InReelBean.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class InReelBean:BaseBean
{
//料盘检测信号
public string Reel_Check = "Reel_Check";
//private string LastCode;
private List<CodeLibrary.CodeInfo> LastCode;
public TrayInfo CurrTray = new TrayInfo();
public string PosName;
public InReelBean(string name )
{
this.Name = name;
this.PosName = name;
MoveInfo = new MoveInfo(name );
#region 初始化IO
string ioStr = name + "_";
Reel_Check = ioStr + Reel_Check;
#endregion
}
public void Reset()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置，清理当前条码："+LastCode);
LastCode = new List<CodeLibrary.CodeInfo>();
SetWarnMsg();
}
public bool ReelReady()
{
if (MoveInfo.MoveStep.Equals(MoveStep.IN05_ReelReady))
{
return true;
}
return false;
}
public void ReelLeave()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("料盘已离开：执行重置，清理当前条码：" + LastCode);
LastCode = new List<CodeLibrary.CodeInfo> ();
SetWarnMsg();
}
bool pause = false;
public void Pause()
{
pause = true;
}
public void Resume()
{
pause = false;
}
private Stopwatch reelCheckWatch = new Stopwatch();
public bool Process()
{
if (pause)
return false;
if (RobotManage.mainMachine.CheckWait(MoveInfo))
{
return false;
}
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//判断定位气缸是否下降到位
if (IOManager.IOValue(Reel_Check).Equals(IO_VALUE.HIGH))
{
if (RobotManage.checkWatch(reelCheckWatch, 1000, true))
{
//默认是进来的料架
MoveInfo.NewMove(MoveStep.IN01_WaitCheck);
MoveInfo.log("检测到料盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Reel_Check, IO_VALUE.HIGH));
SetWarnMsg();
}
}
else
{
reelCheckWatch.Reset();
}
break;
case MoveStep.IN01_WaitCheck:
IN02_ScanCode();
break;
case MoveStep.IN02_ScanCode:
if (ScanCodeTask == null || ScanCodeTask.IsCompleted)
{
MoveInfo.NewMove(MoveStep.IN03_GetPos);
MoveInfo.log("获取库位号");
}
else if (MoveInfo.IsTimeOut(60))
{
SetWarnMsg( MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 扫码执行结束超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒");
}
break;
case MoveStep.IN03_GetPos:
if (GetPosTask == null || GetPosTask.IsCompleted)
{
MoveInfo.NewMove(MoveStep.IN05_ReelReady);
MoveInfo.log("料盘已准备好，等待取料");
}
else if (MoveInfo.IsTimeOut(60))
{
SetWarnMsg( MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 获取库位号超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒");
}
break;
case MoveStep.IN05_ReelReady:
break;
default:
MoveInfo.log($" 未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
private Task ScanCodeTask = null;
private Task GetPosTask = null;
private void IN02_ScanCode()
{
try
{
MoveInfo.NewMove(MoveStep.IN02_ScanCode);
MoveInfo.log("开始扫码");
ScanCodeTask = Task.Factory.StartNew(delegate
{
string[] cameraName=Setting_Init.CameraScan_IN_2;
if (Name.Contains("1"))
{
cameraName = Setting_Init.CameraScan_IN_1;
}
LastCode= CodeManager.CameraScan(cameraName.ToList());
MoveInfo.log("扫码完成：");
});
}
catch (Exception ex)
{
LogUtil.error("IN02_ScanCode 扫码出错：", ex);
}
}
private void IN03_GetPos()
{
try
{
MoveInfo.NewMove(MoveStep.IN03_GetPos);
string codestr = CodeManager.ProcessCode(LastCode);
if (LastCode.Count <= 0 || codestr.Equals(""))
{
CurrTray = TrayInfo.newNgTray(codestr, "扫码失败");
MoveInfo.log("未扫到条码，直接NG ");
}
else
{
MoveInfo.log("获取库位号: " + codestr);
GetPosTask = Task.Factory.StartNew(delegate
{
while (MoveInfo.MoveStep.Equals(MoveStep.IN03_GetPos))
{
string shelfRfid = RobotManage.mainMachine.getReadyShelf();
if (String.IsNullOrEmpty(shelfRfid))
{
//无可用料架
SetWarnMsg( $"{Name}：{codestr}暂无可用料架");
MoveInfo.errlog("获取库位号: " + WarnMsg + ",等待3秒后重新获取");
Thread.Sleep(3000);
}
else
{
ClearWarnMsg("暂无可用料架");
//获取库位号
string outMsg = "";
CurrTray = HttpServer.GetLocation(codestr, shelfRfid, out outMsg);
//需要取放料，且料架已准备好
if (outMsg.Equals(""))
{
ClearWarnMsg("getLocation");
MoveInfo.log("获取位置成功：" + CurrTray.ToStr());
}
else
{
SetWarnMsg( " getLocation " + outMsg);
}
break;
}
}
});
}
}
catch (Exception ex)
{
LogUtil.error("IN03_GetPos 扫码出错：", ex);
}
}
bool movelock = false;
internal void Lock()
{
movelock = true;
}
internal void Unlock()
{
movelock = false;
}
}
}