MainMachine _RightProcess.cs
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using CodeLibrary;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.Common.util;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
public bool RightShelfNoTray = false;
int RightCount = 0;
public volatile bool SafeReleaseRightShelf = false;
void RightProcess()
{
if (CheckWait(RightMoveInfo))
return;
//常规上料扫码流程
switch (RightMoveInfo.MoveStep)
{
//进料口阻挡下降，提升轴先快速上升后缓速调整位置
case MoveStep.R01:
RightCount = 0;
RightShelfNoTray = false;
RightMoveInfo.NextMoveStep(MoveStep.R02);
CylinderMove(null, IO_Type.RightStopDown, IO_Type.RightStopUP);
RightBatchAxisToP2(true);
RightMoveInfo.log($"批量轴上升到P2位置,第一次提升,RightStartMovePosition={RightStartMovePosition}");
break;
case MoveStep.R02:
RightMoveInfo.NextMoveStep(MoveStep.R03);
LastBatchAxisPosition = Right_Batch_Axis.GetAclPosition();
RightBatchAxisToP2(false);
RightMoveInfo.log($"批量轴上升到P2位置,二次提升,LastBatchAxisPosition={RightStartMovePosition}");
break;
case MoveStep.R03:
RightMoveInfo.NextMoveStep(MoveStep.R04);
var Uplast = Right_Batch_Axis.GetAclPosition();
PlwHight = Uplast - LastBatchAxisPosition;
if (PlwHight <= 0)
PlwHight = 5000;
if (RightCount == 0)//第一次上升，不是测高的
{
RightMoveInfo.log($"RightCount={RightCount}，新料串到位");
}
else
{
var param = GetLabelParam(RightMoveInfo.MoveParam.PreUID);
if (param != null)
{
param.RightPulseHeight = PlwHight;
param.RightPlateHeight = PlwHight / Config.Right_Batch_ChangeValue;
RightMoveInfo.log($"批量轴上升到P2位置到位，当前位置:{Uplast},uid={param.UID}, PlwHight:{param.RightPulseHeight},plateH:{param.RightPlateHeight}");
}
else
{
RightMoveInfo.log($"未找到UID:{RightMoveInfo.MoveParam.PreUID},无法设置高度");
}
}
break;
//如果定位上升并且特定中间步骤偶，开始扫码
case MoveStep.R04:
if (IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.HIGH) && RightShelfNoTray.Equals(false))
{
if(MiddleMoveInfo.MoveStep == MoveStep.M21)//旋转轴正在旋转
{
}
else if (MiddleMoveInfo.MoveStep >= MoveStep.M09 && MiddleMoveInfo.MoveStep< MoveStep.M20_ToNgBox
|| MiddleMoveInfo.MoveStep < MoveStep.M02 || MiddleMoveInfo.MoveStep > MoveStep.M21)
{
RightMoveInfo.NextMoveStep(MoveStep.R06_GettedReelInfo);
ScanCode();
RightMoveInfo.log($"扫码开始");//并获取上一盘料高度,LastHeight={LastHeight}
}
}
else
{
//不是结束取料，当误差过大时消除误差
if (RightShelfNoTray.Equals(false))
{
//判断当前位置是否在指定的位置
int currP = Right_Batch_Axis.GetAclPosition();
int chaz = Math.Abs(currP - Config.Right_Batch_P2);
if (chaz > Right_Batch_Axis.Config.CanErrorCountMax)
{
//RightMoveInfo.NextMoveStep(MoveStep.R02);
RightMoveInfo.log("CheckHasTray：上料轴开始慢速上升到P2[" + Config.Right_Batch_P2 + "]，等待检测到料盘");
RightBatchAxisToP2(false);
return;
}
}
//否则进入无料步骤
//无料盘
//RightShelfNoTray = true;
RightMoveInfo.NextMoveStep(MoveStep.R12_ShelfNoTray);
RightMoveInfo.log($"批量轴已上升到顶,料串已空.");
}
break;
//正常扫码流程，获取扫码信息，标记是否NG，进入取盘流程
case MoveStep.R06_GettedReelInfo:
if (RightScanTask.IsCompleted)
{
//返回扫码信息，关键字，图片路径，坐标
var (x, k, s, b) = RightScanTask.Result;
if (ConfigHelper.Config.Get(Setting_Init.SaveReelPhoto, false))
{
string d = ConfigHelper.Config.Get(Setting_Init.ReelPhotoSaveDir);
string fn = Path.GetFileName(s);
string df = Path.Combine(d, fn);
File.Copy(s, df);
}
int pointX = -1; int pointY = -1;
b.TryGetValue("PointX", out pointX);
b.TryGetValue("PointY", out pointY);
if (x.Count == 0 || pointX <= 0 || pointY <= 0)
{
RightMoveInfo.log($"未识别到有效二维码,转入NG箱；pointX={pointX}；pointY={pointY}");
RightMoveInfo.MoveParam.IsNg = true;
if (ServerCommunication.EnableHttpServer)
{
if (Monitor.TryEnter(ServerCM.serverclock, TimeSpan.FromSeconds(5)))
{
ServerCM.SendNGInfo(crc.GetString("Res0128.e5d9ef10", "模版匹配失败"));
}
else
{
RightMoveInfo.log($"上传服务器NG状态超时");
}
}
UnifiedDataHandler.RecordPrintNg(false, false, out string[] strarrys);
}
else
{
RightMoveInfo.MoveParam.IsNg = false;
RightMoveInfo.MoveParam.codeInfos = x;
if (false && LastCodeList != null && LastCodeList.Count > 1)
{
var result = Common.CompareLists(x.Select(a => a.CodeStr).ToList(), LastCodeList.Select(a => a.CodeStr).ToList());
RightMoveInfo.log($"相同条目数: {result.commonCount}, 重合百分比: {result.overlapPercentage:F2}%");
//bool duplicate = false;
if (result.overlapPercentage == 100)
{
RightMoveInfo.NextMoveStep(MoveStep.R20_reel_duplicate);
RightMoveInfo.MoveParam.IsNg = true;
RightMoveInfo.MoveParam.NgMsg = crc.GetString("Res0183.b7688c25", "条码重复");
//duplicate = true;
RightMoveInfo.log($"条码重复:{result.overlapPercentage} > 50");
}
}
LastCodeList = Common.DeepClone(x);
RightMoveInfo.MoveParam.Keyword = k;
RightMoveInfo.MoveParam.bitmapfilename = s;
RightMoveInfo.MoveParam.NewXYAngle = b;
if (!Common.codeProcess(RightMoveInfo.MoveParam, out string debugmsg))
{
RightMoveInfo.log($"未识别到有效码,转入NG箱" + debugmsg);
RightMoveInfo.log(JsonHelper.SerializeObject(x));
RightMoveInfo.MoveParam.IsNg = true;
}
else
RightMoveInfo.log($"已完成扫码,等待料盘被取走 Count={x.Count},{JsonConvert.SerializeObject(RightMoveInfo.MoveParam)}");
}
RightMoveInfo.NextMoveStep(MoveStep.R10_WaitReelLeave);
}
else if (RightMoveInfo.IsTimeOut(300))
{
RightMoveInfo.log($"等待扫码超时");
}
break;
//等待中间流程跳出这个步骤
case MoveStep.R10_WaitReelLeave:
Msg.add(crc.GetString("Res0099", "等待料盘取走"), MsgLevel.info);
break;
case MoveStep.R11_NextReel:
RightCount++;
//处于释放状态转到无料料流程，否则回到取料流程
if (SafeReleaseRightShelf)
{
SafeReleaseRightShelf = false;
RightMoveInfo.NextMoveStep(MoveStep.R12_ShelfNoTray);
RightMoveInfo.log($"用户请求释放料架.");
}
else
{
RightMoveInfo.NextMoveStep(MoveStep.R02);
RightMoveInfo.log($"料盘已取走,开始准备下一盘料");
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break;
case MoveStep.R20_reel_duplicate:
Msg.add(crc.GetString("Res0184.4aa86524", "条码出现重复,请分别取走左右料串顶层的料盘,然后按右侧按钮继续"), MsgLevel.alarm);
if (IOValue(IO_Type.GratingSignal_Check).Equals(IO_VALUE.LOW))
{
if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NextMoveStep(MoveStep.R11_NextReel);
RightMoveInfo.log("用户按下右侧reset,开始扫码下一盘");
}
}
break;
//无料流程，轴下降到P1点，如果用AGV运输料串那么进料口阻挡下降，进入到结束流程（会进入到出料串流程）
case MoveStep.R12_ShelfNoTray:
RightShelfNoTray = true;
ConfigHelper.Config.Set(Setting_Init.SaveReelPhoto, false);
RightMoveInfo.NextMoveStep(MoveStep.REND);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
if (ConfigHelper.Config.Get("UseAGVTransferShelf", false))//是否用AGV运输料串
{
RightMoveInfo.log($"料串已取完, 批量轴下降到P1");
}
else
{
CylinderMove(LeftMoveInfo, IO_Type.RightStopUP, IO_Type.RightStopDown);
RightMoveInfo.log($"料串已取完, 批量轴下降到P1,阻挡下降");
}
break;
case MoveStep.REND:
RightMoveInfo.log($"结束运动");
RightMoveInfo.EndMove();
break;
//}
//料串出料流程，下降到P1点，阻挡下降，滚筒反转，等待到位后端检测为低电平延时3秒，等待到位前端检测为低电平延时3秒，延时0.5秒反转停止，进入结束步骤
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R30_OutShelf:
RightMoveInfo.NextMoveStep(MoveStep.R31);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
RightMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.R31:
RightMoveInfo.NextMoveStep(MoveStep.R32);
CylinderMove(null, IO_Type.RightStopUP, IO_Type.RightStopDown);
RightMoveInfo.log($"阻挡下降");
break;
case MoveStep.R32:
RightMoveInfo.NextMoveStep(MoveStep.R33);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.log($"电滚筒向外滚动");
break;
case MoveStep.R33:
RightMoveInfo.NextMoveStep(MoveStep.R34);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightFornt_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待前置检测拉低");
break;
case MoveStep.R34:
RightMoveInfo.NextMoveStep(MoveStep.R35);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case MoveStep.R35:
RightMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RightMoveInfo.log($"电滚停止");
break;
//}
//料串入料流程，轴下降到P1点，阻挡下降，滚筒正转，等待后端到位检测高电平延时5秒，0.5秒后滚筒正转停，阻挡上升，进入上料料流程
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R40_InShelf:
RightMoveInfo.NextMoveStep(MoveStep.R41);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
RightMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.R41:
RightMoveInfo.NextMoveStep(MoveStep.R42);
CylinderMove(null, IO_Type.RightStopUP, IO_Type.RightStopDown);
RightMoveInfo.log($"阻挡下降");
break;
case MoveStep.R42:
RightMoveInfo.NextMoveStep(MoveStep.R43);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.HIGH));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5 * 1000));
//RightMoveInfo.TimeOutSeconds = 60;
//RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待料串到位");
break;
case MoveStep.R43:
RightMoveInfo.NextMoveStep(MoveStep.R44);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.R44:
RightMoveInfo.NextMoveStep(MoveStep.R45);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false, 500);
CylinderMove(null, IO_Type.RightStopDown, IO_Type.RightStopUP);
RightMoveInfo.log($"电滚筒停止,阻挡上升");
break;
case MoveStep.R45:
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NewMove(MoveStep.R01);
RightMoveInfo.log($"料串进入开始上料");
}
else
{
RightMoveInfo.NextMoveStep(MoveStep.REND);
RightMoveInfo.log($"料串进入失败");
}
break;
default:
RightMoveInfo.log($"未找到对应步骤:{RightMoveInfo.MoveStep}");
break;
}
}
string RightState()
{
string state = "";
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
state += string.Format(crc.GetString("Res0123.d86f0192", "有料串,已提取{0}张料盘"), RightCount);
if (RightShelfNoTray)
state += crc.GetString("Res0100", ",料串已清空. ") + "\r\n";
else
state += ".";
state += crc.GetString("Res0045", "当前ReelID:") + RightMoveInfo.MoveParam.WareCode;
}
else
{
return crc.GetString("Res0046", "无料串");
}
return state;
}
public bool IsScanRunning()
{
if (RightScanTask == null)
return false;
return !RightScanTask.IsCompleted;
}
/// <summary>
/// 扫码线程
/// </summary>
Task<(List<CodeInfo>, Dictionary<string, string>, string, Dictionary<string, int>)> RightScanTask;
List<CodeInfo> LastCodeList;
void ScanCode()
{
RightMoveInfo.log("开始扫码");
try
{
RightScanTask = Task.Run(new Func<(List<CodeInfo>, Dictionary<string, string>, string, Dictionary<string, int>)>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
string filename;
Task.Delay(10).Wait();
List<CodeInfo> CodeList;
Dictionary<string, string> keyword;
Dictionary<string, int> newpointangle;
int plantw = GetTrayWidth();
(CodeList, keyword, filename, newpointangle) = CodeManager.CameraScan(new List<string> { Config.RightCameraName }, plantw);
return (CodeList, keyword, filename, newpointangle);
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
int RightStartMovePosition = 0;
void RightBatchAxisToP2(bool isFirstMove = true)
{
int targetP2 = Config.Right_Batch_P2;
int targetSpeed = Config.Right_Batch_P2_speed;
if (!isFirstMove)
{
int currPosition = Right_Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Right_Batch_ChangeValue * 80;
if (targetP2 > Config.Right_Batch_P2)
{
targetP2 = Config.Right_Batch_P2;
}
RightMoveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
targetSpeed = Config.Right_Batch_P2_speed / 10;
}
RightMoveInfo.TimeOutSeconds = 200;
RightMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
RightStartMovePosition = Right_Batch_Axis.GetAclPosition();
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Right_Batch_Axis, targetP2, targetSpeed));
Config.Right_Batch_Axis.TargetPosition = targetP2;
Right_Batch_Axis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
Right_Batch_Axis.BatchAxisStartCheck(IO_Type.RightTop_Check, IO_VALUE.HIGH);
}
int RightEndMovePosition = 0;
}
}