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Commit 82303d25 由 刘韬
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1 个父辈 1fb8f362
内嵌 并排
正在显示 16 个修改的文件 包含 328 行增加 和 163 行删除
Common/Setting_Init.cs
......@@ -83,6 +83,8 @@ namespace OnlineStore.Common
public static MyConfig<Runtime_StepE> Runtime_Step = Runtime_StepE.None;
public static MyConfig<string> Runtime_Posid = "";
public static MyConfig<string> Runtime_RFID = "";
public static MyConfig<string> Runtime_PN = "";
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
......@@ -401,7 +401,7 @@ namespace DeviceLibrary
return map;
if (IOManager.IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.LOW)) {
map.Add(ParamDefine.inDoorStatus, ParamDefine.disable);
map[ParamDefine.inDoorStatus]=ParamDefine.disable;
}
else if (IOManager.IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
......@@ -414,7 +414,7 @@ namespace DeviceLibrary
}
if (IOManager.IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
map.Add(ParamDefine.outDoorStatus, ParamDefine.disable);
map[ParamDefine.outDoorStatus]= ParamDefine.disable;
}
else if (IOManager.IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH)
&& RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
......@@ -443,7 +443,7 @@ namespace DeviceLibrary
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId].ToString();
string usedCountstr= data["usedCount"].ToString();
//int storeId = int.Parse(posArray[0]);
//根据发送的posId获取位置列表
ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(posId);
......@@ -455,12 +455,14 @@ namespace DeviceLibrary
LogUtil.info("收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return;
}
int usedCount = 0;
int.TryParse(usedCountstr, out usedCount);
WarnMsg = "";
JobInfo inStoreJob = new JobInfo(message, posId);
RobotManage.mainMachine.LabelingMoveInfo.MoveParam.PosID = inStoreJob.PosId;
RobotManage.mainMachine.LabelingMoveInfo.MoveParam.usedCount = usedCount;
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info(StoreName + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
LogUtil.info(StoreName + " 收到服务器入库命令：库位号【" + posId + ",usedCount" + usedCount + "】二维码【" + message + "】 开始入库！");
}
else
......
DeviceLibrary/theMachine/CameraPointTest.cs
......@@ -20,7 +20,7 @@ namespace DeviceLibrary
[Serializable]
public class tstoredata {
public string name="";
public List<int> Value = new List<int>();
public List<int> value = new List<int>();
}
public class CameraPointTest
{
......@@ -36,14 +36,14 @@ namespace DeviceLibrary
inArea[i].name = "L" + ((char)(0x41 + i)).ToString();
for (int j = 0; j < 4; j++)
{
inArea[i].Value.Add(-1);
inArea[i].value.Add(-1);
}
}
for (int i = 0; i < 5; i++)
{
outArea.Add(new tstoredata());
outArea[i].name = "U" + ((char)(0x41 + i)).ToString();
outArea[i].Value.Add(-1);
outArea[i].value.Add(-1);
}
}
public static event EventHandler<Bitmap> TestStorePointEvent;
......@@ -66,7 +66,7 @@ namespace DeviceLibrary
for (int i = 0; i < 5; i++) {
for (int j = 0; j < 4; j++)
{
inArea[i].Value[j]=haslistindex[index];
inArea[i].value[j]=haslistindex[index];
index++;
}
}
......@@ -77,7 +77,7 @@ namespace DeviceLibrary
index = 0;
for (int i = 0; i < 5; i++)
{
outArea[i].Value[0]=haslistindex[index];
outArea[i].value[0]=haslistindex[index];
index++;
}
break;
......
DeviceLibrary/theMachine/JobList.cs
......@@ -46,8 +46,7 @@ namespace DeviceLibrary
public int Count {
get => jobInfos.Count;
}
public void ClearLastPosid(string posid) {
if (lastoutpos == posid)
public void ClearLastPosid() {
lastoutpos = "";
}
}
......
DeviceLibrary/theMachine/LabelParam.cs
......@@ -30,6 +30,7 @@ namespace DeviceLibrary
/// 库位号
/// </summary>
public string PosID { get; set; }
public string RFID { get; set; }
public string bitmapfilename = "";
public List<CodeInfo> codeInfos { get; set; }
/// <summary>
......@@ -40,6 +41,7 @@ namespace DeviceLibrary
/// 料盘宽度
/// </summary>
public int PlateW { get; set; }
public int usedCount { get; set; }
/// <summary>
/// 是否是入料NG料
/// </summary>
......@@ -72,6 +74,7 @@ namespace DeviceLibrary
/// </summary>
public string Batch { get; set; }
public bool ReelOnFixture { get; internal set; } = false;
public string OutPosID { get; internal set; }
public int HeightPos = 0;
public ReelParam clone()
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -13,7 +13,7 @@ namespace DeviceLibrary
{
public partial class MainMachine : IRobot
{
public string Name { get; set; } = "MIMO_PLUS";
public string Name { get; set; } = "TinStore";
private bool _canRunning = true;
public bool canRunning
{
......@@ -118,9 +118,15 @@ 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);
LedProcessInit();
}
private void Entry_Drawer_Open()
{
nglist = new List<string>();
}
private (bool, string) Y_Axis_interference(int from, int to)
{
if (Z_Axis.IsInPosition(Config.Z_Axis_P1)) {
......@@ -468,7 +474,6 @@ namespace DeviceLibrary
+ crc.GetString("Res0104","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
}
LogUtil.error(configMoveAxis.GetAxisValue()+","+configMoveAxis.Explain + " errcode " + HuichuanLibrary.HCBoardManager.GetAxErrCode(configMoveAxis.GetAxisValue()));
LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
ok = false;
}
......
DeviceLibrary/theMachine/MainMachine_Labeling.cs
......@@ -42,7 +42,7 @@ namespace DeviceLibrary
break;
case MoveStep.Labeling03:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
RotateEquip.TurnDegree(36);
RotateEquip.TurnDegree(30);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelingMoveInfo.log("滚动锡膏");
break;
......@@ -63,9 +63,17 @@ namespace DeviceLibrary
if (HasRightCode(xx.ToArray(), LabelingMoveInfo.MoveParam))
{
Setting_Init.Runtime_RFID = LabelingMoveInfo.MoveParam.RFID;
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
//ServerCM.SendInStoreRequest(new string[] { LabelingMoveInfo.MoveParam.SN }, LabelingMoveInfo.MoveParam, true);
LabelingMoveInfo.MoveParam.PlateH = 50;
LabelingMoveInfo.MoveParam.PlateW = 7;
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);
}
return;
}
}
......@@ -74,10 +82,11 @@ namespace DeviceLibrary
LabelingMoveInfo.MoveParam.IsNg = false;
LabelingMoveInfo.MoveParam.WareCode = "Demo";
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
ScanTimes = 0;
return;
}
ScanTimes++;
if (ScanTimes >= 10)
if (ScanTimes >= 12)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
LabelingMoveInfo.log($"未识别到有效二维码,送到NG口");
......@@ -101,6 +110,7 @@ namespace DeviceLibrary
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
var hc = CameraPointTest.ScanRectangle();
LabelingMoveInfo.log("检测到绿色宽度:"+hc);
ScanTimes++;
if (demomode && false)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
......@@ -110,6 +120,11 @@ namespace DeviceLibrary
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
}
else if (ScanTimes > 10) {
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
LabelingMoveInfo.MoveParam.IsNg = true;
LabelingMoveInfo.MoveParam.NgMsg = "未找到绿色区域";
}
}
break;
case MoveStep.Labeling08:
......@@ -157,13 +172,13 @@ namespace DeviceLibrary
break;
case MoveStep.Labeling12:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling13);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
LabelingMoveInfo.log("接标台上升");
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("接标台左移动");
break;
case MoveStep.Labeling13:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
LabelingMoveInfo.log("接标台左移动");
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
LabelingMoveInfo.log("接标台上升");
break;
case MoveStep.Labeling14:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling15);
......@@ -292,7 +307,10 @@ namespace DeviceLibrary
reelParam.LOT = cs[3].Substring(1);
reelParam.EXP = cs[4].Substring(1);
reelParam.SN = cs[5].Substring(1);
reelParam.WareCode = reelParam.SN;
reelParam.WareCode = c.CodeStr;
reelParam.ReeID = reelParam.SN;
reelParam.RFID = reelParam.SN;
return true;
}
}
......
DeviceLibrary/theMachine/MainMachine_StoreDemo.cs
......@@ -8,6 +8,7 @@ using System.Drawing;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
......@@ -36,6 +37,7 @@ namespace DeviceLibrary
StoreMoveInfo.log($"开始入库任务");
}
}
List<string> nglist = new List<string>();
bool demomode = true;
public void DemoOut()
{
......@@ -67,8 +69,10 @@ namespace DeviceLibrary
}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);
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.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)
......@@ -78,7 +82,17 @@ namespace DeviceLibrary
//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
}
else if (OutStoreJobList.Dequeue(out JobInfo jobInfo))
{
StoreMoveInfo.NewMove(MoveStep.StoreOut10);
StoreMoveInfo.MoveParam.PosID = jobInfo.PosId;
StoreMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
ServerCM.storeStatus = StoreStatus.OutStoreExecute;
}
if (IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
......@@ -94,7 +108,6 @@ namespace DeviceLibrary
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
var acto = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
StoreMoveInfo.MoveParam.WareCode = "";
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, acto, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, acto, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运入贴标机构");
......@@ -127,10 +140,16 @@ namespace DeviceLibrary
}
}
break;
case MoveStep.StoreIn01:
string inposid;
var slist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
foreach (var o in nglist.ToArray())
{
if (slist.Contains(o))
slist.Remove(o);
}
if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
......@@ -147,10 +166,10 @@ namespace DeviceLibrary
var from = CSVPositionReader<ACStorePosition>.GetPositon(inposid);
var to = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
StoreMoveInfo.MoveParam.PosID = inposid;
StoreMoveInfo.MoveParam.WareCode = "";
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运入贴标机构");
ServerCM.storeStatus = StoreStatus.InStoreExecute;
break;
case MoveStep.StoreIn02:
if (boxTransport.IsComplateOrFree)
......@@ -170,7 +189,8 @@ namespace DeviceLibrary
case MoveStep.StoreIn03:
if (LabelingMoveInfo.MoveStep == MoveStep.Wait)
{
if (demomode)
StoreMoveInfo.MoveParam = LabelingMoveInfo.MoveParam.clone();
if (demomode && string.IsNullOrEmpty(LabelingMoveInfo.MoveParam.PosID))
{
string outposid = "";
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
......@@ -186,7 +206,8 @@ namespace DeviceLibrary
outposid = olist[0];
StoreMoveInfo.log($"检测到库位有料:{outposid}, 其他有料库位:{string.Join(",", olist)}");
}
LabelingMoveInfo.MoveParam.PosID = outposid;
if(string.IsNullOrEmpty(LabelingMoveInfo.MoveParam.PosID))
LabelingMoveInfo.MoveParam.PosID = outposid;
}
if (string.IsNullOrEmpty(LabelingMoveInfo.MoveParam.PosID))
......@@ -195,16 +216,17 @@ namespace DeviceLibrary
StoreMoveInfo.log($"等待服务器返回库位");
return;
}
StoreMoveInfo.MoveParam = LabelingMoveInfo.MoveParam.clone();
if (StoreMoveInfo.MoveParam.IsNg)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.log($"收到完成贴标");
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
StoreMoveInfo.log($"收到完成贴标NG");
}
else
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn04);
StoreMoveInfo.log($"收到完成贴标");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreExecute);
}
}
else
......@@ -215,21 +237,54 @@ namespace DeviceLibrary
case MoveStep.StoreIn04:
if (boxTransport.IsComplateOrFree)
{
var outposid= StoreMoveInfo.MoveParam.PosID;
//var outposid= StoreMoveInfo.MoveParam.PosID;
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn05);
from = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
to = CSVPositionReader<ACStorePosition>.GetPositon(outposid);
to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
StoreMoveInfo.MoveParam.PosID = outposid;
StoreMoveInfo.MoveParam.WareCode = "";
//StoreMoveInfo.MoveParam.PosID = outposid;
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运入库");
StoreMoveInfo.log($"开始转运到RFID位置");
}
break;
case MoveStep.StoreIn05:
if (boxTransport.IsComplateOrFree)
{
if (StoreMoveInfo.MoveParam.RFID.Length > 12)
StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 12);
for (int i = 0; i < 5; i++)
{
RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(StoreMoveInfo.MoveParam.RFID));
Thread.Sleep(500);
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
var ds = Encoding.ASCII.GetString(data).Trim();
if (ds == StoreMoveInfo.MoveParam.RFID)
{
StoreMoveInfo.log("RFID 写入成功:" + ds);
break;
}
else
{
StoreMoveInfo.log("读取到 RFID:" + ds);
}
}
}
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运到入库位置");
}
break;
case MoveStep.StoreIn08:
if (boxTransport.IsComplateOrFree)
......@@ -237,6 +292,7 @@ namespace DeviceLibrary
var outposid = "";
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
olist = RobotManage.PositionNumList.ToList().Where(p => { return p.StartsWith("L") && !olist.Contains(p); }).ToList();
olist.Remove(LabelP);
if (olist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
......@@ -245,16 +301,15 @@ namespace DeviceLibrary
}
else
{
outposid = olist[0];
outposid = olist[olist.Count-1];
StoreMoveInfo.log($"检测到空库位:{outposid}, 其他空库位:{string.Join(",", olist)}");
}
nglist.Add(outposid);
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
from = CSVPositionReader<ACStorePosition>.GetPositon(LabelP);
to = CSVPositionReader<ACStorePosition>.GetPositon(outposid);
StoreMoveInfo.MoveParam.PosID = outposid;
StoreMoveInfo.MoveParam.WareCode = "";
//StoreMoveInfo.MoveParam.ReelOnFixture = false;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运");
......@@ -263,23 +318,29 @@ namespace DeviceLibrary
case MoveStep.StoreIn09:
if (boxTransport.IsComplateOrFree)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd);
StoreMoveInfo.NewMove(MoveStep.StoreIn01);
StoreMoveInfo.log($"入库完成");
}
break;
case MoveStep.StoreOut10:
slist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
StoreMoveInfo.log($"没有检测到库内有料");
return;
}
else
if (string.IsNullOrEmpty(StoreMoveInfo.MoveParam.PosID))
{
inposid = slist[0];
StoreMoveInfo.log($"检测到库位有料:{inposid}, 其他有料库位:{string.Join(",", slist)}");
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)}");
}
}
inposid = StoreMoveInfo.MoveParam.PosID;
{
var outposid="";
var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
......@@ -300,20 +361,44 @@ namespace DeviceLibrary
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
from = CSVPositionReader<ACStorePosition>.GetPositon(inposid);
to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
StoreMoveInfo.MoveParam.PosID = outposid;
StoreMoveInfo.MoveParam.WareCode = "";
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);
StoreMoveInfo.log($"开始转运出库");
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute);
}
break;
case MoveStep.StoreOut11:
if (boxTransport.IsComplateOrFree)
{
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
for (int i = 0; i < 5; i++)
{
if (RobotManage.RFID.ReadEPC(12, out byte[] data))
{
if (data[0] != 0xFF)
{
var ds = Encoding.ASCII.GetString(data).Trim();
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds);
break;
}
else
{
StoreMoveInfo.log("读取到 RFID:" + ds);
Msg.add("读取到的RFID与物料信息不符:"+ds, MsgLevel.alarm);
RobotManage.UserPause("读取到的RFID与物料信息不符");
}
}
}
Thread.Sleep(200);
}
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
StoreMoveInfo.MoveParam.WareCode = "";
to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.OutPosID);
StoreMoveInfo.MoveParam.ReelOnFixture = true;
boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
StoreMoveInfo.log($"开始转运出库");
......@@ -322,13 +407,16 @@ namespace DeviceLibrary
case MoveStep.StoreOut12:
if (boxTransport.IsComplateOrFree)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
slist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
if (slist.Count == 0)
ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
StoreMoveInfo.log("出库完成");
StoreMoveInfo.NextMoveStep(MoveStep.Wait);
OutStoreJobList.ClearLastPosid();
if (OutStoreJobList.Count==0)
//slist = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
//if (slist.Count == 0)
{
StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
StoreMoveInfo.log($"没有检测到库内有料");
return;
StoreMoveInfo.log($"没有出库任务了");
}
}
break;
......@@ -388,9 +476,14 @@ namespace DeviceLibrary
else if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn01)
{
state = crc.GetString("Res0114", "入库中") + "," + crc.GetString("Res0071", "库位号") + StoreMoveInfo.MoveParam.PosID;
if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn09)
{
state += "RFID:" + StoreMoveInfo.MoveParam.RFID;
}
}
return state;
return state;
}
}
}
\ No newline at end of file
DeviceLibrary/theMachine/RobotManage.cs
......@@ -78,7 +78,7 @@ namespace DeviceLibrary
///// </summary>
//public static HIKCamera CameraD=new HIKCamera();
public static DauxiKS107Controller dauxiKS107 = new DauxiKS107Controller();
public static PuYue_FR540SP RFID = new Asa.RFID.PuYue_FR540SP();
public static PuYueRFID_FR540SP_C2S RFID = new PuYueRFID_FR540SP_C2S();
public static PrinterHelper printerHelper = new PrinterHelper();
public static void Init() {
string msg = "";
......@@ -164,7 +164,7 @@ namespace DeviceLibrary
LogUtil.info("标签打印机打开成功");
RFID.IP = Setting_Init.Device_RFID_IP;
RFID.Open();
RFID.Open(Setting_Init.Device_RFID_IP);
if (!RFID.IsConn)
{
IsLoadOk = false;
......
DeviceLibrary/userControl/AxisMoveControl.Designer.cs
......@@ -169,6 +169,7 @@
this.lblAlarmcode.Tag = "not";
this.lblAlarmcode.Text = "ErrCode:160";
this.lblAlarmcode.Visible = false;
this.lblAlarmcode.Click += new System.EventHandler(this.lblAlarmcode_Click);
//
// label4
//
......
DeviceLibrary/userControl/AxisMoveControl.cs
......@@ -449,5 +449,12 @@ namespace DeviceLibrary
private void AxisMoveControl_Load(object sender, EventArgs e)
{
}
private void lblAlarmcode_Click(object sender, EventArgs e)
{
var s = string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(SlvAddr));
MessageBox.Show(s);
LogUtil.error(s);
}
}
}
\ No newline at end of file
TheMachine/Form1.Designer.cs
......@@ -47,7 +47,7 @@ namespace TheMachine
this.button3 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button();
this.btn_entrylock = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.stateView = new System.Windows.Forms.ListView();
this.cb_IgnoreSafecheck = new System.Windows.Forms.CheckBox();
......@@ -200,7 +200,7 @@ namespace TheMachine
this.pnl.Controls.Add(this.button3);
this.pnl.Controls.Add(this.button4);
this.pnl.Controls.Add(this.button1);
this.pnl.Controls.Add(this.button2);
this.pnl.Controls.Add(this.btn_entrylock);
this.pnl.Controls.Add(this.groupBox1);
this.pnl.Controls.Add(this.cb_IgnoreSafecheck);
this.pnl.Controls.Add(this.pictureBox2);
......@@ -249,19 +249,20 @@ namespace TheMachine
this.button1.TabIndex = 272;
this.button1.Text = "出库";
this.button1.UseVisualStyleBackColor = false;
this.button1.Visible = false;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// button2
// btn_entrylock
//
this.button2.BackColor = System.Drawing.Color.White;
this.button2.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button2.Location = new System.Drawing.Point(38, 271);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(139, 55);
this.button2.TabIndex = 272;
this.button2.Text = "入库";
this.button2.UseVisualStyleBackColor = false;
this.button2.Click += new System.EventHandler(this.button2_Click);
this.btn_entrylock.BackColor = System.Drawing.Color.White;
this.btn_entrylock.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_entrylock.Location = new System.Drawing.Point(38, 271);
this.btn_entrylock.Name = "btn_entrylock";
this.btn_entrylock.Size = new System.Drawing.Size(139, 55);
this.btn_entrylock.TabIndex = 272;
this.btn_entrylock.Text = "入库门上锁";
this.btn_entrylock.UseVisualStyleBackColor = false;
this.btn_entrylock.Click += new System.EventHandler(this.button2_Click);
//
// groupBox1
//
......@@ -471,7 +472,7 @@ namespace TheMachine
private System.Windows.Forms.ToolStripMenuItem 日本语ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem englishToolStripMenuItem;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Button button2;
private System.Windows.Forms.Button btn_entrylock;
private System.Windows.Forms.Button button3;
private System.Windows.Forms.Button button4;
}
......
TheMachine/Form1.cs
......@@ -667,7 +667,8 @@ namespace TheMachine
MessageBox.Show(crc.GetString("Res0019","入料抽屉未关闭"));
return;
}
RobotManage.mainMachine.DemoIn();
IOManager.IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
//RobotManage.mainMachine.DemoIn();
}
private void button1_Click(object sender, EventArgs e)
......@@ -675,6 +676,7 @@ namespace TheMachine
if (IOManager.IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
MessageBox.Show(crc.GetString("Res0020","出料抽屉未关闭"));
return;
}
RobotManage.mainMachine.DemoOut();
......
TheMachine/IOControls.Designer.cs
......@@ -31,14 +31,16 @@ namespace TheMachine
{
this.btn_FlipEquip = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel();
this.button10 = new System.Windows.Forms.Button();
this.button9 = new System.Windows.Forms.Button();
this.button8 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
this.button6 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button();
this.button3 = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button();
this.button6 = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
this.button8 = new System.Windows.Forms.Button();
this.cylinderButton5 = new TheMachine.CylinderButton();
this.cylinderButton1 = new TheMachine.CylinderButton();
this.cylinderButton8 = new TheMachine.CylinderButton();
......@@ -55,7 +57,6 @@ namespace TheMachine
this.cylinderButton13 = new TheMachine.CylinderButton();
this.cylinderButton11 = new TheMachine.CylinderButton();
this.ioControl1 = new TheMachine.IOControl();
this.button9 = new System.Windows.Forms.Button();
this.panel1.SuspendLayout();
this.SuspendLayout();
//
......@@ -74,6 +75,7 @@ namespace TheMachine
// panel1
//
this.panel1.AutoScroll = true;
this.panel1.Controls.Add(this.button10);
this.panel1.Controls.Add(this.button9);
this.panel1.Controls.Add(this.button8);
this.panel1.Controls.Add(this.button4);
......@@ -106,41 +108,42 @@ namespace TheMachine
this.panel1.Size = new System.Drawing.Size(975, 881);
this.panel1.TabIndex = 3;
//
// button1
// button10
//
this.button1.BackColor = System.Drawing.Color.White;
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(739, 474);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(191, 35);
this.button1.TabIndex = 2;
this.button1.Text = "锡膏翻转机构水平";
this.button1.UseVisualStyleBackColor = false;
this.button1.Click += new System.EventHandler(this.button1_Click);
this.button10.BackColor = System.Drawing.Color.White;
this.button10.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button10.Location = new System.Drawing.Point(739, 679);
this.button10.Name = "button10";
this.button10.Size = new System.Drawing.Size(191, 35);
this.button10.TabIndex = 6;
this.button10.Text = "写入RFID EPC";
this.button10.UseVisualStyleBackColor = false;
this.button10.Visible = false;
this.button10.Click += new System.EventHandler(this.button10_Click);
//
// button3
// button9
//
this.button3.BackColor = System.Drawing.Color.White;
this.button3.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button3.Location = new System.Drawing.Point(739, 515);
this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(191, 35);
this.button3.TabIndex = 2;
this.button3.Text = "锡膏定位旋转垂直";
this.button3.UseVisualStyleBackColor = false;
this.button3.Click += new System.EventHandler(this.button3_Click);
this.button9.BackColor = System.Drawing.Color.White;
this.button9.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button9.Location = new System.Drawing.Point(542, 679);
this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(191, 35);
this.button9.TabIndex = 6;
this.button9.Text = "读取RFID EPC";
this.button9.UseVisualStyleBackColor = false;
this.button9.Click += new System.EventHandler(this.button9_Click);
//
// button2
// button8
//
this.button2.BackColor = System.Drawing.Color.White;
this.button2.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button2.Location = new System.Drawing.Point(542, 515);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(191, 35);
this.button2.TabIndex = 2;
this.button2.Text = "锡膏定位旋转水平";
this.button2.UseVisualStyleBackColor = false;
this.button2.Click += new System.EventHandler(this.button2_Click);
this.button8.BackColor = System.Drawing.Color.White;
this.button8.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button8.Location = new System.Drawing.Point(542, 638);
this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(191, 35);
this.button8.TabIndex = 5;
this.button8.Text = "锡膏扭转";
this.button8.UseVisualStyleBackColor = false;
this.button8.Click += new System.EventHandler(this.button8_Click);
//
// button4
//
......@@ -154,17 +157,17 @@ namespace TheMachine
this.button4.UseVisualStyleBackColor = false;
this.button4.Click += new System.EventHandler(this.button4_Click);
//
// button5
// button7
//
this.button5.BackColor = System.Drawing.Color.White;
this.button5.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button5.Location = new System.Drawing.Point(542, 556);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(191, 35);
this.button5.TabIndex = 4;
this.button5.Text = "上层托盘左移";
this.button5.UseVisualStyleBackColor = false;
this.button5.Click += new System.EventHandler(this.button5_Click);
this.button7.BackColor = System.Drawing.Color.White;
this.button7.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button7.Location = new System.Drawing.Point(739, 597);
this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(191, 35);
this.button7.TabIndex = 4;
this.button7.Text = "锡膏反转45度";
this.button7.UseVisualStyleBackColor = false;
this.button7.Click += new System.EventHandler(this.button7_Click);
//
// button6
//
......@@ -178,29 +181,53 @@ namespace TheMachine
this.button6.UseVisualStyleBackColor = false;
this.button6.Click += new System.EventHandler(this.button6_Click);
//
// button7
// button5
//
this.button7.BackColor = System.Drawing.Color.White;
this.button7.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button7.Location = new System.Drawing.Point(739, 597);
this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(191, 35);
this.button7.TabIndex = 4;
this.button7.Text = "锡膏反转45度";
this.button7.UseVisualStyleBackColor = false;
this.button7.Click += new System.EventHandler(this.button7_Click);
this.button5.BackColor = System.Drawing.Color.White;
this.button5.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button5.Location = new System.Drawing.Point(542, 556);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(191, 35);
this.button5.TabIndex = 4;
this.button5.Text = "上层托盘左移";
this.button5.UseVisualStyleBackColor = false;
this.button5.Click += new System.EventHandler(this.button5_Click);
//
// button8
// button1
//
this.button8.BackColor = System.Drawing.Color.White;
this.button8.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button8.Location = new System.Drawing.Point(542, 638);
this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(191, 35);
this.button8.TabIndex = 5;
this.button8.Text = "锡膏扭转";
this.button8.UseVisualStyleBackColor = false;
this.button8.Click += new System.EventHandler(this.button8_Click);
this.button1.BackColor = System.Drawing.Color.White;
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(739, 474);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(191, 35);
this.button1.TabIndex = 2;
this.button1.Text = "锡膏翻转机构水平";
this.button1.UseVisualStyleBackColor = false;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// button3
//
this.button3.BackColor = System.Drawing.Color.White;
this.button3.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button3.Location = new System.Drawing.Point(739, 515);
this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(191, 35);
this.button3.TabIndex = 2;
this.button3.Text = "锡膏定位旋转垂直";
this.button3.UseVisualStyleBackColor = false;
this.button3.Click += new System.EventHandler(this.button3_Click);
//
// button2
//
this.button2.BackColor = System.Drawing.Color.White;
this.button2.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button2.Location = new System.Drawing.Point(542, 515);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(191, 35);
this.button2.TabIndex = 2;
this.button2.Text = "锡膏定位旋转水平";
this.button2.UseVisualStyleBackColor = false;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// cylinderButton5
//
......@@ -423,18 +450,6 @@ namespace TheMachine
this.ioControl1.Tag = "not";
this.ioControl1.Load += new System.EventHandler(this.ioControl1_Load);
//
// button9
//
this.button9.BackColor = System.Drawing.Color.White;
this.button9.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button9.Location = new System.Drawing.Point(542, 679);
this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(191, 35);
this.button9.TabIndex = 6;
this.button9.Text = "读取RFID";
this.button9.UseVisualStyleBackColor = false;
this.button9.Click += new System.EventHandler(this.button9_Click);
//
// IOControls
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
......@@ -476,5 +491,6 @@ namespace TheMachine
private System.Windows.Forms.Button button7;
private System.Windows.Forms.Button button8;
private System.Windows.Forms.Button button9;
private System.Windows.Forms.Button button10;
}
}
TheMachine/IOControls.cs
......@@ -88,15 +88,31 @@ namespace TheMachine
private void button9_Click(object sender, EventArgs e)
{
for (int i = 1; i < 10;i++) {
Thread.Sleep(300);
RobotManage.RFID.ReadEPC(out byte[] data);
if (data!=null) {
MessageBox.Show(RobotManage.RFID.HexBuff(data));
return;
for (int i = 0; i < 6;i++) {
Thread.Sleep(200);
if (RobotManage.RFID.ReadEPC(12,out byte[] data)) {
if (data[0] != 0xFF)
{
MessageBox.Show(RobotManage.RFID.HexBuff(data) + "\r\n" + Encoding.ASCII.GetString(data).Trim());
return;
}
}
}
MessageBox.Show("no data");
}
private void button10_Click(object sender, EventArgs e)
{
Thread.Sleep(300);
var epc = "20418002Z-203";
epc = "20418002Z-20";
epc = epc.PadRight(12);
var result = RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(epc));
if (result)
{
MessageBox.Show("写入成功");
return;
}
}
}
}
TheMachine/SettingControl.Designer.cs
......@@ -175,7 +175,7 @@ namespace TheMachine
this.groupBox1.Controls.Add(this.btn_printertest);
this.groupBox1.Controls.Add(this.btn_labeledit);
this.groupBox1.Controls.Add(this.cb_labelselect);
this.groupBox1.Location = new System.Drawing.Point(18, 244);
this.groupBox1.Location = new System.Drawing.Point(18, 153);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(340, 126);
this.groupBox1.TabIndex = 12;
......
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