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Commit 7794e5e5 由 张东亮
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存储机构-库位调试部分

1 个父辈 4d22883d
内嵌 并排
正在显示 8 个修改的文件 包含 333 行增加 和 13 行删除
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -119,6 +119,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -119,6 +119,14 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
BOX_H002_PullAxis_UpdownToP3, BOX_H002_PullAxis_UpdownToP3,
/// <summary> /// <summary>
/// BOX复位：抽屉在轴上，将抽屉拉到待机点
/// </summary>
BOX_H003_1_InoutToP1,
/// <summary>
/// BOX复位：抽屉在轴上，取图并判断抽屉是否在轴上
/// </summary>
BOX_H003_2_CheckDrawerIsInAxis,
/// <summary>
/// BOX复位：抽屉在轴上，推抽屉到提取点P2P4 /// BOX复位：抽屉在轴上，推抽屉到提取点P2P4
/// </summary> /// </summary>
BOX_H003_PullAxis_InoutToP2P4, BOX_H003_PullAxis_InoutToP2P4,
...@@ -496,6 +504,130 @@ namespace OnlineStore.DeviceLibrary ...@@ -496,6 +504,130 @@ namespace OnlineStore.DeviceLibrary
SA_10_Neg_NextDrawer, SA_10_Neg_NextDrawer,
#endregion #endregion
#region 存储机构库位调试 500开始
/// <summary>
/// 库位调试:开始库位调试
/// </summary>
SP_00_1_StartPosDebug,
/// <summary>
/// 库位调试:拉取轴到待机位
/// </summary>
SP_00_2_PullAxisReady,
/// <summary>
/// 库位调试:检查行走机构位置，并执行对应动作，确保在安全位置
/// </summary>
SP_00_3_CheckMoveAxisSafe,
/// <summary>
/// 库位调试:去暂存区
/// </summary>
SP_01_ToBufferArea,
/// <summary>
/// 库位调试：确保暂存区有料盘
/// 如果无料盘则报警
/// </summary>
SP_02_VerifyBufferState,
/// <summary>
/// 库位调试：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
/// </summary>
SP_03_XAxisToBuff,
/// <summary>
/// 库位调试：取料盘
/// 1. 移栽升降轴到P2（A上暂存区取料高点）
/// 2. A/B面移栽压紧轴到P3压紧点
/// </summary>
SP_04_GetReel,
/// <summary>
/// 库位调试：A/B面移栽X轴到P1
/// </summary>
SP_05_XAxisBackToP1,
/// <summary>
/// 库位调试：清除缓存
/// </summary>
SP_06_ClearBuffInfo,
/// <summary>
/// 库位调试：A/B面移栽旋转轴到P3（A面料屉库位垂直取放料点）
/// </summary>
SP_07_MiddleToP3,
/// <summary>
/// 库位调试：所有轴运行到库位：
/// 1. 移栽升降轴到AB料屉上方过度点
/// 2. 行走机构到P3（存储库位取放点位）
/// 3. 料斗拉取升降轴到P4(料屉提取低点)
/// </summary>
SP_08_ToPosition,
/// <summary>
/// 库位调试：到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
/// </summary>
SP_09_ToDrawer,
/// <summary>
/// 库位调试：提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
/// </summary>
SP_10_LiftDrawer,
/// <summary>
/// 库位调试：拉抽屉到库位点，料斗拉取进出轴到P3（A/B面料屉库位点）
/// </summary>
SP_11_PullDrawer,
/// <summary>
/// 库位调试：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)，到位后检测X16-X30对应信号=1
/// </summary>
SP_12_DropDrawerToPos,
/// <summary>
/// 库位调试：进入库位中，准备放料，移栽升降轴到A/B面料屉取放点
/// </summary>
SP_13_PutReel,
/// <summary>
/// 库位调试：压紧轴开始缓慢释放，A/B面移栽压紧轴到P2（压紧前点）
/// </summary>
SP_14_ReleaseCompress,
/// <summary>
///库位调试：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
/// </summary>
SP_15_UpDownBack,
/// <summary>
/// 库位调试：进入库位中，移栽升降轴到A/B面料屉取放点
/// </summary>
SP_16_GetReel,
/// <summary>
/// 库位调试：压紧轴开始缓慢压紧，A/B面移栽压紧轴到P3（压紧点）
/// </summary>
SP_17_StartCompress,
/// <summary>
///库位调试：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
/// </summary>
SP_18_UpDownBack,
/// <summary>
/// 库位调试：检查当前抽屉是否结束
/// </summary>
SP_19_CheckDrawerFinish,
/// <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）
/// </summary>
SP_20_LiftTray,
/// <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）
/// </summary>
SP_21_PushTray,
/// <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
/// </summary>
SP_22_PutTrayMiddle,
/// <summary>
/// 库位调试:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
/// </summary>
SP_23_PutTrayDown,
/// <summary>
/// 库位调试:料斗拉取进出轴到P1（待机点）,检查是否结束
/// </summary>
SP_24_InoutBack,
/// <summary>
/// 库位调试:到下一个库位，移栽X轴到位，进出轴到位
/// </summary>
SP_25_ToNextGrid,
#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/BoxEquip.cs
...@@ -4,6 +4,7 @@ using System; ...@@ -4,6 +4,7 @@ using System;
using System.Collections.Concurrent; using System.Collections.Concurrent;
using System.Collections.Generic; using System.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
...@@ -294,6 +295,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,6 +295,9 @@ namespace OnlineStore.DeviceLibrary
{ {
return false; return false;
} }
//Bitmap resetBitMap = null;
bool resetRtnA = false;
bool resetRtnB = false;
private void MoveResetPro() private void MoveResetPro()
{ {
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
...@@ -310,13 +314,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -310,13 +314,13 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.BOX_H001_Wait: case StepEnum.BOX_H001_Wait:
if (GetCurLocation()) if (GetCurLocation())
{ {
if(MoveAxis.IsInPosition(MoveInfo.MoveParam.MoveP.MoveAxis_P3)) if (MoveAxis.IsInPosition(MoveInfo.MoveParam.MoveP.MoveAxis_P3))
{ {
MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3); MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3);
ComAxis_To_P2(); ComAxis_To_P2();
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
LogInfo($"复位 {MoveInfo.SLog}：抽屉在轴上,压紧轴到压紧前点，移栽升降轴到料屉上方过度点，料屉升降轴到高点P3"); LogInfo($"复位 {MoveInfo.SLog}：抽屉在轴上,行走机构在抽屉位置,压紧轴到压紧前点，移栽升降轴到料屉上方过度点，料屉升降轴到高点P3");
} }
else else
{ {
...@@ -347,7 +351,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -347,7 +351,8 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos); MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上且行走机构不在暂存区"); LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上且行走机构不在暂存区,进出轴回待机点P1");
PullAxis_Inout_To_P1();
} }
} }
break; break;
...@@ -355,6 +360,51 @@ namespace OnlineStore.DeviceLibrary ...@@ -355,6 +360,51 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.BOX_H003_PullAxis_InoutToP2P4); MoveInfo.NextMoveStep(StepEnum.BOX_H003_PullAxis_InoutToP2P4);
LogInfo($"复位 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2"); LogInfo($"复位 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2");
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
//MoveInfo.NextMoveStep(StepEnum.BOX_H003_1_InoutToP1);
//LogInfo($"复位 {MoveInfo.SLog}：将抽屉拉到进出轴待机点");
//PullAxis_Inout_To_P1();
break;
case StepEnum.BOX_H003_1_InoutToP1:
MoveInfo.NextMoveStep(StepEnum.BOX_H003_2_CheckDrawerIsInAxis);
LogInfo($"复位 {MoveInfo.SLog}：在进出轴待机点取像");
Bitmap resetBitMapA = AcqImage("box_A");
Bitmap resetBitMapB = AcqImage("box_B");
resetRtnA = MatchAndSaveImg(resetBitMapA, $"resetA_{DateTime.Now.ToString("yyyyMMddHHmmss")}");
resetRtnB = MatchAndSaveImg(resetBitMapB, $"resetB_{DateTime.Now.ToString("yyyyMMddHHmmss")}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case StepEnum.BOX_H003_2_CheckDrawerIsInAxis:
if (resetRtnA && resetRtnB)
{
LogInfo($"复位 {MoveInfo.SLog}：复位失败,视觉检测到AB面均有抽屉");
SetWarnMsg("复位失败, 视觉检测到AB面均有抽屉");
SetBoxStatus(DeviceStatus.None, RunStatus.Wait);
MoveInfo.EndMove();
}
else
{
if(resetRtnA)
{
MoveInfo.MoveParam.PosInfo.PosId.Replace("BB", "AA");
MoveInfo.NextMoveStep(StepEnum.BOX_H003_PullAxis_InoutToP2P4);
LogInfo($"复位 {MoveInfo.SLog}：视觉检测到抽屉在轴上，推到抽屉提取点，料斗拉取进出轴到料屉提取点P2");
PullAxis_Inout_To_P2_P4();
}
else if(resetRtnB)
{
MoveInfo.MoveParam.PosInfo.PosId.Replace("AA", "BB");
MoveInfo.NextMoveStep(StepEnum.BOX_H003_PullAxis_InoutToP2P4);
LogInfo($"复位 {MoveInfo.SLog}：视觉检测到抽屉在轴上，推到抽屉提取点，料斗拉取进出轴到料屉提取点P2");
PullAxis_Inout_To_P2_P4();
}
else
{
MoveInfo.NextMoveStep(StepEnum.BOX_H03_PullAxis_InoutHome);
LogInfo($"复位 {MoveInfo.SLog}：视觉检测确认抽屉不在轴上，抽屉拉取进出轴回原点");
PullAxis_Inout.HomeMove(MoveInfo);
}
}
break; break;
case StepEnum.BOX_H003_PullAxis_InoutToP2P4: case StepEnum.BOX_H003_PullAxis_InoutToP2P4:
MoveInfo.NextMoveStep(StepEnum.BOX_H004_PullAxis_UpdownToMiddle); MoveInfo.NextMoveStep(StepEnum.BOX_H004_PullAxis_UpdownToMiddle);
...@@ -749,7 +799,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -749,7 +799,7 @@ namespace OnlineStore.DeviceLibrary
{ {
AutoFindPosProcess(); AutoFindPosProcess();
} }
else if(isInitPosDebugInfo) else if (isInitPosDebugInfo)
{ {
PosDebugProcess(); PosDebugProcess();
} }
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -311,7 +311,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -311,7 +311,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray); MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray);
LogInfo($"入库 {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($"入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
SaveSpecifiedImage();
break; break;
case StepEnum.SI_16_LiftTray: case StepEnum.SI_16_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray); //MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -85,7 +85,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -85,7 +85,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos); MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
LogInfo($"出库 {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($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2(); PullAxis_UpdownToMiddleP2();
SaveSpecifiedImage();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break; break;
case StepEnum.SO_06_DropTrayToPos: case StepEnum.SO_06_DropTrayToPos:
...@@ -98,19 +97,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -98,19 +97,16 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress); MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
LogInfo($"出库 {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($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P3(); ComAxis_To_P3();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_08_StartCompress: case StepEnum.SO_08_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack); MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack);
LogInfo($"出库 {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($"出库 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到料屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_09_UpDownBack: case StepEnum.SO_09_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray); MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray);
LogInfo($"出库 {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($"出库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_10_LiftTray: case StepEnum.SO_10_LiftTray:
//MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray); //MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
...@@ -157,7 +153,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -157,7 +153,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack); MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_13_InoutBack: case StepEnum.SO_13_InoutBack:
//检查另一面是否有出库任务 //检查另一面是否有出库任务
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -648,6 +648,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -648,6 +648,11 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready); MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
} }
else if(MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
LogInfo($"{InOutType} {MoveInfo.SLog}：料屉拉取升降轴到待机点P1、料屉拉取进出轴到拍照点"); LogInfo($"{InOutType} {MoveInfo.SLog}：料屉拉取升降轴到待机点P1、料屉拉取进出轴到拍照点");
} }
/// <summary> /// <summary>
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_PosDebug.cs
...@@ -25,6 +25,143 @@ namespace OnlineStore.DeviceLibrary ...@@ -25,6 +25,143 @@ namespace OnlineStore.DeviceLibrary
{ {
return; return;
} }
switch(MoveInfo.MoveStep)
{
case StepEnum.SP_00_1_StartPosDebug:
PullAxisToP1("库位调试");
break;
case StepEnum.SP_00_2_PullAxisReady:
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Busy);
MoveInfo.NextMoveStep(StepEnum.SP_02_VerifyBufferState);
break;
case StepEnum.SP_00_3_CheckMoveAxisSafe:
break;
case StepEnum.SP_01_ToBufferArea:
MoveInfo.NextMoveStep(StepEnum.SP_02_VerifyBufferState);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_02_VerifyBufferState:
MoveInfo.NextMoveStep(StepEnum.SP_03_XAxisToBuff);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_03_XAxisToBuff:
MoveInfo.NextMoveStep(StepEnum.SP_04_GetReel);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_04_GetReel:
MoveInfo.NextMoveStep(StepEnum.SP_05_XAxisBackToP1);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_05_XAxisBackToP1:
MoveInfo.NextMoveStep(StepEnum.SP_06_ClearBuffInfo);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_06_ClearBuffInfo:
MoveInfo.NextMoveStep(StepEnum.SP_07_MiddleToP3);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_07_MiddleToP3:
MoveInfo.NextMoveStep(StepEnum.SP_08_ToPosition);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_08_ToPosition:
MoveInfo.NextMoveStep(StepEnum.SP_09_ToDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_09_ToDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_10_LiftDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_10_LiftDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_11_PullDrawer);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_11_PullDrawer:
MoveInfo.NextMoveStep(StepEnum.SP_12_DropDrawerToPos);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_12_DropDrawerToPos:
MoveInfo.NextMoveStep(StepEnum.SP_13_PutReel);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_13_PutReel:
MoveInfo.NextMoveStep(StepEnum.SP_14_ReleaseCompress);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_14_ReleaseCompress:
MoveInfo.NextMoveStep(StepEnum.SP_15_UpDownBack);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_15_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SP_16_GetReel);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_16_GetReel:
MoveInfo.NextMoveStep(StepEnum.SP_17_StartCompress);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_17_StartCompress:
MoveInfo.NextMoveStep(StepEnum.SP_18_UpDownBack);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_18_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SP_19_CheckDrawerFinish);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_19_CheckDrawerFinish:
MoveInfo.NextMoveStep(StepEnum.SP_20_LiftTray);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_20_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SP_21_PushTray);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_21_PushTray:
MoveInfo.NextMoveStep(StepEnum.SP_22_PutTrayMiddle);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_22_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SP_23_PutTrayDown);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_23_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SP_24_InoutBack);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_24_InoutBack:
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextGrid);
LogInfo($"库位调试 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
break;
case StepEnum.SP_25_ToNextGrid:
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Runing);
MoveInfo.EndMove();
break;
}
} }
} }
public class PosDebugInfo public class PosDebugInfo
......
source/XLRStoreClient/boxForm/FrmTongsLearn.Designer.cs
...@@ -134,9 +134,9 @@ namespace OnlineStore.XLRStore ...@@ -134,9 +134,9 @@ namespace OnlineStore.XLRStore
// //
this.btnAcquire.Location = new System.Drawing.Point(472, 47); this.btnAcquire.Location = new System.Drawing.Point(472, 47);
this.btnAcquire.Name = "btnAcquire"; this.btnAcquire.Name = "btnAcquire";
this.btnAcquire.Size = new System.Drawing.Size(75, 23); this.btnAcquire.Size = new System.Drawing.Size(138, 23);
this.btnAcquire.TabIndex = 2; this.btnAcquire.TabIndex = 2;
this.btnAcquire.Text = "从相机取图"; this.btnAcquire.Text = "相机取图并保存";
this.btnAcquire.UseVisualStyleBackColor = true; this.btnAcquire.UseVisualStyleBackColor = true;
this.btnAcquire.Click += new System.EventHandler(this.btnAcquire_Click); this.btnAcquire.Click += new System.EventHandler(this.btnAcquire_Click);
// //
...@@ -192,7 +192,7 @@ namespace OnlineStore.XLRStore ...@@ -192,7 +192,7 @@ namespace OnlineStore.XLRStore
this.btnSave.Name = "btnSave"; this.btnSave.Name = "btnSave";
this.btnSave.Size = new System.Drawing.Size(101, 40); this.btnSave.Size = new System.Drawing.Size(101, 40);
this.btnSave.TabIndex = 7; this.btnSave.TabIndex = 7;
this.btnSave.Text = "保存"; this.btnSave.Text = "保存参数";
this.btnSave.UseVisualStyleBackColor = true; this.btnSave.UseVisualStyleBackColor = true;
this.btnSave.Click += new System.EventHandler(this.btnSave_Click); this.btnSave.Click += new System.EventHandler(this.btnSave_Click);
// //
...@@ -240,6 +240,7 @@ namespace OnlineStore.XLRStore ...@@ -240,6 +240,7 @@ namespace OnlineStore.XLRStore
// //
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.SystemColors.Control;
this.ClientSize = new System.Drawing.Size(800, 387); this.ClientSize = new System.Drawing.Size(800, 387);
this.Controls.Add(this.btnLearn); this.Controls.Add(this.btnLearn);
this.Controls.Add(this.btnSelectPatch); this.Controls.Add(this.btnSelectPatch);
......
source/XLRStoreClient/boxForm/FrmTongsLearn.cs
...@@ -38,6 +38,7 @@ namespace OnlineStore.XLRStore ...@@ -38,6 +38,7 @@ namespace OnlineStore.XLRStore
private void btnAcquire_Click(object sender, EventArgs e) private void btnAcquire_Click(object sender, EventArgs e)
{ {
srcBitmap = boxEquip.AcqImage(camName); srcBitmap = boxEquip.AcqImage(camName);
boxEquip.SaveImage(camName);
picSrc.Image = srcBitmap; picSrc.Image = srcBitmap;
} }
......
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