FeedingEquip.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.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TaskbarClock;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 入料工位类
/// </summary>
public partial class FeedingEquip : AGVEquipBase
{
public AGVEquip_Config Config;
public FeedingEquip(string cid, AGVEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
OutDeviceId = 202;
Name = ("入料工位").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");
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.FR_01_AllStopUp);
LogInfo("开始复位,所有阻挡上升 ");
StopUp(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 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));
}
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.Wait:
StartReset();
break;
case LineMoveStep.FR_01_AllStopUp:
MoveInfo.NextMoveStep(LineMoveStep.FR_02_End);
break;
case LineMoveStep.FR_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();
}
/// <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.AGV_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
CheckStopWatch(trayCheckWait, 30000, false);
}
else
{
trayCheckWait.Stop();
CheckStopWatch(trayCheckLowWait, 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(trayCheckWait, TrayWaitTime, true))
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null && equipBase.IsIdle(1) && ContainerManager.CntofContainerOnLine() < 24)
{
ClearSpecifiedWarnMsg("等待下游");
waitNextIdleWatch.Stop();
equipBase.StartMove(1);
StartOutStoreMove(null);
}
else
{
if (!waitNextIdleWatch.IsRunning)
{
waitNextIdleWatch.Start();
}
if (waitNextIdleWatch.Elapsed.TotalSeconds >= 60)
SetWarnMsg($"等待下游{equipBase.Name}空闲超时{FormUtil.GetSpanStr(waitNextIdleWatch.Elapsed)}");
}
}
}
}
}
public override string GetMoveStr()
{
string msg = "";
string leftTask = "";
msg += "料架：" + CurContainerId + " " + leftTask + "\r\n";
//if (LastOutParam.rfid != "")
//{
// msg += "出库信息：" + LastOutParam.ToShortStr() + "\r\n";
//}
msg += "当前托盘：" + CurContainerId + " 上个托盘：" + PreContainerId + "\n";
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + "\n";
msg += "MoveT：" + MoveInfo.MoveType + " " + MoveInfo.SLog + "\n";
msg += "MoveMsg：" + LogMsg + "\n";
return msg;
}
protected override void BoxProcess()
{
throw new NotImplementedException();
}
public override bool StartOutStoreMove(InOutParam param)
{
MoveInfo.NewMove(LineMoveType.OutStore);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.FO_01_StopDown);
LogInfo(MoveInfo.SLog + " 阻挡下降，链条运行，放行容器");
StopDown(MoveInfo);
LineRun(MoveInfo);
return true;
}
/// <summary>
/// 箱子离开入料工位
/// </summary>
/// <exception cref="NotImplementedException"></exception>
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(LineMoveStep.FO_01_StopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_WaitBoxLeave);
LogInfo(" 等待容器离开入料工位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AGV_BoxCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_02_WaitBoxLeave))
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null)
{
if (equipBase.IsContainerArrived())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_StopUp);
ClearSpecifiedWarnMsg($"等待容器到达下游{equipBase.Name}超时");
LogInfo(" 容器离开入料工位,阻挡上升,链条停止");
StopUp(MoveInfo);
LineStop(MoveInfo);
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg($"等待容器到达下游{equipBase.Name}超时");
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_StopUp);
LogInfo("不存在下游，直接结束");
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_03_StopUp))
{
MoveEndS();
}
}
public override bool StartInStoreMove(InOutParam param)
{
throw new NotImplementedException();
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
}
public override bool IsIdle(int type = 0)
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayCheckLowWait, TrayWaitTime, false))
{
return true;
}
}
return false;
}
public override bool BoxCheck()
{
if (IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.HIGH))
return true;
return false;
}
}
}