RobotBase.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;
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)
|| wait.IoType.Equals(IO_Type.S1_LineRun) || wait.IoType.Equals(IO_Type.S1_LineBackRun))
{
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);
// LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
// }
//}
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)
{
}
}
}