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Commit c7e73822 由 LN
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1 个父辈 9c7f139d
内嵌 并排
正在显示 12 个修改的文件 包含 692 行增加 和 213 行删除
DeviceLibrary/DeviceLibrary.csproj
...@@ -36,8 +36,8 @@ ...@@ -36,8 +36,8 @@
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\SharedDLL\Asa.Camera.VisionLib.dll</HintPath> <HintPath>..\SharedDLL\Asa.Camera.VisionLib.dll</HintPath>
</Reference> </Reference>
<Reference Include="Asa.RFID"> <Reference Include="Asa.RFID.PuYue">
<HintPath>..\..\DoubleLineClient_3D\dll\Asa.RFID.dll</HintPath> <HintPath>..\SharedDLL\Asa.RFID.PuYue.dll</HintPath>
</Reference> </Reference>
<Reference Include="CodeLibrary, Version=1.0.8485.20895, Culture=neutral, processorArchitecture=MSIL"> <Reference Include="CodeLibrary, Version=1.0.8485.20895, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
...@@ -86,7 +86,6 @@ ...@@ -86,7 +86,6 @@
<Compile Include="DeviceLibrary\LiftMonitor.cs" /> <Compile Include="DeviceLibrary\LiftMonitor.cs" />
<Compile Include="DeviceLibrary\LineRunMonitor.cs" /> <Compile Include="DeviceLibrary\LineRunMonitor.cs" />
<Compile Include="DeviceLibrary\ReelParam.cs" /> <Compile Include="DeviceLibrary\ReelParam.cs" />
<Compile Include="DeviceLibrary\RFIDManager.cs" />
<Compile Include="DeviceLibrary\ServerCommunication.cs" /> <Compile Include="DeviceLibrary\ServerCommunication.cs" />
<Compile Include="DeviceLibrary\AxisBean.cs" /> <Compile Include="DeviceLibrary\AxisBean.cs" />
<Compile Include="theMachine\ReelTransport.cs" /> <Compile Include="theMachine\ReelTransport.cs" />
......
DeviceLibrary/theMachine/MainMachine _AutoInOutTest.cs
...@@ -6,50 +6,60 @@ namespace DeviceLibrary ...@@ -6,50 +6,60 @@ namespace DeviceLibrary
{ {
partial class MainMachine partial class MainMachine
{ {
public bool StartAutoInOutTest(int posindex, out string errmsg) private bool canStartTest(out string errmsg)
{ {
errmsg = ""; errmsg = "";
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
errmsg = crc.GetString("Res0152", "收到任务,但料叉上有料,无法启动,请检查");
}
else
{
errmsg = crc.GetString("Res0152", "收到任务,但料叉上有料,无法启动,请检查");
}
return false;
}
else
{
IgnoreGratingSignal = true;
}
if (!boxTransport.IsComplateOrFree) if (!boxTransport.IsComplateOrFree)
{ {
errmsg = crc.GetString("Res0151", "料仓忙碌中,无法启动"); errmsg = crc.GetString("Res0151", "料仓忙碌中,无法启动");
return false; return false;
} }
return true;
}
public bool StartAutoTest(string posName, out string errmsg)
{
if (!canStartTest(out errmsg))
{
return false;
}
CurrentPosName = posName;
CurrStartPos = GetAutoStartPos(1);
AutoInOutTest = true; AutoInOutTest = true;
StopAutoInOut = false; StopAutoInOut = false;
CurrentPosIndex = posindex; CurrentPosIndex = RobotManage.PositionNumList.IndexOf(posName);
AIOTMoveInfo.NewMove(MoveStep.StoreIn01); AIOTMoveInfo.NewMove(MoveStep.A01_WaitReel);
return true; return true;
} }
public bool ManualIn(string startPos, int posindex, out string errmsg) public bool ManualTest(string startPos, string posName, out string errmsg)
{ {
errmsg = ""; if (!canStartTest(out errmsg))
if (boxTransport.IsComplateOrFree)
{
if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
{
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
}
else
errmsg = crc.GetString("Res0152", "收到出库任务,但料叉上有料,无法启动,请检查");
return false;
}
else
boxTransport.IgnoreX09 = false;
CurrentPosIndex = posindex;
CurrStartPos = startPos;
StopAutoInOut = true;
AIOTMoveInfo.NewMove(MoveStep.StoreIn01);
AIOTMoveInfo.log($"开始入库任务:" + RobotManage.allPositionMap.Values.ToArray()[posindex].PositionNum);
}
else
{ {
errmsg = crc.GetString("Res0153", "料仓正在出入库中,无法出库"); return false;
} }
CurrentPosName = posName;
CurrentPosIndex = RobotManage.PositionNumList.IndexOf(posName);
CurrStartPos = startPos;
AutoInOutTest = false;
StopAutoInOut = true;
AIOTMoveInfo.NewMove(MoveStep.A01_Ready);
AIOTMoveInfo.log($"开始放料任务:" + startPos + "->" + posName);
return true; return true;
} }
...@@ -57,13 +67,50 @@ namespace DeviceLibrary ...@@ -57,13 +67,50 @@ namespace DeviceLibrary
{ {
StopAutoInOut = true; StopAutoInOut = true;
} }
int CurrentPosIndex = 0; private int CurrentPosIndex = 0;
private string CurrentPosName = "";
/// <summary> /// <summary>
/// 自动出入库状态 /// 自动出入库状态
/// </summary> /// </summary>
public bool AutoInOutTest { get; set; } = false; public bool AutoInOutTest { get; set; } = false;
bool StopAutoInOut = false; bool StopAutoInOut = false;
string CurrStartPos = "IN_1"; string CurrStartPos = "IN_1";
private string GetAutoStartPos(int count=0)
{
if (count == 0)
{
if (CurrStartPos.Equals("IN_1"))
{
CurrStartPos = "IN_2";
}
else
{
CurrStartPos = "IN_1";
}
}
else
{
return CurrStartPos = "IN_" + count;
}
return CurrStartPos;
}
private ACStorePosition getPos(int index)
{
if (index <= 0)
{
return null;
}
CurrentPosName = RobotManage.PositionNumList[index];
if (!RobotManage.allPositionMap.ContainsKey(CurrentPosName))
{
return null;
}
ACStorePosition storePosition = RobotManage.allPositionMap[CurrentPosName];
return storePosition;
}
void AutoInOutTestProcess() void AutoInOutTestProcess()
{ {
if (CheckWait(AIOTMoveInfo)) if (CheckWait(AIOTMoveInfo))
...@@ -73,55 +120,71 @@ namespace DeviceLibrary ...@@ -73,55 +120,71 @@ namespace DeviceLibrary
{ {
case MoveStep.Wait: case MoveStep.Wait:
break; break;
case MoveStep.InWaitServerCallback: case MoveStep.A01_WaitReel:
if (IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.HIGH))
{ {
AIOTMoveInfo.NextMoveStep(MoveStep.Wait); AIOTMoveInfo.NextMoveStep(MoveStep.A01_Ready);
AIOTMoveInfo.log($"入库料盘已离开"); AIOTMoveInfo.log($"料盘1已准备好");
}
else
{
Msg.add(crc.GetString("Res0155", "请放入测试料盘1"), MsgLevel.warning);
} }
break; break;
case MoveStep.StoreIn01: case MoveStep.A01_Ready:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn02);
AIOTMoveInfo.NextMoveStep(MoveStep.A02_StartPutOne);
var ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex]; ACStorePosition ac = null;
var reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh); if (string.IsNullOrEmpty(CurrentPosName))
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel)) {
ac = RobotManage.allPositionMap[CurrentPosName];
}
else
{
ac = getPos(CurrentPosIndex);
}
var reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
var startPos = RobotManage.allPositionMap[CurrStartPos];
if (!boxTransport.Start(new BoxStorePosition(Config, startPos, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel))
{ {
AIOTMoveInfo.log($"料仓周转启动失败"); AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false; AutoInOutTest = false;
StopAutoInOut = true; StopAutoInOut = true;
return; return;
} }
AIOTMoveInfo.log($"开始转运料盘第一盘"); AIOTMoveInfo.log($"开始匀速料盘第一盘");
break; break;
case MoveStep.StoreIn02: case MoveStep.A02_StartPutOne:
if (boxTransport.IsTakedReel) if (boxTransport.IsTakedReel)
{ {
if (StopAutoInOut) if (StopAutoInOut)
{ {
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn04); AIOTMoveInfo.NextMoveStep(MoveStep.A04_WaitOneComplate);
AIOTMoveInfo.log($"不在自动测试模式, 直接结束1"); AIOTMoveInfo.log($"不在自动测试模式, 直接结束1");
} }
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn03); else
AIOTMoveInfo.log($"第一盘料盘已取走"); {
AIOTMoveInfo.NextMoveStep(MoveStep.A03_WaitRee2);
AIOTMoveInfo.log($"第一盘料盘已取走");
}
} }
else else
{ {
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info); Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
} }
break; break;
case MoveStep.StoreIn03: case MoveStep.A03_WaitRee2:
if (IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.IN_2_Reel_Check).Equals(IO_VALUE.HIGH))
{ {
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn04); AIOTMoveInfo.NextMoveStep(MoveStep.A04_WaitOneComplate);
AIOTMoveInfo.log($"入库料盘已准备好"); AIOTMoveInfo.log($"测试料盘2已准备好");
} }
else else
{ {
Msg.add(crc.GetString("Res0155", "请放入第二盘料."), MsgLevel.warning); Msg.add(crc.GetString("Res0155", "请放入测试料盘2."), MsgLevel.warning);
} }
break; break;
case MoveStep.StoreIn04: case MoveStep.A04_WaitOneComplate:
if (boxTransport.IsComplateOrFree) if (boxTransport.IsComplateOrFree)
{ {
if (StopAutoInOut) if (StopAutoInOut)
...@@ -130,30 +193,32 @@ namespace DeviceLibrary ...@@ -130,30 +193,32 @@ namespace DeviceLibrary
AIOTMoveInfo.EndMove(); AIOTMoveInfo.EndMove();
return; return;
} }
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn05); AIOTMoveInfo.NextMoveStep(MoveStep.A05_StartPutTwo);
AIOTMoveInfo.log($"第一盘料盘已到达目的地"); AIOTMoveInfo.log($"第一盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut) if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{ {
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口"); AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex}，或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10); AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return; return;
} }
AIOTMoveInfo.log($"开始转运料盘第二盘"); AIOTMoveInfo.log($"开始匀速料盘第二盘");
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
ac =getPos(CurrentPosIndex-1);
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh); reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel)) startPos = RobotManage.allPositionMap[GetAutoStartPos()];
if (!boxTransport.Start(new BoxStorePosition(Config, startPos, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.PutReel))
{ {
AIOTMoveInfo.log($"料仓周转启动失败"); AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false; AutoInOutTest = false;
StopAutoInOut = true; StopAutoInOut = true;
return; return;
} }
} }
break; break;
case MoveStep.StoreIn05: case MoveStep.A05_StartPutTwo:
if (boxTransport.IsTakedReel) if (boxTransport.IsTakedReel)
{ {
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn06); AIOTMoveInfo.NextMoveStep(MoveStep.A06_WaitTwoEnd);
AIOTMoveInfo.log($"第二盘料盘已取走"); AIOTMoveInfo.log($"第二盘料盘已取走");
} }
else else
...@@ -161,41 +226,41 @@ namespace DeviceLibrary ...@@ -161,41 +226,41 @@ namespace DeviceLibrary
Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info); Msg.add(crc.GetString("Res0154", "单料口等待料盘离开."), MsgLevel.info);
} }
break; break;
case MoveStep.StoreIn06: case MoveStep.A06_WaitTwoEnd:
if (boxTransport.IsComplateOrFree) if (boxTransport.IsComplateOrFree)
{ {
AIOTMoveInfo.log($"第二盘料盘已到达目的地"); AIOTMoveInfo.log($"第二盘料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut) if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{ {
AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口"); AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10); AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return; return;
} }
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn07); AIOTMoveInfo.NextMoveStep(MoveStep.A07_NextPos);
} }
break; break;
case MoveStep.StoreIn07: case MoveStep.A07_NextPos:
if (boxTransport.IsComplateOrFree) if (boxTransport.IsComplateOrFree)
{ {
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn08); AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn08);
var ac1 = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex];
if (CurrentPosIndex - 2 < 0 || StopAutoInOut) if (CurrentPosIndex - 2 < 0 || StopAutoInOut)
{ {
AIOTMoveInfo.log($"A已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口"); AIOTMoveInfo.log($"A已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10); AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
CurrentPosIndex++; CurrentPosIndex++;
return; return;
} }
var ac2 = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 2]; var ac1 = getPos(CurrentPosIndex);
var ac2 =getPos(CurrentPosIndex - 2);
reel = new ReelParam("auto", ac2.BagWidth, ac2.BagHigh); reel = new ReelParam("auto", ac2.BagWidth, ac2.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac1, reel), new BoxStorePosition(Config, ac2, reel), StoreMoveType.PutReel)) if (!boxTransport.Start(new BoxStorePosition(Config, ac1, reel), new BoxStorePosition(Config, ac2, reel), StoreMoveType.PutReel))
{ {
AIOTMoveInfo.log($"料仓周转启动失败"); AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false; AutoInOutTest = false;
StopAutoInOut = true; StopAutoInOut = true;
return; return;
} }
AIOTMoveInfo.log($"开始交替"); AIOTMoveInfo.log($"开始交替：【{ac1.PositionNum}】->【{ac2.PositionNum}】");
} }
break; break;
case MoveStep.StoreIn08: case MoveStep.StoreIn08:
...@@ -204,27 +269,30 @@ namespace DeviceLibrary ...@@ -204,27 +269,30 @@ namespace DeviceLibrary
AIOTMoveInfo.log($"料盘已到达目的地"); AIOTMoveInfo.log($"料盘已到达目的地");
if (CurrentPosIndex - 1 < 0 || StopAutoInOut) if (CurrentPosIndex - 1 < 0 || StopAutoInOut)
{ {
AIOTMoveInfo.log($"B已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口"); AIOTMoveInfo.log($"已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10); AIOTMoveInfo.NextMoveStep(MoveStep.A10_LastPos);
return; return;
} }
CurrentPosIndex--; CurrentPosIndex--;
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn07); AIOTMoveInfo.NextMoveStep(MoveStep.A07_NextPos);
AIOTMoveInfo.log($"CurrentPosIndex={CurrentPosIndex}");
} }
break; break;
case MoveStep.StoreOut10: case MoveStep.A10_LastPos:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut11); AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut11);
CurrentPosIndex--; CurrentPosIndex--;
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex]; CurrStartPos = GetAutoStartPos(1);
ACStorePosition start1 = RobotManage.allPositionMap[CurrStartPos];
ac = getPos(CurrentPosIndex );
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh); reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.OutStore)) if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, start1, reel), StoreMoveType.OutStore))
{ {
AIOTMoveInfo.log($"料仓周转启动失败"); AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false; AutoInOutTest = false;
StopAutoInOut = true; StopAutoInOut = true;
return; return;
} }
AIOTMoveInfo.log($"开始转运料盘"); AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start1.PositionNum}】");
break; break;
case MoveStep.StoreOut11: case MoveStep.StoreOut11:
if (boxTransport.IsPutOnOut) if (boxTransport.IsPutOnOut)
...@@ -241,26 +309,21 @@ namespace DeviceLibrary ...@@ -241,26 +309,21 @@ namespace DeviceLibrary
AIOTMoveInfo.log($"料盘已到取走"); AIOTMoveInfo.log($"料盘已到取走");
//AutoInOutTest = false; //AutoInOutTest = false;
} }
break; break;
case MoveStep.StoreOut13: case MoveStep.StoreOut13:
if (IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.LOW))
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut14);
AIOTMoveInfo.log($"第2盘料盘已取走");
}
break;
case MoveStep.StoreOut14:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut15); AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut15);
CurrStartPos = GetAutoStartPos(2);
ACStorePosition start2 = RobotManage.allPositionMap[CurrStartPos];
ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1]; ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh); reel = new ReelParam("auto", ac.BagWidth, ac.BagHigh);
if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, ac, reel), StoreMoveType.OutStore)) if (!boxTransport.Start(new BoxStorePosition(Config, ac, reel), new BoxStorePosition(Config, start2, reel), StoreMoveType.OutStore))
{ {
AIOTMoveInfo.log($"料仓周转启动失败"); AIOTMoveInfo.log($"启动运输料盘失败，StopAutoInOut");
AutoInOutTest = false; AutoInOutTest = false;
StopAutoInOut = true; StopAutoInOut = true;
return; return;
} }
AIOTMoveInfo.log($"开始转运料盘"); AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start2.PositionNum}】");
break; break;
case MoveStep.StoreOut15: case MoveStep.StoreOut15:
if (boxTransport.IsPutOnOut) if (boxTransport.IsPutOnOut)
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -72,6 +72,7 @@ namespace DeviceLibrary ...@@ -72,6 +72,7 @@ namespace DeviceLibrary
public Dictionary<string, ReelParam> NgPosMap = new Dictionary<string, ReelParam>(); public Dictionary<string, ReelParam> NgPosMap = new Dictionary<string, ReelParam>();
public MainMachine(Robot_Config _config) { public MainMachine(Robot_Config _config) {
Config = _config; Config = _config;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent; crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -124,17 +124,17 @@ namespace DeviceLibrary ...@@ -124,17 +124,17 @@ namespace DeviceLibrary
//放料：放料全部结束 //放料：放料全部结束
PutReel05_End, PutReel05_End,
A01_WaitReel,
StoreIn01, //入库 A01_Ready, //入库
StoreIn02, A02_StartPutOne,
StoreIn03, A03_WaitRee2,
StoreIn04, A04_WaitOneComplate,
StoreIn05, A05_StartPutTwo,
StoreIn06, A06_WaitTwoEnd,
StoreIn07, A07_NextPos,
StoreIn08, StoreIn08,
StoreIn09, StoreIn09,
StoreOut10, //出库 A10_LastPos, //出库
StoreOut_NGPre, StoreOut_NGPre,
StoreOut11, StoreOut11,
StoreOut12, StoreOut12,
......
DeviceLibrary/theMachine/OutShelfBean.cs
...@@ -12,24 +12,17 @@ namespace DeviceLibrary ...@@ -12,24 +12,17 @@ namespace DeviceLibrary
{ {
public class OutShelfBean public class OutShelfBean
{ {
public string Name; public static PuYueRFID_C2S RFID = null;
public string Name;
MoveInfo MoveInfo; MoveInfo MoveInfo;
public string WarnMsg = ""; public string WarnMsg = "";
/// <summary> /// <summary>
/// 出料口定位气缸，high=up，low=down /// 出料口定位气缸，high=up，low=down
/// </summary> /// </summary>
private CylinderManger locationCylinder; private CylinderManger locationCylinder;
public ShelfInfo CurrShelf;
//public string currShelfRfid;
public ShelfInfo CurrShelf;
public string rfidIp; public string rfidIp;
public OutShelfBean(string name ) public OutShelfBean(string name )
{ {
this.Name = name; this.Name = name;
...@@ -46,6 +39,12 @@ namespace DeviceLibrary ...@@ -46,6 +39,12 @@ namespace DeviceLibrary
Moto_Rwd = ioStr + Moto_Rwd; Moto_Rwd = ioStr + Moto_Rwd;
locationCylinder = new CylinderManger(name + "出料口定位", Location_Up, Location_Down); locationCylinder = new CylinderManger(name + "出料口定位", Location_Up, Location_Down);
RFID = new PuYueRFID_C2S(rfidIp);
if (!RFID.Open())
{
LogUtil.info(name + " RFID 打开失败：" + rfidIp);
}
#endregion #endregion
} }
public void Reset() public void Reset()
...@@ -250,22 +249,14 @@ namespace DeviceLibrary ...@@ -250,22 +249,14 @@ namespace DeviceLibrary
locationCylinder.ToHigh(MoveInfo); locationCylinder.ToHigh(MoveInfo);
} }
break; break;
case MoveStep.S05_LocationUp: case MoveStep.S05_LocationUp:
MoveInfo.NextMoveStep(MoveStep.S06_ReadRFID); S06_ReadRFID();
MoveInfo.log("读取RFID");
ReadShelfId();
if (CurrShelf.rfid == "")
{
S21_ShelfNeedLeave("未读取到RFID");
}
else
{
MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
MoveInfo.log("料架已准备完成");
}
break; break;
case MoveStep.S06_ReadRFID:
S06_ReadRFID();
break;
case MoveStep.S10_ShelfReady: case MoveStep.S10_ShelfReady:
if (CurrShelf.IsNeedLeave) if (CurrShelf.IsNeedLeave)
{ {
...@@ -343,18 +334,58 @@ namespace DeviceLibrary ...@@ -343,18 +334,58 @@ namespace DeviceLibrary
return false; return false;
} }
private void S06_ReadRFID()
{
MoveInfo.NextMoveStep(MoveStep.S06_ReadRFID);
MoveInfo.log("读取RFID");
if (ReadShelfId())
{
if (CurrShelf.rfid == "")
{
S21_ShelfNeedLeave("未读取到RFID");
}
else
{
MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
MoveInfo.log("料架已准备完成");
}
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
}
private void S21_ShelfNeedLeave(string leaveMsg) private void S21_ShelfNeedLeave(string leaveMsg)
{ {
MoveInfo.NewMove(MoveStep.S21_ShelfNeedLeave); MoveInfo.NewMove(MoveStep.S21_ShelfNeedLeave);
locationCylinder.ToLow(MoveInfo); locationCylinder.ToLow(MoveInfo);
MoveInfo.log("料架[" + CurrShelf.ToStr() + "]需要离开：" + leaveMsg + ",定位气缸下降"); MoveInfo.log("料架[" + CurrShelf.ToStr() + "]需要离开：" + leaveMsg + ",定位气缸下降");
} }
private string ReadShelfId() private bool ReadShelfId()
{ {
string rfid = RFIDManager.ReadRFID(rfidIp).NumStr(); if (RFID.Open())
CurrShelf = new ShelfInfo(rfid); {
LogUtil.info(Name + "读取料架号：" + CurrShelf.ToStr()); if (RFID.ReadByte(0x20, 16, out byte[] data))
return CurrShelf.realRFID; {
string rfid = Encoding.ASCII.GetString(data).Trim();
CurrShelf = new ShelfInfo(rfid);
LogUtil.info(Name + "RFID["+rfidIp+"]读取到料架号：" + CurrShelf.ToStr());
return true;
}
else
{
//读取失败,重试之类
WarnMsg = "RFID[" + rfidIp + "]读取失败";
LogUtil.error(WarnMsg);
}
}
else
{
WarnMsg = "RFID[" + rfidIp + "]打开失败";
LogUtil.error(WarnMsg);
}
return false;
} }
#region IO操作 #region IO操作
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -43,6 +43,19 @@ namespace DeviceLibrary ...@@ -43,6 +43,19 @@ namespace DeviceLibrary
return _positionNumList; return _positionNumList;
} }
} }
static List<string> _allPosList = null;
public static List<string> AllPosList
{
get
{
if (_allPosList == null)
{
_allPosList = new List<string>(CSVPositionReader<ACStorePosition>.allPositionMap.Keys);
}
return _allPosList;
}
}
static string baseDir = Application.StartupPath; static string baseDir = Application.StartupPath;
static Thread mainThread; static Thread mainThread;
public static bool haveFixpos=false; public static bool haveFixpos=false;
...@@ -82,6 +95,9 @@ namespace DeviceLibrary ...@@ -82,6 +95,9 @@ namespace DeviceLibrary
msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败")+ "\n"; msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败")+ "\n";
} }
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
} }
......
SharedDLL/Asa.RFID.PuYue.dll 0 → 100644
此文件类型无法预览
SharedDLL/Asa.RFID.PuYue.xml 0 → 100644
<?xml version="1.0"?>
<doc>
<assembly>
<name>Asa.RFID.PuYue</name>
</assembly>
<members>
<member name="T:Asa.RFID.PuYue_FR540SP">
<summary>
HiStation RFID
</summary>
</member>
<member name="E:Asa.RFID.PuYue_FR540SP.Connected">
<summary>
已连接时触发
</summary>
</member>
<member name="E:Asa.RFID.PuYue_FR540SP.Received">
<summary>
接收到数据事件
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.#ctor(System.String)">
<summary>
HiStation RFID
</summary>
<param name="logName">日志名称</param>
</member>
<member name="P:Asa.RFID.PuYue_FR540SP.IP">
<summary>
IP地址
</summary>
</member>
<member name="P:Asa.RFID.PuYue_FR540SP.IsConn">
<summary>
是否连接
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Open">
<summary>
打开设备
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Close">
<summary>
关闭设备
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Init">
<summary>
初始化（用于修改硬件参数，不用每次调用）
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.TriggerMode(System.Boolean)">
<summary>
触发模式
</summary>
<param name="auto"></param>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Listen">
<summary>
监听网络
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.DataProcess">
<summary>
数据处理
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.CmdProcess">
<summary>
命令处理
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Reconn">
<summary>
重连
</summary>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Connect">
<summary>
建立Socket连接
</summary>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.CheckIP(System.String)">
<summary>
检查IP
</summary>
<param name="ip"></param>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.HexBuff(System.Byte[])">
<summary>
16进制转换
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Read(System.Int16,System.Int16)">
<summary>
读取保持寄存器，0x03功能码
</summary>
<param name="address"></param>
<param name="count"></param>
</member>
<member name="M:Asa.RFID.PuYue_FR540SP.Write(System.Int16,System.Int16)">
<summary>
写入保持寄存器，0x10功能码
</summary>
<param name="address"></param>
<param name="value"></param>
</member>
<member name="T:Asa.RFID.PuYue">
<summary>
HiStation RFID
</summary>
</member>
<member name="T:Asa.RFID.PuYue.Connected_Event">
<summary>
连接事件
</summary>
</member>
<member name="E:Asa.RFID.PuYue.Connected">
<summary>
已连接时触发
</summary>
</member>
<member name="T:Asa.RFID.PuYue.Received_Event">
<summary>
接收事件
</summary>
<param name="ip"></param>
<param name="uid"></param>
<param name="data"></param>
</member>
<member name="E:Asa.RFID.PuYue.Received">
<summary>
接收到数据事件
</summary>
</member>
<member name="M:Asa.RFID.PuYue.#ctor(System.String)">
<summary>
HiStation RFID
</summary>
<param name="logName">日志名称</param>
</member>
<member name="P:Asa.RFID.PuYue.IP">
<summary>
IP地址
</summary>
</member>
<member name="P:Asa.RFID.PuYue.IsConn">
<summary>
是否连接
</summary>
</member>
<member name="M:Asa.RFID.PuYue.Open">
<summary>
打开设备
</summary>
</member>
<member name="M:Asa.RFID.PuYue.Close">
<summary>
关闭设备
</summary>
</member>
<member name="M:Asa.RFID.PuYue.Init">
<summary>
初始化（用于修改硬件参数，不用每次调用）
</summary>
</member>
<member name="M:Asa.RFID.PuYue.TriggerMode(System.Boolean)">
<summary>
触发模式
</summary>
<param name="auto"></param>
</member>
<member name="M:Asa.RFID.PuYue.Listen">
<summary>
监听网络
</summary>
</member>
<member name="M:Asa.RFID.PuYue.DataProcess">
<summary>
数据处理
</summary>
</member>
<member name="M:Asa.RFID.PuYue.CmdProcess">
<summary>
命令处理
</summary>
</member>
<member name="M:Asa.RFID.PuYue.Reconn">
<summary>
重连
</summary>
</member>
<member name="M:Asa.RFID.PuYue.Connect">
<summary>
建立Socket连接
</summary>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue.CheckIP(System.String)">
<summary>
检查IP
</summary>
<param name="ip"></param>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue.HexBuff(System.Byte[])">
<summary>
16进制转换
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.RFID.PuYue.Read(System.Int16,System.Int16)">
<summary>
读取保持寄存器，0x03功能码
</summary>
<param name="address"></param>
<param name="count"></param>
</member>
<member name="M:Asa.RFID.PuYue.Write(System.Int16,System.Int16)">
<summary>
写入保持寄存器，0x10功能码
</summary>
<param name="address"></param>
<param name="value"></param>
</member>
<member name="E:PuYueRFID_FR540SP_C2S.ConnectionState_Event">
<summary>
连接状态变化, 手动连接不触发
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.Finalize">
<summary>
销毁
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.Open(System.String,System.Boolean)">
<summary>
打开IO
</summary>
<returns></returns>
</member>
<member name="P:PuYueRFID_FR540SP_C2S.AntennaPower">
<summary>
设置天线功率dBm
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.Close">
<summary>
关闭IO
</summary>
</member>
<member name="P:PuYueRFID_FR540SP_C2S.IsConn">
<summary>
连接状态
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.iomonitor">
<summary>
循环读全部IO
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.WriteDO(System.Int16,System.Int16)">
<summary>
写寄存器
</summary>
<param name="address"></param>
<param name="value"></param>
<returns></returns>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.ReadDO">
<summary>
读全部IO
</summary>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.TryRead(System.String@,System.Double@)">
<summary>
读取rfid
</summary>
<param name="id">读取到的id</param>
<param name="ms">最后读到的时间ms</param>
<returns>读取成功状态-1读取失败,0没有读到,1读取成功</returns>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.WriteByte(System.Int16,System.Byte[])">
<summary>
写入字节最大 64字
</summary>
<param name="address"></param>
<param name="data"></param>
<returns></returns>
</member>
<member name="M:PuYueRFID_FR540SP_C2S.HexBuff(System.Byte[])">
<summary>
16进制转换
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="E:PuYueRFID_C2S.ConnectionState_Event">
<summary>
连接状态变化, 手动连接不触发
</summary>
</member>
<member name="M:PuYueRFID_C2S.Finalize">
<summary>
销毁
</summary>
</member>
<member name="M:PuYueRFID_C2S.Open">
<summary>
打开IO
</summary>
<returns></returns>
</member>
<member name="P:PuYueRFID_C2S.AntennaPower">
<summary>
设置天线功率dBm
</summary>
</member>
<member name="M:PuYueRFID_C2S.Close">
<summary>
关闭IO
</summary>
</member>
<member name="P:PuYueRFID_C2S.IsConn">
<summary>
连接状态
</summary>
</member>
<member name="M:PuYueRFID_C2S.iomonitor">
<summary>
循环读全部IO
</summary>
</member>
<member name="M:PuYueRFID_C2S.WriteDO(System.Int16,System.Int16)">
<summary>
写寄存器
</summary>
<param name="address"></param>
<param name="value"></param>
<returns></returns>
</member>
<member name="M:PuYueRFID_C2S.ReadDO">
<summary>
读全部IO
</summary>
</member>
<member name="M:PuYueRFID_C2S.TryRead(System.String@,System.Double@)">
<summary>
读取rfid
</summary>
<param name="id">读取到的id</param>
<param name="ms">最后读到的时间ms</param>
<returns>读取成功状态-1读取失败,0没有读到,1读取成功</returns>
</member>
<member name="M:PuYueRFID_C2S.WriteByte(System.Int16,System.Byte[])">
<summary>
写入字节最大 64字
</summary>
<param name="address"></param>
<param name="data"></param>
<returns></returns>
</member>
</members>
</doc>
TheMachine/FormMain.cs
...@@ -92,7 +92,7 @@ namespace TheMachine ...@@ -92,7 +92,7 @@ namespace TheMachine
listReelInfo.View = View.Details; listReelInfo.View = View.Details;
AddHeader(listReelInfo, "", 0); AddHeader(listReelInfo, "", 0);
AddHeader(listReelInfo, "位置", 200); AddHeader(listReelInfo, "位置", 200);
AddHeader(listReelInfo, "料盘信息", listReelInfo.Width-200); AddHeader(listReelInfo, "料盘信息", listReelInfo.Width-200-3);
listReelInfo.ColumnWidthChanging += listView_ColumnWidthChanging; listReelInfo.ColumnWidthChanging += listView_ColumnWidthChanging;
#endregion #endregion
......
TheMachine/IOControls.Designer.cs
...@@ -110,7 +110,7 @@ namespace TheMachine ...@@ -110,7 +110,7 @@ namespace TheMachine
this.ioControl1.Dock = System.Windows.Forms.DockStyle.Fill; this.ioControl1.Dock = System.Windows.Forms.DockStyle.Fill;
this.ioControl1.Location = new System.Drawing.Point(0, 0); this.ioControl1.Location = new System.Drawing.Point(0, 0);
this.ioControl1.Name = "ioControl1"; this.ioControl1.Name = "ioControl1";
this.ioControl1.Size = new System.Drawing.Size(975, 539); this.ioControl1.Size = new System.Drawing.Size(904, 522);
this.ioControl1.TabIndex = 0; this.ioControl1.TabIndex = 0;
this.ioControl1.Tag = "not"; this.ioControl1.Tag = "not";
this.ioControl1.Load += new System.EventHandler(this.ioControl1_Load); this.ioControl1.Load += new System.EventHandler(this.ioControl1_Load);
...@@ -168,7 +168,7 @@ namespace TheMachine ...@@ -168,7 +168,7 @@ namespace TheMachine
this.Controls.Add(this.ioControl1); this.Controls.Add(this.ioControl1);
this.Font = new System.Drawing.Font("新宋体", 9F); this.Font = new System.Drawing.Font("新宋体", 9F);
this.Name = "IOControls"; this.Name = "IOControls";
this.Size = new System.Drawing.Size(975, 539); this.Size = new System.Drawing.Size(904, 522);
this.ResumeLayout(false); this.ResumeLayout(false);
} }
......
TheMachine/UC/uc_boxdebug.cs
...@@ -108,9 +108,9 @@ namespace TheMachine ...@@ -108,9 +108,9 @@ namespace TheMachine
void checkVerify() void checkVerify()
{ {
int finish = 0; int finish = 0;
for (int i = 0; i < RobotManage.PositionNumList.Count; i++) for (int i = 0; i < RobotManage.AllPosList.Count; i++)
{ {
var posid = RobotManage.PositionNumList[i]; var posid = RobotManage.AllPosList[i];
if (htpp.ContainsKey(posid) && posState.ContainsKey(posid)) if (htpp.ContainsKey(posid) && posState.ContainsKey(posid))
{ {
var pps = (PosState)posState[posid]; var pps = (PosState)posState[posid];
...@@ -120,7 +120,7 @@ namespace TheMachine ...@@ -120,7 +120,7 @@ namespace TheMachine
} }
} }
} }
double s = (double)finish * 100 / RobotManage.PositionNumList.Count; double s = (double)finish * 100 / RobotManage.AllPosList.Count;
label_verify.Text = s.ToString("0.0") + "%"; label_verify.Text = s.ToString("0.0") + "%";
} }
Hashtable htpp = new Hashtable(); Hashtable htpp = new Hashtable();
...@@ -193,9 +193,9 @@ namespace TheMachine ...@@ -193,9 +193,9 @@ namespace TheMachine
int currentRowIndex = 0; int currentRowIndex = 0;
int currentColIndex = -1; int currentColIndex = -1;
string lastAB = ""; string lastAB = "";
for (int i = 0; i < RobotManage.PositionNumList.Count; i++) for (int i = 0; i < RobotManage.AllPosList.Count; i++)
{ {
string posname = RobotManage.PositionNumList[i]; string posname = RobotManage.AllPosList[i];
string ab = posname.Substring(0, 3); string ab = posname.Substring(0, 3);
if (posname.StartsWith("Sca") || posname.StartsWith("Doo")) if (posname.StartsWith("Sca") || posname.StartsWith("Doo"))
...@@ -285,16 +285,16 @@ namespace TheMachine ...@@ -285,16 +285,16 @@ namespace TheMachine
if (RobotManage.mainMachine.runStatus == RunStatus.Running) if (RobotManage.mainMachine.runStatus == RunStatus.Running)
{ {
int posindex = RobotManage.PositionNumList.IndexOf(cmbPosition.Text); string posName = cmbPosition.Text;
LogUtil.info($"入库位:{cmbPosition.Text},index:{posindex}"); LogUtil.info($"入库位:{cmbPosition.Text},posName:{posName}");
string startPosname = "IN_1"; string startPosname = "IN_1";
if (radioButton2.Checked) if (radioButton2.Checked)
{ {
startPosname = "IN_2"; startPosname = "IN_2";
} }
if (RobotManage.mainMachine.ManualIn(startPosname,posindex, out string errmsg)) if (RobotManage.mainMachine.ManualTest(startPosname, posName, out string errmsg))
{ {
LogUtil.info($"手动入库:{posindex}"); LogUtil.info($"手动入库:{posName}");
} }
else else
{ {
...@@ -309,22 +309,22 @@ namespace TheMachine ...@@ -309,22 +309,22 @@ namespace TheMachine
private void btnOutStore_Click(object sender, EventArgs e) private void btnOutStore_Click(object sender, EventArgs e)
{ {
if (RobotManage.mainMachine.runStatus == RunStatus.Running) //if (RobotManage.mainMachine.runStatus == RunStatus.Running)
{ //{
int posindex = RobotManage.PositionNumList.IndexOf(cmbPosition.Text); // int posindex = RobotManage.AllPosList.IndexOf(cmbPosition.Text);
LogUtil.info($"出库位:{cmbPosition.Text},index:{posindex}"); // LogUtil.info($"出库位:{cmbPosition.Text},index:{posindex}");
if (RobotManage.mainMachine.ManualOut(posindex,out string errmsg)) { // if (RobotManage.mainMachine.ManualOut(posindex,out string errmsg)) {
LogUtil.info($"手动出库:{posindex}"); // LogUtil.info($"手动出库:{posindex}");
} // }
else // else
{ // {
MessageBox.Show(errmsg); // MessageBox.Show(errmsg);
} // }
} //}
else //else
{ //{
MessageBox.Show(crc.GetString("Res0213","请先启动料仓！")); // MessageBox.Show(crc.GetString("Res0213","请先启动料仓！"));
} //}
} }
bool preOpen = false; bool preOpen = false;
...@@ -386,20 +386,21 @@ namespace TheMachine ...@@ -386,20 +386,21 @@ namespace TheMachine
} }
if (RobotManage.mainMachine.runStatus == RunStatus.Running) if (RobotManage.mainMachine.runStatus == RunStatus.Running)
{ {
if (RobotManage.mainMachine.IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.LOW)|| RobotManage.mainMachine.IOValue(IO_Type.IN_2_Reel_Check).Equals(IO_VALUE.LOW)) if (RobotManage.mainMachine.IOValue(IO_Type.IN_1_Reel_Check).Equals(IO_VALUE.LOW)|| RobotManage.mainMachine.IOValue(IO_Type.IN_2_Reel_Check).Equals(IO_VALUE.LOW))
{ {
MessageBox.Show(crc.GetString("Res0217","料盘没有准备好,请先点击[上料准备],无法启动")); MessageBox.Show(crc.GetString("Res0217","料盘没有准备好,请先点击[上料准备],无法启动"));
return; return;
} }
DialogResult res = MessageBox.Show(crc.GetString("Res0218","确定开始自动库位测试？\n请确保料架库位全部为空."), crc.GetString("Res0167","提示"), MessageBoxButtons.YesNo); DialogResult res = MessageBox.Show(crc.GetString("Res0218","确定开始自动库位测试？\n请确保料架库位全部为空."), crc.GetString("Res0167","提示"), MessageBoxButtons.YesNo);
if (res == DialogResult.No) if (res == DialogResult.No)
{
return; return;
int posindex = RobotManage.PositionNumList.IndexOf(cmbPosition.Text); }
LogUtil.info($"库位:{cmbPosition.Text},index:{posindex}"); string posName = cmbPosition.Text;
if (!RobotManage.mainMachine.StartAutoInOutTest(posindex,out string errmsg)) //int posindex = RobotManage.AllPosList.IndexOf(cmbPosition.Text);
LogUtil.info($"库位:{cmbPosition.Text},index:{posName}");
if (!RobotManage.mainMachine.StartAutoTest(posName, out string errmsg))
{ {
MessageBox.Show(errmsg); MessageBox.Show(errmsg);
return; return;
......
TheMachine/UC/uc_boxdebug.designer.cs
...@@ -31,6 +31,9 @@ namespace TheMachine ...@@ -31,6 +31,9 @@ namespace TheMachine
{ {
this.components = new System.ComponentModel.Container(); this.components = new System.ComponentModel.Container();
this.groupInout = new System.Windows.Forms.GroupBox(); this.groupInout = new System.Windows.Forms.GroupBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.cb_inoutdebugmode = new System.Windows.Forms.CheckBox(); this.cb_inoutdebugmode = new System.Windows.Forms.CheckBox();
this.btn_autoinout = new System.Windows.Forms.Button(); this.btn_autoinout = new System.Windows.Forms.Button();
this.btnInStore = new System.Windows.Forms.Button(); this.btnInStore = new System.Windows.Forms.Button();
...@@ -42,12 +45,9 @@ namespace TheMachine ...@@ -42,12 +45,9 @@ namespace TheMachine
this.label_verify = new System.Windows.Forms.Label(); this.label_verify = new System.Windows.Forms.Label();
this.cb_fixpos = new System.Windows.Forms.ComboBox(); this.cb_fixpos = new System.Windows.Forms.ComboBox();
this.storePosControl1 = new TheMachine.StorePosControl(); this.storePosControl1 = new TheMachine.StorePosControl();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.groupInout.SuspendLayout(); this.groupInout.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
this.SuspendLayout(); this.SuspendLayout();
// //
// groupInout // groupInout
...@@ -64,6 +64,40 @@ namespace TheMachine ...@@ -64,6 +64,40 @@ namespace TheMachine
this.groupInout.TabStop = false; this.groupInout.TabStop = false;
this.groupInout.Text = "料仓操作"; this.groupInout.Text = "料仓操作";
// //
// groupBox1
//
this.groupBox1.Controls.Add(this.radioButton2);
this.groupBox1.Controls.Add(this.radioButton1);
this.groupBox1.Location = new System.Drawing.Point(15, 55);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(216, 52);
this.groupBox1.TabIndex = 104;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "料盘位置";
//
// radioButton2
//
this.radioButton2.AutoSize = true;
this.radioButton2.Location = new System.Drawing.Point(125, 22);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(71, 16);
this.radioButton2.TabIndex = 1;
this.radioButton2.TabStop = true;
this.radioButton2.Text = "下层料盘";
this.radioButton2.UseVisualStyleBackColor = true;
//
// radioButton1
//
this.radioButton1.AutoSize = true;
this.radioButton1.Checked = true;
this.radioButton1.Location = new System.Drawing.Point(7, 22);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(71, 16);
this.radioButton1.TabIndex = 0;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "上层料盘";
this.radioButton1.UseVisualStyleBackColor = true;
//
// cb_inoutdebugmode // cb_inoutdebugmode
// //
this.cb_inoutdebugmode.AutoSize = true; this.cb_inoutdebugmode.AutoSize = true;
...@@ -78,7 +112,6 @@ namespace TheMachine ...@@ -78,7 +112,6 @@ namespace TheMachine
// btn_autoinout // btn_autoinout
// //
this.btn_autoinout.BackColor = System.Drawing.SystemColors.Control; this.btn_autoinout.BackColor = System.Drawing.SystemColors.Control;
this.btn_autoinout.Enabled = false;
this.btn_autoinout.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btn_autoinout.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_autoinout.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btn_autoinout.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btn_autoinout.Location = new System.Drawing.Point(15, 161); this.btn_autoinout.Location = new System.Drawing.Point(15, 161);
...@@ -92,7 +125,6 @@ namespace TheMachine ...@@ -92,7 +125,6 @@ namespace TheMachine
// btnInStore // btnInStore
// //
this.btnInStore.BackColor = System.Drawing.SystemColors.Control; this.btnInStore.BackColor = System.Drawing.SystemColors.Control;
this.btnInStore.Enabled = false;
this.btnInStore.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnInStore.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnInStore.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnInStore.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnInStore.Location = new System.Drawing.Point(15, 118); this.btnInStore.Location = new System.Drawing.Point(15, 118);
...@@ -198,40 +230,6 @@ namespace TheMachine ...@@ -198,40 +230,6 @@ namespace TheMachine
this.storePosControl1.TabIndex = 227; this.storePosControl1.TabIndex = 227;
this.storePosControl1.Tag = "not"; this.storePosControl1.Tag = "not";
// //
// groupBox1
//
this.groupBox1.Controls.Add(this.radioButton2);
this.groupBox1.Controls.Add(this.radioButton1);
this.groupBox1.Location = new System.Drawing.Point(15, 55);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(216, 52);
this.groupBox1.TabIndex = 104;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "料盘位置";
//
// radioButton1
//
this.radioButton1.AutoSize = true;
this.radioButton1.Checked = true;
this.radioButton1.Location = new System.Drawing.Point(7, 22);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(71, 16);
this.radioButton1.TabIndex = 0;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "上层料盘";
this.radioButton1.UseVisualStyleBackColor = true;
//
// radioButton2
//
this.radioButton2.AutoSize = true;
this.radioButton2.Location = new System.Drawing.Point(125, 22);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(71, 16);
this.radioButton2.TabIndex = 1;
this.radioButton2.TabStop = true;
this.radioButton2.Text = "下层料盘";
this.radioButton2.UseVisualStyleBackColor = true;
//
// uc_boxdebug // uc_boxdebug
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
...@@ -248,9 +246,9 @@ namespace TheMachine ...@@ -248,9 +246,9 @@ namespace TheMachine
this.Size = new System.Drawing.Size(981, 785); this.Size = new System.Drawing.Size(981, 785);
this.groupInout.ResumeLayout(false); this.groupInout.ResumeLayout(false);
this.groupInout.PerformLayout(); this.groupInout.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).EndInit();
this.groupBox1.ResumeLayout(false); this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout(); this.groupBox1.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).EndInit();
this.ResumeLayout(false); this.ResumeLayout(false);
} }
......
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