RobotMoveBean.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class RobotMoveBean
{
internal string RobotIp = "";
internal string Name = "";
internal string DI_TrayCheck = "";
internal LineMoveInfo MoveInfo = null;
internal int robotNum = 1;
public string WarnMsg = "";
internal string NeedShelf = "";
internal TrayInfo CurrTray = null;
internal List<string> MyPointList = new List<string>();
public string CurrPoint = "";
public RobotMoveBean(int num, string ip, string name, string traycheck)
{
this.robotNum = num;
MoveInfo = new LineMoveInfo();
this.RobotIp = ip;
this.Name = name;
this.DI_TrayCheck = traycheck;
int smallStart = 1;
int smallEnd = 46;
int bigStart = 1;
int bigEnd = 6;
if (num.Equals(1))
{
smallStart = 47;
smallEnd = 92;
bigStart = 7;
bigEnd = 12;
}
//大料架=C, 小料架=D
for (int s = smallStart; s <= smallEnd; s++)
{
MyPointList.Add("dp" + s);
}
for (int b = bigStart; b <= bigEnd; b++)
{
MyPointList.Add("cp" + b);
}
CurrTray = new TrayInfo();
}
public bool CanChange(string currShelf)
{
if (CurrTray != null)
{
TimeSpan span = DateTime.Now - CurrTray.updateTime;
if (span.TotalSeconds > 5)
{
return true;
}
else if (!CurrTray.realRFID.Equals(currShelf))
{
return true;
}
else if (span.TotalSeconds > 2 && IOManager.IOValue(DI_TrayCheck).Equals(IO_VALUE.LOW))
{
return true;
}
}
else if (IOManager.IOValue(DI_TrayCheck).Equals(IO_VALUE.LOW))
{
return true;
}
return false;
}
public void Reset()
{
LogUtil.info(Name + "复位");
MoveInfo.EndMove();
//判断机器人是否连接，若未连接，直接连接
if (!ABBControl.IsConnected(RobotIp))
{
ABBControl.StartABBControl(RobotIp);
}
WarnMsg = "";
NeedShelf = "";
CurrTray = new TrayInfo();
}
internal void StopMove()
{
LogUtil.info(Name + " Stop Move ");
NeedShelf = "";
MoveInfo.EndMove();
}
// private Stopwatch DiStop = new Stopwatch();
private Stopwatch abbWatch = new Stopwatch();
private string lockTimer = "";
internal void TimerProcess()
{
if (Monitor.TryEnter(lockTimer, 1))
{
try
{
if (LineManager.checkWatch(abbWatch, 3000, true) || WarnMsg.Contains(RobotIp))
{
if (!ABBControl.IsConnected(RobotIp))
{
WarnMsg = Name + "[" + RobotIp + "]未正常连接";
return;
}
else if (WarnMsg.Contains(RobotIp))
{
WarnMsg = "";
}
}
if (!MoveInfo.MoveType.Equals(LineMoveType.None))
{
BusyProcess();
return;
}
else if (IOManager.IOValue(DI_TrayCheck).Equals(IO_VALUE.LOW))
{
CurrPoint = "";
NeedShelf = "";
// DiStop.Stop();
return;
}
else if (LineManager.Line.S1IsReady())
{
string outMsg = "";
CurrTray = HttpServer.GetDiskInfo(robotNum, LineManager.Line.S1_CurrShelfId, out outMsg);
//需要取放料，且料架已准备好
if (String.IsNullOrEmpty(CurrTray.getP).Equals(false) && outMsg.Equals(""))
{
if (WarnMsg.Contains("getLocation"))
{
WarnMsg = "";
}
// CurrTray = tray;
if (IsRightRfid(LineManager.Line.S1_CurrShelfId, out NeedShelf))
{
//DiStop.Stop();
string pname = "dp";
if (LineManager.Line.S1_CurrShelfId.StartsWith("C"))
{
pname = "cp";
}
CurrPoint = pname + CurrTray.shelfP;
//判断另一个机器人是否干涉
if (LineManager.Line.ABBCanStart(robotNum, MyPointList.Contains(CurrPoint)))
{
if (!CurrTray.realRFID.Equals(LineManager.Line.S1_CurrShelfId) || LineManager.Line.GetXNrfid(LineManager.Line.S1_CurrShelfId).Equals(""))
{
CurrTray.realRFID = LineManager.Line.S1_CurrShelfId;
LineManager.Line.AddRealShelf(CurrTray.realRFID, CurrTray.rfid);
}
//获取成功，开始放料
MoveInfo.NewMove(LineMoveType.PutTray, MoveStep.T01_GetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
LogUtil.info(Name + MoveInfo.SLog + "开始取料【" + CurrPoint + "】" + CurrTray.ToStr() + "");
ABBControl.SendCmd(RobotIp, ABBControl.Cmd_moveget, CurrTray.getP, "L", ABBControl.DefaultSpeed);
}
}
}
else
{
CurrPoint = "";
NeedShelf = "";
if (!outMsg.Equals(""))
{
WarnMsg = " getLocation " + outMsg;
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "Timer Process Error :" + ex.ToString());
}
//机器人报警
finally { Monitor.Exit(lockTimer); }
}
else
{
LogUtil.error(Name + "TimerProcess 未得到锁 ", robotNum * 100 + 13);
}
}
private void BusyProcess()
{
if (MoveInfo.IsInWait)
{
LineManager.Line.CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(MoveStep.Wait))
{
MoveInfo.NextMoveStep(MoveStep.T01_GetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
ABBControl.SendCmd(RobotIp, ABBControl.Cmd_moveget, CurrTray.getP, "L", ABBControl.DefaultSpeed);
//putFinTask = null;
}
else if (MoveInfo.MoveStep.Equals(MoveStep.T01_GetTray))
{
if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
{
MoveInfo.NextMoveStep(MoveStep.T02_PutTray);
LogUtil.debug(Name + MoveInfo.SLog + "【" + CurrPoint + "】取料完成，开始放料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
ABBControl.SendCmd(RobotIp, ABBControl.Cmd_moveput, CurrPoint, "L", ABBControl.DefaultSpeed);
}
else if (MoveInfo.IsTimeOut(180))
{
TimeOutAlarm("等待[" + CurrPoint + "]" + CurrTray.ToStr() + " 取料完成");
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.T02_PutTray))
{
if (ABBControl.GetAbbCmd(RobotIp).Contains(ABBControl.FINISHED))
{
MoveInfo.NextMoveStep(MoveStep.T03_PutFINISHED);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
LineManager.Line.S1_ShelfTask = HttpServer.ShelfFinish(CurrTray.realRFID, CurrTray.barcode, CurrTray.shelfP.ToString(), robotNum.ToString());
MoveInfo.EndStepWait();
}
else if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
{
MoveInfo.NextMoveStep(MoveStep.T04_WaitEnd);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
LineManager.Line.S1_ShelfTask = HttpServer.ShelfFinish(CurrTray.realRFID, CurrTray.barcode, CurrTray.shelfP.ToString(), robotNum.ToString());
EndMove();
}
else if (MoveInfo.IsTimeOut(180))
{
TimeOutAlarm("等待[" + CurrPoint + "]" + CurrTray.ToStr() + " FINISHED");
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.T03_PutFINISHED))
{
if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
{
EndMove();
}
else if (MoveInfo.IsTimeOut(180))
{
TimeOutAlarm("等待[" + CurrPoint + "]" + CurrTray.ToStr() + " 放料完成");
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.T04_WaitEnd))
{
EndMove();
}
}
private void EndMove()
{
LogUtil.info(Name + MoveInfo.SLog + "【" + CurrPoint + "】结束放料 " + DateTime.Now.ToLongTimeString() + "");
CurrTray.updateTime = DateTime.Now;
MoveInfo.EndMove();
NeedShelf = "";
}
private void TimeOutAlarm(string msg)
{
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.SLog + "]" + msg + "" + CurrPoint + CurrTray.ToStr() + " [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, robotNum * 100 + 12);
}
internal bool IsRightRfid(string currRfid, out string NeedRfid)
{
if (CurrTray == null)
{
NeedRfid = "";
return false;
}
if (CurrTray.realRFID.Equals(currRfid))
{
NeedRfid = currRfid;
return true;
}
else if (String.IsNullOrEmpty(CurrTray.realRFID))
{
NeedRfid = CurrTray.rfid;
//料架号=000，不放料
if (!currRfid.StartsWith("D")&& !currRfid.StartsWith("C"))
{
return false;
}
//如果虚拟料架号一致，返回ture
string xnrfid = LineManager.Line.GetXNrfid(currRfid);
if ((!xnrfid.Equals("") && xnrfid.Equals(CurrTray.rfid)))
{
NeedRfid = currRfid;
return true;
}
if (!String.IsNullOrEmpty(CurrTray.usedRfidList))
{
string[] array = CurrTray.usedRfidList.Split(',');
//若料架已使用过，直接返回false
if (array.Contains(currRfid))
{
return false;
}
}
//当前是第一盘料，使用虚拟料架号
string needType = CurrTray.rfid.Substring(CurrTray.rfid.Length - 1, 1);
string currType = currRfid.Substring(0, 1);
//类型相同，且此料架未绑定
if (needType.Equals(currType) && xnrfid.Equals(""))
{
NeedRfid = currRfid;
return true;
}
return false;
}
else
{
NeedRfid = CurrTray.realRFID;
//真实料架对不上
return false;
}
}
internal string GetRunInfo()
{
string info = "" + Name + "：" + MoveInfo.MoveType + " " + MoveInfo.MoveStep;
if (CurrPoint != "")
{
info += " ，位置=" + CurrPoint + "";
}
if (NeedShelf != "")
{
info += "， 需要料架=" + NeedShelf + "";
}
if (String.IsNullOrEmpty(CurrTray.getP).Equals(false))
{
info += "， " + CurrTray.ToStr() + " ";
}
return info;
}
}
}