AC_SA_BoxBean_Partial.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;
namespace OnlineStore.DeviceLibrary
{
partial class AC_SA_BoxBean
{
#region 自动出入库参数
/// <summary>
/// 料仓内所有的位置列表
/// </summary>
public List<string> PositionNumList = new List<string>();
/// <summary>
/// 入库完成后自动出库，出库完成后自动入库
/// </summary>
public bool autoNext = false;
/// <summary>
/// 自动出入库间隔
/// </summary>
public int autoJiange = 3;
public int autoPositionIndex = 0;
public string autoMsg = "";
public int AutoStartIndex = -1;
public bool IsInOutStoreAuto = false; //是否开启自动出入库
public bool Double_Alternate = false;
public bool hasDoublePlate = false;
#endregion
#region 出入库参数
/// <summary>
/// 当前出入库的次数，超过配置的数量时，需要自动重置一下，再进行出入库
/// </summary>
private int CurrInOutCount = 0;
private int CurrInOutACount = 0;
private bool LoadParamPosition(InOutStoreParam param)
{
if (param == null)
{
return false;
}
//加载位置
if (param.MoveP == null)
{
LineMoveP p = new LineMoveP();
ACStorePosition position = param.GetACPosition();
if (position == null)
{
LogUtil.error(LOGGER, StoreName + "出入库时发现param中取到的Position=null,没有库位不能执行出入库");
return false;
}
p.ComPress_P1 = Config.CompressAxis_P1_Position;
p.InOut_P1 = Config.InOutAxis_P1_Position;
p.Middle_P1 = Config.MiddleAxis_P1_Position;
p.InOut_P2 = position.InOutAxis_DoorPosition_P2;
//p.UpDown_P1 = position.UpDownAxis_DoorOPosition_P1;
//p.UpDown_P8 = position.UpDownAxis_DoorIBPosition_P8;
//p.UpDown_P2 = position.UpDownAxis_DoorIPosition_P2;
//p.UpDown_P7 = position.UpDownAxis_DoorOBPosition_P7;
//p.InOut_P2 = Config.InOutAxis_DoorPosition_P2;
p.UpDown_P1 = Config.UpDownAxis_DoorOPosition_P1;
p.UpDown_P8 = Config.UpDownAxis_DoorIBPosition_P8;
p.UpDown_P2 = Config.UpDownAxis_DoorIPosition_P2;
p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
p.ComPress_P2 = position.CompressAxis_Position_P2;
if (int.TryParse(param.PlateH, out int plateh))
{
var h = Config.GetComP2(plateh);
if (h>0)
p.ComPress_P2 = h;
}
p.ComPress_P3 = position.CompressAxis_CPosition_P3;
p.InOut_P3 = position.InOutAxis_Position_P3;
p.Middle_P2 = position.MiddleAxis_Position_P2;
p.UpDown_P3 = position.UpDownAxis_IHPosition_P3;
p.UpDown_P4 = position.UpDownAxis_ILPosition_P4;
p.UpDown_P5 = position.UpDownAxis_OHPosition_P5;
p.UpDown_P6 = position.UpDownAxis_OLPosition_P6;
param.MoveP = p;
return true;
}
return true;
}
#endregion
#region 出入库结果验证
private void InOutBackToP1(int InOut_P1)
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
/*
//判断是否在P1，如果是，不需要运行
int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - InOut_P1);
//需要判断原点信号
int org = ACServerManager.GetHomeSingle(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
if (errorCount <= Config.InOut_Axis.CanErrorCountMin && org.Equals(1))
{
LogUtil.info("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis, IO_VALUE.HIGH));
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
*/
}
private void CheckWait()
{
List<WaitResultInfo> list = StoreMove.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
StoreMove.EndStepWait();
return;
}
bool isOk = true;
if (StoreMove.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == 1)
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
// WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), StoreMove.MoveType);
break;
}
}
else if (wait.WaitType == 2)
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (StoreMove.MoveStep == StoreMoveStep.SO_15_WaitTake)
{
timeOutMs = 650000;
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
//WarnMsg = StoreName + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
SetWarnMsg(ResourceControl.WaitSingleTimeOut, io.DisplayStr, wait.IoValue.ToString());//1084
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, StoreMove.MoveType);
LogUtil.error(LOGGER, StoreName + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == 5)
{
//string msg = "";
//wait.IsEnd = ShuoKeIsEnd(wait, out msg);
// NotOkMsg = NotOkMsg +" "+ msg;
wait.IsEnd = false;
}
else if (wait.WaitType == 6)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
else if (wait.WaitType == 7)
{
wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
if (wait.IsEnd && (StoreMove.MoveStep == StoreMoveStep.SO_15_WaitTake) && wait.HeightValue.Equals(0))
{
if (TrayCheck_Door.Equals(IO_VALUE.LOW))
{
LogUtil.info(StoreMove.MoveStep + " 等待height=" + wait.HeightValue + "完成，且当前TrayCheck_Door=LOW");
}
else
{
LogUtil.info(StoreMove.MoveStep + " 等待height=" + wait.HeightValue + "完成，但当前TrayCheck_Door=High，继续等待门口无料盘信号");
wait.IsEnd = false;
}
}
if (wait.IsEnd)
{
LogUtil.debug("等待height=" + wait.HeightValue + "完成");
}
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
}
else if (span.TotalSeconds > StoreMove.TimeOutSeconds)
{
// WarnMsg = StoreName + "【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】等待超时 [" + NotOkMsg
// + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
SetWarnMsg(ResourceControl.MoveTimeOut, StoreMove.MoveStep.ToString(), NotOkMsg, Math.Round(span.TotalSeconds, 1) + ""); //1085
LogUtil.error(LOGGER, WarnObj.WarnMsg, 100);
Alarm(StoreAlarmType.IoSingleTimeOut, "", StoreMove.MoveType);
}
}
private static DateTime lastComRHomeTime = DateTime.Now;
#endregion
#region 入库
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 开始入库移动移动
/// </summary>
public void StartInStoreMove(InOutStoreParam param, bool isNeedCheckIO)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PositionNum : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，找不到库位信息");
return;
}
//if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
//{
// LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
// return;
//}
LogUtil.info(LOGGER, StoreName + " 启动入库【" + posId + "】", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
StoreMove.NewMove(StoreMoveType.InStore, param);
if (isNeedCheckIO)
{
//料盘检测
InStoreLog(" 入库：SI_00 检测料盘信号");
StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.HIGH));
}
else
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SI_02_OpenDoor(param.MoveP);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
LocationDownAndWait();
}
}
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
}
}
/// <summary>
/// 开始入库移动移动
/// </summary>
public override void StartInStoreMove(InOutStoreParam param)
{
StartInStoreMove(param, false);
}
private void SI_02_OpenDoor(LineMoveP moveP)
{
InStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1, 打开仓门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_OpenDoor);
//StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
OpenDoor();
InOutBackToP1(moveP.InOut_P1);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
private void SI_05_DeviceToDoor()
{
InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
NeedCheckSafetyLight = 1;
}
protected override void InStoreProcess()
{
if (!DoorIsClose() && IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
SetWarnMsg(ResourceControl.safety_grating_covered, "开门时安全光栅被遮挡,暂停运行");//1086
return;
}
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SI_00_TrayCheck)
{
if (TrayCheck_Door.Equals(IO_VALUE.LOW))
{
if (StoreMove.IsTimeOut(out _, 20))
{
SetWarnMsg(ResourceControl.CustAlarm, "Wait TrayCheck_Door=HIGH Timeout");
}
return;
}
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SI_02_OpenDoor(moveP);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
LocationDownAndWait();
}
}
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
SI_02_OpenDoor(moveP);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_OpenDoor)
{
if (DoorIsOpen())
{
InStoreLog($"入库：SI_03 所有轴回到待机点，升降轴到P1:{moveP.UpDown_P1},旋转轴到P1:{moveP.Middle_P1}，压紧轴至P3 :{moveP.ComPress_P3}");
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
else
{
SI_02_OpenDoor(moveP);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
if (IsHasCompress_Axis)
{
InStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed); }
else
{
SI_05_DeviceToDoor();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_CompressWare)
{
SI_05_DeviceToDoor();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{
NeedCheckSafetyLight = 0;
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorIn));
if (TrayCheck_Door.Equals(IO_VALUE.HIGH))
{
InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (StoreMove.IsTimeOut(out _, 5))
{
InStoreLog("入库：SI_06 未检测到料盘,任务取消 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTray);
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
HttpHelper.cancelPutInTask(Name, StoreMove.MoveParam.WareNumber);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
{
InStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorOut));
if (Config.IsUse_Tray_Check.Equals(1))
{
InStoreLog("入库：SI_08 检测叉子料盘检测信号 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_CheckTray);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else
//if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭仓门
CloseDoor(false);
}
//else
//{
// InStoreLog("入库：SI_08 检测叉子料盘检测信号 ");
// StoreMove.NextMoveStep(StoreMoveStep.SI_08_CheckTray);
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
//}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_CheckTray)
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭仓门
CloseDoor(false);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else
{
InStoreLog("入库：SI_10 定位气缸退回 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
LocationDownAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{
//IOManager.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.In));
InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog("入库：SI_13 叉子从库位中返回，进出轴动作至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.Out));
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
InStoreLog("入库：SI_15 返回待机点，轴2/轴1/轴4动作至P1(待机点))，关闭仓门");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_GoBack);
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
else
{
InStoreLog("入库：SI_14 放料完成，等待TrayCheck_Fixture=LOW");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTray);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_CheckTray)
{
InStoreLog("入库：SI_15 返回待机点，轴2/轴1/轴4动作至P1(待机点))，关闭仓门");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_GoBack);
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_15_GoBack)
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + " 【" + posId + "】 入库结束[" + FormUtil.GetSpanStr(span) + "]", storeMoveColor);
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(StoreMoveType.InStore,posId);
}
else
{
LogUtil.info(LOGGER, StoreName + " 入库，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
private DateTime startOutStoreTime = DateTime.Now;
/// <summary>
/// 开始出库运动
/// </summary>
public override bool StartOutStoreMove(InOutStoreParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PositionNum : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，找不到库位信息");
return false;
}
//if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
//{
// LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
// return false;
//}
storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info(LOGGER, StoreName + "启动出库【" + posId + "】 ", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param);
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog("出库：SO_02 叉子先运动到P1 开始");
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown);
OutStoreLog("出库：SO_01 定位气缸下降");
LocationDownAndWait();
}
return true;
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动出库出错，当前状态，storeStatus=" + storeRunStatus);
}
return false;
}
bool fixturestates = false;
LineMoveP movePfix = new LineMoveP();
protected override void OutStoreProcess()
{
if (!DoorIsClose() && IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
return;
}
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog("出库：SO_02 叉子先运动到P1 ");
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack)
{
fixturestates = false;
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag);
OutStoreLog("出库：SO_04 叉子进入库位中， 进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.In));
OutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
OutStoreLog("出库：SO_06 叉子从库位返回，进出轴至P1(待机点) ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.Out));
fixturestates = IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH);
var fixposid = $"fix#{StoreMove.MoveParam.PlagtW}";
var fixposition = CSVPositionReader<ACStorePosition>.GetPositon(fixposid);
OutStoreLog($"出库 获取修正库位置{fixposid}={fixposition}");
if (fixposition != null)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点), ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix)
{
var fixposid = $"fix#{StoreMove.MoveParam.PlagtW}";
var fixposition = CSVPositionReader<ACStorePosition>.GetPositon(fixposid);
OutStoreLog($"出库 获取修正库位置{fixposid}={fixposition}");
if (fixposition != null)
{
OutStoreLog($"出库 找到对应修正库位 获取修正库位置{fixposid}={fixposition}");
movePfix.ComPress_P1 = Config.CompressAxis_P1_Position;
movePfix.InOut_P1 = Config.InOutAxis_P1_Position;
movePfix.Middle_P1 = Config.MiddleAxis_P1_Position;
movePfix.InOut_P2 = fixposition.InOutAxis_DoorPosition_P2;
movePfix.UpDown_P1 = Config.UpDownAxis_DoorOPosition_P1;
movePfix.UpDown_P8 = Config.UpDownAxis_DoorIBPosition_P8;
movePfix.UpDown_P2 = Config.UpDownAxis_DoorIPosition_P2;
movePfix.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
movePfix.ComPress_P2 = fixposition.CompressAxis_Position_P2;
if (int.TryParse(StoreMove.MoveParam.PlateH, out int plateh))
{
var h = Config.GetComP2(plateh);
if (h > 0)
movePfix.ComPress_P2 = h;
}
movePfix.ComPress_P3 = fixposition.CompressAxis_CPosition_P3;
movePfix.InOut_P3 = fixposition.InOutAxis_Position_P3;
movePfix.Middle_P2 = fixposition.MiddleAxis_Position_P2;
movePfix.UpDown_P3 = fixposition.UpDownAxis_IHPosition_P3;
movePfix.UpDown_P4 = fixposition.UpDownAxis_ILPosition_P4;
movePfix.UpDown_P5 = fixposition.UpDownAxis_OHPosition_P5;
movePfix.UpDown_P6 = fixposition.UpDownAxis_OLPosition_P6;
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_01);
}
else
{
OutStoreLog($"出库 未找到对应修正库位 获取修正库位置{fixposid}");
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckTray);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_01)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_02);
InStoreLog("出库：库位修正，旋转轴至P2(修正库位点),升降轴至P3(修正库位入库前点) ");
ACAxisMove(Config.Middle_Axis, movePfix.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, movePfix.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_02)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_03);
InStoreLog("出库：库位修正 叉子进入库位中，进出轴至Fix(修正库位取放料点) ");
int InOutFixPos = 0;
ACAxisMove(Config.InOut_Axis, movePfix.InOut_P3 + InOutFixPos, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_03)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_04);
InStoreLog("出库：库位修正 压紧轴释放，升降轴到P4 ");
ComMoveToPosition(movePfix.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, movePfix.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
//else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_04_inoutp3)
//{
// StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_04);
// InStoreLog("出库：库位修正 进出轴到P3 ");
// ACAxisMove(Config.InOut_Axis, movePfix.InOut_P3, Config.InOutAxis_P3_Speed);
//}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_04)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckFix_05);
InStoreLog("出库：库位修正 压紧轴压紧，升降轴到P6 ");
ComMoveToPosition(movePfix.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, movePfix.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckFix_05)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckTray);
InStoreLog("出库：库位修正 进出轴返回P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckTray)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点), ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SO_091_WaitNoTray();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog("出库：SO_09 定位气缸退回，定位气缸退回 ");
LocationDownAndWait();
}
}
//此处需要等待移栽没有工作，才能把盘放入出料口
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_LocationCylinder_Down)
{
SO_091_WaitNoTray();
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_091_WaitNoTray)
{
if (DoorIsOpen())
{
SO_10_DeviceToDoorPro();
}
else
{
SO_091_WaitNoTray();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorIn));
OutStoreLog($"出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点){moveP.UpDown_P8}，压紧轴到P1{moveP.ComPress_P1} ");
SetWarnMsg("");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
NeedCheckSafetyLight = 0;
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_12_DeviceOutFromDoor);
OutStoreLog("出库：SO_12 叉子从出料口返回，，进出轴动作至P1(待机点) ");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DeviceOutFromDoor)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
if (TrayCheck_Door.Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_CheckTray);
OutStoreLog($"出库：检测到料盘 SO_13 等待TrayCheck_Fixture= LOW && TrayCheck_Door=high");
lastPosIdStatus = StoreStatus.OutStorEnd;
storeStatus = StoreStatus.OutStorEnd;
SendLineStatus();
}
else if (StoreMove.IsTimeOut(out _,5))
{
lastPosIdStatus = StoreStatus.OutStoreError;
storeStatus = StoreStatus.OutStoreError;
SendLineStatus();
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorOut));
StoreMove.NextMoveStep(StoreMoveStep.SO_TakeReelFaile);
//StoreMove.NextMoveStep(StoreMoveStep.SO_15_WaitTake);
//OutStoreLog("出库：出库未检测到料盘,出库失败");
//OutStoreLog("出库：SO_12_DeviceOutFromDoor 升降轴返回，轴2至P1(待机点) ,关闭仓门,更改状态为出库完成");
//ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//CloseDoor();
SetWarnMsg(ResourceControl.take_out_reel_failure, posId);//1083
OutStoreLog($"料叉没有成功取出料盘,请检查库位[{posId}]");
}
//改为出库完成
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_TakeReelFaile)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
SetWarnMsg(ResourceControl.take_out_reel_failure, posId); //1083
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_CheckTray)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorOut));
SO_14_GoBack();
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_14_GoBack)
{
HIKCamera.Current.CameraGrabOne(HIKCamera.Current.GetFixtureStateFilename(StoreMove.MoveParam, StoreMove.MoveType, FixtureState.DoorOut));
StoreMove.NextMoveStep(StoreMoveStep.SO_15_WaitTake);
if (!autoNext)
{
if (OutStoreWaitSeconds > 0)
{
int ms = OutStoreWaitSeconds * 1000;
OutStoreLog("出库：SO_15_WaitTake 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(ms));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
if (OutStoreWaitSeconds > 120)
{
StoreMove.TimeOutSeconds = 120;
}
else
{
//StoreMove.TimeOutSeconds = OutStoreWaitSeconds;
}
StoreMove.OneWaitCanEndStep = true;
}
else
{
OutStoreLog("出库：SO_15_WaitTake 等待拿走物品 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
}
}
else
{
OutStoreLog("出库：SO_15_WaitTake 自动出入库中，等待3秒后继续");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_15_WaitTake)
{
//如果配置是0，再次验证是否拿走物品
if (OutStoreWaitSeconds <= 0)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_16_CheckIsTake);
OutStoreLog("出库：SO_16_CheckIsTake 再次等待物品是否已拿走 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
}
else
{
OutStoreEnd();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_16_CheckIsTake)
{
OutStoreEnd();
}
else
{
LogUtil.error(LOGGER, StoreName + " 出库处理，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
private void SO_091_WaitNoTray()
{
if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) &&
TrayCheck_Door.Equals(IO_VALUE.LOW))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_091_WaitNoTray);
OutStoreLog("出库：SO_091 打开仓门，等待门口无料盘 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
OpenDoor();
}
else if (StoreMove.IsTimeOut(out double timeout)) {
if (TrayCheck_Door.Equals(IO_VALUE.HIGH))
{
SetWarnMsg(ResourceControl.MoveTimeOut, StoreMove.MoveStep + "", IO_Type.TrayCheck_Door.ToString() + "=LOW", timeout.ToString("f1")+"s"); //1085
LogUtil.error(LOGGER, WarnObj.WarnMsg, 100);
}
else if(IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
SetWarnMsg(ResourceControl.MoveTimeOut, StoreMove.MoveStep + "", IO_Type.SafetyLightCurtains.ToString()+"=HIGH", timeout.ToString("f1") + "s"); //1085
LogUtil.error(LOGGER, WarnObj.WarnMsg, 100);
}
}
}
private void OutStoreEnd()
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.StoreOnline;
LogUtil.info(LOGGER, StoreName + " 【" + posId + "】出库结束[" + FormUtil.GetSpanStr(span) + "]", storeMoveColor);
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore,posId);
}
private void SO_14_GoBack()
{
StoreMove.NextMoveStep(StoreMoveStep.SO_14_GoBack);
OutStoreLog("出库：SO_14 升降轴返回，轴2至P1(待机点) ,关闭仓门,更改状态为出库完成");
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
private void SO_10_DeviceToDoorPro()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog("出库：SO_10 叉子进出料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
NeedCheckSafetyLight = 1;
}
public bool InOutAxisCanMove()
{
if (StoreManager.Store.Config.IsHasLocationCylinder.Equals(0))
{
return true;
}
return true;
//if (IOManager.IOValue(IO_Type.LocationCylinder_Down).Equals(IO_VALUE.HIGH)
// && IOManager.IOValue(IO_Type.LocationCylinder_Up).Equals(IO_VALUE.LOW)
// && IOManager.IOValue(IO_Type.LocationCylinder2_Down).Equals(IO_VALUE.HIGH)
// && IOManager.IOValue(IO_Type.LocationCylinder2_Up).Equals(IO_VALUE.LOW))
//{
// return true;
//}
//return false;
}
private void LocationUpAndWait()
{
//if (Config.IsHasLocationCylinder>=1)
//{
// IOManager.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
// IOManager.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Up, IO_VALUE.HIGH));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Down, IO_VALUE.LOW));
//}
}
private void LocationDownAndWait()
{
//if (Config.IsHasLocationCylinder>=1)
//{
// IOManager.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
// IOManager.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Down, IO_VALUE.HIGH));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Up, IO_VALUE.LOW));
//}
}
#endregion
public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>();
public object waitOutListLock = "";
public void AddWaitOutInfo(FixtureCodeInfo code)
{
lock (waitOutListLock)
{
var x = waitOutStoreList.FindAll((fx) => { return fx.PosId == code.PosId; });
if (x.Count==0)
waitOutStoreList.Add(code);
}
}
/// <summary>
/// PosId, InOut,isSuccess
/// </summary>
public event Action<string,StoreMoveType,bool> InOutEndProcessEvent;
private string AutoOut { get => ResourceControl.GetString("自动出库："); }
private string AutoIn { get => ResourceControl.GetString("自动入库："); }
public bool Alternate = true;
private void InOutEndProcess(StoreMoveType storeMoveType,string current_posid)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
LogUtil.info(LOGGER, "自动出入库状态:"+ autoNext.ToString());
InOutEndProcessEvent?.Invoke(current_posid, storeMoveType, true);
//是否自动进入出库状态
if (!autoNext)
{
return;
}
LogUtil.info(LOGGER, "开始自动出入库计算");
if (storeMoveType.Equals(StoreMoveType.InStore) && Double_Alternate && !hasDoublePlate)
{
string posid = PositionNumList[autoPositionIndex-1];
LogUtil.info(LOGGER, StoreName + "自动进入双盘下一个入库：posid=" + posid);
hasDoublePlate = true;
autoMsg = "自动入库：" + posid;
StartInStoreMove(new InOutStoreParam("AAAA", posid));
return;
}
if (storeMoveType.Equals(StoreMoveType.InStore))
{
if (Double_Alternate && Alternate)
{
autoPositionIndex += 2;
Alternate = false;
}
else if (Double_Alternate && !Alternate)
{
autoPositionIndex--;
Alternate = true;
}
// autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(LOGGER, StoreName + $"自动进入下一个出库：{autoPositionIndex} posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
Reset(false);
autoMsg = AutoOut + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "", posid));
}
else
{
LogUtil.info(LOGGER, StoreName + $"自动进入下一个出库：{autoPositionIndex} posid=" + posid);
autoMsg = AutoOut + posid;
StartOutStoreMove(new InOutStoreParam("", posid));
}
}
else if (storeMoveType.Equals(StoreMoveType.OutStore))
{
int newIndex = autoPositionIndex - autoJiange;
if (newIndex < 0)
{
//if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
//{
// newIndex = AutoStartIndex;
// LogUtil.info(LOGGER, StoreName + "下一个索引不存在，重新开始自动出入库，索引【" + AutoStartIndex + "】");
//}
//else
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(LOGGER, StoreName + "下一个索引不存在，自动 出入库结束！");
}
}
if (autoNext)
{
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(LOGGER, StoreName + $"自动进入下一个入库：{autoPositionIndex} posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把入库信息存入排队列表中");
Reset(false);
autoMsg = AutoIn + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "AAAA", posid));
}
else
{
LogUtil.info(LOGGER, StoreName + $"自动进入下一个入库：{autoPositionIndex} posid=" + posid);
autoMsg = AutoIn + posid;
StartInStoreMove(new InOutStoreParam("AAAA", posid));
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, ex.ToString());
}
}
private void InStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, "【" + posId + "】" + msg, storeMoveColor);
}
private void OutStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, "【" + posId + "】" + msg, storeMoveColor);
}
public bool NeedShowBtn()
{
if (alarmType.Equals(StoreAlarmType.IoSingleTimeOut))
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SO_07_CheckTray))
{
return true;
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SI_08_CheckTray))
{
return true;
}
}
return false;
}
public bool BtnNextPro()
{
if (alarmType.Equals(StoreAlarmType.IoSingleTimeOut))
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SO_07_CheckTray))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckTray);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(100));
InStoreLog("出库：SO_07 等待TrayCheck_Fixture=High，BtnNextPro 忽略夹爪检测信号 ");
return true;
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SI_08_CheckTray))
{
StoreMove.NextMoveStep(StoreMoveStep.SI_08_CheckTray);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(100));
InStoreLog("入库：SI_08 检测叉子料盘检测信号，BtnNextPro 忽略夹爪检测信号 ");
return true;
}
}
return false;
}
}
}