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Commit 8887225f 由 刘韬
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7寸机,基本通过

1 个父辈 44f88ec1
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内嵌 并排
正在显示 30 个修改的文件 包含 317 行增加 和 146 行删除
source/Common/util/HttpHelper.cs
...@@ -94,8 +94,9 @@ namespace OnlineStore.Common ...@@ -94,8 +94,9 @@ namespace OnlineStore.Common
Operation reOP= JsonHelper.DeserializeJsonToObject<Operation>(result); Operation reOP= JsonHelper.DeserializeJsonToObject<Operation>(result);
if (isLog == 1||reOP.op>0) if (isLog == 1||reOP.op>0)
{ {
LogUtil.info("【"+url+"】发送【" + json + "】收到【" + result + "】"); //LogUtil.info("【"+url+"】发送【" + json + "】收到【" + result + "】");
} }
return reOP;
} }
catch (Exception ex) catch (Exception ex)
{ {
......
source/Common/util/LogUtil.cs
...@@ -112,16 +112,13 @@ namespace OnlineStore.Common ...@@ -112,16 +112,13 @@ namespace OnlineStore.Common
{ {
logList.RemoveAt(0); logList.RemoveAt(0);
} }
string text = ""; string text = string.Join("",logList);
foreach (string str in logList)
{
text += str;
}
System.DateTime now = System.DateTime.Now; System.DateTime now = System.DateTime.Now;
string newmsg = now.ToLongTimeString() + " " + msg + Environment.NewLine; string newmsg = now.ToLongTimeString() + " " + msg + Environment.NewLine;
logList.Add(newmsg); logList.Add(newmsg);
showLogEvent?.Invoke(text+ newmsg, Color.Black); showLogEvent?.Invoke(text+ newmsg, color);
if (logBox == null) if (logBox == null)
{ {
......
source/Common/util/WaitUtil.cs
...@@ -3,6 +3,7 @@ using System.Collections.Generic; ...@@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.Common namespace OnlineStore.Common
{ {
...@@ -18,6 +19,21 @@ namespace OnlineStore.Common ...@@ -18,6 +19,21 @@ namespace OnlineStore.Common
/// <param name="isOk"></param> /// <param name="isOk"></param>
public static bool Wait(int timeout, IsOk isOk, string waitName = "") public static bool Wait(int timeout, IsOk isOk, string waitName = "")
{ {
Task w = Task.Delay(timeout);
Task p = Task.Run(() =>
{
while (isOk.Invoke())
{
Task.Delay(100).Wait();
}
});
Task.WaitAny(w,p);
return true;
//p.Wait();
//return p.Result;
/*
DateTime startTime = System.DateTime.Now; DateTime startTime = System.DateTime.Now;
TimeSpan timoutSpan = TimeSpan.FromMilliseconds(timeout); TimeSpan timoutSpan = TimeSpan.FromMilliseconds(timeout);
TimeSpan waitSpan = TimeSpan.FromMilliseconds(0); TimeSpan waitSpan = TimeSpan.FromMilliseconds(0);
...@@ -50,6 +66,7 @@ namespace OnlineStore.Common ...@@ -50,6 +66,7 @@ namespace OnlineStore.Common
Thread.Sleep(sleepTime); Thread.Sleep(sleepTime);
waitSpan = System.DateTime.Now.Subtract(startTime); waitSpan = System.DateTime.Now.Subtract(startTime);
} }
*/
} }
} }
} }
source/DUOStore/DUOStore.csproj
...@@ -42,9 +42,6 @@ ...@@ -42,9 +42,6 @@
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath> <HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
</Reference> </Reference>
<Reference Include="halcondotnet">
<HintPath>..\..\dll\halcondotnet.dll</HintPath>
</Reference>
<Reference Include="HuichuanLibrary, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL"> <Reference Include="HuichuanLibrary, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath> <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
......
source/DUOStore/FrmAxisMove.cs
...@@ -34,6 +34,10 @@ namespace OnlineStore.DUOStore ...@@ -34,6 +34,10 @@ namespace OnlineStore.DUOStore
private void FrmTest_Load(object sender, EventArgs e) private void FrmTest_Load(object sender, EventArgs e)
{ {
StoreManager.Store.Config.T1_Batch_Axis = StoreManager.Store.T1_BatchAxis.Config;
StoreManager.Store.Config.T2_Middle_Axis = StoreManager.Store.T2_MiddleAxis.Config;
StoreManager.Store.Config.T3_Updown_Axis = StoreManager.Store.T3_UpdownAxis.Config;
StoreManager.Store.Config.T4_InOut_Axis = StoreManager.Store.T4_InOut_Axis.Config;
axisMoveControl1.LoadData(StoreManager.Store); axisMoveControl1.LoadData(StoreManager.Store);
//new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis, StoreManager.Store.T4_InOut_Axis } //new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis, StoreManager.Store.T4_InOut_Axis }
LoadPostion(); LoadPostion();
......
source/DUOStore/FrmBox.cs
...@@ -70,8 +70,7 @@ namespace OnlineStore.DUOStore ...@@ -70,8 +70,7 @@ namespace OnlineStore.DUOStore
txtUpDownP2.Text = BoxBean.Config.UpDownAxis_P2.ToString(); txtUpDownP2.Text = BoxBean.Config.UpDownAxis_P2.ToString();
txtMiddleP11.Text = BoxBean.Config.MiddleAxis_P11.ToString(); txtMiddleP11.Text = BoxBean.Config.MiddleAxis_P11.ToString();
txtInoutP11.Text = BoxBean.Config.InOutAxis_P11.ToString(); txtInoutP11.Text = BoxBean.Config.InOutAxis_P11.ToString();
//txtComP3.Text = BoxBean.Config.CompAxis_P3.ToString(); txtInOutP2.Text = BoxBean.Config.InOutAxis_P2.ToString();
//txtInOutP2.Text = BoxBean.Config.InOutAxis_P2.ToString();
LoadPData(acPosition); LoadPData(acPosition);
chbDebug.Checked = BoxBean.IsDebug; chbDebug.Checked = BoxBean.IsDebug;
...@@ -280,8 +279,7 @@ namespace OnlineStore.DUOStore ...@@ -280,8 +279,7 @@ namespace OnlineStore.DUOStore
txtMiddleP2.Text = acPosition.MiddleAxis_P2.ToString(); txtMiddleP2.Text = acPosition.MiddleAxis_P2.ToString();
txtComP2.Text = acPosition.ComAxis_P2.ToString(); txtComP2.Text = acPosition.ComAxis_P2.ToString();
txtComP3.Text = acPosition.ComAxis_P3.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; lblSize.Text = "尺寸：" + acPosition.BagWidth + "*" + acPosition.BagHigh;
} }
} }
...@@ -478,7 +476,7 @@ namespace OnlineStore.DUOStore ...@@ -478,7 +476,7 @@ namespace OnlineStore.DUOStore
private void btnMiddleP11_Click(object sender, EventArgs e) private void btnMiddleP11_Click(object sender, EventArgs e)
{ {
AxisAbsMove(BoxBean.Config.UpDown_Axis, txtMiddleP11, BoxBean.Config.MiddleAxis_P11_Speed); AxisAbsMove(BoxBean.Config.Middle_Axis, txtMiddleP11, BoxBean.Config.MiddleAxis_P11_Speed);
} }
private void btnMiddleP1_Click(object sender, EventArgs e) private void btnMiddleP1_Click(object sender, EventArgs e)
...@@ -723,7 +721,7 @@ namespace OnlineStore.DUOStore ...@@ -723,7 +721,7 @@ namespace OnlineStore.DUOStore
ioIP = BoxBean.Config.DIList[IO_Type.Fixture_Check].IO_IP; ioIP = BoxBean.Config.DIList[IO_Type.Fixture_Check].IO_IP;
ioIndex = BoxBean.Config.DIList[IO_Type.Fixture_Laser].GetIOAddr(); ioIndex = BoxBean.Config.DIList[IO_Type.Fixture_Laser].GetIOAddr();
} }
FrmPositionTool frm = new FrmPositionTool(PortName, slvAddr, ioIP, ioIndex, Text, BoxBean.ID); FrmPositionTool frm = new FrmPositionTool(BoxBean.Config.UpDown_Axis, ioIndex, Text, BoxBean.ID);
frm.ShowDialog(); frm.ShowDialog();
} }
......
source/DUOStore/FrmStore.cs
...@@ -152,6 +152,7 @@ namespace OnlineStore.DUOStore ...@@ -152,6 +152,7 @@ namespace OnlineStore.DUOStore
foreach (EquipBase equip in eqList) foreach (EquipBase equip in eqList)
{ {
if (i.Equals(0)) if (i.Equals(0))
{ {
} }
...@@ -166,7 +167,11 @@ namespace OnlineStore.DUOStore ...@@ -166,7 +167,11 @@ namespace OnlineStore.DUOStore
if (!equip.MoveInfo.MoveType.Equals(MoveType.None)) if (!equip.MoveInfo.MoveType.Equals(MoveType.None))
{ {
s = StoreRunStatus.Busy; s = StoreRunStatus.Busy;
trayInfo = equip.MoveInfo.MoveParam.ToStr(); //BoxBean _equip = (BoxBean)equip;
//LogUtil.info(_equip.MoveInfo.ToString());
//LogUtil.info(_equip.MoveInfo.MoveParam.ToString());
if (equip.MoveInfo.MoveParam != null)
trayInfo = equip.MoveInfo.MoveParam.ToStr();
} }
SetItemText(i, item_move_info_index, trayInfo); SetItemText(i, item_move_info_index, trayInfo);
SetItemColor(i, s, equip.alarmType); SetItemColor(i, s, equip.alarmType);
...@@ -282,8 +287,11 @@ namespace OnlineStore.DUOStore ...@@ -282,8 +287,11 @@ namespace OnlineStore.DUOStore
IOManager.instance.CloseAllDO(); IOManager.instance.CloseAllDO();
IOManager.instance.CloseAllConnection(); IOManager.instance.CloseAllConnection();
HumitureController.CloseAllPort(); HumitureController.CloseAllPort();
AxisManager.instance.CloseAllPort(); if (AxisManager.instance != null)
AxisManager.instance.CloseCard(); {
AxisManager.instance.CloseAllPort();
AxisManager.instance.CloseCard();
}
if (Camera._cam != null) if (Camera._cam != null)
{ {
Camera._cam.CloseAll(); Camera._cam.CloseAll();
......
source/DUOStore/positionTool/FrmPositionTool.cs
...@@ -29,14 +29,16 @@ namespace OnlineStore.DUOStore ...@@ -29,14 +29,16 @@ namespace OnlineStore.DUOStore
public int ptpAcc=0; public int ptpAcc=0;
public int ptpDec = 0; public int ptpDec = 0;
private string boxName = ""; private string boxName = "";
public FrmPositionTool(string protName, short slvAddr, string ioIp, int ioIndex, string text,int ioSubType) public FrmPositionTool(ConfigMoveAxis configMoveAxis, int ioIndex, string text,int ioSubType)
{ {
InitializeComponent(); InitializeComponent();
this.PortName = protName; this.PortName = configMoveAxis.ProName;
this.SlvAddr = slvAddr; this.SlvAddr = configMoveAxis.SlaveID;
this.IoIp = ioIp; this.IoIp = "";
this.IoIndex = ioIndex; this.IoIndex = ioIndex;
this.subType = ioSubType; this.subType = ioSubType;
this.ptpAcc = configMoveAxis.AddSpeed;
this.ptpDec = configMoveAxis.DelSpeed;
boxName = text.Trim().Replace("料仓", ""); boxName = text.Trim().Replace("料仓", "");
this.Text = boxName + "_升降轴位置调试"; this.Text = boxName + "_升降轴位置调试";
LogName = boxName + "_升降轴调试："; LogName = boxName + "_升降轴调试：";
......
source/DUOStore/useControl/AxisMoveControl.cs
...@@ -72,8 +72,8 @@ namespace OnlineStore.DUOStore ...@@ -72,8 +72,8 @@ namespace OnlineStore.DUOStore
} }
//如果是取料升降轴，取料旋转轴，如果进出轴不在待机点，不能运动 //如果是取料升降轴，取料旋转轴，如果进出轴不在待机点，不能运动
if (boxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr) if (boxBean.Config!=null && (boxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr)
|| (boxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr))) || (boxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr))))
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
int currValue =AxisManager.instance.GetActualtPosition( boxBean.Config.InOut_Axis.DeviceName,boxBean.Config.InOut_Axis.GetAxisValue()); int currValue =AxisManager.instance.GetActualtPosition( boxBean.Config.InOut_Axis.DeviceName,boxBean.Config.InOut_Axis.GetAxisValue());
......
source/DeviceLibrary/AXIS/HC/HCAxisManager.cs
...@@ -21,7 +21,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -21,7 +21,8 @@ namespace OnlineStore.DeviceLibrary
} }
public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed,int ptpAcc,int ptpDec) public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed,int ptpAcc,int ptpDec)
{ {
HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec); HCLogUtil.LOGGER.Info($"slvAddr={slvAddr},targetPosition={targetPosition},targetSpeed={targetSpeed},ptpAcc={ptpAcc},ptpDec={ptpDec}");
HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
} }
public override void AlarmClear(string portName, short slvAddr) public override void AlarmClear(string portName, short slvAddr)
......
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -47,8 +47,9 @@ ...@@ -47,8 +47,9 @@
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath> <HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
</Reference> </Reference>
<Reference Include="halcondotnet"> <Reference Include="halcondotnet, Version=12.0.0.0, Culture=neutral, PublicKeyToken=4973bed59ddbf2b8, processorArchitecture=MSIL">
<HintPath>..\..\dll\halcondotnet.dll</HintPath> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\SO815-AutoInOutStore\dll\halcondotnet.dll</HintPath>
</Reference> </Reference>
<Reference Include="HuichuanLibrary"> <Reference Include="HuichuanLibrary">
<HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath> <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
...@@ -128,6 +129,9 @@ ...@@ -128,6 +129,9 @@
</ItemGroup> </ItemGroup>
<ItemGroup /> <ItemGroup />
<ItemGroup> <ItemGroup>
<None Include="StoreConfig\FixPositions.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="StoreConfig\linePositions_2.csv"> <None Include="StoreConfig\linePositions_2.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None> </None>
......
source/DeviceLibrary/StoreConfig/BoxConfig_1.csv
...@@ -10,8 +10,6 @@ PRO,,L2_上下轴_P2入料口高点,UpDownAxis_P2,10,,,,,,,,,,,, ...@@ -10,8 +10,6 @@ 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,,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,,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_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_P11,10,,,,,,,,,,,, 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,,L2_上下轴_P12-出料口-高点,UpDownAxis_P12,10,,,,,,,,,,,,
......
source/DeviceLibrary/StoreConfig/BoxConfig_2.csv
...@@ -10,8 +10,6 @@ PRO,,R2_上下轴_P2扫码放料高点缓冲点,UpDownAxis_P2,10,,,,,,,,,,,, ...@@ -10,8 +10,6 @@ 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,,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,,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_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_P11,10,,,,,,,,,,,, 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,,R2_上下轴_P12-出料口-高点,UpDownAxis_P12,10,,,,,,,,,,,,
......
source/DeviceLibrary/StoreConfig/FixPositions.csv 0 → 100644
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
fix_1#7,1,8,7,1,306200,1290614,1299614,1299614,1290614,110692,10,10
fix_2#11,2,8,7,2,306200,1290614,1299614,1299614,1290614,110692,10,10
fix_2#13,3,8,7,2,306200,1290614,1299614,1299614,1290614,110692,10,10
source/DeviceLibrary/StoreConfig/StoreConfig.csv
...@@ -123,7 +123,8 @@ PRO,0,T3_升降轴P2速度/快速度,UpdownAxis_P2Speed,501,,,,,,,,,,,, ...@@ -123,7 +123,8 @@ PRO,0,T3_升降轴P2速度/快速度,UpdownAxis_P2Speed,501,,,,,,,,,,,,
PRO,0,T3_升降轴P3速度/慢速度,UpdownAxis_P3Speed,502,,,,,,,,,,,, PRO,0,T3_升降轴P3速度/慢速度,UpdownAxis_P3Speed,502,,,,,,,,,,,,
PRO,0,T3_升降轴P4速度/快速度,UpdownAxis_P4Speed,503,,,,,,,,,,,, PRO,0,T3_升降轴P4速度/快速度,UpdownAxis_P4Speed,503,,,,,,,,,,,,
PRO,0,T3_升降轴P5速度/慢速度,UpdownAxis_P5Speed,504,,,,,,,,,,,, PRO,0,T3_升降轴P5速度/慢速度,UpdownAxis_P5Speed,504,,,,,,,,,,,,
PRO,0,T32_升降轴P6速度/快速度,UpdownAxis_P6Speed,505,,,,,,,,,,,, PRO,0,T3_升降轴P6速度/快速度,UpdownAxis_P6Speed,505,,,,,,,,,,,,
PRO,0,T3_升降轴高度转换系数（1mm对应的脉冲）,UpdownAxis_ChangeValue,11000,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,0,T4_进出轴待机点 P1,InOutAxis_P1,5000,,,,,,,,,,,, PRO,0,T4_进出轴待机点 P1,InOutAxis_P1,5000,,,,,,,,,,,,
PRO,0,T4_进出轴7寸取料点P2,InOutAxis_P2,5000,,,,,,,,,,,, PRO,0,T4_进出轴7寸取料点P2,InOutAxis_P2,5000,,,,,,,,,,,,
......
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,压紧轴压紧点P2,压紧轴压紧前点P3 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_4,259,32,15,1,306200,1290614,1299614,1299614,1290614,140800,20,20
1#AC1_1_1_5,258,32,15,1,306200,1334970,1343970,1343970,1334970,140800,, 1#AC1_1_1_5,258,32,15,1,306200,1334970,1343970,1343970,1334970,140800,20,20
1#AC1_1_1_6,257,32,15,1,306200,1381622,1392122,1392122,1381622,140800,, 1#AC1_1_1_6,257,32,15,1,306200,1381622,1392122,1392122,1381622,140800,20,20
1#AC1_1_1_7,256,32,15,1,306200,1424390,1433390,1433390,1424390,140800,, 1#AC1_1_1_7,256,32,15,1,306200,1424390,1433390,1433390,1424390,140800,20,20
1#AC1_1_1_8,255,32,15,1,306200,1471088,1481488,1481488,1471088,140800,, 1#AC1_1_1_8,255,32,15,1,306200,1471088,1481488,1481488,1471088,140800,20,20
1#AC1_1_1_9,254,32,15,1,306200,1514627,1525627,1525627,1514627,140800,, 1#AC1_1_1_9,254,32,15,1,306200,1514627,1525627,1525627,1514627,140800,20,20
1#AC1_1_1_10,253,32,15,1,306200,1561503,1570503,1570503,1561503,140800,, 1#AC1_1_1_10,253,32,15,1,306200,1561503,1570503,1570503,1561503,140800,20,20
1#AC1_1_1_11,252,32,15,1,306200,1603404,1612404,1612404,1603404,140800,, 1#AC1_1_1_11,252,32,15,1,306200,1603404,1612404,1612404,1603404,140800,20,20
1#AC1_1_1_12,251,32,15,1,306200,1650000,1660593,1660593,1650000,140800,, 1#AC1_1_1_12,251,32,15,1,306200,1650000,1660593,1660593,1650000,140800,20,20
1#AC1_1_1_13,250,32,15,1,306200,1693078,1702078,1702078,1693078,140800,, 1#AC1_1_1_13,250,32,15,1,306200,1693078,1702078,1702078,1693078,140800,20,20
1#AC1_1_1_14,249,32,15,1,306200,1738576,1747576,1747576,1738576,140800,, 1#AC1_1_1_14,249,32,15,1,306200,1738576,1747576,1747576,1738576,140800,20,20
1#AC1_1_1_15,248,32,15,1,306200,1785295,1794295,1794295,1785295,140800,, 1#AC1_1_1_15,248,32,15,1,306200,1785295,1794295,1794295,1785295,140800,20,20
1#AC1_1_1_16,247,12,15,1,436077,9671,20171,20171,9671,140800,, 1#AC1_1_1_16,247,12,15,1,436077,9671,20171,20171,9671,140800,20,20
1#AC1_1_1_17,246,12,15,1,436077,39893,50393,50393,39893,140800,, 1#AC1_1_1_17,246,12,15,1,436077,39893,50393,50393,39893,140800,20,20
1#AC1_1_1_18,245,12,15,1,436077,70661,81161,81161,70661,140800,, 1#AC1_1_1_18,245,12,15,1,436077,70661,81161,81161,70661,140800,20,20
1#AC1_1_1_19,244,12,15,1,436077,98713,109213,109213,98713,140800,, 1#AC1_1_1_19,244,12,15,1,436077,98713,109213,109213,98713,140800,20,20
1#AC1_1_1_20,243,12,15,1,436077,128728,139228,139228,128728,140800,, 1#AC1_1_1_20,243,12,15,1,436077,128728,139228,139228,128728,140800,20,20
1#AC1_1_1_21,242,12,15,1,436077,159195,169695,169695,159195,140800,, 1#AC1_1_1_21,242,12,15,1,436077,159195,169695,169695,159195,140800,20,20
1#AC1_1_2_4,241,12,15,1,436077,189134,199634,199634,189134,140800,, 1#AC1_1_2_4,241,12,15,1,436077,189134,199634,199634,189134,140800,20,20
1#AC1_1_2_5,240,12,15,1,436077,219845,230345,230345,219845,140800,, 1#AC1_1_2_5,240,12,15,1,436077,219845,230345,230345,219845,140800,20,20
1#AC1_1_2_6,239,12,15,1,436077,252000,262500,262500,252000,140800,, 1#AC1_1_2_6,239,12,15,1,436077,252000,262500,262500,252000,140800,20,20
1#AC1_1_2_7,238,12,15,1,436077,280421,290921,290921,280421,140800,, 1#AC1_1_2_7,238,12,15,1,436077,280421,290921,290921,280421,140800,20,20
1#AC1_1_2_8,237,12,15,1,436077,312224,322724,322724,312224,140800,, 1#AC1_1_2_8,237,12,15,1,436077,312224,322724,322724,312224,140800,20,20
1#AC1_1_2_9,236,12,15,1,436077,342256,352756,352756,342256,140800,, 1#AC1_1_2_9,236,12,15,1,436077,342256,352756,352756,342256,140800,20,20
1#AC1_1_2_10,235,12,15,1,436077,369382,379882,379882,369382,140800,, 1#AC1_1_2_10,235,12,15,1,436077,369382,379882,379882,369382,140800,20,20
1#AC1_1_2_11,234,12,15,1,436077,399751,410251,410251,399751,140800,, 1#AC1_1_2_11,234,12,15,1,436077,399751,410251,410251,399751,140800,20,20
1#AC1_1_2_12,233,12,15,1,436200,430923,441423,441423,430923,140800,, 1#AC1_1_2_12,233,12,15,1,436200,430923,441423,441423,430923,140800,20,20
1#AC1_1_2_13,232,12,15,1,436157,459859,470359,470359,459859,140800,, 1#AC1_1_2_13,232,12,15,1,436157,459859,470359,470359,459859,140800,20,20
1#AC1_1_2_14,231,12,15,1,436214,489685,500185,500185,489685,140800,, 1#AC1_1_2_14,231,12,15,1,436214,489685,500185,500185,489685,140800,20,20
1#AC1_1_2_15,230,12,15,1,436271,522581,533081,533081,522581,140800,, 1#AC1_1_2_15,230,12,15,1,436271,522581,533081,533081,522581,140800,20,20
1#AC1_1_2_16,229,12,15,1,435628,550105,560605,560605,550105,140800,, 1#AC1_1_2_16,229,12,15,1,435628,550105,560605,560605,550105,140800,20,20
1#AC1_1_2_17,228,12,15,1,435585,583474,593974,593974,583474,140800,, 1#AC1_1_2_17,228,12,15,1,435585,583474,593974,593974,583474,140800,20,20
1#AC1_1_2_18,227,12,15,1,435542,612943,623443,623443,612943,140800,, 1#AC1_1_2_18,227,12,15,1,435542,612943,623443,623443,612943,140800,20,20
1#AC1_1_2_19,226,12,15,1,435499,642389,652889,652889,642389,140800,, 1#AC1_1_2_19,226,12,15,1,435499,642389,652889,652889,642389,140800,20,20
1#AC1_1_2_20,225,12,15,1,435456,670221,680721,680721,670221,140800,, 1#AC1_1_2_20,225,12,15,1,435456,670221,680721,680721,670221,140800,20,20
1#AC1_1_2_21,224,12,15,1,435413,700236,713736,713736,700236,140800,, 1#AC1_1_2_21,224,12,15,1,435413,700236,713736,713736,700236,140800,20,20
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
,,,,,,,,,,,,
source/DeviceLibrary/device/halcon/CodeManager.cs
...@@ -106,6 +106,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -106,6 +106,7 @@ namespace OnlineStore.DeviceLibrary
{ {
codeCount = 1; codeCount = 1;
} }
LogUtil.info($"Task=>cameraList={cameraList.Count()}");
List<string> codeList = new List<string>(); List<string> codeList = new List<string>();
if (cameraList == null || cameraList.Count <= 0) if (cameraList == null || cameraList.Count <= 0)
{ {
...@@ -114,29 +115,33 @@ namespace OnlineStore.DeviceLibrary ...@@ -114,29 +115,33 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
Task[] cameraTask = new Task[cameraList.Count()]; Task[] cameraTask = new Task[cameraList.Count()];
for (int i = 0; i < cameraList.Count(); i++) for (int i = 0; i < cameraList.Count(); i++)
{ {
var cameraName = cameraList[i]; var cameraName = cameraList[i];
cameraTask[i] = Task.Run(() =>
{ //cameraTask[i] = Task.Run(() =>
//{
if (cameraName.Trim().Equals("")) if (cameraName.Trim().Equals(""))
{ {
return; continue;
} }
DateTime startTime = DateTime.Now; DateTime startTime = DateTime.Now;
LogUtil.info(" 【" + cameraName + "】开始取图片"); LogUtil.info(" 【" + cameraName + "】开始取图片");
HalconDotNet.HObject ho_Image = null; HalconDotNet.HObject ho_Image = null;
LogUtil.info(" 【" + cameraName + "】开始取图片2");
Bitmap bmp = null; Bitmap bmp = null;
try try
{ {
bool nohalcon = true; bool nohalcon = true;
LogUtil.info(" 【" + cameraName + "】开始取图片3");
ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon); ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
if (ho_Image == null && !nohalcon) if (ho_Image == null && !nohalcon)
{ {
LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机"); LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName); CloseCamera(cameraName);
return; continue;
} }
LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码"); LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码");
string r = ""; string r = "";
...@@ -211,10 +216,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -211,10 +216,10 @@ namespace OnlineStore.DeviceLibrary
bmp.Dispose(); bmp.Dispose();
} }
}); // });
//cameraTask[i].Wait(); // cameraTask[i].Wait();
} }
Task.WaitAll(cameraTask); //Task.WaitAll(cameraTask);
} }
catch (AccessViolationException e) catch (AccessViolationException e)
{ {
......
source/DeviceLibrary/duoStore/BoxBean.cs
...@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary
return; return;
} }
//复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H03_OtherAxisHome); MoveInfo.NextMoveStep(StoreMoveStep.BOX_H03_OtherAxisHome_wait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LogInfo(MoveInfo.MoveType + ": 压紧轴，旋转轴，上下轴开始 原点返回，关闭NG门"); LogInfo(MoveInfo.MoveType + ": 压紧轴，旋转轴，上下轴开始 原点返回，关闭NG门");
CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down); CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
...@@ -239,6 +239,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,6 +239,10 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.HomeMove(MoveInfo); UpdownAxis.HomeMove(MoveInfo);
break; break;
case StoreMoveStep.BOX_H03_OtherAxisHome_wait:
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H03_OtherAxisHome);
break;
case StoreMoveStep.BOX_H03_OtherAxisHome: case StoreMoveStep.BOX_H03_OtherAxisHome:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H04_OtherAxisBack); MoveInfo.NextMoveStep(StoreMoveStep.BOX_H04_OtherAxisBack);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
......
source/DeviceLibrary/duoStore/BoxBean_Partial.cs
...@@ -333,7 +333,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -333,7 +333,8 @@ namespace OnlineStore.DeviceLibrary
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1); InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true; return true;
} }
//修正库位
LineMoveP fixMoveP = new LineMoveP();
protected override void OutStoreProcess() protected override void OutStoreProcess()
{ {
string outType = "出库："; string outType = "出库：";
...@@ -404,23 +405,82 @@ namespace OnlineStore.DeviceLibrary ...@@ -404,23 +405,82 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.SO_06_ToDoor)) else if (MoveInfo.IsStep(StoreMoveStep.SO_06_ToDoor))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
var fixposid = $"fix_{this.ID}#{MoveInfo.MoveParam.PlateW}";
var fixposition = CSVPositionReader<ACBoxPosition>.GetPositon(fixposid);
InOutStoreLog(outType + $"获取修正库位置{fixposid}={fixposition}");
if (fixposition == null)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_01_FixDisk);
fixMoveP.ComPress_P1 = Config.CompAxis_P1;
fixMoveP.InOut_P1 = Config.InOutAxis_P1;
fixMoveP.Middle_P1 = Config.MiddleAxis_P1;
fixMoveP.InOut_P2 = Config.InOutAxis_P2;
fixMoveP.UpDown_P1 = Config.UpDownAxis_P1;
fixMoveP.UpDown_P2 = Config.UpDownAxis_P2;
fixMoveP.ComPress_P2 = fixposition.ComAxis_P2;
fixMoveP.ComPress_P3 = fixposition.ComAxis_P3;
fixMoveP.InOut_P3 = fixposition.InoutAxis_P3;
fixMoveP.Middle_P2 = fixposition.MiddleAxis_P2;
fixMoveP.UpDown_P3 = fixposition.UpdownAxis_IH_P3;
fixMoveP.UpDown_P4 = fixposition.UpdownAxis_IL_P4;
fixMoveP.UpDown_P5 = fixposition.UpdownAxis_OH_P5;
fixMoveP.UpDown_P6 = fixposition.UpdownAxis_OL_P6;
}
InOutStoreLog(outType + "等待料叉检测信号 "); InOutStoreLog(outType + "等待料叉检测信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
//if (StoreManager.Store.BoxDoorFree(ID))
//{ }
// MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2); #region 修正料盘
// InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]"); else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_01_FixDisk))
// InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed); {
// ClearTimeoutAlarm("进出轴可以到P2"); MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_02_FixDisk);
//} InOutStoreLog(outType + "[修正]升降轴到P3[" + moveP.UpDown_P3 + "]");
//else if (MoveInfo.IsTimeOut(60)) UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P3, Config.UpDownAxis_P4_Speed);
//{
// WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 进出轴可以到P2 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒"; }
// LogUtil.error(WarnMsg, ID * 1000 + 30); else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_02_FixDisk))
// Alarm(AlarmType.IoSingleTimeOut); {
//} MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_03_FixDisk);
InOutStoreLog(outType + "[修正]进出轴到P3 [" + moveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_03_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_04_FixDisk);
InOutStoreLog(outType + "[修正]升降轴到P4[" + moveP.UpDown_P4 + "]，压紧轴到P3[" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_04_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_05_FixDisk);
InOutStoreLog(outType + "[修正]升降轴到P6[" + fixMoveP.UpDown_P6 + "]，压紧轴到P2[" + fixMoveP.ComPress_P2 + "]");
ComAxis.AbsMove(MoveInfo, fixMoveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, fixMoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
} }
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_05_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_06_FixDisk);
InOutStoreLog(outType + "[修正]进出轴返回P1[" + fixMoveP.InOut_P1 + "]");
InOutBackToP1(fixMoveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_06_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
InOutStoreLog(outType + "[修正]升降轴到P2[" + moveP.UpDown_P2 + "] ");
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
}
#endregion
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck)) else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
{ {
if (StoreManager.Store.BoxDoorFree(ID)) if (StoreManager.Store.BoxDoorFree(ID))
...@@ -517,7 +577,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -517,7 +577,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_FixtureCheck); MoveInfo.NextMoveStep(StoreMoveStep.SO_22_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 "); InOutStoreLog(outType + "等待料叉检测信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
} }
else if (MoveInfo.IsStep(StoreMoveStep.SO_22_FixtureCheck)) else if (MoveInfo.IsStep(StoreMoveStep.SO_22_FixtureCheck))
{ {
......
source/DeviceLibrary/duoStore/BoxBean_Shelf.cs
...@@ -168,7 +168,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -168,7 +168,7 @@ namespace OnlineStore.DeviceLibrary
} }
string server = ConfigAppSettings.GetValue(Setting_Init.http_server); string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostOperation(StoreManager.GetPostApi(server), lineOperation); Operation resultOperation = HttpHelper.PostOperation(StoreManager.GetPostApi(server), lineOperation);
//LogUtil.info("resultOperation="+ JsonHelper.SerializeObject(resultOperation));
//发送状态信息到服务器 //发送状态信息到服务器
if (resultOperation == null || (resultOperation.op <= 0)) if (resultOperation == null || (resultOperation.op <= 0))
{ {
......
source/DeviceLibrary/duoStore/DUOStoreBean.cs
...@@ -106,12 +106,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -106,12 +106,7 @@ 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
{ {
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()); //RFIDManager.RfidReader.Open(rfidList.ToArray());
IOManager.instance.ConnectionIOList(ioList); IOManager.instance.ConnectionIOList(ioList);
AxisManager.Init(); AxisManager.Init();
...@@ -120,12 +115,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -120,12 +115,27 @@ namespace OnlineStore.DeviceLibrary
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);
mainTimer.Enabled = true; mainTimer.Enabled = true;
if (!electricClamp.OpenPort(Config.Clamp1Port))
{
Thread.Sleep(1000);
electricClamp.ClosePort();
if (!electricClamp.OpenPort(Config.Clamp1Port))
{
LogUtil.info(Name + $"电动夹爪打开失败 端口：{Config.Clamp1Port}");
return;
}
}
LogUtil.info(Name + $"加载电夹爪成功：{Config.Clamp1Port}");
electricClamp.HomeReset();
canStart = true; canStart = true;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun); int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
if (isAuto == 1) if (isAuto == 1)
{ {
IoCheckTimer.Enabled = true; IoCheckTimer.Enabled = true;
} }
LogUtil.info(Name + "初始化完成.等待启动.");
}); });
} }
...@@ -253,19 +263,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -253,19 +263,24 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StoreMoveStep.LR_02_LineRun)) else if (MoveInfo.IsStep(StoreMoveStep.LR_02_LineRun))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.LR_03_BatchAxisHome); MoveInfo.NextMoveStep(StoreMoveStep.LR_03_BatchAxisHome_wait);
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"); 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)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
electricClamp.HomeReset(MoveInfo); electricClamp.HomeReset(MoveInfo);
T1_BatchAxis.HomeMove(MoveInfo); T1_BatchAxis.HomeMove(MoveInfo);
T3_UpdownAxis.HomeMove(MoveInfo); T3_UpdownAxis.HomeMove(MoveInfo);
LineStop(MoveInfo); LineStop(MoveInfo);
} }
else if (MoveInfo.IsStep(StoreMoveStep.LR_03_BatchAxisHome_wait))
{
MoveInfo.NextMoveStep(StoreMoveStep.LR_03_BatchAxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsStep(StoreMoveStep.LR_03_BatchAxisHome)) else if (MoveInfo.IsStep(StoreMoveStep.LR_03_BatchAxisHome))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.LR_04_BatchToP1); MoveInfo.NextMoveStep(StoreMoveStep.LR_04_BatchToP1);
LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：夹爪放松，提升轴到P1点["+ Config.BatchAxis_P1 + "]，上下轴到待机点P2["+ Config.UpdownAxis_P2 + "]"); LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：夹爪放松，提升轴到P1点[" + Config.BatchAxis_P1 + "]，上下轴到待机点P2[" + Config.UpdownAxis_P2 + "]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1Speed); T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1Speed);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed); T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
...@@ -285,7 +300,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -285,7 +300,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.LR_05_Hoister_Back)) else if (MoveInfo.IsStep(StoreMoveStep.LR_05_Hoister_Back))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.LR_06_TopDown); MoveInfo.NextMoveStep(StoreMoveStep.LR_06_TopDown);
LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：顶升气缸下降，旋转轴到待机点P1["+ Config.MiddleAxis_P1 + "]"); LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：顶升气缸下降，旋转轴到待机点P1[" + Config.MiddleAxis_P1 + "]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down); CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P1, Config.MiddleAxis_P1Speed); T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P1, Config.MiddleAxis_P1Speed);
...@@ -307,7 +322,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -307,7 +322,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (box.alarmType.Equals(AlarmType.None)) if (box.alarmType.Equals(AlarmType.None))
{ {
msg = "等待"+ box .Name+ "复位完成超时"; msg = "等待" + box.Name + "复位完成超时";
isOk = false; isOk = false;
break; break;
} }
...@@ -327,8 +342,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -327,8 +342,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsTimeOut(120)) else if (MoveInfo.IsTimeOut(120))
{ {
WarnMsg = Name + "[" + MoveInfo.MoveStep + "] "+msg+" [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒"; WarnMsg = Name + "[" + MoveInfo.MoveStep + "] " + msg + " [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, logType + 21); LogUtil.error(WarnMsg, logType + 21);
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
...@@ -628,7 +643,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -628,7 +643,7 @@ namespace OnlineStore.DeviceLibrary
if (StoreManager.checkWatch(lowWatch, 3000)) if (StoreManager.checkWatch(lowWatch, 3000))
{ {
//左侧下层需要放个料架 //左侧下层需要放个料架
Task.Factory.StartNew(delegate Task.Run(()=>
{ {
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");
......
source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs
...@@ -471,25 +471,32 @@ namespace OnlineStore.DeviceLibrary ...@@ -471,25 +471,32 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{ {
StartInStoreMove(null); StartInStoreMove(null);
} }
if (IOValue(IO_Type.RaiseStation_FrontCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.RaiseStation_BackendCheck).Equals(IO_VALUE.HIGH))
{
StartInStoreMove(null);
}
return false; return false;
} }
private void ShelfEnterProcess() private void ShelfEnterProcess()
{ {
//入口有料架，需要转动链条 //入口有料架，需要转动链条
Task.Factory.StartNew(delegate Task.Run(()=>
{ {
InShelfInProcess = true; InShelfInProcess = true;
try try
{ {
InOutStoreLog("检测到入口(X03-Line_InCheck)有料");
InShelfInProcess = true; InShelfInProcess = true;
LineRun(null); LineRun(null);
//等待进料检测信号 //等待进料检测信号
bool result = WaitIo(IO_Type.Line_InCheck, IO_VALUE.LOW, 10000); //bool result = WaitIo(IO_Type.Line_InCheck, IO_VALUE.LOW, 10000);
bool result = WaitIo(IO_Type.Line_WaitCheck, IO_VALUE.HIGH, 10000);
} }
catch (Exception ex) catch (Exception ex)
{ {
InOutStoreLog("检测到入口(X03-Line_InCheck)有料:"+ex.ToString());
} }
finally finally
{ {
...@@ -544,10 +551,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -544,10 +551,18 @@ namespace OnlineStore.DeviceLibrary
public override bool StartInStoreMove(InOutParam param) public override bool StartInStoreMove(InOutParam param)
{ {
if (IOValue(IO_Type.RaiseStation_FrontCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.RaiseStation_BackendCheck).Equals(IO_VALUE.HIGH))
{
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, new InOutParam(MoveType.InStore));
MoveInfo.NextMoveStep(StoreMoveStep.LI_06_TopUp);
return true;
}
//判断是哪个工位有料架 //判断是哪个工位有料架
if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{ {
//InOutStoreLog($"CurrShelfNum:{CurrShelfNum},CurrShelfType={CurrShelfType}");
if (CurrShelfNum < 0 || CurrShelfType.Equals(1)) if (CurrShelfNum < 0 || CurrShelfType.Equals(1))
{ {
runStatus = StoreRunStatus.Busy; runStatus = StoreRunStatus.Busy;
...@@ -640,6 +655,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -640,6 +655,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.LI_07_HoisterForward_2); MoveInfo.NextMoveStep(StoreMoveStep.LI_07_HoisterForward_2);
InOutStoreLog("入料检测：定位销上升"); InOutStoreLog("入料检测：定位销上升");
InOutStation_LocationUp(); InOutStation_LocationUp();
InOutStation_Stop();
} }
else if (MoveInfo.IsStep(StoreMoveStep.LI_07_HoisterForward_2)) else if (MoveInfo.IsStep(StoreMoveStep.LI_07_HoisterForward_2))
{ {
...@@ -686,7 +702,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -686,7 +702,10 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.LI_15_WaitNoCheck); MoveInfo.NextMoveStep(StoreMoveStep.LI_15_WaitNoCheck);
InOutStoreLog("取料：等待没有提升机构料盘检测"); InOutStoreLog("取料：等待没有提升机构料盘检测");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchAxis_Check, IO_VALUE.HIGH)); if (Math.Abs(T1_BatchAxis.GetAclPosition() - Config.BatchAxis_P2) > T1_BatchAxis.Config.CanErrorCountMin)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchAxis_Check, IO_VALUE.HIGH));
}
} }
else if (MoveInfo.IsStep(StoreMoveStep.LI_15_WaitNoCheck)) else if (MoveInfo.IsStep(StoreMoveStep.LI_15_WaitNoCheck))
{ {
...@@ -745,8 +764,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -745,8 +764,13 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.LI_21_WaitToBox)) else if (MoveInfo.IsStep(StoreMoveStep.LI_21_WaitToBox))
{ {
int storeId = LastPosParam.GetStoreId(); int storeId = LastPosParam.GetStoreId();
InOutStoreLog($"料盘移栽：storeId :{storeId}");
BoxBean box = BoxMap[storeId]; BoxBean box = BoxMap[storeId];
if (IOManager.IOValue(IO_Type.InDoor_Check, storeId).Equals(IO_VALUE.LOW) && box.waitInStoreParam == null) bool waitRightLeave = false;
if (HasT4Axis&&storeId == 1 && IOManager.IOValue(IO_Type.InDoor_Check, 2).Equals(IO_VALUE.HIGH)) {
waitRightLeave = true;
}
if (IOManager.IOValue(IO_Type.InDoor_Check, storeId).Equals(IO_VALUE.LOW) && box.waitInStoreParam == null && !waitRightLeave)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.LI_22_ToBoxDoor); MoveInfo.NextMoveStep(StoreMoveStep.LI_22_ToBoxDoor);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
...@@ -754,18 +778,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -754,18 +778,20 @@ namespace OnlineStore.DeviceLibrary
if (LastPosParam.TargetBox.Equals(1)) if (LastPosParam.TargetBox.Equals(1))
{ {
InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P4[" + Config.UpdownAxis_P4 + "]，旋转轴到料仓门口 P2[" + Config.MiddleAxis_P2 + "]"); InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P4[" + Config.UpdownAxis_P4 + "]，旋转轴到料仓门口 P2[" + Config.MiddleAxis_P2 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P2, Config.MiddleAxis_P2Speed);
if (HasT4Axis) if (HasT4Axis)
T4_InOut_Axis.AbsMove(MoveInfo, Config.InOutAxis_P2, Config.InOutAxis_P2Speed); T4_InOut_Axis.AbsMove(MoveInfo, Config.InOutAxis_P2, Config.InOutAxis_P2Speed);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P2, Config.MiddleAxis_P2Speed);
} }
else else
{ {
InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P6[" + Config.UpdownAxis_P6 + "]，旋转轴到料仓门口 P3[" + Config.MiddleAxis_P3 + "]"); InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P6[" + Config.UpdownAxis_P6 + "]，旋转轴到料仓门口 P3[" + Config.MiddleAxis_P3 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
if (HasT4Axis) if (HasT4Axis)
T4_InOut_Axis.AbsMove(MoveInfo, Config.InOutAxis_P3, Config.InOutAxis_P3Speed); T4_InOut_Axis.AbsMove(MoveInfo, Config.InOutAxis_P3, Config.InOutAxis_P3Speed);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
} }
ClearTimeoutAlarm("入料口无料盘"); ClearTimeoutAlarm("入料口无料盘");
...@@ -783,13 +809,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -783,13 +809,13 @@ namespace OnlineStore.DeviceLibrary
YuScanCode(); YuScanCode();
if (LastPosParam.TargetBox.Equals(1)) if (LastPosParam.TargetBox.Equals(1))
{ {
InOutStoreLog("料盘移栽： 升降轴到料门口低点P3[" + Config.UpdownAxis_P3 + "]，开始预扫码"); InOutStoreLog($"料盘移栽： 升降轴到料门口低点P3[{Config.UpdownAxis_P3},补偿:{(LastHeight - 8) * Config.UpdownAxis_ChangeValue}]，开始预扫码");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed); T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3-(LastHeight-8)*Config.UpdownAxis_ChangeValue, Config.UpdownAxis_P3Speed);
} }
else else
{ {
InOutStoreLog("料盘移栽： 升降轴到料门口低点P5[" + Config.UpdownAxis_P5 + "]，开始预扫码"); InOutStoreLog($"料盘移栽： 升降轴到料门口低点P5[{Config.UpdownAxis_P5},补偿:{(LastHeight - 8) * Config.UpdownAxis_ChangeValue}]，开始预扫码");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P5, Config.UpdownAxis_P5Speed); T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P5 - (LastHeight - 8) * Config.UpdownAxis_ChangeValue, Config.UpdownAxis_P5Speed);
} }
} }
else if (MoveInfo.IsStep(StoreMoveStep.LI_23_UpdownDown)) else if (MoveInfo.IsStep(StoreMoveStep.LI_23_UpdownDown))
...@@ -882,7 +908,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -882,7 +908,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.LI_35_WaitShelfGo); MoveInfo.NextMoveStep(StoreMoveStep.LI_35_WaitShelfGo);
InOutStoreLog("送出料架：等待上料无料架"); InOutStoreLog("送出料架：等待上料无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WaitCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WorkCheck, IO_VALUE.LOW));
} }
else if (MoveInfo.IsStep(StoreMoveStep.LI_35_WaitShelfGo)) else if (MoveInfo.IsStep(StoreMoveStep.LI_35_WaitShelfGo))
{ {
...@@ -965,6 +991,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -965,6 +991,9 @@ namespace OnlineStore.DeviceLibrary
else if (!result.Msg.Equals("")) else if (!result.Msg.Equals(""))
{ {
LastPosParam = result.Param; LastPosParam = result.Param;
LastPosParam.PosID = "2#2";
LastPosParam.TargetBox = 2;
LastPosParam.InStoreNg = true;
LogUtil.error(Name + "【" + code + "】第[" + count + "]次 LI_18_GetPosID 入库NG：" + result.Msg); LogUtil.error(Name + "【" + code + "】第[" + count + "]次 LI_18_GetPosID 入库NG：" + result.Msg);
break; break;
} }
...@@ -1017,12 +1046,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -1017,12 +1046,15 @@ namespace OnlineStore.DeviceLibrary
{ {
Task<List<string>> scanTask = Task.Factory.StartNew(delegate Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{ {
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
Task.Delay(10).Wait();
LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name); LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastCodeList.Count <= 0) if (LastCodeList.Count <= 0)
{ {
LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name, 3000); LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name, 3000);
} }
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
return LastCodeList; return LastCodeList;
}); });
} }
......
source/DeviceLibrary/duoStore/DUOStoreBean_RaiseStation.cs
...@@ -46,8 +46,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -46,8 +46,8 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public void InOutStation_LocationUp() public void InOutStation_LocationUp()
{ {
IOMove(IO_Type.RaiseStation_LocationUp, IO_VALUE.HIGH);
IOMove(IO_Type.RaiseStation_LocationDown, IO_VALUE.LOW); IOMove(IO_Type.RaiseStation_LocationDown, IO_VALUE.LOW);
IOMove(IO_Type.RaiseStation_LocationUp, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation1, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation2, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation2, IO_VALUE.HIGH));
} }
......
source/DeviceLibrary/duoStore/ElectricGripper.cs
...@@ -58,9 +58,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -58,9 +58,8 @@ namespace OnlineStore.DeviceLibrary
axis.ResetError(); axis.ResetError();
axis.GoHome(); axis.GoHome();
// } // }
if (moveInfo != null) //if (moveInfo != null)
//moveInfo.WaitList.Add(WaitResultInfo.WaitElectricClamp()); // moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction)));
} }
public bool IsBusy { public bool IsBusy {
get { get {
......
source/DeviceLibrary/duoStore/StoreManager.cs
...@@ -104,6 +104,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -104,6 +104,7 @@ namespace OnlineStore.DeviceLibrary
{ {
CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile); CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile);
} }
CSVPositionReader<ACBoxPosition>.AddCSVFile(Path.Combine(appPath, @"StoreConfig\FixPositions.csv"));
LogUtil.info("加载料仓完成！"); LogUtil.info("加载料仓完成！");
} }
......
source/DeviceLibrary/store/KTK_Store.cs
...@@ -390,9 +390,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -390,9 +390,24 @@ namespace OnlineStore.DeviceLibrary
protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "") protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
{ {
return WaitUtil.Wait(timeOut, delegate () {
return value.Equals(IOValue(ioType)); Task w = Task.Delay(timeOut);
}, errName);
Task p = Task.Run(() =>
{
while (!IOValue(ioType).Equals(value))
{
Task.Delay(100).Wait();
}
});
Task.WaitAny(w, p);
return true;
//return WaitUtil.Wait(timeOut, delegate () {
// return value.Equals(IOValue(ioType));
//}, errName);
} }
public void LogInfo(string logInfo) public void LogInfo(string logInfo)
{ {
...@@ -528,7 +543,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -528,7 +543,9 @@ namespace OnlineStore.DeviceLibrary
internal void SetWarnMsg(string msg) internal void SetWarnMsg(string msg)
{ {
if (String.IsNullOrEmpty(WarnMsg).Equals(false)) if (String.IsNullOrEmpty(WarnMsg))
WarnMsg = msg;
{ {
if (WarnMsg.Equals(msg)) if (WarnMsg.Equals(msg))
{ {
...@@ -541,7 +558,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -541,7 +558,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + msg, 105); LogUtil.error(Name + msg, 105);
} }
} }
else else if (!String.IsNullOrEmpty(WarnMsg))
{ {
if (msg.StartsWith(Name)) if (msg.StartsWith(Name))
{ {
...@@ -554,7 +571,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -554,7 +571,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
WarnMsg = msg;
} }
} }
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -132,7 +132,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -132,7 +132,7 @@ namespace OnlineStore.DeviceLibrary
/// BOX复位：其他轴回原点 /// BOX复位：其他轴回原点
/// </summary> /// </summary>
BOX_H03_OtherAxisHome, BOX_H03_OtherAxisHome,
BOX_H03_OtherAxisHome_wait,
/// <summary> /// <summary>
/// BOX复位：升降轴，旋转轴，压紧轴原点返回 /// BOX复位：升降轴，旋转轴，压紧轴原点返回
/// </summary> /// </summary>
...@@ -251,6 +251,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -251,6 +251,15 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
SO_06_ToDoor, SO_06_ToDoor,
/// <summary> /// <summary>
/// 料仓出库：修正盘位
/// </summary>
SO_06A_01_FixDisk,
SO_06A_02_FixDisk,
SO_06A_03_FixDisk,
SO_06A_04_FixDisk,
SO_06A_05_FixDisk,
SO_06A_06_FixDisk,
/// <summary>
/// 检测叉子是否有物料 /// 检测叉子是否有物料
/// </summary> /// </summary>
SO_07_FixtureCheck, SO_07_FixtureCheck,
...@@ -321,6 +330,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -321,6 +330,7 @@ namespace OnlineStore.DeviceLibrary
/// 复位：夹爪放松，提升轴回原点，上下轴回原点 /// 复位：夹爪放松，提升轴回原点，上下轴回原点
/// </summary> /// </summary>
LR_03_BatchAxisHome, LR_03_BatchAxisHome,
LR_03_BatchAxisHome_wait,
/// <summary> /// <summary>
/// 复位：提升轴到P1点，上下轴到待机点P1 /// 复位：提升轴到P1点，上下轴到待机点P1
/// </summary> /// </summary>
......
source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs
...@@ -76,10 +76,10 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -76,10 +76,10 @@ namespace OnlineStore.LoadCSVLibrary
[CSVAttribute("加速时间")] [CSVAttribute("加速时间")]
public short AddSpeed { get; set; } public int AddSpeed { get; set; }
[CSVAttribute("减速时间")] [CSVAttribute("减速时间")]
public short DelSpeed { get; set; } public int DelSpeed { get; set; }
[CSVAttribute("原点低速度")] [CSVAttribute("原点低速度")]
public int HomeLowSpeed { get; set; } public int HomeLowSpeed { get; set; }
......
source/LoadCVSLibrary/storeConfig/config/Store_Config.cs
...@@ -228,6 +228,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -228,6 +228,11 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("UpdownAxis_P6")] [ConfigProAttribute("UpdownAxis_P6")]
public int UpdownAxis_P6 { get; set; } public int UpdownAxis_P6 { get; set; }
/// <summary> /// <summary>
/// PRO,0,T3_升降轴高度转换系数（1mm对应的脉冲）,UpdownAxis_ChangeValue,11000
/// </summary>
[ConfigProAttribute("UpdownAxis_ChangeValue")]
public int UpdownAxis_ChangeValue { get; set; }
/// <summary>
/// PRO,0,T2_升降轴P1速度/慢速度,UpdownAxis_P1Speed,500 /// PRO,0,T2_升降轴P1速度/慢速度,UpdownAxis_P1Speed,500
/// </summary> /// </summary>
[ConfigProAttribute("UpdownAxis_P1Speed")] [ConfigProAttribute("UpdownAxis_P1Speed")]
...@@ -297,10 +302,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -297,10 +302,11 @@ namespace OnlineStore.LoadCSVLibrary
private List<string> CameraList = new List<string>(); private List<string> CameraList = new List<string>();
public List<string> GetCameraList() public List<string> GetCameraList()
{ {
if (CameraList == null) if (CameraList.Count==0)
{ {
CameraList = new List<string>(); CameraList = new List<string>();
string[] arrayList = CameraNameList.Split('#'); string[] arrayList = CameraNameList.Split('#');
foreach (string str in arrayList) foreach (string str in arrayList)
{ {
string camera = str.Trim(); string camera = str.Trim();
......
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