DischargeEquip.cs
17.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TaskbarClock;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 出料工位类
/// </summary>
public partial class DischargeEquip : AGVEquipBase
{
public AGVEquip_Config Config;
public DischargeEquip(string cid, AGVEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
InDeviceId = 203;
Name = ("出料工位").ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
RFIDIP = RFIDManager.GetRFIP(DeviceID);
mainTimer.Enabled = true;
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始原点返回： ");
MoveInfo.NewMove(LineMoveType.RHome);
StartReset();
if (isDebug)
{
LogInfo("开始调试，启动定时器 ");
mainTimer.Start();
}
return true;
}
public override bool Reset()
{
runStatus = LineRunStatus.Reset;
StopMove("复位");
MoveInfo.NewMove(LineMoveType.Reset);
SecondMoveInfo.EndMove();
alarmType = LineAlarmType.None;
LogInfo("开始重置： ");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
StartEquip();
MoveInfo.NextMoveStep(LineMoveStep.DisR_01_AllStopUp);
LogInfo("开始复位,所有阻挡上升,前进气缸后退");
FrontStopUp(MoveInfo);
LocateBack(MoveInfo);
isInPro = false;
}
private void LineRun(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.MotorRun, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MotorRun, IO_VALUE.HIGH));
}
}
private void LineStop(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.MotorRun, IO_VALUE.LOW);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MotorRun, IO_VALUE.LOW));
}
}
private void LocateFwd(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.Locate_Back, IO_VALUE.LOW);
IOMove(IO_Type.Locate_Fwd, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_Back, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_Fwd, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_BackCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_FwdCheck, IO_VALUE.HIGH));
}
}
private void LocateBack(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.Locate_Fwd, IO_VALUE.LOW);
IOMove(IO_Type.Locate_Back, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_Fwd, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_Back, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_FwdCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Locate_BackCheck, IO_VALUE.HIGH));
}
}
private void FrontStopUp(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.FrontStop_Down, IO_VALUE.LOW);
IOMove(IO_Type.FrontStop_Up, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_Down, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_Up, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_DownCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_UpCheck, IO_VALUE.HIGH));
}
}
private void FrontStopDown(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.FrontStop_Up, IO_VALUE.LOW);
IOMove(IO_Type.FrontStop_Down, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_Up, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_UpCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FrontStop_DownCheck, IO_VALUE.HIGH));
}
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.DisR_01_AllStopUp:
MoveInfo.NextMoveStep(LineMoveStep.DisR_02_LineRun);
LineRun(MoveInfo);
LogInfo("链条转10秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
break;
case LineMoveStep.DisR_02_LineRun:
if(IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.DisR_03_LocateFwd);
LogInfo("有容器，定位气缸前进");
LocateFwd(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.DisR_04_LocateBack);
LogInfo("无容器，定位气缸回退");
LocateBack(MoveInfo);
}
break;
case LineMoveStep.DisR_03_LocateFwd:
MoveInfo.NextMoveStep(LineMoveStep.DisR_04_LocateBack);
LogInfo("有容器，定位气缸已前进，准备回退");
LocateBack(MoveInfo);
break;
case LineMoveStep.DisR_04_LocateBack:
MoveInfo.NextMoveStep(LineMoveStep.DisR_05_End);
LogInfo("链条停止");
LineStop(MoveInfo);
break;
case LineMoveStep.DisR_05_End:
LogInfo("重置完成！");
MoveEndS();
break;
default: break;
}
}
}
internal override void StopMove(string stopDes = "")
{
if (!String.IsNullOrEmpty(stopDes))
{
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) || MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
LogInfo("[" + stopDes + "]时中止运动: " + MoveInfo.ToStr());
}
}
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
CloseAllDO();
}
public override void StopRun()
{
runStatus = LineRunStatus.Wait;
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopEquip();
StopMove();
}
/// <summary>
/// 检测到箱子的时间
/// </summary>
private Stopwatch trayBoxCheckWait = new Stopwatch();
private Stopwatch trayBoxCheckLowWait = new Stopwatch();
private Stopwatch trayFrontStopCheckWait = new Stopwatch();
private Stopwatch trayFrontCheckLowWait = new Stopwatch();
private void stopWatchCheck()
{
if (IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayBoxCheckLowWait.Stop();
CheckStopWatch(trayBoxCheckWait, 30000, false);
}
else
{
trayBoxCheckWait.Stop();
CheckStopWatch(trayBoxCheckLowWait, 30000, false);
}
if (IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.HIGH))
{
containerArrived = true;
trayFrontCheckLowWait.Stop();
CheckStopWatch(trayFrontStopCheckWait, 30000, false);
}
else
{
trayFrontStopCheckWait.Stop();
CheckStopWatch(trayFrontCheckLowWait, 30000, false);
}
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
stopWatchCheck();
if (LineManager.Line?.CanProcessLine()??false)
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && NoErrorAlarm() && (!MoveStop))
{
if (IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.HIGH) && CheckStopWatch(trayBoxCheckWait, 3000, true))
{
StartOutStoreMove(null);
}
}
if (MoveInfo.MoveType.Equals(LineMoveType.None) && NoErrorAlarm() && (!MoveStop))//箱子转移
{
if (IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayFrontStopCheckWait, 3000, true) && CheckStopWatch(trayBoxCheckLowWait, 3000, false))
{
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.DisBox_01_BoxInFrontStop);
LogInfo("前阻挡处有容器");
}
}
}
}
}
private bool ReadLineShelfId()
{
try
{
//判断料架的编码是否正确
RFIDData rfidD = RFIDManager.ReadRFID(RFIDIP[0]);
CurContainerId = rfidD.ToContainerId();
//发送料架信息给调度系统
LogUtil.info(Name + "读取到容器编号：" + CurContainerId);
return rfidD.IsValidated();
}
catch (Exception ex)
{
LogUtil.error(Name + "ReadShelfId出错：", ex);
}
return false;
}
public override string GetMoveStr()
{
string msg = "";
string leftTask = "";
msg += "容器：" + CurContainerId + " " + leftTask + "\r\n";
//if (LastOutParam.rfid != "")
//{
// msg += "出库信息：" + LastOutParam.ToShortStr() + "\r\n";
//}
msg += "当前容器：" + CurContainerId + " 上个容器：" + PreContainerId + "\n";
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + "\n";
msg += "MoveT：" + MoveInfo.MoveType + " " + MoveInfo.SLog + "\n";
msg += "MoveMsg：" + LogMsg + "\n";
return msg;
}
protected override void BoxProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.DisBox_01_BoxInFrontStop:
MoveInfo.NextMoveStep(LineMoveStep.DisBox_02_FrontStopDown);
FrontStopDown(MoveInfo);
LogInfo("前阻挡下降");
break;
case LineMoveStep.DisBox_02_FrontStopDown:
MoveInfo.NextMoveStep(LineMoveStep.DisBox_03_WaitBoxInPosition);
LogInfo("链条运行，等待容器到达");
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AGV_BoxCheck, IO_VALUE.HIGH));
break;
case LineMoveStep.DisBox_03_WaitBoxInPosition:
MoveInfo.NextMoveStep(LineMoveStep.DisBox_04_WaitTime);
LogInfo("1秒后重新确认容器到达");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AGV_BoxCheck, IO_VALUE.HIGH));
break;
case LineMoveStep.DisBox_04_WaitTime:
MoveInfo.NextMoveStep(LineMoveStep.DisBox_05_FrontStopUp);
LogInfo("链条停止，前阻挡上升,定位气缸前进");
LineStop(MoveInfo);
FrontStopUp(MoveInfo);
LocateFwd(MoveInfo);
break;
case LineMoveStep.DisBox_05_FrontStopUp:
MoveInfo.NextMoveStep(LineMoveStep.DisBox_06_LocateBox);
LogInfo("定位气缸后退");
LocateBack(MoveInfo);
break;
case LineMoveStep.DisBox_06_LocateBox:
MoveEndS();
break;
default: break;
}
}
}
public override bool StartOutStoreMove(InOutParam param)
{
MoveInfo.NewMove(LineMoveType.OutStore);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.DisOut_01_BoxArrive);
LogInfo("AGV工位有箱子，准备呼叫AGV");
BoxLeave = false;
return true;
}
public bool BoxLeave = false;
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.DisOut_01_BoxArrive:
DisOut_02_CallESS();
break;
case LineMoveStep.DisOut_02_CallESS:
if(BoxLeave)
{
MoveInfo.NextMoveStep(LineMoveStep.DisOut_03_WaitBoxLeave);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AGV_BoxCheck, IO_VALUE.LOW));
LogInfo("箱子离开进入AGV,确认信号AGV_BoxCheck=LOW");
}
else if(MoveInfo.IsTimeOut(10))
{
DisOut_02_CallESS();
}
break;
case LineMoveStep.DisOut_03_WaitBoxLeave:
MoveEndS();
break;
default: break;
}
}
}
private void DisOut_02_CallESS()
{
if(ReadLineShelfId())
{
MoveInfo.NextMoveStep(LineMoveStep.DisOut_02_CallESS);
WarnMsg = "";
LogInfo("读取箱子信息并呼叫AGV");
SServerManager.ContarinerArrived(new ESS.EssModel() { containerCode= CurContainerId, slotCode="1-4"});
}
else
{
SetWarnMsg("出料工位箱子RFID读取失败");
Thread.Sleep(1000);
}
}
public override bool StartInStoreMove(InOutParam param)
{
throw new NotImplementedException();
}
protected override void InStoreProcess()
{
throw new NotImplementedException();
}
public override bool IsIdle(int type = 0)
{
if ((MoveInfo.MoveType.Equals(LineMoveType.None)|| MoveInfo.MoveType.Equals(LineMoveType.OutStore)) && IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayFrontCheckLowWait, TrayWaitTime, false))
{
return true;
}
}
return false;
}
public override void StartMove(int type = 0)
{
ResetContarinerArrivedState();
LineRun();
}
}
}