LineSolderingRobot_Partial.cs
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using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
namespace URSoldering.DeviceLibrary
{
public partial class URSolderingRobot
{
public DateTime LastStartWeldTime = DateTime.Now;
public DateTime LastEndWeldTime = DateTime.Now;
public bool IsWeld = false;
public delegate void GetCode();
public event GetCode GetCodeFun;
public delegate void AOICheck();
public event AOICheck AOICheckFun;
public bool IsAutoRun = false;
private void LineLog(string msg)
{
LogUtil.debug(RobotName + msg);
}
private void BusyProcess()
{
if (LineStep.IsInWait)
{
CheckWait();
}
if(LineStep.IsInWait)
{
return;
}
if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
{
//if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
if (WeldRobotBean.IsInWeld.Equals(false))
{
LastEndWeldTime = DateTime.Now;
TimeSpan span = LastEndWeldTime - LastStartWeldTime;
if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
{
BoardManager.CurrBoard.WeldTime = span;
}
else
{
BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
}
BoardManager.Update(BoardManager.CurrBoard);
LogUtil.info("Busy处理：" + "焊接结束，焊接耗时"+FormUtil.GetSpanStr(span)+ "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "，阻挡气缸下降");
LineStep.NextMoveStep(MoveStep.BUSY03_CylinderDown);
StopCylinderDownAndWait();
}
}
//焊接完成，流水线继续转动，直到出料口检测到信号
else if (LineStep.moveStep.Equals(MoveStep.BUSY03_CylinderDown))
{
LineLog("Busy处理：" + "流水线转动，等待出料口信号");
LineStep.NextMoveStep(MoveStep.BUSY04_LineMove);
LineStartMove();
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineOutCheck, IO_VALUE.HIGH));
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY04_LineMove))
{
LineStopMove();
if (IsAutoRun)
{
LineLog("Busy处理：" + "等待3秒钟后流水线倒转");
LineStep.NextMoveStep(MoveStep.BUSY05_Wait);
LineStep.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else
{
LineLog("Busy处理：" + "停止转动");
StopCylinderUp();
Status = RobotStatus.Runing;
}
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY05_Wait))
{
LineLog("Busy处理：" + "流水线转动，等待出料口信号");
LineStep.NextMoveStep(MoveStep.BUSY06_WaitInSingle);
LineBackMove();
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineInCheck, IO_VALUE.HIGH));
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY06_WaitInSingle))
{
LineLog("Busy处理：" + "板子到达入料口，停止转动");
LineStopMove();
StopCylinderUp();
Status = RobotStatus.Runing;
}
}
private void LineBackMove()
{
ShuoKeControls.VolMove(Config.Line_Slv, Config.Line_EndSpeed);
KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
}
private void LineStartMove()
{
ShuoKeControls.VolMove(Config.Line_Slv, 0- Config.Line_EndSpeed);
KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
}
private void LineStopMove()
{
ShuoKeControls.SuddownStop(Config.Line_Slv);
KNDIOMove(IO_Type.LineStart, IO_VALUE.LOW);
}
/// <summary>
/// 判断是否还有未完成的工作
/// </summary>
public bool NeedWork()
{
if (Status > RobotStatus.Wait)
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
{
return true;
}
}
return false;
}
private void CheckWait()
{
int ioSingleTimeOutSeconds = 30000;
List<WaitResultInfo> list = new List<WaitResultInfo>(LineStep.WaitList);
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - LineStep.LastSetpTime;
string NotOkMsg = "";
if (list.Count > 0)
{
bool isOk = true;
foreach (WaitResultInfo wait in list)
{
if (wait.WaitType == 1)
{
if (!RobotBean.KNDIOValue(wait.IoType).Equals(wait.IoValue))
{
//一分钟还未检测到
if (span.TotalMilliseconds > ioSingleTimeOutSeconds)
{
ConfigIO io = RobotBean.getWaitIO(wait.IoType);
NotOkMsg = "信号（" + io.Explain + "=" + wait.IoValue + "）";
WarnMsg = RobotName + " 等待信号（" + io.Explain + "=" + wait.IoValue + "） 超时！";
Alarm(AlarmType.IoSingleTimeOut);
LogUtil.error(LOGGER, WarnMsg, 13);
}
isOk = false;
break;
}
else if (LineStep.OneWaitOk)
{
isOk = true;
break;
}
}
else if (wait.WaitType == 2)
{
if (span.TotalMilliseconds < wait.TimeMSeconds)
{
NotOkMsg = "时间[" + wait.TimeMSeconds + "]毫秒";
isOk = false;
break;
}
else if (LineStep.OneWaitOk)
{
isOk = true;
break;
}
}
}
if (isOk)
{
LineStep.EndStepWait();
}
if (LineStep.IsInWait)
{
if (span.TotalMinutes > 1)
{
if (NotOkMsg.Equals(""))
{
WarnMsg = "等待超时[" + LineStep.moveType + "][" + LineStep.moveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟";
}
else
{
WarnMsg = "等待超时[" + LineStep.moveType + "][" + LineStep.moveStep + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟,";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
}
Alarm(AlarmType.StepTimeOut);
LogUtil.error(LOGGER, WarnMsg, 12);
}
}
}
else
{
LineStep.EndStepWait();
}
}
private void Alarm(AlarmType alarmType)
{
this.alarmType = alarmType;
if (AlarmType.SuddenStop.Equals(alarmType))
{
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
ShuoKeControls.ClosePort();
StopMove();
}
}
}
}