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Commit 254093c8 由 刘韬
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1 个父辈 43513024
内嵌 并排
正在显示 18 个修改的文件 包含 208 行增加 和 114 行删除
DeviceLibrary/DeviceLibrary/Camera.cs
...@@ -164,10 +164,12 @@ public class HIKCamera ...@@ -164,10 +164,12 @@ public class HIKCamera
} }
public enum FixtureState public enum FixtureState
{ {
In, FromIn,
Up, FromOut,
Down, FromInSide,
Out, FromOutSide,
DoorIn, ToIn,
DoorOut, ToOut,
ToInSide,
ToOutSide,
} }
DeviceLibrary/DeviceLibrary/CodeManager.cs
...@@ -79,6 +79,55 @@ namespace DeviceLibrary ...@@ -79,6 +79,55 @@ namespace DeviceLibrary
LogUtil.error("解析摄像机配置出错：" + ex.StackTrace); LogUtil.error("解析摄像机配置出错：" + ex.StackTrace);
} }
} }
/// <summary>
/// 初始化摄像机名称和二维码类型
/// </summary>
public static bool LoadSingle()
{
codeTypeList = new List<string>();
HDLogUtil.LogName = "RollingLogFileAppender";
try
{
codeTypeList = new List<string>();
string[] codeArray = CodeType.Split(spiltChar);
foreach (string str in codeArray)
{
if (str.Trim().Equals(""))
{
continue;
}
string file = GetCodeParamFilePath(str.Trim());
LogUtil.info("加载到配置二维码类型：" + str.Trim() + "，配置文件：" + file);
codeTypeList.Add(str.Trim());
}
CodeLibrary.HDCodeLearnHelper.LoadConfig("", CodeType);
LoadCamera(false);
//如果未加载到配置相机，自动配置
if (hikNameList.Count > 0)
{
cameraNameList = new List<string>(hikNameList);
string cameraStr = "";
foreach (string name in hikNameList)
{
cameraStr += name + spiltChar;
}
cameraStr = cameraStr.Substring(0, cameraStr.Length - 1);
ConfigAppSettings.SaveValue(Setting_Init.CameraName, cameraStr);
LogUtil.info("未配置扫码相机，默认【" + Setting_Init.CameraName + "】=【" + cameraStr + "】");
return true;
}
return false;
}
catch (Exception ex)
{
LogUtil.error("解析摄像机配置出错：" + ex.StackTrace);
}
return false;
}
private static void LoadCamera(bool isReLoad) private static void LoadCamera(bool isReLoad)
{ {
if (isReLoad || Camera._cam == null) if (isReLoad || Camera._cam == null)
......
DeviceLibrary/DeviceLibrary/LiftMonitor.cs
...@@ -4,6 +4,7 @@ using System; ...@@ -4,6 +4,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
namespace DeviceLibrary namespace DeviceLibrary
...@@ -44,6 +45,7 @@ namespace DeviceLibrary ...@@ -44,6 +45,7 @@ namespace DeviceLibrary
return; return;
} }
IOManager.IOMove(axisbreak,IO_VALUE.HIGH); IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
Thread.Sleep(200);
axisBean.RelMove(StrokeLength, (double)speed); axisBean.RelMove(StrokeLength, (double)speed);
DateTime d = DateTime.Now; DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftUp"); moveInfo.log($"{axisBean.AxisName},LiftUp");
...@@ -64,6 +66,7 @@ namespace DeviceLibrary ...@@ -64,6 +66,7 @@ namespace DeviceLibrary
if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
{ {
axisBean.SuddenStop(); axisBean.SuddenStop();
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
return true; return true;
} }
...@@ -82,6 +85,7 @@ namespace DeviceLibrary ...@@ -82,6 +85,7 @@ namespace DeviceLibrary
return; return;
} }
IOManager.IOMove(axisbreak, IO_VALUE.HIGH); IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
Thread.Sleep(200);
axisBean.RelMove(-StrokeLength, (double)speed); axisBean.RelMove(-StrokeLength, (double)speed);
DateTime d = DateTime.Now; DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftDown"); moveInfo.log($"{axisBean.AxisName},LiftDown");
...@@ -104,6 +108,7 @@ namespace DeviceLibrary ...@@ -104,6 +108,7 @@ namespace DeviceLibrary
if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{ {
axisBean.SuddenStop(); axisBean.SuddenStop();
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
return true; return true;
} }
......
DeviceLibrary/DeviceLibrary/LineRunMonitor.cs
...@@ -61,6 +61,7 @@ namespace DeviceLibrary ...@@ -61,6 +61,7 @@ namespace DeviceLibrary
lineTimer.Enabled = false; lineTimer.Enabled = false;
pauseTime = DateTime.Now; pauseTime = DateTime.Now;
DOMove(LineIO, IO_VALUE.LOW); DOMove(LineIO, IO_VALUE.LOW);
if (linrunlist.Count>0)
LogUtil.info(Name + $" 线体管理器 暂停线体."); LogUtil.info(Name + $" 线体管理器 暂停线体.");
} }
} }
...@@ -82,6 +83,7 @@ namespace DeviceLibrary ...@@ -82,6 +83,7 @@ namespace DeviceLibrary
} }
pauseTime = DateTime.MinValue; pauseTime = DateTime.MinValue;
lineTimer.Enabled = true; lineTimer.Enabled = true;
if (linrunlist.Count > 0)
LogUtil.info(Name + $" 线体管理器 恢复运行线体."); LogUtil.info(Name + $" 线体管理器 恢复运行线体.");
} }
......
DeviceLibrary/DeviceLibrary/OKLEController.cs
...@@ -105,64 +105,18 @@ public class OKLEController ...@@ -105,64 +105,18 @@ public class OKLEController
} }
} }
} }
public static double SetZero(string port)
{
return 0;
double weight = 0d;
AcSerialBean sb = GetSerialBean(port);
if (sb == null)
{
return weight;
}
if (!Monitor.TryEnter(sb)) public static bool queryData(string port,out double weight)
return ValueBuffer[port];
try
{ {
LogName = "[OKLE_" + port + "]"; weight = 0d;
//12..1.2读取力值（毛重）指令，指令格式：01 03 00 50 00 02 C4 1A
//01 03 00 00 00 02 C4 0B
byte[] sendData = new byte[8];
sendData[0] = 0x01;
sendData[1] = 0x06;
sendData[2] = 0x00;
sendData[3] = 0x07;
sendData[4] = 0xA5;
sendData[5] = 0x0D;
//sendData[6] = 0xC4;
//sendData[7] = 0x0B;
sendData = buildCheckData(sendData, sendData.Length - 2);
string str = AcSerialBean.byteToHexStr(sendData, " ");
byte[] reviceData = new byte[15];
bool isOk = false;
sb.SendCommand(sendData, ref reviceData, 100, out isOk);
LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " "));
ValueBuffer[port] = getReviceData(reviceData);
return ValueBuffer[port];
}
catch (Exception e)
{
LogUtil.debug(LogName + e.ToString());
return ValueBuffer[port];
}
finally
{
Monitor.Exit(sb);
}
}
public static double queryData(string port)
{
double weight = 0d;
AcSerialBean sb = GetSerialBean(port); AcSerialBean sb = GetSerialBean(port);
if (sb == null) if (sb == null)
{ {
return weight; return false;
} }
if (!Monitor.TryEnter(sb)) if (!Monitor.TryEnter(sb))
return ValueBuffer[port]; return false;
try try
{ {
...@@ -184,20 +138,19 @@ public class OKLEController ...@@ -184,20 +138,19 @@ public class OKLEController
bool isOk = false; bool isOk = false;
sb.SendCommand(sendData, ref reviceData, 100, out isOk); sb.SendCommand(sendData, ref reviceData, 100, out isOk);
//LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " ")); //LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " "));
ValueBuffer[port] = getReviceData(reviceData); return getReviceData(reviceData,out weight);
return ValueBuffer[port];
} }
catch(Exception e) { catch(Exception e) {
LogUtil.debug(LogName + e.ToString()); LogUtil.debug(LogName + e.ToString());
return ValueBuffer[port]; return false;
} }
finally { finally {
Monitor.Exit(sb); Monitor.Exit(sb);
} }
} }
private static double getReviceData(byte[] dataArray) private static bool getReviceData(byte[] dataArray, out double value)
{ {
double value = 0d; value = 0d;
try try
{ {
//3D 53 47 2B 30 30 32 30 2E 30 31 6B BE 0D 0A //3D 53 47 2B 30 30 32 30 2E 30 31 6B BE 0D 0A
...@@ -208,18 +161,23 @@ public class OKLEController ...@@ -208,18 +161,23 @@ public class OKLEController
{ {
var numstr = tempstr.Substring(3, 8); var numstr = tempstr.Substring(3, 8);
if (!double.TryParse(numstr, out value)) if (!double.TryParse(numstr, out value))
{
LogUtil.info(LogName + "转换出错：" + numstr.ToString()); LogUtil.info(LogName + "转换出错：" + numstr.ToString());
return false;
}
return true;
} }
else else
{ {
LogUtil.info(LogName + "转换出错：" + tempstr.ToString()); LogUtil.info(LogName + "转换出错：" + tempstr.ToString());
return false;
} }
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.info(LogName + "转换出错：" + ex.ToString()); LogUtil.info(LogName + "转换出错：" + ex.ToString());
} }
return value; return false;
} }
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
...@@ -241,7 +241,7 @@ namespace DeviceLibrary ...@@ -241,7 +241,7 @@ namespace DeviceLibrary
} }
if (resultOperation.op.Equals(1)) if (resultOperation.op.Equals(1))
{ {
ReviceInStoreProcess("", resultOperation); ReviceInStoreProcess(resultOperation.data["barcode"], resultOperation);
} }
else if (resultOperation.op.Equals(2)) else if (resultOperation.op.Equals(2))
{ {
......
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -21,6 +21,8 @@ namespace DeviceLibrary ...@@ -21,6 +21,8 @@ namespace DeviceLibrary
MoveInfo MoveInfo; MoveInfo MoveInfo;
public string ErrMsgTxt = ""; public string ErrMsgTxt = "";
public bool IgnoreX09 = false;
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent; public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; } public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; } public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
...@@ -137,7 +139,8 @@ namespace DeviceLibrary ...@@ -137,7 +139,8 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴到达取料点"); MoveInfo.log($"{storeMoveType}:进出轴到达取料点");
break; break;
case MoveStep.StoreTS07: case MoveStep.StoreTS07:
GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.In)); GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS08); MoveInfo.NextMoveStep(MoveStep.StoreTS08);
YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed); YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料高点"); MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
...@@ -145,23 +148,26 @@ namespace DeviceLibrary ...@@ -145,23 +148,26 @@ namespace DeviceLibrary
case MoveStep.StoreTS08: case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09); MoveInfo.NextMoveStep(MoveStep.StoreTS09);
ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed); ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点"); MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break; break;
case MoveStep.StoreTS09: case MoveStep.StoreTS09:
GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.Out)); GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续,请检查", MsgLevel.alarm); Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X10/X11检测到有物料无法继续,请检查"); RobotManage.UserPause("伸缩叉2侧X10/X11检测到有物料无法继续,请检查");
} }
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW)) else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
{ {
Msg.add("出库时伸缩叉X09检测到有物料无法继续,请检查", MsgLevel.alarm); Msg.add("出库时伸缩叉X09没有检测到有物料无法继续,请检查", MsgLevel.alarm,ErrInfo.X09_BoxNotDetect);
RobotManage.UserPause("出库时伸缩叉X09检测到有物料无法继续,请检查"); RobotManage.UserPause("出库时伸缩叉X09没有检测到有物料无法继续,请检查");
} }
else else
{ {
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS10); MoveInfo.NextMoveStep(MoveStep.StoreTS10);
if (isSameSide(To.Xaxis_P2)) if (isSameSide(To.Xaxis_P2))
{ {
...@@ -188,7 +194,8 @@ namespace DeviceLibrary ...@@ -188,7 +194,8 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴到达目的地"); MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
break; break;
case MoveStep.StoreTS13: case MoveStep.StoreTS13:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.In)); GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS14); MoveInfo.NextMoveStep(MoveStep.StoreTS14);
YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed); YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点"); MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点");
...@@ -199,7 +206,8 @@ namespace DeviceLibrary ...@@ -199,7 +206,8 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴到达待机点"); MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break; break;
case MoveStep.StoreTS15: case MoveStep.StoreTS15:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.Out)); GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -245,7 +253,8 @@ namespace DeviceLibrary ...@@ -245,7 +253,8 @@ namespace DeviceLibrary
} }
HIKCamera GetCamera(int pos) { HIKCamera GetCamera(int pos) {
return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB; //return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB;
return RobotManage.CameraA;
} }
} }
} }
DeviceLibrary/theMachine/Common.cs
...@@ -311,6 +311,7 @@ namespace DeviceLibrary ...@@ -311,6 +311,7 @@ namespace DeviceLibrary
public static List<Msg> msg = new List<Msg>(); public static List<Msg> msg = new List<Msg>();
public string msgtxt; public string msgtxt;
public MsgLevel msgLevel; public MsgLevel msgLevel;
public ErrInfo errInfo;
public DateTime datetime; public DateTime datetime;
public static List<Msg> get() { public static List<Msg> get() {
...@@ -322,13 +323,13 @@ namespace DeviceLibrary ...@@ -322,13 +323,13 @@ namespace DeviceLibrary
List<Msg> mm = new List<Msg>(msg); List<Msg> mm = new List<Msg>(msg);
return mm; return mm;
} }
public static void add(string m, MsgLevel ml) public static void add(string m, MsgLevel ml, ErrInfo errInfo= ErrInfo.Empty)
{ {
lock (msg) lock (msg)
{ {
var fm = msg.Find((x) => x.msgtxt == m); var fm = msg.Find((x) => x.msgtxt == m);
if (fm==null) if (fm==null)
msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now }); msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
} }
} }
static bool _setlogones = false; static bool _setlogones = false;
...@@ -348,6 +349,11 @@ namespace DeviceLibrary ...@@ -348,6 +349,11 @@ namespace DeviceLibrary
info, info,
alarm alarm
} }
public enum ErrInfo {
Empty,
X09_BoxNotDetect,
ResetBtn,
}
public class IdWorker public class IdWorker
{ {
private long workerId; private long workerId;
......
DeviceLibrary/theMachine/JobList.cs
...@@ -17,7 +17,10 @@ namespace DeviceLibrary ...@@ -17,7 +17,10 @@ namespace DeviceLibrary
lock (jobInfos) lock (jobInfos)
{ {
if (lastoutpos == jobInfo.PosId) if (lastoutpos == jobInfo.PosId)
{
LogUtil.info("出库任务正在执行:" + jobInfo.ToStr());
return; return;
}
var l = jobInfos.ToList().Find((x) => { return x.PosId == jobInfo.PosId; }); var l = jobInfos.ToList().Find((x) => { return x.PosId == jobInfo.PosId; });
if (l == null) if (l == null)
{ {
...@@ -39,6 +42,10 @@ namespace DeviceLibrary ...@@ -39,6 +42,10 @@ namespace DeviceLibrary
public static int Count { public static int Count {
get => jobInfos.Count; get => jobInfos.Count;
} }
public static void ClearLastPosid(string posid) {
if (lastoutpos == posid)
lastoutpos = "";
}
} }
class InStoreJob : JobInfo class InStoreJob : JobInfo
{ {
......
DeviceLibrary/theMachine/MainMachine _BtnProcess.cs
...@@ -41,5 +41,10 @@ namespace DeviceLibrary ...@@ -41,5 +41,10 @@ namespace DeviceLibrary
LogUtil.info("踩下出口脚踏开关,出口没有对接小车结束"); LogUtil.info("踩下出口脚踏开关,出口没有对接小车结束");
} }
} }
void Reset_BTN() {
Msg.add("按下复位按钮", MsgLevel.info, ErrInfo.ResetBtn);
LogUtil.info("按下复位按钮");
ProcessMsgEvent?.Invoke(Msg.get());
}
} }
} }
DeviceLibrary/theMachine/MainMachine _IN.cs
...@@ -6,6 +6,7 @@ using System.Collections.Generic; ...@@ -6,6 +6,7 @@ using System.Collections.Generic;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
namespace DeviceLibrary namespace DeviceLibrary
...@@ -38,9 +39,17 @@ namespace DeviceLibrary ...@@ -38,9 +39,17 @@ namespace DeviceLibrary
get get
{ if (RobotManage.StoreType == StoreType.TypeA) { if (RobotManage.StoreType == StoreType.TypeA)
{ {
var weight = OKLEController.queryData(Config.WeightSensorPort); for(int i=0;i<5;i++)
{
if (OKLEController.queryData(Config.WeightSensorPort, out double weight))
{
return weight - Config.WeightSensorBase; return weight - Config.WeightSensorBase;
} }
Thread.Sleep(1000);
}
LogUtil.info("读取重量超时");
return double.MaxValue;
}
else else
return 0; return 0;
} }
...@@ -85,6 +94,7 @@ namespace DeviceLibrary ...@@ -85,6 +94,7 @@ namespace DeviceLibrary
InMoveInfo.log($"检测到周转箱到位信号,线体运转2秒"); InMoveInfo.log($"检测到周转箱到位信号,线体运转2秒");
LineIn.LineRun("prework", 2); LineIn.LineRun("prework", 2);
InMoveInfo.NextMoveStep(MoveStep.In01); InMoveInfo.NextMoveStep(MoveStep.In01);
InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
else else
{ {
...@@ -94,9 +104,10 @@ namespace DeviceLibrary ...@@ -94,9 +104,10 @@ namespace DeviceLibrary
break; break;
case MoveStep.In01: case MoveStep.In01:
InMoveInfo.NextMoveStep(MoveStep.In02); InMoveInfo.NextMoveStep(MoveStep.In02);
if (CurrentWeight <= Config.StoreWeightLimited) var boxCurrentWeight = CurrentWeight;
if (boxCurrentWeight <= Config.StoreWeightLimited)
{ {
InMoveInfo.log($"开始拍照扫码"); InMoveInfo.log($"开始拍照扫码,重量:{boxCurrentWeight}kg");
if (RobotManage.InoutDebugMode) if (RobotManage.InoutDebugMode)
{ {
InMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback); InMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
...@@ -106,7 +117,7 @@ namespace DeviceLibrary ...@@ -106,7 +117,7 @@ namespace DeviceLibrary
else else
{ {
Msg.add("周转箱超重", MsgLevel.warning); Msg.add("周转箱超重", MsgLevel.warning);
InMoveInfo.log($"周转箱超重"); InMoveInfo.log($"周转箱超重 重量:{boxCurrentWeight}");
InMoveInfo.NextMoveStep(MoveStep.Wait); InMoveInfo.NextMoveStep(MoveStep.Wait);
} }
break; break;
...@@ -272,17 +283,17 @@ namespace DeviceLibrary ...@@ -272,17 +283,17 @@ namespace DeviceLibrary
{ {
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH); IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
Task.Delay(10).Wait(); Task.Delay(10).Wait();
List<CodeInfo> LastCodeList, LastCodeList2; List<CodeInfo> LastCodeList;
LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName }); LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName });
BoxParam labelParam = new BoxParam(); //BoxParam labelParam = new BoxParam();
labelParam.codeInfos = new List<CodeInfo>(LastCodeList); //labelParam.codeInfos = new List<CodeInfo>(LastCodeList);
if (!Common.codeProcess(labelParam, out _)) //if (!Common.codeProcess(labelParam, out _))
{ //{
Task.Delay(500).Wait(); // Task.Delay(500).Wait();
LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName }); // LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName });
LastCodeList.AddRange(LastCodeList2); // LastCodeList.AddRange(LastCodeList2);
} //}
//IOMove(IO_Type.Camera_Led, IO_VALUE.LOW); //IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
return LastCodeList; return LastCodeList;
......
DeviceLibrary/theMachine/MainMachine _Store.cs
...@@ -102,7 +102,7 @@ namespace DeviceLibrary ...@@ -102,7 +102,7 @@ namespace DeviceLibrary
OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone(); OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone();
StoreMoveInfo.log($"周转箱已到达目的地"); StoreMoveInfo.log($"周转箱已到达目的地");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd); ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.EndMove(); StoreMoveInfo.EndMove();
} }
break; break;
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -122,6 +122,7 @@ namespace DeviceLibrary ...@@ -122,6 +122,7 @@ namespace DeviceLibrary
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); }); AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
IOMonitor.RegisterIO(IO_Type.OutLeave_BTN, Config, IO_VALUE.HIGH, OutLeave_BTN,2500,100); IOMonitor.RegisterIO(IO_Type.OutLeave_BTN, Config, IO_VALUE.HIGH, OutLeave_BTN,2500,100);
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
LedProcessInit(); LedProcessInit();
} }
private (bool, string) ZAxis_interference(int from, int to) private (bool, string) ZAxis_interference(int from, int to)
...@@ -356,7 +357,6 @@ namespace DeviceLibrary ...@@ -356,7 +357,6 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.HEND_HomeReset: case MoveStep.HEND_HomeReset:
OKLEController.SetZero(Config.WeightSensorPort);
forceHome = false; forceHome = false;
InMoveInfo.NewMove(MoveStep.Wait); InMoveInfo.NewMove(MoveStep.Wait);
OutMoveInfo.NewMove(MoveStep.Wait); OutMoveInfo.NewMove(MoveStep.Wait);
...@@ -515,5 +515,9 @@ namespace DeviceLibrary ...@@ -515,5 +515,9 @@ namespace DeviceLibrary
return 0; return 0;
} }
public void IgnoreX09() {
boxTransport.IgnoreX09 = true;
LogUtil.info("按下X09忽略");
}
} }
} }
DeviceLibrary/theMachine/RobotManage.cs
...@@ -69,7 +69,6 @@ namespace DeviceLibrary ...@@ -69,7 +69,6 @@ namespace DeviceLibrary
msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n"; msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n";
} }
} }
OKLEController.SetZero(Config.WeightSensorPort);
if (!CameraA.LoadCameraConfig("CameraA", out string errmsg)) if (!CameraA.LoadCameraConfig("CameraA", out string errmsg))
{ {
IsLoadOk = false; IsLoadOk = false;
......
TheMachine/Form1.Designer.cs
...@@ -39,6 +39,8 @@ namespace TheMachine ...@@ -39,6 +39,8 @@ namespace TheMachine
this.关于ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.关于ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.tabControl1 = new System.Windows.Forms.TabControl(); this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage1 = new System.Windows.Forms.TabPage(); this.tabPage1 = new System.Windows.Forms.TabPage();
this.btn_inreset = new System.Windows.Forms.Button();
this.btn_outreset = new System.Windows.Forms.Button();
this.pictureBox2 = new System.Windows.Forms.PictureBox(); this.pictureBox2 = new System.Windows.Forms.PictureBox();
this.pictureBox1 = new System.Windows.Forms.PictureBox(); this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.btn_PauseBuzzer = new System.Windows.Forms.Button(); this.btn_PauseBuzzer = new System.Windows.Forms.Button();
...@@ -50,8 +52,7 @@ namespace TheMachine ...@@ -50,8 +52,7 @@ namespace TheMachine
this.listView1 = new System.Windows.Forms.ListView(); this.listView1 = new System.Windows.Forms.ListView();
this.btn_stop = new System.Windows.Forms.Button(); this.btn_stop = new System.Windows.Forms.Button();
this.btn_run = new System.Windows.Forms.Button(); this.btn_run = new System.Windows.Forms.Button();
this.btn_outreset = new System.Windows.Forms.Button(); this.btn_IgnoreX09 = new System.Windows.Forms.Button();
this.btn_inreset = new System.Windows.Forms.Button();
this.menuStrip1.SuspendLayout(); this.menuStrip1.SuspendLayout();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout(); this.tabPage1.SuspendLayout();
...@@ -144,6 +145,7 @@ namespace TheMachine ...@@ -144,6 +145,7 @@ namespace TheMachine
this.tabPage1.Controls.Add(this.btn_outreset); this.tabPage1.Controls.Add(this.btn_outreset);
this.tabPage1.Controls.Add(this.pictureBox2); this.tabPage1.Controls.Add(this.pictureBox2);
this.tabPage1.Controls.Add(this.pictureBox1); this.tabPage1.Controls.Add(this.pictureBox1);
this.tabPage1.Controls.Add(this.btn_IgnoreX09);
this.tabPage1.Controls.Add(this.btn_PauseBuzzer); this.tabPage1.Controls.Add(this.btn_PauseBuzzer);
this.tabPage1.Controls.Add(this.cb_EnableBuzzer); this.tabPage1.Controls.Add(this.cb_EnableBuzzer);
this.tabPage1.Controls.Add(this.cb_IgnoreGratingSignal); this.tabPage1.Controls.Add(this.cb_IgnoreGratingSignal);
...@@ -156,6 +158,26 @@ namespace TheMachine ...@@ -156,6 +158,26 @@ namespace TheMachine
this.tabPage1.Text = "信息"; this.tabPage1.Text = "信息";
this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.UseVisualStyleBackColor = true;
// //
// btn_inreset
//
this.btn_inreset.Location = new System.Drawing.Point(657, 219);
this.btn_inreset.Name = "btn_inreset";
this.btn_inreset.Size = new System.Drawing.Size(191, 40);
this.btn_inreset.TabIndex = 272;
this.btn_inreset.Text = "入料线状态重置";
this.btn_inreset.UseVisualStyleBackColor = true;
this.btn_inreset.Click += new System.EventHandler(this.btn_inreset_Click);
//
// btn_outreset
//
this.btn_outreset.Location = new System.Drawing.Point(657, 265);
this.btn_outreset.Name = "btn_outreset";
this.btn_outreset.Size = new System.Drawing.Size(191, 40);
this.btn_outreset.TabIndex = 272;
this.btn_outreset.Text = "出料线状态重置";
this.btn_outreset.UseVisualStyleBackColor = true;
this.btn_outreset.Click += new System.EventHandler(this.btn_outreset_Click);
//
// pictureBox2 // pictureBox2
// //
this.pictureBox2.BackColor = System.Drawing.Color.Gainsboro; this.pictureBox2.BackColor = System.Drawing.Color.Gainsboro;
...@@ -288,25 +310,17 @@ namespace TheMachine ...@@ -288,25 +310,17 @@ namespace TheMachine
this.btn_run.UseVisualStyleBackColor = true; this.btn_run.UseVisualStyleBackColor = true;
this.btn_run.Click += new System.EventHandler(this.btn_run_Click); this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
// //
// btn_outreset // btn_IgnoreX09
//
this.btn_outreset.Location = new System.Drawing.Point(657, 265);
this.btn_outreset.Name = "btn_outreset";
this.btn_outreset.Size = new System.Drawing.Size(191, 40);
this.btn_outreset.TabIndex = 272;
this.btn_outreset.Text = "出料线状态重置";
this.btn_outreset.UseVisualStyleBackColor = true;
this.btn_outreset.Click += new System.EventHandler(this.btn_outreset_Click);
//
// btn_inreset
// //
this.btn_inreset.Location = new System.Drawing.Point(657, 208); this.btn_IgnoreX09.BackColor = System.Drawing.Color.OrangeRed;
this.btn_inreset.Name = "btn_inreset"; this.btn_IgnoreX09.Location = new System.Drawing.Point(657, 155);
this.btn_inreset.Size = new System.Drawing.Size(191, 40); this.btn_IgnoreX09.Name = "btn_IgnoreX09";
this.btn_inreset.TabIndex = 272; this.btn_IgnoreX09.Size = new System.Drawing.Size(201, 40);
this.btn_inreset.Text = "入料线状态重置"; this.btn_IgnoreX09.TabIndex = 6;
this.btn_inreset.UseVisualStyleBackColor = true; this.btn_IgnoreX09.Text = "忽略X09错误,并继续运行";
this.btn_inreset.Click += new System.EventHandler(this.btn_inreset_Click); this.btn_IgnoreX09.UseVisualStyleBackColor = false;
this.btn_IgnoreX09.Visible = false;
this.btn_IgnoreX09.Click += new System.EventHandler(this.btn_IgnoreX09_Click);
// //
// Form1 // Form1
// //
...@@ -363,6 +377,7 @@ namespace TheMachine ...@@ -363,6 +377,7 @@ namespace TheMachine
private System.Windows.Forms.PictureBox pictureBox1; private System.Windows.Forms.PictureBox pictureBox1;
private System.Windows.Forms.Button btn_inreset; private System.Windows.Forms.Button btn_inreset;
private System.Windows.Forms.Button btn_outreset; private System.Windows.Forms.Button btn_outreset;
private System.Windows.Forms.Button btn_IgnoreX09;
} }
} }
TheMachine/Form1.cs
...@@ -247,12 +247,24 @@ namespace TheMachine ...@@ -247,12 +247,24 @@ namespace TheMachine
listView1.Items.Clear(); listView1.Items.Clear();
foreach (Msg msg in msgs) foreach (Msg msg in msgs)
{ {
ListViewItem lvi = new ListViewItem(new string[] {"", msg.datetime.ToString(), msg.msgtxt }); ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
if (msg.msgLevel==MsgLevel.info) if (msg.msgLevel == MsgLevel.info)
lvi.ForeColor = Color.DarkGreen; lvi.ForeColor = Color.DarkGreen;
else else
lvi.ForeColor = Color.Red; lvi.ForeColor = Color.Red;
listView1.Items.Add(lvi); listView1.Items.Add(lvi);
if (msg.errInfo == ErrInfo.X09_BoxNotDetect)
{
btn_IgnoreX09.Visible = true;
}
else if (msg.errInfo == ErrInfo.ResetBtn)
{
Task.Run(()=> {
if (!RobotManage.isRunning || userpause)
btn_run_Click(this, EventArgs.Empty);
});
}
} }
this.ResumeLayout(true); this.ResumeLayout(true);
} }
...@@ -271,6 +283,7 @@ namespace TheMachine ...@@ -271,6 +283,7 @@ namespace TheMachine
RobotManage_UserPauseSet(this, false); RobotManage_UserPauseSet(this, false);
//(sender as Button).Text = "暂停运行"; //(sender as Button).Text = "暂停运行";
} }
LogUtil.info("用户按下启动");
} }
else if (!userpause) else if (!userpause)
{ {
...@@ -309,11 +322,13 @@ namespace TheMachine ...@@ -309,11 +322,13 @@ namespace TheMachine
} }
private void btn_stop_Click(object sender, EventArgs e) private void btn_stop_Click(object sender, EventArgs e)
{ {
btn_run.Text = "启动";
Task.Run(()=>{RobotManage.Stop(); });
RobotManage.UserPause(false); RobotManage.UserPause(false);
userpause = false; userpause = false;
Task.Run(() => { RobotManage.Stop(); });
btn_stop.Enabled = false; btn_stop.Enabled = false;
btn_run.Text = "启动";
btn_run.BackColor = Color.Transparent;
} }
private void 退出ToolStripMenuItem_Click(object sender, EventArgs e) private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
...@@ -427,5 +442,11 @@ namespace TheMachine ...@@ -427,5 +442,11 @@ namespace TheMachine
RobotManage.mainMachine.OutMoveInfo.NewMove(MoveStep.OutReset); RobotManage.mainMachine.OutMoveInfo.NewMove(MoveStep.OutReset);
} }
private void btn_IgnoreX09_Click(object sender, EventArgs e)
{
RobotManage.mainMachine.IgnoreX09();
btn_IgnoreX09.Visible = false;
}
} }
} }
TheMachine/IOControls.Designer.cs
...@@ -225,6 +225,7 @@ namespace TheMachine ...@@ -225,6 +225,7 @@ namespace TheMachine
// //
// timer1 // timer1
// //
this.timer1.Interval = 1500;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick); this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
// //
// label_weight // label_weight
......
TheMachine/IOControls.cs
...@@ -77,7 +77,7 @@ namespace TheMachine ...@@ -77,7 +77,7 @@ namespace TheMachine
if (RobotManage.StoreType == StoreType.TypeA) if (RobotManage.StoreType == StoreType.TypeA)
{ {
if (!this.Visible) return; if (!this.Visible) return;
var w = OKLEController.queryData(Config.WeightSensorPort); if (OKLEController.queryData(Config.WeightSensorPort,out double w))
label_weight.Text = $"称重读数: {w:0.00}kg"; label_weight.Text = $"称重读数: {w:0.00}kg";
} }
else { else {
......
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