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Commit 3a0bb722 由 张东亮
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称重逻辑加入入库

1 个父辈 8fd26869
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内嵌 并排
正在显示 5 个修改的文件 包含 83 行增加 和 47 行删除
DeviceLibrary/theMachine/InOutDevice_IN.cs
......@@ -23,10 +23,11 @@ namespace DeviceLibrary
{
get => MoveInfo.MoveStep == MoveStep.InWaitBoxLeave;
}
public void OpenDoor(MoveInfo moveInfo) {
public void OpenDoor(MoveInfo moveInfo)
{
LogUtil.info($"OpenDoor:low:{DO_Door_Down},up:{DO_Door_Up}");
MainMachine.CylinderMove(moveInfo, DO_Door_Down, DO_Door_Up, IO_VALUE.HIGH);
MainMachine.CylinderMove(moveInfo, DO_Door_Down, DO_Door_Up, IO_VALUE.HIGH);
}
public void CloseDoor(MoveInfo moveInfo)
{
......@@ -49,7 +50,8 @@ namespace DeviceLibrary
}
return false;
}
public void Rescan() {
public void Rescan()
{
MoveInfo.NextMoveStep(MoveStep.In03);
MoveInfo.log("扫码失败重新扫码");
}
......@@ -126,13 +128,11 @@ namespace DeviceLibrary
}
else
{
MoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
MoveInfo.log($"已完成扫码,等待服务器反馈库位 Count={x.Count}");
MoveInfo.MoveParam.IsNg = false;
MoveInfo.MoveParam.codeInfos = x;
var cc = x.Select((a) => a.CodeStr);
mainMachine.ServerCM.SendInStoreRequest(cc.ToArray(), this, true);
MoveInfo.NextMoveStep(MoveStep.In05);
Lift.LiftDown(MoveInfo);
MoveInfo.log($"放下入料阻挡");
}
}
else if (MoveInfo.IsTimeOut(10))
{
......@@ -140,30 +140,11 @@ namespace DeviceLibrary
MoveInfo.log($"等待扫码超时,重新扫码");
}
break;
case MoveStep.InWaitServerCallback:
if (RobotManage.InoutDebugMode)
{
//Msg.add("等待手动选择入库库位", MsgLevel.info);
MoveInfo.NextMoveStep(MoveStep.StartInStore);
}
else if (MoveInfo.IsTimeOut(5))
Msg.add("等待服务器返回库位", MsgLevel.info);
else if (MoveInfo.IsTimeOut(15))
{
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.log($"等待服务器返回库位超时");
}
break;
case MoveStep.StartInStore:
MoveInfo.NextMoveStep(MoveStep.In05);
Lift.LiftDown(MoveInfo);
MoveInfo.log($"放下入料阻挡");
break;
case MoveStep.In05:
Line.LineRun("work", false, 999);
MoveInfo.NextMoveStep(MoveStep.In06);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.log("检测到周转箱3,中间阻挡下降");
case MoveStep.In05:
Line.LineRun("work", false, 999);
MoveInfo.NextMoveStep(MoveStep.In06);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.log("检测到周转箱3,中间阻挡下降");
break;
case MoveStep.In06:
if (IOValue(IO_OverHead_Check).Equals(IO_VALUE.LOW))
......@@ -179,7 +160,7 @@ namespace DeviceLibrary
{
MoveInfo.NextMoveStep(MoveStep.In09);
MiddleStop(MoveInfo, IO_VALUE.HIGH);
Line.LineRun("work",false, 2);
Line.LineRun("work", false, 2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsTimeOut(15))
......@@ -195,7 +176,58 @@ namespace DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_EndMaterialTop_Check, IO_VALUE.HIGH));
break;
case MoveStep.In10:
MoveInfo.NextMoveStep(MoveStep.InWaitBoxLeave);
MoveInfo.NextMoveStep(MoveStep.In11);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.In11:
//读取称重
bool res = BSQController.queryData(Config.WeightSensorPort, out double weight);
if (res)
{
if (weight > 0 && weight <= Config.StoreWeightLimited)
{
var x = InScanTask.Result;
{
MoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
MoveInfo.log($"已完成扫码,并称重完成 {weight}kg，等待服务器反馈库位 Count={x.Count}");
MoveInfo.MoveParam.IsNg = false;
MoveInfo.MoveParam.codeInfos = x;
var cc = x.Select((a) => a.CodeStr);
mainMachine.ServerCM.SendInStoreRequest(cc.ToArray(), this, true,weight);
}
}
else//超重
{
MoveInfo.NextMoveStep(MoveStep.Out05);
Lift.LiftDown(MoveInfo);
Msg.add("周转箱超重，退出", MsgLevel.alarm);
MoveInfo.log($"周转箱当前重量{weight},超重。顶升下降，出库该周转箱");
}
}
else
{
MoveInfo.NextMoveStep(MoveStep.In10);
MoveInfo.log($"获取周转箱重量失败，重新读取");
}
break;
case MoveStep.InWaitServerCallback:
if (RobotManage.InoutDebugMode)
{
//Msg.add("等待手动选择入库库位", MsgLevel.info);
MoveInfo.NextMoveStep(MoveStep.StartInStore);
}
else if (MoveInfo.IsTimeOut(5))
Msg.add("等待服务器返回库位", MsgLevel.info);
else if (MoveInfo.IsTimeOut(15))
{
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.log($"等待服务器返回库位超时");
}
break;
case MoveStep.StartInStore:
MoveInfo.NextMoveStep(MoveStep.InWaitBoxLeave);
break;
case MoveStep.InWaitBoxLeave:
Msg.add("周转箱等待入库", MsgLevel.info);
......@@ -252,7 +284,7 @@ namespace DeviceLibrary
Task.Delay(delay).Wait();
List<CodeInfo> LastCodeList;
CodeManager.CloseCamera(InOutSide == InOutSideE.Left ? Config.CameraName_Left : Config.CameraName_Right);
LastCodeList = CodeManager.CameraScan(new List<string> { InOutSide== InOutSideE.Left? Config.CameraName_Left: Config.CameraName_Right });
LastCodeList = CodeManager.CameraScan(new List<string> { InOutSide == InOutSideE.Left ? Config.CameraName_Left : Config.CameraName_Right });
return LastCodeList;
}));
......
DeviceLibrary/theMachine/MoveStep.cs
......@@ -38,6 +38,9 @@ namespace DeviceLibrary
In08,
In09,
In10,
In11,
In12,
In13,
InWaitBoxLeave, //等待料箱入库
InBoxLeaved, //料箱已取走
InOverHead,
......
TheMachine/AxisControl.Designer.cs
......@@ -31,8 +31,8 @@ namespace TheMachine
{
this.axisMoveControl1 = new DeviceLibrary.AxisMoveControl();
this.panel1 = new System.Windows.Forms.Panel();
this.configControl1 = new TheMachine.ConfigControl();
this.button1 = new System.Windows.Forms.Button();
this.configControl1 = new TheMachine.ConfigControl();
this.panel1.SuspendLayout();
this.SuspendLayout();
//
......@@ -55,15 +55,6 @@ namespace TheMachine
this.panel1.Size = new System.Drawing.Size(1234, 924);
this.panel1.TabIndex = 2;
//
// configControl1
//
this.configControl1.Config = null;
this.configControl1.Location = new System.Drawing.Point(568, 3);
this.configControl1.Name = "configControl1";
this.configControl1.Size = new System.Drawing.Size(647, 474);
this.configControl1.TabIndex = 1;
this.configControl1.Tag = "not";
//
// button1
//
this.button1.Location = new System.Drawing.Point(16, 409);
......@@ -74,6 +65,15 @@ namespace TheMachine
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// configControl1
//
this.configControl1.Config = null;
this.configControl1.Location = new System.Drawing.Point(568, 3);
this.configControl1.Name = "configControl1";
this.configControl1.Size = new System.Drawing.Size(647, 474);
this.configControl1.TabIndex = 1;
this.configControl1.Tag = "not";
//
// AxisControl
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
......
TheMachine/Form1.cs
......@@ -20,6 +20,7 @@ namespace TheMachine
{
public Form1()
{
Control.CheckForIllegalCrossThreadCalls = false;
InitializeComponent();
this.FormClosing += Form1_FormClosing;
this.Text = Setting_Init.App_Title + " " + Setting_Init.Server_CID;
......
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