光栅功能

RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.Designer.cs

@@ -85,6 +85,8 @@
             this.启用蜂鸣器ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.lblXrayWork = new System.Windows.Forms.Label();
             this.folderBrowserDialog1 = new System.Windows.Forms.FolderBrowserDialog();
+            this.启用光栅信号ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripSeparator12 = new System.Windows.Forms.ToolStripSeparator();
             this.tabControl1.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.panWork.SuspendLayout();
@@ -491,7 +493,9 @@
             this.toolStripSeparator15,
             this.aGVCancelStateToolStripMenuItem,
             this.toolStripSeparator13,
-            this.启用蜂鸣器ToolStripMenuItem});
+            this.启用蜂鸣器ToolStripMenuItem,
+            this.toolStripSeparator12,
+            this.启用光栅信号ToolStripMenuItem});
             this.toolStripMenuItem4.Name = "toolStripMenuItem4";
             this.toolStripMenuItem4.Size = new System.Drawing.Size(86, 25);
             this.toolStripMenuItem4.Text = "运行参数";
@@ -552,6 +556,18 @@
             this.lblXrayWork.Text = "警告：点料过程中，请勿开门";
             this.lblXrayWork.Visible = false;
             // 
+            // 启用光栅信号ToolStripMenuItem
+            // 
+            this.启用光栅信号ToolStripMenuItem.Name = "启用光栅信号ToolStripMenuItem";
+            this.启用光栅信号ToolStripMenuItem.Size = new System.Drawing.Size(213, 26);
+            this.启用光栅信号ToolStripMenuItem.Text = "启用光栅信号";
+            this.启用光栅信号ToolStripMenuItem.Click += new System.EventHandler(this.启用光栅信号ToolStripMenuItem_Click);
+            // 
+            // toolStripSeparator12
+            // 
+            this.toolStripSeparator12.Name = "toolStripSeparator12";
+            this.toolStripSeparator12.Size = new System.Drawing.Size(210, 6);
+            // 
             // FrmRobotMain
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -643,6 +659,8 @@
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator17;
         private System.Windows.Forms.ToolStripMenuItem 元器件库ToolStripMenuItem;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator16;
+        private System.Windows.Forms.ToolStripMenuItem 启用光栅信号ToolStripMenuItem;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator12;
     }
 }
 

RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs

@@ -112,7 +112,22 @@ namespace OnlineStore.AutoCountClient
             {
                 开机自动启动ToolStripMenuItem.Text = "开机自动启动";
             }
-
+            if (RobotManager.UseBuzzer)
+            {
+                启用蜂鸣器ToolStripMenuItem.Text = gouStr + " 启用蜂鸣器";
+            }
+            else
+            {
+                启用蜂鸣器ToolStripMenuItem.Text = "启用蜂鸣器";
+            }
+            if (RobotManager.GratingSignal)
+            {
+                启用光栅信号ToolStripMenuItem.Text = gouStr + "启用光栅信号";
+            }
+            else
+            {
+                启用光栅信号ToolStripMenuItem.Text = "启用光栅信号";
+            }
             CSVBomManager.LoadAllCom();
 
             LoadStoreData();
@@ -909,5 +924,30 @@ namespace OnlineStore.AutoCountClient
             FrmComponentList frm = new FrmComponentList();
             frm.ShowDialog();
         }
+
+        private void 启用光栅信号ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            if (!LoadOk)
+            {
+                return;
+            }
+
+            bool result = !启用光栅信号ToolStripMenuItem.Text.Contains(gouStr);
+            if (result.Equals(RobotManager.GratingSignal))
+            {
+                return;
+            }
+            RobotManager.GratingSignal = result;
+            ConfigAppSettings.SaveValue(Setting_Init.GratingSignal, (RobotManager.GratingSignal ? 1 : 0));
+            if (result)
+            {
+                启用光栅信号ToolStripMenuItem.Text = gouStr + " 启用光栅信号";
+            }
+            else
+            {
+                启用光栅信号ToolStripMenuItem.Text = "启用光栅信号";
+            }
+            LogUtil.info(Name + " 点击：" + 启用光栅信号ToolStripMenuItem.Text);
+        }
     }
 }

RC1266-AutoCountMachine/source/AutoCountClient/记录.txt

@@ -102,3 +102,9 @@ IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward
 增加学习界面。
 吸盘放标签时等待3秒再离开。
 未找到配置暂时不NG.
+
+
+20200911
+增加光栅功能，料串进出时屏蔽光栅功能。
+光栅功能打开时，收到光栅信号急停。
+增加光栅功能开关。
\ No newline at end of file

RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean_Partial.cs

@@ -452,8 +452,8 @@ namespace OnlineStore.DeviceLibrary
 
 
         #region AGV 处理
-        private bool ProcessShelfOut = false;
-        private bool ProcessShelfEnter = false;
+        internal bool ProcessShelfOut = false;
+        internal bool ProcessShelfEnter = false;
         internal void AgvReady(string nodeId, string rfid)
         {
             if (string.IsNullOrEmpty(rfid))

RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip.cs

@@ -272,6 +272,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 CheckAxisAlarm();
             }
+            GratingSignalProcess();
         }
 
 

RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip_InStore.cs

@@ -390,5 +390,32 @@ namespace OnlineStore.DeviceLibrary
 
         #endregion
 
+        #region 光栅处理
+
+        private void  GratingSignalProcess()
+        {
+            if (runStatus <= RobotRunStatus.Wait)
+            {
+                return;
+            }
+            if (!RobotManager.GratingSignal)
+            {
+                return;
+            }
+            if (LeftBatchMove.ProcessShelfOut || LeftBatchMove.ProcessShelfEnter || RightBatchMove.ProcessShelfOut || RightBatchMove.ProcessShelfEnter)
+            {
+                return;
+            }
+
+            if (IOValue(IO_Type.LineIn_GratingSignal).Equals(IO_VALUE.LOW))
+            {
+                LogUtil.error(Name+ "未检测到上料线体光栅信号，报警急停");
+                SetWarnMsg("未检测到上料线体光栅信号，报警急停");
+                Alarm(AlarmType.SuddenStop);
+            } 
+        }
+
+        #endregion
+        
     }
 }

RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs

@@ -482,6 +482,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 CheckAxisAlarm();
             }
+            GratingSignalProcess();
         }
         
         internal override void StopMove()

RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs

@@ -438,7 +438,7 @@ namespace OnlineStore.DeviceLibrary
 
                         if (!result)
                         {
-                            WarnMsg = logName + "等待O_ELine_InCheck检测到料架 超时";
+                            WarnMsg = logName + "等待 O_ELine_InCheck检测到料架 超时";
                             LogUtil.error(WarnMsg);
                             LogUtil.error (logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
                         }
@@ -543,5 +543,41 @@ namespace OnlineStore.DeviceLibrary
         }
         #endregion
 
+        #region 光栅处理
+
+        private void GratingSignalProcess()
+        {
+            if (runStatus <= RobotRunStatus.Wait)
+            {
+                return;
+            }
+            if (!RobotManager.GratingSignal)
+            {
+                return;
+            }
+            if (ProcessShelfEnter)
+            {
+            }
+            else if (IOValue(IO_Type.O_ELine_GratingSignal).Equals(IO_VALUE.LOW))
+            {
+                LogUtil.error (Name + "未检测到入空料串线体光栅信号，报警急停");
+                SetWarnMsg("未检测到入空料串线体光栅信号，报警急停");
+                Alarm(AlarmType.SuddenStop);
+            }
+
+            if (ProcessShelfOut)
+            {
+
+            }
+            else if (IOValue(IO_Type.O_OLine_GratingSignal).Equals(IO_VALUE.LOW))
+            {
+                LogUtil.error(Name + "未检测到出料串线体光栅信号，报警急停");
+                SetWarnMsg("未检测到出料串线体光栅信号，报警急停");
+                Alarm(AlarmType.SuddenStop);
+            }
+        }
+
+        #endregion
+
     }
 }

RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs

@@ -316,6 +316,12 @@ namespace OnlineStore.DeviceLibrary
             {
                 if ((!MoveInfo.MoveType.Equals(RobotMoveType.Reset)) && (!MoveInfo.MoveType.Equals(RobotMoveType.RHome)))
                 {
+                    if (MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep >= StepEnum.XW16_EndCount)
+                    {
+
+                    }
+                    else
+                    {
                         if (LockOnCanMove() && (!isInSuddenDown) && (!isNoAirCheck))
                         {
                             IOMove(IO_Type.X_Lock_On, IO_VALUE.HIGH);
@@ -323,6 +329,7 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
             }
+        }
 
         public bool LockOnCanMove()
         {