DischargeLine.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-出料装置类
/// </summary>
public partial class DischargeLine : EquipBase
{
public int Line3MaxPosition = 13;
public DischargeLine_Config Config;
public OutTrayLineBean TrayLine1 = null;
public OutTrayLineBean TrayLine2 = null;
internal LineTurnBean Line3Turn = null;
//皮带线3最后一盘料的位置
public int Line3LastTrayP = 0;
private string hengyiName = "横移皮带线1";
public DischargeLine(string cid, DischargeLine_Config config)
{
baseConfig = config;
this.DeviceID = config.Id;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "_出料皮带线_" + (DeviceID.Equals(301) ? "123" : "456") + " ").ToUpper();
Init();
UseAxis = false;
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-SMove]");
int id = DeviceID % 100;
hengyiName = "横移皮带线-" + ((id - 1) * 3 + 3) + " ";
if (id.Equals(1))
{
TrayLine1 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 1) + " ", IO_Type.EntryLocation_Check1, IO_Type.ExitLocation_Check1, IO_Type.ExitTray_Check1, IO_Type.DLine_Run1, IO_Type.EntryTray_Check3, this.DeviceID);
TrayLine2 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 2) + " ", IO_Type.EntryLocation_Check2, IO_Type.ExitLocation_Check2, IO_Type.ExitTray_Check2, IO_Type.DLine_Run2, IO_Type.MiddleTray_Check3, this.DeviceID);
}
else
{
TrayLine1 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 1) + " ", IO_Type.EntryLocation_Check1, IO_Type.ExitLocation_Check1, IO_Type.ExitTray_Check1, IO_Type.DLine_Run1, IO_Type.MiddleTray_Check3, this.DeviceID);
TrayLine2 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 2) + " ", IO_Type.EntryLocation_Check2, IO_Type.ExitLocation_Check2, IO_Type.ExitTray_Check2, IO_Type.DLine_Run2, IO_Type.EntryTray_Check3, this.DeviceID);
}
Line3Turn = new LineTurnBean(DeviceID);
if ((DeviceID % 100).Equals(1))
{
Line3MaxPosition = 13;
}
else
{
Line3MaxPosition = 22;
}
TimerMaxSeconds = 5;
}
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false ;
}
mainTimer.Stop();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
lineStatus = LineStatus.StoreOnline;
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if ( isDebug)
{
mainTimer.Enabled = true;
}
return true ;
}
/// <summary>
/// 出料装置重置
/// </summary>
public override bool Reset()
{
StopMove();
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
LogInfo("StartReset： 重置灯状态，关闭所有皮带线，定位气缸下降 开始；");
//复位时默认为有托盘
TrayLine1.LastTrayPosition = 1;
TrayLine2.LastTrayPosition = 1;
Line3LastTrayP = 1;
ResetClearData();
lineStatus = LineStatus.ResetMove;
MoveInfo.NextMoveStep(LineMoveStep.DL_R_CylinderDown);
CylinderMove(null, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
IOMove(IO_Type.DLine_RunStatus, IO_VALUE.HIGH);
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run1, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run2, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
if (DeviceID.Equals(302))
{
LogInfo("后退NG气缸");
CylinderMove(MoveInfo, IO_Type.NGCylinder_Before, IO_Type.NGCylinder_After);
}
if (IsDebug)
{
mainTimer.Start();
}
isInPro = false;
}
/// <summary>
/// 复位处理
/// </summary>
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
else if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.DL_R_CylinderDown:
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
LogInfo(MoveInfo.MoveType + "完成，接驳台皮带线常转 ");
MoveEndS();
SecondMoveInfo.EndMove();
break;
default: break;
}
}
}
/// <summary>
/// 停止运动
/// </summary>
internal override void StopMove()
{
runStatus = LineRunStatus.Busy;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
TrayLine1.StopRun();
TrayLine2.StopRun();
Line3Turn.StopLineRun();
LogInfo("停止运动：（定位气缸下降，皮带线停转 ）开始 ");
CylinderMove(null, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
CheckAndMove(IO_Type.DLine_Run1, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run2, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
}
/// <summary>
/// 停止运行
/// </summary>
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
//停止运行时，把所有IO 置零
CheckAndMove(IO_Type.DLine_RunStatus, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run1, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run2, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Down, IO_VALUE.LOW);
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (IOValue(IO_Type.DLine_SuddenStop).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + "收到急停信号，等待500后再次验证急停");
Thread.Sleep(500);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg(Name + "收到急停信号");
Alarm(LineAlarmType.SuddenStop);
return;
}
}
if (IOValue(IO_Type.DLine_Reset).Equals(IO_VALUE.HIGH))
{
if (NoAlarm())
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
LogUtil.error(Name + "收到复位信号，当前无报警，不需要复位");
}
else
{
LogUtil.error(Name + "收到复位信号，当前无报警,正在" + MoveInfo.MoveType + "处理中，不需要复位");
}
}
else
{
LogUtil.info(Name + "收到复位信号，开始复位");
Reset();
}
return;
}
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
if (TrayLine1.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
TrayLine1.OutStoreProcess();
}
if (TrayLine2.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
TrayLine2.OutStoreProcess();
}
//判断流水线打开了才可以运行
if (runStatus.Equals(LineRunStatus.Runing) && NoAlarm() && MoveInfo.MoveType.Equals(LineMoveType.None))
{
//皮带线3出口有料,分盘定位装置无料
if (Line3TurnIsStop() && IOValue(IO_Type.ExitTray_Check3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.LOW))
{
//开始扫码然后送出料盘
//1.扫码，
//2.从服务器获取尺寸
//3.顶升或下降定位气缸
//皮带线3转动，分料皮带转动，
//等待料盘到达工位。
StartOutStoreMove(new InOutParam());
}
}
if ((runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy)))
{
TrayLine1.TimerPro();
if (NgISBack())
{
TrayLine2.TimerPro();
}
Line3TimerPro();
//小皮带线常转
if (IOValue(IO_Type.SeparateDevice_Run).Equals(IO_VALUE.LOW) && NoErrorAlarm())
{
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
}
}
IOTimeOutProcess();
//判断红灯状态
if (NoAlarm())
{
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.DLine_RunAlarm).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.HIGH);
}
}
internal bool NgISBack()
{
if (DeviceID.Equals(302))
{
if (IOValue(IO_Type.NGCylinder_After).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.NGCylinder_Before).Equals(IO_VALUE.LOW))
{
return true;
}
}
else
{
return true;
}
return false ;
}
internal bool Line3TurnIsStop()
{
if (Line3Turn.InTurn.Equals(false)&& NoAlarm())
{
if (IOValue(IO_Type.DLine_Run3).Equals(IO_VALUE.LOW))
{
if (Line3Turn.CanStart(800))
{
return true;
}
}
else
{
IOMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
}
}
return false;
}
private void Line3TimerPro()
{
//判断皮带线3出口无料，皮带线无操作
if (Line3TurnIsStop() &&
Line3Turn.CanStart()&&
MoveInfo.MoveType.Equals(LineMoveType.None) &&
TrayLine1.Line3CanRun &&
TrayLine2.Line3CanRun &&
IOValue(IO_Type.ExitTray_Check3).Equals(IO_VALUE.LOW) &&
Line3HasTray())
{
//判断皮带三还有料盘，需要转动一个工位
UpdateLastP();
LogUtil.debug(hengyiName+"空闲，且流水线还有料盘，转动一个工位");
Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
}
}
private void UpdateLastP()
{
if (IOValue(IO_Type.EntryTray_Check3).Equals(IO_VALUE.HIGH))
{
Line3LastTrayP = 1;
}
else if (IOValue(IO_Type.MiddleTray_Check3).Equals(IO_VALUE.HIGH))
{
if (DeviceID.Equals(301))
{
if (Line3LastTrayP < 1 || Line3LastTrayP > 12)
{
Line3LastTrayP = 12;
}
}
else if (DeviceID.Equals(302))
{
if (Line3LastTrayP < 1 || Line3LastTrayP > 11)
{
Line3LastTrayP = 11;
}
}
}
}
private bool Line3HasTray()
{
if (Line3LastTrayP > 0 && Line3LastTrayP <= Line3MaxPosition*10)
{
return true;
}
if (IOValue(IO_Type.EntryTray_Check3).Equals(IO_VALUE.HIGH))
{
return true;
}
if (IOValue(IO_Type.MiddleTray_Check3).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
/// <summary>
/// 转动结束，最后一盘料的位置+1
/// </summary>
/// <param name="result"></param>
public void Line3EndProcess(bool result)
{
if (result)
{
if (Line3LastTrayP > 0)
{
Line3LastTrayP++;
}
}
}
protected override void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < LineRunStatus.Runing || isInSuddenDown || isNoAirCheck)
{
return;
}
//若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.MoveType.Equals(LineMoveType.None) && MoveInfo.IsInWait.Equals(false)
&&TrayLine1.MoveInfo.MoveType.Equals(LineMoveType.None)&& TrayLine1.MoveInfo.IsInWait.Equals(false)
&& TrayLine2.MoveInfo.MoveType.Equals(LineMoveType.None) && TrayLine2.MoveInfo.IsInWait.Equals(false)
)
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = LineAlarmType.None;
SetWarnMsg("");
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：", ex);
}
}
public virtual string GetMoveStr()
{
string msg = "";
int tLength = 10;
msg += "runS：" + runStatus + "\n";
msg += "lineS："+ lineStatus + "\n";
msg += "alarm： " + alarmType + "\n";
msg += "MoveT："+ MoveInfo.MoveType + "\n";
msg += "MoveS："+ MoveInfo.SLog + "\n";
msg += "L1-M："+ TrayLine1.MoveInfo.MoveType +" " + TrayLine1.MoveInfo.MoveStep + "\n";
msg += "L2-M："+ TrayLine2.MoveInfo.MoveType + " " + TrayLine2.MoveInfo.MoveStep + "\n";
msg += "LastTP："+ TrayLine1.LastTrayPosition+" " + TrayLine2.LastTrayPosition + " " + Line3LastTrayP + " " + "\n";
msg += "LIsRun："+ TrayLine1.IsInTurn() + " " + TrayLine2.IsInTurn() + " " +Line3Turn.InTurn + " " +"\n";
msg += "L3CanRun："+ TrayLine1.Line3CanRun + " " + TrayLine2.Line3CanRun + " " + "\n";
msg += "LastWidth：" + LastWidth;
return msg;
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
}
protected override void CheckFixtureProcess()
{
}
}
}