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Commit 925363cc 由 LN
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bug修改

1 个父辈 10de6088
内嵌 并排
正在显示 8 个修改的文件 包含 66 行增加 和 317 行删除
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -124,8 +124,8 @@ namespace OnlineStore.AssemblyLine
}
}
lblAgvInfo.Text = "AGV-" + equipBean.Config.AgvInName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvInName).ToString() +
"\t AGV-" + equipBean.Config.AgvOutName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvOutName).ToString() + "";
//lblAgvInfo.Text = "AGV-" + equipBean.Config.AgvInName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvInName).ToString() +
// "\t AGV-" + equipBean.Config.AgvOutName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvOutName).ToString() + "";
string canOut = equipBean.Config.IsCanOut.Equals(1) ? "紧急出料模块" : "入料模块";
lblStoreStatus.Text = KTK_Store.GetRunStr(equipBean.runStatus) + "(" + canOut + ")";
lblThisSta.Text = equipBean.WarnMsg;
......
source/AssemblyLineClient/FrmLineStore.Designer.cs
......@@ -83,9 +83,9 @@
this.二维码学习ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator7 = new System.Windows.Forms.ToolStripSeparator();
this.托盘初始化ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator16 = new System.Windows.Forms.ToolStripSeparator();
this.toolStripSeparator9 = new System.Windows.Forms.ToolStripSeparator();
this.toolStripMenuItem3 = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator16 = new System.Windows.Forms.ToolStripSeparator();
this.toolStripMenuItem2 = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator13 = new System.Windows.Forms.ToolStripSeparator();
this.iO模块状态ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
......@@ -105,7 +105,6 @@
this.toolStripSeparator15 = new System.Windows.Forms.ToolStripSeparator();
this.启用蜂鸣器ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator25 = new System.Windows.Forms.ToolStripSeparator();
this.aGVCancelStateToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator17 = new System.Windows.Forms.ToolStripSeparator();
this.自动保存托盘信息ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.contextMenuStrip_control = new System.Windows.Forms.ContextMenuStrip(this.components);
......@@ -647,50 +646,50 @@
// toolStripSeparator6
//
this.toolStripSeparator6.Name = "toolStripSeparator6";
this.toolStripSeparator6.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator6.Size = new System.Drawing.Size(173, 6);
this.toolStripSeparator6.Visible = false;
//
// 二维码学习ToolStripMenuItem
//
this.二维码学习ToolStripMenuItem.Name = "二维码学习ToolStripMenuItem";
this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.二维码学习ToolStripMenuItem.Text = "二维码学习";
this.二维码学习ToolStripMenuItem.Click += new System.EventHandler(this.二维码学习ToolStripMenuItem_Click);
//
// toolStripSeparator7
//
this.toolStripSeparator7.Name = "toolStripSeparator7";
this.toolStripSeparator7.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator7.Size = new System.Drawing.Size(173, 6);
//
// 托盘初始化ToolStripMenuItem
//
this.托盘初始化ToolStripMenuItem.Name = "托盘初始化ToolStripMenuItem";
this.托盘初始化ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.托盘初始化ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.托盘初始化ToolStripMenuItem.Text = "托盘编码";
this.托盘初始化ToolStripMenuItem.Click += new System.EventHandler(this.托盘初始化ToolStripMenuItem_Click);
//
// toolStripSeparator16
//
this.toolStripSeparator16.Name = "toolStripSeparator16";
this.toolStripSeparator16.Size = new System.Drawing.Size(173, 6);
//
// toolStripSeparator9
//
this.toolStripSeparator9.Name = "toolStripSeparator9";
this.toolStripSeparator9.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator9.Size = new System.Drawing.Size(173, 6);
this.toolStripSeparator9.Visible = false;
//
// toolStripMenuItem3
//
this.toolStripMenuItem3.Name = "toolStripMenuItem3";
this.toolStripMenuItem3.Size = new System.Drawing.Size(180, 26);
this.toolStripMenuItem3.Size = new System.Drawing.Size(176, 26);
this.toolStripMenuItem3.Text = "脆盘料号配置";
this.toolStripMenuItem3.Click += new System.EventHandler(this.toolStripMenuItem3_Click);
//
// toolStripSeparator16
//
this.toolStripSeparator16.Name = "toolStripSeparator16";
this.toolStripSeparator16.Size = new System.Drawing.Size(177, 6);
//
// toolStripMenuItem2
//
this.toolStripMenuItem2.Name = "toolStripMenuItem2";
this.toolStripMenuItem2.Size = new System.Drawing.Size(180, 26);
this.toolStripMenuItem2.Size = new System.Drawing.Size(176, 26);
this.toolStripMenuItem2.Text = "AGV调试";
this.toolStripMenuItem2.Visible = false;
this.toolStripMenuItem2.Click += new System.EventHandler(this.toolStripMenuItem2_Click);
......@@ -698,36 +697,36 @@
// toolStripSeparator13
//
this.toolStripSeparator13.Name = "toolStripSeparator13";
this.toolStripSeparator13.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator13.Size = new System.Drawing.Size(173, 6);
//
// iO模块状态ToolStripMenuItem
//
this.iO模块状态ToolStripMenuItem.Name = "iO模块状态ToolStripMenuItem";
this.iO模块状态ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.iO模块状态ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.iO模块状态ToolStripMenuItem.Text = "查看料仓状态";
this.iO模块状态ToolStripMenuItem.Click += new System.EventHandler(this.iO模块状态ToolStripMenuItem_Click);
//
// toolStripSeparator14
//
this.toolStripSeparator14.Name = "toolStripSeparator14";
this.toolStripSeparator14.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator14.Size = new System.Drawing.Size(173, 6);
//
// 查看托盘信息ToolStripMenuItem
//
this.查看托盘信息ToolStripMenuItem.Name = "查看托盘信息ToolStripMenuItem";
this.查看托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.查看托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.查看托盘信息ToolStripMenuItem.Text = "查看托盘信息";
this.查看托盘信息ToolStripMenuItem.Click += new System.EventHandler(this.btnTrayInfo_Click);
//
// toolStripSeparator12
//
this.toolStripSeparator12.Name = "toolStripSeparator12";
this.toolStripSeparator12.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator12.Size = new System.Drawing.Size(173, 6);
//
// 清空托盘信息ToolStripMenuItem
//
this.清空托盘信息ToolStripMenuItem.Name = "清空托盘信息ToolStripMenuItem";
this.清空托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.清空托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.清空托盘信息ToolStripMenuItem.Text = "清空托盘信息";
this.清空托盘信息ToolStripMenuItem.Click += new System.EventHandler(this.清空托盘信息ToolStripMenuItem_Click);
//
......@@ -797,7 +796,6 @@
this.toolStripSeparator15,
this.启用蜂鸣器ToolStripMenuItem,
this.toolStripSeparator25,
this.aGVCancelStateToolStripMenuItem,
this.toolStripSeparator17,
this.自动保存托盘信息ToolStripMenuItem});
this.运行参数ToolStripMenuItem.Name = "运行参数ToolStripMenuItem";
......@@ -807,45 +805,37 @@
// 开机自动启动ToolStripMenuItem
//
this.开机自动启动ToolStripMenuItem.Name = "开机自动启动ToolStripMenuItem";
this.开机自动启动ToolStripMenuItem.Size = new System.Drawing.Size(206, 26);
this.开机自动启动ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.开机自动启动ToolStripMenuItem.Text = "开机自动启动";
this.开机自动启动ToolStripMenuItem.Click += new System.EventHandler(this.开机自动启动ToolStripMenuItem_Click);
//
// toolStripSeparator15
//
this.toolStripSeparator15.Name = "toolStripSeparator15";
this.toolStripSeparator15.Size = new System.Drawing.Size(203, 6);
this.toolStripSeparator15.Size = new System.Drawing.Size(177, 6);
//
// 启用蜂鸣器ToolStripMenuItem
//
this.启用蜂鸣器ToolStripMenuItem.Name = "启用蜂鸣器ToolStripMenuItem";
this.启用蜂鸣器ToolStripMenuItem.Size = new System.Drawing.Size(206, 26);
this.启用蜂鸣器ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.启用蜂鸣器ToolStripMenuItem.Text = "启用蜂鸣器";
this.启用蜂鸣器ToolStripMenuItem.Click += new System.EventHandler(this.启用蜂鸣器ToolStripMenuItem_Click);
//
// toolStripSeparator25
//
this.toolStripSeparator25.Name = "toolStripSeparator25";
this.toolStripSeparator25.Size = new System.Drawing.Size(203, 6);
//
// aGVCancelStateToolStripMenuItem
//
this.aGVCancelStateToolStripMenuItem.Name = "aGVCancelStateToolStripMenuItem";
this.aGVCancelStateToolStripMenuItem.Size = new System.Drawing.Size(206, 26);
this.aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
this.aGVCancelStateToolStripMenuItem.Visible = false;
this.aGVCancelStateToolStripMenuItem.Click += new System.EventHandler(this.aGVCancelStateToolStripMenuItem_Click);
this.toolStripSeparator25.Size = new System.Drawing.Size(177, 6);
//
// toolStripSeparator17
//
this.toolStripSeparator17.Name = "toolStripSeparator17";
this.toolStripSeparator17.Size = new System.Drawing.Size(203, 6);
this.toolStripSeparator17.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator17.Visible = false;
//
// 自动保存托盘信息ToolStripMenuItem
//
this.自动保存托盘信息ToolStripMenuItem.Name = "自动保存托盘信息ToolStripMenuItem";
this.自动保存托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(206, 26);
this.自动保存托盘信息ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.自动保存托盘信息ToolStripMenuItem.Text = "保存托盘信息";
this.自动保存托盘信息ToolStripMenuItem.Visible = false;
this.自动保存托盘信息ToolStripMenuItem.Click += new System.EventHandler(this.自动保存托盘信息ToolStripMenuItem_Click);
......@@ -1031,7 +1021,6 @@
private System.Windows.Forms.ToolStripMenuItem 开机自动启动ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 启用蜂鸣器ToolStripMenuItem;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator15;
private System.Windows.Forms.ToolStripMenuItem aGVCancelStateToolStripMenuItem;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator17;
private System.Windows.Forms.TabPage tabPage2;
private System.Windows.Forms.Panel panel2;
......
source/AssemblyLineClient/FrmLineStore.cs
......@@ -358,7 +358,7 @@ namespace OnlineStore.AssemblyLine
停止所有料仓TToolStripMenuItem_Click(null, null);
}
AgvClient.Dispose();
//AgvClient.Dispose();
if (IOManager.instance != null)
{
IOManager.instance.CloseAllDO();
......@@ -438,14 +438,7 @@ namespace OnlineStore.AssemblyLine
string canScanCode = "";
if (AgvClient.CurrCancelState)
{
aGVCancelStateToolStripMenuItem.Text = gouStr + " AGV cancelState";
}
else
{
aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
}
lblStatus.Text = lineBean.GetRunStr() + canScanCode;
string warnMsg = "";
if (LineManager.Line.runStatus > LineRunStatus.Wait)
......@@ -742,30 +735,7 @@ namespace OnlineStore.AssemblyLine
}
LogUtil.info(Name + " 点击：" + 启用蜂鸣器ToolStripMenuItem.Text);
}
private void aGVCancelStateToolStripMenuItem_Click(object sender, EventArgs e)
{
if (!LoadOk)
{
return;
}
bool result = !aGVCancelStateToolStripMenuItem.Text.Contains(gouStr);
if (result.Equals(AgvClient.CurrCancelState))
{
return;
}
AgvClient.SetCancelState(result);
//robot.XrayBean.OpenXLine = result;
if (result)
{
aGVCancelStateToolStripMenuItem.Text = gouStr + " AGV cancelState";
}
else
{
aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
}
LogUtil.info(Name + " 点击：" + aGVCancelStateToolStripMenuItem.Text);
}
#region 按钮界面
......
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -74,7 +74,6 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="agvClient\AgvClient.cs" />
<Compile Include="assemblyLine\HY\HYEquipBase.cs" />
<Compile Include="assemblyLine\HY\HY_C1_SLStation.cs" />
<Compile Include="assemblymanager\ALineManager.cs" />
......@@ -82,7 +81,6 @@
<Compile Include="assemblyLine\FeedingEquip.cs" />
<Compile Include="assemblymanager\RFIDManagercs.cs" />
<Compile Include="assemblymanager\SServerManager.cs" />
<Compile Include="assemblymanager\EDataManager.cs" />
<Compile Include="assemblymanager\TrayManager.cs" />
<Compile Include="baan\AxisBean.cs" />
<Compile Include="baan\ClampJawBean.cs" />
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -117,8 +117,8 @@ namespace OnlineStore.DeviceLibrary
//}
ClampJwa.Reset();
//复位时设置状态为none
AgvClient.SetStatus(Config.AgvInName);
AgvClient.SetStatus(Config.AgvOutName);
//AgvClient.SetStatus(Config.AgvInName);
//AgvClient.SetStatus(Config.AgvOutName);
//OutStoreHeight = -1;
//OutStoreCount = 0;
......@@ -319,8 +319,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
//StopMove时设置状态为none
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
//AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
BatchAxisStopCheck();
BatchAxis.SuddenStop();
......@@ -344,8 +344,8 @@ namespace OnlineStore.DeviceLibrary
}
StopMove();
CloseLed();
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
//AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
}
......@@ -431,7 +431,6 @@ namespace OnlineStore.DeviceLibrary
//}
}
AgvStatusPro();
LedProcess();
......@@ -798,218 +797,12 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region AGV
#region 料架号保存
#region AGV状态处理
private Stopwatch needEnterWatch = new Stopwatch();
private Stopwatch needLeaveWatch = new Stopwatch();
//private void ResetEndAgvPro()
//{
// if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
// {
// ClientLevel level = ClientLevel.Low;
// if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
// {
// level = ClientLevel.Middle;
// }
// if (Config.IsCanOut.Equals(1))
// {
// level = ClientLevel.High;
// }
// LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave");
// AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// }
//}
private void AgvStatusPro()
{
if (NoErrorAlarm())
{
//bool HasOutLine = Config.DOList.ContainsKey(IO_Type.SL_OutLine_Run);
//if (HasOutLine && IOValue(IO_Type.SL_OutLine_Check).Equals(IO_VALUE.HIGH))
//{
// if (CheckStopWatch(needLeaveWatch, 3000))
// {
// ClientLevel level = ClientLevel.Low;
// if (Config.IsCanOut.Equals(1))
// {
// level = ClientLevel.High;
// }
// else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
// {
// level = ClientLevel.Middle;
// }
// //线体出口检测到料架，需要通知AGV小车
// AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// }
//}
if ((!HasOutLine) && IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(needLeaveWatch, 3000))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
level = ClientLevel.High;
}
else if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
{
level = ClientLevel.Middle;
}
//线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
}
}
else
{
needLeaveWatch.Stop();
AgvClient.SetToNone(Config.AgvOutName);
}
//入口无料架，mayEnter
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(needEnterWatch, 3000))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
//如果是出料模块且当前无料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
level = ClientLevel.High;
}
}
AgvClient.NeedEnter(Config.AgvInName, "", level);
}
}
else
{
needEnterWatch.Stop();
AgvClient.SetToNone(Config.AgvInName);
}
}
else
{
needLeaveWatch.Stop();
AgvClient.SetToNone(Config.AgvOutName);
needEnterWatch.Stop();
AgvClient.SetToNone(Config.AgvInName);
}
}
#endregion
internal void AgvArrive(string nodeId, string rfid)
{
string logN = Name + "收到 AgvArrive 事件 [" + nodeId + "] [" + rfid + "] ";
if (nodeId.Equals(Config.AgvInName))
{
}
else if (nodeId.Equals(Config.AgvOutName))
{
}
LogUtil.info(logN + "：" + "暂无处理");
}
internal void AgvReady(string nodeId, string rfid)
{
string logN = Name + "收到 AgvReady 事件 [" + nodeId + "] [" + rfid + "] ";
if (nodeId.Equals(Config.AgvInName))
{
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info(logN + " ，入口有料架，暂不处理，重置 [" + nodeId + "] 状态为None");
AgvClient.SetStatus(nodeId);
return;
}
ShelfEnterProcess();
}
else if (nodeId.Equals(Config.AgvOutName))
{
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logN + " ，未检测到出口有料架，暂不处理，重置 [" + nodeId + "] 状态为None");
AgvClient.SetStatus(nodeId);
return;
}
ShelfOutProcess();
}
}
private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false;
internal void ShelfOutProcess()
{
//AGV已到达，将料架送入AGV中
Task.Factory.StartNew(delegate
{
string checkIo = IO_Type.SL_Out_Check;
string lineDo = IO_Type.SL_OutSideWay_Run;
string stopDo = IO_Type.SL_Out_StopDown;
//if (HasOutLine)
//{
// checkIo = IO_Type.SL_OutLine_Check;
// lineDo = IO_Type.SL_OutLine_Run;
//}
string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
try
{
LogUtil.info(logName + "开始，先设置状态为None");
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
if (IOValue(checkIo).Equals(IO_VALUE.HIGH))
{
// AgvClient.SetStatus(Config.AgvOutName,"",ClientAction.MayLeave,ClientLevel.High);
ProcessShelfOut = true;
//出口阻挡下降，出口线体转动
IOMove(stopDo, IO_VALUE.HIGH);
IOMove(lineDo, IO_VALUE.HIGH);
bool result = WaitIo(checkIo, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 "+ checkIo + "=LOW超时，等待8000后停止"+lineDo+"转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + checkIo + "=LOW ，等待8000后停止" + lineDo + "转动，发送FinishLeave");
}
//再转动2000
Thread.Sleep(8000);
//停止转动 ,阻挡上升
IOMove(lineDo, IO_VALUE.LOW);
IOMove(stopDo, IO_VALUE.LOW);
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.FinishLeave, ClientLevel.High, true);
Thread.Sleep(1000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfOut = false;
LogUtil.info(logName + ",停止转动，清空料架[" + LastOutShelfId + "]， 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理");
}
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
IOMove(lineDo, IO_VALUE.LOW);
ProcessShelfOut = false;
}
});
}
internal void ShelfEnterProcess()
{
Task.Factory.StartNew(delegate
......@@ -1020,7 +813,7 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logName + " 开始，设置状态=MayEnter");
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.MayEnter, ClientLevel.High, true);
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.MayEnter, ClientLevel.High, true);
ProcessShelfEnter = true;
//转动线体
......@@ -1033,17 +826,7 @@ namespace OnlineStore.DeviceLibrary
result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 600000);
LogUtil.info(logName + " 等待 SL_Stop_Check=High " + result + "，开始等待CloseDoor 超时10分钟");
try
{
result = WaitUtil.Wait(600000, delegate ()
{
return AgvClient.GetAction(Config.AgvInName).Equals(ClientAction.CloseDoor);
}, logName + "等待CloseDoor超时");
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
////等待 15000 毫秒后停止转动
//Thread.Sleep(15000);
if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_LineStart))
......@@ -1059,14 +842,14 @@ namespace OnlineStore.DeviceLibrary
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Thread.Sleep(1000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfEnter = false;
LogUtil.info(logName + " 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理，设置=None");
AgvClient.SetStatus(Config.AgvInName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
//AgvClient.SetStatus(Config.AgvInName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
}
}
catch (TimeoutException te)
......@@ -1112,8 +895,6 @@ namespace OnlineStore.DeviceLibrary
return true;
}
#region 料架号保存
private void UpdateLastShelfID(string currRfid = "")
{
string configStr = Setting_Init.Feed_LastShelfID_ + DeviceID;
......@@ -1127,8 +908,6 @@ namespace OnlineStore.DeviceLibrary
}
#endregion
#endregion
internal bool NeedEmptyTray()
{
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) &&
......@@ -1164,8 +943,21 @@ namespace OnlineStore.DeviceLibrary
}
public string GetLastTrayInfo()
{
return "" + LastWidth + "X" + LastHeight + "=" + lastcode +( (LastPosParam!=null) ?("[" + LastPosParam.PosId + "]"): "")+((bool)(LastPosParam?.IsNG)?("入库NG:"+LastPosParam?.NgMsg):"");
try
{
if (LastPosParam == null)
{
return "" + LastWidth + "X" + LastHeight + "=" + lastcode?.ToString();
}
else
{
return "" + LastWidth + "X" + LastHeight + "=" + lastcode?.ToString() + ((LastPosParam != null) ? ("[" + LastPosParam.PosId + "]") : "") + ((bool)(LastPosParam?.IsNG) ? ("入库NG:" + LastPosParam?.NgMsg) : "");
}
}
catch (Exception ex)
{
return "";
}
}
}
}
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -683,7 +683,7 @@ namespace OnlineStore.DeviceLibrary
MoveEndS();
LastOutShelfId = CurrShelfId;
InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束，更新LastOutShelfId=" + LastOutShelfId);
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, ClientLevel.Low);
//AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, ClientLevel.Low);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FI_62_OutLineRun))
......@@ -693,7 +693,7 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
//IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束，更新LastOutShelfId=" + LastOutShelfId);
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, ClientLevel.Low);
//AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, ClientLevel.Low);
}
#endregion
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -68,8 +68,8 @@ namespace OnlineStore.DeviceLibrary
ConfigClampJaw jawconfig = Line_Config.ClampJawMap[config.Id];
FeedingEquip equip = new FeedingEquip(lineConfig.CID, config,jawconfig);
//增加AGV小车客户端
AgvClient.NodeList.Add(config.AgvInName);
AgvClient.NodeList.Add(config.AgvOutName);
//AgvClient.NodeList.Add(config.AgvInName);
//AgvClient.NodeList.Add(config.AgvOutName);
AddDeviceName(ioList, config.IOIPList);
FeedingEquipMap.Add(config.Id, equip);
......@@ -112,7 +112,7 @@ namespace OnlineStore.DeviceLibrary
mainTimer.Enabled = true;
IoCheckTimer.Enabled = true;
AgvClient.Init();
//AgvClient.Init();
canStart = true;
});
......@@ -368,7 +368,7 @@ namespace OnlineStore.DeviceLibrary
IoCheckTimer.Enabled = false;
mainTimer.Enabled = false;
serverConTimer.Enabled = false ;
AgvClient.SetCancelState(true);
//AgvClient.SetCancelState(true);
RFIDManager.Close();
//停止运行时，把阻挡气缸上升
//StopMove();
......@@ -903,7 +903,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove();
mainTimer.Interval = 300;
maxSeconds = 3;
AgvClient.SetCancelState(AgvClient.CurrCancelState);
//AgvClient.SetCancelState(AgvClient.CurrCancelState);
LogUtil.info(Name + "所有移栽模块复位完成，打开流水线，开始运转，定时器改为300，耗时 [" + FormUtil.GetSpanStr(span) + "]");
}
else if (span.TotalSeconds > 120)
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -316,7 +316,7 @@ namespace OnlineStore.DeviceLibrary
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【MOVING】【" + DeviceID + "】");
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.MOVING, DeviceID.ToString());
EDataManager.UpdateParam(DeviceID, 2, MoveInfo.MoveParam);
//EDataManager.UpdateParam(DeviceID, 2, MoveInfo.MoveParam);
}
else
{
......@@ -449,7 +449,7 @@ namespace OnlineStore.DeviceLibrary
//CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo, MoveInfo.MoveParam.WareCode);
EDataManager.UpdateParam(DeviceID);
//EDataManager.UpdateParam(DeviceID);
}
else if (MoveInfo.IsStep(LineMoveStep.MO_61_CylinderRelax))
{
......@@ -578,7 +578,7 @@ namespace OnlineStore.DeviceLibrary
InLog("入库 " + MoveInfo.SLog + ": 夹料气缸夹紧");
ClampEmptyMove = false;
ClampJwa.Push(MoveInfo, true, MoveInfo.MoveParam.WareCode);
EDataManager.UpdateParam(DeviceID, 1, MoveInfo.MoveParam);
//EDataManager.UpdateParam(DeviceID, 1, MoveInfo.MoveParam);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_05_CylinderOpen))
{
......@@ -641,7 +641,7 @@ namespace OnlineStore.DeviceLibrary
InLog("入库 " + MoveInfo.SLog + "，夹料气缸放松");
//CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo, MoveInfo.MoveParam.WareCode);
EDataManager.UpdateParam(DeviceID);
//EDataManager.UpdateParam(DeviceID);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_12_CylinderRelax))
{
......
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