三色灯

DeviceLibrary/theMachine/InOutDevice_OUT.cs

@@ -100,8 +100,14 @@ namespace DeviceLibrary
                     }
                     if (IOMonitor.IODebound(IO_F_Stop_Out,Config,IO_VALUE.LOW,2000)) {
                         MoveInfo.log($"检测到周转箱已离开,结束出库");
+                        RobotManage.mainMachine.IsClearWarnMsg = true;
                         MoveInfo.EndMove();
                     }
+                    else if(MoveInfo.IsTimeOut(30))
+                    {
+                        Msg.add($"等待周转箱离开超时", MsgLevel.warning);
+                        RobotManage.mainMachine.IsClearWarnMsg = false;
+                    }
                     break;
                 case MoveStep.Out08:
                     if (IOValue(IO_F_Stop_Out).Equals(IO_VALUE.LOW)

DeviceLibrary/theMachine/MainMachine _LedProcess.cs

@@ -113,7 +113,7 @@ namespace DeviceLibrary
             foreach (var ledcolor in ledcfg.Keys)
             {
                 if (ledcfg[ledcolor] == LedState.none)
-                    return;
+                    continue;
                 Led.LedColors[ledcolor].LedState = ledcfg[ledcolor];
             }
         }

DeviceLibrary/theMachine/MainMachine.cs

@@ -19,7 +19,8 @@ namespace DeviceLibrary
             get { return _canRunning; }
             set
             {
-                if (_canRunning != value) {
+                if (_canRunning != value)
+                {
                     Msg.setlogones();
                 }
                 _canRunning = value;
@@ -29,8 +30,11 @@ namespace DeviceLibrary
         public bool isAlarm { get; set; } = false;
         public RunStatus runStatus { get; set; } = RunStatus.Stop;
         public Robot_Config Config { get; set; }
+        /// <summary>
+        /// 用户暂停
+        /// </summary>
         public bool UserPause { get; set; } = false;
-
+        public bool IsClearWarnMsg { get; set; } = true;
 
         public MoveInfo ResetMoveInfo;
         /// <summary>
@@ -69,7 +73,8 @@ namespace DeviceLibrary
 
 
 
-        public MainMachine(Robot_Config _config) {
+        public MainMachine(Robot_Config _config)
+        {
             Config = _config;
 
             StoreMoveInfo = new MoveInfo("行走机构");
@@ -104,7 +109,7 @@ namespace DeviceLibrary
             //BoxTransport_InOutEndProcessEvent;
             //ProcessMsgEvent += MainMachine_ProcessMsgEvent;
             CodeManager.LoadCamera(true);
-            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.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
@@ -112,7 +117,7 @@ namespace DeviceLibrary
         }
         private (bool, string) ZAxis_interference(int from, int to)
         {
-            if (to==Config.Zaxis_P1)
+            if (to == Config.Zaxis_P1)
                 return (false, "");
 
             if (XAxis.GetAclPosition() > Config.Xaxis_P1 + Config.XAxis.CanErrorCountMax)
@@ -137,8 +142,10 @@ namespace DeviceLibrary
 
                 //if (to=Config.y)
             }
-            else { ///在料仓        
-                if (!ZAxis.IsInPosition(Config.Zaxis_P1) && Math.Abs(from - to) > 1000 * 10) {
+            else
+            { ///在料仓        
+                if (!ZAxis.IsInPosition(Config.Zaxis_P1) && Math.Abs(from - to) > 1000 * 10)
+                {
                     return (true, "进出轴伸出时升降轴不可以大幅运动");
                 }
 
@@ -148,7 +155,8 @@ namespace DeviceLibrary
 
         private (bool, string) XAxis_interference(int from, int to)
         {
-            if (!ZAxis.IsInPosition(Config.Zaxis_P1)) {
+            if (!ZAxis.IsInPosition(Config.Zaxis_P1))
+            {
                 return (true, "周转箱托盘没有收回,无法移动行走机构");
             }
             return (false, "");
@@ -157,10 +165,12 @@ namespace DeviceLibrary
         /// <summary>
         /// 整机启动变量,设置为false后将退出线程,只在停止时调用
         /// </summary>
-        bool mstart=true;
-        public void Run() {
+        bool mstart = true;
+        public void Run()
+        {
             mstart = true;
-            while (mstart) {
+            while (mstart)
+            {
                 try
                 {
                     canRunning = DeviceCheck();
@@ -195,7 +205,8 @@ namespace DeviceLibrary
                     Msg.add(ex.ToString(), MsgLevel.warning);
                     Msg.setlogones();
                 }
-                finally {
+                finally
+                {
                     var m = Msg.get();
                     ProcessMsgEvent?.Invoke(m);
                     ServerCM.ProcessMsg(m);
@@ -220,7 +231,10 @@ namespace DeviceLibrary
                     }
                     //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
                     if (!UserPause)
+                    {
+                        if (IsClearWarnMsg)
                             Msg.clear();
+                    }
                     else
                         currnetstoreStatus = StoreStatus.Debugging;
 
@@ -230,11 +244,13 @@ namespace DeviceLibrary
             }
             LogUtil.info("主线程已退出.");
         }
-        public void Start() {
+        public void Start()
+        {
             ServerCM.StartConnectServer();
             Run();
         }
-        public void Stop() {
+        public void Stop()
+        {
             mstart = false;
             ServerCM.StopConnectServer();
             Thread.Sleep(300);
@@ -244,7 +260,8 @@ namespace DeviceLibrary
             IOMove(IO_Type.Right_Moto_Run, IO_VALUE.LOW);
 
         }
-        public void BeginHomeReset(bool firstRun=false) {
+        public void BeginHomeReset(bool firstRun = false)
+        {
             if (!firstRun)
             {
                 StopMove();
@@ -258,7 +275,7 @@ namespace DeviceLibrary
             ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
         }
         //强制回原
-        bool forceHome=false;
+        bool forceHome = false;
         void HomeReset()
         {
             if (CheckWait(ResetMoveInfo))
@@ -304,8 +321,8 @@ namespace DeviceLibrary
                 case MoveStep.H06_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                     ResetMoveInfo.log("正在回原,行走机构,升降轴,到P1待机点,入口顶升下降,出口顶升上升");
-                    YAxis.AbsMove(ResetMoveInfo, Config.Yaxis_P1,Config.Yaxis_P1_speed);
-                    XAxis.AbsMove(ResetMoveInfo, Config.Xaxis_P1,Config.Xaxis_P1_speed);
+                    YAxis.AbsMove(ResetMoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
+                    XAxis.AbsMove(ResetMoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
                     RightInOut.Lift.LiftUp(ResetMoveInfo);
                     LeftInOut.Lift.LiftDown(ResetMoveInfo);
 
@@ -329,13 +346,15 @@ namespace DeviceLibrary
                         RobotManage.UserPause("回源时料叉上有物料");
                         return;
                     }
-                    else {
+                    else
+                    {
                         ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                         ResetMoveInfo.log("进出轴上没有周转箱");
                     }
                     break;
                 case MoveStep.H08_HomeReset:
-                    if (InOutDevice.GetOutStoreFreeSide(out InOutSideE inOutSide2, out InOutDevice iod2)){// && IsOutLiftEmpty) {
+                    if (InOutDevice.GetOutStoreFreeSide(out InOutSideE inOutSide2, out InOutDevice iod2))
+                    {// && IsOutLiftEmpty) {
                         iod2.TurnToOut(new JobInfo("ReturnHome", "ReturnHome", "ReturnHome"));
                         ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
                         boxTransport.Start(null, new BoxStorePosition(Config, inOutSide2), StoreMoveType.ReturnHome, "ReturnHome");
@@ -365,20 +384,26 @@ namespace DeviceLibrary
             }
         }
         bool _IgnoreSafecheck = false;
-        public bool IgnoreSafecheck { get => _IgnoreSafecheck; set {
+        public bool IgnoreSafecheck
+        {
+            get => _IgnoreSafecheck; set
+            {
                 if (value)
                 {
                     IOMove(IO_Type.DoorSafe_Disable, IO_VALUE.HIGH);
                 }
-                else {
+                else
+                {
                     IOMove(IO_Type.DoorSafe_Disable, IO_VALUE.LOW);
                 }
                 _IgnoreSafecheck = value;
-            } }
+            }
+        }
         public bool IgnoreGratingSignal = false;
 
         bool lastSafeCheckStatus = true;
-        bool SafeCheck() {
+        bool SafeCheck()
+        {
             bool ok = true;
 
             if (IOValue(IO_Type.FrontDoor_Check).Equals(IO_VALUE.LOW))
@@ -407,7 +432,8 @@ namespace DeviceLibrary
             return ok;
         }
 
-        void DeviceSuddenStop() {
+        void DeviceSuddenStop()
+        {
             if (lastSafeCheckStatus)
             {
                 //lastSafeCheckStatus = false;
@@ -421,7 +447,8 @@ namespace DeviceLibrary
                 }
             }
         }
-        void DeviceResume() {
+        void DeviceResume()
+        {
             LeftInOut.Line.Resume();
             RightInOut.Line.Resume();
         }
@@ -432,7 +459,8 @@ namespace DeviceLibrary
         DateTime lastAirCloseTime = DateTime.MinValue;
 
         internal DateTime checkAlarmTime = DateTime.Now;
-        public bool DeviceCheck() {
+        public bool DeviceCheck()
+        {
             bool ok = true;
             if (UserPause)
             {
@@ -447,7 +475,8 @@ namespace DeviceLibrary
                 Msg.add("急停中", MsgLevel.alarm);
                 ok = false;
             }
-            else if (alarmType == AlarmType.SuddenStop) {
+            else if (alarmType == AlarmType.SuddenStop)
+            {
                 //if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
                 //{
                 //    Alarm(AlarmType.None);
@@ -475,10 +504,11 @@ namespace DeviceLibrary
                     Msg.add("气压不足", MsgLevel.warning);
                 }
             }
-            else {
+            else
+            {
                 lastAirCloseTime = DateTime.MinValue;
             }
-            if (alarmType!=AlarmType.SuddenStop)
+            if (alarmType != AlarmType.SuddenStop)
             {
                 TimeSpan span = DateTime.Now - checkAlarmTime;
                 if (span.TotalSeconds > 2)
@@ -497,7 +527,8 @@ namespace DeviceLibrary
             return ok;
         }
 
-        int GetYAxisLevel() {
+        int GetYAxisLevel()
+        {
             if (IOValue(IO_Type.Lift_1Level_Check).Equals(IO_VALUE.HIGH))
                 return 1;
             if (IOValue(IO_Type.Lift_2Level_Check).Equals(IO_VALUE.HIGH))
@@ -513,7 +544,8 @@ namespace DeviceLibrary
             return 0;
         }
 
-        public void IgnoreX09() {
+        public void IgnoreX09()
+        {
             boxTransport.IgnoreX09 = true;
             LogUtil.info("按下X05忽略");
         }