增加盘点功能

RC1250-ACSingleStore.sln

 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
-VisualStudioVersion = 15.0.27130.2024
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.29519.87
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACServoDriveTest", "source\ACServoDriveTest\ACServoDriveTest.csproj", "{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}"
 EndProject

source/ACSingleStore/FrmStoreBox.cs

@@ -99,6 +99,7 @@ namespace OnlineStore.ACSingleStore
             if (ktkPosition != null)
             {
                 txtMiddleP2.Text = ktkPosition.MiddleAxis_Position_P2.ToString();
+                txtMiddleP3.Text = ktkPosition.MiddleAxis_Position_P3.ToString();
                 txtUpDownP3.Text = ktkPosition.UpDownAxis_IHPosition_P3.ToString();
                 txtUpDownP4.Text = ktkPosition.UpDownAxis_ILPosition_P4.ToString();
                 txtUpDownP5.Text = ktkPosition.UpDownAxis_OLPosition_P5.ToString();
@@ -262,14 +263,15 @@ namespace OnlineStore.ACSingleStore
                 {
                     string msg = store.autoMsg;
                     lblMsg.Text = msg;
-                    if (btnStartAuTo.Text.Equals("开始自动出入库"))
-                    {
-                        btnStartAuTo.Text = "停止自动出入库";
-                    }
+                    //if (btnStartAuTo.Text.Equals("开始自动出入库"))
+                    //{
+                    //    btnStartAuTo.Text = "停止自动出入库";
+                    //}
                     try
                     {
                         msg = msg.Replace("自动出库：", "");
                         msg = msg.Replace("自动入库：", "");
+                        msg = msg.Replace("自动盘点：", "");
                         int index = store.PositionNumList.IndexOf(msg);
                         if (index >= 0 && (!msg.Equals("")))
                         {
@@ -405,6 +407,7 @@ namespace OnlineStore.ACSingleStore
             ktk.InOut_P3 = FormUtil.GetIntValue(txtInOutP3);
             ktk.Middle_P1 = FormUtil.GetIntValue(txtMiddleP1);
             ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);
+            ktk.Middle_P3 = FormUtil.GetIntValue(txtMiddleP3);
 
             ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1);
             ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2);
@@ -436,6 +439,7 @@ namespace OnlineStore.ACSingleStore
                 if (ktkPosition != null)
                 {
                     txtMiddleP2.Text = ktkPosition.MiddleAxis_Position_P2.ToString();
+                    txtMiddleP3.Text = ktkPosition.MiddleAxis_Position_P3.ToString();
                     txtUpDownP3.Text = ktkPosition.UpDownAxis_IHPosition_P3.ToString();
                     txtUpDownP4.Text = ktkPosition.UpDownAxis_ILPosition_P4.ToString();
                     txtUpDownP5.Text = ktkPosition.UpDownAxis_OLPosition_P5.ToString();
@@ -604,6 +608,7 @@ namespace OnlineStore.ACSingleStore
             if (ktkPosition != null)
             {
                 ktkPosition.MiddleAxis_Position_P2 = FormUtil.GetIntValue(txtMiddleP2);
+                ktkPosition.MiddleAxis_Position_P3 = FormUtil.GetIntValue(txtMiddleP3);
                 ktkPosition.UpDownAxis_IHPosition_P3 = FormUtil.GetIntValue(txtUpDownP3);
                 ktkPosition.UpDownAxis_ILPosition_P4 = FormUtil.GetIntValue(txtUpDownP4);
 
@@ -817,6 +822,15 @@ namespace OnlineStore.ACSingleStore
             }
         }
 
+        private void btnMiddleP3_Click(object sender, EventArgs e)
+        {
+            if (InOutIsIsP1())
+            {
+                int value = FormUtil.GetIntValue(txtMiddleP3);
+                AxisABSMove(store.Config.Middle_Axis, value, store.Config.MiddleAxis_P2_Speed);
+            }
+        }
+
         private void btnInOutP1_Click(object sender, EventArgs e)
         {
             if (store.InOutAxisCanMove().Equals(false))
@@ -1390,5 +1404,67 @@ namespace OnlineStore.ACSingleStore
         {
             LogUtil.UpdateLogbox();
         }
+
+        /// <summary>
+        /// 盘点测试
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void btnCheckPos_Click(object sender, EventArgs e)
+        {
+            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
+            {
+                string selectPositionNum = cmbPosition.Text;
+                LineMoveP ktk = LoadPostion();
+                store.StartInventoryMove(new InOutParam(new InOutPosInfo("", selectPositionNum), ktk));
+            }
+            else
+            {
+                MessageBox.Show("请先启动料仓！");
+            }
+        }
+        /// <summary>
+        /// 启动自动盘点
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button1_Click_1(object sender, EventArgs e)
+        {
+            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
+            {
+                if (store.autoNext)
+                {
+                    store.autoNext = false;
+                    btnStartAutoCheck.Text = "开始自动盘点";
+                }
+                else
+                {
+                    DialogResult res = MessageBox.Show("确定开始自动盘点？", "提示", MessageBoxButtons.YesNo);
+                    if (res.Equals(DialogResult.Yes))
+                    {
+                        store.autoNext = true;
+                        int jiange = FormUtil.GetIntValue(txtJiange);
+                        store.autoJiange = jiange;
+                        if (cmbPosition.SelectedIndex >= 0)
+                        {
+                            int currIndex = cmbPosition.SelectedIndex;
+                            store.autoPositionIndex = currIndex;
+                            store.AutoStartIndex = currIndex;
+                            string poText = cmbPosition.Text;
+                            store.autoMsg = "自动盘点：" + poText;
+                            LogUtil.info(LOGGER, store.StoreName + "开启自动盘点模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，盘点开始！");
+                            //store.StartOutStoreMove(new InOutStoreParam("", poText));                           
+                            store.StartInventoryMove(new InOutParam(new InOutPosInfo("AUTOINOUT", poText)));
+                        }
+                        btnStartAutoCheck.Text = "停止自动盘点";
+                    }
+                }
+            }
+            else
+            {
+                MessageBox.Show("请先启动料仓！");
+            }
+        }
+
     }
 }

source/Common/bean/Bean.cs

@@ -225,4 +225,5 @@ namespace OnlineStore.Common
 
         public static string barcode = "barcode";
     }
+
 }

source/Common/util/HttpHelper.cs

@@ -18,7 +18,7 @@ namespace OnlineStore.Common
 {
     public class HttpHelper
     {
-       public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public static string Post(string url, string paramData)
         {
             return Post(url, paramData, Encoding.UTF8);
@@ -109,7 +109,7 @@ namespace OnlineStore.Common
             }
             return null;
         }
-        private static int isLog = ConfigAppSettings.GetIntValue(Setting_Init.Server_Log_Open); 
+        private static int isLog = ConfigAppSettings.GetIntValue(Setting_Init.Server_Log_Open);
         public static string Post(string url, string paramData, Encoding encoding)
         {
             //if (PingURLIP(url, 100).Equals(false))
@@ -157,6 +157,7 @@ namespace OnlineStore.Common
             return result;
         }
 
+
         public static string Get(string url)
         {
             return Get(url, Encoding.UTF8);
@@ -182,5 +183,14 @@ namespace OnlineStore.Common
             }
             return "";
         }
+
+        public class ResponseMsg
+        {
+            //{"code":0,"msg":"ok","data":""}
+
+            public int code { get; set; }
+            public string msg { get; set; }
+            public string data { get; set; }
+        }
     }
 }
\ No newline at end of file

source/DeviceLibrary/DeviceLibrary.csproj

@@ -52,6 +52,7 @@
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />
+    <Reference Include="System.Web" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
@@ -60,6 +61,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="acSingleStore\AC_SA_BoxBean.cs" />
+    <Compile Include="acSingleStore\AC_SA_BoxBean_Inventory.cs" />
     <Compile Include="acSingleStore\AC_SA_BoxBean_Partial.cs" />
     <Compile Include="acSingleStore\StoreManager.cs" />
     <Compile Include="IO\AIOBOX\AIOBOXManager.cs" />

source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv

@@ -6,7 +6,7 @@ PRO,IO模块IP,PRO_AOI_IP_1,192.168.202.21,,,,,,,,,,,
 ,,,,,,,,,,
 DI,急停,SuddenStop_BTN,0,PRO_AOI_IP_1,0,急停,X01,DI-01,0,
 DI,复位,Reset_BTN,1,PRO_AOI_IP_1,0,复位,X02,DI-02,0,
-DI,门禁,DoorLimit,2,PRO_AOI_IP_1,0,门禁,X03,DI-03,0,
+DI,盘点,CheckPos,2,PRO_AOI_IP_1,0,盘点,X03,DI-03,0,
 DI,料盘检测1（进料口）,TrayCheck_Door,3,PRO_AOI_IP_1,0,料盘检测1（进料口）,X04,DI-04,0,
 DI,料盘检测2（料叉）,TrayCheck_Fixture,4,PRO_AOI_IP_1,0,料盘检测2（料叉）,X05,DI-05,0,
 DI,气压检测,Airpressure_Check,5,PRO_AOI_IP_1,0,气压检测,X06,DI-06,0,

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Inventory.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public partial class AC_SA_BoxBean
+    {
+        //进出轴到P1
+        //InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
+
+        protected override void InventoryProcess()
+        {
+            LineMoveP moveP = StoreMove.MoveParam.MoveP;
+            bool IsExist = false;
+            if (StoreMove.IsInWait)
+            {
+                CheckWait();
+            }
+            if (StoreMove.IsInWait)
+            {
+                return;
+            }
+            if (StoreMove.MoveStep == StoreMoveStep.SC_01_InOutAxisHome)
+            {
+                StoreMove.NextMoveStep(StoreMoveStep.SC_02_MoveToBag);
+                CheckPositionLog("盘点定位：SC_02_MoveToBag，旋转轴 至P3（料叉背向库位点）升降轴到P6(库位高点） ");
+                ACAxisMove(Config.Middle_Axis, moveP.Middle_P3, Config.MiddleAxis_P2_Speed);
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
+            }
+            else if (StoreMove.MoveStep == StoreMoveStep.SC_02_MoveToBag)
+            {
+                StoreMove.NextMoveStep(StoreMoveStep.SC_03_Inventory);
+                IsExist = IOManager.IOValue(IO_Type.CheckPos).Equals(IO_VALUE.HIGH);
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("cid", CID);//cid = 料仓CID
+                paramMap.Add("pos", StoreMove.MoveParam.PosInfo.PosId);   // 库位
+                paramMap.Add("hasReel", IsExist.ToString());  // 是否有料
+                string server =StoreManager.GetAddr(StoreManager.Addr_posReelCheck, paramMap);
+                string resultStr = HttpHelper.Post(server, "");
+
+                StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                CheckPositionLog("盘点仓位：SC_03_Inventory [CID="+CID+"] [" + StoreMove.MoveParam.PosInfo.PosId + "] [IO_Type.CheckPos=" + IsExist.ToString() + "] [resultStr=" + resultStr + "]");
+
+            }
+            else if (StoreMove.MoveStep == StoreMoveStep.SC_03_Inventory)
+            {
+                StoreMove.EndMove();
+                storeRunStatus = StoreRunStatus.Runing;
+                //设备连接，盘点后，BOX恢复原始状态 
+                storeStatus = StoreStatus.StoreOnline;
+                InventoryEndProcess(StoreMoveType.CheckPosition);
+            }
+        }
+
+
+        /// <summary>
+        /// 自动盘点是否结束
+        /// </summary>
+        /// <param name="storeMoveType"></param>
+        private void InventoryEndProcess(StoreMoveType storeMoveType)
+        {
+            try
+            {
+                CurrInOutCount++;
+                CurrInOutACount++;
+                //是否自动状态
+                if (!autoNext)
+                {
+                    return;
+                }
+                if (storeMoveType.Equals(StoreMoveType.CheckPosition))
+                {
+                    int newIndex = autoPositionIndex - 1;
+                    if (newIndex < 0)
+                    {
+                        if (AutoStartIndex >= 0 && AutoStartIndex < PositionNumList.Count)
+                        {
+                            newIndex = AutoStartIndex;
+                            LogUtil.info(LOGGER, StoreName + "下一个索引不存在，重新开始自动盘点，索引【" + AutoStartIndex + "】");
+                        }
+                        else
+                        {
+                            autoNext = false;
+                            autoMsg = "自动盘点结束！";
+                            LogUtil.info(LOGGER, StoreName + "下一个索引不存在，自动盘点结束！");
+                            //回待机位
+                            MoveToP1();
+                        }
+                    }
+                    else
+                    {
+                        autoPositionIndex = newIndex;
+                        string posid = PositionNumList[autoPositionIndex];
+                        InOutPosInfo inoutinfo = new InOutPosInfo(autoInoutCode, posid);
+                        //判断是否需要重置
+                        if (CurrInOutACount >= Config.Box_ResetACount)
+                        {
+                            LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid + ",当时已经盘点" + CurrInOutACount + "次，需要重置BOX");//，先把盘点信息存入排队列表中
+                            Reset(false);
+                            autoMsg = "自动盘点：" + posid;
+                            AddWaitOutInfo(inoutinfo);
+                        }
+                        else if (CurrInOutCount >= Config.Box_ResetMCount)
+                        {
+                            LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid + ",当时已经出盘点" + CurrInOutCount + "次，需要重置BOX旋转轴");
+                            //ResetMiddleAxis(false);
+                            autoMsg = "自动盘点：" + posid;
+                            AddWaitOutInfo(inoutinfo);
+                        }
+                        else
+                        {
+                            LogUtil.info(LOGGER, StoreName + "自动进入下一个仓位：posid=" + posid);
+                            autoMsg = "自动盘点：" + posid;
+                            StartInventoryMove(new InOutParam(inoutinfo));
+                        }
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(LOGGER, ex.ToString());
+            }
+        }
+
+
+        /// <summary>
+        /// 开始库位盘点
+        /// </summary> 
+        public void StartInventoryMove(InOutParam param)
+        {
+            startInStoreTime = DateTime.Now;
+            string posId = param != null ? param.PosInfo.PosId : "";
+            if (storeRunStatus == StoreRunStatus.Runing)
+            {
+                if (!LoadParamPosition(param))
+                {
+                    LogUtil.error(LOGGER, StoreName + " 启动盘点库位【" + posId + "】出错，找不到库位信息");
+                    return;
+                }
+                LogUtil.info(LOGGER, StoreName + " 启动盘点库位【" + posId + "】", storeMoveColor);
+                storeRunStatus = StoreRunStatus.Busy;
+                storeStatus = StoreStatus.CheckPosMove;
+                StoreMove.NewMove(StoreMoveType.CheckPosition, param);
+                SC_01_Move(param.MoveP);
+
+            }
+            else
+            {
+                LogUtil.error(LOGGER, StoreName + " 启动盘点库位【" + posId + "】出错，当前状态，storeStatus=" + storeRunStatus);
+            }
+        }
+
+        private void SC_01_Move(LineMoveP moveP)
+        {
+            StoreMove.NextMoveStep(StoreMoveStep.SC_01_InOutAxisHome);
+            CheckPositionLog("盘点：SC_01_InOutAxisHome  进出轴(叉子)动作至P1");
+            InOutBackToP1(moveP.InOut_P1);
+        }
+        private void CheckPositionLog(string msg)
+        {
+            string posId = StoreMove.MoveParam != null ? "【" + StoreMove.MoveParam.PosInfo.PosId + "】" : " ";
+            LogUtil.info(LOGGER, posId + StoreMove.MoveStep + "  " + msg, storeMoveColor);
+        }
+    }
+}

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -17,7 +17,8 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         public List<string> PositionNumList = new List<string>();
         /// <summary>
-        /// 入库完成后自动出库，出库完成后自动入库
+        /// 入库完成后自动出库，出库完成后自动入库 或者
+        /// 上一个盘点完，自动盘点下一个
         /// </summary>
         public bool autoNext = false;
         /// <summary>
@@ -67,6 +68,7 @@ namespace OnlineStore.DeviceLibrary
                 p.ComPress_P3 = position.CompressAxis_CPosition_P3;
                 p.InOut_P3 = position.InOutAxis_Position_P3;
                 p.Middle_P2 = position.MiddleAxis_Position_P2;
+                p.Middle_P3 = position.MiddleAxis_Position_P3;
                 p.UpDown_P3 = position.UpDownAxis_IHPosition_P3;
                 p.UpDown_P4 = position.UpDownAxis_ILPosition_P4;
                 p.UpDown_P5 = position.UpDownAxis_OLPosition_P5;

source/DeviceLibrary/acSingleStore/StoreManager.cs

@@ -165,5 +165,40 @@ namespace OnlineStore.DeviceLibrary
             }
             return host + api_nextFeeder;
         }
+
+        public static string Addr_posReelCheck = "/rest/api/qisda/device/posReelCheck";
+        public static string GetPosReelCheckApi(string host)
+        {
+            if (host == "")
+            {
+                host = ConfigAppSettings.GetValue(Setting_Init.http_server);
+            }
+            if (!host.StartsWith("http://"))
+            {
+                host = "http://" + host;
+            }
+            if (!host.EndsWith("/"))
+            {
+                host = host + "/";
+            }
+            return host + Addr_posReelCheck;
+        }
+
+        public static string GetAddr(string addr, Dictionary<string, string> paramsMap)
+        {
+            string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
+            if (server.EndsWith("/"))
+            {
+                server = server.Substring(0, server.Length - 1);
+            }
+            string path = server + addr.Trim() + "?";
+            foreach (string paramName in paramsMap.Keys)
+            {
+                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
+                path += paramName + "=" + par + "&";
+            }
+            path = path.Substring(0, path.Length - 1);
+            return path;
+        }
     }
 }

source/DeviceLibrary/store/KTK_Store.cs

@@ -161,6 +161,10 @@ namespace OnlineStore.DeviceLibrary
                         ResetProcess();
                         isInPro = false;
                         break;
+                    case StoreMoveType.CheckPosition:
+                        InventoryProcess();
+                        isInPro = false;
+                        break;
                     default: break;
                 }
             }
@@ -239,6 +243,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         protected abstract void ResetProcess();
         /// <summary>
+        /// 盘点处理
+        /// </summary>
+        protected abstract void InventoryProcess();
+        /// <summary>
         /// 原点返回处理
         /// </summary>
         protected abstract void ReturnHomeProcess();

source/DeviceLibrary/store/LineMoveP.cs

@@ -53,7 +53,10 @@ namespace OnlineStore.DeviceLibrary
         /// 轴1旋转轴 库位点 P2
         /// </summary>
         public int Middle_P2 { get; set; }
-
+        /// <summary>
+        /// 轴1旋转轴 库位点 P3(料叉背面指向的库位位置)
+        /// </summary>
+        public int Middle_P3 { get; set; }
         /// <summary>
         /// 轴3进出轴 待机原位点P1
         /// </summary>

source/DeviceLibrary/store/StoreStep.cs

@@ -103,7 +103,11 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 重置中（原点返回和重置都发此状态）
         /// </summary>
-        ResetMove=13,       
+        ResetMove=13,    
+        /// <summary>
+        /// 库位盘点中
+        /// </summary>
+        CheckPosMove,
     }
 
     /// <summary>
@@ -331,7 +335,20 @@ namespace OnlineStore.DeviceLibrary
 
         #endregion
 
-
+        #region 料仓库位盘点
+        /// <summary>
+        /// 盘点 料叉回原点P1
+        /// </summary>
+        SC_01_InOutAxisHome,
+        /// <summary>
+        /// 料叉背面移动到库位
+        /// </summary>
+        SC_02_MoveToBag,
+        /// <summary>
+        /// 盘点仓位
+        /// </summary>
+        SC_03_Inventory,
+        #endregion
 
     }
 

source/DeviceLibrary/store/model/StoreMoveInfo.cs

@@ -363,5 +363,9 @@ namespace OnlineStore.DeviceLibrary
         ///// 移栽检测托盘
         ///// </summary>
         //CheckFixture=6,
+        /// <summary>
+        /// 盘点
+        /// </summary>
+        CheckPosition,
     }
 }

source/LoadCVSLibrary/position/ACStorePosition.cs

@@ -19,7 +19,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [CSVAttribute("中轴位置P2")]
         public int MiddleAxis_Position_P2 { get; set; }
-
+        /// <summary>
+        /// 中轴位置（旋转轴料叉背面库位点）P3
+        /// </summary>
+        [CSVAttribute("中轴位置P3")]
+        public int MiddleAxis_Position_P3 { get; set; }
         /// <summary>
         /// 升降轴（库位出料前点）P5
         /// </summary>

source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs

@@ -35,9 +35,13 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         public static string Reset_BTN = "Reset_BTN";
         /// <summary>
+        /// DI,盘点,CheckPos,2,PRO_AOI_IP_1,0,盘点,X03,DI-03,0,
+        /// </summary>
+        public static string CheckPos = "CheckPos";
+        /// <summary>
         ///DI 自动运行	AutoRun_Signal
         /// </summary>
-      //  public static string AutoRun_Signal = "AutoRun_Signal";
+        //  public static string AutoRun_Signal = "AutoRun_Signal";
 
         /// <summary>
         /// 料仓DI。气压检测(料仓）	Airpressure_Check