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Commit 4451a7bb 由 张东亮
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存储机构-自动对位添加手动操作日志

1 个父辈 c90dd4aa
内嵌 并排
正在显示 2 个修改的文件 包含 26 行增加 和 3 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip_AutoFindPos.cs
...@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary
{ {
ktkPosition.MoveAxis_P3 = MoveAxis.GetAclPosition(); ktkPosition.MoveAxis_P3 = MoveAxis.GetAclPosition();
ktkPosition.Updown_P6_P12 = UpdownAxis.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_P4 = PullAxis_Updown.GetAclPosition();
ktkPosition.PullAxis_Updown_P2 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_mid; ktkPosition.PullAxis_Updown_P2 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_mid;
ktkPosition.PullAxis_Updown_P3 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_high; ktkPosition.PullAxis_Updown_P3 = PullAxis_Updown.GetAclPosition() + autoFindPos.PullUpdown_Diff_high;
} }
else
{
LogUtil.error($"不存在的库位：{item}");
}
//位置配置 //位置配置
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
//如果总配置文件存在，保存到总的配置文件 //如果总配置文件存在，保存到总的配置文件
...@@ -269,6 +273,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -269,6 +273,9 @@ namespace OnlineStore.DeviceLibrary
// LogInfo($"存储机构-视觉对位 {MoveInfo.SLog}：库位[{item}]保存成功[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); // 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]"); LogInfo($"视觉对位 {MoveInfo.SLog}：抽屉[{autoFindPos.CurRow}，{autoFindPos.CurColumn}]位置信息保存成功[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
return true; return true;
...@@ -381,7 +388,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -381,7 +388,9 @@ namespace OnlineStore.DeviceLibrary
{ {
autoFindPos.IsPositiveDir = true; autoFindPos.IsPositiveDir = true;
MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer); MoveInfo.NextMoveStep(StepEnum.SA_05_Pos_NextDrawer);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
Task task = Task.Factory.StartNew(delegate {
//存储抽屉位置信息 //存储抽屉位置信息
if (SaveDrawerPosition()) if (SaveDrawerPosition())
{ {
...@@ -391,6 +400,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -391,6 +400,8 @@ namespace OnlineStore.DeviceLibrary
{ {
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}"); autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
} }
});
task.Wait();
} }
else else
{ {
...@@ -404,6 +415,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -404,6 +415,7 @@ namespace OnlineStore.DeviceLibrary
if (autoFindPos.CurColumn < autoFindPos.Columns) if (autoFindPos.CurColumn < autoFindPos.Columns)
{ {
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos); MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
autoFindPos.PreColumn = autoFindPos.CurColumn; autoFindPos.PreColumn = autoFindPos.CurColumn;
autoFindPos.PreRow = autoFindPos.CurRow; autoFindPos.PreRow = autoFindPos.CurRow;
autoFindPos.CurColumn++; autoFindPos.CurColumn++;
...@@ -413,6 +425,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -413,6 +425,7 @@ namespace OnlineStore.DeviceLibrary
if (autoFindPos.CurRow < autoFindPos.Rows) if (autoFindPos.CurRow < autoFindPos.Rows)
{ {
MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos); MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
autoFindPos.PreRow = autoFindPos.CurRow; autoFindPos.PreRow = autoFindPos.CurRow;
autoFindPos.CurRow++; autoFindPos.CurRow++;
autoFindPos.PreColumn = autoFindPos.CurColumn; autoFindPos.PreColumn = autoFindPos.CurColumn;
...@@ -463,7 +476,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -463,7 +476,8 @@ namespace OnlineStore.DeviceLibrary
{ {
autoFindPos.IsPositiveDir = false; autoFindPos.IsPositiveDir = false;
MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer); MoveInfo.NextMoveStep(StepEnum.SA_10_Neg_NextDrawer);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
Task task = Task.Factory.StartNew(delegate {
//存储抽屉位置信息 //存储抽屉位置信息
if (SaveDrawerPosition()) if (SaveDrawerPosition())
{ {
...@@ -473,6 +487,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -473,6 +487,8 @@ namespace OnlineStore.DeviceLibrary
{ {
autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}"); autoFindPos.FailedDrawers.Add($"{autoFindPos.CurRow},{autoFindPos.CurColumn}");
} }
});
task.Wait();
} }
else else
{ {
...@@ -486,6 +502,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -486,6 +502,7 @@ namespace OnlineStore.DeviceLibrary
if (autoFindPos.CurColumn > 1) if (autoFindPos.CurColumn > 1)
{ {
MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos); MoveInfo.NextMoveStep(StepEnum.SA_06_Neg_Start_Find_Pos);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
autoFindPos.PreRow = autoFindPos.CurRow; autoFindPos.PreRow = autoFindPos.CurRow;
autoFindPos.PreColumn = autoFindPos.CurColumn; autoFindPos.PreColumn = autoFindPos.CurColumn;
autoFindPos.CurColumn--; autoFindPos.CurColumn--;
...@@ -495,6 +512,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -495,6 +512,7 @@ namespace OnlineStore.DeviceLibrary
if (autoFindPos.CurRow < autoFindPos.Rows) if (autoFindPos.CurRow < autoFindPos.Rows)
{ {
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos); MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
autoFindPos.PreRow = autoFindPos.CurRow; autoFindPos.PreRow = autoFindPos.CurRow;
autoFindPos.CurRow++; autoFindPos.CurRow++;
autoFindPos.PreColumn = autoFindPos.CurColumn; autoFindPos.PreColumn = autoFindPos.CurColumn;
......
source/XLRStoreClient/boxForm/FrmAutoFindPos.cs
...@@ -163,6 +163,7 @@ namespace OnlineStore.XLRStore ...@@ -163,6 +163,7 @@ namespace OnlineStore.XLRStore
boxEquip.autoFindPos.ColumnsInDraw = colmns_in_drawer; boxEquip.autoFindPos.ColumnsInDraw = colmns_in_drawer;
btnStartVision.Enabled = true; btnStartVision.Enabled = true;
boxEquip.autoFindPosMode = false; boxEquip.autoFindPosMode = false;
LogUtil.info($"手动设置：{head2.ToString()}");
} }
private void timer1_Tick(object sender, EventArgs e) private void timer1_Tick(object sender, EventArgs e)
...@@ -416,6 +417,7 @@ namespace OnlineStore.XLRStore ...@@ -416,6 +417,7 @@ namespace OnlineStore.XLRStore
{ {
boxEquip.PullAxis_Inout.AbsMove(null, boxEquip.Config.PullAxis_Inout_CamB, boxEquip.Config.PullAxis_Inout_P1_Speed); boxEquip.PullAxis_Inout.AbsMove(null, boxEquip.Config.PullAxis_Inout_CamB, boxEquip.Config.PullAxis_Inout_P1_Speed);
} }
LogUtil.info($"进出轴到位");
} }
private void btnMoveAxisToPos1_Click(object sender, EventArgs e) private void btnMoveAxisToPos1_Click(object sender, EventArgs e)
...@@ -425,6 +427,7 @@ namespace OnlineStore.XLRStore ...@@ -425,6 +427,7 @@ namespace OnlineStore.XLRStore
LineMoveP lineMoveP = new LineMoveP(); LineMoveP lineMoveP = new LineMoveP();
lineMoveP.UpdatePosById(head2.ToString()); lineMoveP.UpdatePosById(head2.ToString());
boxEquip.MoveAxis.AbsMove(null, lineMoveP.MoveAxis_P3, boxEquip.Config.MoveAxis_FindPosSpeed); boxEquip.MoveAxis.AbsMove(null, lineMoveP.MoveAxis_P3, boxEquip.Config.MoveAxis_FindPosSpeed);
LogUtil.info($"行走机构到位");
} }
private void btnUndwnToPos1_Click(object sender, EventArgs e) private void btnUndwnToPos1_Click(object sender, EventArgs e)
...@@ -434,6 +437,7 @@ namespace OnlineStore.XLRStore ...@@ -434,6 +437,7 @@ namespace OnlineStore.XLRStore
LineMoveP lineMoveP = new LineMoveP(); LineMoveP lineMoveP = new LineMoveP();
lineMoveP.UpdatePosById(head2.ToString()); lineMoveP.UpdatePosById(head2.ToString());
boxEquip.UpdownAxis.AbsMove(null, lineMoveP.Updown_P6_P12, boxEquip.Config.UpdownAxis_FindPosSpeed); boxEquip.UpdownAxis.AbsMove(null, lineMoveP.Updown_P6_P12, boxEquip.Config.UpdownAxis_FindPosSpeed);
LogUtil.info($"移栽升降轴到位");
} }
private void btnPullUpdwnToPos1_Click(object sender, EventArgs e) private void btnPullUpdwnToPos1_Click(object sender, EventArgs e)
...@@ -443,6 +447,7 @@ namespace OnlineStore.XLRStore ...@@ -443,6 +447,7 @@ namespace OnlineStore.XLRStore
LineMoveP lineMoveP = new LineMoveP(); LineMoveP lineMoveP = new LineMoveP();
lineMoveP.UpdatePosById(head2.ToString()); lineMoveP.UpdatePosById(head2.ToString());
boxEquip.PullAxis_Updown.AbsMove(null, lineMoveP.PullAxis_Updown_P4, boxEquip.Config.PullAxis_Updown_FindPosSpeed); boxEquip.PullAxis_Updown.AbsMove(null, lineMoveP.PullAxis_Updown_P4, boxEquip.Config.PullAxis_Updown_FindPosSpeed);
LogUtil.info($"抽屉升降轴到位");
} }
private void chkCloseOutStoreCheck_CheckedChanged(object sender, EventArgs e) private void chkCloseOutStoreCheck_CheckedChanged(object sender, EventArgs e)
......
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