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，NG气缸后退，等待1000后扫码");
MoveInfo.NextMoveStep(LineMoveStep.DO_01_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ScanNgBack(MoveInfo);
LastCodeList = new List<string>();
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，皮带线停止转动");
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);
}
}
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;
}
string result = SServerManager.GetTraySize(Name, robotIndex, LastCodeList, out LastWidth);
LogInfo(hengyiName + "出口有料，二维码[" + lastCode + "] 获取料盘尺寸【" + LastWidth + "】【" + result + "】");
}
// MoveInfo.EndMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_03_GetTraySize))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_04_SUpDownMove);
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 if (LastWidth > 0)
{
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
{
//NG料
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DO_11_NGToNextStation);
if (DeviceID.Equals(301))
{
LogInfo(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位，需要停止接驳台皮带线");
SeparateStopRun(MoveInfo);
}
else
{
LogInfo(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位");
}
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_04_SUpDownMove))
{
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DO_05_LineRun1);
LogInfo(hengyiName + "出口有料，转动皮带线到扫码后一个工位，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_LineRun1))
{
if (DeviceID.Equals(301))
{
//如果是301可以直接结束
WaitSeparateCheck();
}
else
{
//302需要再转一个工位
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DO_06_LineRun2);
LogInfo(hengyiName + "出口有料，转动皮带线到扫码后二个工位，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_06_LineRun2))
{
WaitSeparateCheck();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_07_SeparateCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_08_CRun);
if (IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.HIGH))
{
int robotIndex = 1;
if (DeviceID.Equals(301))
{
robotIndex = 2;
}
LogInfo(hengyiName + "出口有料，转动接驳台皮带线2000 , 收到SeparateDevice_Check信号，调用arriveRobotLocation=" + robotIndex);
SServerManager.arriveRobotLocation(Name, robotIndex);
}
else
{
LogInfo(hengyiName + "出口有料，转动接驳台皮带线2000 ,未收到SeparateDevice_Check信号");
}
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_08_CRun))
{
MoveEndS();
// IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
LogInfo(hengyiName + "出口有料，送料结束 ");
}
#region NG料处理
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_11_NGToNextStation))
{
//如果是301，接驳台皮带倒转
if (DeviceID.Equals(301))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_15_SeparateBackRun);
LogInfo(hengyiName + "扫码NG料，接驳台开始倒转");
SeparateBackRun(MoveInfo);
}
//如果是302，NG气缸前进
else
{
MoveInfo.NextMoveStep(LineMoveStep.DO_12_NGCylinderForward);
LogInfo(hengyiName + "扫码NG料，NG气缸前进");
ScanNgForward(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_12_NGCylinderForward))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_13_NGCylinderWait);
LogInfo(hengyiName + "扫码NG料，NG气缸等待1500后后退");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_13_NGCylinderWait))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_14_NGCylinderBack);
LogInfo(hengyiName + "扫码NG料，NG气缸后退");
ScanNgBack(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_14_NGCylinderBack))
{
MoveEndS();
LogInfo(hengyiName + "扫码NG料结束，NG气缸已后退 ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_15_SeparateBackRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_16_SeparateBackRunWait);
LogInfo(hengyiName + "扫码NG料，接驳台反转等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_16_SeparateBackRunWait))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_17_SeparateStopRun);
LogInfo(hengyiName + "扫码NG料，接驳台停止反转");
SeparateStopRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_17_SeparateStopRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_18_SeparateRun);
LogInfo(hengyiName + "扫码NG料，接驳台恢复正转");
SeparateLineRun(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_18_SeparateRun))
{
MoveEndS();
LogInfo(hengyiName + "扫码NG料结束，皮带线已正转 ");
}
#endregion
}
private void WaitSeparateCheck()
{
MoveInfo.NextMoveStep(LineMoveStep.DO_07_SeparateCheck);
// Line3LastTrayP++;
LogInfo(hengyiName + "出口有料，等待料盘到达分盘装置位置，最多等待60000");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SeparateDevice_Check, IO_VALUE.HIGH));
}
private bool TrayProcessCanStartLine()
{
if (TrayLine2.Line3CanRun && TrayLine1.Line3CanRun
&& Line3TurnIsStop()
&& Line3Turn.CanStart()
&&ScanNgIsBack())
{
return true;
}
return false;
}
#endregion
}
}