OutletEquip.cs
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using Asa;
using HuichuanLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 出料口
/// </summary>
public partial class OutletEquip : EquipBase
{
public Client_Config Config;
public bool AutoInput = ConfigAppSettings.GetIntValue(Setting_Init.AutoInput).Equals(1);
public int DefautTargetP = 1;
public OutletEquip(Client_Config config, int id)
{
baseConfig = config;
this.Config = config;
DeviceID = id;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "出料口" + " ").ToUpper();
Init();
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
MoveInfo = new DeviceMoveInfo(Name);
addLastDI(IO_Type.Airpressure_Check, IO_VALUE.LOW);
addLastDI(IO_Type.SuddenStop_BTN, IO_VALUE.LOW);
addLastDI(IO_Type.Reset_BTN, IO_VALUE.LOW);
runStatus = RunStatus.Wait;
}
/// <summary>
/// 机器人可以取/放料
/// </summary>
/// <returns></returns>
public bool IsReady()
{
if (MoveInfo.MoveType.Equals(MoveType.None) && !TrayCheck())
{
return true;
}
return false;
}
#region 启动，复位，停止 处理
/// <summary>
/// 启动
/// </summary>
/// <returns></returns>
public override bool StartRun()
{
if (!CanStartWork())
{
SetWarnMsg("机器人未在安全位置，启动失败");
return false;
}
if (CanStartRun().Equals(false))
{
return false;
}
SetAllTimer(false);
MoveInfo.EndMove();
LogInfo($"{Name} : 开始启动 ");
runStatus = RunStatus.HomeMoving;
MoveInfo.NewMove(MoveType.RHome, new InOutParam());
StartReset();
SetAllTimer(true);
return true;
}
/// <summary>
/// 复位
/// </summary>
/// <returns></returns>
public override bool Reset()
{
if (!CanStartWork())
{
SetWarnMsg("机器人未在安全位置，重置失败");
return false;
}
SetAllTimer(false);
StopMove();
LogInfo($"{Name}: 开始重置 ");
runStatus = RunStatus.Reset;
MoveInfo.NewMove(MoveType.Reset, new InOutParam());
StartReset();
SetAllTimer(true);
return true;
}
private void StartReset()
{
ClearWarnMsg();
alarmType = AlarmType.None;
isInSuddenDown = false;
isNoAirpressure_Check = false;
MoveInfo.NextMoveStep(StepEnum.Outlet_Reset_01_Wait);
LogInfo($"复位 {MoveInfo.SLog}");
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.Outlet_Reset_01_Wait))
{
MoveInfo.NextMoveStep(StepEnum.Outlet_Reset_02_JackDown);
LogInfo($"复位 {MoveInfo.SLog}：顶升下降");
JackUp(false);
}
else if (MoveInfo.IsStep(StepEnum.Outlet_Reset_02_JackDown))
{
MoveInfo.NextMoveStep(StepEnum.Outlet_Reset_03_CheckTray);
LogInfo($"复位 {MoveInfo.SLog}：皮带运转，检查是否有料盘");
OutletRun(true);
}
else if (MoveInfo.IsStep(StepEnum.Outlet_Reset_03_CheckTray))
{
if (TrayCheck())
{
MoveInfo.NextMoveStep(StepEnum.Outlet_Reset_04_Finish);
LogInfo($"复位 {MoveInfo.SLog}：检测到料盘，皮带停止");
OutletRun(false);
}
else if (MoveInfo.IsTimeOut(15))
{
MoveInfo.NextMoveStep(StepEnum.Outlet_Reset_04_Finish);
LogInfo($"复位 {MoveInfo.SLog}：未检测到料盘，15秒超时，皮带停止,顶升抬起");
OutletRun(false);
JackUp(true);
}
}
else if (MoveInfo.IsStep(StepEnum.Outlet_Reset_04_Finish))
{
if (TrayCheck())
{
MoveInfo.NewMove(MoveType.None);
StartOutstore(new InOutParam());
}
else
{
BufferDataManager.TrayInOutletInfo = null;
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
}
}
internal override void StopMove()
{
//StopMove时设置状态为none
JackUp(false);
MoveInfo.EndMove();
}
public override void StopRun()
{
SetAllTimer(false);
runStatus = RunStatus.Wait;
StopMove();
}
#endregion
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirpressure_Check)
{
return;
}
SecurityAccessProcess();
BusyMoveProcess();
IOTimeOutProcess();
if (!MoveStop)
{
if (MoveInfo.MoveType.Equals(MoveType.None) && NoErrorAlarm())
{
if (IsJackUp() && BufferDataManager.TrayInOutletInfo != null)
{
StartOutstore(new InOutParam(BufferDataManager.TrayInOutletInfo));
}
}
}
if (NoErrorAlarm())
{
//CheckAxisAlarm();
}
}
bool IsJackUp()
{
return IOValue(IO_Type.Outlet_JackUpSig).Equals(IO_VALUE.HIGH);
}
internal bool CanStartWork()
{
// 机器人在安全位置
return StoreManager.Client.robotEquip.IsInSafePosition();
}
//光栅状态：0正常。1=安全门禁打开，已停止运动
private int CurrSecurityAccess = 0;
protected void SecurityAccessProcess()
{
//try
//{
// if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
// {
// return;
// }
// if (CurrSecurityAccess.Equals(0))
// {
// if (StoreManager.DisSecurityAccess)
// {
// }
// else if (IOValue(IO_Type.SafetyRasterSignal).Equals(IO_VALUE.LOW))
// {
// SecurityAccessStop();
// }
// }
// else if (CurrSecurityAccess.Equals(1))
// {
// if (IOValue(IO_Type.SafetyRasterSignal).Equals(IO_VALUE.HIGH))
// {
// SecurityAccessReset();
// }
// }
//}
//catch (Exception ex)
//{
// LogUtil.error(Name + " 出错 ：" + ex.ToString());
//}
}
//private void SecurityAccessStop()
//{
// if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
// {
// return;
// }
// CurrSecurityAccess = 1;
// if (alarmType > (AlarmType.IoSingleTimeOut))
// {
// return;
// }
// //ConfigIO di = baseConfig.DIList[IO_Type.SafetyRasterSignal];
// //LogUtil.info($"{Name }光栅被遮挡，停止当前运动{MoveInfo.MoveType},MoveStop={MoveStop}，报警急停");
// //SetWarnMsg("光栅被遮挡，报警急停");
// //Alarm(AlarmType.SuddenStop);
// MoveStop = true;
// string msg = "";
// // msg += $"停止轴{MiddleAxis.Config.Explain}，{UpdownAxis.Config.Explain}；";
// //if (MoveInfo.MoveType.Equals(MoveType.None))
// //{
// // SetWarnMsg("光栅被遮挡，暂停运动");
// // LogUtil.info($"{Name }光栅被遮挡，暂停运动，MoveStop={MoveStop}，{msg}，稍后复位");
// //}
// //else
// //{
// // SetWarnMsg("光栅被遮挡，暂停当前运动");
// // LogUtil.info($"{Name }光栅被遮挡，停止当前运动{MoveInfo.MoveType},{MoveInfo.MoveStep}，{msg}，稍后复位");
// //}
//}
//private void SecurityAccessReset()
//{
// if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
// {
// return;
// }
// CurrSecurityAccess = 0;
// MoveStop = false;
// ConfigIO di = baseConfig.DIList[IO_Type.SafetyRasterSignal];
// if (alarmType > (AlarmType.IoSingleTimeOut))
// {
// return;
// }
// //光栅恢复处理
// if (WarnMsg.Contains("光栅被遮挡，暂停"))
// {
// SetWarnMsg("");
// }
// if (!MoveInfo.MoveType.Equals(MoveType.None))
// {
// MoveInfo.LastSetpTime = DateTime.Now;
// LogUtil.info($"{Name }光栅已恢复，恢复当前运动{MoveInfo.MoveType},{MoveInfo.MoveStep} ");
// }
// else
// {
// LogUtil.info($"{Name }光栅已恢复，取消暂停运动");
// }
//}
#region IO 操作
/// <summary>
/// 送料允许
/// </summary>
private void AddWaitAllowFeedOut(bool on)
{
if (on)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_AllowFeedSig, IO_VALUE.HIGH));
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_AllowFeedSig, IO_VALUE.LOW));
}
}
/// <summary>
/// 顶升顶起
/// </summary>
/// <param name="up">true：顶起</param>
void JackUp(bool up)
{
if (up)
{
IOMove(IO_Type.Outlet_JackDown, IO_VALUE.LOW);
IOMove(IO_Type.Outlet_JackUp, IO_VALUE.HIGH);
if (MoveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackUp, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackUpSig, IO_VALUE.HIGH));
}
}
else
{
IOMove(IO_Type.Outlet_JackUp, IO_VALUE.LOW);
IOMove(IO_Type.Outlet_JackDown, IO_VALUE.HIGH);
if (MoveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackUp, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackDown, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_JackDownSig, IO_VALUE.HIGH));
}
}
}
void OutletRun(bool run)
{
if (run)
{
IOMove(IO_Type.Outlet_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_Run, IO_VALUE.HIGH));
}
else
{
IOMove(IO_Type.Outlet_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_Run, IO_VALUE.LOW));
}
}
/// <summary>
/// 是否有料盘
/// </summary>
/// <returns></returns>
public bool TrayCheck()
{
return TrayCheck1() || TrayCheck2();
}
/// <summary>
/// 料盘检测1
/// </summary>
/// <returns></returns>
public bool TrayCheck1()
{
return IOValue(IO_Type.Outlet_TrayCheck1).Equals(IO_VALUE.HIGH);
}
/// <summary>
/// 料盘检测2
/// </summary>
/// <returns></returns>
public bool TrayCheck2()
{
return IOValue(IO_Type.Outlet_TrayCheck2).Equals(IO_VALUE.HIGH);
}
void AddWaitTrayCheck1(bool inposition)
{
if (inposition)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_TrayCheck1, IO_VALUE.HIGH));
else
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_TrayCheck1, IO_VALUE.LOW));
}
void AddWaitTrayCheck2(bool inposition)
{
if (inposition)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_TrayCheck2, IO_VALUE.HIGH));
else
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Outlet_TrayCheck2, IO_VALUE.LOW));
}
void AddWaitTime(int ms)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ms));
}
public override bool StartInstore(InOutParam param)
{
return false;
}
public override bool StartOutstore(InOutParam param)
{
if (!NoAlarm())
{
LogInfo("报警中，无法开始自动出料：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
startInTime = DateTime.Now;
{
MoveInfo.NextMoveStep(StepEnum.Outlet_01_Wait);
MoveLog($"开始出料{MoveInfo.SLog}");
}
return true;
}
return false;
}
protected override void InstoreProcess()
{
}
#endregion
}
}