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@@ -4,6 +4,7 @@ using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using GSG.NET.Concurrent;
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+using GSG.NET.LINQ;
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using GSG.NET.Logging;
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using GSG.NET.Quartz;
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using GSG.NET.Utils;
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@@ -25,6 +26,7 @@ namespace VehicleControlSystem.ControlLayer
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public class Vehicle : ControlObjectBase, IDisposable
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{
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static Logger logger = Logger.GetLogger();
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+ static Logger loggerPIO = Logger.GetLogger("PIO");
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#region Properties
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private double currentPosition;
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@@ -179,7 +181,6 @@ namespace VehicleControlSystem.ControlLayer
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public void Init()
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{
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this.CreateClamp();
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- this.CreateConveyor();
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this.CreateSteering();
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ThreadStart();
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@@ -367,7 +368,7 @@ namespace VehicleControlSystem.ControlLayer
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return false;
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}
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- result = this.conveyor.PIOAndLoad(sub.TargetID);
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+ result = this.PIOAndLoad(sub.TargetID);
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if (result != 0)
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{
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this.autoManager.ProcessAlarm(result);
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@@ -401,7 +402,7 @@ namespace VehicleControlSystem.ControlLayer
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return false;
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}
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- result = this.conveyor.PIOAndUnload(sub.TargetID);
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+ result = this.PIOAndUnload(sub.TargetID);
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if (result != 0)
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{
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this.autoManager.ProcessAlarm(result);
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@@ -451,6 +452,256 @@ namespace VehicleControlSystem.ControlLayer
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#endregion
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#region Machanical Method
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+
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+ #region Conveyor
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+ int OnOffConveyor(bool isOn, bool isCW = false)
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+ {
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+ if (IsInverterError())
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+ return 16;
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+
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+ if (isCW)
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+ this.iO.OutputOn("OUT_CV_CWCCW");
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+ else
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+ this.iO.OutputOff("OUT_CV_CWCCW");
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+
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+ if (isOn)
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+ this.iO.OutputOn("OUT_CV_RUN");
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+ else
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+ this.iO.OutputOff("OUT_CV_RUN");
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+
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+ return 0;
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+ }
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+
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+ void SetConveyorSpeed(bool IsHight)
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+ {
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+ if (IsHight)
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+ this.iO.WriteOutputIO("OUT_CV_DA", true);
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+ else
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+ this.iO.WriteOutputIO("OUT_CV_DA", false);
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+ }
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+
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+ /// <summary>
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+ /// 입구 감지 로딩시 감속 사용
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+ /// </summary>
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+ /// <returns></returns>
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+ bool IsDetectedLoadStart() => this.iO.IsOn("IN_CV_DETECT_00");
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+
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+ /// <summary>
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+ /// 실물 감지
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+ /// </summary>
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+ /// <returns></returns>
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+ public bool IsDetectedCenter() => this.iO.IsOn("IN_CV_DETECT_01");
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+
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+ bool IsDetectedLoadStop() => this.iO.IsOn("IN_CV_DETECT_02");
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+ bool IsInverterError() => this.iO.IsOn("IN_CV_ERROR");
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+ bool IsLifterPositinCheck() => this.iO.IsOn("IN_LIFTER_POSITION_DETECT");
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+ bool IsLifterDuplication() => this.iO.IsOn("IN_LIFTER_DUPLICATION_DETECT");
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+ bool IsPIOInterLockOn() => this.iO.IsOn("OUT_PIO_INTERLOCK");
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+
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+ int Load_Carrier()
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+ {
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+ if (IsDetectedCenter())
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+ return 9;
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+
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+ OnOffConveyor(true, true);
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+
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+ long sTime = SwUtils.CurrentTimeMillis;
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+ while (true)
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+ {
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+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND)) //Wait 20Sec
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+ {
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+ OnOffConveyor(false, true);
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+ return 10;
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+ }
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+
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+ if (IsDetectedLoadStart())
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+ break;
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+ }
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+
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+ return 0;
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+ }
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+
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+ int UnloadCarrier()
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+ {
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+ if (!IsDetectedLoadStart())
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+ return 11;
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+
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+ OnOffConveyor(true, true);
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+
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+ long sTime = SwUtils.CurrentTimeMillis;
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+ while (true)
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+ {
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+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND)) //Wait 20Sec
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+ {
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+ OnOffConveyor(false, true);
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+ return 12;
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+ }
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+
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+ if (!IsDetectedLoadStart())
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+ break;
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+ }
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+
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+ return 0;
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+ }
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+
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+ public int PIOAndLoad(string targetName)
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+ {
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+ if (this.IsInverterError())
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+ return 16;
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+
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+ if (this.IsLifterPositinCheck())
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+ return 14;
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+
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+ if (this.IsLifterDuplication())
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+ return 11;
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+
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+ PIOClear();
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+ loggerPIO.I($"Start Load PIO - [{targetName}]");
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+ this.OnPIOStart?.Invoke(true);
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+
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+ this.iO.WriteOutputIO("OUT_PIO_RECEIVE_RUN", true);
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+ loggerPIO.I("[Vehicle] - 4 Receive Run On");
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+
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+ if (!this.iO.WaitChangeInputIO(true, 1000, "IN_PIO_SENDABLE"))
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+ {
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+ PIOClear();
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+ loggerPIO.E("[Port] - 4 Ready Time Out");
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+ return 10;
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+ }
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+ loggerPIO.E("[Port] - 4 Ready On");
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+
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+ this.SetConveyorSpeed(true);
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+ this.OnOffConveyor(true, true);
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+ this.iO.WriteOutputIO("OUT_PIO_RECEIVE_RUN", true);
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+ loggerPIO.I("[Vehicle] - Conveyor Run");
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+ this.OnConveyorStart?.Invoke(true);
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+
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+ if (!this.iO.WaitChangeInputIO(true, 1000, "IN_PIO_SEND_RUN"))
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+ {
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+ this.OnOffConveyor(false, true);
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+ PIOClear();
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+ loggerPIO.E("[Port] - 5 Sending Run Time Out");
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+ return 10;
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+ }
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+
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+ bool isStartDetected = false;
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+ var sTime = SwUtils.CurrentTimeMillis;
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+ while (true)
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+ {
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+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND))
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+ {
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+ PIOClear();
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+ this.OnOffConveyor(false, true);
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+ loggerPIO.E("[Vehicle] Conveyor Wait Time Out");
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+ return 10; //Conveyor Moving Timeout
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+ }
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+
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+ if (this.IsDetectedLoadStart() && !isStartDetected)
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+ isStartDetected = true;
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+
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+ if (!this.IsDetectedLoadStart() && isStartDetected)
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+ this.SetConveyorSpeed(false);
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+
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+ if (this.IsDetectedLoadStop()) break;
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+
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+ if (this.IsPIOInterLockOn())
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+ {
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+ PIOClear();
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+ this.OnOffConveyor(false); //Stop
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+ loggerPIO.E("[Port] PIO InterLock On ");
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+ return 19; //Conveyor Moving Timeout
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+ }
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+ }
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+
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+ if (this.IsDetectedCenter())
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+ this.OnCarrierDetected?.Invoke(true);
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+
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+ this.OnOffConveyor(false); //Stop
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+ PIOClear();
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+ this.OnConveyorStop?.Invoke(true);
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+
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+ this.iO.WriteOutputIO("OUT_PIO_RECIVE_COMPLITE", true);
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+ this.iO.WriteOutputIO("OUT_PIO_RECIVE_COMPLITE", false, 1000);
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+
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+ return 0;
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+ }
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+
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+ public int PIOAndUnload(string targetName)
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+ {
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+ if (this.IsInverterError())
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+ return 16;
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+
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+ if (this.IsLifterDuplication())
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+ return 15;
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+
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+ if (this.IsLifterPositinCheck())
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+ return 13;
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+
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+ PIOClear();
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+ loggerPIO.I($"Start Unload PIO - [{targetName}]");
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+ this.OnPIOStart?.Invoke(false);
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+
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+ if (!this.iO.IsOn("IN_PIO_READY"))
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+ {
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+ loggerPIO.E("[Port] - 1 Ready not On");
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+ return 12;
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+ }
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+
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+ this.iO.WriteOutputIO("OUT_PIO_READY", true);
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+ loggerPIO.I("[Vehicle] - 1 Ready On");
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+
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+ if (!this.iO.WaitChangeInputIO(true, 1000, "IN_PIO_RECEIVE_RUN"))
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+ {
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+ PIOClear();
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+ loggerPIO.E("[Port] - 2 Receive CV Run Timeout");
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+ return 12;
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+ }
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+
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+ this.iO.WriteOutputIO("", true);
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+ loggerPIO.I("[Vehicle] - 2 Send Run On");
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+
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+ this.SetConveyorSpeed(true);
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+ this.OnOffConveyor(true);
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+ this.OnConveyorStart?.Invoke(false);
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+
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+ var sTime = SwUtils.CurrentTimeMillis;
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+ while (true)
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+ {
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+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND))
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+ {
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+ PIOClear();
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+ this.OnOffConveyor(false, true);
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+ loggerPIO.E("[Port] Conveyor Wait Time Out");
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+ return 12; //Conveyor Moving Timeout
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+ }
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+
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+ if (this.iO.IsOn("IN_PIO_RECEIVE_COMPLITE"))
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+ break;
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+ }
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+
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+ if ( !IsDetectedCenter() )
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+ this.OnCarrierDetected?.Invoke(false);
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+
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+ this.OnOffConveyor(false); //Stop
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+ this.OnConveyorStop?.Invoke(false);
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+ PIOClear();
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+
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+ this.iO.WriteOutputIO("OUT_PIO_SEND_COMPLITE", true);
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+ this.iO.WriteOutputIO("OUT_PIO_SEND_COMPLITE", false, 1000);
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+
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+ this.OnUnloadComplete?.Invoke();
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+
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+ return 0;
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+ }
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+
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+ void PIOClear()
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+ {
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+ string[] pio = { "OUT_PIO_READY", "OUT_PIO_SENDING_RUN", "OUT_PIO_SEND_COMPLITE", "OUT_PIO_RECEIVABLE", "OUT_PIO_RECEIVE_RUN", "OUT_PIO_RECIVE_COMPLITE", "OUT_PIO_INTERLOCK" };
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+ pio.FwEach(x => { this.iO.OutputOff(x); });
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+ }
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+
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+ #endregion
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+
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#endregion
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#region Hardware Create Method
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@@ -466,10 +717,6 @@ namespace VehicleControlSystem.ControlLayer
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this.clamp.Init();
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}
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- void CreateConveyor()
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- {
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- this.conveyor = new Conveyor(this.iO);
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- }
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#endregion
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#region Help Method
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SK.Kang