DoubleLineBean.cs
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using Asa;
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 partial class DoubleLineBean : RobotBase
{
public DoubleLineConfig Config;
public RunStatus runStatus = RunStatus.Wait;
public List<string> RfidIpList = new List<string>();
public RobotMoveBean LeftRobot = null;
public RobotMoveBean RightRobot = null;
public LineMoveInfo SOneMoveInfo = null;
public DoubleLineBean(DoubleLineConfig config) : base(config)
{
this.Config = config;
mainTimer.Elapsed += timersTimer_Elapsed;
ledTimer.Elapsed += Led_timer_Tick;
LeftRobot = new RobotMoveBean(2, config.ABB2_IP, "左侧ABB", IO_Type.ABB2_TrayCheck);
RightRobot = new RobotMoveBean(1, config.ABB1_IP, "右侧ABB", IO_Type.ABB1_TrayCheck);
//添加调试
IsDebug = ConfigAppSettings.GetIntValue(Setting_Init.IsInDebug).Equals(1);
MoveInfo = new LineMoveInfo();
SOneMoveInfo = new LineMoveInfo();
Name = (" 双层线 ").ToUpper();
IOManager.Init();
IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
mainTimer.Enabled = false;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
if (isAuto == 1)
{
mainTimer.Enabled = true;
}
RfidIpList = new List<string>(){
config.L_Updown_Rfid,
config.M_Updown_Rfid,
config.S1_Rfid,
config.R_Updown_Rfid,
config.RHigh_Rfid
};
//benQ_AGV = new BenQ_AGV();
// AgvClient.Init();
Thread.Sleep(300);
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
if (ShelfWaitTime <= 0)
{
ShelfWaitTime = 2000;
}
}
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun()
{
LogUtil.info(Name + "开始启动，启动时间：" + DateTime.Now);
WarnMsg = "";
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
//S1_RightShelfId = "";
//S1_CurrShelfId = "";
//S1_LeftShelfId = "";
RealRfidMap = new Dictionary<string, string>();
mainTimer.Enabled = false;
// AgvClient.SetCancelState(false);
RFIDManager.Open(RfidIpList.ToArray());
if (ABBControl.GetControllerByIP(Config.ABB1_IP) == null)
{
SetWarnMsg("启动失败：机器人[" + Config.ABB1_IP + "]加载失败");
return false;
}
if (ABBControl.GetControllerByIP(Config.ABB2_IP) == null)
{
SetWarnMsg("启动失败：机器人[" + Config.ABB2_IP + "]加载失败");
return false;
}
//if (ABBControl.GetControllerByIP(Config.ABB3_IP) == null)
//{
// SetWarnMsg("启动失败：机器人[" + Config.ABB3_IP + "]加载失败");
// return false;
//}
runStatus = RunStatus.HomeMoving;
LineManager.packageLine.StartRun();
MoveInfo.NewMove(LineMoveType.ReturnHome);
ReturnHome();
return true;
}
//else if (IOValue(IO_Type.AirCheck).Equals(IO_VALUE.LOW))
//{
// SetWarnMsg("启动失败：气压未开");
//}
else
{
SetWarnMsg("启动失败：急停未开");
}
return false;
}
#region 原点返回和复位处理
private void ReturnHome()
{
LHighProcess = false;
LowProcess = false;
S1_ShelfTask = new ShelfTaskInfo();
S2CanGetShelf = true;
needNewShelf = "";
NoAirCheck = false;
isInSuddenDown = false;
LeftRobot.NeedShelf = "";
alarmType = AlarmType.None;
SetWarnMsg("");
//清理RFID
RFIDManager.ReadRFID(Config.L_Updown_Rfid, true);
RFIDManager.ReadRFID(Config.S1_Rfid, true);
LeftRobot.Reset();
RightRobot.Reset();
SOneMoveInfo.EndMove();
MoveInfo.NextMoveStep(MoveStep.H01_StopUp);
ResetStopMove();
//工位顶升下降
CylinderMove(MoveInfo, IO_Type.S1_TopCylinderUp, IO_Type.S1_TopCylinderDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown2, IO_VALUE.HIGH));
//CylinderMove(MoveInfo, IO_Type.S2_TopCylinderUp, IO_Type.S2_TopCylinderDown);
mainTimer.Enabled = true;
ledTimer.Enabled = true;
}
/// <summary>
/// 复位时阻挡状态
/// </summary>
/// <param name="value"></param>
/// <param name="moveInfo"></param>
public void ResetStopMove(LineMoveInfo moveInfo = null)
{
//此阻挡默认下降
CheckAndMove(IO_Type.LLow_StopCylinder1, IO_VALUE.HIGH);
CheckAndMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.HIGH);
//工位只上升2个阻挡
CheckAndMove(IO_Type.S1_NegStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
IO_VALUE value = IO_VALUE.LOW;
CheckAndMove(IO_Type.Line_StopCylinder, value);
CheckAndMove(IO_Type.LLow_StopCylinder1, value);
CheckAndMove(IO_Type.LLow_StopCylinder2, value);
CheckAndMove(IO_Type.LHigh_StopCylinder1, value);
CheckAndMove(IO_Type.LHigh_StopCylinder2, value);
CheckAndMove(IO_Type.M_LeftStopCylinder, value);
CheckAndMove(IO_Type.AftS1_StopCylinder, value);
CheckAndMove(IO_Type.S1_PosStopCylinder, value);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, value);
}
public void AllLineMove(IO_VALUE value, LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.L_InLineRun, value);
IOMove(IO_Type.LLown_LineRun, value);
IOMove(IO_Type.LHigh_LineRun, value);
IOMove(IO_Type.M_LineRun, value);
if (value.Equals(IO_VALUE.HIGH))
{
S1LineRun();
}
else
{
S1LineStop();
}
//if (value.Equals(IO_VALUE.HIGH))
//{
// S2LineRun();
//}
//else
//{
// S2LineStop();
//}
}
public override void Reset()
{
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
mainTimer.Enabled = false;
runStatus = RunStatus.Reset;
MoveInfo.NewMove(LineMoveType.StoreReset);
ReturnHome();
LineManager.packageLine.Reset();
}
//else if (IOValue(IO_Type.AirCheck).Equals(IO_VALUE.LOW))
//{
// SetWarnMsg("复位失败：气压未开");
//}
else
{
SetWarnMsg("复位失败：急停未开");
}
}
/// <summary>
/// 复位处理
/// </summary>
protected void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
switch (MoveInfo.MoveStep)
{
case MoveStep.H01_StopUp:
MoveInfo.NextMoveStep(MoveStep.H02_LineRun);
LogUtil.info(Name + " 复位：线体转10秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
AllLineMove(IO_VALUE.HIGH);
break;
case MoveStep.H02_LineRun:
MoveInfo.NextMoveStep(MoveStep.H03_UpoownDown);
LogUtil.info(Name + " 复位：停止线体，提升机下降");
AllLineMove(IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.L_Updown_Up, IO_Type.L_Updown_Down);
CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
CylinderMove(MoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
break;
case MoveStep.H03_UpoownDown:
if (IOValue(IO_Type.M_LeftStopCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.M_RightStopCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.H04_MStopDown);
LogUtil.info(Name + " 复位：中间提升机有料架，转动料架到S1左侧");
IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.M_LineRun, IO_VALUE.HIGH);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.S1_NegStopCylinder, IO_VALUE.HIGH);
S1LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
else
{
LogUtil.info(Name + " 复位完成，");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
break;
case MoveStep.H04_MStopDown:
MoveInfo.NextMoveStep(MoveStep.H05_MShlefToLeft);
LogUtil.info(Name + " 复位：中间提升机有料架，等待料架到达S1左侧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
break;
case MoveStep.H05_MShlefToLeft:
MoveInfo.NextMoveStep(MoveStep.H06_SaveLeft);
S1_LeftShelfId = RFIDManager.ReadRFID(Config.M_Updown_Rfid, true).NumStr();
LogUtil.info(Name + " 复位：停止转动，记录左侧料架信息：" + LeftSName);
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
S1LineStop(MoveInfo);
break;
case MoveStep.H06_SaveLeft:
MoveInfo.NextMoveStep(MoveStep.H06_SaveLeft);
LogUtil.info(Name + " 复位完成，");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
break;
default: break;
}
}
#endregion
public override void StopRun()
{
WarnMsg = "";
//AgvClient.SetCancelState(true);
mainTimer.Enabled = false;
ledTimer.Enabled = false;
StopMove();
LineManager.packageLine.StopRun();
runStatus = RunStatus.Wait;
IOManager.instance.CloseAllDO();
LogUtil.info(Name + ",停止运行");
}
public override void Alarm(AlarmType alarmType)
{
if (this.alarmType.Equals(alarmType) && alarmType != AlarmType.SuddenStop)
{
return;
}
LogUtil.error(Name + " 报警，报警类型：" + alarmType);
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop))
{
isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，停止运行 ");
StopMove();
}
else if (alarmType.Equals(AlarmType.NoAirCheck))
{
NoAirCheck = true;
LogUtil.error(Name + "无气压信号，停止运行 ");
StopMove();
}
}
public override void StopMove()
{
MoveInfo.EndMove();
SOneMoveInfo.EndMove();
AllLineMove(IO_VALUE.LOW);
LeftRobot.StopMove();
RightRobot.StopMove();
LineManager.packageLine.StopMove();
}
private bool InProcess = false;
static object s1ShelfLock = new object();
private Stopwatch stopwatch = new Stopwatch();
public bool MoveStop = false;
protected void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (runStatus >= RunStatus.HomeMoving)
{
LeftRobot.TimerProcess();
RightRobot.TimerProcess();
}
if (MoveStop)
{
return;
}
if (InProcess && stopwatch.Elapsed.TotalSeconds < 3)
{
return;
}
try
{
InProcess = true;
stopwatch.Restart();
IoCheckProcess();
if (runStatus >= RunStatus.HomeMoving)
{
try
{
DateTime time = DateTime.Now;
if (MoveInfo.MoveType.Equals(LineMoveType.ReturnHome) || MoveInfo.MoveType.Equals(LineMoveType.StoreReset))
{
ResetProcess();
}
else
{
//LeftRobot.TimerProcess();
//RightRobot.TimerProcess();
ShelfCheckPro();
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
//WorkShelfCheck();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.LTransWork2Buf))
{
//LTransWork2BuffProcess();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.LTransBuf2Work))
{
//LTransBuff2WorkProcess();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.LeftShelf))
{
ShelfMoveProcess();
}
if (SOneMoveInfo.MoveType.Equals(LineMoveType.None))
{
S1_ShelfCheck();
if (S1_RightShelfId != "")
{
S2CanGetShelf = false;
}
else
{
S2CanGetShelf = true;
}
}
else if (SOneMoveInfo.MoveType.Equals(LineMoveType.S1Shelf))
{
if (Monitor.TryEnter(s1ShelfLock))
{
try
{
S1_ShelfProcess();
}
catch (Exception ex)
{
LogUtil.error(Name + " S1_ShelfProcess出错", ex);
}
finally
{
Monitor.Exit(s1ShelfLock);
}
}
if (S1_RightShelfId != "" && S2CanGetShelf)
{
S2CanGetShelf = false;
}
}
if (SOneMoveInfo.MoveType.Equals(LineMoveType.None) && MoveInfo.MoveType.Equals(LineMoveType.None) &&
LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None) && RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
runStatus = RunStatus.Runing;
IOTimeOutProcess();
}
else
{
runStatus = RunStatus.Busy;
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "TimerProcess 定时处理出错", ex);
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时处理出错：" + ex.ToString());
}
finally { InProcess = false; }
}
private IO_VALUE LastResetValue = IO_VALUE.LOW;
IO_VALUE preStop = IO_VALUE.LOW;
public void IoCheckProcess()
{
try
{
IO_VALUE io = IOValue(IO_Type.LLow_StopCylinder2);
if (!io.Equals(preStop))
{
preStop = io;
LogUtil.info($"左下层出口阻挡信号（LLow_StopCylinder2）变化为{io.ToString()}");
}
}
catch(Exception ex) {
LogUtil.error($"左下层出口阻挡信号（LLow_StopCylinder2）变化监测出错",ex);
}
DateTime time = DateTime.Now;
if (runStatus.Equals(RunStatus.Wait))
{
//取新的Io状态
IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN);
if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
{
if (autoSingle.Equals(IO_VALUE.HIGH) && LastResetValue.Equals(IO_VALUE.LOW))
{
//没有启动时收到复位按钮，相当于启动按钮
LogUtil.info(Name + "没有启动时收到复位按钮，开始启动");
bool result = StartRun();
if (result.Equals(false))
{
LogUtil.error(Name + "启动失败，等待下次启动！");
mainTimer.Enabled = true;
}
}
LastResetValue = autoSingle;
return;
}
LastResetValue = autoSingle;
}
//判断急停
else if (runStatus >= RunStatus.HomeMoving)
{
//判断急停
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
if (isInSuddenDown.Equals(false))
{
isInSuddenDown = true;
SetWarnMsg("收到急停信号，报警急停");
//报警时会关闭所有轴
Alarm(AlarmType.SuddenStop);
}
}
else if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
{
//收到复位信号，若报警直接复位，若不报警且无操作，回到待机点
if (alarmType.Equals(AlarmType.None) && isInSuddenDown.Equals(false))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
LogUtil.info("收到复位信号，当前无报警，暂不复位");
}
else
{
LogUtil.info("收到复位信号，当前无报警， 在" + MoveInfo.MoveType + "处理中，暂不复位");
}
}
else
{
//收到复位信号
LogUtil.info("收到复位信号，自动复位");
Reset();
}
}
}
}
private DateTime preIoTimerOutTime = DateTime.Now;
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1)
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < RunStatus.Runing || isInSuddenDown)
{
return;
}
if (alarmType.Equals(AlarmType.IoSingleTimeOut) && MoveInfo.IsInWait == false)
{
LogUtil.info(Name + "之前有IO超时报警，清理报警：" + WarnMsg);
alarmType = AlarmType.None;
SetWarnMsg();
}
}
}
catch (Exception ex)
{
LogUtil.error(" IOTimeOutProcess 出错：" + ex.ToString());
}
}
public override string GetRunInfo()
{
string s1Info = "";
if (!S1_ShelfTask.rfid.Equals(""))
{
s1Info = S1_ShelfTask.ToStr();
}
string leftShelf = LeftUpdownRFID.Equals("") ? "" : " 左侧料架=" + LeftUpdownRFID + " ";
string msg = MoveInfo.MoveType + " " + MoveInfo.MoveStep + " " + leftShelf + "\r\n" +
"" + SOneMoveInfo.MoveType + " " + SOneMoveInfo.MoveStep + " \t" + AllTaskInfo.ToStr() + "\r\n" +
"S1工位（" + (S1IsReady() ? "可放料" : "不可放料") + "）： " + LeftSName + " " + S1SName + " " + RightSName + "" + " " + s1Info + " "+ CurSName + "\r\n" +
// "" + LeftRobot.Name + "：" + LeftRobot.MoveInfo.MoveType + " " + LeftRobot.MoveInfo.MoveStep + " [" + LeftRobot.CurrPoint + "]["+LeftRobot.NeedShelf+"] " + LeftRobot.CurrTray.ToStr() + "" + "\r\n" +
//"" + RightRobot.Name + "：" + RightRobot.MoveInfo.MoveType + " " + RightRobot.MoveInfo.MoveStep + " [" + RightRobot.CurrPoint + "][" + RightRobot.NeedShelf + "] " + RightRobot.CurrTray.ToStr() + ""
LeftRobot.GetRunInfo() + "\r\n" +
RightRobot.GetRunInfo() + "\r\n"
;
return msg;
}
private void S1LineRun(LineMoveInfo moveInfo = null)
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.LOW,true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.HIGH,true));
}
CheckAndMove(IO_Type.S1_LineBackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
}
private void S1BackRun(LineMoveInfo moveInfo = null)
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.LOW,true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.HIGH,true));
}
CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.S1_LineBackRun, IO_VALUE.HIGH);
}
private void S1LineStop(LineMoveInfo moveInfo = null)
{
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.LOW,true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.LOW,true));
}
CheckAndMove(IO_Type.S1_LineBackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
}
//private void S2LineRun(LineMoveInfo moveInfo = null)
//{
// if (moveInfo != null)
// {
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.LOW));
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.HIGH));
// }
// CheckAndMove(IO_Type.S2_LineBackRun, IO_VALUE.LOW);
// IOMove(IO_Type.S2_LineRun, IO_VALUE.HIGH);
//}
//private void S2BackRun(LineMoveInfo moveInfo = null)
//{
// if (moveInfo != null)
// {
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.LOW));
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.HIGH));
// }
// CheckAndMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
// IOMove(IO_Type.S2_LineBackRun, IO_VALUE.HIGH);
//}
//private void S2LineStop(LineMoveInfo moveInfo = null)
//{
// if (moveInfo != null)
// {
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.LOW));
// moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.LOW));
// }
// CheckAndMove(IO_Type.S2_LineBackRun, IO_VALUE.LOW);
// CheckAndMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
//}
}
}