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Commit 79e944f8 由 刘韬
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1 个父辈 82303d25
内嵌 并排
正在显示 21 个修改的文件 包含 832 行增加 和 308 行删除
CT时间.xlsx 0 → 100644
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Common/CodeResourceControl.cs
......@@ -283,14 +283,16 @@ namespace OnlineStore
}
private static void PreControlLanaguage(Control partentControl, string className)
{
string newStr = "";
//Con_GetTxt(partentControl, out string title);
//string newStr = GetString(GetTextIdStr(className, partentControl.Name), title);
//if (!newStr.Equals(""))
//{
//Con_SetTxt(partentControl, newStr.Replace("\\n", "\n"));
//}
{
if (className.IndexOf('_') < 0)
{
Con_GetTxt(partentControl, out string title);
string newStr = GetString(GetTextIdStr(className, partentControl.Name), title);
if (!newStr.Equals(""))
{
Con_SetTxt(partentControl, newStr.Replace("\\n", "\n"));
}
}
foreach (Control con in partentControl.Controls)
{
string txt = "";
......@@ -303,7 +305,7 @@ namespace OnlineStore
if (Con_GetTxt(con, out txt))
{
newStr = GetString(GetTextIdStr(className, con.Name), txt);
var newStr = GetString(GetTextIdStr(className, con.Name), txt);
if (!newStr.Equals(""))
{
Con_SetTxt(con, newStr.Replace("\\n", "\n"));
......
Common/Setting_Init.cs
......@@ -85,7 +85,7 @@ namespace OnlineStore.Common
public static MyConfig<string> Runtime_Posid = "";
public static MyConfig<string> Runtime_RFID = "";
public static MyConfig<string> Runtime_PN = "";
public static MyConfig<string> Runtime_WareCode = "";
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -106,6 +106,7 @@
<Compile Include="theMachine\MainMachine _Common.cs" />
<Compile Include="theMachine\MainMachine _AutoInOutTest.cs" />
<Compile Include="theMachine\MainMachine_Labeling.cs" />
<Compile Include="theMachine\MainMachine_RFIDSelftest.cs" />
<Compile Include="theMachine\MainMachine_StoreDemo.cs" />
<Compile Include="theMachine\MainMachine _IOMonitor.cs" />
<Compile Include="theMachine\MainMachine _LedProcess.cs" />
......
DeviceLibrary/DeviceLibrary/CodeManager.cs
......@@ -189,7 +189,8 @@ namespace DeviceLibrary
string bitmapfilename = "";
if (cameraNameList == null || cameraNameList.Count <= 0)
{
throw new Exception("CameraScan方法没有传入相机名称.");
return new List<CodeInfo>();
//throw new Exception("CameraScan方法没有传入相机名称.");
}
try
......@@ -385,5 +386,122 @@ namespace DeviceLibrary
return "";
}
}
static Bitmap bufferBmp = null;
[HandleProcessCorruptedStateExceptions]
public static bool TakePicture(List<string> cameraNameList)
{
if (cameraNameList == null || cameraNameList.Count <= 0)
{
return false;
}
try
{
var cameraName = cameraNameList[0];
int retrytime = 0;
retry:
LogUtil.info($"【" + cameraName + "】开始取图片");
if (cameraName.Trim().Equals(""))
{
return false;
}
DateTime startTime = DateTime.Now;
try
{
_ = Camera._cam.CaptureOnImage(cameraName, out bufferBmp, true);
if (bufferBmp == null)
{
if (retrytime > 2)
return false;
retrytime++;
LoadCamera(true);
LogUtil.info($"bitmap为空重试第{retrytime}次");
Task.Delay(1500).Wait();
goto retry;
}
LogUtil.info(" 【" + cameraName + "】取图片完成:"+(DateTime.Now- startTime).TotalSeconds.ToString());
return true;
}
catch (AccessViolationException e)
{
LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName);
}
catch (Exception ex)
{
LogUtil.error(" 扫码出错：" + ex.ToString());
}
finally
{
}
}
catch (AccessViolationException e)
{
LogUtil.error(" 扫码出现AccessViolationException异常：" + e.ToString());
//throw new Exception("扫码出现AccessViolationException异常");
// GC.Collect();
}
catch (Exception ex)
{
LogUtil.error(" 扫码出错：" + ex.ToString());
//throw new Exception("扫码出错");
}
return false;
}
[HandleProcessCorruptedStateExceptions]
public static List<CodeInfo> ScanCode()
{
HashSet<string> codestr = new HashSet<string>();
List<CodeInfo> codeList = new List<CodeInfo>();
string bitmapfilename = "";
DateTime startTime = DateTime.Now;
try
{
if (bufferBmp == null) {
LogUtil.error("没有缓存的图像");
return new List<CodeInfo>();
}
string r = "";
RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
{
codeTypeList = codeTypeList.ToArray(),
codeCount = QRCodeCount,
timeout = CodeTimeOut
};
List<CodeInfo> cc = new List<CodeInfo>();
cc = RemoteDecodeHelper.DecodeRequest(bufferBmp, remoteDecodeParam);
if (cc != null)
{
lock (codeList)
{
cc.ForEach((c) =>
{
c.CodeStr = CodeManager.ReplaceCode(c.CodeStr);
if (!codestr.Contains(c.CodeStr))
{
codeList.Add(c);
codestr.Add(c.CodeStr);
r += "##" + c.CodeStr;
}
});
}
}
else
{
bitmapfilename = SaveImageToFile("mimo", "", bufferBmp);
}
LogUtil.info(" 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
}
catch (Exception ex)
{
LogUtil.error(" 扫码出错：" + ex.ToString());
}
return codeList;
}
}
}
DeviceLibrary/DeviceLibrary/CylinderManger.cs
......@@ -41,7 +41,13 @@ namespace DeviceLibrary
Resume();
LogUtil.info($"{Name},设置{High}=Low");
}
public bool IsHigh {
get => IOManager.IOValue(High).Equals(IO_VALUE.HIGH);
}
public bool IsLow
{
get => IOManager.IOValue(Low).Equals(IO_VALUE.HIGH);
}
public void Pause()
{
LogUtil.info($"{Name},停止运行");
......
DeviceLibrary/DeviceLibrary/LimitedRotary.cs
......@@ -82,7 +82,7 @@ namespace DeviceLibrary
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
axisBean.RelMove(len, (double)upspeed);
moveInfo.log($"{checkio}");
//moveInfo.log($"{checkio}");
while (!IOManager.IOValue(checkio).Equals(IO_VALUE.HIGH))
{
Task.Delay(30).Wait();
......@@ -101,6 +101,7 @@ namespace DeviceLibrary
Task.Delay(100).Wait();
axisBean.SuddenStop();
moveInfo.log($"{axisBean.AxisName},转到位");
degreeAdd = 0;
return true;
}
finally
......@@ -114,8 +115,8 @@ namespace DeviceLibrary
});
}
public Task TurnWork;
public void TurnDegree(int degree) {
TurnWork=Task.Run(()=>
public Task TurnDegree(int degree) {
return TurnWork=Task.Run(()=>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
......@@ -135,7 +136,7 @@ namespace DeviceLibrary
{
TurnToEnd(true).Wait();
}
moveInfo.log($"len:{len}");
//moveInfo.log($"len:{len}");
axisBean.RelMove(len*-1, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy) {
......@@ -216,6 +217,8 @@ namespace DeviceLibrary
TurnToEnd(true, true).Wait();
TurnToEnd(false, false).Wait();
TurnToEnd(true, true).Wait();
//TurnToEnd(false, false).Wait();
//TurnDegree(-20).Wait();
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Release).Equals(IO_VALUE.HIGH))
{
......@@ -225,9 +228,11 @@ namespace DeviceLibrary
TurnToEnd(false).Wait();
});
}
public void TurnRound2()
int degreeAdd = 0;
public Task LockAndTurnDegree(int degree)
{
TurnWork = Task.Run(() =>
return TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
......@@ -238,53 +243,51 @@ namespace DeviceLibrary
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
var len = (int)(StrokeLength / 90 * 45);
if (len > 0)
{
TurnToEnd(false).Wait();
}
moveInfo.log($"len:{len}");
axisBean.RelMove(len * -1, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy)
var len = (int)(StrokeLength / 90 * degree);
if (Math.Abs(degreeAdd + degree) > 90)
{
Task.Delay(50).Wait();
if (len > 0)
{
TurnToEnd(true).Wait();
}
else if (len < 0)
{
TurnToEnd(false).Wait();
}
}
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
{
Task.Delay(100).Wait();
}
axisBean.RelMove(len * -1, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy)
{
Task.Delay(50).Wait();
}
axisBean.RelMove(len * 2, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy)
{
Task.Delay(50).Wait();
Task.Delay(30).Wait();
}
//moveInfo.log($"len:{len}");
axisBean.RelMove(len * -1, (double)upspeed);
Task.Delay(50).Wait();
while (axisBean.IsBusy)
{
Task.Delay(50).Wait();
}
RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Release).Equals(IO_VALUE.HIGH))
degreeAdd += degree;
});
}
public Task UnLock()
{
return TurnWork = Task.Run(() =>
{
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
Task.Delay(100).Wait();
moveInfo.log($"急停未解除");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
TurnToEnd(false).Wait();
});
}
public void SetWaitResultInfo(MoveInfo moveInfo)
public void SetWaitResultInfo(MoveInfo moveInfo)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitStatus), $"等待[{axisBean.Config.Explain}]机构完成"));
}
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
......@@ -351,26 +351,26 @@ namespace DeviceLibrary
if (dataMap.ContainsKey(ParamDefine.openInLock) && dataMap[ParamDefine.openInLock].Equals(ParamDefine.doit))
{
LogUtil.info(StoreName + "收到服务器命令：openInLock=doit");
IOManager.IOMove(IO_Type.Entry_Drawer_Lock,IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Entry_Drawer_Lock,IO_VALUE.LOW);
result = "";
}
else if (dataMap.ContainsKey(ParamDefine.closeInLock) && dataMap[ParamDefine.closeInLock].Equals(ParamDefine.doit))
{
LogUtil.info(StoreName + "收到服务器命令：closeInLock=doit");
IOManager.IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
result = "";
}
if (dataMap.ContainsKey(ParamDefine.openOutLock) && dataMap[ParamDefine.openOutLock].Equals(ParamDefine.doit))
{
LogUtil.info(StoreName + "收到服务器命令：openOutLock=doit");
IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
result = "";
}
else if (dataMap.ContainsKey(ParamDefine.closeOutLock) && dataMap[ParamDefine.closeOutLock].Equals(ParamDefine.doit))
{
LogUtil.info(StoreName + "收到服务器命令：closeOutLock=doit");
IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
result = "";
}
if (!result.Equals(""))
......@@ -406,11 +406,11 @@ namespace DeviceLibrary
else if (IOManager.IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
{
map[ParamDefine.inDoorStatus] = ParamDefine.open;
map[ParamDefine.inDoorStatus] = ParamDefine.close;
}else if (IOManager.IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
{
map[ParamDefine.inDoorStatus] = ParamDefine.close;
map[ParamDefine.inDoorStatus] = ParamDefine.open;
}
if (IOManager.IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
......@@ -419,12 +419,12 @@ namespace DeviceLibrary
else if (IOManager.IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
{
map[ParamDefine.outDoorStatus] = ParamDefine.open;
map[ParamDefine.outDoorStatus] = ParamDefine.close;
}
else if (IOManager.IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.LOW)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
{
map[ParamDefine.outDoorStatus] = ParamDefine.close;
map[ParamDefine.outDoorStatus] = ParamDefine.open;
}
......@@ -652,7 +652,7 @@ namespace DeviceLibrary
public string msg { get; set; }
public Dictionary<string, string> data { get; set; }
public Dictionary<string, object> data { get; set; }
}
/// <summary>
///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
......
DeviceLibrary/theMachine/BoxTransport.cs
......@@ -72,7 +72,7 @@ namespace DeviceLibrary
WareCode = "NG";
To = to.clone();
MoveInfo.NewMove(MoveStep.StoreTS20);
MoveInfo.log($"{storeMoveType}:开始运输料盘,直接到:{to.posid}");
MoveInfo.log($"{storeMoveType}:开始运输物料,直接到:{to.posid}");
MoveInfo.MoveParam.PosID = $"NA=>{To.posid}";
}
else
......@@ -82,7 +82,7 @@ namespace DeviceLibrary
To = to.clone();
ignoreFixtureCheck = Common.IsNeedIgnoreFixtureCheck(WareCode);
MoveInfo.NewMove(MoveStep.StoreTS01);
MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid},WareCode:{WareCode},ignoreFixtureCheck:{ignoreFixtureCheck}");
MoveInfo.log($"{storeMoveType}:开始运输物料,从:{from.posid},到:{to.posid},WareCode:{WareCode},ignoreFixtureCheck:{ignoreFixtureCheck}");
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
MoveInfo.MoveParam.ReelOnFixture = From.Reel.ReelOnFixture;
......@@ -91,7 +91,7 @@ namespace DeviceLibrary
FromCheckOffset = CalcOffset(From.posid);
ToCheckOffset = CalcOffset(To.posid);
MoveInfo.MoveParam.WareCode = WareCode;
MoveInfo.log($"确认检查偏移: FromCheckOffset={FromCheckOffset},ToCheckOffset={ToCheckOffset}");
//MoveInfo.log($"确认检查偏移: FromCheckOffset={FromCheckOffset},ToCheckOffset={ToCheckOffset}");
ErrMsgTxt = "";
return true;
//thread = new Thread(new ThreadStart(Run));
......@@ -112,27 +112,26 @@ namespace DeviceLibrary
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS02);
MoveInfo.log($"{storeMoveType}:检查安全状态");
MoveInfo.log($"{storeMoveType}:开始");
break;
case MoveStep.StoreTS02:
if (MoveInfo.MoveParam.ReelOnFixture) {
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
MoveInfo.log($"{storeMoveType}:料盘已在料叉上");
}
else
{
case MoveStep.StoreTS02:
MoveInfo.NextMoveStep(MoveStep.StoreTS03);
if (From.posid != MainMachine.LabelP)
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴返回待机点P1");
}
//MoveInfo.log($"{storeMoveType}:Z轴返回待机点P1");
break;
case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
if (MoveInfo.MoveParam.ReelOnFixture)
{
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
MoveInfo.log($"{storeMoveType}:物料已在夹爪上");
}else
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
Y_Axis.AbsMove(MoveInfo, From.Y_Axis_P2 + FromCheckOffset, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达取料点偏移点{From.Y_Axis_P2}+{FromCheckOffset}");
//MoveInfo.log($"{storeMoveType}:Y轴到达取料点偏移点");
X_Axis.AbsMove(MoveInfo, From.X_Axis_P2, Config.X_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:X轴到达取料检测{From.X_Axis_P2}");
MoveInfo.log($"{storeMoveType}:XY轴到达取料检测,X:{From.X_Axis_P2},Y:{From.Y_Axis_P2}+{FromCheckOffset}");
break;
case MoveStep.StoreTS04:
if (CheckPosStatus(MoveInfo, From.posid))
......@@ -142,7 +141,7 @@ namespace DeviceLibrary
if (zp2 < 0)
zp2 = 0;
Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达取料前点{From.Z_Axis_P2}");
MoveInfo.log($"{storeMoveType}:Z轴到达取料前点,{From.Z_Axis_P2}");
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.LOW);
MoveInfo.log($"{storeMoveType}:松开夹爪");
IgnoreX09 = false;
......@@ -160,7 +159,7 @@ namespace DeviceLibrary
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
MoveInfo.log($"{storeMoveType}:检测有料");
MoveInfo.log($"{storeMoveType}:检测有物料");
}
break;
case MoveStep.StoreTS06:
......@@ -177,7 +176,7 @@ namespace DeviceLibrary
case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09);
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.HIGH);
Setting_Init.Runtime_Posid = To.posid;
//Setting_Init.Runtime_Posid = To.posid;
if (storeMoveType== StoreMoveType.InStore && To.posid==MainMachine.LabelP)
Setting_Init.Runtime_Step = Runtime_StepE.InToLabel;
if (storeMoveType == StoreMoveType.InStore && To.posid != MainMachine.LabelP)
......@@ -189,7 +188,10 @@ namespace DeviceLibrary
break;
case MoveStep.StoreTS09:
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
if (From.posid == MainMachine.LabelP && To.posid== MainMachine.RFIDP)
Z_Axis.AbsMove(MoveInfo, To.Z_Axis_P3, Config.Z_Axis_P1_speed);
else
Z_Axis.AbsMove(MoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达待机点");
break;
case MoveStep.StoreTS10:
......@@ -201,9 +203,8 @@ namespace DeviceLibrary
case MoveStep.StoreTS20:
MoveInfo.NextMoveStep(MoveStep.StoreTS21);
Y_Axis.AbsMove(MoveInfo, To.Y_Axis_P2+ ToCheckOffset, Config.Y_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Y轴到达目的地偏移点:{To.Y_Axis_P2}+{ToCheckOffset}");
X_Axis.AbsMove(MoveInfo, To.X_Axis_P2, Config.X_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:X轴到达目的地检测:{To.X_Axis_P2}");
MoveInfo.log($"{storeMoveType}:XY轴到达目的地检测,X:{To.X_Axis_P2},Y:{To.Y_Axis_P2}+{ToCheckOffset}");
break;
case MoveStep.StoreTS21:
if (CheckPosStatus(MoveInfo, To.posid)) {
......@@ -213,6 +214,12 @@ namespace DeviceLibrary
case MoveStep.StoreTS22:
MoveInfo.NextMoveStep(MoveStep.StoreTS23);
MoveInfo.log($"{storeMoveType}:Z轴到达入库前点");
if (From.posid == MainMachine.LabelP && To.posid == MainMachine.RFIDP)
{
MoveInfo.NextMoveStep(MoveStep.StoreTS29);
MoveInfo.log("LabelP=>RFIDP 直接结束");
}
else
{
var zp2 = To.Z_Axis_P3 - 205000;
if (zp2 < 0)
......@@ -288,7 +295,7 @@ namespace DeviceLibrary
break;
case MoveStep.StoreTS29:
MoveInfo.log($"{storeMoveType}:转移料盘完成");
MoveInfo.log($"{storeMoveType}:转移物料完成");
MoveInfo.EndMove();
ErrMsgTxt = "";
To.posid = "";
......@@ -351,21 +358,36 @@ namespace DeviceLibrary
}
else if (Regex.IsMatch(posid,"^S[A-G]"))
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return true;
if (RobotManage.mainMachine.TPMove.IsLow)
return true;
else
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return false;
}
}
else if (Regex.IsMatch(posid, "^S[H-N][1-6]$"))
{
RobotManage.mainMachine.TPMove.ToHigh(moveInfo);
moveInfo.log($"{posid},上层库位移至右侧");
return true;
if (RobotManage.mainMachine.TPMove.IsHigh)
return true;
else
{
RobotManage.mainMachine.TPMove.ToHigh(moveInfo);
moveInfo.log($"{posid},上层库位移至右侧");
return false;
}
}
else if (Regex.IsMatch(posid, "^S[H-N]([7-9]|\\d{2})$"))
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return true;
if (RobotManage.mainMachine.TPMove.IsLow)
return true;
else
{
RobotManage.mainMachine.TPMove.ToLow(moveInfo);
moveInfo.log($"{posid},上层库位移至左侧");
return false;
}
}
else {
//moveInfo.log($"{posid},未知库位");
......
DeviceLibrary/theMachine/CameraPointTest.cs
......@@ -123,10 +123,8 @@ namespace DeviceLibrary
}
}
static List<int> TestStorePoint(Bitmap bmp, TestStorePointPort tp)
public static List<int> TestStorePoint(Bitmap bmp, TestStorePointPort tp)
{
if (bmp == null)
return new List<int>();
//TestStorePointEvent?.Invoke(tp, bmp);
......@@ -137,7 +135,9 @@ namespace DeviceLibrary
}
List<Point> points = CameraData[Name].ObjectPoint;
if (bmp == null)
return new List<int>(points.Count);
List<int> haslist = new List<int>();
var bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, bmp.PixelFormat);
try
......@@ -148,9 +148,9 @@ namespace DeviceLibrary
p.X = p.X - 8;
p.Y = p.Y - 8;
var cl = new List<ColorHSV>();
for (int j = 0; j < 16; j++)
for (int j = 0; j < 32; j++)
{
for (int k = 0; k < 16; k++)
for (int k = 0; k < 32; k++)
{
var x = p.X + j;
var y = p.Y + k;
......@@ -257,11 +257,11 @@ namespace DeviceLibrary
int errlinecount = 0;
try {
for (int i = 0; i < height; i++)
for (int i = 0; i < height; i=i+2)
{
int linecount = 0;
for (int j = 0; j < width; j++)
for (int j = 0; j < width; j=j+3)
{
var x = Start.X+ j;
var y = Start.Y + height - i;
......@@ -281,7 +281,7 @@ namespace DeviceLibrary
Marshal.WriteByte(bd.Scan0, addr, 0);
}
}
if (linecount < width * 0.6)
if (linecount*3 < width * 0.6)
{
errlinecount++;
HeightCount = 0;
......@@ -293,7 +293,7 @@ namespace DeviceLibrary
}
else {
HeightCount++;
if (HeightCount > 50) {
if (HeightCount*2 > 50) {
return true;
}
}
......
DeviceLibrary/theMachine/MainMachine _IOMonitor.cs
......@@ -14,9 +14,34 @@ namespace DeviceLibrary
{
partial class MainMachine
{
bool MaterialDoorOpen = false;
public bool LeftDoorOpen = false;
public bool RightDoorOpen = false;
public bool PrintDoorOpen = false;
void ioMonitor()
{
//if (!PrintDoorOpen && IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.HIGH))
//{
// IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);
//}
//else
//{
// PrintDoorOpen = false;
//}
//if (!LeftDoorOpen && IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.LOW))
//{
// IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
//}
//else {
// LeftDoorOpen = false;
//}
//if (!RightDoorOpen && IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.LOW))
//{
// IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
//}
//else
//{
// RightDoorOpen = false;
//}
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);
}
......
DeviceLibrary/theMachine/MainMachine _LedProcess.cs
......@@ -18,6 +18,7 @@ namespace DeviceLibrary
{
Led AlarmLed;
Led StandbyLed;
Led RunningLed;
public Dictionary<MachineLedStateE, Dictionary<LedColor, LedState>> MachineLedState = new Dictionary<MachineLedStateE, Dictionary<LedColor, LedState>>();
public Dictionary<MachineLedStateE, string> MachineLedStateName = new Dictionary<MachineLedStateE, string>();
......@@ -82,11 +83,11 @@ namespace DeviceLibrary
MachineLedStateName[MachineLedStateE.SystemPause] = crc.GetString("Res0084","暂停");
MachineLedState.Add(MachineLedStateE.SystemPause, nls(LedState.blink, LedState.off, LedState.blink));
//温湿度超限30分钟. 红闪,黄闪
MachineLedStateName[MachineLedStateE.THoutRangeOver30m] = crc.GetString("Res0085","温湿度超限30分钟");
MachineLedState.Add(MachineLedStateE.THoutRangeOver30m, nls(LedState.blink, LedState.blink, LedState.none));
//MachineLedStateName[MachineLedStateE.THoutRangeOver30m] = crc.GetString("Res0085","温湿度超限30分钟");
//MachineLedState.Add(MachineLedStateE.THoutRangeOver30m, nls(LedState.blink, LedState.blink, LedState.none));
//温湿度超限 绿闪黄闪
MachineLedStateName[MachineLedStateE.THoutRange] = crc.GetString("Res0086","温湿度超限");
MachineLedState.Add(MachineLedStateE.THoutRange, nls(LedState.none, LedState.blink, LedState.blink));
//MachineLedStateName[MachineLedStateE.THoutRange] = crc.GetString("Res0086","温湿度超限");
//MachineLedState.Add(MachineLedStateE.THoutRange, nls(LedState.none, LedState.blink, LedState.blink));
//进出库, 绿亮,黄闪
MachineLedStateName[MachineLedStateE.InOut] = crc.GetString("Res0087","出入库中");
MachineLedState.Add(MachineLedStateE.InOut, nls(LedState.none, LedState.blink, LedState.on));
......@@ -111,7 +112,7 @@ namespace DeviceLibrary
foreach (var ledcolor in ledcfg.Keys)
{
if (!Led.LedColors.ContainsKey(ledcolor) || ledcfg[ledcolor] == LedState.none)
return;
continue;
Led.LedColors[ledcolor].LedState = ledcfg[ledcolor];
}
}
......@@ -137,22 +138,6 @@ namespace DeviceLibrary
//StandbyLed.LedState = LedState.blink;
ProcessLefCfg(MachineLedStateE.InOut);
}
//温度超限 绿亮 黄闪
if (IsTHoutRange())
{
//RunningLed.LedState = LedState.on;
//StandbyLed.LedState = LedState.blink;
ProcessLefCfg(MachineLedStateE.THoutRange);
}
//温度超限30分钟 绿亮 黄闪 红闪
if (IsTHoutRangeOver30m())
{
//RunningLed.LedState = LedState.on;
//StandbyLed.LedState = LedState.blink;
//AlarmLed.LedState = LedState.blink;
ProcessLefCfg(MachineLedStateE.THoutRangeOver30m);
}
//系统暂停,说明书未定义, 绿闪, 红闪
if (!canRunning || UserPause)
{
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -85,6 +85,7 @@ namespace DeviceLibrary
AIOTMoveInfo = new MoveInfo(crc.GetString("Res0091","出入库测试"));
#region 初始化led灯
RunningLed = new Led(Config.DOList[IO_Type.AuroRun_Led].GetIOAddr(), LedColor.green);
StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
#endregion
......@@ -118,13 +119,35 @@ namespace DeviceLibrary
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
IOMonitor.RegisterIO(IO_Type.AutoRun_Single, Config, IO_VALUE.HIGH, Run_BTN, 2500,100);
IOMonitor.RegisterIO(IO_Type.Entry_Drawer, Config, IO_VALUE.LOW, Entry_Drawer_Open, 2500,100);
IOMonitor.RegisterIO(IO_Type.Entry_Drawer, Config, IO_VALUE.LOW, Entry_Drawer_Open, 1500,100);
IOMonitor.RegisterIO(IO_Type.Entry_Drawer, Config, IO_VALUE.HIGH, Entry_Drawer_Close, 1500,100);
IOMonitor.RegisterIO(IO_Type.Out_Drawer, Config, IO_VALUE.HIGH, Out_Drawer_Close, 1500,100);
IOMonitor.RegisterIO(IO_Type.RightDoor_Check, Config, IO_VALUE.LOW, RightDoor_Close, 1500,100);
IOMonitor.RegisterIO(IO_Type.LeftDoor_Check, Config, IO_VALUE.LOW, LeftDoor_Close, 1500,100);
IOMonitor.RegisterIO(IO_Type.PrinterDoor_Check, Config, IO_VALUE.HIGH, PrinterDoor_Close, 1500,100);
LedProcessInit();
}
private void Entry_Drawer_Open()
{
nglist = new List<string>();
}private void RightDoor_Close()
{
IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
}private void LeftDoor_Close()
{
IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
}private void PrinterDoor_Close()
{
IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);
}
private void Entry_Drawer_Close()
{
CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
}
private void Out_Drawer_Close()
{
CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
}
private (bool, string) Y_Axis_interference(int from, int to)
......@@ -164,6 +187,8 @@ namespace DeviceLibrary
while (mstart) {
try
{
Thread.Sleep(200);
ioMonitor();
canRunning = DeviceCheck();
if (canRunning)
{
......@@ -172,12 +197,12 @@ namespace DeviceLibrary
//if (canRunning && !lastSafeCheckStatus){}
//lastSafeCheckStatus = canRunning;
}
Thread.Sleep(200);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
ioMonitor();
boxTransport.Process();
if (RobotManage.InoutDebugMode)
AutoInOutTestProcess();
......@@ -233,6 +258,21 @@ namespace DeviceLibrary
public void Start() {
ServerCM.StartConnectServer();
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
LeftDoorOpen = false;
RightDoorOpen = false;
PrintDoorOpen = false;
if (IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);
}
if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
}
if (IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
}
Run();
}
public void Stop() {
......@@ -271,6 +311,7 @@ namespace DeviceLibrary
{
case MoveStep.H01_HomeReset:
ServerCM.storeStatus = StoreStatus.ResetMove;
OutStoreJobList.ClearLastPosid();
if (IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.LOW)) {
Msg.add(crc.GetString("Res0094","入料抽屉没有关闭"), MsgLevel.alarm);
return;
......@@ -280,17 +321,7 @@ namespace DeviceLibrary
Msg.add(crc.GetString("Res0095","出料抽屉没有关闭"), MsgLevel.alarm);
return;
}
if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW))
{
if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
//LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
//StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
Msg.add("重置前物料正在贴标,无法继续,请手动处理", MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause("重置前物料正在贴标,无法继续,请手动处理");
}
}
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
ResetMoveInfo.log("锁定抽屉");
IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
......@@ -320,9 +351,26 @@ namespace DeviceLibrary
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
FlipEquip.LiftUp(ResetMoveInfo);
Z_Axis.AbsMove(ResetMoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
X_Axis.AbsMove(ResetMoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
Y_Axis.AbsMove(ResetMoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW))
{
if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
//LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
//StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
Msg.add("重置前物料正在贴标,无法继续,请手动处理", MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause("重置前物料正在贴标,无法继续,请手动处理");
}
}
break;
case MoveStep.HEND_HomeReset:
forceHome = false;
......@@ -353,26 +401,44 @@ namespace DeviceLibrary
bool SafeCheck() {
bool ok = true;
var ignorestring = "[" + crc.GetString("Res0096","已忽略") + "]";
if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.LOW))
if (IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0097","左侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning);
Msg.add("打印机维护门未关闭" + (ok ? ignorestring : ""), MsgLevel.alarm);
}
if (IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.LOW))
if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.HIGH))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0098","右侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning);
Msg.add(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))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(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))
{
Msg.add("防护门没有锁定", MsgLevel.warning);
DeviceSuddenStop();
ok = false;
}
if (!lastSafeCheckStatus && ok)
{
SafetyDevice.ResumeAll();
}
lastSafeCheckStatus = ok;
......@@ -403,7 +469,7 @@ namespace DeviceLibrary
isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
if (UserPause)
{
Msg.add(crc.GetString("Res0099","系统暂停"), MsgLevel.warning);
Msg.add(crc.GetString("Res0099", "系统暂停"), MsgLevel.warning);
DeviceSuddenStop();
lastSafeCheckStatus = false;
ok = false;
......@@ -412,17 +478,19 @@ namespace DeviceLibrary
else if (isInSuddenDown)
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("Res0100","急停中"), MsgLevel.alarm);
Msg.add(crc.GetString("Res0100", "急停中"), MsgLevel.alarm);
ok = false;
}
else if (alarmType != AlarmType.None) {
else if (alarmType != AlarmType.None)
{
//if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
//{
// Alarm(AlarmType.None);
//}
//else
{
Msg.add(crc.GetString("Res0101","系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
Msg.add(crc.GetString("Res0101", "系统需要重置"), MsgLevel.alarm, ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
ok = false;
}
......
DeviceLibrary/theMachine/MainMachine_Labeling.cs
......@@ -7,6 +7,7 @@ using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
namespace DeviceLibrary
......@@ -28,29 +29,42 @@ namespace DeviceLibrary
case MoveStep.Labeling01:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling02);
FlipEquip.LiftDown(LabelingMoveInfo);
LabelingMoveInfo.log("翻转机构下降");
LabelingMoveInfo.log("进入扫码贴标机构");
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.LOW);
break;
case MoveStep.Labeling02:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.HIGH);
LabelingMoveInfo.log("锡膏横移到右侧");
//LabelingMoveInfo.log("锡膏横移到右侧");
ScanTimes = 0;
CodeList = new List<CodeInfo>();
LabelingMoveInfo.MoveParam = new ReelParam();
break;
case MoveStep.Labeling03:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
RotateEquip.TurnDegree(30);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelingMoveInfo.log("滚动锡膏");
RotateEquip.LockAndTurnDegree(-20);
break;
case MoveStep.Labeling04:
if (RotateEquip.TurnWork.IsCompleted) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling05);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ScanCode();
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04a);
TakePicture();
}
break;
case MoveStep.Labeling04a:
if (IsTackPictureFinish)
{
if (TakePictureTask.Result)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling05);
RotateEquip.LockAndTurnDegree(-20);
ScanCode();
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
LabelingMoveInfo.log("拍照失败,重试");
}
}
break;
case MoveStep.Labeling05:
......@@ -61,32 +75,23 @@ namespace DeviceLibrary
LabelingMoveInfo.log($"扫到部分条码:"+ string.Join(",", xx.Select(x => x.CodeType + ":" + x.CodeStr).ToArray()));
CodeList.AddRange(xx);
if (HasRightCode(xx.ToArray(), LabelingMoveInfo.MoveParam))
if (HasRightCode(CodeList.ToArray(), LabelingMoveInfo.MoveParam))
{
Setting_Init.Runtime_RFID = LabelingMoveInfo.MoveParam.RFID;
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
LabelingMoveInfo.MoveParam.PlateH = 50;
LabelingMoveInfo.MoveParam.PlateW = 7;
LabelingMoveInfo.log("code: "+LabelingMoveInfo.MoveParam.WareCode);
ScanTimes = 0;
ServerCM.SendInStoreRequest(new string[] { LabelingMoveInfo.MoveParam.WareCode }, LabelingMoveInfo.MoveParam, true);
Setting_Init.Runtime_Posid = LabelingMoveInfo.MoveParam.PosID;
if (false && LabelingMoveInfo.MoveParam.usedCount > 0) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling55);
}
Setting_Init.Runtime_RFID = LabelingMoveInfo.MoveParam.RFID;
return;
}
}
if (demomode && false)
{
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.MoveParam.WareCode = "Demo";
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
ScanTimes = 0;
return;
}
ScanTimes++;
if (ScanTimes >= 12)
if (ScanTimes >= 18*2)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
LabelingMoveInfo.log($"未识别到有效二维码,送到NG口");
......@@ -94,37 +99,35 @@ namespace DeviceLibrary
LabelingMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
LabelingMoveInfo.log("继续扫码");
}
}
break;
case MoveStep.Labeling06:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling07);
RotateEquip.TurnDegree(-36);
LabelingMoveInfo.log("滚动锡膏");
RotateEquip.TurnDegree(-45);
//LabelingMoveInfo.log("滚动锡膏");
break;
case MoveStep.Labeling07:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
var hc = CameraPointTest.ScanRectangle();
LabelingMoveInfo.log("检测到绿色宽度:"+hc);
var hc = CameraPointTest.ScanRectangle();
ScanTimes++;
if (demomode && false)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
return;
}
if (hc)
{
LabelingMoveInfo.log("检测到绿色区域");
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
}
else if (ScanTimes > 10) {
LabelingMoveInfo.log("未找到绿色区域");
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
LabelingMoveInfo.MoveParam.IsNg = true;
LabelingMoveInfo.MoveParam.NgMsg = "未找到绿色区域";
}
ServerCM.cancelPutInTask("",LabelingMoveInfo.MoveParam.WareCode);
}//else
//LabelingMoveInfo.log("本次未找到绿色区域,转动后再次查找,"+ ScanTimes);
}
break;
case MoveStep.Labeling08:
......@@ -142,6 +145,7 @@ namespace DeviceLibrary
}
else {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
LabelingMoveInfo.log("开始贴标");
}
}
break;
......@@ -149,7 +153,7 @@ namespace DeviceLibrary
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling11);
PrintTask = RobotManage.printerHelper.PrintLabel(LabelingMoveInfo.MoveParam);
Setting_Init.Runtime_Step = Runtime_StepE.Printed;
LabelingMoveInfo.log("检测到打印任务开始打印:" + LabelingMoveInfo.MoveParam.ToDetailStr());
LabelingMoveInfo.log("开始打印标签:" + LabelingMoveInfo.MoveParam.ToDetailStr());
break;
case MoveStep.Labeling11:
if (PrintTask.IsCompleted)
......@@ -173,30 +177,30 @@ namespace DeviceLibrary
case MoveStep.Labeling12:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling13);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("接标台左移动");
LabelingMoveInfo.log("开始贴标");
break;
case MoveStep.Labeling13:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
LabelingMoveInfo.log("接标台上升");
//LabelingMoveInfo.log("接标台上升");
break;
case MoveStep.Labeling14:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling15);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
Setting_Init.Runtime_Step = Runtime_StepE.LabelGot;
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.log("吸标下降");
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//LabelingMoveInfo.log("吸标下降");
break;
case MoveStep.Labeling15:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling16);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.Labeling16:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling50);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.log("吸标上升");
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//LabelingMoveInfo.log("吸标上升");
break;
case MoveStep.Labeling50:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling51);
......@@ -206,9 +210,9 @@ namespace DeviceLibrary
case MoveStep.Labeling51:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
LabelingMoveInfo.log("贴标下降");
//LabelingMoveInfo.log("贴标下降");
Setting_Init.Runtime_Step = Runtime_StepE.LabelPaste;
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling52:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling53);
......@@ -219,27 +223,44 @@ namespace DeviceLibrary
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54);
Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
LabelingMoveInfo.log("滚动回位");
}
break;
case MoveStep.Labeling54:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling55);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling55:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
RotateEquip.TurnDegree(90);
break;
case MoveStep.Labeling56:
if (RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling57);
Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
LabelingMoveInfo.log("贴标完成");
RotateEquip.TurnToEnd(false);
}
break;
case MoveStep.Labeling57:
if (RotateEquip.WaitStatus(null))
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling58);
}
break;
case MoveStep.Labeling58:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling59);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.LOW);
//CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("锡膏横移到左侧");
//LabelingMoveInfo.log("锡膏横移到左侧");
break;
case MoveStep.Labeling56:
case MoveStep.Labeling59:
LabelingMoveInfo.NextMoveStep(MoveStep.Wait);
FlipEquip.LiftUp(LabelingMoveInfo);
LabelingMoveInfo.log("翻转机构上升");
LabelingMoveInfo.log("完成扫码贴标");
break;
default:
LabelingMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
......@@ -259,7 +280,16 @@ namespace DeviceLibrary
return state;
}
public bool IsTackPictureFinish
{
get
{
if (TakePictureTask == null)
return true;
return TakePictureTask.IsCompleted;
}
}
public bool IsScanFinish
{
get
......@@ -272,49 +302,101 @@ namespace DeviceLibrary
}
int scantrytimes = 0;
/// <summary>
/// 拍照线程
/// </summary>
Task<bool> TakePictureTask;
public void TakePicture()
{
LabelingMoveInfo.log("开始拍照");
TakePictureTask = Task.Run(new Func<bool>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
return CodeManager.TakePicture(CodeManager.hikNameList);
}));
}
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
public void ScanCode()
{
LabelingMoveInfo.log("开始扫码");
try
ScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
ScanTask = Task.Run(new Func<List<CodeInfo>>(() =>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
var l = CodeManager.CameraScan(CodeManager.hikNameList);
//LastCodeList.AddRange(l);
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
return CodeManager.ScanCode();
}));
}
public bool HasRightCode(CodeInfo[] codeInfos, ReelParam reelParam) {
return l;
}));
string rightcode = "";
string[] code = new string[7];
foreach (var cc in codeInfos)
{
if (cc.CodeStr.IndexOf('|') > 0)
{
var cs = cc.CodeStr.Split('|');
if (cs.Length >= 7)
{
rightcode = cc.CodeStr;
break;
}
}
//PN[5:0:-1]|BATCH[2:0:-1]|LOT|QTY[2:0:3]|RI|SP[3:0:-1]|EXPDATEdd-MM-yyyy[2:0:-1]|xxx|xxx|xxx|MSL[1:0:-1]
if (cc.CodeStr.StartsWith("P")) //pn
code[0] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("21P")) //batch
code[1] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("1P")) //lot
code[2] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("1T")) //lot
code[3] = cc.CodeStr;
else if (cc.CodeStr.StartsWith("2D")) //qty
code[4] = cc.CodeStr;
else if(cc.CodeStr.StartsWith("S"))// if (Regex.IsMatch(cc.CodeStr, @"S[A-Za-z\-]*\d+")) //ri
code[5] = cc.CodeStr;
}
catch (Exception ex)
if (string.IsNullOrEmpty(rightcode))
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
if (string.IsNullOrEmpty(code[0]))
return false;
if (string.IsNullOrEmpty(code[3]))
return false;
if (string.IsNullOrEmpty(code[4]))
return false;
if (string.IsNullOrEmpty(code[5]))
return false;
for (int i = 0; i < code.Length; i++)
{
if (string.IsNullOrEmpty(code[i]))
code[i] = "XXX";
}
rightcode=string.Join("|", code);
}
}
public bool HasRightCode(CodeInfo[] codeInfos, ReelParam reelParam) {
foreach (var c in codeInfos) {
if (c.CodeStr.IndexOf("|") > 0) {
var cs = c.CodeStr.Split('|');
if (cs.Length == 7) {
reelParam.PN = cs[0].Substring(1);
reelParam.LOT = cs[3].Substring(1);
reelParam.EXP = cs[4].Substring(1);
reelParam.SN = cs[5].Substring(1);
reelParam.WareCode = c.CodeStr;
reelParam.ReeID = reelParam.SN;
reelParam.RFID = reelParam.SN;
return true;
}
if (!string.IsNullOrEmpty(rightcode))
{
var cs = rightcode.Split('|');
if (cs.Length >= 7)
{
reelParam.PN = cs[0].Substring(1);
reelParam.LOT = cs[3].Substring(1);
reelParam.EXP = cs[4].Substring(1);
reelParam.SN = cs[5].Substring(1);
reelParam.WareCode = rightcode;
reelParam.ReeID = reelParam.SN;
reelParam.RFID = reelParam.SN.Substring(1);
return true;
}
}
return false;
}
}
......
DeviceLibrary/theMachine/MainMachine_RFIDSelftest.cs 0 → 100644
using CodeLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
List<string> DemoTestList;
int DemoTestIndex = 0;
int DemoTestCount = 0;
void TFIDSelfTestProcess()
{
if (CheckWait(StoreMoveInfo))
return;
//常规上料扫码流程
switch (StoreMoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.StoreIn01:
DemoTestList = CameraPointTest.GetThingStoreName(TestStorePointPort.上层左侧);
if (DemoTestList.Count == 0)
return;
DemoTestIndex = 0;
break;
case MoveStep.StoreOut10:
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
Msg.add("出库任务正在执行,请关好抽屉", MsgLevel.warning);
}
else {
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
}
break;
case MoveStep.StoreOut11:
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
var from = CSVPositionReader<ACStorePosition>.GetPositon(DemoTestList[DemoTestIndex]);
var to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
break;
case MoveStep.StoreOut12:
if (boxTransport.IsComplateOrFree)
{
bool issame = false;
string ds="";
for (int i = 0; i < 15; i++)
{
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
ds = Encoding.ASCII.GetString(data).Trim();
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));
issame = true;
break;
}
}
}
Thread.Sleep(200);
}
if (!issame)
{
//StoreMoveInfo.log("读取到 RFID:" + ds);
//Msg.add("读取到的RFID与物料信息不符:" + ds, MsgLevel.alarm);
//RobotManage.UserPause("读取到的RFID与物料信息不符");
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(DemoTestList[DemoTestIndex]);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
}
break;
case MoveStep.StoreOut13:
if (boxTransport.IsComplateOrFree)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
DemoTestIndex++;
if (DemoTestIndex >= DemoTestList.Count)
DemoTestIndex = 0;
DemoTestCount++;
}
break;
default:
StoreMoveInfo.log($"未找到对应步骤:{StoreMoveInfo.MoveStep}");
break;
}
}
}
}
\ No newline at end of file
DeviceLibrary/theMachine/MainMachine_StoreDemo.cs
......@@ -61,30 +61,30 @@ namespace DeviceLibrary
return;
if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW)) {
if (Setting_Init.Runtime_Step == Runtime_StepE.LabelProcess) {
if (Setting_Init.Runtime_Step == Runtime_StepE.LabelProcess)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
LabelingMoveInfo.NewMove(MoveStep.Labeling01);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
}else
if (Setting_Init.Runtime_Step == Runtime_StepE.LabelPasteFinish)
}
else if (Setting_Init.Runtime_Step == Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次已完成贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid + "," + Setting_Init.Runtime_RFID);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
StoreMoveInfo.NewMove(MoveStep.StoreIn03);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
}
else
if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step< Runtime_StepE.LabelPasteFinish)
else if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
//LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
//StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
Msg.add("重置前物料正在贴标,无法继续,请手动处理", MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause("重置前物料正在贴标,无法继续,请手动处理");
}
else if (OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
......@@ -93,9 +93,9 @@ namespace DeviceLibrary
StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
if (IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
else if (IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
StoreMoveInfo.NewMove(MoveStep.StoreIn01);
StoreMoveInfo.log($"检测到入库抽屉已锁定");
}
Setting_Init.Runtime_Step = Runtime_StepE.None;
......@@ -116,28 +116,32 @@ namespace DeviceLibrary
StoreMoveInfo.log("检测到上次正在准备去库位:" + Setting_Init.Runtime_Posid);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
StoreMoveInfo.MoveParam.ReelOnFixture = true;
}
else if (Setting_Init.Runtime_Step == Runtime_StepE.Out)
{
StoreMoveInfo.log("检测到上次正在出库:" + Setting_Init.Runtime_Posid);
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
{
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
if (olist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
StoreMoveInfo.log($"没有检测到出库未有空位");
return;
}
else
{
StoreMoveInfo.MoveParam.PosID = olist[0];
StoreMoveInfo.log($"检测到出库位有料:{StoreMoveInfo.MoveParam.PosID}, 其他有料出库位:{string.Join(",", olist)}");
}
}
StoreMoveInfo.log("检测到上次正在出库:" + Setting_Init.Runtime_Posid+","+ Setting_Init.Runtime_WareCode);
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10_1);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.WareCode= Setting_Init.Runtime_WareCode;
//{
// var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
// StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
// olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
// if (olist.Count == 0)
// {
// StoreMoveInfo.NextMoveStep(MoveStep.Wait);
// StoreMoveInfo.log($"没有检测到出库未有空位");
// return;
// }
// else
// {
// StoreMoveInfo.MoveParam.OutPosID = olist[0];
// StoreMoveInfo.log($"检测到出库位有料:{StoreMoveInfo.MoveParam.OutPosID}, 其他有料出库位:{string.Join(",", olist)}");
// }
//}
}
......@@ -177,7 +181,7 @@ namespace DeviceLibrary
if (LabelingMoveInfo.MoveStep == MoveStep.Wait)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
LabelingMoveInfo.NewMove(MoveStep.Labeling01);
StoreMoveInfo.log($"等待贴标完成");
}
else
......@@ -219,7 +223,7 @@ namespace DeviceLibrary
if (StoreMoveInfo.MoveParam.IsNg)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
StoreMoveInfo.log($"收到完成贴标NG");
}
else
......@@ -254,8 +258,8 @@ namespace DeviceLibrary
{
if (StoreMoveInfo.MoveParam.RFID.Length > 12)
StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 12);
for (int i = 0; i < 5; i++)
bool writeok = false;
for (int i = 0; i < 15; i++)
{
RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(StoreMoveInfo.MoveParam.RFID));
Thread.Sleep(500);
......@@ -267,14 +271,25 @@ namespace DeviceLibrary
if (ds == StoreMoveInfo.MoveParam.RFID)
{
StoreMoveInfo.log("RFID 写入成功:" + ds);
writeok = true;
break;
}
else
{
StoreMoveInfo.log("读取到 RFID:" + ds);
StoreMoveInfo.log("失败的 RFID:" + ds);
}
}
}
Thread.Sleep(200);
}
if (!writeok) {
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
StoreMoveInfo.log($"RFID 写入失败 NG");
ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.WareCode);
Msg.add("RFID 写入失败",MsgLevel.alarm);
RobotManage.UserPause("RFID 写入失败");
return;
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
......@@ -286,6 +301,15 @@ namespace DeviceLibrary
StoreMoveInfo.log($"开始转运到入库位置");
}
break;
case MoveStep.StoreIn06:
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn07);
Z_Axis.AbsMove(StoreMoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
break;
case MoveStep.StoreIn07:
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
//X_Axis.AbsMove(ResetMoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
Y_Axis.AbsMove(ResetMoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
break;
case MoveStep.StoreIn08:
if (boxTransport.IsComplateOrFree)
{
......@@ -324,23 +348,27 @@ namespace DeviceLibrary
}
break;
case MoveStep.StoreOut10:
if (string.IsNullOrEmpty(StoreMoveInfo.MoveParam.PosID))
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
OutStoreJobList.ClearLastPosid();
slist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
StoreMoveInfo.log($"没有检测到库内有料");
return;
}
else
{
inposid = slist[0];
StoreMoveInfo.log($"检测到库位有料:{inposid}, 其他有料库位:{string.Join(",", slist)}");
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10_1);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
Msg.add("出库任务正在执行,请关好抽屉", MsgLevel.warning);
}
else {
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
}
break;
case MoveStep.StoreOut10_1:
inposid = StoreMoveInfo.MoveParam.PosID;
Setting_Init.Runtime_Posid = inposid;
Setting_Init.Runtime_WareCode = StoreMoveInfo.MoveParam.WareCode;
{
var outposid="";
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
......@@ -348,7 +376,8 @@ namespace DeviceLibrary
olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
if (olist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
OutStoreJobList.ClearLastPosid();
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"没有检测到出库未有空位");
return;
}
......@@ -363,7 +392,7 @@ namespace DeviceLibrary
to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
StoreMoveInfo.MoveParam.OutPosID = outposid;
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute);
}
......@@ -372,35 +401,40 @@ namespace DeviceLibrary
if (boxTransport.IsComplateOrFree)
{
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
for (int i = 0; i < 5; i++)
bool issame = false;
string ds="";
for (int i = 0; i < 15; i++)
{
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
var ds = Encoding.ASCII.GetString(data).Trim();
ds = Encoding.ASCII.GetString(data).Trim();
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds);
StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));
issame = true;
break;
}
else
{
StoreMoveInfo.log("读取到 RFID:" + ds);
Msg.add("读取到的RFID与物料信息不符:"+ds, MsgLevel.alarm);
RobotManage.UserPause("读取到的RFID与物料信息不符");
}
}
}
Thread.Sleep(200);
}
if (!issame)
{
StoreMoveInfo.log("读取到 RFID:" + ds);
Msg.add("读取到的RFID与物料信息不符:" + ds, MsgLevel.alarm);
RobotManage.UserPause("读取到的RFID与物料信息不符");
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.OutPosID);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
StoreMoveInfo.log($"开始转运出库");
}
break;
......@@ -411,9 +445,15 @@ namespace DeviceLibrary
StoreMoveInfo.log("出库完成");
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
OutStoreJobList.ClearLastPosid();
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
if (olist.Count == 0) {
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"出库库位已用完");
}
if (OutStoreJobList.Count==0)
//slist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
//if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"没有出库任务了");
......@@ -457,8 +497,9 @@ namespace DeviceLibrary
StoreMoveInfo.EndMove();
}
else
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn05);
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut15);
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
break;
default:
......
DeviceLibrary/theMachine/MoveStep.cs
......@@ -61,6 +61,7 @@ namespace DeviceLibrary
StoreIn08,
StoreIn09,
StoreOut10, //出库
StoreOut10_1,
StoreOut_NGPre,
StoreOut11,
StoreOut12,
......@@ -114,6 +115,7 @@ namespace DeviceLibrary
Labeling02,
Labeling03,
Labeling04,
Labeling04a,
Labeling05,
Labeling06,
Labeling07,
......
TheMachine/Form1.Designer.cs
......@@ -44,6 +44,8 @@ namespace TheMachine
this.tabc = new System.Windows.Forms.TabControl();
this.tabP1 = new System.Windows.Forms.TabPage();
this.pnl = new System.Windows.Forms.Panel();
this.btn_rightsafedoorunlock = new System.Windows.Forms.Button();
this.btn_leftsafedoorunlock = new System.Windows.Forms.Button();
this.button3 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button();
......@@ -52,7 +54,6 @@ namespace TheMachine
this.stateView = new System.Windows.Forms.ListView();
this.cb_IgnoreSafecheck = new System.Windows.Forms.CheckBox();
this.pictureBox2 = new System.Windows.Forms.PictureBox();
this.cb_IgnoreGratingSignal = new System.Windows.Forms.CheckBox();
this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.cb_EnableBuzzer = new System.Windows.Forms.CheckBox();
this.btn_IgnoreX09 = new System.Windows.Forms.Button();
......@@ -60,6 +61,7 @@ namespace TheMachine
this.listView1 = new System.Windows.Forms.ListView();
this.btn_stop = new System.Windows.Forms.Button();
this.btn_run = new System.Windows.Forms.Button();
this.btn_printsafedoorunlock = new System.Windows.Forms.Button();
this.menuStrip1.SuspendLayout();
this.tabc.SuspendLayout();
this.tabP1.SuspendLayout();
......@@ -197,6 +199,9 @@ namespace TheMachine
//
// pnl
//
this.pnl.Controls.Add(this.btn_printsafedoorunlock);
this.pnl.Controls.Add(this.btn_rightsafedoorunlock);
this.pnl.Controls.Add(this.btn_leftsafedoorunlock);
this.pnl.Controls.Add(this.button3);
this.pnl.Controls.Add(this.button4);
this.pnl.Controls.Add(this.button1);
......@@ -204,7 +209,6 @@ namespace TheMachine
this.pnl.Controls.Add(this.groupBox1);
this.pnl.Controls.Add(this.cb_IgnoreSafecheck);
this.pnl.Controls.Add(this.pictureBox2);
this.pnl.Controls.Add(this.cb_IgnoreGratingSignal);
this.pnl.Controls.Add(this.pictureBox1);
this.pnl.Controls.Add(this.cb_EnableBuzzer);
this.pnl.Controls.Add(this.btn_IgnoreX09);
......@@ -215,6 +219,30 @@ namespace TheMachine
this.pnl.Size = new System.Drawing.Size(1000, 576);
this.pnl.TabIndex = 273;
//
// btn_rightsafedoorunlock
//
this.btn_rightsafedoorunlock.BackColor = System.Drawing.Color.White;
this.btn_rightsafedoorunlock.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_rightsafedoorunlock.Location = new System.Drawing.Point(808, 332);
this.btn_rightsafedoorunlock.Name = "btn_rightsafedoorunlock";
this.btn_rightsafedoorunlock.Size = new System.Drawing.Size(139, 56);
this.btn_rightsafedoorunlock.TabIndex = 275;
this.btn_rightsafedoorunlock.Text = "右侧防护门解锁";
this.btn_rightsafedoorunlock.UseVisualStyleBackColor = false;
this.btn_rightsafedoorunlock.Click += new System.EventHandler(this.button2_Click_1);
//
// btn_leftsafedoorunlock
//
this.btn_leftsafedoorunlock.BackColor = System.Drawing.Color.White;
this.btn_leftsafedoorunlock.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_leftsafedoorunlock.Location = new System.Drawing.Point(808, 271);
this.btn_leftsafedoorunlock.Name = "btn_leftsafedoorunlock";
this.btn_leftsafedoorunlock.Size = new System.Drawing.Size(139, 55);
this.btn_leftsafedoorunlock.TabIndex = 276;
this.btn_leftsafedoorunlock.Text = "左侧防护门解锁";
this.btn_leftsafedoorunlock.UseVisualStyleBackColor = false;
this.btn_leftsafedoorunlock.Click += new System.EventHandler(this.button5_Click_1);
//
// button3
//
this.button3.BackColor = System.Drawing.Color.White;
......@@ -312,18 +340,6 @@ namespace TheMachine
this.pictureBox2.DoubleClick += new System.EventHandler(this.pictureBox1_DoubleClick);
this.pictureBox2.MouseDown += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseDown);
//
// cb_IgnoreGratingSignal
//
this.cb_IgnoreGratingSignal.AutoSize = true;
this.cb_IgnoreGratingSignal.Location = new System.Drawing.Point(607, 78);
this.cb_IgnoreGratingSignal.Name = "cb_IgnoreGratingSignal";
this.cb_IgnoreGratingSignal.Size = new System.Drawing.Size(125, 25);
this.cb_IgnoreGratingSignal.TabIndex = 2;
this.cb_IgnoreGratingSignal.Text = "忽略安全光栅";
this.cb_IgnoreGratingSignal.UseVisualStyleBackColor = true;
this.cb_IgnoreGratingSignal.Visible = false;
this.cb_IgnoreGratingSignal.CheckedChanged += new System.EventHandler(this.cb_IgnoreGratingSignal_CheckedChanged);
//
// pictureBox1
//
this.pictureBox1.BackColor = System.Drawing.Color.Gainsboro;
......@@ -411,6 +427,18 @@ namespace TheMachine
this.btn_run.UseVisualStyleBackColor = true;
this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
//
// btn_printsafedoorunlock
//
this.btn_printsafedoorunlock.BackColor = System.Drawing.Color.White;
this.btn_printsafedoorunlock.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_printsafedoorunlock.Location = new System.Drawing.Point(808, 394);
this.btn_printsafedoorunlock.Name = "btn_printsafedoorunlock";
this.btn_printsafedoorunlock.Size = new System.Drawing.Size(139, 56);
this.btn_printsafedoorunlock.TabIndex = 277;
this.btn_printsafedoorunlock.Text = "打印维护门解锁";
this.btn_printsafedoorunlock.UseVisualStyleBackColor = false;
this.btn_printsafedoorunlock.Click += new System.EventHandler(this.button2_Click_2);
//
// Form1
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
......@@ -457,7 +485,6 @@ namespace TheMachine
private System.Windows.Forms.ListView stateView;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.CheckBox cb_IgnoreSafecheck;
private System.Windows.Forms.CheckBox cb_IgnoreGratingSignal;
private System.Windows.Forms.ToolStripMenuItem 二维码识别调试ToolStripMenuItem;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
private System.Windows.Forms.ToolStripMenuItem 关于ToolStripMenuItem;
......@@ -475,6 +502,9 @@ namespace TheMachine
private System.Windows.Forms.Button btn_entrylock;
private System.Windows.Forms.Button button3;
private System.Windows.Forms.Button button4;
private System.Windows.Forms.Button btn_rightsafedoorunlock;
private System.Windows.Forms.Button btn_leftsafedoorunlock;
private System.Windows.Forms.Button btn_printsafedoorunlock;
}
}
TheMachine/Form1.cs
......@@ -265,13 +265,13 @@ namespace TheMachine
//RobotManage.Config = (Robot_Config)CSVConfigReader.LoadConfig(RobotManage.Config);
addTablePage();
RobotManage.LoadDebug();
cb_IgnoreGratingSignal.Visible = true;
//cb_IgnoreGratingSignal.Visible = true;
cb_IgnoreSafecheck.Visible = true;
}
else
{
cb_IgnoreGratingSignal.Checked = false;
cb_IgnoreGratingSignal.Visible = false;
//cb_IgnoreGratingSignal.Checked = false;
//cb_IgnoreGratingSignal.Visible = false;
cb_IgnoreSafecheck.Checked = false;
cb_IgnoreSafecheck.Visible = false;
var tc = tabc.TabPages.Count;
......@@ -701,5 +701,23 @@ namespace TheMachine
{
IOManager.IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
}
private void button5_Click_1(object sender, EventArgs e)
{
IOManager.IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.LOW);
RobotManage.mainMachine.LeftDoorOpen = true;
}
private void button2_Click_1(object sender, EventArgs e)
{
IOManager.IOMove(IO_Type.RightDoor_Lock, IO_VALUE.LOW);
RobotManage.mainMachine.RightDoorOpen = true;
}
private void button2_Click_2(object sender, EventArgs e)
{
IOManager.IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
RobotManage.mainMachine.PrintDoorOpen = true;
}
}
}
\ No newline at end of file
TheMachine/Program.cs
......@@ -25,11 +25,12 @@ namespace TheMachine
static void Main()
{
CameraPointTest.Init();
//CameraPointTest.ScanRectangle();
//var bmpfile = @"D:\rick\vs\SO20031_TinStorage\料架照片\106_监控点1_106_20221125194616_31932401.bmp";
//var bmpfile = @"D:\rick\vs\SO20031_TinStorage\TheMachine\bin\Debug\test.bmp";
//var bmp = new Bitmap(bmpfile);
//var r = Common.CalcStoreBMP(bmp,4, 5);
//var l= Common.TestStorePoint(bmp, r);
//var r = CameraPointTest.TestStorePoint(bmp, TestStorePointPort.入口);
_ = new Mutex(true, Application.ProductName, out bool ret);
if (!ret)
{
......
TheMachine/SettingControl.cs
......@@ -137,7 +137,9 @@ namespace TheMachine
private void btn_labeledit_Click(object sender, EventArgs e)
{
RobotManage.printerHelper.EditLabel();
PrintLabel.FrmLabel frmLabel = new PrintLabel.FrmLabel();
crc.LanguageProcess(frmLabel, "FrmLabel");
frmLabel.ShowDialog();
loadlabellist();
}
void loadlabellist()
......
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