VMILineBean.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
{
public partial class VMILineBean
{
public VMLLineConfig Config;
public bool IsDebug = false;
public string Name = "";
public bool isInSuddenDown = false;
public LineMoveInfo MoveInfo = null;
public AlarmType alarmType = AlarmType.None;
public RunStatus runStatus = RunStatus.Wait;
public string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
private System.Timers.Timer mainTimer = new System.Timers.Timer();
public VMILineBean(VMLLineConfig config)
{
serverConnectTimer = new System.Timers.Timer();
serverConnectTimer.Interval = 1000;
serverConnectTimer.AutoReset = true;
serverConnectTimer.Enabled = false;
serverConnectTimer.Elapsed += server_connect_timer_Tick;
mainTimer = new System.Timers.Timer();
mainTimer.Interval = 300;
mainTimer.AutoReset = true;
mainTimer.Enabled = false;
mainTimer.Elapsed +=timersTimer_Elapsed;
//添加调试
IsDebug = ConfigAppSettings.GetIntValue(Setting_Init.IsInDebug).Equals(1);
MoveInfo = new LineMoveInfo();
Name = (" VIM流水线 ").ToUpper();
this.Config = config;
IOManager.Init();
IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
AgvClient.NodeList.Add(config.InL_AgvName);
AgvClient.NodeList.Add(config.OutL_AgvName);
mainTimer.Enabled = false;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
if (isAuto == 1)
{
mainTimer.Enabled = true;
}
Thread.Sleep(300);
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
}
/// <summary>
/// 开始运行
/// </summary>
public bool StartRun()
{
LogUtil.info(Name + "开始启动，启动时间：" + DateTime.Now);
//急停按钮和气压检测需要一起判断
if (!AgvClient.ISConnected())
{
AgvClient.Init();
}
RFIDManager.Open(new string[] { Config.InL_In_RFIDIP,Config.InL_Out_RFIDIP});
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
runStatus = RunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.ReturnHome);
ReturnHome();
return true;
}
else
{
SetWarnMsg("启动失败：急停未开");
return false;
}
}
#region 原点返回和复位处理
private void ReturnHome()
{
isInSuddenDown = false;
alarmType = AlarmType.None;
SetWarnMsg("");
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(MoveStep.VMI_H_StopUp);
LogUtil.info(Name + " 开始复位：所有阻挡上升");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
IOManager.IOMove(IO_Type.InL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_OutStopDown, IO_VALUE.LOW);
mainTimer.Enabled = true;
serverConnectTimer.Enabled = true;
}
public void Reset(bool isNeedClearAuto = true)
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
mainTimer.Enabled = false;
serverConnectTimer.Enabled = false;
runStatus = RunStatus.Reset;
MoveInfo.NewMove(LineMoveType.StoreReset);
ReturnHome();
}
else
{
SetWarnMsg("复位失败：急停未开");
}
}
/// <summary>
/// 复位处理
/// </summary>
protected void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
switch (MoveInfo.MoveStep)
{
case MoveStep.VMI_H_StopUp:
MoveInfo.NextMoveStep(MoveStep.VMI_H_LineRun);
LogUtil.info(Name + " 复位：阻挡上升完成，转动流水线");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
IOManager.IOMove(IO_Type.InL_Run, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.OutL_Run, IO_VALUE.HIGH);
break;
case MoveStep.VMI_H_LineRun:
LogUtil.info(Name + " 复位完成");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
break;
default: break;
}
}
#endregion
/// <summary>
/// 停止运行
/// </summary>
public void StopRun()
{
WarnMsg = "";
RFIDManager.Close();
mainTimer.Enabled = false;
serverConnectTimer.Enabled = false;
StopMove();
runStatus = RunStatus.Wait;
IOManager.instance.CloseAllDO();
LogUtil.info(Name + ",停止运行");
}
public void Alarm(AlarmType alarmType)
{
if (this.alarmType.Equals(alarmType) && alarmType != AlarmType.SuddenStop )
{
return;
}
LogUtil.error(Name + " 报警，报警类型：" + alarmType);
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop))
{
isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，停止运行 ");
MoveInfo.EndMove();
StopMove();
}
}
public void StopMove()
{
IOManager.IOMove(IO_Type.InL_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.InL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_OutStopDown, IO_VALUE.LOW);
}
private bool InProcess = false;
private Stopwatch stopwatch = new Stopwatch();
protected void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (InProcess && stopwatch.Elapsed.TotalSeconds < 5)
{
return;
}
try
{
InProcess = true;
stopwatch.Restart();
IoCheckProcess();
if (runStatus >= RunStatus.HomeMoving)
{
try
{
DateTime time = DateTime.Now;
if (MoveInfo.MoveType != LineMoveType.None)
{
if (MoveInfo.MoveType.Equals(LineMoveType.ReturnHome) || MoveInfo.MoveType.Equals(LineMoveType.StoreReset))
{
ResetProcess();
}
}
else if (runStatus.Equals(RunStatus.Runing))
{
InLineTimerProcess();
OutLineTimerProcess();
IOTimeOutProcess();
}
}
catch (Exception ex)
{
LogUtil.error(Name + "TimerProcess 定时处理出错", ex);
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时处理出错：" + ex.ToString());
}
InProcess = false;
}
private Stopwatch ol_noshelfWatch = new Stopwatch();
private DateTime ol_lastSendShelfTime = DateTime.Now;
private int StopDownMS = 600;
/// <summary>
/// 出料线体定时处理
/// </summary>
private void OutLineTimerProcess()
{
TimeSpan span = DateTime.Now - ol_lastSendShelfTime;
//如果出口无料架，持续1000以上，放开阻挡放出一个料架
//每次放料架时间间隔3秒
if (IOManager.IOValue(IO_Type.OutL_OutStopCheck).Equals(IO_VALUE.LOW) && span.TotalSeconds > 3)
{
//如果出料线体出口无料架，放一个料架到出口
if (LineManager.checkWatch(ol_noshelfWatch, 1000))
{
LogUtil.info(" 出料线体出口无料架，下降 [" + IO_Type.OutL_OutStopDown + "] [" + StopDownMS + "] 秒");
ol_lastSendShelfTime = DateTime.Now;
StopIOMove(IO_Type.OutL_OutStopDown, StopDownMS);
}
}
else if (span.TotalMilliseconds > StopDownMS)
{
ol_noshelfWatch.Stop();
if (IOManager.IOValue(IO_Type.OutL_OutStopDown).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.OutL_OutStopDown, IO_VALUE.LOW);
}
}
}
private DateTime il_lastCallAgvTime = DateTime.Now;
private Stopwatch il_outstopCheckWarch = new Stopwatch();
/// <summary>
/// 入料线体定时处理
/// </summary>
private void InLineTimerProcess()
{
TimeSpan span = DateTime.Now - il_lastCallAgvTime;
//出口有料架，需要通知agv取走料架
//每次叫小车时间间隔3分钟？
//出口信号需要持续1秒钟
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 180)
{
if (LineManager.checkWatch(il_outstopCheckWarch, 1000))
{
il_lastCallAgvTime = DateTime.Now;
//StopIOMove(IO_Type.InL_OutStopDown, StopDownMS);
LogUtil.info(" 入库线体出口有料架，呼叫agv小车[" + Config.InL_AgvName + "] ");
AgvClient.NeedLeave(Config.InL_AgvName);
}
}
else if (span.TotalMilliseconds > StopDownMS)
{
il_outstopCheckWarch.Stop();
if (IOManager.IOValue(IO_Type.InL_OutStopDown).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
}
}
}
private void LedProcess()
{
try
{
if (runStatus >= RunStatus.HomeMoving)
{
if (alarmType.Equals(AlarmType.None).Equals(false) && IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
{
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
}
else if (IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
{
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
if (alarmType.Equals(AlarmType.None))
{
if (IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
{
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
}
else
{
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "灯处理定时器出错：", ex);
}
}
private IO_VALUE LastResetValue = IO_VALUE.LOW;
public void IoCheckProcess()
{
DateTime time = DateTime.Now;
if (runStatus.Equals(RunStatus.Wait))
{
//取新的Io状态
IO_VALUE autoSingle = IOManager.IOValue(IO_Type.Reset_BTN);
if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
{
if (autoSingle.Equals(IO_VALUE.HIGH) && LastResetValue.Equals(IO_VALUE.LOW))
{
//没有启动时收到复位按钮，相当于启动按钮
LogUtil.info(Name + "没有启动时收到复位按钮，相当于启动按钮，开始调用启动方法！");
bool result = StartRun();
if (result.Equals(false))
{
LogUtil.error("VMI流水线启动失败，继续等待下次启动！");
mainTimer.Enabled = true;
}
}
LastResetValue = autoSingle;
return;
}
LastResetValue = autoSingle;
}
//判断急停
else if (runStatus >= RunStatus.HomeMoving)
{ //判断急停
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
if (isInSuddenDown.Equals(false))
{
isInSuddenDown = true;
SetWarnMsg("收到急停信号，报警急停");
//报警时会关闭所有轴
Alarm(AlarmType.SuddenStop);
}
}
else if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
{
//收到复位信号，若报警直接复位，若不报警且无操作，回到待机点
if (alarmType.Equals(AlarmType.None) && isInSuddenDown.Equals(false))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
LogUtil.info("收到复位信号，当前无报警，暂不复位");
}
else
{
LogUtil.info("收到复位信号，当前无报警， 在" + MoveInfo.MoveType + "处理中，暂不复位");
}
}
else
{
//收到复位信号
LogUtil.info("收到复位信号，自动复位");
Reset();
}
}
}
}
private DateTime preIoTimerOutTime = DateTime.Now;
/// <summary>
/// io检测异常
/// </summary>
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1)
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < RunStatus.Runing || isInSuddenDown)
{
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 (alarmType.Equals(AlarmType.IoSingleTimeOut) && MoveInfo.IsInWait == false)
{
LogUtil.info(Name + "之前有IO超时报警，清理报警：" + WarnMsg);
alarmType = AlarmType.None;
SetWarnMsg();
}
}
}
catch (Exception ex)
{
LogUtil.error(" IOTimeOutProcess 出错：" + ex.ToString());
}
}
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private bool isInProcess = false;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
return;
}
isInProcess = true;
try
{
LedProcess();
}
catch (Exception ex)
{
LogUtil.error(" server_connect_timer_Tick 出错：" + ex.ToString());
}
isInProcess = false;
}
#endregion
}
}