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Commit ce8bf8c3 由 张东亮
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取出出库料盘优化

1 个父辈 d727492d
内嵌 并排
正在显示 2 个修改的文件 包含 38 行增加 和 30 行删除
Common/CodeResourceControl.cs
......@@ -3,12 +3,14 @@ using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Forms.Layout;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.StartPanel;
namespace OnlineStore
{
......@@ -285,12 +287,6 @@ namespace OnlineStore
private static void PreControlLanaguage(Control partentControl, string className)
{
string newStr = "";
//Con_GetTxt(partentControl, out string title);
//string newStr = GetString(GetTextIdStr(className, partentControl.Name), title);
//if (!newStr.Equals(""))
//{
//Con_SetTxt(partentControl, newStr.Replace("\\n", "\n"));
//}
foreach (Control con in partentControl.Controls)
{
string txt = "";
......
DeviceLibrary/theMachine/MainMachine_String.cs
......@@ -63,12 +63,14 @@ namespace DeviceLibrary
/// <summary>
/// 强制转换料串为出库模式
/// </summary>
public bool TurnToOut() {
public bool TurnToOut()
{
if (!IsBatchDoorClosed) {
if (!IsBatchDoorClosed)
{
return false;
}
if (StringState>= StringStateE.Full)
if (StringState >= StringStateE.Full)
{
return false;
}
......@@ -77,7 +79,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"升起待机料串1");
StringState = StringStateE.OutStore;
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
BatchAxisToP2(StringMoveInfo,true);
BatchAxisToP2(StringMoveInfo, true);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在上升", MsgLevel.warning));
newreel = true;
return true;
......@@ -146,11 +148,11 @@ namespace DeviceLibrary
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
break;
case MoveStep.StringLoad_01:
if(StringState== StringStateE.OutStore)
if (StringState == StringStateE.OutStore)
{
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
else if(StringState== StringStateE.InStore)
else if (StringState == StringStateE.InStore)
{
ServerCM.storeStatus = StoreStatus.InStoreExecute;
}
......@@ -180,7 +182,7 @@ namespace DeviceLibrary
if (tpos1 < 0)
tpos1 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1_speed);
StringMoveInfo.log($"批量轴下降1cm: {Batch_Axis.GetAclPosition()}-{Config.Batch_PoToMM}*10="+ tpos1);
StringMoveInfo.log($"批量轴下降1cm: {Batch_Axis.GetAclPosition()}-{Config.Batch_PoToMM}*10=" + tpos1);
break;
case MoveStep.StringLoad_03:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
......@@ -190,10 +192,11 @@ namespace DeviceLibrary
BatchAxisToP2(StringMoveInfo);
TestHeightTask = null;
}
else {
else
{
TestHeightTask = TestReelHeight();
}
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在上升",MsgLevel.warning));
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("料串正在上升", MsgLevel.warning));
break;
case MoveStep.StringLoad_04:
if (oldtestheight)
......@@ -217,7 +220,8 @@ namespace DeviceLibrary
SetReelHeight(GetHeight(StringMoveInfo));
newreel = false;
}
else if (TestHeightTask.IsCompleted){
else if (TestHeightTask.IsCompleted)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
}
break;
......@@ -229,7 +233,8 @@ namespace DeviceLibrary
{
if (ClampMoveInfo.MoveStep == MoveStep.Wait && (!Middle_Axis.IsInPosition(Config.Middle_P2) || InOut_Axis.IsInPosition(Config.InOut_P1)))
{
if (RobotManage.InoutDebugMode) {
if (RobotManage.InoutDebugMode)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"出入库测试模式跳过拍照扫码");
}
......@@ -333,13 +338,13 @@ namespace DeviceLibrary
StringMoveInfo.log($"当前服务器反馈没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
else if(RequestTakeOutReel)
else if (RequestTakeOutReel && StoreMoveInfo.IsStep(MoveStep.Wait))
{
StringMoveInfo.log($"请求取出出库料盘,料串下降");
RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.ManualOut;
}
else if(ServerCM.queueTaskCount != 0)
else if (ServerCM.queueTaskCount != 0)
{
StringMoveInfo.log($"当前服务器反馈有出库任务：{ServerCM.queueTaskCount}");
}
......@@ -349,13 +354,14 @@ namespace DeviceLibrary
}
break;
case MoveStep.StringReelPut:
if (Setting_Init.Device_OutStoreStringReelCheck) {
if (Setting_Init.Device_OutStoreStringReelCheck)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
BatchAxisToP2(StringMoveInfo,true);
BatchAxisToP2(StringMoveInfo, true);
return;
}
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM);
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH + Config.Batch_OutPlateDownMM);
//if (tpos < 0)
// tpos = 0;
if (tpos < Config.Batch_P2 * 0.3 && !downCheck1)
......@@ -396,13 +402,14 @@ namespace DeviceLibrary
case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true);
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
if (heightcheck <= 5) {
if (heightcheck <= 5)
{
Msg.add("出库时料盘未成功放入料串,请检查", MsgLevel.alarm);
RobotManage.UserPause("出库时料盘未成功放入料串,请检查");
}
......@@ -454,7 +461,8 @@ namespace DeviceLibrary
}
}
string StringProcessState() {
string StringProcessState()
{
string state = "";
if (StringState == StringStateE.OutStore)
......@@ -498,7 +506,7 @@ namespace DeviceLibrary
{
targetSpeed = Config.Batch_P1_speed;
}
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2+",speed:"+targetSpeed);
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + ",speed:" + targetSpeed);
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
......@@ -509,11 +517,14 @@ namespace DeviceLibrary
//开始检测信号
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.HIGH);
}
Task TestReelHeight() {
return Task.Run(()=> {
Task TestReelHeight()
{
return Task.Run(() =>
{
int upmm = 0;
for (int i = 0; i < 56 / 2; i++) {
for (int i = 0; i < 56 / 2; i++)
{
upmm += 2;
LogUtil.info($"上升:{2}mm,累计:{upmm}mm");
var r = TestUp(2);
......@@ -531,7 +542,8 @@ namespace DeviceLibrary
}
});
}
int TestUp(int mm) {
int TestUp(int mm)
{
int currPosition = Batch_Axis.GetAclPosition();
if (currPosition + Config.Batch_PoToMM * mm >= Config.Batch_P2)
{
......
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