PackageLine.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;
using System.Threading.Tasks;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
public partial class PackageLine : RobotBase
{
DoubleLineConfig Config;
static String agvServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
Asa.AgvClient agvClient = new Asa.AgvClient(agvServerIp);
AgvClient_Dbline agvClient_Dbline = new AgvClient_Dbline();
public PackageLine(DoubleLineConfig config) : base(config)
{
this.Config = config;
agvClient.CancelState = false;
agvClient.Log += AgvClient_Log;
agvClient.Ready += AgvClient_Ready;
agvClient.CloseDoor += AgvClient_CloseDoor;
mainTimer.Elapsed += packageLineProcess;
agvClient_Dbline.Init();
}
public enum MAIN_STEP
{
NONE, RESET, RUN
}
StepInfo<MAIN_STEP> mainStep = new StepInfo<MAIN_STEP>(MAIN_STEP.NONE);
public override void Reset()
{
LogUtil.info("包装线体开始复位");
mainStep = new StepInfo<MAIN_STEP>(MAIN_STEP.NONE);
agvA3Step = new StepInfo<AGV_ENTER_A3_STEP>(AGV_ENTER_A3_STEP.NONE);
agvA4Step = new StepInfo<AGV_LEAVE_A4_STEP>(AGV_LEAVE_A4_STEP.NONE);
inStep = new StepInfo<IN_SHELF>(IN_SHELF.NONE);
pkgStationStep = new StepInfo<PKG_STATION_STEP>(PKG_STATION_STEP.NONE);
s2StationStep = new StepInfo<S2_STATION_STEP>(S2_STATION_STEP.NONE);
benQInStepLeft = new StepInfo<BenQ_IN_STEP>(BenQ_IN_STEP.NONE);
benQInStepRight = new StepInfo<BenQ_IN_STEP>(BenQ_IN_STEP.NONE);
benQOutStep = new StepInfo<BenQ_OUT_STEP>(BenQ_OUT_STEP.NONE);
//判断机器人是否连接，若未连接，直接连接
//if (!ABBControl.IsConnected(Config.ABB3_IP))
//{
// ABBControl.StartABBControl(Config.ABB3_IP);
//}
if (!agvClient.IsConn)
{
LogUtil.info("开始连接AGV服务");
agvClient.Connect();
}
if (!agvClient_Dbline.ISConnected())
{
agvClient_Dbline.agvClient.Connect();
LogUtil.info("开启BenQ AGV 连接");
}
//包装线体工位下降
CylinderMove(null, IO_Type.Pkg_Station_SOL_UP, IO_Type.Pkg_Station_SOL_Down);
//阻挡1下降 2上升 3上升 4上升
IOMove(IO_Type.Pkg_Stop1_Down, IO_VALUE.HIGH);
IOMove(IO_Type.Pkg_Stop2_Down, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Stop3_Down, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Out_Stop_Down, IO_VALUE.LOW);
//双层线上层阻挡
IOMove(IO_Type.RHigh_StopCylinder1, IO_VALUE.HIGH);
IOMove(IO_Type.RHigh_StopCylinder2, IO_VALUE.LOW);
//
LogUtil.info(Name + " 线体复位：线体转30秒");
int lineRunTime = 30000;
IOMove(IO_Type.Pkg_Line1_Forward, IO_VALUE.HIGH, lineRunTime);
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.HIGH, lineRunTime);
IOMove(IO_Type.Pkg_Line3_Forward, IO_VALUE.HIGH, lineRunTime);
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, lineRunTime);
//S2工位
IOMove(IO_Type.S2_StopCylinder1, IO_VALUE.LOW);
IOMove(IO_Type.S2_StopCylinder2, IO_VALUE.LOW);
//双层线出料口
IOMove(IO_Type.R_StopCylinder1, IO_VALUE.HIGH);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.LOW);
//升降机运转关
IOMove(IO_Type.R_OutLineRun, IO_VALUE.LOW);
IOMove(IO_Type.R_LineRun, IO_VALUE.HIGH, lineRunTime);
mainStep.ToNextStep(MAIN_STEP.RESET);
mainStep.AddTimeWait(lineRunTime+5000);
mainTimer.Enabled = true;
}
private object packLock = new object();
private void packageLineProcess(object sender, ElapsedEventArgs e)
{
if (mainStep.IsStep(MAIN_STEP.RUN))
{
if(Monitor.TryEnter(packLock))
{
try
{
//ProcessA3Agv();
//ProcessA4Agv();
ProcessInShelf();
ProcessPkgStation();
ProcessS2Station();
ProcessBenQLeftEnter();
ProcessBenQRightEnter();
ProcessBenQLeave();
//BenQ 右侧入料
ProcessRBufferTranverse();
ProcessBenQEnterFromOut();
CheckA5State();
CheckA6State();
}
catch (Exception ex)
{
LogUtil.error("packageLineProcess " + ex.ToString());
}
finally
{
Monitor.Exit(packLock);
}
}
}
else if (mainStep.IsStep(MAIN_STEP.RESET))
{
if (mainStep.IsFinished())
{
LogUtil.info("包装线体复位完成");
mainStep.ToNextStep(MAIN_STEP.RUN);
}
}
}
public override bool StartRun()
{
LogUtil.info(Name + "包装线开始启动，启动时间：" + DateTime.Now);
Reset();
return true;
}
public override void StopMove()
{
mainStep.ToNextStep(MAIN_STEP.NONE);
LogUtil.info(Name + " 包装线体停止");
//包装线体工位下降
CylinderMove(null, IO_Type.Pkg_Station_SOL_UP, IO_Type.Pkg_Station_SOL_Down);
IOMove(IO_Type.Pkg_Stop1_Down, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Stop2_Down, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Stop3_Down, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Out_Stop_Down, IO_VALUE.LOW);
//
IOMove(IO_Type.Pkg_Line1_Forward, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.LOW);
IOMove(IO_Type.Pkg_Line3_Forward, IO_VALUE.LOW);
//S2工位
IOMove(IO_Type.S2_StopCylinder1, IO_VALUE.LOW);
IOMove(IO_Type.S2_StopCylinder2, IO_VALUE.LOW);
//双层线出料口
IOMove(IO_Type.R_StopCylinder1, IO_VALUE.HIGH);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_StopCylinder2, IO_VALUE.LOW);
//右侧上层阻挡
IOMove(IO_Type.RHigh_StopCylinder1, IO_VALUE.HIGH);
IOMove(IO_Type.RHigh_StopCylinder2, IO_VALUE.LOW);
IOMove(IO_Type.R_LineRun, IO_VALUE.LOW);
try
{
if (!agvClient.IsConn)
{
LogUtil.info("停止AGV服务");
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("停止AGV服务出错", ex);
}
try
{
LogUtil.info("停止BenQ AGV服务");
agvClient_Dbline.Dispose();
}
catch(Exception ex)
{
LogUtil.error("停止BenQ AGV服务出错", ex);
}
}
public override void StopRun()
{
mainTimer.Enabled = false;
StopMove();
}
/// <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("线体[" + lineIoType + "]已停止，重新转动");
}
}
}
}