存储机构-打印移栽升降轴日志

source/DeviceLibrary/Config/Config_BoxEquip.csv

@@ -36,12 +36,12 @@ PRO,0,抽屉内行数,Rows_In_Drawer,4,,,,,,,,,,,,
 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,升降轴视觉对位速度,UpdownAxis_FindPosSpeed,20,,,,,,,,,,,,
+PRO,0,拉取升降轴视觉对位速度,PullAxis_Updown_FindPosSpeed,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,升降轴视觉对位速度,UpdownAxis_FindPosSpeed,20,,,,,,,,,,,,
 PRO,0,升降轴正极限位置,UpdownAxis_PosLimit,20,,,,,,,,,,,,
 PRO,0,升降轴负极限位置,UpdownAxis_NegLimit,20,,,,,,,,,,,,
-PRO,0,拉取升降轴视觉对位速度,PullAxis_Updown_FindPosSpeed,20,,,,,,,,,,,,
 PRO,0,拉取升降轴正极限位置,PullAxis_Updown_PosLimit,20,,,,,,,,,,,,
 PRO,0,拉取升降轴负极限位置,PullAxis_Updown_NegLimit,20,,,,,,,,,,,,
 PRO,0,抓手检测得分阈值,TongsDetectThreshold,20,,,,,,,,,,,,

source/DeviceLibrary/DeviceLibrary.csproj

@@ -97,6 +97,7 @@
     <Compile Include="storeBean\boxBean\EyemLibDemo.cs" />
     <Compile Include="storeBean\boxBean\Humiture\HumitureBean.cs" />
     <Compile Include="storeBean\boxBean\Humiture\HumitureController.cs" />
+    <Compile Include="storeBean\boxBean\positionDebug\DrawerResult.cs" />
     <Compile Include="storeBean\boxBean\positionDebug\PositionDebugManager.cs" />
     <Compile Include="storeBean\boxBean\positionDebug\PositionDebugResult.cs" />
     <Compile Include="storeBean\inputBean\BatchMoveBean.cs" />

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -303,6 +303,13 @@ namespace OnlineStore.DeviceLibrary
                         }
                         else
                         {
+                            if(wait.AxisInfo.DeviceName.Equals("移栽升降轴"))
+                            {
+                                string deviceName = wait.AxisInfo.DeviceName;
+                                short axisNo = wait.AxisInfo.GetAxisValue();
+                                int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
+                                LogInfo($"移栽升降轴 目标位置：{wait.TargetPosition},当前位置：{outCount}");
+                            }
                             wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
                         }
                         if (!msg.Equals(""))

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -128,6 +128,10 @@ namespace OnlineStore.DeviceLibrary
             InitPosititionNumList();
             InitDrawInfos();
             LoadCameraConfig();
+            //库位测试
+            //InitPosDebugInfo();
+            //Test();
+
         }
         void InitRowColumnSig()
         {

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -162,7 +162,7 @@ namespace OnlineStore.DeviceLibrary
                 case StepEnum.SI_02_ToBufferArea:
                     if (!InDoorCheck(MoveInfo.MoveParam))
                     {
-                        SetWarnMsg($" 存储机构-入库 {MoveInfo.SLog}：入口料盘无入库信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}], 任务取消");
+                        SetWarnMsg($"入库 {MoveInfo.SLog}：入口料盘无入库信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.GetPosSide()}], 任务取消");
                         if (MoveInfo.MoveParam.PosInfoBack == null)
                         {
                             LogInfo($"入库 {MoveInfo.SLog}：入口料盘因无入库信息且AB面料叉无料，结束入库");

source/DeviceLibrary/storeBean/boxBean/positionDebug/DrawerResult.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    /// <summary>
+    /// 抽屉调试结果
+    /// </summary>
+    public class DrawerResult
+    {
+        public string DrawerName { get; set; }
+        public int ResultCode { get; set; } = -1;
+        public List<PosDebugResult> PosResultList { get; set; }
+        public DrawerResult()
+        {
+            PosResultList = new List<PosDebugResult>();
+        }
+    }
+}

source/DeviceLibrary/storeBean/boxBean/positionDebug/PositionDebugManager.cs

@@ -8,41 +8,105 @@ namespace OnlineStore.DeviceLibrary
 {
     public class PosDebugResultManager
     {
-        public static List<PosDebugResult> posResultList;
+        public static List<DrawerResult> DrawerResults;
         public static bool isInit = false;
         static string filePath = Common.ConfigAppSettings.GetValue(Common.Setting_Init.ConfigPath_PosDebugInfo);
         public static void Init(List<string> posNumList)
         {
             if (!System.IO.File.Exists(filePath))
             {
-                posResultList = new List<PosDebugResult>();
+                DrawerResults = new List<DrawerResult>();
                 foreach (var item in posNumList)
                 {
-                    posResultList.Add(new PosDebugResult() { Name = item });
+                    DrawerResult res = DrawerResults.Find(s => s.DrawerName.Equals(item.Substring(0, 8)));
+                    if (res == null)
+                    {
+                        res = new DrawerResult() { DrawerName = item.Substring(0, 8) };
+                        res.PosResultList.Add(new PosDebugResult() { Name = item });
+                        DrawerResults.Add(res);
+                    }
+                    else
+                    {
+                        res.PosResultList.Add(new PosDebugResult() { Name = item });
+                    }
                 }
             }
             else
             {
                 string txt = System.IO.File.ReadAllText(filePath);
-                posResultList = Common.JsonHelper.DeserializeJsonToList<PosDebugResult>(txt);
+                if (txt.Length == 0)
+                {
+                    DrawerResults = new List<DrawerResult>();
+                    foreach (var item in posNumList)
+                    {
+                        DrawerResult res = DrawerResults.Find(s => s.DrawerName.Equals(item.Substring(0, 8)));
+                        if (res == null)
+                        {
+                            res = new DrawerResult() { DrawerName = item.Substring(0, 8) };
+                            res.PosResultList.Add(new PosDebugResult() { Name = item });
+                        }
+                        else
+                        {
+                            res.PosResultList.Add(new PosDebugResult() { Name = item });
+                        }
+                    }
+                }
+                else
+                    DrawerResults = Common.JsonHelper.DeserializeJsonToList<DrawerResult>(txt);
             }
             isInit = true;
         }
-
-        public static int GetResult(string name)
+        /// <summary>
+        /// 获取抽屉调试结果
+        /// </summary>
+        /// <param name="drawername"></param>
+        /// <returns></returns>
+        public static int GetDrawerResult(string drawername)
         {
             if (!isInit)
                 return -1;
-            PosDebugResult debugResult = posResultList.Find(s => s.Name.Equals(name));
-            return debugResult.ResCode;
+            DrawerResult drawerResult = DrawerResults.Find(s => s.DrawerName.Equals(drawername));
+            return drawerResult.ResultCode;
         }
 
-        public static void SetResult(string name,int code)
+        public static void SetDrawerResult(string drawername, int code)
         {
             if (!isInit)
                 return;
-            PosDebugResult debugResult = posResultList.Find(s => s.Name.Equals(name));
-            debugResult.ResCode = code;
+            DrawerResult drawerResult = DrawerResults.Find(s => s.DrawerName.Equals(drawername));
+            drawerResult.ResultCode = code;
+        }
+        /// <summary>
+        /// 设置料格的状态
+        /// </summary>
+        /// <param name="drawername">抽屉名</param>
+        /// <param name="code">结果代码</param>
+        public static void SetGridResult(string name, int code)
+        {
+            DrawerResult drawerResult = DrawerResults.Find(s => s.DrawerName.Equals(name.Substring(0, 8)));
+            if (drawerResult != null)
+            {
+                PosDebugResult res = drawerResult.PosResultList.Find(s => s.Name.Equals(name));
+                if (res != null)
+                    res.ResCode = code;
+            }
+
+        }
+        /// <summary>
+        /// 获取料格状态
+        /// </summary>
+        /// <param name="name"></param>
+        /// <returns></returns>
+        public static int GetGridResult(string name)
+        {
+            DrawerResult drawerResult = DrawerResults.Find(s => s.DrawerName.Equals(name.Substring(0, 8)));
+            if (drawerResult != null)
+            {
+                PosDebugResult res = drawerResult.PosResultList.Find(s => s.Name.Equals(name));
+                if (res != null)
+                    return res.ResCode;
+            }
+            return -1;
         }
     }
 }