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Commit 5229fc72 由 张东亮
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治具出入库更改

1 个父辈 7c97fdf2
内嵌 并排
正在显示 43 个修改的文件 包含 3164 行增加 和 2819 行删除
RC1250-ACPackingStore.sln
 
Microsoft Visual Studio Solution File, Format Version 12.00 Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15 # Visual Studio Version 17
VisualStudioVersion = 15.0.27130.2024 VisualStudioVersion = 17.5.33414.496
MinimumVisualStudioVersion = 10.0.40219.1 MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "source\Common\Common.csproj", "{43CDD09E-FCF3-4960-A01D-3BBFE9933122}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "source\Common\Common.csproj", "{43CDD09E-FCF3-4960-A01D-3BBFE9933122}"
EndProject EndProject
...@@ -13,6 +13,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "source\Lo ...@@ -13,6 +13,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "source\Lo
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACPackingStore", "source\ACPackingStore\ACPackingStore.csproj", "{0D2542F5-DD62-4352-82D0-383D9A045E74}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACPackingStore", "source\ACPackingStore\ACPackingStore.csproj", "{0D2542F5-DD62-4352-82D0-383D9A045E74}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ConfigHelper", "..\..\..\CSharp-Workspace\MyProject\DLL\ConfigHelper\ConfigHelper\ConfigHelper.csproj", "{290182DB-D949-434E-9FF7-C59BDE3F433A}"
EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU Debug|Any CPU = Debug|Any CPU
...@@ -39,6 +41,10 @@ Global ...@@ -39,6 +41,10 @@ Global
{0D2542F5-DD62-4352-82D0-383D9A045E74}.Debug|Any CPU.Build.0 = Debug|Any CPU {0D2542F5-DD62-4352-82D0-383D9A045E74}.Debug|Any CPU.Build.0 = Debug|Any CPU
{0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.ActiveCfg = Release|Any CPU {0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.ActiveCfg = Release|Any CPU
{0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.Build.0 = Release|Any CPU {0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.Build.0 = Release|Any CPU
{290182DB-D949-434E-9FF7-C59BDE3F433A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{290182DB-D949-434E-9FF7-C59BDE3F433A}.Debug|Any CPU.Build.0 = Debug|Any CPU
{290182DB-D949-434E-9FF7-C59BDE3F433A}.Release|Any CPU.ActiveCfg = Release|Any CPU
{290182DB-D949-434E-9FF7-C59BDE3F433A}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE
......
source/ACPackingStore/ACPackingStore.csproj
...@@ -181,6 +181,10 @@ ...@@ -181,6 +181,10 @@
</None> </None>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ProjectReference Include="..\..\..\..\..\CSharp-Workspace\MyProject\DLL\ConfigHelper\ConfigHelper\ConfigHelper.csproj">
<Project>{290182DB-D949-434E-9FF7-C59BDE3F433A}</Project>
<Name>ConfigHelper</Name>
</ProjectReference>
<ProjectReference Include="..\Common\Common.csproj"> <ProjectReference Include="..\Common\Common.csproj">
<Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project> <Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project>
<Name>Common</Name> <Name>Common</Name>
......
source/ACPackingStore/App.config
...@@ -3,64 +3,6 @@ ...@@ -3,64 +3,6 @@
<configSections> <configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net" /> <section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net" />
</configSections> </configSections>
<appSettings>
<!--是否开机自动启动料仓-->
<add key="App_AutoRun" value="1" />
<add key="App_Title" value="包装料料仓" />
<!-- 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->
<add key="StartBlowValue" value="4" />
<!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）-->
<add key="StopBlowValue" value="4" />
<!--Server address-->
<add key="http.server" value="http://10.85.160.25/myproject/" />
<!--storeType-->
<add key="store_count" value="2" />
<add key="Store_ConfigPath" value="\StoreConfig\StoreConfig.csv" />
<!--start one store config-->
<add key="Shelf_Position_Config" value="\StoreConfig\shelfPosition.csv" />
<add key="Store_Position_Config" value="\StoreConfig\linePositions.csv" />
<add key="BOX_ConfigPath" value="\StoreConfig\BoxConfig.csv" />
<add key="Store_Type" value="RC_AC_PA" />
<add key="Store_CID" value="packing-store" />
<add key="Store_CID_1" value="packing-19" />
<add key="Store_CID_2" value="packing-20" />
<!--end one store config-->
<add key="ACBaudRate" value="115200" />
<add key="InOutDefaultPosition" value="52000" />
<add key="Config_Pwd" value="123456" />
<!--二维码类型列表配置，用#分割，一维码=Barcode 二维码： QR Code#Data Matrix ECC 200#Micro QR Code-->
<add key="CodeType" value="QR Code#Data Matrix ECC 200" />
<!--二维码参数文件所在路径，文件名与二维码类型名一样-->
<add key="CodeParamPath" value="\CodeParam\" />
<!--出库等待料盘拿走的时间，秒-->
<add key="OutStoreWaitSeconds" value="1" />
<!--温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪-->
<add key="HumitureControllerType" value="0" />
<add key="UseAIOBOX" value="1" />
<add key="DIMS" value="60" />
<add key="DOMS" value="300" />
<!--流水线地址和端口配置-->
<add key="LineServerIp" value="192.168.101.11" />
<add key="LineServerPort" value="5246" />
<!--是否调试状态-->
<add key="IsInDebug" value="1" />
<add key="UseBuzzer" value="0" />
<!--IO模块是否主动上传-->
<add key="AIOAutoUpload" value="0" />
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="10.85.160.20" />
<add key="CodeCount" value="3" />
<add key="Tool_P3_Offset" value="7000" />
<add key="Tool_P4_Offset" value="-2000" />
<add key="Tool_P5_Offset" value="-2000" />
<add key="Tool_P6_Offset" value="7000" />
<add key="Tool_TargetSpeed" value="20" />
<add key="Tool_TargetPosition" value="1835000" />
<!--是否启用入料口移门，1=启用，0=禁用-->
<add key="UseDoor" value="1" />
<add key="Agv_Log_Open" value="1" />
<add key="AutoShelfInstore" value="1" />
</appSettings>
<log4net> <log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/Packing-store-19-20.log" /> <file value="logs/Packing-store-19-20.log" />
...@@ -69,7 +11,7 @@ ...@@ -69,7 +11,7 @@
<rollingStyle value="Date" /> <rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" /> <datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout"> <layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t]%-5p %m%n" /> <conversionPattern value="[%d][%t]%-5p %m%n" />
</layout> </layout>
</appender> </appender>
<appender name="TheRFID" type="log4net.Appender.RollingFileAppender"> <appender name="TheRFID" type="log4net.Appender.RollingFileAppender">
...@@ -79,7 +21,7 @@ ...@@ -79,7 +21,7 @@
<rollingStyle value="Date" /> <rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" /> <datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout"> <layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t]%-5p %m%n" /> <conversionPattern value="[%d][%t]%-5p %m%n" />
</layout> </layout>
</appender> </appender>
<logger name="RollingLogFileAppender"> <logger name="RollingLogFileAppender">
...@@ -87,13 +29,9 @@ ...@@ -87,13 +29,9 @@
<appender-ref ref="RollingLogFileAppender" /> <appender-ref ref="RollingLogFileAppender" />
</logger> </logger>
<logger name="TheRFID"> <logger name="TheRFID">
<level value="Debug" /> <level value="info" />
<appender-ref ref="TheRFID" /> <appender-ref ref="TheRFID" />
</logger> </logger>
<root>
<level value="Info" />
<appender-ref ref="RollingLogFileAppender" />
</root>
</log4net> </log4net>
<startup> <startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" /> <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
......
source/ACPackingStore/FrmAbout.Designer.cs
...@@ -59,6 +59,7 @@ ...@@ -59,6 +59,7 @@
this.lblVersion.TabIndex = 276; this.lblVersion.TabIndex = 276;
this.lblVersion.Text = "版本号：1.1.0000.0000"; this.lblVersion.Text = "版本号：1.1.0000.0000";
this.lblVersion.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.lblVersion.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
this.lblVersion.Click += new System.EventHandler(this.lblVersion_Click);
// //
// lblTime // lblTime
// //
...@@ -94,7 +95,7 @@ ...@@ -94,7 +95,7 @@
// //
// FrmAbout // FrmAbout
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(553, 222); this.ClientSize = new System.Drawing.Size(553, 222);
this.Controls.Add(this.btnCopy); this.Controls.Add(this.btnCopy);
......
source/ACPackingStore/FrmAbout.cs
...@@ -37,5 +37,10 @@ namespace OnlineStore.ACPackingStore ...@@ -37,5 +37,10 @@ namespace OnlineStore.ACPackingStore
{ {
Clipboard.SetDataObject(GetCodeNum(), true); Clipboard.SetDataObject(GetCodeNum(), true);
} }
private void lblVersion_Click(object sender, EventArgs e)
{
ConfigHelper.AdvanceConfigForm.ShowEditDialog(this);
}
} }
} }
source/ACPackingStore/FrmAxisDebug.cs
...@@ -61,7 +61,7 @@ namespace OnlineStore.ACPackingStore ...@@ -61,7 +61,7 @@ namespace OnlineStore.ACPackingStore
/// </summary> /// </summary>
private bool InOutIsIsP1() private bool InOutIsIsP1()
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = Setting_Init.InOutDefaultPosition;
//if (InOutDefaultPosition > 3000 || InOutDefaultPosition.Equals(0)) //if (InOutDefaultPosition > 3000 || InOutDefaultPosition.Equals(0))
//{ //{
// InOutDefaultPosition = 3000; // InOutDefaultPosition = 3000;
......
source/ACPackingStore/FrmBox.cs
...@@ -383,7 +383,7 @@ namespace OnlineStore.ACPackingStore ...@@ -383,7 +383,7 @@ namespace OnlineStore.ACPackingStore
//位置配置 //位置配置
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
//如果总配置文件存在，保存到总的配置文件 //如果总配置文件存在，保存到总的配置文件
string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config); string positionConfigFile = appPath + Setting_Init.Store_Position_Config;
if (!File.Exists(positionConfigFile)) if (!File.Exists(positionConfigFile))
{ {
string nameStr = BoxBean.DeviceID.ToString(); string nameStr = BoxBean.DeviceID.ToString();
...@@ -476,7 +476,7 @@ namespace OnlineStore.ACPackingStore ...@@ -476,7 +476,7 @@ namespace OnlineStore.ACPackingStore
/// </summary> /// </summary>
private bool InOutIsIsP1() private bool InOutIsIsP1()
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = Setting_Init.InOutDefaultPosition;
int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue()); int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
if (currValue <= InOutDefaultPosition) if (currValue <= InOutDefaultPosition)
{ {
...@@ -869,7 +869,7 @@ namespace OnlineStore.ACPackingStore ...@@ -869,7 +869,7 @@ namespace OnlineStore.ACPackingStore
pso.UpDownAxis_HP102 = FormUtil.GetIntValue(txtUpdownP102); pso.UpDownAxis_HP102 = FormUtil.GetIntValue(txtUpdownP102);
} }
//位置配置 //位置配置
string positionConfigFile = Application.StartupPath + ConfigAppSettings.GetValue(Setting_Init.Shelf_Position_Config); string positionConfigFile = Application.StartupPath + Setting_Init.Shelf_Position_Config;
if (!File.Exists(positionConfigFile)) if (!File.Exists(positionConfigFile))
{ {
string nameStr = BoxBean.DeviceID.ToString(); string nameStr = BoxBean.DeviceID.ToString();
...@@ -970,10 +970,10 @@ namespace OnlineStore.ACPackingStore ...@@ -970,10 +970,10 @@ namespace OnlineStore.ACPackingStore
private void btnSaveCID_Click(object sender, EventArgs e) private void btnSaveCID_Click(object sender, EventArgs e)
{ {
string cid = txtCID.Text.Trim(); string cid = txtCID.Text.Trim();
DialogResult result = MessageBox.Show("确定将CID修改为【" + cid + "】，修改后需要重启生效", "", MessageBoxButtons.YesNo); DialogResult result = MessageBox.Show("确定将CID修改为【" + cid + "】", "", MessageBoxButtons.YesNo);
if (result.Equals(DialogResult.Yes)) if (result.Equals(DialogResult.Yes))
{ {
ConfigAppSettings.SaveValue(Setting_Init.Store_CID + "_" + BoxBean.DeviceID, cid); ConfigAppSettings.SaveValue("Store_CID" + "_" + BoxBean.DeviceID, cid);
} }
} }
...@@ -1019,7 +1019,7 @@ namespace OnlineStore.ACPackingStore ...@@ -1019,7 +1019,7 @@ namespace OnlineStore.ACPackingStore
{ {
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
//如果总配置文件存在，保存到总的配置文件 //如果总配置文件存在，保存到总的配置文件
string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config); string positionConfigFile = appPath + Setting_Init.Store_Position_Config;
if (!File.Exists(positionConfigFile)) if (!File.Exists(positionConfigFile))
{ {
string nameStr = BoxBean.DeviceID.ToString(); string nameStr = BoxBean.DeviceID.ToString();
......
source/ACPackingStore/FrmPwd.cs
...@@ -31,11 +31,11 @@ namespace OnlineStore.ACPackingStore ...@@ -31,11 +31,11 @@ namespace OnlineStore.ACPackingStore
private void btnNext_Click(object sender, EventArgs e) private void btnNext_Click(object sender, EventArgs e)
{ {
string pwd = txtPwd.Text; string pwd = txtPwd.Text;
string configPwd = ConfigAppSettings.GetValue(Setting_Init.Config_Pwd); string configPwd = Setting_Init.Config_Pwd;
if (configPwd.Equals("")) if (configPwd.Equals(""))
{ {
configPwd = "123456"; configPwd = "123456";
ConfigAppSettings.SaveValue(Setting_Init.Config_Pwd,configPwd); Setting_Init.Config_Pwd=configPwd;
} }
if (pwd.Equals(configPwd)) if (pwd.Equals(configPwd))
{ {
......
source/ACPackingStore/FrmStore.cs
...@@ -57,9 +57,9 @@ namespace OnlineStore.ACPackingStore ...@@ -57,9 +57,9 @@ namespace OnlineStore.ACPackingStore
chbAutoRun.Checked = store.UseBuzzer; chbAutoRun.Checked = store.UseBuzzer;
chbAutoShelfInstore.Checked = store.AutoShelfInstore; chbAutoShelfInstore.Checked = store.AutoShelfInstore;
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title); this.Text = Setting_Init.App_Title;
chbAutoRun.Checked =( ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1)); chbAutoRun.Checked = Setting_Init.App_AutoRun;
chbDoorCanMove.Checked =( ConfigAppSettings.GetIntValue(Setting_Init.UseDoor).Equals(1)); chbDoorCanMove.Checked = Setting_Init.UseDoor;
// LogUtil.logBox = this.logBox; // LogUtil.logBox = this.logBox;
// HideForm(); // HideForm();
LoadOk = true; LoadOk = true;
...@@ -182,16 +182,16 @@ namespace OnlineStore.ACPackingStore ...@@ -182,16 +182,16 @@ namespace OnlineStore.ACPackingStore
//如果料仓还在运行状态，先关闭料仓 //如果料仓还在运行状态，先关闭料仓
if (!store.storeRunStatus.Equals(StoreRunStatus.Wait)) if (!store.storeRunStatus.Equals(StoreRunStatus.Wait))
{ {
LogUtil.info( "ExitApp 停止"+store.Name+"运行 "); LogUtil.info("ExitApp 停止" + store.Name + "运行 ");
store.StopRun(); store.StopRun();
} }
else else
{ {
foreach(AC_BOX_Bean bean in store.BoxMap.Values) foreach (AC_BOX_Bean bean in store.BoxMap.Values)
{ {
if (bean.storeRunStatus.Equals(StoreRunStatus.Wait).Equals(false)) if (bean.storeRunStatus.Equals(StoreRunStatus.Wait).Equals(false))
{ {
LogUtil.info( "ExitApp 停止" + bean.Name + "运行 "); LogUtil.info("ExitApp 停止" + bean.Name + "运行 ");
bean.StopRun(); bean.StopRun();
} }
} }
...@@ -245,7 +245,7 @@ namespace OnlineStore.ACPackingStore ...@@ -245,7 +245,7 @@ namespace OnlineStore.ACPackingStore
MessageBox.Show(store.Name + "当前状态：" + store.storeRunStatus + "，不能启动！"); MessageBox.Show(store.Name + "当前状态：" + store.storeRunStatus + "，不能启动！");
return; return;
} }
LogUtil.info( "开始启动"); LogUtil.info("开始启动");
startTimer.Interval = 300; startTimer.Interval = 300;
startTimer.Elapsed += timer_Elapsed; startTimer.Elapsed += timer_Elapsed;
startTimer.AutoReset = false; startTimer.AutoReset = false;
...@@ -373,8 +373,8 @@ namespace OnlineStore.ACPackingStore ...@@ -373,8 +373,8 @@ namespace OnlineStore.ACPackingStore
{ {
sbResult.AppendFormat(DateTime.Now.ToLongTimeString() + ", 名称：{0} 内存大小：{1}M ", process.ProcessName, process.PrivateMemorySize64 / 1024 / 1024F); sbResult.AppendFormat(DateTime.Now.ToLongTimeString() + ", 名称：{0} 内存大小：{1}M ", process.ProcessName, process.PrivateMemorySize64 / 1024 / 1024F);
totalMemery += process.PrivateMemorySize64 / 1024; totalMemery += process.PrivateMemorySize64 / 1024;
double value = (process.TotalProcessorTime - prevCpuTime).TotalMilliseconds / interval / Environment.ProcessorCount ; double value = (process.TotalProcessorTime - prevCpuTime).TotalMilliseconds / interval / Environment.ProcessorCount;
sbResult.AppendFormat(" CPU : " +Math.Round(value,2) + "%"); sbResult.AppendFormat(" CPU : " + Math.Round(value, 2) + "%");
// string result = string.Format("进程总数 {0} 个，共占内存：{1}MB \n", processes.Length, totalMemery / 1024) + sbResult.ToString(); // string result = string.Format("进程总数 {0} 个，共占内存：{1}MB \n", processes.Length, totalMemery / 1024) + sbResult.ToString();
LogUtil.info(sbResult.ToString()); LogUtil.info(sbResult.ToString());
} }
...@@ -384,7 +384,7 @@ namespace OnlineStore.ACPackingStore ...@@ -384,7 +384,7 @@ namespace OnlineStore.ACPackingStore
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("LogM Error: "+ex.ToString()); LogUtil.error("LogM Error: " + ex.ToString());
} }
} }
private void timer1_Tick(object sender, EventArgs e) private void timer1_Tick(object sender, EventArgs e)
...@@ -396,12 +396,12 @@ namespace OnlineStore.ACPackingStore ...@@ -396,12 +396,12 @@ namespace OnlineStore.ACPackingStore
lblServerMsg.Text = HttpHelper.LastServerMsg; lblServerMsg.Text = HttpHelper.LastServerMsg;
ReadIOList(); ReadIOList();
string msg = ""; string msg = "";
foreach(AC_BOX_Bean box in StoreManager.Store.BoxMap.Values) foreach (AC_BOX_Bean box in StoreManager.Store.BoxMap.Values)
{ {
string s = box.GetWarnMsg(); string s = box.GetWarnMsg();
if (!s.Equals("")) if (!s.Equals(""))
{ {
msg += box.Name+"："+s+ "\r" ; msg += box.Name + "：" + s + "\r";
} }
} }
if (!chbAGV.Checked.Equals(AgvClient.CurrCancelState)) if (!chbAGV.Checked.Equals(AgvClient.CurrCancelState))
...@@ -410,7 +410,7 @@ namespace OnlineStore.ACPackingStore ...@@ -410,7 +410,7 @@ namespace OnlineStore.ACPackingStore
} }
if (!chbAutoShelfInstore.Checked.Equals(store.AutoShelfInstore)) if (!chbAutoShelfInstore.Checked.Equals(store.AutoShelfInstore))
{ {
chbAutoShelfInstore.Checked=store.AutoShelfInstore; chbAutoShelfInstore.Checked = store.AutoShelfInstore;
} }
label1.Text = "agvClient.CancelState=" + AgvClient.getState(); label1.Text = "agvClient.CancelState=" + AgvClient.getState();
lblWarnMsg.Text = msg; lblWarnMsg.Text = msg;
...@@ -425,12 +425,12 @@ namespace OnlineStore.ACPackingStore ...@@ -425,12 +425,12 @@ namespace OnlineStore.ACPackingStore
} }
if (chbAutoRun.Checked) if (chbAutoRun.Checked)
{ {
ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 1); Setting_Init.App_AutoRun = true;
ManagerUtil.AutoRun(Application.ExecutablePath, true); ManagerUtil.AutoRun(Application.ExecutablePath, true);
} }
else else
{ {
ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 0); Setting_Init.App_AutoRun = false;
ManagerUtil.AutoRun(Application.ExecutablePath, false); ManagerUtil.AutoRun(Application.ExecutablePath, false);
} }
} }
...@@ -489,9 +489,9 @@ namespace OnlineStore.ACPackingStore ...@@ -489,9 +489,9 @@ namespace OnlineStore.ACPackingStore
private void toolStripMenuItem2_Click(object sender, EventArgs e) private void toolStripMenuItem2_Click(object sender, EventArgs e)
{ {
if (toolStripMenuItem2.Text .Equals("启用调试")) if (toolStripMenuItem2.Text.Equals("启用调试"))
{ {
DebugOpen(true ); DebugOpen(true);
} }
else else
{ {
...@@ -544,14 +544,14 @@ namespace OnlineStore.ACPackingStore ...@@ -544,14 +544,14 @@ namespace OnlineStore.ACPackingStore
if (chbUseBuzzer.Checked) if (chbUseBuzzer.Checked)
{ {
store.UseBuzzer = true; store.UseBuzzer = true;
ConfigAppSettings.SaveValue(Setting_Init.UseBuzzer, 1); Setting_Init.UseBuzzer = store.UseBuzzer;
LogUtil.info("勾选：启用蜂鸣器"); LogUtil.info("勾选：启用蜂鸣器");
} }
else else
{ {
store.UseBuzzer = false; store.UseBuzzer = false;
ConfigAppSettings.SaveValue(Setting_Init.UseBuzzer, 0); Setting_Init.UseBuzzer = store.UseBuzzer;
LogUtil.info("去掉：启用蜂鸣器"); LogUtil.info("去掉：启用蜂鸣器");
} }
} }
...@@ -581,14 +581,14 @@ namespace OnlineStore.ACPackingStore ...@@ -581,14 +581,14 @@ namespace OnlineStore.ACPackingStore
if (chbAutoShelfInstore.Checked) if (chbAutoShelfInstore.Checked)
{ {
store.AutoShelfInstore = true; store.AutoShelfInstore = true;
ConfigAppSettings.SaveValue(Setting_Init.AutoShelfInstore, 1); Setting_Init.AutoShelfInstore = store.AutoShelfInstore;
LogUtil.info("勾选：检测到料架自动入库"); LogUtil.info("勾选：检测到料架自动入库");
} }
else else
{ {
store.AutoShelfInstore = false; store.AutoShelfInstore = false;
ConfigAppSettings.SaveValue(Setting_Init.AutoShelfInstore, 0); Setting_Init.AutoShelfInstore = store.AutoShelfInstore;
LogUtil.info("去掉：检测到料架自动入库"); LogUtil.info("去掉：检测到料架自动入库");
} }
} }
...@@ -620,14 +620,14 @@ namespace OnlineStore.ACPackingStore ...@@ -620,14 +620,14 @@ namespace OnlineStore.ACPackingStore
if (chbDoorCanMove.Checked) if (chbDoorCanMove.Checked)
{ {
// store.AutoShelfInstore = true; // store.AutoShelfInstore = true;
ConfigAppSettings.SaveValue(Setting_Init.UseDoor, 1); Setting_Init.UseDoor = true;
LogUtil.info("勾选：启用入料口移门"); LogUtil.info("勾选：启用入料口移门");
} }
else else
{ {
// store.AutoShelfInstore = false; // store.AutoShelfInstore = false;
ConfigAppSettings.SaveValue(Setting_Init.UseDoor, 0); Setting_Init.UseDoor = false;
LogUtil.info("去掉：启用入料口移门"); LogUtil.info("去掉：启用入料口移门");
} }
} }
......
source/ACPackingStore/Program.cs
...@@ -9,6 +9,8 @@ using System.Linq; ...@@ -9,6 +9,8 @@ using System.Linq;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
using OnlineStore.DeviceLibrary;
using log4net.Repository.Hierarchy;
namespace OnlineStore.ACPackingStore namespace OnlineStore.ACPackingStore
{ {
...@@ -59,9 +61,8 @@ namespace OnlineStore.ACPackingStore ...@@ -59,9 +61,8 @@ namespace OnlineStore.ACPackingStore
// 因为方法三只能是最小化的窗体显示出来，如果隐藏到托盘中则不能把运行的程序显示出来 // 因为方法三只能是最小化的窗体显示出来，如果隐藏到托盘中则不能把运行的程序显示出来
Process currentproc = Process.GetCurrentProcess(); Process currentproc = Process.GetCurrentProcess();
Process[] processcollection = Process.GetProcessesByName(currentproc.ProcessName.Replace(".vshost", string.Empty)); Process[] processcollection = Process.GetProcessesByName(currentproc.ProcessName.Replace(".vshost", string.Empty));
bool isShow=false;
// 该程序已经运行， // 该程序已经运行，
bool isShow = false;
if (processcollection.Length >= 1) if (processcollection.Length >= 1)
{ {
foreach (Process process in processcollection) foreach (Process process in processcollection)
...@@ -71,7 +72,7 @@ namespace OnlineStore.ACPackingStore ...@@ -71,7 +72,7 @@ namespace OnlineStore.ACPackingStore
// 如果进程的句柄为0，即代表没有找到该窗体，即该窗体隐藏的情况时 // 如果进程的句柄为0，即代表没有找到该窗体，即该窗体隐藏的情况时
if (process.MainWindowHandle.ToInt32().Equals(0)) if (process.MainWindowHandle.ToInt32().Equals(0))
{ {
string formTitle = ConfigAppSettings.GetValue(Setting_Init.App_Title); string formTitle = Setting_Init.App_Title;
// 获得窗体句柄 // 获得窗体句柄
formhwnd = FindWindow(null, formTitle); formhwnd = FindWindow(null, formTitle);
// 重新显示该窗体并切换到带入到前台 // 重新显示该窗体并切换到带入到前台
...@@ -94,6 +95,7 @@ namespace OnlineStore.ACPackingStore ...@@ -94,6 +95,7 @@ namespace OnlineStore.ACPackingStore
if (!isShow) if (!isShow)
{ {
System.Net.ServicePointManager.DefaultConnectionLimit = 512; System.Net.ServicePointManager.DefaultConnectionLimit = 512;
Setting_Init.Init();
XmlConfigurator.Configure(); XmlConfigurator.Configure();
Application.EnableVisualStyles(); Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false); Application.SetCompatibleTextRenderingDefault(false);
......
source/ACPackingStore/positionTool/FrmPositionTool.cs
...@@ -66,12 +66,12 @@ namespace OnlineStore.ACPackingStore ...@@ -66,12 +66,12 @@ namespace OnlineStore.ACPackingStore
IOManager.instance.ConnectionIOList(new List<string> { /*IoIp*/ }); IOManager.instance.ConnectionIOList(new List<string> { /*IoIp*/ });
} }
P3Offset = ConfigAppSettings.GetIntValue(Setting_Init.Tool_P3_Offset); P3Offset = Setting_Init.Tool_P3_Offset;
P4Offset = ConfigAppSettings.GetIntValue(Setting_Init.Tool_P4_Offset); P4Offset = Setting_Init.Tool_P4_Offset;
P5Offset = ConfigAppSettings.GetIntValue(Setting_Init.Tool_P5_Offset); P5Offset = Setting_Init.Tool_P5_Offset;
P6Offset = ConfigAppSettings.GetIntValue(Setting_Init.Tool_P6_Offset); P6Offset = Setting_Init.Tool_P6_Offset;
int tSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Tool_TargetSpeed); int tSpeed = Setting_Init.Tool_TargetSpeed;
int tPosition = ConfigAppSettings.GetIntValue(Setting_Init.Tool_TargetPosition); int tPosition = Setting_Init.Tool_TargetPosition;
if (P3Offset.Equals(0)) P3Offset = 6000; if (P3Offset.Equals(0)) P3Offset = 6000;
if (P4Offset.Equals(0)) P4Offset = -6000; if (P4Offset.Equals(0)) P4Offset = -6000;
...@@ -197,12 +197,12 @@ namespace OnlineStore.ACPackingStore ...@@ -197,12 +197,12 @@ namespace OnlineStore.ACPackingStore
private void SaveConfig(int speed, int position) private void SaveConfig(int speed, int position)
{ {
//保存配置 //保存配置
ConfigAppSettings.SaveValue(Setting_Init.Tool_P3_Offset, P3Offset); Setting_Init.Tool_P3_Offset= P3Offset;
ConfigAppSettings.SaveValue(Setting_Init.Tool_P4_Offset, P4Offset); Setting_Init.Tool_P4_Offset=P4Offset;
ConfigAppSettings.SaveValue(Setting_Init.Tool_P5_Offset, P5Offset); Setting_Init.Tool_P5_Offset=P5Offset;
ConfigAppSettings.SaveValue(Setting_Init.Tool_P6_Offset, P6Offset); Setting_Init.Tool_P6_Offset=P6Offset;
ConfigAppSettings.SaveValue(Setting_Init.Tool_TargetSpeed, speed); Setting_Init.Tool_TargetSpeed=speed;
ConfigAppSettings.SaveValue(Setting_Init.Tool_TargetPosition, position); Setting_Init.Tool_TargetPosition= position;
} }
private void btnAbsMove_Click(object sender, EventArgs e) private void btnAbsMove_Click(object sender, EventArgs e)
{ {
......
source/ACPackingStore/useControl/AxisMoveControl.cs
...@@ -66,7 +66,7 @@ namespace OnlineStore.ACPackingStore ...@@ -66,7 +66,7 @@ namespace OnlineStore.ACPackingStore
/// </summary> /// </summary>
private bool InOutIsIsP1() private bool InOutIsIsP1()
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = Setting_Init.InOutDefaultPosition;
int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue()); int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
if (currValue <= InOutDefaultPosition) if (currValue <= InOutDefaultPosition)
{ {
......
source/Common/Common.csproj
...@@ -74,6 +74,12 @@ ...@@ -74,6 +74,12 @@
<ItemGroup> <ItemGroup>
<WCFMetadata Include="Service References\" /> <WCFMetadata Include="Service References\" />
</ItemGroup> </ItemGroup>
<ItemGroup>
<ProjectReference Include="..\..\..\..\..\CSharp-Workspace\MyProject\DLL\ConfigHelper\ConfigHelper\ConfigHelper.csproj">
<Project>{290182db-d949-434e-9ff7-c59bde3f433a}</Project>
<Name>ConfigHelper</Name>
</ProjectReference>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it. <!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets. Other similar extension points exist, see Microsoft.Common.targets.
......
source/Common/Setting_Init.cs
using System; using ConfigHelper;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace OnlineStore.Common namespace OnlineStore.Common
...@@ -11,97 +8,92 @@ namespace OnlineStore.Common ...@@ -11,97 +8,92 @@ namespace OnlineStore.Common
/// </summary> /// </summary>
public class Setting_Init public class Setting_Init
{ {
public static string Agv_Log_Open = "Agv_Log_Open"; public static void Init()
public static string Server_Log_Open = "Server_Log_Open"; {
/// <summary> ConfigHelper.Config.MyConfig = typeof(Setting_Init);
/// 系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要 }
/// </summary> [MyConfigComment("是否打开AGV日志")]
public static string App_AutoRun = "App_AutoRun"; public static MyConfig<bool> Log_OpenAgv = true;
/// <summary> [MyConfigComment("是否打开AGV日志")]
/// 系统主界面标题 public static MyConfig<bool> Log_OpenServer = true;
/// </summary>
public static string App_Title = "App_Title"; [MyConfigComment("系统启动时自动启动料仓，true时自动启动，并隐藏窗口;false时不需要")]
public static MyConfig<bool> App_AutoRun = true;
[MyConfigComment("系统主界面标题")]
public static string http_server = "http.server"; public static MyConfig<string> App_Title = "包装料仓";
public static string Store_CID = "Store_CID"; [MyConfigComment("料仓配置路径")]
public static MyConfig<string> BOX_ConfigPath = "\\StoreConfig\\BoxConfig.csv";
/// <summary> [MyConfigComment("料仓点位配置路径")]
/// 料仓数量 public static MyConfig<string> Store_Position_Config = "\\StoreConfig\\linePositions.csv";
/// </summary>
public static string store_count = "store_count"; [MyConfigComment("服务器地址")]
/// <summary> public static MyConfig<string> http_server = "http://172.16.77.86/myproject/";
/// 料仓类型，1=在线料仓 [MyConfigComment("料仓CID，每个仓唯一")]
/// </summary> public static MyConfig<string> Store_CID = "packing-store";
public static string Store_Type = "Store_Type";
[MyConfigComment("软件上料仓数量")]
public static string BOX_ConfigPath = "BOX_ConfigPath"; public static MyConfig<int> store_count = 2;
public static string Store_Position_Config = "Store_Position_Config"; [MyConfigComment("料仓类型")]
/// <summary> public static MyConfig<string> Store_Type = "RC_AC_PA";
/// 摄像机名称，多个中间使用#分割
/// </summary> [MyConfigComment("摄像机名称，多个中间使用#分割")]
public static string CameraName = "CameraName"; public static MyConfig<string> CameraName = "";
/// <summary> [MyConfigComment("需要识别的二维码类型，多个中间使用#分割")]
/// 需要识别的二维码类型，多个中间使用#分割 public static MyConfig<string> CodeType = "QR Code#Data Matrix ECC 200";
/// </summary> [MyConfigComment("是否开启吹气")]
public static string CodeType = "CodeType"; public static MyConfig<bool> OpenBlow = false;
[MyConfigComment("开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）")]
/// <summary> public static MyConfig<int> StartBlowValue = 4;
/// 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值） [MyConfigComment("停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）")]
/// </summary> public static MyConfig<int> StopBlowValue = 4;
public static string StartBlowValue = "StartBlowValue"; [MyConfigComment("二维码参数文件所在路径，文件名与二维码类型名一样")]
/// <summary> public static MyConfig<string> CodeParamPath = "\\CodeParam\\";
/// 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）
/// </summary> [MyConfigComment("进出轴最大待机点，需要小于3000")]
public static string StopBlowValue = "StopBlowValue"; public static MyConfig<int> InOutDefaultPosition = 52000;
[MyConfigComment("配置的登录密码")]
/// <summary> public static MyConfig<string> Config_Pwd = "123456";
/// 配置文件路径 Data Matrix ECC 200.dcm
/// </summary> [MyConfigComment("出库等待料盘拿走的时间，秒")]
public static string CodeParamPath = "CodeParamPath"; public static MyConfig<int> OutStoreWaitSeconds = 30;
/// <summary> [MyConfigComment("温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪")]
/// 进出轴最大待机点，需要小于3000 public static MyConfig<int> HumitureControllerType = 0;
/// </summary>
public static string InOutDefaultPosition = "InOutDefaultPosition"; [MyConfigComment("是否使用零点IO模块")]
public static MyConfig<bool> UseAIOBOX = true;
public static string Config_Pwd = "Config_Pwd";
/// <summary> [MyConfigComment("伺服通讯波特率")]
/// 出库等待料盘拿走的时间，秒 public static MyConfig<int> ACBaudRate = 115200;
/// </summary>
public static string OutStoreWaitSeconds = "OutStoreWaitSeconds"; [MyConfigComment("料仓配置文件路径")]
public static MyConfig<string> Store_ConfigPath = "\\StoreConfig\\StoreConfig.csv";
/// <summary> [MyConfigComment("是否使用蜂鸣器")]
/// 温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪 public static MyConfig<bool> UseBuzzer = false;
/// </summary> [MyConfigComment("料架点位配置文件路径")]
public static string HumitureControllerType = "HumitureControllerType"; public static MyConfig<string> Shelf_Position_Config = "\\StoreConfig\\shelfPosition.csv";
public static string UseAIOBOX = "UseAIOBOX"; [MyConfigComment("")]
public static MyConfig<int> Tool_P3_Offset = 7000;
public static string LineServerIp = "LineServerIp"; [MyConfigComment("")]
public static string LineServerPort = "LineServerPort"; public static MyConfig<int> Tool_P4_Offset = -2000;
[MyConfigComment("")]
public static MyConfig<int> Tool_P5_Offset = -2000;
public static string ACBaudRate = "ACBaudRate"; [MyConfigComment("")]
public static MyConfig<int> Tool_P6_Offset = 7000;
public static string Store_ConfigPath = "Store_ConfigPath";
[MyConfigComment("")]
public static string UseBuzzer = "UseBuzzer"; public static MyConfig<int> Tool_TargetSpeed = 20;
public static string Shelf_Position_Config = "Shelf_Position_Config"; [MyConfigComment("")]
public static MyConfig<int> Tool_TargetPosition = 1835000;
[MyConfigComment("AGV调度服务器IP")]
public static string Tool_P3_Offset = "Tool_P3_Offset"; public static MyConfig<string> AgvServerIp = "172.16.77.76";
public static string Tool_P4_Offset = "Tool_P4_Offset"; [MyConfigComment("条码数量")]
public static string Tool_P5_Offset = "Tool_P5_Offset"; public static MyConfig<int> CodeCount = 3;
public static string Tool_P6_Offset = "Tool_P6_Offset"; [MyConfigComment("是否检测到料架自动入库")]
public static MyConfig<bool> AutoShelfInstore = true;
public static string Tool_TargetSpeed = "Tool_TargetSpeed"; [MyConfigComment("是否启用入料口移门")]
public static string Tool_TargetPosition = "Tool_TargetPosition"; public static MyConfig<bool> UseDoor = true;
public static string AgvServerIp = "AgvServerIp";
public static string CodeCount = "CodeCount";
public static string AutoShelfInstore = "AutoShelfInstore";
public static string UseDoor = "UseDoor";
} }
} }
source/Common/util/ConfigAppSettings.cs
...@@ -26,52 +26,18 @@ namespace OnlineStore.Common ...@@ -26,52 +26,18 @@ namespace OnlineStore.Common
Interlocked.Increment(ref seq); Interlocked.Increment(ref seq);
return seq; return seq;
} }
public static string GetValue(string key) public static string GetValue(string key,string defaultVal="")
{ {
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None); return ConfigHelper.Config.Get(key, defaultVal);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return "";
}
else
{
return config.AppSettings.Settings[key].Value;
}
} }
public static decimal GetNumValue(string key) public static decimal GetNumValue(string key)
{ {
decimal a = 0; return ConfigHelper.Config.Get<decimal>(key);
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static int GetIntValue(string key)
{
int a = 0;
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
} }
else public static int GetIntValue(string key,int val=0)
{ {
{ return ConfigHelper.Config.Get<int>(key,val);
Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
}
} return a;
} }
public static void SaveValue(string key, int value) public static void SaveValue(string key, int value)
{ {
...@@ -79,81 +45,7 @@ namespace OnlineStore.Common ...@@ -79,81 +45,7 @@ namespace OnlineStore.Common
} }
public static void SaveValue(string key, string value) public static void SaveValue(string key, string value)
{ {
try ConfigHelper.Config.Set(key, value);
{
if (key.Equals("") || value.Equals(""))
{
return;
}
//增加的内容写在appSettings段下 <add key="RegCode" value="0"/>
System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
SetValue(key, value);
}
else
{
UpdateConfig(key, value);
}
}
catch (Exception ex)
{
LogUtil.error( "SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + "," + ex.StackTrace);
}
}
/// <summary>
/// 更新配置文件信息
/// </summary>
/// <param name="name">配置文件字段名称</param>
/// <param name="Xvalue">值</param>
private static void UpdateConfig(string name, string Xvalue)
{
try
{
XmlDocument doc = new XmlDocument();
doc.Load(Application.ExecutablePath + ".config");
XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
XmlElement ele = (XmlElement)node;
ele.SetAttribute("value", Xvalue);
doc.Save(Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error( "UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + "," + ex.StackTrace);
}
}
///<summary>
///向.config文件的appKey结写入信息AppValue 保存设置
///</summary>
///<param name="AppKey">节点名</param>
///<param name="AppValue">值</param>
private static void SetValue(String AppKey, String AppValue)
{
try
{
XmlDocument xDoc = new XmlDocument();
xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
XmlNode xNode;
XmlElement xElem1;
XmlElement xElem2;
xNode = xDoc.SelectSingleNode("//appSettings");
xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
if (xElem1 != null)
xElem1.SetAttribute("value", AppValue);
else
{
xElem2 = xDoc.CreateElement("add");
xElem2.SetAttribute("key", AppKey);
xElem2.SetAttribute("value", AppValue);
xNode.AppendChild(xElem2);
}
xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error( "SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + "," + ex.StackTrace);
}
} }
} }
} }
source/Common/util/HttpHelper.cs
...@@ -120,12 +120,11 @@ namespace OnlineStore.Common ...@@ -120,12 +120,11 @@ namespace OnlineStore.Common
} }
return null; return null;
} }
private static int isLog = ConfigAppSettings.GetIntValue(Setting_Init.Server_Log_Open);
public static string LastServerMsg = ""; public static string LastServerMsg = "";
private static string PostJson(string url, string paramData, Encoding encoding, out bool isTimeOut) private static string PostJson(string url, string paramData, Encoding encoding, out bool isTimeOut)
{ {
isTimeOut = false; isTimeOut = false;
if (isLog == 1) if (Setting_Init.Log_OpenServer)
{ {
LogUtil.info("给服务器发送数据【" + paramData + "】 "); LogUtil.info("给服务器发送数据【" + paramData + "】 ");
} }
...@@ -156,7 +155,7 @@ namespace OnlineStore.Common ...@@ -156,7 +155,7 @@ namespace OnlineStore.Common
{ {
LogUtil.error("POST ERROR:" + ex.ToString(), 1); LogUtil.error("POST ERROR:" + ex.ToString(), 1);
} }
if (isLog == 1) if (Setting_Init.Log_OpenServer)
{ {
LogUtil.info("收到服务器数据【" + result + "】"); LogUtil.info("收到服务器数据【" + result + "】");
} }
...@@ -186,7 +185,7 @@ namespace OnlineStore.Common ...@@ -186,7 +185,7 @@ namespace OnlineStore.Common
} }
IsTimeOut = false; IsTimeOut = false;
if (isLog == 1) if (Setting_Init.Log_OpenServer)
{ {
LogUtil.info("给服务器发送数据【" + url + "】【" + paramData + "】 "); LogUtil.info("给服务器发送数据【" + url + "】【" + paramData + "】 ");
} }
...@@ -216,7 +215,7 @@ namespace OnlineStore.Common ...@@ -216,7 +215,7 @@ namespace OnlineStore.Common
LogUtil.error("POST [" + url + "] ERROR:" + e.ToString(), 101); LogUtil.error("POST [" + url + "] ERROR:" + e.ToString(), 101);
} }
if (isLog == 1) if (Setting_Init.Log_OpenServer)
{ {
LogUtil.info("收到服务器数据【" + result + "】"); LogUtil.info("收到服务器数据【" + result + "】");
} }
......
source/Common/util/HumitureController.cs
...@@ -24,7 +24,7 @@ namespace OnlineStore.Common ...@@ -24,7 +24,7 @@ namespace OnlineStore.Common
private static string LogName = ""; private static string LogName = "";
private static Dictionary<string, AcSerialBean> serialBeanMap = new Dictionary<string, AcSerialBean>(); private static Dictionary<string, AcSerialBean> serialBeanMap = new Dictionary<string, AcSerialBean>();
public static int HumitureControllerType = ConfigAppSettings.GetIntValue(Setting_Init.HumitureControllerType); public static int HumitureControllerType = Setting_Init.HumitureControllerType;
public static bool Init(string port) public static bool Init(string port)
{ {
if (serialBeanMap.ContainsKey(port)) if (serialBeanMap.ContainsKey(port))
......
source/Common/util/LogUtil.cs
using System; using log4net;
using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Text;
using log4net;
using System.Reflection;
using System.Drawing; using System.Drawing;
namespace OnlineStore.Common namespace OnlineStore.Common
{ {
public class LogUtil public class LogUtil
{ {
public static readonly ILog AIOLog = LogManager.GetLogger("AIOBOXLog");
private static LogUtil instance = new LogUtil();
public delegate void ShowLog(string msg, Color color); public delegate void ShowLog(string msg, Color color);
public static readonly ILog LOGGER = LogManager.GetLogger("RollingLogFileAppender"); public static readonly ILog LOGGER = LogManager.GetLogger("RollingLogFileAppender");
...@@ -29,19 +23,7 @@ namespace OnlineStore.Common ...@@ -29,19 +23,7 @@ namespace OnlineStore.Common
log.Info(" - " + msg); log.Info(" - " + msg);
AddToBox(msg, Color.Black); AddToBox(msg, Color.Black);
} }
public static void info(ILog log, string msg, Color color)
{
log.Info(" - " + msg);
AddToBox(msg, color);
}
public static void debug(ILog log, string msg, Color color)
{
log.Debug(" - " + msg);
if (debug_opened)
{
AddToBox(msg, color);
}
}
public static void debug(ILog log, string msg) public static void debug(ILog log, string msg)
{ {
log.Debug(" - " + msg); log.Debug(" - " + msg);
...@@ -125,8 +107,10 @@ namespace OnlineStore.Common ...@@ -125,8 +107,10 @@ namespace OnlineStore.Common
LastText = text; LastText = text;
if (logBox.Visible) if (logBox.Visible)
{ {
logBox.Invoke(new Action(() =>
{
logBox.Text = text; logBox.Text = text;
logBox.ForeColor = color;
// logBox.Focus(); //使文本框获取焦点 // logBox.Focus(); //使文本框获取焦点
logBox.AppendText(now.ToLongTimeString() + " " + msg + Environment.NewLine); //增加文本 logBox.AppendText(now.ToLongTimeString() + " " + msg + Environment.NewLine); //增加文本
...@@ -138,6 +122,9 @@ namespace OnlineStore.Common ...@@ -138,6 +122,9 @@ namespace OnlineStore.Common
logBox.ScrollToCaret(); //滚动到控件光标处 logBox.ScrollToCaret(); //滚动到控件光标处
} }
} }
));
}
} }
catch (Exception ex) catch (Exception ex)
{ {
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs deleted 100644 → 0
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
#region 出入库结果验证
public bool CompressSigTimeOut = false;
public bool IsScanCodeWithLockedShelf = true; //锁定的料架是否扫码
private void CheckWait()
{
List<WaitResultInfo> list = MoveInfo.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
MoveInfo.EndStepWait();
return;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, MoveInfo.MoveType);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn) ||
MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
timeOutMs = 30000;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
timeOutMs = 40000;
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs && NoAlarm())
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
if (WarnMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{
CompressSigTimeOut = true;
WarnMsg += "出库时料叉未检测到信号！";
}
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error(Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", logType + 14);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W007_ReelHeight))
{
}
else if (wait.WaitType.Equals(WaitEnum.W008_Compress))
{
//等待信号亮或者走到绝对位置才停止
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info("CheckWait 检测到" + TargetIoType + "=" + TargetIoValue + ",停止压紧轴运行");
wait.IsEnd = true;
ComAxisStopCheck();
}
else
{
bool moveOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (moveOk)
{
//TODO 判断是否达到高度，如果未达到，继续上升
wait.IsEnd = true;
ComAxisStopCheck();
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
{
wait.IsEnd = (LastScanCodes.Count > 0);
}
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{
if (wait.AgvAction.Equals((int)ClientAction.Ready))
{
//Ready时使用状态判断，arrive时需要判断料架号是否正确
ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
}
if (!wait.IsEnd && span.TotalSeconds > 10)
{
//如果是等待AGV到达，等待有料架信号也算结束
if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineTake_Check 信号，结束等待");
wait.IsEnd = true;
}
else if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineIn_Check 信号，结束等待");
wait.IsEnd = true;
}
}
else if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
LogInfo("BS_03_WaitArrive 等待agv到达Arrive，检测到 LineTake_Check和LineIn_Check都没有信号，结束等待");
wait.IsEnd = true;
}
}
}
}
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)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
if (NotOkMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{
CompressSigTimeOut = true;
NotOkMsg += "出库时料叉未检测到信号！";
}
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待 " + NotOkMsg
+ "超时[" + FormUtil.GetSpanStr(span) + "] ";
int second = 10;
second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
if (ACServerManager.isInPosition(Config.InOut_Axis, InOut_P1))
{
LogUtil.debug(Name + "进出轴当前已经在P1，不需要再回P1");
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
#endregion
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
private List<string> LastScanCodes = new List<string>();
private int ComTargetPosition = 0;
private int LastWidth = 0;
private int LastHeight = 0;
private string CurrShelfID = "";
/// <summary>
/// 最后一次使用的料架号
/// </summary>
// private string LastRfidID = "";//服务器发送的出库rfid
private InOutParam LastOutParam = new InOutParam();
private string GetLastRfid()
{
//出库料架使用，返回上次使用的料架绑定的虚拟料架号
return LastOutParam.rfid;
}
#region 入库
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 开始单盘入库
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return;
}
if (!StoreManager.LoadInoutParam(param, true, this))
{
LogUtil.error(Name + " 启动入库【" + param.ToStr() + "】出错，找不到库位信息");
return;
}
LogInfo(" 启动入库【" + param.ToStr() + "】，压紧点P2【" + param.MoveP.ComPress_P2 + "】压紧前点P3【" + param.MoveP.ComPress_P3 + "】");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(StoreMoveType.InStore, param);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
MoveInfo.SingleInstore = true;
InOutStoreLog("料架取料：" + MoveInfo.SLog + " 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();
//LastRfidID = "";
LastOutParam = new InOutParam();
}
/// <summary>
/// 开始料架入库
/// </summary>
public void StartShelfInStore()
{
bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
&& MoveInfo.MoveType.Equals(StoreMoveType.None));
if (!canStart || isInSuddenDown || isNoAirCheck || (alarmType.Equals(StoreAlarmType.None).Equals(false)))
{
return;
}
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
// EmprtShelfList = new ConcurrentQueue<string>();
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + "");
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
// DoorBean.StartOpen(MoveInfo);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + "");
}
else
{
LogInfo(" 空闲中，需要料架入库，料架入库 " + MoveInfo.SLog + "：入料口移门打开，更新 WaitShelfEnter=false");
WaitShelfEnter = false;
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
private void UpdateShelfId()
{
//读取RFID
RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = data.NumStr();
LogUtil.info(Name + "更新当前料架号CurrShelfID=【" + CurrShelfID + "】，LastRfidID=【" + GetLastRfid() + "】");
}
private void GetPosId()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("不扫码 " + MoveInfo.SLog + ": 获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
if (MoveInfo.IsShelfLocked)
{
bool result = GetPosIdByCode();
if (!result)//获取库位失败
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("锁定库位：获取入库库位失败");
}
else
{
MoveInfo.EndStepWait();
}
}
}
private void StartMoveToBag()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_51_MoveToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
private void StartSendTray(string str = "扫码失败")
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_71_ToNGDoor);
InOutStoreLog(" NG料 " + MoveInfo.SLog + "：" + str + "，升降轴到NG门口高点P12，旋转轴到NG门口P11");
//if(MoveInfo.IsShelfLocked)//锁定料架，扫码失败则清除当前位置
{
StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
}
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
}
private void StartMoveTrayBack(string str = "料盘不属于该仓库")
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：" + str + "，走到料架位置，旋转轴至P101，升降轴至P102");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料架取料盘扫码获取POSID
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_10_StartGetTray))
{
if (MoveInfo.IsShelfLocked)
{
if (MoveInfo.NextLockedShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：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，送出料架
StartShelfOut();
}
}
else
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：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，送出料架
StartShelfOut();
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：升降轴到P101低点[" + moveP.UpDown_LP101 + "]，旋转轴到P101点[" + moveP.Middle_P101 + "]，压紧轴到压紧前点p3[" + Config.CompAxis_Max_P3 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子前进到P101点[" + moveP.InOut_P101 + "]", true);
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 " + MoveInfo.SLog + "：升降轴上升到P102点[" + moveP.UpDown_HP102 + "]", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
InOutStoreLog("单盘入库，料架取料 " + MoveInfo.SLog + "：压紧轴走到压紧点P2： " + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
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_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
if (MoveInfo.SingleInstore)
{
//单盘入库，不需要扫码
StartMoveToBag();
}
else if (MoveInfo.IsShelfLocked && !IsScanCodeWithLockedShelf)
{
//该料架已锁定库位，不需要扫码,直接查询服务器
GetPosId();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_ToScanPosition);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到P2,旋转轴到P1", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_ToScanPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_22_InOutToP2);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴到P2", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码低点P1，压紧轴到压紧前点P3", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_24_InOutToP1);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴返回待机点P1", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_InOutToP1))
{
IO_VALUE io1 = IOValue(IO_Type.TrayCheck_1);
IO_VALUE io2 = IOValue(IO_Type.TrayCheck_2);
IO_VALUE io3 = IOValue(IO_Type.TrayCheck_3);
IO_VALUE io4 = IOValue(IO_Type.TrayCheck_4);
if (io3.Equals(IO_VALUE.HIGH) || io4.Equals(IO_VALUE.HIGH))
{
LastWidth = 15;
}
else if (io1.Equals(IO_VALUE.HIGH) || io2.Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 0;
LogUtil.debug("未检测到识别区料盘检测信号， 设置默认宽度=0");
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_ScanCode);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：料盘识别 [" + io1 + "] [" + io2 + "] [" + io3 + "] [" + io4 + "] ,宽度【" + LastWidth + "】，开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastScanCodes.Count <= 0)
{
Thread.Sleep(1);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_ScanCode))
{
if (LastScanCodes.Count <= 0 && LastWidth.Equals(0) && LastHeight.Equals(8))
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("扫码 " + MoveInfo.SLog + "： 扫码失败，尺寸" + LastWidth + "*" + LastHeight + "，认为没拿到料盘，继续循环料架取料盘");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_27_InoutToP2);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴到P2", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_27_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_28_GetScanPTray);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码高P2，压紧轴到压紧点P2", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_28_GetScanPTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_29_InoutBackP1);
InOutStoreLog("扫码 " + MoveInfo.SLog + "：进出轴返回", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_29_InoutBackP1))
{
if (LastScanCodes.Count <= 0)
{
StartSendTray();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("扫码 " + MoveInfo.SLog + ": 获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
bool result = GetPosIdByCode(MoveInfo.currShelfIndex, out CodeResultType codeResult);
if (!result)//获取库位失败
{
if (codeResult == CodeResultType.NotPosForPutIn)//库位不在该料仓，将该料盘放回料架
{
//MoveInfo.MoveParam.PosID = "";
StartMoveTrayBack("此料盘不属于该仓库,放回料架");
}
else//无法获取库位信息
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("获取入库库位失败");
}
}
else
{
MoveInfo.EndStepWait();
}
}
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_30_SetInstoreParam))
{
StartMoveToBag();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_51_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_52_DeviceToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_52_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_53_PutWareToBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
// 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);
ACAxisMove(Config.Comp_Axis, 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_53_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_54_DeviceBackFromBag);
InOutStoreLog("入库 " + MoveInfo.SLog + "：叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_54_DeviceBackFromBag))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_55_GoBack);
InOutStoreLog("入库 " + MoveInfo.SLog + "：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ACAxisMove(Config.Comp_Axis, 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
{
TimeSpan span = DateTime.Now - startInStoreTime;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】，旋转轴返回待机点，继续循环料架取料盘");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_55_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
if (MoveInfo.SingleInstore)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogInfo(" 【" + posId + "】单盘入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
}
else
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】继续循环料架取料盘");
}
}
#endregion
#region 把料盘送到NG逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_71_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_72_NGDoorUp);
InOutStoreLog("NG料 " + MoveInfo.SLog + "：NG升降门上升", true);
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_72_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_73_InoutToNGDoor);
InOutStoreLog("NG料 " + MoveInfo.SLog + "：进出轴到NG料门口位置P11", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_73_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_74_UpdownDown);
InOutStoreLog("NG料 " + MoveInfo.SLog + "：升降轴到P11,压紧轴到P3，放下料盘", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_74_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_75_InoutToP1);
InOutStoreLog("NG料 " + MoveInfo.SLog + "：叉子后退到P1", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_75_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_76_NGDoorDown);
InOutStoreLog("NG料 " + MoveInfo.SLog + "：关门NG料门，送出料盘结束", true);
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：NG流水线转动30s", true);
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
{
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：停止NG线体转动，继续循环料架取料盘");
}
#endregion
#region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子从出料口返回， 进出轴到P1 ", true);
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("送出料盘结束 " + MoveInfo.SLog + "： 升降轴返回，升降轴到P1，顶升下降,继续循环料架取料盘");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
#endregion
//料架进入逻辑
else if (MoveInfo.MoveStep < StoreMoveStep.BI_10_StartGetTray)
{
ShelfEnterProcess();
}
//料架送出逻辑
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogInfo(" 入库，MoveStep=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#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;
public 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 += 50;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool ComAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
ACServerManager.SuddenStop(Config.Comp_Axis);
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 + "压紧轴运动：检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
ComAxisStopCheck();
}
IsInProcess = false;
}
#endregion
#region 出库
private DateTime startOutStoreTime = DateTime.Now;
public bool IsIgnoreComSig = false; //忽略料叉压紧信号
private void StartExecuctOut(InOutParam param)
{
bool result;
if (param.urgentReel)
{
result = StartUrgentOutStoreMove(param);
}
else
{
result = StartOutStoreMove(param);
}
if (!result)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
waitOutStoreList.Enqueue(param);
}
}
/// <summary>
/// 开始出库运动
/// </summary>
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + storeRunStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck);
return false;
}
if (WaitShelfEnter)
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，WaitShelfEnter=true ，需要等待入库结束才能出库");
return false;
}
if (!StoreManager.LoadInoutParam(param, false, this))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
taskData = null;
storeStatus = StoreStatus.OutStoreExecute;
storeRunStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(StoreMoveType.OutStore, param);
LogInfo("启动出库【" + param.ToStr() + "】 ");
//出库前shelfPosID需要固定，出库时根据rfid判断是否需要出入料架
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
/// <summary>
/// 开始紧急料出库运动
/// </summary>
public bool StartUrgentOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动紧急料出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + storeRunStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck);
return false;
}
if (WaitShelfEnter)
{
LogUtil.error(Name + " 启动紧急料出库【" + param.ToStr() + "】失败，WaitShelfEnter=true ，需要等待入库结束才能出库");
return false;
}
if (!StoreManager.LoadInoutParam(param, false, this))
{
LogUtil.error(Name + " 启动紧急料出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
taskData = null;
storeStatus = StoreStatus.OutStoreExecute;
storeRunStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(StoreMoveType.OutStore, param);
LogInfo("启动紧急料出库【" + param.ToStr() + "】 ");
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("紧急料出库 " + MoveInfo.SLog + "：进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
private void SO_03_ToBagPosition()
{
LineMoveP movep = MoveInfo.MoveParam.MoveP;
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：走到库位，压紧轴至P3[" + movep.ComPress_P3 + "] ,旋转轴至P2[" + movep.Middle_P2 + "]，升降轴至P5[" + movep.UpDown_P5 + "] ,顶升上升");
ACAxisMove(Config.Comp_Axis, movep.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, movep.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, movep.UpDown_P5, Config.UpDownAxis_P5_Speed);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
protected override void OutStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 把紧急料盘送到紧急料箱逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_15_ToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_16_UrgentDoorUp);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "：升降门上升", true);
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_16_UrgentDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_17_InoutToUrgentDoor);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "：进出轴到升降门口位置P11", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_17_InoutToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_18_UpdownDown);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "：升降轴到P11,压紧轴到P3，放下料盘", true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_18_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_19_InoutToP1);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "：叉子后退到P1", true);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_19_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_20_UrgentDoorDown);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "：关闭升降门，送出料盘结束", true);
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.ShelfPosID, ShelfPosList);
//紧急料发PutFinished
if (MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, "1000A", MoveInfo.MoveParam.WareCode, CID, 1, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + "1000A" + "_" + GetLastRfid() + "] [" + 1 + "] afterPutCut 结果：" + msg);
}
}
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_20_UrgentDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_21_UrgentLineRun);
InOutStoreLog("紧急料出库 " + MoveInfo.SLog + "：流水线转动30s", true);
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_21_UrgentLineRun))
{
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
InOutStoreLog("紧急料出库 " + MoveInfo.SLog + "：停止紧急料线体转动");
bool isFinish = false;
if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog("紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "");
isFinish = true;
}
else if (taskData == null)
{
InOutStoreLog("紧急料出库完成，taskData=null");
isFinish = true;
}
}
if (!isFinish)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
LogInfo(" 【" + posId + "】 " + " 紧急料出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (StoreManager.Store.AutoShelfInstore)
{
LogInfo("紧急料还有出库任务，设置 AutoShelfInstore = false");
ConfigAppSettings.SaveValue(Setting_Init.AutoShelfInstore, 0);
StoreManager.Store.AutoShelfInstore = false;
}
}
else
{
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
#endregion
#region 出入库步骤
if (MoveInfo.MoveStep == StoreMoveStep.SO_01_InoutBack)
{
//判断是否需要送出料架，是否需要进入料架，是否可以直接开始,是否是紧急料
if (MoveInfo.MoveParam.urgentReel || MoveInfo.MoveParam.rfid.Equals(""))
{
SO_03_ToBagPosition();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_TopDown);
InOutStoreLog("出库 " + MoveInfo.SLog + "：顶升下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_02_TopDown)
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
string LastRfidID = GetLastRfid();
// if (IsRightShelfId(CurrShelfID, MoveInfo.MoveParam.realRfid))
if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
{
LogUtil.error("出库 【" + LastRfidID + "】 【" + MoveInfo.MoveParam.rfid + "，" + MoveInfo.MoveParam.realRfid + "】 同料架，开始取料");
SO_03_ToBagPosition();
return;
}
else
{
//重新记录
LogInfo(" 执行出库【" + MoveInfo.MoveParam.ToStr() + "】失败，料架号不一致，加入等待队列");
waitOutStoreList.Enqueue(MoveInfo.MoveParam);
LogUtil.error(Name + "出库 【" + LastRfidID + "】 【" + MoveInfo.MoveParam.rfid + "，" + MoveInfo.MoveParam.realRfid + "】不同料架，送出当前料架，稍后重新出库");
// MoveInfo.MoveParam.rfid = LastRfidID;
MoveInfo.NewMove(StoreMoveType.OutStore, LastOutParam);
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && (!MoveInfo.MoveParam.rfid.Equals("")))
{
if (CurrShelfID.EndsWith("00"))
{
CurrShelfID = "";
}
string mark = GetMarkInfo();
// string rfid = MoveInfo.MoveParam.rfid;
MoveInfo.NextMoveStep(StoreMoveStep.BI_00_ReadyShelf);
InOutStoreLog("出库 " + MoveInfo.SLog + "： NeedEnter[" + mark + "][" + MoveInfo.MoveParam.rfid + "]，等待agv_Arrive 或有料架，进出轴到P1");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//需要先叫agv到达
AgvClient.SetStatus(Config.AgvNodeName, mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
}
else
{
SO_03_ToBagPosition();
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToPos);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3[" + moveP.InOut_P3 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_ToPos)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel);
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6[" + moveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + moveP.ComPress_P2);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
//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 == StoreMoveStep.SO_05_GetReel)
{
// SO_06_StartCompress();
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
// int targetP = currPosition + Config.CompAxis_Down_Position;
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
//{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴至待机点P1[" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_InoutBack)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
//LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
IO_VALUE iov = IOValue(IO_Type.Compress_Check);
if (MoveInfo.MoveParam.urgentReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_15_ToUrgentDoor);
InOutStoreLog("紧急料 " + MoveInfo.SLog + "，升降轴到升降门口高点P12，旋转轴到升降门口P11");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子已到P1，Compress_Check=" + iov + "，走到料架位置，旋转轴至P101[" + moveP.Middle_P101 + "]，升降轴至P102[" + moveP.UpDown_HP102 + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
//MoveInfo.NextMoveStep(StoreMoveStep.SO_09_CheckComSig);
//InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_CheckComSig)
{
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("出库 " + MoveInfo.SLog + "：放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.ShelfPosID, ShelfPosList);
//分盘料和紧急料发PutFinished
if (MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, CurrShelfID, MoveInfo.MoveParam.WareCode, CID, posLoc, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] afterPutCut 结果：" + msg);
}
}
else
{
int newTaskCount = 0;
string msg = StoreManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, CurrShelfID + "@" + posLoc.ToString(), out newTaskCount);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] UpdateTrayLoc 结果：" + msg);
}
if (newTaskCount > MoveInfo.MoveParam.taskCount)
{
InOutStoreLog("UpdateTrayLoc 返回 newTaskCount=" + newTaskCount + ",原有 taskCount=" + MoveInfo.MoveParam.taskCount + "，使用新数据");
MoveInfo.MoveParam.taskCount = newTaskCount;
}
}
});
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_GoBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "： 升降轴返回，升降轴到P1，顶升下降");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//发送消息给流水线
// SendOutStoreEnd(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_14_GoBack)
{
//判断是否需要送出料架
bool isNeedSend = false;
string logName = "【" + CurrShelfID + "_" + GetLastRfid() + "】";
//只有rfid不为空才需要送出料架
if (String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
InOutStoreLog("出库完成，未设置rfid，不需要送出料架");
isNeedSend = false;
}
else if (MoveInfo.MoveParam.cutReel)
{
if (taskData != null && taskData.cutPackageTask <= 0)
{
InOutStoreLog(logName + "分盘料出库完成，cutPackageTask=" + taskData.cutPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "分盘料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog(logName + "紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "紧急料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.taskCount <= 0)
{
InOutStoreLog(logName + "出库完成，taskCount=" + MoveInfo.MoveParam.taskCount + " 送出料架");
isNeedSend = true;
}
if (isNeedSend)
{
StartShelfOut();
}
else
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
LogInfo(" 【" + posId + "】 " + logName + " 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (!String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
if (StoreManager.Store.AutoShelfInstore)
{
LogInfo(" 料架" + logName + "还有出库任务，设置 AutoShelfInstore = false");
ConfigAppSettings.SaveValue(Setting_Init.AutoShelfInstore, 0);
StoreManager.Store.AutoShelfInstore = false;
}
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
}
#endregion
else if (MoveInfo.MoveStep <= StoreMoveStep.SO_01_InoutBack)
{
ShelfEnterProcess();
}
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
//private void SO_06_StartCompress()
//{
// //如果检测信号亮或者当前位置大于P4，直接走相对位置
// if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || (MoveInfo.MoveParam.MoveP.ComPress_P2 >= Config.CompAxis_P4_Position))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
// int targetP = currPosition + Config.CompAxis_Down_Position;
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
// 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();
// }
//}
#endregion
}
}
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs deleted 100644 → 0
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_BOX_Bean
{
#region 料架进出料仓处理：出入库模块共用
private void BI_04_WaitTakeSingle(string moveName)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_WaitTakeSingle);
InOutStoreLog(moveName + MoveInfo.SLog + " 线体正转，等待LineIn_Check=Low, 信号LineTake_Check=High");
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
private void ShelfEnterProcess()
{
string mark = GetMarkInfo();
string moveName = "入库料架[" + CurrShelfID + "]";
bool instoreShelf = true;
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
instoreShelf = false;
moveName = "出库料架[" + CurrShelfID + "][" + mark + "]";
}
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else
{
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
InOutStoreLog(moveName + MoveInfo.SLog + " agv已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check 或LineTake_Check 信号");
AgvClient.SetStatus(Config.AgvNodeName, mark, "", ClientAction.MayEnter, ClientLevel.High, true);
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
BI_04_WaitTakeSingle(moveName);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用Agv " + Config.AgvNodeName + " FinishEnter，取料位检测到信号，继续转动");
LineRun();
AgvClient.SetStatus(Config.AgvNodeName, mark, "", ClientAction.FinishEnter, ClientLevel.High, true);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.ShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
InOutStoreLog("出库 " + MoveInfo.SLog + "： ShelfPosID未设置，默认ShelfPosID=" + MoveInfo.MoveParam.ShelfPosID);
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭 ");
DoorBean.StartClose(MoveInfo);
if (!instoreShelf)
{
InOutStoreLog("出库 " + MoveInfo.SLog + "： 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
InOutStoreLog(moveName + MoveInfo.SLog + "继续转动 7000");
LineRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{
LineStop();
UpdateShelfId();
//如果未读到料架号，将料架送出
if (CurrShelfID.EndsWith("00") && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogInfo(" 执行出库【" + MoveInfo.MoveParam.ToStr() + "】失败，料架号[" + CurrShelfID + "]无效，加入等待队列");
waitOutStoreList.Enqueue(MoveInfo.MoveParam.NewParam());
LogUtil.error(Name + "出库 料架号[" + CurrShelfID + "]无效，送出料架，稍后重新出库");
MoveInfo.MoveParam.rfid = CurrShelfID;
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
//如果该料架为入库料架，此时有出库任务，执行入库任务
if (StoreManager.CheckShelfInfo(CurrShelfID) && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogInfo(Name + "出库"+ mark + "->入库 料架号[" + CurrShelfID + "]为入库料架，进行入库");
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
mark = "0";
instoreShelf = true;
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
InOutStoreLog(moveName + MoveInfo.SLog + "停止线体，读取料架" + CurrShelfID + "，设置" + Config.AgvNodeName + "=None");
AgvClient.SetStatus(Config.AgvNodeName, mark);
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.ShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
InOutStoreLog("出库 " + MoveInfo.SLog + "： ShelfPosID未设置，默认ShelfPosID=" + MoveInfo.MoveParam.ShelfPosID);
}
// LastRfidID = MoveInfo.MoveParam.rfid;
LastOutParam = MoveInfo.MoveParam;
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else
{
LastOutParam = new InOutParam();
// LastRfidID = "";
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_09_TopCylinderUp);
InOutStoreLog(moveName + MoveInfo.SLog + "" + CurrShelfID + "顶升上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
if (!instoreShelf)
{
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6["+ MoveInfo.MoveParam.MoveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
//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_09_TopCylinderUp))
{
if (instoreShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
//获取料架的锁定状态
bool lockState = StoreManager.GetShelfLockInfo(Name, CID, CurrShelfID, out MoveInfo.shelfLockDatas);
if (lockState && MoveInfo.shelfLockDatas != null)
{
MoveInfo.IsShelfLocked = true;
if (MoveInfo.shelfLockDatas.Count.Equals(0))
InOutStoreLog(moveName + MoveInfo.SLog + "该锁定料架上的料盘不属于该料仓，即将送出锁定料架");
else
InOutStoreLog(moveName + MoveInfo.SLog + "开始到料架指定位置取料盘 ");
}
else
{
MoveInfo.IsShelfLocked = false;
InOutStoreLog(moveName + MoveInfo.SLog + "开始循环料架取料盘 ");
}
MoveInfo.EndStepWait();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴返回P1["+ MoveInfo.MoveParam.MoveP.InOut_P1 + "] ");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
//SO_06_StartCompress();
}
}
}
private void StartShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
string mark = GetMarkInfo();
InOutStoreLog("送出[" + CurrShelfID + "][" + mark + "]：顶升下降,调用 NeedLeave[" + mark + "][" + CurrShelfID + "] ");
AgvClient.NeedLeave(Config.AgvNodeName, mark, CurrShelfID);
}
else
{
InOutStoreLog("送出空料架[" + CurrShelfID + "]：顶升下降,调用 NeedLeave[0][" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
AgvClient.NeedLeave(Config.AgvNodeName, "0", CurrShelfID);
StoreManager.clearPutInRfid(Name, CurrShelfID);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
private string GetMarkInfo(string defualtMark = "0")
{
string mark = defualtMark;
//如果料架号是空，需要送到VMI线
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
if (CurrShelfID.EndsWith("00"))
{
mark = defualtMark;
}
//包装料会发往分盘区, 紧急料区, 包装线区
// urgentReel 这个为true是紧急料 出到紧急料区
// cutReel 为true是分盘料,AGV会拉到到分盘区
//料串会发到分盘区和紧急料区
//两个都为false 包装料默认拉到包装线体, 料串默认拉到紧急料区
else if (MoveInfo.MoveParam.urgentReel)
{
//紧急料，需要到紧急料区
mark = MoveInfo.MoveParam.rfid + ",urgent";
}
else if (MoveInfo.MoveParam.cutReel)
{
//cutReel 为true是分盘料,AGV会拉到到分盘区
mark = MoveInfo.MoveParam.rfid + ",cut";
}
else
{
mark = MoveInfo.MoveParam.rfid + ",pack";
}
}
return mark;
}
private void ShelfOutProcess()
{
string mark = GetMarkInfo();
string moveName = "送出空料架[" + CurrShelfID + "]";
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
moveName = "送出[" + CurrShelfID + "][" + mark + "]";
}
// LogCPU();
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
InOutStoreLog(moveName + MoveInfo.SLog + " ：定位气缸下降");
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
MoveInfo.TimeOutSeconds = 600;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave[" + mark + "][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
//agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
}
else
{
//如果料架已被拉出，也算结束
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
AgvClient.SetToNone(Config.AgvNodeName);
//如果agv未到达，直接结束
MoveEndToRuningStatus();
//EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已离开，出库结束，设置" + Config.AgvNodeName + "=None");
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)span.TotalMilliseconds + 30000));
InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，再等待30秒");
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitReady);
MoveInfo.TimeOutSeconds = 120;
InOutStoreLog(moveName + MoveInfo.SLog + "：移门已打开，调用 MayLeave [" + mark + "][" + CurrShelfID + "]，等待agv " + Config.AgvNodeName + " Ready");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayLeave, ClientLevel.High, true);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Ready));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitReady))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog(moveName + MoveInfo.SLog + "：收到agv " + Config.AgvNodeName + " Ready ，线体开始反转");
LineBackRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_LineBackRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitShelfOut);
InOutStoreLog(moveName + MoveInfo.SLog + "：等待取料工位无信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitShelfOut))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitLineIn);
InOutStoreLog(moveName + MoveInfo.SLog + "：等待 入料口有信号，最多等待30秒");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_WaitTime);
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动1000 ， 等待入料口无信号，清理RFID");
RFIDManager.ReadRFID(Config.RFID_IP, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_10_WaitAGVLeave);
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(180000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitDoorClose());
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_10_WaitAGVLeave))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_11_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, mark, CurrShelfID, ClientAction.FinishLeave, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop();
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_11_CloseDoor))
{
//结束
MoveEndToRuningStatus();
AgvClient.SetStatus(Config.AgvNodeName);
//EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：料架" + CurrShelfID + "已离开 ，设置" + Config.AgvNodeName + "=None，清理rfid");
RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = "";
LastOutParam = new InOutParam();
//LastRfidID = "";
}
}
#endregion
#region AGV
internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
{
string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
//Arrive收到后打开门
if (!action.Equals(ClientAction.Arrive))
{
LogUtil.info(Name + logN + " ，未找到相关处理");
return false;
}
//出库处理中不处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (!rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
Task.Factory.StartNew(new Action(()=> {
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}));
return false;
}
//等待空车到达
LogUtil.info(Name + logN + ",当前 BS_03_WaitEmptyAgv，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog("送出料架等待空车" + MoveInfo.SLog + "：agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
Task.Factory.StartNew(new Action(() => {
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvNodeName, mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
}));
return false;
}
//出库等待料架到达
LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
InOutStoreLog("出库等待料架" + MoveInfo.SLog + " agv已到达，打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
//agv到达，开始处理
if (rfid.Equals(""))
{
LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
return false;
}
LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
StartShelfInStore();
return true;
}
else
{
LogUtil.error(Name + logN + " ，[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]未找到相关处理");
}
return false;
}
#endregion
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private string CodeMsg = "";
private bool isInProcess = false;
private DateTime lastConTime = DateTime.Now;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
TimeSpan span = DateTime.Now - lastConTime;
if (span.TotalSeconds < 60)
{
return;
}
}
isInProcess = true;
lastConTime = DateTime.Now;
try
{
////HumitureController.QueryData();
//humBean.HumidityProcess(this);
//if (StoreManager.IsConnectServer)
//{
// SendLineStatus();
//}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时SendLineStatus出错：" + ex.ToString());
}
finally
{
isInProcess = false;
}
}
/// <summary>
/// 获取整个料仓的状态
/// </summary>
public Operation getLineBoxStatus()
{
//构建发送给服务器的对象
Operation lineOperation = new Operation();
lineOperation.msg = "";
lineOperation.alarmList = new List<AlarmInfo>();
lineOperation.cid = CID;
lineOperation.seq = ConfigAppSettings.nextSeq();
lineOperation.status = 1;
if (WarnMsg != "")
{
lineOperation.status = (int)StoreStatus.Warning;
lineOperation.msg = WarnMsg;
}
lineOperation.status = (int)StoreStatus.StoreOnline;
BoxStatus boxStatus = new BoxStatus();
boxStatus.boxId = 1;
boxStatus.msg = WarnMsg;
lineOperation.msg = WarnMsg;
if (WarnMsg.Equals(""))
{
boxStatus.msg = CodeMsg;
lineOperation.msg = CodeMsg;
}
CodeMsg = "";
//WarnMsg = "";
//状态
boxStatus.status = (int)storeStatus;
if (IsDebug)
{
boxStatus.status = (int)StoreStatus.Debugging;
}
else if (storeStatus.Equals(StoreStatus.OutStoreBoxEnd) || storeStatus.Equals(StoreStatus.InStoreEnd))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
}
else if (!lastPosId.Equals(""))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.status = (int)lastPosIdStatus;
if (lastPosId != "")
{
LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + lastPosIdStatus + "】posId【" + lastPosId + "】");
}
lastPosId = "";
}
//温湿度
//ASTemperateParam param = HumitureServer.GetTemperateParam(Config.Temperate_Serveraddress);
HumitureParam param = humBean.LastData;
if (param != null)
{
boxStatus.humidity = param.Humidity.ToString();
boxStatus.temperature = param.Temperate.ToString();
}
lineOperation.boxStatus.Add(1, boxStatus);
if (!alarmType.Equals(StoreAlarmType.None))
{
lineOperation.alarmList.Add(alarmInfo);
}
return lineOperation;
}
public void SendLineStatus()
{
DateTime time = DateTime.Now;
//构建发送给服务器的对象
Operation lineOperation = getLineBoxStatus();
//如果还没湿度范围，先获取
if (humBean.NeedGetTem())
{
lineOperation.op = 5;
LogUtil.error(Name + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op, DeviceID + 105);
}
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), lineOperation, false);
//发送状态信息到服务器
if (resultOperation == null || (resultOperation.op <= 0))
{
//判断服务端是否返回出库操作
return;
}
if (resultOperation.op.Equals(1))
{
// ReviceInStoreProcess("", resultOperation);
}
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");
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
private void ReviceOutStoreProcess(Operation resultOperation)
{
DateTime time = DateTime.Now;
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId)
&& data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
char splitChar = '|';
string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
string realRfid = data.ContainsKey(ParamDefine.realRfid) ? data[ParamDefine.realRfid] : "";
int taskCount = FormUtil.GetIntData(data, ParamDefine.taskCount, 0);
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线, 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
string dataStr = JsonHelper.SerializeObject(data);
LogUtil.info("收到服务器出库消息：【" + dataStr + "】");
int index = -1;
foreach (string posId in posIdArray)
{
index++;
int plateW = Convert.ToInt32( plateWArray[index]);
int plateH =Convert.ToInt32( plateHArray[index]);
string shelfPosID = StoreManager.GetShelfIDByLoc(rfidLoc, ShelfPosList);
InOutParam inoutParam = new InOutParam(barcode, posId, shelfPosID, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc, taskCount, realRfid);
//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 = Name + "未找到库位：【" + inoutParam.ToStr() + "】";
LogUtil.error(WarnMsg);
continue;
}
try
{
//判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，正在【" + posId + "】出库中");
continue;
}
//判断排队列表中是否已存在
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
if (reviceList.Count > 0)
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
}
StartExecuctOut(inoutParam);
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogInfo(Name + "执行 ReviceOutStoreProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
}
#endregion
#region 扫码获取库位
/// <summary>
/// 数据接收
/// </summary>
/// <param name="message"></param>
private bool GetPosIdByCode()
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
//string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
string message = MoveInfo.shelfLockDatas[MoveInfo.currShelfIndex].barcode;
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", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(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];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//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;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置["+p2+"]["+p3+"] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
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;
}
/// <summary>
/// 扫码枪数据接收
/// </summary>
/// <param name="codeResultType">扫码结果</param>
/// <returns></returns>
public enum CodeResultType
{
/// <summary>
/// 未扫到二维码
/// </summary>
NoCode,
/// <summary>
/// 设备未启动
/// </summary>
DeviceNotOpen,
/// <summary>
///未收到服务器反馈
/// </summary>
NotResponseFromServer,
WarnMsg,
/// <summary>
/// 未找到库位
/// </summary>
NotFoundPos,
/// <summary>
/// 不属于该仓位
/// </summary>
NotPosForPutIn,
Error,
Success
}
private bool GetPosIdByCode(int rfidLoc, out CodeResultType codeResultType)
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "未扫到二维码";
LogInfo("未扫到二维码");
codeResultType = CodeResultType.NoCode;
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");
codeResultType = CodeResultType.DeviceNotOpen;
return false;
}
// CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
LogUtil.debug (Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
//查询该料盘所在料仓以及仓位
StoreManager.ResultType resultType = StoreManager.GetPosForPutIn(Name, Config, message, CurrShelfID, rfidLoc, out bool isLockInfoMatch);
if (resultType == StoreManager.ResultType.Error)
{
codeResultType = CodeResultType.Error;
return false;
}
else if(resultType == StoreManager.ResultType.NotInThisBox)
{
codeResultType = CodeResultType.NotPosForPutIn;
return false;
}
if (!isLockInfoMatch && MoveInfo.IsShelfLocked)//锁定信息不匹配则从第一层开始重新取料,一个料架只重新开始一次
{
MoveInfo.IsShelfLocked = false;
MoveInfo.currShelfIndex = -1;
LogUtil.info(Name + "该锁定料架" + CurrShelfID + "上的料盘信息不匹配，即将从开始位置循环取料");
}
//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", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.PostJson(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！");
codeResultType = CodeResultType.NotResponseFromServer;
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);
codeResultType = CodeResultType.WarnMsg;
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];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//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 + "】");
codeResultType = CodeResultType.NotFoundPos;
return false;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置[" + p2 + "][" + p3 + "] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
codeResultType = CodeResultType.Success;
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);
}
codeResultType = CodeResultType.Error;
return false;
}
#endregion
}
}
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -69,13 +69,18 @@ ...@@ -69,13 +69,18 @@
<Reference Include="System.Xml" /> <Reference Include="System.Xml" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="ACPackingStore\AC_BOX_Bean.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_server_connect.cs" />
<Compile Include="ACPackingStore\AC_BOX_Bean_Partial.cs" /> <Compile Include="PackingStore\AC_BOX_Bean.cs" />
<Compile Include="ACPackingStore\AC_BOX_Bean_Shelf.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_OutStore.cs" />
<Compile Include="ACPackingStore\EnteryDoorBean.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_InStore.cs" />
<Compile Include="ACPackingStore\HumitureBean.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_Partial.cs" />
<Compile Include="ACPackingStore\PackingStoreBean.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_AGV.cs" />
<Compile Include="ACPackingStore\StoreManager.cs" /> <Compile Include="PackingStore\AC_BOX_Bean_ScanCode.cs" />
<Compile Include="PackingStore\AC_BOX_Bean_Shelf.cs" />
<Compile Include="PackingStore\EnteryDoorBean.cs" />
<Compile Include="PackingStore\HumitureBean.cs" />
<Compile Include="PackingStore\PackingStoreBean.cs" />
<Compile Include="PackingStore\StoreManager.cs" />
<Compile Include="agvClient\AgvClient.cs" /> <Compile Include="agvClient\AgvClient.cs" />
<Compile Include="device\halcon\CodeManager.cs" /> <Compile Include="device\halcon\CodeManager.cs" />
<Compile Include="device\IO\AIOBOX\AIOBOXManager.cs" /> <Compile Include="device\IO\AIOBOX\AIOBOXManager.cs" />
...@@ -96,7 +101,7 @@ ...@@ -96,7 +101,7 @@
<Compile Include="store\InOutParam.cs"> <Compile Include="store\InOutParam.cs">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
<Compile Include="store\model\StoreMoveInfo.cs"> <Compile Include="store\model\DeviceMoveInfo.cs">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
<Compile Include="store\KTK_Store.cs" /> <Compile Include="store\KTK_Store.cs" />
...@@ -110,6 +115,10 @@ ...@@ -110,6 +115,10 @@
</Content> </Content>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ProjectReference Include="..\..\..\..\..\CSharp-Workspace\MyProject\DLL\ConfigHelper\ConfigHelper\ConfigHelper.csproj">
<Project>{290182DB-D949-434E-9FF7-C59BDE3F433A}</Project>
<Name>ConfigHelper</Name>
</ProjectReference>
<ProjectReference Include="..\Common\Common.csproj"> <ProjectReference Include="..\Common\Common.csproj">
<Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project> <Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project>
<Name>Common</Name> <Name>Common</Name>
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs → source/DeviceLibrary/PackingStore/AC_BOX_Bean.cs
...@@ -45,6 +45,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -45,6 +45,11 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public bool WaitShelfEnter=false; public bool WaitShelfEnter=false;
private int logType = 1000; private int logType = 1000;
/// <summary>
/// 当前料架编号
/// </summary>
private string CurrShelfID = "";
public AC_BOX_Bean(AC_BOX_Config config) public AC_BOX_Bean(AC_BOX_Config config)
{ {
Init(); Init();
...@@ -92,8 +97,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -92,8 +97,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
mainTimer.Enabled = false; mainTimer.Enabled = false;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun); if (Setting_Init.App_AutoRun)
if (isAuto == 1)
{ {
mainTimer.Enabled = true; mainTimer.Enabled = true;
} }
...@@ -266,7 +270,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -266,7 +270,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LineStop(); LineStop();
ACAxisHomeMove(Config.InOut_Axis); ACAxisHomeMove(Config.InOut_Axis);
AgvClient.SetStatus(Config.AgvNodeName,"","",ClientAction.None,ClientLevel.High,true); setAgvStatus("","",ClientAction.None,ClientLevel.High,true);
} }
/// <summary> /// <summary>
...@@ -460,7 +464,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -460,7 +464,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public override void StopRun() public override void StopRun()
{ {
AgvClient.SetStatus(Config.AgvNodeName); setAgvStatus();
lastPosId = ""; lastPosId = "";
lastPosIdStatus = StoreStatus.StoreOnline; lastPosIdStatus = StoreStatus.StoreOnline;
WarnMsg = ""; WarnMsg = "";
...@@ -698,7 +702,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -698,7 +702,7 @@ namespace OnlineStore.DeviceLibrary
} }
if (IsDebug) if (IsDebug)
{ {
AgvClient.SetStatus(Config.AgvNodeName); setAgvStatus();
} }
else else
{ {
...@@ -836,7 +840,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -836,7 +840,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public override void StopMove() public override void StopMove()
{ {
AgvClient.SetStatus(Config.AgvNodeName); setAgvStatus();
DoorBean.Stop(); DoorBean.Stop();
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW); IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
MoveInfo.EndMove(); MoveInfo.EndMove();
......
source/DeviceLibrary/PackingStore/AC_BOX_Bean_AGV.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_BOX_Bean
{
/// <summary>
/// 设置出入口AGV状态
/// </summary>
/// <param name="mark"></param>
/// <param name="shelfId"></param>
/// <param name="action"></param>
/// <param name="level"></param>
/// <param name="isMust"></param>
void setAgvStatus(string mark = "0", string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
{
AgvClient.SetStatus(Config.AgvNodeName, mark, shelfId, action, level, isMust);
}
internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
{
string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
//Arrive收到后打开门
if (!action.Equals(ClientAction.Arrive))
{
LogUtil.info(Name + logN + " ，未找到相关处理");
return false;
}
//出库处理中不处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (!rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
Task.Factory.StartNew(new Action(()=> {
setAgvStatus(mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
setAgvStatus(mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}));
return false;
}
//等待空车到达
LogUtil.info(Name + logN + ",当前 BS_03_WaitEmptyAgv，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog("送出料架等待空车，agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
Task.Factory.StartNew(new Action(() => {
setAgvStatus(mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
setAgvStatus(mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
}));
return false;
}
//出库等待料架到达
LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
InOutStoreLog("出库等待料架，agv已到达，打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
//agv到达，开始处理
if (rfid.Equals(""))
{
LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
return false;
}
LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
StartShelfInStore();
return true;
}
else
{
LogUtil.error(Name + logN + " ，[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]未找到相关处理");
}
return false;
}
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_InStore.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 入库NG的料架位置
/// </summary>
List<string> inNGShelfPos = new List<string>();
void addNGShelfPos(string shelfPos)
{
inNGShelfPos.Add(shelfPos);
}
/// <summary>
/// 清空料架NG位置信息
/// </summary>
void clearNGShelfPos()
{
inNGShelfPos.Clear();
LogInfo("清空料架NG位置信息");
}
string getNGShelfPos()
{
return string.Join(",", inNGShelfPos);
}
/// <summary>
/// 是否是入库NG料架
/// </summary>
/// <returns></returns>
bool isNGShelf()
{
return inNGShelfPos.Count > 0;
}
/// <summary>
/// 清空最后一盘的信息
/// </summary>
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
/// <summary>
/// 开始单盘入库
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return;
}
if (!StoreManager.LoadInoutParam(param, true, this))
{
LogUtil.error(Name + " 启动入库【" + param.ToStr() + "】出错，找不到库位信息");
return;
}
InOutStoreLog(" 启动入库【" + param.ToStr() + "】，压紧点P2【" + param.MoveP.ComPress_P2 + "】压紧前点P3【" + param.MoveP.ComPress_P3 + "】");
setStatus(StoreRunStatus.Busy, StoreStatus.InStoreExecute);
MoveInfo.NewMove(StoreMoveType.InStore, param);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
MoveInfo.SingleInstore = true;
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();
//LastRfidID = "";
LastOutParam = new InOutParam();
}
private void GetPosId()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("不扫码 : 获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
if (MoveInfo.IsShelfLocked)
{
bool result = GetPosIdByCode();
if (!result)//获取库位失败
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("锁定库位：获取入库库位失败");
}
else
{
MoveInfo.EndStepWait();
}
}
}
private void StartMoveToBag()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_51_MoveToBag);
InOutStoreLog("到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
/// <summary>
/// 入库失败料盘处理
/// </summary>
/// <param name="str"></param>
private void StartSendTray(string str = "扫码失败")
{
StartMoveTrayBack(str);
//MoveInfo.NextMoveStep(StoreMoveStep.BI_71_ToNGDoor);
//InOutStoreLog("NG料，升降轴到NG门口高点P12，旋转轴到NG门口P11");
////if(MoveInfo.IsShelfLocked)//锁定料架，扫码失败则清除当前位置
//{
// StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
//}
//ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
//ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
}
/// <summary>
/// 将料盘送回原位
/// </summary>
/// <param name="str"></param>
private void StartMoveTrayBack(string str = "料盘不属于该仓库")
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
addNGShelfPos(MoveInfo.MoveParam.CurShelfPosID);
InOutStoreLog($"送出料盘 ：{str} ，走到料架位置，旋转轴至P101，升降轴至P102");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料架取料盘扫码获取POSID
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_10_StartGetTray))
{
if (MoveInfo.IsShelfLocked)
{
if (MoveInfo.NextLockedShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
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，送出料架
StartShelfOut();
}
}
else
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
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，送出料架
StartShelfOut();
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料，升降轴到P101低点[" + moveP.UpDown_LP101 + "]，旋转轴到P101点[" + moveP.Middle_P101 + "]，压紧轴到压紧前点p3[" + Config.CompAxis_Max_P3 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, 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[" + moveP.InOut_P101 + "]");
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[" + moveP.UpDown_HP102 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
InOutStoreLog("单盘入库，料架取料，压紧轴走到压紧点P2： " + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
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_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
InOutStoreLog("料架取料，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
if (MoveInfo.SingleInstore)
{
//单盘入库，不需要扫码
StartMoveToBag();
}
else if (MoveInfo.IsShelfLocked && !IsScanCodeWithLockedShelf)
{
//该料架已锁定库位，不需要扫码,直接查询服务器
GetPosId();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_ToScanPosition);
InOutStoreLog("扫码，升降轴到P2,旋转轴到P1");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_ToScanPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_22_InOutToP2);
InOutStoreLog("扫码，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
InOutStoreLog("扫码，升降轴到扫码低点P1，压紧轴到压紧前点P3");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_24_InOutToP1);
InOutStoreLog("扫码，进出轴返回待机点P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_InOutToP1))
{
IO_VALUE io1 = IOValue(IO_Type.TrayCheck_1);
IO_VALUE io2 = IOValue(IO_Type.TrayCheck_2);
IO_VALUE io3 = IOValue(IO_Type.TrayCheck_3);
IO_VALUE io4 = IOValue(IO_Type.TrayCheck_4);
if (io3.Equals(IO_VALUE.HIGH) || io4.Equals(IO_VALUE.HIGH))
{
LastWidth = 15;
}
else if (io1.Equals(IO_VALUE.HIGH) || io2.Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 0;
LogUtil.error("未检测到识别区料盘检测信号， 设置默认宽度=0");
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_ScanCode);
InOutStoreLog("扫码,料盘识别 [" + io1 + "] [" + io2 + "] [" + io3 + "] [" + io4 + "] ,宽度【" + LastWidth + "】，开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastScanCodes.Count <= 0)
{
Thread.Sleep(1);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_ScanCode))
{
if (LastScanCodes.Count <= 0 && LastWidth.Equals(0) && LastHeight.Equals(8))
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("扫码，扫码失败，尺寸" + LastWidth + "*" + LastHeight + "，认为没拿到料盘，继续循环料架取料盘");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_27_InoutToP2);
InOutStoreLog("扫码，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_27_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_28_GetScanPTray);
InOutStoreLog("扫码，升降轴到扫码高P2，压紧轴到压紧点P2");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_28_GetScanPTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_29_InoutBackP1);
InOutStoreLog("扫码，进出轴返回");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_29_InoutBackP1))
{
if (LastScanCodes.Count <= 0)
{
StartSendTray();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("扫码 ，获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
bool result = GetPosIdByCode(MoveInfo.currShelfIndex, out CodeResultType codeResult);
if (!result)//获取库位失败
{
if (codeResult == CodeResultType.NotPosForPutIn)//库位不在该料仓，将该料盘放回料架
{
//MoveInfo.MoveParam.PosID = "";
StartMoveTrayBack("此料盘不属于该仓库,放回料架");
}
else//无法获取库位信息
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("获取入库库位失败");
}
}
else
{
MoveInfo.EndStepWait();
}
}
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_30_SetInstoreParam))
{
StartMoveToBag();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_51_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_52_DeviceToBag);
InOutStoreLog("叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_52_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_53_PutWareToBag);
InOutStoreLog("放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
// 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);
ACAxisMove(Config.Comp_Axis, 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_53_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_54_DeviceBackFromBag);
InOutStoreLog("叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_54_DeviceBackFromBag))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_55_GoBack);
InOutStoreLog("返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ACAxisMove(Config.Comp_Axis, 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
{
TimeSpan span = DateTime.Now - startInStoreTime;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】，旋转轴返回待机点，继续循环料架取料盘");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_55_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
if (MoveInfo.SingleInstore)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
InOutStoreLog(" 【" + posId + "】单盘入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
}
else
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】继续循环料架取料盘");
}
}
#endregion
#region 把料盘送到NG口逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_71_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_72_NGDoorUp);
InOutStoreLog("NG料，NG升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_72_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_73_InoutToNGDoor);
InOutStoreLog("NG料，进出轴到NG料门口位置P11");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_73_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_74_UpdownDown);
InOutStoreLog("NG料，升降轴到P11,压紧轴到P3，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_74_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_75_InoutToP1);
InOutStoreLog("NG料，叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_75_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_76_NGDoorDown);
InOutStoreLog("NG料，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_76_NGDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun);
InOutStoreLog("料架入库，NG流水线转动30s");
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
{
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，停止NG线体转动，继续循环料架取料盘");
}
#endregion
#region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("送出料盘，叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("送出料盘，放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("送出料盘，叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("送出料盘结束，升降轴返回，升降轴到P1，顶升下降,继续循环料架取料盘");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
#endregion
//料架进入逻辑
else if (MoveInfo.MoveStep < StoreMoveStep.BI_10_StartGetTray)
{
ShelfEnterProcess();
}
//料架送出逻辑
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
InOutStoreLog("没有对应的处理！");
}
}
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_OutStore.cs 0 → 100644
using Asa;
using log4net.Core;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
private DateTime startOutStoreTime = DateTime.Now;
public bool IsIgnoreComSig = false; //忽略料叉压紧信号
private void StartExecuctOut(InOutParam param)
{
bool result;
result = StartOutStoreMove(param);
if (!result)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
waitOutStoreList.Enqueue(param);
}
}
/// <summary>
/// 开始出库运动
/// </summary>
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
if (!canOutStore(out string msg))
{
LogError(" 启动出库【" + param.ToStr() + "】失败：" + msg);
return false;
}
if (!StoreManager.LoadInoutParam(param, false, this))
{
LogError(" 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
taskData = null;
setStatus(StoreRunStatus.Busy, StoreStatus.OutStoreExecute);
MoveInfo.NewMove(StoreMoveType.OutStore, param);
LogInfo("启动出库【" + param.ToStr() + "】 ");
//出库前shelfPosID需要固定，出库时根据rfid判断是否需要出入料架
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
private void SO_03_ToBagPosition()
{
LineMoveP movep = MoveInfo.MoveParam.MoveP;
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToPosition);
InOutStoreLog("走到库位，压紧轴至P3[" + movep.ComPress_P3 + "] ,旋转轴至P2[" + movep.Middle_P2 + "]，升降轴至P5[" + movep.UpDown_P5 + "] ,顶升上升");
ACAxisMove(Config.Comp_Axis, movep.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, movep.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, movep.UpDown_P5, Config.UpDownAxis_P5_Speed);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
protected override void OutStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 关闭 把紧急料盘送到NG料箱逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_15_ToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_16_UrgentDoorUp);
InOutStoreLog("紧急料 升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_16_UrgentDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_17_InoutToUrgentDoor);
InOutStoreLog("紧急料 进出轴到升降门口位置P11");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_17_InoutToUrgentDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_18_UpdownDown);
InOutStoreLog("紧急料 升降轴到P11,压紧轴到P3，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_18_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_19_InoutToP1);
InOutStoreLog("紧急料 叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_19_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_20_UrgentDoorDown);
InOutStoreLog("紧急料 关闭升降门，送出料盘结束");
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.CurShelfPosID, ShelfPosList);
//紧急料发PutFinished
if (MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, "1000A", MoveInfo.MoveParam.WareCode, CID, 1, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + "1000A" + "_" + GetLastRfid() + "] [" + 1 + "] afterPutCut 结果：" + msg);
}
}
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_20_UrgentDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_21_UrgentLineRun);
InOutStoreLog("紧急料出库 流水线转动30s");
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_21_UrgentLineRun))
{
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
InOutStoreLog("紧急料出库 停止紧急料线体转动");
bool isFinish = false;
if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog("紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "");
isFinish = true;
}
else if (taskData == null)
{
InOutStoreLog("紧急料出库完成，taskData=null");
isFinish = true;
}
}
if (!isFinish)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
InOutStoreLog(" 【" + posId + "】 " + " 紧急料出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (StoreManager.Store.AutoShelfInstore)
{
InOutStoreLog("紧急料还有出库任务，设置 AutoShelfInstore = false");
Setting_Init.AutoShelfInstore = false;
StoreManager.Store.AutoShelfInstore = false;
}
}
else
{
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
#endregion
#region 出库料架检查
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_01_StartGetTray))
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_02_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
{
//所有位置已检查完，准备出库
MoveInfo.currShelfIndex = -1;
//恢复当前需要出库的位置
MoveInfo.MoveParam.RestoreShelfPosId();
SO_03_ToBagPosition();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_02_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_03_MoveToShelf);
InOutStoreLog("料架取料，升降轴到P101低点[" + moveP.UpDown_LP101 + "]，旋转轴到P101点[" + moveP.Middle_P101 + "]，压紧轴到压紧前点p3[" + Config.CompAxis_Max_P3 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_03_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_04_InoutToP101);
InOutStoreLog("料架取料，叉子前进到P101点[" + moveP.InOut_P101 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_04_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_05_UpdownToP102);
InOutStoreLog("料架取料，升降轴上升到P102点[" + moveP.UpDown_HP102 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_05_UpdownToP102))
{
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_06_StartCompress);
InOutStoreLog("料架取料，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
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.SO_PreCheck_06_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_07_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_08_InoutBack);
InOutStoreLog("料架取料，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_08_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_14_GetCheckResult);
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_09_ToScanPosition);
// InOutStoreLog("检测治具，升降轴到P2,旋转轴到P1");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//}
}
#region 无需到相机拍照位
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_09_ToScanPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_10_InOutToP2);
InOutStoreLog("检测治具，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_10_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_11_PutTrayDown);
InOutStoreLog("检测治具，升降轴到扫码低点P1，压紧轴到压紧前点P3");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_11_PutTrayDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_12_InOutToP1);
InOutStoreLog("检测治具，进出轴返回待机点P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_12_InOutToP1))
{
IO_VALUE io1 = IOValue(IO_Type.TrayCheck_1);
IO_VALUE io2 = IOValue(IO_Type.TrayCheck_2);
IO_VALUE io3 = IOValue(IO_Type.TrayCheck_3);
IO_VALUE io4 = IOValue(IO_Type.TrayCheck_4);
if (io3.Equals(IO_VALUE.HIGH) || io4.Equals(IO_VALUE.HIGH))
{
LastWidth = 15;
}
else if (io1.Equals(IO_VALUE.HIGH) || io2.Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 0;
LogUtil.error("未检测到识别区料盘检测信号， 设置默认宽度=0");
}
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_13_CheckFix);
InOutStoreLog("检测治具,料盘识别 [" + io1 + "] [" + io2 + "] [" + io3 + "] [" + io4 + "] ,宽度【" + LastWidth + "】，开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate//治具识别
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastScanCodes.Count <= 0)
{
Thread.Sleep(1);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_13_CheckFix))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_14_GetCheckResult);
}
#endregion
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_14_GetCheckResult))
{
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.LOW))// && LastHeight.Equals(8)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_01_StartGetTray);
InOutStoreLog("检测治具，未检测到治具，认为OK，继续循环料架取料盘");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_15_InoutToP2);
addNGShelfPos(MoveInfo.MoveParam.CurShelfPosID);
InOutStoreLog("检测治具，检测到治具,认为料架为NG，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_15_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_16_GetScanPTray);
InOutStoreLog("检测治具，检测到治具,升降轴到扫码高P2，压紧轴到压紧点P2");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_16_GetScanPTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_17_InoutBackP1);
InOutStoreLog("检测治具，检测到治具,进出轴返回");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_17_InoutBackP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_18_ToShelfPosition);
InOutStoreLog("检测治具，检测到治具,叉子已到P1，走到料架位置，旋转轴至P101[" + moveP.Middle_P101 + "]，升降轴至P102[" + moveP.UpDown_HP102 + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_18_ToShelfPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_19_ToShelf);
InOutStoreLog("检测治具，检测到治具,叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_19_ToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_20_PutReel);
InOutStoreLog("检测治具，检测到治具,放下物品，压紧轴到P1，升降轴至P101");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_20_PutReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_21_InoutBack);
InOutStoreLog("检测治具，检测到治具,叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_21_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_22_GoBack);
InOutStoreLog("检测治具，检测到治具,升降轴返回，升降轴到P1，顶升下降");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//发送消息给流水线
// SendOutStoreEnd(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_PreCheck_22_GoBack)
{
StartShelfOut();
}
#endregion
#region 出库步骤
if (MoveInfo.MoveStep == StoreMoveStep.SO_01_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_TopDown);
InOutStoreLog("顶升下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_02_TopDown)
{
bool hasShelf = IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH);
if (hasShelf)
{
string LastRfidID = GetLastRfid();
// if (IsRightShelfId(CurrShelfID, MoveInfo.MoveParam.realRfid))
if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
{
LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 同料架，开始取料");
SO_03_ToBagPosition();
return;
}
else
{
//重新记录
LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 不同料架，送出当前料架，稍后重新出库");
waitOutStoreList.Enqueue(MoveInfo.MoveParam);
// MoveInfo.MoveParam.rfid = LastRfidID;
MoveInfo.NewMove(StoreMoveType.OutStore, LastOutParam);
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
}
else if (!hasShelf && (!MoveInfo.MoveParam.rfid.Equals("")))
{
if (CurrShelfID.EndsWith("00"))
{
CurrShelfID = "";
}
string mark = GetMarkInfo();
// string rfid = MoveInfo.MoveParam.rfid;
MoveInfo.NextMoveStep(StoreMoveStep.BI_00_ReadyShelf);
clearNGShelfPos();
InOutStoreLog("呼叫agv送空料架，NeedEnter[" + mark + "][" + MoveInfo.MoveParam.rfid + "]，等待agv_Arrive 或有料架，进出轴到P1");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//需要先叫agv到达
setAgvStatus(mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
}
else
{
LogRunStepError($"未找到处理的步骤,当前：LineTake_Check={hasShelf},{MoveInfo.MoveParam.ToStr()}");
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToPos);
InOutStoreLog("叉子进入库位中， 进出轴至P3[" + moveP.InOut_P3 + "] ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_ToPos)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel);
InOutStoreLog("拿起物品，升降轴至P6[" + moveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + moveP.ComPress_P2);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
//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 == StoreMoveStep.SO_05_GetReel)
{
// SO_06_StartCompress();
//}
//else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
// int targetP = currPosition + Config.CompAxis_Down_Position;
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
//{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("进出轴至待机点P1[" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_InoutBack)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
//LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
IO_VALUE iov = IOValue(IO_Type.Compress_Check);
//if (MoveInfo.MoveParam.urgentReel)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_15_ToUrgentDoor);
// InOutStoreLog("紧急料 " + MoveInfo.SLog + "，升降轴到升降门口高点P12，旋转轴到升降门口P11");
// ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
//}
//else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("叉子已到P1，Compress_Check=" + iov + "，走到料架位置，旋转轴至P101[" + moveP.Middle_P101 + "]，升降轴至P102[" + moveP.UpDown_HP102 + "] ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
//MoveInfo.NextMoveStep(StoreMoveStep.SO_09_CheckComSig);
//InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_CheckComSig)
{
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
{
IsIgnoreComSig = false;
CompressSigTimeOut = false;
LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("走到料架位置，旋转轴至P101，升降轴至P102 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
taskData = null;
Task.Factory.StartNew(delegate
{
int posLoc = StoreManager.GetShelfPosIndex(MoveInfo.MoveParam.CurShelfPosID, ShelfPosList);
//分盘料和紧急料发PutFinished
if (MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
{
string msg = StoreManager.afterPutCut(Name, CurrShelfID, MoveInfo.MoveParam.WareCode, CID, posLoc, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] afterPutCut 结果：" + msg);
}
}
else
{
int newTaskCount = 0;
string msg = StoreManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, CurrShelfID + "@" + posLoc.ToString(), out newTaskCount);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "[" + MoveInfo.MoveParam.WareCode + "] [" + CurrShelfID + "_" + GetLastRfid() + "] [" + posLoc + "] UpdateTrayLoc 结果：" + msg);
}
if (newTaskCount > MoveInfo.MoveParam.taskCount)
{
InOutStoreLog("UpdateTrayLoc 返回 newTaskCount=" + newTaskCount + ",原有 taskCount=" + MoveInfo.MoveParam.taskCount + "，使用新数据");
MoveInfo.MoveParam.taskCount = newTaskCount;
}
}
});
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_GoBack);
InOutStoreLog("升降轴返回，升降轴到P1，顶升下降");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//发送消息给流水线
// SendOutStoreEnd(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_14_GoBack)
{
//判断是否需要送出料架
bool isNeedSend = false;
string logName = "【" + CurrShelfID + "_" + GetLastRfid() + "】";
//只有rfid不为空才需要送出料架
if (String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
InOutStoreLog("出库完成，未设置rfid，不需要送出料架");
isNeedSend = false;
}
else if (MoveInfo.MoveParam.cutReel)
{
if (taskData != null && taskData.cutPackageTask <= 0)
{
InOutStoreLog(logName + "分盘料出库完成，cutPackageTask=" + taskData.cutPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "分盘料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.urgentReel)
{
if (taskData != null && taskData.urgentPackageTask <= 0)
{
InOutStoreLog(logName + "紧急料出库完成，urgentPackageTask=" + taskData.urgentPackageTask + "，送出料架");
isNeedSend = true;
}
else if (taskData == null)
{
InOutStoreLog(logName + "紧急料出库完成，taskData=null，送出料架");
isNeedSend = true;
}
}
else if (MoveInfo.MoveParam.taskCount <= 0)
{
InOutStoreLog(logName + "出库完成，taskCount=" + MoveInfo.MoveParam.taskCount + " 送出料架");
isNeedSend = true;
}
if (isNeedSend)
{
StartShelfOut();
}
else
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
storeStatus = StoreStatus.StoreOnline;
LogInfo(" 【" + posId + "】 " + logName + " 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
if (!String.IsNullOrEmpty(MoveInfo.MoveParam.rfid))
{
if (StoreManager.Store.AutoShelfInstore)
{
LogInfo(" 料架" + logName + "还有出库任务，设置 AutoShelfInstore = false");
Setting_Init.AutoShelfInstore = false;
StoreManager.Store.AutoShelfInstore = false;
}
}
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
}
}
#endregion
else if (MoveInfo.MoveStep <= StoreMoveStep.SO_01_InoutBack)
{
ShelfEnterProcess();
}
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
//private void SO_06_StartCompress()
//{
// //如果检测信号亮或者当前位置大于P4，直接走相对位置
// if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || (MoveInfo.MoveParam.MoveP.ComPress_P2 >= Config.CompAxis_P4_Position))
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
// int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
// int targetP = currPosition + Config.CompAxis_Down_Position;
// InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
// ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
// }
// else
// {
// MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
// InOutStoreLog("出库 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
// 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();
// }
//}
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_Partial.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
/// <summary>
/// 设置设备运行状态
/// </summary>
/// <param name="runStatus"></param>
void setStoreRunStatus(StoreRunStatus runStatus)
{
storeRunStatus = runStatus;
LogInfo($"设置设备运行状态:{storeRunStatus.ToString()}");
}
/// <summary>
/// 设置设备状态
/// </summary>
/// <param name="status"></param>
void setStoreStatus(StoreStatus status)
{
storeStatus = status;
LogInfo($"设置设备状态:{storeStatus.ToString()}");
}
void setStatus(StoreRunStatus runStatus, StoreStatus status)
{
setStoreRunStatus(runStatus);
setStoreStatus(status);
}
/// <summary>
/// 设备是否空闲
/// </summary>
/// <returns></returns>
bool isIdle()
{
return storeRunStatus.Equals(StoreRunStatus.Runing) && (MoveInfo?.MoveType.Equals(StoreMoveType.None) ?? false);
}
/// <summary>
/// 获取料架备注
/// 包含料信息
/// </summary>
/// <param name="defualtMark"></param>
/// <returns></returns>
private string GetMarkInfo(string defualtMark = "0")
{
string mark = defualtMark;
//如果料架号是空，需要送到VMI线
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
if (CurrShelfID.EndsWith("00"))
{
mark = defualtMark;
}
else if(isNGShelf())
{
mark = MoveInfo.MoveParam.rfid + ",ng";
}
//包装料会发往分盘区, 紧急料区, 包装线区
// urgentReel 这个为true是紧急料 出到紧急料区
// cutReel 为true是分盘料,AGV会拉到到分盘区
//料串会发到分盘区和紧急料区
//两个都为false 包装料默认拉到包装线体, 料串默认拉到紧急料区
else if (MoveInfo.MoveParam.urgentReel)
{
//紧急料，需要到紧急料区
mark = MoveInfo.MoveParam.rfid + ",urgent";
}
else if (MoveInfo.MoveParam.cutReel)
{
//cutReel 为true是分盘料,AGV会拉到到分盘区
mark = MoveInfo.MoveParam.rfid + ",cut";
}
else
{
mark = MoveInfo.MoveParam.rfid + ",pack";
}
}
else if (MoveInfo.MoveType.Equals(StoreMoveType.InStore) && isNGShelf())
{
mark = MoveInfo.MoveParam.rfid + ",ng";
}
return mark;
}
/// <summary>
/// 设备是否可以动作
/// </summary>
/// <param name="msg"></param>
/// <returns></returns>
bool canStartMove(out string msg)
{
StringBuilder sb = new StringBuilder();
if (isInSuddenDown)
sb.Append("急停中;");
if (isNoAirCheck)
sb.Append("未检测到气压信号;");
if (!isIdle())
{
sb.Append("忙碌中;");
}
msg = sb.ToString();
if (!string.IsNullOrEmpty(msg))
return false;
return true;
}
bool canInStore(out string msg)
{
msg = "";
return true;
}
bool canOutStore(out string msg)
{
if(canStartMove(out msg))
{
if (WaitShelfEnter)
{
msg+="有入库料架在路上";
return false;
}
}
return true;
}
#region 出入库结果验证
public bool CompressSigTimeOut = false;
public bool IsScanCodeWithLockedShelf = true; //锁定的料架是否扫码
private void CheckWait()
{
List<WaitResultInfo> list = MoveInfo.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
string NotOkMsg = "";
if (list.Count <= 0)
{
MoveInfo.EndStepWait();
return;
}
bool isOk = true;
if (MoveInfo.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, MoveInfo.MoveType);
break;
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn) ||
MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
timeOutMs = 30000;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
timeOutMs = 40000;
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs && NoAlarm())
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
if (WarnMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{
CompressSigTimeOut = true;
WarnMsg += "出库时料叉未检测到信号！";
}
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error(Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", logType + 14);
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W007_ReelHeight))
{
}
else if (wait.WaitType.Equals(WaitEnum.W008_Compress))
{
//等待信号亮或者走到绝对位置才停止
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info("CheckWait 检测到" + TargetIoType + "=" + TargetIoValue + ",停止压紧轴运行");
wait.IsEnd = true;
ComAxisStopCheck();
}
else
{
bool moveOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (moveOk)
{
//TODO 判断是否达到高度，如果未达到，继续上升
wait.IsEnd = true;
ComAxisStopCheck();
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
{
wait.IsEnd = (LastScanCodes.Count > 0);
}
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{
if (wait.AgvAction.Equals((int)ClientAction.Ready))
{
//Ready时使用状态判断，arrive时需要判断料架号是否正确
ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
}
if (!wait.IsEnd && span.TotalSeconds > 10)
{
//如果是等待AGV到达，等待有料架信号也算结束
if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineTake_Check 信号，结束等待");
wait.IsEnd = true;
}
else if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待agv到达Arrive，检测到 LineIn_Check 信号，结束等待");
wait.IsEnd = true;
}
}
else if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
LogInfo("BS_03_WaitArrive 等待agv到达Arrive，检测到 LineTake_Check和LineIn_Check都没有信号，结束等待");
wait.IsEnd = true;
}
}
}
}
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)
{
isOk = true;
break;
}
}
else
{
if (!MoveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
MoveInfo.EndStepWait();
}
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{
if (NotOkMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{
CompressSigTimeOut = true;
NotOkMsg += "出库时料叉未检测到信号！";
}
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待 " + NotOkMsg
+ "超时[" + FormUtil.GetSpanStr(span) + "] ";
int second = 10;
second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120)
{
second = 120;
}
else if (second < 10)
{
second = 10;
}
LogUtil.error(WarnMsg, logType + 100, second);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, MoveInfo.MoveType);
}
}
private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
if (ACServerManager.isInPosition(Config.InOut_Axis, InOut_P1))
{
LogUtil.debug(Name + "进出轴当前已经在P1，不需要再回P1");
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
#endregion
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
private List<string> LastScanCodes = new List<string>();
private int ComTargetPosition = 0;
private int LastWidth = 0;
private int LastHeight = 0;
/// <summary>
/// 最后一次使用的料架号
/// </summary>
// private string LastRfidID = "";//服务器发送的出库rfid
private InOutParam LastOutParam = new InOutParam();
private string GetLastRfid()
{
//出库料架使用，返回上次使用的料架绑定的虚拟料架号
return LastOutParam.rfid;
}
#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;
public 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 += 50;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool ComAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
ACServerManager.SuddenStop(Config.Comp_Axis);
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 + "压紧轴运动：检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
ComAxisStopCheck();
}
IsInProcess = false;
}
#endregion
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_ScanCode.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_BOX_Bean
{
#region 扫码获取库位
/// <summary>
/// 数据接收
/// </summary>
/// <param name="message"></param>
private bool GetPosIdByCode()
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
//string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
string message = MoveInfo.shelfLockDatas[MoveInfo.currShelfIndex].barcode;
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", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = Setting_Init.http_server;
Operation resultOperation = HttpHelper.PostJson(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];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//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;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置["+p2+"]["+p3+"] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
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;
}
/// <summary>
/// 扫码枪数据接收
/// </summary>
/// <param name="codeResultType">扫码结果</param>
/// <returns></returns>
public enum CodeResultType
{
/// <summary>
/// 未扫到二维码
/// </summary>
NoCode,
/// <summary>
/// 设备未启动
/// </summary>
DeviceNotOpen,
/// <summary>
///未收到服务器反馈
/// </summary>
NotResponseFromServer,
WarnMsg,
/// <summary>
/// 未找到库位
/// </summary>
NotFoundPos,
/// <summary>
/// 不属于该仓位
/// </summary>
NotPosForPutIn,
Error,
Success
}
private bool GetPosIdByCode(int rfidLoc, out CodeResultType codeResultType)
{
try
{
if (LastWidth <= 0)
{
LastWidth = 7;
}
string message = StoreManager.ProcessCode(LastWidth, LastHeight, LastScanCodes);
if (message.Equals("") || string.IsNullOrEmpty(message))
{
CodeMsg = "未扫到二维码";
LogInfo("未扫到二维码");
codeResultType = CodeResultType.NoCode;
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");
codeResultType = CodeResultType.DeviceNotOpen;
return false;
}
// CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
LogUtil.debug (Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
//查询该料盘所在料仓以及仓位
StoreManager.ResultType resultType = StoreManager.GetPosForPutIn(Name, Config, message, CurrShelfID, rfidLoc, out bool isLockInfoMatch);
if (resultType == StoreManager.ResultType.Error)
{
codeResultType = CodeResultType.Error;
return false;
}
else if(resultType == StoreManager.ResultType.NotInThisBox)
{
codeResultType = CodeResultType.NotPosForPutIn;
return false;
}
if (!isLockInfoMatch && MoveInfo.IsShelfLocked)//锁定信息不匹配则从第一层开始重新取料,一个料架只重新开始一次
{
MoveInfo.IsShelfLocked = false;
MoveInfo.currShelfIndex = -1;
LogUtil.info(Name + "该锁定料架" + CurrShelfID + "上的料盘信息不匹配，即将从开始位置循环取料");
}
//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", 1.ToString() }, { ParamDefine.rfid, CurrShelfID } };
string server = Setting_Init.http_server;
Operation resultOperation = HttpHelper.PostJson(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！");
codeResultType = CodeResultType.NotResponseFromServer;
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);
codeResultType = CodeResultType.WarnMsg;
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];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//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 + "】");
codeResultType = CodeResultType.NotFoundPos;
return false;
}
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置[" + p2 + "][" + p3 + "] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
codeResultType = CodeResultType.Success;
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);
}
codeResultType = CodeResultType.Error;
return false;
}
#endregion
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_Shelf.cs 0 → 100644
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 料架进出料仓处理：出入库模块共用
/// </summary>
public partial class AC_BOX_Bean
{
/// <summary>
/// 开始料架入库
/// </summary>
public void StartShelfInStore()
{
bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
&& MoveInfo.MoveType.Equals(StoreMoveType.None));
if (!canStart || isInSuddenDown || isNoAirCheck || (alarmType.Equals(StoreAlarmType.None).Equals(false)))
{
return;
}
clearNGShelfPos();
setStatus(StoreRunStatus.Busy, StoreStatus.InStoreExecute);
// EmprtShelfList = new ConcurrentQueue<string>();
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 ");
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
// DoorBean.StartOpen(MoveInfo);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 ");
}
else
{
LogInfo(" 空闲中，需要料架入库，料架入库 " + "：入料口移门打开，更新 WaitShelfEnter=false");
WaitShelfEnter = false;
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
private void ShelfEnterProcess()
{
string mark = GetMarkInfo();
string moveName = "入库料架[" + CurrShelfID + "]";
bool instoreShelf = true;
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
instoreShelf = false;
moveName = "出库料架[" + CurrShelfID + "][" + mark + "]";
}
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else
{
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
LogRunStepInfo($"{moveName} AGV已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
LogRunStepInfo($"{moveName}调用AgvClient.MayEnter，线体正转，等待LineIn_Check 或LineTake_Check 信号");
setAgvStatus(mark, "", ClientAction.MayEnter, ClientLevel.High, true);
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{
BI_04_WaitTakeSingle(moveName);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
LogRunStepInfo($"{moveName}调用Agv Config.AgvNodeName FinishEnter，取料位检测到信号，继续转动");
LineRun();
setAgvStatus(mark, "", ClientAction.FinishEnter, ClientLevel.High, true);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogRunStepInfo($"{moveName}入料口移门关闭 ");
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
LogRunStepInfo($"{moveName}继续转动 7000ms");
LineRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{
LineStop();
UpdateShelfId();
//如果未读到料架号，将料架送出
if (CurrShelfID.EndsWith("00") && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogRunStepInfo($" 执行出库【{MoveInfo.MoveParam.ToStr()}】失败，料架号[{CurrShelfID}]无效，加入等待队列并送出料架，稍后重新出库");
waitOutStoreList.Enqueue(MoveInfo.MoveParam.NewParam());
MoveInfo.MoveParam.rfid = CurrShelfID;
//送出料架，并且记录出库信息，等会重新出库
StartShelfOut();
return;
}
//如果该料架为入库料架，此时有出库任务，执行入库任务
if (StoreManager.CheckShelfInfo(CurrShelfID) && MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
LogRunStepInfo($"出库 {mark}->入库 料架号[{CurrShelfID}]为入库料架，进行入库");
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
mark = "0";
instoreShelf = true;
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
LogRunStepInfo($"{moveName}停止线体，读取料架{CurrShelfID}，设置{Config.AgvNodeName}=None");
setAgvStatus(mark);
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
if (!instoreShelf)
{
if (MoveInfo.MoveParam.CurShelfPosID.Equals(""))
{
MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
LogRunStepInfo($"ShelfPosID未设置，默认ShelfPosID={MoveInfo.MoveParam.CurShelfPosID}");
}
// LastRfidID = MoveInfo.MoveParam.rfid;
LastOutParam = MoveInfo.MoveParam;
}
else
{
LastOutParam = new InOutParam();
// LastRfidID = "";
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_09_TopCylinderUp);
LogRunStepInfo(moveName + CurrShelfID + "顶升上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp))
{
if (instoreShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
//获取料架的锁定状态
bool lockState = StoreManager.GetShelfLockInfo(Name, CID, CurrShelfID, out MoveInfo.shelfLockDatas);
if (lockState && MoveInfo.shelfLockDatas != null)
{
MoveInfo.IsShelfLocked = true;
if (MoveInfo.shelfLockDatas.Count.Equals(0))
LogRunStepInfo(moveName + "该锁定料架上的料盘不属于该料仓，即将送出锁定料架");
else
LogRunStepInfo(moveName + "开始到料架指定位置取料盘 ");
}
else
{
MoveInfo.IsShelfLocked = false;
LogRunStepInfo(moveName + "开始循环料架取料盘 ");
}
MoveInfo.EndStepWait();
}
else
{
if (string.IsNullOrEmpty(StoreManager.FindRealRfidByTempRfid(MoveInfo.MoveParam.rfid)))
{
//新料架，检查料架上是否有治具
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_01_StartGetTray);
}
else
{
SO_03_ToBagPosition();
}
}
}
}
private void UpdateShelfId()
{
//读取RFID
RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = data.NumStr();
LogRunStepInfo("更新当前料架号CurrShelfID=【" + CurrShelfID + "】，LastRfidID=【" + GetLastRfid() + "】");
}
/// <summary>
/// 等待取料位检测到信号
/// </summary>
/// <param name="moveName"></param>
private void BI_04_WaitTakeSingle(string moveName)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_WaitTakeSingle);
LogRunStepInfo($"{moveName} 线体正转，等待LineIn_Check=Low, 信号LineTake_Check=High");
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
/// <summary>
/// 所有料盘已取料完成，送出料架
/// </summary>
private void StartShelfOut()
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
string mark = GetMarkInfo();
LogRunStepInfo("送出[" + CurrShelfID + "][" + mark + "]：顶升下降,调用 NeedLeave[" + mark + "][" + CurrShelfID + "] ");
AgvClient.NeedLeave(Config.AgvNodeName, mark, CurrShelfID);
}
else
{
LogRunStepInfo("送出空料架[" + CurrShelfID + "]：顶升下降,调用 NeedLeave[0][" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
AgvClient.NeedLeave(Config.AgvNodeName, "0", CurrShelfID);
StoreManager.clearPutInRfid(Name, CurrShelfID);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
private void ShelfOutProcess()
{
string mark = GetMarkInfo();
string moveName = "送出入库料架[" + CurrShelfID + "][" + mark + "]";
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
moveName = "送出出库料架[" + CurrShelfID + "][" + mark + "]";
}
// LogCPU();
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
LogRunStepInfo(moveName + "定位气缸下降");
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
MoveInfo.TimeOutSeconds = 600;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
LogRunStepInfo(moveName + "再次调用 NeedLeave[" + mark + "][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
setAgvStatus(mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
//agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
LogRunStepInfo(moveName + "agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
}
else
{
//如果料架已被拉出，也算结束
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
AgvClient.SetToNone(Config.AgvNodeName);
//如果agv未到达，直接结束
MoveEndToRuningStatus();
//EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + "等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已离开，出库结束，设置" + Config.AgvNodeName + "=None");
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)span.TotalMilliseconds + 30000));
LogRunStepInfo(moveName + "等待Agv " + Config.AgvNodeName + " Arrive超时，再等待30秒");
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitReady);
MoveInfo.TimeOutSeconds = 120;
LogRunStepInfo(moveName + "移门已打开，调用 MayLeave [" + mark + "][" + CurrShelfID + "]，等待agv " + Config.AgvNodeName + " Ready");
setAgvStatus(mark, CurrShelfID, ClientAction.MayLeave, ClientLevel.High, true);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Ready));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitReady))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LogRunStepInfo(moveName + "收到agv " + Config.AgvNodeName + " Ready ，线体开始反转");
LineBackRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_LineBackRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitShelfOut);
LogRunStepInfo(moveName + "等待取料工位无信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitShelfOut))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitLineIn);
LogRunStepInfo(moveName + "等待 入料口有信号，最多等待30秒");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitLineIn))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_WaitTime);
LogRunStepInfo(moveName + "再转动1000 ， 等待入料口无信号，清理RFID");
RFIDManager.ReadRFID(Config.RFID_IP, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_10_WaitAGVLeave);
MoveInfo.TimeOutSeconds = 180;
LogRunStepInfo(moveName + "等待DoorClose事件,最多等待180000 ");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitDoorClose());
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_10_WaitAGVLeave))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_11_CloseDoor);
LogRunStepInfo(moveName + "停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
setAgvStatus(mark, CurrShelfID, ClientAction.FinishLeave, ClientLevel.High, true);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop();
DoorBean.StartClose(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_11_CloseDoor))
{
//结束
MoveEndToRuningStatus();
setAgvStatus();
//EmprtShelfList = new ConcurrentQueue<string>();
LogRunStepInfo(moveName + "料架" + CurrShelfID + $"已离开[{getNGShelfPos()}]，设置" + Config.AgvNodeName + "=None，清理rfid");
clearNGShelfPos();
RFIDManager.ReadRFID(Config.RFID_IP, true);
CurrShelfID = "";
LastOutParam = new InOutParam();
//LastRfidID = "";
}
}
}
}
source/DeviceLibrary/PackingStore/AC_BOX_Bean_server_connect.cs 0 → 100644

using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
/// </summary>
public partial class AC_BOX_Bean
{
private string CodeMsg = "";
private bool isInProcess = false;
private DateTime lastConTime = DateTime.Now;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
if (isInProcess)
{
TimeSpan span = DateTime.Now - lastConTime;
if (span.TotalSeconds < 60)
{
return;
}
}
isInProcess = true;
lastConTime = DateTime.Now;
try
{
////HumitureController.QueryData();
//humBean.HumidityProcess(this);
//if (StoreManager.IsConnectServer)
//{
// SendLineStatus();
//}
}
catch (Exception ex)
{
LogUtil.error(Name + "定时SendLineStatus出错：" + ex.ToString());
}
finally
{
isInProcess = false;
}
}
/// <summary>
/// 获取整个料仓的状态
/// </summary>
public Operation getLineBoxStatus()
{
//构建发送给服务器的对象
Operation lineOperation = new Operation();
lineOperation.msg = "";
lineOperation.alarmList = new List<AlarmInfo>();
lineOperation.cid = CID;
lineOperation.seq = ConfigAppSettings.nextSeq();
lineOperation.status = 1;
if (WarnMsg != "")
{
lineOperation.status = (int)StoreStatus.Warning;
lineOperation.msg = WarnMsg;
}
lineOperation.status = (int)StoreStatus.StoreOnline;
BoxStatus boxStatus = new BoxStatus();
boxStatus.boxId = 1;
boxStatus.msg = WarnMsg;
lineOperation.msg = WarnMsg;
if (WarnMsg.Equals(""))
{
boxStatus.msg = CodeMsg;
lineOperation.msg = CodeMsg;
}
CodeMsg = "";
//WarnMsg = "";
//状态
boxStatus.status = (int)storeStatus;
if (IsDebug)
{
boxStatus.status = (int)StoreStatus.Debugging;
}
else if (storeStatus.Equals(StoreStatus.OutStoreBoxEnd) || storeStatus.Equals(StoreStatus.InStoreEnd))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
}
else if (!lastPosId.Equals(""))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.status = (int)lastPosIdStatus;
if (lastPosId != "")
{
LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + lastPosIdStatus + "】posId【" + lastPosId + "】");
}
lastPosId = "";
}
//温湿度
//ASTemperateParam param = HumitureServer.GetTemperateParam(Config.Temperate_Serveraddress);
HumitureParam param = humBean.LastData;
if (param != null)
{
boxStatus.humidity = param.Humidity.ToString();
boxStatus.temperature = param.Temperate.ToString();
}
lineOperation.boxStatus.Add(1, boxStatus);
if (!alarmType.Equals(StoreAlarmType.None))
{
lineOperation.alarmList.Add(alarmInfo);
}
return lineOperation;
}
public void SendLineStatus()
{
DateTime time = DateTime.Now;
//构建发送给服务器的对象
Operation lineOperation = getLineBoxStatus();
//如果还没湿度范围，先获取
if (humBean.NeedGetTem())
{
lineOperation.op = 5;
LogUtil.error(Name + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op, DeviceID + 105);
}
string server = Setting_Init.http_server;
Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), lineOperation, false);
//发送状态信息到服务器
if (resultOperation == null || (resultOperation.op <= 0))
{
//判断服务端是否返回出库操作
return;
}
if (resultOperation.op.Equals(1))
{
// ReviceInStoreProcess("", resultOperation);
}
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");
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
private void ReviceOutStoreProcess(Operation resultOperation)
{
DateTime time = DateTime.Now;
Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId)
&& data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{
char splitChar = '|';
string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
string realRfid = data.ContainsKey(ParamDefine.realRfid) ? data[ParamDefine.realRfid] : "";
int taskCount = FormUtil.GetIntData(data, ParamDefine.taskCount, 0);
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线, 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
string dataStr = JsonHelper.SerializeObject(data);
LogUtil.info("收到服务器出库消息：【" + dataStr + "】");
int index = -1;
foreach (string posId in posIdArray)
{
index++;
int plateW = Convert.ToInt32(plateWArray[index]);
int plateH = Convert.ToInt32(plateHArray[index]);
string shelfPosID = StoreManager.GetShelfIDByLoc(rfidLoc, ShelfPosList);
InOutParam inoutParam = new InOutParam(barcode, posId, shelfPosID, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc, taskCount, realRfid);
//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 = Name + "未找到库位：【" + inoutParam.ToStr() + "】";
LogUtil.error(WarnMsg);
continue;
}
try
{
//判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，正在【" + posId + "】出库中");
continue;
}
//判断排队列表中是否已存在
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
if (reviceList.Count > 0)
{
LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
}
StartExecuctOut(inoutParam);
}
TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10)
{
LogInfo(Name + "执行 ReviceOutStoreProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
}
}
}
}
}
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/ACPackingStore/EnteryDoorBean.cs → source/DeviceLibrary/PackingStore/EnteryDoorBean.cs
...@@ -101,9 +101,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -101,9 +101,9 @@ namespace OnlineStore.DeviceLibrary
} }
} }
public bool StartOpen(StoreMoveInfo moveInfo) public bool StartOpen(DeviceMoveInfo moveInfo)
{ {
bool UseDoor = ConfigAppSettings.GetIntValue(Setting_Init.UseDoor).Equals(1); bool UseDoor = Setting_Init.UseDoor;
if (!UseDoor) if (!UseDoor)
{ {
return false; return false;
...@@ -124,9 +124,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -124,9 +124,9 @@ namespace OnlineStore.DeviceLibrary
return Start(IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Open); return Start(IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Open);
} }
public bool StartClose(StoreMoveInfo moveInfo) public bool StartClose(DeviceMoveInfo moveInfo)
{ {
bool UseDoor = ConfigAppSettings.GetIntValue(Setting_Init.UseDoor).Equals(1); bool UseDoor = Setting_Init.UseDoor;
if (!UseDoor) if (!UseDoor)
{ {
return false; return false;
......
source/DeviceLibrary/ACPackingStore/HumitureBean.cs → source/DeviceLibrary/PackingStore/HumitureBean.cs
...@@ -65,8 +65,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -65,8 +65,8 @@ namespace OnlineStore.DeviceLibrary
public bool TempOrHumidityIsAlarm = false; public bool TempOrHumidityIsAlarm = false;
public DateTime TempAlarmTime = DateTime.Now; public DateTime TempAlarmTime = DateTime.Now;
private float StartBlowValue = (float)ConfigAppSettings.GetNumValue(Setting_Init.StartBlowValue); private float StartBlowValue = (float)Setting_Init.StartBlowValue;
private float StopBlowValue = (float)ConfigAppSettings.GetNumValue(Setting_Init.StopBlowValue); private float StopBlowValue = (float)Setting_Init.StopBlowValue;
public string currTempStr = ""; public string currTempStr = "";
internal void HumidityProcess(AC_BOX_Bean box) internal void HumidityProcess(AC_BOX_Bean box)
{ {
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs → source/DeviceLibrary/PackingStore/PackingStoreBean.cs
...@@ -29,8 +29,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -29,8 +29,11 @@ namespace OnlineStore.DeviceLibrary
public Dictionary<int, AC_BOX_Bean> BoxMap = new Dictionary<int, AC_BOX_Bean>(); public Dictionary<int, AC_BOX_Bean> BoxMap = new Dictionary<int, AC_BOX_Bean>();
public Store_Config Config { get; set; } public Store_Config Config { get; set; }
public bool UseBuzzer = ConfigAppSettings.GetIntValue(Setting_Init.UseBuzzer).Equals(1); public bool UseBuzzer = Setting_Init.UseBuzzer;
public bool AutoShelfInstore = ConfigAppSettings.GetIntValue(Setting_Init.AutoShelfInstore).Equals(1); /// <summary>
/// 入口有料架自动入库
/// </summary>
public bool AutoShelfInstore = Setting_Init.AutoShelfInstore;
List<string> rfidList = new List<string>(); List<string> rfidList = new List<string>();
#region 初始化 #region 初始化
...@@ -49,7 +52,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -49,7 +52,7 @@ namespace OnlineStore.DeviceLibrary
this.Config = lineConfig; this.Config = lineConfig;
this.DeviceID = lineConfig.DeviceID; this.DeviceID = lineConfig.DeviceID;
MoveInfo = new StoreMoveInfo(DeviceID); MoveInfo = new DeviceMoveInfo(DeviceID);
Name = (" Store_" + Config.CID + " ").ToUpper(); Name = (" Store_" + Config.CID + " ").ToUpper();
List<string> ioList = new List<string>(); List<string> ioList = new List<string>();
...@@ -324,7 +327,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -324,7 +327,7 @@ namespace OnlineStore.DeviceLibrary
{ {
//取新的Io状态 //取新的Io状态
IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN); IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN);
if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1)) if (Setting_Init.App_AutoRun)
{ {
if (autoSingle.Equals(IO_VALUE.HIGH) && lastAutoRun.Equals(IO_VALUE.LOW)) if (autoSingle.Equals(IO_VALUE.HIGH) && lastAutoRun.Equals(IO_VALUE.LOW))
{ {
......
source/DeviceLibrary/ACPackingStore/StoreManager.cs → source/DeviceLibrary/PackingStore/StoreManager.cs
...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
public static Store_Config Config = null; public static Store_Config Config = null;
public static Dictionary<int, BaseConfig> AllConfigMap = null; public static Dictionary<int, BaseConfig> AllConfigMap = null;
private static bool isInit = false; private static bool isInit = false;
public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals(""); public static bool IsConnectServer = !Setting_Init.http_server.Equals("");
public StoreManager() public StoreManager()
{ {
} }
...@@ -55,7 +55,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -55,7 +55,7 @@ namespace OnlineStore.DeviceLibrary
BaseConfig.ProIOIpMap = new Dictionary<string, string>(); BaseConfig.ProIOIpMap = new Dictionary<string, string>();
if (!isInit) if (!isInit)
{ {
string server = ConfigAppSettings.GetValue(Setting_Init.http_server); string server = Setting_Init.http_server;
if (server.Equals("")) if (server.Equals(""))
{ {
IsConnectServer = false; IsConnectServer = false;
...@@ -69,31 +69,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -69,31 +69,29 @@ namespace OnlineStore.DeviceLibrary
CheckEnum(typeof(StoreRunStatus)); CheckEnum(typeof(StoreRunStatus));
isInit = true; isInit = true;
string storeType = ConfigAppSettings.GetValue(Setting_Init.Store_Type); string storeType = Setting_Init.Store_Type;
int count = ConfigAppSettings.GetIntValue(Setting_Init.store_count); int count = Setting_Init.store_count;
LogUtil.info("配置的料仓 类型=" + storeType + "，开始加载料仓配置"); LogUtil.info("配置的料仓 类型=" + storeType + "，开始加载料仓配置");
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
string CID = ConfigAppSettings.GetValue(Setting_Init.Store_CID);
Dictionary<int, AC_BOX_Config> storeConfig = new Dictionary<int, AC_BOX_Config>(); Dictionary<int, AC_BOX_Config> storeConfig = new Dictionary<int, AC_BOX_Config>();
if (storeType == StoreType.RC_AC_PA) if (storeType == StoreType.RC_AC_PA)
{ {
string linefilePath = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_ConfigPath); string linefilePath = appPath + Setting_Init.Store_ConfigPath;
Config = CSVConfigReader.LoadLineConfig(0, CID, "Line", linefilePath); Config = CSVConfigReader.LoadLineConfig(0, Setting_Init.Store_CID, "Line", linefilePath);
AllConfigMap.Add(0, Config); AllConfigMap.Add(0, Config);
string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.BOX_ConfigPath); string moveEquipConfig = Setting_Init.BOX_ConfigPath;
for (int i = 1; i <= count; i++) for (int i = 1; i <= count; i++)
{ {
string nameStr = i.ToString().PadLeft(1, '0'); string nameStr = i.ToString().PadLeft(1, '0');
string config = appPath + moveEquipConfig.Replace(".csv", "_" + nameStr + ".csv"); string config = appPath + moveEquipConfig.Replace(".csv", "_" + nameStr + ".csv");
string storeIdConfig = Setting_Init.Store_CID + "_" + i; string boxCid = ConfigAppSettings.GetValue("Store_CID" + "_" + i, "packing-");
string boxCid = ConfigAppSettings.GetValue(storeIdConfig);
AC_BOX_Config moveConfig = CSVConfigReader.LoadBoxConfig(i, boxCid, "BOX", config); AC_BOX_Config moveConfig = CSVConfigReader.LoadBoxConfig(i, boxCid, "BOX", config);
AllConfigMap.Add(i, moveConfig); AllConfigMap.Add(i, moveConfig);
storeConfig.Add(i, moveConfig); storeConfig.Add(i, moveConfig);
} }
string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config); string positionConfigFile = appPath + Setting_Init.Store_Position_Config;
if (count > 1 || (!File.Exists(positionConfigFile))) if (count > 1 || (!File.Exists(positionConfigFile)))
{ {
for (int i = 1; i <= count; i++) for (int i = 1; i <= count; i++)
...@@ -111,7 +109,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -111,7 +109,7 @@ namespace OnlineStore.DeviceLibrary
} }
string shelfConfig = appPath + ConfigAppSettings.GetValue(Setting_Init.Shelf_Position_Config); string shelfConfig = appPath + Setting_Init.Shelf_Position_Config;
//if (File.Exists(shelfConfig)) //if (File.Exists(shelfConfig))
//{ //{
// CSVPositionReader<ShelfPosition>.AddCSVFile(shelfConfig); // CSVPositionReader<ShelfPosition>.AddCSVFile(shelfConfig);
...@@ -150,7 +148,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -150,7 +148,7 @@ namespace OnlineStore.DeviceLibrary
{ {
//位置配置到文件中 //位置配置到文件中
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
string configFile = appPath + ConfigAppSettings.GetValue(Setting_Init.BOX_ConfigPath); string configFile = appPath + Setting_Init.BOX_ConfigPath;
if (!Directory.Exists(configFile)) if (!Directory.Exists(configFile))
{ {
...@@ -191,10 +189,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -191,10 +189,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(box.Name + "GetPositon[" + param.PosID + "]=null,没有库位不能执行出入库"); LogUtil.error(box.Name + "GetPositon[" + param.PosID + "]=null,没有库位不能执行出入库");
return false; return false;
} }
ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(param.ShelfPosID); ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(param.CurShelfPosID);
if (sp == null && needCheckShelf) if (sp == null && needCheckShelf)
{ {
LogUtil.error(box.Name + "GetPositon[" + param.ShelfPosID + "]=null,没有库位不能执行出入库"); LogUtil.error(box.Name + "GetPositon[" + param.CurShelfPosID + "]=null,没有库位不能执行出入库");
return false; return false;
} }
if (param.PlateH <= 0) if (param.PlateH <= 0)
...@@ -256,7 +254,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -256,7 +254,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (host == "") if (host == "")
{ {
host = ConfigAppSettings.GetValue(Setting_Init.http_server); host = Setting_Init.http_server;
} }
if (!host.StartsWith("http://")) if (!host.StartsWith("http://"))
{ {
...@@ -270,7 +268,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -270,7 +268,7 @@ namespace OnlineStore.DeviceLibrary
} }
private static string GetAddr(string addr, Dictionary<string, string> paramsMap) private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
{ {
string server = ConfigAppSettings.GetValue(Setting_Init.http_server); string server = Setting_Init.http_server;
if (server.EndsWith("/")) if (server.EndsWith("/"))
{ {
server = server.Substring(0, server.Length - 1); server = server.Substring(0, server.Length - 1);
...@@ -559,6 +557,54 @@ namespace OnlineStore.DeviceLibrary ...@@ -559,6 +557,54 @@ namespace OnlineStore.DeviceLibrary
return msg; return msg;
} }
private static string Addr_findRealRfid = "/rest/api/qisda/device/findRealRfid";
/// <summary>
/// 根据tempRfid查找真实rfid
///
/// </summary>
/// <param name="tempRfid"></param>
/// <returns>"":未找到真实料架,即改任务还未出库</returns>
public static string FindRealRfidByTempRfid(string tempRfid)
{
string msg = "";
try
{
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("tempRfid", tempRfid);
string server = GetAddr(Addr_findRealRfid, paramMap);
DateTime startTime = DateTime.Now;
string resultStr = HttpHelper.Post(server, "");
LogUtil.info("根据虚拟rfid【" + tempRfid + "】 查询包装料架绑定情况 " + " 【" + server + "】【" + resultStr + "】");
RfidData serverResult = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
if (serverResult == null)
{
msg = "虚拟rfid【" + tempRfid + "】没有收到服务器反馈";
LogUtil.error(msg);
return "";
}
if (serverResult.data["realRfid"].Equals("")) //虚拟料架未绑定料架
{
msg = "虚拟rfid【" + tempRfid + "】 未绑定真实料架";
LogUtil.debug(msg);
return "";
}
else //虚拟料架绑定料架
{
LogUtil.debug("虚拟rfid【" + tempRfid + "】 已绑定真实料架" + serverResult.data["realRfid"]);
return serverResult.data["realRfid"];
}
}
catch (Exception ex)
{
LogUtil.error(ex.Message);
}
return "";
}
private static string Addr_getShelfLockInfo = "/rest/api/qisda/device/getShelfLockInfo"; //包装仓获取料架锁定状态地址 private static string Addr_getShelfLockInfo = "/rest/api/qisda/device/getShelfLockInfo"; //包装仓获取料架锁定状态地址
public static bool GetShelfLockInfo(string deviceName, string cid, string rfid, out List<ShelfLockData> shelfLockDatas) public static bool GetShelfLockInfo(string deviceName, string cid, string rfid, out List<ShelfLockData> shelfLockDatas)
...@@ -624,10 +670,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -624,10 +670,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 检查是否是入库料架 /// 检查是否是入库料架
/// </summary> /// </summary>
/// <param name="deviceName"></param>
/// <param name="cid"></param>
/// <param name="rfid"></param> /// <param name="rfid"></param>
/// <param name="shelfLockDatas"></param>
/// <returns></returns> /// <returns></returns>
public static bool CheckShelfInfo(string rfid) public static bool CheckShelfInfo(string rfid)
{ {
......
source/DeviceLibrary/agvClient/AgvClient.cs
using Asa; using Asa;
using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
...@@ -14,7 +9,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -14,7 +9,6 @@ namespace OnlineStore.DeviceLibrary
{ {
public static bool CurrCancelState = false ; public static bool CurrCancelState = false ;
// public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); // public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Asa.AgvClient agvClient; private static Asa.AgvClient agvClient;
private static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>(); private static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
public static List<string> NodeList = new List<string>(); public static List<string> NodeList = new List<string>();
...@@ -26,7 +20,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -26,7 +20,7 @@ namespace OnlineStore.DeviceLibrary
if (!isInit) if (!isInit)
{ {
isInit = true; isInit = true;
agvClient = new Asa.AgvClient(ServerIp); agvClient = new Asa.AgvClient(Setting_Init.AgvServerIp);
agvClient.CancelState = true; agvClient.CancelState = true;
agvClient.Log += AgvClient_Log; agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive; agvClient.Arrive += AgvClient_Arrive;
...@@ -50,7 +44,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -50,7 +44,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString()); LogUtil.error("初始化agvClient " + Setting_Init.AgvServerIp + " 出错："+ ex.ToString());
} }
} }
...@@ -183,10 +177,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -183,10 +177,9 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1); if (Setting_Init.Log_OpenAgv)
if (isLog)
{ {
LogUtil. debug(" AGV " + ServerIp + " Log : " + s); LogUtil. debug(" AGV " + Setting_Init.AgvServerIp + " Log : " + s);
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -225,7 +218,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -225,7 +218,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("释放 agvClient " + ServerIp + " 出错："+ ex.ToString()); LogUtil.error("释放 agvClient " + Setting_Init.AgvServerIp + " 出错："+ ex.ToString());
} }
} }
} }
......
source/DeviceLibrary/device/IO/AIOBOX/AIOBOXManager.cs
...@@ -134,12 +134,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -134,12 +134,12 @@ namespace OnlineStore.DeviceLibrary
{ {
DOValueMap.Remove(ioIp); DOValueMap.Remove(ioIp);
} }
int DIMS = ConfigAppSettings.GetIntValue("DIMS"); int DIMS = ConfigAppSettings.GetIntValue("DIMS",60);
if (DIMS < 20) if (DIMS < 20)
{ {
DIMS = 20; DIMS = 20;
} }
int DOMS = ConfigAppSettings.GetIntValue("DOMS"); int DOMS = ConfigAppSettings.GetIntValue("DOMS",300);
if (DOMS < 200) if (DOMS < 200)
{ {
DOMS = 200; DOMS = 200;
...@@ -220,14 +220,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -220,14 +220,6 @@ namespace OnlineStore.DeviceLibrary
private DateTime lastLogTime = DateTime.Now; private DateTime lastLogTime = DateTime.Now;
private void AioBox_Log_Out_Event(AIOBOX box, string[] s)
{
foreach (string str in s)
{
LogUtil.AIOLog.Debug("[" + box.IP + "]" + str);
}
}
private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta) private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta)
{ {
try try
......
source/DeviceLibrary/device/IO/IOManager.cs
...@@ -148,7 +148,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -148,7 +148,7 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
public static void Init() public static void Init()
{ {
bool isAIOBox = ConfigAppSettings.GetIntValue(Setting_Init.UseAIOBOX).Equals(1); bool isAIOBox = Setting_Init.UseAIOBOX;
if (isAIOBox) if (isAIOBox)
{ {
instance = new AIOBOXManager(); instance = new AIOBOXManager();
......
source/DeviceLibrary/device/PanasonicServo/ACServerManager.cs
...@@ -86,7 +86,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,7 +86,7 @@ namespace OnlineStore.DeviceLibrary
{ {
return true; return true;
} }
int ACBaudRate = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate); int ACBaudRate = Setting_Init.ACBaudRate;
if (ACBaudRate <= 0) if (ACBaudRate <= 0)
{ {
ACBaudRate = 9600; ACBaudRate = 9600;
......
source/DeviceLibrary/device/halcon/CodeManager.cs
...@@ -25,7 +25,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -25,7 +25,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public static void LoadConfig() public static void LoadConfig()
{ {
string codeStr = ConfigAppSettings.GetValue(Setting_Init.CodeType); string codeStr = Setting_Init.CodeType;
codeTypeList = new List<string>(); codeTypeList = new List<string>();
HDLogUtil.LogName = "RollingLogFileAppender"; HDLogUtil.LogName = "RollingLogFileAppender";
try try
...@@ -98,7 +98,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -98,7 +98,7 @@ namespace OnlineStore.DeviceLibrary
} }
private static int ScanCount = 0; private static int ScanCount = 0;
private static int codeCount = ConfigAppSettings.GetIntValue(Setting_Init.CodeCount); private static int codeCount = Setting_Init.CodeCount;
[HandleProcessCorruptedStateExceptions] [HandleProcessCorruptedStateExceptions]
public static List<string> CameraScan(List<string> cameraList, string deviceName, int timeOut = 1500) public static List<string> CameraScan(List<string> cameraList, string deviceName, int timeOut = 1500)
{ {
...@@ -272,7 +272,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,7 +272,7 @@ namespace OnlineStore.DeviceLibrary
public static string GetCodeParamFilePath(string codePath) public static string GetCodeParamFilePath(string codePath)
{ {
string appPath = Application.StartupPath; string appPath = Application.StartupPath;
string path = appPath + ConfigAppSettings.GetValue(Setting_Init.CodeParamPath); string path = appPath + Setting_Init.CodeParamPath;
string filePath = path + codePath + ".dcm"; string filePath = path + codePath + ".dcm";
if (File.Exists(filePath)) if (File.Exists(filePath))
{ {
......
source/DeviceLibrary/store/InOutParam.cs
...@@ -17,6 +17,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -17,6 +17,7 @@ namespace OnlineStore.DeviceLibrary
{ {
public InOutParam(string wareNo="", string posId="", string ShelfPosID="", int platew = 0, int plateh =0, bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0,int taskCount=0,string realRfid="") public InOutParam(string wareNo="", string posId="", string ShelfPosID="", int platew = 0, int plateh =0, bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0,int taskCount=0,string realRfid="")
{ {
this.CurShelfPosID = ShelfPosID;
this.ShelfPosID = ShelfPosID; this.ShelfPosID = ShelfPosID;
WareCode = wareNo; WareCode = wareNo;
PosID = posId; PosID = posId;
...@@ -34,6 +35,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -34,6 +35,7 @@ namespace OnlineStore.DeviceLibrary
public InOutParam(string wareNo, string posId, string ShelfPosID,LineMoveP linePosition ) public InOutParam(string wareNo, string posId, string ShelfPosID,LineMoveP linePosition )
{ {
WareCode = wareNo; WareCode = wareNo;
this.CurShelfPosID = ShelfPosID;
this.ShelfPosID = ShelfPosID; this.ShelfPosID = ShelfPosID;
PosID = posId; PosID = posId;
MoveP = linePosition; MoveP = linePosition;
...@@ -50,7 +52,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -50,7 +52,7 @@ namespace OnlineStore.DeviceLibrary
} }
public InOutParam NewParam() public InOutParam NewParam()
{ {
InOutParam newp = new InOutParam(WareCode,PosID,ShelfPosID, PlateW, PlateH, urgentReel,cutReel,smallReel,rfid,rfidLoc,taskCount,realRfid); InOutParam newp = new InOutParam(WareCode,PosID,CurShelfPosID, PlateW, PlateH, urgentReel,cutReel,smallReel,rfid,rfidLoc,taskCount,realRfid);
return newp; return newp;
} }
/// <summary> /// <summary>
...@@ -62,7 +64,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -62,7 +64,11 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public string PosID { get; set; } public string PosID { get; set; }
/// <summary> /// <summary>
/// 料架对应的库位号 /// 当前料架对应的库位号
/// </summary>
public string CurShelfPosID = "";
/// <summary>
/// 需要取放的料架对应的库位号
/// </summary> /// </summary>
public string ShelfPosID = ""; public string ShelfPosID = "";
public LineMoveP MoveP { get; set; } public LineMoveP MoveP { get; set; }
...@@ -145,21 +151,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -145,21 +151,21 @@ namespace OnlineStore.DeviceLibrary
} }
public string ToStr() public string ToStr()
{ {
return " 库位 [" + PosID + "] [" + ShelfPosID + "], [" + WareCode + "], [" + PlateW + "x" + PlateH + "] ," + return " 库位 [" + PosID + "] [" + CurShelfPosID + "], [" + WareCode + "], [" + PlateW + "x" + PlateH + "] ," +
"urgentReel [" + urgentReel + "],cutReel [" + cutReel + "],smallReel [" + smallReel + "],rfid [" + rfid + "],rfidLoc [" + rfidLoc + "],taskCount ["+ taskCount + "]"; "urgentReel [" + urgentReel + "],cutReel [" + cutReel + "],smallReel [" + smallReel + "],rfid [" + rfid + "],rfidLoc [" + rfidLoc + "],taskCount ["+ taskCount + "]";
} }
public string ToShortStr() public string ToShortStr()
{ {
return "["+rfid+"][" + PosID + "][" + ShelfPosID + "][" + PlateW + "x" + PlateH + "][" + WareCode + "]"; return "["+rfid+"][" + PosID + "][" + CurShelfPosID + "][" + PlateW + "x" + PlateH + "][" + WareCode + "]";
} }
internal void UpdateShelfPosId(string pId) internal void UpdateShelfPosId(string pId)
{ {
this.ShelfPosID = pId; this.CurShelfPosID = pId;
ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(ShelfPosID); ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(CurShelfPosID);
if (sp == null) if (sp == null)
{ {
LogUtil.error( "GetPositon[" + ShelfPosID + "]=null,没有库位不能执行出入库"); LogUtil.error( "GetPositon[" + CurShelfPosID + "]=null,没有库位不能执行出入库");
} }
MoveP.InOut_P101 = sp.InoutAxis_P101; MoveP.InOut_P101 = sp.InoutAxis_P101;
...@@ -168,7 +174,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -168,7 +174,21 @@ namespace OnlineStore.DeviceLibrary
MoveP.Middle_P101 = sp.MiddleAxis_P101; MoveP.Middle_P101 = sp.MiddleAxis_P101;
} }
internal void RestoreShelfPosId()
{
this.CurShelfPosID = ShelfPosID;
ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(CurShelfPosID);
if (sp == null)
{
LogUtil.error("GetPositon[" + CurShelfPosID + "]=null,没有库位不能执行出入库");
}
MoveP.InOut_P101 = sp.InoutAxis_P101;
MoveP.UpDown_LP101 = sp.UpDownAxis_LP101;
MoveP.UpDown_HP102 = sp.UpDownAxis_HP102;
MoveP.Middle_P101 = sp.MiddleAxis_P101;
}
internal void UpdatePosId(string message, string posId, int plateW, int plateH,int comP2,int comP3) internal void UpdatePosId(string message, string posId, int plateW, int plateH,int comP2,int comP3)
{ {
this.WareCode = message; this.WareCode = message;
...@@ -196,7 +216,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -196,7 +216,7 @@ namespace OnlineStore.DeviceLibrary
internal void UpdatePosIdAndShelfId(string wareNo,string rfid,string posId, string ShelfPosID) internal void UpdatePosIdAndShelfId(string wareNo,string rfid,string posId, string ShelfPosID)
{ {
WareCode = wareNo; WareCode = wareNo;
this.ShelfPosID = ShelfPosID; this.CurShelfPosID = ShelfPosID;
this.rfid = rfid; this.rfid = rfid;
ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(ShelfPosID); ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(ShelfPosID);
if (sp == null) if (sp == null)
......
source/DeviceLibrary/store/KTK_Store.cs
...@@ -7,6 +7,7 @@ using System.Drawing; ...@@ -7,6 +7,7 @@ using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using System.Web.UI.WebControls;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
...@@ -219,7 +220,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -219,7 +220,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 停止所有运动 /// 停止所有运动
/// </summary> /// </summary>
public abstract void StopMove( ); public abstract void StopMove();
/// <summary> /// <summary>
/// 重置处理 /// 重置处理
...@@ -233,7 +234,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -233,7 +234,7 @@ namespace OnlineStore.DeviceLibrary
protected void ACAxisHomeMove(ConfigMoveAxis moveAxis) protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{ {
moveAxis.TargetPosition = 0; moveAxis.TargetPosition = 0;
LogUtil.info(Name+ moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回"); LogUtil.info(Name + moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed); ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
} }
...@@ -269,7 +270,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -269,7 +270,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要重新运动 //判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0) if (MoveInfo.CanWhileCount > 0)
{ {
LogUtil.error(Name+ moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount + LogUtil.error(Name + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次"); "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed); ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
...@@ -278,7 +279,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -278,7 +279,7 @@ namespace OnlineStore.DeviceLibrary
{ {
msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警"; + "]，误差过大，需要报警";
LogUtil.error(Name+ msg); LogUtil.error(Name + msg);
} }
} }
return false; return false;
...@@ -298,7 +299,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -298,7 +299,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要重新运动 //判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0) if (MoveInfo.CanWhileCount > 0)
{ {
LogUtil.error(Name+ moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次"); LogUtil.error(Name + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点"); //LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed); ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
...@@ -306,7 +307,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -306,7 +307,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警"; msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(Name+ msg); LogUtil.error(Name + msg);
} }
} }
return false; return false;
...@@ -324,7 +325,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -324,7 +325,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (!isInit) if (!isInit)
{ {
MoveInfo = new StoreMoveInfo(DeviceID); MoveInfo = new DeviceMoveInfo(DeviceID);
mainTimer = new System.Timers.Timer(); mainTimer = new System.Timers.Timer();
mainTimer.Enabled = false; mainTimer.Enabled = false;
...@@ -350,7 +351,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -350,7 +351,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 移动信息 /// 移动信息
/// </summary> /// </summary>
public StoreMoveInfo MoveInfo = null; public DeviceMoveInfo MoveInfo = null;
/// <summary> /// <summary>
/// 定时处理，监听信号，监听IO /// 定时处理，监听信号，监听IO
...@@ -449,7 +450,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -449,7 +450,7 @@ namespace OnlineStore.DeviceLibrary
return sta; return sta;
} }
} }
public void CylinderMove(StoreMoveInfo moveInfo, string IoLowType, string IoHighType) public void CylinderMove(DeviceMoveInfo moveInfo, string IoLowType, string IoHighType)
{ {
IOMove(IoLowType, IO_VALUE.LOW); IOMove(IoLowType, IO_VALUE.LOW);
IOMove(IoHighType, IO_VALUE.HIGH); IOMove(IoHighType, IO_VALUE.HIGH);
...@@ -472,27 +473,35 @@ namespace OnlineStore.DeviceLibrary ...@@ -472,27 +473,35 @@ namespace OnlineStore.DeviceLibrary
/// </summary>c /// </summary>c
protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "") protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
{ {
return WaitUtil.Wait(timeOut, delegate () { return WaitUtil.Wait(timeOut, delegate ()
{
return value.Equals(IOValue(ioType)); return value.Equals(IOValue(ioType));
}, errName); }, errName);
} }
public void LogInfo(string logInfo) public void LogError(string msg)
{ {
LogUtil.info(Name + logInfo); LogUtil.info($"{Name}{MoveInfo?.MoveType}{msg}");
} }
protected void InOutStoreLog(string msg,bool isDebug=false ) public void LogInfo(string msg)
{ {
string posId = MoveInfo.MoveParam != null ? "["+MoveInfo.MoveParam.PosID+"]" : ""; LogUtil.info($"{Name}{MoveInfo?.MoveType}{msg}");
string shelfId = MoveInfo.MoveParam != null ? "[" + MoveInfo.MoveParam.ShelfPosID+"]" : ""; }
if (isDebug) public void LogRunStepInfo(string msg)
{ {
LogUtil.debug (Name + " " + posId + "" + shelfId + " :" + msg); LogInfo($"{MoveInfo?.SLog}{msg}");
} }
else public void LogRunStepError(string msg)
{ {
LogInfo(" " + posId + "" + shelfId + " :" + msg); LogError($"{MoveInfo?.SLog}{msg}");
} }
protected void InOutStoreLog(string msg)
{
string posId = MoveInfo.MoveParam != null ? "[" + MoveInfo.MoveParam.PosID + "]" : "";
string shelfId = MoveInfo.MoveParam != null ? "[" + MoveInfo.MoveParam.CurShelfPosID + "]" : "";
LogRunStepInfo($"posId={posId} shelfId={shelfId}: {msg}");
} }
protected int GetAlarmCodeByAxis(ConfigMoveAxis axis) protected int GetAlarmCodeByAxis(ConfigMoveAxis axis)
{ {
int alarmCode = LineAlarm.InOutAxisAlarm; int alarmCode = LineAlarm.InOutAxisAlarm;
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -206,6 +206,102 @@ namespace OnlineStore.DeviceLibrary ...@@ -206,6 +206,102 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 检查出库料架上是否有治具
/// <summary>
/// 出库料架检查：开始循环从第一个空位逐个取料盘
/// </summary>
SO_PreCheck_01_StartGetTray,
/// <summary>
/// 出库料架检查：叉子后退到待机点P1
/// </summary>
SO_PreCheck_02_InoutToP1,
/// <summary>
/// 出库料架检查：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
/// </summary>
SO_PreCheck_03_MoveToShelf,
/// <summary>
/// 出库料架检查：叉子前进到P101点
/// </summary>
SO_PreCheck_04_InoutToP101,
/// <summary>
/// 出库料架检查：升降轴上升到P102点
/// </summary>
SO_PreCheck_05_UpdownToP102,
/// <summary>
/// 出库料架检查：压紧轴开始缓慢压紧
/// </summary>
SO_PreCheck_06_StartCompress,
/// <summary>
/// 出库料架检查：检测到料叉压紧确认信号，再次向下压紧指定的值
/// </summary>
SO_PreCheck_07_ComDownMove,
/// <summary>
/// 出库料架检查：记录压紧高度，叉子后退到P1
/// </summary>
SO_PreCheck_08_InoutBack,
/// <summary>
/// 到扫码位置：升降轴移动到P2,旋转轴移动到P1
/// </summary>
SO_PreCheck_09_ToScanPosition,
/// <summary>
/// 到扫码位置：进出轴到P2
/// </summary>
SO_PreCheck_10_InOutToP2,
/// <summary>
/// 到扫码位置：升降轴缓慢下降到P1，压紧轴返回压紧前点
/// </summary>
SO_PreCheck_11_PutTrayDown,
/// <summary>
/// 到扫码位置：进出轴返回待机点
/// </summary>
SO_PreCheck_12_InOutToP1,
/// <summary>
/// 检查治具：检查是否有治具
/// </summary>
SO_PreCheck_13_CheckFix,
/// <summary>
/// 检查治具：检查完成，获取结果
/// 有治具，将该治具返回料架位置
/// 无治具，到下一个位置
/// </summary>
SO_PreCheck_14_GetCheckResult,
/// <summary>
/// 检查治具：有治具
/// </summary>
SO_PreCheck_15_InoutToP2,
/// <summary>
/// 检查治具：升降轴到P1,压紧轴压紧
/// </summary>
SO_PreCheck_16_GetScanPTray,
/// <summary>
/// 检查治具：进出轴返回
/// </summary>
SO_PreCheck_17_InoutBackP1,
/// <summary>
/// 检查治具：有治具，返回料架位置
/// </summary>
SO_PreCheck_18_ToShelfPosition,
/// <summary>
/// 检查治具：叉子到料架，进出轴至P20
/// /// </summary>
SO_PreCheck_19_ToShelf,
/// <summary>
/// 检查治具：把物品放下，压紧轴到P1，升降轴至P20
/// </summary>
SO_PreCheck_20_PutReel,
/// <summary>
/// 检查治具：叉子从出料口返回，，进出轴到P1
/// 不再检查下一个位置，料架直接作为NG返回
/// </summary>
SO_PreCheck_21_InoutBack,
SO_PreCheck_22_GoBack,
#endregion
#region 出库步骤 2000开始 #region 出库步骤 2000开始
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs → source/DeviceLibrary/store/model/DeviceMoveInfo.cs
...@@ -11,15 +11,15 @@ using System.Text; ...@@ -11,15 +11,15 @@ using System.Text;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
/// <summary> /// <summary>
/// 料仓当前运动信息类（出入库状态，步骤记录） /// 设备当前运动信息类（出入库状态，步骤记录）
/// </summary> /// </summary>
public class StoreMoveInfo public class DeviceMoveInfo
{ {
/// <summary> /// <summary>
/// 超时时间 /// 超时时间
/// </summary> /// </summary>
public int TimeOutSeconds = 60; public int TimeOutSeconds = 60;
public StoreMoveInfo(int storeId) public DeviceMoveInfo(int storeId)
{ {
moveType = StoreMoveType.None; moveType = StoreMoveType.None;
...@@ -41,7 +41,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -41,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
public string SLog public string SLog
{ {
get { return " " + MoveStep + " "; } get { return $" {MoveStep} "; }
} }
...@@ -138,9 +138,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -138,9 +138,9 @@ namespace OnlineStore.DeviceLibrary
WaitList = new List<WaitResultInfo>(); WaitList = new List<WaitResultInfo>();
CanWhileCount = 0; CanWhileCount = 0;
} }
public StoreMoveInfo clone() public DeviceMoveInfo clone()
{ {
return (StoreMoveInfo)this.MemberwiseClone(); return (DeviceMoveInfo)this.MemberwiseClone();
} }
public List<WaitResultInfo> WaitList = new List<WaitResultInfo>(); public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
......
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