RobotBase.cs
11.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
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 class RobotBase
{
public LineMoveInfo MoveInfo = null;
public AlarmType alarmType = AlarmType.None;
public bool IsDebug = false;
public bool isInSuddenDown = false;
public bool NoAirCheck = false;
public string WarnMsg = "";
protected System.Timers.Timer ledTimer = new System.Timers.Timer();
protected System.Timers.Timer mainTimer = new System.Timers.Timer();
public string Name = "";
public RobotConfig baseConfig = null;
public RobotBase(RobotConfig baseConfig)
{
this.baseConfig = baseConfig;
ledTimer = new System.Timers.Timer();
ledTimer.Interval = 1000;
ledTimer.AutoReset = true;
ledTimer.Enabled = false;
mainTimer = new System.Timers.Timer();
mainTimer.Interval = 300;
mainTimer.AutoReset = true;
mainTimer.Enabled = false;
}
public bool CylinderIsOk(string IoLowType, string IoHighType)
{
if (IOManager.DIValue(IoLowType).Equals(IO_VALUE.LOW) && IOManager.DIValue(IoHighType).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType, bool isCheckMove = false)
{
try
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW, true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH, true));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
if (isCheckMove)
{
CheckAndMove(IoLowType, IO_VALUE.LOW);
CheckAndMove(IoHighType, IO_VALUE.HIGH);
}
else
{
IOMove(IoLowType, IO_VALUE.LOW);
Thread.Sleep(100);
IOMove(IoHighType, IO_VALUE.HIGH);
}
}
catch (Exception ex)
{
LogUtil.error(Name + "CylinderMove [" + IoLowType + "] [" + IoHighType + "] [" + isCheckMove + "] 出错：" + ex.ToString());
}
}
public void CheckAndMove(string IoType, IO_VALUE value)
{
if (!IOValue(IoType).Equals(value))
{
IOMove(IoType, value);
}
}
public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
{
if (msTime <= 0)
{
IOManager.IOMove(IoType, value);
}
else
{
Task.Factory.StartNew(delegate
{
IOManager.IOMove(IoType, value);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
LogUtil.info(msTime + "时间到，设置" + IoType + "=" + tValue);
IOManager.IOMove(IoType, tValue);
});
}
}
public IO_VALUE IOValue(string IoType)
{
return IOManager.IOValue(IoType);
}
public void DebugInfo(string logInfo)
{
LogUtil.debug(Name + logInfo);
}
public void LogInfo(string logInfo)
{
LogUtil.info(Name + logInfo);
}
/// <summary>
/// 阻塞等待IO信号，等到返回true,未等到返回false
/// </summary>c
public bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
{
try
{
return WaitUtil.Wait(timeOut, delegate ()
{
return value.Equals(IOValue(ioType));
}, errName);
}
catch (Exception ex)
{
LogUtil.error(Name + " 等待" + ioType + "=" + value + "超时：" + ex.ToString());
return false;
}
}
public void SetWarnMsg(string msg = "")
{
if (String.IsNullOrEmpty(msg).Equals(false))
{
if (WarnMsg.Equals(msg))
{
if (msg.StartsWith(Name))
{
LogUtil.error(msg, 105);
}
else
{
LogUtil.error(Name + msg, 105);
}
}
else
{
if (msg.StartsWith(Name))
{
LogUtil.error(msg);
}
else
{
LogUtil.error(Name + msg);
}
}
}
WarnMsg = msg;
}
#region CheckWait处理
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(LineMoveInfo moveInfo)
{
try
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = true;
if (moveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if ((!wait.WaitType.Equals(WaitEnum.W002_IOValue)) && wait.IsEnd)
{
continue;
}
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + "]";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
if (wait.IoType.Equals(IO_Type.LHigh_LineRun) || wait.IoType.Equals(IO_Type.LLown_LineRun))
{
IOMove(wait.IoType, wait.IoValue);
LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
}
//if (wait.IsDO)
//{
// if (IOManager.DOValue(wait.IoType).Equals(wait.IoValue).Equals(false))
// IOMove(wait.IoType, wait.IoValue);
//}
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)//&& span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2
{
if (moveInfo.CanRMoveIO)
{
preRWTime = DateTime.Now;
string msg = Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType).Equals(ww.IoValue).Equals(false))
{
isLog = true;
IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
}
if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut)
{
if (alarmType.Equals(AlarmType.None))
{
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error(Name + WarnMsg, 13);
Alarm(AlarmType.IoSingleTimeOut);
}
}
if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
if (wait.IsEnd)
{
if (moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
moveInfo.EndStepWait();
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{
WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg
+ "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 1002);
Alarm(AlarmType.IoSingleTimeOut);
}
}
catch (Exception ex)
{
LogUtil.error(Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
public virtual string GetRunInfo()
{
return "";
}
#endregion
public virtual bool StartRun()
{
return false;
}
public virtual void StopRun()
{ }
public virtual void Reset()
{ }
public virtual void StopMove()
{
}
public virtual void Alarm(AlarmType alarmType)
{
}
}
}