Skip to content

孙克 / RC1250-ACPackingStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 9cc504c9 由 LN
选项

1

1 个父辈 7fb1e0a4
内嵌 并排
正在显示 5 个修改的文件 包含 68 行增加 和 44 行删除
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
...@@ -262,10 +262,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -262,10 +262,11 @@ namespace OnlineStore.DeviceLibrary
//开始复位动作 //开始复位动作
MoveInfo.NextMoveStep(StoreMoveStep.BOX_H01_InOutBack); MoveInfo.NextMoveStep(StoreMoveStep.BOX_H01_InOutBack);
LogInfo(MoveInfo.MoveType + ": 开始料架入库，线体停止，进出轴先原点返回"); LogInfo(MoveInfo.MoveType + ": 开始料架入库，线体停止，进出轴先原点返回，设置agv状态为None");
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);
} }
/// <summary> /// <summary>
...@@ -685,6 +686,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -685,6 +686,16 @@ namespace OnlineStore.DeviceLibrary
{ {
StartShelfInStore(); StartShelfInStore();
} }
//判断是否要更新状态为None
ClientAction action = AgvClient.GetAction(Config.AgvNodeName);
if (action.Equals(ClientAction.FinishEnter) || action.Equals(ClientAction.FinishLeave))
{
AgvClient.SetStatus(Config.AgvNodeName);
}
else if(IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)&&IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
AgvClient.NeedEnter(Config.AgvNodeName);
}
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -854,9 +865,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -854,9 +865,10 @@ namespace OnlineStore.DeviceLibrary
msg += "runS： " + storeRunStatus + "\n"; msg += "runS： " + storeRunStatus + "\n";
msg += "lineS： " + storeStatus + "\n"; msg += "lineS： " + storeStatus + "\n";
msg += "alarm： " + alarmType + "\n"; msg += "alarm： " + alarmType + "\n";
msg += "Move：" + MoveInfo.MoveType + "\n"; msg += MoveInfo.MoveType +" "+MoveInfo.SLog+ "\n";
msg += "MoveS： " + MoveInfo.SLog + "\n"; // msg += "MoveS： " + MoveInfo.SLog + "\n";
msg += "Shlef： " + CurrShelfID ; msg += "Shlef： " + CurrShelfID + "\n";
msg += Config.AgvNodeName + "：" + AgvClient.GetAction(Config.AgvNodeName);
return msg; return msg;
} }
} }
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -284,7 +284,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -284,7 +284,7 @@ namespace OnlineStore.DeviceLibrary
RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true); RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true);
LogUtil.info(Name + "更新当前料架号【" + data.NumStr() + "】"); LogUtil.info(Name + "更新当前料架号【" + data.NumStr() + "】");
//TODO 判断料架是否正确 //TODO 判断料架是否正确
if (data.RFType.Equals("A")) // if (data.RFType.Equals('A'))
{ {
CurrShelfID = data.NumStr(); CurrShelfID = data.NumStr();
AgvClient.SetStatus(Config.AgvNodeName,"", CurrShelfID,ClientAction.FinishEnter); AgvClient.SetStatus(Config.AgvNodeName,"", CurrShelfID,ClientAction.FinishEnter);
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
...@@ -6,6 +6,7 @@ using System.Collections.Concurrent; ...@@ -6,6 +6,7 @@ using System.Collections.Concurrent;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
...@@ -53,7 +54,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -53,7 +54,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun); MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check信号"); InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check信号");
AgvClient.MayEnter(Config.AgvNodeName); AgvClient.SetStatus(Config.AgvNodeName,"","",ClientAction.MayEnter,ClientLevel.High);
LineRun(); LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
} }
...@@ -66,8 +67,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -66,8 +67,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop); MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转"); InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转");
LineStop(); LineStop();
AgvClient.FinishEnter(Config.AgvNodeName); AgvClient.SetStatus(Config.AgvNodeName, "", "", ClientAction.FinishEnter, ClientLevel.High);
if (!instoreShelf) if (!instoreShelf)
{ {
EmprtShelfList = new System.Collections.Concurrent.ConcurrentQueue<string>(ShelfPosList); EmprtShelfList = new System.Collections.Concurrent.ConcurrentQueue<string>(ShelfPosList);
...@@ -94,7 +95,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -94,7 +95,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose); MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭"); InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭 ,发送 FinishEnter");
AgvClient.SetStatus(Config.AgvNodeName, "", "", ClientAction.FinishEnter, ClientLevel.High);
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close); // CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
DoorBean.StartClose(MoveInfo); DoorBean.StartClose(MoveInfo);
if (!instoreShelf) if (!instoreShelf)
...@@ -108,9 +110,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -108,9 +110,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun); MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "继续转动1500"); InOutStoreLog(moveName + MoveInfo.SLog + "继续转动 7000");
LineRun(); LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{ {
...@@ -143,7 +145,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -143,7 +145,7 @@ namespace OnlineStore.DeviceLibrary
if (instoreShelf) if (instoreShelf)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray); MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog(moveName + MoveInfo.SLog + "开始循环料架取料盘"); InOutStoreLog(moveName + MoveInfo.SLog + "开始循环料架取料盘 ");
} }
else else
{ {
...@@ -201,8 +203,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -201,8 +203,8 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_ReadyEmpty); MoveInfo.NextMoveStep(StoreMoveStep.BS_04_ReadyEmpty);
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
InOutStoreLog(moveName + MoveInfo.SLog + "：调用AgvClient.ReadyEmpty，等待Agv到达 ,最多等待1000"); InOutStoreLog(moveName + MoveInfo.SLog + "：调用AgvClient.ReadyEmpty，等待Agv到达 ,最多等待60000");
AgvClient.NeedLeave(Config.AgvNodeName, CurrShelfID); AgvClient.NeedLeave(Config.AgvNodeName, CurrShelfID);
//等待agv到达 //等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
...@@ -213,6 +215,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -213,6 +215,7 @@ namespace OnlineStore.DeviceLibrary
//agv到达 //agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive)) if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
if (instoreShelf) if (instoreShelf)
{ {
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达，调用AgvClient.SendRFID【" + CurrShelfID + "】,调用AgvClient.MayOut，线体开始反转"); InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达，调用AgvClient.SendRFID【" + CurrShelfID + "】,调用AgvClient.MayOut，线体开始反转");
...@@ -223,7 +226,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -223,7 +226,7 @@ namespace OnlineStore.DeviceLibrary
{ {
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达， 调用AgvClient.MayOut，线体开始反转"); InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达， 调用AgvClient.MayOut，线体开始反转");
} }
AgvClient.MayLeave(Config.AgvNodeName); AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID,ClientAction.MayLeave,ClientLevel.High);
LineBackRun(); LineBackRun();
} }
else else
...@@ -254,7 +257,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -254,7 +257,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitTime)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitTime))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitAGVLeave); MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitAGVLeave);
InOutStoreLog(moveName + MoveInfo.SLog + "： ，同时等待 AGV离开,最多等待5000"); InOutStoreLog(moveName + MoveInfo.SLog + "： ，同时等待 AGV离开,最多等待5000 ");
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
...@@ -263,16 +266,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -263,16 +266,19 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitAGVLeave)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitAGVLeave))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor); MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门"); InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop(); LineStop();
DoorBean.StartClose(MoveInfo); DoorBean.StartClose(MoveInfo);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.FinishLeave, ClientLevel.High);
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
{ {
//结束 //结束
MoveEndToRuningStatus(); MoveEndToRuningStatus();
EmprtShelfList = new ConcurrentQueue<string>(); EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：停止转动，送出料架结束"); InOutStoreLog(moveName + MoveInfo.SLog + "：停止转动，送出料架结束 ，设置状态为None");
AgvClient.SetStatus(Config.AgvNodeName);
} }
} }
......
source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -63,7 +63,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -63,7 +63,7 @@ namespace OnlineStore.DeviceLibrary
{ {
UpdateAction(id, ClientAction.Ready); UpdateAction(id, ClientAction.Ready);
RFIDData data = new RFIDData(content); RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] "); LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.NumStr() + "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Ready); StoreManager.Store.AGVProcess(id, ClientAction.Ready);
} }
...@@ -72,7 +72,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -72,7 +72,7 @@ namespace OnlineStore.DeviceLibrary
{ {
UpdateAction(id, ClientAction.Arrive); UpdateAction(id, ClientAction.Arrive);
RFIDData data = new RFIDData(content); RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] "); LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.NumStr() + "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Arrive); StoreManager.Store.AGVProcess(id, ClientAction.Arrive);
} }
...@@ -86,15 +86,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,15 +86,22 @@ namespace OnlineStore.DeviceLibrary
} }
return agvClient.IsConn; return agvClient.IsConn;
} }
//internal static void SendRFID(string NodeName, string rfid)
//{
// agvClient.SendRFID(NodeName, rfid);
//} public static bool SetToNone(string id, string shelfId = "")
public static bool NeedEnter(string id, string shelfId)
{ {
ClientAction currA = GetAction(id); ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.FinishLeave) || currA.Equals(ClientAction.FinishEnter)) if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, shelfId, ClientAction.NeedEnter); SetStatus(id, shelfId, shelfId, ClientAction.NeedEnter);
return true; return true;
...@@ -103,31 +110,30 @@ namespace OnlineStore.DeviceLibrary ...@@ -103,31 +110,30 @@ namespace OnlineStore.DeviceLibrary
} }
public static bool NeedLeave(string id, string shelfId = "") public static bool NeedLeave(string id, string shelfId = "")
{ {
ClientAction currA = GetAction(id); ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.FinishLeave) || currA.Equals(ClientAction.FinishEnter)) if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave); SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave);
return true; return true;
} }
return false; return false;
} }
internal static void MayEnter(string NodeName, string shelfId = "") //internal static void MayEnter(string NodeName, string shelfId = "")
{ //{
SetStatus(NodeName, shelfId, shelfId, ClientAction.MayEnter); // SetStatus(NodeName, shelfId, shelfId, ClientAction.MayEnter);
//agvClient.MayEnter(NodeName); // //agvClient.MayEnter(NodeName);
} //}
internal static void FinishEnter(string NodeName, string shelfId = "") //internal static void FinishEnter(string NodeName, string shelfId = "")
{ //{
SetStatus(NodeName, shelfId, shelfId, ClientAction.FinishEnter); // SetStatus(NodeName, shelfId, shelfId, ClientAction.FinishEnter);
// agvClient.FinishEnter(NodeName); // // agvClient.FinishEnter(NodeName);
} //}
internal static void MayLeave(string NodeName, string shelfId = "") //internal static void MayLeave(string NodeName, string shelfId = "")
{ //{
SetStatus(NodeName, shelfId, shelfId, ClientAction.MayLeave); // SetStatus(NodeName, shelfId, shelfId, ClientAction.MayLeave);
// agvClient.MayLeave(NodeName); // // agvClient.MayLeave(NodeName);
} //}
private static void AgvClient_Log(string s) private static void AgvClient_Log(string s)
{ {
try try
......
source/DeviceLibrary/device/RFID/RFIDReader.cs
...@@ -113,7 +113,7 @@ namespace Asa.RFID ...@@ -113,7 +113,7 @@ namespace Asa.RFID
LOGGER.Info(IP + " Scan Data:" + dataStr); LOGGER.Info(IP + " Scan Data:" + dataStr);
Received?.Invoke(IP, bb); Received?.Invoke(IP, bb);
} }
System.Threading.Thread.Sleep(100); System.Threading.Thread.Sleep(50);
} }
} }
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!