MachineBase.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
public class MachineBase
{
public virtual DeviceConfig Config { get; set; }
public virtual string DeviceName { get; }
public virtual string DeviceNameShow { get=>crc.GetString(DeviceName, DeviceName); }
public virtual bool UserPause { get; set; }
public RunStatus runStatus { get; set; } = RunStatus.Stop;
protected MoveInfo ResetMoveInfo;
public MoveInfo MoveInfo;
protected List<Msg> Msg = new List<Msg>();
//public delegate void Event(List<Msg> msg);
public event EventHandler<List<Msg>> ProcessMsgEvent;
//public delegate void ProcessMoveinfo(List<MoveInfo> moveinfoList);
public event EventHandler<List<MoveInfo>> ProcessMoveinfoEvent;
ReelParam _preReelParam = null;
public ReelParam preReelParam
{
get => _preReelParam;
set
{
if (value == null)
_preReelParam = null;
else
_preReelParam = value.clone();
}
}
ReelParam _secPreReelParam = null;
public ReelParam secPreReelParam
{
get => _secPreReelParam;
set
{
if (value == null)
_secPreReelParam = null;
else
_secPreReelParam = value.clone();
}
}
Thread thread;
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
protected bool mstart = false;
protected int stepDelaytime =100;
public virtual void Run()
{
if (!mstart)
{
thread = new Thread(new ThreadStart(LoopProcess));
thread.Start();
}
LogUtil.info(DeviceName + " 主线程已启动.");
GC.KeepAlive(thread);
}
public virtual void Stop()
{
LogUtil.info(DeviceName + " 停止设备.");
mstart = false;
StopMove(true);
}
protected virtual void LoopProcess() {
throw new NotImplementedException();
}
public bool SafeCheck()
{
bool ok = true;
if (UserPause) {
Msg.add(crc.GetString("device_user_pause","用户暂停设备"), MsgLevel.warning);
DeviceSuddenStop();
ok = false;
}
//if (IOManager.GetDIValue("",0,16).Equals(IO_VALUE.LOW))
//{
// ok = false;
// DeviceSuddenStop();
// Msg.add(crc.GetString("device_safedoor_open", "贴标或出料机构门禁被打开"), MsgLevel.warning);
//}
lastSafeCheckStatus = ok;
return ok;
}
bool lastSafeCheckStatus = true;
void DeviceSuddenStop()
{
if (lastSafeCheckStatus)
{
//lastSafeCheckStatus = false;
var al = new Dictionary<string, List<AxisBean>>(AxisBean.List);
AxisBean.StopMultiAxis(AxisBean.List[RobotManage.xrayMachine.DeviceName]);
//AxisBean.StopMultiAxis();
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
if (runStatus == RunStatus.HomeReset)
{
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
}
}
}
protected void ProcessMsgEventFire(List<Msg> msg) {
ProcessMsgEvent?.Invoke(this,msg);
}
protected void ProcessMoveinfoEventFire(List<MoveInfo> moveinfoList)
{
ProcessMoveinfoEvent?.Invoke(this, moveinfoList);
}
/// <summary>
/// 是否再报警中
/// </summary>
public AlarmType alarmType = AlarmType.None;
protected DateTime LastAlarmTime = DateTime.Now;
protected DateTime checkAlarmTime = DateTime.Now;
protected void Alarm(AlarmType alarmType, string alarmMsg = "")
{
if (alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
if (this.alarmType.Equals(alarmType))
{
return;
}
LogUtil.error(DeviceName + " 报警，报警类型：" + alarmType);
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.AxisAlarm) || alarmType.Equals(AlarmType.AxisMoveError))
{
LogUtil.error(DeviceName + "轴报警， 停止运动， 打开报警灯");
StopMove(true);
}
else if (alarmType == AlarmType.SuddenStop)
{
LogUtil.error(DeviceName + "收到急停信号，停止运动， 打开报警灯 ");
StopMove(true);
}
else if (alarmType.Equals(AlarmType.NoAirCheck))
{
LogUtil.error(DeviceName + " 未检测到气压信号 ,停止运动， 打开报警灯 ");
StopMove(true);
}
//LogUtil.info();
}
protected bool NoAlarm()
{
if (alarmType.Equals(AlarmType.None))
{
return true;
}
return false;
}
int logType = 1000;
public string WarnMsg = "";
/// <summary>
/// 返回true代表需要等待
/// </summary>
/// <param name="MoveInfo"></param>
/// <returns></returns>
protected bool CheckWait(MoveInfo MoveInfo) {
if (MoveInfo.IsInWait)
{
if (!CheckWait2(MoveInfo)) {
if (alarmType == AlarmType.IoSingleTimeOut) {
alarmType = AlarmType.None;
}
}
}
return MoveInfo.IsInWait;
}
/// <summary>
/// 返回true代表需要等待
/// </summary>
/// <param name="MoveInfo"></param>
/// <returns></returns>
protected bool CheckWait2(MoveInfo MoveInfo)
{
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (MoveInfo.WaitList.Count <= 0)
{
MoveInfo.EndStepWait();
return false;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
MoveInfo.WaitList.ForEach((w) =>
{
if (w.WaitType.Equals(WaitEnum.W014_Msg))
{
w.IsEnd = true;
Msg.add(w.ActionMsg, (MsgLevel)w.Data);
}
});
foreach (WaitResultInfo wait in MoveInfo.WaitList)
{
if (wait.IsEnd)
{
if (!wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
continue;
}
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(MoveInfo, wait.AxisInfo, out msg);
}
else if(wait.IsRelMove)
{
wait.IsEnd = AxisBean.ACAxisRELMoveIsEnd(MoveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(MoveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
if (!UserPause)
Alarm(AlarmType.AxisMoveError, WarnMsg);
Msg.add(WarnMsg, MsgLevel.warning);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
ConfigIO io = Config.getWaitIO(wait.IoType);
NotOkMsg = $" {crc.GetString("wait","等待")}【" + io.DisplayStr + "】=【" + wait.IoValue + "】";
wait.IsEnd = IOManager.IOValue(wait.IoType,Config).Equals(wait.IoValue);
if (!wait.IsEnd)
{
int timeOutMs = 15*1000;// Config.IOSingle_TimerOut;
if (span.TotalMilliseconds > timeOutMs)// && NoAlarm())
{
WarnMsg = DeviceNameShow + "[" + MoveInfo.MoveStep + $"] {crc.GetString("wait", "等待")}(" + io.DisplayStr + "=" + wait.IoValue + $"){crc.GetString("timeout","超时")}";
Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.warning);
LogUtil.error(WarnMsg, logType + 14);
//MoveInfo.errlog(WarnMsg);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W013_Action))
{
wait.IsEnd = wait.Action.Invoke(wait);
LogUtil.info($"{DeviceName} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
}
else if (wait.WaitType.Equals(WaitEnum.W008_BatchAxis))
{
AxisBean axisBean=null;
//if (wait.AxisInfo.ProName == "Right_Batch_Axis")
// axisBean = Right_Batch_Axis;
//else
// axisBean = Left_Batch_Axis;
//等待信号亮或者走到绝对位置才停止
if (IOValue(axisBean.TargetIoType).Equals(axisBean.TargetIoValue))
{
LogUtil.debug(DeviceName + "CheckWaitResult 检测到" + axisBean.TargetIoType + "=" + axisBean.TargetIoValue + ",停止运行");
axisBean.StopAxisCheckMove();
//if (AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
//{
axisBean.SuddenStop();
//}
wait.IsEnd = true;
}
else
{
bool isbusy = AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1);
if (!isbusy)
{
int outCount = AxisManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
int errorCount = Math.Abs(outCount - wait.TargetPosition);
if (errorCount <= wait.AxisInfo.CanErrorCountMax)
{
axisBean.StopAxisCheckMove();
wait.IsEnd = true;
}
else
{
axisBean.AbsMove(null, wait.TargetPosition, wait.TargetSpeed);
wait.IsEnd = false;
}
}
}
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
return false;
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
WarnMsg = DeviceNameShow + "[" + MoveInfo.MoveStep + $"]{crc.GetString("wait","等待")}" + NotOkMsg + $"{crc.GetString("timeout","超时")}[" + Math.Round(span.TotalSeconds, 1) + "s]";
int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
//MoveInfo.errlog(WarnMsg);
if (!UserPause)
Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.warning);
}
return true;
}
protected void OpenAllServo()
{
AxisBean.RunMultiAxis(true, out _, AxisBean.GetList(DeviceName));
}
protected virtual void StopMove(bool ServoOff = false)
{
runStatus = RunStatus.Stop;
MoveInfo.EndMove();
AxisBean.StopMultiAxis(AxisBean.GetList(DeviceName));
if (ServoOff)
AxisBean.CloseMultiAxis(AxisBean.GetList(DeviceName));
}
public void CylinderMove(MoveInfo moveInfo, string IoLowType, string IoHighType, IO_VALUE iO_VALUE=IO_VALUE.HIGH)
{
if (iO_VALUE == IO_VALUE.LOW)
{
var t = IoHighType;
IoHighType = IoLowType;
IoLowType = t;
}
IOMove(IoLowType, IO_VALUE.LOW);
IOMove(IoHighType, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
}
public IO_VALUE IOValue(string ioType)
{
return IOManager.IOValue(ioType, Config);
}
public bool IOValue(string ioType, IO_VALUE Test_VALUE, int DebounceCount=3)
{
return IODebounce<bool>.Test(ioType, IOManager.IOValue(ioType, Config), Test_VALUE, DebounceCount);
//return IOManager.IOValue(ioType, Config);
}
public void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
{
if (msTime <= 0)
{
if (isCheck && (IOValue(IoType).Equals(value)))
{
return;
}
IOManager.IOMove(IoType, value, Config);
}
else
{
Task.Run(() =>
{
IOManager.IOMove(IoType, value, Config);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
LogUtil.info(DeviceName + "定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
IOManager.IOMove(IoType, tValue, Config);
});
}
}
protected bool WaitIo(string ioType, IO_VALUE value, int timeOut)
{
Task w = Task.Delay(timeOut);
Task p = Task.Run(() =>
{
while (!IOValue(ioType).Equals(value))
{
Task.Delay(100).Wait();
}
});
Task.WaitAny(w, p);
return true;
}
}
}