AutomaticBaiting.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;
namespace OnlineStore.DeviceLibrary
{
public partial class AutomaticBaiting
{
public static string TimeOut = "超时";
/// <summary>
/// 操作人员是否拿走料盘
/// </summary>
public static bool IsGetTrayGo = false;
public static bool IsWaitTragGo = false;
public static IO_VALUE WaitIoValue = IO_VALUE.LOW;
/// <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 LastWidth = 0;
private static List<string> LastCodeList = new List<string>();
public 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;
public static bool IsNeedAxisHome = true;
/// <summary>
/// 记录没开门状态下，已经出库的数量
/// </summary>
public static int BatchOutStoreCount = 0;
/// <summary>
/// 累计出库的高度
/// </summary>
public static int BatchOutStoreHeight = 0;
public static int BatchInStoreCount = 0;
public static int BatchInStoreHeight = 0;
public static WarnInfo WarnObj = new WarnInfo();
public static void SetWarnMsg(string code, params string[] param)
{
if (code.Equals(""))
{
// WarnMsg =msg;
WarnObj.WarnMsg = "";
WarnObj.MsgCode = "";
WarnObj.MsgParam = null;
}
else
{
// WarnMsg = String.Format(msg, param);
WarnObj.WarnMsg = ResourceControl.GetString(code, param);
WarnObj.MsgCode = code;
WarnObj.MsgParam = param;
}
}
public static void SetWarnMsgAndLog(string type, params string[] param)
{
SetWarnMsg(type, param);
LogUtil.error("AutomaticBaiting WarnObj: Type[" + WarnObj.MsgCode + "]Msg[" + WarnObj.WarnMsg + "]");
}
public static void SetWaitWarnMsg(string myType, string type, params string[] param)
{
WarnObj.WarnMsg = myType;
WarnObj.MsgCode = type;
WarnObj.MsgParam = param;
}
/// <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 = (ResourceControl.GetString(ResourceControl.CloseError, "锁门失败：请先关闭上料机构")); ;
return ResourceControl.CloseError;
}
return msg;
}
public static void ClearOutStoreInfo()
{
BatchOutStoreCount = 0;
BatchOutStoreHeight = 0;
BatchInStoreCount = 0;
BatchInStoreHeight = 0;
}
public static void ClearInStoreInfo()
{
LastCode = "";
LastCodeList = new List<string>();
LastPosId = "";
LastHeight = 0;
LastWidth = 0;
}
public static void StopRun()
{
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
AutomaticBaiting.CylinderMove(IO_Type.Clamping_Work, IO_Type.Clamping_Relax, null);
ClearInStoreInfo();
ClearOutStoreInfo();
}
public static void StopMove()
{
BatchAxisController.StopCheck();
StoreMove.EndMove();
ClearInStoreInfo();
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
AutomaticBaiting.CylinderMove(IO_Type.Clamping_Work, IO_Type.Clamping_Relax, null);
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false);
BatchDoorClose(false);
}
/// <summary>
/// 复位过程调用此方法
/// </summary>
/// <returns></returns>
public static bool StartReset()
{
return Reset(true, false);
}
public static bool Reset(bool isNeedHome, bool isNeedInout)
{
string msg = CanStart();
if (!String.IsNullOrEmpty(msg))
{
LogUtil.info(Name + "复位失败：" + msg);
return false;
}
if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchAlarm) ||
StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchAxisAlarm) || StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut))
{
LogUtil.info(Name + " 复位前，清理报警【" + StoreManager.Store.alarmType + "】");
StoreManager.Store.alarmType = StoreAlarmType.None;
IOManager.IOMove(IO_Type.Buzzer_Sign, IO_VALUE.LOW);
// WarnMsg = "";
SetWarnMsg("");
}
AutomaticBaiting.IsNeedStartInout = isNeedInout;
AutomaticBaiting.IsNeedAxisHome = isNeedHome;
if (!StoreMove.MoveType.Equals(StoreMoveType.None))
{
StopMove();
}
ClearInStoreInfo();
DoorStatus = 2;
AutoBaitingStatus = StoreRunStatus.Reset;
StoreMove.NewMove(StoreMoveType.StoreReset);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R00_Start);
LogUtil.info(Name + "开始复位，是否入库【" + AutomaticBaiting.IsNeedStartInout + "】,上料轴回原点【" + AutomaticBaiting.IsNeedAxisHome + "】");
return true;
}
private static void ResetProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
switch (StoreMove.MoveStep)
{
case StoreMoveStep.AUTO_R00_Start:
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R01_CloseDoor);
//关闭门，轴回原点，检测
BatchDoorClose(true);
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
AutomaticBaiting.CylinderMove(IO_Type.Clamping_Work, IO_Type.Clamping_Relax, StoreMove);
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
LogUtil.info(Name + "复位中：关闭门锁");
break;
case StoreMoveStep.AUTO_R01_CloseDoor:
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R02_AutoAxisHome);
StoreMove.TimeOutSeconds = 120;
bool isClearAlarm = false;
if (ACServerManager.GetAlarmStatus(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue()).Equals(1))
{
isClearAlarm = true;
LogUtil.debug(Name + "复位中：批量上下料轴清理报警");
ACServerManager.AlarmClear(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
Thread.Sleep(100);
}
if (isClearAlarm || IsNeedAxisHome)
{
LogUtil.info(Name + "复位中：批量上下料轴原点返回");
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
}
else
{
IsNeedInstore();
}
break;
case StoreMoveStep.AUTO_R02_AutoAxisHome:
IsNeedInstore();
break;
case StoreMoveStep.AUTO_R03_AutoAxisHome:
if (IOManager.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，上料轴回原点");
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:
Thread.Sleep(200);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R05_ToP2);
LogUtil.info(Name + "复位中：上料轴移动到p1点【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
break;
case StoreMoveStep.AUTO_R05_ToP2:
LogUtil.info(Name + "复位完成");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
// WarnMsg = "";
SetWarnMsg("");
IsNeedStartInout = false;
break;
default: break;
}
}
#region 入库流程
private static void IsNeedInstore()
{
if (IsNeedStartInout)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
int speed = StoreManager.Config.BatchAxis_TargetSpeed;
LogUtil.info(Name + "复位中：检测是否有料盘，批量轴匀速上升【" + speed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, speed, IO_Type.TrayCheck_LoadMaterial);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R05_ToP2);
LogUtil.info(Name + "复位中：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
}
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_I01_Wait);
LogUtil.info(Name + "启动入料");
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_I01_Wait))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
InStoreLog(" 已检测到料盘，轴不需要上升");
}
else
{
InStoreLog(" 轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp))
{
IsNeedScanCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_ScanCode))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Down);
InStoreLog(" 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
CylinderMove(IO_Type.ClampingDisc_Down, IO_Type.ClampingDisc_Up, true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Down))
{
SuckingDiscWork();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_SuckingDisc_Work))
{
// if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up);
InStoreLog(" 吸盘上升");
//CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else if (SuckingDisc_WorkCount < 3)
{
SuckingDiscWork();
}
else
{
//TODO 报警
//WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
SetWarnMsg(ResourceControl.XiLiaoError);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
LogUtil.error(WarnObj.WarnMsg, 103);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_SuckingDisc_Up))
{
bool needCheck = StoreManager.Config.DILIst.ContainsKey(IO_Type.Clamping_Check);
if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
// if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
{
if ((!needCheck) || IOManager.IOValue(IO_Type.Clamping_Check).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
InStoreLog(" 批量轴匀速上升【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
if (StoreManager.Store.Config.IsUse_Tray_Check.Equals(1))
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
if (StoreManager.Config.Default_TrayWidth.Equals(7))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}
else if (StoreManager.Config.Default_TrayWidth.Equals(13))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.HIGH));
}
else if (StoreManager.Config.Default_TrayWidth.Equals(0))
{
}
}
else
{
SetWarnMsg(ResourceControl.NO_Clamping_Check);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + StoreMove.MoveStep + "入料: 吸盘上升后未检测到夹爪气缸料盘信号，吸取料盘失败", 106);
}
}
else
{
SetWarnMsg(ResourceControl.XiLiaoError);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + StoreMove.MoveStep + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp))
{
// if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
{
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
//需要判断入库超时
if (StoreManager.Store.CanStarInOut())
{
LastWidth = StoreManager.Config.Default_TrayWidth;
if (LastWidth.Equals(0))
{
//料盘检测2亮为13寸盘，其他都认为是7寸盘
if (IOManager.IOValue(IO_Type.WidthCheck2).Equals(IO_VALUE.HIGH))
{
LastWidth = 13;
}
else if (IOManager.IOValue(IO_Type.WidthCheck1).Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 13;
}
}
LastHeight = GetHeight();
BatchInStoreCount++;
BatchInStoreHeight += LastHeight;
if (LastCode.Equals(""))
{
InStoreLog(" 未扫到二维码尺寸：【" + LastWidth + "*" + LastHeight + "】，将料盘送出，等待料盘拿走");
SendTrayOut();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_GetPosId);
LogUtil.debug(Name + StoreMove.MoveStep + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】");
GetInStorePosId(ProcessMsg());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
}
else if (span.TotalSeconds > 60)
{
StoreManager.Store.LoguStatus();
//一分钟还未开始，报警超时
// WarnMsg = "[" + StoreMove.MoveStep + "]" + ResourceControl.GetString(ResourceControl.TimeOut, "超时") + "[等待可以入库][" + Math.Round(span.TotalSeconds, 0) + "秒]";
SetWarnMsg(ResourceControl.WaitInstoreTimeOut, StoreMove.MoveStep + "", Math.Round(span.TotalSeconds, 0) + "");
LogUtil.error(WarnObj.WarnMsg, 105);
StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, "", WarnObj.WarnMsg, StoreMove.MoveType);
}
}
else
{
//WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
SetWarnMsg(ResourceControl.XiLiaoError);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnObj.WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + StoreMove.MoveStep + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I08_GetPosId))
{
//判断是否开始入库
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_WaitTrayLeave);
InStoreLog(" 开始入库【" + LastPosId + "】，等待料盘拿走");
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Relax, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Work, IO_VALUE.LOW));
}
else
{
InStoreLog(" 入库失败，尺寸：【" + LastWidth + "*" + LastHeight + "】将料盘送出，等待料盘拿走");
StoreManager.cancelPutInTask(LastSendCode);
SendTrayOut();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_WaitTrayLeave))
{
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None) ||
(StoreManager.Store.StoreMove.IsNeedInStore && StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_09_MoveToBag))
{
IsNeedScanCode();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_WaitTrayGo))
{
if (StoreManager.Store.CanStarInOut())
{
IsNeedScanCode();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I11_BatchAxisHome))
{
//TODO
InStoreLog(" 已经没有料盘，批量上料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + StoreMove.MoveStep + "未找到步骤：" + StoreMove.MoveType);
}
}
private static int GetHeight()
{
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
if (EndMovePosition.Equals(-1))
{
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
}
int cha = EndMovePosition - StartMovePosition;
LastHeight = (int)Math.Ceiling(1F * (cha) / AxisChangeValue);
int addHeight = 0;
//如果检测信号未亮，极限亮了，需要补充高
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW)&& BatchAxisInP3())
{
addHeight = StoreManager.Config.LastTrayAddHeight;
}
LastHeight += addHeight;
string msg = Name + StoreMove.MoveStep + " 计算盘高：脉冲值 [" + EndMovePosition + "-" + StartMovePosition + "]=[" + cha + "] ,补充[" + addHeight + "]";
if (LastHeight < 0)
{
LastHeight = StoreManager.Config.GetDefaultHeight();
msg += "使用默认值[" + LastHeight + "]";
}
if (LastHeight <= 8) { LastHeight = 8;
msg += "小于8[" + LastHeight + "]";
}
else
{
msg += "计算后[" + LastHeight + "]";
//LastHeight = (int)Math.Floor(1F * (LastHeight-1) / 4) * 4;
LastHeight = LastHeight - LastHeight % 4;
}
LogUtil.info(msg + ",归类为" + LastHeight + "【" + LastCode + "】");
return LastHeight;
}
private static List<AutoStorePosition> AllPosList = null;
private static void SendTrayOut()
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
StoreMove.TimeOutSeconds = 120;
string posId = StoreManager.Store.PositionNumList[0];
//盘先根据高低排序
if (AllPosList == null)
{
AllPosList = CSVPositionReader<AutoStorePosition>.getPositionList();
AllPosList = (from m in AllPosList orderby m.BagHeight ascending select m).ToList<AutoStorePosition>();
}
List<AutoStorePosition> okList = (from m in AllPosList where m.BagHeight >= LastHeight select m).ToList<AutoStorePosition>();
if (okList.Count > 0)
{
posId = okList[0].PositionNum;
}
else
{
LogUtil.info("未找到盘高>=" + LastHeight + "的库位");
}
bool result = StoreManager.Store.StartInStoreMove(new InOutStoreParam(LastCode, posId, LastHeight, LastWidth), true, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitStoreRuning());
}
private static void SuckingDiscWork()
{
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_SuckingDisc_Work);
SuckingDisc_WorkCount++;
InStoreLog(" 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
// IOManager.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));
CylinderMove(IO_Type.Clamping_Relax, IO_Type.Clamping_Work, StoreMove);
StoreMove.OneWaitCanEndStep = true;
}
private static void ClearTimeOut()
{
if (WarnObj.WarnMsg.Contains(TimeOut))
{
SetWarnMsg("");
}
}
private static void IsNeedScanCode()
{
ClearInStoreInfo();
SuckingDisc_WorkCount = 0;
//如果有超时异常，需要清理
if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut))
{
LogUtil.info(Name + StoreMove.MoveStep + " 扫码前清理超时报警【" + StoreManager.Store.alarmType + "】");
StoreManager.Store.alarmType = StoreAlarmType.None;
IOManager.IOMove(IO_Type.Buzzer_Sign, IO_VALUE.LOW);
ClearTimeOut();
}
// if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(0))
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_ScanCode);
InStoreLog(" 开始扫码，最多等待9000 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(9000));
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.OneWaitCanEndStep = true;
GetCameraCode();
}
else
{
//判断是否到达目标位置
//int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
//int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
//if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
if(BatchAxisInP3())
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
InStoreLog(" 批量轴到达P3，已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
InStoreLog(" 轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
}
}
}
private static bool BatchAxisInP3()
{
int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
{
return true;
}
return false;
}
#endregion
#region 出库流程
public static string StartOut()
{
if ((!StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing)) ||
(!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出料流程失败，料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType);
return "料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType;
}
if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O00_Wait);
LogUtil.info(Name + "启动出料");
return "";
}
else
{
LogUtil.error(Name + " 启动出料失败， Status=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
return "启动出料失败， Status = " + AutoBaitingStatus + "，MoveType = " + StoreMove.MoveType;
}
}
private static void OutStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
//取料盘时，先检测X12，若X12不亮，直接打开门。
//若X12亮，先匀速下降到X12不亮，再开门。
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O00_Wait))
{
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.LOW) && IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{
OutStoreLog("OutCheck=LOW ，直接打开门锁 ");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen);
BatchDoorOpen(true);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_BatchAxisDown);
OutStoreLog(": OutCheck=HIGH或TrayCheck_LoadMaterial=High，批量轴先匀速下降到P2 ");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
return;
//批量轴直接走到P2
AUTO_SA_Config Config = StoreManager.Config;
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P2, IO_Type.OutCheck, IO_VALUE.LOW));
BatchAxisController.StartCheck(IO_Type.OutCheck, IO_VALUE.LOW);
StoreManager.Config.Batch_Axis.TargetPosition = Config.BatchAxis_P2;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_OutMaxValue, Config.BatchAxis_P2_Speed, Config.Batch_Axis.AddSpeed, Config.Batch_Axis.DelSpeed);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_BatchAxisDown))
{
OutStoreLog("批量轴已下降到P2 ，打开门锁 ");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen);
BatchDoorOpen(true);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitDoorOpen))
{
OutStoreLog("回到待机点完成，出料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
return;
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow);
OutStoreLog("等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
else
{
StartSpeedOut();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O03_WaitOutSingleLow))
{
StartSpeedOut();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O04_SpeedMove))
{
//先判断极限是否亮
//int value = ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis);
int currValue = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
int count = Math.Abs(currValue - StoreManager.Config.BatchAxis_OutMaxValue);
//if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH) || count < StoreManager.Config.Batch_Axis.CanErrorCountMax)
if ( count < StoreManager.Config.Batch_Axis.CanErrorCountMax)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O06_WaitDI12Low);
OutStoreLog("当前坐标【" + currValue + "】已到达高点 ，等待出料检测信号关闭(最多等待10秒)");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));
StoreMove.OneWaitCanEndStep = true;
}
else
{
//等待出料信号亮
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow);
OutStoreLog("等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O06_WaitDI12Low))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O07_WaitDown);
OutStoreLog("等待1秒后批量轴回P2点");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O07_WaitDown))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O08_BackToP2);
OutStoreLog("上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O08_BackToP2))
{
//TODO
OutStoreLog("回到待机点完成，出料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
}
}
private static void StartSpeedOut()
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O04_SpeedMove);
AUTO_SA_Config Config = StoreManager.Config;
OutStoreLog("轴上升到检测到出料信号，速度【" + Config.BatchAxis_SlowSpeed + "】,最大上升高度【" + Config.BatchAxis_OutMaxValue + "】");
//ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_OutMaxValue, IO_Type.OutCheck));
BatchAxisController.StartCheck(IO_Type.OutCheck);
StoreManager.Config.Batch_Axis.TargetPosition = Config.BatchAxis_OutMaxValue;
int speed = Config.BatchAxis_SlowSpeed;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_OutMaxValue, speed, Config.Batch_Axis.AddSpeed, Config.Batch_Axis.DelSpeed);
}
private static void StopOutProcess()
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
LogUtil.error(Name + "正在出料中，停止出料流程");
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis);
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
}
#endregion
public static bool DoorIsClose()
{
if (IOManager.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public static bool DoorCloseOK()
{
if (DoorIsClose())
{
if (IOManager.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open).Equals(IO_VALUE.LOW) &&
IOManager.IOValue(IO_Type.BatchDoor_Close2).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open2).Equals(IO_VALUE.LOW))
{
return true;
}
}
return false;
}
/// <summary>
/// 是否可以打开门锁
/// </summary>
public static bool CanOpenBatchDoor()
{
if (!StoreMove.MoveType.Equals(StoreMoveType.None))
{
return false;
}
if (!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None))
{
return false;
}
if (StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing) && AutoBaitingStatus.Equals(StoreRunStatus.Runing))
{
return true;
}
return false;
}
public static void BatchDoorOpen(bool isWait)
{
ClearInStoreInfo();
ClearOutStoreInfo();
DoorStatus = 1;
IOManager.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.LOW);
IOManager.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));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close2, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open2, IO_VALUE.HIGH));
}
}
public static bool BatchDoorClose(bool isWait)
{
if (!IOManager.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return false;
}
ClearInStoreInfo();
ClearOutStoreInfo();
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));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open2, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close2, IO_VALUE.HIGH));
}
IOManager.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.HIGH);
return true;
}
private static void InStoreLog(string msg)
{
LogUtil.info(Name + " " + StoreMove.MoveStep + " " + "入料：" + msg);
}
private static void OutStoreLog(string msg)
{
LogUtil.info(Name + " " + StoreMove.MoveStep + " " + "出料：" + msg);
}
}
}