MoveEquip.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 流水线自动料仓-进仓装置类
/// </summary>
public partial class MoveEquip : EquipBase
{
public MoveEquip_Config Config;
public MoveEquip(string cid, MoveEquip_Config config)
{
this.DeviceID = config.Id;
this.Config = config;
baseConfig = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "_进仓_" + DeviceID.ToString().PadLeft(2, '0') + " ").ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
UseAxis = config.UpDownUseAxis.Equals(1);
if (UseAxis)
{
Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
Config.UpDown_Axis.ServerOnDO = IO_Type.UpDownAxis_ServoOn;
Config.UpDown_Axis.BreakOnDO = IO_Type.UpDownAxis_BreakOn;
}
UpdownAxis = new AxisBean(config.UpDown_Axis, Name);
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
if (!RunAxis(true, UpdownAxis))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始 原点返回： 升降轴回原点，阻挡气缸上升 ");
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
if (!RunAxis(true, UpdownAxis))
{
return false;
}
LogInfo("开始重置： 升降轴回原点，阻挡气缸上升 ");
runStatus = LineRunStatus.Reset;
SecondMoveInfo.EndMove();
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
lineStatus = LineStatus.ResetMove;
//移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0
UpdownHomeMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
if (IsDebug)
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
else if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
{
//流水线各装置复原位，夹料气缸状态不变
//阻挡气缸全部=0
//上下气缸上升，、
//上升到位，顶升气缸下降，前后气缸回退
//复位时夹紧气缸需要发送，不然后面出入库会有问题
switch (MoveInfo.MoveStep)
{
case LineMoveStep.MH_UpDownHome:
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
DebugInfo(MoveInfo.MoveType + " ： 升降轴走到待机点");
UpdownUpMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case LineMoveStep.MH_CylinderUp:
MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinderBack);
DebugInfo(MoveInfo.MoveType + " : 上升气缸到位，顶升气缸下降，前后气缸后退，夹紧气缸放松");
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
break;
case LineMoveStep.MH_OtherCylinderBack:
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
if (IsDebug)
{
lineStatus = LineStatus.Debugging;
}
else
{
lineStatus = LineStatus.StoreOnline;
}
break;
default: break;
}
}
}
/// <summary>
/// 停止运动
/// </summary>
internal override void StopMove()
{
//如果正在出库中，需要减去托盘号
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
DebugInfo("停止运动时出库执行中，减去托盘数；");
//减去需要的盘数
// TrayManager.DelNeedEmptyTrayNum();
MoveInfo.EndMove();
}
runStatus = LineRunStatus.Busy;
SecondMoveInfo.EndMove();
LogInfo("停止运动：上下气缸上升端，阻挡气缸上升 ");
UpdownUpMove();
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
//停止运行时，把所有IO 置零
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.BeforeAfterCylinder_Before, IO_VALUE.LOW);
IOMove(IO_Type.BeforeAfterCylinder_After, IO_VALUE.LOW);
if (UseAxis.Equals(false))
{
IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
}
IOMove(IO_Type.ClampCylinder_Slack, IO_VALUE.LOW);
IOMove(IO_Type.ClampCylinder_Tighten, IO_VALUE.LOW);
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line.CanProcessLine())
{
// LogUtil.info("StartCheckFixture");
StartCheckFixture();
}
}
OutStoreListPro();
}
/// <summary>
/// 出库队列处理
/// </summary>
private void OutStoreListPro()
{
//料仓出库完成，进仓装置开始出库检测
if (IsDebug.Equals(false) && MoveInfo.MoveType.Equals(LineMoveType.None) && runStatus.Equals(LineRunStatus.Runing))
{
InOutParam waitOutParma = null;
bool ok = waitOutStoreList.TryDequeue(out waitOutParma);
if (ok)
{
LogUtil.info(Name + "执行排队中的出库【" + waitOutParma.ToStr() + "】");
//出库
bool result = StartOutStoreMove(waitOutParma);
if (!result)
{
LogUtil.info(Name + " 执行出库【" + waitOutParma.ToStr() + "】失败，重新加入等待队列");
AddWaitOutInfo(waitOutParma);
}
}
}
}
public void AddWaitOutInfo(InOutParam param)
{
//判断是否已经加入，不重复加
List<InOutParam> paramList = (from m in waitOutStoreList where m.PosId.Equals(param.PosId) select m).ToList<InOutParam>();
if (paramList.Count > 0)
{
LogUtil.error(Name + "出库【" + param.ToStr() + "】加入等待出库队列失败，此库位已存在列表中");
}
else
{
waitOutStoreList.Enqueue(param);
}
}
/// <summary>
/// 判断上料横移机构是否可以横移运动
/// </summary>
/// <returns></returns>
public bool CanBeforeAfter()
{
if (UseAxis)
{
int currPosition = UpdownAxis.GetAclPosition() - Config.UpDownAxisP1;
if (Math.Abs(currPosition) < Math.Abs(Config.UpDown_Axis.CanErrorCountMax * 10))
{
return true;
}
}
else
{
if (IOValue(IO_Type.UpDownCylinder_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.UpDownCylinder_Up).Equals(IO_VALUE.HIGH))
{
return true;
}
}
return false;
}
#region 上下气缸伺服运动
private void UpdownUpMove()
{
if (UseAxis)
{
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
private void UpdownDownP2Move(int trayHeight,int traySize)
{
if (UseAxis)
{
int position = Config.GetUpdownP2Detial(trayHeight,traySize);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
}
private void UpdownDownP3Move(int trayHeight)
{
if (UseAxis)
{
int position = Config.GetUpdownP3(trayHeight);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P3Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
}
private void UpdownHomeMove()
{
if (UseAxis)
{
MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHome);
UpdownAxis.HomeMove(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
#endregion
}
}