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Commit fa81c6e7 由 刘韬
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出料防撞检测，平板出错检测

1 个父辈 dbedd0e8
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内嵌 并排
正在显示 21 个修改的文件 包含 242 行增加 和 88 行删除
RC1266-AutoCountMachine/source/AutoCountClient/App.config
......@@ -14,13 +14,13 @@
<add key="ConfigPath_XRay" value="\RobotConfig\Config_XRay.csv" />
<add key="ConfigPath_InputEquip" value="\RobotConfig\Config_InputEquip.csv" />
<add key="ConfigPath_OutputEquip" value="\RobotConfig\Config_OutputEquip.csv" />
<add key="CounParamConfig" value="\XRAY\countParam.csv" />
<!--二维码类型列表配置，用#分割，一维码=Barcode 二维码： QR Code#Data Matrix ECC 200#Micro QR Code-->
<add key="CodeType" value="Data Matrix ECC 200#QR Code" />
<!--<add key="CodeType" value="Data Matrix ECC 200"/>-->
<add key="ACBaudRate" value="115200" />
<!--二维码参数文件所在路径，文件名与二维码类型名一样-->
<add key="CodeParamPath" value="\CodeParam\" />
<add key="CodeParamPath" value="\CodeParam\\XRAY\countParam.csv" />
<add key="Config_Pwd" value="123456" />
<add key="UseAIOBOX" value="1" />
......
RC1266-AutoCountMachine/source/AutoCountClient/AutoCountClient.csproj
......@@ -61,10 +61,6 @@
<Reference Include="AccImageBox">
<HintPath>..\..\dll\AccImageBox.dll</HintPath>
</Reference>
<Reference Include="Asa.CarerayImage, Version=1.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\X-Ray\Asa.CarerayImage.dll</HintPath>
</Reference>
<Reference Include="Asa.PrintLabel">
<HintPath>..\..\dll\label\Asa.PrintLabel.dll</HintPath>
</Reference>
......
RC1266-AutoCountMachine/source/AutoCountClient/FrmComponentList.cs
......@@ -12,6 +12,7 @@ using System.IO;
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using static OnlineStore.DeviceLibrary.CountParam;
namespace OnlineStore.AutoCountClient
{
......@@ -96,7 +97,9 @@ namespace OnlineStore.AutoCountClient
if (obj.Sufan >= 0)
{
ParamManager.UpdateParam(new CountParam(obj.PartNum, RobotManager.robot.XrayBean.ThresholdValue, 3, obj.Sufan));
var suanfa = SignType.AUTO;
Enum.TryParse<SignType>(obj.Sufan.ToString(), out suanfa);
ParamManager.UpdateParam(new CountParam(obj.PartNum, RobotManager.robot.XrayBean.ThresholdValue, 3, suanfa));
ParamManager.SaveMapToFile();
}
}
......@@ -134,7 +137,9 @@ namespace OnlineStore.AutoCountClient
groupInfo.Text = "元器件【" + obj.PartNum + "】的基本信息";
if (obj.Sufan >= 0)
{
ParamManager.UpdateParam(new CountParam(obj.PartNum, RobotManager.robot.XrayBean.ThresholdValue, 3, obj.Sufan));
var suanfa = SignType.AUTO;
Enum.TryParse<SignType>(obj.Sufan.ToString(), out suanfa);
ParamManager.UpdateParam(new CountParam(obj.PartNum, RobotManager.robot.XrayBean.ThresholdValue, 3, suanfa));
ParamManager.SaveMapToFile();
}
}
......@@ -387,7 +392,7 @@ namespace OnlineStore.AutoCountClient
CountParam param = ParamManager.GetParamByPN(com.PartNum);
if (param != null)
{
com.Sufan = param.Sign;
com.Sufan = (int)param.Sign;
}
else
{
......
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.Designer.cs
......@@ -58,6 +58,8 @@
this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
this.设置TToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.元器件学习ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.批量ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.单盘ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator17 = new System.Windows.Forms.ToolStripSeparator();
this.二维码学习ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator7 = new System.Windows.Forms.ToolStripSeparator();
......@@ -361,11 +363,28 @@
//
// 元器件学习ToolStripMenuItem
//
this.元器件学习ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.批量ToolStripMenuItem,
this.单盘ToolStripMenuItem});
this.元器件学习ToolStripMenuItem.Name = "元器件学习ToolStripMenuItem";
this.元器件学习ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.元器件学习ToolStripMenuItem.Text = "元器件学习";
this.元器件学习ToolStripMenuItem.Click += new System.EventHandler(this.元器件学习ToolStripMenuItem_Click);
//
// 批量ToolStripMenuItem
//
this.批量ToolStripMenuItem.Name = "批量ToolStripMenuItem";
this.批量ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
this.批量ToolStripMenuItem.Text = "批量";
this.批量ToolStripMenuItem.Click += new System.EventHandler(this.批量ToolStripMenuItem_Click);
//
// 单盘ToolStripMenuItem
//
this.单盘ToolStripMenuItem.Name = "单盘ToolStripMenuItem";
this.单盘ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
this.单盘ToolStripMenuItem.Text = "单盘";
this.单盘ToolStripMenuItem.Click += new System.EventHandler(this.单盘ToolStripMenuItem_Click);
//
// toolStripSeparator17
//
this.toolStripSeparator17.Name = "toolStripSeparator17";
......@@ -388,12 +407,14 @@
this.toolStripMenuItem2.Name = "toolStripMenuItem2";
this.toolStripMenuItem2.Size = new System.Drawing.Size(180, 26);
this.toolStripMenuItem2.Text = "AGV调试";
this.toolStripMenuItem2.Visible = false;
this.toolStripMenuItem2.Click += new System.EventHandler(this.toolStripMenuItem2_Click);
//
// toolStripSeparator6
//
this.toolStripSeparator6.Name = "toolStripSeparator6";
this.toolStripSeparator6.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator6.Visible = false;
//
// 标签编辑ToolStripMenuItem
//
......@@ -421,55 +442,57 @@
// toolStripMenuItem3
//
this.toolStripMenuItem3.Name = "toolStripMenuItem3";
this.toolStripMenuItem3.Size = new System.Drawing.Size(144, 26);
this.toolStripMenuItem3.Size = new System.Drawing.Size(180, 26);
this.toolStripMenuItem3.Text = "历史记录";
this.toolStripMenuItem3.Click += new System.EventHandler(this.toolStripMenuItem3_Click);
//
// toolStripSeparator5
//
this.toolStripSeparator5.Name = "toolStripSeparator5";
this.toolStripSeparator5.Size = new System.Drawing.Size(141, 6);
this.toolStripSeparator5.Size = new System.Drawing.Size(177, 6);
//
// 元器件库ToolStripMenuItem
//
this.元器件库ToolStripMenuItem.Name = "元器件库ToolStripMenuItem";
this.元器件库ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.元器件库ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.元器件库ToolStripMenuItem.Text = "元器件库";
this.元器件库ToolStripMenuItem.Visible = false;
this.元器件库ToolStripMenuItem.Click += new System.EventHandler(this.元器件库ToolStripMenuItem_Click);
//
// toolStripSeparator16
//
this.toolStripSeparator16.Name = "toolStripSeparator16";
this.toolStripSeparator16.Size = new System.Drawing.Size(141, 6);
this.toolStripSeparator16.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator16.Visible = false;
//
// 清空日志ToolStripMenuItem
//
this.清空日志ToolStripMenuItem.Name = "清空日志ToolStripMenuItem";
this.清空日志ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.清空日志ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.清空日志ToolStripMenuItem.Text = "清空日志";
this.清空日志ToolStripMenuItem.Click += new System.EventHandler(this.清空日志ToolStripMenuItem_Click);
//
// toolStripSeparator10
//
this.toolStripSeparator10.Name = "toolStripSeparator10";
this.toolStripSeparator10.Size = new System.Drawing.Size(141, 6);
this.toolStripSeparator10.Size = new System.Drawing.Size(177, 6);
//
// 复制日志ToolStripMenuItem
//
this.复制日志ToolStripMenuItem.Name = "复制日志ToolStripMenuItem";
this.复制日志ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.复制日志ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.复制日志ToolStripMenuItem.Text = "复制日志";
this.复制日志ToolStripMenuItem.Click += new System.EventHandler(this.复制日志ToolStripMenuItem_Click);
//
// toolStripSeparator11
//
this.toolStripSeparator11.Name = "toolStripSeparator11";
this.toolStripSeparator11.Size = new System.Drawing.Size(141, 6);
this.toolStripSeparator11.Size = new System.Drawing.Size(177, 6);
//
// 版本号ToolStripMenuItem
//
this.版本号ToolStripMenuItem.Name = "版本号ToolStripMenuItem";
this.版本号ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.版本号ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.版本号ToolStripMenuItem.Text = "关于软件";
this.版本号ToolStripMenuItem.Click += new System.EventHandler(this.版本号ToolStripMenuItem_Click);
//
......@@ -535,7 +558,7 @@
//
this.aGVCancelStateToolStripMenuItem.Name = "aGVCancelStateToolStripMenuItem";
this.aGVCancelStateToolStripMenuItem.Size = new System.Drawing.Size(213, 26);
this.aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
this.aGVCancelStateToolStripMenuItem.Text = "禁用AGV";
this.aGVCancelStateToolStripMenuItem.Click += new System.EventHandler(this.aGVCancelStateToolStripMenuItem_Click);
//
// toolStripSeparator13
......@@ -681,6 +704,8 @@
private System.Windows.Forms.ToolStripSeparator toolStripSeparator12;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator14;
private System.Windows.Forms.ToolStripMenuItem 启用贴标功能ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 批量ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 单盘ToolStripMenuItem;
}
}
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs
......@@ -257,7 +257,8 @@ namespace OnlineStore.AutoCountClient
{
Camera._cam.CloseAll();
}
robot.sQLite.Close();
if (robot.sQLite!=null)
robot.sQLite.Close();
}
catch (Exception ex)
{
......@@ -486,7 +487,17 @@ namespace OnlineStore.AutoCountClient
{
return;
}
lblXrayWork.Visible = robot.XrayBean.InXWork;
if (robot.XrayBean.carerayImageError)
{
robot.XrayBean.MoveStop = true;
lblXrayWork.Text = "图像平板失效，请及时处理。";
lblXrayWork.Visible = true;
}
string canScanCode = "";
lblStatus.Text = robot.GetRunStr() + canScanCode;
string warnMsg = robot.WarnMsg;
......@@ -535,11 +546,11 @@ namespace OnlineStore.AutoCountClient
//}
if (AgvClient.CurrCancelState)
{
aGVCancelStateToolStripMenuItem.Text = gouStr + " AGV cancelState";
aGVCancelStateToolStripMenuItem.Text = gouStr + "禁用 AGV";
}
else
{
aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
aGVCancelStateToolStripMenuItem.Text = "禁用 AGV";
}
UpdateListBox();
}
......@@ -707,7 +718,6 @@ namespace OnlineStore.AutoCountClient
ExitApp();
}
private void logBox_VisibleChanged(object sender, EventArgs e)
{
if (!LoadOk)
......@@ -941,7 +951,32 @@ namespace OnlineStore.AutoCountClient
private void 元器件学习ToolStripMenuItem_Click(object sender, EventArgs e)
{
}
private void 单盘ToolStripMenuItem_Click(object sender, EventArgs e)
{
string backPath = ParamManager.NoConfigPath;
OpenFileDialog ofd = new OpenFileDialog();
ofd.InitialDirectory = ParamManager.NoConfigPath;
ofd.Multiselect = true;
ofd.Filter = "PNG|*.png";
if (DialogResult.OK == ofd.ShowDialog(this)) {
FrmLearning frm = new FrmLearning();
frm.ImageFiles = ofd.FileNames;
frm.ImagePath = ParamManager.NoConfigPath;
frm.Show();
//Task.Run(() => { frm.ShowDialog(); });
}
}
private void 批量ToolStripMenuItem_Click(object sender, EventArgs e)
{
string backPath = ParamManager.NoConfigPath;
FrmLearning frm = new FrmLearning();
frm.ImagePath = backPath;
frm.Show();
/*
folderBrowserDialog1.Description = "请选择需要学习的图片文件夹";
if (!Directory.Exists(backPath))
{
......@@ -954,9 +989,10 @@ namespace OnlineStore.AutoCountClient
string folder = folderBrowserDialog1.SelectedPath;
FrmLearning frm = new FrmLearning();
frm.ImagePath = folder;
frm.ShowDialog();
}
}
frm.Show();
//Task.Run(() => { frm.ShowDialog(); });
}*/
}
private void 元器件库ToolStripMenuItem_Click(object sender, EventArgs e)
{
FrmComponentList frm = new FrmComponentList();
......@@ -1012,5 +1048,7 @@ namespace OnlineStore.AutoCountClient
}
LogUtil.info(Name + " 点击：" + 启用贴标功能ToolStripMenuItem.Text);
}
}
}
RC1266-AutoCountMachine/source/AutoCountClient/FrmXRay.cs
......@@ -16,13 +16,13 @@ using System.Reflection;
using UserFromControl;
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;
using static OnlineStore.DeviceLibrary.CountParam;
namespace OnlineStore.AutoCountClient
{
internal partial class FrmXRay : FrmEquipBase
{
private int DeviceType = 0;
private SignType DeviceType = SignType.AUTO;
private bool IsLoad = false;
private X_RAY_Equip equipBean;
......@@ -34,10 +34,15 @@ namespace OnlineStore.AutoCountClient
InitializeComponent();
LoadIOList();
}
private void FrmXRay_Shown(object sender, EventArgs e)
{
}
private void FrmStoreIOStatus_Load(object sender, EventArgs e)
{
cmbType.Items.AddRange(new string[] { "小器件", "大器件", "异形三角器件", "异形三脚大器件", "异形长条形器件" });
cmbType.SelectedIndex = DeviceType;
cmbType.Items.AddRange(new string[] { "默认算法", "算法A", "算法B", "算法C", "算法D", "算法E" });
cmbType.SelectedIndex = (DeviceType==SignType.AUTO?0: (int)DeviceType);
chbDebug.Checked = equipBean.IsDebug;
lblCom.Text = "X射线端口号：" + equipBean.Config.XRay_Port;
......@@ -105,6 +110,7 @@ namespace OnlineStore.AutoCountClient
{
return;
}
this.chbMoveStop.Checked = equipBean.MoveStop;
ReadIOList();
ReadBtnDO();
lblOpen.Visible =(! equipBean.OpenXLine);
......@@ -447,9 +453,8 @@ namespace OnlineStore.AutoCountClient
txtResult.Text = "点料中...";
int th = (int)numTh.Value;
int wsize = (int)numWSize.Value;
Asa.API.EyemImage tpDstImg ;
CountParam param = new CountParam("", th, wsize, DeviceType);
int outCount = equipBean.GetCountResult(filePath, param, out tpDstImg);
int outCount = equipBean.GetCountResult(filePath, param, out _);
txtResult.Text = outCount.ToString();
LogUtil.info(equipBean.Name + "用户点击 点料测试【" + filePath + "】【" + th + "】【" + wsize + "】 结果：" + outCount);
}
......@@ -494,7 +499,8 @@ namespace OnlineStore.AutoCountClient
int index = cmbType.SelectedIndex;
if (index >= 0)
{
DeviceType = index;
index--;
Enum.TryParse<SignType>(index.ToString(), out DeviceType);
LogUtil.info(Name + " " + equipBean.Name + " 更改 equipBean.DeviceType=" + index);
}
}
......
RC1266-AutoCountMachine/source/CodeLibrary/camera/HIK.cs
......@@ -48,6 +48,8 @@ namespace CodeLibrary
}
public override void CloseAll()
{
if (cameraCurr == null)
return;
for (int i = 0; i < cameraCurr.Length; i++)
{
if (cameraCurr[i] != null)
......
RC1266-AutoCountMachine/source/DeviceLibrary/DeviceLibrary.csproj
......@@ -41,8 +41,9 @@
<AutoGenerateBindingRedirects>false</AutoGenerateBindingRedirects>
</PropertyGroup>
<ItemGroup>
<Reference Include="Asa.CarerayImage">
<HintPath>..\..\dll\X-Ray\Asa.CarerayImage.dll</HintPath>
<Reference Include="Asa.CarerayImage, Version=1.1.2.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\CarerayImage\CarerayImage\bin\Debug\Asa.CarerayImage.dll</HintPath>
</Reference>
<Reference Include="Asa.IOModule.AIOBOX">
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean.cs
......@@ -81,6 +81,7 @@ namespace OnlineStore.DeviceLibrary
{
if (Robot.AutoInput && Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH))
{
//WorkLog("启动位置1");
StartWorking(new WorkParam());
}
}
......@@ -106,12 +107,12 @@ namespace OnlineStore.DeviceLibrary
WorkLog("无料串,：通知agv来送料串AgvName:" + AgvName + ",agvcallresult:" + agvcallresult.ToString());
}
}
else// if(AgvClient.GetAction(AgvName)!=Asa.ClientAction.NeedLeave && AgvClient.GetAction(AgvName)!=Asa.ClientAction.MayLeave)
else if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.HIGH)
&& AgvClient.GetAction(AgvName)!=Asa.ClientAction.NeedLeave && AgvClient.GetAction(AgvName)!=Asa.ClientAction.MayLeave && AgvClient.GetAction(AgvName) != Asa.ClientAction.FinishLeave)
{
shelfWatch.Stop();
//AgvClient.SetToNone(AgvName);
AgvClient.SetToNone(AgvName);
}
}
private Stopwatch shelfWatch = new Stopwatch();
public bool Reset(bool needStop = false)
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean_Partial.cs
......@@ -181,17 +181,51 @@ namespace OnlineStore.DeviceLibrary
#region 检测到托盘，扫码，取料并放入托盘
else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
{
{
CheckHasTray();//==>StepEnum.IB09_ScanCode
}
else if (MoveInfo.IsStep(StepEnum.IB09_ScanCode))
{
MoveInfo.NextMoveStep(StepEnum.IB10_ScanOK);
WorkLog("IB09_ScanCode");
MoveInfo.MoveParam = new WorkParam();
MoveInfo.MoveParam.WareCode = CodeManager.GetValidCode(LastCodeList);
if (String.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
{
MoveInfo.MoveParam.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = "无有效条码";
MoveInfo.MoveParam.TargetPosType = 1;
WorkLog(" 无有效条码，从XRay放到NG箱：" + MoveInfo.MoveParam.ToStr());
string outF = "无有效条码NG.";
RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, outF);
}
else if (SServerManager.CanConnect())
{
int needPosition = 0;
string msg = SServerManager.Get_VMICheckRLC(Name, MoveInfo.MoveParam.WareCode, out needPosition);
if (needPosition >= 1 && needPosition <= 3)
{
MoveInfo.MoveParam.TargetPosType = needPosition;
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】通过接口获取目标位置：" + needPosition);
}
else
{
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】获取是否测值失败：" + msg);
MoveInfo.MoveParam.TargetPosType = 1;
MoveInfo.MoveParam.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = msg;
RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, msg);
}
}
else {
MoveInfo.MoveParam.TargetPosType = 1;
}
MoveInfo.NextMoveStep(StepEnum.IB10_ScanOK);
var span = DateTime.Now - MoveInfo.LastSetpTime;
LogUtil.ticklog("", MoveInfo.MoveParam.WareCode, span.TotalSeconds, "拍照扫码结束");
WorkLog("料串入料 ：扫码结束【" + MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料,拍照识别耗时：" + span.TotalSeconds.ToString());
//LogUtil.ticklog("", MoveInfo.MoveParam.WareCode, span.TotalSeconds, "拍照扫码结束");
WorkLog("料串入料 ：扫码结束【" + MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料," + MoveInfo.MoveParam.ToStr());
}
else if (MoveInfo.IsStep(StepEnum.IB11_TrayLeave))
{
......@@ -546,6 +580,11 @@ namespace OnlineStore.DeviceLibrary
{
//入口有料串，暂不处理
LogUtil.error(logName + "，入口已有料架，暂不处理");
Task.Factory.StartNew(delegate
{
Thread.Sleep(3000);
AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true);
});
}
}
catch (TimeoutException te)
......@@ -601,6 +640,11 @@ namespace OnlineStore.DeviceLibrary
else
{
LogUtil.info(logName + " 未检测到料架，暂不处理");
Task.Factory.StartNew(delegate
{
Thread.Sleep(3000);
AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true);
});
}
}
catch (TimeoutException te)
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip.cs
......@@ -249,13 +249,23 @@ namespace OnlineStore.DeviceLibrary
if (LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) && LeftBatchMove.MoveInfo.IsStep(StepEnum.IB10_ScanOK))
{
WorkLog("左侧开始取料");
string code = LeftBatchMove.MoveInfo.MoveParam.WareCode;
StartWorking(new WorkParam(1, 0, code));
var p = new WorkParam(1, 0, code);
p.IsNgReel = LeftBatchMove.MoveInfo.MoveParam.IsNgReel;
p.TargetPosType = LeftBatchMove.MoveInfo.MoveParam.TargetPosType;
p.NgMsg = LeftBatchMove.MoveInfo.MoveParam.NgMsg;
StartWorking(p);
}
else if (RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) && RightBatchMove.MoveInfo.IsStep(StepEnum.IB10_ScanOK))
{
WorkLog("右侧开始取料");
string code = RightBatchMove.MoveInfo.MoveParam.WareCode;
StartWorking(new WorkParam(2, 0, code));
var p = new WorkParam(2, 0, code);
p.IsNgReel = RightBatchMove.MoveInfo.MoveParam.IsNgReel;
p.TargetPosType = RightBatchMove.MoveInfo.MoveParam.TargetPosType;
p.NgMsg = RightBatchMove.MoveInfo.MoveParam.NgMsg;
StartWorking(p);
}
}
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None) && NoErrorAlarm())
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
......@@ -50,7 +50,6 @@ namespace OnlineStore.DeviceLibrary
}
#region 取料
internal bool IsInGetWare()
{
if (MoveInfo.MoveStep >= StepEnum.OT06_MoveXToP2 && MoveInfo.MoveStep <= StepEnum.OT09_MoveZToP1)
......@@ -110,7 +109,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.IsNgReel = true;
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_OLine_Run, IO_VALUE.LOW));
}
......@@ -175,7 +173,6 @@ namespace OnlineStore.DeviceLibrary
}
private void OT03_MoveXToP2()
{
int position = Config.GetMoveXP2(MoveInfo.MoveParam.PlateW);
if (MoveXAxis.IsInPosition(position))
{
......@@ -341,12 +338,13 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.OT12_MoveXToP3);
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 - (trayHeight + 20) * Config.Height_ChangeValue;
if (targetP < Config.BatchAxisP2)
......@@ -354,6 +352,7 @@ namespace OnlineStore.DeviceLibrary
targetP = Config.BatchAxisP2;
}
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 + "】");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
BatchAxis.AbsMove(ShelfMoveInfo, targetP, Config.BatchAxis_P2Speed);
}
}
......@@ -367,12 +366,20 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.OT12_MoveXToP3))
{
MoveInfo.NextMoveStep(StepEnum.OT13_MoveZToP3);
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);
if (IOValue(IO_Type.O_WLine_TrayCheck).Equals(IO_VALUE.HIGH)) {
ShelfMoveInfo.NextMoveStep(StepEnum.OS_20_ShelfReady);
MoveInfo.NextMoveStep(StepEnum.OT11_WaitShelfOk);
WorkLog("放料：料串下降不到位，重新下降 ", 1);
}
else
{
MoveInfo.NextMoveStep(StepEnum.OT13_MoveZToP3);
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();
CheckStartLabel();
}
}
else if (MoveInfo.IsStep(StepEnum.OT13_MoveZToP3))
{
......@@ -424,7 +431,6 @@ namespace OnlineStore.DeviceLibrary
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
TickLog("出口料串,放料完成");
MoveInfo.EndMove();
}
else
{
......@@ -438,10 +444,7 @@ namespace OnlineStore.DeviceLibrary
}
}
}
#region NG料
else if (MoveInfo.IsStep(StepEnum.OT21_NG_MoveXToP1))
{
int busyStatus = ACServerManager.GetBusyStatus(MoveZAxis.Config.DeviceName, MoveZAxis.Config.GetAxisValue());
......@@ -477,17 +480,13 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
TickLog("出口NG,放料完成");
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
MoveInfo.EndMove();
MoveInfo.EndMove();
}
#endregion
}
#endregion
#region 贴标
public override bool StartLabelling(WorkParam param)
{
if (!SecMoveInfo.MoveType.Equals(RobotMoveType.None))
......@@ -508,7 +507,6 @@ namespace OnlineStore.DeviceLibrary
{
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
}
return true;
}
......@@ -529,8 +527,12 @@ namespace OnlineStore.DeviceLibrary
{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
StickingPosJudgment = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
try
{
NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
StickingPosJudgment = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
}
catch { }
SecWorkLog("贴标: 重置PrintLabel状态=Unknown，开始打印标签[" + NeedPrint + "] ，贴标XYR轴到取标签点P2, 等待1s");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (NeedPrint)
......@@ -548,7 +550,6 @@ namespace OnlineStore.DeviceLibrary
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL03_PrintLabel))
{
......@@ -576,7 +577,6 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL05_TakeBack))
{
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs
......@@ -246,12 +246,12 @@ namespace OnlineStore.DeviceLibrary
else if (ShelfMoveInfo.IsStep(StepEnum.OS_21_BatchDownH))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_22_WaitTray);
ShelfWorkLog("等待料盘放入料串");
ShelfWorkLog("等待料盘放入料串,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString());
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_23_TrayOK))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
ShelfWorkLog("批量轴匀速到P3或信号亮");
ShelfWorkLog("批量轴匀速到P3或信号亮,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString()); ;
BatchAxisToP3(ShelfMoveInfo);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_24_BatchToP3))
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/RobotBean.cs
using BLL;
using Asa;
using BLL;
using log4net;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
......@@ -64,6 +65,17 @@ namespace OnlineStore.DeviceLibrary
AgvClient.NodeList.Add(outputEquip.Config.AgvOutName);
AgvClient.NodeList.Add(inputEquip.Config.RightAgvName);
AgvClient.NodeList.Add(inputEquip.Config.LeftAgvName);
/*var carerayImage = new CarerayImage();
if (carerayImage.Open())
{
carerayImage.Close();
}
else {
LogUtil.info(Name + "图像平板打开失败！ 系统不允许启动。");
return;
}
*/
Task.Factory.StartNew(delegate
{
LogUtil.info(Name + "开始连接IO模块 ");
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs
......@@ -61,7 +61,7 @@ namespace OnlineStore.DeviceLibrary
}
public bool carerayImageError = false;
private void XRayLoad()
{
try
......@@ -69,7 +69,7 @@ namespace OnlineStore.DeviceLibrary
carerayImage = new CarerayImage("XRay");
bool cResult = carerayImage.Open();
LogUtil.info(Name + "carerayImage.Open()=" + cResult);
carerayImageError = !cResult;
xRay = new XRay("XRay");
xRay.WarmUp += XRay_WarmUp;
......@@ -150,7 +150,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(RobotMoveType.RHome);
LogInfo("开始 原点返回： ");
StartReset();
SetAllTimer(true);
return true;
}
......@@ -346,10 +346,8 @@ namespace OnlineStore.DeviceLibrary
}
return false;
}
#endregion
public override string GetMoveStr()
{
string msg = "";
......
RC1266-AutoCountMachine/source/DeviceLibrary/manager/ParamManager.cs
......@@ -8,6 +8,7 @@ using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using static OnlineStore.DeviceLibrary.CountParam;
namespace OnlineStore.DeviceLibrary
{
......@@ -16,13 +17,18 @@ namespace OnlineStore.DeviceLibrary
public static string NoConfigPath = @"D:\NoConfigImg\";
private static Dictionary<string, CountParam> countParamMap = new Dictionary<string, CountParam>();
private static string ConfigFilePath = "";
internal static void Init()
public static void Init()
{
ConfigFilePath = Application.StartupPath + ConfigAppSettings.GetValue(Setting_Init.CounParamConfig);
countParamMap = LoadParamMap( );
countParamMap = LoadParamMap();
}
public static string GetSufanStr(int type)
{
SignType sign=SignType.AUTO;
Enum.TryParse<SignType>(type.ToString(), out sign);
return GetSufanStr(sign);
}
public static string GetSufanStr(SignType type)
{
if (type.Equals(0))
{
......@@ -44,7 +50,7 @@ namespace OnlineStore.DeviceLibrary
{
return "算法E";
}
return "";
return "默认算法";
}
public static CountParam GetParamByPN(string pn)
{
......@@ -190,7 +196,7 @@ namespace OnlineStore.DeviceLibrary
List<ComponetInfo> FZList = new List<ComponetInfo>();
Dictionary<int, int> sufaCount = new Dictionary<int, int>();
int maxSufa = -1;
SignType maxSufa = SignType.AUTO;
int maxCount = 0;
foreach (ComponetInfo obj in CSVBomManager.allComMap.Values)
{
......@@ -199,7 +205,7 @@ namespace OnlineStore.DeviceLibrary
CountParam p = GetParamByPN(obj.PartNum);
if (p != null)
{
obj.Sufan = p.Sign;
obj.Sufan = (int)p.Sign;
if (sufaCount.ContainsKey(obj.Sufan))
{
......@@ -213,7 +219,7 @@ namespace OnlineStore.DeviceLibrary
if (sufaCount[obj.Sufan] > maxCount)
{
maxCount = sufaCount[obj.Sufan];
maxSufa = obj.Sufan;
Enum.TryParse<SignType>(obj.Sufan.ToString(),out maxSufa);
}
}
FZList.Add(obj);
......@@ -244,7 +250,7 @@ namespace OnlineStore.DeviceLibrary
}
public class CountParam
{
public CountParam(string pn, int th = 0, int size = 0, int sign = 0, int value = 0)
public CountParam(string pn, int th = 0, int size = 0, SignType sign=SignType.AUTO, int value = 0)
{
this.PN = pn;
this.Threshold = th;
......@@ -256,12 +262,12 @@ namespace OnlineStore.DeviceLibrary
public int Threshold = 0;
public int WindowSize = 0;
public string AreaValue = "";
public int Sign = 0;
public SignType Sign = 0;
public int Value = 0;
public string ToStr()
{
return "【PN=" + PN + ",sign=" + Sign + ",value=" + Value + ",th=" + Threshold + ",wsize=" + WindowSize + "】";
return "【PN=" + PN + ",sign=" + Sign.ToString()+ ",value=" + Value + ",th=" + Threshold + ",wsize=" + WindowSize + "】";
}
public string ToCSVStr()
{
......@@ -277,7 +283,9 @@ namespace OnlineStore.DeviceLibrary
if (array.Length >= 5)
{
string pn = array[0].Trim();
int sign = Convert.ToInt32(array[1].Trim());
SignType sign = SignType.AUTO;
Enum.TryParse<SignType>(array[1].Trim(), out sign);
int value = Convert.ToInt32(array[2].Trim());
int th = Convert.ToInt32(array[3].Trim());
int size = Convert.ToInt32(array[4].Trim());
......@@ -290,7 +298,15 @@ namespace OnlineStore.DeviceLibrary
return null;
}
public enum SignType
{
IP_SMALL_PARTS=0,
IP_LARGE_PARTS = 1,
IP_LONG_PARTS = 2,
IP_SQUARE_PARTS = 3,
IP_GEN_PARTS = 4,
AUTO = 99,
}
internal static string GetCSVTitle()
{
return "type,sign,value,threshold,windowSize";
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/AxisBean.cs
......@@ -275,7 +275,7 @@ namespace OnlineStore.DeviceLibrary
if (IOManager.IOValue(TargetIoType, 0).Equals(TargetIoValue))
{
AxisStopCheckMove();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动,AclPosition=" + GetAclPosition().ToString());
SuddenStop();
}
}
......
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