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Commit 0a82a1e2 由 张东亮
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入库状态更改，向服务端发送按钮状态

1 个父辈 1aaa0514
内嵌 并排
正在显示 6 个修改的文件 包含 70 行增加 和 42 行删除
Common/bean/Bean.cs
......@@ -72,6 +72,7 @@ namespace OnlineStore.Common
get { return _data; }
set { _data = value; }
}
public Dictionary<String, Dictionary<String, String>> mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
/// <summary>
/// 整体料仓状态
/// 1=正常运行中
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
......@@ -132,13 +132,8 @@ namespace DeviceLibrary
Operation operation = getLineBoxStatus();
if (!string.IsNullOrEmpty(posid))
operation.boxStatus[StoreID].data.Add(ParamDefine.posId, posid);
if (storeStatus == StoreStatus.OutStoreEnd ||
storeStatus == StoreStatus.OutStoreBoxEnd ||
storeStatus == StoreStatus.InStoreEnd)
{
}
else
operation.boxStatus[StoreID].status = (int)storeStatus;
operation.boxStatus[StoreID].status = (int)storeStatus;
LogUtil.info(JsonHelper.SerializeObject(operation));
if (RobotManage.InoutDebugMode)
......@@ -165,10 +160,6 @@ namespace DeviceLibrary
//{
// this.storeStatus = StoreStatus.StoreOnline;
//}
if (RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{
this.storeStatus = StoreStatus.StoreOnline;
}
}
return true;
}
......@@ -206,7 +197,6 @@ namespace DeviceLibrary
lineOperation.data = lineOperation.data.Concat(GetBtnStatus()).ToDictionary(x => x.Key, v => v.Value);
lineOperation.data = lineOperation.data.Concat(AgvStatus()).ToDictionary(x => x.Key, v => v.Value);
lineOperation.status = (int)storeStatus;
//判断如果是等待料盘拿走超时，状态改为4Warning
//if (alarmType.Equals(StoreAlarmType.IoSingleTimeOut) && StoreMove.MoveType.Equals(StoreMoveType.OutStore))
//{
......@@ -441,6 +431,11 @@ namespace DeviceLibrary
map.Add(ParamDefine.confirmReelOut, ParamDefine.disable);
map.Add(ParamDefine.singleReelIn, ParamDefine.disable);
map.Add(ParamDefine.SendEmptyShelf, ParamDefine.disable);
map.Add(ParamDefine.SendFullShelf, ParamDefine.disable);
map.Add(ParamDefine.NeedEmptySHelf, ParamDefine.disable);
map.Add(ParamDefine.NeedFullShelf, ParamDefine.disable);
if (storeStatus == StoreStatus.ResetMove
|| storeStatus == StoreStatus.SuddenStop
|| storeStatus == StoreStatus.Debugging
......@@ -473,17 +468,16 @@ namespace DeviceLibrary
{
map[ParamDefine.singleReelIn] = ParamDefine.enable;
}
//mimo呼叫agv按钮
map.Add(ParamDefine.SendEmptyShelf, ParamDefine.disable);
map.Add(ParamDefine.SendFullShelf, ParamDefine.disable);
map.Add(ParamDefine.NeedEmptySHelf, ParamDefine.disable);
map.Add(ParamDefine.NeedFullShelf, ParamDefine.disable);
if (RobotManage.mainMachine.StringState == MainMachine.StringStateE.None)
if (RobotManage.mainMachine?.StringState == MainMachine.StringStateE.None)
{
map[ParamDefine.NeedEmptySHelf] = ParamDefine.enable;
map[ParamDefine.NeedFullShelf] = ParamDefine.enable;
}
if (RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
if (RobotManage.mainMachine?.StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{
if (RobotManage.mainMachine.StringState == MainMachine.StringStateE.Full)
{
......@@ -494,7 +488,33 @@ namespace DeviceLibrary
map[ParamDefine.SendEmptyShelf] = ParamDefine.enable;
}
}
return map;
}
public Dictionary<string,string> GetAgvBtnStatus()
{
//mimo呼叫agv按钮
Dictionary<string, string> map = new Dictionary<string, string>();
map.Add(ParamDefine.SendEmptyShelf, ParamDefine.disable);
map.Add(ParamDefine.SendFullShelf, ParamDefine.disable);
map.Add(ParamDefine.NeedEmptySHelf, ParamDefine.disable);
map.Add(ParamDefine.NeedFullShelf, ParamDefine.disable);
if (RobotManage.mainMachine?.StringState == MainMachine.StringStateE.None)
{
map[ParamDefine.NeedEmptySHelf] = ParamDefine.enable;
map[ParamDefine.NeedFullShelf] = ParamDefine.enable;
}
if (RobotManage.mainMachine?.StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{
if (RobotManage.mainMachine.StringState == MainMachine.StringStateE.Full)
{
map[ParamDefine.SendFullShelf] = ParamDefine.enable;
}
else
{
map[ParamDefine.SendEmptyShelf] = ParamDefine.enable;
}
}
return map;
}
/// <summary>
......
DeviceLibrary/theMachine/BoxTransport.cs
......@@ -190,6 +190,7 @@ namespace DeviceLibrary
break;
case MoveStep.StoreFIX01:
MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
......@@ -210,7 +211,6 @@ namespace DeviceLibrary
break;
case MoveStep.StoreFIX04:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.StoreFIX05:
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -535,15 +535,15 @@ namespace DeviceLibrary
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo);
}
else if((RobotManage.HasReelInFixPos(out ReelParam reelParam)) && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false))
else if((RobotManage.HasReelInFixPos(out ReelParam reelParam))
&& boxTransport.IsComplateOrFree
&& ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false)
&& IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut_NGPre);
StoreMoveInfo.MoveParam=reelParam.clone();
StoreMoveInfo.MoveParam.PosID = "NG";
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = "检测到校准库位有料盘信息,请人工确认";
StoreMoveInfo.log($"开始校准库位料盘出库");
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
var pos = BoxStorePosition.GetFixPos(Config, reelParam);
LogUtil.info($"复位完成，校准库位出库:{pos.posid}");
RobotManage.mainMachine.AddSingleStoreTask(pos.posid, reelParam.PlateW, reelParam.PlateH);
RobotManage.ClearReelInFixPos();
CloseFlipDoor(StoreMoveInfo);
}
runStatus = RunStatus.Running;
......
DeviceLibrary/theMachine/MainMachine_Store.cs
......@@ -55,6 +55,7 @@ namespace DeviceLibrary
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
StoreMoveInfo.MoveParam = ClampMoveInfo.MoveParam.clone();
StoreMoveInfo.log($"入库料盘已准备好");
ServerCM.storeStatus = StoreStatus.InStoreExecute;
}
//判断有没有单盘出库任务, 需要入库空闲, 出口空闲
else if (OutSingleJobList.Count > 0 && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait)
......
DeviceLibrary/theMachine/MainMachine_String.cs
......@@ -59,9 +59,10 @@ namespace DeviceLibrary
/// <summary>
/// 强制转换料串为出库模式
/// </summary>
public bool TurnToOut() {
public bool TurnToOut()
{
if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep==MoveStep.StringOut_Released)
if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{
StringMoveInfo.log($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
......@@ -173,7 +174,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009","料串正在上升"), MsgLevel.warning));
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009", "料串正在上升"), MsgLevel.warning));
}
else if (StringMoveInfo.IsTimeOut(10))
{
......@@ -197,11 +198,11 @@ namespace DeviceLibrary
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
{
SetReelHeight(GetHeight(StringMoveInfo));
StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
}
else if(StringState != StringStateE.OutStore)
else if (StringState != StringStateE.OutStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore;
......@@ -244,7 +245,7 @@ namespace DeviceLibrary
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"料串有盘上升5mm");
var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM+2);
var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
//OpenFlipDoor(StringMoveInfo);
......@@ -291,7 +292,7 @@ namespace DeviceLibrary
break;
case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore;
if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck",false))
if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck", false))
{
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
StringMoveInfo.log($"检测阻挡工作");
......@@ -340,12 +341,12 @@ namespace DeviceLibrary
case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true);
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true);
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringReelPut_04:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05);
......@@ -379,7 +380,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0010","料串正在下降"), MsgLevel.warning));
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0010", "料串正在下降"), MsgLevel.warning));
break;
case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
......@@ -392,6 +393,7 @@ namespace DeviceLibrary
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
break;
case MoveStep.StringOut_Released:
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (StringState == StringStateE.Full)
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427
else
......@@ -445,14 +447,15 @@ namespace DeviceLibrary
}
}
string StringProcessState() {
string StringProcessState()
{
string state = "";
if (StringState == StringStateE.OutStore)
state = crc.GetString(L.empty_reel, "空料串");
else if (StringState == StringStateE.Full)
{
state = crc.GetString(L.full_reel, "满料串");
}
else if (StringState == StringStateE.InStore)
......@@ -488,14 +491,14 @@ namespace DeviceLibrary
int targetSpeed = Config.Batch_P2_speed;
if (isFirstMove)
{
targetSpeed= Config.Batch_P1_speed;
targetSpeed = Config.Batch_P1_speed;
}
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2);
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
Batch_Axis.SuddenStop();
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = Batch_Axis.GetAclPosition()- (Config.Batch_PoToMM * 2);
StartMovePosition = Batch_Axis.GetAclPosition() - (Config.Batch_PoToMM * 2);
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed));
Config.Batch_Axis.TargetPosition = targetP2;
Batch_Axis.AbsMove(null, targetP2, targetSpeed);
......@@ -507,7 +510,7 @@ namespace DeviceLibrary
{
int targetP1 = Config.Batch_P1;
int targetSpeed = Config.Batch_P2_speed;
moveInfo.log("BatchAxisToLow 目标P1: " + targetP1);
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
......@@ -568,7 +571,8 @@ namespace DeviceLibrary
return LastHeight;
}
public void StringDoorOpen(MoveInfo moveInfo) {
public void StringDoorOpen(MoveInfo moveInfo)
{
if (StringDoor != null)
{
StringDoor.LiftUp(moveInfo);
......@@ -580,10 +584,12 @@ namespace DeviceLibrary
}
public void StringDoorClose(MoveInfo moveInfo)
{
if (StringDoor!=null) {
if (StringDoor != null)
{
StringDoor.LiftDown(moveInfo);
}
else {
else
{
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
}
......
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