AutomaticBaiting.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace OnlineStore.DeviceLibrary
{
public partial class AutomaticBaiting
{
public static string TimeOut = "超时";
/// <summary>
/// 操作人员是否拿走料盘
/// </summary>
public static bool IsGetTrayGo = false;
public static bool IsWaitTragGo = false;
/// <summary>
/// 0=未知。1=门打开，2=门关闭
/// </summary>
public static int DoorStatus = 2;
private static int LastHeight = 0;
private static int LastWidth = 0;
private static string LastCode = "";
private static string LastPosId = "";
public static int AxisChangeValue = ConfigAppSettings.GetIntValue(Setting_Init.AxisChangeValue);
public static string WarnMsg = "";
public static string CodeMsg = "";
public static string Name = "批量上下料 ";
public static StoreMoveInfo StoreMove = null;
public static StoreRunStatus AutoBaitingStatus = StoreRunStatus.Wait;
public static bool IsNeedStartInout = false;
//记录没开门状态下，已经出库的数量
public static int BatchOutStoreCount = 0;
public static int BatchOutStoreHeight = 0;
public static int BatchInStoreCount = 0;
public static int BatchInStoreHeight = 0;
/// <summary>
/// 初始化数据
/// </summary>
public static void Init()
{
StoreMove = new StoreMoveInfo(Name);
}
/// <summary>
/// 定时处理
/// </summary>
public static void TimerProcess()
{
try
{
if (AutoBaitingStatus >= StoreRunStatus.Wait)
{
if (StoreMove.MoveType.Equals(StoreMoveType.StoreReset))
{
ResetProcess();
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore))
{
InStoreProcess();
}
else if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
//OutStoreProcess();
}
}
}catch(Exception ex)
{
LogUtil.error(Name+"出错："+ex.StackTrace);
}
}
/// <summary>
/// 判断是否可以启动
/// </summary>
/// <returns></returns>
public static string CanStart()
{
string msg = "";
//需要判断门关闭
if (!DoorIsClose())
{
msg = "上料机构门未关闭";
return msg;
}
return msg;
}
public static void ClearOutStoreInfo()
{
BatchOutStoreCount = 0;
BatchOutStoreHeight = 0;
BatchInStoreCount = 0;
BatchInStoreHeight = 0;
}
private static void ClearInStoreInfo()
{
LastCode = "";
LastPosId = "";
LastHeight = 0;
LastWidth = 0;
}
public static void StopRun()
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
ClearInStoreInfo();
ClearOutStoreInfo();
}
public static void StopMove()
{
StoreMove.EndMove();
ClearInStoreInfo();
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, false);
BatchDoorClose(false);
}
public static bool Reset(bool isNeedInout)
{
string msg = CanStart();
if (!String.IsNullOrEmpty(msg))
{
LogUtil.info(Name + "复位失败：" + msg);
return false;
}
if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchAlarm) ||
StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchAxisAlarm) || StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut))
{
LogUtil.info(Name + " 复位前，清理报警【" + StoreManager.Store.alarmType + "】");
StoreManager.Store.alarmType = StoreAlarmType.None;
WarnMsg = "";
}
AutomaticBaiting.IsNeedStartInout = isNeedInout;
if (!StoreMove.MoveType.Equals(StoreMoveType.None))
{
StopMove();
}
ClearInStoreInfo();
DoorStatus = 2;
AutoBaitingStatus = StoreRunStatus.Reset;
StoreMove.NewMove(StoreMoveType.StoreReset);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R00_Start);
LogUtil.info(Name + "开始复位，是否需要入库【" + AutomaticBaiting.IsNeedStartInout + "】");
return true;
}
private static void ResetProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
switch (StoreMove.MoveStep)
{
case StoreMoveStep.AUTO_R00_Start:
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R01_CloseDoor);
//关闭门，轴回原点，检测
BatchDoorClose(true);
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
LogUtil.info(Name + "复位中：关闭门锁");
break;
case StoreMoveStep.AUTO_R01_CloseDoor:
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R02_AutoAxisHome);
LogUtil.info(Name + "复位中：批量上下料轴原点返回");
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
break;
case StoreMoveStep.AUTO_R02_AutoAxisHome:
if (IsNeedStartInout)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
LogUtil.info(Name + "复位中：需要检测是否有料盘，批量轴匀速上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
else
{
LogUtil.info(Name + "复位完成");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
WarnMsg = "";
IsNeedStartInout = false;
}
break;
case StoreMoveStep.AUTO_R03_AutoAxisHome:
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
//if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(1))
{
LogUtil.info(Name + "复位中: 没有料盘，不需要上料，上料轴回0点");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R04_AutoBack);
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
}
else
{
LogUtil.info(Name + "复位完成，有料盘，需要开始自动入料");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
//TODO
StartInOut();
}
break;
case StoreMoveStep.AUTO_R04_AutoBack:
LogUtil.info(Name + "复位完成");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
WarnMsg = "";
IsNeedStartInout = false;
break;
default: break;
}
}
public static bool StartInOut()
{
if ((!StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing)) ||
(!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动入料失败，料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType);
return false;
}
if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.InStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I01_Wait);
LogUtil.info(Name + "启动入料");
return true;
}
else
{
LogUtil.error(Name + " 启动入料失败， Status=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
return false;
}
}
private static int SuckingDisc_WorkCount = 0;
private static void InStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I01_Wait))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.info(Name + " 入料 ，已检测到料盘，轴不需要上升");
}
else
{
LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp))
{
IsNeedScanCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_ScanCode))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Down);
LogUtil.info(Name + "入料: 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
CylinderMove(IO_Type.SuckingDisc_Down, IO_Type.SuckingDisc_Up, true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Down))
{
SuckingDiscWork();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_SuckingDisc_Work))
{
if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升，等待宽度到达" + StoreManager.Config.Default_TrayWidth);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
if (StoreManager.Config.Default_TrayWidth.Equals(7))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}
else if (StoreManager.Config.Default_TrayWidth.Equals(13))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.HIGH));
}
}
else if (SuckingDisc_WorkCount < 3)
{
SuckingDiscWork();
}
else
{
//TODO 报警
WarnMsg = "吸盘吸料失败，请复位后拿出此料盘";
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, "吸盘吸料失败", WarnMsg, StoreMoveType.InStore);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_SuckingDisc_Up))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
LogUtil.info(Name + "入料: 批量上下料轴上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp))
{
if (StoreManager.Store.CanStarInOut())
{
LastWidth = StoreManager.Config.Default_TrayWidth;
LastHeight = GetHeight();
BatchInStoreCount++;
BatchInStoreHeight += LastHeight;
if (LastCode.Equals(""))
{
LogUtil.info(Name + "入料: 未扫到二维码，将料盘送出，等待料盘拿走");
SendTrayOut();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_GetPosId);
LogUtil.info(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】");
GetInStorePosId(ProcessMsg());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I08_GetPosId))
{
//判断是否开始入库
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料【" + LastPosId + "】，等待料盘拿走");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
}
else
{
LogUtil.info(Name + "入料: 未获取到PosID或启动入库失败，将料盘送出，等待料盘拿走");
SendTrayOut();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_WaitTrayLeave))
{
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None) ||
(StoreManager.Store.StoreMove.IsNeedInStore && StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_09_MoveToBag))
{
IsNeedScanCode();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_WaitTrayGo))
{
if (StoreManager.Store.CanStarInOut())
{
IsNeedScanCode();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I11_BatchAxisHome))
{
//TODO
LogUtil.info(Name + "入料：已经没有料盘，批量上料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
}
}
private static int GetHeight()
{
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
if (EndMovePosition.Equals(-1))
{
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
}
LastHeight = (int)Math.Ceiling(1F * (EndMovePosition - StartMovePosition) / AxisChangeValue);
int addHeight = 0;
//如果检测信号未亮，极限亮了，需要补充高
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{
addHeight = StoreManager.Config.LastTrayAddHeight;
}
LastHeight += addHeight;
LogUtil.info(Name + "入料: 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【"+addHeight+"】计算后高度【" + LastHeight + "】");
if (LastHeight < 0)
{
LastHeight = StoreManager.Config.GetDefaultHeight();
}
if (StoreManager.Config.Default_TrayWidth.Equals(7))
{
if (LastHeight <= 8) { LastHeight = 8; }
else if (LastHeight <= 12) { LastHeight = 12; }
else { LastHeight = 24; }
}
else
{
if (LastHeight <= 8) { LastHeight = 8; }
else
{
LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4;
}
}
return LastHeight;
}
private static List<AutoStorePosition> AllPosList = null;
private static void SendTrayOut()
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
StoreMove.TimeOutSeconds = 120;
string posId = StoreManager.Store.PositionNumList[0];
//盘先根据高低排序
if (AllPosList == null) {
AllPosList = CSVPositionReader<AutoStorePosition>.getPositionList();
AllPosList = (from m in AllPosList orderby m.BagHeight ascending select m).ToList<AutoStorePosition>();
}
List<AutoStorePosition> okList = (from m in AllPosList where m.BagHeight >= LastHeight select m ).ToList<AutoStorePosition>();
if (okList.Count > 0)
{
posId = okList[0].PositionNum;
}
StoreManager.Store.StartInStoreMove(new InOutStoreParam(LastCode, posId,LastHeight,LastWidth), true, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitStoreRuning());
}
private static void SuckingDiscWork()
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_SuckingDisc_Work);
SuckingDisc_WorkCount++;
LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.HIGH));
StoreMove.OneWaitCanEndStep = true;
}
private static void ClearTimeOut()
{
if (WarnMsg.Contains(TimeOut))
{
WarnMsg = "";
}
}
private static void IsNeedScanCode()
{
LastCode = "";
LastHeight = 0;
LastWidth = 0;
LastPosId = "";
SuckingDisc_WorkCount = 0;
//如果有超时异常，需要清理
if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut))
{
LogUtil.info(Name + " 扫码前清理超时报警【" + StoreManager.Store.alarmType + "】");
StoreManager.Store.alarmType = StoreAlarmType.None;
ClearTimeOut();
}
// if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(0))
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_ScanCode);
LogUtil.info(Name + "入料: 开始扫码，最多等待6000 ");
StoreMove.OneWaitCanEndStep = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(6000));
GetCameraCode();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
LogUtil.info(Name + "入料：已经没有料盘，批量上下轴回原点");
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
}
}
public static bool DoorIsClose()
{
if (KND.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public static bool DoorCloseOK()
{
if (DoorIsClose())
{
if (KND.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH) && KND.IOValue(IO_Type.BatchDoor_Open).Equals(IO_VALUE.LOW))
{
return true;
}
}
return false;
}
/// <summary>
/// 是否可以打开门锁
/// </summary>
public static bool CanOpenBatchDoor()
{
if (!StoreMove.MoveType.Equals(StoreMoveType.None))
{
return false;
}
if (!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None))
{
return false;
}
if (StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing) && AutoBaitingStatus.Equals(StoreRunStatus.Runing))
{
return true;
}
return false;
}
public static void BatchDoorOpen(bool isWait)
{
ClearInStoreInfo();
ClearOutStoreInfo();
DoorStatus = 1;
KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.LOW);
KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.HIGH);
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.HIGH));
}
}
public static void BatchDoorClose(bool isWait)
{
ClearInStoreInfo();
ClearOutStoreInfo();
DoorStatus = 2;
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.HIGH));
}
KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.LOW);
KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.HIGH);
}
}
}