T1Machine.partial.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static Asa.eyemLib;
using static DeviceLibrary.eyemlib;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
partial class T1Machine
{
public IO_VALUE End_Line_Tray_Check { get => IOValue(IO_T1_Type.End_Line_Tray_Check); }
public bool TrayCanIN()
{
return IOValue(IO_T1_Type.End_Line_Tray_Check).Equals(IO_VALUE.LOW) && IOValue(IO_T1_Type.End_Lift_Cylinder_Down).Equals(IO_VALUE.HIGH)
&& (MoveInfo.MoveStep== MoveStep.T1_01_WaitReel || MoveInfo.MoveStep >= MoveStep.T1_07_PanToOut);
}
public void LineRun(int sec = 0)
{
IOMove(IO_T1_Type.Line4_Run, IO_VALUE.HIGH, false, sec);
}
void WorkProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.T1_01_WaitReel:
if (IOValue(IO_T1_Type.End_Line_Tray_Check,IO_VALUE.HIGH) && preReelParam != null)
{
MoveInfo.ReelParam = preReelParam;
preReelParam = null;
MoveInfo.log("检测到料盘 ReelParam:" + MoveInfo.ReelParam.ToStr());
MoveInfo.NextMoveStep(MoveStep.T1_02_WaitReelInpos);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.StopwatchReset();
}
else
{
Msg.add(crc.GetString("wait_reel_entry", "{0}等待料盘进入", DeviceName), MsgLevel.info);
}
break;
case MoveStep.T1_02_WaitReelInpos:
MoveInfo.NextMoveStep(MoveStep.T1_03_LocationUp);
LocationString();
//IOMove(IO_T1_Type.Line4_Run, IO_VALUE.LOW);
MoveInfo.log($"将料盘推到位 width:{MoveInfo.ReelParam.PlateW},POS:{Config.GetTrayPos(MoveInfo.ReelParam.PlateW)}位置");
T_TrayPos_Axis.AbsMove(MoveInfo, Config.GetTrayPos(MoveInfo.ReelParam.PlateW), Config.TrayPos_P1_speed);
T_Pan_Axis.AbsMove(MoveInfo, Config.Pan_P1, Config.Pan_P1_speed);
T_Y_Axis.AbsMove(MoveInfo, Config.Y_P1, Config.Y_P1_speed);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.T1_03_LocationUp:
if (RobotManage.electricGripper.Release())
{
MoveInfo.NextMoveStep(MoveStep.T1_04_DownToReel);
MoveInfo.log($"料盘顶升");
IOMove(IO_T1_Type.Line4_Run, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_T1_Type.End_Lift_Cylinder_Down, IO_T1_Type.End_Lift_Cylinder_Up, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.End_Lift_Tray_Check, IO_VALUE.HIGH));
}
else
{
Msg.add("夹爪忙碌中...", MsgLevel.warning);
MoveInfo.log($"夹爪忙碌中...");
}
break;
case MoveStep.T1_04_DownToReel:
MoveInfo.NextMoveStep(MoveStep.T1_05_ClampReel);
int pos = Config.UpdownAxis_P2 - (MoveInfo.ReelParam.PlateRawH - 8) * Config.UpdownAxis_ChangeValue;
MoveInfo.log($"升降轴下降到取料位置,配置位置:{Config.UpdownAxis_P2},计算位置:{pos}");
T_Updown_Axis.AbsMove(MoveInfo, pos, Config.UpdownAxis_P2_speed);
T_TrayPos_Axis.AbsMove(null, Config.TrayPos_P1, Config.TrayPos_P1_speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.T1_05_ClampReel:
if (RobotManage.electricGripper.Clamp(null))
{
MoveInfo.NextMoveStep(MoveStep.T1_06_UpToTop);
//RobotManage.electricGripper.Clamp(null);
MoveInfo.log($"夹爪张开");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else
{
Msg.add("夹爪忙碌中...", MsgLevel.warning);
MoveInfo.log($"夹爪忙碌中...");
}
break;
case MoveStep.T1_06_UpToTop:
MoveInfo.NextMoveStep(MoveStep.T1_07_PanToOut);
MoveInfo.log($"升降轴上升, 料盘提升下降");
T_Updown_Axis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1_speed);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.End_Lift_Tray_Check, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.T1_07_PanToOut:
if (IOValue(IO_T1_Type.End_Lift_Tray_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.T1_08_UpReelOk);
MoveInfo.log($"横移到料串");
CylinderMove(MoveInfo, IO_T1_Type.End_Lift_Cylinder_Down, IO_T1_Type.End_Lift_Cylinder_Up, IO_VALUE.LOW);
}
else if (MoveInfo.IsTimeOut(2))
{
MoveInfo.NextMoveStep(MoveStep.T1_08_UpReelFail);
}
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.T1_08_UpReelOk:
if (ShelfInMoveInfo.MoveStep == MoveStep.Shelf_20_EmptyIn_ShelfReady)
{
MoveInfo.NextMoveStep(MoveStep.T1_08_DownToShelf);
T_Pan_Axis.AbsMove(MoveInfo, Config.Pan_P2, Config.Pan_P2_speed);
}
else if (MoveInfo.IsTimeOut(30))
{
Msg.add(crc.GetString("wait_shelf_ready", "等待料串准备完成"), MsgLevel.warning);
}
break;
case MoveStep.T1_08_UpReelFail:
Msg.add(crc.GetString("T1_grip_fail","出料机构抓料失败,请人工处理"), MsgLevel.warning);
if (IOValue(IO_T1_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.T1_10_PutReelFinish);
CylinderMove(MoveInfo, IO_T1_Type.End_Lift_Cylinder_Down, IO_T1_Type.End_Lift_Cylinder_Up, IO_VALUE.LOW);
}
break;
case MoveStep.T1_08_DownToShelf:
if (ShelfInMoveInfo.MoveStep == MoveStep.Shelf_20_EmptyIn_ShelfReady)
{
MoveInfo.NextMoveStep(MoveStep.T1_09_ReleaseReel);
var offset_x = LastStringCenter.X - CenterPos.X;
var offset_y = LastStringCenter.Y - CenterPos.Y;
offset_x = offset_x * -1;
offset_y = offset_y * -1;
var Y = Config.Y_P2 + offset_y * Config.Cam_Pixel_Y_Ratio;
var Pan_X = Config.Pan_P2 + offset_x * Config.Cam_Pixel_X_Ratio;
T_Pan_Axis.AbsMove(MoveInfo, Pan_X, Config.Pan_P2_speed);
T_Y_Axis.AbsMove(MoveInfo, Y, Config.Y_P2_speed);
int p3pos = Config.UpdownAxis_P3 - (MoveInfo.ReelParam.PlateRawH - 8) * Config.UpdownAxis_ChangeValue;
T_Updown_Axis.AbsMove(MoveInfo, p3pos, Config.UpdownAxis_P3_speed);
MoveInfo.log($"下降到料串 CenterPos:{CenterPos},AxisBase:{Config.Pan_P2},{Config.Y_P2},, StringCenter:{LastStringCenter}, Offset:{new Point(offset_x, offset_y)}, AXIS:{new Point(Pan_X, Y)},p3pos:{p3pos}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsTimeOut(30))
{
Msg.add(crc.GetString("wait_shelf_ready", "等待料串准备完成"), MsgLevel.warning);
}
break;
case MoveStep.T1_09_ReleaseReel:
if (RobotManage.electricGripper.Release())
{
MoveInfo.NextMoveStep(MoveStep.T1_09_ReleaseReel_Test);
MoveInfo.log($"夹爪放松");
}
else
{
Msg.add("夹爪忙碌中...", MsgLevel.warning);
MoveInfo.log($"夹爪忙碌中...");
}
break;
case MoveStep.T1_09_ReleaseReel_Test:
if (IOValue(IO_T1_Type.T1_Tray_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.T1_10_PutReelFinish);
}
else if (MoveInfo.IsTimeOut(2))
{
MoveInfo.NextMoveStep(MoveStep.T1_09_ReleaseReel_Fail);
}
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.T1_09_ReleaseReel_Fail:
Msg.add(crc.GetString("T1_put_fail", "出料机构放失败,请人工处理"), MsgLevel.warning);
if (IOValue(IO_T1_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.T1_10_PutReelFinish);
}
break;
case MoveStep.T1_10_PutReelFinish:
ShelfInMoveInfo.ReelParam = MoveInfo.ReelParam;
MoveInfo.NewMove(MoveStep.T1_01_WaitReel);
MoveInfo.log($"放料完成");
T_Updown_Axis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1_speed);
T_Pan_Axis.AbsMove(MoveInfo, Config.Pan_P1, Config.Pan_P1_speed);
T_TrayPos_Axis.AbsMove(MoveInfo, Config.TrayPos_P1, Config.TrayPos_P1_speed);
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_21_EmptyIn_TrayDown);
MoveInfo.StopwatchLog();
break;
}
}
/// <summary>
/// 最后的料串中心点距离
/// </summary>
int Lastdistance = 0;
/// <summary>
/// 最后的有效料串中心点位置
/// </summary>
Point LastStringCenter = Point.Empty;
/// <summary>
/// 料串高度修正次数
/// </summary>
int TrayStringFixTimes = 0;
Task CheckLocationTask = null;
void ShelfInProcess()
{
if (CheckWait(ShelfInMoveInfo))
return;
switch (ShelfInMoveInfo.MoveStep)
{
case MoveStep.Shelf_EmptyIn_WaitWorkLeave:
if (ShelfOutMoveInfo.MoveStep == MoveStep.Wait)
{
Msg.add(crc.GetString("T1_wait_empty", "等待空料串进入线体"), MsgLevel.info);
}
else {
Msg.add(crc.GetString("T1_wait_release", "等待料串释放中"), MsgLevel.info);
return;
}
if (IOValue(IO_T1_Type.T1_Lift_Tray_Check).Equals(IO_VALUE.HIGH))
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_15_EmptyIn_LocationUp);
ShelfInMoveInfo.log("工位有料,提升准备");
}
else if (IOValue(IO_T1_Type.EmptyString_In_Check).Equals(IO_VALUE.HIGH))
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_10_EmptyIn_Wait_StopDown);
ShelfInMoveInfo.log("工位无料,入口等待位有料,开始进入");
}
else if (IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.HIGH))
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_10_EmptyIn_StopDown);
ShelfInMoveInfo.log("工位无料,入口位有料,开始进入");
}
break;
case MoveStep.Shelf_10_EmptyIn_StopDown:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_10_EmptyIn_Wait_StopDown);
ShelfInMoveInfo.log("入料线体启动, 等待料串到等待位置");
IOMove(IO_T1_Type.EmptyString_In_Stop, IO_VALUE.HIGH, false, 2000);
ShelfInLine.LineRun("n", 999, "Shelf_10_EmptyIn_Wait_StopDown");
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.EmptyString_In_Check, IO_VALUE.HIGH));
break;
case MoveStep.Shelf_10_EmptyIn_Wait_StopDown:
if (IOValue(IO_T1_Type.T1_Lift_Tray_Check).Equals(IO_VALUE.LOW))
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_11_EmptyIn_WaitTime);
ShelfInMoveInfo.log("入料线体启动, 等待料串到横移等待位置");
IOMove(IO_T1_Type.EmptyString_Wait_Stop, IO_VALUE.HIGH, false, 2000);
ShelfInLine.LineRun("n", 999, "Shelf_11_EmptyIn_WaitTime");
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.EmptyString_End_Check, IO_VALUE.HIGH));
}
break;
case MoveStep.Shelf_11_EmptyIn_WaitTime:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_11_EmptyIn_LiftUp);
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Shelf_11_EmptyIn_LiftUp:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_13_EmptyIn_SidingRun);
ShelfInMoveInfo.log("入料线体停止, 横移顶升上升");
ShelfInLine.LineStop("n", "Shelf_13_EmptyIn_SidingRun");
CylinderMove(ShelfInMoveInfo, IO_T1_Type.EmptyString_Lift_Down, IO_T1_Type.EmptyString_Lift_Up, IO_VALUE.HIGH);
CylinderMove(ShelfInMoveInfo, IO_T1_Type.T1_Lift_Down, IO_T1_Type.T1_Lift_Up, IO_VALUE.HIGH);
break;
case MoveStep.Shelf_13_EmptyIn_SidingRun:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_14_EmptyIn_LiftDown);
ShelfInMoveInfo.log("横移到位, 停止横移");
IOMove(IO_T1_Type.T1_Sliding_Run, IO_VALUE.HIGH);
IOMove(IO_T1_Type.EmptyString_Sliding_Run, IO_VALUE.HIGH);
IOMove(IO_T1_Type.T1String_Sliding_Run, IO_VALUE.HIGH);
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Lift_Tray_Check, IO_VALUE.HIGH));
break;
case MoveStep.Shelf_14_EmptyIn_LiftDown:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_15_EmptyIn_LocationUp);
ShelfInMoveInfo.log("入横移顶升下降");
CylinderMove(ShelfInMoveInfo, IO_T1_Type.EmptyString_Lift_Down, IO_T1_Type.EmptyString_Lift_Up, IO_VALUE.LOW);
//CylinderMove(ShelfInMoveInfo, IO_T1_Type.T1_Lift_Down, IO_T1_Type.T1_Lift_Up, IO_VALUE.LOW);
break;
case MoveStep.Shelf_15_EmptyIn_LocationUp:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_16_EmptyIn_ForkFwd);
ShelfInMoveInfo.log("定位气缸上升");
LocationUp(ShelfInMoveInfo);
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.Shelf_16_EmptyIn_ForkFwd:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_19_EmptyIn_BatchUp);
ShelfInMoveInfo.log("料架叉前进,横移皮带停止");
CylinderMove(ShelfOutMoveInfo, IO_T1_Type.Fork_Cylinder_Bck, IO_T1_Type.Fork_Cylinder_Fwd, IO_VALUE.HIGH);
IOMove(IO_T1_Type.T1_Sliding_Run, IO_VALUE.LOW);
IOMove(IO_T1_Type.EmptyString_Sliding_Run, IO_VALUE.LOW);
IOMove(IO_T1_Type.T1String_Sliding_Run, IO_VALUE.LOW);
break;
case MoveStep.Shelf_19_EmptyIn_BatchUp:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_19_LocationString);
ShelfInMoveInfo.log("T1 批量轴上升到P2");
TrayStringFixTimes = 0;
BatchAxisToP2(ShelfInMoveInfo, false);
break;
case MoveStep.Shelf_19_LocationString:
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_19_LocationString_wait);
LocationString();
break;
case MoveStep.Shelf_19_LocationString_wait:
if (CheckLocationTask.IsCompleted)
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_20_EmptyIn_ShelfReady);
}
else if (ShelfInMoveInfo.IsTimeOut(5))
{
LastStringCenter = CenterPos;
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_20_EmptyIn_ShelfReady);
}
break;
case MoveStep.Shelf_20_EmptyIn_ShelfReady: //等待料盘放入
Msg.add(crc.GetString("T1_ShelfReady", "料串准备完毕,等待放入料盘"), MsgLevel.info);
break;
case MoveStep.Shelf_21_EmptyIn_TrayDown: //料盘放入后调用
var Height = ShelfInMoveInfo.ReelParam.PlateRawH;
var currpos = T_Batch_Axis.GetAclPosition() - Config.BatchAxis_ChangeValue * Height;
if (currpos < Config.BatchAxis_P1 + Config.BatchAxis_ChangeValue * 20)
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_Work_WaitShelfLeave);
ShelfOutMoveInfo.NewMove(MoveStep.Shelf_Out_Wait);
ShelfInMoveInfo.log($"批量轴已下降到底,料串已满,Left_Batch_P1={Config.BatchAxis_P1},needpos={currpos}");
}
//else if (TrayStringFixTimes < 3 && currpos < Config.BatchAxis_P1 + Config.BatchAxis_ChangeValue * 100)
//{
// ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_20_EmptyIn_ShelfReady);
// TrayStringFixTimes++;
// ShelfInMoveInfo.log($"批量轴已下降过半,重新提升料串 TrayStringFixTimes:{TrayStringFixTimes}");
// BatchAxisToP2(false);
//}
else
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_20_EmptyIn_ShelfReady);
//T_Batch_Axis.AbsMove(ShelfInMoveInfo, currpos, Config.BatchAxis_P1_speed);
BatchAxisToP1();
ShelfInMoveInfo.log($"批量轴已下降一张料盘位置,等待料盘放入,needpos={currpos},{ShelfInMoveInfo.ReelParam.ToStr()}");
}
break;
case MoveStep.Shelf_Work_WaitShelfLeave:
if ((IOValue(IO_T1_Type.T1_Lift_Tray_Check).Equals(IO_VALUE.LOW)))
{
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_EmptyIn_WaitWorkLeave);
}
Msg.add(crc.GetString("T1_Shelffull_waitempty", "料串已满等待空料串"), MsgLevel.info);
break;
}
}
/// <summary>
/// 定位料串中心位置
/// </summary>
void LocationString() {
if (CheckLocationTask != null && !CheckLocationTask.IsCompleted)
return;
var aclposA = T_Batch_Axis.GetAclPosition();
ShelfInMoveInfo.log($"计算料串中心位置 P2:{Config.BatchAxis_P2}, AclPos:{aclposA}");
bool isFirstA = true;
if (Math.Abs(Config.BatchAxis_P2 - aclposA) > Config.BatchAxis_ChangeValue * 4)
isFirstA = false;
CheckLocationTask = Task.Run(() => {
(Bitmap Bitmap, Point CurrentPoint, string debugstring) = GetStringCenter(isFirstA);
var distance = (int)Common.distance(CenterPos, CurrentPoint);
TrayStringLocation?.Invoke(this, Bitmap);
if (isFirstA && (int)Common.distance(LastStringCenter, CurrentPoint) < Config.String_Offset_Range_Px)
{
LastStringCenter = CurrentPoint;
ShelfInMoveInfo.log($"计算料串中心位置 First LastStringCenter:{LastStringCenter}");
///Lastdistance = distance;
}
else if ((int)Common.distance(LastStringCenter, CurrentPoint) < Config.String_Offset_Range_Px)
{
LastStringCenter = CurrentPoint;
ShelfInMoveInfo.log($"计算料串中心位置 LastStringCenter:{LastStringCenter}");
}
else
{
ShelfInMoveInfo.log($"计算料串中心位置 失败");
//LastStringCenter = CenterPos;
}
Task.Delay(1000).Wait();
});
}
public bool ReleaseShelf()
{
if (ShelfInMoveInfo.MoveStep != MoveStep.Shelf_20_EmptyIn_ShelfReady)
{
return false;
}
ShelfInMoveInfo.NextMoveStep(MoveStep.Shelf_Work_WaitShelfLeave);
ShelfOutMoveInfo.NewMove(MoveStep.Shelf_Out_Wait);
ShelfInMoveInfo.log($"用户强制释放料架");
return true;
}
void ShelfOutProcess()
{
if (CheckWait(ShelfOutMoveInfo))
return;
switch (ShelfOutMoveInfo.MoveStep)
{
case MoveStep.Shelf_Out_Wait:
if (IOValue(IO_T1_Type.T1_Lift_Tray_Check).Equals(IO_VALUE.LOW))
{
ConfigIO io = Config.getWaitIO(IO_T1_Type.T1_Lift_Tray_Check);
WarnMsg = $"{crc.GetString("wait", "等待")}(" + io.DisplayStr + "=LOW" + $")";
Msg.add(WarnMsg, MsgLevel.warning);
return;
}
if (IOValue(IO_T1_Type.T1_Out_Check).Equals(IO_VALUE.HIGH))
{
ConfigIO io = Config.getWaitIO(IO_T1_Type.T1_Out_Check);
WarnMsg = $"{crc.GetString("wait", "等待")}(" + io.DisplayStr + "=HIGH" + $")";
Msg.add(WarnMsg, MsgLevel.warning);
return;
}
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_30_Out_BatchDown);
ShelfOutMoveInfo.log("出口工位有料,出口等待位无料,开始送出");
break;
case MoveStep.Shelf_30_Out_BatchDown:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_31_Out_ForkBck);
ShelfOutMoveInfo.log("批量轴下降到P1");
T_Batch_Axis.AbsMove(ShelfOutMoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1_speed);
break;
case MoveStep.Shelf_31_Out_ForkBck:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_32_Out_LocationDown);
ShelfOutMoveInfo.log("料架叉后退");
CylinderMove(ShelfOutMoveInfo, IO_T1_Type.Fork_Cylinder_Bck, IO_T1_Type.Fork_Cylinder_Fwd, IO_VALUE.LOW);
break;
case MoveStep.Shelf_32_Out_LocationDown:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_33_Out_OutStopDown);
ShelfOutMoveInfo.log("顶升工位下降");
CylinderMove(ShelfInMoveInfo, IO_T1_Type.T1_Lift_Down, IO_T1_Type.T1_Lift_Up, IO_VALUE.LOW);
break;
case MoveStep.Shelf_33_Out_OutStopDown:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_34_Out_OutStopDown);
ShelfOutMoveInfo.log("顶升气缸下降");
LocationDown(ShelfOutMoveInfo);
break;
case MoveStep.Shelf_34_Out_OutStopDown:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_35_Out_OutLineRun);
ShelfOutMoveInfo.log("阻挡气缸下降,链条运转");
//IOMove(IO_T1_Type.Line_Out_Run, IO_VALUE.HIGH);
ShelfOutLine.LineRun("n", 999, "Shelf_34_Out_OutLineRun");
ShelfOutMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Wait_Check, IO_VALUE.HIGH));
break;
case MoveStep.Shelf_35_Out_OutLineRun:
ShelfOutMoveInfo.NextMoveStep(MoveStep.Shelf_36_Out_OutLineRun);
IOMove(IO_T1_Type.T1_Wait_Stop, IO_VALUE.HIGH, false, 2000);
ShelfOutMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_T1_Type.T1_Out_Check, IO_VALUE.HIGH));
break;
case MoveStep.Shelf_36_Out_OutLineRun:
ShelfOutMoveInfo.log("呼叫AGV取满料串");
RobotManage.wistonAgvClient.NeedLeave();
ShelfOutMoveInfo.EndMove();
ShelfOutLine.LineStop("n", "Shelf_35_Out_OutLineRun");
break;
}
}
void EmptyStringIN()
{
this.loginfo($"T1空料串入口感应到料串,Empty_LineIn_Check:{IOValue(IO_T1_Type.Empty_LineIn_Check)}");
if (IOValue(IO_T1_Type.EmptyString_In_Check).Equals(IO_VALUE.HIGH))
{
this.loginfo($"T1等待位有料不允许进入");
return;
}
//if (IOValue(IO_T1_Type.Empty_LineIn_Check).Equals(IO_VALUE.HIGH))
// return;
ShelfInLine.LineRun("EmptyStringIN", 30);
WaitIo(IO_T1_Type.Empty_LineIn_Check, IO_VALUE.HIGH, 10);
IOMove(IO_T1_Type.EmptyString_In_Stop, IO_VALUE.HIGH, false, 3000);
WaitIo(IO_T1_Type.EmptyString_In_Check, IO_VALUE.HIGH, 10);
Thread.Sleep(3000);
ShelfInLine.LineStop("EmptyStringIN");
this.loginfo($"T1等待位进入完成");
}
int StartMovePosition = 0;
void BatchAxisToP2(MoveInfo moveInfo ,bool isFirstMove = true)
{
int targetP2 = Config.BatchAxis_P2;
int targetSpeed = Config.BatchAxis_P2_speed;
if (!isFirstMove)
{
int currPosition = T_Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Right_Batch_ChangeValue * 80;
if (targetP2 > Config.BatchAxis_P2)
{
targetP2 = Config.BatchAxis_P2;
}
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = T_Batch_Axis.GetAclPosition();
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.T_Batch_Axis, targetP2, targetSpeed));
Config.T_Batch_Axis.TargetPosition = targetP2;
T_Batch_Axis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
T_Batch_Axis.BatchAxisStartCheck(IO_T1_Type.T1_Tray_Check, Config, IO_VALUE.HIGH);
}
void BatchAxisToP1()
{
int targetP1 = Config.BatchAxis_P1;
int targetSpeed = Config.BatchAxis_P2_speed/2;
ShelfInMoveInfo.TimeOutSeconds = 200;
ShelfInMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = T_Batch_Axis.GetAclPosition();
ShelfInMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.T_Batch_Axis, targetP1, targetSpeed));
Config.T_Batch_Axis.TargetPosition = targetP1;
T_Batch_Axis.AbsMove(null, targetP1, targetSpeed);
//开始检测信号
T_Batch_Axis.BatchAxisStartCheck(IO_T1_Type.T1_Tray_Check, Config, IO_VALUE.LOW);
}
public (Bitmap, Point, string) GetStringCenter(bool isFirst = false)
{
//if (isFirst)
// return GetStringCenterA();
//else
return GetStringCenterC();
}
[HandleProcessCorruptedStateExceptions]
public (Bitmap, Point, string) GetStringCenterA()
{
//return (null, 0, "调试屏蔽");
Bitmap bmap = Common.DeepClone(Camera._cam.GrabOneImage(RobotManage.t1Machine.Config.String_Camera));
//Bitmap bmap = new Bitmap(@"D:\logs\853\Image_20210921151717963.bmp");
Bitmap bitmap = new Bitmap(bmap.Width, bmap.Height);
var rectx = Config.String_Center_X - 500;
var recty = Config.String_Center_Y - 500;
string debugtxt = "";
var currpos = Point.Empty;
//Bitmap bmap = new Bitmap("D:\\853string\\Image_20210605142037637.bmp");
//pictureBox1.Image = (Bitmap)bmap.Clone();
try
{
Rectangle rect = new Rectangle(0, 0, bmap.Width, bmap.Height);
var bitmapData = bmap.LockBits(rect, ImageLockMode.ReadOnly, bmap.PixelFormat);
var eyemImage = new EyemImage();
eyemImage.ucpImage = bitmapData.Scan0;
eyemImage.iWidth = rect.Width;
eyemImage.iHeight = rect.Height;
eyemImage.iChannels = 1;
eyemImage.iDepth = 0;
//创建扫描区域
EyemRect eyemRect = new EyemRect();
eyemRect.iXs = Config.String_Center_X - 175;
eyemRect.iYs = Config.String_Center_Y - 175;
eyemRect.iWidth = 175 * 2;
eyemRect.iHeight = 175 * 2;
eyemlib.EyemOcsFXYR eyemOcsFXYR = new eyemlib.EyemOcsFXYR();
int result = eyemlib.eyemMulFuncTool(eyemImage, eyemRect, "__func1", ConfigHelper.Config.Get("findcicyle_p1",95), ConfigHelper.Config.Get("findcicyle_p2", 75), ref eyemOcsFXYR, out _);
LogUtil.info($"eyemMulFuncTool:result:{result},fX:{eyemOcsFXYR.fX},fY:{eyemOcsFXYR.fY},fR:{eyemOcsFXYR.fR}");
debugtxt = $"eyemMulFuncTool:\nresult:{result}\nfX:{eyemOcsFXYR.fX}\nfY:{eyemOcsFXYR.fY}\nfR:{eyemOcsFXYR.fR}";
bmap.UnlockBits(bitmapData);
currpos = new Point((int)eyemOcsFXYR.fX, (int)eyemOcsFXYR.fY);
var centerpos = new Point(Config.String_Center_X, Config.String_Center_Y);
var distance = (int)Common.distance(centerpos, currpos);
//try
//{
Graphics graphics = Graphics.FromImage(bitmap);
graphics.DrawImage(bmap, new PointF(0, 0));
graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
Pen greenpen = new Pen(Color.Green, 15);
Pen redpen = new Pen(Color.FromArgb(255, Color.Red), 10);
int r = 102;
graphics.DrawEllipse(greenpen, Config.String_Center_X - r, Config.String_Center_Y - r, r * 2, r * 2);
graphics.DrawEllipse(greenpen, Config.String_Center_X - 8, Config.String_Center_Y - 8, 8 * 2, 8 * 2);
graphics.DrawEllipse(redpen, eyemOcsFXYR.fX - eyemOcsFXYR.fR, eyemOcsFXYR.fY - eyemOcsFXYR.fR, eyemOcsFXYR.fR * 2, eyemOcsFXYR.fR * 2);
graphics.DrawEllipse(redpen, eyemOcsFXYR.fX - 5, eyemOcsFXYR.fY - 5, 5 * 2, 5 * 2);
SolidBrush blue = new SolidBrush(Color.BlueViolet);
Font font = new Font(FontFamily.GenericSansSerif, 30);
graphics.DrawString($"center:X:{Config.String_Center_X},Y:{Config.String_Center_Y}", font, blue, rectx, recty);
graphics.DrawString($"result:{result},fX:{eyemOcsFXYR.fX},fY:{eyemOcsFXYR.fY},fR:{eyemOcsFXYR.fR}", font, blue, rectx, font.Height + recty);
graphics.DrawString($"distance:{distance}", font, blue, rectx, font.Height * 2 + recty);
graphics.Save();
bmap.Dispose();
graphics.Dispose();
}
catch(Exception e) {
LogUtil.info("GetStringCenterA" + e.ToString());
debugtxt = "GetStringCenterA" + e.ToString();
}
Bitmap newbitmap = bitmap.Clone(new Rectangle(rectx, recty, 1000, 1000), PixelFormat.Format24bppRgb);
bitmap.Dispose();
Directory.CreateDirectory("\\image\\TrayString\\");
newbitmap.Save("\\image\\TrayString\\" + DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss") + ".jpg", ImageFormat.Jpeg);
return (newbitmap, currpos, debugtxt);
}
[HandleProcessCorruptedStateExceptions]
public (Bitmap, Point, string) GetStringCenterC()
{
Directory.CreateDirectory("\\image\\TrayString\\");
//return (null, 0, "调试屏蔽");
Bitmap bmap = Common.DeepClone(Camera._cam.GrabOneImage(RobotManage.t1Machine.Config.String_Camera));
bmap.RotateFlip(RotateFlipType.Rotate270FlipNone);
Bitmap bitmap = new Bitmap(bmap.Width, bmap.Height);
var rectx = Config.String_Center_X - 500;
var recty = Config.String_Center_Y - 500;
var file = "\\image\\TrayString\\" + DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss") + ".Png";
bmap.Save(file, ImageFormat.Png);
//bmap.Dispose();
string debugtxt = "";
var currpos = Point.Empty;
//bmap = new Bitmap("D:\\料串\\2021-10-28-14-25-01.jpg");
//pictureBox1.Image = (Bitmap)bmap.Clone();
try
{
Rectangle rect = new Rectangle(0, 0, bmap.Width, bmap.Height);
//var bitmapData = bmap.LockBits(rect, ImageLockMode.ReadOnly, bmap.PixelFormat);
var eyemImage = new EyemImage();
//eyemImage.ucpImage = bitmapData.Scan0;
//eyemImage.iWidth = rect.Width;
//eyemImage.iHeight = rect.Height;
//eyemImage.iChannels = 1;
//eyemImage.iDepth = 0;
var a = eyemImageRead(file, -1, out eyemImage);
//创建扫描区域
EyemRect eyemRect = new EyemRect();
eyemRect.iXs = Config.String_Center_X - 175;
eyemRect.iYs = Config.String_Center_Y - 175;
eyemRect.iWidth = 175 * 2;
eyemRect.iHeight = 175 * 2;
//创建中心识别区域
EyemRect limRect = new EyemRect();
limRect.iXs = Config.String_Center_X - 175;
limRect.iYs = Config.String_Center_Y - 175;
limRect.iWidth = 175 * 2;
limRect.iHeight = 175 * 2;
eyemlib.EyemOcsDXYR eyemOcsDXYR = new eyemlib.EyemOcsDXYR();
double dp = ConfigHelper.Config.Get("DetectCircle_dp", 1);
double dMinDist = ConfigHelper.Config.Get("DetectCircle_dMinDist", 80);
double dParam1 = ConfigHelper.Config.Get("DetectCircle_dParam1", 100);
double dParam2 = ConfigHelper.Config.Get("DetectCircle_dParam2", 50);
double dMinRadius = ConfigHelper.Config.Get("DetectCircle_dMinRadius", 30);
double dMaxRadius = ConfigHelper.Config.Get("DetectCircle_dMaxRadius", 42);
int result = eyemlib.eyemDetectCircleUseHough(eyemImage, eyemRect, limRect,out eyemOcsDXYR, out _, dp, dMinDist, dParam1, dParam2, dMinRadius, dMaxRadius, 3,true);
LogUtil.info($"eyemDetectCircleUseHough:result:{result},fX:{eyemOcsDXYR.fX},fY:{eyemOcsDXYR.fY},fR:{eyemOcsDXYR.fR}");
debugtxt = $"eyemDetectCircleUseHough:\nresult:{result}\nfX:{eyemOcsDXYR.fX}\nfY:{eyemOcsDXYR.fY}\nfR:{eyemOcsDXYR.fR}";
//bmap.UnlockBits(bitmapData);
eyemImageFree(ref eyemImage);
currpos = new Point((int)eyemOcsDXYR.fX, (int)eyemOcsDXYR.fY);
var centerpos = new Point(Config.String_Center_X, Config.String_Center_Y);
var distance = (int)Common.distance(centerpos, currpos);
//try
//{
Graphics graphics = Graphics.FromImage(bitmap);
graphics.DrawImage(bmap, new PointF(0, 0));
graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
Pen greenpen = new Pen(Color.Green, 15);
Pen redpen = new Pen(Color.FromArgb(255, Color.Red), 10);
int r = 102;
graphics.DrawEllipse(greenpen, Config.String_Center_X - r, Config.String_Center_Y - r, r * 2, r * 2);
graphics.DrawEllipse(greenpen, Config.String_Center_X - 8, Config.String_Center_Y - 8, 8 * 2, 8 * 2);
graphics.DrawEllipse(redpen, (float)(eyemOcsDXYR.fX - eyemOcsDXYR.fR), (float)(eyemOcsDXYR.fY - eyemOcsDXYR.fR), (float)(eyemOcsDXYR.fR * 2), (float)(eyemOcsDXYR.fR * 2));
graphics.DrawEllipse(redpen, (float)(eyemOcsDXYR.fX - 5), (float)(eyemOcsDXYR.fY - 5), 5 * 2, 5 * 2);
SolidBrush blue = new SolidBrush(Color.BlueViolet);
Font font = new Font(FontFamily.GenericSansSerif, 30);
graphics.DrawString($"center:X:{Config.String_Center_X},Y:{Config.String_Center_Y}", font, blue, rectx, recty);
graphics.DrawString($"result:{result},dX:{eyemOcsDXYR.fX},dY:{eyemOcsDXYR.fY},dR:{eyemOcsDXYR.fR}", font, blue, rectx, font.Height + recty);
graphics.DrawString($"distance:{distance}", font, blue, rectx, font.Height * 2 + recty);
graphics.Save();
bmap.Dispose();
graphics.Dispose();
}
catch (Exception e)
{
LogUtil.info("GetStringCenterC" + e.ToString());
debugtxt = "GetStringCenterC" + e.ToString();
}
Bitmap newbitmap = bitmap.Clone(new Rectangle(rectx, recty, 1000, 1000), PixelFormat.Format24bppRgb);
newbitmap.Save("\\image\\TrayString\\" + DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss") + ".jpg", ImageFormat.Jpeg);
//newbitmap.Dispose();
bitmap.Dispose();
return (newbitmap, currpos, debugtxt);
}
private static Bitmap ConvertTo24(Bitmap bmpIn)
{
Bitmap converted = new Bitmap(bmpIn.Width, bmpIn.Height, PixelFormat.Format24bppRgb);
using (Graphics g = Graphics.FromImage(converted))
{
// Prevent DPI conversion
g.PageUnit = GraphicsUnit.Pixel;
// Draw the image
g.DrawImageUnscaled(bmpIn,0,0);
}
return converted;
}
[HandleProcessCorruptedStateExceptions]
public (Bitmap, Point, string) GetStringCenterB()
{
//return (null, 0, "调试屏蔽");
var centerpos = new Point(Config.String_Center_X, Config.String_Center_Y);
Bitmap bmap = Common.DeepClone(Camera._cam.GrabOneImage(RobotManage.t1Machine.Config.String_Camera));
Rectangle rectangle = new Rectangle(centerpos.X - 640 / 2, centerpos.Y - 640 / 2, 640, 640);
Bitmap newbitmap = Common.ImageCrop(bmap, rectangle);
bmap.Dispose();
string filename = "\\image\\TrayString\\" + DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss") + ".jpg";
newbitmap.Save(filename, ImageFormat.Jpeg);
float fx = 0, fy = 0;
int r = centerDetector(filename, ref fx, ref fy);
LogUtil.info($"centerDetector r:{r},x:{fx},y:{fy}");
if (r != 0 || fx == 0)
{
return (newbitmap, Point.Empty, "未检测到盘心");
}
var debugtxt = $"centerDetector:\nresult:{r}\nfX:{fx}\nfY:{fy}";
var currpos = new Point((int)fx+ rectangle.X, (int)fy+ rectangle.Y);
var distance = (int)Common.distance(centerpos, currpos);
Pen greenpen = new Pen(Color.Green, 15);
Pen redpen = new Pen(Color.FromArgb(255, Color.Red), 10);
Graphics graphics = Graphics.FromImage(newbitmap);
graphics.DrawEllipse(greenpen, Config.String_Center_X - 8, Config.String_Center_Y - 8, 8 * 2, 8 * 2);
graphics.DrawEllipse(redpen, (int)fx - 5, (int)fy - 5, 5 * 2, 5 * 2);
graphics.Save();
return (newbitmap, currpos, debugtxt);
}
[DllImport("yolov5.dll", CharSet = CharSet.Ansi)]
public static extern int centerDetector([MarshalAs(UnmanagedType.LPStr)] string filename, ref float x, ref float y);
}
}