AC_BOX_Bean_Shelf.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.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 料架新增的出入库逻辑
/// </summary>
partial class AC_BOX_Bean
{
private List<string> LastScanCodes = new List<string>();
private int ComTargetPosition = 0;
private int LastWidth = 0;
private int LastHeight = 0;
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
/// <summary>
/// 开始入库移动移动
/// </summary>
public void StartShelfInStore()
{
if (storeRunStatus == StoreRunStatus.Runing)
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo(" 空闲中，检测到入料口有信号，料架入库：入料口移门打开，");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP();
MoveInfo.MoveParam.MoveP.ComPress_P1 = Config.CompAxis_P1_Position;
MoveInfo.MoveParam.MoveP.InOut_P1 = Config.InOutAxis_P1_Position;
MoveInfo.MoveParam.MoveP.Middle_P1 = Config.MiddleAxis_P1;
MoveInfo.MoveParam.MoveP.UpDown_P1 = Config.UpDownAxis_P1;
MoveInfo.MoveParam.MoveP.UpDown_P2 = Config.UpDownAxis_P2;
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
}
}
private void ShelfInStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
#region 料架移入料仓内部处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_LineIn_Check))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
InOutStoreLog("料架入库：入料口移门打开");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog("料架入库：线体正转，等待取料位检测到信号");
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_LineStop);
InOutStoreLog("料架入库：取料位检测到信号，停止线体正转");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose);
InOutStoreLog("料架入库：入料口移门关闭");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_LocationUp);
InOutStoreLog("料架入库：定位装置上升");
CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_TopCylinderUp);
InOutStoreLog("料架入库：顶升装置上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_TopCylinderUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环从第一个空位逐个取料盘，扫码入库");
}
#endregion
#region 料架取料盘扫码获取POSID
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray))
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_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
{
//所有料盘已取料完成
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料：升降轴移动到PA1低点，旋转轴移动到PA1点，压紧轴到压紧前点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LPA1, Config.UpDownAxis_PA1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_PA, Config.MiddleAxis_PA_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_P3_Position, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToPA);
InOutStoreLog("料架取料：叉子前进到PA点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_PA, Config.InOutAxis_PA_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToPA))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToPA2);
InOutStoreLog("料架取料：升降轴上升到PA2点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HPA2, Config.UpDownAxis_PA2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToPA2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料：压紧轴开始缓慢压紧到P4");
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_15_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComAxisDownMove);
InOutStoreLog("料架取料：检测到料叉压紧确认信号，再次向下压紧指定的值");
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComAxisDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
InOutStoreLog("料架取料：记录压紧高度，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
InOutStoreLog("料架取料：记录宽度，开始扫码");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan();
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
if (IOValue(IO_Type.TrayCheck_3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_4).Equals(IO_VALUE.HIGH))
{
LastWidth = 13;
}
else if (IOValue(IO_Type.TrayCheck_1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_2).Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LogUtil.info("未检测到识别区料盘检测信号， 默认高度为7");
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_18_ScanCode))
{
if (LastScanCodes.Count <= 0)
{
StartSendTray("扫码失败");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_19_GetPosId);
InOutStoreLog("料架取料：扫码成功，从服务器获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
bool result = GetPosIdByCode();
if (result)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
}
else
{
StartSendTray("获取入库库位失败");
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_19_GetPosId))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_20_SetInstoreParam))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_22_DeviceToBag);
InOutStoreLog("入库：叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutWareToBag);
InOutStoreLog("入库：放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_24_DeviceBackFromBag);
InOutStoreLog("入库：叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_DeviceBackFromBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_GoBack);
InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_GoBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
}
#endregion
#region 把料盘送到NG逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_31_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_32_NGDoorUp);
InOutStoreLog("送出料盘：NG料口升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_32_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_33_InoutToNGDoor);
InOutStoreLog("送出料盘：进出轴前进到NG料门口位置");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_33_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_34_UpdownDown);
InOutStoreLog("送出料盘：升降轴缓慢下降，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_34_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_35_InoutToP1);
InOutStoreLog("送出料盘：叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_35_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_36_NGDoorDown);
InOutStoreLog("送出料盘：关门NG料门，送出料盘结束");
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_36_NGDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
}
#endregion
else
{
LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
private void StartSendTray( string str="扫码失败")
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_31_ToNGDoor);
InOutStoreLog("送出料盘："+str+"，升降轴移动到NG料门口上端，旋转轴移动到NG料门口");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
private void StartSendShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopCylinder_Down);
InOutStoreLog("送出料架：顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
private void SendShelfProcess()
{
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopCylinder_Down))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
InOutStoreLog("送出料架：定位气缸下降");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen);
InOutStoreLog("送出料架：打开仓门");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_LineBack);
InOutStoreLog("送出料架：线体反转");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_LineBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitInLineSingle);
InOutStoreLog("送出料架：等待取料工位无信号，入料口有信号");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitInLineSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitTime);
InOutStoreLog("送出料架：再转动300时间");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_LineStop);
InOutStoreLog("送出料架：停止转动");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_CallAGV);
InOutStoreLog("送出料架：通知调度系统拿走");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_CallAGV))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
InOutStoreLog("送出料架：关闭仓门");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
{
}
}
#region 扫码获取库位
private string ProcessCode()
{
string message = "";
string spiltStr = "##";
string codeSize = LastWidth + "x" +LastHeight;
foreach (string str in LastScanCodes)
{
if (str.Trim().Equals(""))
{
continue;
}
string code = "=1+0x0-" + codeSize + "=" + str.Trim();
if (!String.IsNullOrEmpty(code))
{
message = message + code + spiltStr;
}
}return message;
}
/// <summary>
/// 扫码枪数据接收
/// </summary>
/// <param name="message"></param>
private bool GetPosIdByCode()
{
try
{
string message = ProcessCode();
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", DeviceID.ToString() } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.Post(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];
string plateW = data[ParamDefine.plateW];
string plateH = data[ParamDefine.plateH];
string[] posArray = posId.Split('#');
if (!(posArray.Length == 2))
{
WarnMsg = Name + "入库库位格式错误：二维码【" + message + "】库位【" + posId + "】";
LogUtil.error(Name + "服务器反馈 入库库位格式错误：二维码【" + message + "】库位【" + posId + "】");
return false;
}
int storeId = int.Parse(posArray[0]);
//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;
}
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition);
return true;
}
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
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;
}
#endregion
#region 压紧轴压紧处理
private System.Timers.Timer axisCheckTimer = null;
private string TargetIoType = IO_Type.Compress_Check;
private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
private bool ComAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = IO_Type.Compress_Check;
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool ComAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
IsInProcess = true;
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
ComAxisStopCheck();
}
IsInProcess = false;
}
#endregion
}
}