上报料仓状态信息

Common/Setting_Init.cs

@@ -25,30 +25,6 @@ namespace OnlineStore.Common
         public static string CameraName = "CameraName";
 
 
-        public static string Config_Pwd = "Config_Pwd";
-     
-       
-        public static string UseBuzzer = "UseBuzzer";
-
-       /// <summary>
-       /// 检测到料串自动入料
-       /// </summary>
-        public static string AutoInput = "AutoInput";
-        /// <summary>
-        /// 进出轴待机点位，进出轴在此位置时，升降和旋转才可以走
-        /// </summary>
-        public static string InoutDefaultPosition = "InoutDefaultPosition";
-
-        public static string LabelName = "LabelName";
-        public static string PrinterName = "PrinterName";
-        public static string NeedPrintLabel = "NeedPrintLabel";
-        public static string StickingPosJudgment = "StickingPosJudgment";
-
-        public static string GratingSignal = " GratingSignal";
-        /// <summary>
-        /// 启用贴标功能
-        /// </summary>
-        public static string UseLabel = "UseLabel";
         public static string CodeType = "CodeType";
         public static string CodeParamPath = "CodeParamPath";
 

Common/util/MyWebClient.cs

-using System;
+using Newtonsoft.Json;
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Linq;
@@ -110,13 +111,13 @@ namespace OnlineStore.Common
             return result;
         }
         static object lockpost = new object();
-        public static Operation Post(string url, Operation operation,int timeout=5000, bool printlog=false)
+        public static T Post<T>(string url, T operation,int timeout=5000, bool printlog=false) where T : new()
         {
             try
             {
-                string json = JsonHelper.SerializeObject(operation);
+                string json = JsonConvert.SerializeObject(operation);
                 string result = Post(url, json, timeout);
-                Operation op = JsonHelper.DeserializeJsonToObject<Operation>(result);
+                T op = JsonConvert.DeserializeObject<T>(result);
 
                 if (printlog)
                 {
@@ -126,9 +127,9 @@ namespace OnlineStore.Common
             }
             catch (Exception ex)
             {
-                LogUtil.error("Post 出错【operation.op=" + operation.op + "】：" + ex);
+                LogUtil.error("Post 出错：" + ex);
             }
-            return null;
+            return default;
         }
         public static string Get(string url)
         {

DeviceLibrary/DeviceLibrary.csproj

@@ -84,6 +84,7 @@
     <Compile Include="DeviceLibrary\OKLEController.cs" />
     <Compile Include="DeviceLibrary\ServerCommunication.cs" />
     <Compile Include="DeviceLibrary\AxisBean.cs" />
+    <Compile Include="DeviceLibrary\ServerCommunication_AgvProcess.cs" />
     <Compile Include="theMachine\BoxTransport.cs" />
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\JobList.cs" />

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -101,6 +101,7 @@ namespace DeviceLibrary
             }
             Config.TargetPosition = 0;
             LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
+            if (MoveInfo!=null)
                 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;
@@ -337,7 +338,7 @@ namespace DeviceLibrary
             {
                 axisCheckTimer = new System.Timers.Timer();
                 axisCheckTimer.AutoReset = true;
-                axisCheckTimer.Interval += 30;
+                axisCheckTimer.Interval += 15;
                 axisCheckTimer.Elapsed += CheckTimer_Elapsed;
                 axisCheckTimer.Enabled = false;
             }

DeviceLibrary/DeviceLibrary/Camera.cs

@@ -153,10 +153,11 @@ public class HIKCamera
     public string GetFixtureStateFilename(string PositionNum, string WareNumber, StoreMoveType storeMoveType, FixtureState fixtureState)
     {
         Path.GetInvalidFileNameChars().ToList().ForEach((ix) => { WareNumber = WareNumber.Replace(ix.ToString(), ""); });
-        if (WareNumber.Length > 200) {
+        if (WareNumber.Length > 150) {
             WareNumber = "";
         }
-
+        if (string.IsNullOrEmpty(WareNumber))
+            WareNumber = DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss");
         string dir = $"\\image\\Fixture\\{storeMoveType}\\{PositionNum}\\";
         Directory.CreateDirectory(dir);
         string filename = $"{WareNumber}@@{fixtureState}.jpg";

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -9,7 +9,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    public class LiftMonitor
+    public class LiftMonitor:ISafetyDevice
     {
         string up;
         string down;
@@ -18,16 +18,18 @@ namespace DeviceLibrary
         int upspeed;
         int downspeed;
         int StrokeLength = 270000;
-        public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _upspeed, int _downspeed= 0) {
+        public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _StrokeLength,int _upspeed, int _downspeed= 0) {
             up = _up;
             down = _down;
             axisBean = _axisBean;
             upspeed = _upspeed;
             axisbreak = _break;
             downspeed = _downspeed;
+            StrokeLength = _StrokeLength;
             if (downspeed == 0) {
                 downspeed = upspeed;
             }
+            SafetyDevice.AddDevice(this);
         }
         public bool isAtTOP {
             get {
@@ -44,13 +46,18 @@ namespace DeviceLibrary
         public void LiftUp(MoveInfo moveInfo) {
 
             if (moveInfo == null)
-                moveInfo = new MoveInfo($"界面",false);
+                moveInfo = new MoveInfo("界面",false);
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
                 moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
                 return;
             }
-            IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
+            if (!axisBean.IsServeoOn)
+                axisBean.Open(true, out string msg);
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
+                IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
                 Thread.Sleep(200);
+            }
             axisBean.RelMove(StrokeLength, (double)upspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
@@ -61,6 +68,7 @@ namespace DeviceLibrary
                     Task.Delay(30);
                 }
                 axisBean.SuddenStop();
+                if (!string.IsNullOrEmpty(axisbreak))
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},上升到位,s:{t}");
@@ -71,6 +79,7 @@ namespace DeviceLibrary
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop(); 
+                if (!string.IsNullOrEmpty(axisbreak))
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 return true; 
             }
@@ -83,14 +92,19 @@ namespace DeviceLibrary
         public void LiftDown(MoveInfo moveInfo)
         {
             if (moveInfo == null)
-                moveInfo = new MoveInfo($"界面", false);
+                moveInfo = new MoveInfo("界面", false);
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
                 moveInfo.log($"{axisBean.AxisName},已在位置,无需下降");
                 return;
             }
+            if (!axisBean.IsServeoOn)
+                axisBean.Open(true, out string msg);
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
                 IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
                 Thread.Sleep(200);
+            }
             axisBean.RelMove(-StrokeLength, (double)downspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
@@ -103,6 +117,7 @@ namespace DeviceLibrary
                     Task.Delay(30);
                 }
                 axisBean.SuddenStop();
+                if (!string.IsNullOrEmpty(axisbreak))
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},下降到位,s:{t}");
@@ -113,6 +128,7 @@ namespace DeviceLibrary
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
+                if (!string.IsNullOrEmpty(axisbreak))
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 return true;
             }
@@ -123,5 +139,15 @@ namespace DeviceLibrary
             }
             return false;
         }
+
+        public void Pause()
+        {
+            axisBean.SuddenStop();
+        }
+
+        public void Resume()
+        {
+            //throw new NotImplementedException();
+        }
     }
 }

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -11,7 +11,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    class ServerCommunication
+    partial class ServerCommunication
     {
         volatile StoreStatus _storeStatus = StoreStatus.Debugging;
         public StoreStatus storeStatus {
@@ -182,8 +182,9 @@ namespace DeviceLibrary
             lineOperation.seq = ConfigAppSettings.nextSeq();
             lineOperation.status = 1;
 
-
-            lineOperation.data = GetBtnStatus();
+            lineOperation.data = new Dictionary<string, string>();
+            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
@@ -251,6 +252,21 @@ namespace DeviceLibrary
             }
             return host + api_communication;
         }
+        public static string GetPostApi(string api)
+        {
+            var host = server;
+            if (!host.StartsWith("http://"))
+            {
+                host = "http://" + host;
+            }
+            if (!host.EndsWith("/"))
+            {
+                host = host + "/";
+            }
+            if (api.StartsWith("/"))
+                api = api.Substring(1);
+            return host + api;
+        }
         int getthtime = 0;
         int laststatus = 0;
         public void SendLineStatus()
@@ -322,8 +338,11 @@ namespace DeviceLibrary
             ProcessHumidityCMD(resultOperation);
             if (resultOperation.data != null)
             {
-                string result = "";
                 Dictionary<string, string> dataMap = resultOperation.data;
+                AgvProcess(dataMap);
+
+                string result = "";
+                
 
                 if (dataMap.ContainsKey(ParamDefine.queueTaskCount))
                 {
@@ -385,6 +404,11 @@ namespace DeviceLibrary
 
         }
 
+       
+       
+
+
+
         public Dictionary<string, string> GetBtnStatus()
         {
             Dictionary<string, string> map = new Dictionary<string, string>();

DeviceLibrary/DeviceLibrary/ServerCommunication_AgvProcess.cs

+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    partial class  ServerCommunication
+    {
+        Dictionary<string, string> AgvStatus() {
+            Dictionary<string, string> status = new Dictionary<string, string>();
+            status["X16"] = IOManager.GetDIValue("", 0, 16).Equals(IO_VALUE.HIGH) ? "1" : "0";
+            status["X27"] = IOManager.GetDIValue("", 0, 27).Equals(IO_VALUE.HIGH) ? "1" : "0";
+            status["X09"] = IOManager.GetDIValue("", 0, 09).Equals(IO_VALUE.HIGH) ? "1" : "0";
+            status["X10"] = IOManager.GetDIValue("", 0, 10).Equals(IO_VALUE.HIGH) ? "1" : "0";
+            status["X11"] = IOManager.GetDIValue("", 0, 11).Equals(IO_VALUE.HIGH) ? "1" : "0";
+            status["X12"] = IOManager.GetDIValue("", 0, 12).Equals(IO_VALUE.HIGH) ? "1" : "0";
+
+            status["Y02"] = IOManager.GetDOValue("", 0, 2).Equals(IO_VALUE.HIGH) ? "1" : "0";
+
+            return status;
+        }
+        private void AgvProcess(Dictionary<string, string> dataMap)
+        {
+            bool v;
+            //紧急料口 1开门 0关门
+            if (YDataCheck(dataMap, "Y10", out v)|| YDataCheck(dataMap, "Y11", out v))
+            {
+                if (v)
+                    RobotManage.mainMachine.SingleDoor.ToHigh(null);
+                else
+                    RobotManage.mainMachine.SingleDoor.ToLow(null);
+            }
+            //折叠门 1开门 0关门
+            if (YDataCheck(dataMap, "Y15", out v)|| YDataCheck(dataMap, "Y14", out v))
+            {
+                if (v)
+                    RobotManage.mainMachine.StringDoorOpen(null);
+                else
+                    RobotManage.mainMachine.StringDoorClose(null);
+            }
+            //滚筒正传
+            if (YDataCheck(dataMap, "Y08", out v))
+            {
+                if (v)
+                    RobotManage.mainMachine.Line.LineRun("remote", false, 999);
+                else
+                    RobotManage.mainMachine.Line.LineStop("remote");
+            }
+            //滚筒反转
+            if (YDataCheck(dataMap, "Y09", out v))
+            {
+                if (v)
+                    RobotManage.mainMachine.Line.LineRun("remote", true, 999);
+                else
+                    RobotManage.mainMachine.Line.LineStop("remote");
+            }
+        }
+        Dictionary<string, int> LastSingnalSeq = new Dictionary<string, int>();
+        bool YDataCheck(Dictionary<string, string> dataMap, string key, out bool value) {
+            value = false;
+            if (!dataMap.TryGetValue(key, out string v))
+                return false;
+
+            //var vs = v.Split('|');
+            //if (vs.Length != 2)
+            //    return false;
+
+            //if (!int.TryParse(vs[1], out int result))
+            //    return false;
+
+            //if (!LastSingnalSeq.ContainsKey(key))
+            //    LastSingnalSeq.Add(key, -1);
+
+            //if (LastSingnalSeq[key] == result)
+            //    return false;
+
+            //LastSingnalSeq[key] = result;
+            v = v.Trim().ToLower();
+            LogUtil.info($"YDataCheck:{key},value:{v}");
+            if (v == "open")
+            {                
+                value = true;
+                return true;
+            }
+            else if (v == "close")
+            {
+                value = false;
+                return true;
+            }
+            return false;
+        }
+    }
+}

DeviceLibrary/theMachine/BoxTransport.cs

@@ -211,12 +211,16 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreFIX04:
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(400));
+                    break;
+                case MoveStep.StoreFIX05:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX06);
                     Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PL, Config.Comp_P2_speed);
                     UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P3_speed/2);
                     MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{Fix.Comp_PL}");
                     MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
                     break;
-                case MoveStep.StoreFIX05:
+                case MoveStep.StoreFIX06:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS10);
                     InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     MoveInfo.log($"{storeMoveType}:进出轴到达待机点");

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -306,7 +306,15 @@ namespace DeviceLibrary
             LogUtil.info("关闭翻板门");
             //IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.LOW);
             //IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.HIGH);
+            if (ConfigHelper.Config.Get("Device_FlipDoorType", FlipDoorTypeE.Cylinder) == FlipDoorTypeE.Cylinder)
+            {
                 FlipDoor.ToHigh(null);
+            }
+            else
+            {
+                MotorFlipDoorA.LiftDown(moveInfo);
+                MotorFlipDoorB.LiftDown(moveInfo);
+            }
             if (moveInfo != null)
             {
                 moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelFlipDoor_L_Work, IO_VALUE.HIGH));
@@ -325,9 +333,16 @@ namespace DeviceLibrary
                 LogUtil.info("打开翻板门");
             else
                 moveInfo.log("打开翻板门");
-            //IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.LOW);
-            //IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.HIGH);
+            if (MotorFlipDoorA==null)
+            {
                 FlipDoor.ToLow(null);
+            }
+            else
+            {
+                MotorFlipDoorA.LiftUp(moveInfo);
+                MotorFlipDoorB.LiftUp(moveInfo);
+            }
+            
 
             if (moveInfo != null)
             {
@@ -344,6 +359,10 @@ namespace DeviceLibrary
             InStore,
             Full
         }
+        public enum FlipDoorTypeE {
+            Cylinder,
+            Motor
+        }
         public enum StringTypeE
         {
             None=0,

DeviceLibrary/theMachine/MainMachine.cs

@@ -51,10 +51,14 @@ namespace DeviceLibrary
         internal AxisBean Comp_Axis;
         internal AxisBean Batch_Axis;
         internal AxisBean Clamp_Axis;
+        internal AxisBean StringDoor_Axis;
 
         public LineRunMonitor Line;
         public CylinderManger SingleDoor;
         public CylinderManger FlipDoor;
+        public LiftMonitor MotorFlipDoorA;
+        public LiftMonitor MotorFlipDoorB;
+        public LiftMonitor StringDoor;
 
         ReelTransport boxTransport;
         public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
@@ -104,8 +108,53 @@ namespace DeviceLibrary
             Crc_LanguageChangeEvent(null, EventArgs.Empty);
             #endregion
             Line = new LineRunMonitor($"料串进出机构", Config.DOList[IO_Type.LineRun].GetIOAddr(),Config.DOList[IO_Type.LineRev].GetIOAddr());
-            SingleDoor = new CylinderManger($"单料们", IO_Type.NGDoor_Open, IO_Type.NGDoor_Close);
+            SingleDoor = new CylinderManger($"单料门", IO_Type.NGDoor_Open, IO_Type.NGDoor_Close);
+            //检测翻板门是否为鸣志点击伺服控制
+            if (Config.FlipDoor_L_Axis == null && Config.FlipDoor_R_Axis == null)
+            {
                 FlipDoor = new CylinderManger($"翻板托盘", IO_Type.ReelFlipDoor_Work, IO_Type.ReelFlipDoor_Home);
+                var c = RobotManage.Config.configList.Find(x => x.ProName == "FlipDoorSpeed");
+                if (c != null)
+                    RobotManage.Config.configList.Remove(c);
+
+                LogUtil.info("加载翻板门类型为:气缸");
+            }
+            else if (Config.FlipDoor_L_Axis != null && Config.FlipDoor_R_Axis != null)
+            {
+                RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Work);
+                RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Home);
+                MotorFlipDoorB = new LiftMonitor(IO_Type.ReelFlipDoor_L_Home, IO_Type.ReelFlipDoor_L_Work, null, new AxisBean(Config.FlipDoor_L_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
+                MotorFlipDoorA = new LiftMonitor(IO_Type.ReelFlipDoor_R_Home, IO_Type.ReelFlipDoor_R_Work, null, new AxisBean(Config.FlipDoor_R_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
+                LogUtil.info("加载翻板门类型为:步进");
+            }
+            else {
+                throw new Exception("料仓翻板门配置错误");
+            }
+
+            //检测料串门是否为鸣志电机控制
+            if (Config.StringDoor_Axis != null) {
+                RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Open);
+                RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Close);
+                StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, null, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
+                LogUtil.info("加载料串门类型为:步进");
+                //此版本同步删除其他IO
+
+                RobotManage.Config.DOList.Remove(IO_Type.NitrogenValve);
+
+            }else
+                LogUtil.info("加载料串门类型为:气缸");
+
+            if (ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) {
+
+                RobotManage.Config.DIList.Remove(IO_Type.LeftDoorClose_Check);
+                RobotManage.Config.DIList.Remove(IO_Type.RightDoorClose_Check);
+                RobotManage.Config.DIList.Remove(IO_Type.BackDoorClose_Check);
+                RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
+
+                RobotManage.Config.DOList.Remove(IO_Type.DoorSafe_Disable);
+            }
+
+
             boxTransport = new ReelTransport(Config, this);
 
             boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
@@ -305,15 +354,14 @@ namespace DeviceLibrary
                         return;
                     }
                     if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
-                        CylinderMove(ResetMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
+                        StringDoorClose(null);
                     break;
                 case MoveStep.H02_HomeReset_01:
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                     ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
                     InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Batch_Axis.HomeMove(null, forceHome);
                     CylinderMove(ResetMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
-                    //CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
                     Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                     SingleDoor.ToLow(ResetMoveInfo);
                     break;
@@ -321,8 +369,6 @@ namespace DeviceLibrary
                     ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
                     ResetMoveInfo.log("夹爪轴回原");
                     Clamp_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    Line.LineRun("n", false, 5);
-                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                     break;
                 case MoveStep.H03_HomeReset:                    
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
@@ -330,13 +376,14 @@ namespace DeviceLibrary
                     InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
                     UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    
+                    Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
                     //OpenFlipDoor(ResetMoveInfo);
                     break;
                 case MoveStep.H04_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                     ResetMoveInfo.log("夹爪轴,P1待机点");
                     Clamp_Axis.AbsMove(ResetMoveInfo, Config.Clamp_P1, Config.Clamp_P1_speed);
+                    Line.LineRun("n", false, 5);
                     ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                     break;
                 case MoveStep.H05_HomeReset:
@@ -349,6 +396,7 @@ namespace DeviceLibrary
                     ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                     ResetMoveInfo.log("压紧轴回原");
                     Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
+
                     break;
                 case MoveStep.H07_HomeReset:
                     if (IOValue(IO_Type.WidthCheck_7).Equals(IO_VALUE.HIGH) ||

DeviceLibrary/theMachine/MainMachine_ServerControl.cs

@@ -64,7 +64,7 @@ namespace DeviceLibrary
             StringMoveInfo.LastSetpTime = DateTime.Now;
             StringMoveInfo.IsInWait = true;
             if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
-                CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
+                StringDoorOpen(StringMoveInfo);
             return crc.GetString(L.begin_open_string_door, "开始打开料串门");
 
             //LogUtil.info($"批量料门无法打开,料仓正在出入库中:{StringMoveInfo.MoveStep}");
@@ -84,7 +84,7 @@ namespace DeviceLibrary
             StringMoveInfo.LastSetpTime = DateTime.Now;
             StringMoveInfo.IsInWait = true;
             if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
-                CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
+                StringDoorClose(StringMoveInfo);
             return crc.GetString(L.begin_close_string_door, "开始关闭料串门");
         }
     }

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -92,7 +92,7 @@ namespace DeviceLibrary
                         StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
                         StringMoveInfo.log($"检测到有料串");
                         CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
-                        StringState = StringStateE.OutStore;
+                        //StringState = StringStateE.OutStore;
                     }
                     else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
                     {
@@ -106,6 +106,8 @@ namespace DeviceLibrary
                         Msg.add(crc.GetString(L.detect_string, "感应到料串"), MsgLevel.info);
                         StringMoveInfo.log($"感应到料串");
                         Line.LineRun("n", false, 2);
+                        StringState = StringStateE.None;
+                        LastStringState = StringStateE.None;
                     }
                     break;
                 case MoveStep.StringLoad_01:
@@ -174,17 +176,18 @@ namespace DeviceLibrary
                             StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                         }
                     }
-                    else
+                    else if(StringState != StringStateE.OutStore)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
                         StringState = StringStateE.InStore;
+                        StringMoveInfo.log($"判断为入库料串");
                     }
 
                     break;
                 case MoveStep.StringLoad_04a:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
-                    //StringMoveInfo.log($"料串下降到x13信号灭");
-                    //BatchAxisToTagLow(StringMoveInfo);
+                    StringMoveInfo.log($"料串下降到x13信号灭");
+                    BatchAxisToTagLow(StringMoveInfo);
                     break;
                 case MoveStep.StringLoad_04b:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
@@ -217,7 +220,7 @@ namespace DeviceLibrary
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
                         StringMoveInfo.log($"料串有盘上升5mm");
-                        var tpos3 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM+0);
+                        var tpos3 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM+2);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1);
                         CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
                         //OpenFlipDoor(StringMoveInfo);
@@ -439,7 +442,7 @@ namespace DeviceLibrary
             moveInfo.TimeOutSeconds = 200;
             moveInfo.CanWhileCount = 0;
             //  需要增加定时器，获取验证信号并停止伺服
-            StartMovePosition = Batch_Axis.GetAclPosition();
+            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);
@@ -511,5 +514,27 @@ namespace DeviceLibrary
             LogUtil.info(msg);
             return LastHeight;
         }
+
+        public void StringDoorOpen(MoveInfo moveInfo) {
+            if (StringDoor != null)
+            {
+                StringDoor.LiftUp(moveInfo);
+            }
+            else
+            {
+                CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
+            }
+        }
+        public void StringDoorClose(MoveInfo moveInfo)
+        {
+            if (StringDoor!=null) {
+                StringDoor.LiftDown(moveInfo);
+            }
+            else {
+                CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
+            }
+
+
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MoveStep.cs

@@ -133,6 +133,7 @@ namespace DeviceLibrary
         StoreFIX03,
         StoreFIX04,
         StoreFIX05,
+        StoreFIX06,
         StoreTS10,
         StoreTS11,
         StoreTS12,

LoadCVSLibrary/Config/Config.csv

@@ -5,10 +5,13 @@ AXIS,,进出机构,InOut_Axis,2,HC,,100000,0,0,0,40000,0,10,700,0,0
 AXIS,,压紧机构,Comp_Axis,3,HC,,40000,0,0,0,30000,0,10,700,0,0
 AXIS,,上料提升机构,Batch_Axis,4,HC,,40000,0,0,0,20000,0,10,700,0,0
 AXIS,,取料机构,Clamp_Axis,5,HC,,40000,0,0,0,30000,0,10,700,0,0
+AXIS,,左翻转托盘,FlipDoor_L_Axis,6,HC,,40000,0,0,0,30000,0,10,700,0,0
+AXIS,,右翻转托盘,FlipDoor_R_Axis,7,HC,,40000,0,0,0,30000,0,10,700,0,0
 ,,,,,,,,,,,,,,,,
 PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,5,,,,,,,,,,,,
 PRO,0,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
 PRO,50,最后一盘料补充高度mm,LastTrayAddHeight,3,,,,,,,,,,,,
+PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,10,旋转机构待机点P1,Middle_P1,168460,,,50000,,,,,,,,,
 PRO,10,旋转机构单料口P2,Middle_P2,168460,,,50000,,,,,,,,,

LoadCVSLibrary/storeConfig/config/DeviceConfig.cs

@@ -193,6 +193,10 @@ namespace OnlineStore.LoadCSVLibrary
                                 {
                                     prop.SetValue(this, Convert.ChangeType(0, prop.PropertyType), null);//赋值****在这里需要考虑类型问题
                                 }
+                                else if (prop.PropertyType.Equals(typeof(ConfigMoveAxis)))
+                                {
+                                    prop.SetValue(this, null, null);//赋值****在这里需要考虑类型问题
+                                }
                                 else 
                                 {
                                     prop.SetValue(this, Convert.ChangeType("", prop.PropertyType), null);//赋值****在这里需要考虑类型问题

LoadCVSLibrary/storeConfig/config/Robot_Config.cs

@@ -50,6 +50,24 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("Clamp_Axis")]
         public ConfigMoveAxis Clamp_Axis { get; set; }
+
+
+        /// <summary>
+        ///  AXIS,,左翻转门机构,FlipDoor_L_Axis,6,HC,,40000,0,0,0,30000,0,10,700,0,0
+        /// </summary>
+        [ConfigProAttribute("FlipDoor_L_Axis",false)]
+        public ConfigMoveAxis FlipDoor_L_Axis { get; set; }
+        /// <summary>
+        ///  AXIS,,右取料机构,FlipDoor_R_Axis,7,HC,,40000,0,0,0,30000,0,10,700,0,0
+        /// </summary>
+        [ConfigProAttribute("FlipDoor_R_Axis", false)]
+        public ConfigMoveAxis FlipDoor_R_Axis { get; set; }
+        /// <summary>
+        ///  AXIS,,料串口折叠门,FlipDoor_R_Axis,7,HC,,40000,0,0,0,30000,0,10,700,0,0
+        /// </summary>
+        [ConfigProAttribute("StringDoor_Axis", false)]
+        public ConfigMoveAxis StringDoor_Axis { get; set; }
+
         /// <summary>
         ///  PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,
         /// </summary>
@@ -60,6 +78,7 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("AirCheckSeconds")]
         public int AirCheckSeconds { get; set; }
+
         /// <summary>
         ///  PRO,10,旋转机构待机点P1,Middle_P1,123,,,250000,,,,,,,,,
         /// </summary>
@@ -306,5 +325,30 @@ namespace OnlineStore.LoadCSVLibrary
         [ConfigProAttribute("Clamp_P3_speed")]
         public int Clamp_P3_speed { get; set; }
 
+
+        /// <summary>
+        ///  PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("FlipDoorLength",false)]
+        public int FlipDoorLength { get; set; }
+
+        /// <summary>
+        ///  PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("FlipDoorLength_speed", false)]
+        public int FlipDoorLength_speed { get; set; }
+
+        /// <summary>
+        ///  PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("StringDoorLength", false)]
+        public int StringDoorLength { get; set; }
+
+        /// <summary>
+        ///  PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("StringDoorLength_speed", false)]
+        public int StringDoorLength_speed { get; set; }
+
     }
 }

TheMachine/UC/uc_boxdebug.cs

@@ -215,6 +215,8 @@ namespace TheMachine
         DataGridViewCellStyle dgv_oout = new DataGridViewCellStyle() { BackColor = Color.LightSeaGreen, Font = font };
         DataGridViewCellStyle dgv_none = new DataGridViewCellStyle() { BackColor = Color.White,Font= font };
         void FillBoxPos() {
+            if (RobotManage.PositionNumList.Count == 0)
+                return;
             htpp.Clear();
             dataGridView1.Columns.Clear();
             dataGridView1.Rows.Clear();