LabelMachine.partial.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
namespace DeviceLibrary
{
public partial class LabelMachine
{
//保存贴标位置调试图像
public bool saveLabelDebugBmp = true;
public void test() {
Console.WriteLine(preReelParam);
}
double labelRAxisPos = 0;
Point p1;
bool ReverseLabel=false;
//是否允许进入贴标线体
public bool TrayCanIN()
{
return IOValue(IO_Label_Type.Tray_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Label_Type.TrayStop_Down).Equals(IO_VALUE.HIGH);
//return IOValue(IO_Label_Type.Line_HasTray_Check).Equals(IO_VALUE.LOW);
}
//贴标入口料盘到位检测
public IO_VALUE Tray_Check
{
//阻挡检测
get=> IOValue(IO_Label_Type.Tray_Check);
//对射检测
//get=> IOValue(IO_Label_Type.Line_HasTray_Check);
}
Task printTask = null;
int reelcount = 0;
void WorkProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Lbl_01_Wait_ATray:
var Label_TaryStop_Check = IOValue(IO_Label_Type.Label_TaryStop_Check);
//LogUtil.OutputDebugString($"Tray_Check:{IOValue(IO_Label_Type.Tray_Check)},Label_TaryStop_Check:{Label_TaryStop_Check},preReelParam:{preReelParam!=null}");
if (Tray_Check.Equals(IO_VALUE.HIGH) && Label_TaryStop_Check.Equals(IO_VALUE.LOW) && preReelParam != null)
{
MoveInfo.NextMoveStep(MoveStep.Lbl_02_StopUP);
MoveInfo.ReelParam = preReelParam;
preReelParam = null;
MoveInfo.log("检测到料盘 ReelParam:" + MoveInfo.ReelParam.ToStr());
}
//else if (Tray_Check.Equals(IO_VALUE.HIGH) && MoveInfo.IsTimeOut(30))
//{
// MoveInfo.NextMoveStep(MoveStep.Lbl_02_StopUP);
// MoveInfo.ReelParam.IsNg = true;
// MoveInfo.ReelParam.NgMsg = "超时NG:没有等到料盘信息";
// MoveInfo.log("检测到料盘 超时NG:没有等到料盘信息");
//}
else if (Tray_Check.Equals(IO_VALUE.HIGH)) {
Msg.add($"已检测到料盘, 等待料盘数据信息到位", MsgLevel.info);
}
else if (Label_TaryStop_Check.Equals(IO_VALUE.HIGH))
{
Msg.add("贴标区有料未送出", MsgLevel.warning);
MoveInfo.log("贴标区有料未送出");
MoveInfo.NextMoveStep(MoveStep.Lbl_01_Wait_ATray);
}
else
{
Msg.add($"等待上料区进入料盘", MsgLevel.info);
MoveInfo.log("等待上料区进入料盘");
MoveInfo.NextMoveStep(MoveStep.Lbl_01_Wait_ATray);
}
break;
case MoveStep.Lbl_02_StopUP:
if (MoveInfo.ReelParam.IsNg)
{
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.HIGH);
MoveInfo.log("NG盘直接通过");
return;
}
MoveInfo.NextMoveStep(MoveStep.Lbl_03_LineRun);
MoveInfo.log("上料区阻挡上升,贴标区阻挡下降");
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.LOW);
ReelLocation reelLocation;
if (RobotManage.offlinemode)
{
reelLocation = RobotManage.offlinereelLocation;
//printTask = DoPrint(MoveInfo.ReelParam, false);
}
else
{
reelLocation = ServerConn.DetermineReelStorageLocation(MoveInfo.ReelParam.WareCode);
}
if (reelLocation == null)
{
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "获取料盘目的地失败";
MoveInfo.ReelParam.logresult();
MoveInfo.log("获取料盘目的地失败");
}
else
{
if (!string.IsNullOrEmpty(reelLocation.isTower))
{
MoveInfo.ReelParam.ReelDest = ReelDest.String;
}
else if (!string.IsNullOrEmpty(reelLocation.isVTTower))
{
MoveInfo.ReelParam.ReelDest = ReelDest.Paper;
}
else if (!string.IsNullOrEmpty(reelLocation.isVacuum))
{
MoveInfo.ReelParam.ReelDest = ReelDest.MSD;
}
else
{
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "服务器没有返回明确目标";
MoveInfo.ReelParam.logresult();
MoveInfo.log("服务器没有返回明确目标");
}
if (RobotManage.offlinemode && !MoveInfo.ReelParam.IsNg)
{
printTask = DoPrint(MoveInfo.ReelParam, false);
}
}
break;
case MoveStep.Lbl_03_LineRun:
MoveInfo.NextMoveStep(MoveStep.Lbl_03_StopDown_and_wait);
MoveInfo.log("线体1,2开始运行");
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.HIGH);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case MoveStep.Lbl_03_StopDown_and_wait:
MoveInfo.NextMoveStep(MoveStep.Lbl_04_LineStopWait);
MoveInfo.log("等待区阻挡下降");
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Label_Type.Label_TaryStop_Check, IO_VALUE.HIGH));
break;
case MoveStep.Lbl_04_LineStopWait:
MoveInfo.NextMoveStep(MoveStep.Lbl_04_LineStop);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.Lbl_04_LineStop:
MoveInfo.NextMoveStep(MoveStep.Lbl_05_ScanCode);
MoveInfo.log($"线体1,2停止运行,阻挡上升,并拍照 Label_TaryStop_Check:{IOValue(IO_Label_Type.Label_TaryStop_Check)}");
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.LOW);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.LOW) ;
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.HIGH);
break;
case MoveStep.Lbl_05_ScanCode:
MoveInfo.NextMoveStep(MoveStep.Lbl_06_Get_Reelinfo);
ScanTask = ScanCode();
break;
case MoveStep.Lbl_06_Get_Reelinfo:
if (ScanTask.IsCompleted)
{
var (sr,bitmap) = ScanTask.Result;
if (sr.Count == 0)
{
MoveInfo.NextMoveStep(MoveStep.Lbl_WaitCheckLabel);
MoveInfo.log($"未识别到有效二维码");
}
else
{
if (MoveInfo.ReelParam.WareCode != sr[0].CodeStr)
{
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
Msg.add($"扫描到的Reelid与发出打印的不一致,系统:{MoveInfo.ReelParam.WareCode},实际:{sr[0].CodeStr}", MsgLevel.warning);
MoveInfo.log($"扫描到的Reelid与发出打印的不一致,系统:{MoveInfo.ReelParam.WareCode},实际:{sr[0].CodeStr}");
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "扫描到的Reelid与发出打印的不一致";
MoveInfo.ReelParam.logresult();
}
else {
MoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
MoveInfo.ReelParam.codeInfos = sr;
MoveInfo.log($"已完成扫码, Count={sr.Count}");
MoveInfo.ReelParam.logresult();
}
MoveInfo.ReelParam.logresult();
//标签坐标
Point Label_Pix_Point = new Point(MoveInfo.ReelParam.codeInfos[0].X, MoveInfo.ReelParam.codeInfos[0].Y);
//照片坐标反转180度
var x = 5472 - Label_Pix_Point.X;
var y = 3648 - Label_Pix_Point.Y;
Label_Pix_Point.X = x;
Label_Pix_Point.Y = y;
//图像也旋转180度
bitmap.RotateFlip(RotateFlipType.Rotate180FlipNone);
(p1, labelRAxisPos, ReverseLabel) = ClacLabel2(Label_Pix_Point,bitmap, MoveInfo.ReelParam);
}
}
else if (MoveInfo.IsTimeOut(20))
{
MoveInfo.NextMoveStep(MoveStep.Lbl_04_LineStop);
MoveInfo.log($"等待扫码超时,重新扫码");
}
break;
case MoveStep.Lbl_Printted:
//bool isPrintOk = LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Idle);
if (IOValue(IO_Label_Type.Label_Cylinder_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.Lbl02);
Label_Z_Axis.AbsMove(MoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.HIGH);
MoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
}
else if (MoveInfo.IsTimeOut(25))
{
Msg.add($"标签打印超时{MoveInfo.TimeOutSeconds}秒", MsgLevel.warning);
MoveInfo.log("标签打印超时, 放弃贴标NG处理");
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "标签打印超时";
MoveInfo.ReelParam.logresult();
}
else if (MoveInfo.IsTimeOut(15)) {
Msg.add($"标签打印超时{MoveInfo.TimeOutSeconds}秒",MsgLevel.warning);
MoveInfo.log("标签打印超时");
}
break;
case MoveStep.Lbl02:
MoveInfo.NextMoveStep(MoveStep.Lbl03);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
MoveInfo.log("等待.");
break;
case MoveStep.Lbl03:
MoveInfo.NextMoveStep(MoveStep.Lbl10);
Label_Z_Axis.AbsMove(MoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
MoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
case MoveStep.Lbl10:
MoveInfo.NextMoveStep(MoveStep.Lbl11_wait);
Label_X_Axis.AbsMove(MoveInfo, p1.X, Config.Label_X_Base_speed);
Label_Y_Axis.AbsMove(MoveInfo, p1.Y, Config.Label_X_Base_speed);
Label_Z_Axis.AbsMove(MoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.log("Label_XYZ转到贴标点.");
break;
case MoveStep.Lbl11_wait:
MoveInfo.NextMoveStep(MoveStep.Lbl11);
Label_R_Axis.AbsMove(MoveInfo, (int)labelRAxisPos, Config.Label_R_P2_speed);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.log("等待.");
break;
case MoveStep.Lbl11:
MoveInfo.NextMoveStep(MoveStep.Lbl12);
var p5 = Config.Label_Z_P5;
p5 = p5 - (MoveInfo.ReelParam.PlateH - 8) * Config.Label_Z_Axis_ChangeValue;
Label_Z_Axis.AbsMove(MoveInfo, p5, Config.Label_Z_P5_speed);
MoveInfo.log("取标气缸下降.");
break;
case MoveStep.Lbl12:
MoveInfo.NextMoveStep(MoveStep.Lbl13);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Lbl13:
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.LOW);
MoveInfo.log("关闭吸气.");
Label_Z_Axis.AbsMove(null, Config.Label_Z_P2, Config.Label_Z_P2_speed);
MoveInfo.log("取标气缸上升.");
break;
case MoveStep.Lbl_WaitCheckLabel:
Msg.add("未识别到有效二维码", MsgLevel.warning);
if (IOValue(IO_Label_Type.Reset_BTN).Equals(IO_VALUE.HIGH)) {
MoveInfo.NextMoveStep(MoveStep.Lbl_BeginOut);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.HIGH);
MoveInfo.log("人工完成贴标.");
}
break;
case MoveStep.Lbl_BeginOut:
MoveInfo.NextMoveStep(MoveStep.Lbl15);
Label_X_Axis.AbsMove(null, Config.Label_X_P2, Config.Label_X_P2_speed);
Label_Y_Axis.AbsMove(null, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_R_Axis.AbsMove(null, Config.Label_R_P2, Config.Label_Z_P2_speed);
if (MoveInfo.ReelParam.IsNg)
{
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.HIGH);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
MoveInfo.log("Label_XYR转到取标点,待机");
break;
case MoveStep.Lbl15:
if (MoveInfo.ReelParam.WareCode=="testlabel") {
MoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
MoveInfo.log("贴标测试结束.");
}
else
{
MoveInfo.NextMoveStep(MoveStep.Lbl16);
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.HIGH);
MoveInfo.log("贴标阻挡上升.");
}
break;
case MoveStep.Lbl16:
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.LOW);
if (RobotManage.filterMachine.isWaitReel)
{
MoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
RobotManage.filterMachine.preReelParam = MoveInfo.ReelParam;
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.HIGH);
RobotManage.filterMachine.LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
MoveInfo.log("送出料盘.");
}
else if (MoveInfo.IsTimeOut(30))
{
Msg.add($"等待分盘线超时{MoveInfo.TimeOutSeconds}秒", MsgLevel.warning);
MoveInfo.log("等待分盘线超时");
}
break;
case MoveStep.L30_LabelFinish:
if (RobotManage.filterMachine.Tray_Check.Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(MoveStep.Lbl_01_Wait_ATray);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.LOW);
MoveInfo.log("完成贴标.");
}
else if (MoveInfo.IsTimeOut(30))
{
MoveInfo.NewMove(MoveStep.Lbl_01_Wait_ATray);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.LOW);
MoveInfo.log("等待料盘到达分盘线超时.完成贴标.");
}
else {
Msg.add($"等待到达分盘线", MsgLevel.warning);
MoveInfo.log("等待到达分盘线");
}
break;
}
}
public void LabelTest(){
MoveInfo.NextMoveStep(MoveStep.Lbl_04_LineStop);
MoveInfo.log("开始打印贴标测试.");
MoveInfo.ReelParam = new ReelParam("testlabel", 7, 8);
MoveInfo.ReelParam.QTY = 9999;
//DoPrint(MoveInfo.ReelParam);
}
}
}