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2 个父辈 a9171799 528b3ae2
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正在显示 21 个修改的文件 包含 316 行增加 和 19 行删除
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/记录.txt
......@@ -32,3 +32,5 @@
20200408
入库时仓门口必须有料。
20200616
盘点
source/Common/bean/Bean.cs
......@@ -225,4 +225,5 @@ namespace OnlineStore.Common
public static string barcode = "barcode";
}
}
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/IO/AIOBOX/AIOBOXManager.cs
......@@ -95,25 +95,25 @@ namespace OnlineStore.DeviceLibrary
{
// Create new modbus master and add event functions
aioBox = new AIOBOX();
aioBox.LogPath(Application.StartupPath + @"\logs\aio\", LogType.OnlyError);
aioBox.SetType(Box_Type.DI, DILength, Box_Type.DO, DOLength);
//aioBox.LogPath(Application.StartupPath + @"\logs\aio\", LogType.OnlyError);
aioBox.IP = ioIp;
// bool rtn = aioBox.AutoIP(ioIp);
aioBox.SetInput(Asa.IOModule.Box_Type.DI, DILength);
aioBox.SetOutput(Asa.IOModule.Box_Type.DO, DOLength);
// aioBox.SetInput(Asa.IOModule.Box_Type.DI, DILength);
// aioBox.SetOutput(Asa.IOModule.Box_Type.DO, DOLength);
//DI主动上传
aioBox.AutoReadInput(true, DIMS);
aioBox.AutoReadOutput(false, DOMS);
// aioBox.AutoReadInput(true, DIMS);
// aioBox.AutoReadOutput(false, DOMS);
aioBox.DI_Changed_Event += AioBox_DI_Changed_Event; ;
aioBox.DO_Changed_Event += AioBox_DO_Changed_Event;
LogUtil.info("开始连接：" + logName + "：" + aioBox.ErrInfo);
aioBox.Connect();
bool conRes = aioBox.Connect();
LogUtil.info("开始连接：" + logName + "：" + conRes.ToString());
AIOMap.Add(ioIp, aioBox);
Thread.Sleep(5);
//读取所有的DO
......@@ -143,6 +143,7 @@ namespace OnlineStore.DeviceLibrary
try
{
UpdateAllDI(box.IP, sta);
//LogUtil.info("ReadAllDI [" + box.IP + "]：" + string.Join(" ", sta));
}
catch (Exception ex)
{
......@@ -286,7 +287,7 @@ namespace OnlineStore.DeviceLibrary
bool result = aioBox.WriteDO(StartAddress, GetBox_Sta(onOff));
if (!result)
{
LogUtil.error("AIO WriteSingleDO [" + ioIp + "] [" + StartAddress + "] 失败：" + aioBox.ErrInfo);
LogUtil.error("AIO WriteSingleDO [" + ioIp + "] [" + StartAddress + "] 失败：");
}
}
else
......
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,
......@@ -71,6 +71,7 @@ PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,1000,,,,,,,,,,,
PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,100,,,,,,,,,,,
PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,100,,,,,, ,,,,,
PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,100,,,,,,,,,,,
PRO,升降轴（轴2）P9速度,UpDownAxis_P9_Speed,50,,,,,,,,,,,
PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,500,,,,,,,,,,,
PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,500,,,,,,,,,,,
PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,500,,,,,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -44,6 +44,7 @@ namespace OnlineStore.DeviceLibrary
//public ScanSocket scanSocket = new ScanSocket();
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
private System.Timers.Timer IoCheckTimer = new System.Timers.Timer();
private System.Timers.Timer readDITimer = new System.Timers.Timer();
public AC_SA_BoxBean(AC_SA_Config config)
{
Init();
......@@ -58,6 +59,12 @@ namespace OnlineStore.DeviceLibrary
IoCheckTimer.Enabled = false;
IoCheckTimer.Elapsed += IoCheckTimer_Elapsed;
readDITimer = new System.Timers.Timer();
readDITimer.Interval = 20;
readDITimer.AutoReset = true;
readDITimer.Enabled = false;
readDITimer.Elapsed += ReadDITimer_Elapsed;
//添加调试
IsDebug = ConfigAppSettings.GetIntValue(Setting_Init.IsInDebug).Equals(1);
......@@ -128,6 +135,13 @@ namespace OnlineStore.DeviceLibrary
}
private void ReadDITimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if(StoreMove.MoveStep.Equals(StoreMoveStep.SC_03_MoveToHBag)&& IOManager.IOValue(IO_Type.CheckPos).Equals(IO_VALUE.HIGH))
{
reelIsExist = true;
}
}
/// <summary>
/// 配置速度，加减速时间
/// </summary>
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Inventory.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_SA_BoxBean
{
bool reelIsExist = false;
protected override void InventoryProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SC_01_InOutAxisHome)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_02_MoveToLBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P3, Config.MiddleAxis_P2_Speed);
int outCount = ACServerManager.GetActualtPosition(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
int disCount = Math.Abs(outCount - moveP.UpDown_P5);
if (disCount > 150000)
{
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
CheckPositionLog(" 旋转轴 至P3（料叉背向库位点）升降轴到P5(库位低点) UpDownAxis_P5_Speed=" + Config.UpDownAxis_P5_Speed.ToString());
}
else
{
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P6_Speed);
CheckPositionLog(" 旋转轴 至P3（料叉背向库位点）升降轴到P5(库位低点) UpDownAxis_P6_Speed=" + Config.UpDownAxis_P6_Speed.ToString());
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_02_MoveToLBag)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_03_MoveToHBag);
CheckPositionLog(" 升降轴到库位高点P9, UpDownAxis_P9_Speed=" + Config.UpDownAxis_P9_Speed.ToString());
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P9, Config.UpDownAxis_P9_Speed);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.CheckPos, IO_VALUE.HIGH));
//StoreMove.OneWaitCanEndStep = true;
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_03_MoveToHBag)
{
StoreMove.NextMoveStep(StoreMoveStep.SC_04_Inventory);
CheckPositionLog(" 升降轴到目标位置, 当前位置=" + ACServerManager.GetActualtPosition(Config.UpDown_Axis) + " 目标位置=" + ACServerManager.GetTargetPosition(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue()));
//ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
//int outCount = ACServerManager.GetActualtPosition(Config.UpDown_Axis);
//int errorCount = Math.Abs(outCount - moveP.UpDown_P9);
//if (errorCount <= Config.UpDown_Axis.CanErrorCountMax)
//{
// CheckPositionLog(" 升降轴到目标位置, 当前位置=" + ACServerManager.GetActualtPosition(Config.UpDown_Axis)+" 目标位置="+ moveP.UpDown_P9 + " errorCount="+ errorCount);
//}
//else
//{
// CheckPositionLog(" 升降轴运动过程中检测到料盘, 当前位置=" + ACServerManager.GetActualtPosition(Config.UpDown_Axis) + " 目标位置=" + moveP.UpDown_P9 + " errorCount=" + errorCount+ " Config.UpDown_Axis.CanErrorCountMax=" + Config.UpDown_Axis.CanErrorCountMax);
//}
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", reelIsExist.ToString()); // 是否有料
string server = StoreManager.GetAddr(StoreManager.Addr_posReelCheck, paramMap);
string resultStr = HttpHelper.Post(server, "");
CheckPositionLog("盘点仓位: [CID=" + CID + "] [" + StoreMove.MoveParam.PosInfo.PosId + "] [IO_Type.reelIsExist=" + reelIsExist.ToString() + "] [resultStr=" + resultStr + "]");
reelIsExist = false;
}
else if (StoreMove.MoveStep == StoreMoveStep.SC_04_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
{
//是否自动状态
if (!autoNext)
{
readDITimer.Enabled = false;
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;
readDITimer.Enabled = 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);
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)
{
readDITimer.Enabled = true;
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/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();
......@@ -462,6 +470,9 @@ namespace OnlineStore.DeviceLibrary
case StoreStatus.OutStoreFaild:
aa = "出库失败（" + WarnMsg + "）";
break;
case StoreStatus.CheckPosMove:
aa = "盘点中";
break;
}
if (!aa.Equals(""))
{
......
source/DeviceLibrary/store/LineMoveP.cs
......@@ -44,7 +44,10 @@ namespace OnlineStore.DeviceLibrary
/// 轴2（ 升降轴） 进料口出料缓冲点P8
/// </summary>
public int UpDown_P8 { get; set; }
/// <summary>
/// 升降轴库位盘点点P9
/// </summary>
public int UpDown_P9 { get; set; }
/// <summary>
/// 轴1旋转轴 待机原位点 P1
/// </summary>
......@@ -53,7 +56,10 @@ 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>
......@@ -335,7 +339,24 @@ 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低点
/// </summary>
SC_02_MoveToLBag,
/// <summary>
/// 料叉背面移动到库位高点
/// </summary>
SC_03_MoveToHBag,
/// <summary>
/// 盘点仓位
/// </summary>
SC_04_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>
......@@ -40,6 +44,12 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[CSVAttribute("升降轴库位入料缓冲点P4")]
public int UpDownAxis_ILPosition_P4 { get; set; }
/// <summary>
/// 升降轴库位盘点点P9
/// </summary>
[CSVAttribute("升降轴库位盘点点P9")]
public int UpDownAxis_Position_P9 { get; set; }
/// <summary>
/// 进出轴（库位点取料点）P3
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
......@@ -209,6 +209,11 @@ namespace OnlineStore.LoadCSVLibrary
public int UpDownAxis_P8_Speed { get; set; }
/// <summary>
/// PRO 升降轴（轴2）P9速度 UpDownAxis_P9_Speed
/// </summary>
[ConfigProAttribute("UpDownAxis_P9_Speed")]
public int UpDownAxis_P9_Speed { get; set; }
/// <summary>
/// PRO 旋转轴（轴1）P1速度 MiddleAxis_P1_Speed
/// </summary>
[ConfigProAttribute("MiddleAxis_P1_Speed")]
......
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
......
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