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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using Rs.MotionPlat.Flow.NormalFlow;
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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.Linq;
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using System.Net.Http;
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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 EHomeFlowStep
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{
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回原环境检测,
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Z轴回原,
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等待Z轴回原完成,
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Z回起始位,
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等待Z回起始位完成,
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X轴回原,
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等待X轴回原完成,
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Y轴回原,
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等待Y轴回原完成,
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到起始位,
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等待到起始位
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}
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public class HomeFlow
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{
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EHomeFlowStep step = EHomeFlowStep.回原环境检测;
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ushort homeStep = 0;
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private static HomeFlow instace;
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private bool m_bCancle = false;
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private bool m_bHomed = false;
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private Stopwatch homeTime = new Stopwatch();
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public static HomeFlow Instance
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{
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get
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{
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if (instace == null)
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instace = new HomeFlow();
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return instace;
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}
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}
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public void CancleHome()
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{
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m_bCancle = true;
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}
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private HomeFlow() { }
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public void StartGoHome()
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{
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DevLog.EventTracker("INIT START", 0, "", "HOME");
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step = EHomeFlowStep.回原环境检测;
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homeStep = 0;
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m_bHomed = false;
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m_bCancle = false;
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Task.Run(() =>
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{
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while (!m_bCancle && !m_bHomed)
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{
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if(GlobalVar.VirtualAxis)
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{
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MessageQueue.Instance.Insert("Device home ok");
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MachineManage.Instance.SetLocalMachineStatus(EMachineStatus.Homed);
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m_bHomed = true;
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}
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else
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{
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switch (step)
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{
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//case EHomeFlowStep.Z回起始位:
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// AxisControl.StockZ1.MovePos(GlobalVar.StockZ1OutStock, GlobalVar.WholeSpeed);
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// AxisControl.StockZ2.MovePos(GlobalVar.StockZ2OutStock, GlobalVar.WholeSpeed);
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// AxisControl.StockZ3.MovePos(GlobalVar.StockZ3OutStock, GlobalVar.WholeSpeed);
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// step = EHomeFlowStep.等待Z回起始位完成;
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// break;
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//case EHomeFlowStep.等待Z回起始位完成:
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// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2", "TakeTrayX", "StockZ1", "StockZ2", "StockZ3"))
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// {
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// step = EHomeFlowStep.回原环境检测;
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// }
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// break;
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case EHomeFlowStep.回原环境检测:
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for (int i = 1; i < 5; i++)
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{
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Ops.Off($"吸料真空{i}破");
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MessageQueue.Instance.Insert($"关闭吸料真空{i}破");
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}
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Ops.Off("料盘搬运气缸下");
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Ops.On("料盘搬运气缸上");
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MessageQueue.Instance.Insert($"料盘搬运气缸抬起");
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for (int i = 1; i < 4; i++)
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{
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Ops.Off($"抽屉拉伸气缸{i}");
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MessageQueue.Instance.Insert($"关闭抽屉拉伸气缸{i}");
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}
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//吸嘴有无产品检测
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for (int i = 1; i <= 4; i++)
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{
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while (true)
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{
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VacManager.DischargeVacSuction(EVacOperator.Open, true, i);
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if (Ops.IsOn($"吸料真空{i}检测"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.吸嘴有料).Transform(i), EButtonType.Retry);
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}
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else
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{
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VacManager.DischargeVacSuction(EVacOperator.Close, true, i);
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break;
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}
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}
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}
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//料盘搬运检测
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while (true)
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{
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if (Ops.IsOff("料盘搬运气缸原位"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位检测), EButtonType.Retry);
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}
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else
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{
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break;
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}
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}
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while (true)
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{
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Ops.On("料盘真空开");
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Ops.Off("料盘真空关");
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if (Ops.IsOn("料盘真空"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.料盘搬运有料盘), EButtonType.Retry);
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}
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else
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{
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Ops.Off("料盘真空开");
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Ops.On("料盘真空关");
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break;
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}
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}
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//先检测料仓处是否有料盘，如果有料盘提醒拿走
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//满料对射3光电
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for (int i = 1; i <= 3; i++)
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{
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//if (Ops.IsOn($"满料{i}对射光电"))
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//{
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// StockManager.OpenTray(i);
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//}
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while (true)
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{
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if (Ops.IsOn($"满料{i}对射光电"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.料仓有料报警).Transform(i), EButtonType.Ok);
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//打开料仓jia'ci
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Ops.Off($"料仓夹磁气缸{i}夹");
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Ops.On($"料仓夹磁气缸{i}开");
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Thread.Sleep(200);
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.取走顶层料盘报警).Transform(i), EButtonType.Ok);
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}
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else
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{
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break;
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}
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}
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while (true)
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{
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if (Ops.IsOff($"抽屉拉伸气缸{i}原位"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.料仓未到位报警).Transform(i), EButtonType.Ok);
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//打开料仓jia'ci
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Ops.Off($"料仓夹磁气缸{i}夹");
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Ops.On($"料仓夹磁气缸{i}开");
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Thread.Sleep(200);
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.取走顶层料盘报警).Transform(i), EButtonType.Ok);
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}
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else
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{
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break;
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}
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}
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while (true)
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{
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Ops.On($"抽屉锁{i}");
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Thread.Sleep(200);
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if (Ops.IsOff($"抽屉锁{i}动位"))
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{
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Msgbox.ShowDialog(AlarmCollection.Get(AlarmConstID.料仓抽屉锁动位异常报警), EButtonType.Retry);
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}
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else
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{
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break;
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}
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}
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}
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//检测各个轴是否有使能
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string canGohome = CheckCanHome();
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if (!string.IsNullOrEmpty(canGohome))
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{
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Msg.ShowError($"轴{canGohome}处于报警状态，不能回原");
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MessageQueue.Instance.Warn($"轴{canGohome}处于报警状态，不能回原");
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m_bCancle = true;
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}
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else
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{
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step = EHomeFlowStep.Z轴回原;
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}
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break;
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case EHomeFlowStep.Z轴回原:
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MessageQueue.Instance.Insert("Z轴开始回零");
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MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
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//料仓Z轴回零
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AxisControl.GetAxis($"StockZ1").Home();
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AxisControl.GetAxis($"StockZ2").Home();
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AxisControl.GetAxis($"StockZ3").Home();
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AxisControl.GetAxis($"NozzleZ1").Home();
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AxisControl.GetAxis($"NozzleZ2").Home();
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AxisControl.GetAxis($"NozzleZ3").Home();
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AxisControl.GetAxis($"NozzleZ4").Home();
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homeTime.Restart();
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step = EHomeFlowStep.等待Z轴回原完成;
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break;
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case EHomeFlowStep.等待Z轴回原完成:
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if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
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{
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if (Ops.AllZHomed())
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{
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MessageQueue.Instance.Insert("Z axis home finished!");
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step = EHomeFlowStep.X轴回原;
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}
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}
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else
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{
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AxisControl.GetAxis($"StockZ1").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ2").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ3").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ1").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ2").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ3").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ4").Abort_Go_Home();
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MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
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MessageQueue.Instance.Insert("Device home fail");
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CancleHome();
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}
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break;
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case EHomeFlowStep.X轴回原:
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MessageQueue.Instance.Insert("loadx go home");
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AxisControl.LoadX.Home();
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homeTime.Restart();
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step = EHomeFlowStep.等待X轴回原完成;
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break;
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case EHomeFlowStep.等待X轴回原完成:
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if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
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{
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if (Ops.IsHomed("LoadX"))
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{
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step = EHomeFlowStep.Y轴回原;
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}
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}
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else
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{
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AxisControl.LoadX.Abort_Go_Home();
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MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
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MessageQueue.Instance.Insert("Device home fail");
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CancleHome();
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}
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break;
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case EHomeFlowStep.Y轴回原:
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AxisControl.LoadY1.Home();
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AxisControl.LoadY2.Home();
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AxisControl.TakeTrayX.Home();
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homeTime.Restart();
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step = EHomeFlowStep.等待Y轴回原完成;
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break;
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case EHomeFlowStep.等待Y轴回原完成:
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if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
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{
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if (Ops.IsHomed("LoadY1", "LoadY2", "TakeTrayX"))
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{
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step = EHomeFlowStep.到起始位;
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}
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}
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else
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{
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AxisControl.LoadY1.Abort_Go_Home();
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AxisControl.LoadY2.Abort_Go_Home();
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AxisControl.TakeTrayX.Abort_Go_Home();
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MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
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MessageQueue.Instance.Insert("Device home fail");
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CancleHome();
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}
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break;
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case EHomeFlowStep.到起始位:
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AxisControl.StockZ1.MovePos(GlobalVar.StockZ1OutStock, GlobalVar.WholeSpeed);
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AxisControl.StockZ2.MovePos(GlobalVar.StockZ2OutStock, GlobalVar.WholeSpeed);
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AxisControl.StockZ3.MovePos(GlobalVar.StockZ3OutStock, GlobalVar.WholeSpeed);
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AxisControl.LoadY1.MovePos(GlobalVar.StockSideY1,GlobalVar.WholeSpeed);
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AxisControl.LoadX.MovePos(GlobalVar.DischargeSafePostionX,GlobalVar.WholeSpeed);
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AxisControl.LoadY2.MovePos(GlobalVar.DischargeSafePostionY2,GlobalVar.WholeSpeed);
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AxisControl.TakeTrayX.MovePos(GlobalVar.TakeTrayXWaitPos,GlobalVar.WholeSpeed);
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step = EHomeFlowStep.等待到起始位;
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break;
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case EHomeFlowStep.等待到起始位:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2", "TakeTrayX", "StockZ1", "StockZ2", "StockZ3"))
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{
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MessageQueue.Instance.Insert("Device home ok");
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MachineManage.Instance.MachineStatus = EMachineStatus.Homed;
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m_bHomed = true;
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step = EHomeFlowStep.回原环境检测;
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}
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break;
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default:
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break;
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}
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}
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}
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});
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DevLog.EventTracker("INIT END", 0, "", "HOME");
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}
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private string CheckCanHome()
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{
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List<string> list = new List<string>();
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foreach(IAxis axis in AxisControl.GetAllAxis())
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{
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axis.GetAlarmStatus(out bool bAlarm);
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if(bAlarm)
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{
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list.Add(axis.Config.AxisName);
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}
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}
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return string.Join(",", list);
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}
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}
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}
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