PrintLabelBean.cs
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using CodeLibrary;
using JAKA;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Routing;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
{
public class PrintLabelBean
{
public PrinterBean Printer = null;
InputEquip Robot;
public DeviceMoveInfo MoveInfo;
public string WarnMsg = "";
public string Name = "打标机";
protected System.Timers.Timer mainTimer;
public PrintLabelBean(InputEquip equip)
{
this.Robot = equip;
Printer = new PrinterBean();
MoveInfo = new DeviceMoveInfo(Name);
if (BufferDataManager.LabelInfo != null)
LabelInfo = SServerManager.GetFeederInfo(BufferDataManager.LabelInfo.barcode);
mainTimer = new System.Timers.Timer();
mainTimer.Enabled = false;
mainTimer.Interval = 500;
mainTimer.Elapsed += MainTimer_Elapsed;
mainTimer.AutoReset = true;
mainTimer.Enabled = true;
}
object locObject = new object();
private void MainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
PrinteLabelProcess();
}
public string GetMoveStr()
{
return "【" + (LabelInfo?.ToStr() ?? "") + "】【"
+ (BufferDataManager.LabelInfo == null ? "" : BufferDataManager.LabelInfo.ToStr()) + "】" +
"【A下" + ((BufferDataManager.AOutStoreInfo?.Labeled ?? false) ? "已" : "未") + "打标】" +
"【B下" + ((BufferDataManager.BOutStoreInfo?.Labeled ?? false) ? "已" : "未") + "打标】";
}
Task scanCode = null;
void scancodeA()
{
scanCode = Task.Factory.StartNew(delegate
{
(List<CodeInfo> codeinfos, string filename) tmp = CodeManager.CameraScan(new List<string> { Robot.Config.CameraNameList_FeedA });
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent.codeInfos = tmp.codeinfos;
MoveInfo.MoveParam.PosInfo.LabelParam.BitmapFilename = tmp.filename;
});
}
void scancodeB()
{
scanCode = Task.Factory.StartNew(delegate
{
(List<CodeInfo> codeinfos, string filename) tmp = CodeManager.CameraScan(new List<string> { Robot.Config.CameraNameList_FeedB });
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent.codeInfos = tmp.codeinfos;
MoveInfo.MoveParam.PosInfo.LabelParam.BitmapFilename = tmp.filename;
});
}
public Label_LZ LabelInfo;
public void Reset()
{
MoveInfo.EndMove();
}
public void Start(InOutParam param)
{
if (MoveInfo.MoveType.Equals(MoveType.None))
{
if (BufferDataManager.LabelInfo == null)
{
LabelInfo = SServerManager.GetFeederInfo(param.PosInfo.barcode);
if (LabelInfo == null)
{
param.PosInfo.outstoreNG = true;
BufferDataManager.LabelInfo = param.PosInfo.ToCopy();
LogUtil.info($"贴标信息为null，紧急料出库：{param.PosInfo.ToCopy()}");
return;
}
else if (string.IsNullOrEmpty(LabelInfo.line))
{
param.PosInfo.outstoreNG = true;
BufferDataManager.LabelInfo = param.PosInfo.ToCopy();
LogUtil.info($"贴标无线体信息，紧急料出库：{param.PosInfo.ToCopy()}");
return;
//warnMsg = ("料盘贴标无线体信息，出库NG：" + param.PosInfo.ToStr());
}
else if (string.IsNullOrEmpty(LabelInfo.hSerial))
{
param.PosInfo.outstoreNG = true;
BufferDataManager.LabelInfo = param.PosInfo.ToCopy();
LogUtil.info($"贴标无工单信息，紧急料出库：{param.PosInfo.ToCopy()}");
return;
//warnMsg = ("料盘贴标无需求单信息,出库NG：" + param.PosInfo.ToStr());
}
MoveInfo.MoveParam = param;
MoveInfo.NewMove(MoveType.Working, param);
MoveInfo.NextMoveStep(StepEnum.Label00_ScanCode);
Label00_ScanCode();
}
}
}
void CheckAndMove(string IoType, IO_VALUE value)
{
if (!IOValue(IoType).Equals(value))
{
IOMove(IoType, value);
}
}
void Label00_ScanCode()
{
CheckAndMove(IO_Type.CameraLed, IO_VALUE.HIGH);
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
MoveInfo.MoveParam.PosInfo.LabelParam = new LabelParam();
if (startp.Equals(1))
{
MoveInfo.MoveParam.PosInfo.LabelParam.TrayCenterInImg_X = ConfigAppSettings.GetIntValue(Setting_Init.TrayCenterInImg_X_CamA, 2600);
MoveInfo.MoveParam.PosInfo.LabelParam.TrayCenterInImg_Y = ConfigAppSettings.GetIntValue(Setting_Init.TrayCenterInImg_Y_CamA, 1700);
MoveInfo.MoveParam.PosInfo.LabelParam.RelativeAngle = ConfigAppSettings.GetIntValue(Setting_Init.RelativeAngle_CamA, 150);
MoveInfo.MoveParam.PosInfo.LabelParam.LabelInImgAngle = ConfigAppSettings.GetIntValue(Setting_Init.LabelInImgAngle_CamA, 190);
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent = new LabelContent();
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent.PN = LabelInfo.pn;
scancodeA();
MoveLog($"开始A下暂存区物料出库{MoveInfo.SLog}: {getSideName(MoveInfo.MoveParam.ShelfType)}，标签气缸后退，等待料盘检测=1");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineA_ReelInPlaceCheck, IO_VALUE.HIGH));
}
else if (startp.Equals(2))
{
MoveInfo.MoveParam.PosInfo.LabelParam.TrayCenterInImg_X = ConfigAppSettings.GetIntValue(Setting_Init.TrayCenterInImg_X_CamB, 2600);
MoveInfo.MoveParam.PosInfo.LabelParam.TrayCenterInImg_Y = ConfigAppSettings.GetIntValue(Setting_Init.TrayCenterInImg_Y_CamB, 1700);
MoveInfo.MoveParam.PosInfo.LabelParam.RelativeAngle = ConfigAppSettings.GetIntValue(Setting_Init.RelativeAngle_CamB, 150);
MoveInfo.MoveParam.PosInfo.LabelParam.LabelInImgAngle = ConfigAppSettings.GetIntValue(Setting_Init.LabelInImgAngle_CamB, 190);
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent = new LabelContent();
MoveInfo.MoveParam.PosInfo.LabelParam.LabelContent.PN = LabelInfo.pn;
scancodeB();
MoveLog($"开始B下暂存区物料出库{MoveInfo.SLog}: {getSideName(MoveInfo.MoveParam.ShelfType)}，标签气缸后退，等待料盘检测=1");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineB_ReelInPlaceCheck, IO_VALUE.HIGH));
}
Label_CylinderBack(MoveInfo);
}
void Label_CylinderBack(DeviceMoveInfo moveInfo = null)
{
IOMove(IO_Type.Printer_CylinderFwd, IO_VALUE.LOW);
IOMove(IO_Type.Printer_CylinderBack, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderFwd, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderBack, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderFwdCheck, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderBackCheck, IO_VALUE.HIGH));
}
}
void MoveLog(string msg)
{
string posId = (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosInfo != null) ? " [" + MoveInfo.MoveParam.PosInfo.PosId + "]" : "";
LogUtil.info($"{Name} {MoveInfo?.SLog} {posId} {msg}");
}
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";
}
public void PrinteLabelProcess()
{
if(Monitor.TryEnter(locObject))
{
try
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.Label00_ScanCode))
{
MoveInfo.NextMoveStep(StepEnum.Label01_ConnectPrinter);
if (Printer.Connect(out string msg))
{
MoveLog($"打标:连接打印机");
}
else
{
MoveLog($"打标:连接打印机:{msg}");
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsStep(StepEnum.Label01_ConnectPrinter))
{
if (Printer.IsReadyPrint(out string msg))
{
MoveInfo.NextMoveStep(StepEnum.Label02_CheckState);
SetWarnMsg();
MoveLog($"打标:打印机准备就绪");
Thread.Sleep(1000);
}
else
{
SetWarnMsg($"打印机状态异常：{msg}");
Thread.Sleep(2000);
}
}
else if (MoveInfo.IsStep(StepEnum.Label02_CheckState))
{
if (!CheckLabel())
{
MoveInfo.NextMoveStep(StepEnum.Label03_HasLabelAtDoor);
MoveLog($"打标:出口无标签");
}
else
{
SetWarnMsg($"出口有标签,无法打印");
Thread.Sleep(2000);
}
}
else if (MoveInfo.IsStep(StepEnum.Label03_HasLabelAtDoor))
{
MoveInfo.NextMoveStep(StepEnum.Label04_PrintLabel);
Printer.Print(new Label_LZ(LabelInfo?.pn, LabelInfo?.side, LabelInfo?.station, LabelInfo?.line, LabelInfo?.slot, LabelInfo?.subslot), out string msg);
MoveLog($"打标:开始打印标签【{msg}】:{LabelInfo.ToStr()}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsStep(StepEnum.Label04_PrintLabel))
{
if (CheckLabel())
{
MoveInfo.NextMoveStep(StepEnum.Label05_WaitPrintOK);
MoveLog($"打标:出标完成");
}
else if (MoveInfo.IsTimeOut(5))
{
MoveInfo.NextMoveStep(StepEnum.Label05_WaitPrintOK);
MoveLog($"打标:5秒超时，认为出标完成");
}
Thread.Sleep(1000);
}
else if (MoveInfo.IsStep(StepEnum.Label05_WaitPrintOK))
{
MoveInfo.NextMoveStep(StepEnum.Label06_LabelFwd);
MoveLog($"打标:标签平台前进");
Label_CylinderFwd(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.Label06_LabelFwd))
{
if (checkLabelInPos())
{
MoveInfo.NextMoveStep(StepEnum.Label07_CheckLabelInPos);
CloseSuckLabel();
MoveLog($"打标:标签在平台上");
}
else
{
SetWarnMsg("标签未在平台上，请处理");
//MoveInfo.NextMoveStep(StepEnum.Label01_ConnectPrinter);
//MoveLog($"打标:未检测到标签在平台上，标签平台后退，准备重新打印");
//Label_CylinderBack(MoveInfo);
}
}
else if (MoveInfo.IsStep(StepEnum.Label07_CheckLabelInPos))
{
MoveInfo.NextMoveStep(StepEnum.Label08_CloseConnect);
MoveLog($"打标:关闭打印机连接");
Printer.Close();
}
else if (MoveInfo.IsStep(StepEnum.Label08_CloseConnect))
{
if (scanCode == null || (scanCode.IsCompleted))
{
MoveInfo.NextMoveStep(StepEnum.Label09_WaitLabelLeave);
MoveInfo.MoveParam.PosInfo.relativeAngle = LabelManager.CalcLabelAngle(MoveInfo?.MoveParam?.PosInfo?.LabelParam);
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1))
{
if (BufferDataManager.AOutStoreInfo != null)
BufferDataManager.AOutStoreInfo.Labeled = true;
}
else
{
if (BufferDataManager.BOutStoreInfo != null)
BufferDataManager.BOutStoreInfo.Labeled = true;
}
MoveLog($"打标:{MoveInfo.MoveParam.PosInfo.barcode}标记为打标，计算的贴标旋转角度：{MoveInfo.MoveParam.PosInfo.relativeAngle}°");
BufferDataManager.LabelInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg("等待相机解析旋转角度超时");
}
}
else if (MoveInfo.IsStep(StepEnum.Label09_WaitLabelLeave))
{
if (BufferDataManager.LabelInfo == null)
{
MoveInfo.NextMoveStep(StepEnum.Label10_Finish);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
Label_CylinderBack(MoveInfo);
MoveLog($"打标:标签被取走，流程结束");
CodeManager.DelImg(Name,MoveInfo?.MoveParam?.PosInfo?.LabelParam.BitmapFilename);
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg("等待标签被取走超时");
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsStep(StepEnum.Label10_Finish))
{
MoveInfo.EndMove();
}
}
catch (Exception ex)
{
LogUtil.error("printlabelprocess", ex);
}
finally
{
Monitor.Exit(locObject);
}
}
}
/// <summary>
/// 检查标签状态
/// </summary>
/// <returns></returns>
bool CheckLabel()
{
bool useLabelCheck = ConfigAppSettings.GetBoolValue(Setting_Init.UseLabelCheck, false);
if (useLabelCheck)
return IOValue(IO_Type.Printer_LabelCheck).Equals(IO_VALUE.HIGH);
else
{
return Printer.IsLabelOnPeeler();
}
}
/// <summary>
/// 检查标签是否在平台上
/// </summary>
/// <returns></returns>
bool checkLabelInPos()
{
bool useLabelCheck = ConfigAppSettings.GetBoolValue(Setting_Init.UseLabelCheck, false);
if (useLabelCheck)
return IOValue(IO_Type.Printer_LabelCheck).Equals(IO_VALUE.HIGH);
return true;
}
public void SetWarnMsg(string msg = "")
{
WarnMsg = msg;
}
public void Label_CylinderFwd(DeviceMoveInfo moveInfo = null)
{
IOMove(IO_Type.Printer_CylinderBack, IO_VALUE.LOW);
IOMove(IO_Type.Printer_CylinderFwd, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderBack, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderFwd, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderBackCheck, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderFwdCheck, IO_VALUE.HIGH));
}
}
/// <summary>
/// 关闭吸标签
/// </summary>
/// <param name="moveInfo"></param>
public void CloseSuckLabel(DeviceMoveInfo moveInfo = null)
{
IOMove(IO_Type.Printer_CylinderFwd, IO_VALUE.LOW);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Printer_CylinderFwd, IO_VALUE.LOW));
}
}
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(DeviceMoveInfo moveInfo)
{
try
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
if (span.TotalMilliseconds < 300)
{
return;
}
string NotOkMsg = "";
bool isOk = !moveInfo.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + IOManager.GetIO(wait.IoType, Robot.DeviceID).DisplayStr + "=" + wait.IoValue + "]";
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalSeconds > StoreManager.Config.IOSingle_TimerOut && alarmType <= AlarmType.IoSingleTimeOut)
{
ConfigIO io = Robot.Config.getWaitIO(wait.IoType);
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
if (alarmType.Equals(AlarmType.None))
{
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < StoreManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Robot.Config.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType, Robot.Config.Id).Equals(ww.IoValue).Equals(false))
{
isLog = true;
Robot.IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W202_PrintLabel))
{
if (Printer.IsLabelOnPeeler())
{
wait.IsEnd = true;
}
}
else
{
LogUtil.error(Name + "未找到WaitType=" + wait.WaitType + "的处理");
}
if (wait.IsEnd)
{
if (moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
moveInfo.EndStepWait();
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg + "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
//int second = 10;
//second = (int)(span.TotalSeconds/ moveInfo.TimeOutSeconds) * 10;
//if (second > 120)
//{
// second = 120;
//}
//else if (second < 10)
//{
// second = 10;
//}
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
catch (Exception ex)
{
LogUtil.error(moveInfo.Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
public DateTime LastAlarmTime = DateTime.Now;
public AlarmType alarmType = AlarmType.None;
internal void Alarm(AlarmType alarmType)
{
if (alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
if (this.alarmType.Equals(alarmType))
{
return;
}
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirpressure_Check) || alarmType.Equals(AlarmType.AxisAlarm))
{
StopMove();
}
}
internal void StopMove()
{
LogUtil.info(Name + " Stop Move ");
MoveInfo.EndMove();
}
/// <summary>
/// 打印信息预览
/// </summary>
/// <param name="label_LZ"></param>
/// <returns></returns>
public Bitmap PrintView(Label_LZ label_LZ = null)
{
if (label_LZ == null)
label_LZ = new Label_LZ("123456789", "T", "ABCD-10_1 1A", "line 1");
return Printer.PrintView(label_LZ);
}
public void PrintTest()
{
try
{
string msg = "";
if (!Printer.Connect(out msg))
{
MessageBox.Show($"连接打印机失败:{msg}");
}
if (Printer.IsLabelOnPeeler())
{
MessageBox.Show("剥纸器上有标签,无法打印");
return;
}
Label_LZ label_LZ = new Label_LZ("123456789", "T", "ABCD-10_1 1A", "line");
bool rtn = Printer.Print(label_LZ, out msg);
if (!rtn)
{
MessageBox.Show($"打印失败：{msg}");
}
}
catch (Exception ex)
{
LogUtil.error("打印异常", ex);
}
}
/// <summary>
/// 打印流程测试
/// </summary>
public void PrintProcessTest()
{
string msg = "";
if (!Printer.Connect(out msg))
{
MessageBox.Show($"连接打印机失败：{msg}");
}
if (Printer.IsLabelOnPeeler())
{
MessageBox.Show("剥纸器上有标签,无法打印");
return;
}
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Printer_CylinderFwd, IO_VALUE.LOW);
IOMove(IO_Type.Printer_CylinderBack, IO_VALUE.HIGH);
while (IOValue(IO_Type.Printer_CylinderBackCheck).Equals(IO_VALUE.LOW))
{
Thread.Sleep(500);
}
Label_LZ label_LZ = new Label_LZ("123456789", "T", "ABCD-10_1 1A", "line");
Printer.Print(label_LZ, out msg);
while (!Printer.IsLabelOnPeeler())
{
Thread.Sleep(1000);
}
IOMove(IO_Type.Printer_CylinderBack, IO_VALUE.LOW);
IOMove(IO_Type.Printer_CylinderFwd, IO_VALUE.HIGH);
while (IOValue(IO_Type.Printer_CylinderFwdCheck).Equals(IO_VALUE.LOW))
{
Thread.Sleep(1000);
}
});
}
public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
{
Robot.IOMove(IoType, value, msTime);
}
public IO_VALUE IOValue(string IoType)
{
return Robot.IOValue(IoType);
}
}
}