LabelMachine.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;
using System.Threading.Tasks;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
public partial class LabelMachine : MachineBase, IRobot
{
private Config_Label _config;
public new Config_Label Config
{
get => _config; set
{
base.Config = value;
_config = value;
}
}
public override string DeviceName { get; } = "贴标机构";
public bool canRunning { get; set; }
public bool isBusy { get; set; }
public bool isAlarm { get; set; }
public bool DisableLabel { get; set; }
//public RunStatus runStatus { get; set; }
//public bool UserPause { get; set; }
public bool IgnoreSafecheck { get; set; }
public bool IgnoreGratingSignal { get; set; }
AxisBean Label_X_Axis;
AxisBean Label_Y_Axis;
AxisBean Label_Z_Axis;
AxisBean Label_R_Axis;
public MoveInfo SendOutMoveInfo;
public MoveInfo VacuumMoveInfo;
public MoveInfo TransMoveInfo;
public bool Init(out string msg)
{
msg = "";
try
{
string configFile = "config\\LabelConfig.csv";
Config = new Config_Label(0, "", configFile);
Config = (Config_Label)CSVConfigReader.LoadConfig<IO_Label_Type>(Config);
#region 初始化伺服轴
Label_X_Axis = new AxisBean(Config.Label_X_Axis, DeviceName);
Label_Y_Axis = new AxisBean(Config.Label_Y_Axis, DeviceName);
Label_Z_Axis = new AxisBean(Config.Label_Z_Axis, DeviceName);
Label_R_Axis = new AxisBean(Config.Label_R_Axis, DeviceName);
#endregion
MoveInfo = new MoveInfo(DeviceName);
SendOutMoveInfo = new MoveInfo("贴标送出");
VacuumMoveInfo = new MoveInfo("贴标吸标");
TransMoveInfo = new MoveInfo("移栽接收");
SendOutMoveInfo.Hide = true;
VacuumMoveInfo.Hide = true;
ResetMoveInfo = MoveInfo;
LedProcessInit();
}
catch (Exception e)
{
msg = e.Message;
return false;
}
return true;
}
public override void Run()
{
base.Run();
IOMove(IO_Label_Type.Camera_Led, IO_VALUE.HIGH);
}
public override void Stop()
{
IOMove(IO_Label_Type.Camera_Led, IO_VALUE.LOW);
base.Stop();
}
protected override void LoopProcess()
{
mstart = true;
while (mstart)
{
try
{
canRunning = DeviceCheck();
if (canRunning)
{
//BtnProcess();
canRunning = SafeCheck();
}
Thread.Sleep(stepDelaytime);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
WorkProcess();
TransProcess();
SendOutProcess();
VacuumLabelProcess();
}
else if (runStatus == RunStatus.HomeReset)
{
HomeReset();
}
}
catch (Exception ex)
{
Msg.add(ex.Message, MsgLevel.warning);
LogUtil.error(DeviceName + " " + ex.ToString());
Thread.Sleep(stepDelaytime*5);
}
finally
{
ProcessMsgEventFire(Msg);
//ProcessMoveinfoEventFire(MoveInfo.List);
Msg.Clear();
}
}
LogUtil.info($"{DeviceName} 主线程已退出.");
}
public bool DeviceCheck()
{
bool ok = true;
if (IOManager.GetDIValue("", 0, 45).Equals(IO_VALUE.LOW))
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("emergency_stop", "急停中"), MsgLevel.warning);
Thread.Sleep(1000);
ok = false;
}
else if (alarmType == AlarmType.SuddenStop)
{
Msg.add(crc.GetString("system_need_reset", "系统需要重置"), MsgLevel.warning);
Thread.Sleep(1000);
ok = false;
}
if (alarmType != AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
if ((!runStatus.Equals(RunStatus.Stop) && span.TotalSeconds > 3) || span.TotalSeconds > 1)
{
if (Config.moveAxisList != null)
{
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
{
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
{
Msg.add(crc.GetString("axis_run_alert", "{0}:运动报警", configMoveAxis.Explain), MsgLevel.warning);
ok = false;
LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
}
}
}
}
}
return ok;
}
public void BeginHomeReset(bool firstRun = false)
{
if (!firstRun)
{
StopMove();
Thread.Sleep(500);
}
OpenAllServo();
alarmType = AlarmType.None;
runStatus = RunStatus.HomeReset;
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
ResetMoveInfo.log("开始回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
private void HomeReset()
{
if (CheckWait(ResetMoveInfo))
return;
switch (ResetMoveInfo.MoveStep)
{
case MoveStep.H01_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("正在回原, 皮带线阻挡上升,贴标机构阻挡上升,z轴");
CylinderMove(ResetMoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up);
CylinderMove(ResetMoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up);
Label_Z_Axis.HomeMove(ResetMoveInfo);
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原 y轴");
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.HIGH);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.HIGH);
Label_X_Axis.HomeMove(ResetMoveInfo);
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("正在回原 xyzr轴");
Label_R_Axis.HomeMove(ResetMoveInfo);
Label_Y_Axis.HomeMove(ResetMoveInfo);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
ResetMoveInfo.log("正在回原 等待2秒钟");
Label_R_Axis.AbsMove(ResetMoveInfo, Config.Label_R_P2, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("正在回原 xyzr轴到待机点");
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原 线体停止,阻挡下降");
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.LOW);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.LOW);
CylinderMove(ResetMoveInfo, IO_Label_Type.TrayStop_Up, IO_Label_Type.TrayStop_Down);
CylinderMove(ResetMoveInfo, IO_Label_Type.Label_Stop_Up, IO_Label_Type.Label_Stop_Down);
break;
case MoveStep.HEND_HomeReset:
ResetMoveInfo.log("回源完成");
ResetMoveInfo.EndMove();
MoveInfo.NewMove(MoveStep.Lbl_01_Wait_ATray);
TransMoveInfo.NewMove(MoveStep.Wait);
runStatus = RunStatus.Running;
break;
}
}
public IO_VALUE Label_TaryStop_Check
{
get => IOValue(IO_Label_Type.Label_TaryStop_Check);
}
public void InLineRunControl(IO_VALUE iO_VALUE)
{
IOMove(IO_Label_Type.Line1_Run, iO_VALUE);
}
}
}