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Commit 61f4e58c 由 刘韬
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1 个父辈 8ea5ab94
内嵌 并排
正在显示 17 个修改的文件 包含 715 行增加 和 624 行删除
Common/Setting_Init.cs
......@@ -64,10 +64,13 @@ namespace OnlineStore.Common
public static MyConfig<int> URRobot_CI_ListenPort = 31;
[MyConfigComment("VJ点料机串口端口号")]
public static MyConfig<string> VJCounter_COMPORT = "COM5";
[MyConfigComment("VJ点料机串口比特率")]
public static MyConfig<int> VJCounter_BaudRate = 115200;
[MyConfigComment("VJ点料机数据共享路径")]
public static MyConfig<string> Device_VJCounterFolder = "\\\\XQUIKII-3679\\Sample Log Directory";
/// <summary>
/// 摄像机名称
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -110,6 +110,7 @@
<Compile Include="DeviceLibrary\RobotMoveHelper.cs" />
<Compile Include="DeviceLibrary\ServerCommunication.cs" />
<Compile Include="DeviceLibrary\AxisBean.cs" />
<Compile Include="DeviceLibrary\ShareFolderWatcher.cs" />
<Compile Include="DeviceLibrary\VJCounter.cs" />
<Compile Include="theMachine\Common.cs" />
<Compile Include="theMachine\JobList.cs" />
......
DeviceLibrary/DeviceLibrary/ShareFolderWatcher.cs 0 → 100644
using HalconDotNet;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
public class ShareFolderWatcher : IDisposable
{
Thread thread;
bool run = false;
string backupfolder = "\\image\\VJBackup";
public string FolderName;
public ShareFolderWatcher(string foldername)
{
FolderName = foldername;
Directory.CreateDirectory(backupfolder);
LogUtil.info("[ShareFolderWatcher] " + "set:" + foldername);
}
public bool Start(out string errmsg)
{
errmsg = "";
try
{
if (!Directory.Exists(FolderName))
{
errmsg = $"Directory not exists:{FolderName}";
LogUtil.error("[ShareFolderWatcher] " + errmsg);
return false;
}
}
catch (Exception ex)
{
errmsg = ex.ToString();
LogUtil.error("[ShareFolderWatcher] " + errmsg);
return false;
}
thread = new Thread(new ThreadStart(Watcher));
thread.Start();
LogUtil.error("[ShareFolderWatcher] 文件监听启动成功");
return true;
}
DateTime lastUpdateTime = DateTime.MinValue;
Dictionary<string, int> CountList = new Dictionary<string, int>();
public DateTime LastUpdateTime { get => lastUpdateTime; }
public int LastQty = 0;
public string LastSN = "";
void Watcher()
{
run = true;
while (run)
{
Thread.Sleep(1000);
try
{
DirectoryInfo directoryInfo = new DirectoryInfo(FolderName);
var fis = directoryInfo.GetFiles("*.csv").Where(x => x.LastWriteTime > lastUpdateTime).ToList();
fis.Sort((a, b) => b.LastWriteTime.CompareTo(a.LastWriteTime));
if (fis.Count > 0)
lastUpdateTime = fis[0].LastWriteTime;
else
continue;
lock (CountList)
{
foreach (var fi in fis)
{
var file = fi.FullName;
var localfile = Path.Combine(backupfolder, Path.GetFileName(file));
File.Copy(file, localfile, true);
try
{
File.Delete(file);
}
catch (Exception ex) {
LogUtil.error("[ShareFolderWatcher] " + ex.ToString());
}
var ft = File.ReadAllLines(localfile);
if (ft.Length >= 2 && !string.IsNullOrWhiteSpace(ft[1]))
{
var datas = ft[1].Split(',');
if (datas.Length == 3 && int.TryParse(datas[2], out int qty))
{
LogUtil.info($"读取到VJ点料结果:{datas[1]},{qty}");
if (!CountList.ContainsKey(datas[1]))
CountList.Add(datas[1], qty);
else
CountList[datas[1]] = qty;
LastQty = qty;
LastSN = datas[1];
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error("[ShareFolderWatcher] " + ex.ToString());
}
}
}
public bool GetQty(string barcode, out int qty)
{
if (barcode.Count(c => c == '#') == 3)
{
barcode = barcode.Split('#')[1].Substring(1);
}
lock (CountList)
{
if (CountList.TryGetValue(barcode, out qty))
{
CountList.Remove(barcode);
return true;
}
}
qty = 0;
return false;
}
public void Dispose()
{
run = false;
}
}
DeviceLibrary/DeviceLibrary/VJCounter.cs
......@@ -16,17 +16,32 @@ namespace DeviceLibrary
private static StopBits stopBits = StopBits.One; //停止位
private static SerialPort _serialPort = null;
public static string newline="\n";
static string comPortName;
public static bool Connect(string _comport, out string msg) {
public static bool Connect(string _comport,int _baudRate, out string msg) {
msg = "";
try
{
try
{
if (_serialPort != null && _serialPort.IsOpen)
{
_serialPort.Close();
_serialPort.Dispose();
_serialPort = null;
}
}catch (Exception ex)
{
LogUtil.error($"VJCounter: "+ex);
}
comPortName = _comport;
baudRate = _baudRate;
_serialPort = new SerialPort(comPortName, baudRate, parity, dataBits, stopBits);
//_serialPort.RtsEnable = true; //自动请求
//_serialPort.ReadTimeout = 100;//超时
_serialPort.Open();
LogUtil.info("VJCounter: 串口连接成功");
LogUtil.info($"VJCounter: 串口连接成功 comPortName:{comPortName},baudRate:{baudRate}");
return true;
}catch (Exception ex)
{
......@@ -40,19 +55,20 @@ namespace DeviceLibrary
{
if (_serialPort == null)
{
return Connect(comPortName,out _);
return Connect(comPortName,baudRate,out _);
}
else if (!_serialPort.IsOpen)
{
_serialPort = null;
return Connect(comPortName, out _);
return Connect(comPortName, baudRate, out _);
}
else
return true;
}
public static void SendBarcode(string barcode) {
var b = Encoding.ASCII.GetBytes(barcode + "\n");
var b = Encoding.ASCII.GetBytes(barcode);
_serialPort.Write(b, 0, b.Length);
_serialPort.BaseStream.Flush();
LogUtil.info("VJCounter: 串口发送:"+ barcode);
}
}
......
DeviceLibrary/VirtuallyStore/VStore.cs
......@@ -252,9 +252,9 @@ namespace DeviceLibrary
//}
//LastProcessErrorTimes++;
Msg.add($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}", MsgLevel.warning);
//RTStoreStatus = RTStoreStatus.InStoreError;
//ServerCM.storeStatus = StoreStatus.InStoreFaild;
RTStoreStatus = RTStoreStatus.Offline;
TerminalError = false;
//ServerCM.storeStatus = StoreStatus.None;
}
else if (ti.StatusCode < 10000)
......@@ -296,32 +296,35 @@ namespace DeviceLibrary
310234,Error clamping on opening (234)
*/
//统计剩余容量
string capacity = "";
for (int i = 0; i < ti.Slots.Count; i++)
if (ti != null)
{
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"))
string capacity = "";
for (int i = 0; i < ti.Slots.Count; i++)
{
w = 7;
int.TryParse(sn.Substring(2), out h);
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;");
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}";
}
//boxStatus.data.Add("capacity", "7X8=1000;7X12=345;13X32=100;");
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;
}
ServerCM.capacity = capacity;
}
catch (Exception ex)
{
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -60,6 +60,7 @@ namespace DeviceLibrary
TrayManager.Init(DeviceGroup);
MI.Init(Config, DeviceGroup, out m);
CI.Init(Config, DeviceGroup, out m);
msg += m;
#region 初始化led灯
RunningLed = new Led(Config.DOList["root"][IO_Type.Run_Led].GetIOAddr(), LedColor.green);
......@@ -163,6 +164,7 @@ namespace DeviceLibrary
TransplantMove.DeviceList.Values.ToList().ForEach(s => s.Stop());
TrayStop.DeviceList.Values.ToList().ForEach(s => s.Stop());
MI.DeviceList.Values.ToList().ForEach(s => s.Stop());
CI.DeviceList.Values.ToList().ForEach(s => s.Stop());
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
ResetEvent.Set();
Alarm(AlarmType.None);
......@@ -183,6 +185,7 @@ namespace DeviceLibrary
TransplantMove.DeviceList.Values.ToList().ForEach(s => s.Start());
TrayStop.DeviceList.Values.ToList().ForEach(s => s.Start());
MI.DeviceList.Values.ToList().ForEach(s => s.Start());
CI.DeviceList.Values.ToList().ForEach(s => s.Start());
}
......
DeviceLibrary/theMachine/RobotManage.cs
......@@ -40,6 +40,7 @@ namespace DeviceLibrary
public static URRobotControl Robot_CI;
public static VStoreCollection VStoreCollection;
public static ShareFolderWatcher folderWatcher;
public static void Init() {
string msg = "";
try
......@@ -60,6 +61,14 @@ namespace DeviceLibrary
msg += crc.GetString("Res0180", "找不到库位配置文件") + "\n";
}
folderWatcher = new ShareFolderWatcher(Setting_Init.Device_VJCounterFolder);
if (!folderWatcher.Start(out string errmsg))
{
IsLoadOk = false;
msg += errmsg + "\n";
LogUtil.error("ShareFolderWatcher:"+errmsg);
}
string MI1PostionFile = "config\\MI1Postion.csv";
string MI2PostionFile = "config\\MI2Postion.csv";
string CIPostionFile = "config\\CIPostion.csv";
......@@ -93,7 +102,7 @@ namespace DeviceLibrary
msg += crc.GetString("Res0181", "IO板卡初始化失败") + "\n";
}
if (!VJCounter.Connect(Setting_Init.VJCounter_COMPORT, out string msgs)) {
if (!VJCounter.Connect(Setting_Init.VJCounter_COMPORT, Setting_Init.VJCounter_BaudRate, out string msgs)) {
IsLoadOk = false;
msg += crc.GetString("Res0111.43f91cee","VJ点料机连接失败") + "\n";
LogUtil.error(msg + "," + msgs);
......@@ -103,6 +112,7 @@ namespace DeviceLibrary
DeviceRunControl.AddDevice("TransplantMove", TransplantMove.DeviceList.Values.ToList<IDevice>());
//DeviceRunControl.AddDevice("TrayStop", TrayStop.DeviceList.Values.ToList<IDevice>());
DeviceRunControl.AddDevice("MI", MI.DeviceList.Values.ToList<IDevice>());
DeviceRunControl.AddDevice("CI", CI.DeviceList.Values.ToList<IDevice>());
TrayStop.DeviceList.Values.ToList<IDevice>().ForEach(device => { DeviceRunControl.AddDevice(device.GroupName, new List<IDevice>() { device }); });
if (G.simulate)
......
DeviceLibrary/theMachine/TrayManager.cs
......@@ -95,7 +95,7 @@ namespace DeviceLibrary
static void SaveTrayInfo() {
try
{
var TL = Traylist.Where(t => t.Value.DestinationAddr >= 0).ToDictionary(a => a.Key, a => a.Value);
var TL = Traylist.Where(t => t.Value.RFID!=null && t.Value.DestinationAddr >= 0).ToDictionary(a => a.Key, a => a.Value);
ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), "Config\\TrayList.temp~");
ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), "Config\\TrayList.temp");
}
......@@ -235,7 +235,7 @@ namespace DeviceLibrary
else {
SetTrayLoadInfo(device.CurrrentRFID, requestLoadInfo);
}
LogUtil.info("释放设备:"+device.GroupName);
LogUtil.info("释放设备:"+device.GroupName+","+ device.CurrrentRFID);
device.TrayRelease();
}
}
......@@ -287,7 +287,7 @@ namespace DeviceLibrary
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.DestinationAddr==3 && (t.LastAddr >= 20 || t.LastAddr <= 3));
var xx = TrayManager.Traylist.Values.ToList().Where(t =>t.RFID!=null && t.HasLoad && t.LoadType == requestLoadInfo.GetTrayType && t.DestinationAddr==3 && (t.LastAddr >= 20 || t.LastAddr <= 3));
return xx.Count() > 0;
}
......@@ -347,9 +347,12 @@ namespace DeviceLibrary
public string RFID { get => _rfid; set {
try
{
var ss = Enum.GetNames(typeof(TrayTypeE));
TrayType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), ss.ToList().Find(s => value.StartsWith(s)));
_rfid = value;
if (value != null)
{
var ss = Enum.GetNames(typeof(TrayTypeE));
TrayType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), ss.ToList().Find(s => value.StartsWith(s)));
_rfid = value;
}
}
catch (Exception ex) {
LogUtil.error($"获取RFID的类型时出错:{value}");
......
DeviceLibrary/theMachine/sub/CI.cs
using ConfigHelper;
using HalconDotNet;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
......@@ -19,8 +20,6 @@ namespace DeviceLibrary
public class CI : DeviceBase, IDevice
{
public static Dictionary<string, CI> DeviceList = new Dictionary<string, CI>();
public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
msg = "";
CI sideMove = new CI(devices["CI"], out string m);
......@@ -39,6 +38,8 @@ namespace DeviceLibrary
string POS_Start = "CI";
string robotname = "";
public bool ManualCount = false;
public event EventHandler<string> ReelReady;
public event EventHandler<XRayStepE> XRayStep;
public CI(DeviceGroup device,out string msg) : base()
{
msg = "";
......@@ -55,14 +56,11 @@ namespace DeviceLibrary
robotname = "R3";
}
Robot.Name = robotname;
robotHelper = new RobotHelper(Robot, robotname);
Comp = AxisBean.List[DeviceGroup.GroupName][0];
//robotHelper = new RobotHelper(Robot, robotname);
//Comp = AxisBean.List[DeviceGroup.GroupName][0];
//Rotate = AxisBean.List[DeviceGroup.GroupName][1];
BufferSlotsManger = new BufferSlotsManger(POS_Start);
}
}
public DeviceStateE DeviceState { get; set; }
public void Start()
......@@ -71,7 +69,7 @@ namespace DeviceLibrary
//robotHelper.Start();
DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原");
MoveInfo.log("开始回原1");
}
public void Stop()
......@@ -79,7 +77,7 @@ namespace DeviceLibrary
//robotHelper.Stop();
//Robot.StopRobot();
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
MoveInfo.log("停止运行1");
}
public void Process()
{
......@@ -122,22 +120,14 @@ namespace DeviceLibrary
return true;
}
int isalivetrytimes = 0;
int StopBufDelayMS = 500;
int StopDelayMS = 1500;
RobotPosition FromPos;
RobotPosition ToPos;
VStore CurrentVStore;
JobInfo CurrentJobInfo;
VStore CurrntOutReadyStore;
public void OneWayProcess()
{
//Config.Set("RuntimeRobot_MoveStep", MoveInfo.MoveStep.ToString());
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
......@@ -160,257 +150,158 @@ namespace DeviceLibrary
MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
MoveInfo.MoveParam.cid = CurrentJobInfo.CID;
MoveInfo.NextMoveStep(MoveStep.MI_01);
//FromPos = GetMIPosition(GroupName, POS_Start + "_MT");
//var cid = MoveInfo.MoveParam.PosID;//.Split('_')[0];
//ToPos = GetMIPosition(GroupName, TowerList.List[cid].PosID);
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo" , JsonConvert.SerializeObject(MoveInfo.MoveParam));
//Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
//Config.Set("Runtime_Robot_" + robotname + "_ToPos" , ToPos.PositionNum);
//MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo", JsonConvert.SerializeObject(MoveInfo.MoveParam));
var cc = MoveInfo.MoveParam.WareCode.Split('#');
if (cc.Count()>2)
ReelReady?.Invoke(this, cc[0].Substring(1) + "|" + cc[1].Substring(1));
else
ReelReady?.Invoke(this, MoveInfo.MoveParam.WareCode);
XRayStep?.Invoke(this, XRayStepE.WaitMTtoVJ);
MoveInfo.log($"开始点料");
VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode) + VJCounter.newline);
}
break;
case MoveStep.MI_01:
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料");
Msg.add("等待人员料盘放置到点料机", MsgLevel.warning);
MoveInfo.log("等待人员取走料盘");
break;
case MoveStep.MI_02:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_08)
MoveInfo.NextMoveStep(MoveStep.MI_10);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
TrayManager.TrayRelease(remoteLoad);
TrayStop.DeviceList[GroupName].TrayRelease();
MoveInfo.log("取料完成托盘放行");
TheLine.UpdateLocInfo("", remoteLoad.RequestLoadInfo.LoadParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
//VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.MI_10:
MoveInfo.NextMoveStep(MoveStep.MI_11);
///VJCounter.SendBarcode(ProcessCodeGetVJType(MoveInfo.MoveParam.WareCode));
//Thread.Sleep(1000);
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
MoveInfo.log("步骤1: 按下启动开始点料");
XRayStep?.Invoke(this, XRayStepE.Counting);
break;
case MoveStep.MI_11:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.MI_03);
if (FromPos.PositionNum.EndsWith("MT"))
{
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.LoadParam = RoboMoveInfo.MoveParam.clone();
TrayManager.TrayRelease(remoteLoad);
TrayStop.DeviceList[GroupName].TrayRelease();
RoboMoveInfo.log("取料完成托盘放行");
TheLine.UpdateLocInfo("", remoteLoad.RequestLoadInfo.LoadParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
}
else
RoboMoveInfo.log("取料完成");
MoveInfo.NextMoveStep(MoveStep.MI_12);
MoveInfo.log("步骤2: 满抽屉正在进入");
}
break;
case MoveStep.MI_03:
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
else if (MoveInfo.IsTimeOut(2000))
{
MoveInfo.NextMoveStep(MoveStep.MI_04);
MoveInfo.log("等待抽屉进入点料机超时");
Msg.add("等待抽屉进入点料机超时", MsgLevel.warning);
}
break;
case MoveStep.MI_04:
if (CurrentVStore.RTStoreStatus == RTStoreStatus.Ready || CurrentVStore.RTStoreStatus == RTStoreStatus.LockToInStore)
case MoveStep.MI_12:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
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));
MoveInfo.NextMoveStep(MoveStep.MI_13);
MoveInfo.log("步骤3: 空抽屉已退出, 等待一会");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000*40));
}
else
else if (MoveInfo.IsTimeOut(5000))
{
MoveInfo.log("机器人放料时发现舱门口有料");
MoveInfo.log("等待内部抽屉退出超时");
Msg.add("等待内部抽屉退出超时", MsgLevel.warning);
}
break;
case MoveStep.MI_05:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
case MoveStep.MI_13:
MoveInfo.NextMoveStep(MoveStep.MI_14);
MoveInfo.log("步骤4: 按启动按钮准备退出满抽屉");
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
break;
case MoveStep.MI_14:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.MI_15);
MoveInfo.log("步骤5: 空抽屉正在进入");
}
else if (MoveInfo.IsTimeOut(2000))
{
MoveInfo.log("放入料仓口完成:"+ RoboMoveInfo.MoveParam.ToStr());
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("等待抽屉进入点料机超时");
Msg.add("等待抽屉进入点料机超时", MsgLevel.warning);
}
break;
case MoveStep.MI_50:
//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));
var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
if (InStoreError != null)
case MoveStep.MI_15:
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrntOutReadyStore = InStoreError;
//InStoreError.ServerCM.cancelPutInTask(CurrntOutReadyStore.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());
CurrentJobInfo.isNG = true;
CurrentJobInfo.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
MoveInfo.log("检测到有料仓入库NG:" + MoveInfo.MoveParam.NgMsg);
}
else
{
if (result != null)
MoveInfo.log(JsonConvert.SerializeObject(result));
MoveInfo.log($"没有找到,在等待出库的料仓 CID:{InStoreError.CID} SN:"+ InStoreError.CurrentTerminalReelID);
MoveInfo.NextMoveStep(MoveStep.Wait);
TrayStop.DeviceList[GroupName].TrayRelease();
return;
}
MoveInfo.NextMoveStep(MoveStep.MI_16);
MoveInfo.log("步骤6: 满抽屉已退出, 点料完成");
//IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 1000);
XRayStep?.Invoke(this, XRayStepE.WaitCountResult);
}
else {
var random = new Random(DateTime.Now.Millisecond);
CurrntOutReadyStore = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().FindAll(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady).OrderBy(x => random.Next()).FirstOrDefault();
if (CurrntOutReadyStore != null)
{
if (string.IsNullOrEmpty(CurrntOutReadyStore.CurrentTerminalReelID))
{
MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + "已是出库完成状态,但是还没有读到物料完成通知");
return;
}
if (!VStoreCollection.OutStoreReelInfo.ContainsKey(CurrntOutReadyStore.CurrentTerminalReelID))
{
MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + ",没有找到料盘信息:" + CurrntOutReadyStore.CurrentTerminalReelID);
var result = TheLine.GetReelSize<ResultData>(CurrntOutReadyStore.CurrentTerminalReelID);
if (result != null && result.code == 0)
{
CurrentJobInfo = new JobInfo(CurrntOutReadyStore.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
}
else
return;
}
else
{
var job = VStoreCollection.OutStoreReelInfo[CurrntOutReadyStore.CurrentTerminalReelID];
CurrentJobInfo = job.Clone();
}
}
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 if (MoveInfo.IsTimeOut(60))
{
MoveInfo.log("等待内部抽屉退出超时");
Msg.add("等待内部抽屉退出超时", MsgLevel.warning);
}
CurrntOutReadyStore.LastProcessErrorTime = DateTime.Now.AddSeconds(15);
MoveInfo.log("收到物料出库任务:" + CurrentJobInfo.ToStr());
MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
MoveInfo.MoveParam.IsNg = CurrentJobInfo.isNG;
MoveInfo.MoveParam.NgMsg = CurrentJobInfo.NgMsg;
MoveInfo.MoveParam.cid = CurrntOutReadyStore.CID;
FromPos = GetMIPosition(GroupName, TowerList.List[MoveInfo.MoveParam.cid].PosID);
ToPos = GetMIPosition(GroupName, POS_Start + "_MT");
Config.Set("Runtime_Robot_" + robotname + "_ReelInfo",JsonConvert.SerializeObject(MoveInfo.MoveParam));
Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
Config.Set("Runtime_Robot_" + robotname + "_ToPos", ToPos.PositionNum);
MoveInfo.NextMoveStep(MoveStep.MI_51);
MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
break;
case MoveStep.MI_51:
MoveInfo.NextMoveStep(MoveStep.MI_52);
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
MoveInfo.log("机器人开始取料");
break;
case MoveStep.MI_52:
if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
case MoveStep.MI_16:
if (RobotManage.folderWatcher.GetQty(MoveInfo.MoveParam.WareCode, out int qty)) {
MoveInfo.NextMoveStep(MoveStep.MI_17);
TheLine.UpdateReelQty(MoveInfo.MoveParam.WareCode, qty);
MoveInfo.MoveParam.WareCode = ProcessCodeInsertQty(MoveInfo.MoveParam.WareCode, qty);
MoveInfo.MoveParam.QTY=qty;
MoveInfo.log("步骤7: 获得点料结果:"+qty+ ", "+MoveInfo.MoveParam.WareCode);
}
else if (MoveInfo.IsTimeOut(120))
{
lock (VStoreCollection.OutStoreReelInfo)
{
VStoreCollection.OutStoreReelInfo.Remove(MoveInfo.MoveParam.WareCode);
}
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
MoveInfo.log("机器人已取到料");
if (CurrntOutReadyStore.TerminalError) {
MoveInfo.log($"当前出库料仓[{CurrntOutReadyStore.CID}]存在状态错误:" + CurrntOutReadyStore.RTStoreStatus);
CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
}
MoveInfo.log($"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 (IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
{
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);
if (!TrayStop.DeviceList[GroupName].IsFree())
{
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "SetTrayRequest";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
TrayManager.SetTrayRequest(remoteLoad);
}
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)
&& IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
{
return;
}
else if (MoveInfo.MoveParam.IsNg)
{
CurrntOutReadyStore.ServerCM.cancelPutInTask(CurrntOutReadyStore.CurrentTerminalReelID);
MoveInfo.log("物料NG取消入库:" + CurrntOutReadyStore.CurrentTerminalReelID);
}
MoveInfo.NextMoveStep(MoveStep.MI_53);
MoveInfo.NextMoveStep(MoveStep.MI_16);
MoveInfo.log("等待点料结果超时");
Msg.add("等待点料结果超时", MsgLevel.warning);
}
break;
case MoveStep.MI_17:
MoveInfo.NextMoveStep(MoveStep.MI_50);
MoveInfo.MoveParam = TheLine.Regetposid(MoveInfo.MoveParam, TrayTypeE.MTP1.ToString(), out string msg);
MoveInfo.log($"步骤7: 重新获取库位 msg:{msg},\t {MoveInfo.MoveParam.ToStr()}");
break;
case MoveStep.MI_50:
MoveInfo.NextMoveStep(MoveStep.MI_53);
break;
case MoveStep.MI_53:
if (!TrayStop.DeviceList[GroupName].IsFree())
{
MoveInfo.NextMoveStep(MoveStep.MI_54);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
MoveInfo.log("机器人开始放料");
XRayStep?.Invoke(this, XRayStepE.WaitVJtoMT);
RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
RequestLoadInfo.DeviceGroupName = MoveInfo.MoveParam.cid;
RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
RequestLoadInfo.IsEmpty = false;
TrayManager.SetTrayLoadInfo(TrayStop.DeviceList["CI"].CurrrentRFID, RequestLoadInfo);
}
else {
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "SetTrayRequest";
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.IsEmpty = true;
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
TrayManager.SetTrayRequest(remoteLoad);
Msg.add(crc.GetString("Res0097.b5a12101","等待空托盘"), MsgLevel.info);
else
{
RemoteLoad remoteLoad1 = new RemoteLoad();
remoteLoad1.Action = "SetTrayRequest";
remoteLoad1.GroupName = GroupName;
remoteLoad1.RequestLoadInfo = new RequestLoadInfo();
remoteLoad1.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad1.RequestLoadInfo.IsEmpty = true;
remoteLoad1.RequestLoadInfo.DeviceGroupName = GroupName;
TrayManager.SetTrayRequest(remoteLoad1);
Msg.add(crc.GetString("Res0097.b5a12101", "等待空托盘"), MsgLevel.info);
}
break;
case MoveStep.MI_54:
if (RoboMoveInfo.MoveStep >= MoveStep.MI_44)
{
MoveInfo.log("机器人完成放料");
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
remoteLoad.RequestLoadInfo.IsEmpty = false;
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();// 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
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
TrayManager.ClearTrayRequest(GroupName);
MoveInfo.NextMoveStep(MoveStep.MI_55);
}
case MoveStep.MI_54:
Msg.add("等待人工放上料盘", MsgLevel.warning);
break;
case MoveStep.MI_55:
if (RoboMoveInfo.MoveStep == MoveStep.Wait)
{
MoveInfo.log("机器人任务结束");
MoveInfo.NewMove(MoveStep.Wait);
}
MoveInfo.log("点料任务结束");
XRayStep?.Invoke(this, XRayStepE.Finish);
MoveInfo.NewMove(MoveStep.Wait);
break;
}
......@@ -427,85 +318,7 @@ namespace DeviceLibrary
{
case MoveStep.Wait:
break;
//机器人取料
case MoveStep.MI_01:
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
CompTOP1(RoboMoveInfo);
RoboMoveInfo.log("压紧轴到待机点");
robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
break;
case MoveStep.MI_02:
RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P5,1);
RoboMoveInfo.log("机器人到Take_P5");
break;
case MoveStep.MI_03:
RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
TrayStop.DeviceList[GroupName].Location.ToLow(MoveInfo);
CompTOCompression(RoboMoveInfo);
RoboMoveInfo.log("压紧轴都下压");
break;
case MoveStep.MI_04:
if (!Comp.IsBusy)
{
RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P6,1);
RoboMoveInfo.log("压紧轴到位");
RoboMoveInfo.log("机器人到Take_P6");
}
break;
case MoveStep.MI_05:
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
CompTOCompression(RoboMoveInfo);
RoboMoveInfo.log("压紧轴都下压");
break;
case MoveStep.MI_06:
if (!Comp.IsBusy)
{
RoboMoveInfo.log("压紧轴到位脉冲值:" + Comp.GetAclPosition());
RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
robotHelper.Move(RoboMoveInfo, FromPos.Take_P7, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到Take_P7");
}
break;
case MoveStep.MI_07:
RoboMoveInfo.NextMoveStep(MoveStep.MI_08);
robotHelper.Move(RoboMoveInfo, FromPos.P1, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到P1");
break;
case MoveStep.MI_08:
RoboMoveInfo.NextMoveStep(MoveStep.MI_ReelTacked);
RoboMoveInfo.log("机器人取料完成");
break;
//机器人放料
case MoveStep.MI_40:
RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P2, robotHelper.lastWeight);
RoboMoveInfo.log("机器人到Put_P2");
break;
case MoveStep.MI_41:
RoboMoveInfo.NextMoveStep(MoveStep.MI_42);
//Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
CompTOP1(RoboMoveInfo);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P3, robotHelper.lastWeight);
RoboMoveInfo.log("压紧轴释放");
RoboMoveInfo.log("机器人到Put_P3");
break;
case MoveStep.MI_42:
RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
robotHelper.Move(RoboMoveInfo, ToPos.Put_P4,1);
RoboMoveInfo.log("机器人到Put_P4");
break;
case MoveStep.MI_43:
RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
robotHelper.Move(RoboMoveInfo, ToPos.P1, 1);
RoboMoveInfo.log("机器人到P1");
break;
case MoveStep.MI_44:
RoboMoveInfo.NextMoveStep(MoveStep.Wait);
RoboMoveInfo.log("放料完成");
break;
}
}
......@@ -528,17 +341,56 @@ namespace DeviceLibrary
OutStoreJobList.Enqueue(trayParam.Clone());
MoveInfo.log("写入出库队列:" + trayParam.ToStr());
}
internal void StartOutStore()
public void StartOutStore()
{
if (MoveInfo.MoveStep >= MoveStep.MI_50)
if (MoveInfo.MoveStep != MoveStep.MI_54)
{
MoveInfo.log("机器人正在等待托盘");
MoveInfo.log("没有在等待托盘状态");
}
else
{
MoveInfo.NewMove(MoveStep.MI_50);
MoveInfo.log("开始出库");
MoveInfo.log("人工完成放料");
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.GroupName = GroupName;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.DeviceGroupName = MoveInfo.MoveParam.cid;
remoteLoad.RequestLoadInfo.IsEmpty = false;
remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();// 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
TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
TrayManager.ClearTrayRequest(GroupName);
MoveInfo.NextMoveStep(MoveStep.MI_55);
MoveInfo.log("完成点料放料");
}
}
string ProcessCodeInsertQty(string barcode, int qty) {
if (barcode.Count(c => c == '#') == 3)
{
MoveInfo.log("CI: 原条码:" + barcode + ", qty:" + qty);
var barcodes = barcode.Split('#');
barcodes[2] = qty.ToString();
var af = string.Join("#", barcodes);
MoveInfo.log("CI: 转换后:" + af);
return af;
}
MoveInfo.log("CI: Barcode转换失败:" + barcode);
return "";
}
string ProcessCodeGetVJType(string barcode)
{
if (barcode.Count(c => c == '#') == 3)
{
var barcodes = barcode.Split('#');
var vjcode = barcodes[0].Substring(1) + "|" + barcodes[1].Substring(1);
MoveInfo.log($"CI: VJ转换:{barcode} => {vjcode}");
return vjcode;
}
MoveInfo.log("CI: VJ转换失败:" + barcode);
return "";
}
/// <summary>
/// 释放托盘
......@@ -547,25 +399,6 @@ namespace DeviceLibrary
//MoveInfo.log("释放托盘");
// MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
}
void CompTOP1(MoveInfo MoveInfo)
{
if (Comp.HasHome())
Comp.AbsMove(MoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
else
Comp.HomeMove(MoveInfo);
}
void CompTOCompression(MoveInfo MoveInfo)
{
if (!Comp.HasHome())
return;
Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
}
bool compdetereel = false;
int lastCmd = 0;
int lastStep = 0;
int lastPrefix = 0;
public void ResetProcess()
{
if (CheckWait(MoveInfo))
......@@ -574,169 +407,20 @@ namespace DeviceLibrary
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
break;
case MoveStep.H01_HomeReset:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
return;
if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()), out MoveStep m1step))
m1step = MoveStep.Wait;
if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()), out MoveStep m2step))
m2step = MoveStep.Wait;
//var m1step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()));
//var m2step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()));
if (IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
&& m1step == MoveStep.Wait)
{
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
MoveInfo.log("没有最后的动作, 机器人回待机点");
}
else
{
MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Config.Get("Runtime_Robot_"+robotname+"_ReelInfo"));
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
FromPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_FromPos"));
ToPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_ToPos"));
CurrentVStore = VStoreCollection.VStoreList[MoveInfo.MoveParam.cid];
MoveInfo.NextMoveStep(m1step);
RoboMoveInfo.NextMoveStep(m2step);
DeviceState = DeviceStateE.Run;
}
break;
case MoveStep.H02_HomeReset:
if (!Robot.StartRobot()) {
MoveInfo.CanWhileCount--;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0016","机器人连接失败"), MoveInfo.CanWhileCount<=0 ? MsgLevel.alarm: MsgLevel.warning));
}else
MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
break;
case MoveStep.H03_HomeReset:
if (Robot.IsRun)
{
MoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
Robot.PlayProgram();
MoveInfo.log("Robot.ProgramState:" + Robot.ProgramState);
MoveInfo.log("Robot.ClientIsConnected:" + Robot.ClientIsConnected);
MoveInfo.log("Robot.IsRun:" + Robot.IsRun);
MoveInfo.log("Robot.IsStartConnect:" + Robot.IsStartConnect);
MoveInfo.log("Robot.CurCmdReponse:" + Robot.CurCmdReponse);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} else if (MoveInfo.IsTimeOut(30)) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0017", "机器人启动失败"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
break;
case MoveStep.H04_HomeReset:
if (Robot.ClientIsConnected && Robot.CurCmdReponse.Contains("Start Program"))
{
MoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
}
else if (MoveInfo.IsTimeOut(10))
{
MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0018", "机器人未连接MT"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
break;
case MoveStep.H05_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
return;
case MoveStep.H06_HomeReset:
if (Robot.MoveCmdOk())
{
//如果上一步是回到待机点,并且料叉上无物料
if (lastStep==1 && !compdetereel && !IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH))
{
//回原结束
return;
}
RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
//如果上一步是回待机点,但料叉上有物料
if (lastStep == 1)
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
}
else if (lastStep == 0)//P5 取料低点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
}
else if (lastStep == 2)//P6 取料高点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
}
else if (lastStep == 5)//P7 取料退出过度点
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
}
else if (lastStep == 1)//P2 放料高点P2
{
MoveInfo.NextMoveStep(MoveStep.MI_02);
RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
}
}
break;
case MoveStep.H09_HomeReset:
if (Robot.MoveCmdOk())
{
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
}
break;
//尝试解除安全保护
case MoveStep.H10_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
Robot.SendCMD("safetymode", 0);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H11_HomeReset:
MoveInfo.log("机器人反馈安全模式为:" + Robot.CurDashboardReponse);
if (Robot.CurDashboardReponse.Contains("PROTECTIVE_STOP"))
{
MoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else if (Robot.CurDashboardReponse.Contains("NORMAL")) {
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
}
else if (Robot.CurDashboardReponse.Contains("Starting program"))
if (IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
MoveInfo.log("VJ点料机状态正常");
}
else {
Msg.add(crc.GetString("Res0059","机器人状态异常:") + Robot.CurDashboardReponse, MsgLevel.alarm);
Msg.add("VJ点料机状态异常",MsgLevel.warning);
}
break;
case MoveStep.H12_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
MoveInfo.log("机器人反馈安全模式为:"+Robot.CurCmdReponse);
Robot.SendCMD("unlock protective stop", 0);
MoveInfo.log("尝试解除机器人保护");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H13_HomeReset:
if (Robot.CurCmdReponse.Contains("Protective stop releasing")) {
MoveInfo.log("机器人成功解除保护");
Robot.StopProgram();
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsTimeOut(5))
{
MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
}
case MoveStep.H02_HomeReset:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
break;
}
}
......@@ -748,94 +432,38 @@ namespace DeviceLibrary
/// <returns></returns>
public bool HasJob(ReelParam reelParam)
{
MoveInfo.log($"DeviceState:{DeviceState},{MoveInfo.MoveStep},{reelParam}");
if (DeviceState != DeviceStateE.Run)
return false;
if (reelParam==null && MoveInfo.MoveStep >= MoveStep.MI_53)//正在出库中
if (reelParam == null && MoveInfo.MoveStep >= MoveStep.MI_53)//正在出库中
return true;
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
if (reelParam == null)
{
//空托盘,判断有没有出库任务
var sc = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).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);
return false;
}
//有料托盘,判断目的地料仓是否空闲
if (VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus == RTStoreStatus.Ready)
{
//料仓空闲, 锁定料仓准备入库
VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus = RTStoreStatus.LockToInStore;
if (reelParam != null && MoveInfo.MoveStep == MoveStep.Wait)
return true;
}
MoveInfo.log("RT料仓当前状态:" + VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus);
return false;
}
int bufferstoresindex = 0;
string[] bufferstores = new string[] { "B01", "B02", "B03", "B04", "B05", "B06", "B07", "B08" };
string GetNextBufferStore() {
if (bufferstoresindex >= bufferstores.Length)
bufferstoresindex = 0;
var c = POS_Start + "_"+bufferstores[bufferstoresindex];
bufferstoresindex++;
return c;
}
public bool FrontCheck(int curaddr)
{
throw new NotImplementedException();
}
public bool IsFree()
{
throw new NotImplementedException();
}
public RobotPosition GetMIPosition(string device, string pos) {
if (device == "AMH-MI1")
return RobotManage.MI1Postion[pos];
else if (device == "AMH-MI2")
return RobotManage.MI2Postion[pos];
else
return RobotManage.CIPostion[pos];
}
int GetWeight(ReelParam reelParam) {
int w = 0;
if (reelParam == null)
w = 1;
else if (reelParam.PlateW==7)
w= 2;
else if (reelParam.PlateW == 13 && reelParam.PlateH==8)
w= 2;
else if(reelParam.PlateW == 13)
w= 3;
else if(reelParam.PlateW == 15)
w= 3;
else
w= 2;
RoboMoveInfo.log($"机器人负载设定: {reelParam?.PlateW}x{reelParam?.PlateH}={w}");
return w;
}
public void FrontStopProcess()
{
//throw new NotImplementedException();
}
}
public enum XRayStepE {
WaitMTtoVJ,
Counting,
WaitCountResult,
WaitVJtoMT,
Finish
}
}
\ No newline at end of file
DeviceLibrary/theMachine/sub/TrayStop.cs
......@@ -149,7 +149,7 @@ namespace DeviceLibrary
CurrrentRFID = Common.RfidFilter(data);
TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH)?1:0, out TrayInfo trayInfo);
var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _);
MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop},GroupName:{GroupName},TrayType:{trayInfo.TrayType}");
#region MI1,Mi2的情况判断
if ((GroupName == "AMH-MI1" || GroupName == "AMH-MI2") && trayInfo.TrayType == TrayTypeE.MTP1)
{
......@@ -245,15 +245,17 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
else if (GroupName == "CI" && trayInfo.TrayType == TrayTypeE.MTP1) {
else if (GroupName == "CI" && trayInfo.TrayType == TrayTypeE.MTP1)
{
MoveInfo.log($"在CI设备:{trayInfo.DestinationAddr}=={DeviceGroup.addr_1}");
var device = CI.DeviceList[GroupName];
if (!device.ManualCount)
{
MoveInfo.log($"点料机当前不可用,NG处理");
RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
RequestLoadInfo.LoadParam.IsNg=true;
RequestLoadInfo.LoadParam.NgMsg="XRay not enable";
RequestLoadInfo.LoadParam.IsNg = true;
RequestLoadInfo.LoadParam.NgMsg = "XRay not enable";
RequestLoadInfo.DeviceGroupName = "AMH-MI2";
RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
RequestLoadInfo.IsEmpty = false;
......@@ -262,11 +264,24 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
return;
}
else
if (!trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.log("开始处理出料");
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//抵达了一个有物料的托盘等待处理
//请求的空托盘到达时
if (!device.HasJob(null))
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
else
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//device.StartOutStore();
}
}
else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
{
MoveInfo.log("开始处理入料");
//抵达了一个有物料的托盘等待处理
if (!device.HasJob(trayInfo.TrayParam))
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
else
......@@ -275,6 +290,10 @@ namespace DeviceLibrary
device.StartInStore(trayInfo.TrayParam);
}
}
else
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return;
}
#endregion
if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
......
DeviceLibrary/userControl/AxisMoveControl.Designer.cs
......@@ -163,6 +163,7 @@
this.lblAlarmcode.Tag = "not";
this.lblAlarmcode.Text = "ErrCode:160";
this.lblAlarmcode.Visible = false;
this.lblAlarmcode.Click += new System.EventHandler(this.lblAlarmcode_Click);
//
// label4
//
......
DeviceLibrary/userControl/AxisMoveControl.cs
......@@ -445,5 +445,11 @@ namespace DeviceLibrary
lbl.BackColor = this.BackColor;
}
}
private void lblAlarmcode_Click(object sender, EventArgs e)
{
MessageBox.Show(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(currentAxis.Config.GetAxisValue())));
}
}
}
\ No newline at end of file
RemoteSheardObject/TheLine.cs
using ConfigHelper;
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Collections.Specialized;
using System.Diagnostics;
using System.Linq;
using System.Net;
using System.Text;
......@@ -34,9 +36,26 @@ namespace RemoteSheardObject
{"locInfo", locInfo}
};
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData));
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData, out _));
}
public static bool UpdateReelQty(string barcode, int qty)
{
if (barcode.Count(c => c == '#') == 3)
{
barcode = barcode.Split('#')[1].Substring(1);
}
var postData = new Dictionary<string, string>()
{
{"barcode", barcode},
{"qty", qty.ToString()}
};
var data = SubmitPostData("/rest/micron/device/updateReelQty", postData, out string msg);
LogUtil.info("UpdateReelQty:"+data);
if (string.IsNullOrEmpty(data))
LogUtil.info("UpdateReelQty:" + msg);
return !string.IsNullOrEmpty(data);
}
public static bool emptyOut(string barcode)
{
//料盘空出后直接结束任务
......@@ -49,7 +68,7 @@ namespace RemoteSheardObject
{
{"barcode", barcode}
};
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/emptyOut", postData));
return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/emptyOut", postData, out _));
}
/// <summary>
/// 获取正在进行的任务数量
......@@ -67,7 +86,7 @@ namespace RemoteSheardObject
taskdata["tray"] = 0;
taskdata["reel"] = 0;
var result= JsonConvert.DeserializeObject<ResultData>(SubmitPostData("/rest/micron/device/getTaskCount", postData));
var result= JsonConvert.DeserializeObject<ResultData>(SubmitPostData("/rest/micron/device/getTaskCount", postData, out _));
if (result==null || result.code != 0)
return taskdata;
......@@ -107,7 +126,7 @@ namespace RemoteSheardObject
{
{"barcode", barcode},
};
var result = SubmitPostData( "/service/store/robotBox/getSize", postData);
var result = SubmitPostData( "/service/store/robotBox/getSize", postData, out _);
if (result != null)
return JsonConvert.DeserializeObject<T>(result);
else
......@@ -147,7 +166,7 @@ namespace RemoteSheardObject
{"ngPos",ngPos.ToString() }
};
string url = "/rest/micron/device/clearNgPos";
var resultStr = SubmitPostData(url, postData);
var resultStr = SubmitPostData(url, postData, out _);
}
/// <summary>
/// 上传自定义数据
......@@ -162,7 +181,7 @@ namespace RemoteSheardObject
{"value",value }
};
string url = "/rest/micron/device/updateData";
var resultStr = SubmitPostData(url, postData);
var resultStr = SubmitPostData(url, postData, out _);
}
/// <summary>
/// 上传自定义数据
......@@ -176,7 +195,7 @@ namespace RemoteSheardObject
{"key",key}
};
string url = "/rest/micron/device/getData";
var resultStr = SubmitPostData(url, postData);
var resultStr = SubmitPostData(url, postData, out _);
var r= JsonConvert.DeserializeObject<ResultData2>(resultStr);
if (!string.IsNullOrWhiteSpace(r.data)) {
return r.data;
......@@ -201,8 +220,9 @@ namespace RemoteSheardObject
public Dictionary<string, object> data { get; set; }
}
public static string SubmitPostData(string url, Dictionary<string, string> postData)
public static string SubmitPostData(string url, Dictionary<string, string> postData,out string msg)
{
msg = "";
url = CombineUrl(Config.Get("Device_Server_Address"), url);
//创建WebClient对象
using (var client = new WebClient())
......@@ -226,6 +246,7 @@ namespace RemoteSheardObject
if (postDataString.Length>0)
postDataString.Length--;
msg += postDataString;
//将POST请求参数转换为字节数组
byte[] bytes = Encoding.UTF8.GetBytes(postDataString.ToString());
......@@ -240,8 +261,10 @@ namespace RemoteSheardObject
{
// 捕获任何网络异常，并输出错误信息
//Console.WriteLine(crc.GetString("Res0071","提交POST请求时发生错误：") + ex.Message);
msg += "\r\n提交POST请求时发生错误："+ex.Message;
// 请求失败，返回false
Debug.WriteLine(url);
Debug.WriteLine(ex);
return "";
}
}
......@@ -259,7 +282,11 @@ namespace RemoteSheardObject
var barcode = reelParam.WareCode;
if (barcode.Count(c => c == '#') == 3)
{
barcode = barcode.Split('#')[1].Substring(1);
var bs = barcode.Split('#');
reelParam.RI = bs[1].Substring(1);
reelParam.PN = bs[0].Substring(1);
reelParam.DC = bs[2];
barcode = bs[1].Substring(1);
}
try
{
......@@ -271,7 +298,7 @@ namespace RemoteSheardObject
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/renewPosForPutin", nameValue);
var data = SubmitPostData("/service/store/robotBox/renewPosForPutin", nameValue, out _);
msg += "Regetposid code: " + reelParam.WareCode + ",preCid: " + reelParam.cid + ",cids:" + nameValue["cids"] + ",Result: " + data + "\r\n";
emptyPosForPutin result = JsonConvert.DeserializeObject<emptyPosForPutin>(data);
......
TheMachine/TheMachine.csproj
......@@ -260,6 +260,7 @@
</EmbeddedResource>
<EmbeddedResource Include="Form1.resx">
<DependentUpon>Form1.cs</DependentUpon>
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="IOControls.resx">
<DependentUpon>IOControls.cs</DependentUpon>
......
TheMachine/TrayManagerControl.cs
......@@ -123,6 +123,9 @@ namespace TheMachine
reelid = ti.TrayParam?.WareCode;
var items = new string[] {lastaddrdesc.ToString(), lasttime, traydesc, loaddesc, toaddrdesc, reelid };
if (string.IsNullOrEmpty(ti.RFID))
continue;
if (listView1.Items.ContainsKey(ti.RFID))
{
while (listView1.Items[ti.RFID].SubItems.Count > 1)
......@@ -189,7 +192,8 @@ namespace TheMachine
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 (listView1.SelectedItems[0].SubItems.Count>6)
txt += "\r\n"+"Code" + ": " + listView1.SelectedItems[0].SubItems[6].Text;
if (ti.HasLoad && ti.TrayParam.IsNg) {
txt += "\r\n" + "NgMsg" + ": " + ti.TrayParam.NgMsg;
}
......
TheMachine/device/CIDebugControl.Designer.cs
......@@ -35,12 +35,21 @@
this.label_barcode = new System.Windows.Forms.Label();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.cb_manualcount = new System.Windows.Forms.CheckBox();
this.btn_finishcount = new System.Windows.Forms.Button();
this.label_watchstatus = new System.Windows.Forms.Label();
this.btn_manualsend = new System.Windows.Forms.Button();
this.cb_com = new System.Windows.Forms.ComboBox();
this.cb_bitrate = new System.Windows.Forms.ComboBox();
this.btn_reopen = new System.Windows.Forms.Button();
this.button_start = new System.Windows.Forms.Button();
this.cb_enter = new System.Windows.Forms.CheckBox();
this.cb_newline = new System.Windows.Forms.CheckBox();
this.SuspendLayout();
//
// label_status
//
this.label_status.AutoSize = true;
this.label_status.Location = new System.Drawing.Point(60, 128);
this.label_status.Location = new System.Drawing.Point(60, 143);
this.label_status.Name = "label_status";
this.label_status.Size = new System.Drawing.Size(41, 12);
this.label_status.TabIndex = 0;
......@@ -48,11 +57,12 @@
//
// btn_start
//
this.btn_start.Location = new System.Drawing.Point(325, 128);
this.btn_start.Enabled = false;
this.btn_start.Location = new System.Drawing.Point(305, 143);
this.btn_start.Name = "btn_start";
this.btn_start.Size = new System.Drawing.Size(135, 23);
this.btn_start.TabIndex = 1;
this.btn_start.Text = "开始点料";
this.btn_start.Text = "Start count";
this.btn_start.UseVisualStyleBackColor = true;
this.btn_start.Click += new System.EventHandler(this.btn_start_Click);
//
......@@ -62,7 +72,7 @@
this.txt_barcode.Name = "txt_barcode";
this.txt_barcode.Size = new System.Drawing.Size(337, 21);
this.txt_barcode.TabIndex = 2;
this.txt_barcode.Text = "P123456#S123456789#0#182+EA";
this.txt_barcode.Text = "12345|123456789";
//
// label_barcode
//
......@@ -82,25 +92,143 @@
// cb_manualcount
//
this.cb_manualcount.AutoSize = true;
this.cb_manualcount.Checked = true;
this.cb_manualcount.CheckState = System.Windows.Forms.CheckState.Checked;
this.cb_manualcount.Location = new System.Drawing.Point(32, 27);
this.cb_manualcount.Name = "cb_manualcount";
this.cb_manualcount.Size = new System.Drawing.Size(96, 16);
this.cb_manualcount.Size = new System.Drawing.Size(120, 16);
this.cb_manualcount.TabIndex = 3;
this.cb_manualcount.Text = "手动拦截点料";
this.cb_manualcount.Text = "Manual operation";
this.cb_manualcount.UseVisualStyleBackColor = true;
this.cb_manualcount.CheckedChanged += new System.EventHandler(this.cb_manualcount_CheckedChanged);
//
// btn_finishcount
//
this.btn_finishcount.Enabled = false;
this.btn_finishcount.Location = new System.Drawing.Point(305, 221);
this.btn_finishcount.Name = "btn_finishcount";
this.btn_finishcount.Size = new System.Drawing.Size(135, 23);
this.btn_finishcount.TabIndex = 4;
this.btn_finishcount.Text = "Finish count";
this.btn_finishcount.UseVisualStyleBackColor = true;
this.btn_finishcount.Click += new System.EventHandler(this.btn_finishcount_Click);
//
// label_watchstatus
//
this.label_watchstatus.AutoSize = true;
this.label_watchstatus.Location = new System.Drawing.Point(60, 284);
this.label_watchstatus.Name = "label_watchstatus";
this.label_watchstatus.Size = new System.Drawing.Size(41, 12);
this.label_watchstatus.TabIndex = 0;
this.label_watchstatus.Text = "label1";
//
// btn_manualsend
//
this.btn_manualsend.Location = new System.Drawing.Point(486, 74);
this.btn_manualsend.Name = "btn_manualsend";
this.btn_manualsend.Size = new System.Drawing.Size(132, 23);
this.btn_manualsend.TabIndex = 5;
this.btn_manualsend.Text = "Send manually";
this.btn_manualsend.UseVisualStyleBackColor = true;
this.btn_manualsend.Click += new System.EventHandler(this.btn_manualsend_Click);
//
// cb_com
//
this.cb_com.FormattingEnabled = true;
this.cb_com.Items.AddRange(new object[] {
"COM1",
"COM2",
"COM3",
"COM4",
"COM5",
"COM6",
"COM7",
"COM8",
"COM9",
"COM10"});
this.cb_com.Location = new System.Drawing.Point(224, 25);
this.cb_com.Name = "cb_com";
this.cb_com.Size = new System.Drawing.Size(101, 20);
this.cb_com.TabIndex = 6;
//
// cb_bitrate
//
this.cb_bitrate.FormattingEnabled = true;
this.cb_bitrate.Items.AddRange(new object[] {
"115200",
"9600",
"4800"});
this.cb_bitrate.Location = new System.Drawing.Point(331, 25);
this.cb_bitrate.Name = "cb_bitrate";
this.cb_bitrate.Size = new System.Drawing.Size(121, 20);
this.cb_bitrate.TabIndex = 6;
//
// btn_reopen
//
this.btn_reopen.Location = new System.Drawing.Point(469, 23);
this.btn_reopen.Name = "btn_reopen";
this.btn_reopen.Size = new System.Drawing.Size(75, 23);
this.btn_reopen.TabIndex = 7;
this.btn_reopen.Text = "Apply";
this.btn_reopen.UseVisualStyleBackColor = true;
this.btn_reopen.Click += new System.EventHandler(this.btn_reopen_Click);
//
// button_start
//
this.button_start.Location = new System.Drawing.Point(486, 104);
this.button_start.Name = "button_start";
this.button_start.Size = new System.Drawing.Size(132, 23);
this.button_start.TabIndex = 8;
this.button_start.Text = "Start button";
this.button_start.UseVisualStyleBackColor = true;
this.button_start.Click += new System.EventHandler(this.button_start_Click);
//
// cb_enter
//
this.cb_enter.AutoSize = true;
this.cb_enter.Location = new System.Drawing.Point(360, 54);
this.cb_enter.Name = "cb_enter";
this.cb_enter.Size = new System.Drawing.Size(36, 16);
this.cb_enter.TabIndex = 9;
this.cb_enter.Tag = "not";
this.cb_enter.Text = "\\r";
this.cb_enter.UseVisualStyleBackColor = true;
this.cb_enter.CheckedChanged += new System.EventHandler(this.cb_enter_CheckedChanged);
//
// cb_newline
//
this.cb_newline.AutoSize = true;
this.cb_newline.Checked = true;
this.cb_newline.CheckState = System.Windows.Forms.CheckState.Checked;
this.cb_newline.Location = new System.Drawing.Point(424, 54);
this.cb_newline.Name = "cb_newline";
this.cb_newline.Size = new System.Drawing.Size(36, 16);
this.cb_newline.TabIndex = 9;
this.cb_newline.Tag = "not";
this.cb_newline.Text = "\\n";
this.cb_newline.UseVisualStyleBackColor = true;
this.cb_newline.CheckedChanged += new System.EventHandler(this.cb_enter_CheckedChanged);
//
// CIDebugControl
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.cb_newline);
this.Controls.Add(this.cb_enter);
this.Controls.Add(this.button_start);
this.Controls.Add(this.btn_reopen);
this.Controls.Add(this.cb_bitrate);
this.Controls.Add(this.cb_com);
this.Controls.Add(this.btn_manualsend);
this.Controls.Add(this.btn_finishcount);
this.Controls.Add(this.cb_manualcount);
this.Controls.Add(this.txt_barcode);
this.Controls.Add(this.btn_start);
this.Controls.Add(this.label_barcode);
this.Controls.Add(this.label_watchstatus);
this.Controls.Add(this.label_status);
this.Name = "CIDebugControl";
this.Size = new System.Drawing.Size(517, 310);
this.Size = new System.Drawing.Size(693, 359);
this.ResumeLayout(false);
this.PerformLayout();
......@@ -114,5 +242,14 @@
private System.Windows.Forms.Label label_barcode;
private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.CheckBox cb_manualcount;
private System.Windows.Forms.Button btn_finishcount;
private System.Windows.Forms.Label label_watchstatus;
private System.Windows.Forms.Button btn_manualsend;
private System.Windows.Forms.ComboBox cb_com;
private System.Windows.Forms.ComboBox cb_bitrate;
private System.Windows.Forms.Button btn_reopen;
private System.Windows.Forms.Button button_start;
private System.Windows.Forms.CheckBox cb_enter;
private System.Windows.Forms.CheckBox cb_newline;
}
}
TheMachine/device/CIDebugControl.cs
......@@ -12,6 +12,7 @@ using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using ConfigHelper;
namespace TheMachine.device
{
......@@ -20,6 +21,51 @@ namespace TheMachine.device
public CIDebugControl()
{
InitializeComponent();
RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
Config.PropertyBind(Setting_Init.VJCounter_COMPORT.Key, cb_com, "SelectedItem", "SelectedIndexChanged");
Config.PropertyBind(Setting_Init.VJCounter_BaudRate.Key, cb_bitrate, "SelectedItem", "SelectedIndexChanged");
}
private void RobotManage_LoadFinishEvent(bool state, string msg)
{
if (!TrayStop.DeviceList.ContainsKey("CI"))
return;
CI.DeviceList["CI"].ReelReady += CIDebugControl_ReelReady;
CI.DeviceList["CI"].XRayStep += CIDebugControl_XRayStep;
CI.DeviceList["CI"].ManualCount = cb_manualcount.Checked;
}
XRayStepE currentstep= XRayStepE.Finish;
private void CIDebugControl_XRayStep(object sender, XRayStepE e)
{
currentstep = e;
LogUtil.info("CID:CI测试界面接受到步骤:" + e);
this.Invoke((EventHandler)delegate
{
switch (e)
{
case XRayStepE.WaitMTtoVJ:
btn_start.Enabled = true;
break;
case XRayStepE.Counting:
btn_start.Enabled = false;
break;
case XRayStepE.WaitVJtoMT:
btn_finishcount.Enabled = true;
break;
case XRayStepE.Finish:
btn_finishcount.Enabled = false;
btn_start.Enabled = false;
break;
}
});
}
private void CIDebugControl_ReelReady(object sender, string e)
{
this.Invoke((EventHandler)delegate {
LogUtil.info("CID:CI测试界面接受到条码:" + e);
txt_barcode.Text = e;
});
}
private void timer1_Tick(object sender, EventArgs e)
......@@ -36,19 +82,27 @@ namespace TheMachine.device
status = "Counting";
}
label_status.Text = status;
label_status.Text = status+", "+ currentstep;
label_watchstatus.Text = $"Last SN:{RobotManage.folderWatcher.LastSN}, QTY:{RobotManage.folderWatcher.LastQty}, " + RobotManage.folderWatcher.LastUpdateTime.ToString();
}
private void btn_start_Click(object sender, EventArgs e)
{
if (CI.DeviceList["CI"].MoveInfo.MoveStep == MoveStep.MI_01)
CI.DeviceList["CI"].MoveInfo.NextMoveStep(MoveStep.MI_02);
else
MessageBox.Show("没有准备点料的托盘");
return;
if (TrayStop.DeviceList["CI"].IOValue(IO_Type.CI_Count_Finished).Equals(IO_VALUE.HIGH))
{
if (VJCounter.CheckConnect())
{
VJCounter.SendBarcode(txt_barcode.Text.Trim());
Thread.Sleep(500);
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 1000);
LogUtil.info("手动点击开始点料");
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
LogUtil.info("CID:手动点击开始点料");
}
else {
MessageBox.Show(crc.GetString("Res0117.c9f109fe","未成功连接VJ点料机"));
......@@ -64,5 +118,45 @@ namespace TheMachine.device
{
CI.DeviceList["CI"].ManualCount = cb_manualcount.Checked;
}
private void btn_finishcount_Click(object sender, EventArgs e)
{
LogUtil.info("CID:用户确认放料完成");
CI.DeviceList["CI"].StartOutStore();
}
private void btn_manualsend_Click(object sender, EventArgs e)
{
LogUtil.info("CID:手动点击SendBarcode");
var bc = txt_barcode.Text.Trim() + VJCounter.newline;
VJCounter.SendBarcode(bc);
MessageBox.Show("send: \"" + bc.Replace("\r","\\r").Replace("\n","\\n")+"\"");
}
private void btn_reopen_Click(object sender, EventArgs e)
{
if (!VJCounter.Connect(Setting_Init.VJCounter_COMPORT, Setting_Init.VJCounter_BaudRate, out string msgs))
{
MessageBox.Show(msgs);
}
}
private void button_start_Click(object sender, EventArgs e)
{
LogUtil.info("CID:手动点击startbtn");
TrayStop.DeviceList["CI"].IOMove(IO_Type.CI_Start, IO_VALUE.HIGH, 500);
}
private void cb_enter_CheckedChanged(object sender, EventArgs e)
{
string newline = "";
if (cb_enter.Checked)
newline += "\r";
if (cb_newline.Checked)
newline += "\n";
VJCounter.newline=newline;
}
}
}
\ No newline at end of file
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