private void RefreshProductOuthouse()
{
switch(_workStatus)
{
case MachineWorkStatus.MACHINE_IDLE:
{
_TimeElapse = 0; //计时清零
_workStatus = MachineWorkStatus.PRODUCT_OUT_PREPARE;
break;
}
case MachineWorkStatus.PRODUCT_OUT_PREPARE:
{
_TimeElapse += (int)(MotionTimerInterval * SimClockRate);
int CellMoveMax = _TimeElapse / _CellMoveTime; //最多能移动格数
if (Math.Abs(_TargetCoord.L - _CurrentCoord.L) < CellMoveMax)
{
_CurrentCoord.L = _TargetCoord.L;
int CellMoveColumnMax = CellMoveMax - Math.Abs(_TargetCoord.L - _CurrentCoord.L);
if (Math.Abs(_TargetCoord.C - _CurrentCoord.C) < CellMoveColumnMax)
{
_CurrentCoord.C = _TargetCoord.C;
_workStatus = MachineWorkStatus.PRODUCT_OUT_LOADED;
_TimeElapse = 0; //计时清零
}
else
{
_TimeElapse -= (int)(CellMoveMax * MotionTimerInterval * SimClockRate);
if (_TargetCoord.C > _CurrentCoord.C)
{
_CurrentCoord.C += CellMoveColumnMax;
}
else
{
_CurrentCoord.C -= CellMoveColumnMax;
}
}
}
else
{
_TimeElapse -= (int)(CellMoveMax * MotionTimerInterval * SimClockRate);
if (_TargetCoord.L > _CurrentCoord.L)
{
_CurrentCoord.L += CellMoveMax;
}
else
{
_CurrentCoord.L -= CellMoveMax;
}
}
break;
}
case MachineWorkStatus.PRODUCT_OUT_LOADED:
{
_TimeElapse += (int)(MotionTimerInterval * SimClockRate);
if (_TimeElapse >= _LoadTime)
{
_workStatus = MachineWorkStatus.PRODUCT_OUTCOMING;
_TimeElapse = 0; //计时器清零
}
break;
}
case MachineWorkStatus.PRODUCT_OUTCOMING:
{
CellPos targetPos = new CellPos();
targetPos.L = 1;
targetPos.C = 50;
_TimeElapse += (int)(MotionTimerInterval * SimClockRate);
int CellMoveMax = _TimeElapse / _CellMoveTime; //最多能移动格数
//先移动到目标层，再移动到目标列
if (Math.Abs(targetPos.L - _CurrentCoord.L) < CellMoveMax)
{
_CurrentCoord.L = targetPos.L;
int CellMoveColumnMax = CellMoveMax - Math.Abs(targetPos.L - _CurrentCoord.L);
if (Math.Abs(targetPos.C - _CurrentCoord.C) < CellMoveColumnMax)
{
_CurrentCoord.C = targetPos.C;
_workStatus = MachineWorkStatus.PRODUCT_OUT_UNLOADED;
_TimeElapse = 0; //计时清零
}
else
{
_TimeElapse -= (int)(CellMoveMax * MotionTimerInterval * SimClockRate);
if (targetPos.C > _CurrentCoord.C)
{
_CurrentCoord.C += CellMoveColumnMax;
}
else
{
_CurrentCoord.C -= CellMoveColumnMax;
}
}
}
else
{
_TimeElapse -= (int)(CellMoveMax * MotionTimerInterval * SimClockRate);
if (targetPos.L > _CurrentCoord.L)
{
_CurrentCoord.L += CellMoveMax;
}
else
{
_CurrentCoord.L -= CellMoveMax;
}
}
break;
}
case MachineWorkStatus.PRODUCT_OUT_UNLOADED:
{
_TimeElapse += (int)(MotionTimerInterval * SimClockRate);
if(_TimeElapse>= _UnloadTime)
{
_workStatus = MachineWorkStatus.PRODUCT_OUTHOUSE_OK;
_TimeElapse = 0;
}
break;
}
case MachineWorkStatus.PRODUCT_OUTHOUSE_OK:
{
_workStatus = MachineWorkStatus.MACHINE_IDLE;
_CurrentCmd = 0;
_TimeElapse = 0;
break;
}
}
}
public void RefreshTaskDisp(int MachineIndex, CellPos targetPos, string taskDes)
{
this.Invoke(new delegateRefreshUI(ThreadUIRefreshTaskDisp), MachineIndex,taskDes);
this.Invoke(new delegateRefreshUI(ThreadUIRefreshTargetCell), MachineIndex,targetPos.L.ToString() + "," + targetPos.R.ToString() + "," + targetPos.C.ToString());
}
