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Commit 80107032 由 张东亮
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添加agv对接逻辑

1 个父辈 a04de88a
内嵌 并排
正在显示 8 个修改的文件 包含 391 行增加 和 185 行删除
1069_MIMO_G2.sln
 
Microsoft Visual Studio Solution File, Format Version 12.00 Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 16 # Visual Studio Version 17
VisualStudioVersion = 16.0.30907.101 VisualStudioVersion = 17.5.33414.496
MinimumVisualStudioVersion = 10.0.40219.1 MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "LoadCVSLibrary\LoadCSVLibrary.csproj", "{064BEBF5-8FAA-4EA2-A5F3-A06E6E7D9251}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "LoadCVSLibrary\LoadCSVLibrary.csproj", "{064BEBF5-8FAA-4EA2-A5F3-A06E6E7D9251}"
EndProject EndProject
......
Common/util/ConfigAppSettings.cs
...@@ -22,188 +22,15 @@ namespace OnlineStore.Common ...@@ -22,188 +22,15 @@ namespace OnlineStore.Common
Interlocked.Increment(ref seq); Interlocked.Increment(ref seq);
return seq; return seq;
} }
public static string GetValue(string keyStr, string storeStr)
{
string key = keyStr + storeStr;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
return GetValue(keyStr);
}
else
{
return config.AppSettings.Settings[key].Value;
}
}
public static decimal GetNumValue(string keyStr, string storeStr) public static T GetValue<T>(string key, T defaultVal = default(T), string comment = "")
{
string key = keyStr + storeStr;
decimal a = 0;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
return GetNumValue(keyStr);
}
else
{
{
Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static int GetIntValue(string keyStr, string storeStr)
{
string key = keyStr + storeStr;
int a = 0;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
return GetIntValue(keyStr);
}
else
{
{
Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
}
} return a;
}
public static string GetValue(string key)
{
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return "";
}
else
{
return config.AppSettings.Settings[key].Value;
}
}
public static decimal GetNumValue(string key)
{
decimal a = 0;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static int GetIntValue(string key)
{
int a = 0;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{ {
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！"); ConfigHelper.Config.SetComment(key, comment);
return a; return ConfigHelper.Config.Get(key, defaultVal);
} }
else public static void SetValue<T>(string key, T defaultVal = default(T))
{ {
{ ConfigHelper.Config.Set(key, defaultVal);
Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
}
} return a;
}
public static void SaveValue(string key, int value)
{
SaveValue(key, value.ToString());
}
public static void SaveValue(string key, string value)
{
try
{
if (key.Equals("") || value.Equals(""))
{
return;
}
//增加的内容写在appSettings段下 <add key="RegCode" value="0"/>
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
SetValue(key, value);
}
else
{
UpdateConfig(key, value);
}
}
catch (Exception ex)
{
LogUtil.error( "SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + ",",ex);
}
}
public static string GetValue(object debugDeviceId)
{
throw new NotImplementedException();
}
/// <summary>
/// 更新配置文件信息
/// </summary>
/// <param name="name">配置文件字段名称</param>
/// <param name="Xvalue">值</param>
private static void UpdateConfig(string name, string Xvalue)
{
try
{
XmlDocument doc = new XmlDocument();
doc.Load(Application.ExecutablePath + ".config");
XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
XmlElement ele = (XmlElement)node;
ele.SetAttribute("value", Xvalue);
doc.Save(Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error( "UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + ",",ex);
}
}
///<summary>
///向.config文件的appKey结写入信息AppValue 保存设置
///</summary>
///<param name="AppKey">节点名</param>
///<param name="AppValue">值</param>
private static void SetValue(String AppKey, String AppValue)
{
try
{
XmlDocument xDoc = new XmlDocument();
xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
XmlNode xNode;
XmlElement xElem1;
XmlElement xElem2;
xNode = xDoc.SelectSingleNode("//appSettings");
xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
if (xElem1 != null)
xElem1.SetAttribute("value", AppValue);
else
{
xElem2 = xDoc.CreateElement("add");
xElem2.SetAttribute("key", AppKey);
xElem2.SetAttribute("value", AppValue);
xNode.AppendChild(xElem2);
}
xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error( "SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + ",",ex);
}
} }
} }
} }
DeviceLibrary/DeviceLibrary.csproj
...@@ -32,6 +32,10 @@ ...@@ -32,6 +32,10 @@
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Reference Include="AGVLib, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\DLL\AGVLib\AGVLib\bin\Debug\AGVLib.dll</HintPath>
</Reference>
<Reference Include="CodeLibrary, Version=1.0.8384.25672, Culture=neutral, processorArchitecture=MSIL"> <Reference Include="CodeLibrary, Version=1.0.8384.25672, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\DLL\CodeLibrary.dll</HintPath> <HintPath>..\DLL\CodeLibrary.dll</HintPath>
...@@ -90,6 +94,7 @@ ...@@ -90,6 +94,7 @@
<Compile Include="theMachine\Common.cs" /> <Compile Include="theMachine\Common.cs" />
<Compile Include="theMachine\JobList.cs" /> <Compile Include="theMachine\JobList.cs" />
<Compile Include="theMachine\LabelParam.cs" /> <Compile Include="theMachine\LabelParam.cs" />
<Compile Include="theMachine\MainMachine_AGV.cs" />
<Compile Include="theMachine\MainMachine_ServerControl.cs" /> <Compile Include="theMachine\MainMachine_ServerControl.cs" />
<Compile Include="theMachine\MainMachine _BtnProcess.cs" /> <Compile Include="theMachine\MainMachine _BtnProcess.cs" />
<Compile Include="theMachine\MainMachine _Common.cs" /> <Compile Include="theMachine\MainMachine _Common.cs" />
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -191,6 +191,7 @@ namespace DeviceLibrary ...@@ -191,6 +191,7 @@ namespace DeviceLibrary
ConfigHelper.Config.Get("CamTestReel_Ability", false); ConfigHelper.Config.Get("CamTestReel_Ability", false);
ConfigHelper.Config.Set("CamTestReel_debug", false); ConfigHelper.Config.Set("CamTestReel_debug", false);
ConfigHelper.Config.Get("Device_1315_ReelHeight_Compensation", 0); ConfigHelper.Config.Get("Device_1315_ReelHeight_Compensation", 0);
initAgv();
} }
private void Crc_LanguageChangeEvent(object sender, EventArgs e) private void Crc_LanguageChangeEvent(object sender, EventArgs e)
...@@ -275,6 +276,7 @@ namespace DeviceLibrary ...@@ -275,6 +276,7 @@ namespace DeviceLibrary
if (runStatus == RunStatus.Running) if (runStatus == RunStatus.Running)
{ {
ioMonitor(); ioMonitor();
AGVProcess();
StringProcess(); StringProcess();
ClampProcess(); ClampProcess();
boxTransport.Process(); boxTransport.Process();
......
DeviceLibrary/theMachine/MainMachine_AGV.cs 0 → 100644
using AGVLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
namespace DeviceLibrary
{
public partial class MainMachine
{
string serverIp = ConfigAppSettings.GetValue("AGV_ServerIp", "127.0.0.1", "AGV服务软件所在电脑IP");
int serverPort = ConfigAppSettings.GetValue("AGV_ServerPort", 12000, "AGV服务接口");
int nodeId = ConfigAppSettings.GetValue("AGV_NodeId", 1, "AGV节点编号");
string nodeName = ConfigAppSettings.GetValue("AGV_NodeName", "MIMO", "AGV节点名称");
Client client;
Node curNode;
MoveInfo AGVMoveInfo;
void initAgv()
{
if (!UseAgv())
return;
AGVMoveInfo = new MoveInfo("AGV模块");
curNode = new Node()
{
id = nodeId,
name = nodeName,
};
client = new Client(new List<Node> { curNode });
client.ConnectedEvent += Client_ConnectedEvent;
client.ReceivedEvent += Client_ReceivedEvent;
client.Connect(serverIp, serverPort);
LogUtil.LOGGER.Info($"初始化AGV节点，并连接服务端：{serverIp}:{serverPort}");
}
public bool UseAgv()
{
return ConfigAppSettings.GetValue("AGV_Enable", false, "是否启用AGV");
}
public void SetStatus(NodeStatus nodeStatus)
{
curNode.status = nodeStatus;
client.SetStatus(curNode);
}
private void Client_ReceivedEvent(Node node)
{
if (curNode.id == nodeId && curNode.name.Equals(node.name))
{
curNode.status = node.status;
curNode.shelf_id = node.shelf_id;
curNode.level = node.level;
LogUtil.LOGGER.Info($"收到AGV服务端信息：【{node.name}】【{node.status}】【{node.shelf_id}】");
}
}
private void Client_ConnectedEvent(bool status)
{
if (status)
LogUtil.LOGGER.Info("已连接AGV服务端");
else
{
LogUtil.LOGGER.Info("已断开AGV服务");
}
}
NodeStatus curNodeStatus;
/// <summary>
/// 呼叫AGV--需要料串
/// </summary>
void needEnter(NodeStatus nodeStatus)
{
if (nodeStatus.Equals(NodeStatus.NeedEnter) ||
nodeStatus.Equals(NodeStatus.NeedEnter_Empty) ||
nodeStatus.Equals(NodeStatus.NeedEnter_Full))
{
if (AGVMoveInfo.IsStep(MoveStep.Wait))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In01);
curNodeStatus = nodeStatus;
AGVMoveInfo.log($"需要进入料串,{curNodeStatus}");
}
}
}
/// <summary>
/// 呼叫AGV--送出料串
/// </summary>
void needLeave(NodeStatus nodeStatus)
{
if (nodeStatus.Equals(NodeStatus.NeedLeave) ||
nodeStatus.Equals(NodeStatus.NeedLeave_Full) ||
nodeStatus.Equals(NodeStatus.NeedLeave_Empty))
{
if (AGVMoveInfo.IsStep(MoveStep.Wait))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out01);
curNodeStatus = nodeStatus;
AGVMoveInfo.log($"需要离开料串,{curNodeStatus}");
}
}
}
public void AGVProcess()
{
if (!UseAgv())
{
return;
}
if (CheckWait(AGVMoveInfo))
return;
Node curnode = curNode;
if (curnode == null)
{
LogUtil.LOGGER.Error("无节点信息,请检查配置");
return;
}
switch (AGVMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (StringMoveInfo.IsStep(MoveStep.StringOut_Released) || StringMoveInfo.IsStep(MoveStep.Wait))
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
//AGV已到达，请求开门
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"Wait,AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
else if (curnode.status.Equals(NodeStatus.DetachOk))
{
//AGV分离完成，可关门
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"Wait,收到脱离脱离信号，关闭折叠门");
}
else
{
AGVMoveInfo.log($"Wait,收到{curnode.status}信号，不处理");
}
}
else//料串不在正常状态
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
//AGV已到达，请求开门
SetStatus(NodeStatus.RejectDock);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequsetDock}/{NodeStatus.Arrive}信号，当前料串正在使用，拒绝停靠");
}
else if (curnode.status.Equals(NodeStatus.RequestEnter))
{
//AGV请求出料到料仓
SetStatus(NodeStatus.RejectEnter);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，当前料串正在使用，拒绝AGV出料");
}
else if (curnode.status.Equals(NodeStatus.RequestLeave))
{
//AGV请求进料到AGV
SetStatus(NodeStatus.RejectLeave);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，当前料串正在使用，拒绝AGV进料");
}
}
break;
#region 进料
case MoveStep.AGV_In01:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
break;
case MoveStep.AGV_In02:
if (IOMonitor.IODebound(IO_Type.StringFront_Check, Config, IO_VALUE.HIGH, 2000) ||
IOMonitor.IODebound(IO_Type.StringBack_Check, Config, IO_VALUE.HIGH, 2000))
{
RobotManage.mainMachine.SetStatus(NodeStatus.None);
AGVMoveInfo.log($"前端信号/后端信号亮，取消呼叫AGV送料串");
AGVMoveInfo.EndMove();
}
else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
}
else
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
}
break;
case MoveStep.AGV_In03:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In04);
break;
case MoveStep.AGV_In04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05);
Line.LineRun("n", false, 10);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料");
break;
case MoveStep.AGV_In05:
if (curnode.status == NodeStatus.MayEnter)
{
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06);
RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter);
AGVMoveInfo.log($"料串到位");
AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else
{
// ShowInfo("等待料串到位");
}
}
else
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
}
break;
case MoveStep.AGV_In06:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
AGVMoveInfo.log($"向AGV发送脱离信号");
break;
#endregion
#region 出料
case MoveStep.AGV_Out01:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
break;
case MoveStep.AGV_Out02:
if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
{
RobotManage.mainMachine.SetStatus(NodeStatus.None);
AGVMoveInfo.log($"前端信号和后端信号均灭，取消呼叫AGV接料串");
AGVMoveInfo.EndMove();
}
else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
}
else
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
}
break;
case MoveStep.AGV_Out03:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out04);
break;
case MoveStep.AGV_Out04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
Line.LineRun("n", true, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
break;
case MoveStep.AGV_Out05:
if (curnode.status != NodeStatus.MayLeave)
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
}
else
{
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out06);
RobotManage.mainMachine.SetStatus(NodeStatus.FinishLeave);
AGVMoveInfo.log($"料串离开");
AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
}
break;
case MoveStep.AGV_Out06:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
AGVMoveInfo.log($"向AGV发送脱离信号");
break;
#endregion
case MoveStep.AGV_OpenDoor:
if (curnode.status == NodeStatus.RequestEnter)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", false, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
}
else if (curnode.status == NodeStatus.RequestLeave)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", true, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
}
else if (curnode.status.Equals(NodeStatus.RequsetDock))
{
if(IOValue(IO_Type.StringDoor_Open).Equals(IO_VALUE.HIGH))
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayDock);
}
}
break;
case MoveStep.AGV_DetachOK:
if (curnode.status == NodeStatus.DetachOk)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门");
}
else if (AGVMoveInfo.IsTimeOut())
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
}
break;
case MoveStep.AGV_CloseDoor:
AGVMoveInfo.EndMove();
break;
}
}
void OpenDoor(MoveInfo moveInfo)
{
StringDoorOpen(moveInfo);
}
void CloseDoor(MoveInfo moveInfo)
{
StringDoorClose(moveInfo);
}
}
}
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -121,6 +121,7 @@ namespace DeviceLibrary ...@@ -121,6 +121,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"当前没有料串"); StringMoveInfo.log($"当前没有料串");
StringState = StringStateE.None; StringState = StringStateE.None;
LastStringState = StringStateE.None; LastStringState = StringStateE.None;
needEnter(AGVLib.NodeStatus.NeedEnter);
} }
else if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH)) else if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -428,7 +429,9 @@ namespace DeviceLibrary ...@@ -428,7 +429,9 @@ namespace DeviceLibrary
break; break;
case MoveStep.StringOut_02: case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03); StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
StringMoveInfo.log($"打开门"); needLeave(AGVLib.NodeStatus.NeedLeave);
StringMoveInfo.log($"呼叫AGV取料串");
// StringMoveInfo.log($"打开门");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH); //CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
break; break;
case MoveStep.StringOut_03: case MoveStep.StringOut_03:
...@@ -678,7 +681,7 @@ namespace DeviceLibrary ...@@ -678,7 +681,7 @@ namespace DeviceLibrary
} }
if (LastHeight <= 8) { LastHeight = 8; } if (LastHeight <= 8) { LastHeight = 8; }
//string code = CodeManager.ProcessCode(LastCodeList); //string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + prefix+"上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + "[" + height + "]，" + buchongStr + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】"; string msg = Name + prefix + "上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + "[" + height + "]，" + buchongStr + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg); LogUtil.info(msg);
return LastHeight; return LastHeight;
} }
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -157,6 +157,26 @@ namespace DeviceLibrary ...@@ -157,6 +157,26 @@ namespace DeviceLibrary
StoreTS16, StoreTS16,
StoreTS17, StoreTS17,
StoreTS18, StoreTS18,
//AGV
AGV_In01,
AGV_In02,
AGV_In03,
AGV_In04,
AGV_In05,
AGV_In06,
AGV_In07,
AGV_In08,
AGV_Out01,
AGV_Out02,
AGV_Out03,
AGV_Out04,
AGV_Out05,
AGV_Out06,
AGV_Out07,
AGV_OpenDoor,
AGV_DetachOK,
AGV_CloseDoor,
} }
......
TheMachine/SettingControl.cs
...@@ -25,7 +25,7 @@ namespace TheMachine ...@@ -25,7 +25,7 @@ namespace TheMachine
InitializeComponent(); InitializeComponent();
RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent; RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
//chbAutoRun.Enabled = false; //chbAutoRun.Enabled = false;
chbAutoRun.Checked = Convert.ToBoolean(ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun)); chbAutoRun.Checked = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.App_AutoRun,0, "系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要"));
this.chbAutoRun.CheckedChanged += new System.EventHandler(this.chbAutoRun_CheckedChanged); this.chbAutoRun.CheckedChanged += new System.EventHandler(this.chbAutoRun_CheckedChanged);
//chbAutoRun.Enabled = true; //chbAutoRun.Enabled = true;
for (int i = 0; i < 20; i++) for (int i = 0; i < 20; i++)
...@@ -80,12 +80,12 @@ namespace TheMachine ...@@ -80,12 +80,12 @@ namespace TheMachine
{ {
if (chbAutoRun.Checked) if (chbAutoRun.Checked)
{ {
ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 1); ConfigAppSettings.SetValue(Setting_Init.App_AutoRun, 1);
AutoRun(Application.ExecutablePath, true); AutoRun(Application.ExecutablePath, true);
} }
else else
{ {
ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 0); ConfigAppSettings.SetValue(Setting_Init.App_AutoRun, 0);
AutoRun(Application.ExecutablePath, false); AutoRun(Application.ExecutablePath, false);
} }
} }
......
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