库位调试完成出料盘撞料问题

source/DeviceLibrary/PackingStore/AC_BOX_Bean_AutoInOutTest.cs

@@ -132,12 +132,12 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.NextMoveStep(StoreMoveStep.BT_01_StartGetTray);
                     PosDebugInfo.AddTestReel(out string posId);
                     MoveInfo.MoveParam.PosID = posId;
+                    MoveInfo.MoveParam.CurShelfPosID = ShelfPosList[1];
                     if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
                     {
                         InOutStoreLog("库位测试，加载库位位置失败");
                         MoveInfo.EndMove();
                     }
-                    MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[1]);
                 }
 
             }
@@ -147,9 +147,9 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_14_StartInOutTest))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BT_15_ToPosition);
-                InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
+                InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P5(库位出料前点）");
                 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);
+                ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_15_ToPosition))
             {
@@ -174,7 +174,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BT_20_SetInstoreParam);
                 MoveInfo.MoveParam.PosID = PosDebugInfo.ToPosId;
-                if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
+                if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, false, this))
                 {
                     InOutStoreLog("库位测试，加载库位位置失败");
                     MoveInfo.EndMove();
@@ -214,7 +214,7 @@ namespace OnlineStore.DeviceLibrary
                     PosDebugInfo.MoveToNext();
                     InOutStoreLog($"库位测试，变换位置:{PosDebugInfo.FrmPoId}-->{PosDebugInfo.ToPosId}");
                     MoveInfo.MoveParam.PosID = PosDebugInfo.FrmPoId;
-                    if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
+                    if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, false, this))
                     {
                         InOutStoreLog("库位测试，加载库位位置失败");
                         MoveInfo.EndMove();
@@ -226,7 +226,7 @@ namespace OnlineStore.DeviceLibrary
                     InOutStoreLog("库位测试，无剩余库位，将料盘送出");
                     PosDebugInfo.RemoveTestReel(out string posId);
                     MoveInfo.MoveParam.PosID = posId;
-                    MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[0]);
+                    MoveInfo.MoveParam.CurShelfPosID=(ShelfPosList[0]);
                     if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
                     {
                         InOutStoreLog("库位测试，加载库位位置失败");
@@ -240,9 +240,9 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_25_StartPutTray))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BT_26_ToPosition);
-                InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
+                InOutStoreLog("库位测试，到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P5(库位出料前点）");
                 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);
+                ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_26_ToPosition))
             {
@@ -266,6 +266,9 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BT_29_InoutBack))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BT_30_ToShelfPosition);
+                InOutStoreLog("库位测试,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 == StoreMoveStep.BT_30_ToShelfPosition)
             {
@@ -294,7 +297,7 @@ namespace OnlineStore.DeviceLibrary
                 if (PosDebugInfo.RemoveTestReel(out string posId))
                 {
                     MoveInfo.MoveParam.PosID = posId;
-                    MoveInfo.MoveParam.UpdateShelfPosId(ShelfPosList[1]);
+                    MoveInfo.MoveParam.CurShelfPosID=(ShelfPosList[1]);
                     if (!StoreManager.LoadInoutParam(MoveInfo.MoveParam, true, this))
                     {
                         InOutStoreLog("库位测试，加载库位位置失败");
@@ -306,6 +309,7 @@ namespace OnlineStore.DeviceLibrary
                 else
                 {
                     PosDebugInfo.StopAutoInOutTest();
+                    CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down); 
                     MoveInfo.EndMove();
                 }
             }
@@ -340,7 +344,7 @@ namespace OnlineStore.DeviceLibrary
         /// <returns></returns>
         public bool IsReady()
         {
-            return curPosIdxs.Count == 2;
+            return curPosIdxs.Count >= 2;
         }
         public void StopAutoInOutTest()
         {
@@ -396,12 +400,13 @@ namespace OnlineStore.DeviceLibrary
             AddTestReel(out posId);
             InOutParam param = new InOutParam();
             param.PosID = posId;
-            param.UpdateShelfPosId(box.ShelfPosList[0]);
+            param.CurShelfPosID = box.ShelfPosList[0];
             if (!StoreManager.LoadInoutParam(param, true, box))
             {
                 errmsg = "加载位置信息失败";
                 return false;
             }
+            box.CylinderMove(box.MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
             box.MoveInfo.NewMove(StoreMoveType.CheckPos, param);
             box.MoveInfo.NextMoveStep(StoreMoveStep.BT_01_StartGetTray);
             LogUtil.info($"调试的所有位置[{BoxPositions.Count}]：");

source/DeviceLibrary/PackingStore/StoreManager.cs

@@ -204,7 +204,8 @@ namespace OnlineStore.DeviceLibrary
                 param.PlateW = position.BagWidth;
             }
             //加载位置
-            if (param.MoveP == null)
+            param.MoveP = new LineMoveP();
+            //if (param.MoveP == null)
             {
                 LineMoveP p = new LineMoveP();
                 if (sp != null)

source/DeviceLibrary/store/InOutParam.cs

@@ -167,7 +167,6 @@ namespace OnlineStore.DeviceLibrary
             {
                 LogUtil.error(  "GetPositon[" + CurShelfPosID + "]=null,没有库位不能执行出入库"); 
             }
-            if (MoveP == null) MoveP = new LineMoveP();
             MoveP.InOut_P101 = sp.InoutAxis_P101;
             MoveP.UpDown_LP101 = sp.UpDownAxis_LP101;
             MoveP.UpDown_HP102 = sp.UpDownAxis_HP102;

source/LoadCVSLibrary/position/CSVPositionReader.cs

@@ -187,7 +187,12 @@ namespace OnlineStore.LoadCSVLibrary
                 {
                     var result = AllPositionMap[tname][positionNum];
                     if (result == null) return null;
-                    var allPos = AllPositionMap[tname].Values.ToList().FindAll(s => s.BagWidth == result.BagWidth && s.BagHigh == result.BagHigh);
+                    int idx = AllPositionMap[tname].Values.ToList().FindIndex(s => s.PositionNum.Equals(positionNum));//s => s.BagWidth == result.BagWidth && s.BagHigh == result.BagHigh
+                    List<T> allPos = new List<T>();
+                    for (int i = idx; i < AllPositionMap[tname].Values.Count; i++)
+                    {
+                        allPos.Add(AllPositionMap[tname].Values.ToArray()[i]);
+                    }
                     return allPos;
                 }
             }