Skip to content

孙克 / RC1250-AssemblyLine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 130d6f3e 由 LN
选项

NeedLeave和NeedEnter级别修改

1 个父辈 53002f69
内嵌 并排
正在显示 4 个修改的文件 包含 36 行增加 和 17 行删除
source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -146,22 +146,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -146,22 +146,22 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
public static bool NeedEnter(string id, string shelfId="") public static bool NeedEnter(string id, string shelfId="", ClientLevel level = ClientLevel.Low)
{ {
ClientAction currA = GetAction(id); ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter)) if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, ClientAction.NeedEnter,ClientLevel.Low); SetStatus(id, shelfId, ClientAction.NeedEnter, level);
return true; return true;
} }
return false; return false;
} }
public static bool NeedLeave(string id, string shelfId="") public static bool NeedLeave(string id, string shelfId="",ClientLevel level=ClientLevel.Low)
{ {
ClientAction currA = GetAction(id); ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter)) if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{ {
SetStatus(id, shelfId, ClientAction.NeedLeave,ClientLevel.High); SetStatus(id, shelfId, ClientAction.NeedLeave, level);
return true; return true;
} }
return false; return false;
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -272,8 +272,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,8 +272,13 @@ namespace OnlineStore.DeviceLibrary
LogInfo("重置完成！"); LogInfo("重置完成！");
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{ {
ClientLevel level = ClientLevel.Low;
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
level = ClientLevel.High;
}
LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave"); LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave");
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
} }
MoveEndS(); MoveEndS();
break; break;
...@@ -399,8 +404,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -399,8 +404,13 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{ {
ClientLevel level = ClientLevel.Low;
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
level = ClientLevel.High;
}
//线体出口检测到料架，需要通知AGV小车 //线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// SendShelfToAGV(); // SendShelfToAGV();
} }
else else
...@@ -410,7 +420,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -410,7 +420,16 @@ namespace OnlineStore.DeviceLibrary
//入口无料架，mayEnter //入口无料架，mayEnter
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{ {
AgvClient.NeedEnter(Config.AgvInName); ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
//如果是出料模块且当前无料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW))
{
level = ClientLevel.High;
}
}
AgvClient.NeedEnter(Config.AgvInName, "", level);
} }
else else
{ {
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -648,7 +648,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -648,7 +648,7 @@ namespace OnlineStore.DeviceLibrary
{ {
UpdateShelfId(); UpdateShelfId();
if (CurrShelfId.EndsWith("00")) if (CurrShelfId.EndsWith("00"))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1); MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
InLog("料架号【" + CurrShelfId + "】无效，送出料架，" + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降"); InLog("料架号【" + CurrShelfId + "】无效，送出料架，" + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
...@@ -757,10 +757,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -757,10 +757,10 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up); CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
} }
else else
{ {
CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
} }
BatchAxisToP3(false ); BatchAxisToP3(false);
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
{ {
...@@ -789,7 +789,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -789,7 +789,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (LastHeight <12) if (LastHeight < 12)
{ {
LogUtil.error(Name + "计算后高度" + LastWidth + "X" + LastHeight + "，非七寸盘默认盘高最低=12，修改高度为12"); LogUtil.error(Name + "计算后高度" + LastWidth + "X" + LastHeight + "，非七寸盘默认盘高最低=12，修改高度为12");
LastHeight = 12; LastHeight = 12;
...@@ -820,7 +820,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -820,7 +820,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_SaveSize)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_SaveSize))
{ {
if (MoveCylineIsUp()) if (MoveCylineIsUp())
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive); MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive);
...@@ -863,7 +863,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -863,7 +863,7 @@ namespace OnlineStore.DeviceLibrary
FI_21_BatchAxisDown(); FI_21_BatchAxisDown();
} }
else else
{ {
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，获取库位号，更新托盘信息 ,"); InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，获取库位号，更新托盘信息 ,");
} }
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
...@@ -917,8 +917,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -917,8 +917,8 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false)) if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
{ {
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升，上料轴开始慢速上升到P3点，等待检测到料盘"); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升，上料轴开始慢速上升到P3点，等待检测到料盘");
BatchAxisToP3(false ); BatchAxisToP3(false);
} }
else else
{ {
...@@ -1032,7 +1032,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1032,7 +1032,7 @@ namespace OnlineStore.DeviceLibrary
// MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun); // MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun);
LastOutShelfId = CurrShelfId; LastOutShelfId = CurrShelfId;
InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束，更新LastOutShelfId=" + LastOutShelfId); InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束，更新LastOutShelfId=" + LastOutShelfId);
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, ClientLevel.Low);
} }
#endregion #endregion
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
...@@ -452,7 +452,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -452,7 +452,7 @@ namespace OnlineStore.DeviceLibrary
MoveEndS(); MoveEndS();
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun); // MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束"); OutLog("送出料串： " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束");
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId,Asa.ClientLevel.Low);
} }
else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_30_BatchAxisToP2) else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_30_BatchAxisToP2)
{ {
......
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!