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Commit 7ba7c534 由 刘韬
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1 个父辈 1e33d0b3
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内嵌 并排
正在显示 11 个修改的文件 包含 60 行增加 和 55 行删除
Common/CodeResourceControl.cs
......@@ -40,7 +40,7 @@ namespace OnlineStore
var lngjson = JsonHelper.SerializeObject(LangMap);
Task.Run(() => {
//return;
return;
try
{
Task.Delay(10 * 1000).Wait();
......
Common/util/HumitureController.cs
......@@ -38,7 +38,7 @@ namespace OnlineStore.Common
{
Release();
}
LogName = "温湿度传感器[" + port + "]";
LogName = $"温湿度传感器[{port}]";
if (sb == null)
{
......
Common/util/TcpServer.cs
......@@ -33,7 +33,7 @@ namespace OnlineStore.Common
private void logLocalIp()
{
string[] addresses = GetLocalAddresses();
string iplist = "本机IP:[";
string iplist = $"本机IP:[";
if (addresses.Length > 0)
{
for (int i = 0; i < addresses.Length; i++)
......
Common/util/UdpServer.cs
......@@ -26,7 +26,7 @@ namespace OnlineStore.Common
private void logLocalIp()
{
string[] addresses = GetLocalAddresses();
string iplist = "本机IP:[";
string iplist = $"本机IP:[";
if (addresses.Length > 0)
{
for (int i = 0; i < addresses.Length; i++)
......
DeviceLibrary/DeviceLibrary/AxisBean.cs
......@@ -357,21 +357,17 @@ namespace DeviceLibrary
return true;
}
private bool IsInProcess = false;
private DateTime lastOkTime = DateTime.Now;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimeSpan pan = DateTime.Now - lastOkTime;
if (IsInProcess && pan.TotalMilliseconds < 100) { return; }
if (IsInProcess) { return; }
try
{
IsInProcess = true;
lastOkTime = DateTime.Now;
if (IOManager.IOValue(TargetIoType).Equals(TargetIoValue))
{
SuddenStop();
StopAxisCheckMove();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
SuddenStop();
}
}
catch (Exception ex)
......
DeviceLibrary/DeviceLibrary/LiftMonitor.cs
......@@ -44,7 +44,7 @@ namespace DeviceLibrary
public void LiftUp(MoveInfo moveInfo) {
if (moveInfo == null)
moveInfo = new MoveInfo("界面",false);
moveInfo = new MoveInfo($"界面",false);
if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
return;
......@@ -83,7 +83,7 @@ namespace DeviceLibrary
public void LiftDown(MoveInfo moveInfo)
{
if (moveInfo == null)
moveInfo = new MoveInfo("界面", false);
moveInfo = new MoveInfo($"界面", false);
if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{
moveInfo.log($"{axisBean.AxisName},已在位置,无需下降");
......
DeviceLibrary/theMachine/LabelParam.cs
......@@ -156,8 +156,8 @@ namespace DeviceLibrary
Reel = reel.clone();
LogUtil.info($"BSP:{posid},Comp_PH:{Comp_PH}={Config.Comp_P2}-({aCStorePosition.BagHigh}-{8}+{Config.Comp_PH_MM})*{Config.Clamp_PoToMM},Comp_PL:{Comp_PL}={reel.PlateH},Comp_PL_MM:{Config.Comp_PL_MM},{JsonHelper.SerializeObject(this)}");
}
public const string ngdoor = "单料口";
public const string strings = "料串口";
public const string ngdoor = $"单料口";
public const string strings = $"料串口";
public BoxStorePosition(Robot_Config Config, StoreSide storeSide, ReelParam reel)
{
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -76,14 +76,14 @@ namespace DeviceLibrary
public MainMachine(Robot_Config _config) {
Config = _config;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
StringMoveInfo = new MoveInfo("料串进出机构");
StringMoveInfo = new MoveInfo($"料串进出机构");
StringMoveInfo.SetStateDelegate(StringProcessState);
ClampMoveInfo = new MoveInfo("取放料机构");
ClampMoveInfo = new MoveInfo($"取放料机构");
ClampMoveInfo.SetStateDelegate(ClampState);
StoreMoveInfo = new MoveInfo("进出库调度");
StoreMoveInfo = new MoveInfo($"进出库调度");
StoreMoveInfo.SetStateDelegate(StoreState);
ResetMoveInfo = new MoveInfo("重置");
AIOTMoveInfo = new MoveInfo("出入库测试");
ResetMoveInfo = new MoveInfo($"重置");
AIOTMoveInfo = new MoveInfo($"出入库测试");
#region 初始化led灯
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr());
......@@ -103,9 +103,9 @@ namespace DeviceLibrary
Clamp_Axis.interference += Clamp_Axis_interference;
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);
FlipDoor = new CylinderManger("翻板托盘", IO_Type.ReelFlipDoor_Work, IO_Type.ReelFlipDoor_Home);
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);
FlipDoor = new CylinderManger($"翻板托盘", IO_Type.ReelFlipDoor_Work, IO_Type.ReelFlipDoor_Home);
boxTransport = new ReelTransport(Config, this);
boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
......@@ -314,6 +314,7 @@ namespace DeviceLibrary
Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
CylinderMove(ResetMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
//CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
SingleDoor.ToLow(ResetMoveInfo);
break;
case MoveStep.H02_HomeReset:
......
DeviceLibrary/theMachine/MainMachine_Clamp.cs
......@@ -265,6 +265,8 @@ namespace DeviceLibrary
//ClampMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else {
if (!ConfigHelper.Config.Get("CamTestReel_Ability", false))
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_04);
RobotManage.UserPause("等待取走单口料盘");
}
}
......
DeviceLibrary/theMachine/MainMachine_String.cs
......@@ -83,7 +83,7 @@ namespace DeviceLibrary
{
if (CheckWait(StringMoveInfo))
return;
switch (StringMoveInfo.MoveStep)
{
case MoveStep.Wait:
......@@ -94,7 +94,8 @@ namespace DeviceLibrary
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
StringState = StringStateE.OutStore;
}
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW)){
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.no_string, "当前没有料串"), MsgLevel.info);
StringMoveInfo.log($"当前没有料串");
StringState = StringStateE.None;
......@@ -111,7 +112,7 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01a);
StringMoveInfo.log($"批量轴到待机点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Line.LineRun("n",false, 2);
Line.LineRun("n", false, 2);
break;
case MoveStep.StringLoad_01a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02);
......@@ -139,18 +140,18 @@ namespace DeviceLibrary
downCheck2 = false;
downCheck3 = false;
break;
case MoveStep.StringLoad_03:
case MoveStep.StringLoad_03:
if (ConfigHelper.Config.Get("Device_Disable_StringDoor", false) || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在上升",MsgLevel.warning));
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在上升", MsgLevel.warning));
}
else if (StringMoveInfo.IsTimeOut(10))
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"),MsgLevel.warning);
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"), MsgLevel.warning);
StringMoveInfo.log($"等待关门");
}
break;
......@@ -161,12 +162,14 @@ namespace DeviceLibrary
StringMoveInfo.log($"恢复上次料串信息为出库料串");
StringState = StringStateE.OutStore;
}
if (Batch_Axis.IsInPosition(Config.Batch_P2) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
StringMoveInfo.log($"料串检测为空");
StringState = StringStateE.OutStore;
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom",true) && OutStoreJobList.Count == 0) {
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
{
SetReelHeight(GetHeight(StringMoveInfo));
StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
......@@ -182,28 +185,27 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"料串下降到x13信号灭");
BatchAxisToTagLow(StringMoveInfo);
if (!newreel)
SetReelHeight(GetHeight(StringMoveInfo));
newreel = false;
break;
case MoveStep.StringLoad_04b:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
//if (StringState == StringStateE.HasReel)
if (!newreel)
SetReelHeight(GetHeight(StringMoveInfo));
newreel = false;
StringMoveInfo.log($"料串有盘下降5mm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos2 < 0)
{
StringMoveInfo.log($"料串有盘下降5mm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
}
if (StringState == StringStateE.OutStore && tpos2 - Config.Batch_PoToMM * 30 < 0)
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
tpos2 = 0;
}
if (StringState == StringStateE.OutStore && tpos2 - Config.Batch_PoToMM * 30 < 0)
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
break;
case MoveStep.StringLoad_05:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
......@@ -224,7 +226,7 @@ namespace DeviceLibrary
else if (StringState == StringStateE.OutStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
......@@ -260,9 +262,9 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
break;
case MoveStep.StringReelPut:
case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore;
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM);
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH + Config.Batch_OutPlateDownMM);
if (tpos < 0)
tpos = 0;
if (tpos < Config.Batch_P2 * 0.3 && !downCheck1)
......@@ -298,7 +300,7 @@ namespace DeviceLibrary
break;
case MoveStep.StringReelPut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_02);
StringMoveInfo.log($"检测阻挡工作");
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
break;
......@@ -344,7 +346,8 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.Wait);
StringMoveInfo.log($"折叠门已关闭");
}
else {
else
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"), MsgLevel.info);
}
break;
......@@ -354,11 +357,14 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.Wait);
StringMoveInfo.log($"料串未拿走,直接关门");
}
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW)) {
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_05);
StringMoveInfo.log($"料串已离开");
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} else if (StringMoveInfo.IsTimeOut(30)) {
}
else if (StringMoveInfo.IsTimeOut(30))
{
StringMoveInfo.log($"等待料串被取走超时");
Msg.add(crc.GetString(L.wait_string_take, "等待料串被取走"), MsgLevel.warning);
}
......@@ -501,7 +507,7 @@ namespace DeviceLibrary
}
if (LastHeight <= 8) { LastHeight = 8; }
//string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
string msg = Name + $" 计算盘高：上升前 [" + StartMovePosition + $"]实时[ " + EndMovePosition + $"]差值[" + (EndMovePosition - StartMovePosition) + $"]系数[" + AxisChangeValue + $"] 计算后" + buchongStr + "[" + height + "]" + $",归类为【" + LastHeight + $"mm】条码【" + LastCode + "】";
LogUtil.info(msg);
return LastHeight;
}
......
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