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Commit 821c9a8e 由 刘韬
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优化报警提示添加信号编号

1 个父辈 8c7b3fe3
内嵌 并排
正在显示 14 个修改的文件 包含 176 行增加 和 55 行删除
DeviceLibrary/DeviceLibrary/Camera.cs
...@@ -76,9 +76,14 @@ public class HIKCamera ...@@ -76,9 +76,14 @@ public class HIKCamera
return true; return true;
} }
int errortimes = 0; int errortimes = 0;
bool camerathreadrun = true;
public void stopCamera() {
camerathreadrun = false;
}
void startCamera() void startCamera()
{ {
while (true) camerathreadrun = true;
while (camerathreadrun)
{ {
try try
{ {
...@@ -92,6 +97,7 @@ public class HIKCamera ...@@ -92,6 +97,7 @@ public class HIKCamera
{ {
errortimes++; errortimes++;
LogUtil.error(Name + $"相机获取图像出错,{errortimes}"); LogUtil.error(Name + $"相机获取图像出错,{errortimes}");
Thread.Sleep(5000);
} }
else if (errortimes == 5) else if (errortimes == 5)
{ {
......
DeviceLibrary/DeviceLibrary/LiftMonitor.cs
...@@ -15,6 +15,7 @@ namespace DeviceLibrary ...@@ -15,6 +15,7 @@ namespace DeviceLibrary
string axisbreak; string axisbreak;
AxisBean axisBean; AxisBean axisBean;
int speed; int speed;
int StrokeLength = 270000;
public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _speed) { public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _speed) {
up = _up; up = _up;
down = _down; down = _down;
...@@ -37,17 +38,17 @@ namespace DeviceLibrary ...@@ -37,17 +38,17 @@ namespace DeviceLibrary
public void LiftUp(MoveInfo moveInfo) { public void LiftUp(MoveInfo moveInfo) {
if (moveInfo == null) if (moveInfo == null)
moveInfo = new MoveInfo("界面"); moveInfo = new MoveInfo("界面",false);
if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) { if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
moveInfo.log($"{axisBean.AxisName},已在位置,无需上升"); moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
return; return;
} }
IOManager.IOMove(axisbreak,IO_VALUE.HIGH); IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
axisBean.SpeedMove(speed); axisBean.RelMove(StrokeLength, (double)speed);
DateTime d = DateTime.Now; DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftUp"); moveInfo.log($"{axisBean.AxisName},LiftUp");
if(moveInfo!=null) if(moveInfo!=null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), "等待顶升机构上升")); moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升"));
Task.Run(()=> { Task.Run(()=> {
while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) { while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
Task.Delay(30); Task.Delay(30);
...@@ -67,25 +68,25 @@ namespace DeviceLibrary ...@@ -67,25 +68,25 @@ namespace DeviceLibrary
} }
if (!axisBean.IsBusy) { if (!axisBean.IsBusy) {
axisBean.SpeedMove(speed); axisBean.RelMove(StrokeLength, (double)speed);
} }
return false; return false;
} }
public void LiftDown(MoveInfo moveInfo) public void LiftDown(MoveInfo moveInfo)
{ {
if (moveInfo == null) if (moveInfo == null)
moveInfo = new MoveInfo("界面"); moveInfo = new MoveInfo("界面", false);
if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{ {
moveInfo.log($"{axisBean.AxisName},已在位置,无需下降"); moveInfo.log($"{axisBean.AxisName},已在位置,无需下降");
return; return;
} }
IOManager.IOMove(axisbreak, IO_VALUE.HIGH); IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
axisBean.SpeedMove(-speed); axisBean.RelMove(-StrokeLength, (double)speed);
DateTime d = DateTime.Now; DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftDown"); moveInfo.log($"{axisBean.AxisName},LiftDown");
if (moveInfo != null) if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), "等待顶升机构下降")); moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降"));
Task.Run(() => { Task.Run(() => {
while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH)) while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
...@@ -108,7 +109,7 @@ namespace DeviceLibrary ...@@ -108,7 +109,7 @@ namespace DeviceLibrary
if (!axisBean.IsBusy) if (!axisBean.IsBusy)
{ {
axisBean.SpeedMove(-speed); axisBean.RelMove(-StrokeLength, (double)speed);
} }
return false; return false;
} }
......
DeviceLibrary/DeviceLibrary/OKLEController.cs
...@@ -105,7 +105,51 @@ public class OKLEController ...@@ -105,7 +105,51 @@ public class OKLEController
} }
} }
} }
public static double SetZero(string port)
{
double weight = 0d;
AcSerialBean sb = GetSerialBean(port);
if (sb == null)
{
return weight;
}
if (!Monitor.TryEnter(sb))
return ValueBuffer[port];
try
{
LogName = "[OKLE_" + port + "]";
//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) public static double queryData(string port)
{ {
...@@ -138,7 +182,7 @@ public class OKLEController ...@@ -138,7 +182,7 @@ public class OKLEController
byte[] reviceData = new byte[15]; byte[] reviceData = new byte[15];
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); ValueBuffer[port] = getReviceData(reviceData);
return ValueBuffer[port]; return ValueBuffer[port];
} }
......
DeviceLibrary/DeviceLibrary/ServerCommunication.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
...@@ -17,6 +18,36 @@ namespace DeviceLibrary ...@@ -17,6 +18,36 @@ namespace DeviceLibrary
string StoreName; string StoreName;
string WarnMsg = ""; string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
public ServerCommunication() {
serverConnectTimer.Interval = 1000;
serverConnectTimer.AutoReset = true;
serverConnectTimer.Enabled = false;
serverConnectTimer.Elapsed += ServerConnectTimer_Elapsed; ;
}
private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (!Monitor.TryEnter(serverConnectTimer))
return;
try
{
SendLineStatus();
}
catch
{
}
finally {
Monitor.Exit(serverConnectTimer);
}
}
public void StartConnectServer() {
serverConnectTimer.Enabled = true;
}public void StopConnectServer() {
serverConnectTimer.Enabled = false;
}
public void ProcessMsg(List<Msg> msg) { public void ProcessMsg(List<Msg> msg) {
WarnMsg = string.Join(",", msg.Select(x => x.msgtxt)); WarnMsg = string.Join(",", msg.Select(x => x.msgtxt));
} }
...@@ -196,7 +227,7 @@ namespace DeviceLibrary ...@@ -196,7 +227,7 @@ namespace DeviceLibrary
Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, false); Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, false);
ResultProcess(resultOperation); ResultProcess(resultOperation);
TimeSpan span = DateTime.Now - time; TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 200) if (span.TotalMilliseconds > 700)
{ {
LogUtil.info(StoreName + "TimerProcess[" + span.TotalMilliseconds + "]"); LogUtil.info(StoreName + "TimerProcess[" + span.TotalMilliseconds + "]");
} }
......
DeviceLibrary/theMachine/AxisBean.cs
...@@ -249,6 +249,28 @@ namespace DeviceLibrary ...@@ -249,6 +249,28 @@ namespace DeviceLibrary
AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed); AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed);
} }
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
public void RelMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
return;
}
LastPosition = -1;
//if (targetSpeed <= 0)//targetSpeed > Config.TargetSpeed ||
//{
// targetSpeed = Config.TargetSpeed;
//}
//小于1，表示是目标速度的百分比
if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
AxisManager.RelMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed);
}
public bool IsBusy { public bool IsBusy {
get => AxisManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 1; get => AxisManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 1;
} }
......
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -24,6 +24,7 @@ namespace DeviceLibrary ...@@ -24,6 +24,7 @@ namespace DeviceLibrary
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; }
public bool IsPutOnOut {get=> To.posid== BoxStorePosition.outdoor && MoveInfo.MoveStep < MoveStep.StoreTS10 && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public BoxTransport(Robot_Config _Config, MainMachine _mainMachine) public BoxTransport(Robot_Config _Config, MainMachine _mainMachine)
{ {
Config = _Config; Config = _Config;
...@@ -89,13 +90,13 @@ namespace DeviceLibrary ...@@ -89,13 +90,13 @@ namespace DeviceLibrary
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2侧叉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.HIGH)) else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("出库时伸缩叉检测到有物料无法继续,请检查", MsgLevel.alarm); Msg.add("出库时伸缩叉X09检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("出库时伸缩叉检测到有物料无法继续,请检查"); RobotManage.UserPause("出库时伸缩叉X09检测到有物料无法继续,请检查");
} }
else else
{ {
...@@ -118,15 +119,15 @@ namespace DeviceLibrary ...@@ -118,15 +119,15 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.StoreTS04: case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS05); MoveInfo.NextMoveStep(MoveStep.StoreTS06);
YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed); YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点"); MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");
break;
case MoveStep.StoreTS05:
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed); XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达取料点"); MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
break; break;
case MoveStep.StoreTS05:
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
break;
case MoveStep.StoreTS06: case MoveStep.StoreTS06:
MoveInfo.NextMoveStep(MoveStep.StoreTS07); MoveInfo.NextMoveStep(MoveStep.StoreTS07);
ZAxis.AbsMove(MoveInfo, From.Zaxis_P2, Config.Zaxis_P2_speed); ZAxis.AbsMove(MoveInfo, From.Zaxis_P2, Config.Zaxis_P2_speed);
...@@ -136,7 +137,7 @@ namespace DeviceLibrary ...@@ -136,7 +137,7 @@ namespace DeviceLibrary
GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.In)); GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.In));
MoveInfo.NextMoveStep(MoveStep.StoreTS08); MoveInfo.NextMoveStep(MoveStep.StoreTS08);
YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed); YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点"); MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
break; break;
case MoveStep.StoreTS08: case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09); MoveInfo.NextMoveStep(MoveStep.StoreTS09);
...@@ -148,13 +149,13 @@ namespace DeviceLibrary ...@@ -148,13 +149,13 @@ namespace DeviceLibrary
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("伸缩叉2侧检测到有物料无法继续,请检查", MsgLevel.alarm); Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧检测到有物料无法继续,请检查"); RobotManage.UserPause("伸缩叉2侧X10/X11检测到有物料无法继续,请检查");
} }
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW)) else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
{ {
Msg.add("出库时伸缩叉没有取到物料,请检查", MsgLevel.alarm); Msg.add("出库时伸缩叉X09检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("出库时伸缩叉没有取到物料,请检查"); RobotManage.UserPause("出库时伸缩叉X09检测到有物料无法继续,请检查");
} }
else else
{ {
...@@ -169,15 +170,15 @@ namespace DeviceLibrary ...@@ -169,15 +170,15 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.StoreTS10: case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11); MoveInfo.NextMoveStep(MoveStep.StoreTS12);
XAxis.AbsMove(MoveInfo, To.Xaxis_P2, Config.Xaxis_P2_speed); XAxis.AbsMove(MoveInfo, To.Xaxis_P2, Config.Xaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地"); MoveInfo.log($"{storeMoveType}:行走机构到达目的地");
break;
case MoveStep.StoreTS11:
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
YAxis.AbsMove(MoveInfo, To.Yaxis_PH, Config.Yaxis_P1_speed); YAxis.AbsMove(MoveInfo, To.Yaxis_PH, Config.Yaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点"); MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点");
break; break;
case MoveStep.StoreTS11:
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
break;
case MoveStep.StoreTS12: case MoveStep.StoreTS12:
MoveInfo.NextMoveStep(MoveStep.StoreTS13); MoveInfo.NextMoveStep(MoveStep.StoreTS13);
ZAxis.AbsMove(MoveInfo, To.Zaxis_P2, Config.Zaxis_P2_speed); ZAxis.AbsMove(MoveInfo, To.Zaxis_P2, Config.Zaxis_P2_speed);
...@@ -199,13 +200,13 @@ namespace DeviceLibrary ...@@ -199,13 +200,13 @@ namespace DeviceLibrary
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("伸缩叉2侧检测到有物料无法继续,请检查", MsgLevel.alarm); Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉检测到有物料无法继续,请检查"); RobotManage.UserPause("伸缩叉2侧X10/X11检测到有物料无法继续,请检查");
} }
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH)) else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("入库后伸缩叉上任然检测到物料,请检查", MsgLevel.alarm); Msg.add("入库后伸缩叉X09上任然检测到物料,请检查", MsgLevel.alarm);
RobotManage.UserPause("入库后伸缩叉上任然检测到物料,请检查"); RobotManage.UserPause("入库后伸缩叉X09上任然检测到物料,请检查");
} }
else else
{ {
...@@ -215,9 +216,9 @@ namespace DeviceLibrary ...@@ -215,9 +216,9 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreTS16: case MoveStep.StoreTS16:
MoveInfo.NextMoveStep(MoveStep.StoreTS17); MoveInfo.NextMoveStep(MoveStep.StoreTS17);
//YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed); YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
//XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed); XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
//MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1"); MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
ErrMsgTxt = ""; ErrMsgTxt = "";
break; break;
case MoveStep.StoreTS17: case MoveStep.StoreTS17:
......
DeviceLibrary/theMachine/LabelParam.cs
...@@ -126,6 +126,8 @@ namespace DeviceLibrary ...@@ -126,6 +126,8 @@ namespace DeviceLibrary
Yaxis_PL = aCStorePosition.UpDownAxis_ILPosition_P4; Yaxis_PL = aCStorePosition.UpDownAxis_ILPosition_P4;
posid = aCStorePosition.PositionNum; posid = aCStorePosition.PositionNum;
} }
public const string indoor = "入料口";
public const string outdoor = "出料口";
public BoxStorePosition(Robot_Config Config, StoreSide storeSide) public BoxStorePosition(Robot_Config Config, StoreSide storeSide)
{ {
...@@ -135,14 +137,14 @@ namespace DeviceLibrary ...@@ -135,14 +137,14 @@ namespace DeviceLibrary
Zaxis_P2 = Config.Zaxis_P2; Zaxis_P2 = Config.Zaxis_P2;
Yaxis_PH = Config.Yaxis_P4; Yaxis_PH = Config.Yaxis_P4;
Yaxis_PL = Config.Yaxis_P2; Yaxis_PL = Config.Yaxis_P2;
posid = "入料口"; posid = indoor;
} }
else { else {
Xaxis_P2 = Config.Xaxis_P3; Xaxis_P2 = Config.Xaxis_P3;
Zaxis_P2 = Config.Zaxis_P3; Zaxis_P2 = Config.Zaxis_P3;
Yaxis_PH = Config.Yaxis_P5; Yaxis_PH = Config.Yaxis_P5;
Yaxis_PL = Config.Yaxis_P3; Yaxis_PL = Config.Yaxis_P3;
posid = "出料口"; posid = outdoor;
} }
} }
......
DeviceLibrary/theMachine/MainMachine _IN.cs
...@@ -168,7 +168,7 @@ namespace DeviceLibrary ...@@ -168,7 +168,7 @@ namespace DeviceLibrary
case MoveStep.In07: case MoveStep.In07:
if (IOValue(IO_Type.InOverHead_Check).Equals(IO_VALUE.HIGH)) { if (IOValue(IO_Type.InOverHead_Check).Equals(IO_VALUE.HIGH)) {
LineIn.LineStop("work"); LineIn.LineStop("work");
InMoveInfo.log($"检测到物料超高,停止滚筒"); InMoveInfo.log($"X18检测到物料超高,停止滚筒");
InMoveInfo.NextMoveStep(MoveStep.InOverHead); InMoveInfo.NextMoveStep(MoveStep.InOverHead);
ServerCM.cancelPutInTask("", InMoveInfo.MoveParam.WareCode); ServerCM.cancelPutInTask("", InMoveInfo.MoveParam.WareCode);
return; return;
...@@ -183,7 +183,7 @@ namespace DeviceLibrary ...@@ -183,7 +183,7 @@ namespace DeviceLibrary
} }
else if (InMoveInfo.IsTimeOut(10)) else if (InMoveInfo.IsTimeOut(10))
{ {
Msg.add("周转箱进入超时", MsgLevel.warning); Msg.add("周转箱进入等待X26信号超时", MsgLevel.warning);
InMoveInfo.log($"周转箱进入超时"); InMoveInfo.log($"周转箱进入超时");
} }
break; break;
...@@ -212,7 +212,7 @@ namespace DeviceLibrary ...@@ -212,7 +212,7 @@ namespace DeviceLibrary
InMoveInfo.log("周转箱已取走,顶升下降"); InMoveInfo.log("周转箱已取走,顶升下降");
break; break;
case MoveStep.InOverHead: case MoveStep.InOverHead:
Msg.add("物料超高,请取出周转箱", MsgLevel.warning); Msg.add("X18检测到物料超高,请取出周转箱", MsgLevel.warning);
if (IOMonitor.IODebound(IO_Type.InStopMaterial_Check, Config, IO_VALUE.LOW)) { if (IOMonitor.IODebound(IO_Type.InStopMaterial_Check, Config, IO_VALUE.LOW)) {
CylinderMove(InMoveInfo, IO_Type.InStop_Down, IO_Type.InStop_Up, IO_VALUE.HIGH); CylinderMove(InMoveInfo, IO_Type.InStop_Down, IO_Type.InStop_Up, IO_VALUE.HIGH);
InMoveInfo.NextMoveStep(MoveStep.Wait); InMoveInfo.NextMoveStep(MoveStep.Wait);
......
DeviceLibrary/theMachine/MainMachine _Out.cs
...@@ -33,7 +33,7 @@ namespace DeviceLibrary ...@@ -33,7 +33,7 @@ namespace DeviceLibrary
{ {
OutMoveInfo.NextMoveStep(MoveStep.WaitErr); OutMoveInfo.NextMoveStep(MoveStep.WaitErr);
} }
else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH)) else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH) && RobotManage.mainMachine.boxTransport.IsPutOnOut)
{ {
Msg.add("检测到出料口有周转箱", MsgLevel.warning); Msg.add("检测到出料口有周转箱", MsgLevel.warning);
OutMoveInfo.log($"检测到出料口有周转箱,送出"); OutMoveInfo.log($"检测到出料口有周转箱,送出");
...@@ -49,7 +49,7 @@ namespace DeviceLibrary ...@@ -49,7 +49,7 @@ namespace DeviceLibrary
case MoveStep.OutBoxPutOn: case MoveStep.OutBoxPutOn:
if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.LOW))
{ {
Msg.add("出口没有检测到周转箱", MsgLevel.warning); Msg.add("出口X39没有检测到周转箱", MsgLevel.warning);
} }
else else
{ {
...@@ -74,7 +74,7 @@ namespace DeviceLibrary ...@@ -74,7 +74,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.Out02: case MoveStep.Out02:
OutMoveInfo.NextMoveStep(MoveStep.Out03); OutMoveInfo.NextMoveStep(MoveStep.Out03);
LineOut.LineRun("work", 3); LineOut.LineRun("work", 6);
OutMoveInfo.log($"料箱抵达出口"); OutMoveInfo.log($"料箱抵达出口");
OutMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); OutMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break; break;
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -227,24 +227,35 @@ namespace DeviceLibrary ...@@ -227,24 +227,35 @@ namespace DeviceLibrary
if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null) if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
{ {
AlarmBuzzer.OFF(); AlarmBuzzer.OFF();
if (ServerCM.storeStatus != StoreStatus.InStoreExecute && ServerCM.storeStatus != StoreStatus.OutStoreExecute)
ServerCM.storeStatus = StoreStatus.StoreOnline;
} }
else { else {
AlarmBuzzer.ON(); AlarmBuzzer.ON();
ServerCM.storeStatus = StoreStatus.Warning;
} }
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List); //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
if (!UserPause) if (!UserPause)
Msg.clear(); Msg.clear();
else
ServerCM.storeStatus = StoreStatus.Debugging;
} }
} }
LogUtil.info("主线程已退出."); LogUtil.info("主线程已退出.");
} }
public void Start() {
ServerCM.StartConnectServer();
Run();
}
public void Stop() { public void Stop() {
mstart = false; mstart = false;
ServerCM.StopConnectServer();
Thread.Sleep(300); Thread.Sleep(300);
Alarm(AlarmType.None); Alarm(AlarmType.None);
StopMove(true); StopMove(true);
IOMove(IO_Type.InMoto_Run, IO_VALUE.LOW); IOMove(IO_Type.InMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.OutMoto_Run, IO_VALUE.LOW); IOMove(IO_Type.OutMoto_Run, IO_VALUE.LOW);
} }
public void BeginHomeReset(bool firstRun=false) { public void BeginHomeReset(bool firstRun=false) {
if (!firstRun) if (!firstRun)
...@@ -271,14 +282,14 @@ namespace DeviceLibrary ...@@ -271,14 +282,14 @@ namespace DeviceLibrary
case MoveStep.H01_HomeReset: case MoveStep.H01_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("开始回原,进出轴回原"); ResetMoveInfo.log("开始回原,进出轴回原");
ServerCM.storeStatus = StoreStatus.ResetMove;
ZAxis.HomeMove(ResetMoveInfo, forceHome); ZAxis.HomeMove(ResetMoveInfo, forceHome);
break; break;
case MoveStep.H02_HomeReset: case MoveStep.H02_HomeReset:
if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("料叉上有没有放正的物料", MsgLevel.warning); Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回源时料叉上有物料"); RobotManage.UserPause("回源时料叉上有物料");
return; return;
} }
...@@ -310,18 +321,16 @@ namespace DeviceLibrary ...@@ -310,18 +321,16 @@ namespace DeviceLibrary
CylinderMove(InMoveInfo, IO_Type.OutExitStop_Down, IO_Type.OutExitStop_Up, IO_VALUE.HIGH); CylinderMove(InMoveInfo, IO_Type.OutExitStop_Down, IO_Type.OutExitStop_Up, IO_VALUE.HIGH);
break; break;
case MoveStep.H06_HomeReset: case MoveStep.H06_HomeReset:
if (IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("进出轴上有周转箱"); ResetMoveInfo.log("进出轴X09上有周转箱");
} }
else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("料叉上有没有放正的物料", MsgLevel.warning); Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回源时料叉上有物料"); RobotManage.UserPause("回源时料叉上有物料");
return; return;
} }
...@@ -346,10 +355,12 @@ namespace DeviceLibrary ...@@ -346,10 +355,12 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.HEND_HomeReset: case MoveStep.HEND_HomeReset:
OKLEController.SetZero(Config.WeightSensorPort);
forceHome = false; forceHome = false;
ResetMoveInfo.log("回原完成"); ResetMoveInfo.log("回原完成");
ResetMoveInfo.EndMove(); ResetMoveInfo.EndMove();
runStatus = RunStatus.Running; runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline;
break; break;
} }
} }
......
DeviceLibrary/theMachine/MoveInfo.cs
...@@ -12,14 +12,14 @@ namespace DeviceLibrary ...@@ -12,14 +12,14 @@ namespace DeviceLibrary
{ {
public static List<MoveInfo> List = new List<MoveInfo>(); public static List<MoveInfo> List = new List<MoveInfo>();
public int TimeOutSeconds = 60; public int TimeOutSeconds = 60;
public MoveInfo(string name) public MoveInfo(string name, bool addtolist=true)
{ {
MoveParam = new BoxParam(); MoveParam = new BoxParam();
this.moveStep = MoveStep.Wait; this.moveStep = MoveStep.Wait;
IsInWait = false; IsInWait = false;
this.Name = name; this.Name = name;
if(addtolist)
List.Add(this); List.Add(this);
} }
public string Name { get; set; } public string Name { get; set; }
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -101,8 +101,9 @@ namespace DeviceLibrary ...@@ -101,8 +101,9 @@ namespace DeviceLibrary
if (!IsConfigMode) if (!IsConfigMode)
return; return;
} }
mainThread = new Thread(new ThreadStart(mainMachine.Run)); mainThread = new Thread(new ThreadStart(mainMachine.Start));
mainThread.Start(); mainThread.Start();
isRunning = true; isRunning = true;
GC.KeepAlive(mainThread); GC.KeepAlive(mainThread);
Task.Run(()=> { Task.Run(()=> {
...@@ -129,6 +130,8 @@ namespace DeviceLibrary ...@@ -129,6 +130,8 @@ namespace DeviceLibrary
{ {
LogUtil.info("开始关闭系统."); LogUtil.info("开始关闭系统.");
IOManager.CloseAllConnection(); IOManager.CloseAllConnection();
CameraA.stopCamera();
CameraB.stopCamera();
} }
public static void UserPause(bool userpause) public static void UserPause(bool userpause)
{ {
......
TheMachine/Form1.cs
...@@ -22,7 +22,7 @@ namespace TheMachine ...@@ -22,7 +22,7 @@ namespace TheMachine
{ {
InitializeComponent(); InitializeComponent();
this.FormClosing += Form1_FormClosing; this.FormClosing += Form1_FormClosing;
this.Text = Config.Get(Setting_Init.App_Title); this.Text = Config.Get(Setting_Init.App_Title) +" "+ Config.Get("CID");
t1.Interval = 1000; t1.Interval = 1000;
t1.Tick += T1_Tick; t1.Tick += T1_Tick;
......
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