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
{
public static int LastHeight = 0;
public static int LastSize = 0;
public static string LastCode = "";
public static int AxisChangeValue = ConfigAppSettings.GetIntValue(Setting_Init.AxisChangeValue);
public static string WarnMsg = "";
public static string Name = "自动上下料";
public static StoreMoveInfo StoreMove = null;
public static StoreRunStatus AutoBaitingStatus = StoreRunStatus.Wait;
/// <summary>
/// 门状态，0=位初始化，1=关闭，2=打开，
/// </summary>
public static int AutoDoorSatus = 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()
{
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();
}
}
}
/// <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;
}
//吸盘压力确认
if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.LOW))
{
msg = "吸盘压力无信号";
return msg;
}
return msg;
}
public static bool StartReset()
{
string msg = CanStart();
if (!String.IsNullOrEmpty(msg))
{
LogUtil.info(Name+"复位失败："+msg);
return false;
}
AutoBaitingStatus = StoreRunStatus.Reset;
StoreMove.NewMove(StoreMoveType.StoreReset);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R01_CloseDoor);
//关闭门，轴回原点，检测
AutoDoorClose(true);
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
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：自动轴原点返回");
ACAxisHomeMove(StoreManager.Config.Auto_Axis);
break;
case StoreMoveStep.AUTO_R02_AutoAxisHome:
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.Auto_Axis, StoreManager.Config.Auto_Axis.TargetSpeed);
break;
case StoreMoveStep.AUTO_R03_AutoAxisHome:
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{
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);
ACAxisHomeMove(StoreManager.Config.Auto_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 = "";
break;
default: break;
}
}
public static bool StartInOut()
{
if (AutoBaitingStatus == StoreRunStatus.Runing)
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.InStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I01_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.Auto_Axis, StoreManager.Config.Auto_Axis.TargetSpeed);
}
return true;
}
else
{
LogUtil.error(Name + " 启动入料出错，当前状态，AutoBaitingStatus=" + AutoBaitingStatus);
return false;
}
}
private static void InStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I01_MoveToUp))
{
SuckingDiscWork();
}else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I02_SuckingDisc_Down))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_SuckingDisc_Work);
LogUtil.info(Name + "入料: 开始吸料盘");
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I03_SuckingDisc_Work))
{
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.Auto_Axis, StoreManager.Config.Auto_Axis.TargetSpeed);
}
else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up))
{
//需要料仓没有出入库才可以扫码
if (StoreManager.Store.CanStarInOut())
{
LastHeight = 0;
LastSize = 0;
LastCode = "";
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_ScanCode);
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Auto_Axis.DeviceName, StoreManager.Config.Auto_Axis.GetAxisValue());
int height = Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue;
int size = GetSize();
LogUtil.info(Name + "入料: 开始扫码，料盘尺寸：【" + size + "*" + height + "】");
LastHeight = height;
LastSize = size;
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
StoreMove.OneWaitCanEndStep = true;
}
}
else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I05_ScanCode))
{
if (LastCode.Equals(""))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_OpenDoor);
LogUtil.info(Name + "入料: 未扫到二维码，打开仓门");
CylinderMove(IO_Type.Door_Up, IO_Type.Door_Down, true);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料，等待料盘拿走");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Work, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}
}else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I06_WaitTrayLeave))
{
SuckingDiscWork();
} else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I07_OpenDoor)){
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_WaitTakeTray);
LogUtil.info(Name + "入料: 未扫到二维码，等待拿走料盘");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Work, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}
else if (StoreMove.MoveType.Equals(StoreMoveStep.AUTO_I08_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.MoveType.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.MoveType.Equals(StoreMoveStep.AUTO_I10_CloseDoor))
{
SuckingDiscWork();
}
else
{
LogUtil.error(Name+"未找到步骤："+StoreMove.MoveType);
}
}
/// <summary>
/// 吸盘下降开始吸走料盘
/// </summary>
private static void SuckingDiscWork()
{
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
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
{
//TODO
LogUtil.info(Name + "入料：已经没有料盘，入料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
}
public static void OutStoreProcess()
{
}
public static bool DoorIsClose()
{
if (KND.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public static void AutoDoorOpen (bool isWait)
{
KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.LOW);
KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.HIGH);
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AutoDoor_Close, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AutoDoor_Open, IO_VALUE.HIGH));
}
}
public static void AutoDoorClose(bool isWait)
{
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AutoDoor_Open, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AutoDoor_Close, IO_VALUE.HIGH));
}
KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.LOW);
KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.HIGH);
}
//public static void SuckingDiscDown(bool isWait)
//{
// if (isWait)
// {
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Up, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Down, IO_VALUE.HIGH));
// }
// KND.IOMove(IO_Type.SuckingDisc_Up, IO_VALUE.LOW);
// KND.IOMove(IO_Type.SuckingDisc_Down, IO_VALUE.HIGH);
//}
//public static void SuckingDiscUp(bool isWait)
//{
// if (isWait)
// {
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Down, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Up, IO_VALUE.HIGH));
// }
// KND.IOMove(IO_Type.SuckingDisc_Down, IO_VALUE.LOW);
// KND.IOMove(IO_Type.SuckingDisc_Up, IO_VALUE.HIGH);
//}
}
}