DoubleLineBean_S1Shelf.cs
59.5 KB
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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
{
partial class DoubleLineBean
{
private int ShelfWaitTime = ConfigAppSettings.GetIntValue("ShelfWaitTime");
#region 料架切换处理
/// <summary>
/// 工位S2是否可以放行左侧的料架
/// </summary>
internal bool S2CanGetShelf = true;
/// <summary>
/// 上料工位当前料架信息
/// </summary>
internal string S1_CurrShelfId = "";
/// <summary>
/// 上料工位左侧料架信息
/// </summary>
internal string S1_LeftShelfId = "";
/// <summary>
/// 上料工位右侧料架信息
/// </summary>
internal string S1_RightShelfId = "";
private string S1SName
{
get { return "【S1_" + S1_CurrShelfId + "_" + GetXNrfid(S1_CurrShelfId) + "】"; }
}
private string LeftSName
{
get { return "【L_" + S1_LeftShelfId + "_" + GetXNrfid(S1_LeftShelfId) + "】"; }
}
private string RightSName
{
get { return "【R_" + S1_RightShelfId + "_" + GetXNrfid(S1_RightShelfId) + "】"; }
}
private string CurSName
{
get { return wOData.ToTxt(); }
}
/// <summary>
/// 所有任务信息
/// </summary>
public AllTaskInfo AllTaskInfo = new AllTaskInfo();
/// <summary>
/// 上料工位任务信息
/// </summary>
internal ShelfTaskInfo S1_ShelfTask = new ShelfTaskInfo();
internal WOData wOData = new WOData();
/// <summary>
/// 上料工位检查，S1工位如果启动时有料架，左侧位置默认为00D,
/// </summary>
internal void S1_ShelfCheck()
{
//未准备料架，判断工位是否有料架
if (IOValue(IO_Type.S1_PosStopCheck).Equals(IO_VALUE.HIGH))
{
//判断左侧是否有料架
if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.HIGH))
{
if (S1_LeftShelfId.Equals(""))
{
S1_LeftShelfId = "00D";
}
LogUtil.info(Name + "启动检测到左侧有料架，默认左侧料架号" + LeftSName);
}
else
{
S1_LeftShelfId = "";
}
LogUtil.info(Name + "检测到S1工位有料架，开始处理料架");
SOneMoveInfo.NewMove(LineMoveType.S1Shelf);
S1_WaitTopUp();
}
else if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.HIGH))
{
LogUtil.info(Name + "启动检测到左侧有料架，开始处理料架");
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_C06_SaveLeft);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.S1_NegStopCylinder, IO_VALUE.HIGH);
}
else
{
CheckS1Task();
}
}
private Stopwatch pkgHasShelfWatch = new Stopwatch();
/// <summary>
/// 检查上料工位任务
/// </summary>
/// <param name="log"></param>
/// <returns></returns>
private bool CheckS1Task(string log = "")
{
//判断是否还有任务
AllTaskInfo = HttpServer.GetATaskInfo();
if (AllTaskInfo.smallTask > 0)
{
pkgHasShelfWatch.Stop();
needNewShelf = Static_String.SmallShelf_RFID_Prefix;
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_NewShelf);
S1Log(log + " 剩余任务：" + AllTaskInfo.ToStr() + "，需要一个新D料架");
return true;
}
else if (AllTaskInfo.bigTask > 0)
{
pkgHasShelfWatch.Stop();
needNewShelf = Static_String.BigShelf_RFID_Prefix;
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_NewShelf);
S1Log(log + " 剩余任务：" + AllTaskInfo.ToStr() + "，需要一个新C料架");
return true;
}
else
{
pkgHasShelfWatch.Stop();
}
return false;
}
/// <summary>
/// 上料工位阻挡移动
/// </summary>
/// <param name="moveInfo"></param>
/// <param name="iovalue"></param>
/// <param name="stop2Move"></param>
public void S1_StopMove(LineMoveInfo moveInfo, IO_VALUE iovalue, bool stop2Move = false)
{
if (moveInfo != null)
{
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_NegStopCylinder, iovalue));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCylinder, iovalue));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_NegStopCylinder, iovalue));
if (stop2Move)
{
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCylinder, iovalue));
}
}
CheckAndMove(IO_Type.PreS1_NegStopCylinder, iovalue);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, iovalue);
CheckAndMove(IO_Type.S1_NegStopCylinder, iovalue);
if (stop2Move)
{
CheckAndMove(IO_Type.S1_PosStopCylinder, iovalue);
}
}
private void S1Log(string msg)
{
LogUtil.info("双层线_S1 " + SOneMoveInfo.SLog + " " + msg);
}
/// <summary>
/// 是否使用右侧上层的料架
/// </summary>
private bool IsUseRightHigh = false;
internal void S1_ShelfProcess()
{
if (SOneMoveInfo.IsInWait)
{
CheckWait(SOneMoveInfo);
}
if (SOneMoveInfo.IsInWait)
{
return;
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_NewShelf))
{
//检查右侧上层的料架类型
string rfid = "";
//左侧提升机有料
bool hasShelfleftUpDonw = IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_StopCheck).Equals(IO_VALUE.HIGH);
if (!hasShelfleftUpDonw)
{
rfid = RFIDManager.ReadRFID(Config.RHigh_Rfid, true).NumStr();
}
IsUseRightHigh = false;
if (!rfid.Equals("") && !rfid.Equals("000"))
{
if ((needNewShelf.EndsWith(Static_String.SmallShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.SmallShelf_RFID_Prefix)) && rfid.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
IsUseRightHigh = true;
LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，右侧上层有[D料架RFID=" + rfid + "]，等待 RHigh_StopCheck2");
//右侧放一个料架
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_D10_GetD);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RHigh_StopCheck2, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.LOW));
}
else if ((needNewShelf.EndsWith(Static_String.BigShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.BigShelf_RFID_Prefix)) && rfid.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
IsUseRightHigh = true;
LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，右侧上层有[C料架RFID=" + rfid + "]，等待 RHigh_StopCheck2");
//右侧放一个料架
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_D10_GetD);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RHigh_StopCheck2, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.LOW));
}
else//右侧上层的当前料架与所需的料架类型不符
{
IsUseRightHigh = false;
LogUtil.info("当前双层线右侧上层的【料架RFID=" + rfid + "】与所需【料架" + needNewShelf + "】类型不符，使用左侧的料架！");
SOneMoveInfo.NextMoveStep(MoveStep.S1_GetShelfFromLeft);
}
}
else
{
LogUtil.info("双层线右侧上层RFID未读取到料架信息/左侧提升机上有料");
SOneMoveInfo.NextMoveStep(MoveStep.S1_GetShelfFromLeft);
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_GetShelfFromLeft))
{
if (needNewShelf.EndsWith(Static_String.BigShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.BigShelf_RFID_Prefix))
{
if (IOManager.IOValue(IO_Type.LLow_StopCheck2).Equals(IO_VALUE.LOW))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_NewShelf);
return;
}
LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，等待 LLow_StopCheck2=HIGH");
//放一个C料架
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_C01_GetC);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_StopCheck2, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.LOW));
}
else if (needNewShelf.EndsWith(Static_String.SmallShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.SmallShelf_RFID_Prefix))
{
if (IOManager.IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_NewShelf);
return;
}
LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，等待 LHigh_StopCheck2");
//放一个D料架
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_D10_GetD);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.LOW));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C01_GetC))
{
if (MUpdownCanMove())
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C02_MDown);
S1Log(" 中间提升机下降，，等待下层线体有料架 ");
CylinderMove(SOneMoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
// CheckAndMove(IO_Type.S1_StopCylinder4, IO_VALUE.HIGH);
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C02_MDown))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C03_MStopDown);
S1Log(" 下层阻挡2(LLow_StopCylinder2)下降3秒， 链条转动，开始放大料架到左侧，阻挡1需要上升");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2500));
IOMove(IO_Type.LLow_StopCylinder2, IO_VALUE.HIGH, 3000);
IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
//IOMove(IO_Type.LLown_LineRun, IO_VALUE.HIGH);
AllLine.LeftLowLine.LineRun(Name, false, 0, "放大料架到左侧");
IOMove(IO_Type.M_LineRun, IO_VALUE.HIGH);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH, true));
//SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLown_LineRun, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineRun, IO_VALUE.HIGH, true));
// SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_StopCheck3, IO_VALUE.LOW));
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C03_MStopDown))
{
IOMove(IO_Type.LLow_StopCylinder2, IO_VALUE.LOW);
SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_1);
SOneMoveInfo.TimeOutSeconds = 20;
S1Log("等待料架到达左侧工位，S1阻挡1上升，S1正转");
IOMove(IO_Type.LLow_StopCylinder2, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
S1LineRun(SOneMoveInfo);
//IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
}
else if(SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft_1))
{
if(IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.HIGH))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft);
S1Log("放行料架完成");
}
else
{
if (SOneMoveInfo.IsTimeOut(30))
{
if (MUpdownCanMove())
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C02_MDown);
S1Log("放料架超时30秒，重新放行");
CylinderMove(SOneMoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
// CheckAndMove(IO_Type.S1_StopCylinder4, IO_VALUE.HIGH);
}
}
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_Wait);
S1Log("料架已到达左侧，"+ ShelfWaitTime + "后 再次等待 X21");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft_Wait))
{
if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.LOW))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_Wait);
S1Log("料架已到达左侧，"+ ShelfWaitTime + "后 再次等待 X21");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
if (S1_CurrShelfId.Equals(""))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C06_SaveLeft);
}
else
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C05_CheckS1);
S1_LeftShelfId = "00C";
S1Log("S1工位有料架，当前料架存放在左侧" + LeftSName + "，S1停止");
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
S1LineStop(SOneMoveInfo);
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C05_CheckS1))
{
ToReady();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C06_SaveLeft))
{
S1_LeftShelfId = "";
SOneMoveInfo.NextMoveStep(MoveStep.S1_C07_ToS1);
S1Log(" S1正阻挡上升，其他阻挡下降，下层线体停止，S1正转， 等待料架到达S1");
SOneMoveInfo.TimeOutSeconds = 15;
S1_StopMove(SOneMoveInfo, IO_VALUE.HIGH);
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
//IOMove(IO_Type.LLown_LineRun, IO_VALUE.LOW);
AllLine.LeftLowLine.LineStop(Name, "送料架到S1线体", true);
IOMove(IO_Type.LLow_StopCylinder2, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.M_LineRun, IO_VALUE.HIGH);
// SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.HIGH));
S1LineRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C07_ToS1))
{
//if(SOneMoveInfo.IsTimeOut(15))
//{
// S1LineRun(SOneMoveInfo);
//}
//else
{
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
S1_WaitTopUp();
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D10_GetD))
{
if (MUpdownCanMove())
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D11_MUp);
CylinderMove(SOneMoveInfo, IO_Type.M_Updown_Down, IO_Type.M_Updown_Up);
if (!IsUseRightHigh)
{
S1Log(" S1工位需要一个小料架, 提升机上升 ");
IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.LOW);
}
else
{
S1Log(" S1工位需要右侧上层的一个料架, 提升机上升 ");
IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
}
//等待升降机无信号
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.LOW));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D11_MUp))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D12_LineRun);
if (!IsUseRightHigh)
{
S1Log(" 上层阻挡下降，上层链条转，中间链条转");
IOMove(IO_Type.LHigh_StopCylinder2, IO_VALUE.HIGH, 2000);
CheckAndMove(IO_Type.M_LeftStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.M_LineBackRun, IO_VALUE.LOW);
IOMove(IO_Type.M_LineRun, IO_VALUE.HIGH);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_LineRun, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineRun, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.HIGH));
}
else
{
S1Log("上层阻挡下降，右侧上层链条转");
IOMove(IO_Type.RHigh_StopCylinder2, IO_VALUE.HIGH, 2000);
CheckAndMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.M_RightStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.M_LineBackRun, IO_VALUE.HIGH);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineBackRun, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.HIGH));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D12_LineRun))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D13_WaitCInM);
S1Log(" 等待料架完全进入提升机，左右都检测到信号");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D13_WaitCInM))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D14_MStopUp);
S1Log(" 料架到达中间提升机，停止线体转动");
//IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.LOW);
// IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.LOW);
if (!IsUseRightHigh)
{
IOMove(IO_Type.LHigh_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_LineRun, IO_VALUE.LOW, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineRun, IO_VALUE.LOW, true));
}
else
{
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.M_LineBackRun, IO_VALUE.LOW);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RHigh_LineRun, IO_VALUE.LOW, true));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineBackRun, IO_VALUE.LOW, true));
}
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D14_MStopUp))
{
if (MUpdownCanMove())
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D15_MDown);
S1Log(" 提升机下降");
CylinderMove(SOneMoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
// S1_StopMove(null, IO_VALUE.HIGH);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D15_MDown))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D16_CToLeft);
S1Log("S1正转，阻挡1下降， 等待料架到达左侧");
CheckAndMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
CheckAndMove(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_StopCylinder4, IO_VALUE.HIGH);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
S1LineRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D16_CToLeft))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D16_CToLeft_Wait);
S1Log("料架已到达左侧，"+ ShelfWaitTime + " 后 再次等待 X21");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D16_CToLeft_Wait))
{
if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.LOW))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D16_CToLeft_Wait);
S1Log("料架已到达左侧，"+ ShelfWaitTime + " 后 再次等待 X21");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
}
if (S1_CurrShelfId.Equals(""))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D18_SaveLeft);
}
else
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D17_CheckS1);
S1_LeftShelfId = "00D";
S1Log("S1工位有料架，当前料架存放在左侧" + LeftSName + "，S1停止");
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
S1LineStop(SOneMoveInfo);
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
// SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D17_CheckS1))
{
ToReady();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D18_SaveLeft))
{
S1_LeftShelfId = "";
SOneMoveInfo.NextMoveStep(MoveStep.S1_D19_ToS1);
S1Log(" S1正阻挡上升，其他阻挡下降，转动工位链条等待料架到达");
S1_StopMove(SOneMoveInfo, IO_VALUE.HIGH);
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
S1LineRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineRun, IO_VALUE.HIGH));
// SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D19_ToS1))
{
if (SOneMoveInfo.IsTimeOut(15))
{
S1LineRun(SOneMoveInfo);
}
else
{
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
S1_WaitTopUp();
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_21_WaitShelf))
{
S1_23_TopUpToReady();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_22_ReadRFID))
{
S1_23_TopUpToReady();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_23_ToReady))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_24_Ready);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
S1Log(" " + S1SName + " 准备完成，等待放料");
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_24_Ready))
{
S1_24_Ready();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_26_WaitS1Go))
{
Start_S1ShelfToRight(MoveStep.S1_27_S1ShelfGo, " " + S1SName + " 需要离开S1，", true);
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_27_S1ShelfGo))
{
//S2LineStop();
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
//IOMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
string log = S1SName + "已离开，阻挡上升 ，清空绑定信息";
RemoveRealShelf(S1_CurrShelfId);
S1_CurrShelfId = "";
if (!S1_LeftShelfId.Equals(""))
{
//左侧还有一个料架，将左侧料架切换过来
Start_LeftShelfToS1(MoveStep.S1_28_LeftToS1, log);
}
else
{
S1LineStop();
//IOMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
IOMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
IOMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
if (!CheckS1Task(log))
{
SOneMoveInfo.EndMove();
S1Log(AllTaskInfo.ToStr() + "没有任务，" + log + "，结束处理");
}
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_28_LeftToS1))
{
S1Log(" " + LeftSName + "到达S1");
S1_CurrShelfId = S1_LeftShelfId;
S1_LeftShelfId = "";
S1_WaitTopUp();
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_30_WaitS1ToRight))
{
Start_S1ShelfToRight(MoveStep.S1_31_S1ToRight, "左->S1切换 ");
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_31_S1ToRight))
{
S1_RightShelfId = S1_CurrShelfId;
S1_CurrShelfId = "";
// IOMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
//S2LineStop();
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
Start_LeftShelfToS1(MoveStep.S1_32_LeftToS1, " 左->S1切换 ：" + S1SName + "到达右侧，记录料架号，清空S1信息，");
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_32_LeftToS1))
{
if (SOneMoveInfo.IsTimeOut(15))
{
S1LineRun(SOneMoveInfo);
}
else
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_33_LeftOnS1);
S1Log(" 左->S1切换 ：" + LeftSName + "到达S1，继续转动链条，等待 "+ ShelfWaitTime + " 后顶升");
S1_CurrShelfId = S1_LeftShelfId;
S1_LeftShelfId = "";
//S1LineStop(SOneMoveInfo);
S1LineRun();
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_33_LeftOnS1))
{
//判断料架是否到位
if (IOValue(IO_Type.S1_PosStopCheck).Equals(IO_VALUE.LOW))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_33_LeftOnS1);
S1Log(" 左->S1切换 ：" + LeftSName + "到达S1，继续转动链条，等待 "+ ShelfWaitTime + " 后顶升");
S1_CurrShelfId = S1_LeftShelfId;
S1_LeftShelfId = "";
//S1LineStop(SOneMoveInfo);
S1LineRun();
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
}
else
{
S1Log(" 左->S1切换 ：" + LeftSName + "到达S1,链条停止转动");
S1LineStop();
S1_WaitTopUp();
}
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_40_WaitS1ToLeft))
{
//S1料架先到左侧
SOneMoveInfo.NextMoveStep(MoveStep.S1_41_S1ToLeft);
S1Log(" 右->S1切换 ，" + S1SName + " 先到左侧，上料位前正阻挡下降，上料位前反阻挡上升，S1反转");
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_NegStopCylinder, IO_VALUE.HIGH);
S1BackRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.LOW));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_41_S1ToLeft))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_42_WaitInLeft);
S1Log(" 右->S1切换 ，等待" + S1SName + " 完全进入左侧");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_NegStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_42_WaitInLeft))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_43_WaitRightToS1);
IOMove(IO_Type.S1_NegStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.HIGH);
S1Log(" 右->S1切换 ：" + S1SName + "到达左侧，记录料架号，等待右侧料架可以切换到S1");
S1_LeftShelfId = S1_CurrShelfId;
S1_CurrShelfId = "";
S2CanGetShelf = false;
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_NegStopCheck, IO_VALUE.HIGH));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_43_WaitRightToS1))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_44_RightToS1);
S1Log(" 右->S1切换 ：" + RightSName + "开始到S1 ，S1反阻挡上升，S1正阻挡下降，S1反转，清空S1的rfid");
RFIDManager.ReadRFID(Config.S1_Rfid, true);
CheckAndMove(IO_Type.S1_NegStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.HIGH);
S1BackRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AftS1_StopCheck, IO_VALUE.LOW));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_44_RightToS1))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_44_WaitShelfInS1);
S1Log(" 右->S1切换 ：等待" + RightSName + "完全在S1");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_NegStopCheck, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_44_WaitShelfInS1))
{
S1_CurrShelfId = S1_RightShelfId;
S1_RightShelfId = "";
S2CanGetShelf = true;
SOneMoveInfo.NextMoveStep(MoveStep.S1_45_LeftOnS1);
S1Log(" 右->S1切换 ：" + RightSName + "到达S1，S1停止，S2停止，等待300后顶升");
S1LineStop(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_45_LeftOnS1))
{
S1_WaitTopUp();
}
}
private void ToReady()
{
LogUtil.info("左侧料架" + LeftSName + "已到位，S1停止，转到Ready状态");
IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
S1LineStop();
//左侧料架到位，转到Ready状态
if (CylinderIsOk(IO_Type.S1_TopCylinderDown1, IO_Type.S1_TopCylinderUp1) &&
CylinderIsOk(IO_Type.S1_TopCylinderDown2, IO_Type.S1_TopCylinderUp2) && (S1_CurrShelfId != ""))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_24_Ready);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (String.IsNullOrEmpty(S1_CurrShelfId))
{
if (S1_LeftShelfId.StartsWith(Static_String.BigShelf_RFID_Prefix) || S1_LeftShelfId.EndsWith(Static_String.BigShelf_RFID_Prefix))
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_C06_SaveLeft);
}
else
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_D18_SaveLeft);
}
}
else
{
S1_WaitTopUp();
}
}
private string needNewShelf = "";
private string ReadyLock = "";
private void S1_24_Ready()
{
if (Monitor.TryEnter(ReadyLock, 1))
{
try
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_24_Ready);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
bool RobotMoveEnd = RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None) && LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None);
if (RobotMoveEnd)
{
bool NeedGo = CheckS1NeedGo();
if (NeedGo)
{
return;
}
}
needNewShelf = "";
string parm = "";
//是否需要切换料架
if ((!string.IsNullOrEmpty(LeftRobot.NeedShelf)) && (!LeftRobot.NeedShelf.Equals(S1_CurrShelfId)) && RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LeftRobot.IsRightRfid(S1_CurrShelfId, out parm))
{
//暂不处理
}
else if (RightRobot.CanChange(S1_CurrShelfId))
{
needNewShelf = LeftRobot.NeedShelf;
}
}
else if ((!string.IsNullOrEmpty(RightRobot.NeedShelf)) && (!RightRobot.NeedShelf.Equals(S1_CurrShelfId)) && LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (RightRobot.IsRightRfid(S1_CurrShelfId, out parm))
{
//暂不处理
}
else if (LeftRobot.CanChange(S1_CurrShelfId))
{
needNewShelf = RightRobot.NeedShelf;
}
}
if (needNewShelf.Equals("").Equals(false) && RobotMoveEnd)
{
if (IsValidRfid(S1_LeftShelfId, needNewShelf))
{
//左侧料架和S1料架切换
Wait_S1ShelfToRight(MoveStep.S1_30_WaitS1ToRight, "左->S1切换 :");
}
else if (IsValidRfid(S1_RightShelfId, needNewShelf))
{
//右侧料架和S1料架切换
S1_40_WaitS1ToLeft();
}
else if (String.IsNullOrEmpty(S1_LeftShelfId).Equals(false) && (!RFIDData.IsRealRfid(S1_LeftShelfId)))
{
S1Log(" " + LeftSName + "左侧料架号无效，切换料架重新读取RFID");
//左侧料架和S1料架切换
Wait_S1ShelfToRight(MoveStep.S1_30_WaitS1ToRight, LeftSName + "无效，左->S1切换 :");
}
else if (String.IsNullOrEmpty(S1_RightShelfId).Equals(false) && (!RFIDData.IsRealRfid(S1_RightShelfId)))
{
S1Log(" " + RightSName + "右侧料架号无效，切换料架重新读取RFID");
//右侧料架和S1料架切换
S1_40_WaitS1ToLeft();
}
else if (S1_LeftShelfId.Equals("").Equals(false) || S1_RightShelfId.Equals("").Equals(false))
{
WarnMsg = SOneMoveInfo.SLog + " 需要新料架【" + needNewShelf + "】，当前 " + LeftSName + " " + S1SName + " " + RightSName + "，已有两个料架，无法放新料架过来";
LogUtil.error(Name + WarnMsg);
}
else if (needNewShelf.EndsWith("D") || needNewShelf.StartsWith("D"))
{
//Wait_S1ShelfToRight(MoveStep.S1_50_WaitS1ToRight, "S1需要新料架【" + needNewShelf + "】，");
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_NewShelf);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
S1Log(" S1需要新料架【" + needNewShelf + "】");
}
else if (needNewShelf.EndsWith("C") || needNewShelf.StartsWith("C"))
{
// Wait_S1ShelfToRight(MoveStep.S1_50_WaitS1ToRight, "S1需要新料架【" + needNewShelf + "】，");
SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_NewShelf);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
S1Log(" S1需要新料架【" + needNewShelf + "】");
}
else
{
LogUtil.error(Name + SOneMoveInfo.SLog + " S1需要新料架【" + needNewShelf + "】，当前 " + LeftSName + " " + S1SName + " " + RightSName + "，未找到对应处理");
}
}
}
catch (Exception ex)
{
LogUtil.error("S1_24_Ready 出错：" + ex.ToString());
}
finally { Monitor.Exit(ReadyLock); }
}
else
{
LogUtil.error("S1_24_Ready 未得到锁 ", 15);
}
}
private void S1_WaitTopUp()
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_21_WaitShelf);
S1Log("等待3秒后料架稳定 ");
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
private void S1_23_TopUpToReady(bool needRead = true, bool checkIsNeedGo = true)
{
//如果当前的S1料架是虚拟的或者错误的，需要重新读
SOneMoveInfo.NextMoveStep(MoveStep.S1_22_ReadRFID);
if (!RFIDData.IsRealRfid(S1_CurrShelfId))
{
needRead = true;
S1Log(" " + S1SName + "不是真实的料架号，重新读取料架号");
}
if (needRead)
{
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
S1_CurrShelfId = RFIDManager.ReadRFID(Config.S1_Rfid, true).NumStr();
if (!RFIDData.IsRealRfid(S1_CurrShelfId))
{
S1Log("S1工位读取到料架号： " + S1SName + "，料架号无效，2秒后重读");
return;
}
S1Log("S1工位读取到料架号： " + S1SName);
}
//如果RFID重复，需要报错
if (S1_CurrShelfId.Equals(S1_LeftShelfId))
{
SetWarnMsg("工位1料架号重复：" + S1SName + "，" + LeftSName + "");
Alarm(AlarmType.ShelfError);
}
else if (S1_CurrShelfId.Equals(S1_RightShelfId))
{
SetWarnMsg("工位1料架号重复：" + S1SName + "，" + RightSName + "");
Alarm(AlarmType.ShelfError);
}
if (checkIsNeedGo)
{
bool NeedGo = CheckS1NeedGo();
if (NeedGo)
{
return;
}
}
S1LineStop();
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
SOneMoveInfo.NextMoveStep(MoveStep.S1_23_ToReady);
S1Log(" " + S1SName + "到达S1，顶升气缸上升，" + S1_ShelfTask.ToStr());
CylinderMove(SOneMoveInfo, IO_Type.S1_TopCylinderDown, IO_Type.S1_TopCylinderUp);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderUp1, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderUp2, IO_VALUE.HIGH));
}
private bool CheckS1NeedGo()
{
AllTaskInfo = HttpServer.GetATaskInfo();
S1_ShelfTask = HttpServer.ShelfFinish(S1_CurrShelfId);
bool isNeedLeave = false;
string log = "";
//当前工单跟料架工单是否匹配
if (HttpServer.FindCurSO(out wOData))
{
if (wOData.hSerial.Equals(""))
{
isNeedLeave = true;
log = " 当前无工单 " + wOData.hSerial + $" ，料架{S1SName}需离开S1，";
}
else if (!GetXNrfid(S1_CurrShelfId).Equals("") && !GetXNrfid(S1_CurrShelfId).StartsWith(wOData.hSerial))
{
isNeedLeave = true;
log = " 当前工单 " + wOData.hSerial + $" 与料架工单{S1SName}不一样需离开S1，";
}
}
//判断的当前料架是否无任务
if (S1_ShelfTask.IsValid() && AllTaskInfo.IsValid())
{
if (S1_ShelfTask.bigEmpty <= 0 && S1_ShelfTask.smallEmpty <= 0)
{
isNeedLeave = true;
log = " " + S1SName + " 没有空位需离开S1，";
}
else if (S1_ShelfTask.IsValid() && S1_CurrShelfId.StartsWith("C") && AllTaskInfo.bigTask <= 0)
{
isNeedLeave = true;
log = " " + S1SName + " 没有大料任务需离开S1，";
}
else if (S1_ShelfTask.IsValid() && S1_CurrShelfId.StartsWith("D") && AllTaskInfo.smallTask <= 0)
{
isNeedLeave = true;
log = " " + S1SName + " 没有小料任务需离开S1，";
}
}
if (isNeedLeave)
{
if (S1_RightShelfId.Equals(""))
{
Wait_S1ShelfToRight(MoveStep.S1_26_WaitS1Go, log);
return true;
}
else
{
LogUtil.info(log + "右侧还有料架，先将此料架切换到左侧");
//右侧有料架，右侧料架和S1料架切换
S1_40_WaitS1ToLeft();
return true;
}
}
return false;
}
private void S1_40_WaitS1ToLeft()
{
SOneMoveInfo.NextMoveStep(MoveStep.S1_40_WaitS1ToLeft);
S1Log(" 右->S1切换 ，等待" + S1SName + " 可以移动到左侧，顶升下降，等待左侧无料架");
CylinderMove(SOneMoveInfo, IO_Type.S1_TopCylinderUp, IO_Type.S1_TopCylinderDown);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown1, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown2, IO_VALUE.HIGH));
//SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCheck, IO_VALUE.LOW));
CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.S1_NegStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.HIGH);
}
private void Wait_S1ShelfToRight(MoveStep nextStep, string movetype)
{
SOneMoveInfo.NextMoveStep(nextStep);
SOneMoveInfo.CanRMoveIO = false;
S1Log(" " + movetype + "：顶升下降，等待 ：S1后阻挡信号");
if (nextStep.Equals(MoveStep.S1_26_WaitS1Go))
{
S2CanGetShelf = true;
}
else
{
S2CanGetShelf = false;
}
CylinderMove(SOneMoveInfo, IO_Type.S1_TopCylinderUp, IO_Type.S1_TopCylinderDown);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown1, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown2, IO_VALUE.HIGH));
//SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AftS1_StopCheck, IO_VALUE.LOW));
}
private void Start_S1ShelfToRight(MoveStep nextStep, string movetype, bool ShelfIsCanGo = false)
{
SOneMoveInfo.NextMoveStep(nextStep);
S1Log(" " + movetype + "：" + S1SName + " 先到右侧，S1后阻挡上升，S1正转");
S2CanGetShelf = ShelfIsCanGo;
IOMove(IO_Type.AftS1_StopCylinder, IO_VALUE.LOW);
Thread.Sleep(100);
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.HIGH);
if (!S1_LeftShelfId.Equals(""))
{
IOMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
}
CylinderMove(SOneMoveInfo, IO_Type.S1_TopCylinderUp, IO_Type.S1_TopCylinderDown);
Thread.Sleep(100);
S1LineRun(SOneMoveInfo);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown1, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_TopCylinderDown2, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AftS1_StopCheck, IO_VALUE.HIGH));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCheck, IO_VALUE.LOW));
}
private void Start_LeftShelfToS1(MoveStep nextStep, string movetype)
{
SOneMoveInfo.NextMoveStep(nextStep);
S1Log(movetype + "，" + LeftSName + "开始到S1，S1正转，清空S1的rfid信息");
RFIDManager.ReadRFID(Config.S1_Rfid, true);
IOMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
// IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
S1LineRun();
S1_StopMove(SOneMoveInfo, IO_VALUE.HIGH);
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.LOW));
SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_PosStopCheck, IO_VALUE.HIGH));
}
public bool S1IsReady()
{
if (isInSuddenDown || NoAirCheck)
{
return false;
}
if ((S1_CurrShelfId != "") && CylinderIsOk(IO_Type.S1_TopCylinderDown1, IO_Type.S1_TopCylinderUp1)
&& CylinderIsOk(IO_Type.S1_TopCylinderDown2, IO_Type.S1_TopCylinderUp2))
{
if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_24_Ready))
{
return true;
}
else if (SOneMoveInfo.MoveStep <= MoveStep.S1_C05_CheckS1 && SOneMoveInfo.MoveStep >= MoveStep.S1_C01_GetC)
{
return true;
}
else if (SOneMoveInfo.MoveStep <= MoveStep.S1_D17_CheckS1 && SOneMoveInfo.MoveStep >= MoveStep.S1_D10_GetD)
{
return true;
}
else if (SOneMoveInfo.MoveType.Equals(MoveStep.S1_NewShelf))
{
return true;
}
}
return false;
}
private bool MUpdownCanMove()
{
if (IOValue(IO_Type.M_LeftStopCheck).Equals(IO_VALUE.LOW) && IOValue(IO_Type.M_RightStopCheck).Equals(IO_VALUE.LOW))
{
return true;
}
else if (IOValue(IO_Type.M_LeftStopCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.M_RightStopCheck).Equals(IO_VALUE.HIGH))
{
return true;
}
else if (SOneMoveInfo.IsTimeOut(120))
{
WarnMsg = SOneMoveInfo.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 真实料架号-虚拟料架号缓存
/// <summary>
/// key=真实料架，value=虚拟料架
/// </summary>
private Dictionary<string, string> RealRfidMap = new Dictionary<string, string>();
internal void AddRealShelf(string realRfid, string xuniRfid)
{
if (GetXNrfid(realRfid).Equals(realRfid))
{
return;
}
if (RealRfidMap.ContainsKey(realRfid))
{
RealRfidMap.Remove(realRfid);
}
RealRfidMap.Add(realRfid, xuniRfid);
LogUtil.info("增加虚拟RFID绑定，" + realRfid + "=" + xuniRfid);
}
internal void RemoveRealShelf(string realId)
{
if (RealRfidMap.ContainsKey(realId))
{
RealRfidMap.Remove(realId);
LogUtil.info("删除虚拟RFID绑定，" + realId);
}
}
internal string GetXNrfid(string realrfid)
{
try
{
if (RealRfidMap.ContainsKey(realrfid))
{
return RealRfidMap[realrfid];
}
}
catch (Exception ex)
{
LogUtil.error("GetXNrfid[" + realrfid + "] error : " + ex.ToString());
}
return "";
}
/// <summary>
/// 用来验证左右侧料架是否对目标料架可用，S1工位的料架不能用此方法
/// </summary>
/// <param name="currRfid"></param>
/// <param name="needRfid"></param>
/// <returns></returns>
private bool IsValidRfid(string currRfid, string needRfid)
{
if (String.IsNullOrEmpty(currRfid))
{
return false;
}
if (needRfid.Equals(currRfid))
{
LogUtil.info(" currRfid 【" + currRfid + "】needRfid【" + needRfid + "】可用料架 ");
return true;
}
else
{
string needType = needRfid.Substring(0, 1);
string currType = currRfid.Substring(0, 1);
bool currIsReal = true;
bool needIsReal = true;
//当前料架也是虚拟料架
if (currRfid.EndsWith("D") || currRfid.EndsWith("C"))
{
currIsReal = false;
currType = currRfid.Substring(currRfid.Length - 1, 1);
}
if (needRfid.EndsWith("D") || needRfid.EndsWith("C"))
{
needIsReal = false;
needType = needRfid.Substring(needRfid.Length - 1, 1);
}
if (currIsReal && needIsReal)
{
//两边都是真实的料架号时必须一致才可以
if (needRfid.Equals(currRfid))
{
LogUtil.info(" currRfid 【" + currRfid + "】needRfid【" + needRfid + "】可用料架 ");
return true;
}
}
else if (currIsReal)
{
//如果当前是真实的料架号，需要判断是否绑定
string xnrfid = GetXNrfid(currRfid);
if ((xnrfid.Equals("") && needType.Equals(currType)) || xnrfid.Equals(needRfid))
{
LogUtil.info(" currRfid 【" + currRfid + "】【" + xnrfid + "】needRfid【" + needRfid + "】可用料架 ");
return true;
}
}
else if (needType.Equals(currType))
{
LogUtil.info(" currRfid 【" + currRfid + "】needRfid【" + needRfid + "】可用料架 ");
return true;
}
}
return false;
}
#endregion
#region 机器人干涉判断
internal bool ABBCanStart(int robotNum, bool isMyPoint)
{
//左侧是2号机器人，右侧是1号机器人
if (robotNum.Equals(1))
{
if (!LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (!LeftRobot.MyPointList.Contains(LeftRobot.CurrPoint))
{
return false;
}
else if (!isMyPoint)
{
return false;
}
}
}
if (robotNum.Equals(2))
{
if (!RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (!RightRobot.MyPointList.Contains(RightRobot.CurrPoint))
{
return false;
}
else if (!isMyPoint)
{
return false;
}
}
}
return true;
}
#endregion
}
}