SO1540 FAC_OPL修正

Common/Setting_Init.cs

@@ -76,9 +76,15 @@ namespace OnlineStore.Common
         [MyConfigComment("超声波传感器液位距离")]
         public static MyConfig<int> Device_Liquid_level_distance = 180;
 
+        [MyConfigComment("超声波传感器桶底距离")]
+        public static MyConfig<int> Device_Liquid_Max_distance = 380;
+
         [MyConfigComment("取料检测位置,取料低点p3-偏移量")]
         public static MyConfig<int> Device_TinDetect_Offset = 205000;
 
+        [MyConfigComment("step by step mode")]
+        public static MyConfig<bool> Device_step_by_step_mode = false;
+
         [MyConfigComment("打印机IP地址")]
         public static MyConfig<string> Printer_IP = "192.168.4.21";
         [MyConfigComment("打印机标签模版")]

Common/bean/Bean.cs

@@ -295,11 +295,21 @@ namespace OnlineStore.Common
         public static string selfAuditException = "selfAuditException";
         public static string inDoorStatus= "inDoorStatus";
         public static string outDoorStatus= "outDoorStatus";
+        public static string pauseBuzzer = "pauseBuzzer";
         public static string open= "open";
         public static string close= "close";
         public static string openInLock= "openInLock";
         public static string closeInLock = "closeInLock";
         public static string closeOutLock = "closeOutLock";
         public static string openOutLock = "openOutLock";
+        public static string D01Status = "D01Status";
+        public static string D02Status = "D02Status";
+        public static string D03Status = "D03Status";
+        public static string openD01 = "openD01";
+        public static string openD02 = "openD02";
+        public static string openD03 = "openD03";
+        public static string closeD01 = "closeD01";
+        public static string closeD02 = "closeD02";
+        public static string closeD03 = "closeD03";
     }
 }

DeviceLibrary/DeviceLibrary/AlarmBuzzer.cs

@@ -23,6 +23,9 @@ namespace DeviceLibrary
                 }
             }
         }
+
+        public static bool IsOn { get => State == AlarmBuzzerState.ON; }
+
         static AlarmBuzzerState State = AlarmBuzzerState.OFF;
         public static event EventHandler<bool> BuzzerStateChange;
         public static void SetOnOffAction(Action ona, Action offa)

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -4,6 +4,7 @@ using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -29,6 +30,7 @@ namespace DeviceLibrary
         }
         int logType = 1000;
         string WarnMsg = "";
+        Dictionary<DateTime, WaitResultInfo> delaymsg = new Dictionary<DateTime, WaitResultInfo>();
         public bool CheckWait(MoveInfo MoveInfo)
         {
             //当等待超过一分钟时，需要打印提示 
@@ -44,11 +46,26 @@ namespace DeviceLibrary
             {
                 isOk = false;
             }
-
+            foreach (var d in delaymsg.Keys.ToArray())
+            {
+                if (d > DateTime.Now)
+                {
+                    var w = delaymsg[d];
+                    Msg.add("WaitType." + w.WaitType, w.ActionMsg, w.Data);
+                }
+                else
+                {
+                    delaymsg.Remove(d);
+                }
+            }
             MoveInfo.WaitList.ForEach((w) => {
                 if (w.WaitType.Equals(WaitEnum.W014_Msg)) {
                     w.IsEnd = true;
                     Msg.add("WaitType."+ w.WaitType, w.ActionMsg, w.Data);
+                    if (w.TimeMSeconds > 0)
+                    {
+                        delaymsg.Add(DateTime.Now.AddSeconds(w.TimeMSeconds/1000), w);
+                    }
                 }
             });
             foreach (WaitResultInfo wait in MoveInfo.WaitList.ToArray())

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -59,12 +59,12 @@ namespace DeviceLibrary
             //}
 
             if (RobotManage.dauxiKS107.Distance < Setting_Init.Device_Liquid_level_distance) {
-                Msg.add(crc.GetString("Res0163.f6ad5099","冷凝液回收桶已满"), MsgLevel.warning);
+                Msg.add(crc.GetString("Res0163.f6ad5099","冷凝液回收桶已满"), MsgLevel.alarm);
             }
 
 
             if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW)) {
-                Msg.add(crc.GetString("Res0079","未检测到气压信号."), MsgLevel.warning);
+                Msg.add(crc.GetString("Res0079","未检测到气压信号."), MsgLevel.alarm);
             }
 
             //airprocess();

DeviceLibrary/theMachine/MainMachine.cs

@@ -248,6 +248,10 @@ namespace DeviceLibrary
             {
                 return false;
             }
+            if (IOValue(IO_Type.ElecDoor_Check).Equals(IO_VALUE.LOW))
+            {
+                return false;
+            }
             if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.HIGH))
             {
                 return false;
@@ -372,6 +376,7 @@ namespace DeviceLibrary
         public void Stop() {
             mstart = false;
             AutoInOutTest = false;
+            ServerCM.storeStatus = StoreStatus.None;
             ServerCM.StopConnectServer();
             Thread.Sleep(300);
             Alarm(AlarmType.None);
@@ -506,7 +511,22 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
-                Msg.add("printdoor",crc.GetString("Res0134","打印机维护门未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "D03" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
+                    Msg.add("printdoor", crc.GetString("Res0134", "打印机维护门未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+            }
+            if (IOValue(IO_Type.ElecDoor_Check).Equals(IO_VALUE.LOW))
+            {
+                if (!IgnoreSafecheck)
+                {
+                    ok = false;
+                    DeviceSuddenStop();
+                }
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "D04" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
+                    Msg.add("printdoor", crc.GetString("Res0134", "打印机维护门未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
             if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.HIGH))
             {
@@ -515,6 +535,9 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "D01" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
                     Msg.add("leftsafedoor",crc.GetString("Res0097","左侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
             if (IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.HIGH))
@@ -524,11 +547,17 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "D02" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
                     Msg.add("rightsafedoor", crc.GetString("Res0098","右侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
 
             if (IOValue(IO_Type.SafeDoor_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.DoorLock_Check).Equals(IO_VALUE.LOW))
             {
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "D01,D02" + crc.GetString("Res0184.9246169f","上锁失败") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
                     Msg.add(crc.GetString("Res0135","防护门没有锁定"), MsgLevel.warning);
                 DeviceSuddenStop();
                 ok = false;
@@ -536,12 +565,18 @@ namespace DeviceLibrary
 
             if (StoreMoveInfo.MoveStep != MoveStep.Wait && IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW))
             {
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "P01" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
                     Msg.add(crc.GetString("Res0164.37b8d13a","出入库时请关好入库抽屉"), MsgLevel.alarm);
                 DeviceSuddenStop();
                 ok = false;
             }
             if (StoreMoveInfo.MoveStep != MoveStep.Wait && StoreMoveInfo.MoveStep < MoveStep.StoreOut14 && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.LOW))
             {
+                if (Setting_Init.Module_No == Module_SO.SO21637)
+                    Msg.add("printdoor", "P02" + crc.GetString("Res0183.781c71a4","未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                else
                     Msg.add(crc.GetString("Res0165.970b4edb","出入库时请关好出库抽屉"), MsgLevel.alarm);
                 DeviceSuddenStop();
                 ok = false;

DeviceLibrary/theMachine/MainMachine_Labeling.cs

@@ -206,6 +206,8 @@ namespace DeviceLibrary
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling09);
                     RotateEquip.TurnToEnd(false);
                     LabelingMoveInfo.log("滚动回位");
+                    if (Setting_Init.Device_step_by_step_mode)
+                        RobotManage.UserPause();
                     break;
                 case MoveStep.Labeling09:
                     if (RotateEquip.WaitStatus(null))

DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -177,6 +177,8 @@ namespace DeviceLibrary
                             StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
                             LabelingMoveInfo.NewMove(MoveStep.Labeling01);
                             StoreMoveInfo.log($"等待贴标完成");
+                            if (Setting_Init.Device_step_by_step_mode)
+                                RobotManage.UserPause();
                         }
                         else
                         {
@@ -214,6 +216,8 @@ namespace DeviceLibrary
                             StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
                             StoreMoveInfo.log($"收到完成贴标");
                             ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute);
+                            if (Setting_Init.Device_step_by_step_mode)
+                                RobotManage.UserPause();
                         }
                     }
                     else
@@ -239,11 +243,16 @@ namespace DeviceLibrary
                 case MoveStep.StoreIn05:
                     if (!boxTransport.IsComplateOrFree)
                         break;
+
+
                     Setting_Init.Runtime_Step = Runtime_StepE.None;
                     if (StoreMoveInfo.MoveParam.usedCount == 0 && !Setting_Init.Device_Disable_RFID_Check || Setting_Init.Module_No.Val == Module_SO.SO21637)
                     {
                         if (StoreMoveInfo.MoveParam.RFID.Length > 16)
                             StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 16);
+
+                        StoreMoveInfo.Msg(crc.GetString("Res0185.7b3d057f","正在写入RFID"), MsgLevel.info);
+                        ServerCM.RfidMsg = crc.GetString("Res0185.7b3d057f", "正在写入RFID");
                         bool writeok = false;
                         var r=RobotManage.RFID.ReOpen();
                         var r1=RobotManage.RFID2?.ReOpen();
@@ -300,7 +309,7 @@ namespace DeviceLibrary
 
                             if (!writeok)
                             {
-                                var of = i * 2000 * (i % 2 == 0 ? 1 : -1);
+                                var of = i * 3000 * (i % 2 == 0 ? 1 : -1);
                                 var zp = Z_Axis.GetAclPosition() + of;
                                 var yp = Y_Axis.GetAclPosition() + of;
                                 var zt = Z_Axis.AbsMoveASYNC(zp, Config.Z_Axis_P1_speed);
@@ -309,7 +318,8 @@ namespace DeviceLibrary
                             }
                             //Thread.Sleep(100);
                         }
-                        if (!writeok) {
+                        if (!writeok)
+                        {
                             StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
                             StoreMoveInfo.MoveParam.ReelOnFixture = true;
                             StoreMoveInfo.MoveParam.IsNg = true;
@@ -317,8 +327,18 @@ namespace DeviceLibrary
                             StoreMoveInfo.log($"RFID 写入失败 NG");
                             ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.WareCode);
                             Z_Axis.AbsMove(StoreMoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
+                            StoreMoveInfo.Msg(crc.GetString("Res0186.7faa6f6b","RFID 写入失败"), MsgLevel.info, 5);
+                            ServerCM.RfidMsg = crc.GetString("Res0186.7faa6f6b", "RFID 写入失败");
+
+                            if (Setting_Init.Device_step_by_step_mode)
+                                RobotManage.UserPause();
                             return;
                         }
+                        else
+                        {
+                            StoreMoveInfo.Msg(crc.GetString("Res0187.6b2d7028","RFID 写入成功"), MsgLevel.info, 5);
+                            ServerCM.RfidMsg = crc.GetString("Res0187.6b2d7028", "RFID 写入成功");
+                        }
                     }
                     StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
                     from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
@@ -327,6 +347,9 @@ namespace DeviceLibrary
                     StoreMoveInfo.MoveParam.ReelOnFixture = true;
                     boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
                     StoreMoveInfo.log($"开始转运到入库位置");
+
+                    if (Setting_Init.Device_step_by_step_mode)
+                        RobotManage.UserPause();
                     break;
                 case MoveStep.StoreIn06:
                     StoreMoveInfo.NextMoveStep(MoveStep.StoreIn07);
@@ -409,6 +432,8 @@ namespace DeviceLibrary
                         StoreMoveInfo.NewMove(MoveStep.StoreIn01);
                     else
                         StoreMoveInfo.NewMove(MoveStep.Wait);
+
+                    ServerCM.RfidMsg = "";
                     break;
                 case MoveStep.StoreOut10:
                     if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
@@ -566,7 +591,8 @@ namespace DeviceLibrary
 
                         StoreMoveInfo.MoveParam.ReelOnFixture = true;
                         boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
-
+                        if (Setting_Init.Device_step_by_step_mode)
+                            RobotManage.UserPause();
                     }
                     break;
                 case MoveStep.StoreOut12:

DeviceLibrary/theMachine/MoveInfo.cs

@@ -136,9 +136,9 @@ namespace DeviceLibrary
                 LogUtil.error(msg);
             }
         }
-        public void Msg(string msg, MsgLevel msgLevel)
+        public void Msg(string msg, MsgLevel msgLevel, int keepsec = 0)
         {
-            WaitList.Add(WaitResultInfo.WaitMsg(msg, msgLevel));
+            WaitList.Add(WaitResultInfo.WaitMsg(msg, msgLevel, keepsec));
         }
     }
 
@@ -222,11 +222,12 @@ namespace DeviceLibrary
             wait.ActionMsg = msg;
             return wait;
         }
-        public static WaitResultInfo WaitMsg(string msg, MsgLevel msgLevel)
+        public static WaitResultInfo WaitMsg(string msg, MsgLevel msgLevel, int keepsec=0)
         {
             WaitResultInfo wait = new WaitResultInfo();
             wait.WaitType = WaitEnum.W014_Msg;
             wait.ActionMsg = msg;
+            wait.TimeMSeconds = keepsec*1000;
             wait.IsEnd = true;
             wait.Data = msgLevel;
             return wait;

LoadCVSLibrary/CSVReaderBase.cs

@@ -150,7 +150,7 @@ namespace OnlineStore.LoadCSVLibrary
             for (int i = 0; i < array.Length; i++)
             {
                 string title = array[i];
-                if (cvsTitleList.Contains(title))
+                //if (cvsTitleList.Contains(title))
                 {
                     titleIndex.Add(title, i);
                 }

LoadCVSLibrary/Config/Config.csv

@@ -52,6 +52,7 @@ DI,0,锡膏定位翻转水平端,Tin_Dock_Flip_Horizontal,28,HC,X28,,,,,,,,,,
 DI,0,锡膏定位翻转垂直端,Tin_Dock_Flip_Vertical,29,HC,X29,,,,,,,,,,
 DI,0,锡膏定位旋转水平端,Tin_Dock_Rotate_Horizontal,30,HC,X30,,,,,,,,,,
 DI,0,锡膏定位旋转垂直端,Tin_Dock_Rotate_Vertical,31,HC,X31,,,,,,,,,,
+DI,0,电器柜门禁,ElecDoor_Check,32,HC,X32,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,自动指示灯,AuroRun_Led,0,HC,Y00,,,,,,,,,,
 DO,0,故障指示灯,Alarm_Led,1,HC,Y01,,,,,,,,,,

LoadCVSLibrary/position/CSVPositionReader.cs

@@ -263,7 +263,7 @@ namespace OnlineStore.LoadCSVLibrary
                         string value = array[csvIndex];
                         if (value.Equals(position.PositionNum))
                         {
-                            string newValue = PostionToString(position, titleIndex, proTitleMap);
+                            string newValue = PostionToString(position, titleIndex, proTitleMap, array);
                             lines[index] = newValue;
                             return WriteCSVFile(filePath, lines);
                         }
@@ -274,13 +274,13 @@ namespace OnlineStore.LoadCSVLibrary
             return true;
         } 
 
-        private static string PostionToString(StorePostionBase position, Dictionary<string, int> titleIndex, Dictionary<string, string> proTitleMap)
+        private static string PostionToString(StorePostionBase position, Dictionary<string, int> titleIndex, Dictionary<string, string> proTitleMap, string[] oldline)
         {
             //取得属性集合
             PropertyInfo[] props = typeof(T).GetProperties();
             List<string> cvsTitleList = new List<string>(proTitleMap.Values);
             List<string> propertyList = new List<string>(proTitleMap.Keys);
-            String[] array = new String[titleIndex.Count];
+            String[] array = oldline.ToArray();
             foreach (string proName in proTitleMap.Keys)
             {
                 PropertyInfo prop = props.First(c => c.Name == proName);//获取同名属性

LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -52,6 +52,10 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         public static string RightDoor_Check = "RightDoor_Check";
         /// <summary>
+        ///  DI,0,电器柜门禁,RightDoor_Check,32,HC,X32,,,,,,,,,,
+        /// </summary>
+        public static string ElecDoor_Check = "ElecDoor_Check";
+        /// <summary>
         ///  DI,0,门禁锁定监控,DoorLock_Check,6,HC,X06,,,,,,,,,,
         /// </summary>
         public static string DoorLock_Check = "DoorLock_Check";

TheMachine/Program.cs

@@ -74,12 +74,14 @@ namespace TheMachine
 
         private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
         {
-            LogUtil.error(e.ToString());
+            LogUtil.error("CurrentDomain_UnhandledException:" + e.ToString());
+            LogUtil.error("CurrentDomain_UnhandledException:" + e.ExceptionObject.ToString());
         }
 
         private static void Application_ThreadException(object sender, ThreadExceptionEventArgs e)
         {
-            LogUtil.error(e.ToString());
+            LogUtil.error("Application_ThreadException:" + e.ToString());
+            LogUtil.error("Application_ThreadException:" + e.Exception.ToString());
         }