AutomaticBaiting_Partial.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.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AutomaticBaiting
{
private static int StartMovePosition = 0;
private static int EndMovePosition = 0;
public static int AutoAxisIsMove = 0;
private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed)
{
AutoAxisIsMove = 1;
StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName,moveAxis.GetAxisValue());
EndMovePosition = StartMovePosition;
StoreMove.WaitList.Add(WaitResultInfo.WaitAutoAxisStop(moveAxis));
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
}
private static void ACAxisRelMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
}
private static void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{
moveAxis.TargetPosition = 0;
LogUtil.debug(Name + moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
}
private static bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
{
msg = "";
if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount > moveAxis.CanErrorCountMax)
{
////判断是否需要重新运动
//if (StoreMove.CanWhileCount > 0)
//{
// LogUtil.error(Name+ moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
// ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
// StoreMove.CanWhileCount--;
//}
//else
//{
msg = Name + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error( msg);
return false;
//}
}
return true;
}
return false;
}
private static void CheckWait()
{
List<WaitResultInfo> list = StoreMove.WaitList;
if (list.Count <= 0)
{
StoreMove.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
bool isOk = !StoreMove.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == 1)
{
wait.IsEnd = AxisMoveISEnd(wait);
}
else if (wait.WaitType == 2)
{
wait.IsEnd = KND.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = StoreManager.Config.getWaitIO(wait.IoType);
WarnMsg = Name + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
StoreManager.Store.Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(WarnMsg);
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == 5)
{
}
else if (wait.WaitType == 6)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
else if (wait.WaitType == 7)
{
}
else if (wait.WaitType == 8)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitNegativeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
else if (wait.WaitType == 9)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitPositiveSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
else if (wait.WaitType == 10)
{
wait.IsEnd = AutoAxisIsEnd(wait);
}
else if (wait.WaitType == 11)
{
wait.IsEnd = !String.IsNullOrEmpty(LastCode);
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
}
else if (span.TotalSeconds > StoreMove.TimeOutSeconds)
{
if (NotOkMsg.Equals(""))
{
WarnMsg = Name + "等待超时【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】已等待【" + Math.Round(span.TotalSeconds) + "】秒";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
LogUtil.error(WarnMsg);
}
else
{
WarnMsg = Name + "【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】等待超时 [" + NotOkMsg
+ "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg);
}
StoreManager.Store.Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, StoreMove.MoveType);
}
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
private static bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
bool isOk = ACServerManager.GetBusyStatus(moveAxis.DeviceName, moveAxis.GetAxisValue()).Equals(0);
if (isOk)
{
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount - targetPosition);
if (errorCount <= moveAxis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount +
"]，误差过大，重新运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
StoreMove.CanWhileCount--;
}
else
{
msg = Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
private static bool AxisMoveISEnd(WaitResultInfo wait)
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!wait.IsEnd)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
if (value.Equals(IO_VALUE.HIGH))
{
ACServerManager.SuddenStop(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
LogUtil.error(Name + wait.ToStr() + "原点返回过程中到达 负限位，直接停止运动");
StoreManager.Store.Alarm(StoreAlarmType.AxisMoveError, StoreManager.Store.GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, StoreMove.MoveType);
}
}
if (!msg.Equals(""))
{
WarnMsg = msg;
StoreManager.Store.Alarm(StoreAlarmType.AxisMoveError, StoreManager.Store.GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, StoreMove.MoveType);
}
return wait.IsEnd;
}
private static bool AutoAxisIsEnd(WaitResultInfo wait)
{
bool result = false;
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
result = true;
}
else
{
IO_VALUE LimitN = (IO_VALUE)ACServerManager.GetLimitNegativeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
if (LimitN.Equals(IO_VALUE.HIGH))
{
result = true;
}
}
if (result)
{
AutoAxisIsMove = 0;
ACServerManager.SuddenStop(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
}
return result;
}
public static int GetSize()
{
if (KND.IOValue(IO_Type.WidthCheck1).Equals(IO_VALUE.HIGH))
{
if (KND.IOValue(IO_Type.WidthCheck2).Equals(IO_VALUE.HIGH))
{
return 13;
}
else
{
return 7;
}
}
return 0;
}
#region Halcon扫码枪代码
public bool IsTestCamera = false;
private static string spiltStr = "##";
public static void GetCameraCode()
{
Task.Factory.StartNew(delegate ()
{
KND.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
string message = "";
List<string> codeList = CodeManager.CameraScan();
if (codeList.Count <= 0)
{
codeList = CodeManager.CameraScan();
}
foreach (string str in codeList)
{
message = message + "=1+0x0-" + LastSize + "x" + LastHeight + " =" + str + spiltStr;
}
LastCode = message;
if (LastCode.Equals(""))
{
LogUtil.error("未扫到二维码，请拿走料盘");
WarnMsg = "未扫到二维码，请拿走料盘";
}
KND.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
StoreManager.Store.onCodeReceived(message);
});
}
#endregion
private static void CylinderMove(string highType, string lowType, bool isWait)
{
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(lowType, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(highType, IO_VALUE.HIGH));
}
KND.IOMove(lowType, IO_VALUE.LOW);
KND.IOMove(highType, IO_VALUE.HIGH);
}
}
}