BoxEquip_OutExecute - 副本.cs
19.2 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class BoxEquip
{
/// <summary>
/// 料盘放到出料口成功，并将料盘信息写入该口
/// </summary>
private void SetReelAInfoToBuff()
{
{
BufferDataManager.AOutStoreInfo = MoveInfoLineA.MoveParam.PosInfo.ToCopy();
}
}
private void SetReelBInfoToBuff()
{
{
BufferDataManager.BOutStoreInfo = MoveInfoLineB.MoveParam.PosInfo.ToCopy();
}
}
bool CanPutReelIntoLine()
{
if(CheckASide())
{
return MoveInfoLineA.MoveType.Equals(MoveType.None);
}
else
{
return MoveInfoLineB.MoveType.Equals(MoveType.None);
}
}
#region 出库
private void OutstoreExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SO_00_StartOutstore:
PullAxisToP1("出库");
break;
case StepEnum.SO_01_PullAxis_Ready:
SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
MoveInfo.NextMoveStep(StepEnum.SO_01_MoveAxis_Ready);
if (!IsMoveAxisInSafePos())
{
MoveAxisToSafePos();
LogInfo($"出库 {MoveInfo.SLog}：行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
}
break;
case StepEnum.SO_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition);
startTime = DateTime.Now;
LogInfo($"出库 {MoveInfo.SLog}：到库位,行走机构到存储库位取放点位P3,移栽升降轴到抽屉上方过渡点P6/P12," +
$"抽屉拉取升降轴到抽屉提取低点P4，移栽压紧轴到压紧前点P2,移栽X轴到库位取放点P3,移栽旋转轴到抽屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();//料屉拉取进出轴到拍照点
MoveAxisToP3();
UpdownAxisTo_P6_P12();
PullAxis_UpdownToLowP4();
ComAxis_To_P2();
XAxis_To_P3();
MiddleAxis_To_P3();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case StepEnum.SO_02_ToPosition:
MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
LogInfo($"出库 {MoveInfo.SLog}：到抽屉提取点,抽屉拉取进出轴到抽屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
break;
case StepEnum.SO_03_ToTray:
MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，抽屉拉取升降轴到抽屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(true);
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_04_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
LogInfo($"出库 {MoveInfo.SLog}：拉抽屉到库位点，抽屉拉取进出轴到料屉库位点P3/P5,不检测{trayAColumns[GetPosColumn()]}=0[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
//if (CheckASide())
//{
// if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.LOW));
//}
//else
//{
// if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.LOW));
//}
break;
case StepEnum.SO_05_PullTray:
MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
LogInfo($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，抽屉拉取升降轴到P2料屉提取水平点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2();
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break;
case StepEnum.SO_06_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel);
LogInfo($"出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到抽屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13();
break;
case StepEnum.SO_07_GetReel:
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddReelCheck(true);
ComAxis_To_P3();
break;
case StepEnum.SO_08_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack);
LogInfo($"出库 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到抽屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12();
break;
case StepEnum.SO_09_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray);
LogInfo($"出库 {MoveInfo.SLog}：提升抽屉，抽屉拉取升降轴到抽屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(true);
PullAxis_UpdownToHighP3();
break;
case StepEnum.SO_10_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
//LogInfo($"出库 {MoveInfo.SLog}：到进出轴待机点拍照，料斗拉取进出轴到料屉待机点P1,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//PullAxis_Inout_To_P1();
//MiddleAxis_To_P2();
//XAxis_To_P1();
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到抽屉提取点P2/P4,旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
//XAxis_To_P1();移栽X到P1,
MiddleAxis_To_P2();
break;
case StepEnum.SO_11_PushTray:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到抽屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
PullAxis_Inout_To_P2_P4();
//bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
//string res = rtn ? "OK" : "NG";
//LogInfo($"出库 {MoveInfo.SLog}：抓手检测结果:{res}");
//PullAxis_UpdownToMiddleP2();
//if (CheckASide())
//{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
//}
//else
//{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
//}
break;
case StepEnum.SO_12_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
LogInfo($"出库 {MoveInfo.SLog}：放下抽屉，移栽旋转轴到取放料水平点P2,抽屉拉取升降轴到抽屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
AddHookCheck(false);
PullAxis_UpdownToLowP4();
MiddleAxis_To_P2();
break;
case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide())
{
if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
}
else
{
if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
}
PullAxis_Inout_To_Cam();
break;
case StepEnum.SO_13_InoutBack:
//检查另一面是否有出库任务
if (MoveInfo.MoveParam.PosInfoBack == null)
{
if (CheckASide(MoveInfo.MoveParam))
{
if (waitBOutStoreList.Count > 0 && CheckBOutDoor())
{
if (waitBOutStoreList.TryDequeue(out InOutParam inOutParam))//B面料叉空且B面出料口无料，有出库任务
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：A面切换到B面，B面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
else
{
if (waitAOutStoreList.Count > 0 && CheckAOutDoor())
{
if (waitAOutStoreList.TryDequeue(out InOutParam inOutParam))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
LogInfo($"存储机构-出库 {MoveInfo.SLog}：B面切换到A面，A面取料[{inOutParam.PosInfo.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
PullAxis_Inout_To_Cam();
return;
}
}
}
}
//直接出库，执行该步骤的情况：1.另一个料叉有料；2.另一面有出库任务但出料口有料；3.另一面没有出库任务;
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
//MoveAxisToP1();
//PullAxis_UpdownToP1();
//UpdownAxisTo_P4_P10();
if (MoveInfo.MoveParam.PosInfoBack == null)
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往皮带线。");
else
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]取料完成，准备送往皮带线。");
break;
case StepEnum.SO_14_GetReels_Ready:
if (GetSlidePos(MoveInfo.MoveParam.PosInfo.GetPosSide(), MoveInfo.MoveParam.PosInfo.GetTrayColumn(), out MoveInfo.MoveParam.SlidePos))
{
MoveInfo.NextMoveStep(StepEnum.SO_15_ToSlideArea);
ClearSpecifiedAlarm($"不存在{MoveInfo.MoveParam.PosInfo.PosId}的滑梯位置，请检查配置");
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]去当前列的滑梯处");
ToSlidePos();
}
else
{
SetWarnMsg($"不存在{MoveInfo.MoveParam.PosInfo.PosId}的滑梯位置，请检查配置");
}
break;
case StepEnum.SO_15_ToSlideArea:
if (!CanPutReelIntoLine())
{
SetWarnMsg($"出库 {MoveInfo.SLog}：皮带线有其他料盘，无法放置该料盘[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_16_VerifyBufferState);
BuffAreaOutstoreDoor(true);
ClearSpecifiedAlarm($"皮带线有其他料盘，无法放置该料盘");
LogInfo($"出库 {MoveInfo.SLog}：皮带线无料盘确认，准备放料[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
break;
case StepEnum.SO_16_VerifyBufferState:
{
MoveInfo.NextMoveStep(StepEnum.SO_17_MiddleToSlide);
LogInfo($"出库 {MoveInfo.SLog}：旋转轴转到放料位置[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MiddleToSlidePos();
}
break;
case StepEnum.SO_17_MiddleToSlide:
if(CanPutReelIntoLine())
{
MoveInfo.NextMoveStep(StepEnum.SO_18_ReleaseReel);
ClearSpecifiedAlarm($"等待皮带线无料盘超时");
StartLineRun(MoveInfo.MoveParam);
LogInfo($"出库 {MoveInfo.SLog}：松开料盘，移栽压紧轴到压紧前点P2");
ComAxis_To_P2();
}
else if(MoveInfo.IsTimeOut(30))
{
SetWarnMsg($"等待皮带线无料盘超时");
}
break;
case StepEnum.SO_18_ReleaseReel:
MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel);
LogInfo($"出库 {MoveInfo.SLog}：等待1秒,启动皮带线");
//料盘到达仓内皮带线
SServerManager.UploadLocInfo(MoveInfo.MoveParam.PosInfo.barcode,LocStatus.ON_INNER_LINE);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
break;
case StepEnum.SO_18_PutReel:
MoveInfo.NextMoveStep(StepEnum.SO_19_MiddleToP1);
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}]料盘到达皮带线[耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒],移栽X轴到待机点P1,行走机构到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MiddleAxis_To_P1();
break;
case StepEnum.SO_19_MiddleToP1:
if (MoveInfo.MoveParam.PosInfoBack == null)
{
MoveInfo.NextMoveStep(StepEnum.SO_20_Finish);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉无料，出库结束[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
LogInfo($"出库 {MoveInfo.SLog}：另一面料叉有料，开始出库，准备送往皮带线。料屉升降轴到P1点，移栽升降轴到P1点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfoBack.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
// PullAxis_UpdownToP1();
//UpdownAxisToP1();
//XAxis_To_P1();,移栽X轴到P1点
}
break;
case StepEnum.SO_20_Finish:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
//停止记录
StopRecord();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
break;
}
}
#endregion
}
}