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Commit bc4198a4 由 张东亮
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称重逻辑OK

1 个父辈 3a0bb722
内嵌 并排
正在显示 5 个修改的文件 包含 68 行增加 和 30 行删除
DeviceLibrary/DeviceLibrary/BSQController.cs
......@@ -163,7 +163,11 @@ public class BSQController
}
if (!Monitor.TryEnter(sb))
{
weight = LastWeight;
return false;
}
try
{
......@@ -193,7 +197,8 @@ public class BSQController
}
catch (Exception e)
{
LogUtil.debug(LogName + e.ToString());
LastWeight = 0;
LogUtil.error(LogName + e.ToString());
return false;
}
finally
......
DeviceLibrary/theMachine/AxisBean.cs
......@@ -131,6 +131,7 @@ namespace DeviceLibrary
if (MoveInfo == null)
{
AbsMove(targetPosition, targetSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][MoveInfo = null]");
}
else
{
......@@ -139,6 +140,7 @@ namespace DeviceLibrary
var AddSpeed = Config.AddSpeed > 0 ? Config.AddSpeed : targetSpeed * 4;
var DelSpeed = Config.DelSpeed > 0 ? Config.DelSpeed : targetSpeed * 4;
AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// Config.AddSpeed, Config.DelSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}]");
}
}
......
DeviceLibrary/theMachine/BoxTransport.cs
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
......@@ -26,27 +27,28 @@ namespace DeviceLibrary
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
public bool IsPutOnOut {get=>(To.posid== BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor) && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public bool IsPutOnOut { get => (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor) && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public BoxTransport(Robot_Config _Config, MainMachine _mainMachine)
{
Config = _Config;
mainMachine = _mainMachine;
MoveInfo = new MoveInfo("行走机构",false);
MoveInfo = new MoveInfo("行走机构", false);
#region 初始化伺服轴
XAxis = _mainMachine.XAxis;
YAxis = _mainMachine.YAxis;
ZAxis = _mainMachine.ZAxis;
#endregion
}
public void Reset() {
public void Reset()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置");
}
StoreMoveType storeMoveType = StoreMoveType.None;
string WareCode="";
string WareCode = "";
bool PreMove = false;
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, string warecode, bool premove=false)
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, string warecode, bool premove = false)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
......@@ -69,7 +71,7 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:开始运输周转箱,从:{From.posid},到:{To.posid}");
}
MoveInfo.MoveParam.WareCode = WareCode;
MoveInfo.MoveParam.PosID = $"{(From==null?"None":From.posid)}=>{To.posid}";
MoveInfo.MoveParam.PosID = $"{(From == null ? "None" : From.posid)}=>{To.posid}";
ErrMsgTxt = "";
return true;
//thread = new Thread(new ThreadStart(Run));
......@@ -101,16 +103,17 @@ namespace DeviceLibrary
//从内测到外侧判断当前位置是否小于p1
if (ltx <= Config.Xaxis_P1 && x_to > Config.Xaxis_P1)
{
}
return false;
}
public bool ReadyToTakeBox() {
if (MoveInfo.MoveStep != MoveStep.StoreTS05)
public bool ReadyToTakeBox()
{
if (MoveInfo.MoveStep != MoveStep.StoreTS05)
return false;
if (From.posid == BoxStorePosition.rightdoor || From.posid == BoxStorePosition.leftdoor)
{
if (InOutDevice.InOutDeviceList[From.CurrentSide].InWaitBoxLeave)
......@@ -127,7 +130,8 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:等待入库料箱升降台到位");
}
}
}else
}
else
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
return true;
}
......@@ -135,7 +139,6 @@ namespace DeviceLibrary
{
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
......@@ -171,14 +174,18 @@ namespace DeviceLibrary
// XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
// MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
//}
break;
case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS05);
YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");
XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
break;
case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS05);
//YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
//MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");
//XAxis.AbsMove(MoveInfo, From.Xaxis_P2, Config.Xaxis_P2_speed);
//MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
break;
case MoveStep.StoreTS05:
if (!PreMove)
{
......@@ -238,7 +245,7 @@ namespace DeviceLibrary
}
else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
{
Msg.add("出库时伸缩叉X05没有检测到有物料无法继续,请检查", MsgLevel.alarm,ErrInfo.X09_BoxNotDetect);
Msg.add("出库时伸缩叉X05没有检测到有物料无法继续,请检查", MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
RobotManage.UserPause("出库时伸缩叉X05没有检测到有物料无法继续,请检查");
}
else
......@@ -264,18 +271,20 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点");
break;
case MoveStep.StoreTS11:
if (To.posid==BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor) {
if (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor)
{
if (!InOutDevice.InOutDeviceList[To.CurrentSide].IsOutLiftEmpty)
{
if (MoveInfo.IsTimeOut(20))
Msg.add("等待出口顶升清空周转箱", MsgLevel.warning);
return false;
return false;
}
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
InOutDevice.InOutDeviceList[To.CurrentSide].OpenDoor(MoveInfo);
return false;
}else
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
}
else
MoveInfo.NextMoveStep(MoveStep.StoreTS12);
break;
case MoveStep.StoreTS12:
MoveInfo.NextMoveStep(MoveStep.StoreTS13);
......@@ -285,7 +294,7 @@ namespace DeviceLibrary
case MoveStep.StoreTS13:
if (To != null)
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
if (From!=null)
if (From != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS14);
YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
......@@ -298,7 +307,7 @@ namespace DeviceLibrary
break;
case MoveStep.StoreTS15:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
if (From != null)
if (From != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
......@@ -314,7 +323,7 @@ namespace DeviceLibrary
else
{
MoveInfo.NextMoveStep(MoveStep.StoreTS16);
if (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor)
if (To.posid == BoxStorePosition.rightdoor || To.posid == BoxStorePosition.leftdoor)
InOutDevice.InOutDeviceList[To.CurrentSide].CloseDoor(MoveInfo);
MoveInfo.log($"{storeMoveType}:安全检查");
}
......@@ -338,7 +347,6 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
private void InOutEndProcess(StoreMoveType storeMoveType, string posid)
......@@ -346,7 +354,8 @@ namespace DeviceLibrary
InOutEndProcessEvent?.Invoke(posid, storeMoveType, true);
}
HIKCamera GetCamera(int pos) {
HIKCamera GetCamera(int pos)
{
//return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB;
return RobotManage.CameraA;
}
......
DeviceLibrary/theMachine/InOutDevice_IN.cs
......@@ -198,7 +198,7 @@ namespace DeviceLibrary
}
else//超重
{
MoveInfo.NextMoveStep(MoveStep.Out05);
MoveInfo.NextMoveStep(MoveStep.InNG1);
Lift.LiftDown(MoveInfo);
Msg.add("周转箱超重，退出", MsgLevel.alarm);
MoveInfo.log($"周转箱当前重量{weight},超重。顶升下降，出库该周转箱");
......@@ -208,7 +208,7 @@ namespace DeviceLibrary
else
{
MoveInfo.NextMoveStep(MoveStep.In10);
MoveInfo.log($"获取周转箱重量失败，重新读取");
MoveInfo.log($"{Config.WeightSensorPort}获取周转箱重量{weight}失败，重新读取");
}
break;
......@@ -256,6 +256,25 @@ namespace DeviceLibrary
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("入库线体状态重置");
break;
case MoveStep.InNG1:
MoveInfo.NextMoveStep(MoveStep.InNG2);
Line.LineRun("work", true, 999);
MiddleStop(MoveInfo, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_F_Stop_Out, IO_VALUE.HIGH));
MoveInfo.log($"线体转动");
break;
case MoveStep.InNG2:
MoveInfo.NextMoveStep(MoveStep.InNG3);
Line.LineStop("work");
MoveInfo.log($"料箱抵达出口");
Msg.add("入库周转箱超重，已退出，请处理", MsgLevel.alarm);
RobotManage.UserPause("入库周转箱超重，退出线体");
break;
case MoveStep.InNG3:
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("入库线体状态重置");
break;
}
}
......
DeviceLibrary/theMachine/MoveStep.cs
......@@ -46,6 +46,9 @@ namespace DeviceLibrary
InOverHead,
InReset,
InNG1,
InNG2,
InNG3,
OutBoxPutOn,
Out01,
Out02,
......
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