AC_BOX_Bean_Shelf.cs
26.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 料架新增的出入库逻辑
/// </summary>
partial class AC_BOX_Bean
{
private List<string> LastScanCodes = new List<string>();
private int ComTargetPosition = 0;
private int LastWidth = 0;
private int LastHeight = 0;
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
/// <summary>
/// 开始入库移动移动
/// </summary>
public void StartShelfInStore()
{
if (storeRunStatus == StoreRunStatus.Runing)
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo(" 空闲中，检测到入料口有信号，料架入库：入料口移门打开，");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
EmprtShelfList = new Queue<string>();
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP();
MoveInfo.MoveParam.MoveP.ComPress_P1 = Config.CompAxis_P1_Position;
MoveInfo.MoveParam.MoveP.InOut_P1 = Config.InOutAxis_P1_Position;
MoveInfo.MoveParam.MoveP.Middle_P1 = Config.MiddleAxis_P1;
MoveInfo.MoveParam.MoveP.UpDown_P1 = Config.UpDownAxis_P1;
MoveInfo.MoveParam.MoveP.UpDown_P2 = Config.UpDownAxis_P2;
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
}
}
private void ShelfInStoreEnd()
{
MoveInfo.EndMove();
EmprtShelfList = new Queue<string>(ShelfPosList);
storeRunStatus = StoreRunStatus.Runing;
storeStatus = StoreStatus.StoreOnline;
}
private void ShelfInStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
#region 料架移入料仓内部处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_LineIn_Check))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
InOutStoreLog("料架入库：入料口移门打开");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog("料架入库：线体正转，等待取料位检测到信号");
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_LineStop);
InOutStoreLog("料架入库：取料位检测到信号，停止线体正转");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose);
InOutStoreLog("料架入库：入料口移门关闭");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_LocationUp);
InOutStoreLog("料架入库：定位装置上升");
CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_TopCylinderUp);
InOutStoreLog("料架入库：顶升装置上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_TopCylinderUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环从第一个空位逐个取料盘，扫码入库");
}
#endregion
#region 料架取料盘扫码获取POSID
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray))
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
}
else
{
//所有料盘已取料完成
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料：升降轴移动到P101低点，旋转轴移动到P101点，压紧轴到压紧前点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_P3_Position, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
InOutStoreLog("料架取料：叉子前进到P101点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
InOutStoreLog("料架取料：升降轴上升到P102点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料：压紧轴开始缓慢压紧到P4");
MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
ComAxisStartCheck();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_15_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComAxisDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
InOutStoreLog("料架取料：检测到料叉压紧确认信号，向下押金【"+ComTargetPosition+"】目标【"+ targetP + "】，记录料盘高度【"+LastHeight+"】");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComAxisDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
InOutStoreLog("料架取料：记录压紧高度，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
InOutStoreLog("料架取料：记录宽度，开始扫码");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan();
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
if (IOValue(IO_Type.TrayCheck_3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_4).Equals(IO_VALUE.HIGH))
{
LastWidth = 13;
}
else if (IOValue(IO_Type.TrayCheck_1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_2).Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LogUtil.info("未检测到识别区料盘检测信号， 默认高度为7");
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_18_ScanCode))
{
if (LastScanCodes.Count <= 0)
{
StartSendTray("扫码失败");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_19_GetPosId);
InOutStoreLog("料架取料：扫码成功，从服务器获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
bool result = GetPosIdByCode();
if (result)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
}
else
{
StartSendTray("获取入库库位失败");
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_19_GetPosId))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_20_SetInstoreParam))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_22_DeviceToBag);
InOutStoreLog("入库：叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutWareToBag);
InOutStoreLog("入库：放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_24_DeviceBackFromBag);
InOutStoreLog("入库：叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_DeviceBackFromBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_GoBack);
InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_GoBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
}
#endregion
#region 把料盘送到NG逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_31_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_32_NGDoorUp);
InOutStoreLog("送出料盘：NG料口升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_32_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_33_InoutToNGDoor);
InOutStoreLog("送出料盘：进出轴前进到NG料门口位置");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_33_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_34_UpdownDown);
InOutStoreLog("送出料盘：升降轴缓慢下降，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_34_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_35_InoutToP1);
InOutStoreLog("送出料盘：叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_35_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_36_NGDoorDown);
InOutStoreLog("送出料盘：关门NG料门，送出料盘结束");
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_36_NGDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
}
#endregion
else
{
LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
private void StartSendTray( string str="扫码失败")
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_31_ToNGDoor);
InOutStoreLog("送出料盘："+str+"，升降轴移动到NG料门口上端，旋转轴移动到NG料门口");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
private void StartSendShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopCylinder_Down);
InOutStoreLog("送出料架：顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
private void SendShelfProcess()
{
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopCylinder_Down))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
InOutStoreLog("送出料架：定位气缸下降");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen);
InOutStoreLog("送出料架：打开仓门");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_LineBack);
InOutStoreLog("送出料架：线体反转");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_LineBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitInLineSingle);
InOutStoreLog("送出料架：等待取料工位无信号，入料口有信号");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitInLineSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitTime);
InOutStoreLog("送出料架：再转动300时间");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_LineStop);
InOutStoreLog("送出料架：停止转动");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_CallAGV);
InOutStoreLog("送出料架：通知调度系统拿走");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_CallAGV))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
InOutStoreLog("送出料架：关闭仓门");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
{
}
}
#region 扫码获取库位
private string ProcessCode()
{
string message = "";
string spiltStr = "##";
string codeSize = LastWidth + "x" +LastHeight;
foreach (string str in LastScanCodes)
{
if (str.Trim().Equals(""))
{
continue;
}
string code = "=1+0x0-" + codeSize + "=" + str.Trim();
if (!String.IsNullOrEmpty(code))
{
message = message + code + spiltStr;
}
}return message;
}
/// <summary>
/// 扫码枪数据接收
/// </summary>
/// <param name="message"></param>
private bool GetPosIdByCode()
{
try
{
string message = ProcessCode();
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "未扫到二维码";
LogInfo("未扫到二维码");
return false;
}
if (storeRunStatus.Equals(StoreRunStatus.Wait))
{
LogInfo("二维码【 " + message + "】，设备未启动，不需要发送服务器");
return false;
}
// CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
LogUtil.info(Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
//发送扫码内容到服务器进行入库操作
Operation operation = getLineBoxStatus();
operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", DeviceID.ToString() } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false);
if (resultOperation == null)
{
CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
LogInfo("二维码【 " + message + "】没有收到服务器反馈！");
return false;
}
else if (!string.IsNullOrEmpty(resultOperation.msg))
{
//如果有提示消息，直接显示提示
LogInfo("二维码【 " + message + "】 ：" + resultOperation.msg);
return false;
}
if (resultOperation.op.Equals(1))
{
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
string plateW = data[ParamDefine.plateW];
string plateH = data[ParamDefine.plateH];
string[] posArray = posId.Split('#');
if (!(posArray.Length == 2))
{
WarnMsg = Name + "入库库位格式错误：二维码【" + message + "】库位【" + posId + "】";
LogUtil.error(Name + "服务器反馈 入库库位格式错误：二维码【" + message + "】库位【" + posId + "】");
return false;
}
int storeId = int.Parse(posArray[0]);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
if (position == null)
{ //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return false;
}
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition);
return true;
}
}
else if (resultOperation.op.Equals(2))
{
ReviceOutStoreProcess(resultOperation);
}
else if (resultOperation.op.Equals(5))
{
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
}
}
catch (Exception ex)
{
LogUtil.error(Name + "GetPosIdByCode" + ex.StackTrace);
}
return false;
}
#endregion
#region 压紧轴压紧处理
private System.Timers.Timer axisCheckTimer = null;
private string TargetIoType = IO_Type.Compress_Check;
private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
private bool ComAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = IO_Type.Compress_Check;
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool ComAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
IsInProcess = true;
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
ComAxisStopCheck();
}
IsInProcess = false;
}
#endregion
}
}