HY_SLStation.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 此类对应上料工位横移：HY2,HY3
/// </summary>
public class HY_SLStation : HYEquipBase
{
public HY_SLStation(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()
{
StartEquip();
ResetClearData();
SecondMoveInfo.EndMove();
MoveInfo.NextMoveStep(LineMoveStep.HY_R_01StopMove);
LogInfo("开始复位，横移线体停止 ");
LineStop(MoveInfo);
if (IsHY2() && IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
JackingDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
}
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 (IsHY2())
{
LogInfo("顶升上升");
JackingUp(MoveInfo);
}
else
{
StopUp(MoveInfo);
JackingDown(MoveInfo);
FrontStopUp(1, MoveInfo);
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH))
{
FrontStopUp(2, MoveInfo);
LogInfo("前阻挡1位置有容器，顶升下降,前阻挡1、2上升，前阻挡3下降");
}
else
{
FrontStopDown(2, MoveInfo);
LogInfo("前阻挡1位置无容器，顶升下降,前阻挡1上升，前阻挡3下降");
}
FrontStopDown(3, MoveInfo);
}
isInPro = false;
}
else if (MoveInfo.IsStep(LineMoveStep.HY_R_02StopMove))
{
LogInfo("完成！");
MoveEndS();
}
}
}
private bool IsHY2()
{
return DeviceID.Equals(202);
}
internal override void StopMove(string stopDes = "")
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogInfo("停止运动：关闭所有DO ");
CloseAllDO();
//LineStop();
//CylinderMove( null , IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
//LocationCylinderDown(null);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
StopEquip();
runStatus = LineRunStatus.Wait;
}
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheckLowWait = new Stopwatch();
private Stopwatch trayCheckFrontWait = new Stopwatch();
private Stopwatch trayCheckFrontLowWait = new Stopwatch();
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);
}
if (!IsHY2())
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckFrontLowWait.Stop();
CheckStopWatch(trayCheckFrontWait, 30000, false);
}
else
{
trayCheckFrontWait.Stop();
CheckStopWatch(trayCheckFrontLowWait, 30000, false);
}
}
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
stopWatchCheck();
if ((!MoveStop))
{
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line?.CanProcessLine() ?? false)
{
CheckBox();
}
if (IsHY2() && !LineManager.IsFeedingHasBox() && IOValue(IO_Type.Jacking_UpCheck).Equals(IO_VALUE.LOW))
{
CheckAndMove(IO_Type.Jacking_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.Jacking_Down, IO_VALUE.HIGH);
}
}
else
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
if (IsHY2())
{
containerArrived = true;
}
}
if (MoveInfo.MoveType.Equals(LineMoveType.RHome) || MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
else
{
BoxProcess();
}
}
}
}
private void CheckBox()
{
{
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 (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
if (Config.IsSideWayIn)//横移3
{
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY33_UpdateBoxInfo);
UpdateContainerCode();
LogInfo(" 获取容器信息");
HY33_GetBoxInfo();
}
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheckLowWait, TrayWaitTime, false);
if (Config.IsSideWayIn)//横移3
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Jacking_DownCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckFrontWait, TrayWaitTime, true) && check2IsOk)
{
//托盘在第一个阻挡处
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY30_FrontStop2Up);
LogInfo("前阻挡1检测到容器，前阻挡2上升，横移下降");
FrontStopUp(2, MoveInfo);
JackingDown(MoveInfo);
}
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " CheckBox " + " 出错：" + ex.ToString());
}
}
}
void HY33_GetBoxInfo()
{
UpdateContainerCode();
}
bool hy3ToDischarge = false;
int hy3WaitTime = ConfigAppSettings.GetIntValue(Setting_Init.HY3_WaitTimeOut);
protected override void BoxProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 横移3入口箱子处理
if (MoveInfo.IsStep(LineMoveStep.HY30_FrontStop2Up))
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.HY31_FrontStop1Down);
LogInfo(" 容器准备流入横移，前阻挡1下降");
FrontStopDown(1, MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo("未等到信号 横移3前阻挡1物料检测亮且横移物料检测灭， 结束处理 ");
MoveEndS();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY31_FrontStop1Down))
{
MoveInfo.NextMoveStep(LineMoveStep.HY32_WaitBoxInPos);
LogInfo(" 等待容器到位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.IsStep(LineMoveStep.HY32_WaitBoxInPos))
{
MoveInfo.NextMoveStep(LineMoveStep.HY33_UpdateBoxInfo);
FrontStopUp(1, MoveInfo);
FrontStopDown(2, MoveInfo);
LogInfo("容器到位，前阻挡1上升，前阻挡2下降，更新容器信息");
HY33_GetBoxInfo();
}
else if (MoveInfo.IsStep(LineMoveStep.HY33_UpdateBoxInfo))
{
MoveInfo.NextMoveStep(LineMoveStep.HY34_GetBoxInfo);
LogInfo(" 获取容器信息");
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
if (IsDischargeIdle())
{
JackingDown(MoveInfo);
}
else
{
JackingUp(MoveInfo);
}
}
else
{
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY34_GetBoxInfo))
{
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
if (IsDischargeIdle())
{
MoveInfo.NextMoveStep(LineMoveStep.HY35_CheckDownriver);
LogInfo("入库容器，出料工位空闲，流到出料工位");
JackingDown(MoveInfo);
hy3ToDischarge = true;
}
else if(MoveInfo.IsTimeOut(hy3WaitTime))
{
MoveInfo.NextMoveStep(LineMoveStep.HY35_CheckDownriver);
LogInfo($"入库容器，等待{hy3WaitTime}秒超时，直接流转");
JackingUp(MoveInfo);
hy3ToDischarge = false;
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.HY35_CheckDownriver);
LogInfo("出库容器，直接流转");
JackingUp(MoveInfo);
hy3ToDischarge = false;
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY35_CheckDownriver))
{
if (hy3ToDischarge)//入库
{
MoveInfo.NextMoveStep(LineMoveStep.HY36_ReleaseBox);
ClearSpecifiedWarnMsg("等待出料工位空闲超时");
LogInfo(" 容器向出料工位流转");
FrontStopUp(1, MoveInfo);
StopDown(MoveInfo);
LineManager.StartDisChargeMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null && equipBase.IsIdle())
{
MoveInfo.NextMoveStep(LineMoveStep.HY36_ReleaseBox);
LineRun(MoveInfo);
ClearSpecifiedWarnMsg("等待横移4空闲超时");
LogInfo(" 容器向横移流转");
equipBase.StartMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsTimeOut(30))
{
SetWarnMsg("等待横移4空闲超时");
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY36_ReleaseBox))
{
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (hy3ToDischarge)//入库
{
if (BoxReachDischarge())
{
MoveInfo.NextMoveStep(LineMoveStep.HY37_ReleaseOK);
ClearSpecifiedWarnMsg("容器流转到出料工位超时");
LogInfo(" 箱子流转到出料工位");
StopUp(MoveInfo);
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg("容器流转到出料工位超时");
}
}
else
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null && equipBase.IsContainerArrived())
{
MoveInfo.NextMoveStep(LineMoveStep.HY37_ReleaseOK);
ClearSpecifiedWarnMsg("等待横移4空闲超时");
LogInfo(" 容器流转到横移4,顶升下降");
JackingDown(MoveInfo);
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg("容器流转到横移4超时");
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY37_ReleaseOK))
{
LineStop(MoveInfo);
MoveEndS();
}
#endregion
#region 横移2出口箱子处理
else if (MoveInfo.IsStep(LineMoveStep.HY20_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.HY21_WaitBoxCheck);
LogInfo($"等待容器到位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else if (MoveInfo.IsStep(LineMoveStep.HY21_WaitBoxCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.HY22_JackingDown);
LogInfo($"容器到位,停止链条，顶升下降");
LineStop(MoveInfo);
JackingDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY22_JackingDown))
{
MoveInfo.NextMoveStep(LineMoveStep.HY23_WaitBoxLeave);
LogInfo($"等待容器流走");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.HY23_WaitBoxLeave))
{
MoveInfo.NextMoveStep(LineMoveStep.HY24_JackingUp);
//if (LineManager.IsFeedingHasBox())
//{
// LogInfo($"入料工位有容器，顶升不动作");
//}
//else
{
LogInfo($"入料工位无容器，顶升上升");
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY24_JackingUp))
{
ClearTrayRFID();
MoveEndS();
}
else
{
LogUtil.error(Name + "BoxProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
#endregion
}
/// <summary>
/// 出料工位是否空闲
/// </summary>
/// <returns></returns>
bool IsDischargeIdle()
{
return LineManager.IsDisChargeIdle();
}
bool BoxReachDischarge()
{
return LineManager.Line?.AllEquipMap[102]?.IsContainerArrived() ?? false;
}
/// <summary>
/// 横移2
/// </summary>
/// <param name="type"></param>
/// <returns></returns>
public override bool IsIdle(int type)
{
if (!IsHY2())
return true;
//if (Monitor.TryEnter(lockObj, ContainerManager.mTimeOut))
{
try
{
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))
{
if (IsHY2())
{
if (type == 1)
return true;
if (type == 0)
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>
/// 箱子从上游横移流入
/// 0：从横移
/// 1：从入料工位
/// </summary>
/// <param name="type"></param>
public override void StartMove(int type = 0)
{
ResetContarinerArrivedState();
switch (type)
{
case 0://从横移
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY20_LineRun);
LogInfo("容器检测,电机运转");
LineRun(MoveInfo);
break;
case 1://从入料工位
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY22_JackingDown);
LogInfo($"顶升下降，等待容器流过");
JackingDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
break;
}
}
}
}