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Commit 67d37572 由 LN
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Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

2 个父辈 9008624d 67573a11
内嵌 并排
正在显示 20 个修改的文件 包含 1460 行增加 和 166 行删除
source/DeviceLibrary/Config/Config_BoxEquip.csv
...@@ -22,6 +22,10 @@ PRO,0,B面抽屉对位Mark_X坐标,FindPos_Drawer_B_X,991.98,,,,,,,,,,,, ...@@ -22,6 +22,10 @@ PRO,0,B面抽屉对位Mark_X坐标,FindPos_Drawer_B_X,991.98,,,,,,,,,,,,
PRO,0,B面抽屉对位Mark_Y坐标,FindPos_Drawer_B_Y,902.12,,,,,,,,,,,, PRO,0,B面抽屉对位Mark_Y坐标,FindPos_Drawer_B_Y,902.12,,,,,,,,,,,,
PRO,0,B面抽屉验证Mark_X坐标,Validate_Drawer_B_X,1003.86,,,,,,,,,,,, PRO,0,B面抽屉验证Mark_X坐标,Validate_Drawer_B_X,1003.86,,,,,,,,,,,,
PRO,0,B面抽屉验证Mark_Y坐标,Validate_Drawer_B_Y,980.23,,,,,,,,,,,, PRO,0,B面抽屉验证Mark_Y坐标,Validate_Drawer_B_Y,980.23,,,,,,,,,,,,
PRO,0,A面抽屉对位Mark面积,FindPos_Drawer_A_Area,897.49,,,,,,,,,,,,
PRO,0,A面抽屉验证Mark面积,Validate_Drawer_A_Area,897.49,,,,,,,,,,,,
PRO,0,B面抽屉对位Mark面积,FindPos_Drawer_B_Area,897.49,,,,,,,,,,,,
PRO,0,B面抽屉验证Mark面积,Validate_Drawer_B_Area,897.49,,,,,,,,,,,,
PRO,0,B面X方向像素到脉冲的系数,PixelToPulse_B_X,100,,,,,,,,,,,, PRO,0,B面X方向像素到脉冲的系数,PixelToPulse_B_X,100,,,,,,,,,,,,
PRO,0,B面Y方向像素到脉冲的系数,PixelToPulse_B_Y,100,,,,,,,,,,,, PRO,0,B面Y方向像素到脉冲的系数,PixelToPulse_B_Y,100,,,,,,,,,,,,
PRO,0,视觉对位Mark_X方向误差范围,FindPos_Drawer_X_Error,2,,,,,,,,,,,, PRO,0,视觉对位Mark_X方向误差范围,FindPos_Drawer_X_Error,2,,,,,,,,,,,,
...@@ -35,9 +39,13 @@ PRO,0,抽屉列数,Drawer_Columns,6,,,,,,,,,,,, ...@@ -35,9 +39,13 @@ PRO,0,抽屉列数,Drawer_Columns,6,,,,,,,,,,,,
PRO,0,抽屉内行数,Rows_In_Drawer,4,,,,,,,,,,,, PRO,0,抽屉内行数,Rows_In_Drawer,4,,,,,,,,,,,,
PRO,0,抽屉内列数,Cols_In_Drawer,20,,,,,,,,,,,, PRO,0,抽屉内列数,Cols_In_Drawer,20,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,0,行走机构视觉对位速度,MoveAxis_FindPosSpeed,20,,,,,,,,,,,, PRO,0,行走机构调试速度,MoveAxis_FindPosSpeed,20,,,,,,,,,,,,
PRO,0,升降轴视觉对位速度,UpdownAxis_FindPosSpeed,20,,,,,,,,,,,, PRO,0,升降轴调试速度,UpdownAxis_FindPosSpeed,20,,,,,,,,,,,,
PRO,0,拉取升降轴视觉对位速度,PullAxis_Updown_FindPosSpeed,20,,,,,,,,,,,, PRO,0,拉取升降轴调试速度,PullAxis_Updown_FindPosSpeed,20,,,,,,,,,,,,
PRO,0,拉取进出轴调试速度,PullAxis_InOut_FindPosSpeed,20,,,,,,,,,,,,
PRO,0,移栽X轴调试速度,XAxis_FindPosSpeed,20,,,,,,,,,,,,
PRO,0,压紧轴调试速度,ComAxis_FindPosSpeed,20,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,行走机构正极限位置,MoveAxis_PosLimit,20,,,,,,,,,,,, PRO,0,行走机构正极限位置,MoveAxis_PosLimit,20,,,,,,,,,,,,
PRO,0,行走机构负极限位置,MoveAxis_NegLimit,20,,,,,,,,,,,, PRO,0,行走机构负极限位置,MoveAxis_NegLimit,20,,,,,,,,,,,,
PRO,0,升降轴正极限位置,UpdownAxis_PosLimit,20,,,,,,,,,,,, PRO,0,升降轴正极限位置,UpdownAxis_PosLimit,20,,,,,,,,,,,,
......
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -605,19 +605,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -605,19 +605,19 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 库位调试：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点） /// 库位调试：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
/// </summary> /// </summary>
SP_20_LiftTray, SP_20_LiftDrawer,
/// <summary> /// <summary>
/// 库位调试：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点） /// 库位调试：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
/// </summary> /// </summary>
SP_21_PushTray, SP_21_PushDrawer,
/// <summary> /// <summary>
/// 库位调试:料屉水平，料斗拉取升降轴到料屉提取水平点，同时检测X04-X09=1 /// 库位调试:料屉水平，料斗拉取升降轴到料屉提取水平点，同时检测X04-X09=1
/// </summary> /// </summary>
SP_22_PutTrayMiddle, SP_22_PutDrawerMiddle,
/// <summary> /// <summary>
/// 库位调试:放下料屉，料斗拉取升降轴到P4(料屉提取低点) /// 库位调试:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
/// </summary> /// </summary>
SP_23_PutTrayDown, SP_23_PutDrawerDown,
/// <summary> /// <summary>
/// 库位调试:料斗拉取进出轴到P1（待机点）,检查是否结束 /// 库位调试:料斗拉取进出轴到P1（待机点）,检查是否结束
/// </summary> /// </summary>
...@@ -626,6 +626,26 @@ namespace OnlineStore.DeviceLibrary ...@@ -626,6 +626,26 @@ namespace OnlineStore.DeviceLibrary
/// 库位调试:到下一个库位，移栽X轴到位，进出轴到位 /// 库位调试:到下一个库位，移栽X轴到位，进出轴到位
/// </summary> /// </summary>
SP_25_ToNextGrid, SP_25_ToNextGrid,
/// <summary>
/// 库位调试:到下一个抽屉
/// </summary>
SP_25_ToNextDrawer,
/// <summary>
/// 库位调试:到暂存区
/// </summary>
SP_26_ToBufferArea,
/// <summary>
/// 库位调试:移栽X轴到暂存区
/// </summary>
SP_27_XAxisToBuffer,
/// <summary>
/// 库位调试: 放下料盘
/// </summary>
SP_28_PutReel,
/// <summary>
/// 库位调试:移栽X轴返回待机点
/// </summary>
SP_29_XAxisBack,
#endregion #endregion
#region 入料模块复位 1000 开始 #region 入料模块复位 1000 开始
......
source/DeviceLibrary/storeBean/boxBean/BoxEqiup_Tongs.cs
...@@ -100,7 +100,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -100,7 +100,7 @@ namespace OnlineStore.DeviceLibrary
public bool MatchAndSaveImg(Bitmap bitmap,string imgname) public bool MatchAndSaveImg(Bitmap bitmap,string imgname)
{ {
var score = match(bitmap, out string pn, out Bitmap bitmap1); var score = match(bitmap, out string pn, out Bitmap bitmap1);
var pnpath = Path.Combine(temp_path, score > Config.TongsDetectThreshold ? "OK" : "NG"); var pnpath = Path.Combine($"{temp_path}/{DateTime.Now.ToString("yyyyMMdd")}/", score > Config.TongsDetectThreshold ? "OK" : "NG");
Directory.CreateDirectory(pnpath); Directory.CreateDirectory(pnpath);
var simpletemp = Path.Combine(pnpath, $"{imgname}-{score.ToString("##.##")}-{pn}.png"); var simpletemp = Path.Combine(pnpath, $"{imgname}-{score.ToString("##.##")}-{pn}.png");
bitmap.Save(simpletemp, ImageFormat.Png); bitmap.Save(simpletemp, ImageFormat.Png);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -128,9 +128,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -128,9 +128,8 @@ namespace OnlineStore.DeviceLibrary
InitPosititionNumList(); InitPosititionNumList();
InitDrawInfos(); InitDrawInfos();
LoadCameraConfig(); LoadCameraConfig();
//库位测试 //库位调试
//InitPosDebugInfo(); InitPosDebugInfo();
//Test();
} }
void InitRowColumnSig() void InitRowColumnSig()
...@@ -374,8 +373,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -374,8 +373,8 @@ namespace OnlineStore.DeviceLibrary
LogInfo($"复位 {MoveInfo.SLog}：在进出轴待机点取像"); LogInfo($"复位 {MoveInfo.SLog}：在进出轴待机点取像");
Bitmap resetBitMapA = AcqImage("box_A"); Bitmap resetBitMapA = AcqImage("box_A");
Bitmap resetBitMapB = AcqImage("box_B"); Bitmap resetBitMapB = AcqImage("box_B");
resetRtnA = MatchAndSaveImg(resetBitMapA, $"resetA_{DateTime.Now.ToString("yyyyMMddHHmmss")}"); resetRtnA = MatchAndSaveImg(resetBitMapA, $"resetA_{DateTime.Now.ToString("HHmmss")}");
resetRtnB = MatchAndSaveImg(resetBitMapB, $"resetB_{DateTime.Now.ToString("yyyyMMddHHmmss")}"); resetRtnB = MatchAndSaveImg(resetBitMapB, $"resetB_{DateTime.Now.ToString("HHmmss")}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break; break;
case StepEnum.BOX_H003_2_CheckDrawerIsInAxis: case StepEnum.BOX_H003_2_CheckDrawerIsInAxis:
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -267,7 +267,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -267,7 +267,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray); MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray);
LogInfo($"入库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ToTray(); PullAxis_Inout_To_P2_P4();
CamDetectError = false; CamDetectError = false;
IgnoreCamDect = false; IgnoreCamDect = false;
} }
...@@ -292,7 +292,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -292,7 +292,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel); MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
LogInfo($"入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13(); UpdownAxisToP7_P13();
SaveSpecifiedImage();
break; break;
case StepEnum.SI_13_GetReel: case StepEnum.SI_13_GetReel:
MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress); MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
...@@ -313,27 +312,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -313,27 +312,38 @@ namespace OnlineStore.DeviceLibrary
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
break; break;
case StepEnum.SI_16_LiftTray: case StepEnum.SI_16_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray); MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray);
LogInfo($"入库 {MoveInfo.SLog}：推到抽屉待机点采集图片，料斗拉取进出轴到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P1();
//MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
//LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//PullAxis_Inout_To_P2_P4();
break;
case StepEnum.SI_17_PushTray:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle); MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
SaveSpecifiedImage();
Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
bool rtn = MatchAndSaveImg(bitmap, $"{CamPosSide(MoveInfo.MoveParam.PosInfo.PosId)}_{DateTime.Now.ToString("HHmmss")}");
string res = rtn ? "OK" : "NG";
LogInfo($"入库 {MoveInfo.SLog}：抓手检测结果:{res}[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
break;
//case StepEnum.SI_17_PushTray: //PullAxis_UpdownToMiddleP2();
// MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle); //if (CheckASide())
// PullAxis_UpdownToMiddleP2(); //{
// if (CheckASide())
// {
// LogInfo($"入库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); // LogInfo($"入库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()])) // if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
// } //}
// else //else
// { //{
// LogInfo($"入库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); // LogInfo($"入库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidBColmns[GetPosColumn()])) // if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
// } //}
// break; break;
case StepEnum.SI_18_PutTrayMiddle: case StepEnum.SI_18_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown); MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
//LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); //LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -66,7 +66,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -66,7 +66,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray); MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
LogInfo($"出库 {MoveInfo.SLog}：到抽屉提取点,料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：到抽屉提取点,料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ToTray(); PullAxis_Inout_To_P2_P4();
CamDetectError = false; CamDetectError = false;
IgnoreCamDect = false; IgnoreCamDect = false;
} }
...@@ -91,7 +91,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -91,7 +91,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel); MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel);
LogInfo($"出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13(); UpdownAxisToP7_P13();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_07_GetReel: case StepEnum.SO_07_GetReel:
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress); MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
...@@ -109,29 +108,42 @@ namespace OnlineStore.DeviceLibrary ...@@ -109,29 +108,42 @@ namespace OnlineStore.DeviceLibrary
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
break; break;
case StepEnum.SO_10_LiftTray: case StepEnum.SO_10_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray); MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle); LogInfo($"出库 {MoveInfo.SLog}：到进出轴待机点拍照，料斗拉取进出轴到料屉待机点P1,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); PullAxis_Inout_To_P1();
PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2(); MiddleAxis_To_P2();
XAxis_To_P1(); XAxis_To_P1();
//MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
//LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//PullAxis_Inout_To_P2_P4();
//MiddleAxis_To_P2();
//XAxis_To_P1();
break; break;
//case StepEnum.SO_11_PushTray: case StepEnum.SO_11_PushTray:
// MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle); MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
// PullAxis_UpdownToMiddleP2(); LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (CheckASide()) SaveSpecifiedImage();
// { Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
bool rtn = MatchAndSaveImg(bitmap, $"{CamPosSide(MoveInfo.MoveParam.PosInfo.PosId)}_{DateTime.Now.ToString("HHmmss")}");
string res = rtn ? "OK" : "NG";
LogInfo($"出库 {MoveInfo.SLog}：抓手检测结果:{res}[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4();
//PullAxis_UpdownToMiddleP2();
//if (CheckASide())
//{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); // LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidAColmns[GetPosColumn()])) // if (!GetShieldState(sheidAColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
// } //}
// else //else
// { //{
// LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); // LogInfo($"出库 {MoveInfo.SLog}：料斗拉取升降轴到料屉水平点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (!GetShieldState(sheidBColmns[GetPosColumn()])) // if (!GetShieldState(sheidBColmns[GetPosColumn()]))
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
// } //}
// break; break;
case StepEnum.SO_12_PutTrayMiddle: case StepEnum.SO_12_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown); MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
//LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); //LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -157,23 +157,35 @@ namespace OnlineStore.DeviceLibrary ...@@ -157,23 +157,35 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 行走机构到待机点P1 /// 行走机构到待机点P1
/// </summary> /// </summary>
private void MoveAxisToP1() private void MoveAxisToP1(bool isdebugSpeed = false)
{ {
if (!MoveAxis.IsInPosition(MoveInfo.MoveParam.MoveP.MoveAxis_P1)) if (!MoveAxis.IsInPosition(MoveInfo.MoveParam.MoveP.MoveAxis_P1))
{
if (isdebugSpeed)
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P1, Config.MoveAxis_FindPosSpeed);
else
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P1, Config.MoveAxis_P1_Speed); MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P1, Config.MoveAxis_P1_Speed);
} }
}
/// <summary> /// <summary>
/// 行走机构到进出料机构取放点P2 /// 行走机构到进出料机构取放点P2
/// </summary> /// </summary>
private void MoveAxisToP2() private void MoveAxisToP2(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P2, Config.MoveAxis_FindPosSpeed);
else
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P2, Config.MoveAxis_P2_Speed); MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P2, Config.MoveAxis_P2_Speed);
} }
/// <summary> /// <summary>
/// 行走机构到存储库位取放点位P3 /// 行走机构到存储库位取放点位P3
/// </summary> /// </summary>
private void MoveAxisToP3() private void MoveAxisToP3(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_FindPosSpeed);
else
MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_P3_Speed); MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_P3_Speed);
} }
#endregion #endregion
...@@ -181,46 +193,67 @@ namespace OnlineStore.DeviceLibrary ...@@ -181,46 +193,67 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 料斗拉取进出轴到料屉库位点P3/P5 /// 料斗拉取进出轴到料屉库位点P3/P5
/// </summary> /// </summary>
private void PullAxis_Inout_To_P3_P5() private void PullAxis_Inout_To_P3_P5(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P3_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P3_Speed);
} }
else else
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P5_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P5_Speed);
} }
} }
/// <summary> /// <summary>
/// 料斗拉取进出轴到料屉提取点P2/P4 /// 料斗拉取进出轴到料屉提取点P2/P4
/// </summary> /// </summary>
private void PullAxis_Inout_To_P2_P4() private void PullAxis_Inout_To_P2_P4(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
} }
else else
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
} }
} }
private void PullAxis_Inout_To_P1() private void PullAxis_Inout_To_P1(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P1, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
} }
/// <summary> /// <summary>
/// 料斗拉取进出轴到取像点 /// 料斗拉取进出轴到取像点
/// </summary> /// </summary>
private void PullAxis_Inout_To_Cam() private void PullAxis_Inout_To_Cam(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamA, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamA, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamA, Config.PullAxis_Inout_P1_Speed);
} }
else else
{ {
if (isdebugSpeed)
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_InOut_FindPosSpeed);
else
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
} }
} }
...@@ -228,14 +261,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -228,14 +261,20 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 移栽升降轴到料屉取放点P7/P13 /// 移栽升降轴到料屉取放点P7/P13
/// </summary> /// </summary>
private void UpdownAxisToP7_P13() private void UpdownAxisToP7_P13(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P7_Speed); UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P7_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P13_Speed); UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P13_Speed);
} }
} }
...@@ -243,70 +282,100 @@ namespace OnlineStore.DeviceLibrary ...@@ -243,70 +282,100 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 移栽升降轴到料屉上方过渡点P6/P12 /// 移栽升降轴到料屉上方过渡点P6/P12
/// </summary> /// </summary>
private void UpdownAxisTo_P6_P12() private void UpdownAxisTo_P6_P12(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P6_Speed); UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P6_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P12_Speed); UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P12_Speed);
} }
} }
/// <summary> /// <summary>
/// 移栽升降轴到下暂存区放料高点P4/P10 /// 移栽升降轴到下暂存区放料高点P4/P10
/// </summary> /// </summary>
private void UpdownAxisTo_P4_P10() private void UpdownAxisTo_P4_P10(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
} }
} }
/// <summary> /// <summary>
/// 移栽升降轴到上暂存区取料高点P2/P8 /// 移栽升降轴到上暂存区取料高点P2/P8
/// </summary> /// </summary>
private void UpdownAxisTo_P2_P8() private void UpdownAxisTo_P2_P8(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
} }
} }
/// <summary> /// <summary>
/// 移栽升降轴到上暂存区取料低点P3/P9 /// 移栽升降轴到上暂存区取料低点P3/P9
/// </summary> /// </summary>
private void UpdownAxisTo_P3_P9() private void UpdownAxisTo_P3_P9(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed);
} }
} }
/// <summary> /// <summary>
/// 移栽升降轴到下暂存区放料低点P5/P11 /// 移栽升降轴到下暂存区放料低点P5/P11
/// </summary> /// </summary>
private void UpdownAxisTo_P5_P11() private void UpdownAxisTo_P5_P11(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.Updown_P5_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.Updown_P5_Speed);
} }
else else
{ {
if (isdebugSpeed)
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.UpdownAxis_FindPosSpeed);
else
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.Updown_P11_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.Updown_P11_Speed);
} }
} }
...@@ -316,46 +385,70 @@ namespace OnlineStore.DeviceLibrary ...@@ -316,46 +385,70 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// AB面移栽X轴到进出料暂存区取放点P2 /// AB面移栽X轴到进出料暂存区取放点P2
/// </summary> /// </summary>
private void XAxis_To_P2() private void XAxis_To_P2(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed); XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
} }
else else
{ {
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed); XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
} }
} }
/// <summary> /// <summary>
/// AB面移栽X轴到料屉库位取放料点P3 /// AB面移栽X轴到料屉库位取放料点P3
/// </summary> /// </summary>
private void XAxis_To_P3() private void XAxis_To_P3(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_A_P3_Speed); XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_A_P3_Speed);
} }
else else
{ {
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed); XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed);
} }
} }
/// <summary> /// <summary>
/// AB面移栽X轴到待机点 /// AB面移栽X轴到待机点
/// </summary> /// </summary>
private void XAxis_To_P1() private void XAxis_To_P1(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (!XAxis_A.IsInPosition(Config.XAxis_A_P1)) if (!XAxis_A.IsInPosition(Config.XAxis_A_P1))
{
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed); XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
} }
}
else else
{ {
if (!XAxis_B.IsInPosition(Config.XAxis_B_P1)) if (!XAxis_B.IsInPosition(Config.XAxis_B_P1))
{
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed); XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
} }
}
} }
#endregion #endregion
...@@ -363,28 +456,40 @@ namespace OnlineStore.DeviceLibrary ...@@ -363,28 +456,40 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// AB移栽压紧轴到压紧前点P2 /// AB移栽压紧轴到压紧前点P2
/// </summary> /// </summary>
private void ComAxis_To_P2() private void ComAxis_To_P2(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_FindPosSpeed);
else
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed); ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
} }
else else
{ {
if (isdebugSpeed)
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_FindPosSpeed);
else
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed); ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
} }
} }
/// <summary> /// <summary>
/// AB移栽压紧轴到压紧点P3 /// AB移栽压紧轴到压紧点P3
/// </summary> /// </summary>
private void ComAxis_To_P3() private void ComAxis_To_P3(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
if (isdebugSpeed)
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_FindPosSpeed);
else
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed); ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed);
} }
else else
{ {
if (isdebugSpeed)
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_FindPosSpeed);
else
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed); ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed);
} }
} }
...@@ -393,29 +498,41 @@ namespace OnlineStore.DeviceLibrary ...@@ -393,29 +498,41 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 抽屉待机点 /// 抽屉待机点
/// </summary> /// </summary>
private void PullAxis_UpdownToP1() private void PullAxis_UpdownToP1(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P1, Config.PullAxis_Updown_FindPosSpeed);
else
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed); PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
} }
/// <summary> /// <summary>
/// 抽屉高点，料斗拉取升降轴到料屉提取高点P3 /// 抽屉高点，料斗拉取升降轴到料屉提取高点P3
/// </summary> /// </summary>
private void PullAxis_UpdownToHighP3() private void PullAxis_UpdownToHighP3(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_FindPosSpeed);
else
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed); PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
} }
/// <summary> /// <summary>
/// 抽屉水平点，料斗拉取升降轴到料屉水平点P2 /// 抽屉水平点，料斗拉取升降轴到料屉水平点P2
/// </summary> /// </summary>
private void PullAxis_UpdownToMiddleP2() private void PullAxis_UpdownToMiddleP2(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2, Config.PullAxis_Updown_FindPosSpeed);
else
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2, Config.PullAxis_Updown_P2_Speed); PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2, Config.PullAxis_Updown_P2_Speed);
} }
/// <summary> /// <summary>
/// 抽屉低点，料斗拉取升降轴到料屉提取低点P4 /// 抽屉低点，料斗拉取升降轴到料屉提取低点P4
/// </summary> /// </summary>
private void PullAxis_UpdownToLowP4() private void PullAxis_UpdownToLowP4(bool isdebugSpeed = false)
{ {
if (isdebugSpeed)
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_FindPosSpeed);
else
PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed); PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
} }
#endregion #endregion
...@@ -424,7 +541,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -424,7 +541,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// AB面移栽旋转轴到料屉库位垂直取放料点P3 /// AB面移栽旋转轴到料屉库位垂直取放料点P3
/// </summary> /// </summary>
private void MiddleAxis_To_P3() private void MiddleAxis_To_P3(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
...@@ -440,7 +557,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -440,7 +557,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// AB面移栽旋转轴到水平点P2 /// AB面移栽旋转轴到水平点P2
/// </summary> /// </summary>
private void MiddleAxis_To_P2() private void MiddleAxis_To_P2(bool isdebugSpeed = false)
{ {
if (CheckASide()) if (CheckASide())
{ {
...@@ -470,21 +587,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -470,21 +587,6 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
/// <summary> /// <summary>
/// 到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
/// </summary>
private void ToTray()
{
if (CheckASide())
{
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
}
else
{
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
}
}
/// <summary>
/// 获取当前位置 /// 获取当前位置
/// </summary> /// </summary>
/// <param name="PosId"></param> /// <param name="PosId"></param>
...@@ -619,7 +721,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -619,7 +721,7 @@ namespace OnlineStore.DeviceLibrary
{ {
PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed); PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
} }
if(PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamA) || PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamB) if (PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamA) || PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamB)
|| PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_P1)) || PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_P1))
{ {
...@@ -634,10 +736,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -634,10 +736,6 @@ namespace OnlineStore.DeviceLibrary
{ {
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
} }
//else
//{
// PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
//}
} }
if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore)) if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore))
...@@ -648,7 +746,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -648,7 +746,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready); MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
} }
else if(MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug)) else if (MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{ {
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady); MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
} }
...@@ -698,7 +796,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -698,7 +796,7 @@ namespace OnlineStore.DeviceLibrary
CamDetectError = true; CamDetectError = true;
return false; return false;
} }
else if(res==-1) else if (res == -1)
{ {
SetWarnMsg($"相机检查库位异常[code={res}],取像失败。库位号:{MoveInfo.MoveParam.PosInfo.PosId}"); SetWarnMsg($"相机检查库位异常[code={res}],取像失败。库位号:{MoveInfo.MoveParam.PosInfo.PosId}");
CamDetectError = true; CamDetectError = true;
...@@ -725,9 +823,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -725,9 +823,20 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
private float GetValidateDrawerArea()
{
if (CheckASide())
{
return Config.Validate_Drawer_A_Area;
}
else
{
return Config.Validate_Drawer_B_Area;
}
}
private float GetValidateDrawerX() private float GetValidateDrawerX()
{ {
if(CheckASide()) if (CheckASide())
{ {
return Config.Validate_Drawer_A_X; return Config.Validate_Drawer_A_X;
} }
...@@ -809,7 +918,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -809,7 +918,7 @@ namespace OnlineStore.DeviceLibrary
/// <returns>true:有料</returns> /// <returns>true:有料</returns>
private bool InDoorSigCheck() private bool InDoorSigCheck()
{ {
if(IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.HIGH))
{ {
return true; return true;
} }
...@@ -917,7 +1026,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -917,7 +1026,7 @@ namespace OnlineStore.DeviceLibrary
private DateTime startOutStoreTime = DateTime.Now; private DateTime startOutStoreTime = DateTime.Now;
public override bool StartOutstore(InOutParam param) public override bool StartOutstore(InOutParam param)
{ {
if(InDoorSigCheck()) if (InDoorSigCheck())
{ {
return false; return false;
} }
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_PosDebug.cs
using OnlineStore.LoadCSVLibrary; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
...@@ -10,25 +11,50 @@ namespace OnlineStore.DeviceLibrary ...@@ -10,25 +11,50 @@ namespace OnlineStore.DeviceLibrary
public partial class BoxEquip public partial class BoxEquip
{ {
public bool isInitPosDebugInfo = false; public bool isInitPosDebugInfo = false;
PosDebugInfo posDebugInfo = null; public PosDebugInfo posDebugInfo = null;
public void InitPosDebugInfo() public void InitPosDebugInfo()
{ {
PosDebugResultManager.Init(PositionNumList); PosDebugResultManager.Init(PositionNumList);
isInitPosDebugInfo = PosDebugResultManager.isInit; isInitPosDebugInfo = PosDebugResultManager.isInit;
posDebugInfo = new PosDebugInfo(this.CID, this.Config); posDebugInfo = new PosDebugInfo(this.CID, this.Config);
posDebugInfo.SetDrawerParam(1, 1, 15, 6);
posDebugInfo.SetGridParam(1, 1, 4, 20);
} }
public void Test() public void StartPosDebug(InOutParam param)
{
while(!posDebugInfo.IsLastDrawer())
{ {
while(!posDebugInfo.IsLastGrid()) if (isInSuddenDown || isNoAirpressure_Check ||
(!runStatus.Equals(RunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{ {
posDebugInfo.NextGrid(); LogUtil.error(Name + " 启动库位调试出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check);
return;
} }
posDebugInfo.NextDrawer(); LogInfo(" 启动库位调试【" + param.PosInfo.ToStr() + "】 ");
param.MoveP = new LineMoveP(Config, param.PosInfo.PosId);
MoveInfo.NewMove(MoveType.Working, param);
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Busy);
MoveInfo.NextMoveStep(StepEnum.SP_00_1_StartPosDebug);
PullAxis_Inout_To_P1();
} }
//public void Test()
//{
// while(!posDebugInfo.IsLastDrawer())
// {
// while(!posDebugInfo.IsLastGrid())
// {
// posDebugInfo.NextGrid();
// }
// posDebugInfo.NextDrawer();
// }
//}
/// <summary>
/// 更新移动信息
/// </summary>
private void UpdateMoveInfo(string posId)
{
InOutPosInfo inOutPosInfo = new InOutPosInfo("PosDebug", posId);
MoveInfo.MoveParam.PosInfo = inOutPosInfo;
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutPosInfo.PosId);
} }
/// <summary> /// <summary>
/// 设置抽屉的结果代码 /// 设置抽屉的结果代码
...@@ -58,20 +84,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -58,20 +84,20 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SP_00_3_CheckMoveAxisSafe); MoveInfo.NextMoveStep(StepEnum.SP_00_3_CheckMoveAxisSafe);
if (!IsMoveAxisInSafePos()) if (!IsMoveAxisInSafePos())
{ {
MoveAxisToP1(); MoveAxisToP1(true);
LogInfo($"库位调试 行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}"); LogInfo($"库位调试 行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
} }
break; break;
case StepEnum.SP_00_3_CheckMoveAxisSafe: case StepEnum.SP_00_3_CheckMoveAxisSafe:
MoveInfo.NextMoveStep(StepEnum.SP_01_ToBufferArea); MoveInfo.NextMoveStep(StepEnum.SP_01_ToBufferArea);
LogInfo($"库位调试 {MoveInfo.SLog}：到暂存区入料口，" + LogInfo($"库位调试 {MoveInfo.SLog}：到暂存区入料口，" +
$"行走机构到待机点P1，料屉升降轴到P1点,移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到取放料水平点P2,移栽X轴到P1,料屉升降轴到P1点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); $"行走机构到待机点P1，料斗升降轴到P1点,移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到取放料水平点P2,移栽X轴到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1(); MoveAxisToP1(true);
PullAxis_UpdownToP1(); PullAxis_UpdownToP1(true);
UpdownAxisTo_P3_P9(); UpdownAxisTo_P3_P9(true);
ComAxis_To_P2(); ComAxis_To_P2(true);
MiddleAxis_To_P2(); MiddleAxis_To_P2(true);
XAxis_To_P1(); XAxis_To_P1(true);
break; break;
case StepEnum.SP_01_ToBufferArea: case StepEnum.SP_01_ToBufferArea:
if (!InDoorCheck(MoveInfo.MoveParam)) if (!InDoorCheck(MoveInfo.MoveParam))
...@@ -92,8 +118,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -92,8 +118,8 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SP_03_XAxisToBuff); MoveInfo.NextMoveStep(StepEnum.SP_03_XAxisToBuff);
LogInfo($"库位调试 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2,行走机构到取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2,行走机构到取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2(); XAxis_To_P2(true);
MoveAxisToP2(); MoveAxisToP2(true);
} }
else if (MoveInfo.IsTimeOut()) else if (MoveInfo.IsTimeOut())
{ {
...@@ -104,19 +130,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -104,19 +130,19 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SP_03_XAxisToBuff: case StepEnum.SP_03_XAxisToBuff:
MoveInfo.NextMoveStep(StepEnum.SP_04_GetReel); MoveInfo.NextMoveStep(StepEnum.SP_04_GetReel);
LogInfo($"库位调试 {MoveInfo.SLog}：取料盘，移栽升降轴到上暂存区取料高点P2/P8，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：取料盘，移栽升降轴到上暂存区取料高点P2/P8，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P2_P8(); UpdownAxisTo_P2_P8(true);
ComAxis_To_P3(); ComAxis_To_P3(true);
break; break;
case StepEnum.SP_04_GetReel: case StepEnum.SP_04_GetReel:
MoveInfo.NextMoveStep(StepEnum.SP_05_XAxisBackToP1); MoveInfo.NextMoveStep(StepEnum.SP_05_XAxisBackToP1);
LogInfo($"库位调试 {MoveInfo.SLog}：移栽X轴到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：移栽X轴到待机点P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P1(); XAxis_To_P1(true);
break; break;
case StepEnum.SP_05_XAxisBackToP1: case StepEnum.SP_05_XAxisBackToP1:
MoveInfo.NextMoveStep(StepEnum.SP_06_ClearBuffInfo); MoveInfo.NextMoveStep(StepEnum.SP_06_ClearBuffInfo);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：清空暂存区料盘信息[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//清空暂存区料盘信息 //清空暂存区料盘信息
ClearInDoorBuffer(); ClearInDoorBuffer();
break; break;
...@@ -128,13 +154,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -128,13 +154,13 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SP_07_MiddleToP3: case StepEnum.SP_07_MiddleToP3:
MoveInfo.NextMoveStep(StepEnum.SP_08_ToPosition); MoveInfo.NextMoveStep(StepEnum.SP_08_ToPosition);
LogInfo($"库位调试 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," + LogInfo($"库位调试 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," +
$"料斗拉取升降轴到料屉提取低点P4,料屉拉取进出轴到拍照点,移栽旋转轴到料屉库位垂直取放料点P3，移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); $"料斗拉取升降轴到料屉提取低点P4,料斗拉取进出轴到拍照点,移栽旋转轴到料屉库位垂直取放料点P3，移栽X轴到料斗库位取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P3(); XAxis_To_P3(true);
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam(true);
MiddleAxis_To_P3(); MiddleAxis_To_P3(true);
MoveAxisToP3(); MoveAxisToP3(true);
PullAxis_UpdownToLowP4(); PullAxis_UpdownToLowP4(true);
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12(true);
break; break;
case StepEnum.SP_08_ToPosition: case StepEnum.SP_08_ToPosition:
...@@ -142,7 +168,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,7 +168,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SP_09_ToDrawer); MoveInfo.NextMoveStep(StepEnum.SP_09_ToDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ToTray(); PullAxis_Inout_To_P2_P4(true);
CamDetectError = false; CamDetectError = false;
IgnoreCamDect = false; IgnoreCamDect = false;
} }
...@@ -157,95 +183,166 @@ namespace OnlineStore.DeviceLibrary ...@@ -157,95 +183,166 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SP_09_ToDrawer: case StepEnum.SP_09_ToDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_10_LiftDrawer); MoveInfo.NextMoveStep(StepEnum.SP_10_LiftDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3(true);
break; break;
case StepEnum.SP_10_LiftDrawer: case StepEnum.SP_10_LiftDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_11_PullDrawer); MoveInfo.NextMoveStep(StepEnum.SP_11_PullDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5(); PullAxis_Inout_To_P3_P5(true);
break; break;
case StepEnum.SP_11_PullDrawer: case StepEnum.SP_11_PullDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_12_DropDrawerToPos); MoveInfo.NextMoveStep(StepEnum.SP_12_DropDrawerToPos);
LogInfo($"库位调试 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2(); PullAxis_UpdownToMiddleP2(true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break; break;
case StepEnum.SP_12_DropDrawerToPos: case StepEnum.SP_12_DropDrawerToPos:
MoveInfo.NextMoveStep(StepEnum.SP_13_PutReel); MoveInfo.NextMoveStep(StepEnum.SP_13_PutReel);
LogInfo($"库位调试 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13(); UpdownAxisToP7_P13(true);
SaveSpecifiedImage(); SaveSpecifiedImage();
break; break;
case StepEnum.SP_13_PutReel: case StepEnum.SP_13_PutReel:
MoveInfo.NextMoveStep(StepEnum.SP_14_ReleaseCompress); MoveInfo.NextMoveStep(StepEnum.SP_14_ReleaseCompress);
LogInfo($"库位调试 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：放下料盘，压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P2(); ComAxis_To_P2(true);
break; break;
case StepEnum.SP_14_ReleaseCompress: case StepEnum.SP_14_ReleaseCompress:
MoveInfo.NextMoveStep(StepEnum.SP_15_UpDownBack); MoveInfo.NextMoveStep(StepEnum.SP_15_UpDownBack);
LogInfo($"库位调试 {MoveInfo.SLog}：叉子从库位返回[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：叉子从库位返回[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12(true);
break; break;
case StepEnum.SP_15_UpDownBack: case StepEnum.SP_15_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SP_16_GetReel); MoveInfo.NextMoveStep(StepEnum.SP_16_GetReel);
LogInfo($"库位调试 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：进入库位中，移栽升降轴到料斗取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisToP7_P13(); UpdownAxisToP7_P13(true);
break; break;
case StepEnum.SP_16_GetReel: case StepEnum.SP_16_GetReel:
MoveInfo.NextMoveStep(StepEnum.SP_17_StartCompress); MoveInfo.NextMoveStep(StepEnum.SP_17_StartCompress);
LogInfo($"库位调试 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P3(); ComAxis_To_P3(true);
break; break;
case StepEnum.SP_17_StartCompress: case StepEnum.SP_17_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SP_18_UpDownBack); MoveInfo.NextMoveStep(StepEnum.SP_18_UpDownBack);
LogInfo($"库位调试 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到料屉上方过度点P6/P12 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到料斗上方过度点P6/P12 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12(true);
break; break;
case StepEnum.SP_18_UpDownBack: case StepEnum.SP_18_UpDownBack:
if(posDebugInfo.IsLastGrid())
{
MoveInfo.NextMoveStep(StepEnum.SP_19_CheckDrawerFinish); MoveInfo.NextMoveStep(StepEnum.SP_19_CheckDrawerFinish);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); int drawerRescode= PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurDrawer}{posDebugInfo.CurGrid}是抽屉的最后一个库位,统计抽屉结果:{drawerRescode}[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextGrid);
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);
LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurDrawer}{posDebugInfo.CurGrid}库位调试OK，切换到下一个库位[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
posDebugInfo.NextGrid();
UpdateMoveInfo(posDebugInfo.CurDrawer + posDebugInfo.CurGrid);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break; break;
case StepEnum.SP_19_CheckDrawerFinish: case StepEnum.SP_19_CheckDrawerFinish:
MoveInfo.NextMoveStep(StepEnum.SP_20_LiftTray); MoveInfo.NextMoveStep(StepEnum.SP_20_LiftDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料斗提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3(true);
break; break;
case StepEnum.SP_20_LiftTray: case StepEnum.SP_20_LiftDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_21_PushTray); MoveInfo.NextMoveStep(StepEnum.SP_21_PushDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：将抽屉推入，料斗拉取进出轴到料斗提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4(true);
break; break;
case StepEnum.SP_21_PushTray: case StepEnum.SP_21_PushDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_22_PutTrayMiddle); MoveInfo.NextMoveStep(StepEnum.SP_22_PutDrawerMiddle);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：抽屉降到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break; break;
case StepEnum.SP_22_PutTrayMiddle: case StepEnum.SP_22_PutDrawerMiddle:
MoveInfo.NextMoveStep(StepEnum.SP_23_PutTrayDown); MoveInfo.NextMoveStep(StepEnum.SP_23_PutDrawerDown);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：抽屉降到低点，料斗拉取升降轴到料斗提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4(true);
break; break;
case StepEnum.SP_23_PutTrayDown: case StepEnum.SP_23_PutDrawerDown:
MoveInfo.NextMoveStep(StepEnum.SP_24_InoutBack); MoveInfo.NextMoveStep(StepEnum.SP_24_InoutBack);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"库位调试 {MoveInfo.SLog}：进出轴返回拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(true);
break; break;
case StepEnum.SP_24_InoutBack: case StepEnum.SP_24_InoutBack:
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextGrid); if(posDebugInfo.IsLastDrawer())
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); {
MoveInfo.NextMoveStep(StepEnum.SP_26_ToBufferArea);
LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurDrawer}是最后一个抽屉，将料盘送回暂存区。旋转轴到水平点P2，行走机构到待机点P1，抽屉升降轴到待机点P1、移栽升降轴到下暂存区高点P4/P10[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MiddleAxis_To_P2(true);
MoveAxisToP1(true);
PullAxis_UpdownToP1(true);
UpdownAxisTo_P4_P10(true);
}
else
{
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurDrawer}调试结束，切换到下一个抽屉[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
posDebugInfo.NextDrawer();
UpdateMoveInfo(posDebugInfo.CurDrawer + posDebugInfo.CurGrid);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break; break;
case StepEnum.SP_25_ToNextDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_07_MiddleToP3);
LogInfo($"库位调试 {MoveInfo.SLog}：抽屉{posDebugInfo.CurDrawer}调试开始[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_25_ToNextGrid: case StepEnum.SP_25_ToNextGrid:
MoveInfo.NextMoveStep(StepEnum.SP_12_DropDrawerToPos);
LogInfo($"库位调试 {MoveInfo.SLog}：到下一料格位置，移栽X轴到料斗库位取放料点P3、料斗拉取进出轴到料斗库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P3(true);
PullAxis_Inout_To_P3_P5(true);
break;
case StepEnum.SP_26_ToBufferArea:
if (!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SP_27_XAxisToBuffer);
LogInfo($"库位调试 {MoveInfo.SLog}：到下暂存区碗里，移栽X轴到进出料暂存区取放点P2,行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2(true);
MoveAxisToP2(true);
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break;
case StepEnum.SP_27_XAxisToBuffer:
MoveInfo.NextMoveStep(StepEnum.SP_28_PutReel);
LogInfo($"库位调试 {MoveInfo.SLog}：放料盘，移栽升降轴到下暂存区放料低点P5/P11，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P5_P11(true);
ComAxis_To_P2(true);
break;
case StepEnum.SP_28_PutReel:
MoveInfo.NextMoveStep(StepEnum.SP_29_XAxisBack);
LogInfo($"库位调试 {MoveInfo.SLog}：移栽X轴回待机点，库位调试结束[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P1(true);
break;
case StepEnum.SP_29_XAxisBack:
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Runing); SetBoxStatus(DeviceStatus.Debugging, RunStatus.Runing);
MoveInfo.EndMove(); MoveInfo.EndMove();
break; break;
...@@ -306,12 +403,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -306,12 +403,22 @@ namespace OnlineStore.DeviceLibrary
EndRowInDrawer = endrow; EndRowInDrawer = endrow;
EndColInDrawer = endcol; EndColInDrawer = endcol;
} }
public void ResetGridParam()
{
SetGridParam(1, 1, 4, 1);
}
/// <summary>
/// 停止调试
/// </summary>
public bool IsBreak { get; set; } = false;
/// <summary> /// <summary>
/// 是否是最后一个抽屉 /// 是否是最后一个抽屉
/// </summary> /// </summary>
/// <returns></returns> /// <returns></returns>
public bool IsLastDrawer() public bool IsLastDrawer()
{ {
if (IsBreak)
return true;
if (CurDrawerRow >= EndDrawerRow && CurDrawerCol == EndDrawerCol) if (CurDrawerRow >= EndDrawerRow && CurDrawerCol == EndDrawerCol)
return true; return true;
return false; return false;
...@@ -322,6 +429,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -322,6 +429,8 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns> /// <returns></returns>
public bool IsLastGrid() public bool IsLastGrid()
{ {
if (IsBreak)
return true;
if (CurColInDrawer == EndColInDrawer && CurRowInDrawer >= EndRowInDrawer) if (CurColInDrawer == EndColInDrawer && CurRowInDrawer >= EndRowInDrawer)
return true; return true;
return false; return false;
...@@ -360,7 +469,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -360,7 +469,7 @@ namespace OnlineStore.DeviceLibrary
else if (CurColInDrawer == PreColInDrawer && CurRowInDrawer > PreRowInDrawer)//不同层，同一列 else if (CurColInDrawer == PreColInDrawer && CurRowInDrawer > PreRowInDrawer)//不同层，同一列
{ {
PreRowInDrawer = CurRowInDrawer; PreRowInDrawer = CurRowInDrawer;
if (CurColInDrawer == config.Drawer_Columns) if (CurColInDrawer == config.Cols_In_Drawer)
{ {
PreColInDrawer = CurColInDrawer; PreColInDrawer = CurColInDrawer;
CurColInDrawer--; CurColInDrawer--;
...@@ -396,7 +505,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -396,7 +505,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
Common.LogUtil.info($"上一料格：{PreRowInDrawer},{PreColInDrawer}。当前料格：{CurRowInDrawer},{CurColInDrawer}"); Common.LogUtil.info($"上一料格：{PreRowInDrawer},{PreColInDrawer}; 当前料格：{CurRowInDrawer},{CurColInDrawer}");
} }
/// <summary> /// <summary>
/// 下一个抽屉 /// 下一个抽屉
...@@ -417,6 +526,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -417,6 +526,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
PreDrawerRow = CurDrawerRow; PreDrawerRow = CurDrawerRow;
PreDrawerCol = CurDrawerCol;
CurDrawerRow++; CurDrawerRow++;
} }
} }
...@@ -455,6 +565,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -455,6 +565,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
PreDrawerRow = CurDrawerRow; PreDrawerRow = CurDrawerRow;
PreDrawerCol = CurDrawerCol;
CurDrawerRow++; CurDrawerRow++;
} }
} }
...@@ -467,7 +578,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -467,7 +578,8 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
Common.LogUtil.info($"上一抽屉：{PreDrawerRow},{PreDrawerCol}。当前抽屉：{CurDrawerRow},{CurDrawerCol}"); ResetGridParam();
Common.LogUtil.info($"上一抽屉：{PreDrawerRow},{PreDrawerCol}; 当前抽屉：{CurDrawerRow},{CurDrawerCol}");
} }
} }
} }
source/DeviceLibrary/storeBean/boxBean/positionDebug/PositionDebugManager.cs
...@@ -77,6 +77,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -77,6 +77,27 @@ namespace OnlineStore.DeviceLibrary
drawerResult.ResultCode = code; drawerResult.ResultCode = code;
} }
/// <summary> /// <summary>
/// 通过料格结果得出抽屉结果
/// </summary>
public static int SetDrawerResultWithGrid(string drawername)
{
if (!isInit)
return -1;
DrawerResult drawerResult = DrawerResults.Find(s => s.DrawerName.Equals(drawername));
PosDebugResult posDebugResult = drawerResult.PosResultList.Find(s => s.ResCode.Equals(0) || s.ResCode.Equals(-1));
if (posDebugResult == null)
{
drawerResult.ResultCode = 1;
return 1;
}
else
{
drawerResult.ResultCode = 0;
return 0;
}
}
/// <summary>
/// 设置料格的状态 /// 设置料格的状态
/// </summary> /// </summary>
/// <param name="drawername">抽屉名</param> /// <param name="drawername">抽屉名</param>
......
source/LoadCVSLibrary/storeConfig/config/BoxEquip_Config.cs
...@@ -158,7 +158,26 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -158,7 +158,26 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("Validate_Drawer_Y_Error")] [ConfigProAttribute("Validate_Drawer_Y_Error")]
public float Validate_Drawer_Y_Error { get; set; } public float Validate_Drawer_Y_Error { get; set; }
/// <summary>
/// A面抽屉对位Mark面积
/// </summary>
[ConfigProAttribute("FindPos_Drawer_A_Area")]
public float FindPos_Drawer_A_Area { get; set; }
/// <summary>
/// A面抽屉验证Mark面积
/// </summary>
[ConfigProAttribute("Validate_Drawer_A_Area")]
public float Validate_Drawer_A_Area { get; set; }
/// <summary>
/// B面抽屉对位Mark面积
/// </summary>
[ConfigProAttribute("FindPos_Drawer_B_Area")]
public float FindPos_Drawer_B_Area { get; set; }
/// <summary>
/// B面抽屉验证Mark面积
/// </summary>
[ConfigProAttribute("Validate_Drawer_B_Area")]
public float Validate_Drawer_B_Area { get; set; }
/// <summary> /// <summary>
/// 抽屉行间距 /// 抽屉行间距
...@@ -192,7 +211,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -192,7 +211,7 @@ namespace OnlineStore.LoadCSVLibrary
public int Cols_In_Drawer { get; set; } public int Cols_In_Drawer { get; set; }
/// <summary> /// <summary>
/// 行走机构视觉对位速度 /// 行走机构调试速度
/// </summary> /// </summary>
[ConfigProAttribute("MoveAxis_FindPosSpeed")] [ConfigProAttribute("MoveAxis_FindPosSpeed")]
public int MoveAxis_FindPosSpeed { get; set; } public int MoveAxis_FindPosSpeed { get; set; }
...@@ -208,7 +227,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -208,7 +227,7 @@ namespace OnlineStore.LoadCSVLibrary
public int MoveAxis_NegLimit { get; set; } public int MoveAxis_NegLimit { get; set; }
/// <summary> /// <summary>
/// 升降轴视觉对位速度 /// 升降轴调试速度
/// </summary> /// </summary>
[ConfigProAttribute("UpdownAxis_FindPosSpeed")] [ConfigProAttribute("UpdownAxis_FindPosSpeed")]
public int UpdownAxis_FindPosSpeed { get; set; } public int UpdownAxis_FindPosSpeed { get; set; }
...@@ -223,10 +242,28 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -223,10 +242,28 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("UpdownAxis_NegLimit")] [ConfigProAttribute("UpdownAxis_NegLimit")]
public int UpdownAxis_NegLimit { get; set; } public int UpdownAxis_NegLimit { get; set; }
/// <summary> /// <summary>
/// 拉取升降轴视觉对位速度 /// 拉取升降轴调试速度
/// </summary> /// </summary>
[ConfigProAttribute("PullAxis_Updown_FindPosSpeed")] [ConfigProAttribute("PullAxis_Updown_FindPosSpeed")]
public int PullAxis_Updown_FindPosSpeed { get; set; } public int PullAxis_Updown_FindPosSpeed { get; set; }
/// <summary>
/// 拉取进出轴调试速度
/// </summary>
[ConfigProAttribute("PullAxis_InOut_FindPosSpeed")]
public int PullAxis_InOut_FindPosSpeed { get; set; }
/// <summary>
/// 轴调试速度
/// </summary>
[ConfigProAttribute("XAxis_FindPosSpeed")]
public int XAxis_FindPosSpeed { get; set; }
/// <summary>
/// 压紧轴调试速度
/// </summary>
[ConfigProAttribute("ComAxis_FindPosSpeed")]
public int ComAxis_FindPosSpeed { get; set; }
/// <summary> /// <summary>
/// 拉取升降轴正极限位置 /// 拉取升降轴正极限位置
/// </summary> /// </summary>
......
source/XLRStoreClient/XLRStore.csproj
...@@ -103,6 +103,18 @@ ...@@ -103,6 +103,18 @@
<Compile Include="boxForm\FrmAxisMove.Designer.cs"> <Compile Include="boxForm\FrmAxisMove.Designer.cs">
<DependentUpon>FrmAxisMove.cs</DependentUpon> <DependentUpon>FrmAxisMove.cs</DependentUpon>
</Compile> </Compile>
<Compile Include="boxForm\FrmPosDebug.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="boxForm\FrmPosDebug.Designer.cs">
<DependentUpon>FrmPosDebug.cs</DependentUpon>
</Compile>
<Compile Include="boxForm\FrmPosResult.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="boxForm\FrmPosResult.Designer.cs">
<DependentUpon>FrmPosResult.cs</DependentUpon>
</Compile>
<Compile Include="boxForm\FrmTongsLearn.cs"> <Compile Include="boxForm\FrmTongsLearn.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
...@@ -208,6 +220,12 @@ ...@@ -208,6 +220,12 @@
<EmbeddedResource Include="boxForm\FrmAxisMove.resx"> <EmbeddedResource Include="boxForm\FrmAxisMove.resx">
<DependentUpon>FrmAxisMove.cs</DependentUpon> <DependentUpon>FrmAxisMove.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
<EmbeddedResource Include="boxForm\FrmPosDebug.resx">
<DependentUpon>FrmPosDebug.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="boxForm\FrmPosResult.resx">
<DependentUpon>FrmPosResult.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="boxForm\FrmTongsLearn.resx"> <EmbeddedResource Include="boxForm\FrmTongsLearn.resx">
<DependentUpon>FrmTongsLearn.cs</DependentUpon> <DependentUpon>FrmTongsLearn.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
......
source/XLRStoreClient/boxForm/FrmBoxEquip.cs
...@@ -44,7 +44,9 @@ namespace OnlineStore.XLRStore ...@@ -44,7 +44,9 @@ namespace OnlineStore.XLRStore
FrmAutoFindPos frmAutoFindPos = new FrmAutoFindPos(); FrmAutoFindPos frmAutoFindPos = new FrmAutoFindPos();
AddForm(tabControl1, " 视觉对位 ", frmAutoFindPos); AddForm(tabControl1, " 视觉对位 ", frmAutoFindPos);
FrmTongsLearn learn = new FrmTongsLearn(); FrmTongsLearn learn = new FrmTongsLearn();
AddForm(tabControl1, " 抓手图片训练 ", learn); AddForm(tabControl1, " 抓手训练 ", learn);
FrmPosDebug frmPosDebug = new FrmPosDebug();
AddForm(tabControl1, " 库位调试 ", frmPosDebug);
boxBean.camera_event += BoxBean_camera_event; boxBean.camera_event += BoxBean_camera_event;
IsLoad = true; IsLoad = true;
} }
......
source/XLRStoreClient/boxForm/FrmPosDebug.Designer.cs 0 → 100644

namespace OnlineStore.XLRStore
{
partial class FrmPosDebug
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.label1 = new System.Windows.Forms.Label();
this.txtStartDrawerRow = new System.Windows.Forms.TextBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.txtEndColInDrawer = new System.Windows.Forms.TextBox();
this.label5 = new System.Windows.Forms.Label();
this.txtEndRowInDrawer = new System.Windows.Forms.TextBox();
this.label6 = new System.Windows.Forms.Label();
this.txtStartColInDrawer = new System.Windows.Forms.TextBox();
this.label7 = new System.Windows.Forms.Label();
this.txtStartRowInDrawer = new System.Windows.Forms.TextBox();
this.label8 = new System.Windows.Forms.Label();
this.txtEndDrawerCol = new System.Windows.Forms.TextBox();
this.label4 = new System.Windows.Forms.Label();
this.txtEndDrawerRow = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.txtStartDrawerCol = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.btnStart = new System.Windows.Forms.Button();
this.btnStop = new System.Windows.Forms.Button();
this.btnPosResult = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout();
this.SuspendLayout();
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(19, 36);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(77, 12);
this.label1.TabIndex = 0;
this.label1.Text = "抽屉开始层：";
//
// txtStartDrawerRow
//
this.txtStartDrawerRow.Location = new System.Drawing.Point(102, 33);
this.txtStartDrawerRow.Name = "txtStartDrawerRow";
this.txtStartDrawerRow.Size = new System.Drawing.Size(100, 21);
this.txtStartDrawerRow.TabIndex = 1;
this.txtStartDrawerRow.Text = "1";
//
// groupBox1
//
this.groupBox1.Controls.Add(this.txtEndColInDrawer);
this.groupBox1.Controls.Add(this.label5);
this.groupBox1.Controls.Add(this.txtEndRowInDrawer);
this.groupBox1.Controls.Add(this.label6);
this.groupBox1.Controls.Add(this.txtStartColInDrawer);
this.groupBox1.Controls.Add(this.label7);
this.groupBox1.Controls.Add(this.txtStartRowInDrawer);
this.groupBox1.Controls.Add(this.label8);
this.groupBox1.Controls.Add(this.txtEndDrawerCol);
this.groupBox1.Controls.Add(this.label4);
this.groupBox1.Controls.Add(this.txtEndDrawerRow);
this.groupBox1.Controls.Add(this.label3);
this.groupBox1.Controls.Add(this.txtStartDrawerCol);
this.groupBox1.Controls.Add(this.label2);
this.groupBox1.Controls.Add(this.txtStartDrawerRow);
this.groupBox1.Controls.Add(this.label1);
this.groupBox1.Location = new System.Drawing.Point(12, 12);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(228, 304);
this.groupBox1.TabIndex = 2;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "参数设置";
//
// txtEndColInDrawer
//
this.txtEndColInDrawer.Location = new System.Drawing.Point(102, 268);
this.txtEndColInDrawer.Name = "txtEndColInDrawer";
this.txtEndColInDrawer.Size = new System.Drawing.Size(100, 21);
this.txtEndColInDrawer.TabIndex = 15;
this.txtEndColInDrawer.Text = "1";
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(19, 271);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(77, 12);
this.label5.TabIndex = 14;
this.label5.Text = "库位结束列：";
//
// txtEndRowInDrawer
//
this.txtEndRowInDrawer.Location = new System.Drawing.Point(102, 235);
this.txtEndRowInDrawer.Name = "txtEndRowInDrawer";
this.txtEndRowInDrawer.Size = new System.Drawing.Size(100, 21);
this.txtEndRowInDrawer.TabIndex = 13;
this.txtEndRowInDrawer.Text = "4";
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(19, 238);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(77, 12);
this.label6.TabIndex = 12;
this.label6.Text = "库位结束行：";
//
// txtStartColInDrawer
//
this.txtStartColInDrawer.Location = new System.Drawing.Point(102, 199);
this.txtStartColInDrawer.Name = "txtStartColInDrawer";
this.txtStartColInDrawer.Size = new System.Drawing.Size(100, 21);
this.txtStartColInDrawer.TabIndex = 11;
this.txtStartColInDrawer.Text = "1";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(19, 202);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(77, 12);
this.label7.TabIndex = 10;
this.label7.Text = "库位开始列：";
//
// txtStartRowInDrawer
//
this.txtStartRowInDrawer.Location = new System.Drawing.Point(102, 167);
this.txtStartRowInDrawer.Name = "txtStartRowInDrawer";
this.txtStartRowInDrawer.Size = new System.Drawing.Size(100, 21);
this.txtStartRowInDrawer.TabIndex = 9;
this.txtStartRowInDrawer.Text = "1";
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(19, 170);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(77, 12);
this.label8.TabIndex = 8;
this.label8.Text = "库位开始行：";
//
// txtEndDrawerCol
//
this.txtEndDrawerCol.Location = new System.Drawing.Point(102, 134);
this.txtEndDrawerCol.Name = "txtEndDrawerCol";
this.txtEndDrawerCol.Size = new System.Drawing.Size(100, 21);
this.txtEndDrawerCol.TabIndex = 7;
this.txtEndDrawerCol.Text = "6";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(19, 137);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(77, 12);
this.label4.TabIndex = 6;
this.label4.Text = "抽屉结束列：";
//
// txtEndDrawerRow
//
this.txtEndDrawerRow.Location = new System.Drawing.Point(102, 101);
this.txtEndDrawerRow.Name = "txtEndDrawerRow";
this.txtEndDrawerRow.Size = new System.Drawing.Size(100, 21);
this.txtEndDrawerRow.TabIndex = 5;
this.txtEndDrawerRow.Text = "15";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(19, 104);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(77, 12);
this.label3.TabIndex = 4;
this.label3.Text = "抽屉结束层：";
//
// txtStartDrawerCol
//
this.txtStartDrawerCol.Location = new System.Drawing.Point(102, 65);
this.txtStartDrawerCol.Name = "txtStartDrawerCol";
this.txtStartDrawerCol.Size = new System.Drawing.Size(100, 21);
this.txtStartDrawerCol.TabIndex = 3;
this.txtStartDrawerCol.Text = "1";
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(19, 68);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(77, 12);
this.label2.TabIndex = 2;
this.label2.Text = "抽屉开始列：";
//
// groupBox2
//
this.groupBox2.Controls.Add(this.radioButton2);
this.groupBox2.Controls.Add(this.radioButton1);
this.groupBox2.Location = new System.Drawing.Point(271, 12);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(128, 100);
this.groupBox2.TabIndex = 3;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "AB面选择";
//
// radioButton2
//
this.radioButton2.AutoSize = true;
this.radioButton2.Location = new System.Drawing.Point(24, 64);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(41, 16);
this.radioButton2.TabIndex = 1;
this.radioButton2.Text = "B面";
this.radioButton2.UseVisualStyleBackColor = true;
this.radioButton2.CheckedChanged += new System.EventHandler(this.radioButton1_CheckedChanged);
//
// radioButton1
//
this.radioButton1.AutoSize = true;
this.radioButton1.Checked = true;
this.radioButton1.Location = new System.Drawing.Point(24, 32);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(41, 16);
this.radioButton1.TabIndex = 0;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "A面";
this.radioButton1.UseVisualStyleBackColor = true;
this.radioButton1.CheckedChanged += new System.EventHandler(this.radioButton1_CheckedChanged);
//
// btnStart
//
this.btnStart.Location = new System.Drawing.Point(417, 24);
this.btnStart.Name = "btnStart";
this.btnStart.Size = new System.Drawing.Size(137, 60);
this.btnStart.TabIndex = 4;
this.btnStart.Text = "开始";
this.btnStart.UseVisualStyleBackColor = true;
this.btnStart.Click += new System.EventHandler(this.btnStart_Click);
//
// btnStop
//
this.btnStop.Location = new System.Drawing.Point(597, 24);
this.btnStop.Name = "btnStop";
this.btnStop.Size = new System.Drawing.Size(137, 60);
this.btnStop.TabIndex = 5;
this.btnStop.Text = "结束";
this.btnStop.UseVisualStyleBackColor = true;
this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
//
// btnPosResult
//
this.btnPosResult.Location = new System.Drawing.Point(417, 140);
this.btnPosResult.Name = "btnPosResult";
this.btnPosResult.Size = new System.Drawing.Size(137, 60);
this.btnPosResult.TabIndex = 6;
this.btnPosResult.Text = "库位状态";
this.btnPosResult.UseVisualStyleBackColor = true;
this.btnPosResult.Click += new System.EventHandler(this.btnPosResult_Click);
//
// FrmPosDebug
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(800, 354);
this.Controls.Add(this.btnPosResult);
this.Controls.Add(this.btnStop);
this.Controls.Add(this.btnStart);
this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox1);
this.Name = "FrmPosDebug";
this.Text = "FrmPosDebug";
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout();
this.ResumeLayout(false);
}
#endregion
private System.Windows.Forms.Label label1;
private System.Windows.Forms.TextBox txtStartDrawerRow;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.TextBox txtEndColInDrawer;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.TextBox txtEndRowInDrawer;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.TextBox txtStartColInDrawer;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.TextBox txtStartRowInDrawer;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.TextBox txtEndDrawerCol;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.TextBox txtEndDrawerRow;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.TextBox txtStartDrawerCol;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.RadioButton radioButton2;
private System.Windows.Forms.RadioButton radioButton1;
private System.Windows.Forms.Button btnStart;
private System.Windows.Forms.Button btnStop;
private System.Windows.Forms.Button btnPosResult;
}
}
\ No newline at end of file \ No newline at end of file
source/XLRStoreClient/boxForm/FrmPosDebug.cs 0 → 100644
using OnlineStore.DeviceLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace OnlineStore.XLRStore
{
public partial class FrmPosDebug : Form
{
public FrmPosDebug()
{
CheckForIllegalCrossThreadCalls = false;
InitializeComponent();
boxEquip = StoreManager.XLRStore.boxEquip;
}
BoxEquip boxEquip;
private void btnStart_Click(object sender, EventArgs e)
{
if(MessageBox.Show("是否开始库位调试？","提示",MessageBoxButtons.OKCancel).Equals(MessageBoxButtons.OK))
{
boxEquip.posDebugInfo.IsBreak = false;
int startDrawerRow = int.Parse(txtStartDrawerRow.Text);
int startDrawerCol = int.Parse(txtStartDrawerCol.Text);
int endDrawerRow = int.Parse(txtEndDrawerRow.Text);
int endDrawerCol = int.Parse(txtEndDrawerCol.Text);
int startRowInDrawer = int.Parse(txtStartRowInDrawer.Text);
int startColInDrawer = int.Parse(txtStartColInDrawer.Text);
int endRowInDrawer = int.Parse(txtEndRowInDrawer.Text);
int endColInDrawer = int.Parse(txtEndColInDrawer.Text);
boxEquip.posDebugInfo.SetDrawerParam(startDrawerRow,startDrawerCol,endDrawerRow,endDrawerCol);
boxEquip.posDebugInfo.SetGridParam(startRowInDrawer,startColInDrawer,endRowInDrawer,endColInDrawer);
}
}
private void radioButton1_CheckedChanged(object sender, EventArgs e)
{
if(radioButton1.Checked)
{
boxEquip.posDebugInfo.PosSide = "AA";
}
if(radioButton2.Checked)
boxEquip.posDebugInfo.PosSide = "BB";
}
private void btnStop_Click(object sender, EventArgs e)
{
if (MessageBox.Show("确认停止库位调试？", "提示", MessageBoxButtons.OKCancel).Equals(MessageBoxButtons.OK))
boxEquip.posDebugInfo.IsBreak = true;
}
FrmPosResult frmPosResult = null;
private void btnPosResult_Click(object sender, EventArgs e)
{
if(frmPosResult ==null)
{
frmPosResult = new FrmPosResult();
frmPosResult.Show();
}
else
{
if(frmPosResult.IsDisposed)
{
frmPosResult = new FrmPosResult();
frmPosResult.Show();
}
else
{
frmPosResult.Activate();
}
}
}
}
}
source/XLRStoreClient/boxForm/FrmPosDebug.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
source/XLRStoreClient/boxForm/FrmPosResult.Designer.cs 0 → 100644

namespace OnlineStore.XLRStore
{
partial class FrmPosResult
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.tlpPos = new System.Windows.Forms.TableLayoutPanel();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage1 = new System.Windows.Forms.TabPage();
this.tlpDrawerA = new System.Windows.Forms.TableLayoutPanel();
this.tabPage2 = new System.Windows.Forms.TabPage();
this.tlpDrawerB = new System.Windows.Forms.TableLayoutPanel();
this.tableLayoutPanel1.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox1.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout();
this.SuspendLayout();
//
// tableLayoutPanel1
//
this.tableLayoutPanel1.ColumnCount = 2;
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 57.86853F));
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 42.13147F));
this.tableLayoutPanel1.Controls.Add(this.groupBox2, 1, 0);
this.tableLayoutPanel1.Controls.Add(this.groupBox1, 0, 0);
this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 1;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(1004, 721);
this.tableLayoutPanel1.TabIndex = 0;
//
// groupBox2
//
this.groupBox2.Controls.Add(this.tlpPos);
this.groupBox2.Dock = System.Windows.Forms.DockStyle.Fill;
this.groupBox2.Location = new System.Drawing.Point(584, 3);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(417, 715);
this.groupBox2.TabIndex = 1;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "库位结果";
//
// tlpPos
//
this.tlpPos.ColumnCount = 1;
this.tlpPos.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpPos.Dock = System.Windows.Forms.DockStyle.Fill;
this.tlpPos.Location = new System.Drawing.Point(3, 17);
this.tlpPos.Name = "tlpPos";
this.tlpPos.RowCount = 1;
this.tlpPos.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpPos.Size = new System.Drawing.Size(411, 695);
this.tlpPos.TabIndex = 1;
//
// groupBox1
//
this.groupBox1.Controls.Add(this.tabControl1);
this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
this.groupBox1.Location = new System.Drawing.Point(3, 3);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(575, 715);
this.groupBox1.TabIndex = 0;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "抽屉结果";
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabPage1);
this.tabControl1.Controls.Add(this.tabPage2);
this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tabControl1.Location = new System.Drawing.Point(3, 17);
this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(569, 695);
this.tabControl1.TabIndex = 1;
//
// tabPage1
//
this.tabPage1.Controls.Add(this.tlpDrawerA);
this.tabPage1.Location = new System.Drawing.Point(4, 22);
this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
this.tabPage1.Size = new System.Drawing.Size(561, 669);
this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "A面";
this.tabPage1.UseVisualStyleBackColor = true;
//
// tlpDrawerA
//
this.tlpDrawerA.ColumnCount = 1;
this.tlpDrawerA.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpDrawerA.Dock = System.Windows.Forms.DockStyle.Fill;
this.tlpDrawerA.Location = new System.Drawing.Point(3, 3);
this.tlpDrawerA.Name = "tlpDrawerA";
this.tlpDrawerA.RowCount = 1;
this.tlpDrawerA.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpDrawerA.Size = new System.Drawing.Size(555, 663);
this.tlpDrawerA.TabIndex = 0;
//
// tabPage2
//
this.tabPage2.Controls.Add(this.tlpDrawerB);
this.tabPage2.Location = new System.Drawing.Point(4, 22);
this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
this.tabPage2.Size = new System.Drawing.Size(561, 669);
this.tabPage2.TabIndex = 1;
this.tabPage2.Text = "B面";
this.tabPage2.UseVisualStyleBackColor = true;
//
// tlpDrawerB
//
this.tlpDrawerB.ColumnCount = 1;
this.tlpDrawerB.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpDrawerB.Dock = System.Windows.Forms.DockStyle.Fill;
this.tlpDrawerB.Location = new System.Drawing.Point(3, 3);
this.tlpDrawerB.Name = "tlpDrawerB";
this.tlpDrawerB.RowCount = 1;
this.tlpDrawerB.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tlpDrawerB.Size = new System.Drawing.Size(555, 663);
this.tlpDrawerB.TabIndex = 1;
//
// FrmPosResult
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1004, 721);
this.Controls.Add(this.tableLayoutPanel1);
this.MaximizeBox = false;
this.Name = "FrmPosResult";
this.Text = "库位结果";
this.tableLayoutPanel1.ResumeLayout(false);
this.groupBox2.ResumeLayout(false);
this.groupBox1.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabPage1.ResumeLayout(false);
this.tabPage2.ResumeLayout(false);
this.ResumeLayout(false);
}
#endregion
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.TableLayoutPanel tlpPos;
private System.Windows.Forms.TableLayoutPanel tlpDrawerA;
private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPage1;
private System.Windows.Forms.TabPage tabPage2;
private System.Windows.Forms.TableLayoutPanel tlpDrawerB;
}
}
\ No newline at end of file \ No newline at end of file
source/XLRStoreClient/boxForm/FrmPosResult.cs 0 → 100644
using OnlineStore.DeviceLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace OnlineStore.XLRStore
{
public partial class FrmPosResult : Form
{
public FrmPosResult()
{
boxEquip = StoreManager.XLRStore.boxEquip;
DrawerResults = PosDebugResultManager.DrawerResults;
InitializeComponent();
LoadDrawerList();
}
List<DrawerResult> DrawerResults;
BoxEquip boxEquip;
protected Dictionary<string, UCStatusPanel> DrawerControlList = new Dictionary<string, UCStatusPanel>();
private void LoadDrawerList()
{
this.tlpDrawerA.RowStyles.Clear();
this.tlpDrawerA.ColumnStyles.Clear();
this.tlpDrawerA.RowCount = boxEquip.Config.Drawer_Rows;
this.tlpDrawerA.ColumnCount = boxEquip.Config.Drawer_Columns;
string cid = boxEquip.Config.CID;
for (int rowindex = 0; rowindex < boxEquip.Config.Drawer_Rows; rowindex++)
{
tlpDrawerA.RowStyles.Add(new RowStyle(SizeType.Absolute, 38));
for (int colindex = 0; colindex < boxEquip.Config.Drawer_Columns; colindex++)
{
tlpDrawerA.ColumnStyles.Add(new ColumnStyle(SizeType.Absolute, 87));
UCStatusPanel control = new UCStatusPanel();
control.ControlName = $"{cid}AA{(rowindex+1).ToString("00")}{(colindex+1).ToString("00")}";
control.Click += Control_Click;
this.tlpDrawerA.Controls.Add(control, colindex, rowindex);
DrawerControlList.Add(control.ControlName, control);
}
}
this.tlpDrawerB.RowStyles.Clear();
this.tlpDrawerB.ColumnStyles.Clear();
this.tlpDrawerB.RowCount = boxEquip.Config.Drawer_Rows;
this.tlpDrawerB.ColumnCount = boxEquip.Config.Drawer_Columns;
for (int rowindex = 0; rowindex < boxEquip.Config.Drawer_Rows; rowindex++)
{
tlpDrawerB.RowStyles.Add(new RowStyle(SizeType.Absolute, 38));
for (int colindex = 0; colindex < boxEquip.Config.Drawer_Columns; colindex++)
{
tlpDrawerB.ColumnStyles.Add(new ColumnStyle(SizeType.Absolute, 87));
UCStatusPanel control = new UCStatusPanel();
control.ControlName = $"{cid}BB{(rowindex+1).ToString("00")}{(colindex+1).ToString("00")}";
control.Click += Control_Click;
this.tlpDrawerB.Controls.Add(control, colindex, rowindex);
DrawerControlList.Add(control.ControlName, control);
}
}
this.tlpPos.RowStyles.Clear();
this.tlpPos.ColumnStyles.Clear();
this.tlpPos.AutoScroll = true;
this.tlpPos.RowCount = boxEquip.Config.Cols_In_Drawer;
this.tlpPos.ColumnCount = boxEquip.Config.Rows_In_Drawer;
for (int rowindex = 0; rowindex < boxEquip.Config.Cols_In_Drawer; rowindex++)
{
tlpPos.RowStyles.Add(new RowStyle(SizeType.Absolute, 38));
for (int colindex = 0; colindex < boxEquip.Config.Rows_In_Drawer; colindex++)
{
tlpPos.ColumnStyles.Add(new ColumnStyle(SizeType.Absolute, 87));
UCStatusPanel control = new UCStatusPanel();
control.ControlName = $"{(colindex+1).ToString("00")}{(rowindex+1).ToString("00")}";
this.tlpPos.Controls.Add(control, colindex, rowindex);
}
}
this.SuspendLayout();
}
private void Control_Click(object sender, EventArgs e)
{
throw new NotImplementedException();
}
}
}
source/XLRStoreClient/boxForm/FrmPosResult.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
source/XLRStoreClient/boxForm/userControl/UCStatusPanel.Designer.cs
 
namespace OnlineStore.XLRStore.boxForm.userControl namespace OnlineStore.XLRStore
{ {
partial class UCStatusPanel partial class UCStatusPanel
{ {
...@@ -38,18 +38,19 @@ namespace OnlineStore.XLRStore.boxForm.userControl ...@@ -38,18 +38,19 @@ namespace OnlineStore.XLRStore.boxForm.userControl
this.lblStatus.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblStatus.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblStatus.Location = new System.Drawing.Point(0, 0); this.lblStatus.Location = new System.Drawing.Point(0, 0);
this.lblStatus.Name = "lblStatus"; this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(150, 38); this.lblStatus.Size = new System.Drawing.Size(87, 38);
this.lblStatus.TabIndex = 0; this.lblStatus.TabIndex = 0;
this.lblStatus.Text = "05BB01010101"; this.lblStatus.Text = "05BB0101";
this.lblStatus.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.lblStatus.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
// //
// UCStatusPanel // UCStatusPanel
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
this.Controls.Add(this.lblStatus); this.Controls.Add(this.lblStatus);
this.Name = "UCStatusPanel"; this.Name = "UCStatusPanel";
this.Size = new System.Drawing.Size(150, 38); this.Size = new System.Drawing.Size(87, 38);
this.ResumeLayout(false); this.ResumeLayout(false);
} }
......
source/XLRStoreClient/boxForm/userControl/UCStatusPanel.cs
...@@ -8,7 +8,7 @@ using System.Text; ...@@ -8,7 +8,7 @@ using System.Text;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
namespace OnlineStore.XLRStore.boxForm.userControl namespace OnlineStore.XLRStore
{ {
public partial class UCStatusPanel : UserControl public partial class UCStatusPanel : UserControl
{ {
...@@ -16,5 +16,24 @@ namespace OnlineStore.XLRStore.boxForm.userControl ...@@ -16,5 +16,24 @@ namespace OnlineStore.XLRStore.boxForm.userControl
{ {
InitializeComponent(); InitializeComponent();
} }
private string ctlName = "";
public string ControlName { get { return ctlName; } set { ctlName = value;lblStatus.Text = value; } }
public int ResultCode { get; set; }
public void ShowResult()
{
switch(ResultCode)
{
case -1:
this.BackColor = Color.FromArgb(255, 255, 192);
break;
case 0:
this.BackColor = Color.Red;
break;
case 1:
this.BackColor = Color.GreenYellow;
break;
}
}
} }
} }
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