AC_BOX_Bean_AutoInOutTest.cs
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using Asa;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
public PosDebugInfo PosDebugInfo;
protected override void InOuTestProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 放入料盘
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_01_StartGetTray))
{
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_02_InOutToP1);
InOutStoreLog("库位测试，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);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_02_InOutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_03_MoveToShelf);
InOutStoreLog("库位测试，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.BT_03_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_04_InoutToP101);
InOutStoreLog("库位测试，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.BT_04_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_05_UpdownToP102);
InOutStoreLog("库位测试，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.BT_05_UpdownToP102))
{
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_06_ComDownMove);
InOutStoreLog("库位测试，料架取料，压紧轴走到压紧点P2： " + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_06_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_06_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("库位测试，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 + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_06_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_07_InoutBack);
InOutStoreLog("库位测试，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.BT_07_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_09_MoveToBag);
InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_09_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_10_DeviceToBag);
InOutStoreLog("库位测试，叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_10_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_11_PutWareToBag);
InOutStoreLog("库位测试，放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_11_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_12_DeviceBackFromBag);
InOutStoreLog("库位测试，叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_12_DeviceBackFromBag))
{
if (PosDebugInfo.IsReady())
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_14_StartInOutTest);
PosDebugInfo.MoveToNext();
InOutStoreLog($"库位测试，变换位置:{PosDebugInfo.FrmPoId}-->{PosDebugInfo.ToPosId}");
MoveInfo.MoveParam.PosID = PosDebugInfo.FrmPoId;
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_01_StartGetTray);
PosDebugInfo.AddTestReel(out string posId);
MoveInfo.MoveParam.PosID = posId;
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[1]);
}
}
#endregion
#region 跑库位
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_14_StartInOutTest))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_15_ToPosition);
InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_15_ToPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_16_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.Equals(StoreMoveStep.BT_16_ToPos))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_17_GetReel);
InOutStoreLog("拿起物品，升降轴至P6[" + moveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + moveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_17_GetReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_18_InoutBack);
InOutStoreLog("进出轴至待机点P1[" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_18_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_20_SetInstoreParam);
MoveInfo.MoveParam.PosID = PosDebugInfo.ToPosId;
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_20_SetInstoreParam))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_21_MoveToBag);
InOutStoreLog("到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_21_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_22_DeviceToBag);
InOutStoreLog("叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_22_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_23_PutWareToBag);
InOutStoreLog("放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_23_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_24_DeviceBackFromBag);
InOutStoreLog("叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_24_DeviceBackFromBag))
{
if (PosDebugInfo.HasNext())
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_14_StartInOutTest);
PosDebugInfo.MoveToNext();
InOutStoreLog($"库位测试，变换位置:{PosDebugInfo.FrmPoId}-->{PosDebugInfo.ToPosId}");
MoveInfo.MoveParam.PosID = PosDebugInfo.FrmPoId;
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_25_StartPutTray);
InOutStoreLog("库位测试，无剩余库位，将料盘送出");
PosDebugInfo.RemoveTestReel(out string posId);
MoveInfo.MoveParam.PosID = posId;
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
}
}
#endregion
#region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_25_StartPutTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_26_ToPosition);
InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_26_ToPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_27_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.Equals(StoreMoveStep.BT_27_ToPos))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_28_GetReel);
InOutStoreLog("拿起物品，升降轴至P6[" + moveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + moveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_28_GetReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_29_InoutBack);
InOutStoreLog("进出轴至待机点P1[" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_29_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_30_ToShelfPosition);
}
else if (MoveInfo.MoveStep == StoreMoveStep.BT_30_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_31_ToShelf);
InOutStoreLog("库位测试，送出料盘，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.BT_31_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_32_PutReel);
InOutStoreLog("库位测试，送出料盘，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));
}
else if (MoveInfo.MoveStep == StoreMoveStep.BT_32_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_33_InoutBack);
InOutStoreLog("库位测试，送出料盘，叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.BT_33_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.BT_25_StartPutTray);
if (PosDebugInfo.RemoveTestReel(out string posId))
{
MoveInfo.MoveParam.PosID = posId;
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[1]);
if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
{
InOutStoreLog("库位测试，加载库位位置失败");
MoveInfo.EndMove();
}
InOutStoreLog("库位测试，送出料盘结束");
}
else
{
PosDebugInfo.StopAutoInOutTest();
MoveInfo.EndMove();
}
}
#endregion
}
}
/// <summary>
/// 位置调试信息
/// </summary>
public class PosDebugInfo
{
/// <summary>
/// 同尺寸所有位置
/// </summary>
public List<ACBoxPosition> BoxPositions;
public int CurPosIdx = 0;
public bool AutoInOutPosTest = false;
public bool StopAutoInOut = false;
public string FrmPoId = "";
public string ToPosId = "";
AC_BOX_Bean box = null;
Queue<int> curPosIdxs = new Queue<int>();
public PosDebugInfo(AC_BOX_Bean bean)
{
box = bean;
}
/// <summary>
/// 料盘是否已送入仓内
/// </summary>
/// <returns></returns>
public bool IsReady()
{
return curPosIdxs.Count == 2;
}
public void StopAutoInOutTest()
{
StopAutoInOut = true;
AutoInOutPosTest=false;
}
public void AddTestReel(out string posId)
{
posId = BoxPositions[CurPosIdx].PositionNum;
curPosIdxs.Enqueue(CurPosIdx);
CurPosIdx++;
}
public bool RemoveTestReel(out string posId)
{
posId = "";
if (curPosIdxs.Count > 0)
{
int idx = curPosIdxs.Dequeue();
posId = BoxPositions[idx].PositionNum;
return true;
}
return false;
}
public void MoveToNext()
{
int fromIdx = curPosIdxs.Dequeue();
FrmPoId = BoxPositions[fromIdx].PositionNum;
curPosIdxs.Enqueue(CurPosIdx);
ToPosId = BoxPositions[CurPosIdx].PositionNum;
CurPosIdx++;
}
public bool StartAutoInOutTest(string posId, out string errmsg)
{
errmsg = "";
if (!box.MoveInfo.MoveType.Equals(StoreMoveType.None))
{
errmsg = "料仓忙碌中,无法启动";
return false;
}
if (box.IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
errmsg = "未检测到料架,无法启动";
return false;
}
if (!StoreManager.LoadSameSizePos(posId, out BoxPositions))
{
errmsg = "未找到调试库位,或调试库位小于3个";
return false;
}
AutoInOutPosTest = true;
StopAutoInOut = false;
CurPosIdx = 0;
AddTestReel(out posId);
InOutParam param = new InOutParam();
param.PosID = posId;
param.UpdateShelfPosId(box.ShelfPosList[0]);
if (!StoreManager.LoadInoutParam(param, true, box))
{
errmsg = "加载位置信息失败";
return false;
}
box.MoveInfo.NewMove(StoreMoveType.CheckPos, param);
box.MoveInfo.NextMoveStep(StoreMoveStep.BT_01_StartGetTray);
LogUtil.info($"调试的所有位置[{BoxPositions.Count}]：");
BoxPositions.ForEach(pos => { LogUtil.info($"{pos.PositionNum},{pos.BagWidth}*{pos.BagHigh}"); });
return true;
}
public bool HasNext()
{
if (StopAutoInOut || CurPosIdx > BoxPositions.Count - 2)
{
return false;
}
return true;
}
}
}