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Commit 40e19609 由 刘韬
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稳定版

1 个父辈 1587d8a9
内嵌 并排
正在显示 35 个修改的文件 包含 825 行增加 和 264 行删除
Common/Setting_Init.cs
......@@ -36,6 +36,12 @@ namespace OnlineStore.Common
[MyConfigComment("屏蔽日志窗口")]
public static MyConfig<bool> Device_DisableLogWindow = true;
[MyConfigComment("出库任务数量大于值时治具托盘全部从LS3转移走")]
public static MyConfig<int> Device_LS3_MTP2_OutTaskMaxCount = 5;
[MyConfigComment("出库任务数量大于值时料盘托盘全部从LS3转移走")]
public static MyConfig<int> Device_LS3_MTP1_OutTaskMaxCount = 5;
[MyConfigComment("URRobot_MI1_IP")]
public static MyConfig<string> URRobot_MI1_IP;
[MyConfigComment("URRobot_MI1_速度倍率")]
......
Common/util/MyWebClient.cs
......@@ -139,18 +139,16 @@ namespace OnlineStore.Common
return result;
}
static object lockpost = new object();
public static Operation Post(string url, Operation operation, int timeout = 5000, bool printlog = false)
public static Operation Post(string url, Operation operation, int timeout, out string log)
{
log = "";
try
{
string json = JsonHelper.SerializeObject(operation);
string result = Post(url, json, timeout);
Operation op = JsonHelper.DeserializeJsonToObject<Operation>(result);
if (printlog)
{
LogUtil.info("Send [" + json + "] Revice [" + result + "]");
}
log = "Send [" + json + "] Revice [" + result + "]";
return op;
}
catch (Exception ex)
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -156,6 +156,7 @@
<Compile Include="userControl\FixtureSizeConfigControl.Designer.cs">
<DependentUpon>FixtureSizeConfigControl.cs</DependentUpon>
</Compile>
<Compile Include="VirtuallyStore\BufferSlotsManger.cs" />
<Compile Include="VirtuallyStore\CommandList.cs" />
<Compile Include="VirtuallyStore\Reference.cs" />
<Compile Include="VirtuallyStore\VMsg.cs" />
......
DeviceLibrary/DeviceLibrary/LineRunMonitor.cs
......@@ -43,7 +43,7 @@ namespace DeviceLibrary
if (canStopLine(out _) && isIOon)//(DOValue(LineIO).Equals(IO_VALUE.HIGH) || DOValue(LineRevIO).Equals(IO_VALUE.HIGH)))
{
IOSTOP();
LogUtil.info(Name + $" 线体管理器 停止线体.");
LogUtil.info("["+ Name+"]" + $" 线体管理器 停止线体.");
}
}
}
......
DeviceLibrary/DeviceLibrary/RobotMoveHelper.cs
using OnlineStore.Common;
using OnlineStore;
using OnlineStore.Common;
using Robot.UR;
using System;
using System.Collections.Generic;
......@@ -48,12 +49,14 @@ namespace DeviceLibrary
{
RobotStatus = false;
//Msg.add(POS_Start + "机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
robot.PlayProgram();
robot.StopProgram();
}
else if (!robot.ClientIsConnected) {
RobotStatus = false;
robot.StopProgram();
Thread.Sleep(300);
robot.StopRobot();
}
else
RobotStatus = true;
......@@ -61,7 +64,7 @@ namespace DeviceLibrary
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"));
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(IsMoveOk), crc.GetString("Res0157","等待") + $"[{robot.Name}]" + crc.GetString("Res0057","移动到位")));
}
lastMoveCmd = movecmd;
robot.SendMoveCmd(movecmd, Setting_Init.URRobot_MI1_Speed_Rate);
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using RemoteSheardObject;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
......@@ -12,7 +13,7 @@ using System.Threading.Tasks;
namespace DeviceLibrary
{
class ServerCommunication
public class ServerCommunication
{
volatile StoreStatus _storeStatus = StoreStatus.Debugging;
public StoreStatus storeStatus {
......@@ -41,10 +42,18 @@ namespace DeviceLibrary
GC.KeepAlive(serverConnectTimer);
LogUtil.info($"server:{server},cid:{CID}");
}
public int OutMaterialTaskCount = 0;
public int OutReelTaskCount = 0;
private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
if (!string.IsNullOrEmpty(server) && server.ToLower().StartsWith("http"))
{
var data = TheLine.GetTaskCount();
OutMaterialTaskCount = data["pizzaBox"] + data["pcb"] + data["tray"];
OutReelTaskCount = data["reel"];
}
//if (!RobotManage.isRunning)
// ProcessMsg(MsgService.MSList);
//if (!string.IsNullOrWhiteSpace(server))
......@@ -54,7 +63,8 @@ namespace DeviceLibrary
{
LogUtil.info($"ServerConnectTimer_Elapsed:{ex}");
}
finally {
finally
{
//Monitor.Exit(serverConnectTimer);
}
}
......@@ -75,7 +85,7 @@ namespace DeviceLibrary
}
).Where(x=>!string.IsNullOrEmpty(x)));
}
public void SendInStoreRequest(string[] codelist, ReelParam reel,bool printlog=false) {
public void SendInStoreRequest(string[] codelist, ReelParam reel) {
if (RobotManage.InoutDebugMode)
return;
......@@ -86,11 +96,12 @@ namespace DeviceLibrary
operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } };
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000, printlog);
Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), operation, 15000, out string log);
if (resultOperation==null || operation.seq != resultOperation.seq)
{
LogUtil.error(log);
Thread.Sleep(1000);
SendInStoreRequest(codelist, reel, printlog);
SendInStoreRequest(codelist, reel);
return;
}
ResultProcess(resultOperation);
......@@ -109,7 +120,7 @@ namespace DeviceLibrary
LogUtil.info(JsonHelper.SerializeObject(operation));
if (RobotManage.InoutDebugMode)
return true;
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000);
Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), operation, 15000,out _);
if (resultOperation == null)
{
......@@ -253,7 +264,7 @@ namespace DeviceLibrary
printlog = true;
}
Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, printlog);
Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), lineOperation,700, out string log);
if (resultOperation != null)
getthtime = 0;
//LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
......
DeviceLibrary/VirtuallyStore/BufferSlotsManger.cs 0 → 100644
using Newtonsoft.Json;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
class BufferSlotsManger
{
Dictionary<string, BufferSlotInfo> bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
string DeviceName;
public BufferSlotsManger(string devicename)
{
DeviceName = devicename;
LoadData();
for (int i = 0; i < 8; i++)
{
string sloatkey = DeviceName + "_B0" + (i + 1);
if (!bufferSlotInfos.ContainsKey(sloatkey))
{
bufferSlotInfos.Add(sloatkey, new BufferSlotInfo(sloatkey));
}
}
}
public string GetFreeSlot()
{
lock (bufferSlotInfos)
{
var slot = bufferSlotInfos.Values.ToList().Find(s => !s.HasReel);
return slot?.Name;
}
}
public string GetInstoreSlot(out JobInfo jobInfo)
{
lock (bufferSlotInfos)
{
var slot = bufferSlotInfos.Values.ToList().Find(s => s.HasReel && s.IsInstore);
jobInfo = slot?.JobInfo.Clone();
return slot?.Name;
}
}
public string GetOutstoreSlot(out JobInfo jobInfo)
{
lock (bufferSlotInfos)
{
var slot = bufferSlotInfos.Values.ToList().Find(s => s.HasReel && !s.IsInstore);
jobInfo = slot?.JobInfo.Clone();
return slot?.Name;
}
}
public void SetSlotInfo(string name, bool isinstore, JobInfo jobInfo)
{
lock (bufferSlotInfos)
{
bufferSlotInfos[name].IsInstore = isinstore;
bufferSlotInfos[name].JobInfo = jobInfo.Clone();
bufferSlotInfos[name].HasReel = true;
}
SaveData();
}
public void ClearSlot(string name)
{
lock (bufferSlotInfos)
{
bufferSlotInfos[name].HasReel = false;
}
SaveData();
}
void LoadData() {
string filename = $"Config\\BufferSlotsList_{DeviceName}.temp";
if (File.Exists(filename))
{
bool isreadok = false;
try
{
var tl = File.ReadAllText(filename);
bufferSlotInfos = JsonConvert.DeserializeObject<Dictionary<string, BufferSlotInfo>>(tl);
isreadok = bufferSlotInfos != null;
if (!isreadok)
LogUtil.error("启动时缓存料盘信息加载失败:"+DeviceName);
}
catch (Exception ex)
{
LogUtil.error("启动时缓存料盘信息加载失败:" + DeviceName + ex);
}
if (isreadok)
return;
try
{
var tl = File.ReadAllText(filename+"~");
bufferSlotInfos = JsonConvert.DeserializeObject<Dictionary<string, BufferSlotInfo>>(tl);
if (bufferSlotInfos == null)
{
LogUtil.error("启动时备份缓存料盘加载失败:"+DeviceName);
bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
}
}
catch (Exception ex)
{
LogUtil.error("启动时托盘备份信息加载失败:" + ex);
bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
}
}
}
void SaveData() {
string filename = $"Config\\BufferSlotsList_{DeviceName}.temp";
try
{
var TL = bufferSlotInfos.Where(t => t.Value.HasReel).ToDictionary(a => a.Key, a => a.Value);
ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), filename+"~");
ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), filename);
}
catch (Exception ex)
{
LogUtil.error("托盘信息保存失败:" + ex);
}
}
}
class BufferSlotInfo {
public string Name;
public bool HasReel;
public bool IsInstore;
public JobInfo JobInfo;
public BufferSlotInfo(string name) {
Name = name;
}
}
}
DeviceLibrary/VirtuallyStore/VLog.cs
......@@ -15,14 +15,20 @@ namespace DeviceLibrary
Prefix = prefix;
log = LogManager.GetLogger(logname);
}
string lastinfo = "";
public void Info(string txt) {
if (String.Compare(lastinfo, txt, StringComparison.Ordinal) == 0)
return;
if (Prefix != "")
txt =$"[{Prefix}] "+ txt;
log.Info(txt);
}
string lasterr = "";
public void Error(string txt)
{
if (String.Compare(lasterr, txt, StringComparison.Ordinal) == 0)
return;
if (Prefix != "")
txt = $"[{Prefix}] " + txt;
log.Error(txt);
......
DeviceLibrary/VirtuallyStore/VServerComm.cs
......@@ -114,20 +114,20 @@ namespace DeviceLibrary
LogUtil.info(JsonHelper.SerializeObject(operation));
if (RobotManage.InoutDebugMode)
return true;
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000,out string log);
if (resultOperation == null)
{
LogUtil.info($"SendStoreState error,posid:{barcode}, storeStatus:{storeStatus}");
VLog.Error($"SendStoreState error,posid:{barcode}, storeStatus:{storeStatus}");
return false;
}
if (operation.seq != resultOperation.seq)
{
LogUtil.info($"SendStoreState seq error,posid:{barcode}, storeStatus:{storeStatus}");
VLog.Error($"SendStoreState seq error,posid:{barcode}, storeStatus:{storeStatus}");
return false;
}
LogUtil.info($"SendStoreState success,posid:{barcode}, storeStatus:{storeStatus}");
VLog.Info(log);
VLog.Info($"SendStoreState success,posid:{barcode}, storeStatus:{storeStatus}");
ResultProcess(resultOperation);
}
return true;
......@@ -238,7 +238,7 @@ namespace DeviceLibrary
printlog = true;
}
Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, printlog);
Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, out string log);
if (resultOperation != null)
getthtime = 0;
//LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
......@@ -407,7 +407,7 @@ namespace DeviceLibrary
else
{
JobInfo jobInfo = new JobInfo(code, posIdStr, plateW, plateH);
OutStoreEvent?.Invoke("服务器", jobInfo);
OutStoreEvent?.Invoke(crc.GetString("Res0064","服务器"), jobInfo);
}
TimeSpan span = DateTime.Now - time;
......
DeviceLibrary/VirtuallyStore/VStore.cs
......@@ -47,28 +47,42 @@ namespace DeviceLibrary
//MI.DeviceList[TowerList.List[CurrentOutJobInfo.CID].DeviceGroupName].EnqueueOutStore(CurrentOutJobInfo);
}
public string CurrentTowerStatusText="";
public RTStoreStatus RTStoreStatus = RTStoreStatus.Offline;
public volatile bool TerminalError = false;
DateTime LastStatusTime = DateTime.Now;
int LastStatusCode = 0;
internal void VTowerProcess() {
try
{
var ti = ServerCM.GetTowerDetailInformation(CID);
if (ti != null)
{
if (LastStatusCode != ti.StatusCode)
{
LastStatusCode = ti.StatusCode;
VLog.Info($"RTStoreStatus:{RTStoreStatus},StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
}
CurrentTowerStatusText = $"[TI={ti.StatusCode}-{ti.StatusText}]";
ServerCM.Temperature = ti.Temperature;
ServerCM.Humidity = ti.Humidity;
if (ti.StatusCode == 26)
{
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (RTStoreStatus != RTStoreStatus.LockToInStore)
if (RTStoreStatus != RTStoreStatus.LockToInStore && RTStoreStatus != RTStoreStatus.InStoreReady)
{
if (RTStoreStatus != RTStoreStatus.Ready)
VLog.Info("料仓已空闲");
RTStoreStatus = RTStoreStatus.Ready;
TerminalError = false;
LastStatusTime = DateTime.Now;
if (OutStoreJobList.Count > 0)
{
if (OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
RTStoreStatus = RTStoreStatus.LockToInStore;
if (!ServerCM.BeginOutStore(jobInfo.Clone(), VLog)) {
if (!ServerCM.BeginOutStore(jobInfo.Clone(), VLog))
{
RTStoreStatus = RTStoreStatus.Ready;
}
CurrentTerminalReelID = jobInfo.WareNum;
......@@ -86,9 +100,23 @@ namespace DeviceLibrary
InStoreJobInfo = null;
}
}
else if ((DateTime.Now - LastStatusTime).TotalSeconds > 30)
{
TerminalError = true;
if (RTStoreStatus == RTStoreStatus.InStoreReady)
{
VLog.Error($"入库超时出错,没有执行入库过程,RTStoreStatus={RTStoreStatus}:" + InStoreJobInfo?.ToStr());
CurrentTowerStatusText = crc.GetString("Res0065","入库错误,没有执行入库过程");
}
else if (RTStoreStatus == RTStoreStatus.LockToInStore)
{
VLog.Error($"入库超时出错,没有检测到料盘,RTStoreStatus={RTStoreStatus}:" + InStoreJobInfo?.ToStr());
CurrentTowerStatusText = crc.GetString("Res0065","入库错误,没有执行入库过程");
}
else
{
Msg.add("料仓为入库锁定状态,请检查舱门口料盘状态", MsgLevel.alarm);
VLog.Error($"未知状态超时,RTStoreStatus={RTStoreStatus}:" + InStoreJobInfo?.ToStr());
}
}
}
else if (ti.StatusCode == 1031)
......@@ -101,7 +129,8 @@ namespace DeviceLibrary
}
else if (ti.StatusCode == 1032)
{
if ((DateTime.Now - LastStatusTime).TotalSeconds > 30) {
if ((DateTime.Now - LastStatusTime).TotalSeconds > 30)
{
RTStoreStatus = RTStoreStatus.InStoreDataTimeOut;
}
if (RTStoreStatus != RTStoreStatus.InStoreReady && InStoreJobInfo != null)
......@@ -133,6 +162,7 @@ namespace DeviceLibrary
if (RTStoreStatus != RTStoreStatus.OutStoreReady)
{
VLog.Info("出库已完成");
InStoreJobInfo = null;
OutStoreEnd(CurrentTerminalReelID, CID);
}
......@@ -144,25 +174,28 @@ namespace DeviceLibrary
{
RTStoreStatus = RTStoreStatus.Offline;
ServerCM.storeStatus = StoreStatus.None;
}else if (ti.StatusCode == 310117)
}
else if (ti.StatusCode == 310117 || ti.StatusCode == 310249)
{
RTStoreStatus = RTStoreStatus.InStoreError;
ServerCM.storeStatus = StoreStatus.InStoreError;
InStoreJobInfo = null;
}
else if (ti.StatusCode < 10000)
{
RTStoreStatus = RTStoreStatus.Busy;
ServerCM.storeStatus = StoreStatus.None;
VLog.Info($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
//VLog.Info($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
}
else
{
VLog.Error($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
//VLog.Error($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
ServerCM.storeStatus = StoreStatus.InTrouble;
RTStoreStatus = RTStoreStatus.Error;
}
}
else {
else
{
ServerCM.storeStatus = StoreStatus.None;
RTStoreStatus = RTStoreStatus.Offline;
......@@ -177,26 +210,55 @@ namespace DeviceLibrary
1042 material unloaded to Terminal from Tower 物料已取走
6015 Reel already loaded.
3068 初始化中
310249 Error Reel Sensor (249)
*/
//统计剩余容量
for (int i = 0; i < ti.Slots.Count; i++)
{
var sn = ti.Slots[i].Slotname;
int w = 0;
int h = 0;
if (sn.StartsWith("s15"))
{
w = 15;
int.TryParse(sn.Substring(3), out h);
}
else if (sn.StartsWith("s13"))
{
w = 13;
int.TryParse(sn.Substring(3), out h);
}
else if (sn.StartsWith("s7"))
{
w = 7;
int.TryParse(sn.Substring(2), out h);
}
//boxStatus.data.Add("capacity", "7X8=1000;7X12=345;13X32=100;");
SlotsInfo[$"{w}x{h}"] = $"{ti.Slots[i].Slots_used}/{ti.Slots[i].Slots_free}";
}
}
catch (Exception ex) {
VLog.Error("VStore Error:"+ex);
}
}
public Dictionary<string, string> SlotsInfo = new Dictionary<string, string>();
public string GetStateStr()
{
if (RTStoreStatus == RTStoreStatus.OutStoreReady)
return "出库中" + (!string.IsNullOrEmpty(CurrentTerminalReelID)?"SN:" + CurrentTerminalReelID:"");
return crc.GetString("Res0066","出库中") + (!string.IsNullOrEmpty(CurrentTerminalReelID)?"SN:" + CurrentTerminalReelID:"");
if (RTStoreStatus == RTStoreStatus.LockToInStore) {
return "等待入库信息";
return crc.GetString("Res0067","等待入库信息");
}
if ( RTStoreStatus == RTStoreStatus.InStoreExecute || RTStoreStatus == RTStoreStatus.InStoreReady)
{
return "入库中" + " Barcode:" + InStoreJobInfo?.WareNum;
return crc.GetString("Res0068","入库中") + " Barcode:" + InStoreJobInfo?.WareNum;
}
if (RTStoreStatus == RTStoreStatus.InStoreError)
{
return "入库出错,物料NG";
return crc.GetString("Res0069","入库出错,物料NG");
}
return "空闲中";
return crc.GetString("Res0070","空闲中");
}
public volatile JobInfo InStoreJobInfo;
......
DeviceLibrary/VirtuallyStore/VStoreCollection.cs
......@@ -92,7 +92,12 @@ namespace DeviceLibrary
MsgService.MSList["RT-" + vs.CID].clear();
vs.VTowerProcess();
}
finally {
catch (Exception ex)
{
VLog.Error("VTowerProcess error:"+ex);
}
finally
{
MsgService.MSList["RT-" + vs.CID].Show();
}
});
......
DeviceLibrary/theMachine/DeviceRunControl.cs
......@@ -33,10 +33,18 @@ namespace DeviceLibrary
LogUtil.info($"{DeviceListName}设备线程启动");
while (RobotManage.mainMachine.mstart)
{
Thread.Sleep(200);
Thread.Sleep(150);
ManualResetEvent.WaitAll(new ManualResetEvent[] { RobotManage.mainMachine.ResetEvent });
if (!RobotManage.mainMachine.canRunning || !RobotManage.mainMachine.mstart)
{
if (RobotManage.mainMachine.mstart) {
DevicesList.ForEach(x =>
{
x.FrontStopProcess();
});
}
continue;
}
DevicesList.ForEach(x =>
{
try
......@@ -47,6 +55,7 @@ namespace DeviceLibrary
{
MsgService.MSList[x.GroupName].add(ex.ToString(), MsgLevel.warning);
MsgService.MSList[x.GroupName].setlogones();
LogUtil.error($"{DeviceListName} 出错:"+ ex);
}
finally
{
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -33,7 +33,7 @@ namespace DeviceLibrary
public Dictionary<string, DeviceGroup> DeviceGroup { get=>RobotManage.DeviceGroup; }
public bool UserPause { get; set; } = false;
ServerCommunication ServerCM;
public ServerCommunication ServerCM;
public ManualResetEvent ResetEvent = new ManualResetEvent(true);
......@@ -93,11 +93,12 @@ namespace DeviceLibrary
canRunning = DeviceCheck();
if (canRunning)
{
ResetEvent.Set();
BtnProcess();
canRunning = SafeCheck();
}
Thread.Sleep(200);
Thread.Sleep(150);
ResetEvent.Set();
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
......@@ -155,6 +156,11 @@ namespace DeviceLibrary
}
public void Stop() {
mstart = false;
DeviceSnapshot();
SideMove.DeviceList.Values.ToList().ForEach(s => s.Stop());
TransplantMove.DeviceList.Values.ToList().ForEach(s => s.Stop());
TrayStop.DeviceList.Values.ToList().ForEach(s => s.Stop());
MI.DeviceList.Values.ToList().ForEach(s => s.Stop());
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
ResetEvent.Set();
Alarm(AlarmType.None);
......@@ -290,5 +296,34 @@ namespace DeviceLibrary
}
return ok;
}
public void DeviceSnapshot()
{
LogUtil.info("===开始记录系统当前情况.===");
MoveInfo.List.ForEach(m => {
LogUtil.info($"\t{m.Name}: {m.MoveStep}\t{m.MoveParam.ToStr()}");
});
AxisBean.List.ToList().ForEach(al => {
al.Value.ForEach(ax => {
LogUtil.info($"\t{ax.AxisName}: {ax.GetAclPosition()}");
});
});
VStoreCollection.VStoreList.Values.ToList().ForEach(vs => {
LogUtil.info($"\t{vs.TowerName}\t{vs.CID}: {vs.RTStoreStatus}\tCurrentTerminalReelID:{vs.CurrentTerminalReelID}\tInStoreJobInfo:{vs.InStoreJobInfo?.ToStr()}");
});
ConfigHelper.Config.Configlist.ToList().ForEach(cc => {
LogUtil.info($"\t{cc.Key}: {cc.Value}");
});
MsgService.MSList.ToList().ForEach(msl =>
{
msl.Value.get().ToList().ForEach(cc =>
{
LogUtil.info($"\t{cc.datetime}\t{cc.msgLevel}\t{cc.msgtxt} ");
});
});
LogUtil.info("===记录结束.===");
}
}
}
\ No newline at end of file
DeviceLibrary/theMachine/MoveStep.cs
......@@ -116,6 +116,7 @@ namespace DeviceLibrary
MI_08,
MI_09,
MI_10,
MI_ReelTacked,
MI_11,
MI_12,
MI_13,
......
DeviceLibrary/theMachine/RemoteService.cs
......@@ -74,10 +74,13 @@ namespace DeviceLibrary
case "IsFree":
isok = TrayManager.IsFree(remoteLoad);
break;
case "IsNeedProcessNG":
isok = TrayManager.IsNeedProcessNG(remoteLoad);
break;
case "OK":
case "FAIL":
lastresult[Seq] = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
LogUtil.info("Revice Command Callback:" + remoteLoad.GroupName + " - " + remoteLoad.Action);
LogUtil.info($"[{remoteLoad.GroupName}] Revice Command Callback:" + remoteLoad.Action);
return;
default:
break;
......@@ -100,7 +103,7 @@ namespace DeviceLibrary
allClients[deviceGroupName].Send(JsonConvert.SerializeObject(message));
}
catch (Exception ex){
LogUtil.info($"设备:{deviceGroupName} 消息发送出错:"+ex.ToString());
LogUtil.error($"设备:{deviceGroupName} 消息发送出错:"+ex.ToString());
}
}
......@@ -109,7 +112,7 @@ namespace DeviceLibrary
remoteLoad.GroupName = GroupName;
if (remoteLoad.RequestLoadInfo != null && string.IsNullOrEmpty(remoteLoad.RequestLoadInfo.DeviceGroupName))
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
LogUtil.info($"{GroupName},发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
LogUtil.info($"[{GroupName}],发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
lastresult[remoteLoad.Seq] = RemoteResult.None;
SendMessage(GroupName, remoteLoad);
return WaitResult(GroupName, remoteLoad.Seq,waittime);
......@@ -118,6 +121,8 @@ namespace DeviceLibrary
{
if (!lastresult.ContainsKey(seq))
return RemoteResult.Timeout;
try
{
while (lastresult[seq] == RemoteResult.None && waittime > 0)
{
System.Threading.Thread.Sleep(50);
......@@ -125,9 +130,10 @@ namespace DeviceLibrary
}
if (lastresult[seq] == RemoteResult.None)
{
LogUtil.info($"等待{GroupName}反馈超时 seq:"+seq);
LogUtil.info($"等待{GroupName}反馈超时 seq:" + seq);
lastresult[seq] = RemoteResult.Timeout;
}
var result = lastresult[seq];
lock (lastresult)
{
......@@ -135,6 +141,11 @@ namespace DeviceLibrary
}
return result;
}
catch(Exception ex) {
LogUtil.error($"等待{GroupName}反馈超时 seq:" + seq +" 出错:"+ex);
return RemoteResult.Timeout;
}
}
public static void SendResult(string deviceGroupName, bool result,long Seq)
{
RemoteLoad remoteLoad = new RemoteLoad();
......
DeviceLibrary/theMachine/RobotManage.cs
......@@ -190,6 +190,7 @@ namespace DeviceLibrary
LogUtil.info("用户暂停");
else
LogUtil.info("系统暂停: "+msg);
mainMachine.DeviceSnapshot();
Thread.Sleep(500);
}
else
......
DeviceLibrary/theMachine/TrayManager.cs
......@@ -37,10 +37,11 @@ namespace DeviceLibrary
Traylist[rfid].LastAddr = addr;
Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr];
Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr];
if (reelcheck == 0)
Traylist[rfid].HasLoadCheck--;
else if (reelcheck == 1)
Traylist[rfid].HasLoadCheck = 1;
if (Traylist[rfid].TrayType == TrayTypeE.MTP1 && (addr == 16 || addr == 20 || addr == 5 || addr == 3))
Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
else if (Traylist[rfid].TrayType == TrayTypeE.MTP2)
Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
trayInfo = Traylist[rfid];
//Statistics();
}
......@@ -56,6 +57,12 @@ namespace DeviceLibrary
lock (Traylist)
{
LogUtil.info($"SetTrayLoadInfo:{rfid},{requestLoadInfo?.LoadParam?.ToStr()},{requestLoadInfo?.DeviceGroupName}");
if (!Traylist.ContainsKey(rfid)) {
Traylist.Add(rfid, new TrayInfo());
Traylist[rfid].RFID = rfid;
Traylist[rfid].LastUpdateTime = DateTime.Now;
}
if (requestLoadInfo == null)
{
Traylist[rfid].SetToEmpty();
......@@ -131,13 +138,21 @@ namespace DeviceLibrary
TrayRequest[remoteLoad.GroupName] = remoteLoad.RequestLoadInfo;
}
}
public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload) {
public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload,TrayTypeE trayType) {
if (!hasload)
{
var addrs = TrayRequest.Values.Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutMaterialTaskCount > Setting_Init.Device_LS3_MTP2_OutTaskMaxCount && trayType== TrayTypeE.MTP2)
{
return true;
}
if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutReelTaskCount > Setting_Init.Device_LS3_MTP1_OutTaskMaxCount && trayType == TrayTypeE.MTP1)
{
return true;
}
var addrs = TrayRequest.Values.Where(x=>x.TrayType==trayType.ToString()).Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
foreach (var a in addrs)
{
var trayaddrs = TrayManager.Traylist.Values.Where(t => (DateTime.Now - t.LastUpdateTime).TotalSeconds < 30 && t.TrayType == a.TaryType && !hasload).Select(t => t.LastAddr).ToList();
var trayaddrs = TrayManager.Traylist.Values.Where(t => (DateTime.Now - t.LastUpdateTime).TotalSeconds < 60 && t.TrayType == a.TaryType && !hasload).Select(t => t.LastAddr).ToList();
if (trayaddrs.Count == 0)
return false;
......@@ -252,6 +267,17 @@ namespace DeviceLibrary
}
return false;
}
/// <summary>
/// 是否需要等待处理NG物料
/// </summary>
/// <param name="remoteLoad"></param>
/// <returns></returns>
public static bool IsNeedProcessNG(RemoteLoad remoteLoad)
{
var requestLoadInfo = remoteLoad.RequestLoadInfo;
var xx = TrayManager.Traylist.Values.ToList().Where(t => t.HasLoad && t.LoadType == requestLoadInfo.GetTrayType && (t.LastAddr >= 20 || t.LastAddr < 2));
return xx.Count() > 0;
}
/// <summary>
/// 空托盘数量
......
DeviceLibrary/theMachine/sub/IDevice.cs
......@@ -17,6 +17,7 @@ namespace DeviceLibrary
void TrayRelease();
bool IsFree();
bool FrontCheck(int curaddr);
void FrontStopProcess();
}
public enum DeviceStateE
......
DeviceLibrary/theMachine/sub/MI.cs
......@@ -32,9 +32,10 @@ namespace DeviceLibrary
MoveInfo RoboMoveInfo;
//CylinderManger Location;
public AxisBean Comp;
public AxisBean Rotate;
//public AxisBean Rotate;
URRobotControl Robot;
RobotHelper robotHelper;
BufferSlotsManger BufferSlotsManger;
string POS_Start = "MI1";
public MI(DeviceGroup device,out string msg) : base()
{
......@@ -56,7 +57,8 @@ namespace DeviceLibrary
}
robotHelper = new RobotHelper(Robot);
Comp = AxisBean.List[DeviceGroup.GroupName][0];
Rotate = AxisBean.List[DeviceGroup.GroupName][1];
//Rotate = AxisBean.List[DeviceGroup.GroupName][1];
BufferSlotsManger = new BufferSlotsManger(POS_Start);
}
......@@ -102,6 +104,14 @@ namespace DeviceLibrary
MsgService.MSList[GroupName + "-T"].Show();
}
}
public void Reset()
{
Robot.SendMoveCmd(1, Setting_Init.URRobot_CI_Speed_Rate);
Config.Set("RuntimeRobot_MoveStep", "Wait");
Config.Set("RuntimeRobot_Arm_MoveStep", "Wait");
}
private bool DeviceCheck()
{
......@@ -111,7 +121,7 @@ namespace DeviceLibrary
return false;
}
if (!robotHelper.RobotStatus) {
Msg.add(POS_Start + "机器人当前不可用", MsgLevel.alarm);
Msg.add(POS_Start + crc.GetString("Res0058","机器人当前不可用"), MsgLevel.alarm);
return false;
}
return true;
......@@ -161,15 +171,14 @@ namespace DeviceLibrary
break;
case MoveStep.MI_01:
MoveInfo.NextMoveStep(MoveStep.MI_02);
//Location.ToHigh(MoveInfo);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料");
break;
case MoveStep.MI_02:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_40)
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
{
MoveInfo.NextMoveStep(MoveStep.MI_03);
MoveInfo.NextMoveStep(MoveStep.MI_04);
if (FromPos.PositionNum.EndsWith("MT"))
{
RemoteLoad remoteLoad = new RemoteLoad();
......@@ -189,15 +198,19 @@ namespace DeviceLibrary
}
break;
case MoveStep.MI_03:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_44)
case MoveStep.MI_04:
if (CurrentVStore.RTStoreStatus == RTStoreStatus.Ready || CurrentVStore.RTStoreStatus == RTStoreStatus.LockToInStore)
{
MoveInfo.NextMoveStep(MoveStep.MI_04);
MoveInfo.NextMoveStep(MoveStep.MI_05);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.log("机器人开始放料");
CurrentVStore.RequestInStore(new JobInfo(RoboMoveInfo.MoveParam.WareCode, "", RoboMoveInfo.MoveParam.PlateW, RoboMoveInfo.MoveParam.PlateH));
}
else {
MoveInfo.log("机器人放料时发现舱门口有料");
}
break;
case MoveStep.MI_04:
case MoveStep.MI_05:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
MoveInfo.log("放入料仓口完成:"+ RoboMoveInfo.MoveParam.ToStr());
......@@ -206,7 +219,32 @@ namespace DeviceLibrary
break;
case MoveStep.MI_50:
CurrntOutReadyStore = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady);
var InStoreError = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
if (InStoreError != null)
{
var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrntOutReadyStore = InStoreError;
InStoreError.ServerCM.cancelPutInTask(InStoreError.CurrentTerminalReelID);
CurrentJobInfo = new JobInfo(InStoreError.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
InStoreError.InStoreJobInfo = null;
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
MoveInfo.log("检测到有料仓入库NG:" + MoveInfo.MoveParam.NgMsg);
}
else
{
MoveInfo.log("没有找到,在等待出库的料仓");
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return;
}
}
else {
var random = new Random(DateTime.Now.Millisecond);
CurrntOutReadyStore = VStoreCollection.VStoreList.Values.ToList().FindAll(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady).OrderBy(x => random.Next()).FirstOrDefault();
if (CurrntOutReadyStore != null)
{
if (string.IsNullOrEmpty(CurrntOutReadyStore.CurrentTerminalReelID))
......@@ -235,32 +273,6 @@ namespace DeviceLibrary
}
else
{
var InStoreError = VStoreCollection.VStoreList.Values.ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError ||vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut);
if (InStoreError != null)
{
var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrntOutReadyStore = InStoreError;
InStoreError.ServerCM.cancelPutInTask(InStoreError.CurrentTerminalReelID);
CurrentJobInfo = new JobInfo(InStoreError.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
InStoreError.InStoreJobInfo = null;
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.NgMsg = InStoreError.CID + "入库异常";
MoveInfo.log("检测到有料仓入库NG:" + InStoreError.CID);
}
else
{
MoveInfo.log("没有找到,在等待出库的料仓");
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return; }
}
else
{
MoveInfo.log("没有找到,在等待出库的料仓");
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
......@@ -285,10 +297,10 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.MI_52);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取放料");
MoveInfo.log("机器人开始取料");
break;
case MoveStep.MI_52:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_40)
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
{
MoveInfo.NextMoveStep(MoveStep.MI_53);
lock (VStoreCollection.OutStoreReelInfo)
......@@ -297,11 +309,26 @@ namespace DeviceLibrary
//CurrntOutReadyStore.CurrentTerminalReelID = "";
}
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
MoveInfo.log("机器人已取到料");
if (CurrntOutReadyStore.TerminalError) {
MoveInfo.log($"当前出库料仓[{CurrntOutReadyStore.CID}]存在状态错误:" + CurrntOutReadyStore.RTStoreStatus);
CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
}
if (MoveInfo.MoveParam.IsNg && CurrntOutReadyStore.TerminalError && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.log("机器人抓取NG料后发现夹爪上没有料,流程结束处理");
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.NextMoveStep(MoveStep.Wait);
}
}
break;
case MoveStep.MI_53:
MoveInfo.NextMoveStep(MoveStep.MI_54);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.log("机器人开始放料");
break;
case MoveStep.MI_54:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_44)
{
MoveInfo.log("机器人完成放料");
......@@ -315,10 +342,10 @@ namespace DeviceLibrary
TrayManager.TrayRelease(remoteLoad); //这条会自动放行托盘并且写入托盘目的地
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
MoveInfo.NextMoveStep(MoveStep.MI_54);
MoveInfo.NextMoveStep(MoveStep.MI_55);
}
break;
case MoveStep.MI_54:
case MoveStep.MI_55:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
MoveInfo.log("机器人任务结束");
......@@ -388,11 +415,11 @@ namespace DeviceLibrary
RoboMoveInfo.log("机器人到P1");
break;
case MoveStep.MI_08:
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
RoboMoveInfo.NextMoveStep(MoveStep.MI_ReelTacked);
RoboMoveInfo.log("机器人取料完成");
break;
//放料到缓存位置
//机器人放料
case MoveStep.MI_40:
RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P2);
......@@ -646,7 +673,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
else {
Msg.add("机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
Msg.add(crc.GetString("Res0059","机器人状态异常:") + Robot.CurDashboardReponse, MsgLevel.alarm);
}
break;
case MoveStep.H12_HomeReset:
......@@ -686,9 +713,13 @@ namespace DeviceLibrary
if (reelParam == null)
{
//空托盘,判断有没有出库任务
var sc = VStoreCollection.VStoreList.Values.ToList().Find(vs=>vs.RTStoreStatus==RTStoreStatus.OutStoreReady || vs.RTStoreStatus == RTStoreStatus.InStoreError);
var sc = VStoreCollection.VStoreList.Values.ToList().Find(vs=>vs.RTStoreStatus==RTStoreStatus.OutStoreReady || vs.RTStoreStatus == RTStoreStatus.InStoreError|| vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
return (sc != null);
}
if (string.IsNullOrEmpty(reelParam.SubCID)) {
MoveInfo.log("SubCID为空");
return false;
}
if (!VStoreCollection.VStoreList.ContainsKey(reelParam.SubCID)) {
MoveInfo.log("RT料仓CID不存在:"+ reelParam.SubCID);
......@@ -736,5 +767,10 @@ namespace DeviceLibrary
return RobotManage.CIPostion[pos];
}
public void FrontStopProcess()
{
//throw new NotImplementedException();
}
}
}
\ No newline at end of file
DeviceLibrary/theMachine/sub/SideMove.cs
......@@ -41,8 +41,8 @@ namespace DeviceLibrary
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName);
LSAMoveInfo = new MoveInfo(GroupName + "_A");
LSBMoveInfo = new MoveInfo(GroupName + "_B");
LSAMoveInfo = new MoveInfo(GroupName + "_1");
LSBMoveInfo = new MoveInfo(GroupName + "_2");
Location_A = new CylinderManger($"A侧顶升", GroupName, IO_Type.Ls_A_Location_Up, IO_Type.Ls_A_Location_Down);
Location_B = new CylinderManger($"B侧顶升", GroupName, IO_Type.Ls_B_Location_Up, IO_Type.Ls_B_Location_Down);
......@@ -86,6 +86,8 @@ namespace DeviceLibrary
DeviceState = DeviceStateE.Stop;
Line.LineStop("n");
LSAMoveInfo.log("停止运行");
Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.LOW); IOMove(IO_Type.Ls_B_Front_Stop, IO_VALUE.LOW); Line.LineStop("n"); });
}
public void Process()
{
......@@ -123,16 +125,16 @@ namespace DeviceLibrary
case MoveStep.SideMove_01:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
bool Forcetry = false;
if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 10)
{
Forcetry = true;
LSAMoveInfo.log("上次托盘进入失败本次重试");
}
if (IOValue(IO_Type.Ls_B_Tray_Check).Equals(IO_VALUE.HIGH))
{
break;
}
else
//if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 10)
//{
// Forcetry = true;
// LSAMoveInfo.log("上次托盘进入失败本次重试");
//}
//if (IOValue(IO_Type.Ls_B_Tray_Check).Equals(IO_VALUE.HIGH))
//{
// break;
//}
//else
if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH))
{
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04);
......@@ -145,8 +147,7 @@ namespace DeviceLibrary
Location_A.ToLow(LSAMoveInfo);
//Location_B.ToLow(LSAMoveInfo);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
//LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else
{
......@@ -164,7 +165,7 @@ namespace DeviceLibrary
{
IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.LOW);
}
if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) {
if (IOMonitor.IODebound(IO_Type.Ls_A_Tray_Check,GroupName,IO_VALUE.HIGH)) {
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
LastGoInFail = false;
......@@ -183,7 +184,7 @@ namespace DeviceLibrary
case MoveStep.SideMove_04:
if (!FwdFree(DeviceGroup.addr_1))
return;
if (LSBMoveInfo.MoveStep==MoveStep.Wait)
if (LSBMoveInfo.MoveStep==MoveStep.Wait && IOMonitor.IODebound(IO_Type.Ls_B_Tray_Check,GroupName,IO_VALUE.LOW,1000))
{
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH, 500);
......@@ -204,6 +205,7 @@ namespace DeviceLibrary
case MoveStep.SideMove_07:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_08);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.HIGH));
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_A_Tray_Check, IO_VALUE.LOW));
break;
case MoveStep.SideMove_08:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
......@@ -218,6 +220,7 @@ namespace DeviceLibrary
break;
case MoveStep.SideMove_10:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
break;
}
}
......@@ -282,16 +285,17 @@ namespace DeviceLibrary
Minfo.NextMoveStep(MoveStep.SideMove_01);
bool Forcetry = false;
if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 5)
{
Forcetry = true;
LSAMoveInfo.log("上次托盘进入失败本次重试");
}
//if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 5)
//{
// Forcetry = true;
// LSAMoveInfo.log("上次托盘进入失败本次重试");
//}
if (lsb.MoveStep >= MoveStep.SideMove_10 && lsb.MoveStep < MoveStep.SideMove_50) {
Msg.add(sideb+crc.GetString("Res0015","侧穿越中"), MsgLevel.info);
}else if (IOValue(Ls_A_Tray_Check).Equals(IO_VALUE.HIGH))
}
else if (IOValue(Ls_A_Tray_Check).Equals(IO_VALUE.HIGH))
{
Minfo.log("中间检测到托盘");
Minfo.NextMoveStep(MoveStep.SideMove_06);
......@@ -301,6 +305,7 @@ namespace DeviceLibrary
{
Minfo.NextMoveStep(MoveStep.SideMove_02);
Location_a.ToLow(Minfo);
if (LS_Type == LS_TypeE.OneWay && Minfo == LSAMoveInfo)
IOMove(Ls_A_Stop, IO_VALUE.LOW);
}
else
......@@ -313,6 +318,7 @@ namespace DeviceLibrary
Minfo.log($"{Ls_A_Front_Stop}下降,{Ls_A_BufStop_Rwd}回退");
//IOMove(Ls_A_Front_Stop, IO_VALUE.HIGH, Ls_A_Front_Check, IO_VALUE.LOW, StopDelayMS);
IOMove(Ls_A_Front_Stop, IO_VALUE.HIGH);
if (LS_Type == LS_TypeE.OneWay && Minfo == LSAMoveInfo)
IOMove(Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
break;
case MoveStep.SideMove_03:
......@@ -355,7 +361,7 @@ namespace DeviceLibrary
var rfid = Common.RfidFilter(data);
TrayManager.Process(Minfo,rfid, addr,-1, out TrayInfo trayInfo);
if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad))
if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad, trayInfo.TrayType))
Minfo.NextMoveStep(MoveStep.SideMove_10);
else
Minfo.NextMoveStep(MoveStep.SideMove_06);
......@@ -393,7 +399,7 @@ namespace DeviceLibrary
IOMove(Ls_A_Stop, IO_VALUE.LOW);
Minfo.NextMoveStep(MoveStep.SideMove_08);
}
else if (Minfo.IsTimeOut(5)) {
else if (Minfo.IsTimeOut(10)) {
Minfo.NextMoveStep(MoveStep.SideMove_06);
}
break;
......@@ -412,28 +418,35 @@ namespace DeviceLibrary
else if (lsb.MoveStep >= MoveStep.SideMove_10)
{
Minfo.NextMoveStep(MoveStep.SideMove_06);
Minfo.log($"{sideb}侧也在等待横移,本侧直接穿过");
Minfo.log(string.Format("{0}侧也在等待横移,本侧直接穿过", sideb));
}
else if (LSBMoveInfo.MoveStep == MoveStep.SideMove_10 && Minfo == LSAMoveInfo)
{
Minfo.NextMoveStep(MoveStep.SideMove_11);
}
else{
Msg.add($"等待{sideb}侧空闲", MsgLevel.info);
Msg.add(string.Format(crc.GetString("Res0060","等待{0}侧空闲"), sideb), MsgLevel.info);
}
break;
case MoveStep.SideMove_11:
if (IOMonitor.IODebound(Ls_B_Tray_Check,GroupName, IO_VALUE.LOW))
{
Minfo.NextMoveStep(MoveStep.SideMove_12);
Location_a.ToHigh(Minfo);
Location_b.ToHigh(Minfo);
IOMove(Ls_B_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
//Minfo.log($"2侧顶升升起");
Minfo.log($"{sideb}侧已无托盘");
}
else
{
Msg.add(string.Format(crc.GetString("Res0061","等待{0}侧托盘离开"), sideb), MsgLevel.info);
}
break;
case MoveStep.SideMove_12:
Minfo.NextMoveStep(MoveStep.SideMove_13);
Line.LineRun("n", Minfo==LSAMoveInfo? false:true, 999);
Minfo.WaitList.Add(WaitResultInfo.WaitIO(Ls_B_Tray_Check, IO_VALUE.HIGH));
Minfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
//Minfo.log($"横移线体运行");
break;
case MoveStep.SideMove_13:
......@@ -441,6 +454,7 @@ namespace DeviceLibrary
Location_a.ToLow(Minfo);
Minfo.WaitList.Add(WaitResultInfo.WaitTime(500));
lsb.NextMoveStep(MoveStep.SideMove_50);
lsb.WaitList.Add(WaitResultInfo.WaitTime(1000));
Minfo.log($"横移本侧结束");
break;
///本侧接管横移后通过
......@@ -594,9 +608,24 @@ namespace DeviceLibrary
{
if (DeviceGroup.addr_1 == curaddr)
return IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.LOW);
else
else if (LS_Type != LS_TypeE.NoRfid)
return IOValue(IO_Type.Ls_B_Front_Check).Equals(IO_VALUE.LOW);
else
return true;
}
public void FrontStopProcess()
{
if (IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.LOW);
}
if (LS_Type != LS_TypeE.NoRfid && IOValue(IO_Type.Ls_B_Front_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.Ls_B_Front_Stop, IO_VALUE.LOW);
}
}
enum LS_TypeE {
NoRfid,
OneWay,
......
DeviceLibrary/theMachine/sub/TransplantMove.cs
......@@ -69,6 +69,8 @@ namespace DeviceLibrary
{
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW); });
}
public void Process()
{
......@@ -147,7 +149,7 @@ namespace DeviceLibrary
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.HIGH))
{
RemoteLoad remoteLoad1 = new RemoteLoad();
remoteLoad1.Seq = DateTime.Now.Ticks;
remoteLoad1.Seq = Snowflake.Instance().GetId();
remoteLoad1.Action = "DoorLock";
remoteLoad1.RequestLoadInfo = new RequestLoadInfo();
remoteLoad1.RequestLoadInfo.IsEmpty = false;
......@@ -188,7 +190,7 @@ namespace DeviceLibrary
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
{
RemoteLoad remoteLoad2 = new RemoteLoad();
remoteLoad2.Seq = DateTime.Now.Ticks;
remoteLoad2.Seq = Snowflake.Instance().GetId();
remoteLoad2.Action = "DoorLock";
remoteLoad2.RequestLoadInfo = new RequestLoadInfo();
remoteLoad2.RequestLoadInfo.IsEmpty = true;
......@@ -248,7 +250,7 @@ namespace DeviceLibrary
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
MoveInfo.NextMoveStep(MoveStep.Wait);
if (GroupName == "AMH-SBSH2")
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
MoveInfo.log("托盘已放行");
} else if (MoveInfo.IsTimeOut(10)) {
MoveInfo.log("托盘放行失败,重新放行");
......@@ -293,7 +295,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TransplantMove_14);
MoveInfo.log("检测到物料已离开");
}
else {
else if (MoveInfo.IsTimeOut(1)) {
MetrialGetRetry++;
if (MetrialGetRetry > 3) {
Msg.add($"{MoveInfo.Name}取料失败", MsgLevel.alarm);
......@@ -368,7 +370,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TransplantMove_24);
var remoteLoad = new RemoteLoad();
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "DoorRelease";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.IsEmpty = true;//true出库 false入库
......@@ -427,7 +429,7 @@ namespace DeviceLibrary
IOMove(IO_Type.AMH_Sucker, IO_VALUE.LOW);
IOMove(IO_Type.AMH_Sucker_Release, IO_VALUE.HIGH,2000);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", false);
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, GroupName);
//TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, GroupName);
break;
case MoveStep.TransplantMove_27:
......@@ -502,7 +504,7 @@ namespace DeviceLibrary
case MoveStep.TransplantMove_06:
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "DoorRelease";
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.IsEmpty=false;
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo2.MoveParam.clone();
......@@ -607,10 +609,12 @@ namespace DeviceLibrary
public bool IsFree()
{
if (MoveInfo2.MoveStep != MoveStep.Wait) {
if (MoveInfo2.MoveStep != MoveStep.Wait || MoveInfo.MoveStep > MoveStep.TransplantMove_26) {
return false;
}
if (MoveInfo.MoveStep >= MoveStep.TransplantMove_10 && MoveInfo.MoveStep <= MoveStep.TransplantMove_20)
return false;
return true;
}
......@@ -624,5 +628,13 @@ namespace DeviceLibrary
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始重置");
}
public void FrontStopProcess()
{
if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
}
}
}
}
\ No newline at end of file
DeviceLibrary/theMachine/sub/TrayStop.cs
......@@ -72,6 +72,8 @@ namespace DeviceLibrary
{
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW); });
}
public void Process()
{
......@@ -211,7 +213,7 @@ namespace DeviceLibrary
//空托盘
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
......@@ -229,7 +231,7 @@ namespace DeviceLibrary
//有物料
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
......@@ -368,7 +370,7 @@ namespace DeviceLibrary
{
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);
Msg.add(crc.GetString("Res0062","托盘放料后没有检测到物料"), MsgLevel.alarm);
return;
}
}
......@@ -383,7 +385,7 @@ namespace DeviceLibrary
if (GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2")
{
var remoteLoad = new RemoteLoad();
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Seq = Snowflake.Instance().GetId();
remoteLoad.Action = "IsSafe";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
var result = RemoteService.SendAndWait(GroupName, remoteLoad,6000);
......@@ -421,7 +423,7 @@ namespace DeviceLibrary
/// 释放托盘
/// </summary>
public void TrayRelease() {
MoveInfo.log("释放托盘");
MoveInfo.log("释放托盘:" + CurrrentRFID);
MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
if (TrayManager.Traylist.ContainsKey(CurrrentRFID) && TrayManager.Traylist[CurrrentRFID].HasLoad)
{
......@@ -453,7 +455,7 @@ namespace DeviceLibrary
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);
Msg.add(crc.GetString("Res0157","等待") + d + crc.GetString("Res0063","完成复位"), MsgLevel.warning);
}
else if (GroupName == d && MI.DeviceList[d].DeviceState == DeviceStateE.Run
&& MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
......@@ -497,5 +499,13 @@ namespace DeviceLibrary
{
return IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW);
}
public void FrontStopProcess()
{
if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
}
}
}
}
\ No newline at end of file
DeviceLibrary/userControl/AxisMoveControl.Designer.cs
......@@ -38,9 +38,7 @@
this.lblAxEncAcc = new System.Windows.Forms.Label();
this.lblINP = new System.Windows.Forms.Label();
this.lblBUSY = new System.Windows.Forms.Label();
this.lblNEL = new System.Windows.Forms.Label();
this.lblORG = new System.Windows.Forms.Label();
this.lblPEL = new System.Windows.Forms.Label();
this.lblSvOn = new System.Windows.Forms.Label();
this.lblEMG = new System.Windows.Forms.Label();
this.lblWARN = new System.Windows.Forms.Label();
......@@ -94,9 +92,7 @@
this.txtAPosition = new System.Windows.Forms.TextBox();
this.label46 = new System.Windows.Forms.Label();
this.label48 = new System.Windows.Forms.Label();
this.label45 = new System.Windows.Forms.Label();
this.txtAxisValue = new System.Windows.Forms.TextBox();
this.txtAxisDeviceName = new System.Windows.Forms.TextBox();
this.lblServerOn = new System.Windows.Forms.Label();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.groupAxis.SuspendLayout();
......@@ -132,9 +128,7 @@
this.groupBox2.Controls.Add(this.lblAxEncAcc);
this.groupBox2.Controls.Add(this.lblINP);
this.groupBox2.Controls.Add(this.lblBUSY);
this.groupBox2.Controls.Add(this.lblNEL);
this.groupBox2.Controls.Add(this.lblORG);
this.groupBox2.Controls.Add(this.lblPEL);
this.groupBox2.Controls.Add(this.lblSvOn);
this.groupBox2.Controls.Add(this.lblEMG);
this.groupBox2.Controls.Add(this.lblWARN);
......@@ -169,7 +163,6 @@
this.lblAlarmcode.Tag = "not";
this.lblAlarmcode.Text = "ErrCode:160";
this.lblAlarmcode.Visible = false;
this.lblAlarmcode.Click += new System.EventHandler(this.lblAlarmcode_Click);
//
// label4
//
......@@ -218,9 +211,9 @@
// lblINP
//
this.lblINP.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblINP.Location = new System.Drawing.Point(414, 24);
this.lblINP.Location = new System.Drawing.Point(388, 24);
this.lblINP.Name = "lblINP";
this.lblINP.Size = new System.Drawing.Size(56, 30);
this.lblINP.Size = new System.Drawing.Size(70, 30);
this.lblINP.TabIndex = 10;
this.lblINP.Text = "到位";
this.lblINP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -228,49 +221,29 @@
// lblBUSY
//
this.lblBUSY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblBUSY.Location = new System.Drawing.Point(356, 24);
this.lblBUSY.Location = new System.Drawing.Point(312, 24);
this.lblBUSY.Name = "lblBUSY";
this.lblBUSY.Size = new System.Drawing.Size(56, 30);
this.lblBUSY.Size = new System.Drawing.Size(70, 30);
this.lblBUSY.TabIndex = 9;
this.lblBUSY.Text = "忙碌";
this.lblBUSY.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblNEL
//
this.lblNEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblNEL.Location = new System.Drawing.Point(298, 24);
this.lblNEL.Name = "lblNEL";
this.lblNEL.Size = new System.Drawing.Size(56, 30);
this.lblNEL.TabIndex = 8;
this.lblNEL.Text = "负极限";
this.lblNEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblORG
//
this.lblORG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblORG.Location = new System.Drawing.Point(240, 24);
this.lblORG.Location = new System.Drawing.Point(236, 24);
this.lblORG.Name = "lblORG";
this.lblORG.Size = new System.Drawing.Size(56, 30);
this.lblORG.Size = new System.Drawing.Size(70, 30);
this.lblORG.TabIndex = 7;
this.lblORG.Text = "原点";
this.lblORG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblPEL
//
this.lblPEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblPEL.Location = new System.Drawing.Point(182, 24);
this.lblPEL.Name = "lblPEL";
this.lblPEL.Size = new System.Drawing.Size(56, 30);
this.lblPEL.TabIndex = 6;
this.lblPEL.Text = "正极限";
this.lblPEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblSvOn
//
this.lblSvOn.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblSvOn.Location = new System.Drawing.Point(8, 24);
this.lblSvOn.Name = "lblSvOn";
this.lblSvOn.Size = new System.Drawing.Size(56, 30);
this.lblSvOn.Size = new System.Drawing.Size(70, 30);
this.lblSvOn.TabIndex = 5;
this.lblSvOn.Text = "伺服";
this.lblSvOn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -278,9 +251,9 @@
// lblEMG
//
this.lblEMG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblEMG.Location = new System.Drawing.Point(124, 24);
this.lblEMG.Location = new System.Drawing.Point(160, 24);
this.lblEMG.Name = "lblEMG";
this.lblEMG.Size = new System.Drawing.Size(56, 30);
this.lblEMG.Size = new System.Drawing.Size(70, 30);
this.lblEMG.TabIndex = 4;
this.lblEMG.Text = "急停";
this.lblEMG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -288,9 +261,9 @@
// lblWARN
//
this.lblWARN.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblWARN.Location = new System.Drawing.Point(472, 24);
this.lblWARN.Location = new System.Drawing.Point(464, 24);
this.lblWARN.Name = "lblWARN";
this.lblWARN.Size = new System.Drawing.Size(56, 30);
this.lblWARN.Size = new System.Drawing.Size(70, 30);
this.lblWARN.TabIndex = 3;
this.lblWARN.Text = "警告";
this.lblWARN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -298,9 +271,9 @@
// lblALM
//
this.lblALM.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblALM.Location = new System.Drawing.Point(66, 24);
this.lblALM.Location = new System.Drawing.Point(84, 24);
this.lblALM.Name = "lblALM";
this.lblALM.Size = new System.Drawing.Size(56, 30);
this.lblALM.Size = new System.Drawing.Size(70, 30);
this.lblALM.TabIndex = 2;
this.lblALM.Text = "报警";
this.lblALM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -592,9 +565,7 @@
this.panel1.Controls.Add(this.txtAPosition);
this.panel1.Controls.Add(this.label46);
this.panel1.Controls.Add(this.label48);
this.panel1.Controls.Add(this.label45);
this.panel1.Controls.Add(this.txtAxisValue);
this.panel1.Controls.Add(this.txtAxisDeviceName);
this.panel1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.panel1.Location = new System.Drawing.Point(7, 17);
this.panel1.Name = "panel1";
......@@ -875,7 +846,7 @@
//
this.label46.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label46.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label46.Location = new System.Drawing.Point(6, 93);
this.label46.Location = new System.Drawing.Point(4, 54);
this.label46.Name = "label46";
this.label46.Size = new System.Drawing.Size(71, 17);
this.label46.TabIndex = 239;
......@@ -896,21 +867,10 @@
this.label48.Text = "目标位置:";
this.label48.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label45
//
this.label45.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label45.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label45.Location = new System.Drawing.Point(8, 53);
this.label45.Name = "label45";
this.label45.Size = new System.Drawing.Size(69, 20);
this.label45.TabIndex = 240;
this.label45.Text = "端口号:";
this.label45.TextAlign = System.Drawing.ContentAlignment.TopRight;
//
// txtAxisValue
//
this.txtAxisValue.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAxisValue.Location = new System.Drawing.Point(83, 87);
this.txtAxisValue.Location = new System.Drawing.Point(81, 48);
this.txtAxisValue.MaxLength = 10;
this.txtAxisValue.Name = "txtAxisValue";
this.txtAxisValue.ReadOnly = true;
......@@ -919,18 +879,6 @@
this.txtAxisValue.Tag = "not";
this.txtAxisValue.Text = "0";
//
// txtAxisDeviceName
//
this.txtAxisDeviceName.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAxisDeviceName.Location = new System.Drawing.Point(83, 48);
this.txtAxisDeviceName.MaxLength = 10;
this.txtAxisDeviceName.Name = "txtAxisDeviceName";
this.txtAxisDeviceName.ReadOnly = true;
this.txtAxisDeviceName.Size = new System.Drawing.Size(50, 26);
this.txtAxisDeviceName.TabIndex = 241;
this.txtAxisDeviceName.Tag = "not";
this.txtAxisDeviceName.Text = "0";
//
// lblServerOn
//
this.lblServerOn.AutoSize = true;
......@@ -995,8 +943,6 @@
internal System.Windows.Forms.Label label48;
internal System.Windows.Forms.Button btnAxisStop;
private System.Windows.Forms.TextBox txtAxisValue;
private System.Windows.Forms.TextBox txtAxisDeviceName;
private System.Windows.Forms.Label label45;
private System.Windows.Forms.Label label46;
private System.Windows.Forms.Label label49;
private System.Windows.Forms.Label label24;
......@@ -1019,9 +965,7 @@
private System.Windows.Forms.Label lblAxEncAcc;
private System.Windows.Forms.Label lblINP;
private System.Windows.Forms.Label lblBUSY;
private System.Windows.Forms.Label lblNEL;
private System.Windows.Forms.Label lblORG;
private System.Windows.Forms.Label lblPEL;
private System.Windows.Forms.Label lblSvOn;
private System.Windows.Forms.Label lblEMG;
private System.Windows.Forms.Label lblWARN;
......
DeviceLibrary/userControl/AxisMoveControl.cs
......@@ -26,9 +26,6 @@ namespace DeviceLibrary
public AxisMoveControl()
{
InitializeComponent();
if (DesignMode)
return;
this.Tag = "not";
crc.OpenResourceLog = true;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
crc.CurrLanguage = Setting_Init.Device_Default_Language;
......@@ -56,7 +53,7 @@ namespace DeviceLibrary
currentAxis = axisList[0];
PortName = axisList[0].Config.DeviceName;
SlvAddr = axisList[0].Config.GetAxisValue();
txtAxisDeviceName.Text = PortName;
//txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
}
btnAddMove.BackColor = Color.White;
......@@ -227,7 +224,7 @@ namespace DeviceLibrary
axis = axisList[cmbAxis.SelectedIndex].Config;
PortName = axis.DeviceName;
SlvAddr = axis.GetAxisValue();
txtAxisDeviceName.Text = PortName;
//txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
Color color = Color.Black;
......@@ -348,15 +345,15 @@ namespace DeviceLibrary
private void timer1_Tick(object sender, EventArgs e)
{
//LogUtil.OutputDebugString($"timer1_Tick:{this.Visible}");
if (this.Visible && !DesignMode)
LogUtil.OutputDebugString($"timer1_Tick:{this.Visible}");
if (this.Visible)
{
ReadAxisStatus();
}
}
private void ReadAxisStatus()
{
groupBox2.Text = cmbAxis.Text + "-"+crc.GetString("Res0189","状态监控");
groupBox2.Text = cmbAxis.Text + "-" + crc.GetString("AxisMoveControl_groupAxis_groupBox2_Text","状态监控");
//【1】更新轴号
short axisNo = SlvAddr;
if (axisNo < 0)
......@@ -396,9 +393,9 @@ namespace DeviceLibrary
{
return;
}
ShowlbSts(lblPEL, sts.PEL); //正限位信号
//ShowlbSts(lblPEL, sts.PEL); //正限位信号
ShowlbSts(lblORG, sts.ORG); //原点信号
ShowlbSts(lblNEL, sts.NEL); //负限位信号
//ShowlbSts(lblNEL, sts.NEL); //负限位信号
//label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]); //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
......@@ -447,12 +444,5 @@ namespace DeviceLibrary
lbl.BackColor = this.BackColor;
}
}
private void lblAlarmcode_Click(object sender, EventArgs e)
{
var s = string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(SlvAddr));
MessageBox.Show(s);
LogUtil.error(s);
}
}
}
\ No newline at end of file
RemoteSheardObject/Class1.cs
......@@ -206,7 +206,36 @@ public class ReelParam
return $":[{PosID}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
}
}
bool islog = false;
public void logresult()
{
if (!islog)
{
islog = true;
var datetime = DateTime.Now;
string countfile = $"\\Logs\\NGLOG_{datetime:yyyyMMdd}.csv";
Directory.CreateDirectory("\\Logs\\");
if (!File.Exists(countfile))
{
StreamWriter sw1 = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
sw1.WriteLine($"WareCode,SN,PN,Date,NgMsg");
sw1.Close();
sw1.Dispose();
}
try
{
var sw = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
//var sw = File.Open(countfile, FileMode.Append, FileAccess.Write);
// string s = $"\r\n{ReeID},{PN},{PlateW}x{PlateH},{ReelDest},{NgMsg},{QTY},{WareCode}";
//var b = Encoding.GetEncoding("gb2312").GetBytes(s);
//sw.Write(b, 0, b.Length);
sw.WriteLine($"{WareCode},{RI},{PN},{datetime:yyyy/MM/dd HH:mm:ss},{NgMsg}");
sw.Close();
sw.Dispose();
}
catch { }
}
}
}
public enum DoorStatusE {
Busy,
......
RemoteSheardObject/RemoteClient.cs
......@@ -46,7 +46,7 @@ public class RemoteClient
{
if (LastState != webSocket.State)
{
LOGGER.Info($"Remote:{GroupName} 掉线了");
LOGGER.Error($"Remote:{GroupName} 掉线了");
}
LastState = webSocket.State;
}
......@@ -68,7 +68,7 @@ public class RemoteClient
else if (webSocket.State == WebSocket4Net.WebSocketState.Connecting) {
errstatuscounr++;
if (errstatuscounr > 5) {
LOGGER.Info($"Remote:{GroupName} Connecting 超时");
LOGGER.Error($"Remote:{GroupName} Connecting 超时");
try { webSocket.Close(); } catch { }
webSocket.Open();
errstatuscounr = 0;
......@@ -87,7 +87,7 @@ public class RemoteClient
}
catch
{
LOGGER.Info("Cant Deserialize remote command:" + e.Message);
LOGGER.Error("Cant Deserialize remote command:" + e.Message);
return;
}
switch (remoteLoad.Action)
......@@ -124,7 +124,7 @@ public class RemoteClient
}
if (lastresult == RemoteResult.None)
{
LOGGER.Info("等待远程反馈超时");
LOGGER.Error("等待远程反馈超时");
timeoutCount++;
lastresult = RemoteResult.Timeout;
if (timeoutCount > 3)
......
RemoteSheardObject/RemoteSheardObject.csproj
......@@ -94,6 +94,7 @@
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="RemoteClient.cs" />
<Compile Include="SLog.cs" />
<Compile Include="Snowflake.cs" />
<Compile Include="StoreCID.cs" />
<Compile Include="TheLine.cs" />
</ItemGroup>
......
RemoteSheardObject/Snowflake.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace RemoteSheardObject
{
/// <summary>
/// 动态生产有规律的ID Snowflake算法是Twitter的工程师为实现递增而不重复的ID实现的
/// http://blog.csdn.net/w200221626/article/details/52064976
/// C# 实现 Snowflake算法
/// </summary>
public class Snowflake
{
private static long machineId;//机器ID
private static long datacenterId = 0L;//数据ID
private static long sequence = 0L;//计数从零开始
private static long twepoch = 687888001020L; //唯一时间随机量
private static long machineIdBits = 5L; //机器码字节数
private static long datacenterIdBits = 5L;//数据字节数
public static long maxMachineId = -1L ^ -1L << (int)machineIdBits; //最大机器ID
private static long maxDatacenterId = -1L ^ (-1L << (int)datacenterIdBits);//最大数据ID
private static long sequenceBits = 12L; //计数器字节数，12个字节用来保存计数码
private static long machineIdShift = sequenceBits; //机器码数据左移位数，就是后面计数器占用的位数
private static long datacenterIdShift = sequenceBits + machineIdBits;
private static long timestampLeftShift = sequenceBits + machineIdBits + datacenterIdBits; //时间戳左移动位数就是机器码+计数器总字节数+数据字节数
public static long sequenceMask = -1L ^ -1L << (int)sequenceBits; //一微秒内可以产生计数，如果达到该值则等到下一微妙在进行生成
private static long lastTimestamp = -1L;//最后时间戳
private static object syncRoot = new object();//加锁对象
static Snowflake snowflake;
public static Snowflake Instance()
{
if (snowflake == null)
snowflake = new Snowflake();
return snowflake;
}
public Snowflake()
{
Snowflakes(0L, -1);
}
public Snowflake(long machineId)
{
Snowflakes(machineId, -1);
}
public Snowflake(long machineId, long datacenterId)
{
Snowflakes(machineId, datacenterId);
}
private void Snowflakes(long machineId, long datacenterId)
{
if (machineId >= 0)
{
if (machineId > maxMachineId)
{
throw new Exception("机器码ID非法");
}
Snowflake.machineId = machineId;
}
if (datacenterId >= 0)
{
if (datacenterId > maxDatacenterId)
{
throw new Exception("数据中心ID非法");
}
Snowflake.datacenterId = datacenterId;
}
}
/// <summary>
/// 生成当前时间戳
/// </summary>
/// <returns>毫秒</returns>
private static long GetTimestamp()
{
//让他2000年开始
return (long)(DateTime.UtcNow - new DateTime(2000, 1, 1, 0, 0, 0, DateTimeKind.Utc)).TotalMilliseconds;
}
/// <summary>
/// 获取下一微秒时间戳
/// </summary>
/// <param name="lastTimestamp"></param>
/// <returns></returns>
private static long GetNextTimestamp(long lastTimestamp)
{
long timestamp = GetTimestamp();
int count = 0;
while (timestamp <= lastTimestamp)//这里获取新的时间,可能会有错,这算法与comb一样对机器时间的要求很严格
{
count++;
if (count > 10)
throw new Exception("机器的时间可能不对");
Thread.Sleep(1);
timestamp = GetTimestamp();
}
return timestamp;
}
/// <summary>
/// 获取长整形的ID
/// </summary>
/// <returns></returns>
public long GetId()
{
lock (syncRoot)
{
long timestamp = GetTimestamp();
if (Snowflake.lastTimestamp == timestamp)
{ //同一微妙中生成ID
sequence = (sequence + 1) & sequenceMask; //用&运算计算该微秒内产生的计数是否已经到达上限
if (sequence == 0)
{
//一微妙内产生的ID计数已达上限，等待下一微妙
timestamp = GetNextTimestamp(Snowflake.lastTimestamp);
}
}
else
{
//不同微秒生成ID
sequence = 0L;
}
if (timestamp < lastTimestamp)
{
throw new Exception("时间戳比上一次生成ID时时间戳还小，故异常");
}
Snowflake.lastTimestamp = timestamp; //把当前时间戳保存为最后生成ID的时间戳
long Id = ((timestamp - twepoch) << (int)timestampLeftShift)
| (datacenterId << (int)datacenterIdShift)
| (machineId << (int)machineIdShift)
| sequence;
return Id;
}
}
}
}
RemoteSheardObject/TheLine.cs
using ConfigHelper;
using ConfigHelper;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
......@@ -33,6 +33,10 @@ namespace RemoteSheardObject
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData));
}
/// <summary>
/// 获取正在进行的任务数量
/// </summary>
/// <returns></returns>
public static Dictionary<string,int> GetTaskCount()
{
//pizzaBox，pcb，tray，reel
......@@ -46,13 +50,13 @@ namespace RemoteSheardObject
taskdata["reel"] = 0;
var result= JsonConvert.DeserializeObject<ResultData>(SubmitPostData("/rest/micron/device/getTaskCount", postData));
if (result.code != 0)
if (result==null || result.code != 0)
return taskdata;
foreach (var k in taskdata.Keys)
foreach (var k in taskdata.Keys.ToArray())
{
if (result.data.ContainsKey(k))
taskdata[k] = int.Parse(result.data[k]);
if (result.data.ContainsKey(k+"_out"))
taskdata[k] = int.Parse(result.data[k + "_out"]);
}
return taskdata;
}
......@@ -129,6 +133,7 @@ namespace RemoteSheardObject
}
//去掉最后一个"&"符号
if (postDataString.Length>0)
postDataString.Length--;
//将POST请求参数转换为字节数组
......@@ -144,7 +149,7 @@ namespace RemoteSheardObject
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);
//Console.WriteLine(crc.GetString("Res0071","提交POST请求时发生错误：") + ex.Message);
// 请求失败，返回false
return "";
......
TheMachine/Form1.cs
......@@ -58,7 +58,14 @@ namespace TheMachine
{
e.Cancel = true;
this.WindowState = FormWindowState.Minimized;
return;
}
LogUtil.info("系统强制退出应用 step1");
btn_stop_Click(sender, EventArgs.Empty);
Thread.Sleep(2000);
LogUtil.info("系统强制退出应用 step2");
Application.Exit();
LogUtil.info("系统强制退出应用 step3");
}
//LogControl lc = new LogControl();
......@@ -355,18 +362,7 @@ namespace TheMachine
{
if (!RobotManage.isRunning)
{
//if (RobotManage.mainMachine.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
//{
// RobotManage.mainMachine.Msg.add(crc.GetString("Res0017","急停中,无法启动"), MsgLevel.warning);
// RobotManage.mainMachine.Msg.Show();
// //return;
//}
//if (RobotManage.mainMachine.IOValue(IO_Type.AutoRun_Single).Equals(IO_VALUE.LOW))
//{
// RobotManage.mainMachine.Msg.add(crc.GetString("Res0018","运行开关没有打开,无法启动"), MsgLevel.warning);
// RobotManage.mainMachine.Msg.Show();
// //return;
//}
LogUtil.info("用户按下启动:"+ sender.ToString());
RobotManage.Start();
userpause = false;
......
TheMachine/Program.cs
using ConfigHelper;
using log4net.Config;
using Microsoft.Win32.TaskScheduler;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
......@@ -46,8 +47,7 @@ namespace TheMachine
}
}
}
Microsoft.Win32.Registry.CurrentUser.OpenSubKey("SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Run", true).SetValue(Application.ProductName, Application.ExecutablePath);
AddOrUpdateStartupTask();
Config.LoadMyConfig(new Setting_Init().GetType());
Application.ThreadException += Application_ThreadException;
Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
......@@ -103,6 +103,43 @@ namespace TheMachine
public const int SW_RESTORE = 9;
#endregion
public static void AddOrUpdateStartupTask()
{
// 获取当前程序的路径和名称
string appPath = Process.GetCurrentProcess().MainModule.FileName;
string TaskName = "AutoStartup_" + Process.GetCurrentProcess().MainModule.ModuleName;
// 创建或更新计划任务
using (TaskService taskService = new TaskService())
{
// 获取任务定义，如果不存在则创建新的任务定义
TaskDefinition taskDefinition;
if (taskService.GetTask(TaskName) != null)
{
taskDefinition = taskService.GetTask(TaskName).Definition;
}
else
{
taskDefinition = taskService.NewTask();
taskDefinition.RegistrationInfo.Description = TaskName;
}
if (taskDefinition.Triggers.Count == 0 || taskDefinition.Triggers[0].TriggerType != TaskTriggerType.Logon)
{
// 设置触发器为用户登录后启动
LogonTrigger logonTrigger = (LogonTrigger)taskDefinition.Triggers.Add(new LogonTrigger());
logonTrigger.Delay = TimeSpan.FromSeconds(5);
}
// 设置操作为启动应用程序
taskDefinition.Actions.Clear();
taskDefinition.Actions.Add(new ExecAction(appPath, null, System.IO.Path.GetDirectoryName(appPath)));
// 设置任务的运行权限为管理员权限
taskDefinition.Principal.RunLevel = TaskRunLevel.Highest;
// 保存任务
taskService.RootFolder.RegisterTaskDefinition(TaskName, taskDefinition, TaskCreation.CreateOrUpdate, null, null, TaskLogonType.InteractiveToken, null);
}
}
}
}
TheMachine/TheMachine.csproj
......@@ -7,7 +7,7 @@
<ProjectGuid>{61FDFF14-8BB7-439A-85A0-592E3011F4C4}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>TheMachine</RootNamespace>
<AssemblyName>CycleLine</AssemblyName>
<AssemblyName>MT</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
......@@ -60,6 +60,9 @@
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
</Reference>
<Reference Include="Microsoft.Win32.TaskScheduler, Version=2.10.1.0, Culture=neutral, PublicKeyToken=e25603a88b3aa7da, processorArchitecture=MSIL">
<HintPath>..\packages\TaskScheduler.2.10.1\lib\net452\Microsoft.Win32.TaskScheduler.dll</HintPath>
</Reference>
<Reference Include="Neotel.Rmaxis">
<HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\Neotel.Rmaxis.dll</HintPath>
</Reference>
......@@ -68,6 +71,7 @@
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.IO.Compression" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
......@@ -292,6 +296,7 @@
<DependentUpon>uc_boxdebug.cs</DependentUpon>
</EmbeddedResource>
<None Include="app.manifest" />
<None Include="packages.config" />
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
......
TheMachine/TrayManagerControl.cs
......@@ -145,9 +145,12 @@ namespace TheMachine
listView1.Items[ti.RFID].ForeColor = Color.DarkGray;
else
listView1.Items[ti.RFID].ForeColor = Color.Black;
if (ti.HasLoad && ti.TrayParam.IsNg) {
listView1.Items[ti.RFID].ForeColor = Color.Orange;
}
if (ti.HasLoad && ti.HasLoadCheck<0)
listView1.Items[ti.RFID].ForeColor = Color.Red;
}
ListView2.Items.Clear();
foreach (var tivk in TrayManager.TrayRequest.ToArray())
......@@ -181,13 +184,15 @@ namespace TheMachine
gb_trayinfo.Visible = false;
return;
}
var ti = TrayManager.Traylist[listView1.SelectedItems[0].Text];
string txt = "RFID" + ": " + listView1.SelectedItems[0].Text;
txt += "\r\n"+crc.GetString("Res0021","托盘类型") + ": " + listView1.SelectedItems[0].SubItems[2].Text;
txt += "\r\n"+crc.GetString("Res0055","物料") + ": " + listView1.SelectedItems[0].SubItems[3].Text;
txt += "\r\n"+crc.GetString("Res0023","目的地") + ": " + listView1.SelectedItems[0].SubItems[4].Text;
txt += "\r\n"+"Code" + ": " + listView1.SelectedItems[0].SubItems[6].Text;
if (ti.HasLoad && ti.TrayParam.IsNg) {
txt += "\r\n" + "NgMsg" + ": " + ti.TrayParam.NgMsg;
}
lbl_info.Text = txt;
gb_trayinfo.Visible = true;
}
......
TheMachine/device/Other/MycronicControl.cs
using DeviceLibrary;
using DeviceLibrary;
using OnlineStore;
using System;
using System.Collections.Generic;
......@@ -76,7 +76,7 @@ namespace TheMachine.device.Other
stateView.Items.Clear();
foreach (var store in VStoreCollection.VStoreList.Values.ToList()) {
ListViewItem lvi = new ListViewItem(new string[] { "", store.CID, store.RTStoreStatus.ToString(), store.GetStateStr() });
ListViewItem lvi = new ListViewItem(new string[] { "", TowerList.List[store.CID].TowerName+"-"+store.CID, store.RTStoreStatus.ToString(), store.GetStateStr() });
stateView.Items.Add(lvi);
}
}
......@@ -85,11 +85,11 @@ namespace TheMachine.device.Other
{
if (RobotManage.isRunning)
{
MessageBox.Show("请先停止系统运行");
MessageBox.Show(crc.GetString("Res0072","请先停止系统运行"));
return;
}
MI.DeviceList["AMH-MI1"].
MI.DeviceList["AMH-MI1"].Reset();
}
}
}
\ No newline at end of file
TheMachine/packages.config 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="TaskScheduler" version="2.10.1" targetFramework="net461" />
</packages>
\ No newline at end of file
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