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Commit 05c38db6 由 刘韬
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agv接入

1 个父辈 39de335a
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内嵌 并排
正在显示 14 个修改的文件 包含 259 行增加 和 69 行删除
source/Common/Setting_Init.cs
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
namespace OnlineStore.Common namespace OnlineStore.Common
{ {
...@@ -10,7 +10,7 @@ namespace OnlineStore.Common ...@@ -10,7 +10,7 @@ namespace OnlineStore.Common
/// 记录配置的key /// 记录配置的key
/// </summary> /// </summary>
public class Setting_Init public class Setting_Init
{ {
public static string Server_Log_Open = "Server_Log_Open"; public static string Server_Log_Open = "Server_Log_Open";
/// <summary> /// <summary>
/// 系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要 /// 系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要
...@@ -19,9 +19,9 @@ namespace OnlineStore.Common ...@@ -19,9 +19,9 @@ namespace OnlineStore.Common
/// <summary> /// <summary>
/// 系统主界面标题 /// 系统主界面标题
/// </summary> /// </summary>
public static string App_Title = "App_Title"; public static string App_Title = "App_Title";
public static string http_server = "http.server"; public static string http_server = "http.server";
public static string Store_CID = "Store_CID"; public static string Store_CID = "Store_CID";
/// <summary> /// <summary>
/// 料仓数量 /// 料仓数量
...@@ -31,7 +31,7 @@ namespace OnlineStore.Common ...@@ -31,7 +31,7 @@ namespace OnlineStore.Common
/// 料仓类型，1=在线料仓 /// 料仓类型，1=在线料仓
/// </summary> /// </summary>
public static string Store_Type = "Store_Type"; public static string Store_Type = "Store_Type";
public static string BOX_ConfigPath = "BOX_ConfigPath"; public static string BOX_ConfigPath = "BOX_ConfigPath";
public static string Store_Position_Config = "Store_Position_Config"; public static string Store_Position_Config = "Store_Position_Config";
/// <summary> /// <summary>
...@@ -56,7 +56,7 @@ namespace OnlineStore.Common ...@@ -56,7 +56,7 @@ namespace OnlineStore.Common
/// 配置文件路径 Data Matrix ECC 200.dcm /// 配置文件路径 Data Matrix ECC 200.dcm
/// </summary> /// </summary>
public static string CodeParamPath = "CodeParamPath"; public static string CodeParamPath = "CodeParamPath";
/// <summary> /// <summary>
/// 进出轴最大待机点，需要小于3000 /// 进出轴最大待机点，需要小于3000
/// </summary> /// </summary>
...@@ -67,7 +67,7 @@ namespace OnlineStore.Common ...@@ -67,7 +67,7 @@ namespace OnlineStore.Common
/// 出库等待料盘拿走的时间，秒 /// 出库等待料盘拿走的时间，秒
/// </summary> /// </summary>
public static string OutStoreWaitSeconds = "OutStoreWaitSeconds"; public static string OutStoreWaitSeconds = "OutStoreWaitSeconds";
/// <summary> /// <summary>
/// 温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪 /// 温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪
...@@ -80,15 +80,15 @@ namespace OnlineStore.Common ...@@ -80,15 +80,15 @@ namespace OnlineStore.Common
public static string LineServerIp = "LineServerIp"; public static string LineServerIp = "LineServerIp";
public static string LineServerPort = "LineServerPort"; public static string LineServerPort = "LineServerPort";
public static string ACBaudRate = "ACBaudRate"; public static string ACBaudRate = "ACBaudRate";
public static string Store_ConfigPath = "Store_ConfigPath"; public static string Store_ConfigPath = "Store_ConfigPath";
public static string UseBuzzer = "UseBuzzer";
public static string UseBuzzer = "UseBuzzer";
public static string Tool_P3_Offset = "Tool_P3_Offset"; public static string Tool_P3_Offset = "Tool_P3_Offset";
public static string Tool_P4_Offset = "Tool_P4_Offset"; public static string Tool_P4_Offset = "Tool_P4_Offset";
public static string Tool_P5_Offset = "Tool_P5_Offset"; public static string Tool_P5_Offset = "Tool_P5_Offset";
...@@ -96,7 +96,7 @@ namespace OnlineStore.Common ...@@ -96,7 +96,7 @@ namespace OnlineStore.Common
public static string Tool_TargetSpeed = "Tool_TargetSpeed"; public static string Tool_TargetSpeed = "Tool_TargetSpeed";
public static string Tool_TargetPosition = "Tool_TargetPosition"; public static string Tool_TargetPosition = "Tool_TargetPosition";
public static string CodeCount = "CodeCount"; public static string CodeCount = "CodeCount";
public static string CurrShelfNum = "CurrShelfNum"; public static string CurrShelfNum = "CurrShelfNum";
...@@ -108,6 +108,8 @@ namespace OnlineStore.Common ...@@ -108,6 +108,8 @@ namespace OnlineStore.Common
public static string AgvServerPort = "AgvServerPort"; public static string AgvServerPort = "AgvServerPort";
public static string code_block_size_list = "code_block_size_list"; public static string code_block_size_list = "code_block_size_list";
public static string InstoreEndSendShelf = "InstoreEndSendShelf";
public static string OutstoreEndSendShelf= "OutstoreEndSendShelf";
public static string LastOutShelfType= "LastOutShelfType";
} }
} }
source/DUOStore/App.config
...@@ -56,9 +56,12 @@ ...@@ -56,9 +56,12 @@
<add key="CurrShelfNum" value="-1"/> <add key="CurrShelfNum" value="-1"/>
<!--当前料架信息-料架类型，0=空料架，1=入库料架，2=出库料架--> <!--当前料架信息-料架类型，0=空料架，1=入库料架，2=出库料架-->
<add key="CurrShelfType" value="-1"/> <add key="CurrShelfType" value="-1"/>
<add key="LastOutShelfType" value="1"/>
<add key="HasT4Axis" value="true"/> <add key="HasT4Axis" value="true"/>
<add key="AgvServerIp" value="192.168.11.11"/> <add key="AgvServerIp" value="192.168.11.11"/>
<add key="Code_Block_Size_List" value="17,19"/> <add key="Code_Block_Size_List" value="17,19"/>
<add key="InstoreEndSendShelf" value="1" />
<add key="OutstoreEndSendShelf" value="1" />
</appSettings> </appSettings>
<log4net> <log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......
source/DUOStore/FrmStore.cs
...@@ -61,9 +61,11 @@ namespace OnlineStore.DUOStore ...@@ -61,9 +61,11 @@ namespace OnlineStore.DUOStore
//store.UseBuzzer = chbUseBuzzer.Checked; //store.UseBuzzer = chbUseBuzzer.Checked;
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title); this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
chbAutoRun.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1)); chbAutoRun.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1));
chbInstoreEnd.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.InstoreEndSendShelf).Equals(1));
chbOutstoreEnd.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.OutstoreEndSendShelf).Equals(1));
LoadListView(); LoadListView();
chbInstoreEnd.Checked = store.InstoreEndSendShelf; store.InstoreEndSendShelf=chbInstoreEnd.Checked;
chbOutstoreEnd.Checked = store.OutstoreEndSendShelf; store.OutstoreEndSendShelf=chbOutstoreEnd.Checked;
LoadOk = true; LoadOk = true;
//LogUtil.logBox = this.logBox; //LogUtil.logBox = this.logBox;
store.BoxMap[1].camera_event += FrmStore_camera_event; store.BoxMap[1].camera_event += FrmStore_camera_event;
...@@ -719,7 +721,7 @@ namespace OnlineStore.DUOStore ...@@ -719,7 +721,7 @@ namespace OnlineStore.DUOStore
{ {
return; return;
} }
ConfigAppSettings.SaveValue(Setting_Init.InstoreEndSendShelf, chbInstoreEnd.Checked?1:0);
store.InstoreEndSendShelf = chbInstoreEnd.Checked; store.InstoreEndSendShelf = chbInstoreEnd.Checked;
LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.InstoreEndSendShelf); LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.InstoreEndSendShelf);
} }
...@@ -734,7 +736,7 @@ namespace OnlineStore.DUOStore ...@@ -734,7 +736,7 @@ namespace OnlineStore.DUOStore
{ {
return; return;
} }
ConfigAppSettings.SaveValue(Setting_Init.OutstoreEndSendShelf, chbOutstoreEnd.Checked ? 1 : 0);
store.OutstoreEndSendShelf = chbOutstoreEnd.Checked; store.OutstoreEndSendShelf = chbOutstoreEnd.Checked;
LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.OutstoreEndSendShelf); LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.OutstoreEndSendShelf);
......
source/DUOStore/Program.cs
...@@ -14,6 +14,7 @@ namespace OnlineStore.DUOStore ...@@ -14,6 +14,7 @@ namespace OnlineStore.DUOStore
{ {
static class Program static class Program
{ {
#region 方法四：使用的Win32函数的声明 #region 方法四：使用的Win32函数的声明
/// <summary> /// <summary>
...@@ -56,6 +57,7 @@ namespace OnlineStore.DUOStore ...@@ -56,6 +57,7 @@ namespace OnlineStore.DUOStore
//string path = @"http://localhost:4090/rest/api/v1/station/status"; //string path = @"http://localhost:4090/rest/api/v1/station/status";
//HttpHelper.PostOperation(path, new Operation()); //HttpHelper.PostOperation(path, new Operation());
Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException); Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException); AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
......
source/DeviceLibrary/AgvClient/AgvClient.cs
...@@ -14,6 +14,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -14,6 +14,7 @@ namespace OnlineStore.DeviceLibrary
private static int ServerPort = ConfigAppSettings.GetIntValue(Setting_Init.AgvServerPort); private static int ServerPort = ConfigAppSettings.GetIntValue(Setting_Init.AgvServerPort);
private static Agv.AgvClient agvClient; private static Agv.AgvClient agvClient;
public static Dictionary<string, Agv.ClientAction> actionMap = new Dictionary<string, Agv.ClientAction>(); public static Dictionary<string, Agv.ClientAction> actionMap = new Dictionary<string, Agv.ClientAction>();
public static Dictionary<string, Agv.ClientShelf> shelfMap = new Dictionary<string, Agv.ClientShelf>();
public static List<string> NodeList = new List<string>(); public static List<string> NodeList = new List<string>();
private static bool isInit = false; private static bool isInit = false;
public static void Init() public static void Init()
...@@ -25,19 +26,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -25,19 +26,23 @@ namespace OnlineStore.DeviceLibrary
isInit = true; isInit = true;
agvClient = new Agv.AgvClient(); agvClient = new Agv.AgvClient();
agvClient.Received += AgvClient_Received; agvClient.Received += AgvClient_Received;
NodeList.Add(StoreManager.Config.AgvInName); agvClient.Connected += AgvClient_Connected;
NodeList.Add(StoreManager.Config.AgvOutName); //NodeList.Add(StoreManager.Config.AgvInName);
//NodeList.Add(StoreManager.Config.AgvOutName);
} }
actionMap = new Dictionary<string, Agv.ClientAction>(); actionMap = new Dictionary<string, Agv.ClientAction>();
shelfMap = new Dictionary<string, Agv.ClientShelf>();
foreach (string key in NodeList) foreach (string key in NodeList)
{ {
actionMap.Add(key, Agv.ClientAction.None); actionMap.Add(key, Agv.ClientAction.None);
shelfMap.Add(key, Agv.ClientShelf.None);
} }
agvClient.Connect(ServerIp, ServerPort); agvClient.Connect(ServerIp, ServerPort);
foreach (string str in NodeList) foreach (string id in NodeList)
{ {
SetStatus(str,""); //SetStatus(id, "");
LogUtil.info("agv init ,SetStatus[" + str + "]=none "); agvClient.SetStatus(id);
LogUtil.info("agv init ,SetStatus[" + id + "]=none ");
} }
SetCancelState(false); SetCancelState(false);
} }
...@@ -49,7 +54,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -49,7 +54,7 @@ namespace OnlineStore.DeviceLibrary
private static void AgvClient_Connected(bool status) private static void AgvClient_Connected(bool status)
{ {
LogUtil.info($"AgvClient_Connected:{status}"); //LogUtil.info($"AgvClient_Connected:{status}");
} }
private static void AgvClient_Received(Node node) private static void AgvClient_Received(Node node)
...@@ -70,7 +75,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -70,7 +75,7 @@ namespace OnlineStore.DeviceLibrary
{ {
agvClient.CancelState = cancel; agvClient.CancelState = cancel;
} }
public static void SetStatus(string id, string shelfId, ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false) public static void SetStatus(string id, string shelfId, ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, ClientShelf clientShelf=ClientShelf.Empty)
{ {
if (agvClient == null) if (agvClient == null)
return; return;
...@@ -84,9 +89,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -84,9 +89,10 @@ namespace OnlineStore.DeviceLibrary
} }
} }
agvClient.SetStatus(id, "", shelfId, action, level); agvClient.SetStatus(id, "", shelfId, action, level, clientShelf);
UpdateAction(id, action); UpdateAction(id, action);
LogUtil.info("AgvClient SetStatus id:" + id + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString()); UpdateShelf(id, clientShelf);
LogUtil.info("AgvClient SetStatus id:" + id + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString() + ",clientShelf:" + clientShelf.ToString());
} }
...@@ -129,29 +135,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -129,29 +135,29 @@ namespace OnlineStore.DeviceLibrary
public static bool SetToNone(string id, string shelfId = "") public static bool SetToNone(string id, string shelfId = "")
{ {
Agv.ClientAction currA = GetAction(id); Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter)) //if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{ //{
SetStatus(id, shelfId, Agv.ClientAction.None); SetStatus(id, shelfId, Agv.ClientAction.None);
return true; return true;
} //}
return false; // return false;
} }
public static bool NeedEnter(string id, string shelfId) public static bool NeedEnter(string id, string shelfId, ClientShelf clientShelf)
{ {
Agv.ClientAction currA = GetAction(id); Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter)) if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, Agv.ClientAction.NeedEnter); SetStatus(id, shelfId, Agv.ClientAction.NeedEnter,ClientLevel.High, clientShelf);
return true; return true;
} }
return false; return false;
} }
public static bool NeedLeave(string id, string shelfId) public static bool NeedLeave(string id, string shelfId,ClientShelf clientShelf)
{ {
Agv.ClientAction currA = GetAction(id); Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter)) if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, Agv.ClientAction.NeedLeave); SetStatus(id, shelfId, Agv.ClientAction.NeedLeave,ClientLevel.High, clientShelf);
return true; return true;
} }
return false; return false;
...@@ -164,6 +170,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -164,6 +170,14 @@ namespace OnlineStore.DeviceLibrary
return actionMap[NodeName]; return actionMap[NodeName];
} }
return Agv.ClientAction.None; return Agv.ClientAction.None;
}
public static Agv.ClientShelf GetShelf(string NodeName)
{
if (shelfMap.ContainsKey(NodeName))
{
return shelfMap[NodeName];
}
return Agv.ClientShelf.None;
} }
public static void UpdateAction(string name, Agv.ClientAction action) public static void UpdateAction(string name, Agv.ClientAction action)
{ {
...@@ -176,6 +190,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -176,6 +190,17 @@ namespace OnlineStore.DeviceLibrary
actionMap.Add(name, action); actionMap.Add(name, action);
} }
} }
public static void UpdateShelf(string name, Agv.ClientShelf action)
{
if (shelfMap.ContainsKey(name))
{
shelfMap[name] = action;
}
else
{
shelfMap.Add(name, action);
}
}
public static void Dispose() public static void Dispose()
{ {
try try
......
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -94,6 +94,7 @@ ...@@ -94,6 +94,7 @@
<Compile Include="device\IO\HCIOManager.cs" /> <Compile Include="device\IO\HCIOManager.cs" />
<Compile Include="device\RFIDManagercs.cs" /> <Compile Include="device\RFIDManagercs.cs" />
<Compile Include="duoStore\BoxBean_Camera.cs" /> <Compile Include="duoStore\BoxBean_Camera.cs" />
<Compile Include="duoStore\DUOStoreBean_LineRunMonitor.cs" />
<Compile Include="duoStore\DUOStoreBean_RaiseStation.cs" /> <Compile Include="duoStore\DUOStoreBean_RaiseStation.cs" />
<Compile Include="duoStore\AxisBean.cs" /> <Compile Include="duoStore\AxisBean.cs" />
<Compile Include="duoStore\BoxBean.cs" /> <Compile Include="duoStore\BoxBean.cs" />
......
source/DeviceLibrary/device/RFIDManagercs.cs
...@@ -64,7 +64,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -64,7 +64,7 @@ namespace OnlineStore.DeviceLibrary
if (String.IsNullOrEmpty(ip).Equals(false)) if (String.IsNullOrEmpty(ip).Equals(false))
{ {
string outValue = readAll.Read(ip); string outValue = readAll.Read(ip);
System.Threading.Thread.Sleep(300);
if (isClear) if (isClear)
{ {
readAll.Clear(ip); readAll.Clear(ip);
......
source/DeviceLibrary/duoStore/BoxBean.cs
...@@ -265,6 +265,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -265,6 +265,23 @@ namespace OnlineStore.DeviceLibrary
HuichuanLibrary.HCBoardManager.SetAxBacklash(MiddleAxis.Config.GetAxisValue(),Config.MiddleAxis_Reverse_Offset, MiddleAxis.Config.HomeLowSpeed,-1); HuichuanLibrary.HCBoardManager.SetAxBacklash(MiddleAxis.Config.GetAxisValue(),Config.MiddleAxis_Reverse_Offset, MiddleAxis.Config.HomeLowSpeed,-1);
LogInfo(MoveInfo.MoveType + ": 完成"); LogInfo(MoveInfo.MoveType + ": 完成");
MoveEndP(); MoveEndP();
if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && IsDebug.Equals(false))
{
LogInfo("发现入口有无信息料");
InOutParam inOutParam = new InOutParam(MoveType.InStore);
inOutParam.InStoreNg = true;
inOutParam.TargetPosition = 1;
inOutParam.moveType = MoveType.InStore;
inOutParam.PlateH = 56;
StoreManager.LoadInoutParam(inOutParam, MoveType.InStore, true, this);
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, inOutParam);
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_InoutToP1);
}
break; break;
default: break; default: break;
} }
......
source/DeviceLibrary/duoStore/BoxBean_Partial.cs
...@@ -79,12 +79,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -79,12 +79,12 @@ namespace OnlineStore.DeviceLibrary
(!runStatus.Equals(StoreRunStatus.Runing)) (!runStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None))) || (!MoveInfo.MoveType.Equals(MoveType.None)))
{ {
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck); LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return false; return false;
} }
if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW)) if (!AutoInout.autoNext && IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW))
{ {
LogUtil.error(Name + " 启动出库出错，入口没有检测到料盘, 任务取消"); LogUtil.error(Name + " 启动入库出错，入口没有检测到料盘, 任务取消");
StoreManager.cancelPutInTask(Name, param.WareCode); StoreManager.cancelPutInTask(Name, param.WareCode);
return true; return true;
} }
...@@ -549,11 +549,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -549,11 +549,19 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck)) else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2); bool waitLeftStore = false;
InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]"); if (StoreManager.Store.HasT4Axis && ID == 2 && StoreManager.Store.MoveInfo.MoveParam!=null && StoreManager.Store.MoveInfo.MoveParam.TargetBox==1)
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed); {
ClearTimeoutAlarm("进出轴可以到P2"); if (StoreManager.Store.MoveInfo.MoveStep >= StoreMoveStep.LO_11_BatchAxisDown && StoreManager.Store.MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
waitLeftStore = true;
}
if (!waitLeftStore) {
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
ClearTimeoutAlarm("进出轴可以到P2");
}
} }
else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP2)) else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP2))
{ {
......
source/DeviceLibrary/duoStore/BoxBean_Shelf.cs
...@@ -253,7 +253,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -253,7 +253,7 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
public string LastVisualRfid = ""; //public string LastVisualRfid = "";
private void ReviceOutStoreProcess(Operation resultOperation) private void ReviceOutStoreProcess(Operation resultOperation)
{ {
DateTime time = DateTime.Now; DateTime time = DateTime.Now;
...@@ -265,13 +265,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -265,13 +265,13 @@ namespace OnlineStore.DeviceLibrary
string[] posIdArray = data[ParamDefine.posId].Split(splitChar); string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = data[ParamDefine.plateW].Split(splitChar); string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = data[ParamDefine.plateH].Split(splitChar); string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
if (string.IsNullOrEmpty(LastVisualRfid)) if (string.IsNullOrEmpty(StoreManager.LastVisualRfid))
{ {
LastVisualRfid = data[ParamDefine.rfid]; StoreManager.LastVisualRfid = data[ParamDefine.rfid];
} }
else if (LastVisualRfid != data[ParamDefine.rfid]) else if (StoreManager.LastVisualRfid != data[ParamDefine.rfid])
{ {
LogUtil.error(Name + $" 上一个工单还未结束LastVisualRfid={LastVisualRfid}, CurrentVisualRfid={data[ParamDefine.rfid]}"); LogUtil.error(Name + $" 上一个工单还未结束LastVisualRfid={StoreManager.LastVisualRfid}, CurrentVisualRfid={data[ParamDefine.rfid]}");
return; return;
} }
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel); bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
......
source/DeviceLibrary/duoStore/DUOStoreBean.cs
...@@ -98,7 +98,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -98,7 +98,6 @@ namespace OnlineStore.DeviceLibrary
AgvClient.NodeList.Add(Config.AgvInName); AgvClient.NodeList.Add(Config.AgvInName);
AgvClient.NodeList.Add(Config.AgvOutName); AgvClient.NodeList.Add(Config.AgvOutName);
IOManager.Init(); IOManager.Init();
CodeManager.LoadConfig(); CodeManager.LoadConfig();
...@@ -108,12 +107,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -108,12 +107,10 @@ namespace OnlineStore.DeviceLibrary
HasT4Axis = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.HasT4Axis)); HasT4Axis = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.HasT4Axis));
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
RFIDManager.Open(); RFIDManager.Open();
IOManager.instance.ConnectionIOList(ioList); IOManager.instance.ConnectionIOList(ioList);
AxisManager.Init(); AxisManager.Init();
//AgvClient.Init(); AgvClient.Init();
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW); IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW); IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW); IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
...@@ -186,6 +183,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,6 +183,7 @@ namespace OnlineStore.DeviceLibrary
} }
LogUtil.info(Name + "开始启动 ，启动时间：" + StartTime.ToString()); LogUtil.info(Name + "开始启动 ，启动时间：" + StartTime.ToString());
IOMove(IO_Type.Device_Led, IO_VALUE.HIGH); IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
RFIDManager.Open();
runStatus = StoreRunStatus.HomeMoving; runStatus = StoreRunStatus.HomeMoving;
StartTime = DateTime.Now; StartTime = DateTime.Now;
StartResetMove(); StartResetMove();
...@@ -279,8 +277,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -279,8 +277,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.LR_02_LineRun); MoveInfo.NextMoveStep(StoreMoveStep.LR_02_LineRun);
LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：流水线转动3秒"); LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：流水线转动3秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineRun(MoveInfo); LineRun("reset", 5);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 5000);
} }
else if (MoveInfo.IsStep(StoreMoveStep.LR_02_LineRun)) else if (MoveInfo.IsStep(StoreMoveStep.LR_02_LineRun))
...@@ -396,7 +393,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -396,7 +393,7 @@ namespace OnlineStore.DeviceLibrary
T4_InOut_Axis.SuddenStop(); T4_InOut_Axis.SuddenStop();
CloseAllAxis(); CloseAllAxis();
LineStop(); LineStop("n");
} }
public override void StopRun() public override void StopRun()
{ {
...@@ -725,11 +722,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -725,11 +722,11 @@ namespace OnlineStore.DeviceLibrary
{ {
LowProcess = true; LowProcess = true;
LogUtil.info(Name + "从料架堆积处放一个料架到后端"); LogUtil.info(Name + "从料架堆积处放一个料架到后端");
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 30000); LineRun("shelfout", 30);
//IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.HIGH, false, 2000); //IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.HIGH, false, 2000);
if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.HIGH, 30000, "堆积处放料架到后端")) if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.HIGH, 30000, "堆积处放料架到后端"))
{ {
LineStop(); LineStop("shelfout");
} }
LowProcess = false; LowProcess = false;
}); });
...@@ -747,7 +744,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -747,7 +744,7 @@ namespace OnlineStore.DeviceLibrary
} }
public void OneShelfOutProcess() public void OneShelfOutProcess()
{ {
try /*try
{ {
if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) && if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.Line_Run).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Line_Run).Equals(IO_VALUE.LOW) &&
...@@ -778,20 +775,55 @@ namespace OnlineStore.DeviceLibrary ...@@ -778,20 +775,55 @@ namespace OnlineStore.DeviceLibrary
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(Name + " OneShelfOutProcess 出错：" + ex.ToString()); LogUtil.error(Name + " OneShelfOutProcess 出错：" + ex.ToString());
} }*/
}
//左侧下层需要放个料架
Task.Run(() =>
{
LogUtil.info(Name + "Agv送出一个料架");
LineRun("agvout", 30);
IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.HIGH, false, 1000);
if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.LOW, 30000, "送出一个料架"))
{
LineRun("agvout",15);
Task.Delay(5*1000);
AgvClient.SetStatus(StoreManager.Config.AgvOutName, "", Agv.ClientAction.FinishLeave);
_ = Task.Run(() => {
Task.Delay(2000);
AgvClient.SetStatus(StoreManager.Config.AgvInName, "", Agv.ClientAction.None);
});
}
});
}
#endregion #endregion
Agv.ClientShelf AgvNeedInshelf = Agv.ClientShelf.None;
Agv.ClientShelf AgvNeedOutshelf = Agv.ClientShelf.None;
void IOMinoitor() { void IOMinoitor() {
if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.None) if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.None
&& MoveInfo.MoveType.Equals(MoveType.None) && BoxMap[1].waitOutStoreList.Count==0 && BoxMap[2].waitOutStoreList.Count == 0)
{ {
AgvClient.NeedEnter(Config.AgvInName,""); AgvNeedInshelf = Agv.ClientShelf.Full;
AgvClient.NeedEnter(Config.AgvInName,"", AgvNeedInshelf);
LogUtil.info(Name + "IOMinoitor AgvClient.NeedEnter" + Config.AgvInName+ ",AgvNeedInshelf:" + AgvNeedInshelf);
//AgvNeedInshelf = Agv.ClientShelf.None;
} }
if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) && AgvClient.GetAction(Config.AgvOutName) == Agv.ClientAction.None) if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) && AgvClient.GetAction(Config.AgvOutName) == Agv.ClientAction.None)
{ {
var rfiddevice = RFIDManager.GetShelfId(Config.Out_Rfid_IP); var rfiddevice = RFIDManager.GetShelfId(Config.Out_Rfid_IP);
var rfid = rfiddevice.NumStr(); var rfid = rfiddevice.NumStr();
AgvClient.NeedLeave(Config.AgvOutName, rfid); if (AgvNeedOutshelf == Agv.ClientShelf.None) {
if (ConfigAppSettings.GetIntValue(Setting_Init.LastOutShelfType) == 1)
AgvNeedOutshelf = Agv.ClientShelf.Full;
else
AgvNeedOutshelf = Agv.ClientShelf.Empty;
}
AgvClient.NeedLeave(Config.AgvOutName, rfid, AgvNeedOutshelf);
LogUtil.info(Name + $"AgvClient.NeedLeave:{Config.AgvOutName},rfid:{rfid},AgvNeedOutshelf:{AgvNeedOutshelf}");
AgvNeedOutshelf = Agv.ClientShelf.None;
}
else if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvOutName) != Agv.ClientAction.MayLeave && AgvClient.GetAction(Config.AgvOutName) != Agv.ClientAction.None) {
AgvClient.SetToNone(Config.AgvOutName);
LogUtil.info(Name + $"AgvClient.SetToNone:{Config.AgvOutName}");
} }
} }
...@@ -800,7 +832,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -800,7 +832,7 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH))
{ {
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 4000); LineRun("releashelf", 4);
IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.HIGH, false, 1000); IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.HIGH, false, 1000);
LogUtil.info(Name + "料串手动出库,放行区放行"); LogUtil.info(Name + "料串手动出库,放行区放行");
return true; return true;
...@@ -812,7 +844,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -812,7 +844,7 @@ namespace OnlineStore.DeviceLibrary
&& IOValue(IO_Type.TopCylinder_Down).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TopCylinder_Down).Equals(IO_VALUE.HIGH)
) )
{ {
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 3000); LineRun("releashelf", 4);
IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000); IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000);
LogUtil.info(Name + "料串手动出库, 工作区放行"); LogUtil.info(Name + "料串手动出库, 工作区放行");
return true; return true;
...@@ -839,7 +871,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -839,7 +871,7 @@ namespace OnlineStore.DeviceLibrary
{ {
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.HIGH)); move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.HIGH));
} }
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH); LineRun("n", 999);
} }
public void LineStop(StoreMoveInfo move=null ) public void LineStop(StoreMoveInfo move=null )
...@@ -848,7 +880,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -848,7 +880,7 @@ namespace OnlineStore.DeviceLibrary
{ {
move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.LOW)); move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.LOW));
} }
IOMove(IO_Type.Line_Run, IO_VALUE.LOW); LineStop("n");
} }
public void OpenGate(StoreMoveInfo move = null) { public void OpenGate(StoreMoveInfo move = null) {
......
source/DeviceLibrary/duoStore/DUOStoreBean_LineRunMonitor.cs 0 → 100644
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
partial class DUOStoreBean
{
Timer lineTimer = null;
Dictionary<string, DateTime> linrunlist = new Dictionary<string, DateTime>();
void LineInit() {
if (lineTimer == null) {
lineTimer = new Timer(300);
lineTimer.Elapsed += LineTimer_Elapsed;
lineTimer.Start();
GC.KeepAlive(lineTimer);
}
}
private void LineTimer_Elapsed(object sender, ElapsedEventArgs e)
{
if (canStopLine(out _))
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
/// <summary>
/// 控制线体运转
/// </summary>
/// <param name="id">需求方标识</param>
/// <param name="seconds">秒数</param>
void LineRun(string id, int seconds) {
LineInit();
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
lock (linrunlist)
{
if (!string.IsNullOrEmpty(id) && seconds > 0)
{
if (linrunlist.ContainsKey(id))
linrunlist[id] = DateTime.Now.AddSeconds(seconds);
else
{
linrunlist.Add(id, DateTime.Now.AddSeconds(seconds));
}
LogUtil.info(Name + $" {id} 请求链条运行 {seconds}秒.");
}
}
}
void LineStop(string id = "") {
lock (linrunlist)
{
if (!string.IsNullOrEmpty(id))
{
if (linrunlist.ContainsKey(id))
linrunlist.Remove(id);
LogUtil.info(Name + $" {id} 请求立刻停止线体.");
}
}
if (!canStopLine(out string msg))
LogUtil.info(Name + $" {Name}");
// IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
bool canStopLine(out string msg)
{
msg = "";
bool canStop = true;
lock (linrunlist)
{
foreach (var x in linrunlist.ToList()) {
if (x.Value > DateTime.Now)
{
canStop = false;
msg = Name + $" {x.Key} 不允许停止线体 需求停止时间 {x.Value.ToString()}.";
//LogUtil.info(Name + $" {x.Key} 不允许停止线体 需求停止时间 {x.Value.ToString()}.");
}
else {
LogUtil.info(Name + $" {x.Key} 请求时间已过期,删除.");
linrunlist.Remove(x.Key);
}
}
}
return canStop;
}
}
}
source/DeviceLibrary/duoStore/StoreManager.cs
...@@ -20,6 +20,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -20,6 +20,9 @@ namespace OnlineStore.DeviceLibrary
public static Dictionary<int, BaseConfig> allConfigMap = null; public static Dictionary<int, BaseConfig> allConfigMap = null;
private static bool isInit = false; private static bool isInit = false;
public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals(""); public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals("");
public static string LastVisualRfid = "";
public StoreManager() public StoreManager()
{ {
} }
...@@ -105,6 +108,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -105,6 +108,7 @@ namespace OnlineStore.DeviceLibrary
CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile); CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile);
} }
CSVPositionReader<ACBoxPosition>.AddCSVFile(Path.Combine(appPath, @"StoreConfig\FixPositions.csv")); CSVPositionReader<ACBoxPosition>.AddCSVFile(Path.Combine(appPath, @"StoreConfig\FixPositions.csv"));
AgvClient.Init();
LogUtil.info("加载料仓完成！"); LogUtil.info("加载料仓完成！");
} }
...@@ -513,7 +517,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -513,7 +517,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(deviceName + " " + ex.ToString()); LogUtil.error(deviceName + " " + ex.ToString());
} }
return 99999; return 0;
} }
//public static void SendPosToStoreCheck(string deviceName, InOutParam param) //public static void SendPosToStoreCheck(string deviceName, InOutParam param)
......
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