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Commit 8903455d 由 张东亮
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春初机构-库位调试开启

1 个父辈 bd392c11
内嵌 并排
正在显示 7 个修改的文件 包含 65 行增加 和 63 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -595,8 +595,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -595,8 +595,8 @@ namespace OnlineStore.DeviceLibrary
{ {
int row = 1; int row = 1;
int col = 1; int col = 1;
string side = "BB"; string side = "BB";
string PosId = "05BB01010101"; string PosId = CID+"BB01010101";
for (int i = 1; i <= trayRows.Length; i++) for (int i = 1; i <= trayRows.Length; i++)
{ {
if (i == trayRows.Length) if (i == trayRows.Length)
...@@ -621,7 +621,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -621,7 +621,7 @@ namespace OnlineStore.DeviceLibrary
side = "BB"; side = "BB";
atBside = true; atBside = true;
col = i; col = i;
PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101"; PosId = $"{CID}{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId)); MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId));
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId); MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
return true; return true;
...@@ -640,14 +640,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -640,14 +640,14 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info($"复位 检测到料屉在A面[col={i}]"); LogUtil.info($"复位 检测到料屉在A面[col={i}]");
side = "AA"; side = "AA";
col = i; col = i;
PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101"; PosId = $"{CID}{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId)); MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId));
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId); MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
return true; return true;
} }
} }
} }
PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101"; PosId = $"{CID}{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId)); MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId));
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId); MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
return false; return false;
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_PosDebug.cs
...@@ -36,37 +36,37 @@ namespace OnlineStore.DeviceLibrary ...@@ -36,37 +36,37 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P1(); PullAxis_Inout_To_P1();
} }
public void Test() //public void Test()
{ //{
Random random = new Random(); // Random random = new Random();
Task.Factory.StartNew(new Action(delegate // Task.Factory.StartNew(new Action(delegate
{ // {
while (!posDebugInfo.IsLastDrawer()) // while (!posDebugInfo.IsLastDrawer())
{ // {
while (!posDebugInfo.IsLastGrid()) // while (!posDebugInfo.IsLastGrid())
{ // {
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1); // PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);
posDebugInfo.NextGrid(); // posDebugInfo.NextGrid();
System.Threading.Thread.Sleep(500); // System.Threading.Thread.Sleep(500);
} // }
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1); // PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);
PosDebugResultManager.SetDrawerResult(posDebugInfo.CurDrawer, 1); // PosDebugResultManager.SetDrawerResult(posDebugInfo.CurDrawer, 1);
PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer); // PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer);
posDebugInfo.NextDrawer(); // posDebugInfo.NextDrawer();
System.Threading.Thread.Sleep(500); // System.Threading.Thread.Sleep(500);
} // }
while (!posDebugInfo.IsLastGrid()) // while (!posDebugInfo.IsLastGrid())
{ // {
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);//random.Next(0, 2) // PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);//random.Next(0, 2)
posDebugInfo.NextGrid(); // posDebugInfo.NextGrid();
System.Threading.Thread.Sleep(500); // System.Threading.Thread.Sleep(500);
} // }
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1); // PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);
PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer); // PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer);
posDebugInfo.NextDrawer(); // posDebugInfo.NextDrawer();
})); // }));
PosDebugResultManager.SaveResult(); // PosDebugResultManager.SaveResult();
} //}
/// <summary> /// <summary>
/// 更新移动信息 /// 更新移动信息
/// </summary> /// </summary>
...@@ -120,13 +120,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -120,13 +120,13 @@ namespace OnlineStore.DeviceLibrary
XAxis_To_P1(true); XAxis_To_P1(true);
break; break;
case StepEnum.SP_01_ToBufferArea: case StepEnum.SP_01_ToBufferArea:
if (!InDoorCheck(MoveInfo.MoveParam)) //if (!InDoorCheck(MoveInfo.MoveParam))
{ //{
SetWarnMsg($"库位调试 {MoveInfo.SLog}：入口料盘无信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}],结束调试"); // SetWarnMsg($"库位调试 {MoveInfo.SLog}：入口料盘无信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}],结束调试");
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Runing); // SetBoxStatus(DeviceStatus.Debugging, RunStatus.Runing);
MoveInfo.EndMove(); // MoveInfo.EndMove();
} //}
else //else
{ {
MoveInfo.NextMoveStep(StepEnum.SP_02_VerifyBufferState); MoveInfo.NextMoveStep(StepEnum.SP_02_VerifyBufferState);
LogInfo($"库位调试 {MoveInfo.SLog}：入料口料盘信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][posId={MoveInfo.MoveParam.PosInfo.PosId}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]，开始取料"); LogInfo($"库位调试 {MoveInfo.SLog}：入料口料盘信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][posId={MoveInfo.MoveParam.PosInfo.PosId}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]，开始取料");
...@@ -134,17 +134,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -134,17 +134,17 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SP_02_VerifyBufferState: case StepEnum.SP_02_VerifyBufferState:
if (!CheckInputMiddleAxisInBuff()) //if (!CheckInputMiddleAxisInBuff())
{ {
MoveInfo.NextMoveStep(StepEnum.SP_03_XAxisToBuff); MoveInfo.NextMoveStep(StepEnum.SP_03_XAxisToBuff);
LogInfo($"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($"库位调试 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2,行走机构到取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2(true); XAxis_To_P2(true);
MoveAxisToP2(true); MoveAxisToP2(true);
} }
else if (MoveInfo.IsTimeOut()) //else if (MoveInfo.IsTimeOut())
{ //{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时"); // SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
} //}
break; break;
case StepEnum.SP_03_XAxisToBuff: case StepEnum.SP_03_XAxisToBuff:
...@@ -261,15 +261,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -261,15 +261,15 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SP_19_CheckDrawerFinish); MoveInfo.NextMoveStep(StepEnum.SP_19_CheckDrawerFinish);
int drawerRescode = PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer); int drawerRescode = PosDebugResultManager.SetDrawerResultWithGrid(posDebugInfo.CurDrawer);
LogInfo($"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]"); LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurGrid}是抽屉的最后一个库位,统计抽屉结果:{drawerRescode}[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextGrid); MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextGrid);
PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1); PosDebugResultManager.SetGridResult(posDebugInfo.CurGrid, 1);
LogInfo($"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]"); LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurGrid}库位调试OK，切换到下一个库位[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
posDebugInfo.NextGrid(); posDebugInfo.NextGrid();
UpdateMoveInfo(posDebugInfo.CurDrawer + posDebugInfo.CurGrid); UpdateMoveInfo(posDebugInfo.CurGrid);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
break; break;
...@@ -318,7 +318,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -318,7 +318,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextDrawer); MoveInfo.NextMoveStep(StepEnum.SP_25_ToNextDrawer);
LogInfo($"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]"); LogInfo($"库位调试 {MoveInfo.SLog}：{posDebugInfo.CurDrawer}调试结束，切换到下一个抽屉[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
posDebugInfo.NextDrawer(); posDebugInfo.NextDrawer();
UpdateMoveInfo(posDebugInfo.CurDrawer + posDebugInfo.CurGrid); UpdateMoveInfo(posDebugInfo.CurGrid);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
...@@ -335,7 +335,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -335,7 +335,7 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P3_P5(true); PullAxis_Inout_To_P3_P5(true);
break; break;
case StepEnum.SP_26_ToBufferArea: case StepEnum.SP_26_ToBufferArea:
if (!CheckInputMiddleAxisInBuff()) //if (!CheckInputMiddleAxisInBuff())
{ {
MoveInfo.NextMoveStep(StepEnum.SP_27_XAxisToBuffer); MoveInfo.NextMoveStep(StepEnum.SP_27_XAxisToBuffer);
LogInfo($"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]"); LogInfo($"库位调试 {MoveInfo.SLog}：到下暂存区碗里，移栽X轴到进出料暂存区取放点P2,行走机构到进出料机构取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
...@@ -343,10 +343,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -343,10 +343,10 @@ namespace OnlineStore.DeviceLibrary
MoveAxisToP2(true); MoveAxisToP2(true);
} }
else if (MoveInfo.IsTimeOut()) //else if (MoveInfo.IsTimeOut())
{ //{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时"); // SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
} //}
break; break;
case StepEnum.SP_27_XAxisToBuffer: case StepEnum.SP_27_XAxisToBuffer:
......
source/XLRStoreClient/App.config
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
<add key="ConfigPath_TrayList" value="\LineConfig\TrayList.data" /> <add key="ConfigPath_TrayList" value="\LineConfig\TrayList.data" />
<add key="ConfigPath_PosDebugInfo" value="\Config\PosDebugInfo.json" /> <add key="ConfigPath_PosDebugInfo" value="\Config\PosDebugInfo.json" />
<add key="ImagePath" value="\Images\" /> <add key="ImagePath" value="\Images\" />
<add key="Line_CID" value="05" /> <add key="Line_CID" value="04" />
<!--end one store config--> <!--end one store config-->
<!--二维码类型列表配置，用#分割，一维码=Barcode 二维码： QR Code#Data Matrix ECC 200#Micro QR Code--> <!--二维码类型列表配置，用#分割，一维码=Barcode 二维码： QR Code#Data Matrix ECC 200#Micro QR Code-->
<add key="CodeType" value="Data Matrix ECC 200#QR Code" /> <add key="CodeType" value="Data Matrix ECC 200#QR Code" />
......
source/XLRStoreClient/boxForm/FrmAutoFindPos.cs
...@@ -147,7 +147,7 @@ namespace OnlineStore.XLRStore ...@@ -147,7 +147,7 @@ namespace OnlineStore.XLRStore
private void button10_Click(object sender, EventArgs e) private void button10_Click(object sender, EventArgs e)
{ {
boxEquip.autoFindPos.SetParam(int.Parse(txtCurRow.Text), int.Parse(txtCurCol.Text), int.Parse(txtStartRow.Text), int.Parse(txtStartCol.Text), float.Parse(txtCoffX.Text), float.Parse(txtCoofY.Text)); boxEquip.autoFindPos.SetParam(int.Parse(txtCurRow.Text), int.Parse(txtCurCol.Text), int.Parse(txtStartRow.Text), int.Parse(txtStartCol.Text), float.Parse(txtCoffX.Text), float.Parse(txtCoofY.Text));
StringBuilder head2 = new StringBuilder(boxEquip.CID + posSide + txtStartRow.Text.PadLeft(2, '0') + txtStartCol.Text.PadLeft(2, '0')); StringBuilder head2 = new StringBuilder(boxEquip.CID + posSide + txtCurRow.Text.PadLeft(2, '0') + txtCurCol.Text.PadLeft(2, '0'));
head2.Append("0101"); head2.Append("0101");
LineMoveP lineMoveP = new LineMoveP(); LineMoveP lineMoveP = new LineMoveP();
lineMoveP.UpdatePosById(head2.ToString()); lineMoveP.UpdatePosById(head2.ToString());
......
source/XLRStoreClient/boxForm/FrmBoxEquip.cs
...@@ -43,8 +43,8 @@ namespace OnlineStore.XLRStore ...@@ -43,8 +43,8 @@ namespace OnlineStore.XLRStore
chbDebug.Checked = boxBean.IsDebug; chbDebug.Checked = boxBean.IsDebug;
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, " 抓手训练 ", learn); //AddForm(tabControl1, " 抓手训练 ", learn);
FrmPosDebug frmPosDebug = new FrmPosDebug(); FrmPosDebug frmPosDebug = new FrmPosDebug();
AddForm(tabControl1, " 库位调试 ", frmPosDebug); AddForm(tabControl1, " 库位调试 ", frmPosDebug);
boxBean.camera_event += BoxBean_camera_event; boxBean.camera_event += BoxBean_camera_event;
......
source/XLRStoreClient/boxForm/FrmPosDebug.cs
...@@ -36,7 +36,9 @@ namespace OnlineStore.XLRStore ...@@ -36,7 +36,9 @@ namespace OnlineStore.XLRStore
int endColInDrawer = int.Parse(txtEndColInDrawer.Text); int endColInDrawer = int.Parse(txtEndColInDrawer.Text);
boxEquip.posDebugInfo.SetDrawerParam(startDrawerRow,startDrawerCol,endDrawerRow,endDrawerCol); boxEquip.posDebugInfo.SetDrawerParam(startDrawerRow,startDrawerCol,endDrawerRow,endDrawerCol);
boxEquip.posDebugInfo.SetGridParam(startRowInDrawer,startColInDrawer,endRowInDrawer,endColInDrawer); boxEquip.posDebugInfo.SetGridParam(startRowInDrawer,startColInDrawer,endRowInDrawer,endColInDrawer);
boxEquip.Test(); InOutParam inOutParam = new InOutParam(new InOutPosInfo("PosDebug", $"{boxEquip.posDebugInfo.CurGrid}"));
//boxEquip.Test();
boxEquip.StartPosDebug(inOutParam);
} }
} }
...@@ -52,7 +54,7 @@ namespace OnlineStore.XLRStore ...@@ -52,7 +54,7 @@ namespace OnlineStore.XLRStore
private void btnStop_Click(object sender, EventArgs e) 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)) if (MessageBox.Show("确认停止库位调试？", "提示", MessageBoxButtons.OKCancel).Equals(DialogResult.OK))
boxEquip.posDebugInfo.IsBreak = true; boxEquip.posDebugInfo.IsBreak = true;
} }
FrmPosResult frmPosResult = null; FrmPosResult frmPosResult = null;
......
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