91 lines
3.4 KiB
C#
91 lines
3.4 KiB
C#
using System;
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using SimpleCore.Library;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Model;
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using StandardScene.Signal.Plc;
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namespace StandardScene.Signal.Logic
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{
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/// <summary>
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/// 销钉 / 牵引棒升降后再放行。对齐反编译 <c>DefaultPlugin.PointControl</c>。
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/// </summary>
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/// <remarks>
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/// <c>SignalParams</c>：<c>动作;机构名</c>。
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/// 动作：<c>UP1</c> 升销钉1，<c>UP2</c> 升销钉1+2，<c>Down1</c> / <c>Down2</c> 对应下降。
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/// 机构名可选：填了则必须等该机构读字节=允许离开才启动；空则只等销钉动作完成。
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/// 销钉指令通过 <see cref="SignalCarAdapter.Control"/> 反射调用车体 MethodMember（如 SetPin1Up）。
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/// </remarks>
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public static class PointControlHandler
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{
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/// <summary>停稳：先判机构是否允许离开，再下发销钉，全部到位后启动。</summary>
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public static void OnStopped(Car car, SignalStopSpec spec, Func<string, string, PlcStationRuntime> find)
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{
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var action = spec.Action;
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var jgName = spec.JgName;
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if (string.IsNullOrEmpty(action))
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{
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Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，读取配置特殊点名称为空", "SetPin", true);
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return;
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}
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var waitLeave = false;
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if (!string.IsNullOrEmpty(jgName))
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{
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var rt = find(jgName, spec.DockId);
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if (rt != null)
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{
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lock (rt.Sync)
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waitLeave = rt.ReadSignal != SignalReadValue.允许离开;
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}
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}
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var pos = SignalCarAdapter.PositionId(car);
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switch (action)
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{
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case "UP1":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Up");
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break;
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case "UP2":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Up", "SetPin2Up");
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break;
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case "Down1":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Down");
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break;
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case "Down2":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Down", "SetPin2Down");
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break;
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}
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}
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/// <summary>
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/// 任一销钉未完成则本拍只下发指令、不启动；
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/// 全部完成且（无需等离开 或 已允许离开）才 Start。
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/// </summary>
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private static void PinThenGo(Car car, int pos, bool waitLeave, string jgName, params string[] actions)
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{
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var done = true;
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foreach (var a in actions)
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{
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if (!SignalCarAdapter.IsActionFinish(car, a))
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done = false;
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}
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if (!done)
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{
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foreach (var a in actions)
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SignalCarAdapter.Control(car, a);
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return;
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}
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if (waitLeave)
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{
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Diagnosis.Log($"AGV{car.id}停在地标{pos}，需要读取{jgName}工位的允许离开", "SetPin", true);
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return;
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}
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SignalCarAdapter.Start(car);
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Diagnosis.Log($"AGV{car.id}停在地标{pos}，牵引棒动作到位，已通知AGV启动", "SetPin", true);
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}
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}
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}
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