Skip to content

李娜 / AutoCountMachine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 6811af88 由 LN
选项

逻辑优化。

1 个父辈 5cda5bea
内嵌 并排
正在显示 9 个修改的文件 包含 155 行增加 和 87 行删除
RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip.cs
...@@ -194,7 +194,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -194,7 +194,7 @@ namespace OnlineStore.DeviceLibrary
if (!LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.None) && (!LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working))) if (!LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.None) && (!LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working)))
{ {
WarnMsg = Name + "等待" + LeftBatchMove.Name + "复位完成超时[" + MoveInfo.TimeOutSeconds + "]秒"; WarnMsg = Name + "等待" + LeftBatchMove.Name + "复位完成超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType); LogUtil.error(WarnMsg, MoveInfo.ErrorLogType,MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
else else
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip_InStore.cs
...@@ -183,7 +183,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -183,7 +183,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(60)) else if (MoveInfo.IsTimeOut(60))
{ {
WarnMsg = Name + "等待" + moveBean.Name + "测高结束超时[" + MoveInfo.TimeOutSeconds + "]秒"; WarnMsg = Name + "等待" + moveBean.Name + "测高结束超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType); LogUtil.error(WarnMsg, MoveInfo.ErrorLogType,MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsTimeOut(120)) if (MoveInfo.IsTimeOut(120))
{ {
WarnMsg = Name + "等待" + MoveInfo.MoveParam.WareCode + "验证是否测值 超时[" + MoveInfo.TimeOutSeconds + "]秒"; WarnMsg = Name + "等待" + MoveInfo.MoveParam.WareCode + "验证是否测值 超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType); LogUtil.error(WarnMsg, MoveInfo.ErrorLogType,MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -344,8 +344,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -344,8 +344,9 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.IW44_MiddleToP2)) else if (MoveInfo.IsStep(StepEnum.IW44_MiddleToP2))
{ {
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
MoveInfo.EndMove(); MoveInfo.EndMove();
WorkLog("放料完成"); WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
} }
} }
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs
...@@ -205,7 +205,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -205,7 +205,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.OMR05_TakeT_Clamping_Relax)) else if (MoveInfo.IsStep(StepEnum.OMR05_TakeT_Clamping_Relax))
{ {
WorkLog(" 取料模块复位完成"); TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
WorkLog(" 取料模块复位完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
MoveInfo.EndMove(); MoveInfo.EndMove();
ResetStatusPro(); ResetStatusPro();
} }
...@@ -268,7 +269,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -268,7 +269,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SecMoveInfo.IsStep(StepEnum.OLR08_LabelRToP1)) else if (SecMoveInfo.IsStep(StepEnum.OLR08_LabelRToP1))
{ {
SecWorkLog(" 贴标模块复位完成"); TimeSpan span = DateTime.Now - SecMoveInfo.MoveStartTime;
SecWorkLog(" 贴标模块复位完成, 耗时（" + FormUtil.GetSpanStr(span) + "）");
SecMoveInfo.EndMove(); SecMoveInfo.EndMove();
ResetStatusPro(); ResetStatusPro();
} }
...@@ -360,15 +362,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -360,15 +362,17 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
TimeSpan span = DateTime.Now - ShelfMoveInfo.MoveStartTime;
ShelfMoveInfo.EndMove(); ShelfMoveInfo.EndMove();
ShelfWorkLog("批量轴模块复位完成"); ShelfWorkLog("批量轴模块复位完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
ResetStatusPro(); ResetStatusPro();
} }
} }
else if (ShelfMoveInfo.IsStep(StepEnum.OBR08_BatchAxisToP1)) else if (ShelfMoveInfo.IsStep(StepEnum.OBR08_BatchAxisToP1))
{ {
TimeSpan span = DateTime.Now - ShelfMoveInfo.MoveStartTime;
ShelfMoveInfo.EndMove(); ShelfMoveInfo.EndMove();
ShelfWorkLog("批量轴模块复位完成"); ShelfWorkLog("批量轴模块复位完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
ResetStatusPro(); ResetStatusPro();
} }
} }
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
...@@ -48,6 +48,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -48,6 +48,7 @@ namespace OnlineStore.DeviceLibrary
#region 取料 #region 取料
private bool IsStartLabel = false;//当前取的料盘是否开始打印标签
public override bool StartWorking(WorkParam param) public override bool StartWorking(WorkParam param)
{ {
if (MoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false)) if (MoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false))
...@@ -70,11 +71,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -70,11 +71,12 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
{ {
IsStartLabel = false;
MoveInfo.NewMove(RobotMoveType.Working, StepEnum.OT01_WaitCheck); MoveInfo.NewMove(RobotMoveType.Working, StepEnum.OT01_WaitCheck);
if (param.PlateW > 0 && param.PlateH > 0) if (param.PlateW > 0 && param.PlateH > 0)
{ {
MoveInfo.MoveParam = param; MoveInfo.MoveParam = param;
WorkLog(" 检测到XRay出口料盘[" + param.OutStr() + "]，准备开始取料"); WorkLog(" 检测到XRay出口料盘[" + param.OutStr() + "]，准备开始取料，重置 IsStartLabel = false");
} }
else else
{ {
...@@ -86,7 +88,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,7 +88,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.SetReelInfo(reelInfo); MoveInfo.MoveParam.SetReelInfo(reelInfo);
WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料"); WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料，重置 IsStartLabel = false");
} }
if (MoveInfo.MoveParam.PlateW <= 0 || if (MoveInfo.MoveParam.PlateW <= 0 ||
MoveInfo.MoveParam.PlateH <= 0 || MoveInfo.MoveParam.PlateH <= 0 ||
...@@ -101,6 +103,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -101,6 +103,38 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
private bool CheckStartLabel(bool needAlarm=false)
{
if (MoveInfo.MoveParam.IsNgReel)
{
return false;
}
if (IsStartLabel)
{
return true;
}
//TODO 记录信息，判断贴标模块当前空闲，此时可以打印标签（取码气缸前进，打印标签，取码气缸后退）
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
WorkLog("取料： 贴标模块开始打印标签");
//TODO
bool result = StartLabelling(MoveInfo.MoveParam);
if (result)
{
IsStartLabel = true;
return true;
}
}
else if (needAlarm && MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待贴标模块空闲 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
return false;
}
protected override void WorkingProcess() protected override void WorkingProcess()
{ {
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
...@@ -115,13 +149,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -115,13 +149,13 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(StepEnum.OT01_WaitCheck)) if (MoveInfo.IsStep(StepEnum.OT01_WaitCheck))
{ {
MoveInfo.NextMoveStep(StepEnum.OT02_MoveZToP1); MoveInfo.NextMoveStep(StepEnum.OT02_MoveZToP1);
WorkLog("取料：取料Z轴到P1 ",0); WorkLog("取料：取料Z轴到P1 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed); MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
} }
else if (MoveInfo.IsStep(StepEnum.OT02_MoveZToP1)) else if (MoveInfo.IsStep(StepEnum.OT02_MoveZToP1))
{ {
MoveInfo.NextMoveStep(StepEnum.OT03_MoveXToP2); MoveInfo.NextMoveStep(StepEnum.OT03_MoveXToP2);
WorkLog("取料：取料X轴到P2 ",0); WorkLog("取料：取料X轴到P2 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed); MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed);
} }
else if (MoveInfo.IsStep(StepEnum.OT03_MoveXToP2)) else if (MoveInfo.IsStep(StepEnum.OT03_MoveXToP2))
...@@ -131,14 +165,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -131,14 +165,14 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveParam.IsNgReel) if (MoveInfo.MoveParam.IsNgReel)
{ {
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2); MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ",0); WorkLog("取料：取料Z轴到P2 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed); MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.OT05_GetImage); MoveInfo.NextMoveStep(StepEnum.OT05_GetImage);
WorkLog("取料：[" + Config.CameraName + "]拍照并开始识别 ，等待1000ms"); WorkLog("取料：[" + Config.CameraName + "]拍照并开始识别 ，等待100ms");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
} }
} }
//else if (MoveInfo.IsStep(StepEnum.OT04_CheckNeedImage)) //else if (MoveInfo.IsStep(StepEnum.OT04_CheckNeedImage))
...@@ -147,33 +181,40 @@ namespace OnlineStore.DeviceLibrary ...@@ -147,33 +181,40 @@ namespace OnlineStore.DeviceLibrary
//} //}
else if (MoveInfo.IsStep(StepEnum.OT05_GetImage)) else if (MoveInfo.IsStep(StepEnum.OT05_GetImage))
{ {
//TODO 记录信息，判断贴标模块当前空闲，此时可以打印标签（取码气缸前进，打印标签，取码气缸后退）
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
MoveInfo.NextMoveStep(StepEnum.OT06_MoveXToP2); MoveInfo.NextMoveStep(StepEnum.OT06_MoveXToP2);
WorkLog("取料：取料X轴运动到P2 , 贴标模块开始打印标签"); WorkLog("取料：取料X轴运动到P2 ");
MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed); MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed);
//TODO CheckStartLabel();
StartLabelling(MoveInfo.MoveParam);
} ////TODO 记录信息，判断贴标模块当前空闲，此时可以打印标签（取码气缸前进，打印标签，取码气缸后退）
else if (MoveInfo.IsTimeOut(120)) //if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{ //{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待贴标模块空闲 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]"; // IsStartLabel = true;
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType); // WorkLog("取料：取料X轴运动到P2 , 贴标模块开始打印标签");
Alarm(AlarmType.IoSingleTimeOut); // //TODO
} // StartLabelling(MoveInfo.MoveParam);
//}
//else if (MoveInfo.IsTimeOut(120))
//{
// WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待贴标模块空闲 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
// LogUtil.error(WarnMsg, MoveInfo.ErrorLogType);
// Alarm(AlarmType.IoSingleTimeOut);
//}
} }
else if (MoveInfo.IsStep(StepEnum.OT06_MoveXToP2)) else if (MoveInfo.IsStep(StepEnum.OT06_MoveXToP2))
{ {
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2); MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ",0); WorkLog("取料：取料Z轴到P2 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed); MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT07_MoveZToP2)) else if (MoveInfo.IsStep(StepEnum.OT07_MoveZToP2))
{ {
MoveInfo.NextMoveStep(StepEnum.OT08_Clamping_Work); MoveInfo.NextMoveStep(StepEnum.OT08_Clamping_Work);
WorkLog("取料：取料气缸夹紧 ",0); WorkLog("取料：取料气缸夹紧 ", 0);
CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Relax, IO_Type.TakeT_Clamping_Work); CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Relax, IO_Type.TakeT_Clamping_Work);
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT08_Clamping_Work)) else if (MoveInfo.IsStep(StepEnum.OT08_Clamping_Work))
{ {
...@@ -181,20 +222,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -181,20 +222,21 @@ namespace OnlineStore.DeviceLibrary
WorkLog("取料：取料Z轴返回P1 ，验证Out_TrayCheck消失", 0); WorkLog("取料：取料Z轴返回P1 ，验证Out_TrayCheck消失", 0);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed); MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT09_MoveZToP1)) else if (MoveInfo.IsStep(StepEnum.OT09_MoveZToP1))
{ {
if (MoveInfo.MoveParam.IsNgReel) if (MoveInfo.MoveParam.IsNgReel)
{ {
MoveInfo.NextMoveStep(StepEnum.OT21_NG_MoveXToP1); MoveInfo.NextMoveStep(StepEnum.OT21_NG_MoveXToP1);
WorkLog("NG料：取料X轴到P1 ",0); WorkLog("NG料：取料X轴到P1 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed); MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed);
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.OT11_WaitShelfOk); MoveInfo.NextMoveStep(StepEnum.OT11_WaitShelfOk);
WorkLog("取料完成，等待料串可放料 "); WorkLog("取料完成，等待料串可放料 ");
CheckStartLabel();
} }
} }
else if (MoveInfo.IsStep(StepEnum.OT11_WaitShelfOk)) else if (MoveInfo.IsStep(StepEnum.OT11_WaitShelfOk))
...@@ -224,9 +266,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -224,9 +266,10 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(120)) else if (MoveInfo.IsTimeOut(120))
{ {
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待出料料串准备完成（OS_18_ShelfReady）超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]"; WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待出料料串准备完成（OS_18_ShelfReady）超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType); LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT12_MoveXToP3)) else if (MoveInfo.IsStep(StepEnum.OT12_MoveXToP3))
{ {
...@@ -241,21 +284,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,21 +284,23 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(60)) 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()) + "]"; 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); LogUtil.error(WarnMsg, MoveInfo.ErrorLogType,MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT13_MoveZToP3)) else if (MoveInfo.IsStep(StepEnum.OT13_MoveZToP3))
{ {
MoveInfo.NextMoveStep(StepEnum.OT14_Clamping_Relax); MoveInfo.NextMoveStep(StepEnum.OT14_Clamping_Relax);
WorkLog("放料：取料气缸放松 ",0); WorkLog("放料：取料气缸放松 ", 0);
CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax); CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax);
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT14_Clamping_Relax)) else if (MoveInfo.IsStep(StepEnum.OT14_Clamping_Relax))
{ {
bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_22_WaitTray); bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_22_WaitTray);
MoveInfo.NextMoveStep(StepEnum.OT15_MoveZToP1); MoveInfo.NextMoveStep(StepEnum.OT15_MoveZToP1);
WorkLog("放料：取料Z轴回到P1 ",0); WorkLog("放料：取料Z轴回到P1 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed); MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
if (shelfOk) if (shelfOk)
{ {
...@@ -264,17 +309,28 @@ namespace OnlineStore.DeviceLibrary ...@@ -264,17 +309,28 @@ namespace OnlineStore.DeviceLibrary
ShelfMoveInfo.NextMoveStep(StepEnum.OS_23_TrayOK); ShelfMoveInfo.NextMoveStep(StepEnum.OS_23_TrayOK);
ShelfWorkLog("料盘已放入料串，累积出料 【" + OutReelHeight + "】盘共 " + OutReelHeight + " mm"); ShelfWorkLog("料盘已放入料串，累积出料 【" + OutReelHeight + "】盘共 " + OutReelHeight + " mm");
} }
CheckStartLabel();
} }
else if (MoveInfo.IsStep(StepEnum.OT15_MoveZToP1)) else if (MoveInfo.IsStep(StepEnum.OT15_MoveZToP1))
{ {
MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP2); MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP2);
WorkLog("放料：取料X轴回到P2 ",0); WorkLog("放料：取料X轴回到P2 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed); MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed);
} }
else if (MoveInfo.IsStep(StepEnum.OT16_MoveXToP2)) else if (MoveInfo.IsStep(StepEnum.OT16_MoveXToP2))
{ {
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
if (IsStartLabel)
{
MoveInfo.EndMove(); MoveInfo.EndMove();
WorkLog("放料完成"); WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
}
bool startOk = CheckStartLabel(true);
if (startOk)
{
MoveInfo.EndMove();
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
}
} }
...@@ -306,8 +362,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -306,8 +362,9 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.OT25_NG_NGBack)) else if (MoveInfo.IsStep(StepEnum.OT25_NG_NGBack))
{ {
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
MoveInfo.EndMove(); MoveInfo.EndMove();
WorkLog("放料完成"); WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
} }
#endregion #endregion
...@@ -391,7 +448,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -391,7 +448,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(120)) else if (MoveInfo.IsTimeOut(120))
{ {
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 打印标签完成(OL03_PrintLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]"; WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 打印标签完成(OL03_PrintLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
...@@ -415,13 +472,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -415,13 +472,13 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsStep(StepEnum.OL07_Nozzle_Work)) else if (SecMoveInfo.IsStep(StepEnum.OL07_Nozzle_Work))
{ {
SecMoveInfo.NextMoveStep(StepEnum.OL08_ZToP1); SecMoveInfo.NextMoveStep(StepEnum.OL08_ZToP1);
SecWorkLog("贴标: Z轴到P1点"); SecWorkLog("贴标: Z轴到P1点",0);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed); LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
} }
else if (SecMoveInfo.IsStep(StepEnum.OL08_ZToP1)) else if (SecMoveInfo.IsStep(StepEnum.OL08_ZToP1))
{ {
SecMoveInfo.NextMoveStep(StepEnum.OL09_YToP1); SecMoveInfo.NextMoveStep(StepEnum.OL09_YToP1);
SecWorkLog("贴标: Y轴到P1点"); SecWorkLog("贴标: Y轴到P1点",0);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed); LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
} }
else if (SecMoveInfo.IsStep(StepEnum.OL09_YToP1)) else if (SecMoveInfo.IsStep(StepEnum.OL09_YToP1))
...@@ -448,7 +505,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -448,7 +505,7 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsTimeOut(120)) else if (SecMoveInfo.IsTimeOut(120))
{ {
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 料盘可贴标(OS_25_WaitLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]"; WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 料盘可贴标(OS_25_WaitLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType,SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -509,7 +566,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -509,7 +566,7 @@ namespace OnlineStore.DeviceLibrary
if (canLabel) if (canLabel)
{ {
ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk); ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk);
LogUtil.info(SecMoveInfo.Name + " 贴标结束"); ShelfWorkLog("贴标完成");
} }
} }
else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack)) else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack))
...@@ -523,7 +580,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -523,7 +580,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SecMoveInfo.IsStep(StepEnum.OL19_XYRBackToP2)) else if (SecMoveInfo.IsStep(StepEnum.OL19_XYRBackToP2))
{ {
LogUtil.info(SecMoveInfo.Name + " 贴标结束"); TimeSpan span = DateTime.Now - SecMoveInfo.MoveStartTime;
LogUtil.info(SecMoveInfo.Name + " 贴标结束, 耗时（" + FormUtil.GetSpanStr(span) + "）");
SecMoveInfo.EndMove(); SecMoveInfo.EndMove();
} }
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs
...@@ -258,7 +258,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -258,7 +258,7 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsTimeOut(120)) else if (SecMoveInfo.IsTimeOut(120))
{ {
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 贴标结束 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]"; WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 贴标结束 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -325,10 +325,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -325,10 +325,11 @@ namespace OnlineStore.DeviceLibrary
} }
else if (ShelfMoveInfo.IsStep(StepEnum.OS_38_LineRun)) else if (ShelfMoveInfo.IsStep(StepEnum.OS_38_LineRun))
{ {
TimeSpan span = DateTime.Now - ShelfMoveInfo.MoveStartTime;
ShelfMoveInfo.EndMove(); ShelfMoveInfo.EndMove();
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW); IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW); IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
ShelfWorkLog("送出料串完成，链条停止转动，阻挡上升 "); ShelfWorkLog("送出料串完成，链条停止转动，阻挡上升, 耗时（" + FormUtil.GetSpanStr(span) + "） ");
} }
#endregion #endregion
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs
...@@ -241,7 +241,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,7 +241,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.XR05_DoorClose)) else if (MoveInfo.IsStep(StepEnum.XR05_DoorClose))
{ {
WorkLog(" XRay复位 ：完成！"); TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
WorkLog(" XRay复位 ：完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
MoveInfo.EndMove(); MoveInfo.EndMove();
runStatus = RobotRunStatus.Runing; runStatus = RobotRunStatus.Runing;
} }
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
...@@ -96,21 +96,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -96,21 +96,21 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel)) if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel))
{ {
MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen); MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen);
WorkLog("料盘处理：左侧门打开,挡停下降"); WorkLog("料盘处理：左侧门打开,挡停下降",0);
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down); CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down); CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
} }
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen)) else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{ {
MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun); MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun);
WorkLog("料盘处理：入口和中间皮带线转动，"); WorkLog("料盘处理：入口和中间皮带线转动，",0);
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
} }
else if (MoveInfo.IsStep(StepEnum.XW04_InLineRun)) else if (MoveInfo.IsStep(StepEnum.XW04_InLineRun))
{ {
MoveInfo.NextMoveStep(StepEnum.XW05_WaitMCheck); MoveInfo.NextMoveStep(StepEnum.XW05_WaitMCheck);
WorkLog("料盘处理：等待扫描区域信号检测"); WorkLog("料盘处理：等待扫描区域信号检测",0);
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
...@@ -147,7 +147,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -147,7 +147,7 @@ namespace OnlineStore.DeviceLibrary
Work_ReelInfo.IsNgReel = true; Work_ReelInfo.IsNgReel = true;
Work_ReelInfo.NgMsg = "无有效条码"; Work_ReelInfo.NgMsg = "无有效条码";
} }
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo); //MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
//判断是否需要点料 //判断是否需要点料
if (Work_ReelInfo.IsNgReel) if (Work_ReelInfo.IsNgReel)
{ {
...@@ -196,7 +196,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -196,7 +196,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(120)) else if (MoveInfo.IsTimeOut(120))
{ {
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]"; WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType,SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -216,7 +216,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -216,7 +216,7 @@ namespace OnlineStore.DeviceLibrary
{ {
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]"; WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待 X互锁信号打开 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
} }
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -246,27 +246,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -246,27 +246,27 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel); MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
MoveInfo.TimeOutSeconds = 120; MoveInfo.TimeOutSeconds = 120;
WorkLog("料盘处理：等待出口无料盘"); WorkLog("料盘处理：等待出口无料盘",0);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
} }
else if (MoveInfo.IsStep(StepEnum.XW21_WaitOutNoReel)) else if (MoveInfo.IsStep(StepEnum.XW21_WaitOutNoReel))
{ {
MoveInfo.NextMoveStep(StepEnum.XW22_OutDoorOpen); MoveInfo.NextMoveStep(StepEnum.XW22_OutDoorOpen);
WorkLog("料盘处理：右侧门打开，挡停放行"); WorkLog("料盘处理：右侧门打开，挡停放行",0);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down); CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up); CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up);
} }
else if (MoveInfo.IsStep(StepEnum.XW22_OutDoorOpen)) else if (MoveInfo.IsStep(StepEnum.XW22_OutDoorOpen))
{ {
MoveInfo.NextMoveStep(StepEnum.XW23_OutLineRun); MoveInfo.NextMoveStep(StepEnum.XW23_OutLineRun);
WorkLog("料盘处理：中间皮带线，出口皮带线转动"); WorkLog("料盘处理：中间皮带线，出口皮带线转动",0);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
} }
else if (MoveInfo.IsStep(StepEnum.XW23_OutLineRun)) else if (MoveInfo.IsStep(StepEnum.XW23_OutLineRun))
{ {
MoveInfo.NextMoveStep(StepEnum.XW24_WaitOutCheck); MoveInfo.NextMoveStep(StepEnum.XW24_WaitOutCheck);
WorkLog("料盘处理：等待出口皮带线检测到料盘"); WorkLog("料盘处理：等待出口皮带线检测到料盘",0);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
...@@ -300,17 +300,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -300,17 +300,11 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.XW27_OutDoorClose)) else if (MoveInfo.IsStep(StepEnum.XW27_OutDoorClose))
{ {
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
runStatus = RobotRunStatus.Runing; runStatus = RobotRunStatus.Runing;
MoveInfo.EndMove(); MoveInfo.EndMove();
WorkLog("料盘处理：料盘处理结束"); WorkLog("料盘处理：料盘处理结束，耗时（" + FormUtil.GetSpanStr(span) + "）");
// MoveInfo.NextMoveStep(StepEnum.XW28_EndPro);
}
else if (MoveInfo.IsStep(StepEnum.XW28_EndPro))
{
MoveInfo.EndMove();
runStatus = RobotRunStatus.Runing;
} }
} }
private void XW12_XRayStart() private void XW12_XRayStart()
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/RobotMoveInfo.cs
...@@ -11,14 +11,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -11,14 +11,15 @@ namespace OnlineStore.DeviceLibrary
{ {
public class RobotMoveInfo public class RobotMoveInfo
{ {
internal DateTime MoveStartTime = DateTime.Now;
private static int MaxMoveId=1; private static int MaxMoveId=1;
/// <summary> /// <summary>
/// 超时时间 /// 超时时间
/// </summary> /// </summary>
public int TimeOutSeconds = 60; internal int TimeOutSeconds = 60;
public string Name = ""; internal string Name = "";
public bool ShelfNoTray = false; internal bool ShelfNoTray = false;
public int MoveID = 0; internal int MoveID = 0;
public RobotMoveInfo(string name) public RobotMoveInfo(string name)
{ {
this.Name = name; this.Name = name;
...@@ -40,7 +41,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -40,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// =true表示满足一个等待条件,就可以完成此步骤的等待 /// =true表示满足一个等待条件,就可以完成此步骤的等待
/// </summary> /// </summary>
public bool OneWaitCanEndStep = false; internal bool OneWaitCanEndStep = false;
private RobotMoveType moveType; private RobotMoveType moveType;
...@@ -55,25 +56,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -55,25 +56,25 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 是否再当前步骤等待中 /// 是否再当前步骤等待中
/// </summary> /// </summary>
public bool IsInWait { get; set; } internal bool IsInWait { get; set; }
/// <summary> /// <summary>
/// 可以循环运动的次数（轴卡运动才需要） /// 可以循环运动的次数（轴卡运动才需要）
/// </summary> /// </summary>
public int CanWhileCount = 0; internal int CanWhileCount = 0;
private StepEnum moveStep; private StepEnum moveStep;
public StepEnum MoveStep internal StepEnum MoveStep
{ {
get { return moveStep; } get { return moveStep; }
} }
public bool IsStep(StepEnum step) internal bool IsStep(StepEnum step)
{ {
return MoveStep.Equals(step); return MoveStep.Equals(step);
} }
public bool IsTimeOut(int timeOutSeconds = 60) internal bool IsTimeOut(int timeOutSeconds = 60)
{ {
TimeSpan span = DateTime.Now - LastSetpTime; TimeSpan span = DateTime.Now - LastSetpTime;
if (span.TotalSeconds > timeOutSeconds) if (span.TotalSeconds > timeOutSeconds)
...@@ -82,12 +83,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -82,12 +83,27 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
public TimeSpan StepSpan() internal int logSeconds()
{
TimeSpan span = DateTime.Now - LastSetpTime;
int second = 10;
second = (int)(TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
return second;
}
internal TimeSpan StepSpan()
{ {
TimeSpan span = DateTime.Now - LastSetpTime; TimeSpan span = DateTime.Now - LastSetpTime;
return span; return span;
} }
public void NextMoveStep(StepEnum step) internal void NextMoveStep(StepEnum step)
{ {
moveStep = step; moveStep = step;
LastSetpTime = DateTime.Now; LastSetpTime = DateTime.Now;
...@@ -99,7 +115,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -99,7 +115,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 当前步骤执行完成 /// 当前步骤执行完成
/// </summary> /// </summary>
public void EndStepWait() internal void EndStepWait()
{ {
IsInWait = false; IsInWait = false;
WaitList = new List<WaitResultInfo>(); WaitList = new List<WaitResultInfo>();
...@@ -112,15 +128,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -112,15 +128,8 @@ namespace OnlineStore.DeviceLibrary
LastSetpTime = DateTime.Now; LastSetpTime = DateTime.Now;
WaitList = new List<WaitResultInfo>(); WaitList = new List<WaitResultInfo>();
MoveNum++; MoveNum++;
MoveStartTime = DateTime.Now;
} }
//public void NewMove(RobotMoveType type, WorkParam param, StepEnum step= StepEnum.Wait)
//{
// moveStep = step;
// this.moveType = type;
// this.MoveParam = param;
// LastSetpTime = DateTime.Now;
// WaitList = new List<WaitResultInfo>();
//}
public void EndMove() public void EndMove()
{ {
this.moveType = RobotMoveType.None; this.moveType = RobotMoveType.None;
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!