EquipBase.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
{
public abstract class EquipBase : KTK_Store
{
public bool IsDebug = false;
public bool UseAxis = false;
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
public List<InOutParam> waitInStoreList = new List<InOutParam>();
internal object waitInListLock = "";
/// <summary>
///移栽装置后面分为两条移动线
/// </summary>
public LineMoveInfo SecondMoveInfo = null;
private int trayCount = 0;
/// <summary>
/// 上一个盘号
/// </summary>
internal int preTrayNum = 0;
/// <summary>
/// 当前正在通过的托盘号
/// </summary>
internal int currTrayNum = 0;
/// <summary>
/// 升降轴
/// </summary>
public AxisBean UpdownAxis = null;
public delegate void TrayProcessEnd(int swNum, int trayNum);
protected virtual void StopMoveProcess()
{
}
protected abstract void BaseTimerProcess();
protected abstract void CheckFixtureProcess();
protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimerProcess();
}
public override void Alarm(LineAlarmType alarmType)
{
if (this.alarmType.Equals(alarmType))
{
return;
}
if (alarmType.Equals(LineAlarmType.SuddenStop))
{
isInSuddenDown = true;
}
else if (alarmType.Equals(LineAlarmType.NoAirCheck))
{
isNoAirCheck = true;
}
this.alarmType = alarmType;
if (alarmType.Equals(LineAlarmType.SuddenStop) || alarmType.Equals(LineAlarmType.NoAirCheck))
{
StopMove();
}
}
public bool MoveStop = false;
/// <summary>
/// 运动处理
/// </summary>
protected override void BusyMoveProcess()
{
if (MoveStop)
{
return;
}
switch (MoveInfo.MoveType)
{
case LineMoveType.InStore:
InStoreProcess();
break;
case LineMoveType.OutStore:
OutStoreProcess();
break;
case LineMoveType.ReturnHome:
ResetProcess();
break;
case LineMoveType.Reset:
ResetProcess();
break;
default: break;
}
if (MoveInfo.MoveType == LineMoveType.InStore || this.SecondMoveInfo.MoveType == LineMoveType.InStore)
{
InStoreProcess();
}
else if (MoveInfo.MoveType == LineMoveType.OutStore || SecondMoveInfo.MoveType == LineMoveType.OutStore)
{
OutStoreProcess();
}
else if (MoveInfo.MoveType == LineMoveType.ReturnHome)
{
ResetProcess();
}
else if (MoveInfo.MoveType == LineMoveType.Reset)
{
ResetProcess();
}
else if (MoveInfo.MoveType == LineMoveType.StopMove)
{
StopMoveProcess();
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.CheckFixture))
{
CheckFixtureProcess();
}
}
private DateTime lastProTimer = DateTime.Now;
protected int TimerMaxSeconds = 1;
public void TimerProcess()
{
TimeSpan span = DateTime.Now - lastProTimer;
if (isInPro && span.TotalSeconds < TimerMaxSeconds)
{
return;
}
isInPro = true;
lastProTimer = DateTime.Now;
try
{
if (IsDebug&&runStatus<=LineRunStatus.Wait)
{
isInPro = false;
return;
}
BaseTimerProcess();
}
catch (Exception ex)
{
LogUtil.error(Name + "TimerProcess出错：" + ex.ToString());
}
isInPro = false;
}
protected DateTime preIoTimerOutTime = DateTime.Now;
protected 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和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.MoveType.Equals(LineMoveType.None)&& SecondMoveInfo.MoveType.Equals(LineMoveType.None)&& MoveInfo.IsInWait.Equals(false) && SecondMoveInfo.IsInWait.Equals(false))
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = LineAlarmType.None;
SetWarnMsg("");
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
}
}
protected bool CanStartRun()
{
string canResult = LineManager.Line.CanStart();
if (String.IsNullOrEmpty(canResult).Equals(false))
{
SetWarnMsg(canResult);
return false;
}
return true;
}
protected void ResetClearData()
{
trayCount = 0;
SetWarnMsg("");
alarmType = LineAlarmType.None;
preTrayNum = 0;
currTrayNum = 0;
}
public void ChangeDebug(bool isDebug)
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip) || baseConfig.DType.Equals(DeviceType.ProvidingEquip))
{
if (isDebug)
{
IsDebug = true;
//两个阻挡气缸下降
lineStatus = LineStatus.Debugging;
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
LogInfo("从正常状态切换到调试状态！");
}
else if (lineStatus.Equals(LineStatus.Debugging))
{
IsDebug = false;
lineStatus = LineStatus.StoreOnline;
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
LogInfo("从调试状态切换到正常状态！");
}
}
}
/// <summary>
/// 下降所有阻挡气缸
/// </summary>
internal virtual void OpenStopCylinder()
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip) || baseConfig.DType.Equals(DeviceType.ProvidingEquip))
{
LogInfo("OpenStopCylinder: 下降阻挡气缸，上下气缸上升，顶升气缸下降");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
//上下气缸上升
if (!UseAxis)
{
CylinderMove(null, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
//顶升气缸下降
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
Thread.Sleep(30);
}
}
internal virtual void CloseCylinderStop()
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip) || baseConfig.DType.Equals(DeviceType.ProvidingEquip))
{
LogInfo("CloseCylinderStop: 上升阻挡气缸，关闭上下气缸，顶升气缸IO");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
//上下气缸上升
if (!UseAxis)
{
IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
}
//顶升气缸下降
IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
Thread.Sleep(30);
}
}
internal bool UpdateTrayNum()
{
trayCount++;
//此处先对托盘号进行验证
preTrayNum = currTrayNum;
currTrayNum = RFIDManager.GetTrayNum(DeviceID, true);
LogInfo("编号" + trayCount + "***************上个托盘[" + preTrayNum + "]当前托盘[" + currTrayNum + "]");
return true;
}
#region 伺服运动
public bool RunAxis(bool isCheck, AxisBean axis)
{
if (!UseAxis)
{
return true;
}
IOMove(axis.Config.ServerOnDO, IO_VALUE.HIGH);
string msg = "";
bool result = axis.Open(isCheck, out msg);
if (result && String.IsNullOrEmpty(msg))
{
IOMove(axis.Config.BreakOnDO, IO_VALUE.HIGH);
return true;
}
WarnMsg = Name + msg;
Alarm(LineAlarmType.AxisAlarm);
return false;
}
public void CloseAxis(AxisBean axis)
{
LogUtil.info(Name + "关闭刹车，关闭伺服");
IOMove(axis.Config.BreakOnDO, IO_VALUE.LOW);
axis.ServoOff();
Thread.Sleep(100);
IOMove(axis.Config.ServerOnDO, IO_VALUE.LOW);
}
#endregion
#region CheckWait处理
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(LineMoveInfo moveInfo)
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = true;
if (moveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = Name + msg;
Alarm(LineAlarmType.AxisMoveError);
LogUtil.error(WarnMsg, DeviceID + 18);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " (" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
////屏蔽料盘检测信号
//if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
//{
// LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
//}
//夹紧按钮若果超过一秒钟还未收到，默认成功
if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 6000)
{
LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过6秒钟，默认下一步骤");
wait.IsEnd = true;
}
else if (wait.IoType.Equals(IO_Type.SL_MoveCylinder_Tighten) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 6000)
{
LogInfo("未检测到：SL_MoveCylinder_Tighten=HIGH，超过6秒钟，默认下一步骤");
wait.IsEnd = true;
}
else
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut&&NoAlarm())
{
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = Name + "等待" + NotOkMsg + " 超时";
Alarm(LineAlarmType.IoSingleTimeOut);
LogUtil.error(MoveInfo.Name + WarnMsg, DeviceID + 13);
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
{
isLog = true;
IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W008_InStoreCheckOK))
{
string posId = moveInfo.MoveParam.PosId;
int id = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.RightInPosId(id, posId);
}
else if (wait.WaitType.Equals(WaitEnum.W009_BoxCanInstore))
{
int storeId = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
}
else
{
wait.IsEnd = CheckWaitResult(moveInfo, wait);
}
//else if (wait.WaitType.Equals(10))
//{
// wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
//}
if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
else if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
if (isOk)
{
moveInfo.EndStepWait();
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds )
{
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
+ "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, DeviceID + 15);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
protected virtual bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
return false;
}
#endregion
protected void CheckLog(string msg)
{
LogUtil.debug(Name + msg);
}
protected void InLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (String.IsNullOrEmpty( posId))
{
LogUtil.info(Name + " " + msg);
}
else
{
LogUtil.info(Name + " " + "[" + posId + "]" + msg);
}
}
protected void OutLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (String.IsNullOrEmpty(posId))
{
LogUtil.info(Name +" "+ msg);
}
else
{
LogUtil.info(Name + " " + "[" + posId + "] " + msg);
}
}
protected void SInLog(string msg)
{
string posId = SecondMoveInfo.MoveParam != null ? SecondMoveInfo.MoveParam.PosId : "";
if (String.IsNullOrEmpty(posId))
{
LogUtil.info(Name + " " + msg);
}
else
{
LogUtil.info(Name + " " + "[" + posId + "]" + msg);
}
}
protected void SOutLog(string msg)
{
string posId = SecondMoveInfo.MoveParam != null ? SecondMoveInfo.MoveParam.PosId : "";
if (String.IsNullOrEmpty(posId))
{
LogUtil.info(Name + " " + msg);
}
else
{
LogUtil.info(Name + " " + "[" + posId + "] " + msg);
}
}
public virtual string GetMoveStr()
{
string msg = "";
int tLength = 15;
msg += "preTrayNum：".PadRight(tLength, ' ') + preTrayNum + "\n";
msg += "currTrayNum：".PadRight(tLength, ' ') + currTrayNum + "\n";
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 += "SMoveType：".PadRight(tLength, ' ') + SecondMoveInfo.MoveType + "\n";
msg += "SMoveStep：".PadRight(tLength, ' ') + SecondMoveInfo.MoveStep + "";
return msg;
}
}
}