OutTrayLineBean.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;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 出料皮带线，皮带线5=NG线，NG料在内侧，紧急出料在外侧
/// </summary>
public class OutTrayLineBean
{
private bool NgInReverseSide = true;
public int MaxPosition = 5;
private int equipBeanId = 301;
private string Line3_TrayCheck = "";
//出口定位信号
private string ExitLocation_Check = "";
//出口料盘检测信号
private string ExitTray_Check = "";
//出口料盘检测信号
private string LineRun_Do = "";
//最后一盘料的位置，>5时可置为0,0表示当前皮带线无料盘
public int LastTrayPosition = 0;
private string DLine_Brush_Do = "";
private int burshDelayS = ConfigAppSettings.GetIntValue(Setting_Init.Brush_Delay_Seconds);
private DateTime BrushStopTime = DateTime.Now;
private string Name = "";
private LineTurnBean lineRun = null;
private string cameraName = "";
public ReelCheckParam reelParam = null;
internal LineMoveInfo MoveInfo = null;
public DischargeLine equipBean
{
get { return LineManager.Line.DisLineMap[equipBeanId]; }
}
internal bool Line3CanRun = true;
public int Id = 0;
public OutTrayLineBean(int id, string name, string exitLocationS, string exittrayS, string lineRundo, string line3checkDi, int dId, string brushDo,string cName)
{
this.Id = id;
this.equipBeanId = dId;
this.Name = name;
MoveInfo = new LineMoveInfo(Id, name);
this.ExitLocation_Check = exitLocationS;
this.ExitTray_Check = exittrayS;
this.LineRun_Do = lineRundo;
this.Line3_TrayCheck = line3checkDi;
this.DLine_Brush_Do = brushDo;
lineRun = new LineTurnBean(dId, LineRun_Do, ExitLocation_Check);
this.cameraName = cName;
}
public void StopRun()
{
MoveInfo.EndMove();
lineRun.StopLineRun();
Line3CanRun = true;
}
#region 出库处理
// private string posId = "";
public bool StartOut(InOutParam moveParam)
{
if (LineTurnIsStop() && MoveInfo.MoveType.Equals(LineMoveType.None) && (equipBean.runStatus.Equals(LineRunStatus.Runing) || equipBean.runStatus.Equals(LineRunStatus.Busy)))
{
int needEmptyP = 1;
if (moveParam.InStoreNg)
{
needEmptyP = 2;
}
if (LastTrayPosition <= needEmptyP)
{
LogUtil.error(Name + " 启动送料【" + moveParam.ToStr() + "】 失败，入口有料", Id * 1000 + 32);
return false;
}
//MoveInfo.MoveParam = moveParam;
MoveInfo.NewMove(LineMoveType.OutStore, moveParam);
posId = "[" + moveParam.PosId + "][" + moveParam.WareCode + "][" + moveParam.rfid + "]";
if (moveParam.InStoreNg)
{
posId = moveParam.rfid + "NG料" + "[" + moveParam.WareCode + "]";
}
else if (moveParam.urgentReel)
{
posId = "[" + moveParam.PosId + "]紧急出料" + "[" + moveParam.WareCode + "]";
}
MoveInfo.NextMoveStep(LineMoveStep.DLO_01_NGBack);
LogUtil.info(Name + "开始送料【" + moveParam.ToStr() + "】：" + MoveInfo.SLog + "NG气缸后退");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
if (equipBeanId.Equals(302))
{
if (equipBean.CylinderIsOk(IO_Type.NGCylinder_Before, IO_Type.NGCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_02_WaitEnteryNoTray);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "--- 等待入口无料-- ");
}
else
{
equipBean.CylinderMove(MoveInfo, IO_Type.NGCylinder_Before, IO_Type.NGCylinder_After);
}
}
else
{
if (LastTrayPosition > needEmptyP)
{
WaitReviceTray();
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_02_WaitEnteryNoTray);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "--- 等待入口 " + needEmptyP + " 无料-- ");
}
}
return true;
}
else
{
LogUtil.error(Name + " 启动送料【" + moveParam.ToStr() + "】 失败", Id * 1000 + 31);
return false;
}
}
private void WaitReviceTray()
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_04_CanReviceTray);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "--- 等待移栽放料盘-- ");
LastTrayPosition = 1;
if (equipBean.IsDebug)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
string posId = "";
internal void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
equipBean.CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_01_NGBack))
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_02_WaitEnteryNoTray);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "--- 等待入口无料-- ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_02_WaitEnteryNoTray))
{
int needEmptyP = 1;
if (MoveInfo.MoveParam.InStoreNg)
{
needEmptyP = 2;
}
if (LastTrayPosition > needEmptyP)
{
WaitReviceTray();
}
else if (MoveInfo.IsTimeOut(180))
{
LogUtil.error(Name + "等待入口" + needEmptyP + "无料超时" + FormUtil.GetSpanStr(MoveInfo.StepSpan()), Id * 1000 + 33);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_04_CanReviceTray))
{
if (equipBean.IsDebug)
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_05_TrayIsOk);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "调试中，更改为已放料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_05_TrayIsOk))
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_06_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
//判断ng气缸是否需要前进
if (MoveInfo.MoveParam.InStoreNg && NgInReverseSide)
{
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "盘已放，等待2000，NG气缸前进");
equipBean.CylinderMove(MoveInfo, IO_Type.NGCylinder_After, IO_Type.NGCylinder_Before);
}
else
{
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "盘已放，等待2000");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_06_WaitTime))
{
if (equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.HIGH))
{
//皮带线不转，并且入口无信号
if (equipBean.Line3TurnIsStop() && equipBean.IOValue(Line3_TrayCheck).Equals(IO_VALUE.LOW))
{
Line3CanRun = false;
if (Line3_TrayCheck.Equals(IO_Type.EntryTray_Check3))
{
equipBean.Line3LastTrayP = 1;
}
}
else
{
return;
}
}
MoveInfo.NextMoveStep(LineMoveStep.DLO_07_LineRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + " [" + LastTrayPosition + "]，转动到下个工位");
if (equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.HIGH))
{
StartBrush();
}
lineRun.StartLineRun(LineEndProcess);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_07_LineRun))
{
if (LineTurnIsStop())
{
if (MoveInfo.MoveParam.InStoreNg && NgInReverseSide)
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_09_NGAfter);
LastTrayPosition++;
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + " [" + LastTrayPosition + "]，NG气缸后退");
equipBean.CylinderMove(MoveInfo, IO_Type.NGCylinder_Before, IO_Type.NGCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveParam.urgentReel || MoveInfo.MoveParam.InStoreNg)
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_08_NGBefore);
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + "NG气缸前进");
equipBean.CylinderMove(MoveInfo, IO_Type.NGCylinder_After, IO_Type.NGCylinder_Before);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else
{
MoveInfo.EndMove();
LogUtil.info(Name + "送料【" + posId + "】结束");
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_08_NGBefore))
{
MoveInfo.NextMoveStep(LineMoveStep.DLO_09_NGAfter);
LastTrayPosition++;
LogUtil.info(Name + "送料【" + posId + "】：" + MoveInfo.SLog + " [" + LastTrayPosition + "]，NG气缸后退");
equipBean.CylinderMove(MoveInfo, IO_Type.NGCylinder_Before, IO_Type.NGCylinder_After);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DLO_09_NGAfter))
{
MoveInfo.EndMove();
LogUtil.info(Name + "送料【" + posId + "】：结束");
}
}
private bool LineTurnIsStop()
{
if (lineRun.InTurn.Equals(false))
{
if (equipBean.IOValue(LineRun_Do).Equals(IO_VALUE.LOW))
{
if (lineRun.CanStart(500))
{
return true;
}
}
else
{
equipBean.IOMove(LineRun_Do, IO_VALUE.LOW);
}
}
return false;
}
/// <summary>
/// 转动结束，最后一盘料的位置+1
/// </summary>
/// <param name="result"></param>
public void LineEndProcess(bool result)
{
if (result && LastTrayPosition > 0)
{
LastTrayPosition++;
}
if (!Line3CanRun)
{
equipBean.Line3Turn.LastEndTime = DateTime.Now;
}
Line3CanRun = true;
//equipBean.IOMove(DLine_Brush_Do, IO_VALUE.HIGH);
//BrushStopTime = DateTime.Now.AddSeconds(burshDelayS);
}
/// <summary>
/// 此皮带线是否有盘。重启会重置为空
/// </summary>
/// <returns></returns>
internal bool HasTray()
{
if (LastTrayPosition > 0 &&
LastTrayPosition <= MaxPosition * 2)
{
return true;
}
if (equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.HIGH))
{
if (LastTrayPosition > MaxPosition)
{
LastTrayPosition = MaxPosition;
}
return true;
}
return false;
}
internal bool IsInTurn()
{
return lineRun.InTurn;
}
#endregion
public void TimerPro()
{
//皮带线1出口无料
if (IsInTurn().Equals(false) && HasTray() && lineRun.CanStart())
{
bool exitHasTray = false;
bool line3HasTray = false;
string imgName = "";
//如果有监控相机
if (!cameraName.Equals(""))
{
int[] results = ReelCheckUtil.ReelCheck(equipBean.DeviceID, cameraName,reelParam,out imgName);
if (results != null && results.Length == 2)
{
exitHasTray = (results[0] == 1);
line3HasTray = (results[1] == 1);
if (exitHasTray && equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + "出口信号检测无料，视觉检测有料，认为出口有料");
}
if (line3HasTray && equipBean.IOValue(Line3_TrayCheck).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + "，长皮带线" + Line3_TrayCheck + "=LOW，视觉检测有料，认为长皮带线有料");
}
}
}
if (MoveInfo.MoveType.Equals(LineMoveType.None) &&
equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.LOW) && (!exitHasTray))
{
//皮带线1出口无料
//StartBrush();
lineRun.StartLineRun(LineEndProcess);
}
else if (MoveInfo.MoveStep <= LineMoveStep.DLO_02_WaitEnteryNoTray && MoveInfo.IsInWait.Equals(false) &&
(equipBean.IOValue(ExitTray_Check).Equals(IO_VALUE.HIGH) || exitHasTray))
{
//皮带线1出口有料，皮带3入库无料，且在停止状态
if (equipBean.Line3TurnIsStop() && equipBean.IOValue(Line3_TrayCheck).Equals(IO_VALUE.LOW) && (!line3HasTray))
{
Line3CanRun = false;
LogUtil.debug(Name + "出口有料，且" + Line3_TrayCheck + "=LOW，转动一个工位，[" + LineRun_Do + "] [" + ExitLocation_Check + "]");
if (!cameraName.Equals(""))
{
LogUtil.info(Name + "出口有料，长皮带线无料，转动一个工位，"+ exitHasTray + "，"+ line3HasTray + "，imgName= "+ imgName + "");
}
StartBrush();
lineRun.StartLineRun(LineEndProcess);
}
}
}
if (DateTime.Now <= BrushStopTime)
//if (DateTime.Now <= BrushStopTime || equipBean.IOValue(LineRun_Do).Equals(IO_VALUE.HIGH))
{
equipBean.CheckAndMove(DLine_Brush_Do, IO_VALUE.HIGH);
}
else
{
equipBean.CheckAndMove(DLine_Brush_Do, IO_VALUE.LOW);
}
}
public void StartBrush()
{
BrushStopTime = DateTime.Now.AddSeconds(burshDelayS + 8);
equipBean.IOMove(DLine_Brush_Do, IO_VALUE.HIGH);
}
}
public class LineTurnBean
{
public delegate void TurnEndDel(bool result);
public TurnEndDel turnEnd = null;
public bool InTurn = false;
private string MoveDO = "";
private string CheckDI = "";
private int subType = 0;
internal DateTime LastEndTime = DateTime.Now;
private bool WaitCheckDI_High = false;
private bool CheckDIHigh = false;
public bool CanStart(int totalMS = 1000)
{
if (IOManager.IOValue(MoveDO, subType).Equals(IO_VALUE.LOW))
{
TimeSpan span = DateTime.Now - LastEndTime;
if (span.TotalMilliseconds > totalMS)
{
return true;
}
}
return false;
}
public LineTurnBean(int subType, string moveDO = "", string checkDI = "")
{
this.subType = subType;
this.MoveDO = moveDO;
this.CheckDI = checkDI;
if (!moveDO.Equals("") && (!checkDI.Equals("")))
{
//添加事件
AIOBOXManager.AddDIEvent(checkDI, subType, DIChangePro);
}
}
public void DIChangePro(string ioIP, ushort index, IO_VALUE oldValue, IO_VALUE newValue)
{
if (WaitCheckDI_High && InTurn && (!CheckDIHigh) && oldValue.Equals(IO_VALUE.LOW) && newValue.Equals(IO_VALUE.HIGH))
{
ConfigIO config = IOManager.GetDI(CheckDI, subType);
if (config.IO_IP.Equals(ioIP) && config.GetIOAddr().Equals(index))
{
LogUtil.debug("收到DIChangeDelegate[" + ioIP + "][" + index + "][" + oldValue + "][" + newValue + "]，更新CheckDIHigh=true ");
CheckDIHigh = true;
}
}
}
public void StopLineRun()
{
if (InTurn)
{
WaitCheckDI_High = false;
CheckDIHigh = false;
InTurn = false;
}
}
public void StartLineRun(TurnEndDel endProcess, int timeOutMS = 30000)
{
StartLineRun(MoveDO, CheckDI, endProcess, timeOutMS);
}
private int canWhileCount = 3;
public void StartLineRun(string moveDO, string checkDI, TurnEndDel endProcess, int timeOutMS = 30000)
{
MoveDO = moveDO;
CheckDI = checkDI;
InTurn = true;
this.turnEnd = endProcess;
Task.Factory.StartNew(delegate
{
canWhileCount = 3;
LineRunAndWait(timeOutMS);
});
}
private string LineRunAndWait(int timeOutMS = 30000)
{
//MoveDO = moveDO;
//CheckDI = checkDI;
string logName = "LineTurn[" + subType + "][" + MoveDO + "][" + CheckDI + "] ";
LogUtil.debug("开始转动：" + logName);
IOManager.IOMove(MoveDO, IO_VALUE.HIGH, subType);
InTurn = true;
DateTime startTime = DateTime.Now;
string result = "";
bool isStop = false;
WaitCheckDI_High = false;
CheckDIHigh = false;
//先等待信号灭一次，然后再亮时停止
while (true)
{
Thread.Sleep(20);
TimeSpan span = DateTime.Now - startTime;
if (span.TotalSeconds > 1 && IOManager.IOValue(MoveDO, subType).Equals(IO_VALUE.LOW))
{
LogUtil.error(logName + "转动，已等待[" + FormUtil.GetSpanStr(span) + "]，重写DO");
IOManager.IOMove(MoveDO, IO_VALUE.HIGH, subType);
}
if (!InTurn)
{
isStop = true;
result = "手动停止";
}
else if (span.TotalMilliseconds > timeOutMS)
{
isStop = true;
result = "转动超时";
}
//判断Buzy及位置是否结束
else if (IOManager.IOValue(CheckDI, subType).Equals(IO_VALUE.LOW))
{
isStop = true;
}
if (isStop)
{
if (result.Equals(""))
{
LogUtil.debug(logName + "验证" + CheckDI + "=Low结束：" + result);
}
else
{
LogUtil.info(logName + " 验证" + CheckDI + "=Low结束：" + result);
}
break;
}
}
result = "";
isStop = false;
WaitCheckDI_High = true;
CheckDIHigh = false;
while (true)
{
Thread.Sleep(10);
TimeSpan span = DateTime.Now - startTime;
bool isRestart = false;
if (span.TotalSeconds > 2 && IOManager.IOValue(MoveDO, subType).Equals(IO_VALUE.LOW))
{
LogUtil.error(logName + " 转动已等待[" + FormUtil.GetSpanStr(span) + "]，重写DO");
IOManager.IOMove(MoveDO, IO_VALUE.HIGH, subType);
}
if (!InTurn)
{
isStop = true;
result = "手动停止";
}
else if (span.TotalMilliseconds > timeOutMS)
{
isStop = true;
result = "转动超时";
}
//判断Buzy及位置是否结束
else if (IOManager.IOValue(CheckDI, subType).Equals(IO_VALUE.HIGH) || CheckDIHigh)
{
if (canWhileCount > 0 && span.TotalMilliseconds < 800)
{
isRestart = true;
canWhileCount--;
LogUtil.info(logName + " 异常停止，重新开始转动： 耗时 [" + FormUtil.GetSpanStr(span) + "][" + canWhileCount + "]");
return LineRunAndWait(timeOutMS);
}
isStop = true;
}
if (isStop)
{
if (result.Equals(""))
{
//正常4-5秒
if (span.TotalSeconds >= 1 && span.TotalSeconds <= 6)
{
LogUtil.debug(logName + "停止运动： 耗时 [" + FormUtil.GetSpanStr(span) + "][" + canWhileCount + "]");
}
else
{
LogUtil.info(logName + "停止运动： 耗时 [" + FormUtil.GetSpanStr(span) + "][" + canWhileCount + "]");
}
}
else
{
LogUtil.info(logName + " 停止运动：" + result + " " + MoveDO);
}
LastEndTime = DateTime.Now;
IOManager.IOMove(MoveDO, IO_VALUE.LOW, subType);
InTurn = false;
WaitCheckDI_High = false;
CheckDIHigh = false;
if (!isRestart)
{
turnEnd?.Invoke(result.Equals(""));
}
return result;
}
}
}
}
}