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Commit 90ed9115 由 张东亮
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添加呼叫AGV按钮状态、更改上报出入库状态、添加校准库位缓存（FixBuffInfo）以在启动时进行检查状态

1 个父辈 ab64b6d5
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正在显示 7 个修改的文件 包含 95 行增加 和 31 行删除
Common/Setting_Init.cs
......@@ -31,5 +31,9 @@ namespace OnlineStore.Common
public static string QRCodeCount = "QRCodeCount";
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
......@@ -291,5 +291,22 @@ namespace OnlineStore.Common
public static string disable = "disable";
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/theMachine/BoxTransport.cs
......@@ -210,6 +210,7 @@ namespace DeviceLibrary
break;
case MoveStep.StoreFIX04:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.StoreFIX05:
......@@ -226,6 +227,7 @@ namespace DeviceLibrary
break;
case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos();
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -535,6 +535,17 @@ namespace DeviceLibrary
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo);
}
else if((RobotManage.HasReelInFixPos(out ReelParam reelParam)) && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut_NGPre);
StoreMoveInfo.MoveParam=reelParam.clone();
StoreMoveInfo.MoveParam.PosID = "NG";
StoreMoveInfo.MoveParam.IsNg = true;
StoreMoveInfo.MoveParam.NgMsg = "检测到校准库位有料盘信息,请人工确认";
StoreMoveInfo.log($"开始校准库位料盘出库");
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo);
}
runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline;
break;
......
DeviceLibrary/theMachine/MainMachine_Store.cs
......@@ -16,8 +16,9 @@ namespace DeviceLibrary
StoreJobList OutStoreJobList = new StoreJobList($"批量");
StoreJobList OutSingleJobList = new StoreJobList($"单盘");
public void AddOutStoreTask(string posId,int plateW,int plateH) {
JobInfo jobInfo = new JobInfo("", posId,plateW,plateH);
public void AddOutStoreTask(string posId, int plateW, int plateH)
{
JobInfo jobInfo = new JobInfo("", posId, plateW, plateH);
OutStoreJobList.Enqueue(jobInfo);
LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
}
......@@ -63,11 +64,11 @@ namespace DeviceLibrary
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000))
{
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
}
else
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return;
}
else
......@@ -87,18 +88,18 @@ namespace DeviceLibrary
}
}
//判断有没有出库任务, 需要入库空闲, 出口空闲
else if (OutStoreJobList.Count>0 && boxTransport.IsComplateOrFree)
else if (OutStoreJobList.Count > 0 && boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 1000))
{
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
}
else
Msg.add(crc.GetString("Res0004","收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
return;
}
else
......@@ -110,7 +111,7 @@ namespace DeviceLibrary
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:"+ jobInfo.ToStr());
StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
}
......@@ -118,13 +119,13 @@ namespace DeviceLibrary
case MoveStep.StoreIn01:
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"),MsgLevel.warning);
Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
boxTransport.Start(new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运料盘");
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);
StoreMoveInfo.log($"开始转运料盘");
break;
case MoveStep.StoreIn02:
break;
......@@ -145,12 +146,12 @@ namespace DeviceLibrary
{
if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
{
Msg.add(crc.GetString("Res0008","服务器连接异常"), MsgLevel.warning);
Msg.add(crc.GetString("Res0008", "服务器连接异常"), MsgLevel.warning);
return;
}
StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.EndMove();
StoreMoveInfo.EndMove();
}
break;
case MoveStep.StoreOut_NGPre:
......@@ -159,18 +160,18 @@ namespace DeviceLibrary
case MoveStep.StoreOut10:
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;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
BoxStorePosition outTo;
if (StoreMoveInfo.MoveParam.IsNg)
outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
else
outTo = new BoxStorePosition(Config, StoreSide.String, StoreMoveInfo.MoveParam);
boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg ? "单料口" : "料串")}");
var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
BoxStorePosition outTo;
if (StoreMoveInfo.MoveParam.IsNg)
outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
else
outTo = new BoxStorePosition(Config, StoreSide.String, StoreMoveInfo.MoveParam);
boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg ? "单料口" : "料串")}");
break;
case MoveStep.StoreOut11:
......@@ -178,7 +179,7 @@ namespace DeviceLibrary
{
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;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
......@@ -194,13 +195,13 @@ namespace DeviceLibrary
{
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;
}
StoreMoveInfo.log($"料盘已到达目的地");
StoreMoveInfo.log($"料盘已到达目的地");
if (StoreMoveInfo.MoveParam.IsNg)
{
NGPuted(StoreMoveInfo.MoveParam.NgMsg);
OutSingleJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
......@@ -209,7 +210,7 @@ namespace DeviceLibrary
ReelPutted(StoreMoveInfo.MoveParam.PlateH);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
}
StoreMoveInfo.EndMove();
}
break;
......@@ -218,8 +219,9 @@ namespace DeviceLibrary
break;
}
}
string StoreState() {
string state = crc.GetString(L.free,"空闲中");
string StoreState()
{
string state = crc.GetString(L.free, "空闲中");
if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
{
state = $"{crc.GetString(L.reel_outting, "出库中")},{crc.GetString(L.posnum, "出库中")}:{StoreMoveInfo.MoveParam.PosID}";
......
DeviceLibrary/theMachine/RobotManage.cs
......@@ -183,6 +183,34 @@ namespace DeviceLibrary
else
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 {
......
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