MainMachine _LabelProcess.cs
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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) || 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) && IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW))
{
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($"PointX:[{pointX}],PointY:[{pointY}]");
}
if (newpoint.TryGetValue("Angle", out var Angle))
{
labelAngle = Angle;
}
Common.RenderedImage(LabelMoveInfo.MoveParam, Right_Batch_Point, p);
LogUtil.info($"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;
LogUtil.info($"完整贴标脉冲{labelAxisPos}");
//计算像素点位与中心点的差
Label_p3 = new Point(p.X - Right_Batch_Point.X, p.Y - Right_Batch_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
int xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
int yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
if (LabelMoveInfo.MoveParam.PlateW == 7)
{
LabelMoveInfo.log("当前盘为7寸");
double x = xDiff;
double y = yDiff;
int radiusDistance=(int)Math.Sqrt(x * x + y * y);
LabelMoveInfo.log($"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;
}
}
}