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Commit 28bd9b47 由 刘韬
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修正料串重新上升顶升没有顶起的问题

1 个父辈 0d25c6ad
内嵌 并排
正在显示 9 个修改的文件 包含 100 行增加 和 33 行删除
DLL/CodeLibrary.dll
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DLL/ConfigHelper.dll
此文件类型无法预览
DeviceLibrary/DeviceLibrary/CodeManager.cs
......@@ -247,8 +247,9 @@ namespace DeviceLibrary
return codeList;
}
static bool lastHasReel = false;
public static bool? TestHasRight=null;
[HandleProcessCorruptedStateExceptions]
public static bool TestHasReel(string cameraName)
public static bool? TestHasReel(string cameraName)
{
int retrytime = 0;
retry:
......@@ -261,9 +262,10 @@ namespace DeviceLibrary
if (bmp == null)
{
if (retrytime > 2)
return true;
return null;
retrytime++;
LoadCamera(true);
Camera._cam.Close(cameraName);
//LoadCamera(true);
LogUtil.info($"bitmap为空重试第{retrytime}次");
Thread.Sleep(500);
......@@ -314,9 +316,7 @@ namespace DeviceLibrary
}
}
b.UnlockBits(bd);
if (ConfigHelper.Config.Get("CamTestReel_debug", false))
SaveImageToFile("test2", cameraName, b);
b.Dispose();
double calc = maskcout / (double)totalcover;
logtxt+=$" 检测到覆盖面积计数:maskcout:{maskcout}/{totalcover}={calc}<{threshold},result:{calc <= threshold}";
bool hasReel = calc <= threshold;
......@@ -324,17 +324,23 @@ namespace DeviceLibrary
lastHasReel = hasReel;
}else if (!ConfigHelper.Config.Get("CamTestReel_debug", false))
logtxt = "";
if (ConfigHelper.Config.Get("CamTestReel_debug", false) || (TestHasRight.HasValue && TestHasRight.Value!= hasReel))
SaveImageToFile("test2", cameraName, b);
b.Dispose();
TestHasRight = null;
return hasReel;
}
catch (AccessViolationException e)
{
LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName);
// GC.Collect();
return null;
}
catch (Exception ex)
{
LogUtil.error(" 扫码出错：" + ex.ToString());
return null;
}
finally
{
......@@ -343,7 +349,6 @@ namespace DeviceLibrary
if (!string.IsNullOrEmpty(logtxt))
LogUtil.error(logtxt);
}
return true;
}
/// <summary>
///
......
DeviceLibrary/DeviceLibrary/LineRunMonitor.cs
......@@ -34,6 +34,8 @@ namespace DeviceLibrary
lineTimer.Start();
GC.KeepAlive(lineTimer);
}
if (!lineTimer.Enabled)
lineTimer.Enabled = true;
}
private void LineTimer_Elapsed(object sender, ElapsedEventArgs e)
......@@ -149,8 +151,12 @@ namespace DeviceLibrary
LogUtil.info(Name + $" 线体管理器 {id},{parentname} 请求立刻停止线体.");
}
}
if (!canStopLine(out string msg))
LogUtil.info(Name + $" {Name}");
if (!lineTimer.Enabled)
lineTimer.Enabled = true;
// IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
bool canStopLine(out string msg)
......
DeviceLibrary/theMachine/MainMachine _BtnProcess.cs
......@@ -19,6 +19,7 @@ namespace DeviceLibrary
}
void Reset_BTN() {
LogUtil.info("按下复位按钮");
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString(L.reset_press, "按下复位按钮."), MsgLevel.info, ErrInfo.ResetBtn);
......@@ -26,9 +27,10 @@ namespace DeviceLibrary
else
{
Msg.add(crc.GetString(L.reset_press_with_sudden, "急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info, ErrInfo.SuddenStop);
return;
}
LogUtil.info("按下复位按钮");
ProcessMsgEvent?.Invoke(Msg.get());
//暂停时按下reaet按钮
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -428,12 +428,12 @@ namespace DeviceLibrary
ResetMoveInfo.log("旋转轴,升降轴,到P1待机点");
Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
Batch_Axis.AbsMove(ResetMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("压紧轴回原");
Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H07_HomeReset:
if (GetWidth() > 0)
......@@ -442,7 +442,7 @@ namespace DeviceLibrary
ResetMoveInfo.log("夹爪上有料盘,送到NG口");
}
else if (IOValue(IO_Type.ReelFlipDoor_L_Home).Equals(IO_VALUE.LOW) && IOValue(IO_Type.ReelFlipDoor_R_Home).Equals(IO_VALUE.LOW) && NGDoor_Tray_Test_Reel)
else if (IOValue(IO_Type.ReelFlipDoor_L_Home).Equals(IO_VALUE.LOW) && IOValue(IO_Type.ReelFlipDoor_R_Home).Equals(IO_VALUE.LOW) && NGDoor_Tray_Test_Reel.HasValue && NGDoor_Tray_Test_Reel.Value)
{
ResetMoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
ResetMoveInfo.log("反转托盘上有料盘,送到NG口");
......@@ -480,7 +480,11 @@ namespace DeviceLibrary
break;
case MoveStep.H13_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset);
if (!NGDoor_Tray_Test_Reel)
var h = NGDoor_Tray_Test_Reel;
if (!h.HasValue) {
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}else
if (!h.Value)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器未检测到单料口料盘."), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("x29_low_no_reel", "传感器未检测到单料口料盘."));
......@@ -489,7 +493,13 @@ namespace DeviceLibrary
SingleDoor.ToHigh(ResetMoveInfo);
break;
case MoveStep.H14_HomeReset:
if (NGDoor_Tray_Test_Reel)
h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (h.Value)
{
Msg.add(crc.GetString(L.x29_higt_has_reel, "系统启动检测到有无信息料盘,等待取走单料口料盘"), MsgLevel.alarm);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
......@@ -521,12 +531,17 @@ namespace DeviceLibrary
}
break;
case MoveStep.H16_HomeReset:
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && NGDoor_Tray_Test_Reel)
h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}else
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && h.Value)
{
ResetMoveInfo.log("NG口还是检测到料盘");
ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset);
}
else if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && !NGDoor_Tray_Test_Reel)
else if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && !h.Value)
{
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("关门NG口门");
......
DeviceLibrary/theMachine/MainMachine_Clamp.cs
......@@ -244,20 +244,36 @@ namespace DeviceLibrary
ClampMoveInfo.log("打开单料口门");
//CylinderMove(null, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(null);
CodeManager.TestHasRight = true;
break;
case MoveStep.NGOUT_02:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false) && !NGDoor_Tray_Test_Reel)
if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
{
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
RobotManage.UserPause(crc.GetString("Res0005","传感器X29未检测到单料口料盘"));
var h1 = NGDoor_Tray_Test_Reel;
if (!h1.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (!h1.Value)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
RobotManage.UserPause(crc.GetString("Res0005", "传感器X29未检测到单料口料盘"));
}
}
SingleDoor.ToHigh(ClampMoveInfo);
break;
case MoveStep.NGOUT_03:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
if (NGDoor_Tray_Test_Reel)
var h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (h.Value)
{
Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单料口料盘"), MsgLevel.alarm);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
......@@ -290,13 +306,13 @@ namespace DeviceLibrary
}
break;
case MoveStep.NGOUT_05:
//if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && NGDoor_Tray_Test_Reel)
//{
// ClampMoveInfo.log("NG口还是检测到料盘");
// ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
//}
//else
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH)&& !NGDoor_Tray_Test_Reel)
h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH)&& !h.Value)
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_06);
ClampMoveInfo.log("关门NG口门");
......@@ -332,7 +348,14 @@ namespace DeviceLibrary
SingleDoor.ToLow(ClampMoveInfo);
ClampMoveInfo.MoveParam.PlateW = 7;
ClampMoveInfo.MoveParam.PlateH = 100;
if (!ConfigHelper.Config.Get("CamTestReel_Ability", false) || NGDoor_Tray_Test_Reel)
h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (!ConfigHelper.Config.Get("CamTestReel_Ability", false) || h.Value)
{ }
else {
ClampMoveInfo.log("单盘入库没有检测到放入料盘");
......@@ -344,7 +367,7 @@ namespace DeviceLibrary
break;
}
}
bool NGDoor_Tray_Test_Reel
bool? NGDoor_Tray_Test_Reel
{
get
{
......
DeviceLibrary/theMachine/MainMachine_ServerControl.cs
......@@ -53,14 +53,20 @@ namespace DeviceLibrary
}
else
{
if(NGDoor_Tray_Test_Reel)
var h = NGDoor_Tray_Test_Reel;
if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}
else
if (h.Value)
{
RobotManage.UserPause(crc.GetString("please_take_ngdoor_reel", "等待取走单口料盘"));
return crc.GetString("please_take_ngdoor_reel", "等待取走单口料盘");
}
else
{
RobotManage.UserPause("",false);
RobotManage.UserPause("", false);
}
}
LogUtil.info($"取料机构当前没有在等待单盘入库:{ClampMoveInfo.MoveStep}");
......
DeviceLibrary/theMachine/MainMachine_String.cs
......@@ -67,6 +67,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.HIGH);
newreel = true;
return true;
}
......@@ -93,9 +94,18 @@ namespace DeviceLibrary
switch (StringMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (StringMoveInfo.IsTimeOut(3) && IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
if (!Batch_Axis.IsInPosition(Config.Batch_P1))
{
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
}
}
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
Batch_Axis.SuddenStop();
StringMoveInfo.log($"检测到有料串");
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
}
......@@ -198,7 +208,7 @@ namespace DeviceLibrary
{
StringMoveInfo.log($"料串检测为空");
StringState = StringStateE.OutStore;
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0 && ServerCM.queueTaskCount <= 0 && boxTransport.IsComplateOrFree)
{
SetReelHeight(GetHeight(StringMoveInfo));
StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
......@@ -287,7 +297,7 @@ namespace DeviceLibrary
case MoveStep.StringReadyPut:
Msg.add(crc.GetString(L.string_ready_for_put, "料串放料准备就绪"), MsgLevel.info);
StringMoveInfo.log($"料串放料准备就绪");
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && ServerCM.queueTaskCount == 0 && boxTransport.IsComplateOrFree)
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && ServerCM.queueTaskCount <= 0 && boxTransport.IsComplateOrFree)
{
StringMoveInfo.log($"当前服务器反馈没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
......
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