1

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -28,8 +28,8 @@ namespace DeviceLibrary
         MoveInfo MoveInfo;
         public PuYueRFID_C2S RFID_1 = null;
         CylinderManger Location;
-        AxisBean axis;
-        AxisBean axis2;
+        public AxisBean axis;
+        public AxisBean axis2;
 
         public TrayStop(DeviceGroup device,out string msg) {
             msg = "";
@@ -120,13 +120,54 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.TrayStop_03:
-                    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);
-                        TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
-                        var stop = TrayManager.HasTrayRequest(GroupName, CurrrentRFID,out _);
+                        TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
+                        var stop = TrayManager.HasTrayRequest(GroupName, CurrrentRFID, out _);
                         MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
-                        
+                        if (GroupName == "AMH-MI1" || GroupName == "AMH-MI2")
+                        {
+                            /*
+                             * 请求一个空托盘
+                                RemoteLoad remoteLoad = new RemoteLoad();
+                                remoteLoad.GroupName = "AMH-MI1";
+                                remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                                remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-MI1";
+                                remoteLoad.RequestLoadInfo.IsEmpty = true;
+                                remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                                TrayManager.SetTrayRequest(remoteLoad);
+                            */
+                            /*物料出库
+                            RemoteLoad remoteLoad = new RemoteLoad();
+                            remoteLoad.GroupName = "AMH-MI1";
+                            remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                            remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
+                            remoteLoad.RequestLoadInfo.IsEmpty = false;
+                            remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                            remoteLoad.RequestLoadInfo.LoadParam = new ReelParam();// 填充料盘信息
+                            TrayManager.TrayRelease(remoteLoad); //这条会自动放行托盘并且写入托盘目的地
+                            */
+                            //伺服,压紧和旋转,
+                            //  TrayStop.DeviceList["AMH-MI1"].axis;
+                            //  TrayStop.DeviceList["AMH-MI1"].axis2;
+                            //物料信息: trayInfo.TrayParam.clone()
+                            //托盘直接放行: MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
+                            //托盘处理完放行,全局方法: TrayStop.DeviceList["AMH-MI1"].TrayRelease();
+                            if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
+                            {
+                                MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
+                                //请求的空托盘到达时
+                                
+                            }
+                            else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
+                            {
+                                MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
+                                //抵达了一个有物料的托盘等待处理
+                            }
+                            return;
+                        }
+
                         if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
                         {
                             MoveInfo.NextMoveStep(MoveStep.TrayStop_07);

RemoteSheardObject/RemoteClient.cs

@@ -59,13 +59,6 @@ public class RemoteClient
             try
             {
                 LOGGER.Info($"Remote:{GroupName} 重新连接");
-                //webSocket.Close();
-                //webSocket.Dispose();
-                //webSocket = new WebSocket4Net.WebSocket(Serveraddr + GroupName);
-                //LOGGER.Info("webSocket:" + Serveraddr + GroupName);
-                //webSocket.MessageReceived += WebSocket_MessageReceived;
-                //webSocket.Closed += WebSocket_Closed;
-                //webSocket.Opened += WebSocket_Opened;
                 webSocket.Open();
             }
             catch { }