BoxEquip_OutExecute.cs
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using OnlineStore.DeviceLibrary.deviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
namespace OnlineStore.DeviceLibrary
{
partial class BoxEquip
{
/// <summary>
/// 料盘放到出料口成功，并将料盘信息写入该口
/// </summary>
private void SetReelInfoToBuff()
{
if (CheckASide())
{
BufferDataManager.AOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
}
else
{
BufferDataManager.BOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
}
}
#region 出库
private void OutstoreExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SO_00_StartOutstore:
PullAxisToP1("出库");
break;
case StepEnum.SO_01_PullAxis_Ready:
SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
MoveInfo.NextMoveStep(StepEnum.SO_01_MoveAxis_Ready);
if (!IsMoveAxisInSafePos())
{
MoveAxisToSafePos();
LogInfo($"出库 {MoveInfo.SLog}：行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
}
break;
case StepEnum.SO_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition);
startTime = DateTime.Now;
LogInfo($"出库 {MoveInfo.SLog}：到库位,行走机构到存储库位取放点位P3,移栽升降轴到抽屉上方过渡点P6/P12," +
$"抽屉拉取升降轴到抽屉提取低点P4，移栽压紧轴到压紧前点P2,移栽X轴到库位取放点P3,移栽旋转轴到抽屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();//料屉拉取进出轴到拍照点
MoveAxisToP3();
UpdownAxisTo_P6_P12();
PullAxis_UpdownToLowP4();
ComAxis_To_P2();
XAxis_To_P3();
MiddleAxis_To_P3();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case StepEnum.SO_02_ToPosition:
MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
LogInfo($"出库 {MoveInfo.SLog}：到抽屉提取点,抽屉拉取进出轴到抽屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
break;
case StepEnum.SO_03_ToTray:
MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，抽屉拉取升降轴到抽屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(true);
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_04_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
LogInfo($"出库 {MoveInfo.SLog}：拉抽屉到库位点，抽屉拉取进出轴到料屉库位点P3/P5,同时检测{trayAColumns[GetPosColumn()]}=0[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
if (CheckASide())
{
if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.LOW));
}
else
{
if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.LOW));
}
break;
case StepEnum.SO_05_PullTray:
MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
LogInfo($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，抽屉拉取升降轴到P2料屉提取水平点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2();
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break;
case StepEnum.SO_06_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel);
LogInfo($"出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到抽屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13();
break;
case StepEnum.SO_07_GetReel:
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P3();
break;
case StepEnum.SO_08_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack);
LogInfo($"出库 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到抽屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12();
break;
case StepEnum.SO_09_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，抽屉拉取升降轴到抽屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(true);
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_10_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
//LogInfo($"出库 {MoveInfo.SLog}：到进出轴待机点拍照，料斗拉取进出轴到料屉待机点P1,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//PullAxis_Inout_To_P1();
//MiddleAxis_To_P2();
//XAxis_To_P1();
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到抽屉提取点P2/P4,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
XAxis_To_P1();
break;
case StepEnum.SO_11_PushTray:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到抽屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
PullAxis_Inout_To_P2_P4();
//bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
//string res = rtn ? "OK" : "NG";
//LogInfo($"出库 {MoveInfo.SLog}：抓手检测结果:{res}");
//PullAxis_UpdownToMiddleP2();
//if (CheckASide())
//{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
//}
//else
//{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
//}
break;
case StepEnum.SO_12_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
LogInfo($"出库 {MoveInfo.SLog}：放下抽屉，抽屉拉取升降轴到抽屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(false);
PullAxis_UpdownToLowP4();
break;
case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack_1);
//AddReelCheck(true);
LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,检测料叉信号，同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide())
{
if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
}
else
{
if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
}
PullAxis_Inout_To_Cam();
break;
case StepEnum.SO_13_InoutBack_1:
if (!CheckReel(true))
{
if (isAlarmForkCheck())
SetCriticalMsg($"{MoveInfo.MoveParam.PosInfo.GetPosSide()}取料后，料叉未检测到料盘【{MoveInfo?.MoveParam?.PosInfo?.barcode}】");
return;
}
SetWarnMsg("");
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
checkForkCnt = 0;
ignoreCurFork = false;
LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴已到达拍照点,移栽旋转轴到取放料水平点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MiddleAxis_To_P2();
break;
case StepEnum.SO_13_InoutBack:
//检查另一面是否有出库任务
if (MoveInfo.MoveParam.PosInfoBack == null)
{
if (CheckASide(MoveInfo.MoveParam))
{
if (waitBOutStoreList.Count > 0 && CheckBOutDoor())
{
if (waitBOutStoreList.TryDequeue(out InOutParam inOutParam))//B面料叉空且B面出料口无料，有出库任务
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：A面切换到B面，B面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
else
{
if (waitAOutStoreList.Count > 0 && CheckAOutDoor())
{
if (waitAOutStoreList.TryDequeue(out InOutParam inOutParam))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：B面切换到A面，A面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
}
else//两夹爪都有料
{
if (MoveInfo.MoveParam.PosInfoBack.PlateW == MoveInfo.MoveParam.PosInfo.PlateW &&
MoveInfo.MoveParam.PosInfoBack.PlateH == MoveInfo.MoveParam.PosInfo.PlateH)
{
MoveInfo.NextMoveStep(StepEnum.SOB_14_GetReels_Ready);
return;
}
}
//直接出库，执行该步骤的情况：1.另一个料叉有料；2.另一面有出库任务但出料口有料；3.另一面没有出库任务;
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
//BuffAreaOutstoreDoor(true);
if (MoveInfo.MoveParam.PosInfoBack == null)
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往出料口。料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
else
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]取料完成，准备送往出料口，抽屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
break;
case StepEnum.SO_14_GetReels_Ready:
//if (!CheckReel(true))
//{
// SetCriticalMsg($"未检测到{MoveInfo.MoveParam.PosInfo.GetPosSide()}面料叉上的料盘，请检查");
// return;
//}
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready1);
MoveAxisToP1();
ignoreCurFork = false;
LogInfo($"出库 {MoveInfo.SLog}：准备送往出料口。行走机构到待机点P1");
ForkCheckWhenRunning();
break;
case StepEnum.SO_14_GetReels_Ready1:
//if (!CheckReel(true))
//{
// SetCriticalMsg($"未检测到{MoveInfo.MoveParam.PosInfo.GetPosSide()}面料叉上的料盘，请检查");
// return;
//}
//已出一边的料，切换到另一边
MoveInfo.NextMoveStep(StepEnum.SO_15_ToBufferArea);
StopForkCheck();
ignoreCurFork = false;
//LogInfo($"出库 {MoveInfo.SLog}：到暂存区出料口，" +
// $"行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SO_15_ToBufferArea:
if (!OutDoorCheck(MoveInfo.MoveParam))
{
SetWarnMsg($"出库 {MoveInfo.SLog}：出料口有其他料盘，无法放置该料盘[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_16_VerifyBufferState);
BuffAreaOutstoreDoor(true);
LogInfo($"出库 {MoveInfo.SLog}：出料口无料盘确认，打开出料防护门，准备放料[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
break;
case StepEnum.SO_16_VerifyBufferState:
if (!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SO_17_InOutToBuff);
LogInfo($"出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2,行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2();
MoveAxisToP2();
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break;
case StepEnum.SO_17_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SO_18_ReleaseReel);
LogInfo($"出库 {MoveInfo.SLog}：松开料盘，移栽压紧轴到压紧前点P2");
ComAxis_To_P2();
break;
case StepEnum.SO_18_ReleaseReel:
MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel);
LogInfo($"出库 {MoveInfo.SLog}：放料盘，移栽升降轴到下暂存区放料低点P5/P11");
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
// SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
UpdownAxisTo_P5_P11();
break;
case StepEnum.SO_18_PutReel:
if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode, DeviceStatus.OutStoreBoxEnd))
return;
Msg.add($"出库完成：【{MoveInfo.MoveParam.PosInfo.PosId}】【{MoveInfo.MoveParam.PosInfo.barcode}】【{DeviceStatus.OutStoreBoxEnd}】", MsgLevel.info);
MoveInfo.NextMoveStep(StepEnum.SO_19_InOutBackFromBuff);
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}]出库完成[耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒],移栽X轴到待机点P1,行走机构到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P1();
MoveAxisToP1();
if (CheckASide())
{
recentAOutstores.Push(MoveInfo.MoveParam.PosInfo.PosId);
LogInfo($"{recentAOutstores}");
}
else
{
recentBOutstores.Push(MoveInfo.MoveParam.PosInfo.PosId);
LogInfo($"{recentBOutstores}");
}
break;
case StepEnum.SO_19_InOutBackFromBuff:
//出库料盘放置成功，将料盘信息写入对应出料口
SetReelInfoToBuff();
if (MoveInfo.MoveParam.PosInfoBack == null)
{
MoveInfo.NextMoveStep(StepEnum.SO_20_Finish);
BuffAreaOutstoreDoor(false);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉无料，关闭出料防护门，出库结束[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉有料，开始出库，准备送往出料口，料屉升降轴到P1点，移栽升降轴到下暂存区放料高点P4/P10[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfoBack.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
// MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
}
break;
case StepEnum.SO_20_Finish:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
//停止记录
StopRecord();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
break;
}
}
#endregion
}
}