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.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;
}
//else if (wait.WaitType.Equals(WaitEnum.W009_BoxCanInstore))
//{
// int storeId = checkWaitInfo.MoveParam.GetStoreId();
// wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
//}
return false;
}
private Stopwatch trayCheckWait = new Stopwatch();
private void StartCheckFixture()
{
bool canProcess = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
//int num = TrayManager.GetTrayNum(DeviceID);
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH) && canProcess)
{
if (TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + "阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
}
}
else if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH) && canProcess)
{
if (TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, true))
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog(" 托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ，最多等待" + TrayManager.StopDownWaitTime);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
else
{
trayCheckWait.Stop();
}
}
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_TopCylinder_Down);
if (Config.SidesWayNum <= 0)
{
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
private InOutParam CheckIsNeedOutStore()
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
if (!trayInfo.IsFull)
{
return null;
}
InOutParam inoup = trayInfo.InoutPar;
//入料失败料
if (trayInfo.IsFull&&trayInfo.InoutPar.InStoreNg && this.Config.SidesWayNum.Equals(4))
{
return inoup;
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel.Equals(false) && inoup.cutReel.Equals(false))
{
//是否是小盘
if (inoup.smallReel && inoup.rfidLoc >= 70 && inoup.rfidLoc <= 72)
{
if (DeviceID.Equals(203) || DeviceID.Equals(204))
{
return inoup;
}
}
else
{
return inoup;
}
}
//TODO 判断是否是需要移栽出料的料盘
return null;
}
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_StopCylinder1Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_FixtureCheck);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_FixtureCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待" + TrayManager.SwTrayWaitTime + ",再次检测料盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_StopCylinder2Down))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待" + TrayManager.SwTrayWaitTime + ",再次检测料盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
UpdateTrayNum();
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
//出料中，需要拦盘
InOutParam param = CheckIsNeedOutStore();
if(param != null)
{
SecondMoveInfo.MoveParam = param;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
CheckLog("托盘阻挡需要出库" + SecondMoveInfo.SLog + "：" + param.ToStr() + " 等待1秒后顶升上升 ）");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitProvidingEquipCanOut());//等待
return;
}
else
{
MO_14_TopCylinder_Down();
}
}
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))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
CheckLog("托盘阻挡 " + SecondMoveInfo.SLog + " 顶升气缸上升 ");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
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 + "开始新的出库任务~" + SecondMoveInfo.MoveParam.ToStr()+"，等待移栽完成后放开阻挡）");
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
}
#endregion
#region 不需要出出料，直接放行
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopCylinder_Down))
{
if (Config.SidesWayNum > 0)
{
SecondMoveInfo.EndMove();
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_StopCylinder2_Down);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡气缸1-2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))
//{
// SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_StopCylinder2_Down);
// CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降）");
// IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
// // SecondMoveInfo.EndStepWait();
//}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_StopCylinder2_Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Tray_Check);
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_Tray_Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_StopCylinder_Back);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
CheckLog("托盘放行 结束，触发 TrayPEndEvent ");
SecondMoveInfo.EndMove();
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
#endregion
}
#endregion
#region 料盘移栽处理
public override bool StartOutStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
//调试模式移栽装置不需要有操作
//if (IsDebug)
//{
// LogInfo("需要出料【" + posId + "】处于调试模式，暂时不再进行出出料操作");
// return false;
//}
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.OutStore);
LogInfo("出料【" + posId + "】处理（移栽）：(PO_00_BeforeAfterAfter, 前后气缸后退）");
MoveInfo.NextMoveStep(LineMoveStep.PO_00_BeforeAfterAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
return true;
}
else
{
LogUtil.error(Name + " 启动出料【" + posId + "】 失败，当前 storeStatus=" + runStatus);
return false;
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_00_BeforeAfterAfter))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_01_UpDownCylinderDown);
LogInfo(" " + MoveInfo.SLog + " : 上下气缸1下降）");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_01_UpDownCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_02_UpDownCylinderDownWait);
OutLog("出库 " + MoveInfo.SLog + " : 上下气缸1下降后等待0.3秒再夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
//只有当BOX可以进行出出料时，移栽物品，防止卡住
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_02_UpDownCylinderDownWait))
{
int lineId = 1;
if (DeviceID > 102)
{
lineId = 2;
}
MoveInfo.NextMoveStep(LineMoveStep.PO_03_ClampCylinderSlack);
OutLog("出库 " + MoveInfo.SLog + " : 夹料气缸夹紧，更新料盘位置【"+ MoveInfo.MoveParam.WareCode + "】【INBELT】【"+ lineId + "】");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INBELT, lineId);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_03_ClampCylinderSlack))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_04_UpDownCylinderUp);
OutLog("出库 " + MoveInfo.SLog + " : 上下气缸上升，同时出库皮带线开始出库准备");
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
UpdownUpMove();
StartLineOut(MoveInfo.MoveParam);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_04_UpDownCylinderUp))
{
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.PO_05_WaitBox);
LogInfo("出料PO_05_WaitBox【" + posId + "】处理（等待可以移栽） 更新盘号【" + num + "】为空盘");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitProvidingEquipCanOut());
TrayManager.UpdateTrayInfo(num);
//阻挡气缸移动
MO_14_TopCylinder_Down();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_05_WaitBox))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_06_BeforeAfterCylinderBefore);
OutLog("出库：" + 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_06_BeforeAfterCylinderBefore))
{
//判断是否可以下降
if (LineIsReady())
{
MoveInfo.NextMoveStep(LineMoveStep.PO_07_UpDownCylinderDown);
OutLog("出库：" + MoveInfo.SLog + " ，上下气缸下降）");
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
UpdownDownP3Move(MoveInfo.MoveParam.PlateH);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_07_UpDownCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_08_ClampCylinderTighten);
OutLog("出料：" + MoveInfo.SLog + "，夹料气缸放松）");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_08_ClampCylinderTighten))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_09_UpdownCylinderUp);
OutLog("出库：" + MoveInfo.SLog + "，上下气缸上升）");
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_09_UpdownCylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_10_BeforeAfterCylinderAfter);
OutLog("出库：" + MoveInfo.SLog + "，前后气缸后退，等待4000 ,出料皮带线开始继续运动");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
//出料皮带线停止出库
DisLineContiune();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_10_BeforeAfterCylinderAfter))
{
LogInfo("出料【" + posId + "】处理完成！");
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove();
}
}
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.ToString());
}
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，皮带线" + outline.MoveInfo.Name + " " + outline.MoveInfo.SLog);
}
else
{
LogUtil.error(Name + "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;
}
return outline.MoveInfo.MoveStep.Equals(LineMoveStep.DLO_04_CanReviceTray);
}
else
{
LogUtil.error(Name + "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 + "未找到对应的皮带线");
}
}
#endregion
}
}