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;
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 % 100 + " ").ToUpper();
Init();
UseAxis = false;
MoveInfo = new LineMoveInfo(DeviceID, "出料皮带线-" + DeviceID + "-MoveInfo");
SecondMoveInfo = new LineMoveInfo(DeviceID, "出料皮带线-" + DeviceID + "-SecondMoveInfo");
int id = DeviceID % 100;
TrayLine1 = new OutTrayLineBean("皮带线" + id + "-" + (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("皮带线" + id + "-" + (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);
Line3Turn = new LineTurnBean(DeviceID);
if((DeviceID%100).Equals(1))
{
Line3MaxPosition = 13;
}
else
{
Line3MaxPosition = 22;
}
TimerMaxSeconds = 2;
}
/// <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;
LogInfo("开始原点返回： (重置灯状态，关闭所有皮带线，定位气缸下降 )开始");
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();
LogInfo("开始重置： （重置灯状态，关闭所有皮带线，定位气缸下降 ）开始；");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
//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 (IsDebug)
{
mainTimer.Start();
}
//三个流水线都转动到定位亮
//TrayLine1.LineStartTurn();
//TrayLine2.LineStartTurn();
//Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
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:
LogInfo(MoveInfo.MoveType + "完成！");
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove();
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))
{
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;
}
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 (Line3Turn.InTurn.Equals(false) && 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 >= (LineRunStatus.HomeMoving) && NoAlarm())
{
TrayLine1.TimerPro();
TrayLine2.TimerPro();
Line3TimerPro();
}
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);
}
}
private void Line3TimerPro()
{
//判断皮带线3出口无料，皮带线无操作
if (Line3Turn.InTurn.Equals(false) &&
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("皮带线3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)
{
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++;
}
}
}
public virtual string GetMoveStr()
{
string msg = "";
int tLength = 15;
msg += "runStatus：".PadRight(tLength, ' ') + runStatus + "\n";
msg += "lineStatus：".PadRight(tLength, ' ') + lineStatus + "\n";
msg += "MoveType：".PadRight(tLength, ' ') + MoveInfo.MoveType + "\n";
msg += "MoveStep：".PadRight(tLength, ' ') + MoveInfo.SLog + "\n";
msg += "Line1-Move：".PadRight(tLength, ' ') + TrayLine1.MoveInfo.MoveType +" " + TrayLine1.MoveInfo.MoveStep + "\n";
msg += "Line2-Move：".PadRight(tLength, ' ') + TrayLine2.MoveInfo.MoveType + " " + TrayLine2.MoveInfo.MoveStep + "\n";
msg += "LastTrayP：".PadRight(tLength, ' ') + TrayLine1.LastTrayPosition+" " + TrayLine2.LastTrayPosition + " " + Line3LastTrayP + " " + "\n";
msg += "IsInRun：".PadRight(tLength, ' ') + TrayLine1.IsInTurn() + " " + TrayLine2.IsInTurn() + " " +Line3Turn.InTurn + " " +"\n";
msg += "Line3CanRun：".PadRight(tLength, ' ') + TrayLine1.Line3CanRun + " " + TrayLine2.Line3CanRun + " " + "\n";
return msg;
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
}
protected override void CheckFixtureProcess()
{
}
}
}