MainMachine.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
public partial class MainMachine : IRobot
{
public string Name { get; set; } = crc.GetString("Res0036", "移载");
private bool _canRunning = true;
public bool canRunning
{
get { return _canRunning; }
set
{
if (_canRunning != value)
{
Msg.setlogones();
}
_canRunning = value;
}
}
public bool isBusy { get; set; } = false;
public bool isAlarm { get; set; } = false;
public RunStatus runStatus { get; set; } = RunStatus.Stop;
public Robot_Config Config { get; set; }
public bool UserPause { get; set; } = false;
MoveInfo ResetMoveInfo;
/// <summary>
/// 右侧移动信息
/// </summary>
public MoveInfo RightMoveInfo;
public MoveInfo LeftMoveInfo;
MoveInfo LabelMoveInfo;
MoveInfo MiddleMoveInfo;
public delegate void ProcessMsg(List<Msg> msg);
public event ProcessMsg ProcessMsgEvent;
public delegate void ProcessMoveinfo(List<MoveInfo> moveinfoList);
public event ProcessMoveinfo ProcessMoveinfoEvent;
AxisBean Take_Middle_Axis;
AxisBean Take_UpDown_Axis;
AxisBean Left_Batch_Axis;
AxisBean Right_Batch_Axis;
AxisBean Label_X_Axis;
AxisBean Label_Y_Axis;
AxisBean Label_Z_Axis;
AxisBean Label_R_Axis;
ClampTool clampTool;
/// <summary>
/// 开始运行的时间
/// </summary>
public DateTime StartTime { get; set; }
/// <summary>
/// 是否在急停中
/// </summary>
public bool isInSuddenDown = false;
public ServerCommunication ServerCM;
DeviceLib.WebApi.HttpService agvService = new DeviceLib.WebApi.HttpService(ConfigHelper.Config.Get("AGVService_Port", 8088));
public MainMachine(Robot_Config _config)
{
Config = _config;
RightMoveInfo = new MoveInfo(crc.GetString("Res0039", "右侧取料"));
RightMoveInfo.SetStateDelegate(RightState);
MiddleMoveInfo = new MoveInfo(crc.GetString("Res0042", "移栽"));
MiddleMoveInfo.SetStateDelegate(MiddleState);
LeftMoveInfo = new MoveInfo(crc.GetString("Res0051", "左侧放料"));
LeftMoveInfo.SetStateDelegate(LeftState);
LabelMoveInfo = new MoveInfo(crc.GetString("Res0052", "贴标"));
LabelMoveInfo.SetStateDelegate(LabelState);
ResetMoveInfo = new MoveInfo(crc.GetString("Res0053", "重置"));
#region 初始化led灯
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_HddLed].GetIOAddr());
StandbyLed = new Led(Config.DOList[IO_Type.RunSign_HddLed].GetIOAddr());
RunningLed = new Led(Config.DOList[IO_Type.AutoRun_HddLed].GetIOAddr());
RightLed = new Led(Config.DOList[IO_Type.RightState_Led].GetIOAddr());
LeftLed = new Led(Config.DOList[IO_Type.LeftState_Led].GetIOAddr());
#endregion
#region 初始化伺服轴
Take_Middle_Axis = new AxisBean(Config.Take_Middle_Axis, Name);
Take_UpDown_Axis = new AxisBean(Config.Take_UpDown_Axis, Name);
Left_Batch_Axis = new AxisBean(Config.Left_Batch_Axis, Name);
Right_Batch_Axis = new AxisBean(Config.Right_Batch_Axis, Name);
Label_X_Axis = new AxisBean(Config.Label_X_Axis, Name);
Label_Y_Axis = new AxisBean(Config.Label_Y_Axis, Name);
Label_Z_Axis = new AxisBean(Config.Label_Z_Axis, Name);
Label_R_Axis = new AxisBean(Config.Label_R_Axis, Name);
#endregion
Label_Y_Axis.interference += Label_Y_Axis_interference;
Take_Middle_Axis.interference += Take_Middle_Axis_interference;
clampTool = RobotManage.clampTool;
CodeManager.LoadCamera(true);
AlarmBuzzer.SetOnOffAction(() => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
LedProcessInit();
agvService.StartHttpServer();
ServerCM = new ServerCommunication();
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
RightMoveInfo.Name = (crc.GetString("Res0039", "右侧取料"));
MiddleMoveInfo.Name = (crc.GetString("Res0042", "移栽"));
LeftMoveInfo.Name = (crc.GetString("Res0051", "左侧放料"));
LabelMoveInfo.Name = (crc.GetString("Res0052", "贴标"));
ResetMoveInfo.Name = (crc.GetString("Res0053", "重置"));
}
private (bool, string) Take_Middle_Axis_interference(int from, int to)
{
if (to > from)
{
if (Label_Y_Axis.GetAclPosition() > Config.Label_Y_P2 + Label_Y_Axis.Config.CanErrorCountMax)
{
return (true, crc.GetString("Res0054", "可能与贴标Y轴干涉"));
}
}
return (false, "");
}
private (bool, string) Label_Y_Axis_interference(int from, int to)
{
if (to > from)
{
if (Take_Middle_Axis.GetAclPosition() > Math.Max(Config.Take_Middle_P1, Config.Take_Middle_P2) + Take_Middle_Axis.Config.CanErrorCountMax)
{
return (true, crc.GetString("Res0055", "可能与旋转轴干涉")); ;
}
}
var Label_Z_Pos = Label_Z_Axis.GetAclPosition();
if (Label_Z_Pos > Math.Max(Config.Label_Z_P2, Config.Label_Z_P4) + Label_Z_Axis.Config.CanErrorCountMax)
return (true, crc.GetString("Res0056", "可能与贴标Z轴干涉")); ;
return (false, "");
}
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
bool mstart = true;
public void Run()
{
mstart = true;
while (mstart)
{
try
{
canRunning = DeviceCheck();
if (canRunning)
{
BtnProcess();
canRunning = SafeCheck();
}
Thread.Sleep(200);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
IOMonitor();
RightProcess();
MiddleProcess();
LeftProcess();
LabelProcess();
}
else if (runStatus == RunStatus.HomeReset)
{
HomeReset();
}
}
catch (Exception ex)
{
Msg.add(ex.ToString(), MsgLevel.warning);
Msg.setlogones();
}
finally
{
ProcessMsgEvent?.Invoke(Msg.get());
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
Msg.clear();
}
}
LogUtil.info("主线程已退出.");
}
public void Stop()
{
mstart = false;
Thread.Sleep(300);
Alarm(AlarmType.None);
StopMove(true);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
}
public void BeginHomeReset(bool firstRun = false)
{
if (!firstRun)
{
StopMove();
Thread.Sleep(500);
}
OpenAllServo();
Alarm(AlarmType.None);
runStatus = RunStatus.HomeReset;
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
ResetMoveInfo.log("开始回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
void HomeReset()
{
if (CheckWait(ResetMoveInfo))
return;
switch (ResetMoveInfo.MoveStep)
{
case MoveStep.H01_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ResetMoveInfo.log("正在回原");
SafeReleaseLeftShelf = false;
Label_Z_Axis.HomeMove(ResetMoveInfo);
clampTool.HomeReset();
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原");
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
Left_Batch_Axis.HomeMove(ResetMoveInfo);
Right_Batch_Axis.HomeMove(ResetMoveInfo);
Label_R_Axis.HomeMove(ResetMoveInfo);
Label_X_Axis.HomeMove(ResetMoveInfo);
Label_Y_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("正在回原");
Label_R_Axis.AbsMove(ResetMoveInfo, Config.Label_R_P1, Config.Label_R_P1_speed);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
ResetMoveInfo.log("正在回原");
Take_UpDown_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
Take_Middle_Axis.HomeMove(ResetMoveInfo);
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P1, Config.Label_Y_P1_speed);
Right_Batch_Axis.AbsMove(ResetMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
Left_Batch_Axis.AbsMove(ResetMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("正在回原");
Take_UpDown_Axis.AbsMove(ResetMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
Take_Middle_Axis.AbsMove(ResetMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
ResetMoveInfo.log("正在回原 进出料口滚筒正转5秒");
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
break;
case MoveStep.H08_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原 阻挡气缸判断");
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
if (IOManager.IOValue(IO_Type.LeftEnd_Check) == IO_VALUE.LOW)
{
CylinderMove(ResetMoveInfo, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
}
if (IOManager.IOValue(IO_Type.RightEnd_Check) == IO_VALUE.LOW)
{
CylinderMove(ResetMoveInfo, IO_Type.RightStopUP, IO_Type.RightStopDown);
}
break;
case MoveStep.HEND_HomeReset:
ResetMoveInfo.log("回原完成");
ResetMoveInfo.EndMove();
RightShelfNoTray = false;
LeftShelfNoTray = false;
MiddleMoveInfo.NewMove(MoveStep.M_Standby);
LabelMoveInfo.NewMove(MoveStep.Lbl01);
runStatus = RunStatus.Running;
break;
}
}
bool isAgvRun
{
get => LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf || LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf
|| RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf || RightMoveInfo.MoveStep >= MoveStep.R40_InShelf;
}
public bool IgnoreSafecheck = false;
public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true;
bool SafeCheck()
{
bool ok = true;
if (UserPause)
{
Msg.add(crc.GetString("Res0057", "用户暂停"), MsgLevel.warning);
DeviceSuddenStop();
ok = false;
}
else if (IOValue(IO_Type.GratingSignal_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck && !IgnoreGratingSignal && !isAgvRun
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.LeftCar_Check).Equals(IO_VALUE.LOW))
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0058", "安全光栅被遮挡") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
if (IOValue(IO_Type.HasNgBox).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0062", "没有检测到NG料箱"), MsgLevel.warning);
ok = false;
}
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0063", "没有检测打印机"), MsgLevel.warning);
ok = false;
}
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0064", "左后门没有关闭") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
if (Config.DIList.ContainsKey(IO_Type.RightBackDoor_Check))
{
if (IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0065", "右后门没有关闭") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
}
lastSafeCheckStatus = ok;
return ok;
}
void DeviceSuddenStop()
{
if (lastSafeCheckStatus)
{
//lastSafeCheckStatus = false;
//AxisBean.StopMultiAxis(new List<AxisBean>() { Take_Middle_Axis, Take_UpDown_Axis, Label_X_Axis,Label_Y_Axis, Label_Z_Axis, Label_R_Axis });
AxisBean.StopMultiAxis(AxisBean.List);
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
if (runStatus == RunStatus.HomeReset)
{
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
}
}
}
/// <summary>
/// 最后一次气压检测变为0的时间
/// </summary>
DateTime lastAirCloseTime = DateTime.MinValue;
internal DateTime checkAlarmTime = DateTime.Now;
public bool DeviceCheck()
{
bool ok = true;
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("Res0066", "急停中"), MsgLevel.warning);
ok = false;
}
else if (alarmType == AlarmType.SuddenStop)
{
//if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
//{
// Alarm(AlarmType.None);
//}
//else
{
Msg.add(crc.GetString("Res0067", "系统需要重置"), MsgLevel.warning);
ok = false;
}
}
if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
{
if (lastAirCloseTime == DateTime.MinValue)
lastAirCloseTime = DateTime.Now;
TimeSpan span = DateTime.Now - lastAirCloseTime;
if (span.TotalSeconds > RobotManage.Config.AirCheckSeconds)
{
ok = false;
Msg.add(crc.GetString("Res0068", "气压不足"), MsgLevel.warning);
}
}
else
{
lastAirCloseTime = DateTime.MinValue;
}
if (alarmType != AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
if ((!runStatus.Equals(RunStatus.Stop) && span.TotalSeconds > 3) || span.TotalSeconds > 1)
{
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
{
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
{
Msg.add($"{configMoveAxis.Explain}:运动报警", MsgLevel.warning);
ok = false;
}
}
}
}
return ok;
}
}
}