#include "StdAfx.h" #include "Program_SZ_XL_TrackWorkFlow.h" #include "GlobalFunction.h" #include "CommonFlowMgr.h" #include "ProductMgr.h" #include "ProgramCutMgr.h" #include "WorkCmdContainer.h" #include "Program_SZ_XL.h" #include "MotionCard_PCI1245.h" #include "WorkCmdMoveMotor.h" #include "WorkCmdInvoker.h" #include "WorkCmdWaitMotorStop.h" #include "WorkCmdSetMotorSpeed.h" #include "ObjComponentMgr.h" #include "LogMgr.h" #include "MsgBox.h" #include "WorkTime.h" #include "FileMgr.h" #include "Motor.h" #define PLC_READ_MSG_LEN 12 //接收PLC 数据的长度(字节) #define TRACK_NAME_1 "轨道1" #define TRACK_NAME_2 "轨道2" int gStopTimes = 0; //当前锁定的轨道 ETrackType gCurLockTrackType = _ETrackType_NULL; CTrackWorkFlow gTrackWorkFlow1(TRACK_NAME_1);//轨道1 的流程管理 CTrackWorkFlow gTrackWorkFlow2(TRACK_NAME_2);//轨道2 的流程管理 #define TRACK1_RECORD_FILE "\\CutPar\\TrackRecord1.txt" #define TRACK2_RECORD_FILE "\\CutPar\\TrackRecord2.txt" //工作流程控制线程(无限循环) UINT WorkFlowCtrlThread(LPVOID pParam) { CTrackWorkFlow *WorkFlow = (CTrackWorkFlow *)pParam; WorkFlow->WorkFlowCtrl(); return 0; } //读取plc 消息的线程(无限循环) UINT ReadPlcMsgThread(LPVOID pParam) { CTrackWorkFlow *WorkFlow = (CTrackWorkFlow *)pParam; WorkFlow->ReadPlcMsg(); return 0; } //执行一个步骤的线程(执行一次) UINT ExecuteStepThread(LPVOID pParam) { CTrackWorkFlow *WorkFlow = (CTrackWorkFlow *)pParam; WorkFlow->ExecuteCurStep(); return 0; } CTrackWorkFlow::CTrackWorkFlow(CString Name) { m_TrackName = Name; m_ProductIdx = 0;//轨道对应产品工位的编号 //轨道的类型 if (m_TrackName == TRACK_NAME_1) m_TrackType = _ETrackType_Track_1; else m_TrackType = _ETrackType_Track_2; m_ComPort = 1;//通信用串口号 m_ComBaudRate = 115200;//通信用波特率 SetCurTrackWorkStep(_ETrack_Step_Stop);//当前的工作步骤 m_OldWorkStep = _ETrack_Step_Stop;//之前的工作步骤 m_bStopReadMsg = false;//是否暂停读取plc 消息 m_bAutoWorking = false;//是否在自动加工 m_bLoadProduct = false;//轨道上是否load 了产品 m_ReadMsgDelay = 200; m_CutProductCnt = 0;//切割产品的数量 m_bCircleStop = false;//当前循环后停止 } CTrackWorkFlow::~CTrackWorkFlow(void) { } //设置串口参数 void CTrackWorkFlow::SetComPar(int Port, int BaudRate) { m_ComPort = Port;//通信用串口号 m_ComBaudRate = BaudRate;//通信用波特率 } #if 1 //启动工作流程管理 void CTrackWorkFlow::WorkFlowStart() { //启动WorkFlow 控制线程 AfxBeginThread(WorkFlowCtrlThread, this); //打开plc 通信用串口 if (m_TrackCOM.Open(m_ComPort, m_ComBaudRate)) { //启动读取plc 消息的线程 AfxBeginThread(ReadPlcMsgThread, this); } else { CString LogStr; LogStr.Format(_T("TrackCOM %d 打开失败"), m_ComPort); gLogMgr->WriteDebugLog(LogStr); } } //工作流程控制 void CTrackWorkFlow::WorkFlowCtrl() { while (1) { if (gExitApp) return; Sleep(100); if (m_CurWorkStep == m_OldWorkStep)//无变化 continue; if (m_OldWorkStep == _ETrack_Step_Unload)//unload 结束步骤时 { //取消下料请求 CancelUnloadRequest(); gStopTimes = 0; } m_OldWorkStep = m_CurWorkStep;//记录当前步骤 //在新线程中执行 AfxBeginThread(ExecuteStepThread, this); } } //执行当前步骤 void CTrackWorkFlow::ExecuteCurStep() { if (gExitApp) return; switch (m_CurWorkStep) { /*case _ETrack_Step_Load_End://上料完成 MoveToWaitPos();//移动到等待位置 break; case _ETrack_Step_Mark_Waiting://等待加工 CatchMark();//抓取定位 break;*/ case _ETrack_Step_Catch_mark_End://等待加工 MarkProcess();//计算，收集加工数据（服务端） break; /*case _ETrack_Step_Mark_End://加工完成 ThrowEdge();//去边框 break; case _ETrack_Step_Throw_Edge_End://去边框完成 UnLoad();//下料 break; case _ETrack_Step_Unload_End://下料完成 Load();//上料 break; case _ETrack_Step_Load_Err://下料错误 case _ETrack_Step_Catch_mark_Err://抓取定位错误 case _ETrack_Step_Mark_Err://切割过程错误 case _ETrack_Step_Unload_Err://下料错误 case _ETrack_Step_Throw_Edge_Err://去边框错误 { //解除锁定 if (m_TrackType == gCurLockTrackType) gCurLockTrackType = _ETrackType_NULL; //退出自动状态 StopAutoWork(); } break;*/ default: break; } } void CTrackWorkFlow::SetCurTrackWorkStep(ETrackWorkStep Step) { if (m_CurWorkStep == _ETrack_Step_Load || m_CurWorkStep == _ETrack_Step_Throw_Edge) { if (Step == _ETrack_Step_Unload_End) { gLogMgr->WriteDebugLog("Canot Set Track_Step_Unload_End"); return; } } m_CurWorkStep = Step; } #endif #if 1 //启动自动加工 bool CTrackWorkFlow::StartAutoWork() { if (m_bAutoWorking) { if (m_CurWorkStep == _ETrack_Step_Unload) { if (gStopTimes < gProgram_SZ_XL->GetStopStepUnloadTimes())//连续点n 次可以强制停止 { CMsgBox MsgBox; MsgBox.Show("下料未完成不能停止!"); CString str; str.Format("StopTimes = %ld", gStopTimes); gLogMgr->WriteDebugLog(str); gStopTimes++; return false; } } //停止自动加工 StopAutoWork(); return true; } gStopTimes = 0;//重新计数 //检测是否有定位mark Dbxy MarkPt1; Dbxy MarkPt2; if (!gObjComponentMgr->GetTwoMarkPt(MarkPt1, MarkPt2))//获取定位点 { CMsgBox MsgBox; MsgBox.Show("没有加工图形!"); return false; } //设置自动运行状态 m_bAutoWorking = true; if (gProgram_SZ_XL->IsbAutoWorkMode())//半自动模式不要自动开始 { //如果load 了产品 if (m_bLoadProduct) { CMsgBox MsgBox; if (MsgBox.ConfirmOkCancel("确定:继续切割,取消:重新上料")) SetCurTrackWorkStep(_ETrack_Step_Mark_Waiting); else SetCurTrackWorkStep(_ETrack_Step_Unload_End); } else { SetCurTrackWorkStep(_ETrack_Step_Unload_End);//直接上料 } } else { SetCurTrackWorkStep(_ETrack_Step_Load); } CString Log = m_TrackName + " 开始自动运行"; gLogMgr->WriteDebugLog(Log); return true; } //停止自动加工 void CTrackWorkFlow::StopAutoWork() { CString Log = m_TrackName + " 停止自动运行"; gLogMgr->WriteDebugLog(Log); m_bAutoWorking = false; SetCurTrackWorkStep(_ETrack_Step_Stop); //取消下料请求 CancelUnloadRequest(); } #endif #if 1 //手动操作 void CTrackWorkFlow::ManualOperation(ETrackWorkStep TrackWorkStep) { //自动加工时不能手动操作(手动触发Load_End 例外) if (m_bAutoWorking && TrackWorkStep != _ETrack_Step_Load_End) { CString Log = m_TrackName + " 自动运行中"; gLogMgr->WriteDebugLog(Log); return; } //手动触发Load_End 在自动模式下无效 if (TrackWorkStep == _ETrack_Step_Load_End && gProgram_SZ_XL->IsbAutoWorkMode()) return; if (TrackWorkStep == _ETrack_Step_Load_End) { //夹紧载盘 ProductCarrierOpenClose(false); } SetCurTrackWorkStep(TrackWorkStep); } #endif #if 1 //读取串口消息 void CTrackWorkFlow::ReadPlcMsg() { while (1) { if (gExitApp) break; if (m_bStopReadMsg) { Sleep(100); continue; } ReadPlcMsgExt(); } } void CTrackWorkFlow::ReadPlcMsgExt() { Sleep(m_ReadMsgDelay); char buf[PLC_READ_MSG_LEN]; memset(buf, 0, sizeof(buf)); int ReadBytes = m_TrackCOM.Read(buf, PLC_READ_MSG_LEN); //分析命令内容 if (ReadBytes > 0) { AnalyzeRecvCmd(buf, PLC_READ_MSG_LEN); } } //解析反馈指令 void CTrackWorkFlow::AnalyzeRecvCmd(char *buf, int len) { //找到# 的位置 int IdxEnd = -1; for (int k = 0;k < len;k++) { if (buf[k] == '#') { IdxEnd = k; CString s; s.Format(_T("Idx # = %d"), IdxEnd); gLogMgr->WriteDebugLog(s); break; } } if (IdxEnd < 0)//没找到 return; if (IdxEnd != len - 1) buf[IdxEnd + 1] = '\0'; CString PlcMsg(buf); gLogMgr->WriteDebugLog("ReadPlcMsg--->" + PlcMsg); int IdxK = -1;//第一个K 的位置 for (int k = 0;k < IdxEnd;k++) { if (buf[k] == 'K') { IdxK = k; break; } } if (IdxK < 0) return; if (PlcMsg.Find("$(KQ3D1)#") != -1 || PlcMsg.Find("$(KQ4D1)#") != -1)//下料完成 { gLogMgr->WriteDebugLog("ReadPlcMsg--->_ETrack_Step_Unload_End"); if (m_CurWorkStep == _ETrack_Step_Unload)//只有下料状态才响应下料完成信号 { if (m_bCircleStop)//当前循环停止 { m_bCircleStop = false;//只停止一次 GetFrame()->m_DlgSW_XL_Flow.ResetCircleStopCheck(m_TrackType);//自动恢复check 状态 CString Log = m_TrackName + " Circle Stop"; gLogMgr->WriteDebugLog(Log); StopAutoWork();//停止自动运行 } else { SetCurTrackWorkStep(_ETrack_Step_Unload_End); } } } else if (PlcMsg.Find("$(KQ3E)#") != -1 || PlcMsg.Find("$(KQ4E)#") != -1)//下料错误 { SetCurTrackWorkStep(_ETrack_Step_Unload_Err); gLogMgr->WriteDebugLog("ReadPlcMsg--->_ETrack_Step_Unload_Err"); } } #endif #if 1 //获取发送给plc 的字符串 CString CTrackWorkFlow::GetSendPlcMsgStr(ETrackPlcCmd PlcCmd) { CString log; CString msg = "$(KQ"; if (PlcCmd == _ETrack_PlcCmd_Open_Product)//打开载盘 { if (m_TrackType == _ETrackType_Track_1) { msg += "G"; log = "SendPlcMsg: Track_1 打开载盘"; } else { msg += "I"; log = "SendPlcMsg: Track_2 打开载盘"; } } if (PlcCmd == _ETrack_PlcCmd_Close_Product)//夹紧载盘 { if (m_TrackType == _ETrackType_Track_1) { msg += "F"; log = "SendPlcMsg: Track_1 夹紧载盘"; } else { msg += "H"; log = "SendPlcMsg: Track_2 夹紧载盘"; } } if (PlcCmd == _ETrack_PlcCmd_Vac_Sorb_On)//真空吸附开 { if (m_TrackType == _ETrackType_Track_1) { msg += "9"; log = "SendPlcMsg: Track_1 真空吸附开"; } else { msg += "B"; log = "SendPlcMsg: Track_2 真空吸附开"; } } if (PlcCmd == _ETrack_PlcCmd_Vac_Sorb_Off)//真空吸附关 { if (m_TrackType == _ETrackType_Track_1) { msg += "A"; log = "SendPlcMsg: Track_1 真空吸附关"; } else { msg += "C"; log = "SendPlcMsg: Track_2 真空吸附关"; } } if (PlcCmd == _ETrack_PlcCmd_Auto_Start)//自动开始 { msg += "5"; log = "SendPlcMsg: 自动开始"; } if (PlcCmd == _ETrack_PlcCmd_Auto_End)//自动结束 { msg += "6"; log = "SendPlcMsg: 自动结束"; } if (PlcCmd == _ETrack_PlcCmd_Unload)//下料 { if (m_TrackType == _ETrackType_Track_1) { msg += "3"; log = "SendPlcMsg: Track_1 下料"; } else { msg += "4"; log = "SendPlcMsg: Track_2 下料"; } } if (PlcCmd == _ETrack_PlcCmd_Cancel_Unload)//取消请求下料 { if (m_TrackType == _ETrackType_Track_1) { msg += "D"; log = "SendPlcMsg: Track_1 取消请求下料"; } else { msg += "E"; log = "SendPlcMsg: Track_2 取消请求下料"; } } if (PlcCmd == _ETrack_PlcCmd_Red_Alam_On)//红灯蜂鸣器开 { msg += "1"; log = "SendPlcMsg: 红灯蜂鸣器开"; } if (PlcCmd == _ETrack_PlcCmd_Red_Alam_Off)//红灯蜂鸣器开 { msg += "2"; log = "SendPlcMsg: 红灯蜂鸣器关"; } gLogMgr->WriteDebugLog(log); msg += ")#\r\n"; return msg; } //发送指令给PLC (bStopReadMsg 是否暂停读取PLC 消息) bool CTrackWorkFlow::SendMsgToPlc(ETrackPlcCmd PlcCmd, bool bStopReadMsg) { if (bStopReadMsg) { m_bStopReadMsg = true;//暂停读取 Sleep(300); } CString Msg = GetSendPlcMsgStr(PlcCmd); if (m_TrackCOM.IsOpen()) { char * buf = Msg.GetBuffer(); int len = Msg.GetLength(); m_TrackCOM.WriteBuf(buf, len);//发送 gLogMgr->WriteDebugLog("SendMsgToPlc--->" + Msg); } else { gLogMgr->WriteDebugLog("Plc 串口连接失败!"); return false; } //等待PLC 反馈信号 bool Ret = true; //Ret = WaitPlcRevMsg(PlcCmd); if (bStopReadMsg) { m_bStopReadMsg = false;//恢复读取 } Sleep(gProgram_SZ_XL->GetPlcCmdSendDelay()); return Ret; } //打开/夹紧载盘 void CTrackWorkFlow::ProductCarrierOpenClose(bool bOpen) { ETrackPlcCmd PlcCmd; if (bOpen) PlcCmd = _ETrack_PlcCmd_Open_Product; else PlcCmd = _ETrack_PlcCmd_Close_Product; SendMsgToPlc(PlcCmd, false); } //真空吸附 void CTrackWorkFlow::VacSorbOnOff(bool bOn) { ETrackPlcCmd PlcCmd; if (bOn) PlcCmd = _ETrack_PlcCmd_Vac_Sorb_On; else PlcCmd = _ETrack_PlcCmd_Vac_Sorb_Off; SendMsgToPlc(PlcCmd, false); } //红灯蜂鸣器 void CTrackWorkFlow::RadAlamOnOff(bool bOn) { ETrackPlcCmd PlcCmd; if (bOn) PlcCmd = _ETrack_PlcCmd_Red_Alam_On; else PlcCmd = _ETrack_PlcCmd_Red_Alam_Off; SendMsgToPlc(PlcCmd, false); } //通知plc 自动开始或结束 void CTrackWorkFlow::SendAutoStartFlg(bool bStart) { if (m_TrackType == _ETrackType_Track_1)//用轨道1 串口控制 { ETrackPlcCmd PlcCmd; if (bStart) PlcCmd = _ETrack_PlcCmd_Auto_Start; else PlcCmd = _ETrack_PlcCmd_Auto_End; SendMsgToPlc(PlcCmd, false); } } //取消下料请求 void CTrackWorkFlow::CancelUnloadRequest() { gLogMgr->WriteDebugLog(m_TrackName + " CancelUnloadRequest"); SendMsgToPlc(_ETrack_PlcCmd_Cancel_Unload, false); } #endif #if 1 //移动到位置 void CTrackWorkFlow::MoveToPos(ETrackWorkStep WorkStep) { double Coord = gProgram_SZ_XL->GetMoveCoord(m_TrackType, WorkStep); CString MotorStr = (m_TrackType == _ETrackType_Track_1) ? (MOTOR_X) : (MOTOR_X2); CMotor &Motor = *(CMotor::GetMotor(MotorStr)); CWorkCmdContainer CmdContainer; //设置电机速度 { CWorkCmdSetMotorSpeed *pCmd = new CWorkCmdSetMotorSpeed(); if (m_TrackType == _ETrackType_Track_1) pCmd->SetbSetMotorX(); else pCmd->SetbSetMotorX2(); pCmd->SetSpeedType(_SpeedType_Move); CmdContainer.AddCmd(pCmd); } //移动 { CWorkCmdMoveMotor *pCmd = new CWorkCmdMoveMotor(Motor, Coord); pCmd->SetMoveFlg(false);//移动到坐标 CmdContainer.AddCmd(pCmd); } //等待移动结束 { CWorkCmdWaitMotorStop *pCmd = new CWorkCmdWaitMotorStop(); if (m_TrackType == _ETrackType_Track_1) pCmd->SetbWaitMotorX(); else pCmd->SetbWaitMotorX2(); CmdContainer.AddCmd(pCmd); } CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.Excute(CmdContainer); Motor.NotifyObservers(); } //上料 void CTrackWorkFlow::Load() { SetCurTrackWorkStep(_ETrack_Step_Load); //平台移动到上料位置 if (gProgram_SZ_XL->IsbAutoWorkMode())//自动模式 { //夹紧载盘 ProductCarrierOpenClose(false); MoveToPos(_ETrack_Step_Load); } else//手动模式移动到unload 的位置 { MoveToPos(_ETrack_Step_Unload); } CString Log = m_TrackName + " Load"; gLogMgr->WriteDebugLog(Log); if (gProgram_SZ_XL->IsbShieldLoad())//屏蔽上料 { if (m_bAutoWorking)//自动生产中 { SetCurTrackWorkStep(_ETrack_Step_Load_End); } else { SetCurTrackWorkStep(_ETrack_Step_Load_Stop); } return; } if (gProgram_SZ_XL->IsbAutoWorkMode())//自动模式 { //发送上料信号给上料PLC if (gProgram_SZ_XL->SendMsgToLoadDevice(m_TrackType, _ETrack_Step_Load, true) == false) { SetCurTrackWorkStep(_ETrack_Step_Load_Err); Log = m_TrackName + " Load Err"; gLogMgr->WriteDebugLog(Log); return; } } if (m_bAutoWorking)//自动生产中 { //等待PLC 上料完成 while (1) { if (m_CurWorkStep == _ETrack_Step_Load_End) break; Sleep(200); } Log = m_TrackName + " Load End"; gLogMgr->WriteDebugLog(Log); } else//半自动模式直接上料结束 { SetCurTrackWorkStep(_ETrack_Step_Load_Stop); Log = m_TrackName + " Load Stop"; gLogMgr->WriteDebugLog(Log); } } //移动到等待位置 void CTrackWorkFlow::MoveToWaitPos() { CString Log = m_TrackName + " MoveToWaitPos"; gLogMgr->WriteDebugLog(Log); SetCurTrackWorkStep(_ETrack_Step_To_Wait_Pos); MoveToPos(_ETrack_Step_To_Wait_Pos); if (m_bAutoWorking) { SetCurTrackWorkStep(_ETrack_Step_Mark_Waiting); Log = m_TrackName + " Mark Waiting"; gLogMgr->WriteDebugLog(Log); m_bLoadProduct = true;//轨道上是否load 了产品 } else { SetCurTrackWorkStep(_ETrack_Step_Stop); } } //切换平台XY 组编号 void CTrackWorkFlow::ChangePlatXYGroupIdx() { int idx = (m_TrackType == _ETrackType_Track_1) ? 0 : 1; gMotionCard_PCI1245->SetCurGpIdx(idx); } //抓取定位,并计算偏移和旋转 void CTrackWorkFlow::CatchMark() { //只有无锁定状态才能CatchMark /*if (gCurLockTrackType != _ETrackType_NULL) { m_OldWorkStep = _ETrack_Step_NULL;//强制改变之前的状态 return; } gCurLockTrackType = m_TrackType;//锁定当前轨道 SetCurTrackWorkStep(_ETrack_Step_Catch_mark); CString Log = m_TrackName + " CatchMark"; gLogMgr->WriteDebugLog(Log);*/ /*//真空吸附 VacSorbOnOff(true); bool Ret = true; if (gProgram_SZ_XL->IsbShieldMarking() == false)//屏蔽加工过程 { //切换平台XY 组编号 ChangePlatXYGroupIdx(); / *CProduct &Product = gServer->m_RcvProduct; //将数据移动到当前product 的基准点上 Dbxy BasePt = Product.GetProductBasePt(); //轨道2 要偏移基准点 if (m_TrackType == _ETrackType_Track_2) { Dbxy Track2Offset = gProgram_SZ_XL->GetTrack2Offset(); BasePt.x += Track2Offset.x; BasePt.y += Track2Offset.y; } //移动obj gProgramCutMgr->MoveObjData(BasePt); //移动area //计算所有obj 的中心点 gObjComponentMgr->CalAllObjCenterPt(); Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt(); gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt); //识别定位点3 Dbxy MarkPt3; if (gObjComponentMgr->GetMark3Pt(MarkPt3)) { Ret = gCommonFlowMgr->CameraCatchMark3(Product); } if (Ret) { //识别定位点1 gCommonFlowMgr->CameraCatchTwoMark(Product);//只抓取一个点 if (!Product.IsSetRealMarkPt1()) { Ret = false; } } //识别定位点2 if (Ret) { gCommonFlowMgr->CameraCatchTwoMark(Product);//只抓取一个点 } if (!Product.IsMarkReady())//mark 识别错误 { Ret = false; } //抓取失败时/非自动状态时 if (Ret == false || m_bAutoWorking == false) { VacSorbOnOff(false);//真空放开 //解除锁定 gCurLockTrackType = _ETrackType_NULL; } }* / if (m_bAutoWorking) { if (Ret == false) { SetCurTrackWorkStep(_ETrack_Step_Catch_mark_Err); } else { SetCurTrackWorkStep(_ETrack_Step_Catch_mark_End); } } else { SetCurTrackWorkStep(_ETrack_Step_Stop); //解除锁定 if (m_TrackType == gCurLockTrackType) { gCurLockTrackType = _ETrackType_NULL; } } if (m_CurWorkStep != _ETrack_Step_Catch_mark_End)//异常停止时 { //数据移动回默认的位置(防止area 移位) gProgramCutMgr->MoveObjData(Dbxy(0, 0)); gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0)); } //恢复报警状态 gTrackWorkFlow1.RadAlamOnOff(false);*/ } //加工过程 void CTrackWorkFlow::MarkProcess() { gWorkTime.StartRecordTime();//计时开始 //设置当前的工作步骤 SetCurTrackWorkStep(_ETrack_Step_Marking); //XY 组切换 MarkProcessExt(); CString str = "READY"; gServer->BroadCast(str); gLogMgr->WriteDebugLog(str); //设置当前的工作步骤 SetCurTrackWorkStep(_ETrack_Step_Marking); //数据移动回默认的位置 /* gProgramCutMgr->MoveObjData(Dbxy(0, 0)); gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));*/ //gCurLockTrackType = _ETrackType_NULL;//解锁 //VacSorbOnOff(false);//真空放开 m_CutProductCnt++;//切割产品的数量 //向客户端发送加工完成 WriteRecordTimesToFile(); gWorkTime.StopRecordTime();//停止计时 SetCurTrackWorkStep(_ETrack_Step_NULL);//置空 } bool CTrackWorkFlow::MarkProcessExt() { //设置整体加工偏移 Dbxy MarkOffset = gProgram_SZ_XL->GetTrackMarkOffset(m_TrackType); gCommonFlowMgr->SetAdjustOffsetAll(MarkOffset); //记录当前正在切割的轨道 gProgram_SZ_XL->SetCurMarkingTrack(m_TrackType); CProduct &Product = gServer->m_RcvProduct; /* Dbxy BasePt = Product.GetProductBasePt(); //=======移动obj============== gProgramCutMgr->MoveObjData(BasePt); ///--------移动area-------------------------- //计算所有obj 的中心点 gObjComponentMgr->CalAllObjCenterPt(); Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt(); gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt);*/ bool Ret; //启动切割 if (!gProgram_SZ_XL->IsbSelMarkMode())//全部加工时自动选择所有obj gObjComponentMgr->SelAllObj(); Ret = gProgramCutMgr->StartWork(Product, true); //清空指令集 CWorkCmdContainer &CmdContainer = CWorkCmdContainer::GetInstance();//指令集 CmdContainer.Clear(); //取消选择状态 gObjComponentMgr->NotSelAllObj(); return Ret; } //去边框 void CTrackWorkFlow::ThrowEdge() { SetCurTrackWorkStep(_ETrack_Step_Throw_Edge); //通知plc 上料 CString Log = m_TrackName + " Throw Edge"; gLogMgr->WriteDebugLog(Log); if (gProgram_SZ_XL->IsbShieldLoad())//屏蔽上料 { if (m_bAutoWorking)//自动生产中 SetCurTrackWorkStep(_ETrack_Step_Throw_Edge_End); else SetCurTrackWorkStep(_ETrack_Step_Stop); return; } if (gProgram_SZ_XL->IsbAutoWorkMode())//自动模式 { //平台移动到上料位置 MoveToPos(_ETrack_Step_Load); if (gProgram_SZ_XL->SendMsgToLoadDevice(m_TrackType, _ETrack_Step_Throw_Edge, true) == false) { SetCurTrackWorkStep(_ETrack_Step_Throw_Edge_Err); Log = m_TrackName + " Throw Edge Err"; gLogMgr->WriteDebugLog(Log); return; } if (m_bAutoWorking)//自动生产中 { //等待上料完成 while (1) { if (m_CurWorkStep == _ETrack_Step_Throw_Edge_End) break; Sleep(200); } Log = m_TrackName + " Throw Edge End"; gLogMgr->WriteDebugLog(Log); } else { SetCurTrackWorkStep(_ETrack_Step_Throw_Edge_Stop); Log = m_TrackName + " Load Stop"; gLogMgr->WriteDebugLog(Log); } } else { SetCurTrackWorkStep(_ETrack_Step_Throw_Edge_End); Log = m_TrackName + " Throw Edge End"; gLogMgr->WriteDebugLog(Log); } } //下料 void CTrackWorkFlow::UnLoad() { //设置当前步骤 SetCurTrackWorkStep(_ETrack_Step_Unload); //检查下料机的状态 if (gProgram_SZ_XL->IsbCheckUnloadState()) { //如果另外一个轨道没有在下料，下料机在轨道上的时候判断为unload错误 if (gMotionCard_PCI1245->CheckUnloadState() == false) { //获取另外一个轴的状态 ETrackWorkStep OtherTrackWorkStep = gProgram_SZ_XL->GetOtherTrackWorkStep(m_TrackType); if (OtherTrackWorkStep != _ETrack_Step_Unload) { SetCurTrackWorkStep(_ETrack_Step_Unload_Err); CMsgBox MsgBox; MsgBox.Show("下料机位置异常!"); return; } } } //平台移动到下料位置 MoveToPos(_ETrack_Step_Unload); //自动打开载盘 ProductCarrierOpenClose(true); //通知plc 下料 CString Log = m_TrackName + " UnLoad"; gLogMgr->WriteDebugLog(Log); if (gProgram_SZ_XL->IsbShieldUnLoad())//屏蔽下料 { if (m_bAutoWorking)//自动运行中 SetCurTrackWorkStep(_ETrack_Step_Unload_End); else SetCurTrackWorkStep(_ETrack_Step_Stop); return; } //如果另外一个轴在unload ,要等待其unload 完成 if (gProgram_SZ_XL->IsbAutoWorkMode()) { while (1) { Sleep(200); if (m_bAutoWorking == false)//如果没有在自动运行状态,退出 { SetCurTrackWorkStep(_ETrack_Step_Stop); return; } //获取另外一个轴的状态 ETrackWorkStep OtherTrackWorkStep = gProgram_SZ_XL->GetOtherTrackWorkStep(m_TrackType); if (OtherTrackWorkStep != _ETrack_Step_Unload) { break; } } //如果Y 轴在本轴的区域,要把Y 轴移到另外一个轨道上才能通知下料 MoveMotorYToSafePos(); //通知PLC 下料 SendMsgToPlc(_ETrack_PlcCmd_Unload, false); } if (m_bAutoWorking)//自动运行中 { if (gProgram_SZ_XL->IsbAutoWorkMode())//自动模式 { //等待PLC 下料完成 while (1) { if (m_CurWorkStep == _ETrack_Step_Unload_End) break; Sleep(200); } m_bLoadProduct = false;//轨道上是否load 了产品 } else//手动模式直接跳过下料步骤 { SetCurTrackWorkStep(_ETrack_Step_Unload_End); } } else { SetCurTrackWorkStep(_ETrack_Step_Stop); } } //移动Y 轴到安全区域 void CTrackWorkFlow::MoveMotorYToSafePos() { double DangerCoordStart;//危险范围start double DangerCoordEnd;//危险范围end double SafeCoord;//安全坐标 gProgram_SZ_XL->GetTrackMotorYCoord(m_TrackType, DangerCoordStart, DangerCoordEnd, SafeCoord); //获取当前的Y 轴坐标 CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y)); double CoordY = gMotionCard_PCI1245->GetMotorCoord(MotorY); if (DangerCoordStart <= CoordY && CoordY <= DangerCoordEnd) { gLogMgr->WriteDebugLog("Move MotorY To Safe Coord"); gCurLockTrackType = m_TrackType;//锁定当前轨道 //移动Y 轴到安全坐标 CWorkCmdContainer CmdContainer; //设置电机速度 { CWorkCmdSetMotorSpeed *pCmd = new CWorkCmdSetMotorSpeed(); pCmd->SetbSetMotorY(); pCmd->SetSpeedType(_SpeedType_Move); CmdContainer.AddCmd(pCmd); } //移动 { CWorkCmdMoveMotor *pCmd = new CWorkCmdMoveMotor(MotorY, SafeCoord); pCmd->SetMoveFlg(false);//移动到坐标 CmdContainer.AddCmd(pCmd); } //等待移动结束 { CWorkCmdWaitMotorStop *pCmd = new CWorkCmdWaitMotorStop(); pCmd->SetbWaitMotorY(); CmdContainer.AddCmd(pCmd); } CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.Excute(CmdContainer); MotorY.NotifyObservers(); //解除锁定 gCurLockTrackType = _ETrackType_NULL; } else { gLogMgr->WriteDebugLog("MotorY At Safe Coord"); } } CString CTrackWorkFlow::GetRecordFilePath() { CString Path = (m_TrackType == _ETrackType_Track_1) ? (TRACK1_RECORD_FILE) : (TRACK2_RECORD_FILE); CString FilePath; CFileMgr FileMgr; FileMgr.GetFullFilePath(FilePath, Path); return FilePath; } //加工次数次数写入到文件 void CTrackWorkFlow::WriteRecordTimesToFile() { CString FilePath = GetRecordFilePath(); CFile file(FilePath, CFile::modeReadWrite | CFile::modeCreate); CArchive ar(&file, CArchive::store); ar << m_CutProductCnt; } void CTrackWorkFlow::ReadRecordTimesFromFile() { CString FilePath = GetRecordFilePath(); CFile file; if (file.Open(FilePath, CFile::modeRead)) { CArchive ar(&file, CArchive::load); ar >> m_CutProductCnt; } } void CTrackWorkFlow::ResetRecordTimes() { m_CutProductCnt = 0; WriteRecordTimesToFile(); } #endif