NextMoveStep(MoveStep.A15_R2End);
}
break;
case MoveStep.A15_R2End:
if (boxTransport.IsComplateOrFree)
{
AIOTMoveInfo.log($"料盘已取走");
AIOTMoveInfo.EndMove();
AutoInOutTest = false;
}
break;
default:
AIOTMoveInfo.log($"未找到对应步骤:{AIOTMoveInfo.MoveStep}");
break;
}
}
}
}