ProvidingEquip_Partial.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;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class ProvidingEquip
{
public event TrayProcessEnd TrayPEndEvent;
#region 托盘检测
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W201_ProvidingCanOut))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
}
else if (wait.WaitType.Equals(WaitEnum.W202_DLineCanOut))
{
bool result = LineManager.Line.DLineStartOut(Config.DLineEquipNum, Config.DLineLineNum);
wait.IsEnd = result;
}
return false;
}
internal DateTime lastStopDown = DateTime.Now;
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheck2LowWait = new Stopwatch();
private object lockObj = "";
private void StartCheckFixture()
{
if (Monitor.TryEnter(lockObj, TrayManager.mTimeOut))
{
try
{
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " StartCheckFixture " + " 不在空闲中，直接返回 ");
return;
}
//int num = TrayManager.GetTrayNum(DeviceID);
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
bool canProcess = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
trayCheck2LowWait.Stop();
if (TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, false) && canProcess)
{
trayCheckWait.Stop();
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
LogUtil.info(Name + " [" + trayCount + "] 托盘阻挡" + SecondMoveInfo.SLog + "阻挡气缸1-1上升）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
}
}
else
{
bool check2Ok = TrayManager.checkWatch(trayCheck2LowWait, TrayManager.SwTrayWaitTime, false);
if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH))
{
bool canProcess = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
ProcessReelCheck();
if (TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, false) && (DateTime.Now - lastStopDown).TotalSeconds > 3 && check2Ok && canProcess)
{
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
lastStopDown = DateTime.Now;
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
LogUtil.debug(Name + " [" + trayCount + "] 托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ，等待 StopCylinder_Check1=0，清理托盘RFID");
ClearTrayRFID();
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH, 1200);
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else
{
trayCheckWait.Stop();
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " StartCheckFixture " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockObj);
}
}
else
{
LogUtil.error(Name + " StartCheckFixture " + "失败，未得到锁");
}
}
public int ReadReelCheckId()
{
if (string.IsNullOrEmpty(Config.CameraName_1_RFID)) return 0;
try
{
RFIDData data = RFIDManager.ReadRFID(Config.CameraName_1_RFID, true);
if (data != null)
{
if (data.RFType.Equals('E'))
{
return data.Num;
}
}
}
catch (Exception ex)
{
LogUtil.error("ReadReelCheckId", ex);
}
return 0;
}
public string GetCurReelInfo(string cameName)
{
try
{
(bool result, string barcode) = CodeManager.ReelCheckCameraScan(new List<string> { cameName }, Name);
if (result)
{
(int resultCode, taskInfo task) = SServerManager.getTaskInfo(barcode);
return $"【{result}】【{barcode}】【{resultCode}】【{JsonHelper.SerializeObject(task)}】";
}
else
{
return $"相机扫码失败：【{result}】【{barcode}】";
}
}
catch (Exception ex)
{
LogUtil.error("GetCurReelInfo", ex);
}
return "";
}
private void ProcessReelCheck()
{
try
{
if (!TrayDisableManager.UseNewLogic) return;
if (Config.SidesWayNum.Equals(4) && !string.IsNullOrEmpty(Config.CameraName_1) && !string.IsNullOrEmpty(Config.CameraName_1_RFID))
{
RFIDData data = RFIDManager.ReadRFID(Config.CameraName_1_RFID, true);
int trayNum = -1;
if (data != null)
{
if (data.RFType.Equals('E'))
{
trayNum = data.Num;
LogUtil.info("RFID [ " + Config.CameraName_1_RFID + " ] 读到数据 " + data.NumStr());
//获取托盘信息
TrayInfo tray = TrayManager.GetTrayInfo(trayNum);
if (tray.InoutPar.ManualJudgeNG||tray.InoutPar.Corrected)
{
//扫码
(bool result, string barcode) = CodeManager.ReelCheckCameraScan(new List<string> { Config.CameraName_1 }, Name);
//没扫到条码，检测到没料 ，保存图片， 清空
if (tray.IsFull)//初次检测有料盘
{
if (result)//有料盘
{
(int resCode, taskInfo task) = SServerManager.getTaskInfo(barcode);
if(resCode==-1)
{
TrayDisableManager.AddDisableTray(trayNum,Name, "【屏蔽料盘二次判断】【-1】");
LogUtil.info($"【屏蔽料盘二次判断】【-1】【需要禁用该托盘】【{tray.ToStr()}】");
}
else if (resCode==100)
{
tray.InoutPar.InStoreNg = true;
tray.InoutPar.PlateH = task.plateH;
tray.InoutPar.PlateW = task.plateW;
TrayManager.UpdateTrayInfo(trayNum, true, tray.InOrOutStore, tray.InoutPar);
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【100】【有尺寸信息，认为NG】【{tray.ToStr()}】");
}
else if (resCode == 0)
{
//if (task != null)
{
tray.InoutPar.WareCode = task.barcode;
tray.InOrOutStore = task.isPutInTask ? 1 : 2;
tray.InoutPar.PosId = task.posId;
tray.InoutPar.PlateH = task.plateH;
tray.InoutPar.PlateW = task.plateW;
tray.InoutPar.cutReel = task.cutReel;
tray.InoutPar.smallReel = task.smallReel;
tray.InoutPar.urgentReel = task.urgentReel;
tray.InoutPar.rfid = task.rfid;
tray.InoutPar.rfidLoc = task.rfidLoc;
tray.InoutPar.ManualJudgeNG = false;
tray.InoutPar.InStoreNg = false;
TrayManager.UpdateTrayInfo(trayNum, true, tray.InOrOutStore, tray.InoutPar);
if (tray.InOrOutStore == 1)
{
SServerManager.SendPosToStoreCheck(Name, tray.InoutPar);
}
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【初次有料，第二次有料,认为有料】【{tray.ToStr()}】");
}
}
}
else//二次检测无料盘
{
if (tray.IsFull && tray.InOrOutStore.Equals(1))
{
TrayManager.ClearInstore(tray, "【屏蔽料盘二次判断】【初次有料，第二次无料】【清空托盘】[" + trayNum + "]");
}
TrayManager.UpdateTrayInfo(trayNum);
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【初次有料，第二次无料】【清空托盘】【{tray.ToStr()}】");
}
}
else////初次检测无料盘
{
if (result)//有料盘
{
(int resCode, taskInfo task) = SServerManager.getTaskInfo(barcode);
if (resCode == -1)
{
TrayDisableManager.AddDisableTray(trayNum,Name, "【屏蔽料盘二次判断】【-1】【初次无料，第二次有料】");
LogUtil.info($"【屏蔽料盘二次判断】【-1】【初次无料，第二次有料】 【禁用该托盘】【{tray.ToStr()}】");
}
else if (resCode == 100)
{
tray.InoutPar.InStoreNg = true;
tray.InoutPar.PlateH = task.plateH;
tray.InoutPar.PlateW = task.plateW;
TrayManager.UpdateTrayInfo(trayNum, true, tray.InOrOutStore, tray.InoutPar);
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【100】【有尺寸信息，认为NG】【{tray.ToStr()}】");
}
else if (resCode == 0)
{
// if (task != null)
{
tray.InoutPar.WareCode = task.barcode;
tray.InOrOutStore = task.isPutInTask ? 1 : 2;
tray.InoutPar.PosId = task.posId;
tray.InoutPar.PlateH = task.plateH;
tray.InoutPar.PlateW = task.plateW;
tray.InoutPar.cutReel = task.cutReel;
tray.InoutPar.urgentReel = task.urgentReel;
tray.InoutPar.smallReel = task.smallReel;
tray.InoutPar.rfid = task.rfid;
tray.InoutPar.rfidLoc = task.rfidLoc;
tray.InoutPar.ManualJudgeNG = false;
TrayManager.UpdateTrayInfo(trayNum, true, tray.InOrOutStore, tray.InoutPar);
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【初次无料，第二次有料】【纠正为有料】【{tray.ToStr()}】");
}
}
}
else//二次检测无料盘
{
if (tray.IsFull && tray.InOrOutStore.Equals(1))
{
TrayManager.ClearInstore(tray, "【屏蔽料盘二次判断】【初次无料，第二次无料】【清空托盘】[" + trayNum + "]");
}
TrayManager.UpdateTrayInfo(trayNum);
tray.InoutPar.Corrected = true;
LogUtil.info($"【屏蔽料盘二次判断】【初次无料，第二次无料】【清空托盘】【{tray.ToStr()}】");
}
}
}
}
else
{
trayNum = 0;
LogUtil.debug("RFID [ " + Config.CameraName_1_RFID + " ] 读到数据 " + data.NumStr() + " 返回盘号 0");
}
}
}
}
catch (Exception ex)
{
LogUtil.error($"屏蔽料盘二次处理", ex);
}
}
private void MO_14_TopCylinder_Down()
{
// SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
OutLog("放托盘（放开阻挡）" + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
if (Config.SidesWayNum <= 0)
{
if (!CylinderIsOk(IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down))
{
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else
{
MO_16_Stop2Down();
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
//CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡2下降");
//IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
}
}
else
{
SecondMoveInfo.EndMove();
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
lastStopDown = DateTime.Now.AddSeconds(-1);
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
}
private InOutParam CheckIsNeedOutStore(out string outMsg)
{
outMsg = "";
int lineNum = DeviceID % 100;
if (TrayDisableManager.DisableTray(currTrayNum))
{
return null;
}
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
if (!trayInfo.IsFull)
{
return null;
}
TimeSpan span = DateTime.Now - trayInfo.LastUpdateTime;
int youxianS = 180;
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.IsFull && trayInfo.InoutPar.InStoreNg && this.Config.SidesWayNum.Equals(4))
{
outMsg = "入料NG料";
//如果分配了库位，需要调用取消
if (trayInfo.InoutPar.WareCode != "" && trayInfo.InoutPar.PosId != "")
{
SServerManager.cancelPutInTask(Name, trayInfo.InoutPar.WareCode, false);
}
//入料失败料
return inoup;
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel && this.Config.SidesWayNum.Equals(4))
{
outMsg = "出库紧急料";
return inoup;
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel.Equals(false) && inoup.cutReel.Equals(false))
{
bool needToBielt = SServerManager.canReelToBelt(Name, inoup.WareCode);
if (!needToBielt)
{
LogUtil.info(Name + $"工单料：{inoup.WareCode} canReelToBelt={needToBielt} ,暂不移到皮带线");
return null;
}
List<int> mustLine = new List<int>();
List<int> firstLine = new List<int>();
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc:
//是否是小盘
if (inoup.rfidLoc <= 0)
{
//-1时随意放
}
else 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 };
}
else if (inoup.rfidLoc <= 46)
{
// 小料时,架位为1 - 46优先走1 / 2号皮带线
firstLine = new List<int> { 1, 2 };
}
else if (inoup.rfidLoc >= 47)
{
// ,47 - 92优先走3 / 4号皮带线,
firstLine = new List<int> { 3, 4 };
}
}
else
{
//大料12号只能走1号2后皮带线
// 料架的架位大料时,架位1 - 6，12号优先走1 / 2号皮带线,
//7 - 11优先走3 / 4号皮带线
if (inoup.rfidLoc.Equals(12))
{
// 大料12号只能走1号2后皮带线
mustLine = new List<int> { 1, 2 };
}
else if (inoup.rfidLoc <= 6)
{
firstLine = new List<int> { 1, 2 };
}
else if (inoup.rfidLoc >= 7)
{
firstLine = new List<int> { 3, 4 };
}
}
bool kongxian = MoveInfo.MoveType.Equals(LineMoveType.None) || MoveInfo.MoveStep >= LineMoveStep.PO_09_CylinderRelax;
if (mustLine.Count > 0)
{
if (mustLine.Contains(lineNum))
{
outMsg = "必须线";
return inoup;
}
}
else if (firstLine.Count > 0)
{
if (firstLine.Contains(lineNum) && kongxian)
{
outMsg = "优先线且空闲";
return inoup;
}
else if (lineNum.Equals(4) && kongxian)
{
outMsg = "出料4空闲";
return inoup;
}
else if (LineManager.Line.ProvidingCanUse(firstLine).Equals(false) && kongxian && LineNotBusy())
{
outMsg = "优先线不可用";
//优先线不可用
return inoup;
}
else if (span.TotalSeconds > youxianS && kongxian && LineNotBusy())
{
outMsg = "超过180秒";
//超过指定的时间
return inoup;
}
else if (span.TotalSeconds > youxianS * 3 && kongxian)
{
outMsg = "超过9分钟";
//超过指定的时间
return inoup;
}
}
else
{
//空闲且皮带线出料已结束
if (kongxian)
{
if (lineNum.Equals(1) || lineNum.Equals(2))
{
if (LastValue <= 2)
{
outMsg = "随意放" + LastValue;
LastValue++;
return inoup;
}
else
{
LastValue = 0;
}
}
else
{
outMsg = "随意放";
return inoup;
}
}
}
}
//TODO 判断是否是需要移栽出料的料盘
return null;
}
private int LastValue = 0;
protected override void CheckFixtureProcess()
{
if (!LineManager.Line.LineCanRun())
{
return;
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
return;
}
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_Stop1Down))
{
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW))
//{
TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
LogUtil.debug(Name + "托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待 阻挡2托盘检测=1），最多等待30秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
SecondMoveInfo.OneWaitCanEndStep = true;
//}
//else
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待StopCylinder_Check=HIGH 或 StopCylinder_Check1=LOW失败，结束处理");
// SecondMoveInfo.EndMove();
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1，最多等待30秒");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.OneWaitCanEndStep = true;
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.LOW))
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待 StopCylinder_Check=HIGH 失败，结束处理");
// SecondMoveInfo.EndMove();
// return;
//}
UpdateTrayNum();
if (Config.SidesWayNum.Equals(4))
{
CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
//出料中，需要拦盘
string outMsg = "";
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
InOutParam param = CheckIsNeedOutStore(out outMsg);
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
bool jNg = tray.InoutPar?.ManualJudgeNG ?? false;
bool corr = tray.InoutPar?.Corrected ?? false;
if (jNg && (!corr))
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】被为标记判定NG,放盘通过,["+jNg+"]["+corr+"]");
MO_14_TopDown();
}
else if (param != null)
{
SecondMoveInfo.MoveParam = param;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
LogUtil.info(Name + "托盘 【" + currTrayNum + "】【" + outMsg + "】需要出料" + SecondMoveInfo.SLog + "：" + param.ToStr() + " 等待可以开始移栽 ");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitProvidingEquipCanOut());
//等待
CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
if (Config.SidesWayNum.Equals(4) && LineManager.Line.SwCanUpMove(1))
{
CheckLog("托盘阻挡 " + SecondMoveInfo.SLog + " 顶升气缸上升，同时横移1处的顶升也可以上升 ");
LineManager.Line.CylinderMove(null, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
else
{
CheckLog("托盘阻挡 " + SecondMoveInfo.SLog + " 顶升气缸上升 ");
}
return;
}
else
{
if (this.Config.SidesWayNum.Equals(4) && TrayDisableManager.ProcessTray && TrayDisableManager.DisableTray(currTrayNum))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_10_WaitProDisableTray);
LogInfo(Name + "拦截禁用托盘【" + currTrayNum + "】，等待托盘启用后再放行");
}
else
{
MO_14_TopDown();
}
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_05_WaitTime) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitLetFixtureGo);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + "开始新的出料任务~" + SecondMoveInfo.MoveParam.ToStr() + "，开始移栽");
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
if (Config.SidesWayNum.Equals(4) && LineManager.Line.SwCanUpMove(1))
{
CheckLog("托盘阻挡 " + SecondMoveInfo.SLog + " 顶升气缸上升，同时横移1处的顶升也可以上升 ");
LineManager.Line.CylinderMove(null, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
else
{
CheckLog("托盘阻挡 " + SecondMoveInfo.SLog + " 顶升气缸上升 ");
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopUp))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
LogInfo(SecondMoveInfo.MoveNum + " 托盘号【" + currTrayNum + "】等待移栽料盘");
SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitLetFixtureGo);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + "开始新的出料任务~" + SecondMoveInfo.MoveParam.ToStr() + "，开始移栽");
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
}
#endregion
#region 不需要出出料，直接放行
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_10_WaitProDisableTray))
{
bool isOk = (!TrayDisableManager.ProcessTray) || (!TrayDisableManager.DisableTray(currTrayNum));
if (isOk)
{
ClearTimeoutAlarm(TrayDisableManager.ProWarnMsg);
MO_14_TopDown();
}
else if (SecondMoveInfo.IsTimeOut(30))
{
MoveTimeoutAlarm(SecondMoveInfo, "等待处理并启用托盘超时");
//WarnMsg = Name + TrayDisableManager.ProWarnMsg+ "[" + currTrayNum + "], 请处理并启用托盘，已超时[" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 20);
}
else
{
WarnMsg = Name + TrayDisableManager.ProWarnMsg + "[" + currTrayNum + "], 请处理并启用托盘";
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopDown))
{
if (Config.SidesWayNum > 0)
{
SecondMoveInfo.EndMove();
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
// lastStopDown = DateTime.Now.AddSeconds(-1);
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
else
{
// lastStopDown = DateTime.Now.AddSeconds(1);
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
//CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待 NextStopCheck=0");
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.NextStopCheck, IO_VALUE.LOW));
MO_16_Stop2Down();
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
//CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡2下降");
//IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo))
{
if (DeviceID.Equals(203)){
MoveEquip moveEquip = LineManager.Line.GetMoveByDId(17);
if (moveEquip.IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW))
{
MO_16_Stop2Down();
}
else if (SecondMoveInfo.IsTimeOut(60))
{
MoveTimeoutAlarm(MoveInfo, "等待进仓17前阻挡信号X51=LOW超时");
}
}
else
{
MO_16_Stop2Down();
}
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
//CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡2下降");
//IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_Stop2Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 阻挡2托盘检测=0");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_17_Stop2Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_WaitTime);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 等待200ms后阻挡2上升");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_WaitTime))
{
trayCheck2LowWait.Restart();
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_19_StopCylinder_Back);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 阻挡气缸2上升 ");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_19_StopCylinder_Back))
{
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
SecondMoveInfo.EndMove();
//lastStopDown = DateTime.Now.AddSeconds(-1);
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
#endregion
}
private void MO_16_Stop2Down()
{
if (DeviceID.Equals(203)) {
MoveEquip move17 = LineManager.Line.GetMoveByDId(17);
if (move17.IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LogUtil.info(Name + "托盘放行 " + SecondMoveInfo.SLog + " ，当前出料3，进仓17前阻挡有料，暂不放行托盘");
return;
}
}
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡2下降");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
}
private void MO_14_TopDown()
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("放托盘（放开阻挡）" + MoveInfo.SLog + " 托盘 【" + currTrayNum + "】直接放行，判断顶升需要下降或上升");
if (Config.SidesWayNum <= 0)
{
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else if (Config.SidesWayNum.Equals(4))
{
CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
if (LineManager.Line.SwCanUpMove(1))
{
LineManager.Line.CylinderMove(null, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
SecondMoveInfo.EndMove();
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
lastStopDown = DateTime.Now.AddSeconds(-1);
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
}
#endregion
#region 料盘移栽处理
public override bool StartOutStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.OutStore);
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
PO_01_CylinderDown();
}
else
{
LogInfo("开始出料【" + posId + "】处理（移栽）：PO_00_CylinderAfter, 前后气缸后退，等待夹爪无料");
MoveInfo.NextMoveStep(LineMoveStep.PO_00_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Slack, IO_VALUE.LOW));
}
return true;
}
else
{
LogUtil.error(Name + " 启动出料【" + posId + "】 失败，当前 storeStatus=" + runStatus);
return false;
}
}
private void PO_01_CylinderDown()
{
MoveInfo.NextMoveStep(LineMoveStep.PO_01_CylinderDown);
OutLog(" " + MoveInfo.SLog + " : 上下气缸下降");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
if (Config.SidesWayNum.Equals(4) && LineManager.Line.SwCanUpMove(1))
{
OutLog(" 顶升气缸上升，同时横移1处的顶升也可以上升 ");
LineManager.Line.CylinderMove(null, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
else
{
OutLog(" 顶升气缸上升 ");
}
}
private void PO_03_CylinderOpen()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP))
{
int lineId = DeviceID % 100;
MoveInfo.NextMoveStep(LineMoveStep.PO_03_CylinderOpen);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
if (MoveInfo.MoveParam.InStoreNg)
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，入料NG料，不更新料盘位置");
}
else
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INBELT】【" + lineId + "】");
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INBELT, lineId.ToString());
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.PO_02_TopUP);
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 顶升气缸上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_00_CylinderAfter))
{
PO_01_CylinderDown();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_01_CylinderDown))
{
PO_03_CylinderOpen();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_02_TopUP))
{
PO_03_CylinderOpen();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_03_CylinderOpen))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_04_CylinderUp);
OutLog("出料 " + MoveInfo.SLog + " : 上下气缸上升，皮带线准备出料");
UpdownUpMove();
StartLineOut(MoveInfo.MoveParam);
if (MoveInfo.MoveParam.PlateW.Equals(7))
{
MO_14_TopCylinder_Down();
}
else if (Config.SidesWayNum <= 0)
{
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_04_CylinderUp))
{
//if (IOValue(IO_Type.ClampCylinder_Slack).Equals(IO_VALUE.LOW))
//{
// MoveInfo.NextMoveStep(LineMoveStep.PO_05_ClampCheck);
// OutLog("出料：" + MoveInfo.SLog + " ，等待夹爪有料）");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Slack, IO_VALUE.HIGH));
//}
//else
{
PO_07_CylinderBefore();
}
}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_05_ClampCheck))
//{
// PO_07_CylinderBefore();
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_06_WaitBox))
//{
// MoveInfo.NextMoveStep(LineMoveStep.PO_07_CylinderBefore);
// OutLog("出料：" + MoveInfo.SLog + " ，前后气缸前进）");
// CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
//}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_07_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
if (LineIsReady())
{
MoveInfo.NextMoveStep(LineMoveStep.PO_09_CylinderRelax);
OutLog("出料：" + MoveInfo.SLog + "，夹料气缸放松）");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
if (MoveInfo.MoveParam.urgentReel && this.Config.SidesWayNum.Equals(4))
{
afterPutCutOK = false;
OutLog("出料：" + MoveInfo.SLog + "，紧急料，且SidesWayNum=4，发送 afterPutCut");
TaskData taskData;
string shefId = "BN";
int ShelfLoc = 1;
string msg = SServerManager.afterPutCut(Name, shefId, MoveInfo.MoveParam.WareCode, "", ShelfLoc, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "【" + MoveInfo.MoveParam.WareCode + "】【" + shefId + "】【" + ShelfLoc.ToString() + "】afterPutCut 结果：" + msg);
taskData = null;
}
afterPutCutOK = true;
}
else
{
afterPutCutOK = true;
}
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(MoveInfo, "等待皮带线可放料超时");
//WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待 皮带线可放料 " + "超时[" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 20);
//Alarm(LineAlarmType.IoSingleTimeOut);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.PO_07_CylinderBefore);
OutLog("出料：" + MoveInfo.SLog + " ，前后气缸前进）");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_09_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_11_CylinderAfter);
OutLog("出料：" + MoveInfo.SLog + "，前后气缸后退，等待200 ,皮带线继续运动");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
//出料皮带线停止出料
DisLineContiune();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_11_CylinderAfter))
{
if (afterPutCutOK)
{
RunLogUtil.MoveEndLog(new MoveEndLog(Name, "出库", MoveInfo.MoveStartTime, DateTime.Now, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.WareCode));
OutLog("出料【" + posId + "】处理完成！");
MoveEndS();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeoutAlarm(MoveInfo, "等待给服务器发送afterPutCutTask完成超时");
//WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待 给服务器发送afterPutCutTask完成 " + "超时[" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 20);
//Alarm(LineAlarmType.IoSingleTimeOut);
}
}
}
private void PO_07_CylinderBefore()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.PO_07_CylinderBefore);
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " 更新托盘【" + num + "】为空，前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
TrayManager.UpdateTrayInfo(num);
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false) && SecondMoveInfo.MoveStep < LineMoveStep.MO_14_TopDown)
{
//阻挡气缸移动
MO_14_TopCylinder_Down();
}
}
private bool afterPutCutOK = false;
private OutTrayLineBean GetDisLine()
{
try
{
int id = DeviceID % 100;
if (id.Equals(1))
{
return LineManager.Line.DisLineMap[301].TrayLine1;
}
else if (id.Equals(2))
{
return LineManager.Line.DisLineMap[301].TrayLine2;
}
else if (id.Equals(3))
{
return LineManager.Line.DisLineMap[302].TrayLine1;
}
else if (id.Equals(4))
{
return LineManager.Line.DisLineMap[302].TrayLine2;
}
}
catch (Exception ex)
{
LogUtil.error(Name, ex);
}
return null;
}
private void DisLineContiune()
{
OutTrayLineBean outline = GetDisLine();
if (outline != null)
{
if (outline.equipBean.runStatus <= LineRunStatus.Wait)
{
return;
}
outline.MoveInfo.NextMoveStep(LineMoveStep.DLO_05_TrayIsOk);
LogUtil.info(Name + "放料到皮带线完成，" + outline.MoveInfo.Name + " " + outline.MoveInfo.SLog);
}
else
{
LogUtil.error(Name + "DisLineContiune()未找到对应的皮带线");
}
}
private bool LineIsReady()
{
OutTrayLineBean outline = GetDisLine();
if (outline != null)
{
if (outline.equipBean.runStatus <= LineRunStatus.Wait)
{
return true;
}
else if (outline.MoveInfo.MoveStep.Equals(LineMoveStep.DLO_04_CanReviceTray))
{
return true;
}
else if (outline.MoveInfo.MoveType.Equals(LineMoveType.None))
{
outline.StartOut(MoveInfo.MoveParam);
}
}
else
{
LogUtil.error(Name + "LineIsReady()未找到对应的皮带线");
}
return false;
}
private void StartLineOut(InOutParam param)
{
OutTrayLineBean outline = GetDisLine();
if (outline != null)
{
if (outline.equipBean.runStatus <= LineRunStatus.Wait)
{
return;
}
outline.StartOut(param);
}
else
{
LogUtil.error(Name + "StartLineOut未找到对应的皮带线");
}
}
private bool LineNotBusy()
{
OutTrayLineBean outline = GetDisLine();
if (outline != null)
{
if (outline.equipBean.MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
}
else
{
LogUtil.error(Name + "StartLineOut未找到对应的皮带线");
}
return false;
}
#endregion
}
}