LineBean_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 LineBean
{
#region 定时处理方法
public bool LineCanRun()
{
//if (IOValue(IO_Type.Line_Run).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public bool CanProcessLine(bool isCheckSleep = true)
{
if (runStatus<=LineRunStatus.Wait)
{
return true;
}
if (LineCanRun() &&
IOManager.IOValue(IO_Type.DriveMotor_Run1, 0).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.DriveMotor_Run2, 0).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.DriveMotor_Run3, 0).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.DriveMotor_Run4, 0).Equals(IO_VALUE.HIGH))
{
return true;
if (isCheckSleep)
{
if (runStatus >= LineRunStatus.Runing && IsSleep.Equals(false))
{
return true;
}
else
{
return false;
}
}
return true;
}
return false;
}
/// <summary>
/// 判断出料流水线是否可以开始出料
/// </summary>
internal bool DLineStartOut(int dlineId, int LineNum)
{
foreach (DischargeLine line in DisLineMap.Values)
{
if ((line.DeviceID % 100).Equals(dlineId))
{
if (line.CanStartOut(LineNum))
{
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;
//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 (!CanProcessLine(false))
//{
// isWaitOutGo = false;
// isInprocess = false;
// return;
//}
//TODO 需要处理NG料盘推出
}
catch (Exception ex)
{
LogUtil.error("InOutTimerProcess出错：" + ex.StackTrace);
}
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)
{
List<InOutParam> ps = new List<InOutParam>(move.waitOutStoreList);
if (move.MoveInfo.MoveType.Equals(LineMoveType.OutStore) || ps.Count > 0)
{
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) && SW41_MoveInfo.IsInWait.Equals(false) && SW23_MoveInfo.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());
}
}
private DateTime preRWTime = DateTime.Now;
private void CheckWait(LineMoveInfo checkWaitInfo)
{
try
{
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.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " (" + Config.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
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 = checkWaitInfo.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 = checkWaitInfo.MoveParam.PosId;
int id = checkWaitInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.RightInPosId(id, posId);
}
else if (wait.WaitType.Equals(WaitEnum.W009_BoxCanInstore))
{
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);
}
}
catch (Exception ex)
{
LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：" + ex.StackTrace);
}
}
#endregion
#region 出库
public override bool StartOutStoreMove(InOutParam param)
{
//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 (!LineCanRun())
{
return;
}
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
}
#endregion
#region 入库
/// <summary>
/// 开始入库移动移动
/// </summary>
public override bool 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;
//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;
return true;
}
protected override void InStoreProcess()
{
if (!LineCanRun())
{
return;
}
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
}
#endregion
#region IO操作
private void InOutLog(string msg)
{
LogUtil.debug(Name + msg);
}
private bool IsDoValue(string ioType, IO_VALUE value)
{
if (IOManager.DOValue(ioType, 0).Equals(value))
{
return true;
}
return false;
}
#endregion
#region 横移处理-
internal int Sw41TrayNum = 0;
internal int Sw23TrayNum = 0;
private void Equip_TrayPEndEvent(int swNum, int trayNum)
{
if (swNum <= 0 || this.runStatus <= (LineRunStatus.Wait))
{
return;
}
if (swNum.Equals(2))
{
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
{
Sw23TrayNum = trayNum;
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道23：检测到SW2_TrayCheck，定位气缸下降，等待横移2托盘检测信号，托盘号 [" + Sw23TrayNum + "] ");
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
}
else
{
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW23_MoveInfo 忙碌中");
}
}
else if (swNum.Equals(4))
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
{
Sw41TrayNum = trayNum;
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道41：检测到SW4_TrayCheck，定位气缸下降， 等待横移4托盘检测信号，更新托盘号 [" + Sw41TrayNum + "] ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
}
else
{
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW41_MoveInfo 忙碌中");
}
}
}
/// <summary>
/// 横移无处理
/// </summary>
internal bool SwNoProcess(int sidesWayNum)
{
if (LineManager.Line.runStatus <= LineRunStatus.Wait || sidesWayNum <= 0)
{
return true;
}
if (sidesWayNum.Equals(2))
{
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[104].SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{ return true; }
}
else if (sidesWayNum.Equals(3) && runStatus <= LineRunStatus.Wait)
{
return true;
}
if (sidesWayNum.Equals(4))
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[101].SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{ return true; }
}
else if (sidesWayNum.Equals(3) && runStatus <= LineRunStatus.Wait)
{
return true;
}
return false;
}
private static LineMoveInfo SW41_MoveInfo = null;
private static LineMoveInfo SW23_MoveInfo = null;
private void SideWayStop()
{
sw23WaitWatch.Stop();
sw41WaitWatch.Stop();
SW41_MoveInfo.EndMove();
SW23_MoveInfo.EndMove();
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
}
//private DateTime SideWay41Ntime = DateTime.Now;
//private bool SideWay41IsWait = false;
//private DateTime SideWay23Ntime = DateTime.Now;
//private bool SideWay23IsWait = false;
private Stopwatch sw41WaitWatch = new Stopwatch();
private Stopwatch sw23WaitWatch = new Stopwatch();
private bool sdIsInprocess = false;
private DateTime sdlastProTime = DateTime.Now;
private DateTime lastSw2StopDownTime = DateTime.Now;
private DateTime lastSw4StopDownTime = DateTime.Now;
private void SideWayTimerProcess()
{
TimeSpan span = DateTime.Now - sdlastProTime;
if (sdIsInprocess && span.TotalSeconds < 5)
{
return;
}
try
{
sdIsInprocess = true; sdlastProTime = DateTime.Now;
//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 (!CanProcessLine())
{
sw41WaitWatch.Stop();
sw23WaitWatch.Stop();
sdIsInprocess = false;
return;
}
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None) && ProvidingEquipMap[204].runStatus <= LineRunStatus.Wait)
{
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.LineCanMoveSW(4) && TrayManager.LineCanMoveSW(1))
{
if (TrayManager.checkWatch(sw41WaitWatch, TrayManager.SwTrayWaitTime, true))
{
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
UpateSw41TrayNum();
SWLog("横移轨道41：检测到SW4_TrayCheck，定位气缸下降， 等待横移4托盘检测信号，更新托盘号 [" + Sw41TrayNum + "] ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
}
}
else if (IOValue(IO_Type.SW4_StopCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SW4_StopDown).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
(DateTime.Now- lastSw4StopDownTime).TotalSeconds>4 &&
TrayManager.LineCanMoveSW(4) && TrayManager.LineCanMoveSW(1))
{
if (TrayManager.checkWatch(sw41WaitWatch, TrayManager.SwTrayWaitTime,true))
{
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
UpateSw41TrayNum();
SWLog("横移轨道41：检测到SW4_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw41TrayNum + "] ");
CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
//阻挡气缸下降500毫秒然后上升
lastSw4StopDownTime = DateTime.Now;
//IOMove(IO_Type.SW4_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
}
}
else
{
sw41WaitWatch.Stop();
}
}
else
{
sw41WaitWatch.Stop();
SideWay41BusyProcess();
}
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[104].runStatus <= LineRunStatus.Wait)
{
//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.SW2_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
if (TrayManager.checkWatch(sw23WaitWatch, TrayManager.SwTrayWaitTime, true))
{
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
UpateSw23TrayNum();
SWLog("横移轨道23：检测到SW2_TrayCheck，定位气缸下降，等待横移2托盘检测信号，更新托盘号 [" + Sw23TrayNum + "] ");
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
}
}
else if (IOValue(IO_Type.SW2_StopCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SW2_StopDown).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
(DateTime.Now - lastSw2StopDownTime).TotalSeconds > 4 &&
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
if (TrayManager.checkWatch(sw23WaitWatch, TrayManager.SwTrayWaitTime, true))
{
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
UpateSw23TrayNum();
SWLog("横移轨道23：检测到SW2_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw23TrayNum + "] ");
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW2_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
//阻挡气缸下降500毫秒然后上升
lastSw2StopDownTime = DateTime.Now;
// IOMove(IO_Type.SW2_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
}
}
else
{
sw23WaitWatch.Stop();
}
}
else
{
sw23WaitWatch.Stop();
SideWay23BusyProcess();
}
}
catch (Exception ex)
{
LogUtil.error("SideWayTimerProcess 出错：" + ex.StackTrace);
}
sdIsInprocess = false;
}
private void UpateSw41TrayNum()
{
Sw41TrayNum = 0;
if (ProvidingEquipMap.ContainsKey(204))
{
ProvidingEquip eq = ProvidingEquipMap[204];
if (eq.runStatus >= LineRunStatus.HomeMoving)
{
Sw41TrayNum = eq.currTrayNum;
}
else
{
Sw41TrayNum = RFIDManager.GetTrayNum(204, true);
}
}
}
private void UpateSw23TrayNum()
{
Sw23TrayNum = 0;
if (FeedingEquipMap.ContainsKey(103))
{
FeedingEquip eq = FeedingEquipMap[103];
if (eq.runStatus >= LineRunStatus.HomeMoving)
{
Sw23TrayNum = eq.currTrayNum;
}
else
{
Sw23TrayNum = RFIDManager.GetTrayNum(103, true);
}
}
}
private void SideWay41BusyProcess()
{
if (SW41_MoveInfo.IsInWait)
{
CheckWait(SW41_MoveInfo);
}
if (SW41_MoveInfo.IsInWait)
{
return;
}
if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW00_Wait))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopDown);
SWLog("横移轨道41： 阻挡气缸下降 等待 " + TrayManager.StopDownWaitTime);
IOMove(IO_Type.SW4_StopDown, IO_VALUE.HIGH);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_StopDown))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW011_WaitCheckTime);
SWLog("横移轨道41： 等待横移4托盘检测信号 , SW011_WaitCheckTime ");
IOMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW011_WaitCheckTime))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW012_WaitTime);
SWLog("横移轨道41： 等待横移4托盘检测信号 , SW012_WaitTime " + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW012_WaitTime))
{
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道41： 等待横移4托盘检测信号 ,SW4_StopDown上升 ");
CheckAndMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
else
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW012_WaitTime);
SWLog("横移轨道41： 等待横移4托盘检测信号 , SW012_WaitTime " + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
}
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
SWLog("横移轨道41：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Down, IO_Type.SW4_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
SWLog("横移轨道41：开始转动电机 ,等待1000，SW4_TrayCheck=0, SW1_TrayCheck=1 ");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.HIGH);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.HIGH);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.LOW));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW05_WaitOutFixtureCheck);
SWLog("横移轨道41：等待托盘到达出口 ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW06_WatOutFixture2);
SWLog("横移轨道41：再次验证托盘是否在出口处 ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_WatOutFixture2))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW07_TopCylinderDown);
SWLog("横移轨道41：托盘已到达出口，顶升气缸下降，判断入料1是否需要此托盘 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Up, IO_Type.SW4_TopCylinder_Down);
Thread.Sleep(50);
if (!CheckTrayIsNeed(101, Sw41TrayNum))
{
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Up, IO_Type.SW1_TopCylinder_Down);
}
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
{
//开始入库
bool result = FeedingEquipMap[101].CanStartCheckOut(Sw41TrayNum);
if (result)
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_MotorRun, IO_VALUE.LOW));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_MotorRun, IO_VALUE.LOW));
}
else
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，等待SW1_TrayCheck=0，最多等待5秒，关闭横移电机 ");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
SW41_MoveInfo.OneWaitCanEndStep = true;
}
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_StopDrive))
{
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW09_WaitTrayGo))
{
lastSw4StopDownTime = DateTime.Now.AddSeconds(-2);
SW41_MoveInfo.EndMove();
SWLog("横移轨道41：横移结束 ");
}
}
private bool CheckTrayIsNeed(int deviceId,int trayNum)
{
//横移1对应入料1
if (FeedingEquipMap.ContainsKey(deviceId))
{
FeedingEquip equip = FeedingEquipMap[deviceId];
if (equip.runStatus >= LineRunStatus.Runing)
{
if (equip.CurrTrayIsNeed(trayNum, false ))
{
return true;
}
}
}
return false;
}
private void SideWay23BusyProcess()
{
if (SW23_MoveInfo.IsInWait)
{
CheckWait(SW23_MoveInfo);
}
if (SW23_MoveInfo.IsInWait)
{
return;
}
if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW00_Wait))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopDown);
SWLog("横移轨道23：阻挡气缸下降 等待 " + TrayManager.StopDownWaitTime);
IOMove(IO_Type.SW2_StopDown, IO_VALUE.HIGH);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_StopDown))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW011_WaitCheckTime);
SWLog("横移轨道23： 等待横移4托盘检测信号 , SW011_WaitCheckTime ");
IOMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW011_WaitCheckTime))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW012_WaitTime);
SWLog("横移轨道23： 等待横移4托盘检测信号 , SW012_WaitTime " + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW012_WaitTime))
{
if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道23： 等待横移4托盘检测信号 ,SW2_StopDown上升 ");
CheckAndMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW012_WaitTime);
SWLog("横移轨道23： 等待横移4托盘检测信号 , SW012_WaitTime " + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
}
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
SWLog("横移轨道23：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Down, IO_Type.SW2_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
SWLog("横移轨道23：开始转动电机 ,等待1000，SW2_TrayCheck=0, SW3_TrayCheck=1 ");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.HIGH);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.HIGH);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.LOW));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW05_WaitOutFixtureCheck);
SWLog("横移轨道23：等待托盘到达出口 ");
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW06_WatOutFixture2);
SWLog("横移轨道23：再次验证托盘是否在出口处 ");
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_WatOutFixture2))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW07_TopCylinderDown);
SWLog("横移轨道23：托盘已到达出口，顶升气缸下降 ");
CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Up, IO_Type.SW2_TopCylinder_Down);
Thread.Sleep(50);
if (!CheckTrayIsNeed(104, Sw23TrayNum))
{
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Up, IO_Type.SW3_TopCylinder_Down);
}
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
{
//开始入库
bool result = FeedingEquipMap[104].CanStartCheckOut(Sw23TrayNum);
if (result)
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，需要紧急出料，不需要等待 托盘离开");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_MotorRun, IO_VALUE.LOW));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_MotorRun, IO_VALUE.LOW));
}
else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
SWLog("横移轨道23：关闭皮带电机，等待SW3_TrayCheck=0，最多等待5秒，关闭横移电机 ");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
SW23_MoveInfo.OneWaitCanEndStep = true;
}
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_StopDrive))
{
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW09_WaitTrayGo))
{
lastSw2StopDownTime = DateTime.Now.AddSeconds(-2);
SW23_MoveInfo.EndMove();
SWLog("横移轨道23：横移结束 ");
}
}
private void SWLog(string msg)
{
LogUtil.debug(Name + msg);
}
#endregion
#region 料仓出入库逻辑处理
/// <summary>--
/// BOX出入库完成事件
/// </summary>
public void boxBean_OutStoreEnd(int storeId, InOutParam param)
{
MoveEquip moveEquip = MoveEquipMap[storeId];
string posId = param != null ? param.PosId : "";
if (moveEquip.IsDebug)
{
LogUtil.error(param.ToStr() + " 已经完成出库，" + moveEquip.Name + "当前正在调试中，不继续操作！");
return;
}
//料仓出库完成，移栽装置开始出库检测
if (moveEquip.IsDebug == false && moveEquip.MoveInfo.MoveType == LineMoveType.None && moveEquip.runStatus == LineRunStatus.Runing)
{
LogUtil.info(param.ToStr() + " 已经完成出库，开始" + moveEquip.Name + "出库！");
bool result = moveEquip.StartOutStoreMove(param);
if (!result)
{
LogUtil.info(Name + " 执行出库【" + param.ToStr() + "】失败， 加入等待队列");
moveEquip.AddWaitOutInfo(param);
}
}else if(moveEquip.MoveInfo.MoveType .Equals(LineMoveType.OutStore) && moveEquip.MoveInfo.MoveParam!=null&& moveEquip.MoveInfo.MoveParam.PosId.Equals(posId))
{
LogUtil.info(param.ToStr() + "已经完成出库，" + moveEquip.Name + "正在【"+posId+"】出库中，库位号重复，不处理！");
}
else
{
LogUtil.info(param.ToStr() + "已经完成出库，" + moveEquip.Name + "正在忙碌中，把出库信息放入列表中！");
moveEquip.AddWaitOutInfo(param);
}
}
/// <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 (!NoErrorAlarm())
{
return false;
}
if (!MoveEquipMap.ContainsKey(id))
{
return false;
}
MoveEquip move = MoveEquipMap[id];
if (!move.NoAlarm() || move.waitInStoreList.Count > 0 || move.IsDebug || move.waitOutStoreList.Count > 0)
{
return false;
}
if (runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy))
{
if (move.MoveInfo.MoveType.Equals(LineMoveType.None) && move.runStatus.Equals(LineRunStatus.Runing))
{
return true;
}
else if (move.runStatus.Equals(LineRunStatus.Busy) && move.MoveInfo.MoveType.Equals(LineMoveType.OutStore) &&
move.MoveInfo.MoveStep >= (LineMoveStep.MO_56_BeforeAfterCylinderAfter))
{
return true;
}
}
return false;
}
public bool CanIntore(int id)
{
if (!NoErrorAlarm())
{
return false;
}
if (!MoveEquipMap.ContainsKey(id))
{
return false;
}
MoveEquip move = MoveEquipMap[id];
if (!move.NoAlarm() || move.IsDebug || move.waitOutStoreList.Count > 0)
{
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;
}
#endregion
#region AGV小车判断
internal bool FeedAGVProcess(string name, Asa.Actions action)
{
foreach (FeedingEquip feed in FeedingEquipMap.Values)
{
if (feed.Config.AgvInName.Equals(name) || feed.Config.AgvOutName.Equals(name))
{
return feed.ProcessAGVAction(name, action);
}
}
LogUtil.error("收到agv调度Actions【" + name + "】=【" + action + "】，未找到对应的设备");
return false;
}
#endregion
}
}