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Commit 45ed6db8 由 刘韬
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1 个父辈 9afa759d
内嵌 并排
正在显示 9 个修改的文件 包含 114 行增加 和 42 行删除
DeviceLibrary/VirtuallyStore/VStore.cs
......@@ -54,8 +54,11 @@ namespace DeviceLibrary
public volatile bool TerminalError = false;
DateTime LastStatusTime = DateTime.Now;
int LastStatusCode = 0;
/// <summary>
/// 最后报错重试时间
/// </summary>
public DateTime LastProcessErrorTime = DateTime.Now;
public int LastProcessErrorTimes = 0;
internal void VTowerProcess() {
if (!TowerInfo.Enable) {
ServerCM.storeStatus = StoreStatus.None;
......@@ -86,11 +89,18 @@ namespace DeviceLibrary
if (ti.StatusCode == 26 && ti.StatusText == "Ready")
{
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (RTStoreStatus == RTStoreStatus.OutMoveExecute) {
LastProcessErrorTimes = 0;
if (RTStoreStatus == RTStoreStatus.OutMoveExecute)
{
TheLine.emptyOut(CurrentTerminalReelID);
TheLine.UpdateLocInfo("", CurrentTerminalReelID, TheLine.LineStatusE.BOXDOOR_NOREEL, CID);
VLog.Info("检测到料盘空出 reelid:"+ CurrentTerminalReelID);
VLog.Info("检测到料盘空出 reelid:" + CurrentTerminalReelID);
}
if (RTStoreStatus == RTStoreStatus.OutStoreReady && (DateTime.Now - LastStatusTime).TotalSeconds < 2)
{
TheLine.emptyOut(CurrentTerminalReelID);
TheLine.UpdateLocInfo("", CurrentTerminalReelID, TheLine.LineStatusE.BOXDOOR_NOREEL, CID);
VLog.Info("检测到料盘空出2秒内消失 reelid:" + CurrentTerminalReelID);
}
if (RTStoreStatus != RTStoreStatus.LockToInStore && RTStoreStatus != RTStoreStatus.LockToOutStore && RTStoreStatus != RTStoreStatus.InStoreReady)
......@@ -107,7 +117,7 @@ namespace DeviceLibrary
RTStoreStatus = RTStoreStatus.LockToOutStore;
if (!ServerCM.BeginOutStore(jobInfo.Clone(), VLog))
{
Msg.add(crc.GetString("Res0105.f3331370","发送出库指令失败") + ":" + jobInfo.WareNum, MsgLevel.alarm);
Msg.add(crc.GetString("Res0105.f3331370", "发送出库指令失败") + ":" + jobInfo.WareNum, MsgLevel.alarm);
RTStoreStatus = RTStoreStatus.Ready;
}
CurrentTerminalReelID = jobInfo.WareNum;
......@@ -127,7 +137,7 @@ namespace DeviceLibrary
}
else if ((DateTime.Now - LastStatusTime).TotalSeconds > 30)
{
if (InStoreJobInfo != null)
CurrentTerminalReelID = InStoreJobInfo.WareNum;
if (RTStoreStatus == RTStoreStatus.InStoreReady)
......@@ -145,7 +155,7 @@ namespace DeviceLibrary
Msg.add($"TerminalError:" + crc.GetString("Res0099.42525c5f", "入库超时"), MsgLevel.alarm);
}
else if (RTStoreStatus == RTStoreStatus.LockToOutStore)
{
{
VLog.Error($"出库超时出错,没有检测到出库信息,RTStoreStatus={RTStoreStatus}:" + CurrentTerminalReelID);
CurrentTowerStatusText = "出库错误,没有执行出库过程";
Msg.add($"TerminalError:" + "出库超时", MsgLevel.alarm);
......@@ -155,9 +165,13 @@ namespace DeviceLibrary
VLog.Error($"未知状态超时,RTStoreStatus={RTStoreStatus}:" + InStoreJobInfo?.ToStr());
Msg.add($"TerminalError:" + "料仓状态异常", MsgLevel.warning);
}
}
}
else if (ti.StatusCode == 6015 || ti.StatusText == "Reel already loaded.") //料盘已在库内
{
TerminalError = true;
}
else if (ti.StatusCode == 1031 || ti.StatusCode == 1030) //分配库位,入库过程
{
ServerCM.storeStatus = StoreStatus.InStoreExecute;
......@@ -167,6 +181,12 @@ namespace DeviceLibrary
}
else if (ti.StatusCode == 1032) //料仓已经检测到料盘
{
if (TerminalError && RTStoreStatus == RTStoreStatus.InStoreError)
{
CurrentTowerStatusText = "6015-Reel already loaded.";
VLog.Info("料仓异常状态 TerminalError=true");
return;
}
if ((DateTime.Now - LastStatusTime).TotalSeconds > 30)
{
RTStoreStatus = RTStoreStatus.InStoreDataTimeOut;
......@@ -203,6 +223,7 @@ namespace DeviceLibrary
{
VLog.Info("出库物料已到舱门口:" + CurrentTerminalReelID);
OutStoreEnd(CurrentTerminalReelID, CID);
LastStatusTime = DateTime.Now;
}
......@@ -219,17 +240,21 @@ namespace DeviceLibrary
else if (ti.StatusCode == 0 || ti.StatusCode == 18)
{
RTStoreStatus = RTStoreStatus.Offline;
TerminalError = false;
ServerCM.storeStatus = StoreStatus.None;
}
else if (ti.StatusCode >= 310000)
{
if (RTStoreStatus!=RTStoreStatus.InStoreError)
LastProcessErrorTime=DateTime.Now.AddSeconds(10);
if (RTStoreStatus != RTStoreStatus.InStoreError)
{
LastProcessErrorTime = DateTime.Now.AddSeconds(10);
LastProcessErrorTimes = 0;
}
LastProcessErrorTimes++;
Msg.add($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}", MsgLevel.warning);
RTStoreStatus = RTStoreStatus.InStoreError;
ServerCM.storeStatus = StoreStatus.InStoreFaild;
//CurrentTowerStatusText = $"{ti.StatusText}-{ti.OnlineStatus}";
//InStoreJobInfo = null;
}
......@@ -237,6 +262,7 @@ namespace DeviceLibrary
{
RTStoreStatus = RTStoreStatus.Busy;
ServerCM.storeStatus = StoreStatus.None;
TerminalError = false;
//VLog.Info($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}");
Msg.add($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}", MsgLevel.alarm);
}
......@@ -293,7 +319,7 @@ namespace DeviceLibrary
int.TryParse(sn.Substring(2), out h);
}
//boxStatus.data.Add("capacity", "7X8=1000;7X12=345;13X32=100;");
capacity += $"{w}X{h}={ti.Slots[i].Slots_free};";
capacity += $"{w}X{h}={ti.Slots[i].Slots_free- ti.Slots[i].Slots_used};";
SlotsInfo[$"{w}X{h}"] = $"{ti.Slots[i].Slots_used}/{ti.Slots[i].Slots_free}";
}
ServerCM.capacity = capacity;
......@@ -330,7 +356,7 @@ namespace DeviceLibrary
return crc.GetString("Res0068", "入库中") + " Barcode:" + InStoreJobInfo?.WareNum;
if (RTStoreStatus == RTStoreStatus.InStoreError)
return crc.GetString("Res0069", "入库出错,物料NG") + " Barcode:" + InStoreJobInfo?.WareNum;
return crc.GetString("Res0069", "入库出错,物料NG") +"LT:"+ LastProcessErrorTimes + ", Barcode:" + InStoreJobInfo?.WareNum;
if (RTStoreStatus == RTStoreStatus.Error)
return CurrentTowerStatusText;
......
DeviceLibrary/theMachine/TrayManager.cs
......@@ -38,16 +38,30 @@ namespace DeviceLibrary
Traylist[rfid].LastAddr = addr;
Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr];
Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr];
if (Traylist[rfid].TrayType == TrayTypeE.MTP1 && (addr == 16 || addr == 20 || addr == 5 || addr == 3))
Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
else if (Traylist[rfid].TrayType == TrayTypeE.MTP2)
Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
//if (Traylist[rfid].TrayType == TrayTypeE.MTP1 && (addr == 16 || addr == 20 || addr == 5 || addr == 3))
// Traylist[rfid].HasLoadCheck = reelcheck == 0 ? false : true;
//else if (Traylist[rfid].TrayType == TrayTypeE.MTP2)
// Traylist[rfid].HasLoadCheck = reelcheck == 0 ? false : true;
trayInfo = Traylist[rfid];
//Statistics();
}
return true;
}
public static void SetTrayError(string rfid)
{
lock (Traylist)
{
if (Traylist.ContainsKey(rfid))
{
LogUtil.info($"SetTrayError:{rfid},{Traylist[rfid].TrayParam?.ToStr()}");
Traylist[rfid].IsLoadError = true;
}
else {
LogUtil.info($"SetTrayError:{rfid} 托盘信息不存在");
}
}
}
/// <summary>
/// 设置托盘物料信息
/// </summary>
......@@ -73,7 +87,6 @@ namespace DeviceLibrary
Traylist[rfid].LoadType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), requestLoadInfo.TrayType);
Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
Traylist[rfid].HasLoadCheck = 1;
LogUtil.info("设置托盘信息:"+ rfid+"," + requestLoadInfo.DeviceGroupName + "," + Traylist[rfid].LoadType + "," + Traylist[rfid].TrayParam.ToStr() );
}
SaveTrayInfo();
......@@ -115,10 +128,7 @@ namespace DeviceLibrary
return false;
}
}
public static bool TestTrayRequest(string deviceGroupName)
{
return TrayRequest.ContainsKey(deviceGroupName);
}
public static void ClearTrayRequest(string deviceGroupName)
{
lock (TrayRequest)
......@@ -350,12 +360,18 @@ namespace DeviceLibrary
public int DestinationAddr=-1;
public int LastAddr=-1;
public string LastPosition;
/// <summary>
/// 逻辑是否有物料
/// </summary>
public bool HasLoad { get => LoadType != TrayTypeE.None; }
public TrayTypeE LoadType = TrayTypeE.None;
public TrayTypeE TrayType;
public DateTime LastUpdateTime;
public ReelParam TrayParam;
public int HasLoadCheck = 0;
/// <summary>
/// 物料状态与实际是否相符
/// </summary>
public bool IsLoadError = false;
public DirectionE Direction { get => (Destination ==StoreCID.AMH_ML5_1 || Destination == StoreCID.AMH_ML5_2) ? DirectionE.Out : DirectionE.In; }
public bool isOnline = true;
public void SetToEmpty() {
......@@ -363,7 +379,7 @@ namespace DeviceLibrary
LoadType = TrayTypeE.None;
DestinationAddr = -1;
TrayParam = new ReelParam();
HasLoadCheck = 0;
IsLoadError = false;
}
}
......
DeviceLibrary/theMachine/sub/MI.cs
......@@ -160,7 +160,7 @@ namespace DeviceLibrary
return;
}
//判断有无出库任务
var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes<4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
var hasoutjob = false;
if (testInStoreError != null)
hasoutjob = true;
......@@ -254,7 +254,7 @@ namespace DeviceLibrary
}
break;
case MoveStep.MI_50:
var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes < 4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
if (InStoreError != null)
{
var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
......@@ -353,10 +353,14 @@ namespace DeviceLibrary
CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
}
MoveInfo.log($"机器人抓取状态:MI_Robot_Reel_Check:{IOValue(IO_Type.MI_Robot_Reel_Check)}, MI_Robot_Clamp_Check:{IOValue(IO_Type.MI_Robot_Clamp_Check)}");
if ((MoveInfo.MoveParam.IsNg || CurrntOutReadyStore.TerminalError) && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
if (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");
if (MoveInfo.MoveParam.IsNg || CurrntOutReadyStore.TerminalError)
{
MoveInfo.log("机器人抓取NG料后发现夹爪上没有料,流程结束处理");
}else
MoveInfo.log("机器人抓取正常出库物料后发现夹爪上没有料,流程结束处理");
CurrntOutReadyStore.TerminalError = false;
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.NextMoveStep(MoveStep.Wait);
......@@ -371,9 +375,9 @@ namespace DeviceLibrary
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
TrayManager.SetTrayRequest(remoteLoad);
}
TheLine.emptyOut(CurrntOutReadyStore.CurrentTerminalReelID);
TheLine.UpdateLocInfo("", CurrntOutReadyStore.CurrentTerminalReelID, TheLine.LineStatusE.BOXDOOR_NOREEL, CurrntOutReadyStore.CID);
MoveInfo.log("检测到夹爪空抓 reelid:" + CurrntOutReadyStore.CurrentTerminalReelID);
TheLine.emptyOut(CurrentJobInfo.WareNum);
TheLine.UpdateLocInfo("", CurrentJobInfo.WareNum, TheLine.LineStatusE.BOXDOOR_NOREEL, CurrntOutReadyStore.CID);
MoveInfo.log("检测到夹爪空抓 reelid:" + CurrentJobInfo.WareNum);
return;
}
if (!MoveInfo.MoveParam.IsNg && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
......
DeviceLibrary/theMachine/sub/TransplantMove.cs
......@@ -190,8 +190,11 @@ namespace DeviceLibrary
}
}
else
{
Msg.add(crc.GetString("Res0034","托盘没有检测到物料"), MsgLevel.alarm);
{
TrayManager.SetTrayError(CurrrentRFID);
MoveInfo.log("托盘没有检测到物料");
Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
return;
}
......@@ -221,14 +224,15 @@ namespace DeviceLibrary
MoveInfo.log($"出库托盘与 {GroupName} 通讯失败,放行托盘");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0033","料仓当前不可用,放行托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
}
}
else {
TrayManager.SetTrayError(CurrrentRFID);
MoveInfo.log($"托盘标记为空托盘,但检测到物料");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
Msg.add(crc.GetString("Res0036","托盘标记为空托盘,但检测到物料"), MsgLevel.warning);
return;
}
}
}
else
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
......
DeviceLibrary/theMachine/sub/TrayStop.cs
......@@ -202,7 +202,10 @@ namespace DeviceLibrary
else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW)) {
TrayManager.SetTrayError(CurrrentRFID);
Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
MoveInfo.log("托盘没有检测到物料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
var cid = trayInfo.TrayParam.PosID;
......@@ -262,7 +265,10 @@ namespace DeviceLibrary
{
if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
TrayManager.SetTrayError(CurrrentRFID);
Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
MoveInfo.log("托盘没有检测到物料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
//有物料
......
RemoteSheardObject/TheLine.cs
......@@ -38,6 +38,8 @@ namespace RemoteSheardObject
public static bool emptyOut(string barcode)
{
//料盘空出后直接结束任务
return true;
if (barcode.Count(c => c == '#') == 3)
{
barcode = barcode.Split('#')[1].Substring(1);
......@@ -243,7 +245,13 @@ namespace RemoteSheardObject
}
}
}
/// <summary>
/// 料仓离线后二次重新获取物料库位
/// </summary>
/// <param name="reelParam"></param>
/// <param name="traytype"></param>
/// <param name="msg"></param>
/// <returns></returns>
public static ReelParam Regetposid(ReelParam reelParam,string traytype, out string msg)
{
msg = "";
......@@ -255,14 +263,14 @@ namespace RemoteSheardObject
try
{
Dictionary<string, string> nameValue = new Dictionary<string, string>();
nameValue.Add("code", reelParam.WareCode);
nameValue.Add("code", barcode);
nameValue.Add("preCid", reelParam.cid);
if (reelParam.PlateW == 13 && reelParam.PlateH < 44)
nameValue.Add("cids", "AMH-SBDH3-2,AMH-SBSH1,AMH-SBSH2,AMH-SBDH2-1,AMH-SBDH2-2,AMH-SBDH1-1,AMH-SBDH1-2,003040,003048,003039,003043,003035,003036,003041,003042");
else //不包含 AMH-SBDH3-1
nameValue.Add("cids", "AMH-SBDH3-1,AMH-SBDH3-2,AMH-SBSH1,AMH-SBSH2,AMH-SBDH2-1,AMH-SBDH2-2,AMH-SBDH1-1,AMH-SBDH1-2,003040,003048,003039,003043,003035,003036,003041,003042");
var data = SubmitPostData("/service/store/robotBox/emptyPosForPutin", nameValue);
var data = SubmitPostData("/service/store/robotBox/renewPosForPutin", nameValue);
msg += "Regetposid code: " + reelParam.WareCode + ",preCid: " + reelParam.cid + ",cids:" + nameValue["cids"] + ",Result: " + data + "\r\n";
emptyPosForPutin result = JsonConvert.DeserializeObject<emptyPosForPutin>(data);
......@@ -294,7 +302,7 @@ namespace RemoteSheardObject
reelParam.SubCID = result.cid;
reelParam.WareCode = micode;
reelParam.PosID = result.pos;
reelParam.PosID = result.cid;
reelParam.cid = mid;
//RobotManage.SendTrayRequest("003039", micode, "AMH-MI1");
//RobotManage.SendTrayRequest(result.cid, micode, mid);
......
TheMachine/Program.cs
......@@ -76,8 +76,14 @@ namespace TheMachine
AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
Environment.CurrentDirectory = Application.StartupPath;
XmlConfigurator.Configure();
//VStoreCollection vStoreCollection = new VStoreCollection();
//vStoreCollection.UploadCarrierInformationData();
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new Form1());
......
TheMachine/TrayManagerControl.cs
......@@ -148,7 +148,7 @@ namespace TheMachine
if (ti.HasLoad && ti.TrayParam.IsNg) {
listView1.Items[ti.RFID].ForeColor = Color.Orange;
}
if (ti.HasLoad && ti.HasLoadCheck<0)
if (ti.IsLoadError)
listView1.Items[ti.RFID].ForeColor = Color.Red;
}
......
TheMachine/device/CIDebugControl.cs
......@@ -23,6 +23,8 @@ namespace TheMachine.device
private void timer1_Tick(object sender, EventArgs e)
{
if (!TrayStop.DeviceList.ContainsKey("CI"))
return;
string status = "";
if (TrayStop.DeviceList["CI"].IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
......
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