Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -130,6 +130,36 @@ namespace OnlineStore.DeviceLibrary
         /// BOX复位：抽屉降到低点
         /// </summary>
         BOX_H005_PullAxis_UpdownToLow,
+
+        /// <summary>
+        /// BOX复位：检查行走机构是否在暂存区
+        /// </summary>
+        BOX_H0101_CheckCurMoveAxisPos,
+        /// <summary>
+        /// BOX复位：AB面旋转轴到水平点
+        /// </summary>
+        BOX_H0102_MiddleAxisToP2,
+        /// <summary>
+        /// BOX复位：去暂存区高点：移栽升降轴在A下暂存区低点和高点之间,到高点P4,A面移栽X轴去暂存区P2,A面压紧轴到压紧前点P2
+        /// </summary>
+        BOX_H0103_ToAInputHighPos,
+        /// <summary>
+        /// BOX复位：去暂存区低点
+        /// </summary>
+        BOX_H0104_ToAInputLowPos,
+        /// <summary>
+        /// BOX复位：A面移栽X轴到待机点
+        /// </summary>
+        BOX_H0105_A_XAxisToP1,
+        /// <summary>
+        ///BOX复位：去暂存区高点：移栽升降轴在B暂存区低点和高点之间,到高点P4,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2
+        /// </summary>
+        BOX_H0105_ToBInputHighPos,
+        /// <summary>
+        /// BOX复位：A面移栽X轴到待机点
+        /// </summary>
+        BOX_H0106_ToBInputLowPos,
+
         /// <summary>
         /// BOX复位：检查料屉升降轴位置
         /// </summary>

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -299,21 +299,25 @@ namespace OnlineStore.DeviceLibrary
             {
                 //回零
                 case StepEnum.BOX_H001_Wait:
-                    if(GetCurLocation(out string posid))
+                    if (GetCurLocation())
                     {
                         MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3);
-                        MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", posid));
-                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
                         UpdownAxisTo_P6_P12();
                         PullAxis_UpdownToHighP3();
                         LogInfo($"复位 {MoveInfo.SLog}：抽屉在料屉轴上,移栽升降轴到料屉上方过度点，料屉升降轴到高点P3");
                     }
                     else
                     {
-                        MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
-                        MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", posid));
-                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
-                        LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上");
+                        if (MoveAxis.IsInPosition(Config.MoveAxis_P2))
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.BOX_H0101_CheckCurMoveAxisPos);
+                            LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上,行走机构在暂存区");
+                        }
+                        else
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
+                            LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上且行走机构不在暂存区");
+                        }
                     }
                     break;
                 case StepEnum.BOX_H002_PullAxis_UpdownToP3:
@@ -345,6 +349,88 @@ namespace OnlineStore.DeviceLibrary
                     PullAxis_Inout_To_P1();
                     LogInfo($"复位 {MoveInfo.SLog}：料斗拉取拉取轴到待机点P1");
                     break;
+
+                case StepEnum.BOX_H0101_CheckCurMoveAxisPos:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0102_MiddleAxisToP2);
+                    if (!MiddleAxis_A.IsInPosition(Config.MiddleAxis_A_P2))
+                    {
+                        MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
+                        LogInfo($"复位 {MoveInfo.SLog}：A面旋转轴不在水平面，A面移栽旋转轴到水平点");
+                    }
+                    if (!MiddleAxis_B.IsInPosition(Config.MiddleAxis_B_P2))
+                    {
+                        MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
+                        LogInfo($"复位 {MoveInfo.SLog}：B面旋转轴不在水平面，B面移栽旋转轴到水平点");
+                    }
+                    break;
+                case StepEnum.BOX_H0102_MiddleAxisToP2:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0103_ToAInputHighPos);
+                    ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
+                    XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
+                    if (UpdownAxis.GetAclPosition() >= Config.Updown_P5 && UpdownAxis.GetAclPosition() <= Config.Updown_P4)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A下暂存区低点和高点之间,到高点P4,A面移栽X轴去暂存区P2,A面压紧轴到压紧前点P2");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed);
+                    }
+                    else if (UpdownAxis.GetAclPosition() >= Config.Updown_P3 && UpdownAxis.GetAclPosition() <= Config.Updown_P2)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点和高点之间,到高点P2,A面移栽X轴去暂存区P2，A面压紧轴到压紧前点P2");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
+                    }
+                    break;
+                case StepEnum.BOX_H0103_ToAInputHighPos:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0104_ToAInputLowPos);
+                    if (UpdownAxis.GetAclPosition() >= Config.Updown_P5 && UpdownAxis.GetAclPosition() <= Config.Updown_P4)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上下暂存区低点P5");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.Updown_P5_Speed);
+                    }
+                    else if (UpdownAxis.GetAclPosition() >= Config.Updown_P3 && UpdownAxis.GetAclPosition() <= Config.Updown_P2)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点P3");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed);
+                    }
+                    break;
+                case StepEnum.BOX_H0104_ToAInputLowPos:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
+                    XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
+                    LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴低到待机点P1");
+                    break;
+
+                case StepEnum.BOX_H0105_A_XAxisToP1:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0105_ToBInputHighPos);
+                    ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
+                    XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
+                    if (UpdownAxis.GetAclPosition() >= Config.Updown_P11 && UpdownAxis.GetAclPosition() <= Config.Updown_P10)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点和高点之间,到高点P10,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
+                    }
+                    else if (UpdownAxis.GetAclPosition() >= Config.Updown_P9 && UpdownAxis.GetAclPosition() <= Config.Updown_P8)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点和高点之间,到高点P8,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
+                    }
+                    break;
+                case StepEnum.BOX_H0105_ToBInputHighPos:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H0106_ToBInputLowPos);
+                    if (UpdownAxis.GetAclPosition() >= Config.Updown_P11 && UpdownAxis.GetAclPosition() <= Config.Updown_P10)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点P11");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.Updown_P11_Speed);
+                    }
+                    else if (UpdownAxis.GetAclPosition() >= Config.Updown_P9 && UpdownAxis.GetAclPosition() <= Config.Updown_P8)
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点P9");
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed);
+                    }
+                    break;
+                case StepEnum.BOX_H0106_ToBInputLowPos:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
+                    XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
+                    MoveAxisToP1();
+                    LogInfo($"复位 {MoveInfo.SLog}：B面移栽X轴到待机点P1,行走机构到待机点P1，在暂存区复位结束");
+                    break;
                 case StepEnum.BOX_H01_CheckCurPullDownPos:
                     if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1) && !PullAxis_Updown.IsInPosition(MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2))
                     {

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -372,12 +372,12 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         /// <param name="PosId"></param>
         /// <returns>true表示抽屉挂在轴上</returns>
-        private bool GetCurLocation(out string PosId)
+        private bool GetCurLocation()
         {
             int row = 1;
             int col = 1;
             string side = "BB";
-            PosId = "05BB01010101";
+            string PosId = "05BB01010101";
             for (int i = 1; i <= trayRows.Length; i++)
             {
                 if (i == trayRows.Length)
@@ -425,6 +425,8 @@ namespace OnlineStore.DeviceLibrary
                 }
             }
             PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101";
+            MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId));
+            MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
             return false;
         }
         /// <summary>
@@ -540,7 +542,7 @@ namespace OnlineStore.DeviceLibrary
             int res = AutoFindPos.GetMarkInfo(bitmap, $"{MoveInfo.MoveParam.PosInfo.PosId.Substring(0, 4)}", $"row{autoFindPos.CurRow}_col{autoFindPos.CurColumn}", out ocsFXYR);
             if (res == 0)
             {
-                LogInfo($"存储机构-相机检查库位 {MoveInfo.SLog}：取图[{MoveInfo.MoveParam.PosInfo.PosId}]");
+                LogInfo($"存储机构-相机检查库位 {MoveInfo.SLog}：取图并检查Mark点[{MoveInfo.MoveParam.PosInfo.PosId}]");
             }
             else if (res == -4)
             {
@@ -554,6 +556,7 @@ namespace OnlineStore.DeviceLibrary
                 CamDetectError = true;
                 return false;
             }
+
             if (Math.Abs(Config.Drawer_X - ocsFXYR.fX) < Config.Drawer_X_Error && Math.Abs(Config.Drawer_Y - ocsFXYR.fY) < Config.Drawer_Y_Error)
             {
                 CamDetectError = false;

source/XLRStoreClient/boxForm/FrmAxisMove.cs

@@ -584,6 +584,7 @@ namespace OnlineStore.XLRStore
         /// <param name="e"></param>
         private void btnSavePosIds_Click(object sender, EventArgs e)
         {
+            btnSavePoints_Click(null,null);
             if (posId.Equals(""))
                 return;
             BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(posId);