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Commit dc294e32 由 LN
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增加自动重新运动功能。

1 个父辈 0722175b
内嵌 并排
正在显示 7 个修改的文件 包含 20 行增加 和 6 行删除
DeviceLibrary/manager/StockInfo.cs
...@@ -68,7 +68,8 @@ namespace TSA_V.DeviceLibrary ...@@ -68,7 +68,8 @@ namespace TSA_V.DeviceLibrary
if (PreNodeId > 0 && !(moveNode.NodeId.Equals(PreNodeId))) if (PreNodeId > 0 && !(moveNode.NodeId.Equals(PreNodeId)))
{ {
//上一个节点返回原点 //上一个节点返回原点
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition); PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
Thread.Sleep(50);
} }
PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition); PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition);
......
DeviceLibrary/manager/TSAVStatus.cs
...@@ -175,6 +175,8 @@ namespace TSA_V.DeviceLibrary ...@@ -175,6 +175,8 @@ namespace TSA_V.DeviceLibrary
public int TemperatureMax { get; set; } public int TemperatureMax { get; set; }
public int WhileMoveCount = 0;
public static bool GetWaitResult(List<WaitResultInfo> waitList, TimeSpan span,bool oneOkCanEnd, out string waitMsg) public static bool GetWaitResult(List<WaitResultInfo> waitList, TimeSpan span,bool oneOkCanEnd, out string waitMsg)
{ {
waitMsg = ""; waitMsg = "";
...@@ -199,8 +201,16 @@ namespace TSA_V.DeviceLibrary ...@@ -199,8 +201,16 @@ namespace TSA_V.DeviceLibrary
if (wait.WaitType.Equals(WaitTypeEnum.NodeMove_1)) if (wait.WaitType.Equals(WaitTypeEnum.NodeMove_1))
{ {
string msg = ""; string msg = "";
wait.IsEnd = PUSICANControl.MoveIsEnd(wait.Node.NodeId, wait.TargetPosition,out msg);
wait.IsEnd = PUSICANControl.MoveIsEnd(wait.Node.NodeId, wait.TargetPosition,out msg,out bool canWhileMove);
waitMsg = waitMsg + msg; waitMsg = waitMsg + msg;
if (span.TotalSeconds >= 5 && canWhileMove && wait.WhileMoveCount.Equals(0))
{
wait.WhileMoveCount++;
LogUtil.info(waitMsg + ". 自动重新运动一次"+wait.WhileMoveCount);
PUSICANControl.AbsMove(wait.Node.NodeId, wait.TargetPosition);
}
} }
else if (wait.WaitType.Equals(WaitTypeEnum.NodeHome_2)) else if (wait.WaitType.Equals(WaitTypeEnum.NodeHome_2))
{ {
......
DeviceLibrary/manager/WorkInfo.cs
...@@ -287,6 +287,7 @@ namespace TSA_V.DeviceLibrary ...@@ -287,6 +287,7 @@ namespace TSA_V.DeviceLibrary
{ {
//上一个节点返回原点 //上一个节点返回原点
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition); PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
Thread.Sleep(50);
} }
PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition); PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition);
waitList.Add(WaitResultInfo.WaitNode(moveNode, position.RotatePosition)); waitList.Add(WaitResultInfo.WaitNode(moveNode, position.RotatePosition));
......
PUSICANLibrary/PUSICANControl.cs
...@@ -926,12 +926,13 @@ namespace PUSICANLibrary ...@@ -926,12 +926,13 @@ namespace PUSICANLibrary
/// <summary> /// <summary>
/// 运动是否结束 /// 运动是否结束
/// </summary> /// </summary>
public static bool MoveIsEnd(uint nodeId, int targetPosition,out string waitMsg) public static bool MoveIsEnd(uint nodeId, int targetPosition,out string waitMsg,out bool canWhileMove)
{ {
//判断忙碌状态=0 当前坐标=targetPosition //判断忙碌状态=0 当前坐标=targetPosition
int currPosition = GetPosition(nodeId); int currPosition = GetPosition(nodeId);
int cha = Math.Abs(targetPosition - currPosition); int cha = Math.Abs(targetPosition - currPosition);
waitMsg = "当前坐标[" + currPosition + "]"; waitMsg = "当前坐标[" + currPosition + "]";
canWhileMove = true;
if (cha < 10) if (cha < 10)
{ {
int value = 0; int value = 0;
...@@ -942,6 +943,7 @@ namespace PUSICANLibrary ...@@ -942,6 +943,7 @@ namespace PUSICANLibrary
waitMsg = waitMsg + "忙碌状态["+busyStr+"]"; waitMsg = waitMsg + "忙碌状态["+busyStr+"]";
if (busyStr.Equals("1")) if (busyStr.Equals("1"))
{ {
canWhileMove = false;
return false; return false;
} }
else else
......
TSA-V/FrmBoardPutCom.cs
...@@ -269,7 +269,7 @@ namespace TSA_V ...@@ -269,7 +269,7 @@ namespace TSA_V
{ {
if (span.TotalMinutes > 1) if (span.TotalMinutes > 1)
{ {
waitMsg = "等待【" + waitMsg + "】超时 已等待【" + span.TotalMinutes.ToString() + "】分钟，"; waitMsg = "等待【" + waitMsg + "】超时 已等待【" + Math.Round( span.TotalMinutes ,2)+ "】分钟，";
foreach (WaitResultInfo wait in list) foreach (WaitResultInfo wait in list)
{ {
waitMsg = waitMsg + "\r\n" + wait.ToStr(); waitMsg = waitMsg + "\r\n" + wait.ToStr();
......
TSA-V/FrmPutCom.cs
...@@ -268,7 +268,7 @@ namespace TSA_V ...@@ -268,7 +268,7 @@ namespace TSA_V
{ {
if (span.TotalMinutes > 1) if (span.TotalMinutes > 1)
{ {
waitMsg = "等待【" + waitMsg + "】超时 已等待【" + span.TotalMinutes.ToString() + "】分钟，"; waitMsg = "等待【" + waitMsg + "】超时 已等待【" + Math.Round(span.TotalMinutes, 2) + "】分钟，";
foreach (WaitResultInfo wait in list) foreach (WaitResultInfo wait in list)
{ {
waitMsg = waitMsg + "\r\n" + wait.ToStr(); waitMsg = waitMsg + "\r\n" + wait.ToStr();
......
TSA-V/ResourceCulture.cs
...@@ -106,7 +106,7 @@ namespace TSA_V ...@@ -106,7 +106,7 @@ namespace TSA_V
private static void NoIdLog(string id, string defaultStr) private static void NoIdLog(string id, string defaultStr)
{ {
LogUtil.info("No id:[" + id + "], please add,use default string :" + defaultStr); LogUtil.debug("No id:[" + id + "], please add,use default string :" + defaultStr);
if (!defaultMap.ContainsKey(id)) if (!defaultMap.ContainsKey(id))
{ {
defaultMap.Add(id, defaultStr); defaultMap.Add(id, defaultStr);
......
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