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Commit 1587d8a9 由 刘韬
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稳定版本

1 个父辈 04115036
内嵌 并排
正在显示 22 个修改的文件 包含 575 行增加 和 314 行删除
Common/Setting_Init.cs
...@@ -73,5 +73,7 @@ namespace OnlineStore.Common ...@@ -73,5 +73,7 @@ namespace OnlineStore.Common
public static MyConfig<string> Runtime_Robot_ReelInfo; public static MyConfig<string> Runtime_Robot_ReelInfo;
public static MyConfig<string> Runtime_Robot_FromPos; public static MyConfig<string> Runtime_Robot_FromPos;
public static MyConfig<string> Runtime_Robot_ToPos; public static MyConfig<string> Runtime_Robot_ToPos;
public static MyConfig<string> RuntimeRobot_Arm_MoveStep;
public static MyConfig<string> RuntimeRobot_MoveStep;
} }
} }
DeviceLibrary/DeviceLibrary.csproj
...@@ -107,6 +107,7 @@ ...@@ -107,6 +107,7 @@
<Compile Include="DeviceLibrary\LineRunMonitor.cs" /> <Compile Include="DeviceLibrary\LineRunMonitor.cs" />
<Compile Include="DeviceLibrary\C8WeightSensor.cs" /> <Compile Include="DeviceLibrary\C8WeightSensor.cs" />
<Compile Include="DeviceLibrary\OKLEController.cs" /> <Compile Include="DeviceLibrary\OKLEController.cs" />
<Compile Include="DeviceLibrary\RobotMoveHelper.cs" />
<Compile Include="DeviceLibrary\ServerCommunication.cs" /> <Compile Include="DeviceLibrary\ServerCommunication.cs" />
<Compile Include="DeviceLibrary\AxisBean.cs" /> <Compile Include="DeviceLibrary\AxisBean.cs" />
<Compile Include="theMachine\Common.cs" /> <Compile Include="theMachine\Common.cs" />
......
DeviceLibrary/DeviceLibrary/AxisBean.cs
...@@ -119,6 +119,9 @@ namespace DeviceLibrary ...@@ -119,6 +119,9 @@ namespace DeviceLibrary
LogUtil.info("ServoOff【" + AxisName + "】"); LogUtil.info("ServoOff【" + AxisName + "】");
AxisManager.ServoOff(Config.DeviceName, Config.GetAxisValue()); AxisManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
} }
public bool HasHome() {
return AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3;
}
public void HomeMove(MoveInfo MoveInfo,bool force=true) public void HomeMove(MoveInfo MoveInfo,bool force=true)
{ {
if (!force && AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3) if (!force && AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3)
......
DeviceLibrary/DeviceLibrary/CylinderManger.cs
...@@ -26,8 +26,8 @@ namespace DeviceLibrary ...@@ -26,8 +26,8 @@ namespace DeviceLibrary
currentIOvalue = IO_VALUE.HIGH; currentIOvalue = IO_VALUE.HIGH;
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.LOW)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.LOW, true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.HIGH, true));
} }
Resume(false); Resume(false);
if (moveInfo!=null) if (moveInfo!=null)
...@@ -40,8 +40,8 @@ namespace DeviceLibrary ...@@ -40,8 +40,8 @@ namespace DeviceLibrary
currentIOvalue = IO_VALUE.LOW; currentIOvalue = IO_VALUE.LOW;
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.HIGH, true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.LOW)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.LOW, true));
} }
Resume(false); Resume(false);
if (moveInfo != null) if (moveInfo != null)
......
DeviceLibrary/DeviceLibrary/RobotMoveHelper.cs 0 → 100644
using OnlineStore.Common;
using Robot.UR;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
class RobotHelper
{
int lastMoveCmd = 0;
URRobotControl robot;
System.Timers.Timer RobotCheck;
public RobotHelper(URRobotControl _robot) {
robot = _robot;
RobotCheck = new System.Timers.Timer(5000);
RobotCheck.Elapsed += RobotCheck_Elapsed;
}
public volatile bool RobotStatus = false;
private void RobotCheck_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (!robot.IsRun)
{
robot.StartRobot();
RobotStatus = false;
}
robot.SendCMD("safetymode", 0);
Thread.Sleep(100);
if (!robot.CurDashboardReponse.Contains("NORMAL"))
{
RobotStatus = false;
//Msg.add(POS_Start + "机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
if (robot.CurDashboardReponse.Contains("PROTECTIVE_STOP"))
{
robot.SendCMD("unlock protective stop", 0);
}
}
robot.SendCMD("programState", 0);
Thread.Sleep(300);
if (!robot.CurDashboardReponse.Contains("PLAYING"))
{
RobotStatus = false;
//Msg.add(POS_Start + "机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
robot.PlayProgram();
}
else if (!robot.ClientIsConnected) {
RobotStatus = false;
robot.StopProgram();
}
else
RobotStatus = true;
}
public void Move(MoveInfo moveInfo, int movecmd) {
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(IsMoveOk), "等待" + $"[{robot.Name}]" + "移动到位"));
}
lastMoveCmd = movecmd;
robot.SendMoveCmd(movecmd, Setting_Init.URRobot_MI1_Speed_Rate);
}
internal void Start()
{
RobotCheck.Enabled = true;
}
public bool IsMoveOk(WaitResultInfo waitResultInfo) {
if (robot.CurCmdReponse.Contains($"{lastMoveCmd},done"))
return true;
else if (robot.CurCmdReponse.Contains($"done"))
{
LogUtil.error($"机器人没有移动到位,重新移动:{lastMoveCmd}");
robot.SendMoveCmd(lastMoveCmd);
return false;
}
else
return false;
}
internal void Stop()
{
RobotCheck.Enabled = false;
}
}
}
DeviceLibrary/VirtuallyStore/VStore.cs
...@@ -78,8 +78,11 @@ namespace DeviceLibrary ...@@ -78,8 +78,11 @@ namespace DeviceLibrary
{ {
VLog.Info("入库成功:" + InStoreJobInfo.ToStr()); VLog.Info("入库成功:" + InStoreJobInfo.ToStr());
string[] substrings = InStoreJobInfo.WareNum.Split('#'); string[] substrings = InStoreJobInfo.WareNum.Split('#');
if (substrings.Length > 2)
{
string secondSubstring = substrings[1].Substring(1); string secondSubstring = substrings[1].Substring(1);
InStoreEnd(secondSubstring); InStoreEnd(secondSubstring);
}
InStoreJobInfo = null; InStoreJobInfo = null;
} }
} }
......
DeviceLibrary/theMachine/DeviceBase.cs
using OnlineStore; using OnlineStore;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using RemoteSheardObject;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
...@@ -18,6 +19,32 @@ namespace DeviceLibrary ...@@ -18,6 +19,32 @@ namespace DeviceLibrary
public MsgService Msg { get; set; } public MsgService Msg { get; set; }
public string Name { get; set; } public string Name { get; set; }
public string GroupName { get; set; } public string GroupName { get; set; }
System.Timers.Timer timer;
public DeviceBase() {
timer = new System.Timers.Timer(5000);
timer.Elapsed += Timer_Elapsed;
timer.Enabled = true;
}
private void Timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
EquipMsgData equipMsg = new EquipMsgData();
equipMsg.msgList = new List<EquipMessage>();
equipMsg.status = 0;
Msg.msg.ForEach(ml =>
{
equipMsg.msgList.Add(new EquipMessage()
{
msg = ml.msgtxt,
status = ml.msgLevel == MsgLevel.alarm ? 1 : 0
});
if (ml.msgLevel == MsgLevel.alarm)
equipMsg.status = 1;
});
equipMsg.equipName = GroupName;
TheLine.UploadStatus(equipMsg);
}
public static bool FwdFree(int curaddr) { public static bool FwdFree(int curaddr) {
int nextaddr = curaddr + 1; int nextaddr = curaddr + 1;
...@@ -32,7 +59,7 @@ namespace DeviceLibrary ...@@ -32,7 +59,7 @@ namespace DeviceLibrary
public void StopMove(bool ServoOff = false) public void StopMove(bool ServoOff = false)
{ {
//runStatus = RunStatus.Stop; //runStatus = RunStatus.Stop;
MoveInfo.List.ForEach((m) => { m.EndMove(); }); //MoveInfo.List.ForEach((m) => { m.EndMove(); });
if (AxisBean.List.ContainsKey(GroupName)) if (AxisBean.List.ContainsKey(GroupName))
AxisBean.StopMultiAxis(AxisBean.List[GroupName]); AxisBean.StopMultiAxis(AxisBean.List[GroupName]);
...@@ -69,8 +96,7 @@ namespace DeviceLibrary ...@@ -69,8 +96,7 @@ namespace DeviceLibrary
{ {
isOk = false; isOk = false;
} }
MoveInfo.WaitList.ToList().ForEach((w) => {
MoveInfo.WaitList.ForEach((w) => {
if (w.WaitType.Equals(WaitEnum.W014_Msg)) { if (w.WaitType.Equals(WaitEnum.W014_Msg)) {
w.IsEnd = true; w.IsEnd = true;
Msg.add(w.ActionMsg, w.Data); Msg.add(w.ActionMsg, w.Data);
...@@ -122,7 +148,10 @@ namespace DeviceLibrary ...@@ -122,7 +148,10 @@ namespace DeviceLibrary
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + crc.GetString("Res0157", "等待") + "(" + io.DisplayStr + "=" + wait.IoValue + $")" + crc.GetString("Res0158", "超时"); WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + crc.GetString("Res0157", "等待") + "(" + io.DisplayStr + "=" + wait.IoValue + $")" + crc.GetString("Res0158", "超时");
Msg.add(WarnMsg, MsgLevel.alarm); Msg.add(WarnMsg, wait.NeedAlarm?MsgLevel.alarm: MsgLevel.warning);
if (wait.NeedAlarm)
RobotManage.UserPause(WarnMsg);
if (NoAlarm()) if (NoAlarm())
{ {
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg); //Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
...@@ -254,8 +283,8 @@ namespace DeviceLibrary ...@@ -254,8 +283,8 @@ namespace DeviceLibrary
IOMove(IoHighType, IO_VALUE.HIGH); IOMove(IoHighType, IO_VALUE.HIGH);
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW, true));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH, true));
} }
} }
public IO_VALUE IOValue(string ioType) => IOManager.IOValue(ioType, GroupName); public IO_VALUE IOValue(string ioType) => IOManager.IOValue(ioType, GroupName);
......
DeviceLibrary/theMachine/DeviceRunControl.cs
...@@ -55,7 +55,7 @@ namespace DeviceLibrary ...@@ -55,7 +55,7 @@ namespace DeviceLibrary
}); });
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List); //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
if (!RobotManage.mainMachine.UserPause) if (!RobotManage.mainMachine.UserPause && RobotManage.mainMachine.mstart)
{ {
DevicesList.ForEach(x => DevicesList.ForEach(x =>
{ {
......
DeviceLibrary/theMachine/MainMachine _BtnProcess.cs
...@@ -42,13 +42,20 @@ namespace DeviceLibrary ...@@ -42,13 +42,20 @@ namespace DeviceLibrary
RobotManage.UserPause("Reset_BTN", false); RobotManage.UserPause("Reset_BTN", false);
} }
} }
bool isfirstrun = true;
void Run_BTN() { void Run_BTN() {
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{ {
if (!RobotManage.isRunning) if (!RobotManage.isRunning)
Msg.add(crc.GetString("Res0163","检测到自动运行状态,开始启动."), MsgLevel.info, ErrInfo.RunBtn); {
if (isfirstrun)
{
isfirstrun = false;
Msg.add(crc.GetString("Res0163", "检测到自动运行状态,开始启动."), MsgLevel.info, ErrInfo.RunBtn);
}
}
else else
Msg.add( crc.GetString("Res0164","系统正在运行."), MsgLevel.info); Msg.add(crc.GetString("Res0164", "系统正在运行."), MsgLevel.info);
} }
else else
{ {
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -138,7 +138,7 @@ namespace DeviceLibrary ...@@ -138,7 +138,7 @@ namespace DeviceLibrary
currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning; currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
} }
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List); //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
if (!UserPause) if (!UserPause && mstart)
Msg.clear(); Msg.clear();
else else
currnetstoreStatus = StoreStatus.Debugging; currnetstoreStatus = StoreStatus.Debugging;
...@@ -150,6 +150,7 @@ namespace DeviceLibrary ...@@ -150,6 +150,7 @@ namespace DeviceLibrary
LogUtil.info("主线程已退出."); LogUtil.info("主线程已退出.");
} }
public void Start() { public void Start() {
MoveInfo.List.ForEach((m) => { m.EndMove(); });
Run(); Run();
} }
public void Stop() { public void Stop() {
......
DeviceLibrary/theMachine/MoveInfo.cs
...@@ -47,6 +47,7 @@ namespace DeviceLibrary ...@@ -47,6 +47,7 @@ namespace DeviceLibrary
public bool IsInWait { get; set; } public bool IsInWait { get; set; }
MoveStep preMoveStep;
MoveStep moveStep; MoveStep moveStep;
public int CanWhileCount = 0; public int CanWhileCount = 0;
...@@ -66,7 +67,10 @@ namespace DeviceLibrary ...@@ -66,7 +67,10 @@ namespace DeviceLibrary
{ {
get { return moveStep; } get { return moveStep; }
} }
public MoveStep PreMoveStep
{
get { return preMoveStep; }
}
public void NewMove(MoveStep step) public void NewMove(MoveStep step)
{ {
this.MoveParam = new ReelParam(); this.MoveParam = new ReelParam();
...@@ -74,7 +78,7 @@ namespace DeviceLibrary ...@@ -74,7 +78,7 @@ namespace DeviceLibrary
} }
public void NextMoveStep(MoveStep step) public void NextMoveStep(MoveStep step)
{ {
// PreMoveStep = moveStep; preMoveStep = moveStep;
moveStep = step; moveStep = step;
LastSetpTime = DateTime.Now; LastSetpTime = DateTime.Now;
IsInWait = true; IsInWait = true;
...@@ -169,12 +173,13 @@ namespace DeviceLibrary ...@@ -169,12 +173,13 @@ namespace DeviceLibrary
CanWhileMoveCount = 0; CanWhileMoveCount = 0;
} }
public static WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue) public static WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue,bool needAlarm=false)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = WaitEnum.W002_IOValue; wait.WaitType = WaitEnum.W002_IOValue;
wait.IoType = ioType; wait.IoType = ioType;
wait.IoValue = ioValue; wait.IoValue = ioValue;
wait.NeedAlarm = needAlarm;
//wait.Devicegroup = devicegroup; //wait.Devicegroup = devicegroup;
return wait; return wait;
} }
...@@ -350,6 +355,7 @@ namespace DeviceLibrary ...@@ -350,6 +355,7 @@ namespace DeviceLibrary
public Func<WaitResultInfo, bool> Action { get; set; } public Func<WaitResultInfo, bool> Action { get; set; }
public string ActionMsg { get; set; } public string ActionMsg { get; set; }
public dynamic Data { get; set; } public dynamic Data { get; set; }
public bool NeedAlarm { get; set; }
} }
internal class WaitEnum internal class WaitEnum
......
DeviceLibrary/theMachine/TrayManager.cs
...@@ -24,7 +24,7 @@ namespace DeviceLibrary ...@@ -24,7 +24,7 @@ namespace DeviceLibrary
/// <param name="addr"></param> /// <param name="addr"></param>
/// <param name="trayInfo"></param> /// <param name="trayInfo"></param>
/// <returns>是否放行 放行true, 拦截false</returns> /// <returns>是否放行 放行true, 拦截false</returns>
public static bool Process(MoveInfo moveInfo,string rfid, int addr, out TrayInfo trayInfo) { public static bool Process(MoveInfo moveInfo,string rfid, int addr,int reelcheck, out TrayInfo trayInfo) {
lock (Traylist) lock (Traylist)
{ {
moveInfo.log($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}"); moveInfo.log($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
...@@ -37,6 +37,10 @@ namespace DeviceLibrary ...@@ -37,6 +37,10 @@ namespace DeviceLibrary
Traylist[rfid].LastAddr = addr; Traylist[rfid].LastAddr = addr;
Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr]; Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr];
Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr]; Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr];
if (reelcheck == 0)
Traylist[rfid].HasLoadCheck--;
else if (reelcheck == 1)
Traylist[rfid].HasLoadCheck = 1;
trayInfo = Traylist[rfid]; trayInfo = Traylist[rfid];
//Statistics(); //Statistics();
} }
...@@ -61,6 +65,7 @@ namespace DeviceLibrary ...@@ -61,6 +65,7 @@ namespace DeviceLibrary
Traylist[rfid].LoadType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), requestLoadInfo.TrayType); Traylist[rfid].LoadType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), requestLoadInfo.TrayType);
Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone(); Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName); Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
Traylist[rfid].HasLoadCheck = 1;
LogUtil.info("设置托盘信息:" + Traylist[rfid].LoadType + "," + Traylist[rfid].TrayParam.ToStr() + "," + requestLoadInfo.DeviceGroupName); LogUtil.info("设置托盘信息:" + Traylist[rfid].LoadType + "," + Traylist[rfid].TrayParam.ToStr() + "," + requestLoadInfo.DeviceGroupName);
} }
SaveTrayInfo(); SaveTrayInfo();
...@@ -315,7 +320,7 @@ namespace DeviceLibrary ...@@ -315,7 +320,7 @@ namespace DeviceLibrary
public TrayTypeE TrayType; public TrayTypeE TrayType;
public DateTime LastUpdateTime; public DateTime LastUpdateTime;
public ReelParam TrayParam; public ReelParam TrayParam;
public bool SenSorStatus = false; public int HasLoadCheck = 0;
public DirectionE Direction { get => (Destination ==StoreCID.AMH_ML5_1 || Destination == StoreCID.AMH_ML5_2) ? DirectionE.Out : DirectionE.In; } public DirectionE Direction { get => (Destination ==StoreCID.AMH_ML5_1 || Destination == StoreCID.AMH_ML5_2) ? DirectionE.Out : DirectionE.In; }
public bool isOnline = true; public bool isOnline = true;
public void SetToEmpty() { public void SetToEmpty() {
...@@ -323,7 +328,7 @@ namespace DeviceLibrary ...@@ -323,7 +328,7 @@ namespace DeviceLibrary
LoadType = TrayTypeE.None; LoadType = TrayTypeE.None;
DestinationAddr = -1; DestinationAddr = -1;
TrayParam = new ReelParam(); TrayParam = new ReelParam();
SenSorStatus = false; HasLoadCheck = 0;
} }
} }
......
DeviceLibrary/theMachine/sub/MI.cs
...@@ -28,14 +28,16 @@ namespace DeviceLibrary ...@@ -28,14 +28,16 @@ namespace DeviceLibrary
} }
DeviceGroup DeviceGroup; DeviceGroup DeviceGroup;
MoveInfo MoveInfo; public MoveInfo MoveInfo;
MoveInfo RoboMoveInfo; MoveInfo RoboMoveInfo;
CylinderManger Location; //CylinderManger Location;
public AxisBean Comp; public AxisBean Comp;
public AxisBean Rotate; public AxisBean Rotate;
URRobotControl Robot; URRobotControl Robot;
RobotHelper robotHelper;
string POS_Start = "MI1"; string POS_Start = "MI1";
public MI(DeviceGroup device,out string msg) { public MI(DeviceGroup device,out string msg) : base()
{
msg = ""; msg = "";
Name = device.Name+"("+ device.GroupName + ")"; Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device; DeviceGroup = device;
...@@ -44,22 +46,27 @@ namespace DeviceLibrary ...@@ -44,22 +46,27 @@ namespace DeviceLibrary
MoveInfo = new MoveInfo(GroupName + "-T"); MoveInfo = new MoveInfo(GroupName + "-T");
RoboMoveInfo = new MoveInfo(GroupName + "-Robo"); RoboMoveInfo = new MoveInfo(GroupName + "-Robo");
if (device.GroupName == "AMH-MI1") if (device.GroupName == "AMH-MI1")
{
Robot = RobotManage.Robot_MI1; Robot = RobotManage.Robot_MI1;
}
else else
{ {
Robot = RobotManage.Robot_MI2; Robot = RobotManage.Robot_MI2;
POS_Start = "MI2"; POS_Start = "MI2";
} }
robotHelper = new RobotHelper(Robot);
Comp = AxisBean.List[DeviceGroup.GroupName][0]; Comp = AxisBean.List[DeviceGroup.GroupName][0];
Rotate = AxisBean.List[DeviceGroup.GroupName][1]; Rotate = AxisBean.List[DeviceGroup.GroupName][1];
Location = new CylinderManger($"物料顶升", GroupName, IO_Type.MI_Reel_Location_Up, IO_Type.MI_Reel_Location_Down);
} }
public DeviceStateE DeviceState { get; set; } public DeviceStateE DeviceState { get; set; }
public void Start() public void Start()
{ {
OpenAllServo(); OpenAllServo();
//Robot.StartRobot(); robotHelper.Start();
//Robot.PlayProgram();
DeviceState = DeviceStateE.HomeReset; DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset); MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原"); MoveInfo.log("开始回原");
...@@ -67,7 +74,8 @@ namespace DeviceLibrary ...@@ -67,7 +74,8 @@ namespace DeviceLibrary
public void Stop() public void Stop()
{ {
Robot.StopProgram(); robotHelper.Stop();
Robot.StopRobot();
DeviceState = DeviceStateE.Stop; DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行"); MoveInfo.log("停止运行");
} }
...@@ -77,14 +85,15 @@ namespace DeviceLibrary ...@@ -77,14 +85,15 @@ namespace DeviceLibrary
{ {
MsgService.MSList[GroupName + "-T"].clear(); MsgService.MSList[GroupName + "-T"].clear();
LogUtil.OutputDebugString("DeviceState:" + DeviceState.ToString()); LogUtil.OutputDebugString("DeviceState:" + DeviceState.ToString());
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
if (!DeviceCheck()) if (!DeviceCheck())
{ {
return; return;
} }
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess(); OneWayProcess();
RobotMoveProcess(); RobotMoveProcess();
} }
...@@ -93,26 +102,18 @@ namespace DeviceLibrary ...@@ -93,26 +102,18 @@ namespace DeviceLibrary
MsgService.MSList[GroupName + "-T"].Show(); MsgService.MSList[GroupName + "-T"].Show();
} }
} }
private bool DeviceCheck() private bool DeviceCheck()
{ {
if (!Robot.IsRun)
if (!Robot.ClientIsConnected)
{ {
Msg.add(POS_Start + crc.GetString("Res0010","机器人未启动,正在尝试启动."), MsgLevel.warning); Msg.add(POS_Start + crc.GetString("Res0011", "机器人未连接MT,无法操作."), MsgLevel.alarm);
Robot.StartRobot();
//Thread.Sleep(1000);
return false; return false;
} }
Robot.SendCMD("safetymode", 0); if (!robotHelper.RobotStatus) {
if (!Robot.CurDashboardReponse.Contains("NORMAL")) Msg.add(POS_Start + "机器人当前不可用", MsgLevel.alarm);
{ return false;
Msg.add(POS_Start + "机器人状态异常:" + Robot.CurDashboardReponse,MsgLevel.alarm);
} }
//if (!Robot.ClientIsConnected) {
// Msg.add(POS_Start + crc.GetString("Res0011","机器人未连接MT,无法操作."), MsgLevel.warning);
// Robot.SendCMD("safetymode", 0);
// return false;
//}
return true; return true;
} }
...@@ -128,6 +129,7 @@ namespace DeviceLibrary ...@@ -128,6 +129,7 @@ namespace DeviceLibrary
VStore CurrntOutReadyStore; VStore CurrntOutReadyStore;
public void OneWayProcess() public void OneWayProcess()
{ {
Config.Set("RuntimeRobot_MoveStep", MoveInfo.MoveStep.ToString());
if (CheckWait(MoveInfo)) if (CheckWait(MoveInfo))
return; return;
...@@ -159,7 +161,7 @@ namespace DeviceLibrary ...@@ -159,7 +161,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.MI_01: case MoveStep.MI_01:
MoveInfo.NextMoveStep(MoveStep.MI_02); MoveInfo.NextMoveStep(MoveStep.MI_02);
Location.ToHigh(MoveInfo); //Location.ToHigh(MoveInfo);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone(); RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01); RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料"); MoveInfo.log("机器人开始取料");
...@@ -203,32 +205,6 @@ namespace DeviceLibrary ...@@ -203,32 +205,6 @@ namespace DeviceLibrary
} }
break; break;
/* 无用环节
case MoveStep.MI_10:
MoveInfo.NextMoveStep(MoveStep.MI_11);
Rotate.RelMove(RobotManage.Config.AMH_Route_PoToMM * 90, RobotManage.Config.AMH_Route_PoToMM_speed);
break;
case MoveStep.MI_11:
if (!Rotate.IsBusy)
{
MoveInfo.NextMoveStep(MoveStep.MI_20);
Location.ToLow(MoveInfo);
}
break;
case MoveStep.MI_20:
MoveInfo.NextMoveStep(MoveStep.MI_21);
FromPos = RobotManage.MI1Postion[POS_Start + "_SCAN"];
ToPos = RobotManage.MI1Postion[GetNextBufferStore()];
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
break;
case MoveStep.MI_21:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
InStoreJobList.ClearLastPosid();
MoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
*/
case MoveStep.MI_50: case MoveStep.MI_50:
CurrntOutReadyStore = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady); CurrntOutReadyStore = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady);
if (CurrntOutReadyStore != null) if (CurrntOutReadyStore != null)
...@@ -259,7 +235,7 @@ namespace DeviceLibrary ...@@ -259,7 +235,7 @@ namespace DeviceLibrary
} }
else else
{ {
var InStoreError = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError); var InStoreError = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError ||vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut);
if (InStoreError != null) if (InStoreError != null)
{ {
...@@ -273,10 +249,14 @@ namespace DeviceLibrary ...@@ -273,10 +249,14 @@ namespace DeviceLibrary
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr()); MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.IsNg = true; MoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.NgMsg = InStoreError.CID + "入库异常"; MoveInfo.MoveParam.NgMsg = InStoreError.CID + "入库异常";
MoveInfo.log("检测到有料仓入库NG:"+ InStoreError.CID); MoveInfo.log("检测到有料仓入库NG:" + InStoreError.CID);
} }
else else
return; {
MoveInfo.log("没有找到,在等待出库的料仓");
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return; }
} }
else else
...@@ -300,7 +280,6 @@ namespace DeviceLibrary ...@@ -300,7 +280,6 @@ namespace DeviceLibrary
Setting_Init.Runtime_Robot_ToPos = ToPos.PositionNum; Setting_Init.Runtime_Robot_ToPos = ToPos.PositionNum;
MoveInfo.NextMoveStep(MoveStep.MI_51); MoveInfo.NextMoveStep(MoveStep.MI_51);
MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}"); MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
break; break;
case MoveStep.MI_51: case MoveStep.MI_51:
MoveInfo.NextMoveStep(MoveStep.MI_52); MoveInfo.NextMoveStep(MoveStep.MI_52);
...@@ -347,145 +326,102 @@ namespace DeviceLibrary ...@@ -347,145 +326,102 @@ namespace DeviceLibrary
} }
break; break;
} }
} }
public void RobotMoveProcess() public void RobotMoveProcess()
{ {
if (!Robot.ClientIsConnected) Config.Set("RuntimeRobot_Arm_MoveStep", RoboMoveInfo.MoveStep.ToString());
{
Msg.add("机器人已停止运行", MsgLevel.alarm);
return;
}
if (CheckWait(RoboMoveInfo)) if (CheckWait(RoboMoveInfo))
return; return;
switch (RoboMoveInfo.MoveStep) switch (RoboMoveInfo.MoveStep)
{ {
case MoveStep.Wait: case MoveStep.Wait:
break; break;
//从流水线取料 //机器人取料
case MoveStep.MI_01: case MoveStep.MI_01:
RoboMoveInfo.NextMoveStep(MoveStep.MI_02); RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed); CompTOP1(RoboMoveInfo);
RoboMoveInfo.log("压紧轴到待机点"); RoboMoveInfo.log("压紧轴到待机点");
break; break;
case MoveStep.MI_02: case MoveStep.MI_02:
//if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_03); RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
Robot.SendMoveCmd(FromPos.Take_P5, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, FromPos.Take_P5);
RoboMoveInfo.log("机器人到Take_P5"); RoboMoveInfo.log("机器人到Take_P5");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_03: case MoveStep.MI_03:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_04); RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
TrayStop.DeviceList[GroupName].Location.ToLow(MoveInfo); TrayStop.DeviceList[GroupName].Location.ToLow(MoveInfo);
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed); CompTOCompression(RoboMoveInfo);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
RoboMoveInfo.log("压紧轴都下压"); RoboMoveInfo.log("压紧轴都下压");
//RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_04: case MoveStep.MI_04:
if (Robot.MoveCmdOk() && !Comp.IsBusy) if (!Comp.IsBusy)
{ {
RoboMoveInfo.NextMoveStep(MoveStep.MI_05); RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
Robot.SendMoveCmd(FromPos.Take_P6, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, FromPos.Take_P6);
RoboMoveInfo.log("压紧轴到位"); RoboMoveInfo.log("压紧轴到位");
RoboMoveInfo.log("机器人到Take_P6"); RoboMoveInfo.log("机器人到Take_P6");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
} }
break; break;
case MoveStep.MI_05: case MoveStep.MI_05:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_06); RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed); CompTOCompression(RoboMoveInfo);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
RoboMoveInfo.log("压紧轴都下压"); RoboMoveInfo.log("压紧轴都下压");
//RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_06: case MoveStep.MI_06:
if (Robot.MoveCmdOk() && !Comp.IsBusy) if (!Comp.IsBusy)
{ {
RoboMoveInfo.log("压紧轴到位脉冲值:" + Comp.GetAclPosition()); RoboMoveInfo.log("压紧轴到位脉冲值:" + Comp.GetAclPosition());
RoboMoveInfo.NextMoveStep(MoveStep.MI_07); RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
Robot.SendMoveCmd(FromPos.Take_P7, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, FromPos.Take_P7);
RoboMoveInfo.log("机器人到Take_P7"); RoboMoveInfo.log("机器人到Take_P7");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
} }
break; break;
case MoveStep.MI_07: case MoveStep.MI_07:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_08); RoboMoveInfo.NextMoveStep(MoveStep.MI_08);
Robot.SendMoveCmd(FromPos.P1, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, FromPos.P1);
RoboMoveInfo.log("机器人到P1"); RoboMoveInfo.log("机器人到P1");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_08: case MoveStep.MI_08:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_40); RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
RoboMoveInfo.log("机器人取料完成"); RoboMoveInfo.log("机器人取料完成");
}
break; break;
//放料到缓存位置 //放料到缓存位置
case MoveStep.MI_40: case MoveStep.MI_40:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_41); RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
Robot.SendMoveCmd(ToPos.Put_P2, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, ToPos.Put_P2);
RoboMoveInfo.log("机器人到Put_P2"); RoboMoveInfo.log("机器人到Put_P2");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_41: case MoveStep.MI_41:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_42); RoboMoveInfo.NextMoveStep(MoveStep.MI_42);
Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed); //Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
CompTOP1(RoboMoveInfo);
Robot.SendMoveCmd(ToPos.Put_P3, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, ToPos.Put_P3);
RoboMoveInfo.log("压紧轴释放"); RoboMoveInfo.log("压紧轴释放");
RoboMoveInfo.log("机器人到Put_P3"); RoboMoveInfo.log("机器人到Put_P3");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_42: case MoveStep.MI_42:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_43); RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
Robot.SendMoveCmd(ToPos.Put_P4, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, ToPos.Put_P4);
RoboMoveInfo.log("机器人到Put_P4"); RoboMoveInfo.log("机器人到Put_P4");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_43: case MoveStep.MI_43:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_44); RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
Robot.SendMoveCmd(ToPos.P1, Setting_Init.URRobot_MI1_Speed_Rate); robotHelper.Move(RoboMoveInfo, ToPos.P1);
RoboMoveInfo.log("机器人到P1"); RoboMoveInfo.log("机器人到P1");
RoboMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
break; break;
case MoveStep.MI_44: case MoveStep.MI_44:
if (Robot.MoveCmdOk())
{
RoboMoveInfo.NextMoveStep(MoveStep.Wait); RoboMoveInfo.NextMoveStep(MoveStep.Wait);
RoboMoveInfo.log("放料完成"); RoboMoveInfo.log("放料完成");
}
break; break;
} }
} }
...@@ -518,7 +454,25 @@ namespace DeviceLibrary ...@@ -518,7 +454,25 @@ namespace DeviceLibrary
//MoveInfo.log("释放托盘"); //MoveInfo.log("释放托盘");
// MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed); // MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
} }
void CompTOP1(MoveInfo MoveInfo)
{
if (Comp.HasHome())
Comp.AbsMove(MoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
else
Comp.HomeMove(MoveInfo);
}
void CompTOCompression(MoveInfo MoveInfo)
{
if (!Comp.HasHome())
return;
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
}
bool compdetereel = false; bool compdetereel = false;
int lastCmd = 0;
int lastStep = 0;
int lastPrefix = 0;
public void ResetProcess() public void ResetProcess()
{ {
if (CheckWait(MoveInfo)) if (CheckWait(MoveInfo))
...@@ -527,19 +481,30 @@ namespace DeviceLibrary ...@@ -527,19 +481,30 @@ namespace DeviceLibrary
switch (MoveInfo.MoveStep) switch (MoveInfo.MoveStep)
{ {
case MoveStep.Wait: case MoveStep.Wait:
MoveInfo.NextMoveStep(MoveStep.H01_HomeReset); //MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
compdetereel = IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.HIGH);
Comp.HomeMove(MoveInfo);
break; break;
case MoveStep.H01_HomeReset: case MoveStep.H01_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset); var m1step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_MoveStep"));
if (IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH) || compdetereel) var m2step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_Arm_MoveStep"));
if (IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& m1step == MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate);
MoveInfo.log("没有最后的动作, 机器人回待机点");
}
else
{ {
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Setting_Init.Runtime_Robot_ReelInfo); MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Setting_Init.Runtime_Robot_ReelInfo);
FromPos = GetMIPosition(GroupName,Setting_Init.Runtime_Robot_FromPos); RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
FromPos = GetMIPosition(GroupName, Setting_Init.Runtime_Robot_FromPos);
ToPos = GetMIPosition(GroupName, Setting_Init.Runtime_Robot_ToPos); ToPos = GetMIPosition(GroupName, Setting_Init.Runtime_Robot_ToPos);
CurrentVStore = VStoreCollection.VStoreList[MoveInfo.MoveParam.cid];
MoveInfo.NextMoveStep(m1step);
RoboMoveInfo.NextMoveStep(m2step);
DeviceState = DeviceStateE.Run;
} }
break; break;
case MoveStep.H02_HomeReset: case MoveStep.H02_HomeReset:
...@@ -561,6 +526,7 @@ namespace DeviceLibrary ...@@ -561,6 +526,7 @@ namespace DeviceLibrary
MoveInfo.log("Robot.IsRun:" + Robot.IsRun); MoveInfo.log("Robot.IsRun:" + Robot.IsRun);
MoveInfo.log("Robot.IsStartConnect:" + Robot.IsStartConnect); MoveInfo.log("Robot.IsStartConnect:" + Robot.IsStartConnect);
MoveInfo.log("Robot.CurCmdReponse:" + Robot.CurCmdReponse); MoveInfo.log("Robot.CurCmdReponse:" + Robot.CurCmdReponse);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} else if (MoveInfo.IsTimeOut(30)) { } else if (MoveInfo.IsTimeOut(30)) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset); MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
...@@ -579,44 +545,87 @@ namespace DeviceLibrary ...@@ -579,44 +545,87 @@ namespace DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0018", "机器人未连接MT"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning)); MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0018", "机器人未连接MT"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
break; break;
case MoveStep.H05_HomeReset: case MoveStep.H05_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H06_HomeReset); MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
if (string.IsNullOrEmpty(Robot.LastMoveCmd)) return;
m1step = (MoveStep)Enum.Parse(typeof(MoveStep), Setting_Init.RuntimeRobot_MoveStep);
m2step = (MoveStep)Enum.Parse(typeof(MoveStep), Setting_Init.RuntimeRobot_Arm_MoveStep);
if (IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& m1step == MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate);
MoveInfo.log("没有最后的动作, 机器人回待机点");
}
else
{
MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Setting_Init.Runtime_Robot_ReelInfo);
FromPos = GetMIPosition(GroupName, Setting_Init.Runtime_Robot_FromPos);
ToPos = GetMIPosition(GroupName, Setting_Init.Runtime_Robot_ToPos);
CurrentVStore = VStoreCollection.VStoreList[MoveInfo.MoveParam.cid];
MoveInfo.NextMoveStep(m1step);
RoboMoveInfo.NextMoveStep(m2step);
DeviceState = DeviceStateE.Run;
}
//else if (int.TryParse(Robot.LastMoveCmd, out int cmdid))
//{
// lastCmd = cmdid;
// lastStep = cmdid % 10;
// lastPrefix = lastStep * 10;
// Robot.SendMoveCmd(lastCmd, Setting_Init.URRobot_MI1_Speed_Rate);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
// MoveInfo.log("机器人重做最后的动作:" + lastCmd);
//}
break;
case MoveStep.H06_HomeReset:
if (Robot.MoveCmdOk())
{
//如果上一步是回到待机点,并且料叉上无物料
if (lastStep==1 && !compdetereel && !IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH))
{ {
//回原结束
return;
} }
else if (int.TryParse(Robot.LastMoveCmd, out int cmdid)) RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
//如果上一步是回待机点,但料叉上有物料
if (lastStep == 1)
{ {
if (cmdid == 1) MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
}
else if (lastStep == 0)//P5 取料低点
{ {
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate); MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
} }
else { else if (lastStep == 2)//P6 取料高点
int nextstep = 1; {
int laststep = cmdid % 10; MoveInfo.NextMoveStep(MoveStep.MI_02);
int prefix = laststep * 10; RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
if (laststep == 0 || laststep == 2)
nextstep = prefix + 5;
else if (laststep == 1 || laststep == 3)
nextstep = prefix + 4;
Robot.SendMoveCmd(nextstep, Setting_Init.URRobot_MI1_Speed_Rate);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
} }
else if (lastStep == 5)//P7 取料退出过度点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
} }
break; else if (lastStep == 1)//P2 放料高点P2
case MoveStep.H06_HomeReset:
//if (Robot.MoveCmdOk())
{ {
MoveInfo.NextMoveStep(MoveStep.H07_HomeReset); MoveInfo.NextMoveStep(MoveStep.MI_02);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate); RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500)); }
} }
break; break;
case MoveStep.H07_HomeReset: case MoveStep.H09_HomeReset:
if (Robot.MoveCmdOk()) if (Robot.MoveCmdOk())
{ {
MoveInfo.EndMove(); MoveInfo.EndMove();
DeviceState = DeviceStateE.Run; DeviceState = DeviceStateE.Run;
} }
break; break;
//尝试解除安全保护
case MoveStep.H10_HomeReset: case MoveStep.H10_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H11_HomeReset); MoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
Robot.SendCMD("safetymode", 0); Robot.SendCMD("safetymode", 0);
...@@ -632,6 +641,10 @@ namespace DeviceLibrary ...@@ -632,6 +641,10 @@ namespace DeviceLibrary
else if (Robot.CurDashboardReponse.Contains("NORMAL")) { else if (Robot.CurDashboardReponse.Contains("NORMAL")) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset); MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
} }
else if (Robot.CurDashboardReponse.Contains("Starting program"))
{
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
else { else {
Msg.add("机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm); Msg.add("机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
} }
...@@ -646,7 +659,9 @@ namespace DeviceLibrary ...@@ -646,7 +659,9 @@ namespace DeviceLibrary
case MoveStep.H13_HomeReset: case MoveStep.H13_HomeReset:
if (Robot.CurCmdReponse.Contains("Protective stop releasing")) { if (Robot.CurCmdReponse.Contains("Protective stop releasing")) {
MoveInfo.log("机器人成功解除保护"); MoveInfo.log("机器人成功解除保护");
Robot.StopProgram();
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset); MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
} }
else if (MoveInfo.IsTimeOut(5)) else if (MoveInfo.IsTimeOut(5))
{ {
...@@ -713,9 +728,9 @@ namespace DeviceLibrary ...@@ -713,9 +728,9 @@ namespace DeviceLibrary
} }
public RobotPosition GetMIPosition(string device, string pos) { public RobotPosition GetMIPosition(string device, string pos) {
if (device == "mi") if (device == "AMH-MI1")
return RobotManage.MI1Postion[pos]; return RobotManage.MI1Postion[pos];
else if (device == "mi") else if (device == "AMH-MI2")
return RobotManage.MI2Postion[pos]; return RobotManage.MI2Postion[pos];
else else
return RobotManage.CIPostion[pos]; return RobotManage.CIPostion[pos];
......
DeviceLibrary/theMachine/sub/SideMove.cs
...@@ -34,7 +34,8 @@ namespace DeviceLibrary ...@@ -34,7 +34,8 @@ namespace DeviceLibrary
public PuYueRFID_C2S RFID_2 = null; public PuYueRFID_C2S RFID_2 = null;
public LineRunMonitor Line; public LineRunMonitor Line;
LS_TypeE LS_Type = LS_TypeE.NoRfid; LS_TypeE LS_Type = LS_TypeE.NoRfid;
public SideMove(DeviceGroup device,out string msg) { public SideMove(DeviceGroup device,out string msg) : base()
{
msg = ""; msg = "";
Name = device.Name+"("+ device.GroupName + ")"; Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device; DeviceGroup = device;
...@@ -143,8 +144,7 @@ namespace DeviceLibrary ...@@ -143,8 +144,7 @@ namespace DeviceLibrary
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
//Location_B.ToLow(LSAMoveInfo); //Location_B.ToLow(LSAMoveInfo);
if (!Forcetry)
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
} }
...@@ -166,6 +166,7 @@ namespace DeviceLibrary ...@@ -166,6 +166,7 @@ namespace DeviceLibrary
} }
if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) { if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) {
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
LastGoInFail = false; LastGoInFail = false;
} }
else if (LSAMoveInfo.IsTimeOut(10)) else if (LSAMoveInfo.IsTimeOut(10))
...@@ -213,6 +214,7 @@ namespace DeviceLibrary ...@@ -213,6 +214,7 @@ namespace DeviceLibrary
Line.LineStop("n"); Line.LineStop("n");
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo); Location_B.ToLow(LSAMoveInfo);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
break; break;
case MoveStep.SideMove_10: case MoveStep.SideMove_10:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
...@@ -322,7 +324,7 @@ namespace DeviceLibrary ...@@ -322,7 +324,7 @@ namespace DeviceLibrary
Minfo.NextMoveStep(MoveStep.SideMove_04); Minfo.NextMoveStep(MoveStep.SideMove_04);
Minfo.log($"检测到进入的托盘"); Minfo.log($"检测到进入的托盘");
Minfo.CanWhileCount = 3; Minfo.CanWhileCount = 3;
//Minfo.WaitList.Add(WaitResultInfo.WaitTime(500)); Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
} }
else if (Minfo.IsTimeOut(10)) else if (Minfo.IsTimeOut(10))
{ {
...@@ -344,13 +346,14 @@ namespace DeviceLibrary ...@@ -344,13 +346,14 @@ namespace DeviceLibrary
Location_a.ToLow(Minfo); Location_a.ToLow(Minfo);
return; return;
} }
Minfo.CanWhileCount = 3;
//Location_a.ToHigh(Minfo); //Location_a.ToHigh(Minfo);
break; break;
case MoveStep.SideMove_05: case MoveStep.SideMove_05:
if (RFID.ReadByte(0x20,16,out byte[] data, out string errmsg)) if (RFID.ReadByte(0x20,16,out byte[] data, out string errmsg))
{ {
var rfid = Common.RfidFilter(data); var rfid = Common.RfidFilter(data);
TrayManager.Process(Minfo,rfid, addr, out TrayInfo trayInfo); TrayManager.Process(Minfo,rfid, addr,-1, out TrayInfo trayInfo);
if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad)) if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad))
Minfo.NextMoveStep(MoveStep.SideMove_10); Minfo.NextMoveStep(MoveStep.SideMove_10);
......
DeviceLibrary/theMachine/sub/TransplantMove.cs
...@@ -35,7 +35,8 @@ namespace DeviceLibrary ...@@ -35,7 +35,8 @@ namespace DeviceLibrary
CylinderManger Transplant; CylinderManger Transplant;
public DeviceStateE DeviceState { get ; set ; } public DeviceStateE DeviceState { get ; set ; }
public TransplantMove(DeviceGroup device, Robot_Config config, out string msg) { public TransplantMove(DeviceGroup device, Robot_Config config, out string msg) : base()
{
msg = ""; msg = "";
Name = device.Name+"("+ device.GroupName + ")"; Name = device.Name+"("+ device.GroupName + ")";
Config = config; Config = config;
...@@ -98,6 +99,8 @@ namespace DeviceLibrary ...@@ -98,6 +99,8 @@ namespace DeviceLibrary
} }
else if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.HIGH)) else if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.HIGH))
{ {
if (GroupName == "AMH-SBSH2" && !canpass()) //SBSH2 等待前面空闲再放行
return;
MoveInfo.NextMoveStep(MoveStep.TransplantMove_01); MoveInfo.NextMoveStep(MoveStep.TransplantMove_01);
Location.ToLow(MoveInfo); Location.ToLow(MoveInfo);
} }
...@@ -106,9 +109,9 @@ namespace DeviceLibrary ...@@ -106,9 +109,9 @@ namespace DeviceLibrary
//Msg.add(crc.GetString("Res0184", "空闲中"), MsgLevel.info); //Msg.add(crc.GetString("Res0184", "空闲中"), MsgLevel.info);
} }
if (TrayManager.TestTrayRequest(GroupName)) { //if (TrayManager.TestTrayRequest(GroupName)) {
Transplant.ToHigh(null); // Transplant.ToHigh(null);
} //}
break; break;
case MoveStep.TransplantMove_01: case MoveStep.TransplantMove_01:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_02); MoveInfo.NextMoveStep(MoveStep.TransplantMove_02);
...@@ -123,7 +126,7 @@ namespace DeviceLibrary ...@@ -123,7 +126,7 @@ namespace DeviceLibrary
{ {
MoveInfo.NextMoveStep(MoveStep.TransplantMove_03); MoveInfo.NextMoveStep(MoveStep.TransplantMove_03);
MoveInfo.CanWhileCount = 3; MoveInfo.CanWhileCount = 3;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//Location.ToHigh(MoveInfo); //Location.ToHigh(MoveInfo);
} }
else if (MoveInfo.IsTimeOut(10)) { else if (MoveInfo.IsTimeOut(10)) {
...@@ -136,7 +139,7 @@ namespace DeviceLibrary ...@@ -136,7 +139,7 @@ namespace DeviceLibrary
{ {
CurrrentRFID = Common.RfidFilter(data); CurrrentRFID = Common.RfidFilter(data);
MoveInfo.MoveParam.RFID = CurrrentRFID; MoveInfo.MoveParam.RFID = CurrrentRFID;
var through = TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo); var through = TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.HIGH)?1:0, out TrayInfo trayInfo);
MoveInfo.log($"rfid:{CurrrentRFID},TrayManager.Process:{trayInfo.DestinationAddr},{DeviceGroup.addr_1},AMH_Reel_Check:{IOValue(IO_Type.AMH_Reel_Check)},HasLoad:{trayInfo.HasLoad}"); MoveInfo.log($"rfid:{CurrrentRFID},TrayManager.Process:{trayInfo.DestinationAddr},{DeviceGroup.addr_1},AMH_Reel_Check:{IOValue(IO_Type.AMH_Reel_Check)},HasLoad:{trayInfo.HasLoad}");
//入库判断 //入库判断
if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad) if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
...@@ -244,7 +247,8 @@ namespace DeviceLibrary ...@@ -244,7 +247,8 @@ namespace DeviceLibrary
{ {
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW); IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
MoveInfo.NextMoveStep(MoveStep.Wait); MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); if (GroupName == "AMH-SBSH2")
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.log("托盘已放行"); MoveInfo.log("托盘已放行");
} else if (MoveInfo.IsTimeOut(10)) { } else if (MoveInfo.IsTimeOut(10)) {
MoveInfo.log("托盘放行失败,重新放行"); MoveInfo.log("托盘放行失败,重新放行");
...@@ -329,6 +333,8 @@ namespace DeviceLibrary ...@@ -329,6 +333,8 @@ namespace DeviceLibrary
MoveInfo.log("托盘放行结束"); MoveInfo.log("托盘放行结束");
SRec.info(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0037","物料已取走")); SRec.info(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0037","物料已取走"));
MoveInfo.NewMove(MoveStep.Wait); MoveInfo.NewMove(MoveStep.Wait);
if (GroupName == "AMH-SBSH2")
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break; break;
//从料仓=>线体 //从料仓=>线体
case MoveStep.TransplantMove_20: case MoveStep.TransplantMove_20:
...@@ -442,7 +448,9 @@ namespace DeviceLibrary ...@@ -442,7 +448,9 @@ namespace DeviceLibrary
case MoveStep.TransplantMove_30: case MoveStep.TransplantMove_30:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_31); MoveInfo.NextMoveStep(MoveStep.TransplantMove_31);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW); IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.NewMove(MoveStep.Wait);
if (GroupName == "AMH-SBSH2")
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break; break;
case MoveStep.TransplantMove_31: case MoveStep.TransplantMove_31:
SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0038","物料已到托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr()); SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0038","物料已到托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
...@@ -530,7 +538,7 @@ namespace DeviceLibrary ...@@ -530,7 +538,7 @@ namespace DeviceLibrary
{ {
if (string.IsNullOrEmpty(CurrrentRFID)) if (string.IsNullOrEmpty(CurrrentRFID))
CurrrentRFID = ConfigHelper.Config.Get($"Runtime_{GroupName}_CurrrentRFID"); CurrrentRFID = ConfigHelper.Config.Get($"Runtime_{GroupName}_CurrrentRFID");
TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, out _); TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1,-1, out _);
MoveInfo.log("检测到上次已打开吸盘,CurrrentRFID:"+ CurrrentRFID); MoveInfo.log("检测到上次已打开吸盘,CurrrentRFID:"+ CurrrentRFID);
//入库过程 //入库过程
if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsInStore", false) && IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW)) if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsInStore", false) && IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
...@@ -576,7 +584,7 @@ namespace DeviceLibrary ...@@ -576,7 +584,7 @@ namespace DeviceLibrary
{ {
if (IOManager.IOValue(IO_Type.Ls_B_Front_Check, "LS2").Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(IO_Type.Ls_B_Front_Check, "LS2").Equals(IO_VALUE.HIGH))
{ {
Msg.add(crc.GetString("Res0039","LS2-2 堵塞中,暂缓放行"), MsgLevel.warning); Msg.add(crc.GetString("Res0039","LS2-2 堵塞中,暂缓放行"), MsgLevel.info);
return false; return false;
} }
} }
...@@ -584,7 +592,7 @@ namespace DeviceLibrary ...@@ -584,7 +592,7 @@ namespace DeviceLibrary
{ {
if (IOManager.IOValue(IO_Type.Ls_A_Front_Check, "LS2").Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(IO_Type.Ls_A_Front_Check, "LS2").Equals(IO_VALUE.HIGH))
{ {
Msg.add(crc.GetString("Res0040","LS2-1 堵塞中,暂缓放行"), MsgLevel.warning); Msg.add(crc.GetString("Res0040","LS2-1 堵塞中,暂缓放行"), MsgLevel.info);
return false; return false;
} }
} }
......
DeviceLibrary/theMachine/sub/TrayStop.cs
...@@ -34,9 +34,10 @@ namespace DeviceLibrary ...@@ -34,9 +34,10 @@ namespace DeviceLibrary
public AxisBean axis; public AxisBean axis;
public AxisBean axis2; public AxisBean axis2;
public TrayStop(DeviceGroup device,out string msg) { public TrayStop(DeviceGroup device, out string msg) : base()
{
msg = ""; msg = "";
Name = device.Name+"("+ device.GroupName + ")"; Name = device.Name + "(" + device.GroupName + ")";
DeviceGroup = device; DeviceGroup = device;
GroupName = DeviceGroup.GroupName; GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName); Msg = new MsgService(GroupName);
...@@ -44,8 +45,9 @@ namespace DeviceLibrary ...@@ -44,8 +45,9 @@ namespace DeviceLibrary
if (!string.IsNullOrEmpty(DeviceGroup.RFID_1)) if (!string.IsNullOrEmpty(DeviceGroup.RFID_1))
{ {
RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1); RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1);
if (!RFID_1.Open()) { if (!RFID_1.Open())
msg += DeviceGroup.GroupName + " RFID 1:" + DeviceGroup.RFID_1 +","+crc.GetString("Res0183","打开失败")+ "\r\n"; {
msg += DeviceGroup.GroupName + " RFID 1:" + DeviceGroup.RFID_1 + "," + crc.GetString("Res0183", "打开失败") + "\r\n";
} }
} }
Location = new CylinderManger($"托盘顶升", GroupName, IO_Type.MI_Location_Up, IO_Type.MI_Location_Down); Location = new CylinderManger($"托盘顶升", GroupName, IO_Type.MI_Location_Up, IO_Type.MI_Location_Down);
...@@ -80,7 +82,6 @@ namespace DeviceLibrary ...@@ -80,7 +82,6 @@ namespace DeviceLibrary
OneWayProcess(); OneWayProcess();
} }
} }
int isalivetrytimes = 0;
int StopBufDelayMS = 500; int StopBufDelayMS = 500;
int StopDelayMS = 1500; int StopDelayMS = 1500;
public void OneWayProcess() public void OneWayProcess()
...@@ -142,7 +143,7 @@ namespace DeviceLibrary ...@@ -142,7 +143,7 @@ namespace DeviceLibrary
if (RFID_1.ReadByte(0x20, 16, out byte[] data, out string errmsg)) if (RFID_1.ReadByte(0x20, 16, out byte[] data, out string errmsg))
{ {
CurrrentRFID = Common.RfidFilter(data); CurrrentRFID = Common.RfidFilter(data);
TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo); TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH)?1:0, out TrayInfo trayInfo);
var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _); var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _);
MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}"); MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
#region 张东亮处理 #region 张东亮处理
...@@ -332,7 +333,7 @@ namespace DeviceLibrary ...@@ -332,7 +333,7 @@ namespace DeviceLibrary
case MoveStep.TrayStop_07: case MoveStep.TrayStop_07:
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess); MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
Location.ToHigh(MoveInfo); Location.ToHigh(MoveInfo);
isalivetrytimes = 0; MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break; break;
case MoveStep.TrayStop_WaitLoadProcess: case MoveStep.TrayStop_WaitLoadProcess:
Msg.add(crc.GetString("Res0046","等待处理物料"),MsgLevel.info); Msg.add(crc.GetString("Res0046","等待处理物料"),MsgLevel.info);
...@@ -363,6 +364,14 @@ namespace DeviceLibrary ...@@ -363,6 +364,14 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.TrayStop_LoadProcessed: case MoveStep.TrayStop_LoadProcessed:
if (TrayManager.Traylist.ContainsKey(CurrrentRFID) && TrayManager.Traylist[CurrrentRFID].HasLoad)
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
Msg.add("托盘放料后没有检测到物料", MsgLevel.alarm);
return;
}
}
MoveInfo.NextMoveStep(MoveStep.TrayStop_04); MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
Location.ToLow(MoveInfo); Location.ToLow(MoveInfo);
MoveInfo.log("物料离开, 顶升下降"); MoveInfo.log("物料离开, 顶升下降");
...@@ -428,15 +437,32 @@ namespace DeviceLibrary ...@@ -428,15 +437,32 @@ namespace DeviceLibrary
switch (MoveInfo.MoveStep) switch (MoveInfo.MoveStep)
{ {
case MoveStep.Wait: case MoveStep.Wait:
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041","ML5料口门光栅被遮挡"), MsgLevel.warning);
break;
}
MoveInfo.NextMoveStep(MoveStep.H01_HomeReset); MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break; break;
case MoveStep.H01_HomeReset: case MoveStep.H01_HomeReset:
if ((GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2") && RobotManage.mainMachine.IOValue(IO_Type.ML5_DoorSafeCheck).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0041", "ML5料口门光栅被遮挡"), MsgLevel.warning);
break;
}
var dl = new string[] { "AMH-MI1" };//, "AMH-MI2" };
foreach (var d in dl)
{
if (GroupName == d && MI.DeviceList[d].DeviceState != DeviceStateE.Run
&& MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
{
Msg.add("等待" + d + "完成复位", MsgLevel.warning);
}
else if (GroupName == d && MI.DeviceList[d].DeviceState == DeviceStateE.Run
&& MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
DeviceState = DeviceStateE.Run;
return;
}
}
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset); MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
Location.ToLow(MoveInfo); Location.ToLow(MoveInfo);
break; break;
......
RemoteSheardObject/TheLine.cs
...@@ -33,50 +33,30 @@ namespace RemoteSheardObject ...@@ -33,50 +33,30 @@ namespace RemoteSheardObject
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData)); return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData));
} }
public static string SubmitPostData(string url, Dictionary<string, string> postData) public static Dictionary<string,int> GetTaskCount()
{
url = CombineUrl(Config.Get("Device_Server_Address"), url);
//创建WebClient对象
using (var client = new WebClient())
{
//设置提交数据的方式为"application/x-www-form-urlencoded"
client.Headers[HttpRequestHeader.ContentType] = "application/x-www-form-urlencoded";
try
{
//将POST请求参数字典转换为参数字符串
var postDataString = new StringBuilder();
foreach (var item in postData)
{ {
if (!string.IsNullOrEmpty(item.Value)) //pizzaBox，pcb，tray，reel
var postData = new Dictionary<string, string>()
{ {
postDataString.AppendFormat("{0}={1}&", item.Key, Uri.EscapeDataString(item.Value)); };
} Dictionary<string, int> taskdata = new Dictionary<string, int>();
} taskdata["pizzaBox"] = 0;
taskdata["pcb"] = 0;
//去掉最后一个"&"符号 taskdata["tray"] = 0;
postDataString.Length--; taskdata["reel"] = 0;
//将POST请求参数转换为字节数组
byte[] bytes = Encoding.UTF8.GetBytes(postDataString.ToString());
//提交POST请求并获取响应
byte[] response = client.UploadData(url, "POST", bytes);
//将响应转换为字符串并输出 var result= JsonConvert.DeserializeObject<ResultData>(SubmitPostData("/rest/micron/device/getTaskCount", postData));
return Encoding.UTF8.GetString(response); if (result.code != 0)
return taskdata;
} foreach (var k in taskdata.Keys)
catch (Exception ex)
{ {
// 捕获任何网络异常，并输出错误信息 if (result.data.ContainsKey(k))
Console.WriteLine("提交POST请求时发生错误：" + ex.Message); taskdata[k] = int.Parse(result.data[k]);
// 请求失败，返回false
return "";
}
} }
return taskdata;
} }
public static string CombineUrl(string baseUrl, string relativeUrl) public static string CombineUrl(string baseUrl, string relativeUrl)
{ {
if (string.IsNullOrEmpty(baseUrl)) if (string.IsNullOrEmpty(baseUrl))
...@@ -112,6 +92,12 @@ namespace RemoteSheardObject ...@@ -112,6 +92,12 @@ namespace RemoteSheardObject
return default; return default;
} }
public static void UploadStatus(EquipMsgData equipMsgData)
{
string url = CombineUrl(Config.Get("Device_Server_Address"), "/rest/micron/device/updateStatus");
var resultStr = HttpHelper.Post<EquipMsgData, ResultData>(url, equipMsgData);
}
public class ResultData public class ResultData
{ {
//{"code":0,"msg":"ok","data":"7"} //{"code":0,"msg":"ok","data":"7"}
...@@ -121,5 +107,49 @@ namespace RemoteSheardObject ...@@ -121,5 +107,49 @@ namespace RemoteSheardObject
public Dictionary<string, string> data { get; set; } public Dictionary<string, string> data { get; set; }
} }
public static string SubmitPostData(string url, Dictionary<string, string> postData)
{
url = CombineUrl(Config.Get("Device_Server_Address"), url);
//创建WebClient对象
using (var client = new WebClient())
{
//设置提交数据的方式为"application/x-www-form-urlencoded"
client.Headers[HttpRequestHeader.ContentType] = "application/x-www-form-urlencoded";
try
{
//将POST请求参数字典转换为参数字符串
var postDataString = new StringBuilder();
foreach (var item in postData)
{
if (!string.IsNullOrEmpty(item.Value))
{
postDataString.AppendFormat("{0}={1}&", item.Key, Uri.EscapeDataString(item.Value));
}
}
//去掉最后一个"&"符号
postDataString.Length--;
//将POST请求参数转换为字节数组
byte[] bytes = Encoding.UTF8.GetBytes(postDataString.ToString());
//提交POST请求并获取响应
byte[] response = client.UploadData(url, "POST", bytes);
//将响应转换为字符串并输出
return Encoding.UTF8.GetString(response);
}
catch (Exception ex)
{
// 捕获任何网络异常，并输出错误信息
Console.WriteLine("提交POST请求时发生错误：" + ex.Message);
// 请求失败，返回false
return "";
}
}
}
} }
} }
TheMachine/Form1.cs
...@@ -367,6 +367,7 @@ namespace TheMachine ...@@ -367,6 +367,7 @@ namespace TheMachine
// RobotManage.mainMachine.Msg.Show(); // RobotManage.mainMachine.Msg.Show();
// //return; // //return;
//} //}
LogUtil.info("用户按下启动:"+ sender.ToString());
RobotManage.Start(); RobotManage.Start();
userpause = false; userpause = false;
if (RobotManage.isRunning) if (RobotManage.isRunning)
...@@ -375,7 +376,7 @@ namespace TheMachine ...@@ -375,7 +376,7 @@ namespace TheMachine
RobotManage_UserPauseSet(this, false); RobotManage_UserPauseSet(this, false);
//(sender as Button).Text = "暂停运行"; //(sender as Button).Text = "暂停运行";
} }
LogUtil.info("用户按下启动");
} }
else if (!userpause) else if (!userpause)
{ {
......
TheMachine/Program.cs
...@@ -46,7 +46,7 @@ namespace TheMachine ...@@ -46,7 +46,7 @@ namespace TheMachine
} }
} }
} }
Microsoft.Win32.Registry.LocalMachine.OpenSubKey("SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Run", true).SetValue(Application.ProductName, Application.ExecutablePath); Microsoft.Win32.Registry.CurrentUser.OpenSubKey("SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Run", true).SetValue(Application.ProductName, Application.ExecutablePath);
Config.LoadMyConfig(new Setting_Init().GetType()); Config.LoadMyConfig(new Setting_Init().GetType());
Application.ThreadException += Application_ThreadException; Application.ThreadException += Application_ThreadException;
......
TheMachine/TrayManagerControl.cs
...@@ -145,6 +145,9 @@ namespace TheMachine ...@@ -145,6 +145,9 @@ namespace TheMachine
listView1.Items[ti.RFID].ForeColor = Color.DarkGray; listView1.Items[ti.RFID].ForeColor = Color.DarkGray;
else else
listView1.Items[ti.RFID].ForeColor = Color.Black; listView1.Items[ti.RFID].ForeColor = Color.Black;
if (ti.HasLoad && ti.HasLoadCheck<0)
listView1.Items[ti.RFID].ForeColor = Color.Red;
} }
ListView2.Items.Clear(); ListView2.Items.Clear();
foreach (var tivk in TrayManager.TrayRequest.ToArray()) foreach (var tivk in TrayManager.TrayRequest.ToArray())
......
TheMachine/device/Other/MycronicControl.Designer.cs
...@@ -33,25 +33,26 @@ namespace TheMachine.device.Other ...@@ -33,25 +33,26 @@ namespace TheMachine.device.Other
this.tabControl1 = new System.Windows.Forms.TabControl(); this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage4 = new System.Windows.Forms.TabPage(); this.tabPage4 = new System.Windows.Forms.TabPage();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.stateView = new TheMachine.DoubleBufferListView();
this.btn_manualout = new System.Windows.Forms.Button(); this.btn_manualout = new System.Windows.Forms.Button();
this.txt_reelid = new System.Windows.Forms.TextBox(); this.txt_reelid = new System.Windows.Forms.TextBox();
this.tabPage1 = new System.Windows.Forms.TabPage(); this.tabPage1 = new System.Windows.Forms.TabPage();
this.uc_boxdebug1 = new TheMachine.uc_boxdebug();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.uc_boxdebug2 = new TheMachine.uc_boxdebug();
this.tabPage3 = new System.Windows.Forms.TabPage(); this.tabPage3 = new System.Windows.Forms.TabPage();
this.uc_boxdebug3 = new TheMachine.uc_boxdebug();
this.tabPage5 = new System.Windows.Forms.TabPage(); this.tabPage5 = new System.Windows.Forms.TabPage();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel(); this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.stateView = new TheMachine.DoubleBufferListView();
this.uc_boxdebug1 = new TheMachine.uc_boxdebug();
this.uc_boxdebug2 = new TheMachine.uc_boxdebug();
this.uc_boxdebug3 = new TheMachine.uc_boxdebug();
this.ucurRobot1 = new URRobot.UCURRobot(); this.ucurRobot1 = new URRobot.UCURRobot();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.ucurRobot2 = new URRobot.UCURRobot(); this.ucurRobot2 = new URRobot.UCURRobot();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.ucurRobot3 = new URRobot.UCURRobot(); this.ucurRobot3 = new URRobot.UCURRobot();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.btn_ResetRobot = new System.Windows.Forms.Button();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabPage4.SuspendLayout(); this.tabPage4.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
...@@ -82,6 +83,7 @@ namespace TheMachine.device.Other ...@@ -82,6 +83,7 @@ namespace TheMachine.device.Other
// //
// tabPage4 // tabPage4
// //
this.tabPage4.Controls.Add(this.btn_ResetRobot);
this.tabPage4.Controls.Add(this.groupBox2); this.tabPage4.Controls.Add(this.groupBox2);
this.tabPage4.Controls.Add(this.btn_manualout); this.tabPage4.Controls.Add(this.btn_manualout);
this.tabPage4.Controls.Add(this.txt_reelid); this.tabPage4.Controls.Add(this.txt_reelid);
...@@ -100,11 +102,24 @@ namespace TheMachine.device.Other ...@@ -100,11 +102,24 @@ namespace TheMachine.device.Other
this.groupBox2.Controls.Add(this.stateView); this.groupBox2.Controls.Add(this.stateView);
this.groupBox2.Location = new System.Drawing.Point(19, 24); this.groupBox2.Location = new System.Drawing.Point(19, 24);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(561, 392); this.groupBox2.Size = new System.Drawing.Size(561, 365);
this.groupBox2.TabIndex = 24; this.groupBox2.TabIndex = 24;
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "Tower Status"; this.groupBox2.Text = "Tower Status";
// //
// stateView
//
this.stateView.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.stateView.Dock = System.Windows.Forms.DockStyle.Fill;
this.stateView.HeaderStyle = System.Windows.Forms.ColumnHeaderStyle.Nonclickable;
this.stateView.HideSelection = false;
this.stateView.Location = new System.Drawing.Point(3, 29);
this.stateView.MultiSelect = false;
this.stateView.Name = "stateView";
this.stateView.Size = new System.Drawing.Size(555, 333);
this.stateView.TabIndex = 0;
this.stateView.UseCompatibleStateImageBehavior = false;
//
// btn_manualout // btn_manualout
// //
this.btn_manualout.Location = new System.Drawing.Point(829, 487); this.btn_manualout.Location = new System.Drawing.Point(829, 487);
...@@ -133,6 +148,16 @@ namespace TheMachine.device.Other ...@@ -133,6 +148,16 @@ namespace TheMachine.device.Other
this.tabPage1.Text = "MI1 点位"; this.tabPage1.Text = "MI1 点位";
this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.UseVisualStyleBackColor = true;
// //
// uc_boxdebug1
//
this.uc_boxdebug1.Config = null;
this.uc_boxdebug1.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug1.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug1.Name = "uc_boxdebug1";
this.uc_boxdebug1.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug1.TabIndex = 0;
//
// tabPage2 // tabPage2
// //
this.tabPage2.Controls.Add(this.uc_boxdebug2); this.tabPage2.Controls.Add(this.uc_boxdebug2);
...@@ -144,6 +169,16 @@ namespace TheMachine.device.Other ...@@ -144,6 +169,16 @@ namespace TheMachine.device.Other
this.tabPage2.Text = "MI2 点位"; this.tabPage2.Text = "MI2 点位";
this.tabPage2.UseVisualStyleBackColor = true; this.tabPage2.UseVisualStyleBackColor = true;
// //
// uc_boxdebug2
//
this.uc_boxdebug2.Config = null;
this.uc_boxdebug2.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug2.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug2.Name = "uc_boxdebug2";
this.uc_boxdebug2.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug2.TabIndex = 0;
//
// tabPage3 // tabPage3
// //
this.tabPage3.Controls.Add(this.uc_boxdebug3); this.tabPage3.Controls.Add(this.uc_boxdebug3);
...@@ -155,6 +190,16 @@ namespace TheMachine.device.Other ...@@ -155,6 +190,16 @@ namespace TheMachine.device.Other
this.tabPage3.Text = "CI 点位"; this.tabPage3.Text = "CI 点位";
this.tabPage3.UseVisualStyleBackColor = true; this.tabPage3.UseVisualStyleBackColor = true;
// //
// uc_boxdebug3
//
this.uc_boxdebug3.Config = null;
this.uc_boxdebug3.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug3.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug3.Name = "uc_boxdebug3";
this.uc_boxdebug3.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug3.TabIndex = 0;
//
// tabPage5 // tabPage5
// //
this.tabPage5.Controls.Add(this.panel1); this.tabPage5.Controls.Add(this.panel1);
...@@ -202,6 +247,14 @@ namespace TheMachine.device.Other ...@@ -202,6 +247,14 @@ namespace TheMachine.device.Other
this.groupBox1.TabStop = false; this.groupBox1.TabStop = false;
this.groupBox1.Text = "MI1"; this.groupBox1.Text = "MI1";
// //
// ucurRobot1
//
this.ucurRobot1.Dock = System.Windows.Forms.DockStyle.Fill;
this.ucurRobot1.Location = new System.Drawing.Point(2, 16);
this.ucurRobot1.Name = "ucurRobot1";
this.ucurRobot1.Size = new System.Drawing.Size(306, 197);
this.ucurRobot1.TabIndex = 17;
//
// groupBox3 // groupBox3
// //
this.groupBox3.Controls.Add(this.ucurRobot2); this.groupBox3.Controls.Add(this.ucurRobot2);
...@@ -214,6 +267,14 @@ namespace TheMachine.device.Other ...@@ -214,6 +267,14 @@ namespace TheMachine.device.Other
this.groupBox3.TabStop = false; this.groupBox3.TabStop = false;
this.groupBox3.Text = "MI2"; this.groupBox3.Text = "MI2";
// //
// ucurRobot2
//
this.ucurRobot2.Dock = System.Windows.Forms.DockStyle.Fill;
this.ucurRobot2.Location = new System.Drawing.Point(2, 16);
this.ucurRobot2.Name = "ucurRobot2";
this.ucurRobot2.Size = new System.Drawing.Size(306, 197);
this.ucurRobot2.TabIndex = 17;
//
// groupBox4 // groupBox4
// //
this.groupBox4.Controls.Add(this.ucurRobot3); this.groupBox4.Controls.Add(this.ucurRobot3);
...@@ -226,71 +287,6 @@ namespace TheMachine.device.Other ...@@ -226,71 +287,6 @@ namespace TheMachine.device.Other
this.groupBox4.TabStop = false; this.groupBox4.TabStop = false;
this.groupBox4.Text = "CI"; this.groupBox4.Text = "CI";
// //
// timer1
//
this.timer1.Enabled = true;
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// stateView
//
this.stateView.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.stateView.Dock = System.Windows.Forms.DockStyle.Fill;
this.stateView.HeaderStyle = System.Windows.Forms.ColumnHeaderStyle.Nonclickable;
this.stateView.HideSelection = false;
this.stateView.Location = new System.Drawing.Point(3, 29);
this.stateView.MultiSelect = false;
this.stateView.Name = "stateView";
this.stateView.Size = new System.Drawing.Size(555, 360);
this.stateView.TabIndex = 0;
this.stateView.UseCompatibleStateImageBehavior = false;
//
// uc_boxdebug1
//
this.uc_boxdebug1.Config = null;
this.uc_boxdebug1.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug1.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug1.Name = "uc_boxdebug1";
this.uc_boxdebug1.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug1.TabIndex = 0;
//
// uc_boxdebug2
//
this.uc_boxdebug2.Config = null;
this.uc_boxdebug2.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug2.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug2.Name = "uc_boxdebug2";
this.uc_boxdebug2.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug2.TabIndex = 0;
//
// uc_boxdebug3
//
this.uc_boxdebug3.Config = null;
this.uc_boxdebug3.Dock = System.Windows.Forms.DockStyle.Fill;
this.uc_boxdebug3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uc_boxdebug3.Location = new System.Drawing.Point(3, 3);
this.uc_boxdebug3.Name = "uc_boxdebug3";
this.uc_boxdebug3.Size = new System.Drawing.Size(986, 542);
this.uc_boxdebug3.TabIndex = 0;
//
// ucurRobot1
//
this.ucurRobot1.Dock = System.Windows.Forms.DockStyle.Fill;
this.ucurRobot1.Location = new System.Drawing.Point(2, 16);
this.ucurRobot1.Name = "ucurRobot1";
this.ucurRobot1.Size = new System.Drawing.Size(306, 197);
this.ucurRobot1.TabIndex = 17;
//
// ucurRobot2
//
this.ucurRobot2.Dock = System.Windows.Forms.DockStyle.Fill;
this.ucurRobot2.Location = new System.Drawing.Point(2, 16);
this.ucurRobot2.Name = "ucurRobot2";
this.ucurRobot2.Size = new System.Drawing.Size(306, 197);
this.ucurRobot2.TabIndex = 17;
//
// ucurRobot3 // ucurRobot3
// //
this.ucurRobot3.Dock = System.Windows.Forms.DockStyle.Fill; this.ucurRobot3.Dock = System.Windows.Forms.DockStyle.Fill;
...@@ -299,6 +295,22 @@ namespace TheMachine.device.Other ...@@ -299,6 +295,22 @@ namespace TheMachine.device.Other
this.ucurRobot3.Size = new System.Drawing.Size(306, 197); this.ucurRobot3.Size = new System.Drawing.Size(306, 197);
this.ucurRobot3.TabIndex = 17; this.ucurRobot3.TabIndex = 17;
// //
// timer1
//
this.timer1.Enabled = true;
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// btn_ResetRobot
//
this.btn_ResetRobot.Location = new System.Drawing.Point(19, 437);
this.btn_ResetRobot.Name = "btn_ResetRobot";
this.btn_ResetRobot.Size = new System.Drawing.Size(267, 93);
this.btn_ResetRobot.TabIndex = 25;
this.btn_ResetRobot.Text = "机器人复位至待机点, 并释放压紧装置";
this.btn_ResetRobot.UseVisualStyleBackColor = true;
this.btn_ResetRobot.Click += new System.EventHandler(this.btn_ResetRobot_Click);
//
// MycronicControl // MycronicControl
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
...@@ -347,5 +359,6 @@ namespace TheMachine.device.Other ...@@ -347,5 +359,6 @@ namespace TheMachine.device.Other
private System.Windows.Forms.GroupBox groupBox2; private System.Windows.Forms.GroupBox groupBox2;
private DoubleBufferListView stateView; private DoubleBufferListView stateView;
private System.Windows.Forms.Timer timer1; private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.Button btn_ResetRobot;
} }
} }
TheMachine/device/Other/MycronicControl.cs
...@@ -80,5 +80,16 @@ namespace TheMachine.device.Other ...@@ -80,5 +80,16 @@ namespace TheMachine.device.Other
stateView.Items.Add(lvi); stateView.Items.Add(lvi);
} }
} }
private void btn_ResetRobot_Click(object sender, EventArgs e)
{
if (RobotManage.isRunning)
{
MessageBox.Show("请先停止系统运行");
return;
}
MI.DeviceList["AMH-MI1"].
}
} }
} }
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