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Commit 1e5c7724 由 LN
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增加doorclose事件

1 个父辈 326a69ea
内嵌 并排
正在显示 7 个修改的文件 包含 67 行增加 和 15 行删除
dll/Client.dll
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dll/Client.xml
......@@ -240,6 +240,11 @@
小车已准备，对接完成
</summary>
</member>
<member name="E:Asa.Client2.CloseDoor">
<summary>
关门
</summary>
</member>
<member name="E:Asa.Client2.Log">
<summary>
日志
......@@ -371,6 +376,11 @@
没有动作
</summary>
</member>
<member name="F:Asa.ClientAction.CloseDoor">
<summary>
包装料仓关门
</summary>
</member>
<member name="F:Asa.ClientAction.MayEnter">
<summary>
可以进入料架，Arrive事件使用，让小车开始对接
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
......@@ -262,11 +262,11 @@ namespace OnlineStore.DeviceLibrary
//开始复位动作
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H01_InOutBack);
LogInfo(MoveInfo.MoveType + ": 开始料架入库，线体停止，进出轴先原点返回，设置agv状态为None");
LogInfo(MoveInfo.MoveType + ": 开始料架入库，线体停止，进出轴先原点返回，设置agv"+ Config.AgvNodeName + "为None");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LineStop();
ACAxisHomeMove(Config.InOut_Axis);
AgvClient.SetStatus(Config.AgvNodeName);
AgvClient.SetStatus(Config.AgvNodeName,"","",ClientAction.None,ClientLevel.High,true);
}
/// <summary>
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
......@@ -139,6 +139,17 @@ namespace OnlineStore.DeviceLibrary
//}
}
}
else if (wait.WaitType.Equals(WaitEnum.W011_DoorCloseEvent))
{
if (AgvClient.closeDoorTimeMap.ContainsKey(Config.AgvNodeName))
{
DateTime time = AgvClient.closeDoorTimeMap[Config.AgvNodeName];
if(time>= MoveInfo.LastSetpTime)
{
wait.IsEnd = true;
}
}
}
if (wait.IsEnd)
{
if (MoveInfo.OneWaitCanEndStep)
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -58,7 +58,7 @@ namespace OnlineStore.DeviceLibrary
//{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check信号");
AgvClient.SetStatus(Config.AgvNodeName,"","",ClientAction.MayEnter,ClientLevel.High);
AgvClient.SetStatus(Config.AgvNodeName,"","",ClientAction.MayEnter,ClientLevel.High,true);
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
......@@ -71,7 +71,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转");
LineStop();
AgvClient.SetStatus(Config.AgvNodeName, "", "", ClientAction.FinishEnter, ClientLevel.High);
AgvClient.SetStatus(Config.AgvNodeName, "", "", ClientAction.FinishEnter, ClientLevel.High,true);
if (!instoreShelf)
{
......@@ -203,7 +203,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave["+CurrShelfID+ "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待180000");
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.NeedLeave, ClientLevel.Low);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.NeedLeave, ClientLevel.Low,true);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
}
......@@ -231,7 +231,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitReady);
MoveInfo.TimeOutSeconds = 120;
InOutStoreLog(moveName + MoveInfo.SLog + "：移门已打开，调用MayLeave[" + CurrShelfID + "]，等待agv " + Config.AgvNodeName+" Ready");
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High, true);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Ready));
......@@ -253,8 +253,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitInLineSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitTime);
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动3000时间， 等待入料口无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动1000 ， 等待入料口无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
//等到agv离开
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.FinishOut));
......@@ -262,9 +262,11 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_WaitAGVLeave);
InOutStoreLog(moveName + MoveInfo.SLog + "：同时等待 AGV离开,最多等待5000 ");
MoveInfo.TimeOutSeconds = 180;
InOutStoreLog(moveName + MoveInfo.SLog + "：等待DoorClose事件,最多等待180000 ");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitDoorClose());
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
}
......@@ -272,7 +274,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_10_CloseDoor);
InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.FinishLeave, ClientLevel.High);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.FinishLeave, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop();
DoorBean.StartClose(MoveInfo);
......
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -25,9 +25,8 @@ namespace OnlineStore.DeviceLibrary
agvClient = new Asa.Client2(ServerIp);
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
// agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
// agvClient.GetRFID += AgvClient_GetRFID;
agvClient.CloseDoor += AgvClient_CloseDoor;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
foreach (string key in NodeList)
......@@ -47,11 +46,25 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString());
}
}
public static void SetStatus(string id,string mark="", string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
public static Dictionary<string, DateTime> closeDoorTimeMap = new Dictionary<string, DateTime>();
private static void AgvClient_CloseDoor(string id, byte[] content)
{
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + data.NumStr() + "] ");
if (closeDoorTimeMap.ContainsKey(id))
{
closeDoorTimeMap.Remove(id);
}
closeDoorTimeMap.Add(id, DateTime.Now);
}
public static void SetStatus(string id, string mark = "", string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
{
ClientAction currA = GetAction(id);
//相同状态就设置一次
if (currA.Equals(action))
if (currA.Equals(action)&&(!isMust))
{
return;
}
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
......@@ -274,6 +274,12 @@ namespace OnlineStore.DeviceLibrary
wait.AgvAction = arrive;
return wait;
}
public static WaitResultInfo WaitDoorClose()
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = WaitEnum.W011_DoorCloseEvent;
return wait;
}
public string ToStr()
{
if (WaitType.Equals(WaitEnum.W001_AxisMove))
......@@ -320,6 +326,9 @@ namespace OnlineStore.DeviceLibrary
}else if (WaitType.Equals(WaitEnum.W010_AgvStatus))
{
return "Agv状态：" + AgvAction;
}else if (WaitType.Equals(WaitEnum.W011_DoorCloseEvent))
{
return "Agv状态：DoorClose" ;
}
else
{
......@@ -373,6 +382,8 @@ namespace OnlineStore.DeviceLibrary
public bool IsEnd{ get; set; }
public int AgvAction = 0;
}
internal class WaitEnum
{
......@@ -416,6 +427,11 @@ namespace OnlineStore.DeviceLibrary
/// Agv状态
/// </summary>
internal static int W010_AgvStatus = 10;
/// <summary>
/// 等待agvDoorClose事件
/// </summary>
internal static int W011_DoorCloseEvent = 11;
}
public enum StoreMoveType
{
......
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