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刘韬 / SO827-AutoScanAndLabel

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Commit da138686 由 刘韬
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Merge branch 'SO00075(SO1164)扫码贴标机' of http://106.15.194.121:8083/liutao/SO827-A… 

…utoScanAndLabel into SO00075(SO1164)扫码贴标机
2 个父辈 4b743e13 bc933daf
内嵌 并排
正在显示 3 个修改的文件 包含 44 行增加 和 26 行删除
AutoScanAndLabel/UC/AgvControl.cs
...@@ -25,7 +25,7 @@ namespace AutoScanAndLabel.UC ...@@ -25,7 +25,7 @@ namespace AutoScanAndLabel.UC
serverIp = ConfigHelper.Config.Get(Setting_Init.STD_IP, "127.0.0.1"); serverIp = ConfigHelper.Config.Get(Setting_Init.STD_IP, "127.0.0.1");
AGVManager.Connect(serverIp); AGVManager.Connect(serverIp);
load(); load();
groupBox2.Text = crc.GetString("Res0071","任务状态")+"["+ serverIp + "]"; groupBox2.Text = crc.GetString("Res0071", "任务状态") + "[" + serverIp + "]";
AGVManager.Register(MissionStateChanged); AGVManager.Register(MissionStateChanged);
endit(false); endit(false);
} }
...@@ -51,9 +51,9 @@ namespace AutoScanAndLabel.UC ...@@ -51,9 +51,9 @@ namespace AutoScanAndLabel.UC
{ {
try try
{ {
lblCurMissionId.Text = crc.GetString("Res0075","任务编号:")+state.MissionId; lblCurMissionId.Text = crc.GetString("Res0075", "任务编号:") + state.MissionId;
lblCurRunMissionId.Text = crc.GetString("Res0076","运行编号:")+state.RunMissionId; lblCurRunMissionId.Text = crc.GetString("Res0076", "运行编号:") + state.RunMissionId;
switch(state.MissionRunState) switch (state.MissionRunState)
{ {
case MissionRunState.无效状态: case MissionRunState.无效状态:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.无效状态.ToString(), MissionRunState.无效状态.ToString()); lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.无效状态.ToString(), MissionRunState.无效状态.ToString());
...@@ -71,7 +71,7 @@ namespace AutoScanAndLabel.UC ...@@ -71,7 +71,7 @@ namespace AutoScanAndLabel.UC
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.暂停执行.ToString(), MissionRunState.暂停执行.ToString()); lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.暂停执行.ToString(), MissionRunState.暂停执行.ToString());
break; break;
} }
switch(state.MissionResult) switch (state.MissionResult)
{ {
case MissionResult.无效状态: case MissionResult.无效状态:
lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.无效状态.ToString(), MissionResult.无效状态.ToString()); lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.无效状态.ToString(), MissionResult.无效状态.ToString());
...@@ -100,12 +100,12 @@ namespace AutoScanAndLabel.UC ...@@ -100,12 +100,12 @@ namespace AutoScanAndLabel.UC
{ {
if (!RobotManage.isRunning) if (!RobotManage.isRunning)
{ {
MessageBox.Show(crc.GetString("Res0079","机器尚未启动不能呼叫Agv")); MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return; return;
} }
if (InCalling) if (InCalling)
{ {
MessageBox.Show(crc.GetString("Res0035","已呼叫Agv，不能重复呼叫")); MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return; return;
} }
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW)) if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
...@@ -138,19 +138,19 @@ namespace AutoScanAndLabel.UC ...@@ -138,19 +138,19 @@ namespace AutoScanAndLabel.UC
}); });
} }
else else
MessageBox.Show(crc.GetString("Res0080","当前有料串不能请求进入料串")); MessageBox.Show(crc.GetString("Res0080", "当前有料串不能请求进入料串"));
} }
private void button_rightleavefull_Click(object sender, EventArgs e) private void button_rightleavefull_Click(object sender, EventArgs e)
{ {
if (!RobotManage.isRunning) if (!RobotManage.isRunning)
{ {
MessageBox.Show(crc.GetString("Res0079","机器尚未启动不能呼叫Agv")); MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return; return;
} }
if (InCalling) if (InCalling)
{ {
MessageBox.Show(crc.GetString("Res0035","已呼叫Agv，不能重复呼叫")); MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return; return;
} }
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH)) if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
...@@ -178,39 +178,39 @@ namespace AutoScanAndLabel.UC ...@@ -178,39 +178,39 @@ namespace AutoScanAndLabel.UC
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
//Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000); Thread.Sleep(1000);
} }
ToStandby(); ToStandby();
InCalling = false; InCalling = false;
}); });
} }
else else
MessageBox.Show(crc.GetString("Res0081","当前没有料串不能请求取料串")); MessageBox.Show(crc.GetString("Res0081", "当前没有料串不能请求取料串"));
} }
private void RequestLeft() private void RequestLeft()
{ {
int.TryParse(ConfigHelper.Config.Get(Setting_Init.LStation, "3"), out int val); int.TryParse(ConfigHelper.Config.Get(Setting_Init.LStation, "3"), out int val);
AGVManager.AddMission(val); autoAddMision(val);
} }
private void RequestRight() private void RequestRight()
{ {
int.TryParse(ConfigHelper.Config.Get(Setting_Init.RStation, "4"), out int val); int.TryParse(ConfigHelper.Config.Get(Setting_Init.RStation, "4"), out int val);
AGVManager.AddMission(val); autoAddMision(val);
} }
private void ShelfEnterAgv() private void ShelfEnterAgv()
{ {
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "4"), out int val); int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "4"), out int val);
AGVManager.AddMission(val); autoAddMision(val);
} }
private void ShelfOutAgv() private void ShelfOutAgv()
{ {
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "4"), out int val); int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "4"), out int val);
AGVManager.AddMission(val); autoAddMision(val);
} }
private void ToStandby() private void ToStandby()
{ {
int.TryParse(ConfigHelper.Config.Get(Setting_Init.Standby, "4"), out int val); int.TryParse(ConfigHelper.Config.Get(Setting_Init.Standby, "4"), out int val);
AGVManager.AddMission(val); autoAddMision(val);
} }
private bool WaitMissionOk(uint missionId) private bool WaitMissionOk(uint missionId)
{ {
...@@ -218,18 +218,28 @@ namespace AutoScanAndLabel.UC ...@@ -218,18 +218,28 @@ namespace AutoScanAndLabel.UC
} }
private bool WaitMissionOk() private bool WaitMissionOk()
{ {
return WaitMissionOk((uint)AGVManager.CurMissionId); bool rtn= WaitMissionOk((uint)AGVManager.CurMissionId);
if(rtn)
{
LogUtil.info("任务编号" + AGVManager.CurMissionId+"执行完成");
}
return rtn;
}
void autoAddMision(int id)
{
AGVManager.AddMission(id);
LogUtil.info("自动任务：发送任务编号" + id);
} }
private void button_Leftleavefull_Click(object sender, EventArgs e) private void button_Leftleavefull_Click(object sender, EventArgs e)
{ {
if (!RobotManage.isRunning) if (!RobotManage.isRunning)
{ {
MessageBox.Show(crc.GetString("Res0079","机器尚未启动不能呼叫Agv")); MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return; return;
} }
if (InCalling) if (InCalling)
{ {
MessageBox.Show(crc.GetString("Res0035","已呼叫Agv，不能重复呼叫")); MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return; return;
} }
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH)) if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
...@@ -240,7 +250,7 @@ namespace AutoScanAndLabel.UC ...@@ -240,7 +250,7 @@ namespace AutoScanAndLabel.UC
//请求AGV代码放这里 //请求AGV代码放这里
RequestLeft(); RequestLeft();
//等待agv到位 //等待agv到位
while(!WaitMissionOk()) while (!WaitMissionOk())
{ {
//Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000); Thread.Sleep(1000);
...@@ -264,19 +274,19 @@ namespace AutoScanAndLabel.UC ...@@ -264,19 +274,19 @@ namespace AutoScanAndLabel.UC
}); });
} }
else else
MessageBox.Show(crc.GetString("Res0081","当前没有料串不能请求取料串")); MessageBox.Show(crc.GetString("Res0081", "当前没有料串不能请求取料串"));
} }
private void button_leftneedempty_Click(object sender, EventArgs e) private void button_leftneedempty_Click(object sender, EventArgs e)
{ {
if (!RobotManage.isRunning) if (!RobotManage.isRunning)
{ {
MessageBox.Show(crc.GetString("Res0079","机器尚未启动不能呼叫Agv")); MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return; return;
} }
if (InCalling) if (InCalling)
{ {
MessageBox.Show(crc.GetString("Res0035","已呼叫Agv，不能重复呼叫")); MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return; return;
} }
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW)) if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
...@@ -310,7 +320,7 @@ namespace AutoScanAndLabel.UC ...@@ -310,7 +320,7 @@ namespace AutoScanAndLabel.UC
}); });
} }
else else
MessageBox.Show(crc.GetString("Res0080","当前有料串不能请求进入料串")); MessageBox.Show(crc.GetString("Res0080", "当前有料串不能请求进入料串"));
} }
private void checkBox1_CheckedChanged(object sender, EventArgs e) private void checkBox1_CheckedChanged(object sender, EventArgs e)
...@@ -323,8 +333,9 @@ namespace AutoScanAndLabel.UC ...@@ -323,8 +333,9 @@ namespace AutoScanAndLabel.UC
} }
private void button1_Click(object sender, EventArgs e) private void button1_Click(object sender, EventArgs e)
{ {
int.TryParse(txtMissionId.Text,out int val); int.TryParse(txtMissionId.Text, out int val);
AGVManager.AddMission(val); AGVManager.AddMission(val);
LogUtil.info("手动发送任务编号：" + val);
} }
private void button2_Click(object sender, EventArgs e) private void button2_Click(object sender, EventArgs e)
......
DL.StandardRobots/Robots/StandardRobot.cs
...@@ -65,6 +65,7 @@ namespace DL.StandardRobot ...@@ -65,6 +65,7 @@ namespace DL.StandardRobot
missionState.RunMissionId = preState.RunMissionId; missionState.RunMissionId = preState.RunMissionId;
missionState.MissionRunState = preState.MissionRunState; missionState.MissionRunState = preState.MissionRunState;
missionState.MissionResult = preState.MissionResult; missionState.MissionResult = preState.MissionResult;
LogUtil.Error($"ReceiveData:[{requestInfo}][{JsonHelper.SerializeObject(missionState)}]");
MissionSateChanged?.Invoke(missionState); MissionSateChanged?.Invoke(missionState);
} }
...@@ -157,6 +158,7 @@ namespace DL.StandardRobot ...@@ -157,6 +158,7 @@ namespace DL.StandardRobot
request.Values = new int[] {(int)GetUInt16(byte4.ByteH1, byte4.ByteH2), (int)GetUInt16(byte4.ByteL1, byte4.ByteL2) }; request.Values = new int[] {(int)GetUInt16(byte4.ByteH1, byte4.ByteH2), (int)GetUInt16(byte4.ByteL1, byte4.ByteL2) };
_client.AddRequest(request); _client.AddRequest(request);
missionState.MissionId = (uint)id; missionState.MissionId = (uint)id;
LogUtil.Info($"AddMission missionId:{id}");
MissionSateChanged?.Invoke(missionState); MissionSateChanged?.Invoke(missionState);
return true; return true;
} }
......
DL.StandardRobots/TCP/ModbusTCPMaster.cs
...@@ -328,6 +328,11 @@ namespace DL.Com.TCP ...@@ -328,6 +328,11 @@ namespace DL.Com.TCP
/// <param name="request"></param> /// <param name="request"></param>
void EnRequestQueue(RequestInfo request) void EnRequestQueue(RequestInfo request)
{ {
if(requestInfos.Count>0)
{
LogUtil.Info($"The count of request queue is {requestInfos.Count},clear the queue:{JsonHelper.SerializeObject(requestInfos)}");
requestInfos = new ConcurrentQueue<RequestInfo>();
}
requestInfos.Enqueue(request); requestInfos.Enqueue(request);
if (!GetFunction(request.FunCode).Equals(RegisterFunction.Read)) if (!GetFunction(request.FunCode).Equals(RegisterFunction.Read))
LogUtil.Info($"Enqueue Request {request}"); LogUtil.Info($"Enqueue Request {request}");
......
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