AutomaticBaiting.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace OnlineStore.DeviceLibrary
{
public partial class AutomaticBaiting
{
/// <summary>
/// 操作人员是否拿走料盘
/// </summary>
public static bool IsGetTrayGo = false;
public static bool IsWaitTragGo = false;
/// <summary>
/// 0=未知。1=门打开，2=门关闭
/// </summary>
public static int DoorStatus = 2;
private static int LastHeight = 0;
private static int LastSize = 0;
private static string LastCode = "";
private static string LastPosId = "";
public static int AxisChangeValue = ConfigAppSettings.GetIntValue(Setting_Init.AxisChangeValue);
public static string WarnMsg = "";
public static string CodeMsg = "";
public static string Name = "批量上下料 ";
public static StoreMoveInfo StoreMove = null;
public static StoreRunStatus AutoBaitingStatus = StoreRunStatus.Wait;
public static bool IsNeedStartInout = false;
//记录没开门状态下，已经出库的数量
public static int BatchOutStoreCount = 0;
public static int BatchOutStoreHeight = 0;
/// <summary>
/// 初始化数据
/// </summary>
public static void Init()
{
StoreMove = new StoreMoveInfo(Name);
}
/// <summary>
/// 定时处理
/// </summary>
public static void TimerProcess()
{
try
{
if (AutoBaitingStatus >= StoreRunStatus.Wait)
{
if (StoreMove.MoveType.Equals(StoreMoveType.StoreReset))
{
ResetProcess();
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore))
{
InStoreProcess();
}
else if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
//OutStoreProcess();
}
}
}catch(Exception ex)
{
LogUtil.error(Name+"出错："+ex.StackTrace);
}
}
/// <summary>
/// 判断是否可以启动
/// </summary>
/// <returns></returns>
public static string CanStart()
{
string msg = "";
//需要判断门关闭
if (!DoorIsClose())
{
msg = "上料机构门未关闭";
return msg;
}
return msg;
}
private static void ClearInOutInfo()
{
BatchOutStoreCount = 0;
BatchOutStoreHeight = 0;
LastCode = "";
LastPosId = "";
LastHeight = 0;
LastSize = 0;
}
public static void StopMove()
{
StoreMove.EndMove();
ClearInOutInfo();
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, false);
BatchDoorClose(false);
}
public static bool Reset()
{
string msg = CanStart();
if (!String.IsNullOrEmpty(msg))
{
LogUtil.info(Name + "复位失败：" + msg);
return false;
}
ClearInOutInfo();
DoorStatus = 2;
AutoBaitingStatus = StoreRunStatus.Reset;
StoreMove.NewMove(StoreMoveType.StoreReset);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R01_CloseDoor);
//关闭门，轴回原点，检测
BatchDoorClose(true);
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down,true);
LogUtil.info(Name + "复位中：关闭门锁");
return true;
}
private static void ResetProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
switch (StoreMove.MoveStep)
{
case StoreMoveStep.AUTO_R01_CloseDoor:
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R02_AutoAxisHome);
LogUtil.info(Name + "复位中：批量上下料轴原点返回");
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
break;
case StoreMoveStep.AUTO_R02_AutoAxisHome:
if (IsNeedStartInout)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
LogUtil.info(Name + "复位中：匀速向上运动，检测 是否有料盘");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
else
{
LogUtil.info(Name + "复位完成");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
WarnMsg = "";
IsNeedStartInout = false;
}
break;
case StoreMoveStep.AUTO_R03_AutoAxisHome:
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
//if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(1))
{
LogUtil.info(Name + "复位中: 没有料盘，不需要上料，上料轴回0点");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R04_AutoBack);
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
}
else
{
LogUtil.info(Name + "复位完成，有料盘，需要开始自动入料");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
//TODO
StartInOut();
}
break;
case StoreMoveStep.AUTO_R04_AutoBack:
LogUtil.info(Name + "复位完成");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
WarnMsg = "";
IsNeedStartInout = false;
break;
default: break;
}
}
public static bool StartInOut()
{
if ((!StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing)) ||
(!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动入料失败，料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType);
return false;
}
if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.InStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I00_MoveToUp);
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动入料 ，已检测到料盘，轴不需要上升");
}
else
{
LogUtil.error(Name + " 启动入料 ，轴上升到检测到料盘");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
return true;
}
else
{
LogUtil.error(Name + " 启动入料失败， Status=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
return false;
}
}
private static int SuckingDisc_WorkCount = 0;
private static void InStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I00_MoveToUp))
{
IsNeedScanCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I01_ScanCode))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_SuckingDisc_Down);
LogUtil.info(Name + "入料: 检测到料盘， 吸盘开始下降");
CylinderMove(IO_Type.SuckingDisc_Down, IO_Type.SuckingDisc_Up, true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_SuckingDisc_Down))
{
SuckingDiscWork();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_SuckingDisc_Work))
{
if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升，同时上料轴也上升");
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
else if (SuckingDisc_WorkCount < 3)
{
SuckingDiscWork();
}
else
{
//TODO 报警
WarnMsg = "吸盘已经尝试三次，仍然吸不到物料！";
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up))
{
if (StoreManager.Store.CanStarInOut())
{
if (LastCode.Equals(""))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
LogUtil.info(Name + "入料: 未扫到二维码，叉子过来拿料盘");
string posId = StoreManager.Store.PositionNumList[0];
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_GetPosId);
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
LastHeight = Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue;
LastSize = GetSize();
LogUtil.info(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastSize + "*" + LastHeight + "】二维码【" + LastCode + "】");
GetInStorePosId(ProcessMsg());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
StoreMove.OneWaitCanEndStep = true;
}
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_GetPosId))
{
//判断是否开始入库
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料【" + LastPosId + "】，等待料盘拿走");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
LogUtil.info(Name + "入料: 未扫到二维码，叉子过来拿料盘");
string posId = StoreManager.Store.PositionNumList[0];
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_WaitTrayLeave))
{
if (StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_07_DeviceBackFromDoor)
{
IsNeedScanCode();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_WaitTrayGo))
{
if (StoreManager.Store.CanStarInOut())
{
IsNeedScanCode();
}
}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I011_WaitTakeTray))
//{
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime);
// LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，等待1秒后关门");
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
//}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime))
//{
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_CloseDoor);
// LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，关闭仓门");
// CylinderMove(IO_Type.Door_Down, IO_Type.Door_Up, true);
//}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_CloseDoor))
//{
// IsNeedScanCode();
//}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
}
}
private static void SuckingDiscWork()
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_SuckingDisc_Work);
SuckingDisc_WorkCount++;
LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.HIGH));
StoreMove.OneWaitCanEndStep = true;
}
private static void IsNeedScanCode()
{
LastCode = "";
LastHeight = 0;
LastSize = 0;
LastPosId = "";
SuckingDisc_WorkCount = 0;
// if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(0))
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I01_ScanCode);
LogUtil.info(Name + "入料: 开始扫码 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
GetCameraCode();
StoreMove.OneWaitCanEndStep = true;
}
else
{
//TODO
LogUtil.info(Name + "入料：已经没有料盘，入料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
}
//public static bool StartOutStore(string PosId)
//{
// AutoStorePosition position = CSVPositionReader<AutoStorePosition>.GetPositon(PosId);
// if (position == null)
// {
// LogUtil.error(Name + " 启动出料失败，PosId【" + PosId + "】未找到库位信息" );
// return false;
// }
// if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
// {
// AutoBaitingStatus = StoreRunStatus.Busy;
// StoreMove.NewMove(StoreMoveType.InStore);
// StoreMove.PosId = PosId;
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_SuckingDisc_Work);
// if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
// {
// LogUtil.info(Name + " 启动出料 ，已检测到料盘，轴不需要上升");
// }
// else
// {
// LogUtil.info(Name + " 启动出料 ，轴上升到检测到料盘");
// ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
// }
// return true;
// }
// else
// {
// LogUtil.error(Name + " 启动出料失败，AutoBaitingStatus=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
// return false;
// }
//}
//private static void OutStoreProcess()
//{
// if (StoreMove.IsInWait)
// {
// CheckWait();
// }
// if (StoreMove.IsInWait)
// {
// return;
// }
// if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_SuckingDisc_Work))
// {
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitTimeDown);
// LogUtil.info(Name + " 出料：等待叉子后退后，吸盘下降");
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
// }
// else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitTimeDown))
// {
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SuckingDisc_Down);
// LogUtil.info(Name + " 出料：吸盘下降，上料轴向下运动");
// CylinderMove(IO_Type.SuckingDisc_Down, IO_Type.SuckingDisc_Up, true);
// //上料轴需要向下走
// AutoStorePosition position = CSVPositionReader<AutoStorePosition>.GetPositon(StoreMove.PosId);
// int axisValue = AxisChangeValue * position.BagHeight;
// int currPosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
// int targetValue = currPosition - axisValue;
// //判断盘满后，需要报警?
// if (targetValue < 0)
// {
// WarnMsg = "库已满，请先拿走！";
// LogUtil.error(Name + WarnMsg);
// }
// else
// {
// ACAxisRelMove(StoreManager.Config.InOut_Axis, StoreManager.Config.InOut_Axis.TargetSpeed, targetValue);
// }
// }
// else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O03_SuckingDisc_Down))
// {
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_O04_PutTrayDown);
// LogUtil.info(Name + " 出料：放下物料");
// KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_LoadMaterial, IO_VALUE.HIGH));
// }
// else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O04_PutTrayDown))
// {
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_O05_SuckingDisc_Up);
// LogUtil.info(Name + " 出料：吸盘上升");
// CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
// }
// else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O05_SuckingDisc_Up))
// {
// LogUtil.info(Name + "出料：出料结束");
// StoreMove.EndMove();
// AutoBaitingStatus = StoreRunStatus.Runing;
// }
// else
// {
// LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
// }
//}
public static bool DoorIsClose()
{
if (KND.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public static void BatchDoorOpen(bool isWait)
{
ClearInOutInfo();
DoorStatus = 1;
KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.LOW);
KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.HIGH);
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.HIGH));
}
}
public static void BatchDoorClose(bool isWait)
{
ClearInOutInfo();
DoorStatus = 2;
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.HIGH));
}
KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.LOW);
KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.HIGH);
}
}
}