StationEquip.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>
/// 人工操作工位类
/// </summary>
public partial class StationEquip : EquipBase
{
public StationEquip_Config Config;
public string CurShelfId_Station = "";
public StationEquip(string cid, StationEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
if (DeviceID.Equals(1))
{
OutDeviceId = 2;
}
else if (DeviceID.Equals(2))
{
OutDeviceId = 3;
}
else if (DeviceID.Equals(3))
{
OutDeviceId = 4;
}
else if (DeviceID.Equals(4))
{
OutDeviceId = 5;
}
else if (DeviceID.Equals(5))
{
OutDeviceId = 201;
}
Name = ("工位" + DeviceID % 100).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.SR_01_AllStopDown);
LogInfo("开始复位,所有阻挡下降 ");
FrontStopDown(MoveInfo);
if (DeviceID == 5)
StopUp(MoveInfo);
else
StopDown(MoveInfo);
isInPro = false;
}
private void StopUp(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.Stop_Down, IO_VALUE.LOW);
IOMove(IO_Type.Stop_Up, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_Down, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_Up, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_DownCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_UpCheck, IO_VALUE.HIGH));
}
}
private void StopDown(LineMoveInfo moveInfo = null)
{
IOMove(IO_Type.Stop_Up, IO_VALUE.LOW);
IOMove(IO_Type.Stop_Down, IO_VALUE.HIGH);
if (moveInfo != null)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_Up, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_UpCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Stop_DownCheck, 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.Wait:
// StartReset();
// break;
case LineMoveStep.SR_01_AllStopDown:
MoveInfo.NextMoveStep(LineMoveStep.SR_02_End);
if (ContainerManager.GetOutTaskCnt(DeviceID) > 0)
{
FrontStopUp(MoveInfo);
LogInfo("有入库容器，前阻挡保持上升");
}
else if (ContainerManager.GetInTaskCnt(DeviceID) > 0)
{
LogInfo("无出库容器，前阻挡下降");
FrontStopDown(MoveInfo);
StopUp(MoveInfo);
}
else if (IOValue(IO_Type.Stop_BoxCheck).Equals(IO_VALUE.LOW))
{
if (DeviceID == 5)
{
LogInfo("工位无容器，前阻挡下降");
FrontStopDown(MoveInfo);
}
else
{
LogInfo("工位无容器，前阻挡、阻挡下降");
FrontStopDown(MoveInfo);
StopDown(MoveInfo);
}
}
else//工位处有容器，但信息不在缓存，读取并添加到缓存
{
UpdateContainerCode();
LogInfo($"工位有容器，读取容器信息：{CurContainerId}");
}
break;
case LineMoveStep.SR_02_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;
}
StopMove();
StopEquip();
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
stopWatchCheck();
if (MoveInfo.MoveType.Equals(LineMoveType.None) && NoErrorAlarm() && (!MoveStop))
{
if (LineManager.Line?.CanProcessLine() ?? false)
{
if (IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.Stop_BoxCheck).Equals(IO_VALUE.HIGH))//只要有料经过就算到达
containerArrived = true;
GetInOutStore();
}
}
}
/// <summary>
/// 读取该工位出库任务的箱子
/// </summary>
void GetInOutStore()
{
InOutParam inOutParam;
if (DeviceID != 5 && Config.IsDebug == 1)
{
CheckAndMove(IO_Type.FrontStop_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.Stop_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.FrontStop_Down, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Stop_Down, IO_VALUE.HIGH);
return;
}
if (ContainerManager.StationHasOutTask(DeviceID, out inOutParam))
{
StartOutStoreMove(inOutParam);
}
else if (ContainerManager.StationHasInTask(DeviceID, out inOutParam))
{
StartInStoreMove(inOutParam);
}
}
//private bool ReadLineShelfId()
//{
// try
// {
// //判断料架的编码是否正确
// RFIDData rfidD = RFIDManager.ReadRFID(RFIDIP[0]);
// CurContainerId = rfidD.NumStr();
// //发送料架信息给调度系统
// LogUtil.info(Name + "读取到线体上料架编号：" + CurContainerId);
// }
// catch (Exception ex)
// {
// LogUtil.error(Name + "ReadLineShelfId出错：", ex);
// }
// return true;
//}
/// <summary>
/// 检测到托盘的时间
/// </summary>
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheckLowWait = new Stopwatch();
private void stopWatchCheck()
{
if (IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
CheckStopWatch(trayCheckWait, 30000, false);
}
else
{
trayCheckWait.Stop();
CheckStopWatch(trayCheckLowWait, 30000, false);
}
}
public override bool IsIdle(int type)
{
if (IsDebug) return true;
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.FrontStop_BoxCheck).Equals(IO_VALUE.LOW) && CheckStopWatch(trayCheckLowWait, 3000, false))
{
return true;
}
}
return false;
}
private bool ReadStationShelfId()
{
try
{
//判断料架的编码是否正确
RFIDData rfidD = RFIDManager.ReadRFID(RFIDIP[1]);
CurShelfId_Station = rfidD.IsValidated()?rfidD.ToContainerId():rfidD.NumStr();
//发送料架信息给调度系统
LogUtil.info(Name + "读取到工作台料架编号：" + CurShelfId_Station);
}
catch (Exception ex)
{
LogUtil.error(Name + "ReadStationShelfId出错：", ex);
}
return true;
}
public override string GetMoveStr()
{
string msg = "";
msg += "工作位容器：" + CurShelfId_Station + "\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;
}
}
}