LineBean_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.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class LineBean
{
/// <summary>
/// 上一个盘号
/// </summary>
private int preTrayNum = 0;
#region 定时处理方法
private DateTime NextScanTime = DateTime.Now;
private DateTime NextEmptyGo = DateTime.Now;
private bool IsWaitToScan = false;
private bool IsWaitEmptyGo = false;
private bool isWaitOutGo = false;
private DateTime WaitOutGoTime = DateTime.Now;
public bool isCanProcessLine()
{
if (IOValue(IO_Type.Line_Run).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
private bool isInprocess = false;
private DateTime lastProTime = DateTime.Now;
private void InOutTimerProcess()
{
TimeSpan span = DateTime.Now - lastProTime;
if (isInprocess && span.TotalSeconds < 10)
{
return;
}
try
{
isInprocess = true;
lastProTime = DateTime.Now;
if (!isCanProcessLine())
{
return;
}
//出入料口条件： 各料仓无报警（ 伺服）， 各移栽装置处 于原位待机， 检测夹具IO，驱动电机运转
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.LOW))
{
isWaitOutGo = false;
return;
}
if (IOValue(IO_Type.Fixture_Check_4).Equals(IO_VALUE.LOW))
{
IsWaitToScan = false;
IsWaitEmptyGo = false;
//出料口有空托盘才可以放行，StopCylinder_Check=出料是否有托盘。OutStore_TrayCheck=出料托盘是否有料盘
if (IOValue(IO_Type.StopCylinder_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.OutStore_TrayCheck).Equals(IO_VALUE.LOW))
{
//延迟一秒钟放行
if (!isWaitOutGo)
{
WaitOutGoTime = DateTime.Now.AddMilliseconds(500);
isWaitOutGo = true;
}
else if (DateTime.Now > WaitOutGoTime)
{
LogUtil.debug(Name + "检测到出料口有空托盘， 且入料口没有托盘，,等待500后下降阻挡气缸1（出料口阻挡）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
isWaitOutGo = false;
}
}
else
{
isWaitOutGo = false;
}
}
else
{
isWaitOutGo = false;
//上料工位有盘，阻挡1需要上升
if (IOValue(IO_Type.StopCylinder_Down1).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
}
int trayNum = TrayManager.GetNum(0);
if (trayNum > 0)
{
//先判断是空盘还是有料盘
if ((IOValue(IO_Type.InStore_TrayCheck1).Equals(IO_VALUE.HIGH)) || (IOValue(IO_Type.InStore_TrayCheck2).Equals(IO_VALUE.HIGH)))
{
//有料盘，直接扫码通过 。如果移栽在出库过程中，不能扫码
IsWaitEmptyGo = false;
if (!IsScanCode&& CanScanCode())
{
if (!IsWaitToScan)
{
UpdateSleep(false);
IsWaitToScan = true;
NextScanTime = DateTime.Now.AddMilliseconds(1500);
LogUtil.debug(Name + "有料托盘【" + trayNum + "】等待1.5秒后开始扫码");
}
else if (DateTime.Now > NextScanTime)
{
UpdateSleep(false);
IsWaitToScan = false;
//进入忙碌状态，开始扫码枪
LogUtil.debug(Name + "有料托盘【" + trayNum + "】，已经等待1.5秒，开始扫码");
//判断盘号是否正确
if (TrayManager.RightTrayCode(trayNum, preTrayNum, true))
{
GetCameraCode();
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前有料托盘【" + trayNum + "】最大盘号【"+TrayManager.MaxTrayNum+"】";
TrayManager.UpdateTrayNumError(0, msg);
LogUtil.error(msg);
}
}
}
}
else
{ //无料盘，若需要空盘，放行通过
IsWaitToScan = false;
IsScanCode = false;
if (!IsWaitEmptyGo)
{
IsWaitEmptyGo = true;
NextEmptyGo = DateTime.Now.AddMilliseconds(500);
}
else if (DateTime.Now > NextEmptyGo)
{
trayNum = TrayManager.GetNum(0);
IsWaitEmptyGo = false;
isNotScanCode = false;
TrayManager.UpdateFixtureValue(trayNum, false, 0);
//判断盘号是否正确
if (TrayManager.RightTrayCode(trayNum, preTrayNum, true))
{
bool isNeedGo = false;
//判断是否需要空盘 或者还有有 料盘 的托盘，一直走
if (TrayManager.isNeedEmptyTray())
{
isNeedGo = true;
LogUtil.info(Name + " 检测到空托盘【" + trayNum + "】并等待500， 放盘通过");
}
else if (TrayManager.IsHasFullOutFixture())
{
isNeedGo = true;
LogUtil.info(Name + " 检测到空托盘【" + trayNum + "】并等待500 ，还有没有出库完成的，放盘通过");
}
if (isNeedGo)
{
UpdateSleep(false);
//放行操作
preTrayNum = trayNum;
StartOutStoreMove(null);
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前空托盘【" + trayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(0, msg);
LogUtil.error(msg);
}
}
}
}
else
{
IsWaitToScan = false;
IsWaitEmptyGo = false;
LogUtil.debug(Name + Config.StopCylinderIOType + "检测到Fixture_Check_4亮，但是托盘号为0，不处理托盘~");
}
}
}
catch (Exception ex)
{
LogUtil.error("InOutTimerProcess出错：" + ex.ToString());
}
isInprocess = false;
}
/// <summary>
/// 判断当前是否可以开始扫码
/// </summary>
public bool CanScanCode()
{
//若有移栽在出库过程中，则不能扫码
foreach (MoveEquip move in MoveEquipMap.Values)
{
if (move.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
return false;
}
}
return true;
}
private DateTime preIoTimerOutTime = DateTime.Now;
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < LineRunStatus.Runing || isInSuddenDown || isNoAirCheck)
{
return;
}
//若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.IsInWait.Equals(false) && SW12_MoveInfo.IsInWait.Equals(false) && SW34_MoveInfo.IsInWait.Equals(false))
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = LineAlarmType.None;
WarnMsg = "";
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
}
}
private DateTime preRWTime = DateTime.Now;
private void CheckWait(LineMoveInfo checkWaitInfo)
{
List<WaitResultInfo> list = checkWaitInfo.WaitList;
if (list.Count <= 0)
{
checkWaitInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - checkWaitInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = true;
if (checkWaitInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == 2)
{
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + " 等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, checkWaitInfo.MoveType);
LogUtil.error(checkWaitInfo.Name + "：" + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
break;
}
//TimeSpan rwSpan = DateTime.Now - preRWTime;
////一分钟还未检测到
//if (rwSpan.TotalSeconds > 3)
//{
// preRWTime = DateTime.Now;
// //把IO重置位0
// string msg = checkWaitInfo.Name + " ： " + wait.IoType + " = " + wait.IoValue + " 已等待" + Math.Abs(span.TotalMilliseconds) + "，重写DO信号：";
// foreach (WaitResultInfo ww in list)
// {
// if (ww != null && ww.WaitType.Equals(2))
// {
// if (Config.DOList.ContainsKey(ww.IoType))
// {
// IOMove(wait.IoType, ww.IoValue);
// msg += wait.ToStr() + "，";
// }
// }
// }
//}
}
}
else if (wait.WaitType == 3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}else if (wait.WaitType == 8)
{
string posId = checkWaitInfo.MoveParam.PosId;
int id = checkWaitInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.RightInPosId(id, posId);
}
else if (wait.WaitType.Equals(9))
{
int storeId = checkWaitInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
}
if (wait.IsEnd && checkWaitInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
else if (!checkWaitInfo.OneWaitCanEndStep && wait.IsEnd.Equals(false))
{
isOk = false;
break;
}
}
if (isOk)
{
checkWaitInfo.EndStepWait();
}
else if (span.TotalSeconds > checkWaitInfo.TimeOutSeconds)
{
WarnMsg = checkWaitInfo.Name + " 【" + checkWaitInfo.MoveStep + "】 [" + NotOkMsg + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 100);
Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, checkWaitInfo.MoveType);
}
}
#endregion
#region 出库
public override bool StartOutStoreMove(InOutParam param)
{
IsScanCode = false;
//阻挡气缸0-2下降
runStatus = LineRunStatus.Busy;
InOutLog("开始出库忙碌中[BUSY]");
MoveInfo.NewMove(LineMoveType.OutStore, param);
MoveInfo.NextMoveStep(LineMoveStep.LO_00_Wait100);
return true;
}
protected override void OutStoreProcess()
{
if (!isCanProcessLine())
{
return;
}
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
switch (MoveInfo.MoveStep)
{
//if (StoreMove.MoveStep == StoreMoveStep.LO_00_Wait100)
case LineMoveStep.LO_00_Wait100:
MoveInfo.NextMoveStep(LineMoveStep.LO_01_StopCylinder2Down);
InOutLog("出库处理：(LO_01_StopCylinder2Down 流水线出库，阻挡气缸0-1上升，阻挡气缸0-2下降, ) 开始");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
MoveInfo.EndStepWait();
break;
case LineMoveStep.LO_01_StopCylinder2Down:
MoveInfo.NextMoveStep(LineMoveStep.LO_02_FixtureCheck);
InOutLog("出库处理：(LO_02_FixtureCheck 检测夹具检测4=0 ) 开始");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check_4, IO_VALUE.LOW));
break;
case LineMoveStep.LO_02_FixtureCheck:
MoveInfo.NextMoveStep(LineMoveStep.LO_03_StopCylinder2Up);
InOutLog("出库处理：(LO_03_StopCylinder2Up1Down ， 阻挡气缸0-2上升 ) 开始 ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); break;
case LineMoveStep.LO_03_StopCylinder2Up:
IsScanCode = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
InOutLog("出库处理：放行完成！ ");
break;
default:
break;
}
}
#endregion
#region 入库
/// <summary>
/// 开始入库移动移动
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
//TODO:发送数据给服务器，获取需要入库的库位号，记录盘信息，料仓位置信息到缓存中
runStatus = LineRunStatus.Busy;
InOutLog("开始入库忙碌中[BUSY]");
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.NextMoveStep(LineMoveStep.LI_00_Wait100);
MoveInfo.MoveParam = param;
preTrayNum = param.TrayNumber;
//等待料仓验证成功，最多等待10秒，若验证不成功，直接失败
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCanInstore());
MoveInfo.OneWaitCanEndStep = true;
}
protected override void InStoreProcess()
{
if (!isCanProcessLine())
{
return;
}
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
switch (MoveInfo.MoveStep)
{
case LineMoveStep.LI_00_Wait100:
//判断是否可以入库
string posId = MoveInfo.MoveParam.PosId;
int id = MoveInfo.MoveParam.GetStoreId();
bool result= LineServer.RightInPosId(id, posId);
MoveEquip moveEquip = null;
MoveEquipMap.TryGetValue(id, out moveEquip);
if (!result || moveEquip == null)
{
LogUtil.error("入库处理：入库验证失败【" + id + "】【" + posId + "】,结束入库");
IsScanCode = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
}
else
{
lock (moveEquip.waitInListLock)
{
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info(moveEquip.Name + " 入库命令： " + MoveInfo.MoveParam.ToStr() + "已验证完成 ，写入排队列表中等待！");
moveEquip.waitInStoreList.Add(MoveInfo.MoveParam);
}
MoveInfo.NextMoveStep(LineMoveStep.LI_01_StopCylinder2Down);
InOutLog("入库处理：(LI_01_StopCylinder2Down ，阻挡气缸0-1上升，阻挡气缸0-2下降 ) 开始");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
}
break;
case LineMoveStep.LI_01_StopCylinder2Down:
MoveInfo.NextMoveStep(LineMoveStep.LI_02_FixtureCheck);
InOutLog("入库处理：(LI_02_CheckX3X4 等待夹具检测4=0 ) 开始");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check_4, IO_VALUE.LOW));
break;
case LineMoveStep.LI_02_FixtureCheck:
MoveInfo.NextMoveStep(LineMoveStep.LI_03_StopCylinder2Up);
InOutLog("入库处理：(LI_03_StopCylinder2Up1Down 阻挡气缸0-2上升) 开始 ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
break;
case LineMoveStep.LI_03_StopCylinder2Up:
IsScanCode = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
InOutLog(Name + "入库处理：放行完成！ ");
break;
default: break;
}
}
#endregion
#region IO操作
private void InOutLog(string msg)
{
LogUtil.debug(Name + msg);
}
private void IOMove(string ioType, IO_VALUE value)
{
IOManager.IOMove(ioType, value, 0);
}
private IO_VALUE IOValue(string ioType)
{
return IOManager.IOValue(ioType, 0);
}
private bool IsDoValue(string ioType, IO_VALUE value)
{
if (IOManager.DOValue(ioType, 0).Equals(value))
{
return true;
}
return false;
}
public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType)
{
IOMove(IoLowType, IO_VALUE.LOW);
IOMove(IoHighType, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
}
#endregion
#region 横移处理
private static LineMoveInfo SW12_MoveInfo = null;
private static LineMoveInfo SW34_MoveInfo = null;
private bool SideWayReset()
{
SideWayStop();
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, null);
SideWay34TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, null);
return true;
}
private void SideWayStop()
{
SW12_MoveInfo.EndMove();
SW34_MoveInfo.EndMove();
IOMove(IO_Type.SidesWay12_DriveMotor, IO_VALUE.LOW);
IOMove(IO_Type.SidesWay34_DriveMotor, IO_VALUE.LOW);
//阻挡气缸先上升
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.LOW);
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.LOW);
}
public void SideWay12TopCylinderMove(IO_VALUE downValue, IO_VALUE upValue, LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.SidesWay12_TopCylinder_Down, downValue);
IOMove(IO_Type.SidesWay12_TopCylinder_Up, upValue);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay1_TopCylinder_Down, downValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay1_TopCylinder_Up, upValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay2_TopCylinder_Down, downValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay2_TopCylinder_Up, upValue));
}
}
public void SideWay34TopCylinderMove(IO_VALUE downValue, IO_VALUE upValue, LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.SidesWay34_TopCylinder_Down, downValue);
IOMove(IO_Type.SidesWay34_TopCylinder_Up, upValue);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay3_TopCylinder_Down, downValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay3_TopCylinder_Up, upValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay4_TopCylinder_Down, downValue));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay4_TopCylinder_Up, upValue));
}
}
private void SideWayTimerProcess()
{
//流水线转动中，并且在忙碌或出入库处理中，需要处理移栽
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH) && runStatus >= LineRunStatus.Runing)
{
if (SW12_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay2_FixtureCheck).Equals(IO_VALUE.LOW))
{
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡2下降，盘通过
if (IOValue(IO_Type.SidesWay1_StopFixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道1检测到托盘，开始移动托盘");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopCylinderDown);
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.HIGH);
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW12_MoveInfo);
}
else if (IOValue(IO_Type.SidesWay1_FixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道1检测到托盘，开始移动托盘");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopCylinderDown);
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.HIGH);
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW12_MoveInfo);
}
}
else
{
SideWay12BusyProcess();
}
if (SW34_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay4_FixtureCheck).Equals(IO_VALUE.LOW))
{
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡4下降，盘通过
if (IOValue(IO_Type.SidesWay3_FixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道3检测到托盘，开始移动托盘");
SW34_MoveInfo.NewMove(LineMoveType.InStore);
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopCylinderDown);
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.HIGH);
SideWay34TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW34_MoveInfo);
}
}
else
{
SideWay34BusyProcess();
}
}
}
private void SideWay12BusyProcess()
{
if (SW12_MoveInfo.IsInWait)
{
CheckWait(SW12_MoveInfo);
}
if (SW12_MoveInfo.IsInWait)
{
return;
}
if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_StopCylinderDown))
{
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道12：横移1阻挡上升，等待横移1夹具检测信号 ");
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.LOW);
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay1_FixtureCheck, IO_VALUE.HIGH));
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
{
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
SWLog("横移轨道12：顶升气缸上升 ,横移1阻挡上升 ");
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.LOW);
SideWay12TopCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH, SW12_MoveInfo);
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
{
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
SWLog("横移轨道12：开始转动电机 ,等待1000，等待出口夹具检测信号 ");
IOMove(IO_Type.SidesWay12_DriveMotor, IO_VALUE.HIGH);
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay2_FixtureCheck, IO_VALUE.HIGH));
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
{
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderDown);
SWLog("横移轨道12：料盘已到达出口，顶升气缸下降 ");
IOMove(IO_Type.SidesWay12_DriveMotor, IO_VALUE.LOW);
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW12_MoveInfo);
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
{
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_TopCylinderDown))
{
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW08_WaitTrayGo);
SWLog("横移轨道12：等待SidesWay2_FixtureCheck=0，最多等待5秒 ");
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay2_FixtureCheck, IO_VALUE.LOW));
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
SW12_MoveInfo.OneWaitCanEndStep = true;
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_StopDrive))
{
}
else if (SW12_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_WaitTrayGo))
{
SW12_MoveInfo.EndMove();
SWLog("横移轨道12：横移结束 ");
}
}
private void SideWay34BusyProcess()
{
if (SW34_MoveInfo.IsInWait)
{
CheckWait(SW34_MoveInfo);
}
if (SW34_MoveInfo.IsInWait)
{
return;
}
if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_StopCylinderDown))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道34：横移3阻挡上升，等待横移3夹具检测信号 ");
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.LOW);
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay3_FixtureCheck, IO_VALUE.HIGH));
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
SWLog("横移轨道34：顶升气缸上升 ,横移3阻挡上升 ");
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.LOW);
SideWay34TopCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH, SW34_MoveInfo);
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
SWLog("横移轨道34：开始转动电机 ，等待1000 ，等待SidesWay4_FixtureCheck=1 ");
IOMove(IO_Type.SidesWay34_DriveMotor, IO_VALUE.HIGH);
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay4_FixtureCheck, IO_VALUE.HIGH));
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderDown);
SWLog("横移轨道34：料盘已到达出口，顶升气缸下降 ");
IOMove(IO_Type.SidesWay34_DriveMotor, IO_VALUE.LOW);
SideWay34TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW34_MoveInfo);
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
{
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_TopCylinderDown))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW08_WaitTrayGo);
SWLog("横移轨道34：等待SidesWay4_FixtureCheck=0 ,最多等待5秒 ");
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay4_FixtureCheck, IO_VALUE.LOW));
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
SW34_MoveInfo.OneWaitCanEndStep = true;
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_StopDrive))
{
}
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_WaitTrayGo))
{
SW34_MoveInfo.EndMove();
SWLog("横移轨道34：横移结束 ");
}
}
private void SWLog(string msg)
{
LogUtil.debug(Name + msg);
}
#endregion
#region 高度传感器处理
public int GetWidth()
{
//根据料盘检测信号
if (IOValue(IO_Type.InStore_TrayCheck2).Equals(IO_VALUE.HIGH))
{
return 13;
}
return 7;
}
public int GetHeight()
{
if (GetWidth().Equals(13))
{
return Get13Height();
}
return Get7Height();
}
private int Get7Height()
{
int result = 0;
if (IOValue(IO_Type.InStore_TrayCheck1).Equals(IO_VALUE.LOW))
{
return result;
}
int ai1 = AIManager.GetAIValue(Config.AIDI1_Addr);
int ai2 = AIManager.GetAIValue(Config.AIDI2_Addr);
double ai1Value = AIManager.ConvertAI(ai1, Config.AIDI1_DefaultPosition);
double ai2Value = AIManager.ConvertAI(ai2, Config.AIDI2_DefaultPosition);
result = CalHeight(ai1Value, ai2Value);
return result;
}
private int Get13Height()
{
int result = 0;
if (IOValue(IO_Type.InStore_TrayCheck2).Equals(IO_VALUE.LOW))
{
return result;
}
double ai1Value = AIManager.ConvertAI(AIManager.GetAIValue(Config.AIDI3_Addr), Config.AIDI3_DefaultPosition);
double ai2Value = AIManager.ConvertAI(AIManager.GetAIValue(Config.AIDI4_Addr), Config.AIDI4_DefaultPosition);
result = CalHeight(ai1Value, ai2Value);
return result;
}
private int CalHeight(double ai1Value, double ai2Value)
{
int result = 0;
double Value = Math.Round((ai1Value + ai2Value) / 2, 1);
if (Value > 10)
{
int mo = (int)Value % 4;
if (!mo.Equals(0))
{
result = ((int)(Value + 2) / 4) * 4;
}
else
{
result = (int)Value;
}
}
else if (Value >= 4)
{
if (ai1Value >= 9 || ai2Value >= 9)
{
result = 12;
}
else
{
result = 8;
}
}
return result;
}
#endregion
/// <summary>
/// 判断移栽当前是否处于可出库状态
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public bool CanOutStore(int id)
{
if (!alarmType.Equals(LineAlarmType.None) || isInSuddenDown || isNoAirCheck)
{
return false;
}
if (!MoveEquipMap.ContainsKey(id))
{
return false;
}
MoveEquip move = MoveEquipMap[id];
if (!move.alarmType.Equals(LineAlarmType.None)||move.waitInStoreList.Count > 0 || move.IsDebug )
{
return false;
}
if (runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy))
{
if ((move.MoveInfo.MoveType.Equals(LineMoveType.None) || move.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
&& (move.runStatus.Equals(LineRunStatus.Runing) || move.runStatus.Equals(LineRunStatus.Busy)) )
{
return true;
}
}
// LogUtil.error("runStatus【" + runStatus + "】，move.MoveInfo.MoveType【" + move.MoveInfo.MoveType + "】，move.runStatus【" + move.runStatus + "】 ");
return false;
}
public bool CanIntore(int id)
{
if (!alarmType.Equals(LineAlarmType.None) || isInSuddenDown || isNoAirCheck)
{
return false;
}
if (!MoveEquipMap.ContainsKey(id))
{
return false;
}
MoveEquip move = MoveEquipMap[id];
if (!move.alarmType.Equals(LineAlarmType.None) || move.IsDebug)
{
return false;
}
if (runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy))
{
if ((move.MoveInfo.MoveType.Equals(LineMoveType.None) || move.MoveInfo.MoveType.Equals(LineMoveType.InStore))
&& (move.runStatus.Equals(LineRunStatus.Runing) || move.runStatus.Equals(LineRunStatus.Busy)))
{
return true;
}
}
// LogUtil.error("runStatus【" + runStatus + "】，move.MoveInfo.MoveType【" + move.MoveInfo.MoveType + "】，move.runStatus【" + move.runStatus + "】 ");
return false;
}
}
}