LineBean_Shunt2.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class LineBean
{
public bool DisableShunt2 = false;
private Stopwatch Shunt2Check1Watch = new Stopwatch();//前端检测1
private Stopwatch Shunt2Check4Watch = new Stopwatch();//阻挡2检测
private bool Shunt2Pro = false;
private DateTime Shunt2ProTime = DateTime.Now;
private static LineMoveInfo Shunt2_MoveInfo = null;
internal int Shunt2TrayNum = 0;
private DateTime shunt2_Stop2DownTime = DateTime.Now;
/// <summary>
/// 判断进仓5是否可以开始托盘处理，分流2顶升1需要没有托盘
/// </summary>
/// <returns></returns>
internal bool Move5CanProcessTray(int deviceId )
{
if (DisableShunt2)
{
return true;
}
if (!deviceId.Equals(5))
{
return true;
}
return true;
if ( IOValue(IO_Type.Shunt2_Check1_Front).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.Shunt2_Check2_Middle).Equals(IO_VALUE.LOW))
{
if (Shunt2_MoveInfo.MoveType.Equals(LineMoveType.None) ||
(Shunt2_MoveInfo.MoveStep >= LineMoveStep.Shunt09_Top1Down))
{
if (CylinderIsOk(IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1))
{
LogUtil.debug("Move5ProcessTray ,[" + deviceId + "] ,return true ");
return true;
}
else
{
CylinderMove(null, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1);
}
}
}
return false;
}
/// <summary>
/// 判断分流后端阻挡2是否可以下降
/// </summary>
/// <returns></returns>
private bool Shunt2Stop2CanDown()
{
if (DisableShunt2)
{
return true;
}
if (IOValue(IO_Type.Shunt2_Check3_Back).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Shunt2_StopDown2_Back).Equals(IO_VALUE.LOW))
{
if ((Shunt2_MoveInfo.MoveType.Equals(LineMoveType.None) ||
Shunt2_MoveInfo.MoveStep <= LineMoveStep.Shunt05_WaitCheck1Low))
{
if (CylinderIsOk(IO_Type.Shunt2_TopCylinder_Up2, IO_Type.Shunt2_TopCylinder_Down2))
{
return true;
}
else
{
CylinderMove(null, IO_Type.Shunt2_TopCylinder_Up2, IO_Type.Shunt2_TopCylinder_Down2);
}
}
}
return false;
}
/// <summary>
/// 判断分流横移2 升降2是否可上升
/// </summary>
/// <returns></returns>
private bool Shunt2_Updown2CanUp()
{
TimeSpan span = DateTime.Now - shunt2_Stop2DownTime;
if (span.TotalMilliseconds >= 4000)
{
if (IOValue(IO_Type.Shunt2_StopDown2_Back).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.Shunt2_Check3_Back).Equals(IO_VALUE.LOW))
{
if (TrayManager.checkWatch(shunt2_check3LowWatch, 200, false))
{
return true;
}
}
}
return false;
}
public void Shunt2Stop()
{
Shunt2Check1Watch.Stop();
Shunt2Check4Watch.Stop();
Shunt2_MoveInfo.EndMove();
if (DisableShunt2)
{
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.HIGH);
IOMove(IO_Type.Shunt2_StopDown2_Back, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.LOW);
IOMove(IO_Type.Shunt2_StopDown2_Back, IO_VALUE.LOW);
}
CheckAndMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW);
CheckAndMove(IO_Type.Shunt2_MotorRun2, IO_VALUE.LOW);
CylinderMove(null, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1);
CylinderMove(null, IO_Type.Shunt2_TopCylinder_Up2, IO_Type.Shunt2_TopCylinder_Down2);
}
private Stopwatch shunt2_check3LowWatch = new Stopwatch();
private void Shunt2TimerProcess()
{
if (DisableShunt2)
{
return;
}
TimeSpan span = DateTime.Now - Shunt2ProTime;
if (Shunt2Pro && span.TotalSeconds < 5)
{
return;
}
try
{
Shunt2Pro = true;
Shunt2ProTime = DateTime.Now;
if (!CanProcessLine())
{
Shunt2Pro = false;
return;
}
if (IOValue(IO_Type.Shunt2_Check3_Back).Equals(IO_VALUE.LOW))
{
TrayManager.checkWatch(shunt2_check3LowWatch, 30000, false);
}
else
{
shunt2_check3LowWatch.Stop();
}
if (Shunt2_MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.Shunt2_Check1_Front).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Shunt2_Check2_Middle).Equals(IO_VALUE.HIGH))
{
if (TrayManager.checkWatch(Shunt2Check1Watch, 400, true))
{
Shunt2_MoveInfo.NewMove(LineMoveType.InStore);
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt02_WaitTime);
//读取进仓5处的托盘号
Shunt2TrayNum = RFIDManager.GetTrayNum(5, false);
Shunt2Log("分流横移2：托盘号【" + Shunt2TrayNum + "】等待阻挡1亮，阻挡2亮，阻挡1上升，升降1下降 ");
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1, true);
CheckAndMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check1_Front, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.HIGH));
}
}
else if (IOValue(IO_Type.Shunt2_Check1_Front).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Shunt2_Check2_Middle).Equals(IO_VALUE.LOW))
{
//如果前阻挡有托盘，下降
if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH))
{
Shunt2_MoveInfo.NewMove(LineMoveType.InStore);
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt01_StopDown1);
Shunt2Log("分流横移2：前阻挡有托盘，前阻挡下降，等待托盘到达 ");
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1, true);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH,1200);
CheckAndMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check1_Front, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.HIGH));
}
}
else
{
Shunt2Check1Watch.Stop();
}
}
else
{
Shunt2Check1Watch.Stop();
Shunt2BusyProcess();
}
//升降2处过托盘
if (IOValue(IO_Type.Shunt2_Check4_BStop).Equals(IO_VALUE.HIGH) )
{
if (TrayManager.checkWatch(Shunt2Check4Watch, 300, false))
{
if (Shunt2Stop2CanDown())
{
shunt2_Stop2DownTime = DateTime.Now;
IOMove(IO_Type.Shunt2_StopDown2_Back, IO_VALUE.HIGH, 1500);
Shunt2Check4Watch.Stop();
}
}
}
else
{
Shunt2Check4Watch.Stop();
}
}
catch (Exception ex)
{
LogUtil.error(Name + "Shunt2TimerProcess 出错：", ex);
}
Shunt2Pro = false;
}
private void Shunt2BusyProcess()
{
if (Shunt2_MoveInfo.IsInWait)
{
CheckWait(Shunt2_MoveInfo);
}
if (Shunt2_MoveInfo.IsInWait)
{
return;
}
if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt01_StopDown1))
{
Shunt2_MoveInfo.NewMove(LineMoveType.InStore);
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt02_WaitTime);
//读取进仓5处的托盘号
Shunt2TrayNum = RFIDManager.GetTrayNum(5, false);
Shunt2Log("分流横移2：托盘号【" + Shunt2TrayNum + "】等待阻挡1亮，阻挡2亮，阻挡1上升，升降1下降 ");
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1, true);
CheckAndMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check1_Front, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.HIGH));
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt02_WaitTime))
{
string msg = "";
if (TrayNeedShunt2(Shunt2TrayNum, out msg))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt06_Top1Up);
LogUtil.info(Name + "[" + Shunt2TrayNum + "]" + "分流横移2：" + msg + " 需要分流，阻挡1上升，升降1上升 ,等待升降2是否可上升 ，进仓5结束托盘处理,清理托盘号");
CheckAndMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW);
CheckAndMove(IO_Type.Shunt2_MotorRun2, IO_VALUE.LOW);
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Down1, IO_Type.Shunt2_TopCylinder_Up1);
if (Shunt2_Updown2CanUp())
{
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Down2, IO_Type.Shunt2_TopCylinder_Up2);
//Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_TopCylinder_Down2, IO_VALUE.LOW));
}
LineManager.Line.GetMoveByDId(5).EndProcessTray();
}
else
{
MoveEquip moveEquip = LineManager.Line.GetMoveByDId(5);
if (moveEquip.IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.LOW))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt04_Stop1Down);
LogUtil.info(Name + "[" + Shunt2TrayNum + "]" + "分流横移2： 不需要分流，直接放行，Shunt2_StopDown1_Front 下降1200 ");
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.HIGH, 1200);
}
else
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt03_WaitStop1Down);
LogUtil.info(Name + "[" + Shunt2TrayNum + "]" + "分流横移2： 不需要分流，等待进仓5处无托盘后放行托盘 ");
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.HIGH, 500);
}
}
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt03_WaitStop1Down))
{
MoveEquip moveEquip = LineManager.Line.GetMoveByDId(5);
if (moveEquip.IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.LOW))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt04_Stop1Down);
LogUtil.info(Name + "[" + Shunt2TrayNum + "]" + "分流横移2： 不需要分流，放行托盘，Shunt2_StopDown1_Front 下降1200 ");
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.HIGH, 1200);
}
else
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt03_WaitStop1Down);
LogUtil.info(Name + "[" + Shunt2TrayNum + "]" + "分流横移2： 不需要分流，等待进仓5处无托盘后放行托盘 ");
IOMove(IO_Type.Shunt2_StopDown1_Front, IO_VALUE.HIGH, 500);
}
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt04_Stop1Down))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt05_WaitCheck1Low);
Shunt2Log("分流横移2： 不需要分流，等待检测1信号消失 ");
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check1_Front, IO_VALUE.LOW));
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt05_WaitCheck1Low))
{
Shunt2_MoveInfo.EndMove();
Shunt2Log("分流横移2： 已离开 ，更新 Move5TrayNum= " + Shunt2TrayNum);
TrayManager.Move5TrayNum = Shunt2TrayNum;
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt06_Top1Up))
{
if (Shunt2_Updown2CanUp())
{
if (CylinderIsOk(IO_Type.Shunt2_TopCylinder_Down1, IO_Type.Shunt2_TopCylinder_Up1) &&
CylinderIsOk(IO_Type.Shunt2_TopCylinder_Down2, IO_Type.Shunt2_TopCylinder_Up2))
{
Shunt208_DriveMotorMove();
}
else
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt07_Top2Up);
Shunt2Log("分流横移2：升降2开始上升 ");
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(600));
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Down2, IO_Type.Shunt2_TopCylinder_Up2);
//Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_TopCylinder_Down2, IO_VALUE.LOW));
}
}
else if (Shunt2_MoveInfo.IsTimeOut(120))
{
MoveTimeoutAlarm(Shunt2_MoveInfo, "等待分流横移2可以上升");
//WarnMsg = Shunt2_MoveInfo.Name + "[" + Shunt2_MoveInfo.MoveType + "][" + Shunt2_MoveInfo.SLog + "]等待分流横移22可以上升[" + Math.Round(Shunt2_MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 12);
//Alarm(LineAlarmType.IoSingleTimeOut);
}
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt07_Top2Up))
{
Shunt208_DriveMotorMove();
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt08_DriveMotorMove))
{
if (IOValue(IO_Type.Shunt2_Check2_Middle).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Shunt2_Check1_Front).Equals(IO_VALUE.LOW))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt09_Top1Down);
Shunt2Log("分流横移2：升降1先下降 ");
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
CylinderMove(null, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1);
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt10_WaitCheck);
Shunt2Log("分流横移2：再次等待检测2low，检测3high，停止皮带线1 ");
IOMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check3_Back, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.LOW));
}
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt09_Top1Down))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt10_WaitCheck);
Shunt2Log("分流横移2：再次等待检测2low，检测3high，停止皮带线1 ");
IOMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check3_Back, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.LOW));
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt10_WaitCheck))
{
if (IOValue(IO_Type.Shunt2_Check3_Back).Equals(IO_VALUE.HIGH))
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt11_TopDown);
Shunt2Log("分流横移2：升降2下降 ,皮带线2停止 ");
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Up1, IO_Type.Shunt2_TopCylinder_Down1);
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Up2, IO_Type.Shunt2_TopCylinder_Down2);
CheckAndMove(IO_Type.Shunt2_MotorRun2, IO_VALUE.LOW);
CheckAndMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_MotorRun1, IO_VALUE.LOW));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_MotorRun2, IO_VALUE.LOW));
}
}
else if (Shunt2_MoveInfo.MoveStep.Equals(LineMoveStep.Shunt11_TopDown))
{
Shunt2_MoveInfo.EndMove();
Shunt2Log("分流横移2： 已离开 ");
}
}
private void Shunt208_DriveMotorMove()
{
Shunt2_MoveInfo.NextMoveStep(LineMoveStep.Shunt08_DriveMotorMove);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
Shunt2Log("分流横移2：两边皮带线开始转动，等待检测2low，检测3high ");
IOMove(IO_Type.Shunt2_MotorRun1, IO_VALUE.HIGH);
IOMove(IO_Type.Shunt2_MotorRun2, IO_VALUE.HIGH);
CylinderMove(Shunt2_MoveInfo, IO_Type.Shunt2_TopCylinder_Down2, IO_Type.Shunt2_TopCylinder_Up2);
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_MotorRun1, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_MotorRun2, IO_VALUE.HIGH));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check1_Front, IO_VALUE.LOW));
Shunt2_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt2_Check2_Middle, IO_VALUE.LOW));
}
private bool TrayNeedShunt2(int trayNum, out string outMsg)
{
outMsg = "";
try
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(trayNum);
if (!trayInfo.IsFull)
{
return false;
}
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.InOrOutStore.Equals(ReelType.InStore))
{
int storeId = inoup.GetStoreId();
if (inoup.InStoreNg)
{
outMsg = "入料NG料";
return true;
}
else if (storeId >= 15 && storeId <= 18)
{
outMsg = storeId+ "仓入库";
return true;
}
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore))
{
if (inoup.urgentReel.Equals(true))
{
outMsg = "紧急出料";
return true;
}
//必须走皮带线34的料
else if (inoup.urgentReel.Equals(false) && inoup.cutReel.Equals(false))
{
int youxianS = 180;
TimeSpan span = DateTime.Now - trayInfo.LastUpdateTime;
if (inoup.smallReel)
{
if (inoup.rfidLoc >= 70 && inoup.rfidLoc <= 72)
{
// 70,71,72时只能分配到3 / 4号皮带线;
//mustLine = new List<int> { 3, 4 };
outMsg = "出库小料" + inoup.rfidLoc;
return true;
}
else if (inoup.rfidLoc >= 47)
{
if (span.TotalSeconds < youxianS)
{
// ,47 - 92优先走3 / 4号皮带线,
outMsg = "出库小料" + inoup.rfidLoc;
return true;
}
}
}
else
{
//7 - 11优先走3 / 4号皮带线
if (inoup.rfidLoc >= 7 && inoup.rfidLoc < 12)
{
if (span.TotalSeconds < youxianS)
{
//firstLine = new List<int> { 3, 4 };
outMsg = "出库大料" + inoup.rfidLoc;
return true;
}
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error("TrayNeedShunt2出错：" + ex.ToString());
}
return false;
}
private void Shunt2Log(string msg)
{
LogUtil.debug(Name + "["+Shunt2TrayNum+"]"+msg);
}
}
}