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Commit 44f88ec1 由 刘韬
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添加p2,p3压紧皱列表

1 个父辈 e42042fd
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正在显示 39 个修改的文件 包含 927 行增加 和 436 行删除
source/Common/Common.csproj
......@@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>OnlineStore.Common</RootNamespace>
<AssemblyName>Common</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
<TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<TargetFrameworkProfile />
</PropertyGroup>
......@@ -33,9 +33,9 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\log4net.dll</HintPath>
<HintPath>..\..\..\增广夹爪\log4net.dll</HintPath>
</Reference>
<Reference Include="Newtonsoft.Json">
<HintPath>..\..\dll\Newtonsoft.Json.dll</HintPath>
......
source/Common/Setting_Init.cs
......@@ -104,5 +104,9 @@ namespace OnlineStore.Common
//是否有T4进出轴
public static string HasT4Axis = "HasT4Axis";
public static string AgvServerIp = "AgvServerIp";
}
}
source/Common/util/LogUtil.cs
......@@ -19,6 +19,7 @@ namespace OnlineStore.Common
public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>();
public static System.Windows.Forms.RichTextBox logBox = null;
public static event ShowLog showLogEvent;
public static int showCount = 30;
public static bool debug_opened = false;
......@@ -117,7 +118,11 @@ namespace OnlineStore.Common
text += str;
}
System.DateTime now = System.DateTime.Now;
logList.Add(now.ToLongTimeString() + " " + msg + Environment.NewLine);
string newmsg = now.ToLongTimeString() + " " + msg + Environment.NewLine;
logList.Add(newmsg);
showLogEvent?.Invoke(text+ newmsg, Color.Black);
if (logBox == null)
{
return;
......
source/DUOStore/App.config
......@@ -12,7 +12,7 @@
<!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）-->
<add key="StopBlowValue" value="4" />
<!--Server address-->
<!--<add key="http.server" value="http://10.85.160.25/myproject/" />-->
<add key="http.server" value="http://localhost/myproject/" />
<!--storeType-->
<add key="store_count" value="2" />
<add key="Store_ConfigPath" value="\StoreConfig\StoreConfig.csv" />
......@@ -39,12 +39,12 @@
<!--IO模块是否主动上传-->
<add key="AIOAutoUpload" value="0" />
<add key="CodeCount" value="3" />
<add key="Tool_P3_Offset" value="7000" />
<add key="Tool_P4_Offset" value="-2000" />
<add key="Tool_P5_Offset" value="-2000" />
<add key="Tool_P6_Offset" value="7000" />
<add key="Tool_P3_Offset" value="70" />
<add key="Tool_P4_Offset" value="-20" />
<add key="Tool_P5_Offset" value="-20" />
<add key="Tool_P6_Offset" value="70" />
<add key="Tool_TargetSpeed" value="20" />
<add key="Tool_TargetPosition" value="1835000" />
<add key="Tool_TargetPosition" value="10420" />
<add key="Agv_Log_Open" value="1" />
<!--进出轴位置-->
......@@ -54,6 +54,7 @@
<!--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 ="HasT4Axis" value ="true"/>
<add key ="AgvServerIp" value ="192.168.11.11"/>
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......@@ -66,6 +67,16 @@
<conversionPattern value="[%date][%t]%-5p %m%n" />
</layout>
</appender>
<appender name="Rmaxis" type="log4net.Appender.RollingFileAppender">
<file value="logs/Rmaxis.log" />
<param name="Encoding" value="UTF-8" />
<appendToFile value="true" />
<rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t]%-5p %m%n" />
</layout>
</appender>
<appender name="AIOBOX" type="log4net.Appender.RollingFileAppender">
<file value="logs/aio/AIOBOX.log" />
<param name="Encoding" value="UTF-8" />
......@@ -84,6 +95,10 @@
<level value="Info" />
<appender-ref ref="AIOBOX" />
</logger>
<logger name="Rmaxis">
<level value="ALL" />
<appender-ref ref="Rmaxis" />
</logger>
<!--<root>
<level value="Info" />
<appender-ref ref="RollingLogFileAppender" />
......
source/DUOStore/DUOStore.csproj
......@@ -38,14 +38,20 @@
<ApplicationIcon>box.ico</ApplicationIcon>
</PropertyGroup>
<ItemGroup>
<Reference Include="CodeLibrary">
<HintPath>..\..\dll\CodeLibrary.dll</HintPath>
<Reference Include="CodeLibrary, Version=1.0.7380.18241, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
</Reference>
<Reference Include="halcondotnet">
<HintPath>..\..\dll\halcondotnet.dll</HintPath>
</Reference>
<Reference Include="log4net">
<HintPath>..\..\dll\log4net.dll</HintPath>
<Reference Include="HuichuanLibrary, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
</Reference>
<Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\增广夹爪\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
......
source/DUOStore/FrmAxisDebug.Designer.cs
......@@ -427,7 +427,7 @@
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "FrmAxisDebug";
this.Text = "轴点动调试";
this.Text = "运动轴调试";
this.Load += new System.EventHandler(this.FrmAxisDebug_Load);
this.Shown += new System.EventHandler(this.FrmAxisDebug_Shown);
((System.ComponentModel.ISupportInitialize)(this.trackBar1)).EndInit();
......
source/DUOStore/FrmAxisMove.cs
......@@ -34,7 +34,8 @@ namespace OnlineStore.DUOStore
private void FrmTest_Load(object sender, EventArgs e)
{
axisMoveControl1.LoadData(null, new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis, StoreManager.Store.T4_InOut_Axis });
axisMoveControl1.LoadData(StoreManager.Store);
//new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis, StoreManager.Store.T4_InOut_Axis }
LoadPostion();
}
......
source/DUOStore/FrmBox.cs
......@@ -50,7 +50,7 @@ namespace OnlineStore.DUOStore
}
// this.groupBox3.Text = "设备[" + BoxBean.CID + "]状态";
this.Text = BoxBean.Name;
axisMoveControl1.LoadData(BoxBean, new AxisBean[] { BoxBean.MiddleAxis, BoxBean.UpdownAxis, BoxBean.InoutAxis, BoxBean.ComAxis });
axisMoveControl1.LoadData(BoxBean);
ACBoxPosition acPosition = null;
if (BoxBean.PositionNumList.Count > 0)
{
......@@ -70,8 +70,8 @@ namespace OnlineStore.DUOStore
txtUpDownP2.Text = BoxBean.Config.UpDownAxis_P2.ToString();
txtMiddleP11.Text = BoxBean.Config.MiddleAxis_P11.ToString();
txtInoutP11.Text = BoxBean.Config.InOutAxis_P11.ToString();
txtComP3.Text = BoxBean.Config.CompAxis_P3.ToString();
txtInOutP2.Text = BoxBean.Config.InOutAxis_P2.ToString();
//txtComP3.Text = BoxBean.Config.CompAxis_P3.ToString();
//txtInOutP2.Text = BoxBean.Config.InOutAxis_P2.ToString();
LoadPData(acPosition);
chbDebug.Checked = BoxBean.IsDebug;
......@@ -278,8 +278,10 @@ namespace OnlineStore.DUOStore
txtUpDownP6.Text = acPosition.UpdownAxis_OL_P6.ToString();
txtInOutP3.Text = acPosition.InoutAxis_P3.ToString();
txtMiddleP2.Text = acPosition.MiddleAxis_P2.ToString();
int comP2 = BoxBean.Config.GetComP2(acPosition.BagHigh);
txtComP2.Text = comP2.ToString();
txtComP2.Text = acPosition.ComAxis_P2.ToString();
txtComP3.Text = acPosition.ComAxis_P3.ToString();
//int comP2 = BoxBean.Config.GetComP2(acPosition.BagHigh);
//txtComP2.Text = comP2.ToString();
lblSize.Text = "尺寸：" + acPosition.BagWidth + "*" + acPosition.BagHigh;
}
}
......@@ -298,6 +300,8 @@ namespace OnlineStore.DUOStore
acPosition.UpdownAxis_IL_P4 = FormUtil.GetIntValue(txtUpDownP4);
acPosition.UpdownAxis_OH_P5 = FormUtil.GetIntValue(txtUpDownP5);
acPosition.UpdownAxis_OL_P6 = FormUtil.GetIntValue(txtUpDownP6);
acPosition.ComAxis_P2 = FormUtil.GetIntValue(txtComP2);
acPosition.ComAxis_P3 = FormUtil.GetIntValue(txtComP3);
}
//位置配置
string appPath = Application.StartupPath;
......@@ -384,16 +388,16 @@ namespace OnlineStore.DUOStore
if (BoxBean.Config.CompAxis_P3 != comp3)
{
BoxBean.Config.CompAxis_P3 = comp3;
needUpdate = true;
}
if (BoxBean.Config.GetComP2(acPosition.BagHigh) != comp2)
{
BoxBean.Config.UpdateComP2(acPosition.BagHigh, comp2);
needUpdate = true;
}
//if (BoxBean.Config.CompAxis_P3 != comp3)
//{
// BoxBean.Config.CompAxis_P3 = comp3;
// needUpdate = true;
//}
//if (BoxBean.Config.GetComP2(acPosition.BagHigh) != comp2)
//{
// BoxBean.Config.UpdateComP2(acPosition.BagHigh, comp2);
// needUpdate = true;
//}
if (BoxBean.Config.CompAxis_P1 != comp1)
{
BoxBean.Config.CompAxis_P1 = comp1;
......@@ -717,7 +721,7 @@ namespace OnlineStore.DUOStore
if (BoxBean.Config.DIList.ContainsKey(IO_Type.Fixture_Check))
{
ioIP = BoxBean.Config.DIList[IO_Type.Fixture_Check].IO_IP;
ioIndex = BoxBean.Config.DIList[IO_Type.Fixture_Check].GetIOAddr();
ioIndex = BoxBean.Config.DIList[IO_Type.Fixture_Laser].GetIOAddr();
}
FrmPositionTool frm = new FrmPositionTool(PortName, slvAddr, ioIP, ioIndex, Text, BoxBean.ID);
frm.ShowDialog();
......
source/DUOStore/FrmIOStatus.Designer.cs
......@@ -17,8 +17,9 @@
{
this.components = new System.ComponentModel.Container();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.button1 = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.btnCloseGate = new System.Windows.Forms.Button();
this.btnOpenGate = new System.Windows.Forms.Button();
this.btnCloseAll = new System.Windows.Forms.Button();
this.btnRelax = new System.Windows.Forms.Button();
this.btnClamp = new System.Windows.Forms.Button();
......@@ -56,22 +57,12 @@
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// button1
//
this.button1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(689, 563);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(125, 37);
this.button1.TabIndex = 254;
this.button1.Text = "关闭";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// groupBox1
//
this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)));
this.groupBox1.Controls.Add(this.btnCloseGate);
this.groupBox1.Controls.Add(this.btnOpenGate);
this.groupBox1.Controls.Add(this.btnCloseAll);
this.groupBox1.Controls.Add(this.btnRelax);
this.groupBox1.Controls.Add(this.btnClamp);
......@@ -98,12 +89,36 @@
this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox1.Location = new System.Drawing.Point(524, 3);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(322, 536);
this.groupBox1.Size = new System.Drawing.Size(577, 536);
this.groupBox1.TabIndex = 105;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "DO写入";
this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter);
//
// btnCloseGate
//
this.btnCloseGate.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnCloseGate.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnCloseGate.Location = new System.Drawing.Point(307, 206);
this.btnCloseGate.Name = "btnCloseGate";
this.btnCloseGate.Size = new System.Drawing.Size(125, 34);
this.btnCloseGate.TabIndex = 304;
this.btnCloseGate.Text = "大门关闭";
this.btnCloseGate.UseVisualStyleBackColor = false;
this.btnCloseGate.Click += new System.EventHandler(this.btnCloseGate_Click);
//
// btnOpenGate
//
this.btnOpenGate.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnOpenGate.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOpenGate.Location = new System.Drawing.Point(307, 169);
this.btnOpenGate.Name = "btnOpenGate";
this.btnOpenGate.Size = new System.Drawing.Size(125, 34);
this.btnOpenGate.TabIndex = 303;
this.btnOpenGate.Text = "大门打开";
this.btnOpenGate.UseVisualStyleBackColor = false;
this.btnOpenGate.Click += new System.EventHandler(this.btnOpenGate_Click);
//
// btnCloseAll
//
this.btnCloseAll.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
......@@ -196,7 +211,7 @@
this.btnTopDown.Name = "btnTopDown";
this.btnTopDown.Size = new System.Drawing.Size(125, 34);
this.btnTopDown.TabIndex = 289;
this.btnTopDown.Text = "线体顶升气缸下降";
this.btnTopDown.Text = "横移顶升气缸下降";
this.btnTopDown.UseVisualStyleBackColor = false;
this.btnTopDown.Click += new System.EventHandler(this.btnTopDown_Click);
//
......@@ -208,7 +223,7 @@
this.btnTopUp.Name = "btnTopUp";
this.btnTopUp.Size = new System.Drawing.Size(125, 34);
this.btnTopUp.TabIndex = 288;
this.btnTopUp.Text = "线体顶升气缸上升";
this.btnTopUp.Text = "横移顶升气缸上升";
this.btnTopUp.UseVisualStyleBackColor = false;
this.btnTopUp.Click += new System.EventHandler(this.btnTopUp_Click);
//
......@@ -338,13 +353,13 @@
this.btn_Down.TabIndex = 250;
this.btn_Down.Text = "定位销下降";
this.btn_Down.UseVisualStyleBackColor = false;
this.btn_Down.Click += new System.EventHandler(this.btnLocationUp_Click);
this.btn_Down.Click += new System.EventHandler(this.btnLocationDown_Click);
//
// btn_Up
//
this.btn_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btn_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btn_Up.Location = new System.Drawing.Point(34, 286);
this.btn_Up.Location = new System.Drawing.Point(31, 286);
this.btn_Up.Name = "btn_Up";
this.btn_Up.Size = new System.Drawing.Size(125, 34);
this.btn_Up.TabIndex = 250;
......@@ -439,8 +454,7 @@
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(858, 621);
this.Controls.Add(this.button1);
this.ClientSize = new System.Drawing.Size(1132, 621);
this.Controls.Add(this.groupBox1);
this.Controls.Add(this.groupBox4);
this.Controls.Add(this.groupBox3);
......@@ -476,7 +490,6 @@
private System.Windows.Forms.TextBox txtDoName;
private System.Windows.Forms.Button btnBack;
private System.Windows.Forms.Button btnFoward;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Button btnOpenDo;
private System.Windows.Forms.Button btnCloseDO;
private System.Windows.Forms.Button btnTopDown;
......@@ -491,6 +504,8 @@
private System.Windows.Forms.Button btn_Stop;
private System.Windows.Forms.Button btn_Down;
private System.Windows.Forms.Button btn_Up;
private System.Windows.Forms.Button btnCloseGate;
private System.Windows.Forms.Button btnOpenGate;
}
}
source/DUOStore/FrmIOStatus.cs
......@@ -242,11 +242,6 @@ namespace OnlineStore.DUOStore
{
timer1.Start();
}
private void button1_Click(object sender, EventArgs e)
{
this.Close();
}
private void btnOpenDo_Click(object sender, EventArgs e)
{
......@@ -289,7 +284,7 @@ namespace OnlineStore.DUOStore
private void btnStoreOn_Click(object sender, EventArgs e)
{
BtnMove(btnCamerLed, "打开设备照明", "关闭设备照明", IO_Type.Device_Led);
BtnMove(btnDeviceLed, "打开设备照明", "关闭设备照明", IO_Type.Device_Led);
}
private void btnCloseCyDo_Click(object sender, EventArgs e)
......@@ -305,12 +300,12 @@ namespace OnlineStore.DUOStore
private void btnClamp_Click(object sender, EventArgs e)
{
ElectricGripper.Clamp();
StoreManager.Store.electricClamp.Clamp();
}
private void btnRelax_Click(object sender, EventArgs e)
{
ElectricGripper.Release();
StoreManager.Store.electricClamp.Release();
}
private void btnLDoorUp_Click(object sender, EventArgs e)
......@@ -355,7 +350,7 @@ namespace OnlineStore.DUOStore
}
private void btn_Stop_Click(object sender, EventArgs e)
{
{
StoreManager.Store.InOutStation_Stop();
}
......@@ -368,5 +363,15 @@ namespace OnlineStore.DUOStore
{
StoreManager.Store.InOutStation_GoOut();
}
private void btnOpenGate_Click(object sender, EventArgs e)
{
StoreManager.Store.OpenGate();
}
private void btnCloseGate_Click(object sender, EventArgs e)
{
StoreManager.Store.CloseGate();
}
}
}
source/DUOStore/FrmStore.Designer.cs
......@@ -33,6 +33,7 @@
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage1 = new System.Windows.Forms.TabPage();
this.panel1 = new System.Windows.Forms.Panel();
this.button1 = new System.Windows.Forms.Button();
this.chbInstoreEnd = new System.Windows.Forms.CheckBox();
this.chkDebug = new System.Windows.Forms.CheckBox();
this.lblMoveInfo = new System.Windows.Forms.Label();
......@@ -72,7 +73,6 @@
this.toolStripSeparator8 = new System.Windows.Forms.ToolStripSeparator();
this.toolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.button1 = new System.Windows.Forms.Button();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.panel1.SuspendLayout();
......@@ -129,6 +129,19 @@
this.panel1.Size = new System.Drawing.Size(182, 623);
this.panel1.TabIndex = 271;
//
// button1
//
this.button1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.button1.BackColor = System.Drawing.Color.White;
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(12, 490);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(105, 35);
this.button1.TabIndex = 272;
this.button1.Text = "测试";
this.button1.UseVisualStyleBackColor = false;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// chbInstoreEnd
//
this.chbInstoreEnd.AutoSize = true;
......@@ -320,54 +333,54 @@
// toolStripSeparator1
//
this.toolStripSeparator1.Name = "toolStripSeparator1";
this.toolStripSeparator1.Size = new System.Drawing.Size(114, 6);
this.toolStripSeparator1.Size = new System.Drawing.Size(177, 6);
//
// 启动AToolStripMenuItem
//
this.启动AToolStripMenuItem.Name = "启动AToolStripMenuItem";
this.启动AToolStripMenuItem.Size = new System.Drawing.Size(117, 26);
this.启动AToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.启动AToolStripMenuItem.Text = "启动 ";
this.启动AToolStripMenuItem.Click += new System.EventHandler(this.启动所有料仓AToolStripMenuItem_Click);
//
// toolStripSeparator4
//
this.toolStripSeparator4.Name = "toolStripSeparator4";
this.toolStripSeparator4.Size = new System.Drawing.Size(114, 6);
this.toolStripSeparator4.Size = new System.Drawing.Size(177, 6);
//
// 复位RToolStripMenuItem
//
this.复位RToolStripMenuItem.Name = "复位RToolStripMenuItem";
this.复位RToolStripMenuItem.Size = new System.Drawing.Size(117, 26);
this.复位RToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.复位RToolStripMenuItem.Text = "复位";
this.复位RToolStripMenuItem.Click += new System.EventHandler(this.复位RToolStripMenuItem_Click);
//
// toolStripSeparator3
//
this.toolStripSeparator3.Name = "toolStripSeparator3";
this.toolStripSeparator3.Size = new System.Drawing.Size(114, 6);
this.toolStripSeparator3.Size = new System.Drawing.Size(177, 6);
//
// 停止TToolStripMenuItem
//
this.停止TToolStripMenuItem.Name = "停止TToolStripMenuItem";
this.停止TToolStripMenuItem.Size = new System.Drawing.Size(117, 26);
this.停止TToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.停止TToolStripMenuItem.Text = "停止";
this.停止TToolStripMenuItem.Click += new System.EventHandler(this.停止所有料仓TToolStripMenuItem_Click);
//
// toolStripSeparator5
//
this.toolStripSeparator5.Name = "toolStripSeparator5";
this.toolStripSeparator5.Size = new System.Drawing.Size(114, 6);
this.toolStripSeparator5.Size = new System.Drawing.Size(177, 6);
//
// toolStripSeparator2
//
this.toolStripSeparator2.Name = "toolStripSeparator2";
this.toolStripSeparator2.Size = new System.Drawing.Size(114, 6);
this.toolStripSeparator2.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator2.Visible = false;
//
// 退出ToolStripMenuItem
//
this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem";
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(117, 26);
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.退出ToolStripMenuItem.Text = "退出";
this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click_1);
//
......@@ -477,19 +490,6 @@
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// button1
//
this.button1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.button1.BackColor = System.Drawing.Color.White;
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(12, 490);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(105, 35);
this.button1.TabIndex = 272;
this.button1.Text = "测试";
this.button1.UseVisualStyleBackColor = false;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// FrmStore
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
......
source/DUOStore/FrmStore.cs
......@@ -33,6 +33,7 @@ namespace OnlineStore.DUOStore
startTimer.Enabled = false;
startTimer.AutoReset = false;
Control.CheckForIllegalCrossThreadCalls = false;
LogUtil.showLogEvent += LogUtil_showLogEvent;
}
......@@ -63,7 +64,8 @@ namespace OnlineStore.DUOStore
chbInstoreEnd.Checked = store.InstoreEndSendShelf;
chbOutstoreEnd.Checked = store.OutstoreEndSendShelf;
LoadOk = true;
LogUtil.logBox = this.logBox;
//LogUtil.logBox = this.logBox;
this.timer1.Start();
}
catch (Exception ex)
......@@ -73,6 +75,16 @@ namespace OnlineStore.DUOStore
}
}
private void LogUtil_showLogEvent(string msg, Color color)
{
this.Invoke(new Action(() => {
logBox.Text = msg;
logBox.Select(logBox.Text.Length, 0);
logBox.ScrollToCaret();
}));
}
private void AddForm(string text, Form form)
{
text = text.PadLeft(12, ' ');
......@@ -271,6 +283,7 @@ namespace OnlineStore.DUOStore
IOManager.instance.CloseAllConnection();
HumitureController.CloseAllPort();
AxisManager.instance.CloseAllPort();
AxisManager.instance.CloseCard();
if (Camera._cam != null)
{
Camera._cam.CloseAll();
......@@ -651,8 +664,8 @@ namespace OnlineStore.DUOStore
{
if (LogUtil.logBox == null)
{
LogUtil.logBox = logBox;
LogUtil.UpdateLogbox();
//LogUtil.logBox = logBox;
//LogUtil.UpdateLogbox();
}
}
}
......
source/DUOStore/useControl/AxisMoveControl.resx
......@@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root>
\ No newline at end of file
source/DeviceLibrary/AXIS/AxisManager.cs
......@@ -29,6 +29,11 @@ namespace OnlineStore.DeviceLibrary
}
#region 485通信方法
/// <summary>
/// 废弃return true
/// </summary>
/// <param name="portName"></param>
/// <returns></returns>
public abstract bool OpenPort(string portName);
/// <summary>
/// 松下专用
......
source/DeviceLibrary/AgvClient/AgvClient.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
public static bool CurrCancelState = false;
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Asa.AgvClient agvClient;
public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
public static List<string> NodeList = new List<string>();
private static bool isInit = false;
public static void Init()
{
try
{
// LogUtil.info("开始 Init agvclient");
if (!isInit)
{
isInit = true;
agvClient = new Asa.AgvClient(ServerIp);
agvClient.CancelState = true;
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.Ready += AgvClient_Ready;
agvClient.CloseDoor += AgvClient_CloseDoor;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
LogUtil.info(" 开始 agvClient.Connect");
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
}
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
public static void SetCancelState(bool isCancel)
{
CurrCancelState = isCancel;
if (agvClient != null)
{
agvClient.CancelState = isCancel;
}
}
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
{
if (!isMust)
{
if (actionMap.ContainsKey(id))
{
ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
}
string mark = "";
if (shelfId != "")
{
int index = shelfId.IndexOf(',');
if (index > 0)
{
//紧急出料模块，料串离开时，mark=紧急料或者分配料，rfid=料串号
mark = shelfId.Substring(index + 1, shelfId.Length - index - 1);
shelfId = shelfId.Substring(0, index);
}
}
agvClient.SetStatus(id, mark, shelfId, action, level);
UpdateAction(id, action);
LogUtil.info("AgvClient SetStatus id:" + id + ",mark:" + mark + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString());
}
private static void AgvClient_Ready(string id, string rfid)
{
try
{
//UpdateAction(id, ClientAction.Ready);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] " + GetAction(id).ToString());
if (GetAction(id) == ClientAction.NeedEnter || id == "D1")
{
SetStatus(id, "", ClientAction.MayEnter);
}
else if (GetAction(id) == ClientAction.NeedLeave || id == "D2")
{
SetStatus(id, "", ClientAction.MayLeave);
}
else
{
LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理");
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Ready [" + id + "] [" + rfid + "] 处理出错：" + ex.ToString());
}
}
private static void AgvClient_CloseDoor(string id, string rfid)
{
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 暂无需处理 ");
}
private static void AgvClient_Arrive(string id, string rfid)
{
// UpdateAction(id, ClientAction.Arrive);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid + "]暂无需处理 ");
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId = "", ClientLevel level = ClientLevel.Low)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedEnter, level);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId = "", ClientLevel level = ClientLevel.Low)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedLeave, level);
return true;
}
return false;
}
private static bool isLog = true;//ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
private static void AgvClient_Log(string s)
{
try
{
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
}
public static Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient " + ServerIp + " 出错：", ex);
}
}
}
}
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -43,8 +43,9 @@
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\Client.dll</HintPath>
</Reference>
<Reference Include="CodeLibrary">
<HintPath>..\..\dll\CodeLibrary.dll</HintPath>
<Reference Include="CodeLibrary, Version=1.0.7380.18241, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
</Reference>
<Reference Include="halcondotnet">
<HintPath>..\..\dll\halcondotnet.dll</HintPath>
......@@ -52,9 +53,13 @@
<Reference Include="HuichuanLibrary">
<HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
</Reference>
<Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\增广夹爪\log4net.dll</HintPath>
</Reference>
<Reference Include="Neotel.Rmaxis, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\log4net.dll</HintPath>
<HintPath>..\..\..\增广夹爪\Rmaxis\bin\Debug\Neotel.Rmaxis.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
......@@ -67,6 +72,7 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="AgvClient\AgvClient.cs" />
<Compile Include="AXIS\AxisManager.cs" />
<Compile Include="AXIS\HC\HCAxisManager.cs" />
<Compile Include="AXIS\PanasonicServo\ACCMDManager.cs" />
......
source/DeviceLibrary/StoreConfig/BoxConfig_1.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,,L1_旋转轴,Middle_Axis,1,COM1,,150,1000,1000,80,60,50,10,1000,0,0
AXIS,,L2_上下轴,UpDown_Axis,2,COM1,,300,400,400,400,400,400,10,1000,0,0
AXIS,,L3_进出轴,InOut_Axis,3,COM1,,100,300,300,20,60,200,10,1000,0,0
AXIS,,L4_压紧轴,Comp_Axis,4,COM1,,100,300,300,20,60,200,10,1000,0,0
AXIS,,L1_旋转轴,Middle_Axis,0,HC,,800,2400,2400,50,250,3000,10,1000,0,0
AXIS,,L2_上下轴,UpDown_Axis,1,HC,,2000,6000,6000,50,250,3000,10,1000,0,0
AXIS,,L3_进出轴,InOut_Axis,2,HC,,1000,5000,5000,50,300,8000,10,1000,0,0
AXIS,,L4_压紧轴,Comp_Axis,3,HC,,10000,25000,25000,3000,10000,20000,10,1000,0,0
,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,L2_上下轴_P1待机点/入料口低点,UpDownAxis_P1,585000,,,,,,,,,,,,
PRO,,L2_上下轴_P2入料口高点,UpDownAxis_P2,604500,,,,,,,,,,,,
PRO,,L1_旋转轴_P1待机点/入料口位置,MiddleAxis_P1,307200,,,,,,,,,,,,
PRO,,L3_进出轴_P1待机点,InOutAxis_P1,1000,,,,,,,,,,,,
PRO,,L4_压紧轴_P1待机点,CompAxis_P1,140000,,,,,,,,,,,,
PRO,,L4_压紧轴_P3压紧前点,CompAxis_P3,180000,,,,,,,,,,,,
PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=385001;12=383001;16=379001;,,,,,,,,,,,,
PRO,,L2_上下轴_P1待机点/入料口低点,UpDownAxis_P1,10,,,,,,,,,,,,
PRO,,L2_上下轴_P2入料口高点,UpDownAxis_P2,10,,,,,,,,,,,,
PRO,,L1_旋转轴_P1待机点/入料口位置,MiddleAxis_P1,10,,,,,,,,,,,,
PRO,,L3_进出轴_P1待机点,InOutAxis_P1,10,,,,,,,,,,,,
PRO,,L4_压紧轴_P1待机点,CompAxis_P1,10,,,,,,,,,,,,
PRO,,L4_压紧轴_P3压紧前点,CompAxis_P3,10,,,,,,,,,,,,
PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=42835;12=38557;16=34550;20=30540;24=26030;,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,L2_上下轴_P11-出料口-低点,UpDownAxis_P11,1000000,,,,,,,,,,,,
PRO,,L2_上下轴_P12-出料口-高点,UpDownAxis_P12,1023000,,,,,,,,,,,,
PRO,,L1_旋转轴_P11-出料口位置,MiddleAxis_P11,306900,,,,,,,,,,,,
PRO,,L3_进出轴_P2-入料口取放料点,InOutAxis_P2,140800,,,,,,,,,,,,
PRO,,L3_进出轴_P11-出料口取放料点,InOutAxis_P11,148000,,,,,,,,,,,,
PRO,,L2_上下轴_P11-出料口-低点,UpDownAxis_P11,10,,,,,,,,,,,,
PRO,,L2_上下轴_P12-出料口-高点,UpDownAxis_P12,10,,,,,,,,,,,,
PRO,,L1_旋转轴_P11-出料口位置,MiddleAxis_P11,10,,,,,,,,,,,,
PRO,,L3_进出轴_P2-入料口取放料点,InOutAxis_P2,10,,,,,,,,,,,,
PRO,,L3_进出轴_P11-出料口取放料点,InOutAxis_P11,10,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,L2_上下轴_P1速度/高速,UpDownAxis_P1_Speed,600,,,,,,,,,,,,
PRO,,L2_上下轴_P2速度/低速,UpDownAxis_P2_Speed,600,,,,,,,,,,,,
PRO,,L2_上下轴_P3速度,UpDownAxis_P3_Speed,1000,,, ,,,,,,,,,
PRO,,L2_上下轴_P4速度,UpDownAxis_P4_Speed,200,,,,,,,,,,,,
PRO,,L2_上下轴_P5速度,UpDownAxis_P5_Speed,1000,,,,,,,,,,,,
PRO,,L2_上下轴_P6速度,UpDownAxis_P6_Speed,200,,,,,,,,,,,,
PRO,,L2_上下轴_P7速度,UpDownAxis_P7_Speed,600,,,,,,,,,,,,
PRO,,L2_上下轴_P8速度,UpDownAxis_P8_Speed,600,,,,,,,,,,,,
PRO,,L1_旋转轴_P1速度,MiddleAxis_P1_Speed,300,,,,,,,,,,,,
PRO,,L1_旋转轴_P2速度,MiddleAxis_P2_Speed,300,,,,,,,,,,,,
PRO,,L3_进出轴_P1速度,InOutAxis_P1_Speed,300,,,,,,,,,,,,
PRO,,L3_进出轴_P2速度,InOutAxis_P2_Speed,300,,,,,,,,,,,,
PRO,,L3_进出轴_P3速度,InOutAxis_P3_Speed,300,,,,,,,,,,,,
PRO,,L4_压紧轴_P1速度,CompAxis_P1_Speed,400,,,,,,,,,,,,
PRO,,L4_压紧轴_P2速度,CompAxis_P2_Speed,400,,,,,,,,,,,,
PRO,,L4_压紧轴_P3速度,CompAxis_P3_Speed,400,,,,,,,,,,,,
PRO,,L2_上下轴_P1速度/高速,UpDownAxis_P1_Speed,2000,,,,,,,,,,,,
PRO,,L2_上下轴_P2速度/低速,UpDownAxis_P2_Speed,2000,,,,,,,,,,,,
PRO,,L2_上下轴_P3速度,UpDownAxis_P3_Speed,2000,,, ,,,,,,,,,
PRO,,L2_上下轴_P4速度,UpDownAxis_P4_Speed,150,,,,,,,,,,,,
PRO,,L2_上下轴_P5速度,UpDownAxis_P5_Speed,2000,,,,,,,,,,,,
PRO,,L2_上下轴_P6速度,UpDownAxis_P6_Speed,150,,,,,,,,,,,,
PRO,,L2_上下轴_P7速度,UpDownAxis_P7_Speed,2000,,,,,,,,,,,,
PRO,,L2_上下轴_P8速度,UpDownAxis_P8_Speed,100,,,,,,,,,,,,
PRO,,L1_旋转轴_P1速度,MiddleAxis_P1_Speed,800,,,,,,,,,,,,
PRO,,L1_旋转轴_P2速度,MiddleAxis_P2_Speed,800,,,,,,,,,,,,
PRO,,L3_进出轴_P1速度,InOutAxis_P1_Speed,1600,,,,,,,,,,,,
PRO,,L3_进出轴_P2速度,InOutAxis_P2_Speed,1800,,,,,,,,,,,,
PRO,,L3_进出轴_P3速度,InOutAxis_P3_Speed,1800,,,,,,,,,,,,
PRO,,L4_压紧轴_P1速度,CompAxis_P1_Speed,5000,,,,,,,,,,,,
PRO,,L4_压紧轴_P2速度,CompAxis_P2_Speed,8500,,,,,,,,,,,,
PRO,,L4_压紧轴_P3速度,CompAxis_P3_Speed,8500,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,L2_上下轴_P11速度/低速,UpDownAxis_P11_Speed,600,,,,,,,,,,,,
PRO,,L2_上下轴_P12速度/高速,UpDownAxis_P12_Speed,600,,,,,,,,,,,,
PRO,,L3_进出轴_P11速度,InOutAxis_P11_Speed,300,,,,,,,,,,,,
PRO,,L1_旋转轴_P11速度,MiddleAxis_P11_Speed,300,,,,,,,,,,,,
PRO,,L2_上下轴_P11速度/低速,UpDownAxis_P11_Speed,1000,,,,,,,,,,,,
PRO,,L2_上下轴_P12速度/高速,UpDownAxis_P12_Speed,2000,,,,,,,,,,,,
PRO,,L3_进出轴_P11速度,InOutAxis_P11_Speed,1800,,,,,,,,,,,,
PRO,,L1_旋转轴_P11速度,MiddleAxis_P11_Speed,800,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,温湿度端口号,Humiture_Port,COM5,,,,,,,,,,,,
PRO,,是否是调试状态,IsInDebug,0,,,,,,,,,,,,
source/DeviceLibrary/StoreConfig/BoxConfig_2.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,,R1_旋转轴,Middle_Axis,1,COM2,,250,1000,1000,80,60,50,10,1000,0,0
AXIS,,R2_上下轴,UpDown_Axis,2,COM2,,300,400,400,400,400,400,10,1000,0,0
AXIS,,R3_进出轴,InOut_Axis,3,COM2,,100,300,300,20,60,200,10,1000,0,0
AXIS,,R4_压紧轴,Comp_Axis,4,COM2,,100,300,300,20,60,200,10,1000,0,0
AXIS,,R1_旋转轴,Middle_Axis,8,HC,,800,2400,2400,50,250,3000,10,1000,0,0
AXIS,,R2_上下轴,UpDown_Axis,9,HC,,2000,6000,6000,50,250,3000,10,1000,0,0
AXIS,,R3_进出轴,InOut_Axis,10,HC,,1000,5000,5000,50,300,8000,10,1000,0,0
AXIS,,R4_压紧轴,Comp_Axis,11,HC,,10000,25000,25000,3000,10000,20000,10,1000,0,0
,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,R2_上下轴_P1待机点/扫码放料低点,UpDownAxis_P1,585000,,,,,,,,,,,,
PRO,,R2_上下轴_P2扫码放料高点缓冲点,UpDownAxis_P2,604500,,,,,,,,,,,,
PRO,,R1_旋转轴_P1待机点/扫码放料点,MiddleAxis_P1,307200,,,,,,,,,,,,
PRO,,R3_进出轴_P1待机点,InOutAxis_P1,1000,,,,,,,,,,,,
PRO,,R4_压紧轴_P1待机点,CompAxis_P1,140000,,,,,,,,,,,,
PRO,,R4_压紧轴_P3压紧前点,CompAxis_P3,180000,,,,,,,,,,,,
PRO,,R4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=201264;12=383001;16=379001;,,,,,,,,,,,,
PRO,,R2_上下轴_P1待机点/扫码放料低点,UpDownAxis_P1,10,,,,,,,,,,,,
PRO,,R2_上下轴_P2扫码放料高点缓冲点,UpDownAxis_P2,10,,,,,,,,,,,,
PRO,,R1_旋转轴_P1待机点/扫码放料点,MiddleAxis_P1,10,,,,,,,,,,,,
PRO,,R3_进出轴_P1待机点,InOutAxis_P1,10,,,,,,,,,,,,
PRO,,R4_压紧轴_P1待机点,CompAxis_P1,10,,,,,,,,,,,,
PRO,,R4_压紧轴_P3压紧前点,CompAxis_P3,10,,,,,,,,,,,,
PRO,,R4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=42835;12=38557;16=34550;20=30540;24=26030;,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,R2_上下轴_P11-出料口-低点,UpDownAxis_P11,1000000,,,,,,,,,,,,
PRO,,R2_上下轴_P12-出料口-高点,UpDownAxis_P12,1023000,,,,,,,,,,,,
PRO,,R1_旋转轴_P11-出料口位置,MiddleAxis_P11,306900,,,,,,,,,,,,
PRO,,R3_进出轴_P2-入料口取放料点,InOutAxis_P2,140800,,,,,,,,,,,,
PRO,,R3_进出轴_P11-出料口取放料点,InOutAxis_P11,148000,,,,,,,,,,,,
PRO,,R2_上下轴_P11-出料口-低点,UpDownAxis_P11,10,,,,,,,,,,,,
PRO,,R2_上下轴_P12-出料口-高点,UpDownAxis_P12,10,,,,,,,,,,,,
PRO,,R1_旋转轴_P11-出料口位置,MiddleAxis_P11,10,,,,,,,,,,,,
PRO,,R3_进出轴_P2-入料口取放料点,InOutAxis_P2,10,,,,,,,,,,,,
PRO,,R3_进出轴_P11-出料口取放料点,InOutAxis_P11,10,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,R2_上下轴_P1速度/高速,UpDownAxis_P1_Speed,600,,,,,,,,,,,,
PRO,,R2_上下轴_P2速度/低速,UpDownAxis_P2_Speed,600,,,,,,,,,,,,
PRO,,R2_上下轴_P3速度,UpDownAxis_P3_Speed,1000,,, ,,,,,,,,,
PRO,,R2_上下轴_P4速度,UpDownAxis_P4_Speed,200,,,,,,,,,,,,
PRO,,R2_上下轴_P5速度,UpDownAxis_P5_Speed,1000,,,,,,,,,,,,
PRO,,R2_上下轴_P6速度,UpDownAxis_P6_Speed,200,,,,,,,,,,,,
PRO,,R2_上下轴_P7速度,UpDownAxis_P7_Speed,600,,,,,,,,,,,,
PRO,,R2_上下轴_P8速度,UpDownAxis_P8_Speed,600,,,,,,,,,,,,
PRO,,R1_旋转轴_P1速度,MiddleAxis_P1_Speed,300,,,,,,,,,,,,
PRO,,R1_旋转轴_P2速度,MiddleAxis_P2_Speed,300,,,,,,,,,,,,
PRO,,R3_进出轴_P1速度,InOutAxis_P1_Speed,300,,,,,,,,,,,,
PRO,,R3_进出轴_P2速度,InOutAxis_P2_Speed,300,,,,,,,,,,,,
PRO,,R3_进出轴_P3速度,InOutAxis_P3_Speed,300,,,,,,,,,,,,
PRO,,R4_压紧轴_P1速度,CompAxis_P1_Speed,400,,,,,,,,,,,,
PRO,,R4_压紧轴_P2速度,CompAxis_P2_Speed,400,,,,,,,,,,,,
PRO,,R4_压紧轴_P3速度,CompAxis_P3_Speed,400,,,,,,,,,,,,
PRO,,R2_上下轴_P1速度/高速,UpDownAxis_P1_Speed,2000,,,,,,,,,,,,
PRO,,R2_上下轴_P2速度/低速,UpDownAxis_P2_Speed,2000,,,,,,,,,,,,
PRO,,R2_上下轴_P3速度,UpDownAxis_P3_Speed,2000,,, ,,,,,,,,,
PRO,,R2_上下轴_P4速度,UpDownAxis_P4_Speed,150,,,,,,,,,,,,
PRO,,R2_上下轴_P5速度,UpDownAxis_P5_Speed,2000,,,,,,,,,,,,
PRO,,R2_上下轴_P6速度,UpDownAxis_P6_Speed,150,,,,,,,,,,,,
PRO,,R2_上下轴_P7速度,UpDownAxis_P7_Speed,2000,,,,,,,,,,,,
PRO,,R2_上下轴_P8速度,UpDownAxis_P8_Speed,100,,,,,,,,,,,,
PRO,,R1_旋转轴_P1速度,MiddleAxis_P1_Speed,800,,,,,,,,,,,,
PRO,,R1_旋转轴_P2速度,MiddleAxis_P2_Speed,800,,,,,,,,,,,,
PRO,,R3_进出轴_P1速度,InOutAxis_P1_Speed,1600,,,,,,,,,,,,
PRO,,R3_进出轴_P2速度,InOutAxis_P2_Speed,1800,,,,,,,,,,,,
PRO,,R3_进出轴_P3速度,InOutAxis_P3_Speed,1800,,,,,,,,,,,,
PRO,,R4_压紧轴_P1速度,CompAxis_P1_Speed,5000,,,,,,,,,,,,
PRO,,R4_压紧轴_P2速度,CompAxis_P2_Speed,8500,,,,,,,,,,,,
PRO,,R4_压紧轴_P3速度,CompAxis_P3_Speed,8500,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,R2_上下轴_P11速度/低速,UpDownAxis_P11_Speed,600,,,,,,,,,,,,
PRO,,R2_上下轴_P12速度/高速,UpDownAxis_P12_Speed,600,,,,,,,,,,,,
PRO,,R3_进出轴_P11速度,InOutAxis_P11_Speed,300,,,,,,,,,,,,
PRO,,R1_旋转轴_P11速度,MiddleAxis_P11_Speed,300,,,,,,,,,,,,
PRO,,R2_上下轴_P11速度/低速,UpDownAxis_P11_Speed,1000,,,,,,,,,,,,
PRO,,R2_上下轴_P12速度/高速,UpDownAxis_P12_Speed,2000,,,,,,,,,,,,
PRO,,R3_进出轴_P11速度,InOutAxis_P11_Speed,1800,,,,,,,,,,,,
PRO,,R1_旋转轴_P11速度,MiddleAxis_P11_Speed,800,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,温湿度端口号,Humiture_Port,COM5,,,,,,,,,,,,
PRO,,是否是调试状态,IsInDebug,0,,,,,,,,,,,,
source/DeviceLibrary/StoreConfig/StoreConfig.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,,T1_提升机构升降轴,T1_Batch_Axis,1,HC,,250,500,500,100,200,1000,10,1000,0,0
AXIS,,T2_取料机构旋转轴,T2_Middle_Axis,2,HC,,1000,1000,1000,200,500,500,10,1000,0,0
AXIS,,T3_取料机构上下轴,T3_Updown_Axis,3,HC,,800,1000,1000,200,500,500,10,1000,0,0
AXIS,,T4_取料机构进出轴,T4_InOut_Axis,4,HC,,800,1000,1000,200,500,500,10,1000,0,0
AXIS,,T1_提升机构升降轴,T1_Batch_Axis,4,HC,,250,500,500,100,200,1000,10,1000,0,0
AXIS,,T2_取料机构旋转轴,T2_Middle_Axis,5,HC,,1000,1000,1000,200,500,500,10,1000,0,0
AXIS,,T3_取料机构上下轴,T3_Updown_Axis,6,HC,,800,1000,1000,200,500,500,10,1000,0,0
AXIS,,T4_取料机构进出轴,T4_InOut_Axis,7,HC,,800,1000,1000,200,500,500,10,1000,0,0
,,,,,,,,,,,,,,,,
PRO,,IO模块对应的DI数量,IO_DILength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,,
PRO,,IO模块对应的DO数量,IO_DOLength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,,
......@@ -134,6 +134,10 @@ PRO,0,T4_进出轴7寸取料点P2Speed,InOutAxis_P2Speed,5000,,,,,,,,,,,,
PRO,0,T4_进出轴13寸取料点P3Speed,InOutAxis_P3Speed,5000,,,,,,,,,,,,
PRO,0,T4_进出轴放料点P4Speed,InOutAxis_P4Speed,5000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,AgvInName,AgvInName,D1,,,,,,,,,,,,
PRO,0,AgvOutName,AgvOutName,D2,,,,,,,,,,,,
PRO,0,电夹爪1端口,Clamp1Port,COM12,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,,预警温度,WarnTemperate,80,,,,,,,,,,,,
PRO,,预警湿度,WarnHumidity,80,,,,,,,,,,,,
PRO,,出入库多少次，会自动重置旋转轴,Box_ResetMCount,1000,,,,,,,,,,,,
......@@ -148,4 +152,4 @@ PRO,,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,,,,,,
PRO,0,是否调试状态（1=调试，0=正常）,IsDebug,1,,,,,,,,,,,,
PRO,,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,,
PRO,,所有料仓的CID(用#号分隔),All_CIDs,packing-1#packing-2,,,,,,,,,,,,
PRO,,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D76546875),,,,,,,,,,,,
PRO,,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00E96448339),,,,,,,,,,,,
source/DeviceLibrary/StoreConfig/linePositions_1.csv
位置,优先级,高度,宽度,料仓ID,旋转轴库位点P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3
1#AC1_1_1_4,259,32,15,1,306200,1290614,1299614,1299614,1290614,140800
1#AC1_1_1_5,258,32,15,1,306200,1334970,1343970,1343970,1334970,140800
1#AC1_1_1_6,257,32,15,1,306200,1381622,1392122,1392122,1381622,140800
1#AC1_1_1_7,256,32,15,1,306200,1424390,1433390,1433390,1424390,140800
1#AC1_1_1_8,255,32,15,1,306200,1471088,1481488,1481488,1471088,140800
1#AC1_1_1_9,254,32,15,1,306200,1514627,1525627,1525627,1514627,140800
1#AC1_1_1_10,253,32,15,1,306200,1561503,1570503,1570503,1561503,140800
1#AC1_1_1_11,252,32,15,1,306200,1603404,1612404,1612404,1603404,140800
1#AC1_1_1_12,251,32,15,1,306200,1650000,1660593,1660593,1650000,140800
1#AC1_1_1_13,250,32,15,1,306200,1693078,1702078,1702078,1693078,140800
1#AC1_1_1_14,249,32,15,1,306200,1738576,1747576,1747576,1738576,140800
1#AC1_1_1_15,248,32,15,1,306200,1785295,1794295,1794295,1785295,140800
1#AC1_1_1_16,247,12,15,1,436077,9671,20171,20171,9671,140800
1#AC1_1_1_17,246,12,15,1,436077,39893,50393,50393,39893,140800
1#AC1_1_1_18,245,12,15,1,436077,70661,81161,81161,70661,140800
1#AC1_1_1_19,244,12,15,1,436077,98713,109213,109213,98713,140800
1#AC1_1_1_20,243,12,15,1,436077,128728,139228,139228,128728,140800
1#AC1_1_1_21,242,12,15,1,436077,159195,169695,169695,159195,140800
1#AC1_1_2_4,241,12,15,1,436077,189134,199634,199634,189134,140800
1#AC1_1_2_5,240,12,15,1,436077,219845,230345,230345,219845,140800
1#AC1_1_2_6,239,12,15,1,436077,252000,262500,262500,252000,140800
1#AC1_1_2_7,238,12,15,1,436077,280421,290921,290921,280421,140800
1#AC1_1_2_8,237,12,15,1,436077,312224,322724,322724,312224,140800
1#AC1_1_2_9,236,12,15,1,436077,342256,352756,352756,342256,140800
1#AC1_1_2_10,235,12,15,1,436077,369382,379882,379882,369382,140800
1#AC1_1_2_11,234,12,15,1,436077,399751,410251,410251,399751,140800
1#AC1_1_2_12,233,12,15,1,436200,430923,441423,441423,430923,140800
1#AC1_1_2_13,232,12,15,1,436157,459859,470359,470359,459859,140800
1#AC1_1_2_14,231,12,15,1,436214,489685,500185,500185,489685,140800
1#AC1_1_2_15,230,12,15,1,436271,522581,533081,533081,522581,140800
1#AC1_1_2_16,229,12,15,1,435628,550105,560605,560605,550105,140800
1#AC1_1_2_17,228,12,15,1,435585,583474,593974,593974,583474,140800
1#AC1_1_2_18,227,12,15,1,435542,612943,623443,623443,612943,140800
1#AC1_1_2_19,226,12,15,1,435499,642389,652889,652889,642389,140800
1#AC1_1_2_20,225,12,15,1,435456,670221,680721,680721,670221,140800
1#AC1_1_2_21,224,12,15,1,435413,700236,713736,713736,700236,140800
位置,优先级,高度,宽度,料仓ID,旋转轴库位点P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3
1#AC1_1_1_4,259,32,15,1,306200,1290614,1299614,1299614,1290614,140800,,
1#AC1_1_1_5,258,32,15,1,306200,1334970,1343970,1343970,1334970,140800,,
1#AC1_1_1_6,257,32,15,1,306200,1381622,1392122,1392122,1381622,140800,,
1#AC1_1_1_7,256,32,15,1,306200,1424390,1433390,1433390,1424390,140800,,
1#AC1_1_1_8,255,32,15,1,306200,1471088,1481488,1481488,1471088,140800,,
1#AC1_1_1_9,254,32,15,1,306200,1514627,1525627,1525627,1514627,140800,,
1#AC1_1_1_10,253,32,15,1,306200,1561503,1570503,1570503,1561503,140800,,
1#AC1_1_1_11,252,32,15,1,306200,1603404,1612404,1612404,1603404,140800,,
1#AC1_1_1_12,251,32,15,1,306200,1650000,1660593,1660593,1650000,140800,,
1#AC1_1_1_13,250,32,15,1,306200,1693078,1702078,1702078,1693078,140800,,
1#AC1_1_1_14,249,32,15,1,306200,1738576,1747576,1747576,1738576,140800,,
1#AC1_1_1_15,248,32,15,1,306200,1785295,1794295,1794295,1785295,140800,,
1#AC1_1_1_16,247,12,15,1,436077,9671,20171,20171,9671,140800,,
1#AC1_1_1_17,246,12,15,1,436077,39893,50393,50393,39893,140800,,
1#AC1_1_1_18,245,12,15,1,436077,70661,81161,81161,70661,140800,,
1#AC1_1_1_19,244,12,15,1,436077,98713,109213,109213,98713,140800,,
1#AC1_1_1_20,243,12,15,1,436077,128728,139228,139228,128728,140800,,
1#AC1_1_1_21,242,12,15,1,436077,159195,169695,169695,159195,140800,,
1#AC1_1_2_4,241,12,15,1,436077,189134,199634,199634,189134,140800,,
1#AC1_1_2_5,240,12,15,1,436077,219845,230345,230345,219845,140800,,
1#AC1_1_2_6,239,12,15,1,436077,252000,262500,262500,252000,140800,,
1#AC1_1_2_7,238,12,15,1,436077,280421,290921,290921,280421,140800,,
1#AC1_1_2_8,237,12,15,1,436077,312224,322724,322724,312224,140800,,
1#AC1_1_2_9,236,12,15,1,436077,342256,352756,352756,342256,140800,,
1#AC1_1_2_10,235,12,15,1,436077,369382,379882,379882,369382,140800,,
1#AC1_1_2_11,234,12,15,1,436077,399751,410251,410251,399751,140800,,
1#AC1_1_2_12,233,12,15,1,436200,430923,441423,441423,430923,140800,,
1#AC1_1_2_13,232,12,15,1,436157,459859,470359,470359,459859,140800,,
1#AC1_1_2_14,231,12,15,1,436214,489685,500185,500185,489685,140800,,
1#AC1_1_2_15,230,12,15,1,436271,522581,533081,533081,522581,140800,,
1#AC1_1_2_16,229,12,15,1,435628,550105,560605,560605,550105,140800,,
1#AC1_1_2_17,228,12,15,1,435585,583474,593974,593974,583474,140800,,
1#AC1_1_2_18,227,12,15,1,435542,612943,623443,623443,612943,140800,,
1#AC1_1_2_19,226,12,15,1,435499,642389,652889,652889,642389,140800,,
1#AC1_1_2_20,225,12,15,1,435456,670221,680721,680721,670221,140800,,
1#AC1_1_2_21,224,12,15,1,435413,700236,713736,713736,700236,140800,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
source/DeviceLibrary/device/halcon/CodeManager.cs
......@@ -8,6 +8,7 @@ using System.IO;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary
......@@ -112,81 +113,117 @@ namespace OnlineStore.DeviceLibrary
}
try
{
foreach (string cameraName in cameraList)
Task[] cameraTask = new Task[cameraList.Count()];
for (int i = 0; i < cameraList.Count(); i++)
{
if (cameraName.Trim().Equals(""))
{
continue;
}
DateTime startTime = DateTime.Now;
LogUtil.info(deviceName + " 【" + cameraName + "】开始取图片");
HalconDotNet.HObject ho_Image = null;
try
var cameraName = cameraList[i];
cameraTask[i] = Task.Run(() =>
{
ho_Image = Camera._cam.CaptureOnImage(cameraName);
if (ho_Image == null)
if (cameraName.Trim().Equals(""))
{
LogUtil.error(deviceName + " 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName);
continue;
}
LogUtil.info(deviceName + " 【" + cameraName + "】取图片完成，开始扫码");
List<CodeInfo> cc = new List<CodeInfo>();
string r = "";
foreach (string codeType in codeTypeList)
return;
}
DateTime startTime = DateTime.Now;
LogUtil.info(" 【" + cameraName + "】开始取图片");
HalconDotNet.HObject ho_Image = null;
Bitmap bmp = null;
try
{
//判断是否是一维码
if (codeType.ToLower().Equals("barcode"))
bool nohalcon = true;
ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
if (ho_Image == null && !nohalcon)
{
cc = HDCodeHelper.DecodeBarCode(ho_Image);
LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName);
return;
}
else
LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码");
string r = "";
List<CodeInfo> tlci = EyemDecode.Decoder(ref bmp);
foreach (CodeInfo code in tlci)
{
cc = HDCodeHelper.DecodeCode(ho_Image, codeType, GetCodeParamFilePath(codeType), codeCount, timeOut);
LogUtil.info(" 【" + cameraName + "】[eyemDecode]" + code.CodeType + "(X: " + code.X + "，Y: " + code.Y + ") " + code.CodeStr);
string str = CodeManager.ReplaceCode(code.CodeStr);
lock (codeList)
{
if (!codeList.Contains(str))
{
codeList.Add(str);
r = r + "##" + str;
}
}
}
foreach (CodeInfo c in cc)
/*
* List<CodeInfo> cc = new List<CodeInfo>();
foreach (string codeType in codeTypeList)
{
string str = CodeManager.ReplaceCode(c.CodeStr);
if (!codeList.Contains(str))
//判断是否是一维码
if (codeType.ToLower().Equals("barcode"))
{
cc = HDCodeHelper.DecodeBarCode(ho_Image);
}
else
{
cc = HDCodeHelper.DecodeCode(ho_Image, codeType, GetCodeParamFilePath(codeType), codeCount, 2000);
}
foreach (CodeInfo c in cc)
{
codeList.Add(str);
r = r + "##" + str;
string str = CodeManager.ReplaceCode(c.CodeStr);
lock (codeList)
{
if (!codeList.Contains(str))
{
codeList.Add(str);
r = r + "##" + str;
}
}
}
}
*/
if (codeList.Count() == 0)
{
SaveImageToFile("mimo", cameraName, bmp);
}
LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
}
if (String.IsNullOrEmpty(r))
catch (AccessViolationException e)
{
// SaveImageToFile(deviceName, cameraName, bit);
LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName);
// GC.Collect();
}
LogUtil.info(deviceName + " 【" + cameraName + "】扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
}
catch (AccessViolationException e)
{
LogUtil.error(deviceName + " 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName);
// GC.Collect();
}
catch (Exception ex)
{
LogUtil.error(deviceName + " 扫码出错：" + ex.ToString());
}
finally
{
if (ho_Image != null)
catch (Exception ex)
{
ho_Image.Dispose();
LogUtil.error(" 扫码出错：" + ex.ToString());
}
}
finally
{
if (ho_Image != null)
{
ho_Image.Dispose();
}
if (bmp != null)
bmp.Dispose();
}
});
//cameraTask[i].Wait();
}
Task.WaitAll(cameraTask);
}
catch (AccessViolationException e)
{
LogUtil.error(deviceName + " 扫码出现AccessViolationException异常：" + e.ToString());
LogUtil.error(" 扫码出现AccessViolationException异常：" + e.ToString());
// GC.Collect();
}
catch (Exception ex)
{
LogUtil.error(deviceName + " 扫码出错：" + ex.ToString());
LogUtil.error(" 扫码出错：" + ex.ToString());
}
return codeList;
}
......
source/DeviceLibrary/duoStore/BoxBean.cs
......@@ -16,10 +16,10 @@ namespace OnlineStore.DeviceLibrary
{
public AutoInoutInfo AutoInout = new AutoInoutInfo();
public string CID = "";
public BOX_Config Config;
public override BOX_Config Config { get; set; } =null;
public string lastPosId = "";
public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline;
private List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>();
public override List<ConfigMoveAxis> moveAxisList { get; set; } = new List<ConfigMoveAxis>();
public List<string> PositionNumList = new List<string>();
public HumitureBean humBean = null;
......
source/DeviceLibrary/duoStore/DUOStoreBean.cs
......@@ -19,20 +19,37 @@ namespace OnlineStore.DeviceLibrary
{
internal Dictionary<int, BOX_Config> BoxConfigMap { get; set; }
public Dictionary<int, BoxBean> BoxMap = new Dictionary<int, BoxBean>();
public Store_Config Config { get; set; }
private Store_Config _config;
public new Store_Config Config
{
get
{
return _config;
}
set
{
//base.Config = (BaseConfig)value;
_config = value;
}
}
public bool UseBuzzer = ConfigAppSettings.GetIntValue(Setting_Init.UseBuzzer).Equals(1);
/// <summary>
/// 取料提升机构气缸
/// </summary>
//public HoisterCylinder hoisterCylinder = new HoisterCylinder(0);
public ElectricGripper electricClamp = new ElectricGripper(0);
public ElectricGripper electricClamp = new ElectricGripper();
public AxisBean T1_BatchAxis = null;
public AxisBean T2_MiddleAxis = null;
public AxisBean T3_UpdownAxis = null;
public AxisBean T4_InOut_Axis = null;
public bool HasT4Axis = false;
/// <summary>
/// 轴列表
/// </summary>
public override List<ConfigMoveAxis> moveAxisList { get; set; } = new List<ConfigMoveAxis>();
#region 初始化
internal bool canStart = false;
......@@ -45,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
lineConfig.IOSingle_TimerOut = 5000;
}
Init();
IoCheckTimer.Elapsed += IoCheckTimerProcess;
serverConTimer.Elapsed += ServerConnectTimer_Elapsed;
baseConfig = lineConfig;
......@@ -70,6 +87,17 @@ namespace OnlineStore.DeviceLibrary
T2_MiddleAxis = new AxisBean(Config.T2_Middle_Axis,Name);
T3_UpdownAxis = new AxisBean(Config.T3_Updown_Axis,Name);
T4_InOut_Axis = new AxisBean(Config.T4_InOut_Axis, Name);
moveAxisList = new List<ConfigMoveAxis>();
moveAxisList.Add(Config.T1_Batch_Axis);
moveAxisList.Add(Config.T2_Middle_Axis);
moveAxisList.Add(Config.T3_Updown_Axis);
moveAxisList.Add(Config.T4_InOut_Axis);
AgvClient.NodeList.Add(Config.AgvInName);
AgvClient.NodeList.Add(Config.AgvOutName);
IOManager.Init();
CodeManager.LoadConfig();
......@@ -78,9 +106,16 @@ namespace OnlineStore.DeviceLibrary
HasT4Axis = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.HasT4Axis));
Task.Factory.StartNew(delegate
{
if (!electricClamp.OpenPort(Config.Clamp1Port))
throw new Exception($"电动夹爪打开失败 端口：{Config.Clamp1Port}");
else {
LogUtil.info(Name + $"加载电夹爪成功：{Config.Clamp1Port}");
electricClamp.HomeReset();
}
//RFIDManager.RfidReader.Open(rfidList.ToArray());
IOManager.instance.ConnectionIOList(ioList);
AxisManager.Init();
//AgvClient.Init();
IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
......@@ -221,7 +256,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.LR_03_BatchAxisHome);
LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：夹爪回原点，提升轴回原点，上下轴回原点，流水线停止");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ElectricGripper.HomeReset(MoveInfo);
electricClamp.HomeReset(MoveInfo);
T1_BatchAxis.HomeMove(MoveInfo);
T3_UpdownAxis.HomeMove(MoveInfo);
......@@ -234,7 +269,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1Speed);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
ElectricGripper.Release(MoveInfo);
electricClamp.Release(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LR_04_BatchToP1))
{
......@@ -649,6 +684,15 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
public void OpenGate(StoreMoveInfo move = null) {
CylinderMove(move, IO_Type.RightDoor_Close, IO_Type.RightDoor_Open);
CylinderMove(move, IO_Type.LeftDoor_Close, IO_Type.LeftDoor_Open);
}
public void CloseGate(StoreMoveInfo move = null)
{
CylinderMove(move, IO_Type.RightDoor_Open, IO_Type.RightDoor_Close);
CylinderMove(move, IO_Type.LeftDoor_Open, IO_Type.LeftDoor_Close);
}
public bool OpenAllAxis(bool isCheck = true)
{
if (RunMultiAxis(isCheck, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis,T4_InOut_Axis, T1_BatchAxis }))
......
source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs
......@@ -277,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_14_CylinderTighten);
InOutStoreLog("取料：夹爪气缸夹紧");
ElectricGripper.Clamp(MoveInfo);
electricClamp.Clamp(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_14_CylinderTighten))
{
......@@ -317,7 +317,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_19_CylinderRelax);
InOutStoreLog("料盘移栽： 夹爪气缸放松");
ElectricGripper.Release(MoveInfo);
electricClamp.Release(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_19_CylinderRelax))
{
......@@ -674,7 +674,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_13_CylinderTighten);
InOutStoreLog("取料：夹爪气缸夹紧");
ElectricGripper.Clamp(MoveInfo);
electricClamp.Clamp(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_13_CylinderTighten))
{
......@@ -796,7 +796,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_24_CylinderRelax);
InOutStoreLog("料盘移栽： 上料气缸放松");
ElectricGripper.Release(MoveInfo);
electricClamp.Release(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_24_CylinderRelax))
{
......
source/DeviceLibrary/duoStore/DUOStoreBean_RaiseStation.cs
......@@ -14,10 +14,11 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public void InOutStation_GoIn()
{
IOMove(IO_Type.RaiseStation_GoIn, IO_VALUE.HIGH);
IOMove(IO_Type.RaiseStation_GoIn1, IO_VALUE.HIGH);
IOMove(IO_Type.RaiseStation_GoOut, IO_VALUE.LOW);
IOMove(IO_Type.RaiseStation_GoOut1, IO_VALUE.LOW);
IOMove(IO_Type.RaiseStation_GoIn, IO_VALUE.HIGH);
IOMove(IO_Type.RaiseStation_GoIn1, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_FrontCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_BackendCheck, IO_VALUE.HIGH));
}
......
source/DeviceLibrary/duoStore/ElectricGripper - 复制.cs 0 → 100644
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class ElectricGripper
{
private static int subType = 0;
public static Enum GripperType = GripperTypeE.None;
public ElectricGripper(int subType)
{
//this.subType = subType;
}
public static void Clamp(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Gripper;
if (!IsBusy)
{
setAction("01000");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
}
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public static bool Release(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Release;
if (!IsBusy)
{
setAction("10000");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
return true;
}
else
{
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
return false;
}
}
public static void HomeReset(StoreMoveInfo moveInfo = null) {
GripperType = GripperTypeE.Reset;
if (!IsBusy)
{
setAction("11111");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
}
if (moveInfo != null)
//moveInfo.WaitList.Add(WaitResultInfo.WaitElectricClamp());
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public static bool IsBusy {
get {
return IOManager.IOValue(IO_Type.Clamp_Busy, subType).Equals(IO_VALUE.HIGH);
}
}
public static bool IsClamp {
get
{
return IOManager.IOValue(IO_Type.Clamp_OnPosition, subType).Equals(IO_VALUE.HIGH);
}
}
static bool WaitAction(WaitResultInfo w)
{
if (ElectricGripper.IsBusy)
return false;
if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
{
if (ElectricGripper.IsClamp)
return true;
else
{
ElectricGripper.Clamp();
return false; ;
}
}
else if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Release))
{
return ElectricGripper.Release();
}
else if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Reset))
{
return ElectricGripper.IsBusy;
}
else {
return true;
}
}
public static int state
{
get
{
int s1 = (int)IOManager.IOValue(IO_Type.Clamp_Abnormal1, subType);
int s2 = (int)IOManager.IOValue(IO_Type.Clamp_Abnormal2, subType);
int s3 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize1, subType);
int s4 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize2, subType);
int s5 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize3, subType);
string b = s1.ToString() + s2 + s3 + s4 + s5;
return Convert.ToInt32(b, 2);
}
}
public static void setAction(string s) {
for (int i = 0; i < 5; i++)
{
IOManager.IOMove("Clamp_SetPos"+i,s[i]=='1'? IO_VALUE.HIGH : IO_VALUE.LOW, subType);
}
}
public enum GripperTypeE
{
Gripper,
Release,
Reset,
None
}
}
}
source/DeviceLibrary/duoStore/ElectricGripper.cs
......@@ -9,31 +9,39 @@ namespace OnlineStore.DeviceLibrary
{
public class ElectricGripper
{
private static int subType = 0;
public static Enum GripperType = GripperTypeE.None;
public ElectricGripper(int subType)
private int subType = 0;
private Neotel.Rmaxis axis;
public Enum GripperType = GripperTypeE.None;
public bool OpenPort(string port)
{
//this.subType = subType;
axis = new Neotel.Rmaxis();
bool rtn = axis.OpenPort(port);
//var s = "版本号\r\n" + axis.GetVersion();
return rtn;
}
public static void Clamp(StoreMoveInfo moveInfo = null)
public void ClosePort() {
axis.ClosePort();
}
public void Clamp(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Gripper;
if (!IsBusy)
{
setAction("01000");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
axis.Push(30, 7, 500);
if (moveInfo!=null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public static bool Release(StoreMoveInfo moveInfo = null)
public bool Release(StoreMoveInfo moveInfo = null)
{
GripperType = GripperTypeE.Release;
if (!IsBusy)
{
setAction("10000");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
axis.GoHome();
if (moveInfo != null)
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
return true;
}
else
......@@ -43,80 +51,56 @@ namespace OnlineStore.DeviceLibrary
return false;
}
}
public static void HomeReset(StoreMoveInfo moveInfo = null) {
public void HomeReset(StoreMoveInfo moveInfo = null) {
GripperType = GripperTypeE.Reset;
if (!IsBusy)
{
setAction("11111");
IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
}
//if (!IsBusy)
//{
axis.ResetError();
axis.GoHome();
// }
if (moveInfo != null)
//moveInfo.WaitList.Add(WaitResultInfo.WaitElectricClamp());
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
}
public static bool IsBusy {
public bool IsBusy {
get {
return IOManager.IOValue(IO_Type.Clamp_Busy, subType).Equals(IO_VALUE.HIGH);
return !axis.IsReached;
}
}
public static bool IsClamp {
public bool IsClamp {
get
{
return IOManager.IOValue(IO_Type.Clamp_OnPosition, subType).Equals(IO_VALUE.HIGH);
return !axis.IsPushEmpty;
}
}
static bool WaitAction(WaitResultInfo w)
bool WaitAction(WaitResultInfo w)
{
if (ElectricGripper.IsBusy)
if (this.IsBusy)
return false;
if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
{
if (ElectricGripper.IsClamp)
if (this.IsClamp)
return true;
else
{
ElectricGripper.Clamp();
this.Clamp();
return false; ;
}
}
else if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Release))
else if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Release))
{
return ElectricGripper.Release();
return this.Release();
}
else if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Reset))
else if (this.GripperType.Equals(ElectricGripper.GripperTypeE.Reset))
{
return ElectricGripper.IsBusy;
return this.IsBusy;
}
else {
return true;
}
}
public static int state
{
get
{
int s1 = (int)IOManager.IOValue(IO_Type.Clamp_Abnormal1, subType);
int s2 = (int)IOManager.IOValue(IO_Type.Clamp_Abnormal2, subType);
int s3 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize1, subType);
int s4 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize2, subType);
int s5 = (int)IOManager.IOValue(IO_Type.Clamp_ObjRecognize3, subType);
string b = s1.ToString() + s2 + s3 + s4 + s5;
return Convert.ToInt32(b, 2);
}
}
public static void setAction(string s) {
for (int i = 0; i < 5; i++)
{
IOManager.IOMove("Clamp_SetPos"+i,s[i]=='1'? IO_VALUE.HIGH : IO_VALUE.LOW, subType);
}
}
public enum GripperTypeE
{
Gripper,
......
source/DeviceLibrary/duoStore/EquipBase.cs
......@@ -11,6 +11,8 @@ namespace OnlineStore.DeviceLibrary
{
public abstract class EquipBase : KTK_Store
{
public virtual List<ConfigMoveAxis> moveAxisList { get; set; }=null;
public virtual BOX_Config Config { get; set; } = null;
internal int logType = 1000;
public DateTime LastAlarmTime = DateTime.Now;
public override void Alarm(AlarmType alarmType, string alarmDetial = "", string alarmMsg = "", MoveType storeMoveType = MoveType.None)
......@@ -235,10 +237,6 @@ namespace OnlineStore.DeviceLibrary
{
IOMove(wait.IoType, wait.IoValue);
}
else if (wait.IoType.Equals(IO_Type.Clamp_OnPosition))
{
ElectricGripper.Clamp();
}
else if (span.TotalMilliseconds > timeOutMs && NoAlarm())
{
......@@ -262,26 +260,6 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = wait.Action.Invoke(wait);
LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
}
else if (wait.WaitType.Equals(WaitEnum.W012_ElectricGripperEvent))
{
if (ElectricGripper.IsBusy)
break;
if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Gripper))
{
if (ElectricGripper.IsClamp)
wait.IsEnd = true;
else
{
ElectricGripper.Clamp();
break;
}
}
else if (ElectricGripper.GripperType.Equals(ElectricGripper.GripperTypeE.Release))
{
wait.IsEnd = ElectricGripper.Release();
}
}
else
{
wait.IsEnd = CheckWaitResult(MoveInfo, wait);
......
source/DeviceLibrary/duoStore/StoreManager.cs
......@@ -218,8 +218,11 @@ namespace OnlineStore.DeviceLibrary
{
param.PlateW = position.BagWidth;
}
p.ComPress_P2 = box.Config.GetComP2(position.BagHigh);
p.ComPress_P3 = box.Config.CompAxis_P3;
//p.ComPress_P2 = box.Config.GetComP2(position.BagHigh);
//p.ComPress_P3 = box.Config.CompAxis_P3;
p.ComPress_P2 = position.ComAxis_P2;
p.ComPress_P3 = position.ComAxis_P3;
p.InOut_P3 = position.InoutAxis_P3;
p.Middle_P2 = position.MiddleAxis_P2;
p.UpDown_P3 = position.UpdownAxis_IH_P3;
......
source/LoadCVSLibrary/LoadCSVLibrary.csproj
......@@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>OnlineStore.LoadCSVLibrary</RootNamespace>
<AssemblyName>LoadCSVLibrary</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
<TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<TargetFrameworkProfile />
</PropertyGroup>
......@@ -33,9 +33,9 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\log4net.dll</HintPath>
<HintPath>..\..\..\增广夹爪\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
......
source/LoadCVSLibrary/position/ACBoxPosition.cs
......@@ -46,16 +46,16 @@ namespace OnlineStore.LoadCSVLibrary
[CSVAttribute("进出轴库位点取料点P3")]
public int InoutAxis_P3 { get; set; }
///// <summary>
///// 压紧轴（压紧点）P2
///// </summary>
//[CSVAttribute("压紧轴压紧点P2")]
//public int ComAxis_P2 { get; set; }
///// <summary>
///// 压紧轴（压紧前点）P3
///// </summary>
//[CSVAttribute("压紧轴压紧前点P3")]
//public int ComAxis_P3 { get; set; }
/// <summary>
/// 压紧轴（压紧点）P2
/// </summary>
[CSVAttribute("压紧轴压紧点P2")]
public int ComAxis_P2 { get; set; }
/// <summary>
/// 压紧轴（压紧前点）P3
/// </summary>
[CSVAttribute("压紧轴压紧前点P3")]
public int ComAxis_P3 { get; set; }
///// <summary>
///// 轴3(进出轴） 扫码放料点P2
......
source/LoadCVSLibrary/storeConfig/config/Box_Config.cs
......@@ -63,16 +63,16 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("CompAxis_P1")]
public int CompAxis_P1 { get; set; }
/// <summary>
/// PRO,,L4_压紧轴_P3压紧前点,CompAxis_P3,180000
/// </summary>
[ConfigProAttribute("CompAxis_P3")]
public int CompAxis_P3 { get; set; }
/// <summary>
/// PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=385001;12=383001;16=379001;
/// </summary>
[ConfigProAttribute("CompAxis_P2_List")]
public string CompAxis_P2_List { get; set; }
///// <summary>
///// PRO,,L4_压紧轴_P3压紧前点,CompAxis_P3,180000
///// </summary>
//[ConfigProAttribute("CompAxis_P3")]
//public int CompAxis_P3 { get; set; }
///// <summary>
///// PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=385001;12=383001;16=379001;
///// </summary>
//[ConfigProAttribute("CompAxis_P2_List")]
//public string CompAxis_P2_List { get; set; }
/// <summary>
/// PRO,,L2_上下轴_P11-出料口-低点,UpDownAxis_P11,1000000
/// </summary>
......@@ -211,68 +211,68 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("IsInDebug")]
public int IsInDebug { get; set; }
private Dictionary< int,int > ComP2Map =null ;
public int GetComP2(int plateh)
{
//查找指定的高度
analysisComP2();
if (ComP2Map.ContainsKey(plateh))
{
return ComP2Map[plateh];
}
return new List<int>(ComP2Map.Values).First<int>();
}
//private Dictionary< int,int > ComP2Map =null ;
//public int GetComP2(int plateh)
//{
// //查找指定的高度
// analysisComP2();
// if (ComP2Map.ContainsKey(plateh))
// {
// return ComP2Map[plateh];
// }
// return new List<int>(ComP2Map.Values).First<int>();
//}
public void UpdateComP2(int height, int p2)
{
analysisComP2();
if (ComP2Map.ContainsKey(height))
{
ComP2Map[height] = p2;
}
else
{
ComP2Map.Add(height, p2);
}
string tt = "";
foreach (int p in ComP2Map.Keys)
{
tt += p + "=" + ComP2Map[p] + ";";
}
CompAxis_P2_List = tt;
}
//public void UpdateComP2(int height, int p2)
//{
// analysisComP2();
// if (ComP2Map.ContainsKey(height))
// {
// ComP2Map[height] = p2;
// }
// else
// {
// ComP2Map.Add(height, p2);
// }
// string tt = "";
// foreach (int p in ComP2Map.Keys)
// {
// tt += p + "=" + ComP2Map[p] + ";";
// }
// CompAxis_P2_List = tt;
//}
private void analysisComP2()
{
if (ComP2Map == null)
{
try
{
// 8=385001;424000#12=383001;385000#16=379001;
ComP2Map = new Dictionary<int, int>();
string[] arrayList = CompAxis_P2_List.Split(';');
foreach (string str in arrayList)
{
if (str.Equals(""))
{
continue;
}
string[] com2A = str.Split('=');
if (com2A.Length.Equals(2))
{
int plateH = Convert.ToInt32(com2A[0]);
int p2 = Convert.ToInt32(com2A[1]);
ComP2Map.Add(plateH, p2);
}
}
}
catch (Exception ex)
{
LogUtil.error("解析CompAxis_P2_List【" + CompAxis_P2_List + "】出错：" + ex.ToString());
}
}
}
//private void analysisComP2()
//{
// if (ComP2Map == null)
// {
// try
// {
// // 8=385001;424000#12=383001;385000#16=379001;
// ComP2Map = new Dictionary<int, int>();
// string[] arrayList = CompAxis_P2_List.Split(';');
// foreach (string str in arrayList)
// {
// if (str.Equals(""))
// {
// continue;
// }
// string[] com2A = str.Split('=');
// if (com2A.Length.Equals(2))
// {
// int plateH = Convert.ToInt32(com2A[0]);
// int p2 = Convert.ToInt32(com2A[1]);
// ComP2Map.Add(plateH, p2);
// }
// }
// }
// catch (Exception ex)
// {
// LogUtil.error("解析CompAxis_P2_List【" + CompAxis_P2_List + "】出错：" + ex.ToString());
// }
// }
//}
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
......@@ -256,6 +256,7 @@ namespace OnlineStore.LoadCSVLibrary
///DI 0 提升工位定位2下降端 X34
/// </summary>
public static string RaiseStation_DownLocation2 = "RaiseStation_DownLocation2";
/*
/// <summary>
///DI 0 卡爪到位确认 X39
/// </summary>
......@@ -288,6 +289,7 @@ namespace OnlineStore.LoadCSVLibrary
///DI 0 卡爪物件辨识3 X46
/// </summary>
public static string Clamp_ObjRecognize3 = "Clamp_ObjRecognize3";
*/
}
public enum IO_VALUE
{
......
source/LoadCVSLibrary/storeConfig/config/Store_Config.cs
......@@ -287,9 +287,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("InOutAxis_P4Speed")]
public int InOutAxis_P4Speed { get; set; }
[ConfigProAttribute("AgvInName")]
public string AgvInName { get; set; }
[ConfigProAttribute("AgvOutName")]
public string AgvOutName { get; set; }
[ConfigProAttribute("Clamp1Port")]
public string Clamp1Port { get; set; }
private List<string> CameraList = new List<string>();
public List<string> GetCameraList()
......
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