T1Machine.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
public partial class T1Machine : MachineBase, IRobot
{
private Config_T1 _config;
public new Config_T1 Config
{
get => _config; set
{
base.Config = value;
_config = value;
}
}
public override string DeviceName { get; } = "出料机构";
public bool canRunning { get; set; }
public bool isBusy { get; set; }
public bool isAlarm { get; set; }
//public RunStatus runStatus { get; set; }
//public bool UserPause { get; set; }
public bool IgnoreSafecheck { get; set; }
public bool IgnoreGratingSignal { get; set; }
public AxisBean T_Batch_Axis;
public AxisBean T_Pan_Axis;
public AxisBean T_Updown_Axis;
AxisBean T_TrayPos_Axis;
public AxisBean T_Y_Axis;
MoveInfo ShelfOutMoveInfo;
MoveInfo ShelfInMoveInfo;
public LineRunMonitor ShelfOutLine;
public LineRunMonitor ShelfInLine;
public event EventHandler<Bitmap> TrayStringLocation;
public Point CenterPos = Point.Empty;
public bool Init(out string msg)
{
msg = "";
try
{
string configFile = "config\\T1Config.csv";
Config = new Config_T1(0, "", configFile);
Config = (Config_T1)CSVConfigReader.LoadConfig<IO_T1_Type>(Config);
#region 初始化伺服轴
T_Batch_Axis = new AxisBean(Config.T_Batch_Axis, DeviceName);
T_Pan_Axis = new AxisBean(Config.T_Pan_Axis, DeviceName);
T_Updown_Axis = new AxisBean(Config.T_Updown_Axis, DeviceName);
T_TrayPos_Axis = new AxisBean(Config.T_TrayPos_Axis, DeviceName);
T_Y_Axis = new AxisBean(Config.T_Y_Axis, DeviceName);
#endregion
MoveInfo = new MoveInfo(DeviceName);
ResetMoveInfo = MoveInfo;
ShelfOutMoveInfo = new MoveInfo("出料串线体");
ShelfInMoveInfo = new MoveInfo("入料串线体");
ShelfOutLine = new LineRunMonitor("ShelfOutLine", Config.DOList[IO_T1_Type.Line_Out_Run].GetIOAddr());
ShelfInLine = new LineRunMonitor("ShelfInLine", Config.DOList[IO_T1_Type.Empty_Line_Run].GetIOAddr());
RobotManage.wistonAgvClient.EmptyShelfInReady += WistonAgvClient_EmptyShelfInReady;
RobotManage.wistonAgvClient.FullShelfOutReady += WistonAgvClient_FullShelfOutReady;
CenterPos = new Point(Config.String_Center_X, Config.String_Center_Y);
LastStringCenter = CenterPos;
LedProcessInit();
IOMonitor.RegisterIO(IO_T1_Type.Empty_LineIn_Check, Config, IO_VALUE.HIGH, delegate () { EmptyStringIN(); });
IOMonitor.RegisterIO(IO_T1_Type.EmptyString_In_Check, Config, IO_VALUE.LOW, delegate () {
//if (IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.LOW))
{
//RobotManage.wistonAgvClient.NeedEnter();
}
});
IOMonitor.RegisterIO(IO_T1_Type.T1_Out_Check, Config, IO_VALUE.HIGH, delegate () {
//if (IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.LOW))
{
RobotManage.wistonAgvClient.NeedLeave();
}
});
}
catch (Exception e)
{
msg = e.Message;
return false;
}
return true;
}
private void WistonAgvClient_FullShelfOutReady(object sender, EventArgs e)
{
this.loginfo("收到满料串Agv抵达信号");
ShelfOutLine.LineRun("FullStringOut", 40);
Thread.Sleep(1000);
IOMove(IO_T1_Type.T1_Out_Stop, IO_VALUE.HIGH, false, 2000);
WaitIo(IO_T1_Type.T1_Out_Check, IO_VALUE.LOW, 30 * 1000);
ShelfOutLine.LineRun("FullStringOut", 15);
RobotManage.wistonAgvClient.FinishLeave();
}
private void WistonAgvClient_EmptyShelfInReady(object sender, EventArgs e)
{
this.loginfo("收到空料串Agv抵达信号");
ShelfInLine.LineRun("EmptyStringIN_agv", 40);
WaitIo(IO_T1_Type.Empty_LineIn_Check, IO_VALUE.HIGH, 30 * 1000);
ShelfInLine.LineRun("EmptyStringIN_agv", 15);
RobotManage.wistonAgvClient.FinishEnter();
}
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)
{
IOMonitorFUNC();
WorkProcess();
ShelfOutProcess();
ShelfInProcess();
}
else if (runStatus == RunStatus.HomeReset)
{
HomeReset();
}
}
catch (Exception ex)
{
Msg.add(ex.Message, MsgLevel.warning);
LogUtil.error(DeviceName + " " + ex.ToString());
}
finally
{
ProcessMsgEventFire(Msg);
//ProcessMoveinfoEventFire(MoveInfo.List);
Msg.Clear();
}
}
LogUtil.info($"{DeviceName} 主线程已退出.");
}
public bool DeviceCheck()
{
bool ok = true;
if (IOValue(IO_T1_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("emergency_stop", "急停中"), MsgLevel.warning);
Thread.Sleep(1000);
ok = false;
}
else if (alarmType == AlarmType.SuddenStop)
{
Msg.add(crc.GetString("system_need_reset", "系统需要重置"), MsgLevel.info);
Thread.Sleep(1000);
ok = false;
}
if (alarmType != AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
if ((!runStatus.Equals(RunStatus.Stop) && span.TotalSeconds > 3) || span.TotalSeconds > 1)
{
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
{
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
{
Msg.add(crc.GetString("axis_run_alert", "{0}:运动报警", configMoveAxis.Explain), MsgLevel.warning);
ok = false;
LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
}
}
//if (RobotManage.electricGripper.ErrorCode > 0)
//{
// Msg.add($"电夹爪出错 ErrorCode:{RobotManage.electricGripper.ErrorCode}", MsgLevel.warning);
// ok = false;
//}
}
}
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");
CylinderMove(MoveInfo, IO_T1_Type.End_Lift_Cylinder_Down, IO_T1_Type.End_Lift_Cylinder_Up, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_T1_Type.EmptyString_Lift_Down, IO_T1_Type.EmptyString_Lift_Up, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_T1_Type.T1_Lift_Down, IO_T1_Type.T1_Lift_Up, IO_VALUE.HIGH);
RobotManage.electricGripper.HomeReset();
//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);
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原 所有线体运转");
IOMove(IO_T1_Type.Line4_Run, IO_VALUE.HIGH);
IOMove(IO_T1_Type.Empty_Line_Run, IO_VALUE.HIGH);
IOMove(IO_T1_Type.Line_Out_Run, IO_VALUE.HIGH);
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("正在回原 所有轴回原点");
T_Batch_Axis.HomeMove(ResetMoveInfo);
T_Pan_Axis.HomeMove(ResetMoveInfo);
T_Updown_Axis.HomeMove(ResetMoveInfo);
T_TrayPos_Axis.HomeMove(ResetMoveInfo);
T_Y_Axis.HomeMove(ResetMoveInfo);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
ResetMoveInfo.log("正在回原 所有线体停止");
IOMove(IO_T1_Type.Line4_Run, IO_VALUE.LOW);
IOMove(IO_T1_Type.Empty_Line_Run, IO_VALUE.LOW);
IOMove(IO_T1_Type.Line_Out_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
ResetMoveInfo.log("正在回原 所有轴到待机点");
T_Batch_Axis.AbsMove(ResetMoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1_speed);
T_Pan_Axis.AbsMove(ResetMoveInfo, Config.Pan_P1, Config.Pan_P1_speed);
T_Updown_Axis.AbsMove(ResetMoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1_speed);
T_TrayPos_Axis.AbsMove(ResetMoveInfo, Config.TrayPos_P1, Config.TrayPos_P1_speed);
T_Y_Axis.AbsMove(ResetMoveInfo, Config.Y_P1, Config.Y_P1_speed);
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原 顶升下降, 料串叉后退");
LocationDown(ResetMoveInfo);
CylinderMove(ResetMoveInfo, IO_T1_Type.Fork_Cylinder_Bck, IO_T1_Type.Fork_Cylinder_Fwd, IO_VALUE.LOW);
break;
case MoveStep.HEND_HomeReset:
ResetMoveInfo.log("回源完成");
ResetMoveInfo.EndMove();
MoveInfo.NewMove(MoveStep.T1_01_WaitReel);
ShelfInMoveInfo.NewMove(MoveStep.Shelf_EmptyIn_WaitWorkLeave);
//ShelfOutMoveInfo.NewMove(MoveStep.Shelf_Out_Wait);
runStatus = RunStatus.Running;
break;
}
}
/// <summary>
/// 提升工位定位销上升
/// </summary>
public void LocationUp(MoveInfo MoveInfo)
{
IOMove(IO_T1_Type.T1_Location_Cylinder_Down, IO_VALUE.LOW);
IOMove(IO_T1_Type.T1_Location_Cylinder_Up, IO_VALUE.HIGH);
if (MoveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Location1_Cylinder_Up, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Location2_Cylinder_Up, IO_VALUE.HIGH));
}
}
/// <summary>
/// 提升工位定位销下降
/// </summary>
public void LocationDown(MoveInfo MoveInfo)
{
IOMove(IO_T1_Type.T1_Location_Cylinder_Down, IO_VALUE.HIGH);
IOMove(IO_T1_Type.T1_Location_Cylinder_Up, IO_VALUE.LOW);
if (MoveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Location1_Cylinder_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Location2_Cylinder_Down, IO_VALUE.HIGH));
}
}
bool calledagv = false;
void IOMonitorFUNC()
{
if (!calledagv && IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.LOW)&& IOValue(IO_T1_Type.EmptyString_In_Check).Equals(IO_VALUE.LOW))
{
calledagv = true;
if (!ConfigHelper.Config.Get("wiston_disable_agv_NeedEnter", false))
RobotManage.wistonAgvClient.NeedEnter();
}
else if (IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_T1_Type.EmptyString_In_Check).Equals(IO_VALUE.HIGH))
{
calledagv = false;
}
}
}
}