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Commit 7f886fa7 由 刘韬
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Merge branch 'master' of http://106.15.194.121:8083/liutao/1069_MIMO_PlUS

2 个父辈 cb0174dd 0a82a1e2
内嵌 并排
正在显示 8 个修改的文件 包含 233 行增加 和 98 行删除
Common/Setting_Init.cs
...@@ -31,5 +31,9 @@ namespace OnlineStore.Common ...@@ -31,5 +31,9 @@ namespace OnlineStore.Common
public static string QRCodeCount = "QRCodeCount"; public static string QRCodeCount = "QRCodeCount";
public static string CodeTimeOut = "CodeTimeOut"; public static string CodeTimeOut = "CodeTimeOut";
/// <summary>
/// 校准库位的料盘信息
/// </summary>
public static string FixBuffInfo = "FixBuffInfo";
} }
} }
Common/bean/Bean.cs
...@@ -72,6 +72,7 @@ namespace OnlineStore.Common ...@@ -72,6 +72,7 @@ namespace OnlineStore.Common
get { return _data; } get { return _data; }
set { _data = value; } set { _data = value; }
} }
public Dictionary<String, Dictionary<String, String>> mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
/// <summary> /// <summary>
/// 整体料仓状态 /// 整体料仓状态
/// 1=正常运行中 /// 1=正常运行中
...@@ -291,5 +292,22 @@ namespace OnlineStore.Common ...@@ -291,5 +292,22 @@ namespace OnlineStore.Common
public static string disable = "disable"; public static string disable = "disable";
public static string queueTaskCount="queueTaskCount"; public static string queueTaskCount="queueTaskCount";
/// <summary>
/// 贴标机交互按钮,出口 满料串取出
/// </summary>
public static string SendFullShelf = "SendFullShelf";
/// <summary>
/// 贴标机交互按钮,出口 空料串送入
/// </summary>
public static string NeedEmptySHelf = "NeedEmptySHelf";
/// <summary>
/// 贴标机交互按钮,入口 满料串送入
/// </summary>
public static string NeedFullShelf = "NeedFullShelf";
/// <summary>
/// 贴标机交互按钮,入口 空料串取出
/// </summary>
public static string SendEmptyShelf = "SendEmptyShelf";
} }
} }
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
...@@ -14,10 +14,12 @@ namespace DeviceLibrary ...@@ -14,10 +14,12 @@ namespace DeviceLibrary
partial class ServerCommunication partial class ServerCommunication
{ {
volatile StoreStatus _storeStatus = StoreStatus.Debugging; volatile StoreStatus _storeStatus = StoreStatus.Debugging;
public StoreStatus storeStatus { public StoreStatus storeStatus
{
get => _storeStatus; get => _storeStatus;
set { set
if (_storeStatus!= value) {
if (_storeStatus != value)
LogUtil.info($"set storeStatus to {value}"); LogUtil.info($"set storeStatus to {value}");
_storeStatus = value; _storeStatus = value;
} }
...@@ -25,13 +27,14 @@ namespace DeviceLibrary ...@@ -25,13 +27,14 @@ namespace DeviceLibrary
static string server = ConfigHelper.Config.Get("http_server"); static string server = ConfigHelper.Config.Get("http_server");
static string CID = ConfigHelper.Config.Get("CID"); static string CID = ConfigHelper.Config.Get("CID");
int StoreID = 1; int StoreID = 1;
string StoreName=""; string StoreName = "";
string WarnMsg = ""; string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer(); private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
object serverclock = new object(); object serverclock = new object();
public ServerCommunication() { public ServerCommunication()
{
serverConnectTimer.Interval = 1000; serverConnectTimer.Interval = 1000;
serverConnectTimer.AutoReset = true; serverConnectTimer.AutoReset = true;
serverConnectTimer.Enabled = true; serverConnectTimer.Enabled = true;
...@@ -65,17 +68,22 @@ namespace DeviceLibrary ...@@ -65,17 +68,22 @@ namespace DeviceLibrary
{ {
LogUtil.info($"ServerConnectTimer_Elapsed:{ex}"); LogUtil.info($"ServerConnectTimer_Elapsed:{ex}");
} }
finally { finally
{
//Monitor.Exit(serverConnectTimer); //Monitor.Exit(serverConnectTimer);
} }
} }
public void StartConnectServer() { public void StartConnectServer()
{
//serverConnectTimer.Enabled = true; //serverConnectTimer.Enabled = true;
}public void StopConnectServer() { }
public void StopConnectServer()
{
//serverConnectTimer.Enabled = false; //serverConnectTimer.Enabled = false;
} }
public void ProcessMsg(List<Msg> msg) { public void ProcessMsg(List<Msg> msg)
{
WarnMsg = string.Join(",", msg.Select(x => WarnMsg = string.Join(",", msg.Select(x =>
{ {
if (x.msgLevel == MsgLevel.warning || x.msgLevel == MsgLevel.alarm) if (x.msgLevel == MsgLevel.warning || x.msgLevel == MsgLevel.alarm)
...@@ -84,9 +92,10 @@ namespace DeviceLibrary ...@@ -84,9 +92,10 @@ namespace DeviceLibrary
} }
return null; return null;
} }
).Where(x=>!string.IsNullOrEmpty(x))); ).Where(x => !string.IsNullOrEmpty(x)));
} }
public void SendInStoreRequest(string[] codelist, ReelParam reel,bool printlog=false) { public void SendInStoreRequest(string[] codelist, ReelParam reel, bool printlog = false)
{
if (RobotManage.InoutDebugMode) if (RobotManage.InoutDebugMode)
return; return;
...@@ -97,7 +106,7 @@ namespace DeviceLibrary ...@@ -97,7 +106,7 @@ namespace DeviceLibrary
operation.op = 1; operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } }; operation.data = new Dictionary<string, string>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } };
if (reel.PlateH==100 && ConfigHelper.Config.Get("Device_SingleInSingleOut",false)) if (reel.PlateH == 100 && ConfigHelper.Config.Get("Device_SingleInSingleOut", false))
{ {
//singleIn 单盘入库 //singleIn 单盘入库
operation.data.Add("singleIn", "true"); operation.data.Add("singleIn", "true");
...@@ -123,7 +132,7 @@ namespace DeviceLibrary ...@@ -123,7 +132,7 @@ namespace DeviceLibrary
Operation operation = getLineBoxStatus(); Operation operation = getLineBoxStatus();
if (!string.IsNullOrEmpty(posid)) if (!string.IsNullOrEmpty(posid))
operation.boxStatus[StoreID].data.Add(ParamDefine.posId, posid); operation.boxStatus[StoreID].data.Add(ParamDefine.posId, posid);
operation.boxStatus[StoreID].status = (int)storeStatus; operation.boxStatus[StoreID].status = (int)storeStatus;
LogUtil.info(JsonHelper.SerializeObject(operation)); LogUtil.info(JsonHelper.SerializeObject(operation));
...@@ -136,7 +145,8 @@ namespace DeviceLibrary ...@@ -136,7 +145,8 @@ namespace DeviceLibrary
LogUtil.info($"SendStoreState error,posid:{posid}, storeStatus:{storeStatus}"); LogUtil.info($"SendStoreState error,posid:{posid}, storeStatus:{storeStatus}");
return false; return false;
} }
if (operation.seq != resultOperation.seq) { if (operation.seq != resultOperation.seq)
{
LogUtil.info($"SendStoreState seq error,posid:{posid}, storeStatus:{storeStatus}"); LogUtil.info($"SendStoreState seq error,posid:{posid}, storeStatus:{storeStatus}");
return false; return false;
} }
...@@ -144,26 +154,25 @@ namespace DeviceLibrary ...@@ -144,26 +154,25 @@ namespace DeviceLibrary
LogUtil.info($"SendStoreState success,posid:{posid}, storeStatus:{storeStatus}"); LogUtil.info($"SendStoreState success,posid:{posid}, storeStatus:{storeStatus}");
ResultProcess(resultOperation); ResultProcess(resultOperation);
if (storeStatus == StoreStatus.OutStoreEnd || //if (storeStatus == StoreStatus.OutStoreEnd ||
storeStatus == StoreStatus.OutStoreBoxEnd || // storeStatus == StoreStatus.OutStoreBoxEnd ||
storeStatus == StoreStatus.InStoreEnd) // storeStatus == StoreStatus.InStoreEnd)
{ //{
this.storeStatus = StoreStatus.StoreOnline; // this.storeStatus = StoreStatus.StoreOnline;
} //}
} }
return true; return true;
} }
public string spiltStr = "##"; public string spiltStr = "##";
private string ProcessCode(string[] codeList,int reelw,int reelh) private string ProcessCode(string[] codeList, int reelw, int reelh)
{ {
string message = ""; string message = "";
//= 7x12 = CODE //= 7x12 = CODE
foreach (string str in codeList) foreach (string str in codeList)
{ {
string code = str.Replace("\r",""); string code = str.Replace("\r", "");
code = code.Replace("\n",""); code = code.Replace("\n", "");
//根据二维码开头获取固定尺寸 //根据二维码开头获取固定尺寸
string codeSize = $"{reelw}x{reelh}"; string codeSize = $"{reelw}x{reelh}";
message = message + "=" + "1+0x0-" + codeSize + "=" + code + spiltStr; message = message + "=" + "1+0x0-" + codeSize + "=" + code + spiltStr;
...@@ -185,10 +194,9 @@ namespace DeviceLibrary ...@@ -185,10 +194,9 @@ namespace DeviceLibrary
lineOperation.status = 1; lineOperation.status = 1;
lineOperation.data = new Dictionary<string, string>(); lineOperation.data = new Dictionary<string, string>();
lineOperation.data=lineOperation.data.Concat(GetBtnStatus()).ToDictionary(x=>x.Key,v=>v.Value); 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.data = lineOperation.data.Concat(AgvStatus()).ToDictionary(x => x.Key, v => v.Value);
lineOperation.status = (int)storeStatus; lineOperation.status = (int)storeStatus;
//判断如果是等待料盘拿走超时，状态改为4Warning //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)) //if (alarmType.Equals(StoreAlarmType.IoSingleTimeOut) && StoreMove.MoveType.Equals(StoreMoveType.OutStore))
//{ //{
...@@ -220,14 +228,15 @@ namespace DeviceLibrary ...@@ -220,14 +228,15 @@ namespace DeviceLibrary
else if (!string.IsNullOrEmpty(WarnMsg)) else if (!string.IsNullOrEmpty(WarnMsg))
{ {
sendmsg = string.Join(",", new string[] { WarnMsg }); sendmsg = string.Join(",", new string[] { WarnMsg });
//lineOperation.msgData["zh"] = lineOperation.msg; //lineOperation.msgData["zh"] = lineOperation.msg;
//lineOperation.msgData["en"] = lineOperation.msg; //lineOperation.msgData["en"] = lineOperation.msg;
//lineOperation.msgData["jp"] = lineOperation.msg; //lineOperation.msgData["jp"] = lineOperation.msg;
//lineOperation.status = (int)StoreStatus.Warning; //lineOperation.status = (int)StoreStatus.Warning;
} }
else if (!RobotManage.isRunning){ else if (!RobotManage.isRunning)
sendmsg = crc.GetString("Res0001","设备未启动"); {
sendmsg = crc.GetString("Res0001", "设备未启动");
} }
lineOperation.msg = sendmsg; lineOperation.msg = sendmsg;
...@@ -293,13 +302,14 @@ namespace DeviceLibrary ...@@ -293,13 +302,14 @@ namespace DeviceLibrary
} }
} }
if (lineOperation.status != laststatus) { if (lineOperation.status != laststatus)
{
laststatus = lineOperation.status; laststatus = lineOperation.status;
printlog = true; printlog = true;
} }
Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, printlog); Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, 700, printlog);
if (resultOperation != null) if (resultOperation != null)
getthtime = 0; getthtime = 0;
//LogUtil.info(JsonHelper.SerializeObject(resultOperation.data)); //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
...@@ -311,7 +321,7 @@ namespace DeviceLibrary ...@@ -311,7 +321,7 @@ namespace DeviceLibrary
} }
} }
} }
public int queueTaskCount=-1; public int queueTaskCount = -1;
ConcurrentQueue<string> commandResultMsg = new ConcurrentQueue<string>(); ConcurrentQueue<string> commandResultMsg = new ConcurrentQueue<string>();
void ResultProcess(Operation resultOperation) void ResultProcess(Operation resultOperation)
{ {
...@@ -344,7 +354,7 @@ namespace DeviceLibrary ...@@ -344,7 +354,7 @@ namespace DeviceLibrary
AgvProcess(dataMap); AgvProcess(dataMap);
string result = ""; string result = "";
if (dataMap.ContainsKey(ParamDefine.queueTaskCount)) if (dataMap.ContainsKey(ParamDefine.queueTaskCount))
{ {
...@@ -406,8 +416,8 @@ namespace DeviceLibrary ...@@ -406,8 +416,8 @@ namespace DeviceLibrary
} }
...@@ -421,7 +431,12 @@ namespace DeviceLibrary ...@@ -421,7 +431,12 @@ namespace DeviceLibrary
map.Add(ParamDefine.confirmReelOut, ParamDefine.disable); map.Add(ParamDefine.confirmReelOut, ParamDefine.disable);
map.Add(ParamDefine.singleReelIn, ParamDefine.disable); map.Add(ParamDefine.singleReelIn, ParamDefine.disable);
if (storeStatus == StoreStatus.ResetMove 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.SuddenStop
|| storeStatus == StoreStatus.Debugging || storeStatus == StoreStatus.Debugging
) )
...@@ -429,7 +444,7 @@ namespace DeviceLibrary ...@@ -429,7 +444,7 @@ namespace DeviceLibrary
if (//RobotManage.mainMachine.IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH) && if (//RobotManage.mainMachine.IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH) &&
(RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.StringOut_Released (RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.StringOut_Released
|| RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.Wait)) || RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.Wait))
{ {
//map.Add(ParamDefine.doorStatus, "料串门关闭"); //map.Add(ParamDefine.doorStatus, "料串门关闭");
...@@ -440,7 +455,7 @@ namespace DeviceLibrary ...@@ -440,7 +455,7 @@ namespace DeviceLibrary
map[ParamDefine.closeLock] = ParamDefine.enable; map[ParamDefine.closeLock] = ParamDefine.enable;
//map.Add(ParamDefine.doorStatus, "料串门打开"); //map.Add(ParamDefine.doorStatus, "料串门打开");
} }
if (RobotManage.mainMachine.StringMoveInfo.MoveStep >= MoveStep.StringLoad_04 if (RobotManage.mainMachine.StringMoveInfo.MoveStep >= MoveStep.StringLoad_04
&& RobotManage.mainMachine.StringMoveInfo.MoveStep < MoveStep.StringOut_01) && RobotManage.mainMachine.StringMoveInfo.MoveStep < MoveStep.StringOut_01)
map[ParamDefine.takeOutReel] = ParamDefine.enable; map[ParamDefine.takeOutReel] = ParamDefine.enable;
...@@ -449,10 +464,57 @@ namespace DeviceLibrary ...@@ -449,10 +464,57 @@ namespace DeviceLibrary
map[ParamDefine.confirmReelOut] = ParamDefine.enable; map[ParamDefine.confirmReelOut] = ParamDefine.enable;
} }
if (RobotManage.mainMachine.StringType== MainMachine.StringTypeE.Out || RobotManage.mainMachine.StringMoveInfo.MoveStep==MoveStep.Wait) { if (RobotManage.mainMachine.StringType == MainMachine.StringTypeE.Out || RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.Wait)
{
map[ParamDefine.singleReelIn] = ParamDefine.enable; map[ParamDefine.singleReelIn] = ParamDefine.enable;
} }
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;
}
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; return map;
} }
/// <summary> /// <summary>
...@@ -486,7 +548,7 @@ namespace DeviceLibrary ...@@ -486,7 +548,7 @@ namespace DeviceLibrary
{ {
//出入库没有找到服务器发送的库位，需要打印日志方便查询原因 //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
//SetWarnMsg(ResourceControl.InStoreNoPosition, message, posId); //SetWarnMsg(ResourceControl.InStoreNoPosition, message, posId);
WarnMsg = crc.GetString(L.in_store_nothave_position,"入库未找到库位：") + posId;//0505 WarnMsg = crc.GetString(L.in_store_nothave_position, "入库未找到库位：") + posId;//0505
LogUtil.info("收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】"); LogUtil.info("收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return; return;
} }
...@@ -512,10 +574,11 @@ namespace DeviceLibrary ...@@ -512,10 +574,11 @@ namespace DeviceLibrary
SendStoreState("", StoreStatus.InStoreError); SendStoreState("", StoreStatus.InStoreError);
//RobotManage.mainMachine.ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01); //RobotManage.mainMachine.ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
RobotManage.mainMachine.NGPuted(msg); RobotManage.mainMachine.NGPuted(msg);
LogUtil.info("服务器没有正确返回库位. msg="+ msg); LogUtil.info("服务器没有正确返回库位. msg=" + msg);
} }
else { else
{
} }
} }
...@@ -535,13 +598,13 @@ namespace DeviceLibrary ...@@ -535,13 +598,13 @@ namespace DeviceLibrary
{ {
string maxHumidity = data[ParamDefine.maxHumidity]; string maxHumidity = data[ParamDefine.maxHumidity];
string maxTemp = data[ParamDefine.maxTemperature]; string maxTemp = data[ParamDefine.maxTemperature];
LogUtil.info( "收到服务器温湿度预警值：maxHumidity=" + maxHumidity + ",maxTemperature=" + maxTemp); LogUtil.info("收到服务器温湿度预警值：maxHumidity=" + maxHumidity + ",maxTemperature=" + maxTemp);
try try
{ {
this.Max_Humidity = (float)Convert.ToDouble(maxHumidity); this.Max_Humidity = (float)Convert.ToDouble(maxHumidity);
this.Max_Temperature = (float)Convert.ToDouble(maxTemp); this.Max_Temperature = (float)Convert.ToDouble(maxTemp);
LogUtil.info( "保存温湿度预警值：Max_Humidity=" + Max_Humidity + ",Max_Temperature=" + Max_Temperature); LogUtil.info("保存温湿度预警值：Max_Humidity=" + Max_Humidity + ",Max_Temperature=" + Max_Temperature);
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -585,13 +648,13 @@ namespace DeviceLibrary ...@@ -585,13 +648,13 @@ namespace DeviceLibrary
{ {
//出入库没有找到服务器发送的库位，需要打印日志方便查询原因 //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = StoreName + "出库未找库位：【" + posId + "】"; WarnMsg = StoreName + "出库未找库位：【" + posId + "】";
LogUtil.error( "收到服务器出库命令：未找到【" + posId + "】的库位信息"); LogUtil.error("收到服务器出库命令：未找到【" + posId + "】的库位信息");
continue; continue;
} }
else else
{ {
if (isSingleOut) if (isSingleOut)
RobotManage.mainMachine.AddSingleStoreTask(posId,plateW,plateH); RobotManage.mainMachine.AddSingleStoreTask(posId, plateW, plateH);
else else
RobotManage.mainMachine.AddOutStoreTask(posId, plateW, plateH); RobotManage.mainMachine.AddOutStoreTask(posId, plateW, plateH);
} }
...@@ -730,6 +793,6 @@ namespace DeviceLibrary ...@@ -730,6 +793,6 @@ namespace DeviceLibrary
/// 扫码入库失败 /// 扫码入库失败
/// </summary> /// </summary>
InStoreError = 14, InStoreError = 14,
} }
} }
\ No newline at end of file \ No newline at end of file
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -190,6 +190,7 @@ namespace DeviceLibrary ...@@ -190,6 +190,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreFIX01: case MoveStep.StoreFIX01:
MoveInfo.NextMoveStep(MoveStep.StoreFIX02); MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed); 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}"); MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed); UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
...@@ -226,6 +227,7 @@ namespace DeviceLibrary ...@@ -226,6 +227,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreTS10: case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11); MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos();
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed); Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}"); MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed); UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -535,6 +535,17 @@ namespace DeviceLibrary ...@@ -535,6 +535,17 @@ namespace DeviceLibrary
ServerCM.storeStatus = StoreStatus.OutStoreExecute; ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo); CloseFlipDoor(StoreMoveInfo);
} }
else if((RobotManage.HasReelInFixPos(out ReelParam reelParam))
&& boxTransport.IsComplateOrFree
&& ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false)
&& IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
var pos = BoxStorePosition.GetFixPos(Config, reelParam);
LogUtil.info($"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; runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline; ServerCM.storeStatus = StoreStatus.StoreOnline;
break; break;
......
DeviceLibrary/theMachine/MainMachine_Store.cs
...@@ -16,8 +16,9 @@ namespace DeviceLibrary ...@@ -16,8 +16,9 @@ namespace DeviceLibrary
StoreJobList OutStoreJobList = new StoreJobList($"批量"); StoreJobList OutStoreJobList = new StoreJobList($"批量");
StoreJobList OutSingleJobList = new StoreJobList($"单盘"); StoreJobList OutSingleJobList = new StoreJobList($"单盘");
public void AddOutStoreTask(string posId,int plateW,int plateH) { public void AddOutStoreTask(string posId, int plateW, int plateH)
JobInfo jobInfo = new JobInfo("", posId,plateW,plateH); {
JobInfo jobInfo = new JobInfo("", posId, plateW, plateH);
OutStoreJobList.Enqueue(jobInfo); OutStoreJobList.Enqueue(jobInfo);
LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}"); LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
} }
...@@ -54,6 +55,7 @@ namespace DeviceLibrary ...@@ -54,6 +55,7 @@ namespace DeviceLibrary
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01); StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
StoreMoveInfo.MoveParam = ClampMoveInfo.MoveParam.clone(); StoreMoveInfo.MoveParam = ClampMoveInfo.MoveParam.clone();
StoreMoveInfo.log($"入库料盘已准备好"); StoreMoveInfo.log($"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 //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) else if (OutSingleJobList.Count > 0 && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait)
...@@ -63,11 +65,11 @@ namespace DeviceLibrary ...@@ -63,11 +65,11 @@ namespace DeviceLibrary
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000)) if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000))
{ {
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect); Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查"); //RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
} }
else else
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning); Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return; return;
} }
else else
...@@ -87,18 +89,18 @@ namespace DeviceLibrary ...@@ -87,18 +89,18 @@ namespace DeviceLibrary
} }
} }
//判断有没有出库任务, 需要入库空闲, 出口空闲 //判断有没有出库任务, 需要入库空闲, 出口空闲
else if (OutStoreJobList.Count>0 && boxTransport.IsComplateOrFree) else if (OutStoreJobList.Count > 0 && boxTransport.IsComplateOrFree)
{ {
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{ {
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000)) if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000))
{ {
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect); Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查"); //RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
} }
else else
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning); Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return; return;
} }
else else
...@@ -110,7 +112,7 @@ namespace DeviceLibrary ...@@ -110,7 +112,7 @@ namespace DeviceLibrary
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId; StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH; StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW; StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:"+ jobInfo.ToStr()); StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute; ServerCM.storeStatus = StoreStatus.OutStoreExecute;
} }
} }
...@@ -118,13 +120,13 @@ namespace DeviceLibrary ...@@ -118,13 +120,13 @@ namespace DeviceLibrary
case MoveStep.StoreIn01: case MoveStep.StoreIn01:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute)) if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute))
{ {
Msg.add(crc.GetString("Res0008","服务器连接异常"),MsgLevel.warning); Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return; return;
} }
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03); StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID); var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true); boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运料盘"); StoreMoveInfo.log($"开始转运料盘");
break; break;
case MoveStep.StoreIn02: case MoveStep.StoreIn02:
break; break;
...@@ -145,12 +147,12 @@ namespace DeviceLibrary ...@@ -145,12 +147,12 @@ namespace DeviceLibrary
{ {
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd)) if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
{ {
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning); Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return; return;
} }
StoreMoveInfo.log($"料盘已到达目的地"); StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.EndMove(); StoreMoveInfo.EndMove();
} }
break; break;
case MoveStep.StoreOut_NGPre: case MoveStep.StoreOut_NGPre:
...@@ -159,18 +161,18 @@ namespace DeviceLibrary ...@@ -159,18 +161,18 @@ namespace DeviceLibrary
case MoveStep.StoreOut10: case MoveStep.StoreOut10:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute)) if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute))
{ {
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning); Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return; return;
} }
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11); StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID); var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
BoxStorePosition outTo; BoxStorePosition outTo;
if (StoreMoveInfo.MoveParam.IsNg) if (StoreMoveInfo.MoveParam.IsNg)
outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam); outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
else else
outTo = new BoxStorePosition(Config, StoreSide.String, StoreMoveInfo.MoveParam); outTo = new BoxStorePosition(Config, StoreSide.String, StoreMoveInfo.MoveParam);
boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore); boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg ? "单料口" : "料串")}"); StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg ? "单料口" : "料串")}");
break; break;
case MoveStep.StoreOut11: case MoveStep.StoreOut11:
...@@ -178,7 +180,7 @@ namespace DeviceLibrary ...@@ -178,7 +180,7 @@ namespace DeviceLibrary
{ {
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd)) if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd))
{ {
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning); Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return; return;
} }
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12); StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
...@@ -194,13 +196,13 @@ namespace DeviceLibrary ...@@ -194,13 +196,13 @@ namespace DeviceLibrary
{ {
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd)) if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd))
{ {
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning); Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return; return;
} }
StoreMoveInfo.log($"料盘已到达目的地"); StoreMoveInfo.log($"料盘已到达目的地");
if (StoreMoveInfo.MoveParam.IsNg) if (StoreMoveInfo.MoveParam.IsNg)
{ {
NGPuted(StoreMoveInfo.MoveParam.NgMsg); NGPuted(StoreMoveInfo.MoveParam.NgMsg);
OutSingleJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID); OutSingleJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
} }
...@@ -209,7 +211,7 @@ namespace DeviceLibrary ...@@ -209,7 +211,7 @@ namespace DeviceLibrary
ReelPutted(StoreMoveInfo.MoveParam.PlateH); ReelPutted(StoreMoveInfo.MoveParam.PlateH);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID); OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
} }
StoreMoveInfo.EndMove(); StoreMoveInfo.EndMove();
} }
break; break;
...@@ -218,8 +220,9 @@ namespace DeviceLibrary ...@@ -218,8 +220,9 @@ namespace DeviceLibrary
break; break;
} }
} }
string StoreState() { string StoreState()
string state = crc.GetString(L.free,"空闲中"); {
string state = crc.GetString(L.free, "空闲中");
if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10) if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
{ {
state = $"{crc.GetString(L.reel_outting, "出库中")},{crc.GetString(L.posnum, "出库中")}:{StoreMoveInfo.MoveParam.PosID}"; state = $"{crc.GetString(L.reel_outting, "出库中")},{crc.GetString(L.posnum, "出库中")}:{StoreMoveInfo.MoveParam.PosID}";
......
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -59,9 +59,10 @@ namespace DeviceLibrary ...@@ -59,9 +59,10 @@ namespace DeviceLibrary
/// <summary> /// <summary>
/// 强制转换料串为出库模式 /// 强制转换料串为出库模式
/// </summary> /// </summary>
public bool TurnToOut() { public bool TurnToOut()
{
if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep==MoveStep.StringOut_Released) if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{ {
StringMoveInfo.log($"升起待机料串"); StringMoveInfo.log($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
...@@ -173,7 +174,7 @@ namespace DeviceLibrary ...@@ -173,7 +174,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW); //CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore); BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009","料串正在上升"), MsgLevel.warning)); StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009", "料串正在上升"), MsgLevel.warning));
} }
else if (StringMoveInfo.IsTimeOut(10)) else if (StringMoveInfo.IsTimeOut(10))
{ {
...@@ -197,11 +198,11 @@ namespace DeviceLibrary ...@@ -197,11 +198,11 @@ namespace DeviceLibrary
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0) if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
{ {
SetReelHeight(GetHeight(StringMoveInfo)); SetReelHeight(GetHeight(StringMoveInfo));
StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机"); StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01); StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
} }
} }
else if(StringState != StringStateE.OutStore) else if (StringState != StringStateE.OutStore)
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore; StringState = StringStateE.InStore;
...@@ -244,7 +245,7 @@ namespace DeviceLibrary ...@@ -244,7 +245,7 @@ namespace DeviceLibrary
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet); StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"料串有盘上升5mm"); StringMoveInfo.log($"料串有盘上升5mm");
var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM+2); var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed); Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW); CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
//OpenFlipDoor(StringMoveInfo); //OpenFlipDoor(StringMoveInfo);
...@@ -291,7 +292,7 @@ namespace DeviceLibrary ...@@ -291,7 +292,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StringReelPut: case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore; LastStringState = StringStateE.OutStore;
if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck",false)) if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck", false))
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
StringMoveInfo.log($"检测阻挡工作"); StringMoveInfo.log($"检测阻挡工作");
...@@ -340,12 +341,12 @@ namespace DeviceLibrary ...@@ -340,12 +341,12 @@ namespace DeviceLibrary
case MoveStep.StringReelPut_02: case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true); BatchAxisToP2(StringMoveInfo, true);
break; break;
case MoveStep.StringReelPut_03: case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true); BatchAxisToP2(StringMoveInfo, true);
break; break;
case MoveStep.StringReelPut_04: case MoveStep.StringReelPut_04:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05);
...@@ -379,7 +380,7 @@ namespace DeviceLibrary ...@@ -379,7 +380,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"料串下降到P1点"); StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed); Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW); 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; break;
case MoveStep.StringOut_02: case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03); StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
...@@ -392,6 +393,7 @@ namespace DeviceLibrary ...@@ -392,6 +393,7 @@ namespace DeviceLibrary
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW); CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
break; break;
case MoveStep.StringOut_Released: case MoveStep.StringOut_Released:
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (StringState == StringStateE.Full) if (StringState == StringStateE.Full)
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427 Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427
else else
...@@ -445,14 +447,15 @@ namespace DeviceLibrary ...@@ -445,14 +447,15 @@ namespace DeviceLibrary
} }
} }
string StringProcessState() { string StringProcessState()
{
string state = ""; string state = "";
if (StringState == StringStateE.OutStore) if (StringState == StringStateE.OutStore)
state = crc.GetString(L.empty_reel, "空料串"); state = crc.GetString(L.empty_reel, "空料串");
else if (StringState == StringStateE.Full) else if (StringState == StringStateE.Full)
{ {
state = crc.GetString(L.full_reel, "满料串"); state = crc.GetString(L.full_reel, "满料串");
} }
else if (StringState == StringStateE.InStore) else if (StringState == StringStateE.InStore)
...@@ -488,14 +491,14 @@ namespace DeviceLibrary ...@@ -488,14 +491,14 @@ namespace DeviceLibrary
int targetSpeed = Config.Batch_P2_speed; int targetSpeed = Config.Batch_P2_speed;
if (isFirstMove) if (isFirstMove)
{ {
targetSpeed= Config.Batch_P1_speed; targetSpeed = Config.Batch_P1_speed;
} }
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2); moveInfo.log("BatchAxisToP2 目标P2: " + targetP2);
moveInfo.TimeOutSeconds = 200; moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0; moveInfo.CanWhileCount = 0;
Batch_Axis.SuddenStop(); Batch_Axis.SuddenStop();
// 需要增加定时器，获取验证信号并停止伺服 // 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)); moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed));
Config.Batch_Axis.TargetPosition = targetP2; Config.Batch_Axis.TargetPosition = targetP2;
Batch_Axis.AbsMove(null, targetP2, targetSpeed); Batch_Axis.AbsMove(null, targetP2, targetSpeed);
...@@ -507,7 +510,7 @@ namespace DeviceLibrary ...@@ -507,7 +510,7 @@ namespace DeviceLibrary
{ {
int targetP1 = Config.Batch_P1; int targetP1 = Config.Batch_P1;
int targetSpeed = Config.Batch_P2_speed; int targetSpeed = Config.Batch_P2_speed;
moveInfo.log("BatchAxisToLow 目标P1: " + targetP1); moveInfo.log("BatchAxisToLow 目标P1: " + targetP1);
moveInfo.TimeOutSeconds = 200; moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0; moveInfo.CanWhileCount = 0;
...@@ -568,7 +571,8 @@ namespace DeviceLibrary ...@@ -568,7 +571,8 @@ namespace DeviceLibrary
return LastHeight; return LastHeight;
} }
public void StringDoorOpen(MoveInfo moveInfo) { public void StringDoorOpen(MoveInfo moveInfo)
{
if (StringDoor != null) if (StringDoor != null)
{ {
StringDoor.LiftUp(moveInfo); StringDoor.LiftUp(moveInfo);
...@@ -580,10 +584,12 @@ namespace DeviceLibrary ...@@ -580,10 +584,12 @@ namespace DeviceLibrary
} }
public void StringDoorClose(MoveInfo moveInfo) public void StringDoorClose(MoveInfo moveInfo)
{ {
if (StringDoor!=null) { if (StringDoor != null)
{
StringDoor.LiftDown(moveInfo); StringDoor.LiftDown(moveInfo);
} }
else { else
{
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW); CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
} }
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -183,6 +183,34 @@ namespace DeviceLibrary ...@@ -183,6 +183,34 @@ namespace DeviceLibrary
else else
LogUtil.info("用户取消忽略安全光栅"); LogUtil.info("用户取消忽略安全光栅");
} }
#region 校准库位缓存
public static bool HasReelInFixPos(out ReelParam reelParam)
{
reelParam = null;
try
{
string fix = ConfigHelper.Config.Get(Setting_Init.FixBuffInfo,"");
if(!string.IsNullOrEmpty(fix))
{
reelParam=JsonHelper.DeserializeJsonToObject<ReelParam>(fix);
return true;
}
}
catch (Exception e)
{
LogUtil.error("解析校准库位缓存异常",e);
}
return false;
}
public static void PutReelInFixPos(ReelParam reelParam)
{
ConfigHelper.Config.Set(Setting_Init.FixBuffInfo,JsonHelper.SerializeObject(reelParam));
}
public static void ClearReelInFixPos()
{
ConfigHelper.Config.Set(Setting_Init.FixBuffInfo,"");
}
#endregion
} }
public enum StoreType { public enum StoreType {
......
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