LineSolderingRobot.cs
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using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using log4net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Timers;
namespace URSoldering.DeviceLibrary
{
public partial class URSolderingRobot : RobotBean
{
private AlarmType alarmType = AlarmType.None;
public string WareCode = "";
public SolderingRobotConfig Config;
public LineStepBean LineStep = new LineStepBean();
public URSolderingRobot(SolderingRobotConfig config)
{
RobotName = "焊接机器人";
baseConfig = config;
this.Config = config;
WeldRobotBean.InitData(config);
InitTimer();
EpsonDevice.Init(config.Epson_IP);
////初始化摄像机
//string nameStr = ConfigAppSettings.GetValue(Setting_Init.CameraName);
//string codeStr = ConfigAppSettings.GetValue(Setting_Init.CodeType);
//HDevelopExport.LoadConfig(nameStr, codeStr);
}
public bool StartRun()
{
return RobotReset();
}
public bool RobotReset()
{
alarmType = AlarmType.None;
mainTimer.Enabled = false;
ledTimer.Enabled = false;
IsInSuddendown = false;
//WaitScanResult = false;
//CanScan = false;
WarnMsg = "";
if (!ShuddenOK())
{
WarnMsg = "急停未开";
return false;
}
if (KNDIOValue(IO_Type.AirCheck_Single).Equals(IO_VALUE.LOW))
{
WarnMsg = "没有气压信号";
return false;
}
//焊接机器人复位
string solderingStr = "";
if (Status > RobotStatus.Wait)
{
StopMove();
solderingStr = WeldRobotBean.GoHome();
}
else
{
solderingStr = WeldRobotBean.StartRun();
}
if (!solderingStr.Equals(""))
{
WarnMsg = solderingStr;
return false;
}
//MesUtil.SolderInit(MesIp, MesPort);
Status = RobotStatus.Reset;
//HDevelopExport.OpenAllCamera();
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
//InitLineSpeed();
//阻挡气缸上升
StopCylinderUp();
IsInProcess = false;
ledTimer.Enabled = true;
mainTimer.Enabled = true;
return true;
}
public void StopCylinderUpAndWait()
{
KNDIOMove(IO_Type.StopCylinder_Up, IO_VALUE.HIGH);
KNDIOMove(IO_Type.StopCylinder_Down, IO_VALUE.LOW);
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down, IO_VALUE.LOW));
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Up, IO_VALUE.HIGH));
}
public void StopCylinderDownAndWait()
{
KNDIOMove(IO_Type.StopCylinder_Up, IO_VALUE.LOW);
KNDIOMove(IO_Type.StopCylinder_Down, IO_VALUE.HIGH);
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down, IO_VALUE.HIGH));
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Up, IO_VALUE.LOW));
}
public void StopCylinderUp()
{
KNDIOMove(IO_Type.StopCylinder_Up, IO_VALUE.HIGH);
KNDIOMove(IO_Type.StopCylinder_Down, IO_VALUE.LOW);
}
public void StopCylinderDown()
{
KNDIOMove(IO_Type.StopCylinder_Up, IO_VALUE.LOW);
KNDIOMove(IO_Type.StopCylinder_Down, IO_VALUE.HIGH);
}
/// <summary>
/// 急停 处理
/// </summary>
private void SuddendownProcess()
{
WarnMsg = "收到急停信号，设备急停";
LogUtil.error(RobotName + WarnMsg);
IsInSuddendown = true;
Alarm(AlarmType.SuddenStop);
}
private bool IsInProcess = false;
protected override void mainTimer_Elapsed(object sender, ElapsedEventArgs e)
{
if (IsInProcess) {
return;
}
IsInProcess = true;
try
{
//判断急停信号
if (KNDIOValue(IO_Type.SuddenStop_Single).Equals(IO_VALUE.LOW))
{
if (IsInSuddendown.Equals(false))
{
SuddendownProcess();
}
}
else if (IsInSuddendown)
{
}
else
{
if (Status.Equals(RobotStatus.Wait))
{
}
else if (Status.Equals(RobotStatus.Reset))
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None)
&& KNDIOValue(IO_Type.SendWire_Up).Equals(IO_VALUE.HIGH))
{
LogUtil.info(RobotName + "复位完成");
Status = RobotStatus.Runing;
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.HIGH);
}
}
else if (Status.Equals(RobotStatus.Runing))
{
IOTimeOutProcess();
StartLineCheck();
}
else if (Status.Equals(RobotStatus.Busy))
{
BusyProcess();
}
else if (Status.Equals(RobotStatus.LineMove))
{
LineMoveProcess();
}
}
}catch(Exception ex)
{
LogUtil.error(RobotName+"定时器出错："+ex.ToString());
}
IsInProcess = false;
}
/// <summary>
/// io检测异常,如果所有的步骤已经完成，表示信号超时异常已经结束
/// </summary>
private DateTime preIoTimerOutTime = DateTime.Now;
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1)
{
preIoTimerOutTime = DateTime.Now;
if (IsInSuddendown)
{
return;
}
if (alarmType.Equals(AlarmType.IoSingleTimeOut) || alarmType.Equals(AlarmType.StepTimeOut))
{
if (LineStep.IsInWait == false)
{
LogUtil.info(RobotName + "之前有IO超时异常，清理信号超时异常！");
WarnMsg = "";
alarmType = AlarmType.None;
//RobotBean.KNDIOMove(IO_Type.Device_NG, IO_VALUE.HIGH);
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "IOTimeOutProcess出错：" + ex.ToString());
}
}
private void LineMoveProcess()
{
if (LineStep.IsInWait)
{
CheckWait();
}
if (LineStep.IsInWait)
{
return;
}
if (LineStep.moveStep.Equals(MoveStep.L00_CylinderUp))
{
LineLog("流水线转动：阻挡气缸上升到位，转动流水线");
LineStep.NextMoveStep(MoveStep.L01_StartLineMove);
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineWeldCheck, IO_VALUE.HIGH));
//LineStartMove();
}
else if (LineStep.moveStep.Equals(MoveStep.L01_StartLineMove))
{
LineLog("流水线转动：收到焊接信号，等待1秒钟");
LineStep.NextMoveStep(MoveStep.L02_GetWeldSingle);
LineStep.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (LineStep.moveStep.Equals(MoveStep.L02_GetWeldSingle))
{
//LineStopMove();
LineStep.NextMoveStep(MoveStep.L03_GetCode);
LineStep.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (LineStep.moveStep.Equals(MoveStep.L03_GetCode))
{
LineStep.NextMoveStep(MoveStep.L04_BeginWeld);
GetCodeFun?.Invoke();
Thread.Sleep(100);
}
else if (LineStep.moveStep.Equals(MoveStep.L04_BeginWeld))
{
TimeSpan span = DateTime.Now - LineStep.LastSetpTime;
if (WareCode.Equals("").Equals(false) || span.TotalSeconds > 15)
{
string str = WeldRobotBean.StartWeld();
if (str.Equals(""))
{
WeldRobotBean.IsInWeld = true;
LineLog("流水线转动：检测到焊接信号，停止流水线，启动焊接成功");
}
else
{
WeldRobotBean.IsInWeld = false ;
LineLog("流水线转动：启动焊接失败：" + str);
}
LastStartWeldTime = DateTime.Now;
IsWeld = true;
LineStep.NewMove(MoveType.WeldEndMove);
LineStep.NextMoveStep(MoveStep.BUSY01_Weld);
Status = RobotStatus.Busy;
}
}
}
private void StartLineCheck()
{
//开始转动
if (KNDIOValue(IO_Type.LineInCheck).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.LineOutCheck).Equals(IO_VALUE.LOW))
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
{
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
LogUtil.info("检测到入料口信号，阻挡气缸上升");
Status = RobotStatus.LineMove;
LineStep.NewMove(MoveType.LineMove);
LineStep.NextMoveStep(MoveStep.L00_CylinderUp);
StopCylinderUpAndWait();
}
}
}
/// <summary>
/// 收到启动信号，开始转动转台
/// </summary>
private void StartTurn()
{
if (WareCode.Equals(""))
{
WarnMsg = "还未扫描OK";
return;
}
//TODO 开始转动
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
Status = RobotStatus.LineMove;
}
private void StopMove()
{
//IsWaitCode = false;
//IsWaitCheck = false;
//WaitScanResult = false;
//CanScan = false;
//LineStopMove();
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
//HDevelopExport.CloseAllCamera();
WeldRobotBean.StopMove();
this.Status = RobotStatus.Runing;
}
public void StopRun()
{
ledTimer.Enabled = false;
mainTimer.Enabled = false;
StopMove();
WeldRobotBean.StopRun();
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
//KNDIOMove(IO_Type.DoorStatus, IO_VALUE.HIGH);
//MesUtil.Close();
this.Status = RobotStatus.Wait;
LogUtil.info(RobotName + "停止运行");
}
}
}