EquipBase.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
{
public abstract class EquipBase : KTK_Store
{
private bool IsIntSlvBlock = false;
public bool IsDebug = false;
public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
public bool UseAxis = false;
#region 上下气缸伺服运动
protected string portName;
protected short slvAddr;
public bool RunAxis(bool isCheck,ConfigMoveAxis axis)
{
if (!UseAxis)
{
return true;
}
IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.HIGH);
Thread.Sleep(1000);
//打开所有轴
ACServerManager.OpenPort(portName);
Thread.Sleep(50);
//初始化
if (!IsIntSlvBlock)
{
ACServerManager.InitSlvAddr(portName, slvAddr, axis.TargetSpeed, axis.AddSpeed, axis.DelSpeed);
Thread.Sleep(100);
}
ACServerManager.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
ACServerManager.ServoOn(portName, slvAddr);
Thread.Sleep(1000);
//打开所有轴
if (isCheck)
{
if (!OpenAxis(axis))
{
return false;
}
}
IsIntSlvBlock = true;
IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.HIGH);
return true;
}
protected void IOMove(object batchAxis_ServoOn, IO_VALUE hIGH)
{
throw new NotImplementedException();
}
/// <summary>
/// 打开所有轴
/// </summary>
/// <returns></returns>
protected bool OpenAxis(ConfigMoveAxis axis)
{
//判断轴是否正常
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(Name + "成功打开轴：" + axis.Explain);
}
else
{
//清理报警，再重新打开一次
LogUtil.info(Name + "第一次打开轴" + axis.Explain + "失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(Name + "清理报警后重新打卡轴成功：" + axis.Explain);
}
else
{
ACServerManager.ServoOff(portName, slvAddr);
WarnMsg = Name + "打开轴" + axis.Explain + "失败 ";
LogUtil.info(Name + WarnMsg);
Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
return false;
}
}
return true;
}
public void CloseAxis()
{
LogUtil.info(Name + "关闭刹车，关闭伺服");
IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.LOW);
ACServerManager.ServoOff(portName, slvAddr);
//关闭串口，等下次重新打开
ACServerManager.ColsePort(portName);
Thread.Sleep(100);
IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.LOW);
}
protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{
moveAxis.TargetPosition = 0;
LogUtil.info(moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
}
/// <summary>
/// 松下伺服电机运动
/// </summary>
protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
protected bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
string deviceName = moveAxis.DeviceName;
short axisNo = moveAxis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (isOk)
{
if (errorCount <= moveAxis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
{
msg = "";
if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount <= moveAxis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
#endregion
#region CheckWait处理
/// <summary>
/// 上一个盘号
/// </summary>
public int preTrayNum = 0;
/// <summary>
/// 当前正在通过的托盘号
/// </summary>
protected int currMoveTrayNum = 0;
protected DateTime preRWTime = DateTime.Now;
protected void CheckWait(LineMoveInfo moveInfo)
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = true;
if (moveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(1))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
break;
}
}
else if (wait.WaitType.Equals(2))
{
NotOkMsg = " (" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
//屏蔽料盘检测信号
if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
{
LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
}
//夹紧按钮若果超过一秒钟还未收到，默认成功
else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 4000)
{
LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过4秒钟，默认下一步骤");
wait.IsEnd = true;
}
else
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
{
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = Name + "等待" + NotOkMsg + " 超时";
Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error(MoveInfo.Name + WarnMsg, 13);
}
else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
{
isLog = true;
IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(3))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(8))
{
string posId = moveInfo.MoveParam.PosId;
int id = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.RightInPosId(id, posId);
}
else if (wait.WaitType.Equals(9))
{
int storeId = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
}
else if (wait.WaitType.Equals(10))
{
wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
}
if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
else if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
if (isOk)
{
moveInfo.EndStepWait();
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
+ "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 18);
Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
}
}
#endregion
public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
{
if (this.alarmType.Equals(alarmType))
{
return;
}
this.alarmType = alarmType;
}
}
}