Skip to content

刘韬 / 1053_CycleLine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 63494615 由 刘韬
选项

1

1 个父辈 f8d997d6
全部展开
内嵌 并排
正在显示 17 个修改的文件 包含 295 行增加 和 72 行删除
DeviceLibrary/DeviceLibrary/AxisBean.cs
......@@ -102,7 +102,7 @@ namespace DeviceLibrary
return;
}
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
MoveInfo.log(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
......@@ -188,7 +188,7 @@ namespace DeviceLibrary
AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
Thread.Sleep(100);
}
LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
MoveInfo.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
var AddSpeed = axis.AddSpeed > 0 ? axis.AddSpeed : targetSpeed * 4;
var DelSpeed = axis.DelSpeed > 0 ? axis.DelSpeed : targetSpeed * 4;
AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// , axis.AddSpeed, axis.DelSpeed);
......@@ -198,7 +198,7 @@ namespace DeviceLibrary
else
{
msg = $"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr},目标位置{targetPosition},当前位置{outCount}，误差过大，需要报警";
LogUtil.error(msg, 600);
MoveInfo.error(msg);
}
}
return false;
......@@ -218,7 +218,7 @@ namespace DeviceLibrary
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
MoveInfo.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
MoveInfo.CanWhileCount--;
......@@ -226,7 +226,7 @@ namespace DeviceLibrary
else
{
msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
MoveInfo.error(msg);
}
}
return false;
......
DeviceLibrary/DeviceLibrary/CylinderManger.cs
......@@ -30,6 +30,9 @@ namespace DeviceLibrary
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.HIGH));
}
Resume(false);
if (moveInfo!=null)
moveInfo.log($"{Name},设置{High}=High");
else
LogUtil.info($"{Name},设置{High}=High");
}
public void ToLow(MoveInfo moveInfo)
......@@ -41,6 +44,9 @@ namespace DeviceLibrary
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.LOW));
}
Resume(false);
if (moveInfo != null)
moveInfo.log($"{Name},设置{High}=Low");
else
LogUtil.info($"{Name},设置{High}=Low");
}
......
DeviceLibrary/DeviceLibrary/IOManager.cs
......@@ -30,7 +30,7 @@ namespace DeviceLibrary
}
else
{
LogUtil.error("没有DO="+ device + ":" + ioType);
LogUtil.error($"[{device}] not find DO="+ device + ":" + ioType);
}
}
......@@ -50,7 +50,7 @@ namespace DeviceLibrary
}
else
{
LogUtil.error("没有DO="+ device + ":" + ioType);
LogUtil.error($"[{device}] not find IO="+ device + ":" + ioType);
}
return ioValue;
}
......@@ -64,7 +64,7 @@ namespace DeviceLibrary
}
else
{
LogUtil.error("没有DO=" + ioType);
LogUtil.error($"[{device}] not find DO=" + ioType);
}
return ioValue;
}
......
DeviceLibrary/theMachine/DeviceBase.cs
......@@ -115,7 +115,7 @@ namespace DeviceLibrary
if (NoAlarm())
{
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
LogUtil.error(WarnMsg, logType + 14);
MoveInfo.error(WarnMsg);
//MoveInfo.errlog(WarnMsg);
if (!MoveInfo.OneWaitCanEndStep)
{
......@@ -133,7 +133,7 @@ namespace DeviceLibrary
else if (wait.WaitType.Equals(WaitEnum.W013_Action))
{
wait.IsEnd = wait.Action.Invoke(wait);
LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
MoveInfo.log($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
}
......@@ -172,7 +172,7 @@ namespace DeviceLibrary
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
MoveInfo.error(WarnMsg);
//MoveInfo.errlog(WarnMsg);
//Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm);
......@@ -262,7 +262,7 @@ namespace DeviceLibrary
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
LogUtil.info(Name + "定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
//LogUtil.info("[" + GroupName + "]定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
IOManager.IOMove(IoType, tValue, GroupName);
});
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -260,13 +260,6 @@ namespace DeviceLibrary
{
Msg.add(crc.GetString(y.Config.ProName, y.Config.Explain) + $"[{y.Config.GetAxisValue()}]:" + crc.GetString("Res0179", "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
ok = false;
var errcode = HuichuanLibrary.HCBoardManager.GetAxErrCode(y.Config.GetAxisValue());
var errcodebyte = BitConverter.GetBytes(errcode).ToList();
errcodebyte.Reverse();
HuichuanLibrary.HCBoardManager.GetSdo((ushort)y.Config.GetAxisValue(), 0x203f, 0, out byte[] data, out uint datalen);
var errdatabyte = data.ToList();
errdatabyte.Reverse();
LogUtil.error(y.Config.GetAxisValue() + "," + y.Config.Explain + " errcode " + BitConverter.ToString(errcodebyte.ToArray()) + "," + BitConverter.ToString(errdatabyte.ToArray()));
LogUtil.error(string.Join(",",HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(y.Config.GetAxisValue())));
}
......
DeviceLibrary/theMachine/MoveInfo.cs
......@@ -120,6 +120,15 @@ namespace DeviceLibrary
LogUtil.info(msg);
}
}
public void error(string msg) {
msg = $"[{Name}][{moveStep}][{MoveParam.PosID}-{MoveParam.WareCode}]{msg}";
if (String.Compare(lastmsg,msg, StringComparison.Ordinal)!=0)
{
lastmsg = msg;
LogUtil.error(msg);
}
}
string lasterrmsg = "";
private object p;
......
DeviceLibrary/theMachine/RemoteService.cs
......@@ -66,6 +66,9 @@ namespace DeviceLibrary
case "TrayRelease":
TrayManager.TrayRelease(remoteLoad);
break;
case "IsFree":
isok = TrayManager.IsFree(remoteLoad);
break;
case "OK":
case "FAIL":
lastresult = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
......@@ -101,7 +104,8 @@ namespace DeviceLibrary
remoteLoad.GroupName = GroupName;
if (remoteLoad.RequestLoadInfo != null && string.IsNullOrEmpty(remoteLoad.RequestLoadInfo.DeviceGroupName))
remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
LogUtil.info($"{GroupName},发送:{remoteLoad.Action}");
LogUtil.info($"{GroupName},发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
lastresult = RemoteResult.None;
SendMessage(GroupName, remoteLoad);
return WaitResult(waittime);
}
......
DeviceLibrary/theMachine/RobotManage.cs
......@@ -90,18 +90,26 @@ namespace DeviceLibrary
var d1 = new DeviceRunControl("SideMove", SideMove.DeviceList.Values.ToList<IDevice>());
var d2 = new DeviceRunControl("TransplantMove", TransplantMove.DeviceList.Values.ToList<IDevice>());
var d3 = new DeviceRunControl("TrayStop", TrayStop.DeviceList.Values.ToList<IDevice>());
d1.Start();
d2.Start();
d3.Start();
isRunning = true;
GC.KeepAlive(mainThread);
Task.Run(()=> {
//Task.Run(()=> {
AxisBean.List.ToList().ForEach((x) => { x.Value.ForEach(y => { AxisManager.AlarmClear(y.Config.DeviceName, y.Config.GetAxisValue()); }); });
Task.Delay(1000).Wait();
Task.Delay(100).Wait();
if (mainMachine.DeviceCheck())
{
mainMachine.BeginHomeReset(true);
});
}
//}).Wait();
d1.Start();
d2.Start();
d3.Start();
}
......
DeviceLibrary/theMachine/TrayManager.cs
using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
......@@ -12,6 +15,7 @@ namespace DeviceLibrary
public static partial class TrayManager
{
public static Dictionary<string,TrayInfo> Traylist = new Dictionary<string,TrayInfo>();
/// <summary>
/// 处理更新托盘信息
/// </summary>
......@@ -19,10 +23,10 @@ namespace DeviceLibrary
/// <param name="addr"></param>
/// <param name="trayInfo"></param>
/// <returns>是否放行 放行true, 拦截false</returns>
public static bool Process(string rfid, int addr, out TrayInfo trayInfo) {
public static bool Process(MoveInfo moveInfo,string rfid, int addr, out TrayInfo trayInfo) {
lock (Traylist)
{
LogUtil.info($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
moveInfo.log($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
if (!Traylist.ContainsKey(rfid))
{
Traylist.Add(rfid, new TrayInfo());
......@@ -37,6 +41,11 @@ namespace DeviceLibrary
}
return true;
}
/// <summary>
/// 设置托盘物料信息
/// </summary>
/// <param name="rfid"></param>
/// <param name="requestLoadInfo"></param>
public static void SetTrayLoadInfo(string rfid, RequestLoadInfo requestLoadInfo)
{
lock (Traylist)
......@@ -52,9 +61,26 @@ namespace DeviceLibrary
Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
}
SaveTrayInfo();
}
}
static void SaveTrayInfo() {
try
{
var TL = Traylist.Where(t => t.Value.DestinationAddr >= 0).ToDictionary(a => a.Key, a => a.Value);
if (TL.Count > 0)
{
File.Delete("Config\\TrayList.temp");
File.WriteAllText("Config\\TrayList.temp~", JsonConvert.SerializeObject(TL));
File.Move("Config\\TrayList.temp~", "Config\\TrayList.temp");
}
}
catch (Exception ex)
{
LogUtil.error("托盘信息保存失败:" + ex);
}
}
/// <summary>
/// deviceGroupName,RequestLoadInfo
/// </summary>
......@@ -62,7 +88,7 @@ namespace DeviceLibrary
public static bool HasTrayRequest(string deviceGroupName,string rfid,out ReelParam reelParam)
{
reelParam = null;
LogUtil.info($"HasTrayRequest:{deviceGroupName},{rfid},{TrayRequest.ContainsKey(deviceGroupName)}");
LogUtil.info($"[{deviceGroupName}] HasTrayRequest:{deviceGroupName},{rfid},{TrayRequest.ContainsKey(deviceGroupName)}");
lock (TrayRequest)
{
if (!TrayRequest.ContainsKey(deviceGroupName))
......@@ -160,7 +186,9 @@ namespace DeviceLibrary
{
LogUtil.info("清空托盘信息 RFID:" + rfid);
Traylist[rfid].SetToEmpty();
SaveTrayInfo();
}
}
/// <summary>
/// 托盘释放
......@@ -185,6 +213,25 @@ namespace DeviceLibrary
device.TrayRelease();
}
}
/// <summary>
/// 移栽机构是否已空闲
/// </summary>
/// <param name="remoteLoad"></param>
/// <returns></returns>
public static bool IsFree(RemoteLoad remoteLoad)
{
var requestLoadInfo = remoteLoad.RequestLoadInfo;
Debug.WriteLine($"IsFree:{remoteLoad.GroupName}{requestLoadInfo.DeviceGroupName}");
lock (requestLoadInfo)
{
if (TransplantMove.DeviceList.ContainsKey(remoteLoad.GroupName))
{
var device = TransplantMove.DeviceList[remoteLoad.GroupName];
return device.IsFree();
}
}
return false;
}
/// <summary>
/// 空托盘数量
......@@ -212,7 +259,7 @@ namespace DeviceLibrary
OfflineCount = 0;
lastrefresh = DateTime.Now;
Traylist.Values.ToList().ForEach(ti=> {
if ((lastrefresh - ti.LastUpdateTime).TotalSeconds > 15)
if ((lastrefresh - ti.LastUpdateTime).TotalSeconds > 30)
{
ti.isOnline = false;
OfflineCount++;
......@@ -290,7 +337,17 @@ namespace DeviceLibrary
//TrayTypeDesc.Add(TrayTypeE.C02, crc.GetString("Res0011","Pizza治具"));
//TrayTypeDesc.Add(TrayTypeE.C03, crc.GetString("Res0012","Tray治具"));
//TrayTypeDesc.Add(TrayTypeE.C04, crc.GetString("Res0013","ShoeBOX治具"));
if (File.Exists("Config\\TrayList.temp"))
{
try
{
var tl = File.ReadAllText("Config\\TrayList.temp");
Traylist = JsonConvert.DeserializeObject<Dictionary<string, TrayInfo>>(tl);
}
catch (Exception ex) {
LogUtil.error("启动时托盘信息加载失败:"+ex);
}
}
}
public static void Init(Dictionary<string, DeviceGroup> deviceGroup) {
if (!AddrDesc.ContainsKey(-1))
......
DeviceLibrary/theMachine/sub/IDevice.cs
......@@ -15,6 +15,7 @@ namespace DeviceLibrary
void Start();
void Stop();
void TrayRelease();
bool IsFree();
}
public enum DeviceStateE
......
DeviceLibrary/theMachine/sub/SideMove.cs
......@@ -126,6 +126,10 @@ namespace DeviceLibrary
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else
{
......@@ -135,7 +139,7 @@ namespace DeviceLibrary
case MoveStep.SideMove_02:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_03);
IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.HIGH, StopDelayMS);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
//IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
break;
case MoveStep.SideMove_03:
if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) {
......@@ -171,7 +175,7 @@ namespace DeviceLibrary
break;
case MoveStep.SideMove_08:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.SideMove_09:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10);
......@@ -298,7 +302,7 @@ namespace DeviceLibrary
if (RFID.ReadByte(0x20,16,out byte[] data, out string errmsg))
{
var rfid = Common.RfidFilter(data);
TrayManager.Process(rfid, addr, out TrayInfo trayInfo);
TrayManager.Process(Minfo,rfid, addr, out TrayInfo trayInfo);
if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad))
Minfo.NextMoveStep(MoveStep.SideMove_10);
......@@ -349,7 +353,7 @@ namespace DeviceLibrary
{
Minfo.NextMoveStep(MoveStep.SideMove_11);
}
else if (lsb.MoveStep >= MoveStep.SideMove_11)
else if (lsb.MoveStep >= MoveStep.SideMove_10)
{
Minfo.NextMoveStep(MoveStep.SideMove_06);
Minfo.log($"{sideb}侧也在等待横移,本侧直接穿过");
......@@ -426,8 +430,8 @@ namespace DeviceLibrary
break;
case MoveStep.H02_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
//IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
//IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
var loAdown = IOValue(IO_Type.Ls_A_Location_Down).Equals(IO_VALUE.HIGH);
var loBdown = IOValue(IO_Type.Ls_B_Location_Down).Equals(IO_VALUE.HIGH);
var trayAstate = IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH);
......@@ -467,14 +471,14 @@ namespace DeviceLibrary
LSAMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo);
if (LS_Type== LS_TypeE.NoRfid)
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
//if (LS_Type== LS_TypeE.NoRfid)
// IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
LSAMoveInfo.log($"顶升顶起");
break;
case MoveStep.H04_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
Line.LineRun("n", false, 10);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
LSAMoveInfo.log($"横移点击运行");
break;
case MoveStep.H05_HomeReset:
......@@ -487,7 +491,7 @@ namespace DeviceLibrary
LSAMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
if (LS_Type!= LS_TypeE.NoRfid)
IOMove(IO_Type.Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
LSAMoveInfo.log($"缓冲回退");
break;
case MoveStep.H07_HomeReset:
......@@ -508,6 +512,11 @@ namespace DeviceLibrary
{
}
public bool IsFree()
{
throw new NotImplementedException();
}
enum LS_TypeE {
NoRfid,
OneWay,
......
DeviceLibrary/theMachine/sub/TrayStop.cs
......@@ -32,7 +32,6 @@ namespace DeviceLibrary
AxisBean axis2;
public TrayStop(DeviceGroup device,out string msg) {
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
DeviceGroup = device;
......@@ -114,7 +113,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.CanWhileCount = 3;
Location.ToHigh(MoveInfo);
//Location.ToHigh(MoveInfo);
} else if (MoveInfo.IsTimeOut(10)){
MoveInfo.log("没有检测到托盘");
MoveInfo.NextMoveStep(MoveStep.Wait);
......@@ -124,7 +123,7 @@ namespace DeviceLibrary
if (RFID_1.ReadByte(0x20, 16, out byte[] data,out string errmsg))
{
CurrrentRFID = Common.RfidFilter(data);
TrayManager.Process(CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
var stop = TrayManager.HasTrayRequest(GroupName, CurrrentRFID,out _);
MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
......@@ -142,6 +141,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
SRec.info("托盘挡停", GroupName, "空托盘","准备接料", CurrrentRFID);
if (trayInfo.TrayParam != null)
ServerCommunication.UpdateRobotStatus(trayInfo.TrayParam.WareCode, RobotStatusE.INROBOT, MoveInfo.MoveParam.RFID);
return;
}
......@@ -158,7 +158,7 @@ namespace DeviceLibrary
if (result != RemoteResult.True)
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
MoveInfo.log($"{GroupName} 请求入库失败:{result}");
MoveInfo.log($"{GroupName} 请求出库失败:{result}");
}
else
{
......@@ -249,5 +249,10 @@ namespace DeviceLibrary
break;
}
}
public bool IsFree()
{
throw new NotImplementedException();
}
}
}
\ No newline at end of file
RemoteSheardObject/Class1.cs
......@@ -11,17 +11,38 @@ using System.Threading.Tasks;
[Serializable]
public class RemoteLoad
{
/// <summary>
/// 动作
/// </summary>
public string Action;
public int Seq;
public long Seq;
/// <summary>
/// 设备名称
/// </summary>
public string GroupName;
/// <summary>
/// 载荷信息
/// </summary>
public RequestLoadInfo RequestLoadInfo;
}
[Serializable]
public class RequestLoadInfo
{
/// <summary>
/// 目的地设备名称
/// </summary>
public string DeviceGroupName;
/// <summary>
/// 托盘类型
/// </summary>
public string TrayType;
/// <summary>
/// 是否空托盘
/// </summary>
public bool IsEmpty;
/// <summary>
/// 料盘数据
/// </summary>
public ReelParam LoadParam;
//public DoorStatusE DoorStatus;
......@@ -34,28 +55,50 @@ public class RequestLoadInfo
{
return (TrayTypeE)Enum.Parse(typeof(TrayTypeE), TrayType);
}
catch {
catch
{
return TrayTypeE.None;
}
}
}
}
public enum RobotStatusE
{
INROBOT, BOXDOOR, FINISHED
}
/// <summary>
/// 治具类型
/// </summary>
public enum TrayTypeE
{
None,
/// <summary>
/// 流水线料盘托盘
/// </summary>
MTP1, //流水线料盘托盘
/// <summary>
/// 流水线治具托盘
/// </summary>
MTP2, //流水线治具托盘
/// <summary>
/// 料串
/// </summary>
S007, //料串
/// <summary>
/// Tray料格
/// </summary>
M03, //Tray料格
/// <summary>
/// PCB料格
/// </summary>
M02, //PCB料格
/// <summary>
/// PizzaBOX料格
/// </summary>
M01, //PizzaBOX料格
/// <summary>
/// ShoeBOX料格
/// </summary>
M04, //ShoeBOX料格
}
......@@ -148,12 +191,12 @@ public class ReelParam
{
if (IsNg)
{
return $":{NgMsg}[{WareCode}][{RFID}]";
return $":{NgMsg}[{WareCode}][{RFID}][{PlateW}x{PlateH}]";
}
else
{
return $":[{PosID}][{WareCode}][{RFID}] ";
return $":[{PosID}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
}
}
......
RemoteSheardObject/RemoteClient.cs
......@@ -91,10 +91,11 @@ public class RemoteClient
case "OK":
case "FAIL":
lastresult = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
LOGGER.Info("Revice Command Callback" + remoteLoad.GroupName + "-" + remoteLoad.Action);
LOGGER.Info("Revice Command Callback:" + remoteLoad.GroupName + "-" + remoteLoad.Action);
return;
default:
if (actionlist.ContainsKey(remoteLoad.Action)) {
LOGGER.Info("Revice remote command:" + remoteLoad.Action +",Seq:"+ remoteLoad.Seq);
isok= actionlist[remoteLoad.Action].Invoke(remoteLoad.RequestLoadInfo);
}
else
......@@ -124,6 +125,7 @@ public class RemoteClient
return lastresult;
}
public RemoteResult SendAndWait(RemoteLoad remoteLoad, int waittime= 3000) {
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.GroupName = GroupName;
if (remoteLoad.RequestLoadInfo != null)
{
......
TheMachine/TrayManagerControl.Designer.cs
......@@ -31,9 +31,13 @@ namespace TheMachine
{
this.components = new System.ComponentModel.Container();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.listView1 = new TheMachine.DoubleBufferListView();
this.label_Statistics = new System.Windows.Forms.Label();
this.gb_trayinfo = new System.Windows.Forms.GroupBox();
this.btn_reset = new System.Windows.Forms.Button();
this.lbl_info = new System.Windows.Forms.Label();
this.ListView2 = new TheMachine.DoubleBufferListView();
this.listView1 = new TheMachine.DoubleBufferListView();
this.gb_trayinfo.SuspendLayout();
this.SuspendLayout();
//
// timer1
......@@ -41,15 +45,6 @@ namespace TheMachine
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// listView1
//
this.listView1.HideSelection = false;
this.listView1.Location = new System.Drawing.Point(0, 0);
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(671, 355);
this.listView1.TabIndex = 0;
this.listView1.UseCompatibleStateImageBehavior = false;
//
// label_Statistics
//
this.label_Statistics.AutoSize = true;
......@@ -59,6 +54,38 @@ namespace TheMachine
this.label_Statistics.TabIndex = 1;
this.label_Statistics.Text = "label1";
//
// gb_trayinfo
//
this.gb_trayinfo.Controls.Add(this.btn_reset);
this.gb_trayinfo.Controls.Add(this.lbl_info);
this.gb_trayinfo.Location = new System.Drawing.Point(714, 185);
this.gb_trayinfo.Name = "gb_trayinfo";
this.gb_trayinfo.Size = new System.Drawing.Size(240, 170);
this.gb_trayinfo.TabIndex = 2;
this.gb_trayinfo.TabStop = false;
this.gb_trayinfo.Text = "托盘操作";
this.gb_trayinfo.Visible = false;
//
// btn_reset
//
this.btn_reset.Dock = System.Windows.Forms.DockStyle.Bottom;
this.btn_reset.Location = new System.Drawing.Point(3, 137);
this.btn_reset.Name = "btn_reset";
this.btn_reset.Size = new System.Drawing.Size(234, 30);
this.btn_reset.TabIndex = 1;
this.btn_reset.Text = "清空托盘";
this.btn_reset.UseVisualStyleBackColor = true;
this.btn_reset.Click += new System.EventHandler(this.btn_reset_Click);
//
// lbl_info
//
this.lbl_info.Dock = System.Windows.Forms.DockStyle.Fill;
this.lbl_info.Location = new System.Drawing.Point(3, 22);
this.lbl_info.Name = "lbl_info";
this.lbl_info.Size = new System.Drawing.Size(234, 145);
this.lbl_info.TabIndex = 0;
this.lbl_info.Text = "label1";
//
// ListView2
//
this.ListView2.HideSelection = false;
......@@ -68,9 +95,22 @@ namespace TheMachine
this.ListView2.TabIndex = 0;
this.ListView2.UseCompatibleStateImageBehavior = false;
//
// listView1
//
this.listView1.FullRowSelect = true;
this.listView1.HideSelection = false;
this.listView1.Location = new System.Drawing.Point(0, 0);
this.listView1.MultiSelect = false;
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(671, 355);
this.listView1.TabIndex = 0;
this.listView1.UseCompatibleStateImageBehavior = false;
this.listView1.SelectedIndexChanged += new System.EventHandler(this.listView1_SelectedIndexChanged);
//
// TrayManagerControl
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.Controls.Add(this.gb_trayinfo);
this.Controls.Add(this.label_Statistics);
this.Controls.Add(this.ListView2);
this.Controls.Add(this.listView1);
......@@ -78,6 +118,7 @@ namespace TheMachine
this.Name = "TrayManagerControl";
this.Size = new System.Drawing.Size(1007, 642);
this.Load += new System.EventHandler(this.TrayManagerControl_Load);
this.gb_trayinfo.ResumeLayout(false);
this.ResumeLayout(false);
this.PerformLayout();
......@@ -89,5 +130,8 @@ namespace TheMachine
private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.Label label_Statistics;
private DoubleBufferListView ListView2;
private System.Windows.Forms.GroupBox gb_trayinfo;
private System.Windows.Forms.Label lbl_info;
private System.Windows.Forms.Button btn_reset;
}
}
TheMachine/TrayManagerControl.cs
......@@ -10,6 +10,7 @@ using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using OnlineStore.Common;
namespace TheMachine
{
......@@ -65,8 +66,8 @@ namespace TheMachine
{
ColumnHeader col1 = new ColumnHeader();
col1.Text = coltxt;
col1.AutoResize(ColumnHeaderAutoResizeStyle.ColumnContent);
col1.Width = 100;
col1.AutoResize(ColumnHeaderAutoResizeStyle.ColumnContent);
ListView2.Columns.Add(col1);
}
//ListView2.ColumnClick += ListView1_ColumnClick;
......@@ -106,7 +107,7 @@ namespace TheMachine
}
});
listView1.Items.Clear();
//listView1.Items.Clear();
foreach (var ti in traylist) {
var timego = (DateTime.Now - ti.LastUpdateTime);
var lasttime = timego.Seconds + crc.GetString("Res0024","秒前");
......@@ -121,17 +122,29 @@ namespace TheMachine
var reelid = "";
reelid = ti.TrayParam?.WareCode;
var items = new string[] {lastaddrdesc.ToString(), lasttime, traydesc, loaddesc, toaddrdesc, reelid };
if (listView1.Items.ContainsKey(ti.RFID))
{
while (listView1.Items[ti.RFID].SubItems.Count > 1)
{
listView1.Items[ti.RFID].SubItems.RemoveAt(1);
}
listView1.Items[ti.RFID].SubItems.AddRange(items);
}
else
{
var listviewitem = new ListViewItem();
listView1.Items.Add(ti.RFID, ti.RFID,0);
listView1.Items[ti.RFID].SubItems.AddRange(items);
listView1.Items[ti.RFID].UseItemStyleForSubItems = true;
}
if (timego.TotalSeconds < 15)
listviewitem.ForeColor = Color.DarkGreen;
listView1.Items[ti.RFID].ForeColor = Color.DarkGreen;
else if (timego.TotalSeconds > 30)
listviewitem.ForeColor = Color.DarkGray;
listView1.Items[ti.RFID].ForeColor = Color.DarkGray;
else
listviewitem.ForeColor = Color.Black;
listviewitem.UseItemStyleForSubItems = true;
listviewitem.Text = ti.RFID;
listviewitem.SubItems.AddRange(items);
listView1.Items.Add(listviewitem);
listView1.Items[ti.RFID].ForeColor = Color.Black;
}
ListView2.Items.Clear();
foreach (var tivk in TrayManager.TrayRequest.ToArray())
......@@ -157,5 +170,34 @@ namespace TheMachine
+ crc.GetString("Res0031","入库托盘") + ": " + TrayManager.InStoreCount + "\n"
+ crc.GetString("Res0032","出库托盘") + ": " + TrayManager.OutStoreCount + "\n";
}
private void listView1_SelectedIndexChanged(object sender, EventArgs e)
{
if (listView1.SelectedItems.Count ==0)
{
gb_trayinfo.Visible = false;
return;
}
string txt = "RFID" + ": " + listView1.SelectedItems[0].Text;
txt += "\r\n"+"托盘类型" + ": " + listView1.SelectedItems[0].SubItems[2].Text;
txt += "\r\n"+"载荷" + ": " + listView1.SelectedItems[0].SubItems[3].Text;
txt += "\r\n"+"目的地" + ": " + listView1.SelectedItems[0].SubItems[4].Text;
txt += "\r\n"+"Code" + ": " + listView1.SelectedItems[0].SubItems[6].Text;
lbl_info.Text = txt;
gb_trayinfo.Visible = true;
}
private void btn_reset_Click(object sender, EventArgs e)
{
if (listView1.SelectedItems.Count != 1)
{
gb_trayinfo.Visible = false;
return;
}
TrayManager.SetToEmpty(listView1.SelectedItems[0].Text);
LogUtil.info("手动清空托盘信息 RFID:" + listView1.SelectedItems[0].Text);
}
}
}
\ No newline at end of file
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!