HY_Shunt.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 此类对应分流横移：HY1，HY4
/// 对应功能：横移入口，横移出口
/// 无定位气缸
/// 复位时，默认所有阻挡上升，顶升气缸下降，链条停止
/// </summary>
public class HY_Shunt : HYEquipBase
{
public HY_Shunt(string cid, HYEquip_Config config) : base(cid, config)
{
Name = ("横移" + (DeviceID % 100).ToString().PadLeft(2, '0')).ToUpper();
MoveInfo.Name = Name;
SecondMoveInfo.Name = Name;
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.RHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
StartEquip();
SecondMoveInfo.EndMove();
MoveInfo.NextMoveStep(LineMoveStep.HY_R_01StopMove);
LogInfo("开始复位，线体停止，顶升下降");
LineStop(MoveInfo);
JackingDown(MoveInfo);
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
if (MoveInfo.IsStep(LineMoveStep.HY_R_01StopMove))
{
MoveInfo.NextMoveStep(LineMoveStep.HY_R_02StopMove);
if (Config.IsSideWayOut)
{
if(IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck,IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY_R_02StopMove))
{
if (Config.IsSideWayOut)
{
LogInfo("顶升上升");
JackingUp(MoveInfo);
}
LogInfo("完成！");
MoveEndS();
}
}
}
internal override void StopMove(string stopDes = "")
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogInfo("停止运动：关闭所有DO ");
//LineStop();
CloseAllDO();
//CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
//HY_StopCylinderDown(null);
//LocationCylinderDown(null);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
StopEquip();
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (!MoveStop)
{
stopWatchCheck();
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line?.CanProcessLine()??false && !LineManager.IsFeedingHasBox())
{
CheckBox();
}
}
else
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
}
else
{
CheckStopWatch(trayCheckLowWait, 30000, false);
}
if (MoveInfo.MoveType.Equals(LineMoveType.RHome) || MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
else
{
BoxProcess();
}
}
}
}
/// <summary>
/// 检测到托盘的时间
/// </summary>
private Stopwatch trayCheckWait = new Stopwatch();
/// <summary>
/// 上一个托盘离开的时间
/// </summary>
private Stopwatch trayCheckLowWait = new Stopwatch();
private object lockObj = "";
private void stopWatchCheck()
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
CheckStopWatch(trayCheckWait, 30000, false);
}
else
{
trayCheckWait.Stop();
CheckStopWatch(trayCheckLowWait, 30000, false);
}
}
private object lockCheckBox = new object();
private void CheckBox()
{
if (Monitor.TryEnter(lockCheckBox, ContainerManager.mTimeOut))
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " CheckBox " + " 不在空闲中，直接返回 ");
return;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (Config.IsSideWayIn && IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))//入口横移执行
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
//横移上有箱子
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY02_BoxCheck);
LogInfo("容器检测，检测到容器");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " CheckBox " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockCheckBox);
}
}
else
{
LogUtil.error(Name + " CheckBox " + "失败，未得到锁");
}
}
protected override void BoxProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 箱子检测处理
if (MoveInfo.IsStep(LineMoveStep.HY01_Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.HY02_BoxCheck);
LogInfo("等待容器到位 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.HY02_BoxCheck))
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
containerArrived = true;
HY03_BoxInPosition();
}
//else
//{
// //未检测到信号，结束处理
// LogInfo(MoveInfo.SLog + "未等到横移物料检测信号 HY_BoxCheck=HIGH 结束处理 ");
// MoveEndS();
//}
}
else if (MoveInfo.IsStep(LineMoveStep.HY03_BoxInPosition))
{
if (IsHY1())
{
if (!LineManager.IsFeedingHasBox())
{
MoveInfo.NextMoveStep(LineMoveStep.HY04_CheckDownriver);
LogInfo("入料工位无料，检查下游状态 ");
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.HY04_CheckDownriver);
LogInfo("检查下游状态 ");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY04_CheckDownriver))
{
EquipBase hyout = GetOutEquip();
if (hyout != null && hyout.IsIdle())
{
ClearSpecifiedWarnMsg($"等待下游{hyout.Name}空闲超时");
MoveInfo.NextMoveStep(LineMoveStep.HY05_ToDownriver);
LogInfo($"下游{hyout.Name}无容器，放行 ");
hyout.StartMove();
if (IsHY1())
{
LineRun(MoveInfo);
}
else
{
JackingDown(MoveInfo);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待下游{hyout.Name}空闲超时");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY05_ToDownriver))
{
EquipBase hyout = GetOutEquip();
if (hyout != null && hyout.IsContainerArrived())
{
ClearSpecifiedWarnMsg($"等待容器到下游{hyout.Name}超时");
MoveInfo.NextMoveStep(LineMoveStep.HY06_WaitReach);
LogInfo($"容器已到下游{hyout.Name}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待容器到下游{hyout.Name}超时");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY06_WaitReach))
{
MoveInfo.NextMoveStep(LineMoveStep.HY07_ProBoxOk);
LogInfo("容器流转完成");
if (IsHY1())
{
LineStop(MoveInfo);
JackingDown(MoveInfo);
}
else
{
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY07_ProBoxOk))
{
LogInfo("结束处理 ");
MoveEndS();
}
#endregion
else
{
LogUtil.error(Name + "BoxProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
}
private bool IsHY1()
{
return DeviceID.Equals(201);
}
private void HY03_BoxInPosition()
{
MoveInfo.NextMoveStep(LineMoveStep.HY03_BoxInPosition);
if (IsHY1())
{
LogInfo($"容器到位，顶升上升");
JackingUp(MoveInfo);
}
else
{
LogInfo($"容器到位，横移电机停止");
LineStop(MoveInfo);
}
}
bool isHY1Idle()
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return false;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayCheckLowWait, TrayWaitTime, false))
{
return IOValue(IO_Type.Jacking_DownCheck).Equals(IO_VALUE.HIGH);
}
}
}
return false;
}
public override bool IsIdle(int type)
{
if (IsHY1())
return isHY1Idle();
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return false;
}
if (Monitor.TryEnter(lockObj, ContainerManager.mTimeOut))
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayCheckLowWait, TrayWaitTime, false))
{
if (IsHY1())
{
return IOValue(IO_Type.Jacking_DownCheck).Equals(IO_VALUE.HIGH);
}
else
{
return IOValue(IO_Type.Jacking_UpCheck).Equals(IO_VALUE.HIGH);
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " IsIdle " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockObj);
}
return false;
}
else
{
return false;
}
}
public override bool BoxCheck()
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))//入口横移执行
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
return true;
}
}
return false;
}
/// <summary>
/// 箱子准备流入
/// </summary>
/// <param name="type"></param>
public override void StartMove(int type = 0)
{
ResetContarinerArrivedState();
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY01_Wait);
LogInfo("容器检测，电机运转");
LineRun(MoveInfo);
}
}
}