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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
serverIp = ConfigHelper.Config.Get(Setting_Init.STD_IP, "127.0.0.1");
AGVManager.Connect(serverIp);
load();
groupBox2.Text = crc.GetString("Res0071","任务状态")+"["+ serverIp + "]";
groupBox2.Text = crc.GetString("Res0071", "任务状态") + "[" + serverIp + "]";
AGVManager.Register(MissionStateChanged);
endit(false);
}
......@@ -51,9 +51,9 @@ namespace AutoScanAndLabel.UC
{
try
{
lblCurMissionId.Text = crc.GetString("Res0075","任务编号:")+state.MissionId;
lblCurRunMissionId.Text = crc.GetString("Res0076","运行编号:")+state.RunMissionId;
switch(state.MissionRunState)
lblCurMissionId.Text = crc.GetString("Res0075", "任务编号:") + state.MissionId;
lblCurRunMissionId.Text = crc.GetString("Res0076", "运行编号:") + state.RunMissionId;
switch (state.MissionRunState)
{
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());
......@@ -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());
break;
}
switch(state.MissionResult)
switch (state.MissionResult)
{
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());
......@@ -100,12 +100,12 @@ namespace AutoScanAndLabel.UC
{
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;
}
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;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
......@@ -138,19 +138,19 @@ namespace AutoScanAndLabel.UC
});
}
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)
{
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;
}
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;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
......@@ -178,39 +178,39 @@ namespace AutoScanAndLabel.UC
while (!WaitMissionOk())
{
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
Thread.Sleep(1000);
}
ToStandby();
InCalling = false;
});
}
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()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.LStation, "3"), out int val);
AGVManager.AddMission(val);
autoAddMision(val);
}
private void RequestRight()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.RStation, "4"), out int val);
AGVManager.AddMission(val);
autoAddMision(val);
}
private void ShelfEnterAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "4"), out int val);
AGVManager.AddMission(val);
autoAddMision(val);
}
private void ShelfOutAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "4"), out int val);
AGVManager.AddMission(val);
autoAddMision(val);
}
private void ToStandby()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.Standby, "4"), out int val);
AGVManager.AddMission(val);
autoAddMision(val);
}
private bool WaitMissionOk(uint missionId)
{
......@@ -218,18 +218,28 @@ namespace AutoScanAndLabel.UC
}
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)
{
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;
}
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;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
......@@ -240,7 +250,7 @@ namespace AutoScanAndLabel.UC
//请求AGV代码放这里
RequestLeft();
//等待agv到位
while(!WaitMissionOk())
while (!WaitMissionOk())
{
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
......@@ -264,19 +274,19 @@ namespace AutoScanAndLabel.UC
});
}
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)
{
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;
}
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;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
......@@ -310,7 +320,7 @@ namespace AutoScanAndLabel.UC
});
}
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)
......@@ -323,8 +333,9 @@ namespace AutoScanAndLabel.UC
}
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);
LogUtil.info("手动发送任务编号：" + val);
}
private void button2_Click(object sender, EventArgs e)
......
DL.StandardRobots/Robots/StandardRobot.cs
......@@ -65,6 +65,7 @@ namespace DL.StandardRobot
missionState.RunMissionId = preState.RunMissionId;
missionState.MissionRunState = preState.MissionRunState;
missionState.MissionResult = preState.MissionResult;
LogUtil.Error($"ReceiveData:[{requestInfo}][{JsonHelper.SerializeObject(missionState)}]");
MissionSateChanged?.Invoke(missionState);
}
......@@ -157,6 +158,7 @@ namespace DL.StandardRobot
request.Values = new int[] {(int)GetUInt16(byte4.ByteH1, byte4.ByteH2), (int)GetUInt16(byte4.ByteL1, byte4.ByteL2) };
_client.AddRequest(request);
missionState.MissionId = (uint)id;
LogUtil.Info($"AddMission missionId:{id}");
MissionSateChanged?.Invoke(missionState);
return true;
}
......
DL.StandardRobots/TCP/ModbusTCPMaster.cs
......@@ -328,6 +328,11 @@ namespace DL.Com.TCP
/// <param name="request"></param>
void EnRequestQueue(RequestInfo request)
{
if(requestInfos.Count>0)
{
LogUtil.Info($"The count of request queue is {requestInfos.Count},clear the queue:{JsonHelper.SerializeObject(requestInfos)}");
requestInfos = new ConcurrentQueue<RequestInfo>();
}
requestInfos.Enqueue(request);
if (!GetFunction(request.FunCode).Equals(RegisterFunction.Read))
LogUtil.Info($"Enqueue Request {request}");
......
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