PackageLine_S2Station.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.Tasks;
using static OnlineStore.DeviceLibrary.HttpServer;
namespace OnlineStore.DeviceLibrary
{
partial class PackageLine
{
string PkgShelfRFID = "";
string BigShelfRFID = "";
string TempBigRfid = "";
PackageRobotTaskBean packgeRobotTaskBean;
public StepInfo<S2_STATION_STEP> s2StationStep = new StepInfo<S2_STATION_STEP>(S2_STATION_STEP.NONE);
/// <summary>
/// 包装料架工位
/// </summary>
public enum S2_STATION_STEP
{
NONE,
/// <summary>
/// 等待料架
/// </summary>
WAIT_SHELF,
/// <summary>
/// 等待料架进入S2工位
/// </summary>
WAIT_SHELF_TO_S2,
/// <summary>
/// 等待读取RFID
/// </summary>
READ_RFID,
/// <summary>
/// 放行料架
/// </summary>
OUT_SHELF,
/// <summary>
/// 等待料架离开
/// </summary>
WAIT_OUT_S2,
/// <summary>
/// 等待顶升上升
/// </summary>
WAIT_STATION_UP,
/// <summary>
/// 等待顶升上升
/// </summary>
WAIT_STATION_DOWN,
/// <summary>
/// 等待机器人抓取
/// </summary>
WAIT_ROBOT,
ROBOT_GET,
WAIT_ROBOT_GET_OK,
WAIT_ROBOT_PUT_FINISH,
WAIT_ROBOT_PUT_OK,
}
/// <summary>
/// 双层线大料工位
/// </summary>
private void ProcessS2Station()
{
ProcessShelfOutS2();
if (s2StationStep.IsStep(S2_STATION_STEP.NONE))
{
bool hasShelf = IOValue(IO_Type.S2_StopCheck2).Equals(IO_VALUE.HIGH);
if (hasShelf)
{
s2StationStep.Msg ="工位2检测到料架，等待读取RFID";
s2StationStep.ToNextStep(S2_STATION_STEP.READ_RFID);
} else
{
s2StationStep.Msg ="工位2无料架，等待料架进入";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_SHELF);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_SHELF)) {
bool hasWaitShelf = IOValue(IO_Type.S2_StopCheck1).Equals(IO_VALUE.HIGH);
//有等待的料架
if (hasWaitShelf)
{
//验证料架是否可用
if (LineManager.Line.S2CanGetShelf)
{
s2StationStep.Msg = "工位2等待位发现料架,降下S2_StopCylinder1(2秒),打开工位2链条, 将其送入工位";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_SHELF_TO_S2);
s2StationStep.AddIoWait(IO_Type.S2_StopCheck1, IO_VALUE.LOW);
s2StationStep.AddIoWait(IO_Type.S2_StopCheck2, IO_VALUE.HIGH);
IOMove(IO_Type.S2_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.S2_StopCylinder1, IO_VALUE.HIGH, 2000);
}
else
{
s2StationStep.Msg = "工位2等待位发现料架, 但工位一未使用完";
}
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_SHELF_TO_S2)) {
if (s2StationStep.IsFinished())
{
s2StationStep.Msg ="料架到达工位2, 停止工位2链条, 开始读取RFID";
IOMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
s2StationStep.ToNextStep(S2_STATION_STEP.READ_RFID);
}
else
{
KeepLineRun(IO_Type.S2_LineRun);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.READ_RFID))
{
if (s2StationStep.IsTimeOut(1000))
{
string rfid = RFIDManager.ReadRFID(Config.S2_Rfid, true).NumStr();
if (rfid.Contains("C"))
{
ResultBean resultBean = HttpServer.GetPackInfo(rfid, PkgShelfRFID);
//发送指令到服务器
if (resultBean != null)
{
if (resultBean.code == 0)
{
PackageRobotTaskBean shelfTaskBean = resultBean.data;
if (shelfTaskBean.emptyInBig > 0)
{
s2StationStep.Msg = "料架[" + rfid + "]剩余包装料空位数位[" + shelfTaskBean.emptyInBig + "]工位2顶升";
//还有包装料要放,升起顶升
BigShelfRFID = rfid;
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_STATION_UP);
s2StationStep.AddIoWait(IO_Type.S2_TopCylinderUp, IO_VALUE.HIGH);
s2StationStep.AddIoWait(IO_Type.S2_TopCylinderDown, IO_VALUE.LOW);
CylinderMove(null, IO_Type.S2_TopCylinderDown, IO_Type.S2_TopCylinderUp);
}
else
{
s2StationStep.Msg = "工位2料架[" + rfid + "]已无空位，放行";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
}
else
{
s2StationStep.Msg = "工位2料架[" + rfid + "] 未从服务器获取到有效信息[" + resultBean.msg + "]，放行大料架";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
}
}
else if (rfid.Contains("D"))
{
s2StationStep.Msg = "工位2料架[" + rfid + "]不是大料架，直接放行";
//不是大料架直接放行
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
else
{
s2StationStep.Msg = "工位2料架RFID读取错误["+rfid+"]，重新读取";
s2StationStep.ToNextStep(S2_STATION_STEP.READ_RFID);
}
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.OUT_SHELF))
{
TempBigRfid = "";
BigShelfRFID = "";
s2StationStep.Msg ="工位2顶升下降";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_STATION_DOWN);
s2StationStep.AddIoWait(IO_Type.S2_TopCylinderUp, IO_VALUE.LOW);
s2StationStep.AddIoWait(IO_Type.S2_TopCylinderDown, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.S2_TopCylinderUp, IO_Type.S2_TopCylinderDown);
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_STATION_DOWN)) {
if (s2StationStep.IsFinished())
{
s2StationStep.Msg ="工位2顶升下降完成，打开右侧下方线体, 开始放行料架";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_OUT_S2);
s2StationStep.AddIoWait(IO_Type.S2_StopCheck2, IO_VALUE.LOW, 2000);
s2StationStep.AddTimeWait(12000);
KeepLineRun(IO_Type.S2_LineRun);
//阻挡2下降2秒
IOMove(IO_Type.S2_StopCylinder2, IO_VALUE.HIGH, 2000);
//打开右侧下方线体
KeepLineRun(IO_Type.R_LineRun);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_OUT_S2)) {
if (s2StationStep.IsFinished())
{
if (outShelfStep.IsStep(SHELF_TO_LEAVE_STATION.WAIT_OUT_IO))
{
//上一个料架流出未完成
s2StationStep.Msg = "料架流出工位2完成,但上一个料架未到出口";
}
else
{
s2StationStep.Msg = "工位2放行料架完成,停止工位2线体";
s2StationStep.ToNextStep(S2_STATION_STEP.NONE);
IOMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
//右侧下方线体是否停止，要根据情况来
outShelfStep.ToNextStep(SHELF_TO_LEAVE_STATION.SHELF_OUT_S2);
}
}
else
{
KeepLineRun(IO_Type.R_LineRun);
if (s2StationStep.IsTimeOut(15000))
{
s2StationStep.Msg = "工位2放行料架15秒仍未完成，重新放行";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_STATION_UP))
{
if (s2StationStep.IsFinished())
{
//顶升已经升起,等待机器人处理
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_ROBOT);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_ROBOT))
{
packgeRobotTaskBean = null;
string currentPkgShelfRfid = "";
if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_ROBOT))
{
currentPkgShelfRfid = PkgShelfRFID;
}
//发送指令到服务器
ResultBean resultBean = HttpServer.GetPackInfo(BigShelfRFID, currentPkgShelfRfid);
if (resultBean != null)
{
if(resultBean.code == 0)
{
PackageRobotTaskBean shelfTaskBean = resultBean.data;
if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_ROBOT))
{
if (shelfTaskBean.reelInPackage <= 0)
{
s2StationStep.Msg = "包装料架[" + PkgShelfRFID + "]上已无料盘,放行";
pkgStationStep.ToNextStep(PKG_STATION_STEP.SHELF_EMPTY);
}
}
if (shelfTaskBean.emptyInBig <= 0)
{
s2StationStep.Msg = "工位2料架[" + BigShelfRFID + "]已无空位，放行";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
else
{
if (TempBigRfid.Equals("") || TempBigRfid.Equals(shelfTaskBean.bigRfid) || BigShelfRFID.Equals(shelfTaskBean.realBigRfid))
{
//未绑定过或与绑定的虚拟料架一致
if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_ROBOT) && s2StationStep.IsStep(S2_STATION_STEP.WAIT_ROBOT))
{
if (TempBigRfid.Equals(""))
{
TempBigRfid = shelfTaskBean.bigRfid;
}
packgeRobotTaskBean = shelfTaskBean;
s2StationStep.ToNextStep(S2_STATION_STEP.ROBOT_GET);
s2StationStep.Msg = "机器人准备抓取包装料架[" + PkgShelfRFID + "]库位[" + shelfTaskBean.packageLoc + "]上的料盘[" + shelfTaskBean.barcode + "]";
}
}
else
{
s2StationStep.Msg = "工位2料架" + BigShelfRFID + "[" + TempBigRfid + "]与服务器给定" + shelfTaskBean.bigRfid + "[" + shelfTaskBean.realBigRfid + "]不一致,放行大料架";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
}
}
else
{
s2StationStep.Msg = "工位2料架" + BigShelfRFID + "[" + TempBigRfid + "】 未从服务器获取到有效信息["+resultBean.msg+"]，放行大料架";
s2StationStep.ToNextStep(S2_STATION_STEP.OUT_SHELF);
}
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.ROBOT_GET))
{
bool robotCanMove = IOValue(IO_Type.Pkg_Rotot_Forbidden_Check).Equals(IO_VALUE.LOW);
if (robotCanMove)
{
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_ROBOT_GET_OK);
s2StationStep.Msg ="机器人开始抓取包装料架[" + PkgShelfRFID + "]库位[" + packgeRobotTaskBean.packageLoc + "]上的料盘[" + packgeRobotTaskBean.barcode + "]";
ABBControl.SendCmd(Config.ABB3_IP, ABBControl.Cmd_moveget, "p" + packgeRobotTaskBean.packageLoc, "L", ABBControl.DefaultSpeed);
}else
{
s2StationStep.Msg = "包装线体机器人禁止区域有料架，暂停抓取";
s2StationStep.ToNextStep(S2_STATION_STEP.ROBOT_GET);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_ROBOT_GET_OK))
{
string getResult = ABBControl.GetAbbCmd(Config.ABB3_IP);
if (getResult.Equals(""))
{
//如果包装料架已经空了，放行
if (packgeRobotTaskBean.reelInPackage == 1)
{
s2StationStep.Msg ="包装料架[" + PkgShelfRFID + "]最后一盘料已取出,放行";
pkgStationStep.ToNextStep(PKG_STATION_STEP.SHELF_EMPTY);
}
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_ROBOT_PUT_FINISH);
s2StationStep.Msg ="机器人开始将料盘[" + packgeRobotTaskBean.barcode + "]放入[" + packgeRobotTaskBean.realBigRfid + "]库位[" + packgeRobotTaskBean.bigLoc + "]";
ABBControl.SendCmd(Config.ABB3_IP, ABBControl.Cmd_moveput, "cp" + packgeRobotTaskBean.bigLoc, "L", ABBControl.DefaultSpeed);
}
} else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_ROBOT_PUT_FINISH))
{
string putResult = ABBControl.GetAbbCmd(Config.ABB3_IP);
if (putResult.Contains("FINISHED"))
{
s2StationStep.Msg ="机器人将料盘[" + packgeRobotTaskBean.barcode + "]放入" + packgeRobotTaskBean.bigRfid + "[" + packgeRobotTaskBean.realBigRfid + "]库位[" + packgeRobotTaskBean.bigLoc + "]完成";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_ROBOT_PUT_OK);
//发送消息到服务器
HttpServer.PackFinish(packgeRobotTaskBean.barcode, packgeRobotTaskBean.packageRfid, packgeRobotTaskBean.packageLoc, BigShelfRFID, packgeRobotTaskBean.bigLoc);
}
}
else if (s2StationStep.IsStep(S2_STATION_STEP.WAIT_ROBOT_PUT_OK))
{
string putResult = ABBControl.GetAbbCmd(Config.ABB3_IP);
if (putResult.Equals(""))
{
s2StationStep.Msg ="机器人将料盘[" + packgeRobotTaskBean.barcode + "]放入[" + packgeRobotTaskBean.realBigRfid + "]库位[" + packgeRobotTaskBean.bigLoc + "]结束";
s2StationStep.ToNextStep(S2_STATION_STEP.WAIT_ROBOT);
}
}
}
private StepInfo<SHELF_TO_LEAVE_STATION> outShelfStep = new StepInfo<SHELF_TO_LEAVE_STATION>(SHELF_TO_LEAVE_STATION.NONE);
private enum SHELF_TO_LEAVE_STATION
{
NONE, SHELF_OUT_S2, WAIT_LINE_RUN_TIME,WAIT_OUT_IO
}
private void ProcessShelfOutS2()
{
if (outShelfStep.IsStep(SHELF_TO_LEAVE_STATION.SHELF_OUT_S2)){
bool hasShelfToLeave = IOValue(IO_Type.R_StopCheck2).Equals(IO_VALUE.HIGH);
KeepLineRun(IO_Type.R_LineRun);
if (hasShelfToLeave)
{
outShelfStep.ToNextStep(SHELF_TO_LEAVE_STATION.WAIT_LINE_RUN_TIME);
//出料口已有料架，转动60秒
outShelfStep.Msg= "料架流出工位2时，出口已有料架，下层线体转动60秒";
outShelfStep.AddTimeWait(600000);
}
else
{
//出料口无料架，等待出料口信号持续3秒
outShelfStep.ToNextStep(SHELF_TO_LEAVE_STATION.WAIT_OUT_IO);
outShelfStep.Msg = "料架流出工位2时，出口无料架，下层线体转动到料架到达出口";
outShelfStep.AddIoWait(IO_Type.R_StopCheck2, IO_VALUE.HIGH, 3000);
}
}else if (outShelfStep.IsStep(SHELF_TO_LEAVE_STATION.WAIT_LINE_RUN_TIME) || outShelfStep.IsStep(SHELF_TO_LEAVE_STATION.WAIT_OUT_IO))
{
if (outShelfStep.IsFinished())
{
outShelfStep.Msg = "料架流出工位2完成，停止下层线体";
IOMove(IO_Type.R_LineRun, IO_VALUE.LOW);
outShelfStep.ToNextStep(SHELF_TO_LEAVE_STATION.NONE);
}
else
{
//检查线体是否停止，如果停止重新启动
KeepLineRun(IO_Type.R_LineRun);
}
}
}
}
}