AutomaticBaiting_Partial.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AutomaticBaiting
{
private static int StartMovePosition = 0;
private static int EndMovePosition = 0;
//public static int AutoAxisIsMove = 0;
private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed,string targetSingle)
{
//AutoAxisIsMove = 1;
StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
EndMovePosition = StartMovePosition;
LogUtil.debug("当前坐标："+StartMovePosition+",批量上料轴开始匀速"+targetSpeed+"上升");
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,0, targetSingle));
BatchAxisController.StartCheck(targetSingle);
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
}
private static void ACAxisAbsMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
}
private static void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{
moveAxis.TargetPosition = 0;
LogUtil.debug(Name + moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
}
private static bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
{
msg = "";
if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount > moveAxis.CanErrorCountMax)
{
//判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(Name + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.CanWhileCount--;
}
else
{
msg = Name + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg, 100);
return false;
}
}
return true;
}
return false;
}
private static void CheckWait()
{
List<WaitResultInfo> list = StoreMove.WaitList;
if (list.Count <= 0)
{
StoreMove.EndStepWait();
return;
}
try
{
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
bool isOk = !StoreMove.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == (int)Wait_Type.AxisMove_1)
{
bool isAlarm = false;
wait.IsEnd = AxisMoveISEnd(wait, ref isAlarm);
if (isAlarm)
{
return;
}
}
else if (wait.WaitType == (int)Wait_Type.IOMove_2)
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
//int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
//timeOutMs = 20;
//if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
//{
// ConfigIO io = StoreManager.Config.getWaitIO(wait.IoType);
// WarnMsg = "[" + StoreMove.MoveStep + "] 等待[" + io.ElectricalDefinition + "_" + io.Explain + "=" + wait.IoValue + "]超时";
// StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
// LogUtil.error(WarnMsg,101);
// isOk = false;
// break;
//}
//如果是气缸动作，若Do未输出，重新写一遍
if (!wait.IsEnd && span.TotalSeconds > 1 && (wait.IoType.Equals(IO_Type.SuckingDisc_Down) || wait.IoType.Equals(IO_Type.SuckingDisc_Up)))
{
IO_VALUE doValue = IOManager.DOValue(wait.IoType);
if (!doValue.Equals(wait.IoValue))
{
LogUtil.error("等待[" + NotOkMsg + "]，重写DO（" + wait.IoType + "=" + wait.IoValue + "）");
IOManager.IOMove(wait.IoType, wait.IoValue);
string ioType = wait.IoType.Equals(IO_Type.SuckingDisc_Down) ? IO_Type.SuckingDisc_Up : IO_Type.SuckingDisc_Down;
IO_VALUE ioValue = wait.IoValue.Equals(IO_VALUE.LOW) ? IO_VALUE.HIGH : IO_VALUE.LOW;
LogUtil.error("等待[" + wait.ToStr() + "]，重写气缸DO（" + ioType + "=" + ioValue + "）");
IOManager.IOMove(ioType, ioValue);
}
}
}
else if (wait.WaitType == (int)Wait_Type.Time_3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == (int)Wait_Type.ShuoKe_5)
{
}
else if (wait.WaitType == (int)Wait_Type.AxisHomeSingle_6)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{
wait.IsEnd = BatchAxisIsEnd(wait);
if (wait.IsEnd)
{
BatchAxisController.StopCheck();
}
}
else if (wait.WaitType == (int)Wait_Type.ScanCode_11)
{
wait.IsEnd = (LastCode.Equals("").Equals(false));
}
else if (wait.WaitType == (int)Wait_Type.StoreRuning_13)
{
wait.IsEnd = (StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing) && StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None));
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
}
else if (span.TotalSeconds > StoreMove.TimeOutSeconds)
{
WarnMsg = "[" + StoreMove.MoveStep + "]" + ResourceControl.GetString(ResourceControl.TimeOut, "超时") + " [" + NotOkMsg + "][" + Math.Round(span.TotalSeconds, 0) + "秒]";
LogUtil.error(WarnMsg, 102);
StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, "", WarnMsg, StoreMove.MoveType);
}
}
catch (Exception ex)
{
LogUtil.error(Name + "CheckWait出错：" + ex.StackTrace);
}
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
private static bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
bool isOk = ACServerManager.GetBusyStatus(moveAxis.DeviceName, moveAxis.GetAxisValue()).Equals(0);
if (isOk)
{
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount - targetPosition);
if (errorCount <= moveAxis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount +
"]，误差过大，重新运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
StoreMove.CanWhileCount--;
}
else
{
msg = Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
private static bool AxisMoveISEnd(WaitResultInfo wait ,ref bool isAlarm)
{
isAlarm = false;
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isAlarm = true;
WarnMsg = msg;
StoreManager.Store.Alarm(StoreAlarmType.BatchAxisAlarm, StoreManager.Store.GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, StoreMove.MoveType);
}
return wait.IsEnd;
}
/// <summary>
/// 判断批量上下轴是否运动完成
/// </summary>
/// <param name="wait"></param>
/// <returns></returns>
public static bool BatchAxisIsEnd(WaitResultInfo wait)
{
bool result = false;
if (IOManager.IOValue(wait.IoType).Equals(IO_VALUE.HIGH))
{
LogUtil.debug(wait.ToStr() + " 检测到【" + wait.IoType + "】信号，可以停止运动");
result = true;
}
else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
{
LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动");
result = true;
}
if (result)
{
LogUtil.debug(wait.ToStr() + " 停止运动");
ACServerManager.SuddenStop(wait.AxisInfo);
}
else
{
TimeSpan span = DateTime.Now - AxisResetMoveTime;
if ((AutoBaitingStatus.Equals(StoreRunStatus.Busy)||AutoBaitingStatus.Equals(StoreRunStatus.Reset)) && span.TotalSeconds > 3)
//if (AutoBaitingStatus.Equals(StoreRunStatus.Busy) && StoreMove.CanWhileCount > 0)
{
AxisResetMoveTime = DateTime.Now;
//如果批量轴已经停止运动，重新开始
bool isEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isEnd)
{ //判断是否需要重新运动
StoreMove.CanWhileCount--;
LogUtil.error(wait.ToStr() + "未收到信号且停止运动，重新匀速" + StoreManager.Config.BatchAxis_SlowSpeed + "运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.SuddenStop(wait.AxisInfo);
Thread.Sleep(300);
ACServerManager.SpeedMove(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue(), StoreManager.Config.BatchAxis_SlowSpeed);
}
}
}
return result;
}
private static DateTime AxisResetMoveTime = DateTime.Now;
#region Halcon扫码枪代码
public bool IsTestCamera = false;
private static string spiltStr = "##";
public static void GetCameraCode()
{
Task.Factory.StartNew(delegate ()
{
IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
string message = "";
List<string> codeList = CodeManager.CameraScan();
if (codeList.Count <= 0)
{
codeList = CodeManager.CameraScan();
}
//需要过滤重复的二维码
List<string> hasList = new List<string>();
foreach (string str in codeList)
{
//message = message + "=1+0x0-" + LastSize + "x" + LastHeight + " =" + str + spiltStr;
if (!hasList.Contains(str))
{
hasList.Add(str);
message = message + spiltStr + str;
}
}
LastCodeList = hasList;
LastCode = message;
if (LastCode.Equals("") && (StoreManager.Store.IsDebug ))
{
LastCode = "NoCode";
LogUtil.info(Name + "模拟二维码：NoCode");
}
if (LastCode.Equals(""))
{
StoreManager.Store.CodeOrInoutMsg = "未扫到二维码，需要将料盘送出";
LogUtil.error("未扫到二维码，需要将料盘送出");
}
else
{
LogUtil.debug("扫到二维码：" + LastCode);
}
IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
// StoreManager.Store.onCodeReceived(message);
});
}
#endregion
private static void CylinderMove(string highType, string lowType, bool isWait)
{
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(lowType, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(highType, IO_VALUE.HIGH));
}
IOManager.IOMove(lowType, IO_VALUE.LOW);
IOManager.IOMove(highType, IO_VALUE.HIGH);
}
private static string ProcessMsg()
{
string msg = "";
//string[] codeArray = LastCode.Split(new string[] { spiltStr});
if (LastCodeList.Count > 0)
{
foreach (string code in LastCodeList)
{
if (!code.Equals(""))
{
msg = msg + "=1+0x0-" + LastWidth + "x" + LastHeight + "=" + code + spiltStr;
}
}
}
else if (!LastCode.Equals(""))
{
msg = msg + "=1+0x0-" + LastWidth + "x" + LastHeight + "=" + LastCode + spiltStr;
}
return msg;
}
//=1+0x0-13x24=201810220856;025;5N02018101;121;700012865;92498;1800;##
private static void GetInStorePosId(string message)
{
try
{
//if (StoreManager.Store.IsDebug || StoreManager.Store.autoNext)
if (StoreManager.Store.IsDebug )
{
string posId = ConfigAppSettings.GetValue(Setting_Init.DebugPosId);
if (!posId.Equals(""))
{
string type = StoreManager.Store.autoNext ? "自动出入库" : "入库模拟调试";
LogUtil.info(Name + type + " ，模拟库位号【" + posId + "】");
if (StoreManager.Store.CanStarInOut())
{
LastPosId = posId;
InOutStoreParam param = new InOutStoreParam(message, posId, LastHeight, LastWidth);
bool result = StoreManager.Store.StartInStoreMove(param, true);
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info(Name + type + " ：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
}
else
{
LogUtil.info(Name + type + " ：库位号【" + posId + "】二维码【" + message + "】 正在忙碌中，无法入库！");
}
//清理库位号，防止重复入库
if (StoreManager.Store.autoNext)
{
ConfigAppSettings.SaveValue(Setting_Init.DebugPosId, "");
}
return;
}
}
else
{
message = ScanCodeManager.ReplaceCode(message);
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "没有收到二维码信息，请重新放入料盘";
LogUtil.info(Name + "没有收到二维码信息，请重新放入料盘");
return;
}
if (StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Wait))
{
LogUtil.info(Name + "【 " + message + "】，设备未启动，不需要发送服务器");
return;
}
//开启服务器日志
//HttpHelper.isLog = 1;
LogUtil.info(Name + "【 " + message + "】，发送给服务器获取入库PosID");
//发送扫码内容到服务器进行入库操作
Operation operation = StoreManager.Store.getLineBoxStatus();
operation.op = 1;
operation.data.Add("code", message);
operation.data.Add("boxId", StoreManager.Store.StoreID.ToString());
string autoposId = StoreManager.Store.GetAutoPosid(true);
if (StoreManager.Store.autoNext && (!String.IsNullOrEmpty(autoposId)))
{
operation.data.Add(ParamDefine.inPos, autoposId);
LogUtil.debug("添加自动入库库位号："+autoposId);
}
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false);
if (resultOperation == null)
{
LogUtil.info(Name + "二维码【" + message + "】没有收到服务器反馈！");
return;
}
else if (!string.IsNullOrEmpty(resultOperation.msg))
{
LogUtil.info(Name + "服务器反馈 二维码【" + message + "】【"+ autoposId + "】 ：" + resultOperation.msg);
return;
}
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
try
{
int plateW = Convert.ToInt32(data[ParamDefine.plateW]);
int plateH = Convert.ToInt32(data[ParamDefine.plateH]);
string singleOut = data[ParamDefine.singleOut];
//bool isSingleOut = singleOut.ToLower().Equals("true");
string[] posArray = posId.Split('#');
if (!(posArray.Length == 2))
{
WarnMsg = Name + ResourceControl.GetString(ResourceControl.InStoreError, "入库库位格式错误：") + "【" + message + "】【" + posId + "】";
LogUtil.error("服务器反馈 入库库位格式错误：二维码【" + message + "】库位【" + posId + "】");
return;
}
int storeId = int.Parse(posArray[0]);
//根据发送的posId获取位置列表
AutoStorePosition position = CSVPositionReader<AutoStorePosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = ResourceControl.GetString(ResourceControl.InStoreNoPosition, "入库未找到库位：") + "【" + message + "】【" + posId + "】 ";
LogUtil.error("服务器反馈 入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return;
}
//TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
if (StoreManager.Store.CanStarInOut())
{
LastPosId = posId;
InOutStoreParam param = new InOutStoreParam(message, posId, plateH, plateW);
bool result = StoreManager.Store.StartInStoreMove(param, true);
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info(Name + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
}
else
{
LogUtil.info(Name + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 正在忙碌中，无法入库！");
}
}
catch (Exception ex)
{
LogUtil.error(Name + "解析服务发送的入库【" + posId + "】出错" + ex.StackTrace);
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + ex.StackTrace);
}
}
public static Dictionary<string, string> GetBtnStatus()
{
Dictionary<string, string> map = new Dictionary<string, string>();
map.Add(ParamDefine.openLock, ParamDefine.disable);
map.Add(ParamDefine.startBatchIn, ParamDefine.disable);
map.Add(ParamDefine.closeLock, ParamDefine.disable);
map.Add(ParamDefine.takeOutReel, ParamDefine.disable);
map.Add(ParamDefine.confirmReelOut, ParamDefine.disable);
if ( DoorStatus.Equals(2))
{
map.Add(ParamDefine.doorStatus, ResourceControl.GetString(ResourceControl.doorClose, "Door lock close"));
}
else
{
map.Add(ParamDefine.doorStatus, ResourceControl.GetString(ResourceControl.doorOpen, "Doorlock open"));
}
if ( IsWaitTragGo && ( IsGetTrayGo.Equals(false)))
{
map[ParamDefine.confirmReelOut] = ParamDefine.enable;
}
else if ( CanOpenBatchDoor())
{
if ( DoorStatus.Equals(2))
{
if ( BatchOutStoreCount > 0)
{
map[ParamDefine.takeOutReel] = ParamDefine.enable;
}
else
{
map[ParamDefine.openLock] = ParamDefine.enable;
}
}
else
{
map[ParamDefine.closeLock] = ParamDefine.enable;
map[ParamDefine.startBatchIn] = ParamDefine.enable;
}
}
return map;
}
public static string doOpenDoor()
{
if ( CanOpenBatchDoor())
{
BatchDoorOpen(false);
IsNeedStartInout = false;
return "";
}
else
{
return ResourceControl.GetString(ResourceControl.CnotOpen, "BUSY,open doorlock failure");
}
}
public static string doStartBatchIn()
{
if (! DoorIsClose())
{
return ResourceControl.GetString(ResourceControl.batchInError, "Batch storing Error: Close feeding device");
}
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
return ResourceControl.GetString(ResourceControl.batchInError2, "Batch storing Error: gripper full, check before restoring");
}
StopOutProcess();
BatchDoorClose(false);
Reset(false,true);
return "";
}
public static string doTakeReel()
{
if (CanOpenBatchDoor())
{
if (BatchOutStoreCount > 0 && BatchOutStoreHeight > 0)
{
BatchDoorOpen(false);
return StartOut();
//return "";
}
else
{
return (ResourceControl.GetString(ResourceControl.GetError, "Providing Error: BUSY, open doorlock failure"));
}
}
else
{
return (ResourceControl.GetString(ResourceControl.GetError2, "Providing Error: BUSY, open doorlock failure"));
}
}
public static string doCloseDoor()
{
if (! DoorIsClose())
{
return (ResourceControl.GetString(ResourceControl.CloseError, "Door lock Error: Close feeding device"));
}
StopOutProcess();
BatchDoorClose(false);
Reset(false,false);
return "";
}
public static bool doConfirmReelGo()
{
LogUtil.info(ResourceControl.GetString(ResourceControl.TakeTrayOut, "Take out reel manually"));
IsWaitTragGo = false;
IsGetTrayGo = true;
return true;
}
}
}