MainMachine _LabelProcess.cs
20.8 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
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
using OnlineStore;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
using System.Timers;
using System.IO;
using OnlineStore.Common.util;
namespace DeviceLibrary
{
partial class MainMachine
{
Point Label_p3;
LabelParam CurrentPrintInfo = null;
double size_7_radiusratio = ConfigHelper.Config.Get<double>("Labeling_size_7_radiusratio", 0.7);
enum LabelFailReason
{
PrintFailure,
SuckerFailure
}
LabelFailReason labelFailReason = LabelFailReason.PrintFailure;
void LabelProcess()
{
if (CheckWait(LabelMoveInfo))
return;
switch (LabelMoveInfo.MoveStep)
{
//取标签流程，等待打印标签
case MoveStep.Lbl01:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
//Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P1, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X到待机点,Label_Z到待机点");
break;
case MoveStep.Lbl02:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_1);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_YR转到取标点");
break;
case MoveStep.Lbl02_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_2);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X转到取标点,Label_Z转到取标点,等待标签打印完毕");
break;
case MoveStep.Lbl02_2:
//补一个空白流程, 防止提前检测到Lbl_WaitPrintInfo步骤
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrintInfo);
LabelMoveInfo.log("等待标签打印完毕");
break;
//在中间步骤跳出，中间步骤进入到旋转轴到p3
case MoveStep.Lbl_WaitPrintInfo:
LabelMoveInfo.log("等待打印标签信息");
break;
//中间步骤旋转轴到p3接收打印信息后，开始打印
case MoveStep.Lbl_PrintLabel:
if (CurrentPrintInfo == null)
{
LabelMoveInfo.log("等待接收打印标签信息");
return;
}
string newversion2 = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
if (newversion2 == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
{
LabelMoveInfo.log("标签没取走不打印标签");
return;
}
}
var kv = CurrentPrintInfo.Keyword.Select(k => $"{k.Key}={k.Value}").ToArray();
LabelMoveInfo.log("调用 PrintLabel 打印标签 StartPrintLabel ,[" + string.Join(", ", kv) + "] 开始");
string labelName = ConfigHelper.Config.Get(Setting_Init.LabelName);
if (RobotManage.printerHelper.Print(labelName, CurrentPrintInfo.Keyword, out string msg))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint);
LabelMoveInfo.log("PrintLabel 打印标签 StartPrintLabel 结束 " + msg);
UnifiedDataHandler.RecordPrintNg(false, true, out string[] strarrys);
//数据保存到共享文件夹
DataUploadUtil.LabelUpload(CurrentPrintInfo.Keyword);
}
else
{
LabelMoveInfo.log("PrintLabel 失败 " + msg);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintFail);
labelFailReason = LabelFailReason.PrintFailure;
}
break;
//等待打印完成，v2靠传感器检测，其他的靠方法返回
case MoveStep.Lbl_WaitPrint:
string version = ConfigHelper.Config.Get("Hardwareversion", "V2");
string newversion = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
bool detectLabel = false;
if (version == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
detectLabel = true;
}
else if (newversion == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
detectLabel = true;
}
else
{
var isPrinted = RobotManage.printerHelper.IsLabelOnPeeler();
isPrinted.Wait();
if (isPrinted.Result.Item1)
detectLabel = true;
}
if (detectLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
LabelMoveInfo.errlog("标签打印完成");
}
else if (LabelMoveInfo.IsTimeOut(15))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintFail);
labelFailReason = LabelFailReason.PrintFailure;
LabelMoveInfo.errlog("标签打印超时");
}
else
{
//Msg.add("等待标签打印", MsgLevel.info);
LabelMoveInfo.log("等待标签打印");
}
break;
//打印失败
case MoveStep.Lbl_PrintFail:
if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0129.0e13d0de", "标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.alarm);
else if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0130.c3836615", "标签吸取失败,请检查,关门后将自动重试"), MsgLevel.alarm);
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.LOW) ||
(Config.DOList.ContainsKey(IO_Type.RightBackDoor_Check) && IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW)))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintFail_02);
LabelMoveInfo.log("维护门已打开");
}
break;
case MoveStep.Lbl_PrintFail_02:
if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0129.0e13d0de", "标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.warning);
else if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0130.c3836615", "标签吸取失败,请检查,关门后将自动重试"), MsgLevel.warning);
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.HIGH) &&
(!Config.DOList.ContainsKey(IO_Type.RightBackDoor_Check) || IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.HIGH)))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintLabel);
LabelMoveInfo.log("维护门已关闭");
}
break;
//打印成功，在轴到p3点取标签，到p2点
case MoveStep.Lbl_Printted:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl03);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.HIGH);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
//CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Bck, IO_Type.LabelCylinder_Fwd);
LabelMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
break;
case MoveStep.Lbl03:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl04);
LabelMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.Lbl04:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl05);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
//CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);
LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
//靠传感器或方法判断取标签
case MoveStep.Lbl05:
string versions = ConfigHelper.Config.Get("Hardwareversion", "V2");
string newversions = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
bool IsLabelLeave;
if (versions == "V2")
{
IsLabelLeave = IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW);
}
else if (newversions == "V2")
{
IsLabelLeave = IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW);
}
else
{
var ip = RobotManage.printerHelper.IsLabelOnPeeler();
ip.Wait();
IsLabelLeave = !ip.Result.Item1;
}
if (IsLabelLeave)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10);
CurrentPrintInfo = null;
LabelMoveInfo.log("标签已经被取走");
}
else
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintFail);
labelFailReason = LabelFailReason.SuckerFailure;
LabelMoveInfo.log("取标失败");
Msg.add(crc.GetString("Res0122.62c858d3", "标签取起失败!"), MsgLevel.alarm);
}
break;
//计算贴标位置，贴标完成回去
case MoveStep.Lbl10:
if (!Label_Y_Axis.IsSafe(Config.Label_Y_P3, out msg))
{
Msg.add(msg, MsgLevel.warning);
return;
}
if (LabelMoveInfo.MoveParam.codeInfos == null || LabelMoveInfo.MoveParam.codeInfos.Count == 0)
{
LabelMoveInfo.log("没有贴标信息");
return;
}
Point p = new Point(LabelMoveInfo.MoveParam.codeInfos[0].X, LabelMoveInfo.MoveParam.codeInfos[0].X);
int labelAngle = 0;
//照片中料盘中心点像素位置
Point Right_Batch_Point = new Point(RobotManage.Config.Right_Batch_X, RobotManage.Config.Right_Batch_Y);
bool isthiscount = ConfigHelper.Config.Get<bool>("Labeling_isthiscount", false);
if (isthiscount)
{
//不同尺寸料盘需要在照片上便宜的贴标像素
int widthOffset = Config.Label_Offset_Pixel_7;
switch (LabelMoveInfo.MoveParam.PlateW)
{
case 13:
widthOffset = Config.Label_Offset_Pixel_13;
break;
case 15:
widthOffset = Config.Label_Offset_Pixel_15;
break;
}
//计算照片中贴标的像素位置
bool isOverlaylabel = ConfigHelper.Config.Get<bool>("Labeling_isOverlaylabel", true);
if (isOverlaylabel)
{
//bool isCustom = ConfigHelper.Config.Get<bool>("Labeling_isCustom", false);
//if (isCustom)
//{
// p = Common.Customlabeling(LabelMoveInfo.MoveParam, Right_Batch_Point, out labelAngle);
//}
//else
//{ }
LabelMoveInfo.MoveParam.NewXYAngle.TryGetValue("IsCodeUsed", out int idnex);
if (idnex == -1)
{
idnex = 0;
}
p = Common.Overlaylabel(LabelMoveInfo.MoveParam, Right_Batch_Point, idnex, out labelAngle);
}
else
{
p = Common.CalcLabelPoint(LabelMoveInfo.MoveParam, Right_Batch_Point, Config.Label_R_Offset, Config.Label_R_Angle_Diff, out labelAngle);
}
LogUtil.info($"NS200计算贴标位置{p};角度={labelAngle}");
}
else
{
var newpoint = LabelMoveInfo.MoveParam.NewXYAngle;
if (newpoint.TryGetValue("PointX", out var pointX) && newpoint.TryGetValue("PointY", out var pointY))
{
p = new Point(pointX, pointY);
LogUtil.info($"PointX:[{pointX}],PointY:[{pointY}]");
}
if (newpoint.TryGetValue("Angle", out var Angle))
{
labelAngle = Angle;
}
Common.RenderedImage(LabelMoveInfo.MoveParam, Right_Batch_Point, p, labelAngle);
LogUtil.info($"NS200接收贴标位置{p};角度={labelAngle}");
}
if (labelAngle > 350 && labelAngle < 355)
labelAngle = 350;
else if (labelAngle > 355)
labelAngle = 0;
//计算贴标角度的脉冲值
int labelAxisPos = Config.Label_R_360 / 350 * labelAngle;
LabelMoveInfo.log($"贴标角度脉冲{labelAxisPos}");
//计算像素点位与中心点的差
Label_p3 = new Point(p.X - Right_Batch_Point.X, p.Y - Right_Batch_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
int xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
int yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
LabelMoveInfo.log($"贴标XY脉冲差:X:{xDiff}={Label_p3.X}*{Config.Cam_Pixel_X_Ratio}, Y:{yDiff}={Label_p3.Y}*{Config.Cam_Pixel_Y_Ratio},");
if (false && LabelMoveInfo.MoveParam.PlateW == 7)
{
LabelMoveInfo.log("当前盘为7寸");
double x = xDiff;
double y = yDiff;
int radiusDistance=(int)Math.Sqrt(x * x + y * y);
LabelMoveInfo.log($"贴标点到圆心距离为{radiusDistance}");
if (radiusDistance > 88900 * size_7_radiusratio)
{
Label_p3.X = (int)(Label_p3.X * size_7_radiusratio);
Label_p3.Y = (int)(Label_p3.Y * size_7_radiusratio);
xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
LabelMoveInfo.log($"由于{LabelMoveInfo.MoveParam.PlateW}寸贴标可能超出边缘缩小坐标");
}
}
Label_p3.X = xDiff + Config.Label_X_P3;
Label_p3.Y = yDiff + Config.Label_Y_P3;
if (Label_p3.Y > 710000)
{
LabelMoveInfo.log($"计算Y轴脉冲：{Label_p3.Y};");
Label_p3.Y = 710000;
}
if (Label_p3.X < -40000)
{
LabelMoveInfo.log($"计算Y轴脉冲：{Label_p3.X},超过负极限-40000，更改为-40000");
Label_p3.X = -40000;
}
//labelAxisPos += 85700;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},X脉冲差值={xDiff},Y脉冲差值={yDiff},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW};角度脉冲{labelAxisPos}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_1);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_X到待机点,Z转到贴标点.");
break;
case MoveStep.Lbl10_1:
if (LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_2);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
LabelMoveInfo.log("Label_Y到贴标点.");
}
else if (LabelMoveInfo.IsTimeOut(60))
{
LabelMoveInfo.log("等待左侧料串可贴标.");
}
break;
case MoveStep.Lbl10_2:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed);
LabelMoveInfo.log("Label_X到贴标点.");
break;
case MoveStep.Lbl11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P5, Config.Label_Z_P5_speed);
LabelMoveInfo.log("下降.");
break;
case MoveStep.Lbl12:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl13);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
LabelMoveInfo.log("关闭吸气.");
break;
case MoveStep.Lbl13:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl14);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("上升.");
break;
case MoveStep.Lbl14:
LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl01);
LabelMoveInfo.log("完成贴标.");
break;
default:
LabelMoveInfo.log($"未找到对应步骤:{LabelMoveInfo.MoveStep}");
break;
}
}
string LabelState()
{
string state = "";
if (LabelMoveInfo.MoveStep >= MoveStep.Lbl_Printted)
{
state += crc.GetString("Res0072", "标签已打印,当前ReelID:") + LabelMoveInfo.MoveParam.WareCode;
}
if (LabelMoveInfo.MoveStep == MoveStep.Lbl_WaitPrintInfo)
{
state += crc.GetString("Res0073", "等待标签打印");
}
if (LabelMoveInfo.MoveStep == MoveStep.Wait)
{
state += crc.GetString("Res0074", "等待中");
}
return state;
}
}
}