DISTLineBean.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 DISTLineBean
{
public DISTLineConfig Config;
public bool IsDebug = false;
public string Name = "";
public bool isInSuddenDown = false;
public LineMoveInfo MoveInfo = null;
public AlarmType alarmType = AlarmType.None;
public RunStatus runStatus = RunStatus.Wait;
public string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
private System.Timers.Timer mainTimer = new System.Timers.Timer();
public DISTLineBean(DISTLineConfig config)
{
serverConnectTimer = new System.Timers.Timer();
serverConnectTimer.Interval = 1000;
serverConnectTimer.AutoReset = true;
serverConnectTimer.Enabled = false;
serverConnectTimer.Elapsed += server_connect_timer_Tick;
mainTimer = new System.Timers.Timer();
mainTimer.Interval = 300;
mainTimer.AutoReset = true;
mainTimer.Enabled = false;
mainTimer.Elapsed += timersTimer_Elapsed;
//添加调试
IsDebug = ConfigAppSettings.GetIntValue(Setting_Init.IsInDebug).Equals(1);
MoveInfo = new LineMoveInfo();
Name = ("分盘线 ").ToUpper();
this.Config = config;
IOManager.Init();
IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
RFIDManager.Open(new string[] { Config.L2Out_RFIDIP });//, Config.L1In_RFIDIP
AgvClient.NodeList.Add(config.L2_AgvName);
AgvClient.NodeList.Add(config.L1_AgvName);
mainTimer.Enabled = false;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
if (isAuto == 1)
{
mainTimer.Enabled = true;
}
AgvClient.Init();
//Thread.Sleep(300);
}
/// <summary>
/// 开始运行
/// </summary>
public bool StartRun()
{
LogUtil.info(Name + "开始启动，启动时间：" + DateTime.Now);
WarnMsg = "";
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
//急停按钮和气压检测需要一起判断
// if (!AgvClient.ISConnected())
// {
//}
AgvClient.SetCancelState(false);
runStatus = RunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.ReturnHome);
ReturnHome();
return true;
}
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()
{
isInSuddenDown = false;
alarmType = AlarmType.None;
SetWarnMsg("");
MoveInfo.NextMoveStep(MoveStep.DIST_H_StopUp);
LogUtil.info(Name + " 开始复位：所有阻挡上升,设置状态为None");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L2_StopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Traverse_Down_SOL, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Traverse_Up_SOL, IO_VALUE.LOW);
AgvClient.SetStatus(Config.L2_AgvName);
AgvClient.SetStatus(Config.L1_AgvName);
mainTimer.Enabled = true;
serverConnectTimer.Enabled = true;
}
public void Reset(bool isNeedClearAuto = true)
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
mainTimer.Enabled = false;
serverConnectTimer.Enabled = false;
runStatus = RunStatus.Reset;
MoveInfo.NewMove(LineMoveType.StoreReset);
ReturnHome();
}
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.DIST_H_StopUp:
MoveInfo.NextMoveStep(MoveStep.DIST_H_LineRun);
LogUtil.info(Name + " 复位：阻挡上升完成，转动流水线，停止休眠");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
IOManager.IOMove(IO_Type.L1_Run, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.L2_Run, IO_VALUE.HIGH);
UpdateSleep(false);
break;
case MoveStep.DIST_H_LineRun:
LogUtil.info(Name + " 复位完成");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
break;
default: break;
}
}
#endregion
/// <summary>
/// 停止运行
/// </summary>
public void StopRun()
{
WarnMsg = "";
AgvClient.SetCancelState(true);
mainTimer.Enabled = false;
serverConnectTimer.Enabled = false;
StopMove();
runStatus = RunStatus.Wait;
IOManager.instance.CloseAllDO();
LogUtil.info(Name + ",停止运行");
}
public 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 ");
MoveInfo.EndMove();
StopMove();
}
}
public void StopMove()
{
IOManager.IOMove(IO_Type.L1_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L2_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L2_StopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Traverse_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Traverse_Down_SOL, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Traverse_Up_SOL, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Roller_Run, IO_VALUE.LOW);
}
private bool InProcess = false;
private Stopwatch stopwatch = new Stopwatch();
public bool MoveStop = false;
protected void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (MoveStop)
{
return;
}
if (InProcess && stopwatch.Elapsed.TotalSeconds < 5)
{
return;
}
try
{
InProcess = true;
stopwatch.Restart();
IoCheckProcess();
if (runStatus >= RunStatus.HomeMoving)
{
try
{
DateTime time = DateTime.Now;
if (MoveInfo.MoveType != LineMoveType.None)
{
if (MoveInfo.MoveType.Equals(LineMoveType.ReturnHome) || MoveInfo.MoveType.Equals(LineMoveType.StoreReset))
{
ResetProcess();
}
}
else if (runStatus.Equals(RunStatus.Runing))
{
InLineTimerProcess();
OutLineTimerProcess();
IOTimeOutProcess();
SleepTimerProcess();
}
}
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());
}
InProcess = false;
}
private Stopwatch ol_noshelfWatch = new Stopwatch();
private Stopwatch ol_noshelfWatch1 = new Stopwatch();
private DateTime ol_lastSendShelfTime = DateTime.Now;
private int StopDownMS = 1500;
/// <summary>
/// 出料线体定时处理
/// </summary>
private void OutLineTimerProcess()
{
TimeSpan span = DateTime.Now - ol_lastSendShelfTime;
bool manualSig = IOManager.IOValue(IO_Type.L1_ManualRecSig).Equals(IO_VALUE.HIGH);
bool l1_up_sig = IOManager.IOValue(IO_Type.L1_UpDown_Up_Sig).Equals(IO_VALUE.HIGH);
bool l2_up_sig = IOManager.IOValue(IO_Type.L2_UpDown_Up_Sig).Equals(IO_VALUE.HIGH);
//如果出口无料架，持续1000以上，放开阻挡放出一个料架
//每次放料架时间间隔3秒
if (IOManager.IOValue(IO_Type.L2_StopCheck).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && span.TotalSeconds > 3)
{
//如果出料线体出口无料架，放一个料架到出口
if (LineManager.checkWatch(ol_noshelfWatch, 1000))
{
IOManager.CIOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
LogUtil.info(" 分盘2线体出口无料架，下降 [" + IO_Type.L2_StopDown + "] [" + StopDownMS + "] 秒");
ol_lastSendShelfTime = DateTime.Now;
StopIOMove(IO_Type.L2_StopDown, StopDownMS);
}
}
else if (IOManager.IOValue(IO_Type.L1_StopCheck).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.LOW) && !manualSig && !l1_up_sig && span.TotalSeconds > 3)
{
//如果出料线体出口无料架，放一个料架到出口
if (LineManager.checkWatch(ol_noshelfWatch1, 1000))
{
IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
LogUtil.info(" 分盘1线体出口无料架，下降 [" + IO_Type.L1_StopDown + "] [" + StopDownMS + "] 秒");
ol_lastSendShelfTime = DateTime.Now;
StopIOMove(IO_Type.L1_StopDown, StopDownMS);
}
}
else if (span.TotalMilliseconds > StopDownMS)
{
ol_noshelfWatch.Stop();
ol_noshelfWatch1.Stop();
IOManager.CIOMove(IO_Type.L2_StopDown, IO_VALUE.LOW);
IOManager.CIOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
}
//如果入口无料架即可进入
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
{
AgvClient.NeedEnter(Config.L1_AgvName, "");
} else
{
AgvClient.SetToNone(Config.L1_AgvName, "");
}
}
private DateTime il_lastCallAgvTime = DateTime.Now.AddMinutes(-5);
private Stopwatch il_outstopCheckWarch = new Stopwatch();
private Stopwatch il_manualCheckWatch = new Stopwatch();
/// <summary>
/// 入料线体定时处理
/// </summary>
private void InLineTimerProcess()
{
TimeSpan span = DateTime.Now - il_lastCallAgvTime;
//出口有料架，需要通知agv取走料架
//每次叫小车时间间隔3分钟？
//出口信号需要持续1秒钟
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 60)
{
if (LastOutShelfId.Equals("000").Equals(false))
{
if (LineManager.checkWatch(il_outstopCheckWarch, 1000))
{
il_lastCallAgvTime = DateTime.Now;
//StopIOMove(IO_Type.InL_OutStopDown, StopDownMS);
LogUtil.info(" 分盘2线体出口有料架" + LastOutShelfId + "，呼叫agv小车[" + Config.L2_AgvName + "] [NeedLeave] ");
AgvClient.NeedLeave(Config.L2_AgvName, LastOutShelfId);
}
}
}
else if (span.TotalMilliseconds > StopDownMS)
{
il_outstopCheckWarch.Stop();
ClientAction currA = AgvClient.GetAction(Config.L2_AgvName);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
if (IOManager.IOValue(IO_Type.L1_StopDown).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
}
}
}
//如果是出口无料架，NeedLeave状态，改为None
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.L2_AgvName).Equals(ClientAction.NeedLeave))
{
il_outstopCheckWarch.Stop();
LogUtil.info(" 分盘2线体出口无料架 ，更改[" + Config.L2_AgvName + "] 状态[None] ");
AgvClient.SetToNone(Config.L2_AgvName, "");
}
}
private static void TranverseProcess()
{
LogUtil.info(" TranverseProcess");
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW))
{
IOManager.CIOMove(IO_Type.Traverse_Down_SOL, IO_VALUE.LOW);
Thread.Sleep(1000);
IOManager.IOMove(IO_Type.Traverse_Up_SOL,IO_VALUE.HIGH);
Thread.Sleep(1000);
LogUtil.info(" 横移机构上升");
if (IOManager.IOValue(IO_Type.L1_UpDown_Up_Sig).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_UpDown_Up_Sig).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.Traverse_Run, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Roller_Run, IO_VALUE.HIGH);
LogUtil.info(" 滚筒电机、横移机构电机运行");
}
}
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
while(IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW))
{
if(stopwatch.Elapsed.TotalMinutes >=1)
{
stopwatch.Stop();
IOManager.CIOMove(IO_Type.Traverse_Run, IO_VALUE.LOW);
IOManager.CIOMove(IO_Type.Roller_Run, IO_VALUE.LOW);
//IOManager.CIOMove(IO_Type.Traverse_Down_SOL, IO_VALUE.HIGH);
//Thread.Sleep(1000);
//IOManager.IOMove(IO_Type.Traverse_Up_SOL, IO_VALUE.LOW);
//Thread.Sleep(1000);
LogUtil.info(" 横移机构转移料架超时 [" + IO_Type.L1_StopDown + "] [" + stopwatch.Elapsed.TotalMinutes + "] 秒");
break;
}
}
IOManager.IOMove(IO_Type.Traverse_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Roller_Run, IO_VALUE.LOW);
LogUtil.info(" 滚筒、横移电机停止");
IOManager.CIOMove(IO_Type.Traverse_Down_SOL, IO_VALUE.HIGH);
Thread.Sleep(1000);
IOManager.CIOMove(IO_Type.Traverse_Up_SOL, IO_VALUE.LOW);
Thread.Sleep(1000);
LogUtil.info(" 横移机构下降");
}
private Task TranverseTask = new Task(new Action(TranverseProcess));
//private void LedProcess()
//{
// try
// {
// if (runStatus >= RunStatus.HomeMoving)
// {
// if (alarmType.Equals(AlarmType.None).Equals(false) && IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
// {
// IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
// }
// else if (IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
// {
// IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
// }
// if (alarmType.Equals(AlarmType.None))
// {
// if (IOManager.IOValue(IO_Type.Alarm_HddLed).Equals(IO_VALUE.LOW))
// {
// IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.HIGH);
// }
// else
// {
// IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
// }
// }
// }
// }
// catch (Exception ex)
// {
// LogUtil.error(Name + "灯处理定时器出错：", ex);
// }
//}
//private IO_VALUE LastResetValue = IO_VALUE.LOW;
public void IoCheckProcess()
{
DateTime time = DateTime.Now;
//人工取料
if (IOManager.IOValue(IO_Type.L1_ManualRecSig).Equals(IO_VALUE.HIGH))
{
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW))
{
//if (LineManager.checkWatch(il_manualCheckWatch, 2000))
//{
// IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
// IOManager.IOMove(IO_Type.L1_OutStopDown, IO_VALUE.HIGH);
//}
if(TranverseTask.Status.Equals(TaskStatus.Created))
{
TranverseTask.Start();
}
else if(TranverseTask.IsCompleted)
{
TranverseTask.Start();
}
}
}
else
{
//IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
//IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
}
//if (runStatus.Equals(RunStatus.Wait))
//{
// //获取新的Io状态
// IO_VALUE autoSingle = IOManager.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，相当于启动按钮，开始调用启动方法！");
// bool result = StartRun();
// if (result.Equals(false))
// {
// LogUtil.error("分盘流水线启动失败，继续等待下次启动！");
// mainTimer.Enabled = true;
// }
// }
// LastResetValue = autoSingle;
// return;
// }
// LastResetValue = autoSingle;
//}
//判断急停
if (runStatus >= RunStatus.HomeMoving)
{ //判断急停
if (IOManager.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 (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) && IOManager.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;
/// <summary>
/// io检测异常
/// </summary>
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());
}
}
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private string LastInShelfId = "";
public string LastOutShelfId = "";
private bool isInProcess = false;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
return;
}
isInProcess = true;
try
{
//LedProcess();
//LastInShelfId = RFIDManager.ReadRFID(Config.L1In_RFIDIP,true).NumStr();
LastOutShelfId = RFIDManager.ReadRFID(Config.L2Out_RFIDIP, true).NumStr();
//bool result = SendDISTRfid(LastInShelfId);
//if (result)
//{
// IOManager.CIOMove(IO_Type.InL_InStopDown, IO_VALUE.HIGH);
//}
//else
//{
// IOManager.CIOMove(IO_Type.InL_InStopDown, IO_VALUE.LOW);
//}
}
catch (Exception ex)
{
LogUtil.error(" server_connect_timer_Tick 出错：" + ex.ToString());
}
isInProcess = false;
}
private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
{
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
if (server.EndsWith("/"))
{
server = server.Substring(0, server.Length - 1);
}
string path = server + addr.Trim() + "?";
foreach (string paramName in paramsMap.Keys)
{
string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
path += paramName + "=" + par + "&";
}
path = path.Substring(0, path.Length - 1);
return path;
}
private string http_server = ConfigAppSettings.GetValue(Setting_Init.http_server);
private string api_communication = "/service/store/qisda/distRfid"; //分盘线状态通信接口
private string lastLog = "";
public bool SendDISTRfid(string rfid)
{
try
{
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("rfid", rfid);
string addr = GetAddr(api_communication, paramMap ) ;
string resultStr = HttpHelper.Post(addr, "");
string log = "distRfid 【" + addr + "】【" + resultStr + "】";
if (lastLog.Equals(log).Equals(false))
{
lastLog = log;
LogUtil.info(log);
}
if (resultStr.Equals("move"))
{
return true;
}
}
catch (Exception ex)
{
LogUtil.error(Name + " " + ex.ToString());
}
return false;
}
#endregion
}
}