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Commit 37648967 由 LN
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取放料和贴标速度优化

1 个父辈 ad45b768
内嵌 并排
正在显示 4 个修改的文件 包含 187 行增加 和 46 行删除
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs
......@@ -13,6 +13,7 @@ using System.Drawing;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
......@@ -399,12 +400,37 @@ namespace OnlineStore.AutoCountClient
}
private DateTime lastLogTime = DateTime.Now;
PerformanceCounter curtime = null;
private void LogM()
#region 内存回收
[DllImport("kernel32.dll", EntryPoint = "SetProcessWorkingSetSize")]
public static extern int SetProcessWorkingSetSize(IntPtr process, int minSize, int maxSize);
/// <summary>
/// 释放内存
/// </summary>
public static void ClearMemory()
{
try
{
GC.Collect();
GC.WaitForPendingFinalizers();
if (Environment.OSVersion.Platform == PlatformID.Win32NT)
{
SetProcessWorkingSetSize(System.Diagnostics.Process.GetCurrentProcess().Handle, -1, -1);
}
}
catch (Exception ex)
{
LogUtil.error("ClearMemory 出错：" + ex.ToString());
}
}
#endregion
private void LogM()
{
try
{
TimeSpan sp = DateTime.Now - lastLogTime;
if (sp.TotalMinutes > 20)
if (sp.TotalMinutes > 5)
{
lastLogTime = DateTime.Now;
......@@ -421,6 +447,8 @@ namespace OnlineStore.AutoCountClient
sbResult.AppendFormat("， CPU : {0} %", curtime.NextValue() / Environment.ProcessorCount);
LogUtil.info(sbResult.ToString());
}
ClearMemory();
}
}
catch (Exception ex)
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/EquipBase.cs
......@@ -91,6 +91,7 @@ namespace OnlineStore.DeviceLibrary
private DateTime lastProTimer = DateTime.Now;
public void TimerProcess()
{
OnTimerProcess();
TimeSpan span = DateTime.Now - lastProTimer;
if (isInPro && span.TotalSeconds < TimerMaxSeconds)
......@@ -117,8 +118,14 @@ namespace OnlineStore.DeviceLibrary
{
LogUtil.error(Name + "TimerProcess出错：", ex);
}
finally
{
isInPro = false;
}
}
protected virtual void OnTimerProcess()
{
isInPro = false;
}
protected DateTime preIoTimerOutTime = DateTime.Now;
protected virtual void IOTimeOutProcess()
......@@ -280,7 +287,6 @@ namespace OnlineStore.DeviceLibrary
#region CheckWait处理
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(RobotMoveInfo moveInfo)
{
......@@ -310,10 +316,10 @@ namespace OnlineStore.DeviceLibrary
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
TimeSpan axisSpan = DateTime.Now - preCheckAxisTime;
TimeSpan axisSpan = DateTime.Now - moveInfo.preCheckAxisTime;
if (axisSpan.TotalSeconds > 1)
{
preCheckAxisTime = DateTime.Now;
moveInfo.preCheckAxisTime = DateTime.Now;
string msg = "";
if (wait.IsHomeMove)
{
......@@ -450,10 +456,10 @@ namespace OnlineStore.DeviceLibrary
{
level = WorkLogLevel;
}
if (level <= WorkLogLevel)
{
level = WorkLogLevel;
}
//if (level <= WorkLogLevel)
//{
// level = WorkLogLevel;
//}
string code = "";
if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.WareCode != null)
{
......@@ -478,7 +484,7 @@ namespace OnlineStore.DeviceLibrary
{
level = SecWorkLogLevel;
}
level = SecWorkLogLevel;
//level = SecWorkLogLevel;
string code = SecMoveInfo.MoveParam != null ? SecMoveInfo.MoveParam.WareCode : "";
if (level.Equals(1))
{
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs
......@@ -124,7 +124,7 @@ namespace OnlineStore.DeviceLibrary
alarmType = AlarmType.None;
isInSuddenDown = false;
isNoAirCheck = false;
TimerMaxSeconds = 0;
MoveInfo.NextMoveStep(StepEnum.OMR01_MoveZHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
WorkLog("取料Z轴原点返回");
......@@ -148,7 +148,7 @@ namespace OnlineStore.DeviceLibrary
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.MoveType.Equals(RobotMoveType.Reset) || MoveInfo.MoveType.Equals(RobotMoveType.RHome))
......@@ -377,36 +377,126 @@ namespace OnlineStore.DeviceLibrary
}
}
#endregion
protected override void BusyMoveProcess()
private bool moveInPro=false;
private bool secInPro = false;
private bool shelfInPro = false;
private DateTime moveLastTime = DateTime.Now;
private DateTime secLastTime = DateTime.Now;
private DateTime shelfLastTime = DateTime.Now;
protected override void OnTimerProcess()
{
if (MoveStop)
{
return;
}
if (runStatus.Equals(RobotRunStatus.HomeMoving) || runStatus.Equals(RobotRunStatus.Reset))
int seconds = 3;
TimeSpan shelfSpan = DateTime.Now - shelfLastTime;
if (!shelfInPro || shelfSpan.TotalSeconds > seconds)
{
ResetProcess();
shelfInPro = true;
shelfLastTime = DateTime.Now;
try
{
if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro))
{
ShelfMoveProcess();
}
else if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.Reset) || ShelfMoveInfo.MoveType.Equals(RobotMoveType.RHome))
{
BatchResetMovePro();
}
}
catch (Exception ex)
{
LogUtil.error(Name + " OnTimerProcess 出错：", ex);
}
finally
{
shelfInPro = false;
}
}
else
TimeSpan secSpan = DateTime.Now - secLastTime;
if (!secInPro || secSpan.TotalSeconds > seconds)
{
if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro))
secInPro = true;
secLastTime = DateTime.Now;
try
{
if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
LabellingProcess();
}
else if (SecMoveInfo.MoveType.Equals(RobotMoveType.Reset) || SecMoveInfo.MoveType.Equals(RobotMoveType.RHome))
{
SecMoveResetPro();
}
}
catch (Exception ex)
{
ShelfMoveProcess();
LogUtil.error(Name + "TimerProcess出错：", ex);
}
if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
finally
{
LabellingProcess();
secInPro = false;
}
}
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
TimeSpan moveSpan = DateTime.Now - moveLastTime ;
if (!moveInPro || moveSpan.TotalSeconds > seconds)
{
moveInPro = true;
moveLastTime = DateTime.Now;
try
{
WorkingProcess();
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
WorkingProcess();
}
else if (MoveInfo.MoveType.Equals(RobotMoveType.Reset) || MoveInfo.MoveType.Equals(RobotMoveType.RHome))
{
MoveResetPro();
}
}
catch (Exception ex)
{
LogUtil.error(Name + "TimerProcess出错：", ex);
}
finally
{
moveInPro = false;
}
}
}
//protected override void BusyMoveProcess()
//{
// if (MoveStop)
// {
// return;
// }
// if (runStatus.Equals(RobotRunStatus.HomeMoving) || runStatus.Equals(RobotRunStatus.Reset))
// {
// ResetProcess();
// }
// else
// {
// if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro))
// {
// ShelfMoveProcess();
// }
// if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
// {
// LabellingProcess();
// }
// if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
// {
// WorkingProcess();
// }
// }
//}
private Stopwatch needEnterWatch = new Stopwatch();
private Stopwatch needLeaveWatch = new Stopwatch();
protected override void BaseTimerProcess()
......@@ -415,7 +505,7 @@ namespace OnlineStore.DeviceLibrary
{
return;
}
BusyMoveProcess();
//BusyMoveProcess();
if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && ShelfMoveInfo.IsInWait.Equals(false))
{
......@@ -484,7 +574,33 @@ namespace OnlineStore.DeviceLibrary
}
GratingSignalProcess();
}
protected override void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 3 && alarmType.Equals(AlarmType.IoSingleTimeOut))
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < RobotRunStatus.Runing || isInSuddenDown || isNoAirCheck)
{
return;
}
//若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
if ( MoveInfo.IsInWait.Equals(false) && SecMoveInfo.IsInWait.Equals(false)&&ShelfMoveInfo.IsInWait.Equals(false))
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = AlarmType.None;
SetWarnMsg("");
}
}
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：", ex);
}
}
internal override void StopMove()
{
AgvClient.SetStatus(Config.AgvInName);
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
......@@ -282,20 +282,21 @@ namespace OnlineStore.DeviceLibrary
if (shelfOk || debugOk)
{
MoveInfo.NextMoveStep(StepEnum.OT12_MoveXToP3);
WorkLog("放料：料串可放料，取料X轴移动到P3 ");
WorkLog("放料：料串可放料，取料X轴移动到P3 ["+ Config.MoveX_P3 + "]");
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P3, Config.MoveX_P3Speed);
ClearTimeoutAlarm("等待出料料串准备完成");
if (shelfOk)
{
int trayHeight = MoveInfo.MoveParam.PlateH;
ShelfMoveInfo.NextMoveStep(StepEnum.OS_21_BatchDownH);
int currP = BatchAxis.GetAclPosition();
int targetP = currP - (MoveInfo.MoveParam.PlateH + 20) * Config.Height_ChangeValue;
int targetP = currP - (trayHeight + 20) * Config.Height_ChangeValue;
if (targetP < Config.BatchAxisP2)
{
targetP = Config.BatchAxisP2;
}
ShelfWorkLog("放料： 提升轴下降指定高度 : 盘高【" + MoveInfo.MoveParam.PlateH + "】实时位置【" + currP + "】目标位置【" + targetP + "】");
ShelfWorkLog("放料： 提升轴下降指定高度 : 盘高【" + trayHeight + "】实时位置【" + currP + "】目标位置【" + targetP + "】");
BatchAxis.AbsMove(ShelfMoveInfo, targetP, Config.BatchAxis_P2Speed);
}
}
......@@ -309,22 +310,12 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.OT12_MoveXToP3))
{
//bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_22_WaitTray);
//bool debugOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveParam.IsTest;
//if (shelfOk || debugOk)
//{
// ClearTimeoutAlarm("等待出料料串可放料");
MoveInfo.NextMoveStep(StepEnum.OT13_MoveZToP3);
WorkLog("放料：取料Z轴下降到P3 ");
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP3(MoveInfo.MoveParam.PlateH), Config.MoveZ_P3Speed);
//}
//else if (MoveInfo.IsTimeOut(60))
//{
// WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待出料料串可放料（OS_22_WaitTray）超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
// LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
// Alarm(AlarmType.IoSingleTimeOut);
//}
//CheckStartLabel();
int p = Config.GetMoveZP3(MoveInfo.MoveParam.PlateH);
WorkLog("放料：取料Z轴下降到P3 ["+p+"] ",1);
MoveZAxis.AbsMove(MoveInfo, p, Config.MoveZ_P3Speed);
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT13_MoveZToP3))
{
......
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