LineAGVProcess.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.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class PackageLine
{
/// <summary>
/// 料架进入步骤
/// </summary>
public enum BenQ_IN_STEP
{
NONE,
/// <summary>
/// 料架进入
/// </summary>
SHELT_IN,
}
/// <summary>
/// 料架进入步骤
/// </summary>
public enum BenQ_OUT_STEP
{
NONE,
READ_RFID,
WAIT_AGV,
/// <summary>
/// 等待到达提升机
/// </summary>
SHELF_TO_UPDOWN,
/// <summary>
/// 料架流出
/// </summary>
SHELT_OUT,
}
public StepInfo<BenQ_IN_STEP> benQInStepLeft = new StepInfo<BenQ_IN_STEP>(BenQ_IN_STEP.NONE);
public bool LeftAllowIn = true;
public StepInfo<BenQ_IN_STEP> benQInStepRight = new StepInfo<BenQ_IN_STEP>(BenQ_IN_STEP.NONE);
public StepInfo<BenQ_OUT_STEP> benQOutStep = new StepInfo<BenQ_OUT_STEP>(BenQ_OUT_STEP.NONE);
public bool A6_ReadRFID_OK = true;//A6上料口rfid读取情况
private string a5State = "None";
private string a6State = "None";
public string A5_State
{
get { return a5State; }
set
{
if (!string.IsNullOrEmpty(value))
{
//不为空，且与上一个消息不一样才打印
if (!value.Equals(a5State))
{
LogUtil.info("A5状态更新： " + value);
}
}
a5State = value;
}
}
public string A6_State
{
get { return a6State; }
set
{
if (!string.IsNullOrEmpty(value))
{
//不为空，且与上一个消息不一样才打印
if (!value.Equals(a6State))
{
LogUtil.info("A6状态更新： " + value);
}
}
a6State = value;
}
}
/// <summary>
/// 左侧料架进入处理
/// </summary>
private void ProcessBenQLeftEnter()
{
if (benQInStepLeft.IsStep(BenQ_IN_STEP.NONE))
{
if (benQInStepLeft.IsFinished())
{
//agvClient_Dbline.A5_InProcess = false;
if (agvClient_Dbline.A5_ReadyEnter)
{
//检测左侧升降无料架，且在下方，并且料架没满
bool topFull = IOValue(IO_Type.LHigh_FullCheck).Equals(IO_VALUE.HIGH);
bool bottomFull = IOValue(IO_Type.LLow_FullCheck).Equals(IO_VALUE.HIGH);
bool hasShelfLeft = IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH);
bool hasShelfRight = IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH);
//升降机在上方
bool isUpdownUp = CylinderIsOk(IO_Type.L_Updown_Down, IO_Type.L_Updown_Up);
bool allFull = topFull && bottomFull;
if (allFull || hasShelfLeft || hasShelfRight || isUpdownUp)
{
string msg = "A5 ";
if (topFull)
{
msg = msg + "小料架已满,";
}
if (bottomFull)
{
msg = msg + "大料架已满,";
}
if (hasShelfLeft || hasShelfRight)
{
msg = msg + "提升机上有料,";
}
if (isUpdownUp)
{
msg = msg + "提升机不在下方,";
}
//有料架或线上无空间
benQInStepLeft.Msg = msg + "AGV 不允许进入,";
benQInStepLeft.ToNextStep(BenQ_IN_STEP.NONE);
}
else
{
agvClient_Dbline.MayEnter("A5");
benQInStepLeft.Msg = "AGV 料架准备送入,链条启动";
benQInStepLeft.ToNextStep(BenQ_IN_STEP.SHELT_IN);
benQInStepLeft.AddIoWait(IO_Type.Line_InCheck, IO_VALUE.HIGH);
benQInStepLeft.AddIoWait(IO_Type.Line_StopCheck, IO_VALUE.HIGH);
IOMove(IO_Type.L_InLineRun, IO_VALUE.HIGH);
}
}
}
}
else if (benQInStepLeft.IsStep(BenQ_IN_STEP.SHELT_IN))
{
if (agvClient_Dbline.A5_ReadyEnter)
{
agvClient_Dbline.MayEnter("A5");
}
if (benQInStepLeft.IsFinished())
{
benQInStepLeft.Msg = "AGV 料架进入完成";
agvClient_Dbline.FinishEnter("A5");
//benQInStepLeft.AddTimeWait(50000);
//if (MoveInfo.MoveStep.Equals(MoveStep.SI09_WaitStopRun))
benQInStepLeft.ToNextStep(BenQ_IN_STEP.NONE);
}
else
{
bool timeOut = benQInStepLeft.IsTimeOut(60000);
if (timeOut)
{
agvClient_Dbline.FinishEnter("A5");
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
benQInStepLeft.ToNextStep(BenQ_IN_STEP.NONE);
}
}
}
}
/// 右侧料架进入处理
/// </summary>
private void ProcessBenQRightEnter()
{
if (benQInStepRight.IsStep(BenQ_IN_STEP.NONE))
{
if (benQInStepRight.IsFinished())
{
if (agvClient_Dbline.A6_ReadyEnter)
{
//出口链条正在运行
bool isChainForRun = IOValue(IO_Type.R_OutLineRun).Equals(IO_VALUE.HIGH);
bool isChainBackRun = IOValue(IO_Type.R_OutLineBackRun).Equals(IO_VALUE.HIGH);
bool isChainRun = isChainBackRun || isChainForRun;
//升降机在下方
bool isRightUpdownDown = CylinderIsOk(IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
//上层料满
bool topFull = IOValue(IO_Type.RHigh_FullCheck).Equals(IO_VALUE.HIGH);
//提升机上有料
bool hasInUpdown= IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.HIGH);
if (isChainRun || !isRightUpdownDown || topFull || hasInUpdown)//料盘无法送入
{
string msg = "A6 ";
if (isChainRun)
{
msg = msg + "正在出料盘,";
}
if (!isRightUpdownDown)
{
msg = msg + "提升机不在下方,";
}
if (topFull)
{
msg = msg + "上层料满,";
}
if(hasInUpdown)
{
msg = msg + "提升机有料,";
}
//有料架或线上无空间
benQInStepRight.Msg = msg + "送料AGV 不允许进入,";
benQInStepRight.ToNextStep(BenQ_IN_STEP.NONE);
}
else
{
agvClient_Dbline.MayEnter("A6");
benQInStepRight.Msg = "产线AGV 料架准备送入,链条启动";
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInStepRight.ToNextStep(BenQ_IN_STEP.SHELT_IN);
benQInStepRight.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH);
benQInStepRight.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.HIGH);
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.HIGH);
}
}
}
}
else if (benQInStepRight.IsStep(BenQ_IN_STEP.SHELT_IN))
{
if (agvClient_Dbline.A6_ReadyEnter)
{
agvClient_Dbline.MayEnter("A6");
}
if (benQInStepRight.IsFinished())
{
benQInStepRight.Msg = "AGV 料架进入完成";
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
agvClient_Dbline.FinishEnter("A6");
benQInStepRight.ToNextStep(BenQ_IN_STEP.NONE);
//if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.WAIT_SHELF_TO_READY_POS))
//{
// IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
// //agvClient_Dbline.FinishEnter("A6");
// benQInStepRight.ToNextStep(BenQ_IN_STEP.NONE);
//}
}
else
{
bool timeOut = benQInStepRight.IsTimeOut(60000);
if (timeOut)
{
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
agvClient_Dbline.FinishEnter("A6");
benQInStepRight.ToNextStep(BenQ_IN_STEP.NONE);
}
}
}
}
/// <summary>
/// 料架离开处理
/// </summary>
private void ProcessBenQLeave()
{
if (benQOutStep.IsStep(BenQ_OUT_STEP.NONE))
{
if (benQOutStep.IsFinished())
{
// agvClient_Dbline.A6_InProcess = false;
A6_ReadRFID_OK = true;
bool hasShelfToLeave = IOValue(IO_Type.R_StopCheck2).Equals(IO_VALUE.HIGH);
if (hasShelfToLeave)
{
benQOutStep.Msg = "检测到有料架送往 AGV, 准备读取RFID";
benQOutStep.ToNextStep(BenQ_OUT_STEP.READ_RFID);
}
}
}
else if (benQOutStep.IsStep(BenQ_OUT_STEP.READ_RFID))
{
if (benQOutStep.IsTimeOut(1000))
{
//1秒读1次
string rfid = RFIDManager.ReadRFID(Config.R_Updown_Rfid, true).NumStr();
if (rfid.Contains("C") || rfid.Contains("D"))
{
benQOutStep.Msg = "料架[" + rfid + "]准备送出，等待AGV到达";
agvClient_Dbline.A6_RFID = rfid;
A6_ReadRFID_OK = true;
benQOutStep.ToNextStep(BenQ_OUT_STEP.WAIT_AGV);
}
else
{
benQOutStep.Msg = "准备送出料架到AGV 时，RFID读取错误[" + rfid + "],重新读取";
A6_ReadRFID_OK = false;
benQOutStep.ToNextStep(BenQ_OUT_STEP.READ_RFID);
}
}
}
else if (benQOutStep.IsStep(BenQ_OUT_STEP.WAIT_AGV))
{
bool hasShelfToLeave = IOValue(IO_Type.R_StopCheck2).Equals(IO_VALUE.HIGH);
if (hasShelfToLeave)
{
//AGV已经到达
if (agvClient_Dbline.A6_ReadyLeave)
{
//升降机在下方
bool isRightUpdownDown = CylinderIsOk(IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
bool noShelfLeft = IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.LOW);
bool noShelfRight = IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.LOW);
if (isRightUpdownDown && noShelfLeft && noShelfRight)
{
benQOutStep.ToNextStep(BenQ_OUT_STEP.SHELF_TO_UPDOWN);
benQOutStep.AddIoWait(IO_Type.R_StopCylinder2, IO_VALUE.HIGH);
benQOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH);
KeepLineRun(IO_Type.R_LineRun);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
IOMove(IO_Type.R_OutLineRun, IO_VALUE.HIGH);
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.HIGH);
benQOutStep.Msg = "AGV已到达出料口, 打开链条,准备送出料架[" + agvClient_Dbline.A6_RFID + "]";
agvClient_Dbline.MayLeave("A6");
}
else
{
benQOutStep.Msg = "右侧升降机不在下方/提升机上有料，暂不送出";
benQOutStep.ToNextStep(BenQ_OUT_STEP.WAIT_AGV);
}
}
}
else
{
benQOutStep.Msg = "等待AGV到达时无料架信号,清理RFID，重新开始流程";
benQOutStep.ToNextStep(BenQ_OUT_STEP.NONE);
}
}
else if (benQOutStep.IsStep(BenQ_OUT_STEP.SHELF_TO_UPDOWN))
{
if (agvClient_Dbline.A6_ReadyLeave)
{
//如果BenQ AGV有请求，继续回复
agvClient_Dbline.MayLeave("A6");
}
if (benQOutStep.IsFinished())
{
benQOutStep.ToNextStep(BenQ_OUT_STEP.SHELT_OUT);
benQOutStep.Msg = "料架[" + agvClient_Dbline.A6_RFID + "]，到达升降机,停止右侧下层线体，继续送出";
benQOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.LOW,5000);
benQOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.LOW,5000);
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.LOW);
IOMove(IO_Type.R_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
}
else if(benQOutStep.IsTimeOut(5000))
{
//料架未到达，检查链条
// IOMove(IO_Type.R_StopCylinder2, IO_VALUE.HIGH);
KeepLineRun(IO_Type.R_LineRun);
CheckAndMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
KeepLineRun(IO_Type.R_OutLineRun);
}
}
else if (benQOutStep.IsStep(BenQ_OUT_STEP.SHELT_OUT))
{
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.LOW);
if (benQOutStep.IsFinished())
{
benQOutStep.Msg = "料架已经送到AGV, 清理RFID[" + agvClient_Dbline.A6_RFID + "]，关闭链条";
agvClient_Dbline.A6_RFID = "";
benQOutStep.ToNextStep(BenQ_OUT_STEP.NONE);
benQOutStep.AddTimeWait(5000);
agvClient_Dbline.FinishLeave("A6");
IOMove(IO_Type.R_OutLineRun, IO_VALUE.LOW);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
}
else if (benQOutStep.IsTimeOut(10000))
{
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
}
}
}
private void CheckA6State()
{
if (agvClient_Dbline.A6_InProcess)
return;
//上层料满
bool topfull = IOValue(IO_Type.RHigh_FullCheck).Equals(IO_VALUE.HIGH);
//下层有料出
bool bottomfull = IOValue(IO_Type.R_StopCheck2).Equals(IO_VALUE.HIGH);
string rightExt = "[topfull=" + topfull.ToString() + " bottomfull=" + bottomfull.ToString() + "] ";
if (topfull)
{
if (bottomfull)
{
agvClient_Dbline.A6_NeedLeave();
rightExt += "A6_NeedLeave";
}
else
{
agvClient_Dbline.A6_None();
rightExt += "A6_None";
}
}
else
{
if (bottomfull)
{
agvClient_Dbline.A6_NeedEnterLeave();
rightExt += "A6_NeedEnterLeave";
}
else
{
agvClient_Dbline.A6_NeedEnter();
rightExt += "A6_NeedEnter";
}
}
A6_State = rightExt;
}
private void CheckA5State()
{
if (agvClient_Dbline.A5_InProcess)
return;
bool topFull = IOValue(IO_Type.LHigh_FullCheck).Equals(IO_VALUE.HIGH);
bool bottomFull = IOValue(IO_Type.LLow_FullCheck).Equals(IO_VALUE.HIGH);
//左侧上层只剩最后一个料，优先级最高
bool topX613 = IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.HIGH);
//提升机上有料
bool hasShelfLeft = IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH);
bool hasShelfRight = IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH);
string leftExt = "[topFull=" + topFull.ToString() + " bottomFull=" + bottomFull.ToString() + "] ";
if (hasShelfLeft || hasShelfRight)//提升机上有料，不允许来料
{
LeftAllowIn = false;
agvClient_Dbline.A5_None();
leftExt += "A5_None ";
}
else
{
//上下都不满
if (!topFull && !bottomFull && topX613)
{
LeftAllowIn = true;
agvClient_Dbline.A5_NeedEnter();
leftExt += "A5_NeedEnter ";
}
else if (!topFull && !bottomFull && !topX613)
{
LeftAllowIn = true;
agvClient_Dbline.A5_NeedEnter_High();
leftExt += "A5_NeedEnter_High ";
}
//上不满,下满
else if (!topFull && bottomFull && topX613)
{
LeftAllowIn = true;
agvClient_Dbline.A5_NeedD();
leftExt += "A5_NeedD ";
}
else if (!topFull && bottomFull && !topX613)
{
LeftAllowIn = true;
agvClient_Dbline.A5_NeedD_High();
leftExt += "A5_NeedD_High ";
}
//上满,下不满
else if (topFull && !bottomFull )
{
LeftAllowIn = true;
agvClient_Dbline.A5_NeedC();
leftExt += "A5_NeedC ";
}
else
{
LeftAllowIn = false;
agvClient_Dbline.A5_None();
leftExt += "A5_None ";
}
}
a5State = leftExt;
}
}
}