RobotEquip_OutExecute.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class RobotEquip
{
#region 出库
private void OutstoreExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.OutStore_01_Wait:
SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy, MoveInfo.MoveParam.PosInfo);
NextMoveStep(StepEnum.OutStore_02_ArmToP1, "出库开始，机械臂回待机点");
OutStore_02_ArmToP1();
break;
case StepEnum.OutStore_02_ArmToP1:
NextMoveStep(StepEnum.OutStore_03_MoveAxisToStore, "行走机构到仓门口");
OutStore_03_MoveAxisToStore();
break;
case StepEnum.OutStore_03_MoveAxisToStore:
NextMoveStep(StepEnum.OutStore_04_CheckStoreState, "到达仓门口，检查其状态");
break;
case StepEnum.OutStore_04_CheckStoreState:
if (OutStore_04_CheckStoreState())
{
NextMoveStep(StepEnum.OutStore_05_ArmToStoreDoorLow, "当前仓可取料，机械臂到仓取料低点");
OutStore_05_ArmToStoreDoorLow();
}
break;
case StepEnum.OutStore_05_ArmToStoreDoorLow:
NextMoveStep(StepEnum.OutStore_06_CompressTray, "机械臂到仓取料高点，压紧轴压紧");
OutStore_06_CompressTray();
break;
case StepEnum.OutStore_06_CompressTray:
NextMoveStep(StepEnum.OutStore_07_ArmBackToP1, "在仓门口取料完成，添加机器人缓存，机械臂回待机点");
OutStore_07_ArmBackToP1();
break;
case StepEnum.OutStore_07_ArmBackToP1:
NextMoveStep(StepEnum.OutStore_08_MoveAxisToOutlet, "机械臂到待机点，上报状态，行走机构到出料口");
UpdateLocInfo(MoveInfo.MoveParam.PosInfo, TaskStatus.INROBOT);
OutStore_08_MoveAxisToOutlet();
break;
case StepEnum.OutStore_08_MoveAxisToOutlet:
NextMoveStep(StepEnum.OutStore_09_CheckOutletState, "到达出料口，检查其状态:顶升上升且无料盘");
break;
case StepEnum.OutStore_09_CheckOutletState:
if (OutStore_09_CheckOutletState())
{
NextMoveStep(StepEnum.OutStore_10_ArmToTrayHigh, "机械臂到出料口放料高点");
OutStore_10_ArmToTrayHigh();
}
break;
case StepEnum.OutStore_10_ArmToTrayHigh:
NextMoveStep(StepEnum.OutStore_11_ReleaseTray, "机械臂到出料口放料低点，压紧轴张开");
OutStore_11_ReleaseTray();
break;
case StepEnum.OutStore_11_ReleaseTray:
NextMoveStep(StepEnum.OutStore_12_ArmBackToP1, "在出料口放料完成，清除机器人缓存，机械臂回待机点");
OutStore_12_ArmBackToP1();
break;
case StepEnum.OutStore_12_ArmBackToP1:
NextMoveStep(StepEnum.OutStore_13_Finish, "出库结束");
break;
case StepEnum.OutStore_13_Finish:
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
break;
}
}
private void OutStore_02_ArmToP1()
{
SendCmd(GetCmd_Standby());
}
private void OutStore_03_MoveAxisToStore()
{
MoveAxisToStore();
}
private bool OutStore_04_CheckStoreState()
{
return true;
}
private void OutStore_05_ArmToStoreDoorLow()
{
SendCmd(GetCmd_StoreLow(targetIndex));
}
private void OutStore_06_CompressTray()
{
SendCmd(GetCmd_StoreUp());
CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P4, Config.CompressAxis_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.HIGH));
}
private void OutStore_07_ArmBackToP1()
{
//添加机器人缓存，并上报任务状态
BufferDataManager.TrayInRobotInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
SendCmd(GetCmd_Standby());
}
private void OutStore_08_MoveAxisToOutlet()
{
MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P3_Outlet, Config.MoveAxis_P3_Outlet_Speed);
}
private bool OutStore_09_CheckOutletState()
{
if (IOValue(IO_Type.Outlet_JackUpSig).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Outlet_TrayCheck1).Equals(IO_VALUE.LOW))
{
return true;
}
return false;
}
private void OutStore_10_ArmToTrayHigh()
{
SendCmd(GetCmd_OutletHigh());
}
private void OutStore_11_ReleaseTray()
{
SendCmd(GetCmd_OutletDown());
CompressAxis.AbsMove(MoveInfo,Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.LOW));
}
private void OutStore_12_ArmBackToP1()
{
//上报任务状态
BufferDataManager.TrayInRobotInfo = null;
BufferDataManager.TrayInOutletInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
UpdateLocInfo(MoveInfo.MoveParam.PosInfo, TaskStatus.FINISHED);
SendCmd(GetCmd_Standby());
}
#endregion
}
}