AC_BOX_Bean_Shelf.cs
46.7 KB
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_BOX_Bean
{
#region 料架进出料仓处理：出入库模块共用
private void BI_04_WaitTakeSingle(string moveName)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_WaitTakeSingle);
InOutStoreLog(moveName + MoveInfo.SLog + " 线体正转，等待LineIn_Check=Low, 信号LineTake_Check=High");
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
private void ShelfEnterProcess()
{
string mark = GetMarkInfo();
string moveName = "入库料架[" + CurrShelfID + "]";
bool instoreShelf = true;
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
instoreShelf = false;
moveName = "出库料架[" + CurrShelfID + "][" + mark + "]";
}
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else
{
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
InOutStoreLog(moveName + MoveInfo.SLog + " agv已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check 或LineTake_Check 信号");
AgvClient.SetStatus(Config.AgvNodeName, mark, "", ClientAction.MayEnter, ClientLevel.High, true);
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
BI_04_WaitTakeSingle(moveName);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用Agv " + Config.AgvNodeName + " FinishEnter，取料位检测到信号，继续转动");
LineRun();
AgvClient.SetStatus(Config.AgvNodeName, mark, "", ClientAction.FinishEnter, ClientLevel.High, true);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.ShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
InOutStoreLog("出库 " + MoveInfo.SLog + "： ShelfPosID未设置，默认ShelfPosID=" + MoveInfo.MoveParam.ShelfPosID);
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭 ");
DoorBean.StartClose(MoveInfo);
if (!instoreShelf)
{
InOutStoreLog("出库 " + MoveInfo.SLog + "： 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)");
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
InOutStoreLog(moveName + MoveInfo.SLog + "继续转动 7000");
LineRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{
LineStop();
UpdateShelfId();
//如果未读到料架号，将料架送出
if (CurrShelfID.EndsWith("00") && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogInfo(" 执行出库【" + MoveInfo.MoveParam.ToStr() + "】失败，料架号[" + CurrShelfID + "]无效，加入等待队列");
waitOutStoreList.Enqueue(MoveInfo.MoveParam.NewParam());
LogUtil.error(Name + "出库 料架号[" + CurrShelfID + "]无效，送出料架，稍后重新出库");
MoveInfo.MoveParam.rfid = CurrShelfID;
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
//如果该料架为入库料架，此时有出库任务，执行入库任务
if (StoreManager.CheckShelfInfo(CurrShelfID) && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogInfo(Name + "出库"+ mark + "->入库 料架号[" + CurrShelfID + "]为入库料架，进行入库");
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
mark = "0";
instoreShelf = true;
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
InOutStoreLog(moveName + MoveInfo.SLog + "停止线体，读取料架" + CurrShelfID + "，设置" + Config.AgvNodeName + "=None");
AgvClient.SetStatus(Config.AgvNodeName, mark);
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.ShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
InOutStoreLog("出库 " + MoveInfo.SLog + "： ShelfPosID未设置，默认ShelfPosID=" + MoveInfo.MoveParam.ShelfPosID);
}
// LastRfidID = MoveInfo.MoveParam.rfid;
LastOutParam = MoveInfo.MoveParam;
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else
{
LastOutParam = new InOutParam();
// LastRfidID = "";
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_09_TopCylinderUp);
InOutStoreLog(moveName + MoveInfo.SLog + "" + CurrShelfID + "顶升上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
if (!instoreShelf)
{
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6["+ MoveInfo.MoveParam.MoveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
//Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
//ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
//ComAxisStartCheck();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp))
{
if (instoreShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
//获取料架的锁定状态
bool lockState = StoreManager.GetShelfLockInfo(Name, CID, CurrShelfID, out MoveInfo.shelfLockDatas);
if (lockState && MoveInfo.shelfLockDatas != null)
{
MoveInfo.IsShelfLocked = true;
if (MoveInfo.shelfLockDatas.Count.Equals(0))
InOutStoreLog(moveName + MoveInfo.SLog + "该锁定料架上的料盘不属于该料仓，即将送出锁定料架");
else
InOutStoreLog(moveName + MoveInfo.SLog + "开始到料架指定位置取料盘 ");
}
else
{
MoveInfo.IsShelfLocked = false;
InOutStoreLog(moveName + MoveInfo.SLog + "开始循环料架取料盘 ");
}
MoveInfo.EndStepWait();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴返回P1["+ MoveInfo.MoveParam.MoveP.InOut_P1 + "] ");
InOutBackToP1(MoveInfo.MoveParam.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 = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
//SO_06_StartCompress();
}
}
}
private void StartShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
string mark = GetMarkInfo();
InOutStoreLog("送出[" + CurrShelfID + "][" + mark + "]：顶升下降,调用 NeedLeave[" + mark + "][" + CurrShelfID + "] ");
AgvClient.NeedLeave(Config.AgvNodeName, mark, CurrShelfID);
}
else
{
InOutStoreLog("送出空料架[" + CurrShelfID + "]：顶升下降,调用 NeedLeave[0][" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
AgvClient.NeedLeave(Config.AgvNodeName, "0", CurrShelfID);
StoreManager.clearPutInRfid(Name, CurrShelfID);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
private string GetMarkInfo(string defualtMark = "0")
{
string mark = defualtMark;
//如果料架号是空，需要送到VMI线
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
if (CurrShelfID.EndsWith("00"))
{
mark = defualtMark;
}
//包装料会发往分盘区, 紧急料区, 包装线区
// urgentReel 这个为true是紧急料 出到紧急料区
// cutReel 为true是分盘料,AGV会拉到到分盘区
//料串会发到分盘区和紧急料区
//两个都为false 包装料默认拉到包装线体, 料串默认拉到紧急料区
else if (MoveInfo.MoveParam.urgentReel)
{
//紧急料，需要到紧急料区
mark = MoveInfo.MoveParam.rfid + ",urgent";
}
else if (MoveInfo.MoveParam.cutReel)
{
//cutReel 为true是分盘料,AGV会拉到到分盘区
mark = MoveInfo.MoveParam.rfid + ",cut";
}
else
{
mark = MoveInfo.MoveParam.rfid + ",pack";
}
}
return mark;
}
private void ShelfOutProcess()
{
string mark = GetMarkInfo();
string moveName = "送出空料架[" + CurrShelfID + "]";
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
moveName = "送出[" + CurrShelfID + "][" + mark + "]";
}
// LogCPU();
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
InOutStoreLog(moveName + MoveInfo.SLog + " ：定位气缸下降");
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
MoveInfo.TimeOutSeconds = 600;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave[" + mark + "][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
//agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
}
else
{
//如果料架已被拉出，也算结束
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
AgvClient.SetToNone(Config.AgvNodeName);
//如果agv未到达，直接结束
MoveEndToRuningStatus();
//EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已离开，出库结束，设置" + Config.AgvNodeName + "=None");
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)span.TotalMilliseconds + 30000));
InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，再等待30秒");
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitReady);
MoveInfo.TimeOutSeconds = 120;
InOutStoreLog(moveName + MoveInfo.SLog + "：移门已打开，调用 MayLeave [" + mark + "][" + CurrShelfID + "]，等待agv " + Config.AgvNodeName + " Ready");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayLeave, ClientLevel.High, true);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Ready));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitReady))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog(moveName + MoveInfo.SLog + "：收到agv " + Config.AgvNodeName + " Ready ，线体开始反转");
LineBackRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_LineBackRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitShelfOut);
InOutStoreLog(moveName + MoveInfo.SLog + "：等待取料工位无信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitShelfOut))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitLineIn);
InOutStoreLog(moveName + MoveInfo.SLog + "：等待 入料口有信号，最多等待30秒");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_WaitTime);
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动1000 ， 等待入料口无信号，清理RFID");
RFIDManager.ReadRFID(Config.RFID_IP, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_10_WaitAGVLeave);
MoveInfo.TimeOutSeconds = 180;
InOutStoreLog(moveName + MoveInfo.SLog + "：等待DoorClose事件,最多等待180000 ");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitDoorClose());
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_10_WaitAGVLeave))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_11_CloseDoor);
InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.FinishLeave, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop();
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_11_CloseDoor))
{
//结束
MoveEndToRuningStatus();
AgvClient.SetStatus(Config.AgvNodeName);
//EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：料架" + CurrShelfID + "已离开 ，设置" + Config.AgvNodeName + "=None，清理rfid");
RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = "";
LastOutParam = new InOutParam();
//LastRfidID = "";
}
}
#endregion
#region AGV
internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
{
string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
//Arrive收到后打开门
if (!action.Equals(ClientAction.Arrive))
{
LogUtil.info(Name + logN + " ，未找到相关处理");
return false;
}
//出库处理中不处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (!rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
Task.Factory.StartNew(new Action(()=> {
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}));
return false;
}
//等待空车到达
LogUtil.info(Name + logN + ",当前 BS_03_WaitEmptyAgv，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog("送出料架等待空车" + MoveInfo.SLog + "：agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
Task.Factory.StartNew(new Action(() => {
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvNodeName, mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
}));
return false;
}
//出库等待料架到达
LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
InOutStoreLog("出库等待料架" + MoveInfo.SLog + " agv已到达，打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
//agv到达，开始处理
if (rfid.Equals(""))
{
LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
return false;
}
LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
StartShelfInStore();
return true;
}
else
{
LogUtil.error(Name + logN + " ，[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]未找到相关处理");
}
return false;
}
#endregion
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private string CodeMsg = "";
private bool isInProcess = false;
private DateTime lastConTime = DateTime.Now;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
TimeSpan span = DateTime.Now - lastConTime;
if (span.TotalSeconds < 60)
{
return;
}
}
isInProcess = true;
lastConTime = DateTime.Now;
try
{
//HumitureController.QueryData();
humBean.HumidityProcess(this);
if (StoreManager.IsConnectServer)
{
SendLineStatus();
}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时SendLineStatus出错：" + ex.ToString());
}
finally
{
isInProcess = false;
}
}
/// <summary>
/// 获取整个料仓的状态
/// </summary>
public Operation getLineBoxStatus()
{
//构建发送给服务器的对象
Operation lineOperation = new Operation();
lineOperation.msg = "";
lineOperation.alarmList = new List<AlarmInfo>();
lineOperation.cid = CID;
lineOperation.seq = ConfigAppSettings.nextSeq();
lineOperation.status = 1;
if (WarnMsg != "")
{
lineOperation.status = (int)StoreStatus.Warning;
lineOperation.msg = WarnMsg;
}
lineOperation.status = (int)StoreStatus.StoreOnline;
BoxStatus boxStatus = new BoxStatus();
boxStatus.boxId = 1;
boxStatus.msg = WarnMsg;
lineOperation.msg = WarnMsg;
if (WarnMsg.Equals(""))
{
boxStatus.msg = CodeMsg;
lineOperation.msg = CodeMsg;
}
CodeMsg = "";
//WarnMsg = "";
//状态
boxStatus.status = (int)storeStatus;
if (IsDebug)
{
boxStatus.status = (int)StoreStatus.Debugging;
}
else if (storeStatus.Equals(StoreStatus.OutStoreBoxEnd) || storeStatus.Equals(StoreStatus.InStoreEnd))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
}
else if (!lastPosId.Equals(""))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.status = (int)lastPosIdStatus;
if (lastPosId != "")
{
LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + lastPosIdStatus + "】posId【" + lastPosId + "】");
}
lastPosId = "";
}
//温湿度
//ASTemperateParam param = HumitureServer.GetTemperateParam(Config.Temperate_Serveraddress);
HumitureParam param = humBean.LastData;
if (param != null)
{
boxStatus.humidity = param.Humidity.ToString();
boxStatus.temperature = param.Temperate.ToString();
}
lineOperation.boxStatus.Add(1, boxStatus);
if (!alarmType.Equals(StoreAlarmType.None))
{
lineOperation.alarmList.Add(alarmInfo);
}
return lineOperation;
}
public void SendLineStatus()
{
DateTime time = DateTime.Now;
//构建发送给服务器的对象
Operation lineOperation = getLineBoxStatus();
//如果还没湿度范围，先获取
if (humBean.NeedGetTem())
{
lineOperation.op = 5;
LogUtil.error(Name + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op, DeviceID + 105);
}
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), lineOperation, false);
//发送状态信息到服务器
if (resultOperation == null || (resultOperation.op <= 0))
{
//判断服务端是否返回出库操作
return;
}
if (resultOperation.op.Equals(1))
{
// ReviceInStoreProcess("", resultOperation);
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
private void ReviceOutStoreProcess(Operation resultOperation)
{
DateTime time = DateTime.Now;
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId)
&& data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
char splitChar = '|';
string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
string realRfid = data.ContainsKey(ParamDefine.realRfid) ? data[ParamDefine.realRfid] : "";
int taskCount = FormUtil.GetIntData(data, ParamDefine.taskCount, 0);
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线, 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
string dataStr = JsonHelper.SerializeObject(data);
LogUtil.info("收到服务器出库消息：【" + dataStr + "】");
int index = -1;
foreach (string posId in posIdArray)
{
index++;
int plateW = Convert.ToInt32( plateWArray[index]);
int plateH =Convert.ToInt32( plateHArray[index]);
string shelfPosID = StoreManager.GetShelfIDByLoc(rfidLoc, ShelfPosList);
InOutParam inoutParam = new InOutParam(barcode, posId, shelfPosID, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc, taskCount, realRfid);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
if (position == null)
{
//出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = Name + "未找到库位：【" + inoutParam.ToStr() + "】";
LogUtil.error(WarnMsg);
continue;
}
try
{
//判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，正在【" + posId + "】出库中");
continue;
}
//判断排队列表中是否已存在
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
if (reviceList.Count > 0)
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
}
StartExecuctOut(inoutParam);
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogInfo(Name + "执行 ReviceOutStoreProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
}
#endregion
#region 扫码获取库位
/// <summary>
/// 数据接收
/// </summary>
/// <param name="message"></param>
private bool GetPosIdByCode()
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
//string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
string message = MoveInfo.shelfLockDatas[MoveInfo.currShelfIndex].barcode;
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "未扫到二维码";
LogInfo("未扫到二维码");
return false;
}
if (storeRunStatus.Equals(StoreRunStatus.Wait))
{
LogInfo("二维码【 " + message + "】，设备未启动，不需要发送服务器");
return false;
}
// CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
LogUtil.info(Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
//发送扫码内容到服务器进行入库操作
Operation operation = getLineBoxStatus();
operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), operation, false);
if (resultOperation == null)
{
CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
LogInfo("二维码【 " + message + "】没有收到服务器反馈！");
return false;
}
else if (!string.IsNullOrEmpty(resultOperation.msg))
{
//如果有提示消息，直接显示提示
LogInfo("二维码【 " + message + "】 ：" + resultOperation.msg);
return false;
}
if (resultOperation.op.Equals(1))
{
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return false;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置["+p2+"]["+p3+"] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
return true;
}
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
}
}
catch (Exception ex)
{
LogUtil.error(Name + "GetPosIdByCode" + ex.StackTrace);
}
return false;
}
/// <summary>
/// 扫码枪数据接收
/// </summary>
/// <param name="codeResultType">扫码结果</param>
/// <returns></returns>
public enum CodeResultType
{
/// <summary>
/// 未扫到二维码
/// </summary>
NoCode,
/// <summary>
/// 设备未启动
/// </summary>
DeviceNotOpen,
/// <summary>
///未收到服务器反馈
/// </summary>
NotResponseFromServer,
WarnMsg,
/// <summary>
/// 未找到库位
/// </summary>
NotFoundPos,
/// <summary>
/// 不属于该仓位
/// </summary>
NotPosForPutIn,
Error,
Success
}
private bool GetPosIdByCode(int rfidLoc, out CodeResultType codeResultType)
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "未扫到二维码";
LogInfo("未扫到二维码");
codeResultType = CodeResultType.NoCode;
return false;
}
if (storeRunStatus.Equals(StoreRunStatus.Wait))
{
LogInfo("二维码【 " + message + "】，设备未启动，不需要发送服务器");
codeResultType = CodeResultType.DeviceNotOpen;
return false;
}
// CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
LogUtil.debug (Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
//查询该料盘所在料仓以及仓位
StoreManager.ResultType resultType = StoreManager.GetPosForPutIn(Name, Config, message, CurrShelfID, rfidLoc, out bool isLockInfoMatch);
if (resultType == StoreManager.ResultType.Error)
{
codeResultType = CodeResultType.Error;
return false;
}
else if(resultType == StoreManager.ResultType.NotInThisBox)
{
codeResultType = CodeResultType.NotPosForPutIn;
return false;
}
if (!isLockInfoMatch && MoveInfo.IsShelfLocked)//锁定信息不匹配则从第一层开始重新取料,一个料架只重新开始一次
{
MoveInfo.IsShelfLocked = false;
MoveInfo.currShelfIndex = -1;
LogUtil.info(Name + "该锁定料架" + CurrShelfID + "上的料盘信息不匹配，即将从开始位置循环取料");
}
//发送扫码内容到服务器进行入库操作
Operation operation = getLineBoxStatus();
operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), operation, false);
if (resultOperation == null)
{
CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
LogInfo("二维码【 " + message + "】没有收到服务器反馈！");
codeResultType = CodeResultType.NotResponseFromServer;
return false;
}
else if (!string.IsNullOrEmpty(resultOperation.msg))
{
//如果有提示消息，直接显示提示
LogInfo("二维码【 " + message + "】 ：" + resultOperation.msg);
codeResultType = CodeResultType.WarnMsg;
return false;
}
if (resultOperation.op.Equals(1))
{
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
codeResultType = CodeResultType.NotFoundPos;
return false;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置[" + p2 + "][" + p3 + "] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
codeResultType = CodeResultType.Success;
return true;
}
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
}
}
catch (Exception ex)
{
LogUtil.error(Name + "GetPosIdByCode" + ex.StackTrace);
}
codeResultType = CodeResultType.Error;
return false;
}
#endregion
}
}