public bool PanelAvailable(string realloc)
{
#if DEBUG
// 用于测试
return(true);
#endif
try {
var s = "";
var canput = false;
lock (client) {
s = client.TryReadString(param.BAreaPanelState[realloc]);
canput = !client.TryReadBool(param.BadShapeLocations[realloc]);
}
if (!canput)
{
onerror?.Invoke(false, $"{realloc}形状坏");
}
var layershape = canput ? "正常" : "坏型";
if (s != "3")
{
log($"实际交地: {realloc}, 可放料信号板状态: {s}, 层形状状态: {layershape}", LogType.ROBOT_STACK);
}
return(s == "2" && canput);
} catch (Exception ex) {
log($"!来源: {nameof(PanelAvailable)}, 实际交地: {realloc}, 读可放料信号异常: {ex}", LogType.ROBOT_STACK);
return(false);//临时
}
}
public static bool IsPushedAside(IOpcClient client, OPCParam param, Action onResetError = null)
{
var slot = param.ScanParam.PlcPushAside;
if (client.TryReadBool(slot))
{
var resetok = client.TryWrite(slot, 0);
if (!resetok)
{
onResetError?.Invoke(); // 复位失败
}
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 抓料处来料信号。
/// </summary>
/// <param name="client"></param>
/// <param name="pos">抓料处位置编号。</param>
/// <param name="param"></param>
/// <returns></returns>
public static bool ReadItemCatchSignal(IOpcClient client, OPCParam param, int pos)
{
var slot = "";
if (pos == 1)
{
slot = param.RobotCarryParam.RobotCarryA;
}
if (pos == 2)
{
slot = param.RobotCarryParam.RobotCarryB;
}
if (slot == "")
{
throw new Exception("error pos.");
}
return(client.TryReadBool(slot));
}
/// <summary>
/// 读扫描状态信号。
/// </summary>
/// <param name="client">opc client.</param>
/// <param name="param">opc param.</param>
/// <returns></returns>
public static bool ReadScanState(IOpcClient client, OPCParam param)
{
return(client.TryReadBool(param.ScanParam.ScanState));
}
/// <summary>
/// 读布卷到达缓冲信号。
/// </summary>
/// <param name="client">opc client</param>
/// <param name="param">opc param</param>
/// <returns></returns>
public static bool ReadBeforeCacheSignal(IOpcClient client, OPCParam param)
{
return(client.TryReadBool(param.CacheParam.BeforCacheStatus));
}
public bool JobTask(ref bool isrun, bool isSideA, Queue <RollPosition> robotRollQ, RollPosition roll, ListView lv)
{
// 等待板可放料
if (!PanelAvailable(roll.RealLocation))
{
FrmMain.logOpt.Write($"!{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);
}
