XRayMachine.Feeding.cs
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using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
public partial class XRayMachine
{
MoveInfo FeedingMoveinfo = new MoveInfo("入料");
void FeedingProcess()
{
if (CheckWait(FeedingMoveinfo))
return;
switch (FeedingMoveinfo.MoveStep)
{
case MoveStep.Feeding_01_Wait_Detect:
if (TrayWidth == 0 || TrayHight == 0)
{
TrayMonitor();
}
else
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_02_Take_Picture);
FeedingMoveinfo.ReelParam.PlateW = TrayWidth;
FeedingMoveinfo.ReelParam.PlateH = TrayHight;
FeedingMoveinfo.ReelParam.PlateRawH = TrayRawHight;
FeedingMoveinfo.log($"已稳定检测到料盘TrayWidth={TrayWidth},TrayHight={TrayHight},TrayRawHight={TrayRawHight}.");
}
break;
case MoveStep.Feeding_02_Take_Picture:
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_03_Get_Reelinfo);
ScanCode();
break;
case MoveStep.Feeding_03_Get_Reelinfo:
if (ScanTask.IsCompleted)
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_04_Wait_Xray_Free);
//78.10222.20L-016651|-20200826|900|W78016651352000A6|SAMSUNG
var x = ScanTask.Result;
//x.Add(new CodeInfo("test", 1000, 1000));
if (x.Count != 1)
{
FeedingMoveinfo.log($"未识别到有效二维码,等待人工取走, Count={x.Count}");
FeedingMoveinfo.ReelParam.IsNg = true;
}
else
{
FeedingMoveinfo.ReelParam.IsNg = false;
FeedingMoveinfo.ReelParam.codeInfos = x;
FeedingMoveinfo.ReelParam.WareCode = x[0].CodeStr;
FeedingMoveinfo.log($"已完成扫码,等待料盘被通过按钮确认,Count={x.Count}");
}
}
else if (FeedingMoveinfo.IsTimeOut(10))
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_03_Get_Reelinfo);
FeedingMoveinfo.log($"等待扫码超时,重新扫码");
}
break;
case MoveStep.Feeding_04_Wait_Xray_Free:
if (MoveInfo.MoveStep == MoveStep.Wait)
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_05_Wait_Man_Check);
FeedingMoveinfo.log($"Xray已空闲,允许进入");
}
else if (FeedingMoveinfo.ReelParam.IsNg)
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_05_Wait_Man_Check);
FeedingMoveinfo.log($"NG料,进入人工取走步骤");
}
else if (MoveInfo.IsTimeOut(10))
{
FeedingMoveinfo.log($"等待Xray可以进入");
Msg.add(crc.GetString("wait_xx_free", "等待{0}空闲", RobotManage.xrayMachine.DeviceName), MsgLevel.info);
}
break;
case MoveStep.Feeding_05_Wait_Man_Check:
if (FeedingMoveinfo.ReelParam.IsNg)
{
if (IOValue(IO_XRay_Type.Tray_Check).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString("scancode_fail_takeout","未识别出料盘, 请取走"), MsgLevel.warning);
}
else if (IOMonitor.IODebound(IO_XRay_Type.Tray_Check, Config, IO_VALUE.LOW, 1000))
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
FeedingMoveinfo.log($"料盘已被人工取走");
}
}
else
{
if (true|| IOValue(IO_XRay_Type.Manual_Confirm_BTN).Equals(IO_VALUE.HIGH))
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_06_Goto_Xray);
FeedingMoveinfo.log($"按下入料按钮, 定位气缸下降");
CylinderMove(FeedingMoveinfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.LOW);
}
else if (IOMonitor.IODebound(IO_XRay_Type.Tray_Check, Config, IO_VALUE.LOW, 2000))
{
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
FeedingMoveinfo.log($"料盘已被人工取走");
}
}
break;
case MoveStep.Feeding_06_Goto_Xray:
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
MoveInfo.NewMove(MoveStep.XRay_01_LocationDown);
MoveInfo.ReelParam = FeedingMoveinfo.ReelParam;
FeedingMoveinfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
break;
case MoveStep.Feeding_10_Wait_Reset:
FeedingMoveinfo.NewMove(MoveStep.Feeding_01_Wait_Detect);
TrayWidth = 0;
TrayHight = 0;
SensorDebounce.Reset();
CylinderMove(FeedingMoveinfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.HIGH);
break;
default:
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
break;
}
}
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
void ScanCode()
{
FeedingMoveinfo.log("开始扫码");
try
{
ScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
//IOMove(IO_XRay_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
List<CodeInfo> LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName });
//IOMove(IO_XRay_Type.Camera_Led, IO_VALUE.LOW);
return LastCodeList;
}));
}
catch (Exception ex)
{
LogUtil.error("扫码出错：", ex);
}
}
int TrayWidth = 0;
int TrayHight = 0;
int TrayRawHight = 0;
void TrayMonitor() {
if (IOValue(IO_XRay_Type.Tray_Check).Equals(IO_VALUE.LOW))
{
SensorDebounce.Reset();
return;
}
int overhight = 70;
var Tray15_L = AdioValue(IO_XRay_Type.Tray15_L_ADIO);
var Tray15_R = AdioValue(IO_XRay_Type.Tray15_R_ADIO);
var Tray13_L = AdioValue(IO_XRay_Type.Tray13_L_ADIO);
var Tray13_R = AdioValue(IO_XRay_Type.Tray13_R_ADIO);
var Tray7_L = AdioValue(IO_XRay_Type.Tray7_L_ADIO);
var Tray7_R = AdioValue(IO_XRay_Type.Tray7_R_ADIO);
var Tray7= Math.Max(Tray7_L, Tray7_R);
var Tray13 = Math.Max(Tray13_L, Tray13_R);
var Tray15 = Math.Max(Tray15_L, Tray15_R);
//LogUtil.OutputDebugString($"Tray7:{Tray7},Tray13:{Tray13},Tray15:{Tray15}");
int v=0;
if (Tray15 < overhight)
{
if (SensorDebounce.Debounce(Tray15, out v))
TrayWidth = 15;
}
else if (Tray13 < overhight)
{
if (SensorDebounce.Debounce(Tray13, out v))
TrayWidth = 13;
}
else if (Tray7 < overhight)
{
if (SensorDebounce.Debounce(Tray7, out v))
TrayWidth = 7;
}
if (v>0)
FeedingMoveinfo.log($"Sensor Tray7:{Tray7},Tray13:{Tray13},Tray15:{Tray15}");
TrayHight = CalcHight(v);
TrayRawHight = v;
}
int AdioValue(string ioType) {
var pi = Config.GetType().GetProperty(ioType + "_base");
var basevalue = (int)pi.GetValue(Config);
var value = IOManager.GetADIOValue(ioType, Config);
var c = ((int)value - basevalue) / Config.Tray_ADIO_Value;
return c;
}
int CalcHight(int height) {
int LastHeight = 0;
List<int> heightList = new List<int> {0, 8, 12, 16, 24, 32, 44, 56 };
//heightList = (from m in heightList orderby m descending select m).ToList<int>();
//float minCha = height;
foreach (int h in heightList)
{
if (height > h)
{
LastHeight = h;
}
}
return LastHeight;
}
}
}