InputEquip_OutStore.cs
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using Asa;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Runtime.InteropServices.WindowsRuntime;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Configuration;
using System.Web.Routing;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
partial class InputEquip
{
#region 出库
private DateTime startOutTime = DateTime.Now;
bool outstoreNG = false;
int maxCnt = ConfigAppSettings.GetIntValue(Setting_Init.MaxCntInBox, 15);
public override bool StartOutstore(InOutParam param)
{
if (!NoAlarm())
{
SetWarnMsg("报警中，无法开始出库：" + param.PosInfo.ToStr());
return false;
}
if (!IsInSafePos())
{
SetWarnMsg("机器人不在安全位置。出库失败：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
outstoreNG = false;
//获取料仓两个出料口信息
List<BoxInfo> boxInfos = SServerManager.GetOutStateInfo();
if (boxInfos == null)
{
SetWarnMsg("无法获取出料口信息，无法开始出库：" + param.PosInfo.ToStr());
return false;
}
BoxA.UpdateBoxInfo(boxInfos);
BoxB.UpdateBoxInfo(boxInfos);
bool canOutstore = false;
if (BufferDataManager.LabelInfo != null)
{
outstoreNG = BufferDataManager.LabelInfo.outstoreNG;
if (!outstoreNG)//有贴标信息
{
PrintLabel.LabelInfo = SServerManager.GetFeederInfo(BufferDataManager.LabelInfo.barcode);
if (PrintLabel.LabelInfo != null)
{
if (boxInfos.Count == 0)//无料箱绑定，默认A周转箱
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 1;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 2;
canOutstore = true;
}
}
else
{
var box = boxInfos.Find(s => PrintLabel.LabelInfo.hSerial.Equals(s.hSerial) && (s.boxBCount < maxCnt && s.boxTCount < maxCnt));
if (box != null)//相同工单且有空位
{
TurnoverBox turnoverBox = turnoverBoxes.Find(s => s.outLet.Equals(box.outlet));
if (turnoverBox.ReadBoxId())
{
if (turnoverBox.BoxId.Equals(box.rfid))
{
if (turnoverBox.outLet.Equals("A"))
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 1;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 2;
canOutstore = true;
}
}
else
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 3;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 4;
canOutstore = true;
}
}
}
else
{
SetWarnMsg($"工单{box.hSerial}已有料在{turnoverBox.Name}放入{box.rfid}中,无法放入其他料箱{turnoverBox.BoxId}");
}
}
else
{
SetWarnMsg($"未读到RFID，工单{box.hSerial}已有料在{turnoverBox.Name}放入{box.rfid}中");
return false;
}
}
else //工单不同或者格口已满
{
if(BoxA.ReadBoxId())
{
var boxTmp = boxInfos.Find(s => !BoxA.BoxId.Equals(s.rfid));
if (boxTmp != null)
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 1;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 2;
canOutstore = true;
}
LogUtil.info($"工单不同或者上一料箱格口已满,{PrintLabel.LabelInfo.hSerial}切换料箱为{BoxA.BoxId}");
}
else
{
if(BoxB.ReadBoxId())
{
var boxTmp1 = boxInfos.Find(s => !BoxB.BoxId.Equals(s.rfid));
if (boxTmp1 != null)
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 3;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 4;
canOutstore = true;
}
LogUtil.info($"工单不同或者上一料箱格口已满,{PrintLabel.LabelInfo.hSerial}切换料箱为{BoxB.BoxId}");
}
}
else
{
SetWarnMsg("周转箱线体上无可用料箱");
}
}
}
else
{
if (BoxB.ReadBoxId())
{
var boxTmp1 = boxInfos.Find(s => !BoxB.BoxId.Equals(s.rfid));
if (boxTmp1 != null)
{
if (PrintLabel.LabelInfo.side.Equals("T"))
{
param.ShelfType = 3;
canOutstore = true;
}
else if (PrintLabel.LabelInfo.side.Equals("B"))
{
param.ShelfType = 4;
canOutstore = true;
}
LogUtil.info($"工单不同或者上一料箱格口已满,{PrintLabel.LabelInfo.hSerial}切换料箱为{BoxB.BoxId}");
}
}
else
{
SetWarnMsg("周转箱线体上无可用料箱");
}
}
}
}
//if (BoxA.BoxTaskInfo != null)
//{
// string msgA = "";
// if (!BoxA.CanPutIn(out string warnB))
// {
// msgA = warnB;
// }
// else if (!string.IsNullOrEmpty(BoxA.BoxTaskInfo.hSerial))
// {
// if (!BoxA.BoxTaskInfo.hSerial.Equals(PrintLabel.LabelInfo.hSerial))
// {
// msgA = ($"料盘与料箱需求单不匹配，出库失败。料盘【{PrintLabel.LabelInfo.hSerial}】料箱【{BoxA.BoxTaskInfo.hSerial}】：" + param.PosInfo.ToStr());
// BoxA.NeedLeave();
// }
// else
// {
// if (PrintLabel.LabelInfo.side.Equals("T"))
// {
// param.ShelfType = 1;
// canOutstore = true;
// }
// else if (PrintLabel.LabelInfo.side.Equals("B"))
// {
// param.ShelfType = 2;
// canOutstore = true;
// }
// else
// {
// //msgA = ($"紧急料出库：" + param.PosInfo.ToStr());
// outstoreNG = true;
// }
// }
// }
// else//空箱子
// {
// if (PrintLabel.LabelInfo.side.Equals("T"))
// {
// param.ShelfType = 1;
// canOutstore = true;
// }
// else if (PrintLabel.LabelInfo.side.Equals("B"))
// {
// param.ShelfType = 2;
// canOutstore = true;
// }
// else
// {
// // msgA = ($"料盘的面别信息有误:{PrintLabel.LabelInfo.side}。出库失败：" + param.PosInfo.ToStr());
// outstoreNG = true;
// }
// }
// BoxA.WarnMsg = msgA;
// SetWarnMsg(msgA);
//}
//if (!canOutstore && BoxB.BoxTaskInfo != null)
//{
// string msg1 = "";
// if (!BoxB.CanPutIn(out string warnA))
// {
// msg1 = warnA;
// }
// else if (!string.IsNullOrEmpty(BoxB.BoxTaskInfo.hSerial))
// {
// if (!BoxB.BoxTaskInfo.hSerial.Equals(PrintLabel.LabelInfo.hSerial))
// {
// msg1 = ($"料盘与料箱需求单不匹配，出库失败。料盘【{PrintLabel.LabelInfo.hSerial}】料箱【{BoxB.BoxTaskInfo.hSerial}】：" + param.PosInfo.ToStr());
// BoxB.NeedLeave();
// }
// else
// {
// if (PrintLabel.LabelInfo.side.Equals("T"))
// {
// param.ShelfType = 3;
// canOutstore = true;
// }
// else if (PrintLabel.LabelInfo.side.Equals("B"))
// {
// param.ShelfType = 4;
// canOutstore = true;
// }
// else
// {
// //msg1 = ($"料盘的面别信息有误:{PrintLabel.LabelInfo.side}。出库失败：" + param.PosInfo.ToStr());
// outstoreNG = true;
// }
// }
// }
// else
// {
// if (PrintLabel.LabelInfo.side.Equals("T"))
// {
// param.ShelfType = 3;
// canOutstore = true;
// }
// else if (PrintLabel.LabelInfo.side.Equals("B"))
// {
// param.ShelfType = 4;
// canOutstore = true;
// }
// else
// {
// //msg1 = ($"料盘的面别信息有误:{PrintLabel.LabelInfo.side}。出库失败：" + param.PosInfo.ToStr());
// outstoreNG = true;
// }
// }
// BoxB.WarnMsg = msg1;
// SetWarnMsg(msg1);
//}
}
else
outstoreNG = true;
}
}
else if (PrintLabel.LabelInfo == null)
{
outstoreNG = true;
}
if (!outstoreNG)//正常出库
{
if (!canOutstore) return false;
}
else
{
StartNGReelOut(param);
return true;
}
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
startOutTime = DateTime.Now;
MoveInfo.NextMoveStep(StepEnum.IO01_ReelCheck);
return true;
}
return false;
}
private void TrayHasLeave()
{
}
private void TrayStartLeave()
{
// int shelf = MoveInfo.MoveParam.ShelfType;
// if (shelf.Equals(1))
{
BatchMove.GetTrayStartLeave();
}
}
string getSideName(int shelf)
{
if (shelf == 1)
{
return "A周转箱内侧【T面】";
}
else if (shelf == 2)
{
return "A周转箱外侧【B面】";
}
else if (shelf == 3)
{
return "B周转箱内侧【T面】";
}
else if (shelf == 4)
{
return "B周转箱外侧【B面】";
}
return "周转箱";
}
/// <summary>
/// 出库NG料盘去NG区域
/// </summary>
void StartNGReelOut(InOutParam param)
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
startOutTime = DateTime.Now;
//获取位置是左侧还是右侧。
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1))
{
MoveInfo.NextMoveStep(StepEnum.IO10_ToLowerA);
ToA下皮带末端();
MoveLog($"出库A->NG箱:机器人去A下");
}
else
{
MoveInfo.NextMoveStep(StepEnum.IO16_ToLowerB);
ToB下皮带末端();
MoveLog($"出库B->NG箱:机器人去B下");
}
}
protected override void OutstoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
int shelf = MoveInfo.MoveParam.ShelfType;
#region 打印标签
if (MoveInfo.IsStep(StepEnum.IO01_ReelCheck))
{
MoveInfo.NextMoveStep(StepEnum.IO07_ToPrintPos);
To打印机();
MoveLog($"出库->{getSideName(shelf)}:去打印机取标签处");
//MoveInfo.NextMoveStep(StepEnum.IO03_PrintLabel);
//MoveLog($"出库->{getSideName(shelf)}:开始打印标签:{labelInfo.ToStr()}");
//Printer.Print(new Label_LZ(labelInfo?.pn, labelInfo?.side, labelInfo?.station, labelInfo?.line), out string msg);
//Printer.Connect();
//MoveLog($"出库->周转箱:获取贴标信息");
//new Label_LZ("123456789", "1", "ABCD-10_1 1A");
}
//else if (MoveInfo.IsStep(StepEnum.IO02_GetReelLabelInfo))
//{
// MoveInfo.NextMoveStep(StepEnum.IO03_PrintLabel);
// Label_CylinderBack(MoveInfo);
// MoveLog($"出库->{shelf}周转箱:标签气缸后退");
//}
//else if (MoveInfo.IsStep(StepEnum.IO03_PrintLabel))
//{
// MoveInfo.NextMoveStep(StepEnum.IO04_CheckPrinterState);
// MoveLog($"出库->{getSideName(shelf)}:检查打印机口是否有标签");
//}
//else if (MoveInfo.IsStep(StepEnum.IO04_CheckPrinterState))
//{
// //if (Printer.IsLabelOnPeeler())
// //{
// // SetWarnMsg("打印机口有标签，无法打印，需要处理");
// //}
// //else
// {
// IO05_WaitPrintLabelOK(shelf);
// }
//}
//else if (MoveInfo.IsStep(StepEnum.IO05_WaitPrintLabelOK))
//{
// MoveInfo.NextMoveStep(StepEnum.IO06_PrinteLabelFwd);
// Label_CylinderFwd(MoveInfo);
// MoveLog($"出库->{getSideName(shelf)}:标签气缸前进");
//}
//else if (MoveInfo.IsStep(StepEnum.IO06_PrinteLabelFwd))
//{
// MoveInfo.NextMoveStep(StepEnum.IO07_ToPrintPos);
// To打印机();
// MoveLog($"出库->{getSideName(shelf)}:去打印机取标签处");
//}
else if (MoveInfo.IsStep(StepEnum.IO07_ToPrintPos))
{
MoveInfo.NextMoveStep(StepEnum.IO08_ClamWork);
ClampWork(null, true, MoveInfo.MoveParam.PosInfo.barcode);
MoveLog($"出库->{getSideName(shelf)}:吸取标签");
}
else if (MoveInfo.IsStep(StepEnum.IO08_ClamWork))
{
MoveInfo.NextMoveStep(StepEnum.IO09_BackToP1);
From打印机回原();
MoveLog($"出库->{getSideName(shelf)}:从打印机回原点");
}
else if (MoveInfo.IsStep(StepEnum.IO09_BackToP1))
{
//料盘放贴标平台,机器人取好标签
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.GET_LABEL);
//获取位置是左侧还是右侧。
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
int round = BufferDataManager.LabelInfo.relativeAngle;
if (startp.Equals(1))
{
// if (scanCode == null || (scanCode.IsCompleted))
//{
//round = LabelManager.CalcLabelAngle(MoveInfo?.MoveParam?.PosInfo?.LabelParam);
MoveInfo.NextMoveStep(StepEnum.IO10_ToLowerA);
ToA下皮带末端(round);
MoveLog($"出库A->{getSideName(shelf)}:机器人去A下,并旋转 {round}°");
BufferDataManager.LabelInfo = null;
//}
}
else
{
//if (scanCode == null || (scanCode.IsCompleted))
//{
//round = LabelManager.CalcLabelAngle(MoveInfo?.MoveParam?.PosInfo?.LabelParam);
MoveInfo.NextMoveStep(StepEnum.IO16_ToLowerB);
ToB下皮带末端(round);
MoveLog($"出库B->{getSideName(shelf)}:机器人去B下,并旋转 {round}°");
BufferDataManager.LabelInfo = null;
//}
}
//Label_CylinderBack();
}
#endregion
#region 出库A侧取料
else if (MoveInfo.IsStep(StepEnum.IO10_ToLowerA))
{
MoveInfo.NextMoveStep(StepEnum.IO11_ClamRelax);
//ClampRelax(null, MoveInfo.MoveParam.PosInfo.barcode);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveLog($"出库A->{getSideName(shelf)}:将标签贴到料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO11_ClamRelax))
{
MoveInfo.NextMoveStep(StepEnum.IO12_ReClamWork);
//贴标完成,等待放入周转箱
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.LABELED);
ClampWork(null, true, MoveInfo.MoveParam.PosInfo.barcode);
MoveLog($"出库A->{getSideName(shelf)}:吸取料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO12_ReClamWork))
{
MoveInfo.NextMoveStep(StepEnum.IO13_BackToP1);
FromA下皮带末端回原();
MoveLog($"出库A->{getSideName(shelf)}:从出料暂存区回原点");
}
else if (MoveInfo.IsStep(StepEnum.IO13_BackToP1))
{
//
//if (!HasBoxInPos())
//{
// {
// MoveInfo.NextMoveStep(StepEnum.IO21_WaitBoxReady);
// MoveLog($"出库A->{shelf}周转箱: 等待周转箱到位");
// }
//}
//else
{
MoveInfo.NextMoveStep(StepEnum.IO14_WaitReelCheckLow);
MoveLog($"出库A->{getSideName(shelf)}: 料盘已拿走，等待料盘检测信号=0");
MoveInfo.TimeOutSeconds = 10;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineA_ReelInPlaceCheck, IO_VALUE.LOW));
}
}
else if (MoveInfo.IsStep(StepEnum.IO14_WaitReelCheckLow))
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitBoxReady);
BufferDataManager.AOutStoreInfo = null;
//料盘在机器人上,准备放入周转箱
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.TO_BOX);
MoveLog($"出库A->{getSideName(shelf)}: 等待周转箱到达");
}
#endregion
#region 出库B侧取料
else if (MoveInfo.IsStep(StepEnum.IO16_ToLowerB))
{
MoveInfo.NextMoveStep(StepEnum.IO17_ClamRelax);
//ClampRelax(null, MoveInfo.MoveParam.PosInfo.barcode);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveLog($"出库B->{getSideName(shelf)}:将标签贴到料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO17_ClamRelax))
{
MoveInfo.NextMoveStep(StepEnum.IO18_ReClamWork);
//贴标完成,等待放入周转箱
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.LABELED);
ClampWork(null, true, MoveInfo.MoveParam.PosInfo.barcode);
MoveLog($"出库B->{getSideName(shelf)}:吸取料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO18_ReClamWork))
{
MoveInfo.NextMoveStep(StepEnum.IO19_BackToP1);
FromB下皮带末端回原();
MoveLog($"出库B->{getSideName(shelf)}:从出料暂存区回原点");
}
else if (MoveInfo.IsStep(StepEnum.IO19_BackToP1))
{
//判断料盘信号是否消失
//if (!HasBoxInPos())
//{
// // if (!HasBoxInPos())
// {
// MoveInfo.NextMoveStep(StepEnum.IO21_WaitBoxReady);
// MoveLog($"出库B->{shelf}周转箱: 等待周转箱到达");
// }
//}
//else
{
MoveInfo.NextMoveStep(StepEnum.IO20_WaitReelCheckLow);
MoveLog($"出库B->{getSideName(shelf)}: 料盘已拿走，等待料盘检测信号=0");
MoveInfo.TimeOutSeconds = 10;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineB_ReelInPlaceCheck, IO_VALUE.LOW));
}
}
else if (MoveInfo.IsStep(StepEnum.IO20_WaitReelCheckLow))
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitBoxReady);
//料盘在机器人上,准备放入周转箱
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.TO_BOX);
BufferDataManager.BOutStoreInfo = null;
if (outstoreNG)
{
MoveLog($"出库B->NG箱子");
}
else
MoveLog($"出库B->{getSideName(shelf)}: 等待周转箱到位");
}
#endregion
#region 出库放料到周转箱
else if (MoveInfo.IsStep(StepEnum.IO21_WaitBoxReady))
{
if (outstoreNG)
{
IO40_ToUrgentBoxPos();
}
else
{
if (HasBoxInPos())
{
IO23_ToBoxPos(shelf);
ClearSpecifiedAlarm($"等待{getSideName(shelf)}到位");
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg($"等待{getSideName(shelf)}到位");
}
}
}
else if (MoveInfo.IsStep(StepEnum.IO23_ToBoxPos))
{
MoveInfo.NextMoveStep(StepEnum.IO24_ClamRelax);
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
MoveLog($"出库->{getSideName(shelf)}:放下料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO24_ClamRelax))
{
MoveInfo.NextMoveStep(StepEnum.IO25_UpdateLocInfo);
UploadLocInfo(shelf);
}
else if (MoveInfo.IsStep(StepEnum.IO25_UpdateLocInfo))
{
MoveInfo.NextMoveStep(StepEnum.IO26_BackToP1);
IO26_BackToP1(shelf);
}
else if (MoveInfo.IsStep(StepEnum.IO26_BackToP1))
{
PutReelInBox(shelf);
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
TimeSpan span = DateTime.Now - startOutTime;
MoveLog($"出库->{getSideName(shelf)}: 放料完成，耗时【{FormUtil.GetSpanStr(span)}】");
}
#endregion
#region 出库到紧急料区域
else if (MoveInfo.IsStep(StepEnum.IO40_ToUrgentBoxPos))
{
MoveInfo.NextMoveStep(StepEnum.IO41_ClamRelax);
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
MoveLog($"出库->紧急料箱子:放下料盘");
}
else if (MoveInfo.IsStep(StepEnum.IO41_ClamRelax))
{
MoveInfo.NextMoveStep(StepEnum.IO42_UploadReelInfo);
}
else if (MoveInfo.IsStep(StepEnum.IO42_UploadReelInfo))
{
MoveInfo.NextMoveStep(StepEnum.IO43_BackToP1);
// NGBox.PutIn(MoveInfo.MoveParam);
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.FINISHED);
IO43_BackToP1(shelf);
}
else if (MoveInfo.IsStep(StepEnum.IO43_BackToP1))
{
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
TimeSpan span = DateTime.Now - startOutTime;
MoveLog($"出库->紧急料箱子: 放料完成，耗时【{FormUtil.GetSpanStr(span)}】");
}
#endregion
}
void UploadLocInfo(int shelf)
{
string boxSide = "B";
if (shelf == 1 || shelf==3)
{
boxSide = "T";
}
if (shelf.Equals(1) || shelf.Equals(2))
{
//料盘在机器人上,准备放入周转箱
BoxA.BoxTaskInfo= SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.FINISHED, BoxAId,BoxA.BoxInfo.hSerial,BoxA.outLet, boxSide);
SServerManager.ShelfFinish(BoxAId, MoveInfo.MoveParam.PosInfo.barcode, BoxA.BoxTaskInfo);
}
else if (shelf.Equals(3) || shelf.Equals(4))
{
//料盘在机器人上,准备放入周转箱
BoxB.BoxTaskInfo= SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode, LocStatus.FINISHED, BoxBId,BoxB.BoxInfo.hSerial,BoxB.outLet, boxSide);
SServerManager.ShelfFinish(BoxBId, MoveInfo.MoveParam.PosInfo.barcode, BoxB.BoxTaskInfo);
}
}
void IO05_WaitPrintLabelOK(int shelf)
{
ClearSpecifiedAlarm("打印机口有标签，无法打印，需要处理");
MoveInfo.NextMoveStep(StepEnum.IO05_WaitPrintLabelOK);
MoveInfo.TimeOutSeconds = 30;
// Printer.Print(new Label_LZ(labelInfo?.pn, labelInfo?.side, labelInfo?.station), out string msg);
//Task.Factory.StartNew(delegate
//{
// int cnt = 1;
// while (cnt > 0)
// {
// // if (!Printer.IsLabelOnPeeler())
// Printer.Print(new Label_LZ(labelInfo?.pn, labelInfo?.side, labelInfo?.station), out string msg);
// //Thread.Sleep(2000);
// if (Printer.IsLabelOnPeeler())
// break;
// cnt--;
// }
//});
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitPrintOK());
MoveLog($"出库->{getSideName(shelf)}:等待标签打印完成");//结果：{msg}
}
void PutReelInBox(int shelf)
{
if (shelf.Equals(1) || shelf.Equals(2))
{
//ReadBoxAId();
BoxA.PutReelIn(shelf);
}
if (shelf.Equals(3) || shelf.Equals(4))
{
//ReadBoxBId();
BoxB.PutReelIn(shelf);
}
}
void IO26_BackToP1(int shelf)
{
/// 0=未知，1=A侧周转箱内侧，2=A侧周转箱外
/// 3=B侧周转箱内侧，4=B侧周转箱外
if (shelf.Equals(1))
{
FromA周转1_内侧回原();
MoveLog($"出库->{getSideName(shelf)}:机器人从A周转箱内侧回原");
}
else if (shelf.Equals(2))
{
FromA周转2_外侧回原();
MoveLog($"出库->{getSideName(shelf)}:机器人从A周转箱外侧回原");
}
else if (shelf.Equals(3))
{
FromB周转1_内侧回原();
MoveLog($"出库->{getSideName(shelf)}:机器人从B周转箱内侧回原");
}
else if (shelf.Equals(4))
{
FromB周转2_外侧回原();
MoveLog($"出库->{getSideName(shelf)}:机器人从B周转箱外侧回原");
}
}
void IO43_BackToP1(int shelf)
{
From紧急料回原();
MoveLog($"出库->紧急料箱子:从紧急料区域回原");
}
void IO23_ToBoxPos(int shelf)
{
MoveInfo.NextMoveStep(StepEnum.IO23_ToBoxPos);
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
//if (startp.Equals(1))
//{
// BufferDataManager.AOutStoreInfo = null;
//}
//else
//{
// BufferDataManager.BOutStoreInfo = null;
//}
/// 0=未知，1=A侧周转箱内侧，2=A侧周转箱外
/// 3=B侧周转箱内侧，4=B侧周转箱外
string pos = "";
if (startp.Equals(1))//从A下
{
pos = getSideName(shelf);
if (shelf.Equals(1))
{
A下ToA周转1_内侧();
}
else if (shelf.Equals(2))
{
A下ToA周转2_外侧();
}
else if (shelf.Equals(3))
{
A下ToB周转1_内侧();
}
else if (shelf.Equals(4))
{
A下ToB周转2_外侧();
}
}
else//从B下
{
if (shelf.Equals(1))
{
B下ToA周转1_内侧();
}
else if (shelf.Equals(2))
{
B下ToA周转2_外侧();
}
else if (shelf.Equals(3))
{
B下ToB周转1_内侧();
}
else if (shelf.Equals(4))
{
B下ToB周转2_外侧();
}
}
MoveLog($"出库->{getSideName(shelf)}:机器人去{getSideName(shelf)}");
}
void IO40_ToUrgentBoxPos()
{
//if (NGBox.CanPutIn(out string msg))
{
MoveInfo.NextMoveStep(StepEnum.IO40_ToUrgentBoxPos);
ClearSpecifiedAlarm("无法放料");
BufferDataManager.LabelInfo = null;
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
//if (startp.Equals(1))
//{
// BufferDataManager.AOutStoreInfo = null;
//}
//else
//{
// BufferDataManager.BOutStoreInfo = null;
//}
/// 0=未知，1=A侧周转箱内侧，2=A侧周转箱外
/// 3=B侧周转箱内侧，4=B侧周转箱外
if (startp.Equals(1))//从A下
{
//ToNG箱();
To紧急料();
}
else//从B下
{
//B下ToNG箱();
B下To紧急料();
}
MoveLog($"出库->紧急料箱子:机器人去紧急料箱子");
}
//else
//{
// SetWarnMsg(msg);
//}
}
/// <summary>
/// 是否有周转箱
/// </summary>
/// <returns></returns>
private bool HasBoxInPos()
{
bool isTest = MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST");
int shelf = MoveInfo.MoveParam.ShelfType;
bool shelfOk = false;
if (shelf.Equals(1) || shelf.Equals(2))
{
shelfOk = IOValue(IO_Type.TurnoverBoxA_InPlaceCheck).Equals(IO_VALUE.HIGH) && ReadBoxAId();
}
else if (shelf.Equals(3) || shelf.Equals(4))
{
shelfOk = IOValue(IO_Type.TurnoverBoxB_InPlaceCheck).Equals(IO_VALUE.HIGH) && ReadBoxBId();
}
//shelfOk = TurnoverBox.HasBoxInPos(shelf);
if (isTest || shelfOk)
{
ClearSpecifiedAlarm($"等待{getSideName(shelf)}到位");
//MoveInfo.NextMoveStep(StepEnum.IO23_ToBoxPos);
return true;
}
return false;
}
private void ShelfBatchAxisDown()
{
int shelf = MoveInfo.MoveParam.ShelfType;
//判断料串是否完成
if (shelf.Equals(1))
{
BatchMove.NewReelOut(MoveInfo.MoveParam.PosInfo);
}
else
{
LogUtil.error($"{Name}{MoveInfo.SLog}出库错误：未找到准备好的料串 ");
}
}
#endregion
}
}