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Commit c85b9cbc 由 张东亮
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存储机构-优先入库以及出库前对缓存区检查

1 个父辈 e20db586
内嵌 并排
正在显示 5 个修改的文件 包含 31 行增加 和 21 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEqiup_Tongs.cs
......@@ -105,7 +105,7 @@ namespace OnlineStore.DeviceLibrary
var simpletemp = Path.Combine(pnpath, $"{imgname}-{score.ToString("##.##")}-{pn}.png");
bitmap.Save(simpletemp, ImageFormat.Png);
bitmap.Dispose();
return false;
return score > Config.TongsDetectThreshold;
}
/// <summary>
/// 匹配抓手外观类型
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
......@@ -290,6 +290,10 @@ namespace OnlineStore.DeviceLibrary
//}
}
static int axisDiff = 20000;
private bool CheckTongsPos()
{
return false;
}
private void MoveResetPro()
{
if (MoveInfo.IsInWait)
......@@ -699,7 +703,11 @@ namespace OnlineStore.DeviceLibrary
// }
// return;
//}
if (waitAOutStoreList.Count > 0)//&& CheckAOutDoor()
if (InDoorSigCheck())
{
return;
}
if (waitAOutStoreList.Count > 0 && CheckAOutDoor())//
{
InOutParam param = null;
bool result = waitAOutStoreList.TryDequeue(out param);
......@@ -710,7 +718,7 @@ namespace OnlineStore.DeviceLibrary
return;
}
}
if (waitBOutStoreList.Count > 0)//&& CheckBOutDoor()
if (waitBOutStoreList.Count > 0 && CheckBOutDoor())//
{
InOutParam param = null;
bool result = waitBOutStoreList.TryDequeue(out param);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
......@@ -275,20 +275,17 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SI_09_ToTray:
MoveInfo.NextMoveStep(StepEnum.SI_10_LiftTray);
LogInfo($"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]");
SaveSpecifiedImage();
PullAxis_UpdownToHighP3();
break;
case StepEnum.SI_10_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
LogInfo($"入库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
SaveSpecifiedImage();
break;
case StepEnum.SI_11_PullTray:
MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);
LogInfo($"入库 {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();
SaveSpecifiedImage();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
break;
case StepEnum.SI_12_DropTrayToPos:
......@@ -301,7 +298,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
LogInfo($"入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
ComAxis_To_P2();
SaveSpecifiedImage();
break;
case StepEnum.SI_14_ReleaseCompress:
MoveInfo.NextMoveStep(StepEnum.SI_15_UpDownBack);
......@@ -310,7 +306,6 @@ namespace OnlineStore.DeviceLibrary
SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId);
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
UpdownAxisTo_P6_P12();
SaveSpecifiedImage();
break;
case StepEnum.SI_15_UpDownBack:
MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray);
......@@ -323,7 +318,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
LogInfo($"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();
SaveSpecifiedImage();
break;
//case StepEnum.SI_17_PushTray:
// MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
......@@ -345,7 +339,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
//LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4();
SaveSpecifiedImage();
if (CheckASide())
{
LogInfo($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
......@@ -363,10 +356,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();
SaveSpecifiedImage();
break;
case StepEnum.SI_19_InoutBack:
SaveSpecifiedImage();
if (!CheckInStoreOtherSideInfo())
{
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
......@@ -75,13 +75,11 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);
LogInfo($"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]");
PullAxis_UpdownToHighP3();
SaveSpecifiedImage();
break;
case StepEnum.SO_04_LiftTray:
MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
LogInfo($"出库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P3_P5();
SaveSpecifiedImage();
break;
case StepEnum.SO_05_PullTray:
MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
......@@ -121,7 +119,6 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2();
XAxis_To_P1();
SaveSpecifiedImage();
break;
//case StepEnum.SO_11_PushTray:
// MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
......@@ -143,7 +140,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
//LogInfo($"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]");
PullAxis_UpdownToLowP4();
SaveSpecifiedImage();
if (CheckASide())
{
LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
......@@ -798,7 +798,18 @@ namespace OnlineStore.DeviceLibrary
return false;
}
/// <summary>
/// 入料口有料
/// </summary>
/// <returns>true:有料</returns>
private bool InDoorSigCheck()
{
if(IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
protected override void InstoreProcess()
{
if (MoveInfo.IsInWait)
......@@ -901,10 +912,14 @@ namespace OnlineStore.DeviceLibrary
private DateTime startOutStoreTime = DateTime.Now;
public override bool StartOutstore(InOutParam param)
{
//if (!OutDoorCheck(param))
//{
// return false;
//}
if(InDoorSigCheck())
{
return false;
}
if (!OutDoorCheck(param))
{
return false;
}
if (isInSuddenDown || isNoAirpressure_Check
|| !runStatus.Equals(RunStatus.Runing)
|| !MoveInfo.MoveType.Equals(MoveType.None))
......
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