Square_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 Square_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 int autoShelfType = 1;
public string autoMsg = "";
public int AutoStartIndex = -1;
#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(InOutParam param)
{
if (param == null)
{
return false;
}
//加载位置
if (param.MoveP == null)
{
LineMoveP p = new LineMoveP();
ACSquareSPosition 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.InOut_P1 = Config.InOutAxis_P1_Position;
p.Middle_P1 = Config.MiddleAxis_P1_Position;
p.MiddleAxis_Safe_Position = Config.MiddleAxis_Safe_Position;
if (param.PosInfo.ShelfType.Equals(1))
{
p.InOut_P2 = Config.InOutAxis_P2_Position;
}
else
{
p.InOut_P2 = Config.InOutAxis_P3_Position;
}
p.UpDown_P1 = Config.UpDownAxis_DoorO_P1;
p.UpDown_P8 = Config.UpDownAxis_DoorIB_P8;
p.UpDown_P2 = Config.UpDownAxis_DoorI_P2;
p.UpDown_P7 = Config.UpDownAxis_DoorOB_P7;
//p.ComPress_P2 = position.CompressAxis_P2;
//p.ComPress_P3 = position.CompressAxis_C_P3;
p.InOut_P4 = position.InOutAxis_P4;
p.Middle_P2 = position.MiddleAxis_P2;
p.UpDown_P3 = position.UpDownAxis_IH_P3;
p.UpDown_P4 = position.UpDownAxis_IL_P4;
p.UpDown_P5 = position.UpDownAxis_OH_P5;
p.UpDown_P6 = position.UpDownAxis_OL_P6;
param.MoveP = p;
if (String.IsNullOrEmpty(param.PosInfo.PlateH))
{
param.PosInfo.PlateH = position.BagHigh.ToString();
}
if (string.IsNullOrEmpty(param.PosInfo.PlateW))
{
param.PosInfo.PlateW = position.BagWidth.ToString();
}
return true;
}
else if (String.IsNullOrEmpty(param.PosInfo.PlateH) || string.IsNullOrEmpty(param.PosInfo.PlateW))
{
ACSquareSPosition 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;
}
if (String.IsNullOrEmpty(param.PosInfo.PlateH))
{
param.PosInfo.PlateH = position.BagHigh.ToString();
}
if (string.IsNullOrEmpty(param.PosInfo.PlateW))
{
param.PosInfo.PlateW = position.BagWidth.ToString();
}
return true;
}
return true;
}
#endregion
#region 出入库结果验证
private void InOutBackToP1(int InOut_P1)
{
//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);
if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
{
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));
}
private DateTime preRWTime = DateTime.Now;
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(), WarnMsg, 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.Equals(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！";
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(LOGGER, StoreName + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
break;
}
TimeSpan rwSpan = DateTime.Now - preRWTime;
if (!wait.IsEnd && rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)
{
preRWTime = DateTime.Now;
string msg = StoreName + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Config.StoreDOList.ContainsKey(ww.IoType))
{
isLog = true;
IOManager.IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
if (isLog)
{
LogUtil.error(msg);
}
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
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";
LogUtil.error(LOGGER, WarnMsg, 100);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, 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 override void StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosInfo.PosId : "";
posId = param.PosInfo.ToStr();
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 (param.PosInfo.ShelfType <= 0)
{
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，未设置入口位置");
return;
}
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，货叉物料检测有料");
return;
}
string doorMsg = DoorIsClose();
if (!String.IsNullOrEmpty(doorMsg))
{
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错， " + doorMsg);
return;
}
LogUtil.info(LOGGER, StoreName + " 启动入库【" + posId + "】", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
StoreMove.NewMove(StoreMoveType.InStore, param);
//料盘检测
StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
//if (StoreManager.UseShelfCheck)
//{
// if (param.PosInfo.ShelfType.Equals(1))
// {
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.HIGH));
// }
// else
// {
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.HIGH));
// }
//}
//else
//{
// SI_02_Move();
//}
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
}
}
private void SI_02_Move()
{
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutToP1);
InStoreLog("入库：进出轴(叉子)动作至P1,关闭门锁=" + StoreMove.MoveParam.PosInfo.ShelfType);
CloseDoor(StoreMove.MoveParam.PosInfo.ShelfType);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
}
/// <summary>
/// 打印轴状态
/// </summary>
/// <param name="moveInfo"></param>
private void PrintAxisSts(StoreMoveInfo moveInfo)
{
List<WaitResultInfo> list = moveInfo.WaitList;
int cutWLcount = list.Count;
if (list.Count <= 0)
{
return;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
if (wait.WaitType.Equals(1))
{
string msg = "";
{
KTK_Store.ACAxisStsInMove(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
}
}
}
protected override void InStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
PrintAxisSts(StoreMove);
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SI_00_TrayCheck)
{
SI_02_Move();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ToP1);
InStoreLog("入库：升降轴到P1[" + moveP.UpDown_P1 + "]，前进轴到P1[" + moveP.Middle_P1 + "] ，托架后退,检测料盘信号");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ShelfBack(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
if (StoreManager.UseShelfCheck)
{
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(1))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.HIGH));
}
else
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.HIGH));
}
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_05_InoutToP2);
InStoreLog("入库：叉子进入入料口，进出轴至P2(进料口取料点) [" + moveP.InOut_P2 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_InoutToP2)
{
//NeedCheckSafetyLight = 0;
StoreMove.NextMoveStep(StoreMoveStep.SI_06_UpdownAxisUp);
InStoreLog("入库： 拿物品， 升降轴至P7(进料口取料缓冲点) [" + moveP.UpDown_P7 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_UpdownAxisUp)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_07_InOutToP1);
InStoreLog("入库： 叉子 从入料口抽出，进出轴至P1(待机点) [" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_InOutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_08_ToSafePosition);
InStoreLog("入库： 判断是否拿到物料");
if (StoreManager.UseShelfCheck)
{
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(1))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
}
else
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
}
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
}
//判断是否拿到料
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_ToSafePosition)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MiddleToP3);
InStoreLog("入库： 移动到安全点，前后轴至安全点, [" + moveP.MiddleAxis_Safe_Position + "]");
ACAxisMove(Config.Middle_Axis, moveP.MiddleAxis_Safe_Position, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MiddleToP3)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_10_UpdownToBag);
InStoreLog("入库： 移动到库位点，前后轴至P2(库位点), [" + moveP.Middle_P2 + "],升降轴至P3(库位入库前点)[" + moveP.UpDown_P3 + "] ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
//else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MiddleToP3)
//{
// StoreMove.NextMoveStep(StoreMoveStep.SI_10_UpdownToBag);
// InStoreLog("入库： 移动到库位点，升降轴至P3(库位入库前点) [" + moveP.UpDown_P3 + "] ");
// //ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//}
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_UpdownToBag)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_11_InoutToP4);
InStoreLog("入库：叉子进入库位中，进出轴至P4(库位取放料点) [" + moveP.InOut_P4 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_InoutToP4)
{
// 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.PosInfo.PosId : "";
lastPosId = posId;
lastDoor = StoreMove.MoveParam.PosInfo.ShelfType;
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_PutWare);
InStoreLog("入库：放下物品，升降轴至P4(库位入料缓冲点) [" + moveP.UpDown_P4 + "], 更新状态=InStoreEnd, " + lastDoor);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutToP1);
InStoreLog("入库：叉子从库位中返回，进出轴动作至P1(待机点) [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_InoutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTrayIsGo);
InStoreLog("入库：检查叉子物料检测信号=low");
if (StoreManager.UseShelfCheck)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_CheckTrayIsGo)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_15_UpdownBack);
InStoreLog("入库：升降轴 返回待机点P1[" + moveP.UpDown_P1 + "] ，前后轴返回安全位置["+moveP.MiddleAxis_Safe_Position+"]托架前进");
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.MiddleAxis_Safe_Position, Config.MiddleAxis_P1_Speed);
ShelfForward(StoreMove.MoveParam.PosInfo.ShelfType);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_15_UpdownBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_16_GoBack);
InStoreLog("入库： 前后轴 返回待机点P1 [" + moveP.Middle_P1 + "]，打开门锁 ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_16_GoBack)
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
LogUtil.info(LOGGER, StoreName + " 【" + posId + "】 整个入库流程结束，耗时【" + 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(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosInfo.PosId : "";
posId = param.PosInfo.ToStr();
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，货叉物料检测有料");
return false;
}
string doorMsg = DoorIsClose();
if (!String.IsNullOrEmpty(doorMsg))
{
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错， " + doorMsg);
return false;
}
//判断对应托架是否有料盒
int shelfType = param.PosInfo.ShelfType;
if (shelfType.Equals(1) && IOManager.IOValue(IO_Type.LeftShelf_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】【" + shelfType + "】出错，LeftShelf_Check 信号亮 ");
return false;
}
else if (shelfType.Equals(2) && IOManager.IOValue(IO_Type.RightShelf_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】【" + shelfType + "】出错，RightShelf_Check 信号亮 ");
return false;
}
else if (shelfType.Equals(0))
{
//如果两侧都有料
if (IOManager.IOValue(IO_Type.LeftShelf_Check).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.RightShelf_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】【" + shelfType + "】出错，LeftShelf_Check信号亮， RightShelf_Check 信号亮 ");
return false;
}
}
storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info(LOGGER, StoreName + "启动出库【" + posId + "】【"+ shelfType + "】 ", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param);
StoreMove.NextMoveStep(StoreMoveStep.SO_01_InoutToP1);
OutStoreLog("出库： 叉子先运动到P1 ， 开始");
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
return true;
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动出库出错，当前状态，storeStatus=" + storeRunStatus);
}
return false;
}
protected override void OutStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
PrintAxisSts(StoreMove);
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SO_01_InoutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_MiddleToP2);
OutStoreLog("出库： 走到安全位置， 前后轴至安全位置 [" + moveP.MiddleAxis_Safe_Position + "]");
ACAxisMove(Config.Middle_Axis, moveP.MiddleAxis_Safe_Position, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_02_MiddleToP2)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_03_UpdownToP5);
OutStoreLog("出库： 走到库位， 升降轴至P5(库位出库前点) [" + moveP.UpDown_P5 + "]前后轴至P2(库位点) [" + moveP.Middle_P2 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ShelfBack(StoreMove.MoveParam.PosInfo.ShelfType);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_UpdownToP5)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_04_InoutToP3);
OutStoreLog("出库： 叉子进入库位中， 进出轴至P3(库位取放料点) [" + moveP.InOut_P4 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_InoutToP3)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_05_GetWare);
OutStoreLog("出库： 拿起物品，升降轴至P6(库位出料缓冲点) [" + moveP.UpDown_P6 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_GetWare)
{
if (StoreMove.MoveParam.PosInfo.ShelfType <= 0)
{
if (IOManager.IOValue(IO_Type.LeftShelf_Check).Equals(IO_VALUE.LOW))
{
StoreMove.MoveParam.UpdateShelfType(1, Config);
OutStoreLog(" 出库： 当前未设置ShelfType，默认ShelfType=" + StoreMove.MoveParam.PosInfo.ShelfType);
}
else
{
StoreMove.MoveParam.UpdateShelfType(2, Config);
OutStoreLog("出库： 当前未设置ShelfType，默认ShelfType=" + StoreMove.MoveParam.PosInfo.ShelfType);
}
}
//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.PosInfo.PosId : "";
lastPosId = posId;
lastDoor = StoreMove.MoveParam.PosInfo.ShelfType;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
StoreMove.NextMoveStep(StoreMoveStep.SO_06_InoutToP1);
OutStoreLog("出库： 叉子从库位返回，进出轴至P1(待机点)[" + moveP.InOut_P1 + "]，更新状态=OutStoreBoxEnd， " + lastDoor);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_InoutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_CheckHasTray);
OutStoreLog("出库： 判断是否拿到料");
if (StoreManager.UseShelfCheck)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_CheckHasTray)
{
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
CodeMsg = "出库[" + posId + "]叉子从库位退出后，未检测到料盘有料";
LogUtil.error(CodeMsg);
}
StoreMove.NextMoveStep(StoreMoveStep.SO_08_UpdownBack);
OutStoreLog("出库：升降轴至P2(进料口出料前点), [" + moveP.UpDown_P2 + "] ,前后轴至安全点，[" + moveP.MiddleAxis_Safe_Position + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.MiddleAxis_Safe_Position, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_UpdownBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_ToDoorPosition);
OutStoreLog("出库：前后轴至P1(待机点) [" + moveP.Middle_P1 + "] ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_ToDoorPosition)
{
WaitNoTray(StoreMoveStep.SO_10_WaitNoTray);
//SO_10_DeviceToDoorPro();
//StoreMove.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
//int shelfType = StoreMove.MoveParam.PosInfo.ShelfType;
//OutStoreLog("出库：等待托架无料 [" + shelfType + "] ");
//if (shelfType.Equals(1))
//{
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(300));
//}
//else if (shelfType.Equals(2))
//{
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(300));
//}
//if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(0))
//{
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
// StoreMove.OneWaitCanEndStep = true;
//}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_WaitNoTray)
{
if (!CheckLeft(StoreMoveStep.SO_10_WaitNoTray))
{
return;
}
if (StoreMove.MoveParam.PosInfo.ShelfType > 0)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_11_ShelfBack);
OutStoreLog("出库： 托架后退 [" + StoreMove.MoveParam.PosInfo.ShelfType + "] ");
ShelfBack(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_ShelfBack)
{
WaitNoTray(StoreMoveStep.SO_12_WaitNoTray);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_WaitNoTray)
{
if (!CheckLeft(StoreMoveStep.SO_12_WaitNoTray))
{
return;
}
if (StoreMove.MoveParam.PosInfo.ShelfType > 0)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_12_InoutToP2);
OutStoreLog("出库： 叉子进出料口，进出轴至P2(进料口取料点) [" + moveP.InOut_P2 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_InoutToP2)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_PutWare);
OutStoreLog("出库： 放下物品，升降轴至P8(进料口出料缓冲点) [" + moveP.UpDown_P8 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_PutWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
OutStoreLog("出库： 叉子从出料口返回，，进出轴动作至P1(待机点) [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_14_InoutToP1)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_15_CheckShelfDI);
OutStoreLog("出库： 判断物料信号是否正确 ");
if (StoreManager.UseShelfCheck)
{
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(1))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.HIGH));
}
else
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.HIGH));
}
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_15_CheckShelfDI)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_16_GoBack);
OutStoreLog("出库： 升降轴到P1(待机点) [" + moveP.UpDown_P1 + "] ,托架前进，打开门锁");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
OpenDoor(StoreMove.MoveParam.PosInfo.ShelfType);
ShelfForward(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_16_GoBack)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
storeStatus = StoreStatus.StoreOnline;
LogUtil.info(LOGGER, StoreName + " 【" + posId + "】 整个出库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！", storeMoveColor);
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore, posId);
}
else
{
LogUtil.error(LOGGER, StoreName + " 出库处理，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
private bool CheckLeft(StoreMoveStep sO_10_WaitNoTray)
{
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(0))
{
if (IOManager.IOValue(IO_Type.LeftShelf_Check).Equals(IO_VALUE.LOW))
{
//StoreMove.MoveParam.PosInfo.ShelfType = 1;
StoreMove.MoveParam.UpdateShelfType(1, Config);
OutStoreLog(" 出库： 当前未设置ShelfType，默认ShelfType=" + StoreMove.MoveParam.PosInfo.ShelfType);
}
else if (IOManager.IOValue(IO_Type.RightShelf_Check).Equals(IO_VALUE.LOW))
{
//StoreMove.MoveParam.PosInfo.ShelfType = 2;
StoreMove.MoveParam.UpdateShelfType(2, Config);
OutStoreLog("出库： 当前未设置ShelfType，默认ShelfType=" + StoreMove.MoveParam.PosInfo.ShelfType);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
int shelfType = StoreMove.MoveParam.PosInfo.ShelfType;
OutStoreLog("出库： 再次 等待托架无料 [" + shelfType + "] ");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
StoreMove.OneWaitCanEndStep = true;
return false;
}
}
return true;
}
#endregion
public List<InOutPosInfo> waitOutStoreList = new List<InOutPosInfo>();
public object waitOutListLock = "";
private void WaitNoTray(StoreMoveStep step)
{
StoreMove.NextMoveStep(step);
int shelfType = StoreMove.MoveParam.PosInfo.ShelfType;
OutStoreLog("出库：等待托架无料 [" + shelfType + "] ");
if (shelfType.Equals(1))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (shelfType.Equals(2))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(300));
}
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(0))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
StoreMove.OneWaitCanEndStep = true;
}
}
public void AddWaitOutInfo(InOutPosInfo code)
{
lock (waitOutListLock)
{
waitOutStoreList.Add(code);
}
}
private string autoInoutCode = "AUTOINOUT";
private void InOutEndProcess(StoreMoveType storeMoveType,string posId)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
//是否自动进入出库状态
if (!autoNext)
{
return;
}
if (storeMoveType.Equals(StoreMoveType.InStore))
{
int newIndex = autoPositionIndex;
if (newIndex >= PositionNumList.Count)
{
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！");
}
}
else
{
InOutEnd(posId, storeMoveType, false);
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
inoutinfo.ShelfType = autoShelfType;
//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：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 = "自动出库：" + posid;
AddWaitOutInfo(inoutinfo);
}
else if (CurrInOutCount >= Config.Box_ResetMCount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX前后轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动出库：" + posid;
AddWaitOutInfo(inoutinfo);
}
else
{
LogUtil.info(LOGGER, StoreName + "自动出库：posid=" + posid);
autoMsg = "自动出库：" + posid;
StartOutStoreMove(new InOutParam(inoutinfo));
}
}
}
else if (storeMoveType.Equals(StoreMoveType.OutStore))
{
int newIndex = autoPositionIndex + autoJiange;
if (newIndex >= PositionNumList.Count)
{
if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
{
newIndex = AutoStartIndex;
InOutEnd(posId, storeMoveType, true);
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！");
}
}
else
{
InOutEnd(posId, storeMoveType, false);
autoPositionIndex = newIndex;
string posid = PositionNumList[newIndex];
InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
inoutinfo.ShelfType = autoShelfType;
//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：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 = "自动入库：" + posid;
// AddWaitOutInfo(inoutinfo);
//}
//else if (CurrInOutCount >= Config.Box_ResetMCount)
//{
// LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX前后轴，先把出库信息存入排队列表中");
// //ResetMiddleAxis(false);
// autoMsg = "自动入库：" + posid;
// AddWaitOutInfo(inoutinfo);
//}
//else
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个入库：posid=" + posid);
autoMsg = "自动入库：" + posid;
StartInStoreMove(new InOutParam(inoutinfo));
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, ex.ToString());
}
}
#region 库位调试
public delegate void InOutEndEventHandler(string posId, StoreMoveType movetype,bool isLast);
public event InOutEndEventHandler InOutEndEvent;
public PosDebug posDebug;
private void InOutEnd(string posId, StoreMoveType movetype, bool isLast)
{
posDebug.AddResult(posId, movetype, isLast);
InOutEndEvent?.Invoke(posId, movetype, isLast);
}
#endregion
private void InStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
LogUtil.info(LOGGER, "【" + posId + "】[" + StoreMove.MoveStep + "] " + msg, storeMoveColor);
}
private void OutStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
LogUtil.info(LOGGER, "【" + posId + "】[" + StoreMove.MoveStep + "] " + msg, storeMoveColor);
}
private bool OpenDoor(int doorType)
{
return OpenCloseDoor(doorType, IO_VALUE.LOW);
}
private bool CloseDoor(int doorType)
{
return OpenCloseDoor(doorType, IO_VALUE.HIGH);
}
private bool OpenCloseDoor(int doorType, IO_VALUE value)
{
if (doorType.Equals(1))
{
//if (IOManager.IOValue(IO_Type.LeftDoor_Close).Equals(IO_VALUE.HIGH))
//{
IOManager.IOMove(IO_Type.LeftDoor_Close, value);
return true;
//}
//else
//{
// LogUtil.info("OpenCloseDoor [" + doorType + "] [" + value + "] 失败");
// return false;
//}
}
else
{
//if (IOManager.IOValue(IO_Type.RightDoor_Close).Equals(IO_VALUE.HIGH))
//{
IOManager.IOMove(IO_Type.RightDoor_Close, value);
return true;
//}
//else
//{
// LogUtil.info("OpenCloseDoor [" + doorType + "] [" + value + "] 失败");
// return false;
//}
}
}
private string GetDoorStatus(int doorType)
{
////3 仓门状态上传: 字段为door1和doo2, 状态: opened为已打开, closed为已关闭, opening为打开中, closing为关闭中
if (doorType.Equals(1))
{
if (IOManager.IOValue(IO_Type.LeftDoor_Close).Equals(IO_VALUE.HIGH))
{
return "opened";
}
else
{
return "closed";
}
}
else
{
if (IOManager.IOValue(IO_Type.RightDoor_Close).Equals(IO_VALUE.HIGH))
{
return "opened";
}
else
{
return "closed";
}
}
}
}
}