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596 lines
28 KiB
C#
596 lines
28 KiB
C#
using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Flow.Common;
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using Rs.MotionPlat.Flow.NormalFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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using Rs.MotionPlat.Module;
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using Rs.MotionPlat.Vision;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow
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{
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enum ETakeTrayFlowStep
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{
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到取料盘上方,
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等待到取料盘上方,
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等待料盘准备就绪,
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等待运动到取料位下方,
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//等待夹磁气缸松开,
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取料盘完成抬起,
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等待取料盘完成抬起,
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料盘是否抓起检测,
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上升一层,
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等待上升一层完成,
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//到拍照位,
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//等待运动到拍照位,
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//通知上料仓拍照,
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//处理上料仓拍照数据,
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上料仓拍照处理,
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放料盘前拍照,
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到放料盘上方,
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等待到放料盘上方,
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到放料盘位下方,
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等待运动到放料位下方,
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松开料盘,
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放料盘完成后抬起,
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等待放料完成抬起,
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放料完成后真空检测,
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到待机位,
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等待运动到待机位
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}
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public enum ETakeStatus
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{
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Idle,
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Taking,
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TakeOK
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}
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public enum ELoadUnloadType
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{
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Load,
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Unload
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}
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/// <summary>
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/// 料盘搬运流程
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/// </summary>
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public class TakeTrayFlow
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{
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private static TakeTrayFlow intance;
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string logInfo = string.Empty;
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public ETakeStatus TakeStatus { get; set; } = ETakeStatus.Idle;
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AlarmEntity alarmEntity = null;
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public static TakeTrayFlow Instance
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{
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get
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{
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if(intance == null)
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intance = new TakeTrayFlow();
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return intance;
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}
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}
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Stopwatch stopwatch = new Stopwatch();
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ETakeTrayFlowStep step = ETakeTrayFlowStep.到取料盘上方;
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private ETrayType m_fromTray = ETrayType.Empty;
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private ETrayType m_toTray = ETrayType.Ok;
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private bool finisehd = true;
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TargetPosition targetPosition = new TargetPosition();
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ErrorCode errCode = ErrorCode.Ok;
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int fromStockIndex = 2;
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int toStockIndex = 1;
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VisionResult vr = new VisionResult();
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/// <summary>
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/// 料盘搬运
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/// </summary>
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/// <param name="fromTray">需要搬运料仓的料盘</param>
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/// <param name="toTray">料盘搬运的目的料仓</param>
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/// <param name="takeTrayFinishedEvent">搬运料盘被拿起后事件</param>
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/// <param name="arrivedDumpPosEvent">到达放料盘位上方事件</param>
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/// <param name="dumpTrayFinishedEvent">放料盘完成后事件</param>
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public void Take(ETrayType fromTray, ETrayType toTray,bool isNeedGoDown=true,bool placeTrayGrab=false)
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{
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switch (fromTray)
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{
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case ETrayType.Input:
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fromStockIndex = 2;
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break;
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case ETrayType.Empty:
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fromStockIndex = 3;
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break;
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default:
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break;
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}
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switch (toTray)
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{
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case ETrayType.Ok:
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toStockIndex = 1;
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break;
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case ETrayType.Input:
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toStockIndex = 2;
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break;
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case ETrayType.Empty:
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toStockIndex = 3;
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break;
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default:
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break;
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}
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if (!finisehd)
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return;
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else
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finisehd = false;
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TakeStatus = ETakeStatus.Taking;
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step = ETakeTrayFlowStep.到取料盘上方;
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m_fromTray = fromTray;
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m_toTray = toTray;
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while (!finisehd)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (step)
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{
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case ETakeTrayFlowStep.到取料盘上方:
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if(fromTray== ETrayType.Empty)
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{
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targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
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}
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else if(fromTray== ETrayType.Input)
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{
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targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
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}
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else
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{
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Msg.ShowError($"cann't from take tray from {fromTray}");
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return ;
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}
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if(GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
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{
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if (GlobalVar.VirtualAxis)
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{
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Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
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}
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AxisPosPrint.PrintTakeTrayXTargetPos($"准备运动到料仓{m_fromTray}取料盘位上方", targetPosition, GetClassName());
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step = ETakeTrayFlowStep.等待到取料盘上方;
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}
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break;
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case ETakeTrayFlowStep.等待到取料盘上方:
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if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
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{
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if(fromTray== ETrayType.Empty)
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{
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StockManager.CloseTray(fromStockIndex);
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}
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AxisPosPrint.PrintTakeTrayXCurrentPos($"已运动到料仓{m_fromTray}取料盘位上方", GetClassName());
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step = ETakeTrayFlowStep.等待料盘准备就绪;
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}
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break;
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case ETakeTrayFlowStep.等待料盘准备就绪:
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if (Ops.IsOn($"满料{fromStockIndex}对射光电"))
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{
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logInfo = GetClassName() + $"料仓{m_fromTray}料盘准备就绪";
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MessageQueue.Instance.Insert(logInfo);
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TakeTrayModule.CylinderGoDown(GetClassName());
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stopwatch.Restart();
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step = ETakeTrayFlowStep.等待运动到取料位下方;
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}
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else
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.料仓无料盘报警);
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Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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}
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break;
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case ETakeTrayFlowStep.等待运动到取料位下方:
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if (Ops.IsOn("料盘搬运气缸动位"))
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{
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logInfo = GetClassName() + $"料盘搬运气缸动位 OK";
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MessageQueue.Instance.Insert(logInfo);
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stopwatch.Stop();
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//打开真空
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TakeTrayModule.VacOperation(EIoOperate.Open,GetClassName());
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//松开夹爪
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//StockModule.ClampTrayCylinder(EIoOperate.Open, fromStockIndex,GetClassName());
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StockManager.OpenTray(fromStockIndex);
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stopwatch.Restart();
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step = ETakeTrayFlowStep.取料盘完成抬起;
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}
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else if (stopwatch.ElapsedMilliseconds > 5000)
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸动位异常);
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if (alarmEntity != null)
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{
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Msgbox.ShowDialog (alarmEntity, EButtonType.Retry);
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step = ETakeTrayFlowStep.等待运动到取料位下方;
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}
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else
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{
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Msg.ShowError("翻译文件中未找到料盘搬运气缸动位异常");
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}
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stopwatch.Restart();
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}
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break;
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//case ETakeTrayFlowStep.等待夹磁气缸松开:
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// if(Ops.IsOn($"料仓夹磁气缸{fromStockIndex}原位"))
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// {
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// step = ETakeTrayFlowStep.取料盘完成抬起;
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// }
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// else if(stopwatch.ElapsedMilliseconds>5000)
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// {
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// alarmEntity = AlarmCollection.Get($"料仓{fromStockIndex}夹磁气缸原位异常");
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// if (alarmEntity != null)
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// {
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// Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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// step = ETakeTrayFlowStep.等待夹磁气缸松开;
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// }
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// else
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// {
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// Msg.ShowError($"料仓{fromStockIndex}夹磁气缸原位异常");
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// }
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// stopwatch.Restart();
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// }
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// break;
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case ETakeTrayFlowStep.取料盘完成抬起:
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TakeTrayModule.CylinderGoUp(GetClassName());
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stopwatch.Restart();
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step = ETakeTrayFlowStep.等待取料盘完成抬起;
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break;
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case ETakeTrayFlowStep.等待取料盘完成抬起:
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if ((Ops.IsOn("料盘搬运气缸原位")))
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{
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logInfo = GetClassName()+$"检测到上下气缸原位 OK";
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MessageQueue.Instance.Insert(logInfo);
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stopwatch.Stop();
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step = ETakeTrayFlowStep.料盘是否抓起检测;
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}
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else if(stopwatch.ElapsedMilliseconds > 5000)
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位异常);
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if (alarmEntity != null)
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{
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MessageQueue.Instance.Warn(GetClassName() + alarmEntity.CN);
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Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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}
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else
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{
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Msg.ShowError("翻译文件中未找到料盘搬运气缸原位异常");
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}
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stopwatch.Restart();
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}
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break;
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case ETakeTrayFlowStep.料盘是否抓起检测:
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if (TakeTrayModule.HasTray())
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{
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logInfo = GetClassName() + $"料盘已被抓起 OK";
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MessageQueue.Instance.Insert(logInfo);
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step = ETakeTrayFlowStep.上升一层;
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}
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else
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.料盘未抓起报警).Transform(fromTray.ToString());
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if (alarmEntity != null)
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{
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Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
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step = ETakeTrayFlowStep.到取料盘上方;
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}
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else
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{
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Msg.ShowError("翻译文件中未找到抓料盘未抓起");
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}
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}
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break;
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case ETakeTrayFlowStep.上升一层:
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StockManager.Up(fromStockIndex);
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logInfo = GetClassName() + $"料仓{fromTray}上升一层";
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MessageQueue.Instance.Insert(logInfo);
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step = ETakeTrayFlowStep.等待上升一层完成;
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break;
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case ETakeTrayFlowStep.等待上升一层完成:
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if(fromTray== ETrayType.Input)
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{
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step = ETakeTrayFlowStep.上料仓拍照处理;
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}
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else
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{
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step = ETakeTrayFlowStep.到放料盘上方;
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}
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break;
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case ETakeTrayFlowStep.上料仓拍照处理:
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StockGrabFlow.Instance.Grab(fromTray);
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if(placeTrayGrab)
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{
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step = ETakeTrayFlowStep.放料盘前拍照;
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}
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else
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{
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step = ETakeTrayFlowStep.到放料盘上方;
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}
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break;
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case ETakeTrayFlowStep.放料盘前拍照:
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StockGrabFlow.Instance.Grab(toTray);
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step = ETakeTrayFlowStep.到放料盘上方;
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break;
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//case ETakeTrayFlowStep.到拍照位:
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// targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos;
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// if(GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
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// {
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// logInfo = GetClassName() + $"到料仓{toTray}拍照位";
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// MessageQueue.Instance.Insert(logInfo);
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// step = ETakeTrayFlowStep.等待运动到拍照位;
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// }
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// break;
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//case ETakeTrayFlowStep.等待运动到拍照位:
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// if(Ops.IsStop("TakeTrayX"))
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// {
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// step = ETakeTrayFlowStep.通知上料仓拍照;
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// }
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// break;
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//case ETakeTrayFlowStep.通知上料仓拍照:
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// if(GlobalVar.RunSpace)
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// {
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// step = ETakeTrayFlowStep.到放料盘上方;
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// }
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// else
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// {
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// vr = VisionHelper.Grab(Vision.EVisionScene.HaveOrNot);
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// if (vr.Result)
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// {
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// step = ETakeTrayFlowStep.处理上料仓拍照数据;
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// }
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// else
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// {
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// Msg.ShowError("有无相机拍照失败，点击确定后重拍");
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// }
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// }
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// break;
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//case ETakeTrayFlowStep.处理上料仓拍照数据:
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// List<int> noHasProduct = new List<int>();
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// for(int i=0;i<vr.Products.Length;i++)
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// {
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// if (vr.Products[i]=='1')
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// {
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// GlobalTray.InputTray.ChangeStatus(i + 1, ESlotStatus.Have);
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// }
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// else
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// {
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// noHasProduct.Add(i + 1);
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// GlobalTray.InputTray.ChangeStatus(i + 1, ESlotStatus.NotHave);
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// }
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// }
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// if(noHasProduct.Count>0)
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// {
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// EButtonType btn = Msgbox.ShowDialog(EButtonType.Retry | EButtonType.Skip, "料盘未放满，请处理","tray info",true);
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// if(btn== EButtonType.Retry)
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// {
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// step = ETakeTrayFlowStep.通知上料仓拍照;
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// }
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// else if(btn== EButtonType.Skip)
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// {
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// step = ETakeTrayFlowStep.到放料盘上方;
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// }
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// }
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// else
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// {
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// step = ETakeTrayFlowStep.到放料盘上方;
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// }
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// break;
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case ETakeTrayFlowStep.到放料盘上方:
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//if (DischargeFlow.Instance.XYCanGoLocalArea())
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{
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if(toTray== ETrayType.Ok)
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{
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targetPosition.TakeTrayX = GlobalVar.OkStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
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}
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else if(toTray== ETrayType.Input)
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{
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targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
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}
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else if(toTray== ETrayType.Empty)
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{
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targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
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}
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//takeTrayFinishedEvent?.Invoke();
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if(GroupAxisMove.TakeXMove(GetClassName(),targetPosition.TakeTrayX,GlobalVar.WholeSpeed))
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{
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if (GlobalVar.VirtualAxis)
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{
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Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
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}
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logInfo = GetClassName() + $"到{toTray}料仓放料盘上方,tx:{targetPosition.TakeTrayX}";
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MessageQueue.Instance.Insert(logInfo);
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step = ETakeTrayFlowStep.等待到放料盘上方;
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}
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}
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//else
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//{
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// //alarmEntity = AlarmCollection.Get(AlarmConstID.运动不安全).Transform("LoadY", "TurnvoerY");
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// //AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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//}
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break;
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case ETakeTrayFlowStep.等待到放料盘上方:
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if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
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{
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//if(toTray== ETrayType.Empty)
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//{
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// if(StockManager.HasTray(3))
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// {
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// StockManager.Down(3);
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// }
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//}
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//StockManager.OpenTray(toStockIndex);
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logInfo = GetClassName() + $"已运动到{toTray}料仓放料盘上方";
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MessageQueue.Instance.Insert(logInfo);
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//arrivedDumpPosEvent?.Invoke();
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step = ETakeTrayFlowStep.到放料盘位下方;
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}
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break;
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case ETakeTrayFlowStep.到放料盘位下方:
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//if ((StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Unloaded || StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Empty) || GlobalVar.VirtualAxis)
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{
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StockManager.OpenTray(toStockIndex);
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TakeTrayModule.CylinderGoDown(GetClassName());
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step = ETakeTrayFlowStep.等待运动到放料位下方;
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stopwatch.Restart();
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}
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break;
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case ETakeTrayFlowStep.等待运动到放料位下方:
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if (Ops.IsOn("料盘搬运气缸动位"))
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{
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logInfo = GetClassName() + "检测到料盘搬运气缸动位 OK";
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MessageQueue.Instance.Insert(logInfo);
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stopwatch.Stop();
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//if(toTray!= ETrayType.Empty)
|
|
//{
|
|
// //夹住料盘
|
|
// Ops.On($"料仓夹磁气缸{toStockIndex}夹");
|
|
// Ops.Off($"料仓夹磁气缸{toStockIndex}开");
|
|
// Thread.Sleep(100);
|
|
//}
|
|
|
|
////关闭真空吸
|
|
//Ops.On("料盘真空关");
|
|
//Ops.Off("料盘真空开");
|
|
//logInfo = GetClassName() + $"料盘真空关 on";
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
//Thread.Sleep(100);
|
|
if(isNeedGoDown)
|
|
{
|
|
StockManager.Down(toStockIndex);
|
|
}
|
|
StockManager.CloseTray(toStockIndex);
|
|
//关闭真空吸
|
|
TakeTrayModule.VacOperation(EIoOperate.Close,GetClassName());
|
|
step = ETakeTrayFlowStep.放料盘完成后抬起;
|
|
}
|
|
else if(stopwatch.ElapsedMilliseconds>5000)
|
|
{
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸动位异常);
|
|
if (alarmEntity != null)
|
|
{
|
|
LogHelper.Debug(GetClassName() + alarmEntity.CN);
|
|
Msg.ShowError(alarmEntity.CN);
|
|
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
|
|
}
|
|
else
|
|
{
|
|
Msg.ShowError("翻译文件中未找到上下气缸动位");
|
|
}
|
|
stopwatch.Stop();
|
|
stopwatch.Restart();
|
|
}
|
|
break;
|
|
case ETakeTrayFlowStep.放料盘完成后抬起:
|
|
TakeTrayModule.CylinderGoUp(GetClassName());
|
|
step = ETakeTrayFlowStep.等待放料完成抬起;
|
|
stopwatch.Restart();
|
|
break;
|
|
case ETakeTrayFlowStep.等待放料完成抬起:
|
|
if (Ops.IsOn("料盘搬运气缸原位"))
|
|
{
|
|
logInfo = GetClassName() + "料盘搬运气缸原位 OK";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
step = ETakeTrayFlowStep.放料完成后真空检测;
|
|
}
|
|
else if(stopwatch.ElapsedMilliseconds>5000)
|
|
{
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸原位异常);
|
|
if (alarmEntity != null)
|
|
{
|
|
LogHelper.Debug(GetClassName() + alarmEntity.CN);
|
|
Msg.ShowError(alarmEntity.CN);
|
|
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
|
|
}
|
|
else
|
|
{
|
|
Msg.ShowError("翻译文件中未找到上下气缸动位");
|
|
}
|
|
stopwatch.Stop();
|
|
stopwatch.Restart();
|
|
}
|
|
break;
|
|
case ETakeTrayFlowStep.放料完成后真空检测:
|
|
if (!TakeTrayModule.HasTray())
|
|
{
|
|
logInfo = GetClassName() + $"放料盘完成";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
step = ETakeTrayFlowStep.到待机位;
|
|
if(toTray== ETrayType.Empty)
|
|
{
|
|
StockManager.CloseTray(toStockIndex);
|
|
StockManager.OpenTray(toStockIndex);
|
|
}
|
|
//if (mLoadUnloadType == ELoadUnloadType.Load)
|
|
//{
|
|
// StockManager.Instance.Load(m_toTray, EStockTrayLoadMode.AfterTakeTray);
|
|
//}
|
|
}
|
|
else
|
|
{
|
|
step = ETakeTrayFlowStep.到放料盘上方;
|
|
//粘料盘
|
|
//logInfo = "检测到料盘未放下，请处理后点击确定重放";
|
|
//MessageQueue.Instance.Warn(GetClassName() + logInfo);
|
|
//TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok);
|
|
//TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);
|
|
//step = ETakeTrayFlowStep.到放料盘上方;
|
|
}
|
|
break;
|
|
case ETakeTrayFlowStep.到待机位:
|
|
if(GroupAxisMove.TakeXMove(GetClassName(), GlobalVar.TakeTrayXWaitPos, GlobalVar.WholeSpeed))
|
|
{
|
|
logInfo = GetClassName() + $"到待机位";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
step = ETakeTrayFlowStep.等待运动到待机位;
|
|
}
|
|
break;
|
|
case ETakeTrayFlowStep.等待运动到待机位:
|
|
if(Ops.IsStop("TakeTrayX"))
|
|
{
|
|
logInfo = GetClassName() + $"从{fromTray}搬运到{toTray}完成";
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
TakeStatus = ETakeStatus.TakeOK;
|
|
//dumpTrayFinishedEvent?.Invoke();
|
|
finisehd = true;
|
|
}
|
|
break;
|
|
}
|
|
Thread.Sleep(10);
|
|
}
|
|
}
|
|
|
|
public string GetCurStep()
|
|
{
|
|
return step.ToString();
|
|
}
|
|
|
|
public string GetClassName()
|
|
{
|
|
return this.GetType().Name + "-";
|
|
}
|
|
|
|
private void PrintXYCurrentPos(string prefixLog)
|
|
{
|
|
//LogHelper.Debug(GetClassName() + $"{prefixLog}当前位置:cx:{Ops.GetCurPosition(AxisControl.LoadX)},cy:{Ops.GetCurPosition(AxisControl.LoadY)}");
|
|
}
|
|
|
|
|
|
|
|
}
|
|
}
|