DischargeLine_Partial.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
{
partial class DischargeLine
{
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W301_DLineScanCode))
{
if (LastCodeList.Count > 0)
{
return true;
}
}
return false;
}
#region 是否可移栽料盘
internal bool CanStartOut(int lineNum)
{
if (NoAlarm() || runStatus>LineRunStatus.HomeMoving)
{
if (lineNum.Equals(1) && TrayLine1.MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
if (lineNum.Equals(2) && TrayLine2.MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
}
return false;
}
#endregion
#region 料盘移栽处理
public override bool StartOutStoreMove(InOutParam param)
{
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.OutStore);
LogInfo(hengyiName+ "出口有料，等待1000后扫码");
MoveInfo.NextMoveStep(LineMoveStep.DO_01_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LastCodeList = new List<string>();
// LastHeight = 0;
LastWidth = 0;
scanCodeCount = 0;
return true;
}
else
{
LogUtil.error(Name + " 启动出料失败，当前 storeStatus=" + runStatus);
return false;
}
}
private List<string> LastCodeList = new List<string>();
private int LastWidth = 0;
private int scanCodeCount=0;
private void ScanCode()
{
MoveInfo.NextMoveStep(LineMoveStep.DO_02_ScanCode);
List<string> cameraList = Config.GetCameraList();
if (cameraList.Count > 0)
{
scanCodeCount++;
LogInfo(hengyiName + "出口有料，开始第【"+scanCodeCount+"】次扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitDLineScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
try
{
Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
}
return LastCodeList;
});
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：" + ex.ToString());
}
}
else
{
LogInfo(hengyiName + "出口有料，未取到相机名称，不扫码，等待1000后继续");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_01_WaitTime))
{
ScanCode();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_02_ScanCode))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_03_GetTraySize);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
string lastCode = "";
foreach (string code in LastCodeList)
{
lastCode += code;
}
//如果未扫到条码，重新扫码3次
if (scanCodeCount < 3 && lastCode.Equals("") && Config.GetCameraList().Count > 0)
{
ScanCode();
}
else
{
LastWidth = 0;
int robotIndex = 1;
if (DeviceID.Equals(301))
{
robotIndex = 2;
}
SServerManager.GetTraySize(Name, robotIndex, LastCodeList, out LastWidth);
LogInfo(hengyiName + "出口有料，二维码[" + lastCode + "] 获取料盘尺寸【" + LastWidth + "】");
}
// MoveInfo.EndMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_03_GetTraySize))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_04_SeparateDeviceMove);
if (LastWidth.Equals(7))
{
LogInfo(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】上升分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Down, IO_Type.SeparateDevice_Up);
}
else
{
LogInfo(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】下降分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_04_SeparateDeviceMove))
{
if (TrayLine2.Line3CanRun && TrayLine1.Line3CanRun)
{
MoveInfo.NextMoveStep(LineMoveStep.DO_05_LineRun);
LogInfo(hengyiName + "出口有料，转动皮带线，同时转动分盘装置");
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_05_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_06_Wait_SeparateDevice_Check);
Line3LastTrayP++;
LogInfo(hengyiName + "出口有料，等待料盘到达分盘装置位置");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_06_Wait_SeparateDevice_Check))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_07_CRun);
LogInfo(hengyiName + "出口有料，最多等待2000");
MoveInfo.OneWaitCanEndStep = true;
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_07_CRun))
{
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
LogInfo(hengyiName + "出口有料，送料结束，停止皮带线");
}
}
#endregion
}
}