存储机构-自动对位添加手动操作日志

source/DeviceLibrary/storeBean/boxBean/BoxEquip_AutoFindPos.cs

@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary
                         {
                             ktkPosition.MoveAxis_P3 = MoveAxis.GetAclPosition();
                             ktkPosition.Updown_P6_P12 = UpdownAxis.GetAclPosition();
-                            ktkPosition.Updown_P7_P13 = UpdownAxis.GetAclPosition() + autoFindPos.UpdownAxis_Diff_Upper_Low;
+                            ktkPosition.Updown_P7_P13 = ktkPosition.Updown_P6_P12 + autoFindPos.UpdownAxis_Diff_Upper_Low;
                             ktkPosition.PullAxis_Updown_P4 = PullAxis_Updown.GetAclPosition();
                             ktkPosition.PullAxis_Updown_P2 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_mid;
                             ktkPosition.PullAxis_Updown_P3 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_high;
                         }
+                        else
+                        {
+                            LogUtil.error($"不存在的库位：{item}");
+                        }
                         //位置配置
                         string appPath = Application.StartupPath;
                         //如果总配置文件存在，保存到总的配置文件
@@ -269,6 +273,9 @@ namespace OnlineStore.DeviceLibrary
 
                             // LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：库位[{item}]保存成功[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         }
+                        LogUtil.info($"库位{item}:MoveAxis_P3={ktkPosition.MoveAxis_P3}[{MoveAxis.GetAclPosition()}],Updown_P6_P12={ktkPosition.Updown_P6_P12}[{UpdownAxis.GetAclPosition()}]," +
+                                     $"Updown_P7_P13={ktkPosition.Updown_P7_P13}[{UpdownAxis.GetAclPosition()}+{autoFindPos.UpdownAxis_Diff_Upper_Low}],PullAxis_Updown_P4={ktkPosition.PullAxis_Updown_P4}[{PullAxis_Updown.GetAclPosition()}],PullAxis_Updown_P2={ktkPosition.PullAxis_Updown_P2}[{PullAxis_Updown.GetAclPosition()}+{autoFindPos.PullUpdown_Diff_mid}]," +
+                                     $"PullAxis_Updown_P3={ktkPosition.PullAxis_Updown_P3}[{PullAxis_Updown.GetAclPosition()}+{autoFindPos.PullUpdown_Diff_high}]");
                     }
                     LogInfo($"视觉对位 {MoveInfo.SLog}：抽屉[{autoFindPos.CurRow}，{autoFindPos.CurColumn}]位置信息保存成功[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     return true;
@@ -381,16 +388,20 @@ namespace OnlineStore.DeviceLibrary
                     {
                         autoFindPos.IsPositiveDir = true;
                         MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer);
-                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                        //存储抽屉位置信息
-                        if (SaveDrawerPosition())
-                        {
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                        Task task = Task.Factory.StartNew(delegate {
 
-                        }
-                        else
-                        {
-                            autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
-                        }
+                            //存储抽屉位置信息
+                            if (SaveDrawerPosition())
+                            {
+
+                            }
+                            else
+                            {
+                                autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
+                            }
+                        });
+                        task.Wait();
                     }
                     else
                     {
@@ -404,6 +415,7 @@ namespace OnlineStore.DeviceLibrary
                     if (autoFindPos.CurColumn < autoFindPos.Columns)
                     {
                         MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                         autoFindPos.PreColumn = autoFindPos.CurColumn;
                         autoFindPos.PreRow = autoFindPos.CurRow;
                         autoFindPos.CurColumn++;
@@ -413,6 +425,7 @@ namespace OnlineStore.DeviceLibrary
                         if (autoFindPos.CurRow < autoFindPos.Rows)
                         {
                             MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                             autoFindPos.PreRow = autoFindPos.CurRow;
                             autoFindPos.CurRow++;
                             autoFindPos.PreColumn = autoFindPos.CurColumn;
@@ -463,16 +476,19 @@ namespace OnlineStore.DeviceLibrary
                     {
                         autoFindPos.IsPositiveDir = false;
                         MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer);
-                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                        //存储抽屉位置信息
-                        if (SaveDrawerPosition())
-                        {
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                        Task task = Task.Factory.StartNew(delegate {
+                            //存储抽屉位置信息
+                            if (SaveDrawerPosition())
+                            {
 
-                        }
-                        else
-                        {
-                            autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
-                        }
+                            }
+                            else
+                            {
+                                autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
+                            }
+                        });
+                        task.Wait();
                     }
                     else
                     {
@@ -486,6 +502,7 @@ namespace OnlineStore.DeviceLibrary
                     if (autoFindPos.CurColumn > 1)
                     {
                         MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                         autoFindPos.PreRow = autoFindPos.CurRow;
                         autoFindPos.PreColumn = autoFindPos.CurColumn;
                         autoFindPos.CurColumn--;
@@ -495,6 +512,7 @@ namespace OnlineStore.DeviceLibrary
                         if (autoFindPos.CurRow < autoFindPos.Rows)
                         {
                             MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                             autoFindPos.PreRow = autoFindPos.CurRow;
                             autoFindPos.CurRow++;
                             autoFindPos.PreColumn = autoFindPos.CurColumn;

source/XLRStoreClient/boxForm/FrmAutoFindPos.cs

@@ -163,6 +163,7 @@ namespace OnlineStore.XLRStore
             boxEquip.autoFindPos.ColumnsInDraw = colmns_in_drawer;
             btnStartVision.Enabled = true;
             boxEquip.autoFindPosMode = false;
+            LogUtil.info($"手动设置：{head2.ToString()}");
         }
 
         private void timer1_Tick(object sender, EventArgs e)
@@ -416,6 +417,7 @@ namespace OnlineStore.XLRStore
             {
                 boxEquip.PullAxis_Inout.AbsMove(null, boxEquip.Config.PullAxis_Inout_CamB, boxEquip.Config.PullAxis_Inout_P1_Speed);
             }
+            LogUtil.info($"进出轴到位");
         }
 
         private void btnMoveAxisToPos1_Click(object sender, EventArgs e)
@@ -425,6 +427,7 @@ namespace OnlineStore.XLRStore
             LineMoveP lineMoveP = new LineMoveP();
             lineMoveP.UpdatePosById(head2.ToString());
             boxEquip.MoveAxis.AbsMove(null, lineMoveP.MoveAxis_P3, boxEquip.Config.MoveAxis_FindPosSpeed);
+            LogUtil.info($"行走机构到位");
         }
 
         private void btnUndwnToPos1_Click(object sender, EventArgs e)
@@ -434,6 +437,7 @@ namespace OnlineStore.XLRStore
             LineMoveP lineMoveP = new LineMoveP();
             lineMoveP.UpdatePosById(head2.ToString());
             boxEquip.UpdownAxis.AbsMove(null, lineMoveP.Updown_P6_P12, boxEquip.Config.UpdownAxis_FindPosSpeed);
+            LogUtil.info($"移栽升降轴到位");
         }
 
         private void btnPullUpdwnToPos1_Click(object sender, EventArgs e)
@@ -443,6 +447,7 @@ namespace OnlineStore.XLRStore
             LineMoveP lineMoveP = new LineMoveP();
             lineMoveP.UpdatePosById(head2.ToString());
             boxEquip.PullAxis_Updown.AbsMove(null, lineMoveP.PullAxis_Updown_P4, boxEquip.Config.PullAxis_Updown_FindPosSpeed);
+            LogUtil.info($"抽屉升降轴到位");
         }
 
         private void chkCloseOutStoreCheck_CheckedChanged(object sender, EventArgs e)