ElectricGripper.cs
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using OnlineStore;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class ElectricGripper
{
private Neotel.Rmaxis axis;
public Enum GripperType = GripperTypeE.None;
int clampTimes = 0;
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()
{
try
{
axis.ClosePort();
}
catch { }
}
public bool Clamp(MoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Gripper;
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction),crc.GetString("Res0192","夹爪夹紧")));
if (!IsBusy)
{
axis.ResetError();
axis.Push(ConfigHelper.Config.Get("ElectricGripperPushForce",40), 6f, 20);
clampTimes++;
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
return true;
}
else {
if (axis.ErrorCode > 0) {
LogUtil.info($"ElectricGripper ErrorCode:{axis.ErrorCode}");
axis.ResetError();
}
return false;
}
}
public bool Release(MoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Release;
HomeReset();
return true;
if (!IsBusy)
{
axis.StopAxis();
axis.ResetError();
axis.MoveAbsolute(0, 50, 100, 100, 0.5f);
clampTimes = 0;
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
return true;
}
else
{
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction), crc.GetString("Res0193","夹爪放松")));
return false;
}
}
public void HomeReset(MoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Reset;
//ClosePort();
//OpenPort(ConfigHelper.Config.Get("ElectricGripperPort"));
axis.StopAxis();
axis.ResetError();
axis.GoHome();
clampTimes = 0;
// }
//if (moveInfo != null)
// moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public bool IsBusy
{
get
{
LogUtil.info($"ElectricGripper IsReached:{axis.IsReached},IsMoving:{axis.IsMoving}");
//return false;
return axis.IsMoving;
}
}
public bool IsClamp
{
get
{
return !axis.IsPushEmpty;
}
}
bool WaitAction(WaitResultInfo w)
{
if (this.IsBusy)
return false;
if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
{
if (this.IsClamp)
return true;
else
{
if (clampTimes<=2)
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
}
}
}