InletEquip_InStore.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.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class InletEquip
{
/// <summary>
/// 等待机器人在安全位置
/// </summary>
/// <param name="moveInfo"></param>
/// <param name="wait"></param>
/// <returns></returns>
protected override bool CheckWaitResult(DeviceMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
if (LastCodeList.Count > 0)
{
wait.IsEnd = true;
}
}
else if (wait.WaitType.Equals(WaitEnum.W202_RobotInSafe))
{
if (StoreManager.Client.robotEquip.RobotInSafeAtInlet())
{
wait.IsEnd = true;
}
}
return wait.IsEnd;
}
private List<string> LastCodeList = new List<string>();
#region 自动入料
private DateTime startInTime = DateTime.Now;
public override bool StartInstore(InOutParam param)
{
if (!NoAlarm())
{
LogInfo("报警中，无法开始自动入料：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.InStore, param);
startInTime = DateTime.Now;
{
MoveInfo.NextMoveStep(StepEnum.Inlet_01_Wait);
MoveLog($"开始入料{MoveInfo.SLog}");
}
return true;
}
return false;
}
private void NextMoveStep(StepEnum step, string msg)
{
MoveInfo.NextMoveStep(step);
MoveLog($" {MoveInfo.SLog}：{msg}");
}
InOutPosInfo lastPosInfo = new InOutPosInfo();
Task getTrayInfoTask = null;
Task getTargetInfoTask = null;
protected override void InstoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.Inlet_01_Wait))
{
NextMoveStep(StepEnum.Inlet_02_CheckTray, "检查是否有料盘");
}
else if (MoveInfo.IsStep(StepEnum.Inlet_02_CheckTray))
{
if (HasTrayInPosition())
{
NextMoveStep(StepEnum.Inlet_05_GetTrayInfo, "有料盘，扫码，准备获取料盘信息");
AllowFeedIn(false);
Inlet_05_GetTrayInfo();
}
else//无料盘
{
NextMoveStep(StepEnum.Inlet_03_AllowFeedIn, "无料盘，允许料盘进入,链条运行");
AllowFeedIn(true);
InletRun(true);
AddWaitTrayInPosition(true);
AddWaitTime(5000);
}
}
else if (MoveInfo.IsStep(StepEnum.Inlet_03_AllowFeedIn))
{
NextMoveStep(StepEnum.Inlet_04_TrayInPosition, "料盘到位，拒绝料盘进入,链条停止");
AllowFeedIn(false);
IOMove(IO_Type.Inlet_Run, IO_VALUE.HIGH,5000);
}
else if (MoveInfo.IsStep(StepEnum.Inlet_04_TrayInPosition))
{
NextMoveStep(StepEnum.Inlet_05_GetTrayInfo, "料盘已到位，扫码，准备获取料盘信息");
Inlet_05_GetTrayInfo();
}
else if (MoveInfo.IsStep(StepEnum.Inlet_05_GetTrayInfo))
{
if (getTrayInfoTask != null && getTrayInfoTask.IsCompleted)
{
NextMoveStep(StepEnum.Inlet_06_JackUp, "获取料盘信息完成，顶升抬起");
Inlet_06_JackUp();
}
}
else if (MoveInfo.IsStep(StepEnum.Inlet_06_JackUp))
{
if (MoveInfo.MoveParam.PosInfo.IsNG)
{
NextMoveStep(StepEnum.Inlet_08_WaitTrayLeave, "条码NG，等待机器人到安全位置");
AddWaitTrayInPosition(false);
BufferDataManager.TrayInInletInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
AddWaitRobotInSafe();
}
else
{
NextMoveStep(StepEnum.Inlet_07_GetTargetInfo, "从服务器获取入库库位");
GetTargetInfo();
}
}
else if (MoveInfo.IsStep(StepEnum.Inlet_07_GetTargetInfo))
{
if (getTargetInfoTask != null && getTargetInfoTask.IsCompleted && lastPosInfo != null)
{
getPosIdMsg = "";
ClearTimeoutAlarm("获取库位号超时");
//InOutPosInfo oldPos = MoveInfo.MoveParam.PosInfo;
//if ((!LastPosInfo.PlateH.Equals(oldPos.PlateH)) || (!LastPosInfo.PlateW.Equals(oldPos.PlateW)))
//{
// MoveLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + oldPos.PlateW + "X" + oldPos.PlateH + "】服务器返回尺寸【" + LastPosInfo.PlateW + "X" + LastPosInfo.PlateH + "】 ");
//}
MoveInfo.MoveParam.PosInfo = lastPosInfo;
NextMoveStep(StepEnum.Inlet_08_WaitTrayLeave, $"获取目标仓位成功【{MoveInfo.MoveParam.PosInfo.ToStr()}】，等待料盘离开");
BufferDataManager.TrayInInletInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
AddWaitTrayInPosition(false);
AddWaitRobotInSafe();
}
else if (MoveInfo.IsTimeOut(15))
{
MoveTimeOut(MoveInfo, "获取库位号超时 " + getPosIdMsg);
}
}
else if (MoveInfo.IsStep(StepEnum.Inlet_08_WaitTrayLeave))
{
NextMoveStep(StepEnum.Inlet_09_WaitRobotInSafe, "料盘离开入料口，等待机器人到安全位置");
AddWaitRobotInSafe();
AddWaitTime(10000);
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.IsStep(StepEnum.Inlet_09_WaitRobotInSafe))
{
NextMoveStep(StepEnum.Inlet_10_JackDown, "机器人到达安全位置，顶升下降");
Inlet_10_JackDown();
}
else if (MoveInfo.IsStep(StepEnum.Inlet_10_JackDown))
{
//MoveInfo.EndMove();
//runStatus = RunStatus.Runing;
MoveInfo.NextMoveStep(StepEnum.Inlet_01_Wait);
MoveInfo.MoveParam.PosInfo = new InOutPosInfo();
}
}
#endregion
private void AddWaitRobotInSafe()
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitRobotInSafe());
}
private void Inlet_05_GetTrayInfo()
{
bool isScan = ConfigAppSettings.GetIntValue(Setting_Init.NeedScanCode).Equals(1);
LastCodeList = new List<string>();
getTrayInfoTask = Task.Factory.StartNew(() =>
{
if (isScan)
{
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
try
{
IOMove(IO_Type.Inlet_CamLed, IO_VALUE.HIGH);
Thread.Sleep(1000);
LastCodeList = CodeManager.CameraScan(Config.ScanCodeCamera, Name);
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.ScanCodeCamera, Name);
}
}
catch (Exception ex)
{
LogUtil.error("扫码出错", ex);
}
finally
{
IOMove(IO_Type.Inlet_CamLed, IO_VALUE.LOW);
}
}
string code = CodeManager.ProcessCode(LastCodeList);
MoveInfo.MoveParam.PosInfo.barcode = code;
if (string.IsNullOrEmpty(code))
{
MoveInfo.MoveParam.PosInfo.IsNG = true;
MoveInfo.MoveParam.PosInfo.NgMsg = "无有效条码NG";
}
//获取料盘宽度
MoveInfo.MoveParam.PosInfo.PlateW = GetWidth();
//获取厚度
MoveInfo.MoveParam.PosInfo.PlateH = GetHeight();
//扫码
});
AddWaitTime(3000);
}
private int GetWidth()
{
int width = 7;
int idx_ad_7cun_1 = 0;
double coef_ad_7cun_1 = Config.Coeff_Height_Ad1;
int base_ad_7cun_1 = Config.BaseVal_Height_Ad1;
int idx_ad_7cun_2 = 1;
double coef_ad_7cun_2 = Config.Coeff_Height_Ad2;
int base_ad_7cun_2 = Config.BaseVal_Height_Ad2;
int idx_ad_13cun_1 = 2;
double coef_ad_13cun_1 = Config.Coeff_Height_Ad3;
int base_ad_13cun_1 = Config.BaseVal_Height_Ad3;
int idx_ad_13cun_2 = 3;
double coef_ad_13cun_2 = Config.Coeff_Height_Ad4;
int base_ad_13cun_2 = Config.BaseVal_Height_Ad4;
double val1 = GetCalValue(idx_ad_7cun_1, coef_ad_7cun_1, base_ad_7cun_1);
double val2 = GetCalValue(idx_ad_7cun_2, coef_ad_7cun_2, base_ad_7cun_2);
double val3 = GetCalValue(idx_ad_13cun_1, coef_ad_13cun_1, base_ad_13cun_1);
double val4 = GetCalValue(idx_ad_13cun_2, coef_ad_13cun_2, base_ad_13cun_2);
width = GetWidth(val3, val4);
LogUtil.info($"获取宽度【{width}】：7寸宽度计算值1：{val1.ToString("f3")}；7寸宽度计算值2：{val2.ToString("f3")}；13寸宽度计算值1：{val3.ToString("f3")}；13寸宽度计算值2：{val4.ToString("f3")}；");
return width;
}
/// <summary>
/// 获取高度
/// </summary>
/// <returns></returns>
private int GetHeight()
{
int height = 8;
int idx_ad_7cun_1 = 0;
double coef_ad_7cun_1 = Config.Coeff_Height_Ad1;
int base_ad_7cun_1 = Config.BaseVal_Height_Ad1;
int idx_ad_7cun_2 = 1;
double coef_ad_7cun_2 = Config.Coeff_Height_Ad2;
int base_ad_7cun_2 = Config.BaseVal_Height_Ad2;
int idx_ad_13cun_1 = 2;
double coef_ad_13cun_1 = Config.Coeff_Height_Ad3;
int base_ad_13cun_1 = Config.BaseVal_Height_Ad3;
int idx_ad_13cun_2 = 3;
double coef_ad_13cun_2 = Config.Coeff_Height_Ad4;
int base_ad_13cun_2 = Config.BaseVal_Height_Ad4;
double val1 = GetCalValue(idx_ad_7cun_1, coef_ad_7cun_1, base_ad_7cun_1);
double val2 = GetCalValue(idx_ad_7cun_2, coef_ad_7cun_2, base_ad_7cun_2);
double val3 = GetCalValue(idx_ad_13cun_1, coef_ad_13cun_1, base_ad_13cun_1);
double val4 = GetCalValue(idx_ad_13cun_2, coef_ad_13cun_2, base_ad_13cun_2);
double max = getMax(val1, val2, val3, val4);
height = getHeight(max);
LogUtil.info($"获取高度【{height}】：最大计算值为{max.ToString("f3")}");
return height;
}
double getMax(params double[] vals)
{
return vals.Max();
}
string heightRange = ConfigAppSettings.GetValue(Setting_Init.ReelHeightRange);
private int getHeight(double max)
{
string[] range = heightRange.Split('#');
string[] h5 = range[0].Split(',');
string[] h8 = range[1].Split(',');
string[] h12 = range[2].Split(',');
int.TryParse(h5[0], out int low_5);
int.TryParse(h5[1], out int high_5);
int.TryParse(h8[0], out int low_8);
int.TryParse(h8[1], out int high_8);
int.TryParse(h12[0], out int low_12);
int.TryParse(h12[1], out int high_12);
int height = 5;
if (max >= low_5 && max <= high_5)
height = 5;
else if (max >= low_8 && max <= high_8)
height = 8;
else if (max > low_12 && max <= high_12)
{
height = 12;
}
else
height = 12;
return height;
}
public int GetHeight(double[] coefs, int[] baseVals)
{
int height = 0;
double val1 = GetCalValue(0, coefs[0], baseVals[0]);
double val2 = GetCalValue(1, coefs[1], baseVals[1]);
double val3 = GetCalValue(2, coefs[2], baseVals[2]);
double val4 = GetCalValue(3, coefs[3], baseVals[3]);
double max = getMax(val1, val2, val3, val4);
//高度有5，8，12
//各加4毫米
height = getHeight(max);
return height;
}
public int GetWidth(double calVal3, double calVal4)
{
if (calVal3 > 5 || calVal4 > 5)
return 13;
else
return 7;
}
/// <summary>
/// 计算模拟量的值
/// </summary>
/// <param name="adIdx"></param>
/// <param name="coeff"></param>
/// <param name="baseVal"></param>
/// <returns></returns>
public double GetCalValue(int adIdx, double coeff, int baseVal)
{
double val = IOManager.GetADVal(adIdx);
return (val - baseVal) / coeff;
}
private int LastResult = 0;
private string getPosIdMsg = "";
private void GetTargetInfo()
{
InOutPosInfo pos = MoveInfo.MoveParam.PosInfo;
lastPosInfo = null;
List<string> codeList = Regex.Split(pos.barcode, "##", RegexOptions.IgnoreCase).ToList();
getTargetInfoTask = Task.Factory.StartNew(() =>
{
//更新托盘条码信息
try
{
int count = 1;
while (MoveInfo.MoveType.Equals(MoveType.InStore))
{
int ms = 5000;
string lastPosId = "";
//从服务器获取库位号
GetPosResult result = SServerManager.GetPosId(Name, codeList, pos.PlateH, pos.PlateW, pos.rfid, lastPosId);
LastResult = result.Result;
if (result.IsTimeOut)
{
if (count < 5)
{
ms = 2000;
}
Thread.Sleep(ms);
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 超时，等待" + ms + "后重新获取");
}
else if (result.Result.Equals(99) || result.Result.Equals(100))
{
if (count < 5)
{
ms = 3000;
}
getPosIdMsg = result.Msg;
Thread.Sleep(ms);
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 结果【" + result.Result + "】，等待" + ms + "后重新获取");
}
else if (!result.Result.Equals(0))
{
lastPosInfo = result.Param;
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 入库NG：" + result.Msg);
break;
}
else
{
lastPosInfo = result.Param;
break;
}
if (count >= 3)
{
//自动NG
lastPosInfo = new InOutPosInfo(pos.barcode, "", MoveInfo.MoveParam.PosInfo.PlateW, MoveInfo.MoveParam.PosInfo.PlateH);
lastPosInfo.IsNG = true;
lastPosInfo.NgMsg = "获取库位超过三次，直接NG";
break;
}
count++;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "【" + pos.barcode + "】 " + MoveInfo.SLog + " 获取库位号报错：" + ex.ToString());
}
});
}
/// <summary>
/// 入料线体是否有料盘
/// </summary>
/// <returns></returns>
public bool HasTrayInPosition()
{
return IOValue(IO_Type.Inlet_TrayCheck).Equals(IO_VALUE.HIGH);
}
private void Inlet_06_JackUp()
{
if (MoveInfo.MoveParam.PosInfo != null && MoveInfo.MoveParam.PosInfo.PlateW.Equals(7))
{
Inch7JackUp(true);
}
else if (MoveInfo.MoveParam.PosInfo != null && MoveInfo.MoveParam.PosInfo.PlateW.Equals(13))
{
Inch13JackUp(true);
}
}
private void Inlet_10_JackDown()
{
Inch7JackUp(false);
Inch13JackUp(false);
}
}
}