DoubleLineBean_lineShelf.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;
using static OnlineStore.DeviceLibrary.PackageLine;
namespace OnlineStore.DeviceLibrary
{
partial class DoubleLineBean
{
#region 流水线料架处理，料架进入，出去，工位流转
public string LeftUpdownRFID = "";
private Stopwatch lowWatch = new Stopwatch();
private Stopwatch lhighWatch = new Stopwatch();
private Stopwatch rhighWatch = new Stopwatch();
private Stopwatch inLineWatch = new Stopwatch();
private Stopwatch outLineWatch = new Stopwatch();
private bool LowProcess = false;
private bool LHighProcess = false;
private bool RHighProcess = false;
private bool ROutProcess = false;
private void ShelfCheckPro()
{
if (IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.LHigh_StopCylinder2).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.LHigh_LineRun).Equals(IO_VALUE.LOW) && LHighProcess.Equals(false)
)
{
bool isUseHighShelf = (SOneMoveInfo.MoveStep >= MoveStep.S1_D12_LineRun && SOneMoveInfo.MoveStep <= MoveStep.S1_D12_LineRun);
if (!isUseHighShelf && LineManager.checkWatch(lhighWatch, 5000))
{
lhighWatch.Stop();
//左侧上层需要放个料架
Task.Factory.StartNew(delegate
{
LHighProcess = true;
LogUtil.info("左侧双层线_" + "左上层放料架到阻挡2");
IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH, 30000);
IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.HIGH, 2000);
if (WaitIo(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH, 30000, "左侧_上层放料架到阻挡2"))
{
IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.LOW);
}
LHighProcess = false;
});
}
}
else
{
if (LHighProcess)
{
KeepLineRun(IO_Type.LHigh_LineRun);
}
lhighWatch.Stop();
}
if (IOValue(IO_Type.RHigh_StopCheck2).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.RHigh_StopCylinder2).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.RHigh_StopCheck1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.RHigh_LineRun).Equals(IO_VALUE.LOW)
&& RHighProcess.Equals(false)
)
{
if (LineManager.checkWatch(rhighWatch, 5000))
{
rhighWatch.Stop();
//右侧上层需要放个料架
Task.Factory.StartNew(delegate
{
RHighProcess = true;
LogUtil.info("右侧双层线_" + "右上层放料架到阻挡2");
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, 30000);
IOMove(IO_Type.RHigh_StopCylinder1, IO_VALUE.HIGH, 2000);
if (WaitIo(IO_Type.RHigh_StopCheck2, IO_VALUE.HIGH, 30000, "右侧_上层放料架到阻挡2"))
{
IOMove(IO_Type.RHigh_StopCylinder1, IO_VALUE.LOW);
}
RHighProcess = false;
LogUtil.info("右侧双层线_" + "右上层放料架到阻挡2，完成");
});
}
}
else
{
rhighWatch.Stop();
}
if (IOValue(IO_Type.LLow_StopCheck2).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.LLow_StopCheck1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.LLow_StopCylinder2).Equals(IO_VALUE.LOW) && LowProcess.Equals(false))// IOValue(IO_Type.LLown_LineRun).Equals(IO_VALUE.LOW) &&
{
bool isUseLowShelf = false;//(SOneMoveInfo.MoveStep >= MoveStep.S1_C02_MDown && SOneMoveInfo.MoveStep < MoveStep.S1_C05_CheckS1);
if (!isUseLowShelf && LineManager.checkWatch(lowWatch, 5000))
{
//左侧下层需要放个料架
Task.Factory.StartNew(delegate
{
LowProcess = true;
LogUtil.info("左侧双层线_左下层放料架到阻挡2");
//IOMove(IO_Type.LLown_LineRun, IO_VALUE.HIGH, 30000);
AllLine.LeftLowLine.LineRun(Name, false, 30, "放料架到阻挡2");
IOMove(IO_Type.LLow_StopCylinder1, IO_VALUE.HIGH, 2000);
if (WaitIo(IO_Type.LLow_StopCheck2, IO_VALUE.HIGH, 20000, "左侧_下层放料架到阻挡2"))
{
IOMove(IO_Type.LLow_StopCylinder1, IO_VALUE.LOW);
}
LogUtil.info("左侧双层线_左下层放料架到阻挡2，完成");
LowProcess = false;
});
}
}
else
{
if (LowProcess)
{
if (!AllLine.LeftLowLine.IsLineRun)
{
AllLine.LeftLowLine.LineRun(Name, false, 5, "放料架到阻挡2,链条已停止，重新运行");
}
}
lowWatch.Stop();
}
//入口有料架
if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && LineManager.checkWatch(inLineWatch, 3000, true))
{
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, false).NumStr();
bool needProces = false;
//等待可放料架
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix) && IOValue(IO_Type.LHigh_FullCheck).Equals(IO_VALUE.LOW))
{
needProces = true;
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix) && IOValue(IO_Type.LLow_FullCheck).Equals(IO_VALUE.LOW))
{
needProces = true;
}
if (needProces)
{
LogUtil.info("左侧双层线_" + "入口提升机中有料架 开始料架进入处理");
//开始料架进入处理
MoveInfo.NewMove(LineMoveType.LeftShelf, MoveStep.SI01_ShelfInLeft);
IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_InCheck, IO_VALUE.HIGH));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCheck, IO_VALUE.HIGH));
}
else
{
IOMove(IO_Type.L_InLineRun, IO_VALUE.LOW);
}
}
}
else if (IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.LOW) && IOValue(IO_Type.L_InLineRun).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
inLineWatch.Stop();
//料架还在入口，转动料架到位
Task.Factory.StartNew(delegate
{
LogUtil.info("左侧双层线_" + "料架还在入口，转动料架到左侧提升机");
IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.L_InLineRun, IO_VALUE.HIGH, 20000);
if (WaitIo(IO_Type.Line_StopCheck, IO_VALUE.HIGH, 20000, "入口料架转到左侧提升机内"))
{
IOMove(IO_Type.L_InLineRun, IO_VALUE.LOW);
}
});
}
else
{
inLineWatch.Stop();
}
}
else
{
inLineWatch.Stop();
if (MoveInfo.MoveType.Equals(LineMoveType.LeftShelf) && MoveInfo.MoveStep.Equals(MoveStep.SI04_InStopDown))
{
}
else
{
CheckAndMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
}
}
//右侧出口
if (IOValue(IO_Type.R_StopCheck1).Equals(IO_VALUE.HIGH) && ROutProcess.Equals(false))
{
if (IOValue(IO_Type.R_StopCheck2).Equals(IO_VALUE.LOW) && LineManager.checkWatch(outLineWatch, 5000, true) &&
IOValue(IO_Type.R_StopCylinder2).Equals(IO_VALUE.LOW))//LineManager.packageLine.benQOutStep.GetCurStep() < BenQ_OUT_STEP.SHELF_TO_UPDOWN
{
outLineWatch.Stop();
Task.Factory.StartNew(delegate
{
ROutProcess = true;
LogUtil.info("右侧双层线_" + "出口无料架，放一个料架");
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.LOW);
IOMove(IO_Type.R_StopCylinder1, IO_VALUE.HIGH, 2000);
IOMove(IO_Type.R_LineRun, IO_VALUE.HIGH, 20000);
if (WaitIo(IO_Type.R_StopCheck2, IO_VALUE.HIGH, 20000, "料架到达出口"))
{
IOMove(IO_Type.R_StopCylinder1, IO_VALUE.LOW);
}
LogUtil.info("右侧双层线_" + "出口无料架，放一个料架完成");
ROutProcess = false;
});
}
}
else
{
outLineWatch.Stop();
}
}
internal void ShelfMoveProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
//此步骤线体不能停
if (MoveInfo.MoveStep.Equals(MoveStep.SI09_WaitStopRun))
{
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
CheckAndMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH);
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
//CheckAndMove(IO_Type.LLown_LineRun, IO_VALUE.HIGH);
AllLine.LeftLowLine.LineRun(Name, false, 0, $"提升机有料架{LeftUpdownRFID}");
}
}
return;
}
if (MoveInfo.MoveStep.Equals(MoveStep.SI01_ShelfInLeft))
{
MoveInfo.NextMoveStep(MoveStep.SI02_ReadRFID);
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//等待可放料架
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
LogUtil.info(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",等待上层 LHigh_FullCheck无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_FullCheck, IO_VALUE.LOW));
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
LogUtil.info(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",等待下层 LLow_FullCheck无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_FullCheck, IO_VALUE.LOW));
}
else
{
LogUtil.error(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",不是正确的料架，结束处理 ");
MoveInfo.EndMove();
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI02_ReadRFID))
{
if (LeftUpdownCanMove())
{
MoveInfo.NextMoveStep(MoveStep.SI03_UpdownMove);
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
LogUtil.info(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",升降机上升");
CylinderMove(MoveInfo, IO_Type.L_Updown_Down, IO_Type.L_Updown_Up);
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
LogUtil.info(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",升降机下降");
CylinderMove(MoveInfo, IO_Type.L_Updown_Up, IO_Type.L_Updown_Down);
}
else
{
LogUtil.error(Name + MoveInfo.SLog + " ：左侧新料架=" + LeftUpdownRFID + ",不是正确的料架，结束处理 ");
MoveInfo.EndMove();
}
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI03_UpdownMove))
{
MoveInfo.NextMoveStep(MoveStep.SI04_InStopDown);
LogUtil.info(Name + MoveInfo.SLog + "：升降机到位，阻挡放开，链条正转");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
IOMove(IO_Type.Line_StopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.L_InLineRun, IO_VALUE.HIGH);
LeftLineMove(IO_VALUE.HIGH, MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCylinder, IO_VALUE.HIGH, true));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.L_InLineRun, IO_VALUE.HIGH, true));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_InCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCheck, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI04_InStopDown))
{
MoveInfo.NextMoveStep(MoveStep.SI05_WaitCheck1High);
LogUtil.info(Name + MoveInfo.SLog + "：阻挡上升，等待12000，等待阻挡检测无信号");
LeftLineMove(IO_VALUE.HIGH, MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
IOMove(IO_Type.L_InLineRun, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.L_InLineRun, IO_VALUE.HIGH));
//if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
//{
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCheck, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_InCheck, IO_VALUE.LOW));
//}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI05_WaitCheck1High))
{
bool IsCanStart = false;
//判断料架是否离开
if (IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.LOW))
{
IsCanStart = true;
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix) && IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH))
{
IsCanStart = true;
}
if (IsCanStart)
{
MoveInfo.NextMoveStep(MoveStep.SI06_WaitCheck1Low);
LogUtil.info(Name + MoveInfo.SLog + "：阻挡上升，等待检测1灭，或者再等待15秒");
LeftLineMove(IO_VALUE.HIGH, null);
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(15000));
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
if (IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.HIGH))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_StopCheck1, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
}
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
if (IOValue(IO_Type.LLow_StopCheck1).Equals(IO_VALUE.HIGH))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_StopCheck1, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
}
}
if (!MoveInfo.OneWaitCanEndStep)
{
LeftLineMove(IO_VALUE.HIGH, MoveInfo);
}
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.MoveStep + "等待料架离开左侧升降机 超时：" + FormUtil.GetShowStr(MoveInfo.StepSpan().TotalSeconds) + "秒";
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI06_WaitCheck1Low))
{
MoveInfo.NextMoveStep(MoveStep.SI07_WaitCanDown);
//必须两边都没有信号
LogUtil.info(Name + MoveInfo.SLog + " 等待升降机可以下降");
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_InCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCheck, IO_VALUE.LOW));
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI07_WaitCanDown))
{
if (LeftUpdownCanMove())
{
MoveInfo.NextMoveStep(MoveStep.SI08_UpdownDown);
LeftLineMove(IO_VALUE.HIGH, MoveInfo);
string result = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
LogUtil.info(Name + MoveInfo.SLog + " 升降机下降，清理当前rfid:" + result);
IOMove(IO_Type.L_InLineRun, IO_VALUE.LOW);
Thread.Sleep(100);
CylinderMove(MoveInfo, IO_Type.L_Updown_Up, IO_Type.L_Updown_Down);
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI08_UpdownDown))
{
MoveInfo.NextMoveStep(MoveStep.SI09_WaitStopRun);
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
MoveInfo.TimeOutSeconds = 30;
LogUtil.info(Name + MoveInfo.SLog + " 等待检测2亮，转动30秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
LeftLineMove(IO_VALUE.HIGH, null);
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
if (IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
if (IOValue(IO_Type.LLow_StopCheck2).Equals(IO_VALUE.LOW))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_StopCheck2, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
}
if (!MoveInfo.OneWaitCanEndStep)
{
LeftLineMove(IO_VALUE.HIGH, MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI09_WaitStopRun))
{
MoveInfo.NextMoveStep(MoveStep.SI10_WaitTime);
LogUtil.info(Name + MoveInfo.SLog + " 再转动5秒");
LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LeftLineMove(IO_VALUE.HIGH, null);
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH));
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_StopCheck2, IO_VALUE.HIGH));
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SI10_WaitTime))
{
// if (IOValue(IO_Type.LLow_StopCheck2).Equals(IO_VALUE.LOW) || IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW))
// {
// LeftLineMove(IO_VALUE.HIGH);
// if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
// {
// IOMove(IO_Type.Line_StopCylinder, IO_VALUE.HIGH);
// }
// }
// else
//{
LogUtil.info(Name + MoveInfo.SLog + " 停止链条转动，结束处理");
IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
LeftLineMove(IO_VALUE.LOW);
MoveInfo.EndMove();
//}
}
}
private void LeftLineMove(IO_VALUE value, LineMoveInfo moveInfo = null)
{
if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_LineRun, value, true));
}
CheckAndMove(IO_Type.LHigh_LineRun, value);
}
else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLown_LineRun, value, true));
}
//CheckAndMove(IO_Type.LLown_LineRun, value);
if(value.Equals(IO_VALUE.HIGH))
{
AllLine.LeftLowLine.LineRun(Name, false, 0, "LeftLineMove");
}
else if(value.Equals(IO_VALUE.LOW))
{
AllLine.LeftLowLine.LineStop(Name, "LeftLineMove", true);
}
}
}
private bool LeftUpdownCanMove()
{
if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.LOW))
{
return true;
}
else if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH))
{
return true;
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.MoveStep + "等待升降机可以升降超时：" + FormUtil.GetShowStr(MoveInfo.StepSpan().TotalSeconds) + "秒";
Alarm(AlarmType.IoSingleTimeOut);
}
return false;
}
#endregion
#region 灯光处理
private void CloseLed()
{
CheckAndMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
CheckAndMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
CheckAndMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
CheckAndMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW);
}
private void LedProcess()
{
try
{
DateTime time = DateTime.Now;
if (runStatus <= RunStatus.Wait)
{
CloseLed();
return;
}
bool isNeedAlarmLed = false;
bool isInOut = false;
bool yellowShanShuo = false;
if (runStatus.Equals(RunStatus.HomeMoving) || runStatus.Equals(RunStatus.Reset))
{
yellowShanShuo = true;
}
if (isInSuddenDown || NoAirCheck || alarmType >= AlarmType.SuddenStop)
{
isNeedAlarmLed = true;
}
else if (LeftRobot.WarnMsg != "" || RightRobot.WarnMsg != "")
{
yellowShanShuo = true;
}
if (!SOneMoveInfo.MoveType.Equals(LineMoveType.None))
{
isInOut = true;
}
if (!LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None) || !RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
isInOut = true;
}
//黄灯
if (yellowShanShuo)
{
//开机执行中时黄灯闪烁
if (IOValue(IO_Type.AutoRun_HddLed).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
}
else
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
}
}
else if (IOValue(IO_Type.AutoRun_HddLed).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
}
//忙碌中，判断是否有移栽在出入库执行，绿灯闪烁
if (isInOut)
{
if (IOValue(IO_Type.RunSign_HddLed).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
}
}
else if (IOValue(IO_Type.RunSign_HddLed).Equals(IO_VALUE.LOW))
{
//平常常亮绿灯
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.HIGH);
}
//严重报警中 ，红灯闪烁
if (isNeedAlarmLed)
{
if (IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
}
else if (IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
}
if (isNeedAlarmLed && LineManager.UseBuzzer)
{
CheckAndMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH);
}
else
{
CheckAndMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW);
}
}
catch (Exception ex)
{
LogUtil.error(Name + "灯处理定时器出错：", ex);
}
Thread.Sleep(5);
}
private bool isInProcess = false;
private DateTime LastProTime = DateTime.Now;
public void Led_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
TimeSpan span = DateTime.Now - LastProTime;
if (span.TotalSeconds < 30)
{
return;
}
}
isInProcess = true;
try
{
LedProcess();
}
catch (Exception ex)
{
LogUtil.error(" Led_timer_Tick 出错：" + ex.ToString());
}
isInProcess = false;
}
#endregion
/// <summary>
/// 保持线体持续转动
/// </summary>
private void KeepLineRun(String lineIoType)
{
bool isLineStop = IOValue(lineIoType).Equals(IO_VALUE.LOW);
if (isLineStop)
{
IOMove(lineIoType, IO_VALUE.HIGH);
LogUtil.info(Name + " 线体[" + lineIoType + "]已停止，重新转动");
}
}
}
}