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 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);
}