AC_BOX_Bean_OutStore.cs
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using Asa;
using CodeLibrary;
using log4net.Core;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
private DateTime startOutStoreTime = DateTime.Now;
public bool IsIgnoreComSig = false; //忽略料叉压紧信号
private bool StartExecuctOut(InOutParam param)
{
bool result;
result = StartOutStoreMove(param);
if (!result)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
waitOutStoreList.Enqueue(param);
}
return result;
}
/// <summary>
/// 开始出库运动
/// </summary>
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
if (!canOutStore(out string msg))
{
LogError(" 启动出库【" + param.ToStr() + "】失败：" + msg);
return false;
}
if (!StoreManager.LoadInoutParam(param, false, this))
{
LogError(" 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
taskData = null;
setStatus(StoreRunStatus.Busy, StoreStatus.OutStoreExecute);
MoveInfo.NewMove(StoreMoveType.OutStore, param);
LogInfo("启动出库【" + param.ToStr() + "】 ");
//出库前shelfPosID需要固定，出库时根据rfid判断是否需要出入料架
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
private void SO_03_ToBagPosition()
{
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(MoveInfo.MoveParam.PosID);
MoveInfo.MoveParam.MoveP.ComPress_P3 = Config.GetComP3(position.BagHigh).MaxComP;
LineMoveP movep = MoveInfo.MoveParam.MoveP;
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToPosition);
InOutStoreLog("走到库位，压紧轴至P3[" + movep.ComPress_P3 + "] ,旋转轴至P2[" + movep.Middle_P2 + "]，升降轴至P5[" + movep.UpDown_P5 + "] ,顶升上升");
ACAxisMove(Config.Comp_Axis, movep.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, movep.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, movep.UpDown_P5, Config.UpDownAxis_P5_Speed);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
protected override void OutStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 关闭 把紧急料盘送到NG料箱逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_15_ToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_16_UrgentDoorUp);
InOutStoreLog("紧急料 升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_16_UrgentDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_17_InoutToUrgentDoor);
InOutStoreLog("紧急料 进出轴到升降门口位置P11");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_17_InoutToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_18_UpdownDown);
InOutStoreLog("紧急料 升降轴到P11,压紧轴到P3，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_18_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_19_InoutToP1);
InOutStoreLog("紧急料 叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_19_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_20_UrgentDoorDown);
InOutStoreLog("紧急料 关闭升降门，送出料盘结束");
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.CurShelfPosID, ShelfPosList);
//紧急料发PutFinished
if (MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, "1000A", MoveInfo.MoveParam.WareCode, CID, 1, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + "1000A" + "_" + GetLastRfid() + "] [" + 1 + "] afterPutCut 结果：" + msg);
}
}
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_20_UrgentDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_21_UrgentLineRun);
InOutStoreLog("紧急料出库 流水线转动30s");
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_21_UrgentLineRun))
{
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
InOutStoreLog("紧急料出库 停止紧急料线体转动");
bool isFinish = false;
if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog("紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "");
isFinish = true;
}
else if (taskData == null)
{
InOutStoreLog("紧急料出库完成，taskData=null");
isFinish = true;
}
}
if (!isFinish)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
InOutStoreLog(" 【" + posId + "】 " + " 紧急料出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (StoreManager.Store.AutoShelfInstore)
{
InOutStoreLog("紧急料还有出库任务，设置 AutoShelfInstore = false");
Setting_Init.AutoShelfInstore = false;
StoreManager.Store.AutoShelfInstore = false;
}
}
else
{
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
#endregion
#region 出库料架检查
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_01_StartGetTray))
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_02_InoutToP1);
InOutStoreLog("料架取料，叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
}
else
{
//所有位置已检查完，准备出库
MoveInfo.currShelfIndex = -1;
//恢复当前需要出库的位置
MoveInfo.MoveParam.RestoreShelfPosId();
SO_03_ToBagPosition();
return;
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_02_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_03_MoveToShelf);
InOutStoreLog("料架取料，升降轴到P101低点[" + moveP.UpDown_LP101 + "]，旋转轴到P101点[" + moveP.Middle_P101 + "]，压紧轴到压紧前点p3[" + Config.CompAxis_Max_P3 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_03_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_04_InoutToP101);
InOutStoreLog("料架取料，叉子前进到P101点[" + moveP.InOut_P101 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_04_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_05_UpdownToP102);
InOutStoreLog("料架取料，升降轴上升到P102点[" + moveP.UpDown_HP102 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_05_UpdownToP102))
{
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_06_StartCompress);
InOutStoreLog("料架取料，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
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.SO_PreCheck_06_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + $"】，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
if(currPosition==0)
{
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，当前位置为0，无需再向下压紧");
}
else
{
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(MoveInfo.MoveParam.PosID);
MoveInfo.MoveParam.MoveP.ComPress_P3 = Config.GetComP3(position.BagHigh).MaxComP;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]");
ACServerManager.SuddenStop(Config.Comp_Axis);
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_07_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_08_InoutBack);
InOutStoreLog("料架取料，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_08_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_14_GetCheckResult);
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_09_ToScanPosition);
// InOutStoreLog("检测治具，升降轴到P2,旋转轴到P1");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//}
}
#region 无需到相机拍照位
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_09_ToScanPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_10_InOutToP2);
InOutStoreLog("检测治具，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_10_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_11_PutTrayDown);
InOutStoreLog("检测治具，升降轴到扫码低点P1，压紧轴到压紧前点P3");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_11_PutTrayDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_12_InOutToP1);
InOutStoreLog("检测治具，进出轴返回待机点P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_12_InOutToP1))
{
IO_VALUE io1 = IOValue(IO_Type.TrayCheck_1);
IO_VALUE io2 = IOValue(IO_Type.TrayCheck_2);
IO_VALUE io3 = IOValue(IO_Type.TrayCheck_3);
IO_VALUE io4 = IOValue(IO_Type.TrayCheck_4);
if (io3.Equals(IO_VALUE.HIGH) || io4.Equals(IO_VALUE.HIGH))
{
LastWidth = 15;
}
else if (io1.Equals(IO_VALUE.HIGH) || io2.Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 0;
LogUtil.error("未检测到识别区料盘检测信号， 设置默认宽度=0");
}
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_13_CheckFix);
InOutStoreLog("检测治具,料盘识别 [" + io1 + "] [" + io2 + "] [" + io3 + "] [" + io4 + "] ,宽度【" + LastWidth + "】，开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate//治具识别
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastScanCodes.Count <= 0)
{
Thread.Sleep(1);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_13_CheckFix))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_14_GetCheckResult);
}
#endregion
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_14_GetCheckResult))
{
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.LOW))// && LastHeight.Equals(8)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_01_StartGetTray);
InOutStoreLog("检测治具，未检测到治具，认为OK，继续循环料架取料盘");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_15_InoutToP2);
addNGShelfPos(MoveInfo.MoveParam.CurShelfPosID);
InOutStoreLog("检测治具，检测到治具,认为料架为NG，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_15_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_16_GetScanPTray);
InOutStoreLog("检测治具，检测到治具,升降轴到扫码高P2，压紧轴到压紧点P2");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_16_GetScanPTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_17_InoutBackP1);
InOutStoreLog("检测治具，检测到治具,进出轴返回");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_17_InoutBackP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_18_ToShelfPosition);
InOutStoreLog("检测治具，检测到治具,叉子已到P1，走到料架位置，旋转轴至P101[" + moveP.Middle_P101 + "]，升降轴至P102[" + moveP.UpDown_HP102 + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_18_ToShelfPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_19_ToShelf);
InOutStoreLog("检测治具，检测到治具,叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_19_ToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_20_PutReel);
InOutStoreLog("检测治具，检测到治具,放下物品，压紧轴到P1，升降轴至P101");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_20_PutReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_21_InoutBack);
InOutStoreLog("检测治具，检测到治具,叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_21_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_22_GoBack);
InOutStoreLog("检测治具，检测到治具,升降轴返回，升降轴到P1，顶升下降");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//发送消息给流水线
// SendOutStoreEnd(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_PreCheck_22_GoBack)
{
StartShelfOut();
}
#endregion
#region 出库步骤
if (MoveInfo.MoveStep == StoreMoveStep.SO_01_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_TopDown);
InOutStoreLog("顶升下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_02_TopDown)
{
bool hasShelf = IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH);
if (hasShelf)
{
string LastRfidID = GetLastRfid();
if (IsRightShelfId(CurrShelfID, MoveInfo.MoveParam.rfid))
{
LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 料架未使用，开始取料");
SO_03_ToBagPosition();
return;
}
else if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
{
//if(MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
//{
// //重新记录
// LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 同料架，紧急料或者分盘料只放一个位置，送出当前料架，稍后重新出库");
// waitOutStoreList.Enqueue(MoveInfo.MoveParam);
// // MoveInfo.MoveParam.rfid = LastRfidID;
// MoveInfo.NewMove(StoreMoveType.OutStore, LastOutParam);
// //送出料架，并且记录出库信息，等会重新出库
// StartShelfOut();
// return;
//}
//else
{
LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 同料架，开始取料");
SO_03_ToBagPosition();
return;
}
}
else
{
//重新记录
LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 不同料架，送出当前料架，稍后重新出库");
waitOutStoreList.Enqueue(MoveInfo.MoveParam);
// MoveInfo.MoveParam.rfid = LastRfidID;
MoveInfo.NewMove(StoreMoveType.OutStore, LastOutParam);
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
}
else if (!hasShelf && (!MoveInfo.MoveParam.rfid.Equals("")))
{
if (CurrShelfID.EndsWith("00"))
{
CurrShelfID = "";
}
string mark = GetMarkInfo();
// string rfid = MoveInfo.MoveParam.rfid;
MoveInfo.NextMoveStep(StoreMoveStep.BI_00_ReadyShelf);
MoveInfo.TimeOutSeconds = int.MaxValue;
clearNGShelfPos();
InOutStoreLog("呼叫agv送空料架，NeedEnter[" + mark + "][" + MoveInfo.MoveParam.rfid + "]，等待agv_Arrive 或有料架，进出轴到P1");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//需要先叫agv到达
setAgvStatus(mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
}
else
{
LogRunStepError($"未找到处理的步骤,当前：LineTake_Check={hasShelf},{MoveInfo.MoveParam.ToStr()}");
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToPos);
InOutStoreLog("叉子进入库位中， 进出轴至P3[" + moveP.InOut_P3 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_ToPos)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel);
InOutStoreLog("拿起物品，升降轴至P6[" + moveP.UpDown_P6 + "]，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
//ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_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();
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
InOutStoreLog("拿起物品，压紧信号亮");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog($"出库，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
if(currPosition==0)
{
InOutStoreLog("出库,当前位置为0，无需再向下压紧");
}
else
{
int targetP = currPosition + Config.CompAxis_Down_Position;
InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
ACServerManager.SuddenStop(Config.Comp_Axis);
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("进出轴至待机点P1[" + moveP.InOut_P1 + "] ");
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 = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_InoutBack)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
//LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
IO_VALUE iov = IOValue(IO_Type.Compress_Check);
//if (MoveInfo.MoveParam.urgentReel)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_15_ToUrgentDoor);
// InOutStoreLog("紧急料 " + MoveInfo.SLog + "，升降轴到升降门口高点P12，旋转轴到升降门口P11");
// ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
//}
//else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("叉子已到P1，Compress_Check=" + iov + "，走到料架位置，旋转轴至P101[" + moveP.Middle_P101 + "]，升降轴至P102[" + moveP.UpDown_HP102 + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
//MoveInfo.NextMoveStep(StoreMoveStep.SO_09_CheckComSig);
//InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_CheckComSig)
{
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("走到料架位置，旋转轴至P101，升降轴至P102 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.CurShelfPosID, ShelfPosList);
//分盘料和紧急料发PutFinished
if (MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, CurrShelfID, MoveInfo.MoveParam.WareCode, CID, posLoc, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] afterPutCut 结果：" + msg);
}
}
else
{
int newTaskCount = 0;
string msg = StoreManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, CurrShelfID + "@" + posLoc.ToString(), out newTaskCount);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] UpdateTrayLoc 结果：" + msg);
}
if (newTaskCount > MoveInfo.MoveParam.taskCount)
{
InOutStoreLog("UpdateTrayLoc 返回 newTaskCount=" + newTaskCount + ",原有 taskCount=" + MoveInfo.MoveParam.taskCount + "，使用新数据");
MoveInfo.MoveParam.taskCount = newTaskCount;
}
}
});
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_GoBack);
InOutStoreLog("升降轴返回，升降轴到P1，顶升下降");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//发送消息给流水线
// SendOutStoreEnd(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_14_GoBack)
{
//判断是否需要送出料架
bool isNeedSend = false;
string logName = "【" + CurrShelfID + "_" + GetLastRfid() + "】";
//只有rfid不为空才需要送出料架
if (String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
InOutStoreLog("出库完成，未设置rfid，不需要送出料架");
isNeedSend = false;
}
else if (MoveInfo.MoveParam.cutReel)
{
if (taskData != null && taskData.cutPackageTask <= 0)
{
InOutStoreLog(logName + "分盘料出库完成，cutPackageTask=" + taskData.cutPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "分盘料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog(logName + "紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "紧急料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.taskCount <= 0)
{
InOutStoreLog(logName + "出库完成，taskCount=" + MoveInfo.MoveParam.taskCount + " 送出料架");
isNeedSend = true;
}
if (isNeedSend)
{
StartShelfOut();
}
else
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
LogInfo(" 【" + posId + "】 " + logName + " 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (!String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
if (StoreManager.Store.AutoShelfInstore)
{
LogInfo(" 料架" + logName + "还有出库任务，设置 AutoShelfInstore = false");
Setting_Init.AutoShelfInstore = false;
StoreManager.Store.AutoShelfInstore = false;
}
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
}
#endregion
else if (MoveInfo.MoveStep <= StoreMoveStep.SO_01_InoutBack)
{
ShelfEnterProcess();
}
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
bool IsRightShelfId(string curShelfId,string xuniId)
{
if(string.IsNullOrEmpty(curShelfId) || curShelfId.StartsWith("0"))
{
LogRunStepInfo($"当前料架号为空，无法出库");
return false;
}
if(string.IsNullOrEmpty(xuniId))
{
LogRunStepInfo($"当前虚拟rfid为空，无法出库");
return false;
}
if(string.IsNullOrEmpty(StoreManager.FindRealRfidByTempRfid(xuniId)))
{
StoreManager.findTempRfid("IsRightShelfId", curShelfId, out string tmpRfid);
if(string.IsNullOrEmpty (tmpRfid) )
{
LogRunStepInfo($"当前虚拟rfid={xuniId}未出库，可以使用{curShelfId}出库");
return true;
}
else
{
LogRunStepInfo($"当前虚拟rfid={xuniId}未出库，{curShelfId}与{tmpRfid}绑定，无法出库");
return false;
}
}
return false;
}
//private void SO_06_StartCompress()
//{
// //如果检测信号亮或者当前位置大于P4，直接走相对位置
// if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || (MoveInfo.MoveParam.MoveP.ComPress_P2 >= Config.CompAxis_P4_Position))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
// int targetP = currPosition + Config.CompAxis_Down_Position;
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
// 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();
// }
//}
}
}