private void DequeueRoll(Queue <RollPosition> robotRollQ, RollPosition roll, ListView lv)
{
try {
lock (robotRollQ) {
if (robotRollQ == null || robotRollQ.Count == 0)
{
return;
}
var roll2 = robotRollQ.Peek();
if (roll2 != null && roll.LabelCode == roll2.LabelCode) //如果取出来还是原来那一个，就删一下
{
robotRollQ.Dequeue();
log($"号码出机器人队列: {roll.LabelCode}.", LogType.ROBOT_STACK);
}
if (roll2 == null)
{
log($"!来源: {nameof(DequeueRoll)}, 机器人队列中无此号码: {roll.LabelCode}", LogType.ROBOT_STACK);
}
}
FrmMain.showRobotQue(robotRollQ, lv);
} catch (Exception ex) {
log($"!来源: {nameof(DequeueRoll)}, {roll.LabelCode}. {ex}", LogType.ROBOT_STACK, LogViewType.OnlyFile);
}
}
private void BadShape(RollPosition roll)
{
var layerLabels = LableCode.GetLableCodesOfRecentFloor(roll.ToLocation, roll.PanelNo, roll.Floor);
if (LayerShape.IsSlope(layerLabels) || LayerShape.IsVshape(layerLabels))
{
FrmMain.logOpt.Write($"!{roll.RealLocation} 第{roll.Floor}层 形状不规则。板号{roll.PanelNo}", LogType.ROBOT_STACK);
}
}
private void BadShape(RollPosition roll)
{
var layerLabels = LableCode.GetLableCodesOfRecentFloor(roll.ToLocation, roll.PanelNo, roll.Floor);
if (LayerShape.IsSlope(layerLabels) || LayerShape.IsVshape(layerLabels))
{
lock (client) {
PlcHelper.NotifyBadLayerShape(client, param, roll.RealLocation);
}
log($"!{roll.RealLocation}/{roll.Floor}形状不规则。板号{roll.PanelNo}", LogType.ROBOT_STACK);
}
}
public bool AddRoll(RollPosition roll)
{
lock (Rolls) {
if (!IsInRoll(roll))
{
Rolls.Enqueue(roll);
return(true);
}
else
{
return(false);
}
}
}
public void NotifyOpcJobFinished(RollPosition roll)
{
try {
switch (roll.PnlState)
{
case PanelState.HalfFull:
FrmMain.logOpt.Write($"{roll.RealLocation}: 半满板信号发出。slot: ", LogType.ROBOT_STACK);
break;
case PanelState.Full:
FrmMain.logOpt.Write($"{roll.RealLocation}: 满板信号发出。slot: ", LogType.ROBOT_STACK);
LableCode.SetPanelFinished(roll.PanelNo);
lock (TaskQueues.LOCK_LOCHELPER) {
TaskQueues.lochelper.OnFull(roll.RealLocation);
}
break;
case PanelState.LessHalf:
break;
default:
FrmMain.logOpt.Write($"!板状态不明，不发信号, {roll.PnlState}", LogType.ROBOT_STACK);
break;
}
if (roll.Status == (int)LableState.FloorLastRoll && roll.PnlState != PanelState.Full)
{
BadShape(roll);
}
#if DEBUG
var panel = LableCode.GetPanel(roll.PanelNo);
if (roll.Status == (int)LableState.FloorLastRoll && roll.PnlState != PanelState.Full && roll.Floor == panel.MaxFloor)
{
throw new Exception($"板满状态不一致。{roll.LabelCode}, {roll.ToLocation}/{roll.RealLocation}");
roll.PnlState = PanelState.Full;
LableCode.SetPanelFinished(roll.PanelNo);
lock (TaskQueues.LOCK_LOCHELPER) {
TaskQueues.lochelper.OnFull(roll.RealLocation);
}
}
#endif
} catch (Exception ex) {
FrmMain.logOpt.Write($"!来源: {nameof(NotifyOpcJobFinished)}, {ex}", LogType.ROBOT_STACK);
}
}
private void runtask(Queue <RollPosition> que, bool sideA, ref bool isrunning, ListView view)
{
RollPosition roll = null;
lock (TaskQueues.LOCK_LOCHELPER) {
if (que.Count > 0)
{
roll = que.Peek();
}
}
if (roll != null)
{
JobTask(ref isrunning, sideA, que, roll, view);
}
}
private void DequeueRoll(Queue <RollPosition> robotRollQ, RollPosition roll, ListView lv)
{
lock (TaskQueues.LOCK_LOCHELPER) {
if (robotRollQ == null || robotRollQ.Count == 0)
{
return;
}
var roll2 = robotRollQ.Peek();
if (roll2 != null && roll.LabelCode == roll2.LabelCode) //如果取出来还是原来那一个，就删一下
{
robotRollQ.Dequeue();
FrmMain.showRobotQue(robotRollQ, lv);
}
}
}
private bool WritePositionPro(RollPosition rollPos)
{
const int DELAY = 10;
// 写变量之前，先设置完成状态为0。
var writeReady = rCtrl.SetVariables(VariableType.B, 1, 1, "0");
var a = rCtrl.SetVariables(VariableType.B, 10, 1, rollPos.ChangeAngle ? "1" : "0");
Thread.Sleep(DELAY);
var b = rCtrl.SetVariables(VariableType.B, 0, 1, rollPos.BaseIndex.ToString());
Thread.Sleep(DELAY);
var c = rCtrl.SetVariables(VariableType.B, 5, 1, "1"); //?
Thread.Sleep(DELAY);
// 原点高位旋转
var d = rCtrl.SetPostion(PosVarType.Robot,
rollPos.Origin, 100, PosType.User, 0, rollPos.GetRealLocationNo());
Thread.Sleep(DELAY);
//基座
var e = rCtrl.SetPostion(PosVarType.Base,
new PostionVar(rollPos.Base2 * 1000, 0, 0, 0, 0),
0, PosType.Robot, 0, 0);
Thread.Sleep(DELAY);
// 目标位置
var f = rCtrl.SetPostion(PosVarType.Robot,
rollPos.Target, 101, PosType.User, 0, rollPos.GetRealLocationNo());
Thread.Sleep(DELAY);
// 写变量之后，设置完成状态为1.
var writeOk = rCtrl.SetVariables(VariableType.B, 1, 1, "1");
return(a && b && c && d && e && f && writeReady && writeOk);
}
/// <summary>
/// 尝试多次机器人写坐标，直到成功或用完次数。
/// </summary>
/// <param name="rollPos"></param>
/// <param name="times"></param>
/// <returns></returns>
public bool TryWritePositionPro(RollPosition rollPos, int times = 5)
{
const int DELAY = 100;
var counts = 0;
var wstatus = false;
var t = TimeCount.TimeIt(() => {
while (times > 0)
{
counts++;
wstatus = WritePositionPro(rollPos);
if (wstatus)
{
break;
}
times--;
Thread.Sleep(DELAY);
}
});
log($"机器人写坐标{(wstatus ? "成功" : "失败")}耗时{t}毫秒,尝试次数{counts}, {rollPos.LabelCode}, {rollPos.Pos_s()} ChangeAngle {rollPos.ChangeAngle}。",
LogType.ROBOT_STACK);
return(wstatus);
}
/// <summary>
/// 判断队列中是否已经有该布卷。
/// </summary>
/// <param name="roll"></param>
/// <returns></returns>
public bool IsInRoll(RollPosition roll)
{
return(Rolls.Any(item => {
return item.IsSameLabel(roll);
}));
}
public bool JobTask(ref bool isrun, bool isSideA, Queue <RollPosition> robotRollQ, RollPosition roll, ListView lv)
{
// 等待板可放料
FrmMain.logOpt.Write($"{roll.RealLocation}等待可放料信号。", LogType.ROBOT_STACK);
if (!PanelAvailable(roll.RealLocation))
{
FrmMain.logOpt.Write($"!{roll.RealLocation}未收到可放料信号，请检查板状态和是否有形状不规则报警。", LogType.ROBOT_STACK);
return(false);
}
else
{
FrmMain.logOpt.Write($"{roll.RealLocation}收到可放料信号。", LogType.ROBOT_STACK);
}
// 机器人正忙，等待。
while (isrun)
{
if (TryIsBusy())
{
onerror?.Invoke(true, "机器人忙");
FrmMain.logOpt.Write($"!机器人正忙", LogType.ROBOT_STACK);
Thread.Sleep(OPCClient.DELAY * 10);
}
else
{
break;
}
}
onerror?.Invoke(true, "机器人准备好");
var writeok = TryWritePositionPro(roll);
if (!writeok)
{
onerror?.Invoke(false, $"发坐标失败");
log($"!{roll.LabelCode}发送坐标失败。", LogType.ROBOT_STACK);
return(false);
}
if (TryRunJob(JOB_NAME))
{
onerror?.Invoke(true, $"{JOB_NAME}动作发送完成");
log($"发出机器人示教器动作{JOB_NAME}命令成功, {roll.LabelCode}", LogType.ROBOT_STACK);
lock (client) {
client.TryWrite(param.RobotParam.RobotJobStart, true);
}
}
else
{
onerror?.Invoke(false, "动作发送失败");
log($"!机器人示教器动作{JOB_NAME}发送失败, {roll.LabelCode}", LogType.ROBOT_STACK);
return(false);
}
Thread.Sleep(RobotHelper.DELAY * 100); // 500ms.
while (isrun)
{
var side = isSideA ? "A" : "B";
onerror?.Invoke(true, $"等待抓料信号({side}) ");
var leaving = false;
lock (client) {
leaving = isSideA ? param.RobotParam.PlcSnA.ReadSN(client) : param.RobotParam.PlcSnB.ReadSN(client);
}
if (!leaving)
{
onerror?.Invoke(true, $"等待抓料信号({side})...");
}
if (leaving)
{
onerror?.Invoke(true, $"{roll.LabelCode}抓起");
log($"布卷抓起: {roll.brief()}.", LogType.ROBOT_STACK);
DequeueRoll(robotRollQ, roll, lv); // 出队列
LableCode.SetOnPanelState(roll.LabelCode); // 写数据库。
var sideslot = isSideA ? param.RobotParam.RobotStartA : param.RobotParam.RobotStartB;
lock (client) {
client.TryWrite(sideslot, false);
if (isSideA)
{
param.RobotParam.PlcSnA.WriteSN(client);
}
else
{
param.RobotParam.PlcSnB.WriteSN(client);
}
}
break;
}
Thread.Sleep(RobotHelper.DELAY * 200); // 1000ms.
}
// 等待布卷上垛信号
while (isrun)
{
if (TryIsRollOnPanel())
{
NotifyOpcJobFinished(roll); // 告知OPC
onerror?.Invoke(true, $"{roll.LabelCode}上垛");
log($"收到布卷{roll.LabelCode}上垛信号，布卷已上垛，实际交地：{roll.RealLocation}。", LogType.ROBOT_STACK);
break;
}
Thread.Sleep(RobotHelper.DELAY * 20);
}
Thread.Sleep(RobotHelper.DELAY * 400);
return(true);
}
public void NotifyOpcJobFinished(RollPosition roll)
{
try {
switch (roll.PnlState)
{
case PanelState.HalfFull:
lock (client) {
client.TryWrite(param.BAreaFloorFinish[roll.RealLocation], true);
}
log($"{roll.RealLocation}: 半板信号发出。slot: {param.BAreaFloorFinish[roll.RealLocation]}", LogType.ROBOT_STACK);
break;
case PanelState.Full:
string msg;
ErpHelper.NotifyPanelEnd(erpapi, roll.PanelNo, roll.RealLocation, out msg);
log(msg, LogType.ROBOT_STACK);
LableCode.SetPanelFinished(roll.PanelNo);
lock (TaskQueues.LOCK_LOCHELPER) {
TaskQueues.lochelper.OnFull(roll.RealLocation);
}
lock (client) {
PlcHelper.NotifyFullPanel(client, param, roll.RealLocation);
}
break;
case PanelState.LessHalf:
break;
default:
log($"!板状态不明，不发信号, {roll.PnlState}", LogType.ROBOT_STACK);
break;
}
if (roll.Status == (int)LableState.FloorLastRoll && roll.PnlState != PanelState.Full)
{
BadShape(roll);
}
var panel = LableCode.GetPanel(roll.PanelNo);
if (roll.Status == (int)LableState.FloorLastRoll && roll.PnlState != PanelState.Full && roll.Floor == panel.MaxFloor)
{
log("!---异常板满状态处理---", LogType.ROBOT_STACK);
roll.PnlState = PanelState.Full;
string msg;
ErpHelper.NotifyPanelEnd(erpapi, roll.PanelNo, roll.RealLocation, out msg);
client.TryWrite(param.BAreaPanelFinish[roll.RealLocation], true);
log($"{roll.RealLocation}: 异常满板信号发出。slot: {param.BAreaPanelFinish[roll.RealLocation]}", LogType.ROBOT_STACK);
log(msg, LogType.ROBOT_STACK);
LableCode.SetPanelFinished(roll.PanelNo);
lock (TaskQueues.LOCK_LOCHELPER) {
TaskQueues.lochelper.OnFull(roll.RealLocation);
}
const int SIGNAL_3 = 3;
client.TryWrite(param.BAreaPanelState[roll.RealLocation], SIGNAL_3);
log($"{roll.RealLocation}: 异常板状态信号发出，状态值: {SIGNAL_3}。slot: {param.BAreaPanelState[roll.RealLocation]}", LogType.ROBOT_STACK);
}
} catch (Exception ex) {
log($"!来源: {nameof(NotifyOpcJobFinished)}, {ex}", LogType.ROBOT_STACK);
}
}
public bool IsSameLabel(RollPosition roll)
{
return(this.LabelCode == roll.LabelCode);
}
private bool WritePositionPro(RollPosition rollPos)
{
return(true);
}
public bool JobTask(ref bool isrun, bool isSideA, Queue <RollPosition> robotRollQ, RollPosition roll, ListView lv)
{
// 等待板可放料
if (!PanelAvailable(roll.RealLocation))
{
FrmMain.logOpt.Write($"!{roll.RealLocation}未收到可放料信号，请检查板状态和是否有形状不规则报警。", LogType.ROBOT_STACK);
return(false);
}
// 机器人正忙，等待。
while (isrun)
{
if (IsBusy())
{
FrmMain.logOpt.Write($"!机器人正忙", LogType.ROBOT_STACK);
#if DEBUG
Thread.Sleep(FakeOpcClient.DELAY * 10);
#endif
}
else
{
break;
}
}
if (!TryWritePositionPro(roll))
{
return(false);
}
if (TryRunJob(JOB_NAME))
{
log($"发出机器人示教器动作{JOB_NAME}命令成功。", LogType.ROBOT_STACK);
client.TryWrite(param.RobotParam.RobotJobStart, true);
}
else
{
log($"!机器人示教器动作{JOB_NAME}发送失败。", LogType.ROBOT_STACK);
return(false);
}
Thread.Sleep(RobotHelper.DELAY * 200);
//删除对列布卷
while (isrun)
{
var leaving = client.TryReadBool(isSideA ? param.RobotParam.RobotStartA : param.RobotParam.RobotStartB);
if (leaving)
{
log($"roll is leaving: {roll.LabelCode}.", LogType.ROBOT_STACK, LogViewType.OnlyFile);
DequeueRoll(robotRollQ, roll, lv);
client.TryWrite(isSideA ? param.RobotParam.RobotStartA : param.RobotParam.RobotStartB, false);
break;
}
Thread.Sleep(RobotHelper.DELAY);
}
// 等待布卷上垛信号
while (isrun)
{
if (IsRollOnPanel())
{
// 写数据库。
LableCode.SetOnPanelState(roll.LabelCode);
// 告知OPC
NotifyOpcJobFinished(roll);
log("布卷已上垛。", LogType.ROBOT_STACK, LogViewType.Both);
break;
}
Thread.Sleep(RobotHelper.DELAY * 20);
}
// 等待机器人结束码垛。
while (isrun && IsBusy())
{
Thread.Sleep(RobotHelper.DELAY * 20);
}
DequeueRoll(robotRollQ, roll, lv);
if (!isrun) //解决压布，布卷未上垛问题
// 写数据库。
{
LableCode.SetOnPanelState(roll.LabelCode);
// 告知OPC
NotifyOpcJobFinished(roll);
log($"{roll.LabelCode}布卷已上垛。", LogType.ROBOT_STACK, LogViewType.Both);
}
log($"robot job done: {roll.LabelCode}.", LogType.ROBOT_STACK);
return(true);
}