更新包装仓入库逻辑(针对料盘尺寸与料仓不匹配情况)

source/ACPackingStore/FrmBox.cs

@@ -49,7 +49,7 @@ namespace OnlineStore.ACPackingStore
         {
             if (BoxBean == null)
             {
-                LogUtil.error( "找不到对应的料仓");
+                LogUtil.error("找不到对应的料仓");
                 this.Close();
                 return;
             }
@@ -105,12 +105,13 @@ namespace OnlineStore.ACPackingStore
             this.ShowInTaskbar = true;
             try
             {
-                int num =Convert.ToInt32( BoxBean.CID.Substring(BoxBean.CID.Length - 2, 2));
+                int num = Convert.ToInt32(BoxBean.CID.Substring(BoxBean.CID.Length - 2, 2));
                 if (num >= 18 && num <= 24)
                 {
                     numericUpDown1.Value = num;
                 }
-            }catch(Exception ex)
+            }
+            catch (Exception ex)
             {
 
             }
@@ -155,11 +156,11 @@ namespace OnlineStore.ACPackingStore
 
             lblWarnMsg.Text = BoxBean.GetWarnMsg();
             lblMoveInfo.Text = BoxBean.GetMoveStr();
-            if (  BoxBean.MoveInfo.MoveType.Equals(StoreMoveType.InStore))
+            if (BoxBean.MoveInfo.MoveType.Equals(StoreMoveType.InStore))
             {
                 lblMoveEquipInfo.Text = "入库：" + BoxBean.MoveInfo.MoveParam.ToShortStr();
             }
-            else if (BoxBean.MoveInfo.MoveType.Equals(StoreMoveType.OutStore) )
+            else if (BoxBean.MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
             {
                 lblMoveEquipInfo.Text = "出库：" + BoxBean.MoveInfo.MoveParam.ToShortStr();
             }
@@ -241,6 +242,14 @@ namespace OnlineStore.ACPackingStore
                 // lblWarnMsg.Text = "";
                 btnStartAuTo.Text = "开始自动出入库";
             }
+            if(BoxBean.CompressSigTimeOut)
+            {
+                btnClearcurState.Visible = true;
+            }
+            else
+            {
+                btnClearcurState.Visible = false;
+            }
         }
 
         private void btnOutStore_Click(object sender, EventArgs e)
@@ -250,7 +259,7 @@ namespace OnlineStore.ACPackingStore
                 string selectPositionNum = cmbPosition.Text;
                 string sleShelfNum = cmbShelfPosition.Text;
                 LineMoveP ktk = LoadPostion();
-                InOutParam param = new InOutParam("", selectPositionNum,sleShelfNum, ktk); 
+                InOutParam param = new InOutParam("", selectPositionNum, sleShelfNum, ktk);
                 BoxBean.StartOutStoreMove(param);
             }
             else
@@ -614,7 +623,7 @@ namespace OnlineStore.ACPackingStore
 
                         string poText = cmbPosition.Text;
                         BoxBean.AutoInout.autoMsg = "自动出库：" + poText;
-                        LogUtil.info( BoxBean.Name + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
+                        LogUtil.info(BoxBean.Name + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
                         //BoxBean.StartOutStoreMove(new InOutStoreParam("", poText));
                         BoxBean.StartInStoreMove(new InOutParam("", poText, cmbShelfPosition.Text));
 
@@ -661,7 +670,7 @@ namespace OnlineStore.ACPackingStore
             }
             catch (Exception ex)
             {
-                LogUtil.error( "出错：" + ex.StackTrace);
+                LogUtil.error("出错：" + ex.StackTrace);
             }
         }
 
@@ -806,8 +815,8 @@ namespace OnlineStore.ACPackingStore
 
         private void btnScanTest_Click(object sender, EventArgs e)
         {
-           BoxBean. IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
-            List<string> codes = CodeManager.CameraScan(BoxBean.Config.GetCameraList(),BoxBean.Name); 
+            BoxBean.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
+            List<string> codes = CodeManager.CameraScan(BoxBean.Config.GetCameraList(), BoxBean.Name);
             BoxBean.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
             string result = "";
             if (codes.Count > 0)
@@ -822,7 +831,7 @@ namespace OnlineStore.ACPackingStore
             else
             {
 
-                MessageBox.Show("未扫到二维码" );
+                MessageBox.Show("未扫到二维码");
             }
         }
 
@@ -970,7 +979,7 @@ namespace OnlineStore.ACPackingStore
 
         private void btnComP4_Click(object sender, EventArgs e)
         {
-            int value = FormUtil.GetIntValue(txtComP4 );
+            int value = FormUtil.GetIntValue(txtComP4);
             AxisABSMove(BoxBean.Config.Comp_Axis, value, BoxBean.Config.CompAxis_P4_Speed);
         }
 
@@ -1005,7 +1014,7 @@ namespace OnlineStore.ACPackingStore
             {
                 return;
             }
-            DialogResult result = MessageBox.Show("确定将库位改为【4D" + num.ToString().PadLeft(2,'0') + "XXXXXX】的格式？", "", MessageBoxButtons.YesNo);
+            DialogResult result = MessageBox.Show("确定将库位改为【4D" + num.ToString().PadLeft(2, '0') + "XXXXXX】的格式？", "", MessageBoxButtons.YesNo);
             if (result.Equals(DialogResult.Yes))
             {
                 string appPath = Application.StartupPath;
@@ -1060,7 +1069,21 @@ namespace OnlineStore.ACPackingStore
         {
 
             int value = FormUtil.GetIntValue(txtInoutP101);
-            AxisABSMove(BoxBean.Config.InOut_Axis, value, BoxBean.Config.InOutAxis_P101_Speed );
+            AxisABSMove(BoxBean.Config.InOut_Axis, value, BoxBean.Config.InOutAxis_P101_Speed);
+        }
+
+        /// <summary>
+        /// 忽略料叉信号，使出库继续运行
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void btnClearcurState_Click(object sender, EventArgs e)
+        {
+            if (BoxBean.MoveInfo.MoveStep.Equals(StoreMoveStep.SO_07_CheckComSig))
+            {
+                BoxBean.IsIgnoreComSig = true;
+                BoxBean.MoveInfo.EndStepWait();
+            }
         }
     }
 }

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs

@@ -15,6 +15,7 @@ namespace OnlineStore.DeviceLibrary
     {
 
         #region 出入库结果验证
+        public bool CompressSigTimeOut = false;
         private void CheckWait()
         {
             List<WaitResultInfo> list = MoveInfo.WaitList;
@@ -81,6 +82,10 @@ namespace OnlineStore.DeviceLibrary
                             isOk = false;
                             break;
                         }
+                        if(wait.IoType.Equals(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_07_CheckComSig))
+                        {
+                            CompressSigTimeOut = true;
+                        }
                     }
                 }
                 else if (wait.WaitType.Equals(WaitEnum.W003_Time))
@@ -351,6 +356,13 @@ namespace OnlineStore.DeviceLibrary
             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_08_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;
@@ -363,14 +375,34 @@ namespace OnlineStore.DeviceLibrary
                 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);
@@ -382,6 +414,8 @@ namespace OnlineStore.DeviceLibrary
                         StartShelfOut();
                     }
                 }
+
+            }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
@@ -443,9 +477,9 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
             {
-                if (MoveInfo.SingleInstore)
+                if (MoveInfo.SingleInstore || MoveInfo.IsShelfLocked)
                 {
-                    //单盘入库，不需要扫码
+                    //单盘入库或者该料架已锁定库位，不需要扫码
                     StartMoveToBag();
                 }
                 else
@@ -553,12 +587,20 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
                     InOutStoreLog("扫码 " + MoveInfo.SLog + ": 获取库位号");
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
-                    bool result = GetPosIdByCode();
-                    if (!result)
+                    bool result = GetPosIdByCode(MoveInfo.currShelfIndex,out CodeResultType codeResult);
+                    if (!result)//获取库位失败
+                    {
+                        if(codeResult == CodeResultType.NotFoundPos)//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();
@@ -678,6 +720,38 @@ namespace OnlineStore.DeviceLibrary
             }
             #endregion
 
+            #region 把料盘送回料架逻辑
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_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");
+                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 ");
+                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)
             {
@@ -747,7 +821,7 @@ namespace OnlineStore.DeviceLibrary
 
         #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)
         {
 
@@ -910,19 +984,22 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_InoutBack)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_08_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);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_07_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_07_LocationUp)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_CheckComSig)
+            {
+                if(IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
                 {
+                    IsIgnoreComSig = false;
+                    CompressSigTimeOut = false;
                     MoveInfo.NextMoveStep(StoreMoveStep.SO_08_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_08_ToShelfPosition)
             {

source/DeviceLibrary/ACPackingStore/StoreManager.cs

@@ -71,7 +71,7 @@ namespace OnlineStore.DeviceLibrary
                     isInit = true;
                     string storeType = ConfigAppSettings.GetValue(Setting_Init.Store_Type);
                     int count = ConfigAppSettings.GetIntValue(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 CID = ConfigAppSettings.GetValue(Setting_Init.Store_CID);
                     Dictionary<int, AC_BOX_Config> storeConfig = new Dictionary<int, AC_BOX_Config>();
@@ -107,7 +107,7 @@ namespace OnlineStore.DeviceLibrary
                         {
                             CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile);
                         }
-                        LogUtil.info( "加载料仓完成！");
+                        LogUtil.info("加载料仓完成！");
 
                     }
 
@@ -134,7 +134,7 @@ namespace OnlineStore.DeviceLibrary
             }
             catch (Exception ex)
             {
-                LogUtil.error("出错："+ ex.ToString());
+                LogUtil.error("出错：" + ex.ToString());
                 MessageBox.Show(ex.ToString(), "加载配置错误（请检查配置）");
                 Application.Exit();
             }
@@ -170,7 +170,7 @@ namespace OnlineStore.DeviceLibrary
             }
             catch (Exception ex)
             {
-                LogUtil.error("出错："+ ex.ToString());
+                LogUtil.error("出错：" + ex.ToString());
             }
             return false;
         }
@@ -560,6 +560,128 @@ namespace OnlineStore.DeviceLibrary
             return msg;
         }
 
+        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)
+        {
+            string msg = "";
+            shelfLockDatas = null;
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add(ParamDefine.rfid, rfid);
+
+                string server = GetAddr(Addr_getShelfLockInfo, paramMap);
+                DateTime startTime = DateTime.Now;
+
+                string resultStr = HttpHelper.Post(server, "");
+
+                LogUtil.info(deviceName + "料架锁定状态 " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
+                ShelfLockInfo serverResult = JsonHelper.DeserializeJsonToObject<ShelfLockInfo>(resultStr);
+                if (serverResult == null)
+                {
+                    msg = deviceName + " 没有收到服务器反馈";
+                    LogUtil.info(msg);
+                    return false;
+                }
+
+                if (serverResult.data.Count ==0) //该料架未锁定
+                {
+                    msg = deviceName + " 料架【"+rfid+"】 没有锁定库位的料";
+                    LogUtil.info(msg);
+                    return false;
+                }
+                else //该料架存在锁定库位的料
+                {
+                    shelfLockDatas = new List<ShelfLockData>();
+                    string plates = "";
+                    foreach (ShelfLockData item in serverResult.data)
+                    {
+                        LogUtil.info("锁定的CID="+item.cid+";当前CID="+cid);
+                        if(item.cid.Equals(cid))//该料盘属于此料仓
+                        {
+                            shelfLockDatas.Add(item);
+                            plates += "["+item.lockPos+"]# ";
+                        }
+                    }
+                    msg = deviceName + " 料架【" + rfid + "】 在该料仓锁定库位的料：【"+plates+"】";
+                    LogUtil.info(msg);
+                    return true;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " ", ex);
+            }
+            return false;
+        }
+
+        private static string Addr_PosForPutin = "/service/store/emptyPosForPutin"; //获取当前料盘属于的料仓编号
+
+        public static bool GetPosForPutIn(string deviceName,AC_BOX_Config boxConfig,string barcode,string rfid,int rfidLoc)
+        {
+            string msg = "";
+            try
+            {
+
+                // http://localhost/myproject/service/store/emptyPosForPutin
+                // 参数：cids: 多个 cid
+                //code: 条码内容
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("cids",boxConfig.All_CIDs.Replace('#',','));
+                paramMap.Add("code", barcode);
+                paramMap.Add(ParamDefine.rfid, rfid);
+                paramMap.Add("rfidLoc", rfidLoc.ToString());
+                string server = GetAddr(Addr_PosForPutin, paramMap);
+                DateTime startTime = DateTime.Now;
+                LogUtil.info(deviceName + " 条码【 " + barcode + "】料串【" + rfid + "】，获取入库库位：");
+
+                string resultStr = HttpHelper.Post(server, "");
+
+                LogUtil.info(deviceName + "CodeReceived " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
+                //{"result":"0","msg":"","pos":"11#AC1_18_4_28","barcode":"R506072019102200414","cid":"line-ac-11"}
+                LineOperation serverResult = JsonHelper.DeserializeJsonToObject<LineOperation>(resultStr);
+                if (serverResult == null)
+                {
+                    msg = deviceName + "  【" + barcode + "】结果：没有收到服务器反馈 ";
+                    LogUtil.info(msg);
+                    return false;
+                }
+                else if ((!string.IsNullOrEmpty(serverResult.msg)) || serverResult.result.Equals(0).Equals(false)) 
+                {
+                    msg = deviceName + "  【" + barcode + "】结果：" + serverResult.msg;
+                    LogUtil.info(msg);
+                    return false;
+                }
+
+                if (serverResult.cid.Equals(boxConfig.CID)) //该料盘在此料仓
+                {
+                    // 仓位命名: 4D01020304
+                    //第1和第2位表示楼层(4D)
+                    //第3和第4位表示料仓(01) 01 - 18为流水线料仓, 19 - 24为包装料仓
+                    //第5和第6位表示列(02)
+                    //第7和第8位表示行(03)
+                    //第9和第10位表示隔板位置(04)
+                    //例如: 4D12010124 表示4楼12号料仓第1列第1行架子上的第24个隔板位置
+                    //4D19050208 表示4楼19号料仓(包装料仓)第5列第2行架子上的第8个隔板位置
+                    msg = deviceName + "  料盘【" + barcode + "】属于该料仓【"+boxConfig.CID+"】";
+                    LogUtil.info(msg);
+                    return true;
+
+                }
+                else
+                {
+                    msg = deviceName + "  料盘【" + barcode + "】不属于该料仓【" + boxConfig.CID + "】";
+                    LogUtil.info(msg);
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " ", ex);
+            }
+            return false;
+        }
     }
     public class AfterPutData
     {
@@ -671,5 +793,62 @@ namespace OnlineStore.DeviceLibrary
         //         smallTask: 还有多少盘小料任务(放置到双层线的D料架上)
         //         bigTask: 还有多少盘大料任务(放置到C料架上)
     }
+
+    public class ShelfLockInfo
+    {
+        //返回: {"code":0,"msg":"ok","data":
+        //[{"barcode":"S20052301213","cid":"packing-20","rfid":"A12","rfidLoc":"3","lockPos":"4D2001AA0006","lockPosId":"1231"}]}
+        /// <summary>
+        /// 返回码，0为正常,其他为异常
+        /// </summary>
+        public int code { get; set; }
+        /// <summary>
+        /// 消息
+        /// </summary>
+        public string msg { get; set; }
+
+        public List<ShelfLockData> data { get; set; }
+    }
+
+    public class ShelfLockData
+    {
+        /// <summary>
+        /// 库位中料盘的条码
+        /// </summary>
+        public string barcode { get; set; }
+        /// <summary>
+        /// 库位中料盘的锁定库位对应的料仓编
+        /// </summary>
+        public string cid { get; set; }
+        /// <summary>
+        /// 料架RFID
+        /// </summary>
+        public string rfid { get; set; }
+        /// <summary>
+        /// 料架的库位
+        /// </summary>
+        public int rfidLoc { get; set; }
+        /// <summary>
+        /// 库位中料盘的锁定库位
+        /// </summary>
+        public string lockPos { get; set; }
+
+    }
+
+    public class LineOperation
+    {
+        //  //{"result":"0","msg":"","pos":"11#AC1_18_4_28","barcode":"R506072019102200414","cid":"line-ac-11"}
+        //    返回: {"code": 0, "msg":"ok", data:7}
+        /// <summary>
+        /// 0=成功
+        /// </summary>
+        public int result;
+        public string cid;
+        public string msg = "";
+        public string pos = "";
+        public string barcode = "";
+
+    }
+
 }
 

source/DeviceLibrary/DeviceLibrary.csproj

@@ -50,7 +50,7 @@
       <HintPath>..\..\dll\CodeLibrary.dll</HintPath>
     </Reference>
     <Reference Include="halcondotnet">
-      <HintPath>..\..\..\RC32-SZBOSCH-ACSingleStore\dll\halcondotnet.dll</HintPath>
+      <HintPath>..\..\dll\halcondotnet.dll</HintPath>
     </Reference>
     <Reference Include="HFReader9CSharp">
       <HintPath>..\..\dll\RFID\HFReader9CSharp.dll</HintPath>

source/DeviceLibrary/StoreConfig/BoxConfig_1.csv

@@ -141,3 +141,4 @@ PRO,温湿度端口号,Humiture_Port,COM5,,,,,,,
 PRO,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D76546875),,,,,,,
 PRO,RFID读卡器IP,RFID_IP,192.168.104.101,,,,,,,
 PRO,是否是调试状态,IsInDebug,0,,,,,,,
+PRO,所有料仓的CID(用#号分隔),All_CIDs,packing-1#packing-2#packing-3#packing-4#packing-5#packing-6#packing-7#packing-8,,,,,,,

source/DeviceLibrary/StoreConfig/BoxConfig_2.csv

@@ -141,3 +141,4 @@ PRO,温湿度端口号,Humiture_Port,COM5,,,,,,,
 PRO,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D76546940),,,,,,,
 PRO,RFID读卡器IP,RFID_IP,192.168.104.102,,,,,,,
 PRO,是否是调试状态,IsInDebug,0,,,,,,,
+PRO,所有料仓的CID(用#号分隔),All_CIDs,packing-2#packing-3#packing-4#packing-5#packing-6#packing-7#packing-8#packing-1,,,,,,,
\ No newline at end of file

source/DeviceLibrary/store/InOutParam.cs

@@ -192,6 +192,41 @@ namespace OnlineStore.DeviceLibrary
             MoveP.UpDown_P5 = position.UpdownAxis_OH_P5;
             MoveP.UpDown_P6 = position.UpdownAxis_OL_P6;
         }
+
+        internal void UpdatePosIdAndShelfId(string wareNo,string rfid,string posId, string ShelfPosID)
+        {
+            WareCode = wareNo;
+            this.ShelfPosID = ShelfPosID;
+            this.rfid = rfid;
+            ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(ShelfPosID);
+            if (sp == null)
+            {
+                LogUtil.error("GetPositon[" + ShelfPosID + "]=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;
+
+            PosID = posId;
+            ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
+            if (position == null)
+            {
+                LogUtil.error("GetPositon[" + posId + "] =null,没有库位不能执行出入库");
+            }
+
+
+            //MoveP.ComPress_P2 = comP2;
+            //MoveP.ComPress_P3 = comP3;
+            MoveP.InOut_P3 = position.InoutAxis_P3;
+            MoveP.Middle_P2 = position.MiddleAxis_P2;
+            MoveP.UpDown_P3 = position.UpdownAxis_IH_P3;
+            MoveP.UpDown_P4 = position.UpdownAxis_IL_P4;
+            MoveP.UpDown_P5 = position.UpdownAxis_OH_P5;
+            MoveP.UpDown_P6 = position.UpdownAxis_OL_P6;
+
+        }
     } 
     
 }

source/DeviceLibrary/store/StoreStep.cs

@@ -240,9 +240,9 @@ namespace OnlineStore.DeviceLibrary
         SO_06_InoutBack = 2006,
 
         /// <summary>
-        /// 料仓出库，定位气缸伸出（有压紧轴的不需要此步骤 ）
+        /// 料仓出库,等待压紧信号确认
         /// </summary>
-        SO_07_LocationUp = 2007,
+        SO_07_CheckComSig = 2007,
 
         /// <summary>
         /// 料仓出库，走到料架位置，旋转轴至P20，升降轴至P102,  

source/DeviceLibrary/store/model/StoreMoveInfo.cs

@@ -149,7 +149,7 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         public List<string> ShelfPositionList = new List<string>();
         private string currShelfPosId = "";
-        private int currShelfIndex = -1;
+        public int currShelfIndex = -1;
 
         public bool NextShelfPos()
         {
@@ -164,6 +164,33 @@ namespace OnlineStore.DeviceLibrary
             MoveParam.UpdateShelfPosId(currShelfPosId);
             return true;
         }
+        /// <summary>
+        /// 入库时，料架已锁定库位的位置，无需扫码
+        /// </summary>
+        public bool IsShelfLocked = false;//料架是否锁定
+/// <summary>
+/// 料架锁定位置的料
+/// </summary>
+        public List<ShelfLockData> shelfLockDatas =null;
+        public bool NextLockedShelfPos()
+        {
+
+            currShelfIndex++;
+            if (currShelfIndex >= shelfLockDatas.Count)
+            {
+                shelfLockDatas = null;
+                return false;
+            }
+            currShelfPosId = ShelfPositionList[shelfLockDatas[currShelfIndex].rfidLoc];
+            //设置取料位置
+           MoveParam.UpdatePosIdAndShelfId(shelfLockDatas[currShelfIndex].barcode,
+               shelfLockDatas[currShelfIndex].rfid,
+               shelfLockDatas[currShelfIndex].lockPos, currShelfPosId);
+            return true;
+           
+
+        }
+
     }
 
     public class WaitResultInfo
@@ -182,7 +209,7 @@ namespace OnlineStore.DeviceLibrary
             wait.IoValue = ioValue;
             return wait;
         }
-        public static WaitResultInfo WaitAxis(ConfigMoveAxis axis,int targetPosition,int targetSpeed )
+        public static WaitResultInfo WaitAxis(ConfigMoveAxis axis, int targetPosition, int targetSpeed)
         {
             WaitResultInfo wait = new WaitResultInfo();
             wait.WaitType = WaitEnum.W001_AxisMove;
@@ -241,7 +268,7 @@ namespace OnlineStore.DeviceLibrary
             wait.IsEnd = false;
             return wait;
         }
-        public static WaitResultInfo WaitAxisOrg(ConfigMoveAxis axis,IO_VALUE value )
+        public static WaitResultInfo WaitAxisOrg(ConfigMoveAxis axis, IO_VALUE value)
         {
             WaitResultInfo wait = new WaitResultInfo();
             wait.WaitType = WaitEnum.W006_AxisOrg;
@@ -322,15 +349,18 @@ namespace OnlineStore.DeviceLibrary
             else if (WaitType.Equals(WaitEnum.W008_Compress))
             {
                 return "压紧轴压紧到位";
-            }else if (WaitType.Equals(WaitEnum.W009_ScanCode))
+            }
+            else if (WaitType.Equals(WaitEnum.W009_ScanCode))
             {
                 return "扫码完成";
-            }else if (WaitType.Equals(WaitEnum.W010_AgvStatus))
+            }
+            else if (WaitType.Equals(WaitEnum.W010_AgvStatus))
             {
-                return " Agv_" + (ClientAction)AgvAction+" ";
-            }else if (WaitType.Equals(WaitEnum.W011_DoorCloseEvent))
+                return " Agv_" + (ClientAction)AgvAction + " ";
+            }
+            else if (WaitType.Equals(WaitEnum.W011_DoorCloseEvent))
             {
-                return "Agv_DoorClose事件" ;
+                return "Agv_DoorClose事件";
             }
             else
             {
@@ -381,7 +411,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 是否已经结束
         /// </summary>
-        public bool IsEnd{ get; set; }
+        public bool IsEnd { get; set; }
 
         public int AgvAction = 0;
 
@@ -420,7 +450,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 压紧轴压紧到位
         /// </summary>
-        internal static int W008_Compress= 8;
+        internal static int W008_Compress = 8;
         /// <summary>
         /// 扫码完成
         /// </summary>

source/LoadCVSLibrary/storeConfig/config/AC_Box_Config.cs

@@ -556,6 +556,12 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("CompAxis_Max_P3")]
         public int CompAxis_Max_P3 { get; set; }
+
+        /// <summary>
+        /// PRO	所有料仓的CID(用#号分隔)	All_CIDs	packing-1#packing-2#packing-3#packing-4#packing-5#packing-6#packing-7#packing-8							
+        /// </summary>
+        [ConfigProAttribute("All_CIDs")]
+        public string All_CIDs { get; set; }
         private List< ComP2Info> ComP2List = null;
         public ComP2Info GetComP2(int plateh)
         {