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Commit 6d9325f0 由 张东亮
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AGV界面添加

1 个父辈 1c2795a4
内嵌 并排
正在显示 4 个修改的文件 包含 53 行增加 和 37 行删除
AutoScanAndLabel/UC/AgvControl.Designer.cs
......@@ -53,7 +53,6 @@ namespace AutoScanAndLabel.UC
this.label3 = new System.Windows.Forms.Label();
this.txtMoveLSTId = new System.Windows.Forms.TextBox();
this.label4 = new System.Windows.Forms.Label();
this.btnSave = new System.Windows.Forms.Button();
this.checkBox1 = new System.Windows.Forms.CheckBox();
this.groupBox_right.SuspendLayout();
this.groupBox_left.SuspendLayout();
......@@ -190,7 +189,7 @@ namespace AutoScanAndLabel.UC
this.groupBox3.Size = new System.Drawing.Size(636, 219);
this.groupBox3.TabIndex = 5;
this.groupBox3.TabStop = false;
this.groupBox3.Text = "任务编号设置";
this.groupBox3.Text = "手动发送任务";
//
// label7
//
......@@ -220,6 +219,7 @@ namespace AutoScanAndLabel.UC
//
// txtLeaveId
//
this.txtLeaveId.Enabled = false;
this.txtLeaveId.Location = new System.Drawing.Point(459, 81);
this.txtLeaveId.Name = "txtLeaveId";
this.txtLeaveId.Size = new System.Drawing.Size(100, 23);
......@@ -236,6 +236,7 @@ namespace AutoScanAndLabel.UC
//
// txtEnterId
//
this.txtEnterId.Enabled = false;
this.txtEnterId.Location = new System.Drawing.Point(459, 29);
this.txtEnterId.Name = "txtEnterId";
this.txtEnterId.Size = new System.Drawing.Size(100, 23);
......@@ -252,6 +253,7 @@ namespace AutoScanAndLabel.UC
//
// txtMoveRSTId
//
this.txtMoveRSTId.Enabled = false;
this.txtMoveRSTId.Location = new System.Drawing.Point(166, 81);
this.txtMoveRSTId.Name = "txtMoveRSTId";
this.txtMoveRSTId.Size = new System.Drawing.Size(100, 23);
......@@ -268,6 +270,7 @@ namespace AutoScanAndLabel.UC
//
// txtMoveLSTId
//
this.txtMoveLSTId.Enabled = false;
this.txtMoveLSTId.Location = new System.Drawing.Point(166, 32);
this.txtMoveLSTId.Name = "txtMoveLSTId";
this.txtMoveLSTId.Size = new System.Drawing.Size(100, 23);
......@@ -282,16 +285,6 @@ namespace AutoScanAndLabel.UC
this.label4.TabIndex = 1;
this.label4.Text = "移动到左侧的任务编号：";
//
// btnSave
//
this.btnSave.Location = new System.Drawing.Point(22, 316);
this.btnSave.Name = "btnSave";
this.btnSave.Size = new System.Drawing.Size(122, 45);
this.btnSave.TabIndex = 6;
this.btnSave.Text = "保存";
this.btnSave.UseVisualStyleBackColor = true;
this.btnSave.Click += new System.EventHandler(this.btnSave_Click);
//
// checkBox1
//
this.checkBox1.AutoSize = true;
......@@ -299,7 +292,7 @@ namespace AutoScanAndLabel.UC
this.checkBox1.Name = "checkBox1";
this.checkBox1.Size = new System.Drawing.Size(82, 18);
this.checkBox1.TabIndex = 7;
this.checkBox1.Text = "参数设置";
this.checkBox1.Text = "手动操作";
this.checkBox1.UseVisualStyleBackColor = true;
this.checkBox1.CheckedChanged += new System.EventHandler(this.checkBox1_CheckedChanged);
//
......@@ -307,7 +300,6 @@ namespace AutoScanAndLabel.UC
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.Controls.Add(this.checkBox1);
this.Controls.Add(this.btnSave);
this.Controls.Add(this.groupBox3);
this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox_left);
......@@ -345,7 +337,6 @@ namespace AutoScanAndLabel.UC
private System.Windows.Forms.Label label5;
private System.Windows.Forms.TextBox txtEnterId;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.Button btnSave;
private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.Label lblMissionResult;
private System.Windows.Forms.Label lblMissionRunstate;
......
AutoScanAndLabel/UC/AgvControl.cs
......@@ -23,7 +23,7 @@ namespace AutoScanAndLabel.UC
serverIp = ConfigAppSettings.GetValue(Setting_Init.STD_IP);
AGVManager.Connect(serverIp);
load();
groupBox2.Text = $"AGV状态[{serverIp}]";
groupBox2.Text = "AGV状态"+"["+ serverIp + "]";
AGVManager.Register(MissionStateChanged);
endit(false);
}
......@@ -34,30 +34,31 @@ namespace AutoScanAndLabel.UC
}
private void load()
{
txtEnterId.Text=ConfigAppSettings.GetValue(Setting_Init.ShelfInAGV);
txtLeaveId.Text = ConfigAppSettings.GetValue(Setting_Init.ShelfOutAGV);
txtMoveLSTId.Text = ConfigAppSettings.GetValue(Setting_Init.LStation);
txtMoveRSTId.Text = ConfigAppSettings.GetValue(Setting_Init.RStation);
txtEnterId.Text = ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "1");
txtLeaveId.Text = ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "2");
txtMoveLSTId.Text = ConfigHelper.Config.Get(Setting_Init.LStation, "3");
txtMoveRSTId.Text = ConfigHelper.Config.Get(Setting_Init.RStation, "4");
}
private void save()
{
ConfigAppSettings.SaveValue(Setting_Init.ShelfInAGV, txtEnterId.Text);
ConfigAppSettings.SaveValue(Setting_Init.ShelfOutAGV, txtLeaveId.Text);
ConfigAppSettings.SaveValue(Setting_Init.LStation, $"{txtMoveLSTId.Text}");
ConfigAppSettings.SaveValue(Setting_Init.RStation, $"{txtMoveRSTId.Text}");
ConfigHelper.Config.Set(Setting_Init.ShelfInAGV, txtEnterId.Text);
ConfigHelper.Config.Set(Setting_Init.ShelfOutAGV, txtLeaveId.Text);
ConfigHelper.Config.Set(Setting_Init.LStation, txtMoveLSTId.Text);
ConfigHelper.Config.Set(Setting_Init.RStation, txtMoveRSTId.Text);
}
MissionState curState;
private void MissionStateChanged(MissionState state)
{
curState = state;
if (!this.IsHandleCreated) return;
this.Invoke(new Action(() =>
{
try
{
lblCurMissionId.Text = $"当前任务编号：{state.MissionId}";
lblCurRunMissionId.Text = $"运行任务编号：{state.RunMissionId}";
lblMissionRunstate.Text = $"任务运行状态：{state.MissionRunState}";
lblMissionResult.Text = $"任务运行结果：{state.MissionResult}";
lblCurMissionId.Text = "当前任务编号："+state.MissionId;
lblCurRunMissionId.Text = "运行任务编号："+state.RunMissionId;
lblMissionRunstate.Text = "任务运行状态："+state.MissionRunState;
lblMissionResult.Text = "任务运行结果："+state.MissionResult;
}
catch
{
......@@ -76,6 +77,7 @@ namespace AutoScanAndLabel.UC
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
RequestRight();
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
......@@ -102,6 +104,7 @@ namespace AutoScanAndLabel.UC
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
RequestRight();
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
......@@ -116,7 +119,30 @@ namespace AutoScanAndLabel.UC
else
MessageBox.Show("当前没有料串不能请求取料串");
}
private void RequestLeft()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.LStation, "3"), out int val);
AGVManager.AddMission(val);
}
private void RequestRight()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.RStation, "4"), out int val);
AGVManager.AddMission(val);
}
private void ShelfEnterAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "4"), out int val);
AGVManager.AddMission(val);
}
private void ShelfOutAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "4"), out int val);
AGVManager.AddMission(val);
}
private bool WaitMissionOk(uint missionId)
{
return curState != null && curState.RunMissionId.Equals(missionId) && curState.MissionResult.Equals(MissionResult.任务执行成功);
}
private void button_Leftleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
......@@ -127,7 +153,9 @@ namespace AutoScanAndLabel.UC
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
RequestLeft();
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
{
......@@ -152,6 +180,7 @@ namespace AutoScanAndLabel.UC
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
RequestLeft();
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
Task.Run(() =>
......@@ -167,11 +196,6 @@ namespace AutoScanAndLabel.UC
MessageBox.Show("当前有料串不能请求进入料串");
}
private void btnSave_Click(object sender, EventArgs e)
{
save();
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
endit(checkBox1.Checked);
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -52,7 +52,7 @@
</Reference>
<Reference Include="RmaxisV2, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\增广夹爪\RmaxisV2\bin\Debug\RmaxisV2.dll</HintPath>
<HintPath>..\AutoScanAndLabel\bin\Debug\RmaxisV2.dll</HintPath>
</Reference>
<Reference Include="SdkApi.Core">
<HintPath>..\dll\SdkApi.Core.dll</HintPath>
......
DeviceLibrary/DeviceLibrary/ElectricGripper.cs
using Neotel;
using OnlineStore;
using OnlineStore.Common;
using System;
......@@ -10,7 +11,7 @@ namespace DeviceLibrary
{
public class ElectricGripper
{
private Neotel.Rmaxis axis;
private Rmaxis axis;
public Enum GripperType = GripperTypeE.None;
int clampTimes = 0;
......
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