ElectricGripper.cs
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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 OnlineStore.DeviceLibrary
{
public class ElectricGripper
{
private int subType = 0;
public Neotel.Rmaxis axis;
private int Force=50;
public Enum GripperType = GripperTypeE.None;
public ElectricGripper(int force){
Force = force;
}
public bool OpenPort(string port)
{
axis = new Neotel.Rmaxis();
bool rtn = axis.OpenPort(port);
//var s = "版本号\r\n" + axis.GetVersion();
return rtn;
}
public void ClosePort() {
axis.ClosePort();
}
public bool Clamp(StoreMoveInfo moveInfo = null,int plateW=7)
{
GripperType = GripperTypeE.Gripper;
if (!IsBusy)
{
//if (plateW > 7)
try
{
var f= (float)ConfigAppSettings.GetNumValue("ClampOpen", 5);
axis.Push(Force, f, 15);
}
catch(Exception e) {
LogUtil.info(e.ToString());
return false;
}
if (moveInfo!=null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
return true;
}
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
return false;
}
public bool Release(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Release;
if (!IsBusy)
{
//axis.StopAxis();
//Thread.Sleep(500);
axis.MoveAbsolute(0, 30, 500, 500, 0.1f);
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
return true;
}
else
{
//axis.StopAxis();
//Thread.Sleep(500);
//axis.GoHome();
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
return false;
}
}
public void HomeReset(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Reset;
//if (!IsBusy)
//{
axis.StopAxis();
axis.ResetError();
axis.GoHome();
// }
//if (moveInfo != null)
// moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public bool IsBusy {
get {
LogUtil.info($"ElectricGripper IsReached:{axis.IsReached},IsMoving:{axis.IsMoving},Pos:{axis.GetPosition()}");
//return false;
try
{
return !axis.IsReached;
}
catch (Exception e)
{
LogUtil.info(e.ToString());
return true;
}
}
}
public bool IsClamp {
get
{
return !axis.IsPushEmpty;
}
}
public bool IsPushEmpty { get => axis.IsPushEmpty; }
public bool IsMoving { get => axis.IsMoving; }
public bool IsReached { get => axis.IsReached; }
public int ErrorCode { get => axis.ErrorCode; }
bool WaitAction(WaitResultInfo w)
{
if (this.IsBusy)
return false;
if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
{
if (this.IsClamp)
return true;
else
{
this.Clamp();
return false; ;
}
}
else if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Release))
{
return this.Release();
}
else if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Reset))
{
return this.IsBusy;
}
else {
return true;
}
}
public enum GripperTypeE
{
Gripper,
Release,
Reset,
None
}
}
}