InputEquip_InStore.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static JAKA.JKTYPE;
namespace OnlineStore.DeviceLibrary
{
partial class InputEquip
{
public bool ClampEmptyMove = false;
public Dictionary<int, int> reelHeightOffset = new Dictionary<int, int>();
protected override bool CheckWaitResult(DeviceMoveInfo moveInfo, WaitResultInfo wait)
{
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
{
if (ClampJaw != null)
{
if (ClampJaw.IsReached())
{
float currp = ClampJaw.GetPosition() - (float)wait.TargetPosition;
if (currp < 1)
{
wait.IsEnd = true;
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
{
if (ClampJaw != null)
{
wait.IsEnd = ClampJaw.HasReel();
if ((!wait.IsEnd) && ClampEmptyMove)
{
LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
wait.IsEnd = true;
}
//如果是运动中，且到达目标，认为有料
if ((!wait.IsEnd) && ClampJaw.IsMoving() && ClampJaw.IsReached() && span.TotalSeconds > 3)
{
LogUtil.info(Name + " 无料，但在运动中，且运动到位，认为有料");
wait.IsEnd = true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W201_RobotMove))
{
if (RobotMoveEnd(curcmd))
{
wait.IsEnd = true;
}
}
return wait.IsEnd;
}
int getOffset()
{
if (reelHeightOffset.ContainsKey(MoveInfo.MoveParam.PosInfo.PlateH))
{
return reelHeightOffset[MoveInfo.MoveParam.PosInfo.PlateH];
}
return 0;
}
void II44_UpdownToP5()
{
MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5);
MoveLog($"入料->A侧");
}
void II64_UpdownToP11()
{
MoveInfo.NextMoveStep(StepEnum.II64_UpdownToP11);
MoveLog($"入料->A侧");
}
#region 入库
private DateTime startInTime = DateTime.Now;
public override bool StartInstore(InOutParam param)
{
if (!NoAlarm())
{
LogInfo("报警中，无法开始取料入库：" + param.PosInfo.ToStr());
return false;
}
if (!IsInSafePos())
{
LogInfo("机器人未在安全位置，请先将机器人移到安全位置。 取料入库失败：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.InStore, param);
startInTime = DateTime.Now;
if (IsInSafePos())
{
MoveInfo.NextMoveStep(StepEnum.II00_ToShelfArea);
To入料口();
MoveLog($"开始入库: 机器人去入料口");
}
return true;
}
return false;
}
protected override void InstoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
int shelf = MoveInfo.MoveParam.ShelfType;
#region 入库取料，获取库位号
if (MoveInfo.IsStep(StepEnum.II00_ToShelfArea))
{
II01_ClampRelax("机器人吸取料盘");
}
else if (MoveInfo.IsStep(StepEnum.II01_ClampRelax))
{
II02_BackToP1("机器人从入料口回原点");
}
else if (MoveInfo.IsStep(StepEnum.II02_RobotMoveUp))
{
II02_BackToP1("机器人从入料口回原点");
}
else if (MoveInfo.IsStep(StepEnum.II03_BackToP1))
{
MoveInfo.NextMoveStep(StepEnum.II04_ReadyInstore);
MoveLog($"机器人取料完成，准备入库");
}
else if (MoveInfo.IsStep(StepEnum.II04_ReadyInstore))
{
//如果是测试，直接开始取目标位置
if (MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST"))
{
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 条码 {MoveInfo.MoveParam.PosInfo.barcode}为测试料，直接去目标位置");
LastPosInfo = MoveInfo.MoveParam.PosInfo;
StrartToTargetP();
}
else
{
II05_WaitAxisCheck();
}
}
else if (MoveInfo.IsStep(StepEnum.II05_WaitAxisCheck))
{
II05_WaitAxisCheck();
}
else if (MoveInfo.IsStep(StepEnum.II06_WaitHeight))
{
BatchMoveBean moveBean = BatchMove;
if (moveBean.LastHeight > 0)
{
ClearTimeoutAlarm("获取料盘高度完成超时");
int Height = moveBean.LastHeight;
int width = 7;
//if (IOValue(IO_Type.Feeding_Reel_13_Check).Equals(IO_VALUE.HIGH))
//{
// width = 13;
//}
MoveInfo.MoveParam.PosInfo.PlateH = Height;
MoveInfo.MoveParam.PosInfo.PlateW = width;
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 料盘尺寸{width}X{Height}");
II13_GetPosId();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "" + moveBean.Name + "获取料盘高度完成");
}
}
else if (MoveInfo.IsStep(StepEnum.II08_GetPosId))
{
if (getPosTask != null && getPosTask.IsCompleted && LastPosInfo != null)
{
getPosIdMsg = "";
ClearTimeoutAlarm("获取库位号超时");
InOutPosInfo oldPos = MoveInfo.MoveParam.PosInfo;
if ((!LastPosInfo.PlateH.Equals(oldPos.PlateH)) || (!LastPosInfo.PlateW.Equals(oldPos.PlateW)))
{
MoveLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + oldPos.PlateW + "X" + oldPos.PlateH + "】服务器返回尺寸【" + LastPosInfo.PlateW + "X" + LastPosInfo.PlateH + "】 ");
}
MoveInfo.MoveParam.PosInfo = LastPosInfo;
if (LastResult.Equals(98))
{
//出库料 暂不处理出库，全部入库
}
StrartToTargetP();
}
else if (MoveInfo.IsTimeOut(15))
{
MoveTimeOut(MoveInfo, "获取库位号超时 " + getPosIdMsg);
}
}
#endregion
#region 入料->A侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II41_IsUpperAReel))
{
//如果无料且暂存区为空，进出轴出去
bool empty = (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""));
if (IOValue(IO_Type.FeedA_ReelCheck).Equals(IO_VALUE.LOW) && empty)
{
II43_ToUpperA();
}
else
{
if (CheckOutStore())
{
MoveInfo.NextMoveStep(StepEnum.II81_ToNgArea);
ToNG箱();
MoveLog($"入料->A侧 有出库料且暂存区有料，去NG区域");
}
else
{
MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，等待暂存区无料");
}
}
}
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{
if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("A上暂存区物料拿走");
II43_ToUpperA();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "A上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II43_ToUpperA))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II45_ClampRelax);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 吸盘放料");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II45_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II46_BackToP1);
FromA上暂存区回原();
BufferDataManager.AInStoreInfo = MoveInfo.MoveParam.PosInfo;
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 机器人从A上回原点");
}
else if (MoveInfo.IsStep(StepEnum.II46_BackToP1))
{
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 入料->A侧放料结束，更新A上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
#region 入料->B侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II61_IsUpperBReel))
{
bool empty = BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals("");
if (IOValue(IO_Type.FeedB_ReelCheck).Equals(IO_VALUE.LOW) && empty)
{
II63_ToUpperB();
}
else
{
if (CheckOutStore())
{
MoveInfo.NextMoveStep(StepEnum.II81_ToNgArea);
ToNG箱();
MoveLog($"入料->B侧 有出库料且暂存区有料，去NG区域");
}
else
{
MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，等待暂存区无料");
}
}
}
else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel))
{
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("B上暂存区物料拿走");
II63_ToUpperB();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "B上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II63_ToUpperB))
{
MoveInfo.NextMoveStep(StepEnum.II65_ClampRelax);
TrayHasLeave();
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 吸盘放料");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II65_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II66_BackToP1);
FromB上暂存区回原();
BufferDataManager.BInStoreInfo = MoveInfo.MoveParam.PosInfo;
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 机器人回原点");
}
else if (MoveInfo.IsStep(StepEnum.II66_BackToP1))
{
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 入料->B侧放料结束，更新B上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
#region 入料->NG箱上暂存区
else if (MoveInfo.IsStep(StepEnum.II81_ToNgArea))
{
MoveInfo.NextMoveStep(StepEnum.II84_ClampRelax);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 吸盘放下");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II84_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II85_BackToP1);
FromNG箱回原();
NGBox.PutIn(MoveInfo.MoveParam);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 机器人从NG箱回原点");
}
else if (MoveInfo.IsStep(StepEnum.II85_BackToP1))
{
// if (shelf.Equals(1))
{
MoveLog($" 入料->NG箱放料结束");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
}
#endregion
}
/// <summary>
///
/// </summary>
/// <returns></returns>
bool CheckLineEnd(InOutPosInfo posInfo, string ioType)
{
return (posInfo != null && IOValue(ioType).Equals(IO_VALUE.HIGH));
}
/// <summary>
/// 存储机构是否有出库料
/// </summary>
/// <returns></returns>
bool CheckOutStore()
{
return CheckLineEnd(BufferDataManager.AOutStoreInfo, IO_Type.LineA_ReelInPlaceCheck) || CheckLineEnd(BufferDataManager.BOutStoreInfo, IO_Type.LineB_ReelInPlaceCheck);
}
private void II63_ToUpperB()
{
MoveInfo.NextMoveStep(StepEnum.II63_ToUpperB);
MoveInfo.TimeOutSeconds = 10;
ToB上暂存区();
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区无料，机器人到B上");
}
private void II43_ToUpperA()
{
MoveInfo.NextMoveStep(StepEnum.II43_ToUpperA);
MoveInfo.TimeOutSeconds = 10;
ToA上暂存区();
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空，机器人去A上");
}
string moveType = "入库：";
string moveMsg = "";
private void II01_ClampRelax(string msg)
{
MoveInfo.NextMoveStep(StepEnum.II01_ClampRelax);
ClampWork(MoveInfo, true, MoveInfo.MoveParam.PosInfo.barcode);
moveMsg = msg;
MoveLog($"{moveType}{moveMsg}");
}
private void II02_BackToP1(string msg)
{
MoveInfo.NextMoveStep(StepEnum.II03_BackToP1);
From入料口回原();
moveMsg = msg;
MoveLog($"{moveType}{moveMsg}");
}
private void StrartToTargetP()
{
InOutPosInfo lastPosInfo = MoveInfo.MoveParam.PosInfo;
int shelf = MoveInfo.MoveParam.ShelfType;
//判断是A还是B
if (lastPosInfo.IsNG)
{
if (NGBox.CanPutIn(out string msg))
{
MoveInfo.NextMoveStep(StepEnum.II81_ToNgArea);
ClearSpecifiedAlarm("无法放料");
ToNG箱();
MoveLog($"NG料，去NG区域");
}
else
{
SetWarnMsg(msg);
}
}
else if (lastPosInfo.GetPosSide().Equals("A"))
{
II41_ToUpperA();
}
else
{
II61_ToUpperB();
}
TrayStartLeave();
}
private void II61_ToUpperB()
{
MoveInfo.NextMoveStep(StepEnum.II61_IsUpperBReel);
MoveLog($"入料->B侧");
}
private void II41_ToUpperA()
{
MoveInfo.NextMoveStep(StepEnum.II41_IsUpperAReel);
MoveLog($"入料->A侧");
}
private Task getPosTask = null;
private InOutPosInfo LastPosInfo = null;
private int LastResult = 0;
private string getPosIdMsg = "";
private void II13_GetPosId()
{
MoveInfo.NextMoveStep(StepEnum.II08_GetPosId);
MoveLog($"入库{MoveInfo.SLog}: 清空LastPosResult，从服务器获取入库库位");
LastPosInfo = null;
InOutPosInfo pos = MoveInfo.MoveParam.PosInfo;
List<string> codeList = Regex.Split(pos.barcode, "##", RegexOptions.IgnoreCase).ToList();
getPosTask = Task.Factory.StartNew(delegate
{
//更新托盘条码信息
try
{
int count = 1;
while (MoveInfo.MoveType.Equals(MoveType.InStore))
{
int ms = 5000;
string lastPosId = "";
//如果左侧是空右侧有料
if (BufferDataManager.AInStoreInfo == null && (BufferDataManager.BInStoreInfo != null))
{
lastPosId = BufferDataManager.BInStoreInfo.PosId;
}
else if (BufferDataManager.AInStoreInfo != null && (BufferDataManager.BInStoreInfo == null))
{
lastPosId = BufferDataManager.AInStoreInfo.PosId;
}
//从服务器获取库位号
GetPosResult result = SServerManager.GetPosId(Name, codeList, pos.PlateH, pos.PlateW, pos.rfid, lastPosId);
LastResult = result.Result;
if (result.IsTimeOut)
{
if (count < 5)
{
ms = 1000;
}
Thread.Sleep(ms);
LogUtil.error(Name + "【" + pos.barcode + "】 " + MoveInfo.SLog + " 超时，等待" + ms + "后重新获取");
continue;
}
else if (result.Result.Equals(99) || result.Result.Equals(100))
{
if (count < 5)
{
ms = 3000;
}
getPosIdMsg = result.Msg;
Thread.Sleep(ms);
continue;
//LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 结果【" + result.Result + "】，等待" + ms + "后重新获取");
}
else if (!result.Msg.Equals(""))
{
LastPosInfo = result.Param;
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 入库NG：" + result.Msg);
break;
}
else
{
LastPosInfo = result.Param;
break;
}
if (count >= 3)
{
//自动NG
LastPosInfo = new InOutPosInfo(pos.barcode, "");
LastPosInfo.IsNG = true;
LastPosInfo.NgMsg = "获取库位超过三次，直接NG";
break;
}
count++;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "【" + pos.barcode + "】 " + MoveInfo.SLog + " 获取库位号报错：" + ex.ToString());
}
});
}
private void II05_WaitAxisCheck()
{
MoveInfo.NextMoveStep(StepEnum.II05_WaitAxisCheck);
MoveLog($"入库取料, 等待定位料盘信号消失,通知料串料盘已离开");
if (IOValue(IO_Type.Shelf_ReelCheck).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.II06_WaitHeight);
BatchMove.GetTrayOK();
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shelf_ReelCheck, IO_VALUE.LOW));
}
}
#endregion
}
}