Skip to content

刘韬 / SO20242OutBound

转到一个项目
切换导航栏
切换导航栏固定状态
Commit c5000a07 由 LN
选项

1

1 个父辈 79191892
内嵌 并排
正在显示 8 个修改的文件 包含 44 行增加 和 27 行删除
DeviceLibrary/DeviceLibrary/CodeManager.cs
......@@ -297,7 +297,7 @@ namespace DeviceLibrary
Task.Delay(ii * 700).Wait();
}
while (!cameraTask[0].IsCompleted || !cameraTask[1].IsCompleted)
while (!cameraTask[0].IsCompleted )
{
Application.DoEvents();
Thread.Sleep(100);
......
DeviceLibrary/DeviceLibrary/HttpServer.cs
......@@ -14,9 +14,9 @@ namespace DeviceLibrary
{
}
private static string Addr_updateDeviceAlarmMsg = "/rest/api/device/shelf/updateDeviceAlarmMsg";
private static string Addr_ShelfFinish = "/rest/api/device/shelf/putShelfFinished";
private static string Addr_getLocation = "/rest/api/device/shelf/getLocation";
private static string Addr_getShelfEmptySlot = "/rest/api/device/shelf/getShelfEmptySlot";
private static string Addr_ShelfFinish = "/rest/api/shelf/putShelfFinished";
private static string Addr_getLocation = "/rest/api/shelf/getLocation";
private static string Addr_getShelfEmptySlot = "/rest/api/shelf/getShelfEmptySlot";
/// <summary>
/// rest/api/dcs/device/getShelfEmptySlot
/// 获取当前任务数及料架的剩余空位
......@@ -110,7 +110,7 @@ namespace DeviceLibrary
}
public static string GetAddr(string addr, Dictionary<string, string> paramsMap)
{
string server = ConfigAppSettings.GetValue(Setting_Init.Device_Server_Address);
string server = Setting_Init.Device_Server_Address;
if (server.EndsWith("/"))
{
server = server.Substring(0, server.Length - 1);
......@@ -236,8 +236,10 @@ namespace DeviceLibrary
{
int h = getIntData(data.data, "h");
int w = getIntData(data.data, "w");
string nBarcode = getData(data.data, "barcode");
tray.h = h;
tray.w = w;
tray.barcode = nBarcode;
}
return tray;
......
DeviceLibrary/DeviceLibrary/ReelParam.cs
......@@ -120,12 +120,12 @@ public class ReelParam
{
if (IsNg)
{
return $":{NgMsg}[{WareCode}][{RFID}][{PlateW}x{PlateH}]";
return $":NG[{NgMsg}][{StartPos}->{TargetPos}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
}
else
{
return $":[{TargetPos}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
return $":[{StartPos}->{TargetPos}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
}
}
bool islog = false;
......
DeviceLibrary/theMachine/InReelBean.cs
......@@ -159,6 +159,7 @@ namespace DeviceLibrary
if (LastCode.Count > 0)
{
MoveInfo.log("扫码完成："+CodeManager.ProcessCode(LastCode));
break;
}
else
{
......@@ -192,7 +193,7 @@ namespace DeviceLibrary
{
while (MoveInfo.MoveStep.Equals(MoveStep.IN03_GetPos))
{
string shelfRfid = RobotManage.mainMachine.getReadyShelf();
string shelfRfid = RobotManage.mainMachine.getReadyShelf(";");
if (String.IsNullOrEmpty(shelfRfid))
{
//无可用料架
......
DeviceLibrary/theMachine/LabelParam.cs
......@@ -57,18 +57,18 @@ namespace DeviceLibrary
if (FixtureConfig.GetFixtureHeight(aCStorePosition.BagWidth, aCStorePosition.BagHigh, out int actualheight))
BagHigh = actualheight;
Comp_PH = Config.Comp_P2 - Config.Comp_PoToMM * (BagHigh - 70 + Config.Comp_PH_MM);
Comp_PH = Config.Comp_P2 - Config.Comp_PoToMM * (BagHigh - 8 + Config.Comp_PH_MM);
int ReelHeight = reel.PlateH;
if (FixtureConfig.GetFixtureHeight(reel.PlateW, reel.PlateH, out int actualheight1))
ReelHeight = actualheight1;
Comp_PL = Config.Comp_P2 - Config.Comp_PoToMM * (ReelHeight - 70);
Comp_PL = Config.Comp_P2 - Config.Comp_PoToMM * (ReelHeight - 8);
Comp_PH = Comp_PH < 0 ? 0 : Comp_PH;
Comp_PL = Comp_PL < 0 ? 0 : Comp_PL;
posid = aCStorePosition.PositionNum;
Reel = reel.clone();
LogUtil.info($"BSP:{posid},Comp_PH:{Comp_PH}={Config.Comp_P2}-({BagHigh}-{70}+{Config.Comp_PH_MM})*{Config.Comp_PoToMM},Comp_PL:{Comp_PL}={ReelHeight},{JsonHelper.SerializeObject(this)}");
LogUtil.info($"BSP:{posid},Comp_PH:{Comp_PH}={Config.Comp_P2}-({BagHigh}-{8}+{Config.Comp_PH_MM})*{Config.Comp_PoToMM},Comp_PL:{Comp_PL}={ReelHeight},{JsonHelper.SerializeObject(this)}");
}
//public const string ngdoor = "单料口";
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -663,9 +663,13 @@ namespace DeviceLibrary
{
if (bean.ShelfValid())
{
rfid += bean.CurrShelf.realRFID;
rfid += bean.CurrShelf.realRFID+split;
}
}
if (rfid.EndsWith(split))
{
rfid = rfid.Substring(0, rfid.Length - 1);
}
return rfid;
}
private DateTime lastEmptyTime = DateTime.Now;
......@@ -696,7 +700,7 @@ namespace DeviceLibrary
ShelfInfo shelf = outShelfBeans[key].CurrShelf;
if (outShelfBeans[key].ShelfValid())
{
string realRfid = outShelfBeans[key].CurrShelf.rfid;
string realRfid = outShelfBeans[key].CurrShelf.realRFID;
if (emptyMap.TryGetValue(realRfid, out int emptyP))
{
outShelfBeans[key].CurrShelf.EmptyPos = emptyP;
......
DeviceLibrary/theMachine/MainMachine_PutReel.cs
......@@ -56,6 +56,7 @@ namespace DeviceLibrary
//送料到NG
StoreMoveInfo.NewMove(MoveStep.PutReel01_Ready);
StoreMoveInfo.MoveParam = new ReelParam(tray.barcode, tray.w, tray.h, inReel.PosName, ngPos, tray.ngReel, tray.ngMsg);
StoreMoveInfo.MoveParam.ReelOnFixture = false;
StoreMoveInfo.log("NG料准备放料：" + StoreMoveInfo.MoveParam.ToStr());
break;
}
......@@ -70,6 +71,7 @@ namespace DeviceLibrary
//送料到料架
StoreMoveInfo.NewMove(MoveStep.PutReel01_Ready);
StoreMoveInfo.MoveParam = new ReelParam(tray.barcode, tray.w, tray.h, inReel.PosName, pos, tray.ngReel, tray.ngMsg);
StoreMoveInfo.MoveParam.ReelOnFixture = false;
StoreMoveInfo.log("出库料准备放料：" + StoreMoveInfo.MoveParam.ToStr());
break;
}
......
DeviceLibrary/theMachine/OutShelfBean.cs
......@@ -85,9 +85,9 @@ namespace DeviceLibrary
{
if (CurrShelf.realRFID.Equals(CurrTray.realRfid))
{
if (String.IsNullOrEmpty(CurrShelf.rfid))
if (String.IsNullOrEmpty(CurrShelf.xnRfid))
{
CurrShelf.rfid = CurrTray.rfid;
CurrShelf.xnRfid = CurrTray.rfid;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
}
ShelfPosId = CurrTray.getShelfLoc(Name);
......@@ -95,7 +95,7 @@ namespace DeviceLibrary
}
else if (String.IsNullOrEmpty(CurrTray.realRfid))
{
if ((!CurrShelf.rfid.Equals("")) && CurrShelf.rfid.Equals(CurrTray.rfid))
if ((!CurrShelf.xnRfid.Equals("")) && CurrShelf.xnRfid.Equals(CurrTray.rfid))
{
CurrTray.realRfid = CurrShelf.realRFID;
ShelfPosId = CurrTray.getShelfLoc(Name);
......@@ -110,9 +110,9 @@ namespace DeviceLibrary
return false;
}
}
if (CurrShelf.rfid.Equals(""))
if (CurrShelf.xnRfid.Equals(""))
{
CurrShelf.rfid = CurrTray.rfid;
CurrShelf.xnRfid = CurrTray.rfid;
CurrTray.realRfid = CurrShelf.realRFID;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
ShelfPosId = CurrTray.getShelfLoc(Name);
......@@ -186,10 +186,11 @@ namespace DeviceLibrary
{
if (taskInfo.smallEmpty == 0 && taskInfo.bigEmpty == 0)
{
MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
//MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
//CurrShelf.IsNeedLeave = true;
//当前工单任务已完成，直接送料架离开
MoveInfo.log("放料完成，当前工单任务已完成，更改料架为需要离开状态：" + taskInfo.ToStr());
CurrShelf.IsNeedLeave = true;
MoveInfo.log("放料完成，当前工单任务已完成，剩余空位=0，料架需要离开：" + taskInfo.ToStr());
S21_ShelfNeedLeave("剩余空位=0");
}
else
{
......@@ -213,7 +214,12 @@ namespace DeviceLibrary
else if (locationCylinder.IsLow())
{
if (CheckShelf(IO_VALUE.HIGH))
//如果是料架等待离开
if (CurrShelf != null && CurrShelf.IsNeedLeave)
{
}
else if (CheckShelf(IO_VALUE.HIGH))
{
//料架已到位
MoveInfo.NewMove(MoveStep.S04_WaitTime);
......@@ -317,7 +323,7 @@ namespace DeviceLibrary
case MoveStep.S21_ShelfNeedLeave:
MoveInfo.NextMoveStep(MoveStep.S22_WaitAGV);
AgvClient.NeedLeave(agvId, agvName, CurrShelf.rfid);
AgvClient.NeedLeave(agvId, agvName, CurrShelf.realRFID);
MoveInfo.log("呼叫AGV小车,结束");
MoveInfo.EndMove();
break;
......@@ -386,7 +392,7 @@ namespace DeviceLibrary
MoveInfo.log("读取RFID");
if (ReadShelfId())
{
if (CurrShelf.rfid == "")
if (CurrShelf.realRFID == "")
{
S21_ShelfNeedLeave("未读取到RFID");
}
......@@ -407,6 +413,7 @@ namespace DeviceLibrary
{
MoveInfo.NewMove(MoveStep.S21_ShelfNeedLeave);
locationCylinder.ToLow(MoveInfo);
CurrShelf.IsNeedLeave = true;
MoveInfo.log("料架[" + CurrShelf.ToStr() + "]需要离开：" + leaveMsg + ",定位气缸下降");
}
private bool ReadShelfId()
......@@ -536,8 +543,9 @@ namespace DeviceLibrary
public class ShelfInfo
{
//public ShelfTaskInfo TaskInfo = null;
public string realRFID = "";
public string rfid = "";
public string xnRfid = "";
public bool IsNeedLeave = false;
public bool IsBusy = false;
public int EmptyPos = 100;
......@@ -545,14 +553,14 @@ namespace DeviceLibrary
public ShelfInfo(string shelfId = "", string xnId = "", bool needLeave = false, bool busy = false)
{
this.realRFID = shelfId;
this.rfid = xnId;
this.xnRfid = xnId;
this.IsNeedLeave = needLeave;
this.IsBusy = busy;
EmptyPos = 100;
}
public string ToStr()
{
string result = "[" + realRFID + "_" + rfid + "]";
string result = "[" + realRFID + "_" + xnRfid + "]";
result += "[空位 " + EmptyPos + "]";
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!