AC_BOX_Bean_Shelf.cs
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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
{
/// <summary>
/// 料架进出料仓处理：出入库模块共用
/// </summary>
public partial class AC_BOX_Bean
{
/// <summary>
/// 开始料架入库
/// </summary>
public void StartShelfInStore()
{
bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
&& MoveInfo.MoveType.Equals(StoreMoveType.None));
if (!canStart || isInSuddenDown || isNoAirCheck || (alarmType.Equals(StoreAlarmType.None).Equals(false)))
{
return;
}
clearNGShelfPos();
setStatus(StoreRunStatus.Busy, StoreStatus.InStoreExecute);
// EmprtShelfList = new ConcurrentQueue<string>();
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 ");
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
// DoorBean.StartOpen(MoveInfo);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 ");
}
else
{
LogInfo(" 空闲中，需要料架入库，料架入库 " + "：入料口移门打开，更新 WaitShelfEnter=false");
WaitShelfEnter = false;
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
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);
LogRunStepInfo($"{moveName} AGV已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
LogRunStepInfo($"{moveName}调用AgvClient.MayEnter，线体正转，等待LineIn_Check 或LineTake_Check 信号");
setAgvStatus(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);
LogRunStepInfo($"{moveName}调用Agv Config.AgvNodeName FinishEnter，取料位检测到信号，继续转动");
LineRun();
setAgvStatus(mark, "", ClientAction.FinishEnter, ClientLevel.High, true);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogRunStepInfo($"{moveName}入料口移门关闭 ");
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
LogRunStepInfo($"{moveName}继续转动 7000ms");
LineRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{
LineStop();
UpdateShelfId();
//如果未读到料架号，将料架送出
if (CurrShelfID.EndsWith("00") && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogRunStepInfo($" 执行出库【{MoveInfo.MoveParam.ToStr()}】失败，料架号[{CurrShelfID}]无效，加入等待队列并送出料架，稍后重新出库");
waitOutStoreList.Enqueue(MoveInfo.MoveParam.NewParam());
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))
{
LogRunStepInfo($"出库 {mark}->入库 料架号[{CurrShelfID}]为入库料架，进行入库");
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
mark = "0";
instoreShelf = true;
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
LogRunStepInfo($"{moveName}停止线体，读取料架{CurrShelfID}，设置{Config.AgvNodeName}=None");
setAgvStatus(mark);
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.CurShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
LogRunStepInfo($"ShelfPosID未设置，默认ShelfPosID={MoveInfo.MoveParam.CurShelfPosID}");
}
// LastRfidID = MoveInfo.MoveParam.rfid;
LastOutParam = MoveInfo.MoveParam;
}
else
{
LastOutParam = new InOutParam();
// LastRfidID = "";
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_09_TopCylinderUp);
LogRunStepInfo(moveName + CurrShelfID + "顶升上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp))
{
if (instoreShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
//获取料架的锁定状态
bool lockState = StoreManager.GetShelfLockInfo(Name, CID, CurrShelfID, out MoveInfo.shelfLockDatas);
if (lockState && MoveInfo.shelfLockDatas != null)
{
MoveInfo.IsShelfLocked = true;
if (MoveInfo.shelfLockDatas.Count.Equals(0))
LogRunStepInfo(moveName + "该锁定料架上的料盘不属于该料仓，即将送出锁定料架");
else
LogRunStepInfo(moveName + "开始到料架指定位置取料盘 ");
}
else
{
MoveInfo.IsShelfLocked = false;
LogRunStepInfo(moveName + "开始循环料架取料盘 ");
}
MoveInfo.EndStepWait();
}
else
{
if (string.IsNullOrEmpty(StoreManager.FindRealRfidByTempRfid(MoveInfo.MoveParam.rfid)))
{
//新料架，检查料架上是否有治具
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_01_StartGetTray);
}
else
{
SO_03_ToBagPosition();
}
}
}
}
private void UpdateShelfId()
{
//读取RFID
RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = data.NumStr();
LogRunStepInfo("更新当前料架号CurrShelfID=【" + CurrShelfID + "】，LastRfidID=【" + GetLastRfid() + "】");
}
/// <summary>
/// 等待取料位检测到信号
/// </summary>
/// <param name="moveName"></param>
private void BI_04_WaitTakeSingle(string moveName)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_WaitTakeSingle);
LogRunStepInfo($"{moveName} 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));
}
/// <summary>
/// 所有料盘已取料完成，送出料架
/// </summary>
private void StartShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
string mark = GetMarkInfo();
LogRunStepInfo("送出[" + CurrShelfID + "][" + mark + "]：顶升下降,调用 NeedLeave[" + mark + "][" + CurrShelfID + "] ");
AgvClient.NeedLeave(Config.AgvNodeName, mark, CurrShelfID);
}
else
{
LogRunStepInfo("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 void ShelfOutProcess()
{
string mark = GetMarkInfo();
string moveName = "送出入库料架[" + CurrShelfID + "][" + mark + "]";
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
moveName = "送出出库料架[" + CurrShelfID + "][" + mark + "]";
}
// LogCPU();
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
LogRunStepInfo(moveName + "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));
LogRunStepInfo(moveName + "再次调用 NeedLeave[" + mark + "][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
setAgvStatus(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);
LogRunStepInfo(moveName + "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 + "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));
LogRunStepInfo(moveName + "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;
LogRunStepInfo(moveName + "移门已打开，调用 MayLeave [" + mark + "][" + CurrShelfID + "]，等待agv " + Config.AgvNodeName + " Ready");
setAgvStatus(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));
LogRunStepInfo(moveName + "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);
LogRunStepInfo(moveName + "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);
LogRunStepInfo(moveName + "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);
LogRunStepInfo(moveName + "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;
LogRunStepInfo(moveName + "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);
LogRunStepInfo(moveName + "停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
setAgvStatus(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();
setAgvStatus();
//EmprtShelfList = new ConcurrentQueue<string>();
LogRunStepInfo(moveName + "料架" + CurrShelfID + $"已离开[{getNGShelfPos()}]，设置" + Config.AgvNodeName + "=None，清理rfid");
clearNGShelfPos();
RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = "";
LastOutParam = new InOutParam();
//LastRfidID = "";
}
}
}
}