AC_SA_BoxBean_Inventory.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_SA_BoxBean
{
//进出轴到P1
//InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
protected override void InventoryProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
bool IsExist = false;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SC_01_InOutAxisHome)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_02_MoveToLBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P3, Config.MiddleAxis_P2_Speed);
int outCount = ACServerManager.GetActualtPosition(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
int disCount = Math.Abs(outCount - moveP.UpDown_P5);
//CheckPositionLog("升降轴当前位置与目标位置距离为(高低速距离阈值为150000)" + disCount.ToString());
if (disCount > 150000)
{
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
CheckPositionLog(" 旋转轴 至P3（料叉背向库位点）升降轴到P5(库位低点) UpDownAxis_P5_Speed=" + Config.UpDownAxis_P5_Speed.ToString());
}
else
{
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P6_Speed);
CheckPositionLog(" 旋转轴 至P3（料叉背向库位点）升降轴到P5(库位低点) UpDownAxis_P6_Speed=" + Config.UpDownAxis_P6_Speed.ToString());
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_02_MoveToLBag)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_03_MoveToHBag);
CheckPositionLog(" 升降轴到库位高点P9, UpDownAxis_P9_Speed=" + Config.UpDownAxis_P9_Speed.ToString());
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P9, Config.UpDownAxis_P9_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.CheckPos, IO_VALUE.HIGH));
StoreMove.OneWaitCanEndStep = true;
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_03_MoveToHBag)
{
ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
StoreMove.NextMoveStep(StoreMoveStep.SC_04_Inventory);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
int outCount = ACServerManager.GetActualtPosition(Config.UpDown_Axis);
int errorCount = Math.Abs(outCount - moveP.UpDown_P9);
if (errorCount <= Config.UpDown_Axis.CanErrorCountMax)
{
CheckPositionLog(" 升降轴到目标位置停止, 当前位置=" + ACServerManager.GetActualtPosition(Config.UpDown_Axis));
}
else
{
CheckPositionLog(" 升降轴未到目标停止, 当前位置=" + ACServerManager.GetActualtPosition(Config.UpDown_Axis));
}
// if (ACAxisMoveIsEnd(Config.UpDown_Axis, moveP.UpDown_P9,Config.UpDownAxis_P9_Speed, out string msg))
//{
//}
//else
//{
// //IsExist = true;
// //IsExist = IOManager.IOValue(IO_Type.CheckPos).Equals(IO_VALUE.HIGH);
//}
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_04_Inventory)
{
IsExist = IOManager.IOValue(IO_Type.CheckPos).Equals(IO_VALUE.HIGH);
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("cid", CID);//cid = 料仓CID
paramMap.Add("pos", StoreMove.MoveParam.PosInfo.PosId); // 库位
paramMap.Add("hasReel", IsExist.ToString()); // 是否有料
string server = StoreManager.GetAddr(StoreManager.Addr_posReelCheck, paramMap);
string resultStr = HttpHelper.Post(server, "");
CheckPositionLog("盘点仓位: [CID=" + CID + "] [" + StoreMove.MoveParam.PosInfo.PosId + "] [IO_Type.CheckPos=" + IsExist.ToString() + "] [resultStr=" + resultStr + "]");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，盘点后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InventoryEndProcess(StoreMoveType.CheckPosition);
}
}
/// <summary>
/// 自动盘点是否结束
/// </summary>
/// <param name="storeMoveType"></param>
private void InventoryEndProcess(StoreMoveType storeMoveType)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
//是否自动状态
if (!autoNext)
{
return;
}
if (storeMoveType.Equals(StoreMoveType.CheckPosition))
{
int newIndex = autoPositionIndex - 1;
if (newIndex < 0)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
LogUtil.info(LOGGER, StoreName + "下一个索引不存在，重新开始自动盘点，索引【" + AutoStartIndex + "】");
}
else
{
autoNext = false;
autoMsg = "自动盘点结束！";
LogUtil.info(LOGGER, StoreName + "下一个索引不存在，自动盘点结束！");
//回待机位
MoveToP1();
}
}
else
{
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid + ",当时已经盘点" + CurrInOutACount + "次，需要重置BOX");//，先把盘点信息存入排队列表中
Reset(false);
autoMsg = "自动盘点：" + posid;
AddWaitOutInfo(inoutinfo);
}
else if (CurrInOutCount >= Config.Box_ResetMCount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid + ",当时已经出盘点" + CurrInOutCount + "次，需要重置BOX旋转轴");
//ResetMiddleAxis(false);
autoMsg = "自动盘点：" + posid;
AddWaitOutInfo(inoutinfo);
}
else
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid);
autoMsg = "自动盘点：" + posid;
StartInventoryMove(new InOutParam(inoutinfo));
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, ex.ToString());
}
}
/// <summary>
/// 开始库位盘点
/// </summary>
public void StartInventoryMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosInfo.PosId : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(LOGGER, StoreName + " 启动盘点库位【" + posId + "】出错，找不到库位信息");
return;
}
LogUtil.info(LOGGER, StoreName + " 启动盘点库位【" + posId + "】", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.CheckPosMove;
StoreMove.NewMove(StoreMoveType.CheckPosition, param);
SC_01_Move(param.MoveP);
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动盘点库位【" + posId + "】出错，当前状态，storeStatus=" + storeRunStatus);
}
}
private void SC_01_Move(LineMoveP moveP)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_01_InOutAxisHome);
CheckPositionLog("盘点：SC_01_InOutAxisHome 进出轴(叉子)动作至P1");
InOutBackToP1(moveP.InOut_P1);
}
private void CheckPositionLog(string msg)
{
string posId = StoreMove.MoveParam != null ? "【" + StoreMove.MoveParam.PosInfo.PosId + "】" : " ";
LogUtil.info(LOGGER, posId + StoreMove.MoveStep + " " + msg, storeMoveColor);
}
}
}