DischargeEquip.cs
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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 = "rawLine_out", containerAttribute = DateTime.Now });
}
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();
}
}
}