public async void Update(object args)
{
var context = (HuiJinYunProductionContext)args;
while (true)
{
var status = Task.Run(() =>
{
for (int i = 0; i < _warps.Length; i++)
{
try
{
if (Bit.Tst(_warps[i].Status, eWrapState.ToZero))
{
Encapsulation en = new Encapsulation()
{
Id = i, IsBusy = false, isOnline = _warps[i].isOnline
};
if (context._encapsulationDevice.ToList().Where(c => c.Id == en.Id).Count() < 1)
{
context._encapsulationDevice.Add(en);
}
Logger.LogInfo($"Encapsulation :Encapsulation, code: {i}");
}
}
catch (Exception ex)
{
#if DEBUG
Logger.ErrorInfo($"Main :Encapsulation", ex);
#endif
}
}
Thread.Sleep(1000);
return(context._encapsulationDevice);
});
context._encapsulationDevice = await status;
}
}
public IProductionStage Work(object args, out object result)
{
Update(args);
var context = (HuiJinYunProductionContext)args;
var switchWatcher = new NotifyWatcher(_switch);
var longmenWatcher = new NotifyWatcher(_longmen);
var enlaceWatcher = new NotifyWatcher(_enlace);
var crswitch = new NotifyWatcher(_crswitch);
#if DEBUG
Logger.LogInfo($"EncapsulationStage Start");
#endif
//(包胶周转台) 工控控制
_switch.Operate(false); Thread.Sleep(100);
_crswitch.Operate(false);
_switch.EStop(true); Thread.Sleep(2000);
_switch.EStop(false);
_crswitch.Clamp(3, true); Thread.Sleep(2000);
_crswitch.Clamp(3, false); Thread.Sleep(100);
//(周转台) 输出取盘命令
_crswitch.Clamp(1, true);
Bit.Clr(_crswitch.Status, eSwitchState.Clamped0);
//(缠绕六工位) 检测取盘完成
while (!Bit.Tst(_crswitch.Status, eSwitchState.Clamped0))
{
Thread.Sleep(2000);
}
//(周转台) 输出取盘命令 关闭
_crswitch.Clamp(1, false);
for (int i = 0; i < 6; i++)
//for (int i = 0; i <= 3; i++)
//for (int i = 0; i < 1; i++)
{
_enlace.Reset(true); Thread.Sleep(100);
_enlace.Reset(false);
#region Encapsulation longmen
if (i < 6)
//if (i < 3)
//if (i < 1)
{
_longmen.BeginPickup(0);
while (!Bit.Tst(_longmen.Status, eLongMenState.InitialPickup))
{
Thread.Sleep(1000);
}
_switch.Clamp(i, true);
switch (i)
{
case 0:
Bit.Clr(_switch.Status, eSwitchState.Unclamped0);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped0))
{
Thread.Sleep(1000);
}
break;
case 1:
Bit.Clr(_switch.Status, eSwitchState.Unclamped1);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped1))
{
Thread.Sleep(1000);
}
break;
case 2:
Bit.Clr(_switch.Status, eSwitchState.Unclamped2);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped2))
{
Thread.Sleep(1000);
}
break;
case 3:
Bit.Clr(_switch.Status, eSwitchState.Unclamped3);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped3))
{
Thread.Sleep(1000);
}
break;
case 4:
Bit.Clr(_switch.Status, eSwitchState.Unclamped4);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped4))
{
Thread.Sleep(1000);
}
break;
case 5:
Bit.Clr(_switch.Status, eSwitchState.Unclamped5);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped5))
{
Thread.Sleep(1000);
}
break;
}
_longmen.EndPickup(0);
while (!Bit.Tst(_longmen.Status, eLongMenState.InitialReady))
{
Thread.Sleep(1000);
}
//选择工位
while (context.EncapsulationDevice.Count < 1)
{
;
}
Thread.Sleep(1000);
Encapsulation en = context.EncapsulationDevice[0];
//_enlace.Reset(true); Thread.Sleep(100);
//_enlace.Reset(false);
//(龙门) 输出工位信号和工位等待信号（PC-O0）
_longmen.BeginPlace(en.Id + 1, 1);
while (!Bit.Tst(_longmen.Status, eLongMenState.StationPickUp))
{
Thread.Sleep(1000);
}
//(包胶机) 包胶机卡盘松爪
_warps[en.Id].Placing(true); Thread.Sleep(3000);
//(龙门) 取件完成信号（PC-O14）
_longmen.EndPlace(en.Id + 1, 1); Thread.Sleep(100);
//(包胶机) 龙门夹件完成
_warps[en.Id].Clamped(true); Thread.Sleep(3000);
_warps[en.Id].Clamped(false);
//(龙门) 检测工位卡盘开爪（PC-I4）
while (!Bit.Tst(_longmen.Status, eLongMenState.StationClampOpen))
{
Thread.Sleep(1000);
}
//(龙门)卡盘开爪完成信号（PC-O15）
_longmen.EndPlace(en.Id + 1, 2); Thread.Sleep(3000);
//(龙门)卡盘可以闭爪（PC-I5）
_warps[en.Id].Placing(false); Thread.Sleep(2000);
//(龙门)卡盘闭爪完成信号（PC-O16）
_longmen.EndPlace(en.Id + 1, 3);
_warps[en.Id].EStop(true); Thread.Sleep(1000);
_warps[en.Id].EStop(false);
while (!Bit.Tst(_longmen.Status, eLongMenState.StationReady))
{
Thread.Sleep(1000);
}
//(周转台) 输出气缸松开爪信号
_switch.Clamp(i, true);
switch (i)
{
case 0:
Bit.Clr(_switch.Status, eSwitchState.Unclamped0);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped0))
{
Thread.Sleep(1000);
}
break;
case 1:
Bit.Clr(_switch.Status, eSwitchState.Unclamped1);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped1))
{
Thread.Sleep(1000);
}
break;
case 2:
Bit.Clr(_switch.Status, eSwitchState.Unclamped2);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped2))
{
Thread.Sleep(1000);
}
break;
case 3:
Bit.Clr(_switch.Status, eSwitchState.Unclamped3);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped3))
{
Thread.Sleep(1000);
}
break;
case 4:
Bit.Clr(_switch.Status, eSwitchState.Unclamped4);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped4))
{
Thread.Sleep(1000);
}
break;
case 5:
Bit.Clr(_switch.Status, eSwitchState.Unclamped5);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped5))
{
Thread.Sleep(1000);
}
break;
}
_longmen.BeginPlace(en.Id + 1, 2);
while (!Bit.Tst(_longmen.Status, eLongMenState.StationPlace))
{
Thread.Sleep(1000);
}
_switch.Clamp(i, false);
switch (i)
{
case 0:
Bit.Clr(_switch.Status, eSwitchState.Clamped0);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped0))
{
Thread.Sleep(1000);
}
break;
case 1:
Bit.Clr(_switch.Status, eSwitchState.Clamped1);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped1))
{
Thread.Sleep(1000);
}
break;
case 2:
Bit.Clr(_switch.Status, eSwitchState.Clamped2);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped2))
{
Thread.Sleep(1000);
}
break;
case 3:
Bit.Clr(_switch.Status, eSwitchState.Clamped3);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped3))
{
Thread.Sleep(1000);
}
break;
case 4:
Bit.Clr(_switch.Status, eSwitchState.Clamped4);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped4))
{
Thread.Sleep(1000);
}
break;
case 5:
Bit.Clr(_switch.Status, eSwitchState.Clamped5);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped5))
{
Thread.Sleep(1000);
}
break;
}
_longmen.EndPlace(i + 1, 4);
//_warps[en.Id].EStop(true); Thread.Sleep(1000);
//_warps[en.Id].EStop(false);
Thread.Sleep(1000);
//移除操作工位
context.EncapsulationDevice.Remove(en);
}
while (!Bit.Tst(_longmen.Status, eLongMenState.InitialStation))
{
Thread.Sleep(1000);
}
#endregion
if (i <= 5)
{
//(周转台) 输出气工位旋转
_switch.Rotate(); Thread.Sleep(10000);
Bit.Clr(_switch.Status, eSwitchState.Rotate);
while (!Bit.Tst(_switch.Status, eSwitchState.Rotate))
{
Thread.Sleep(1000);
}
}
//(周转台) 输出气工位旋转信号 关闭
_switch.Rotate(false);
#region Enlace
_enlace.RevolvingDiscInPlace(); Thread.Sleep(3000);
//if (i < 1)
//{
// if (context.isStart)
// {
// //(缠绕机) 输出启动
// _enlace.Start(); Thread.Sleep(1000);
// context.isStart = false;
// }
//}
//(缠绕机) 输出周转盘旋转到位 信号取消
_enlace.RevolvingDiscInPlace(false); Thread.Sleep(100);
Bit.Clr(_enlace.Status, eEnlaceState.TurntableUndone);
while (!Bit.Tst(_enlace.Status, eEnlaceState.TurntableUndone))
{
Thread.Sleep(1000);
}
//(周转台) 输出气缸松开爪信号
_switch.Clamp(i, true);
switch (i)
{
case 0:
Bit.Clr(_switch.Status, eSwitchState.Unclamped0);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped0))
{
Thread.Sleep(1000);
}
break;
case 1:
Bit.Clr(_switch.Status, eSwitchState.Unclamped1);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped1))
{
Thread.Sleep(1000);
}
break;
case 2:
Bit.Clr(_switch.Status, eSwitchState.Unclamped2);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped2))
{
Thread.Sleep(1000);
}
break;
case 3:
Bit.Clr(_switch.Status, eSwitchState.Unclamped3);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped3))
{
Thread.Sleep(1000);
}
break;
case 4:
Bit.Clr(_switch.Status, eSwitchState.Unclamped4);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped4))
{
Thread.Sleep(1000);
}
break;
case 5:
Bit.Clr(_switch.Status, eSwitchState.Unclamped5);
while (!Bit.Tst(_switch.Status, eSwitchState.Unclamped5))
{
Thread.Sleep(1000);
}
break;
}
_enlace.UnRevolvingDisc(); Thread.Sleep(1000);
//(缠绕机) 检测周转盘夹紧
Bit.Clr(_enlace.Status, eEnlaceState.TurntableClamping);
while (!Bit.Tst(_enlace.Status, eEnlaceState.TurntableClamping))
{
Thread.Sleep(1000);
}
//(缠绕机) 输出周转盘夹紧
_switch.Clamp(i, false);
switch (i)
{
case 0:
Bit.Clr(_switch.Status, eSwitchState.Clamped0);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped0))
{
Thread.Sleep(1000);
}
break;
case 1:
Bit.Clr(_switch.Status, eSwitchState.Clamped1);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped1))
{
Thread.Sleep(1000);
}
break;
case 2:
Bit.Clr(_switch.Status, eSwitchState.Clamped2);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped2))
{
Thread.Sleep(1000);
}
break;
case 3:
Bit.Clr(_switch.Status, eSwitchState.Clamped3);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped3))
{
Thread.Sleep(1000);
}
break;
case 4:
Bit.Clr(_switch.Status, eSwitchState.Clamped4);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped4))
{
Thread.Sleep(1000);
}
break;
case 5:
Bit.Clr(_switch.Status, eSwitchState.Clamped5);
while (!Bit.Tst(_switch.Status, eSwitchState.Clamped5))
{
Thread.Sleep(1000);
}
break;
}
_enlace.TurntableClampingReady();
//(缠绕机) 周转盘旋转信号
Bit.Clr(_enlace.Status, eEnlaceState.RevolvingDiskRotation);
while (!Bit.Tst(_enlace.Status, eEnlaceState.RevolvingDiskRotation))
{
Thread.Sleep(1000);
}
// 旋转(缠绕六工位)
_crswitch.Clamp(0, true); Thread.Sleep(2000);
//(缠绕六工位) 周转盘旋转信号
Bit.Clr(_crswitch.Status, eSwitchState.Unclamped0);
Thread.Sleep(3000);
while (!Bit.Tst(_crswitch.Status, eSwitchState.Unclamped0))
{
Thread.Sleep(1000);
}
// 旋转(缠绕六工位)
_crswitch.Clamp(0, false);
#endregion
//_enlace.Reset(true); Thread.Sleep(100);
//_enlace.Reset(false);
}
/*
* // 旋转(缠绕六工位)
* _crswitch.Clamp(0, true); Thread.Sleep(2000);
*
* //(缠绕六工位) 周转盘旋转信号
* while (!Bit.Tst(_crswitch.Status, eSwitchState.Unclamped0)) Thread.Sleep(100);
*
* // 旋转(缠绕六工位)
* _crswitch.Clamp(0, false);
*/
Thread.Sleep(10000);
//(周转台) 输出放盘命令
_crswitch.Clamp(2, true);
Bit.Clr(_crswitch.Status, eSwitchState.Unclamped1);
Thread.Sleep(3000);
//(缠绕六工位) 周转盘旋转信号
while (!Bit.Tst(_crswitch.Status, eSwitchState.Unclamped1))
{
Thread.Sleep(1000);
}
//(周转台) 输出放盘命令 关闭
_crswitch.Clamp(2, false);
// Encapsulation And Enlace End
Status = eProductionStageState.Ready;
context.CurrentAGV.State = eHuiJinYunAGVState.Tray;
Status = eProductionStageState.Finish;
result = null;
#if DEBUG
Logger.LogInfo($"EncapsulationStage Finish");
#endif
return(this);
}