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Commit 3547a0c6 由 LN
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1 个父辈 179c6ed8
内嵌 并排
正在显示 6 个修改的文件 包含 291 行增加 和 261 行删除
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -377,6 +377,10 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return true;
}
if (SW12_MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return true;
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -44,14 +44,11 @@ namespace OnlineStore.DeviceLibrary
{
isInprocess = true;
lastProTime = DateTime.Now;
if (!isCanProcessLine())
{
return;
}
//出入料口条件： 各料仓无报警（ 伺服）， 各移栽装置处 于原位待机， 检测夹具IO，驱动电机运转
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.LOW))
if (!isCanProcessLine() || IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.LOW))
{
isWaitOutGo = false;
isInprocess = false;
return;
}
......@@ -274,6 +271,7 @@ namespace OnlineStore.DeviceLibrary
if (!wait.IsEnd)
{
List<WriteIOInfo> wLists = checkWaitInfo.WriteIoList;
TimeSpan rwSpan = DateTime.Now - preRWTime;
if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
{
......@@ -281,20 +279,19 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = Name + " 等待" + NotOkMsg + "超时";
Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, checkWaitInfo.MoveType);
LogUtil.error(checkWaitInfo.Name + "：" + wait.IoType + "等待" + NotOkMsg + "超时", 14);
LogUtil.error(checkWaitInfo.Name + "：" + checkWaitInfo.MoveStep + "等待" + NotOkMsg + "超时", 14);
isOk = false;
break;
}
else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3 && (checkWaitInfo.WriteIoList != null) && checkWaitInfo.WriteIoList.Count > 0)
else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3 && (wLists != null) && wLists.Count > 0)
{
List<WriteIOInfo> wLists = new List<WriteIOInfo>(checkWaitInfo.WriteIoList);
preRWTime = DateTime.Now;
string msg = checkWaitInfo.Name + " " + NotOkMsg + " 已等待" + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
string msg = checkWaitInfo.Name + "[" + checkWaitInfo.MoveStep + "]" + " 已等待 " + NotOkMsg + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
foreach (WriteIOInfo ww in wLists)
{
IOMove(ww.IoType, ww.IoValue);
msg += "[" + ww.IoType + "+" + ww.IoValue + "],";
msg += "[" + ww.IoType + "=" + ww.IoValue + "],";
}
LogUtil.error(msg);
}
......@@ -339,7 +336,7 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：" + ex.ToString());
LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：" + ex.StackTrace);
}
}
......@@ -419,7 +416,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.NextMoveStep(LineMoveStep.LI_00_Wait100);
MoveInfo.MoveParam = param;
preTrayNum = param.TrayNumber;
//等待料仓验证成功，最多等待10秒，若验证不成功，直接失败
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
......@@ -460,6 +456,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
preTrayNum = MoveInfo.MoveParam.TrayNumber;
lock (moveEquip.waitInListLock)
{
//如果当前正在出入库中，需要记录下来，等待空闲时执行
......@@ -612,95 +609,113 @@ namespace OnlineStore.DeviceLibrary
private bool SideWay12IsWait = false;
private DateTime SideWay34Ntime = DateTime.Now;
private bool SideWay34IsWait = false;
private bool sdIsInprocess = false;
private DateTime sdlastProTime = DateTime.Now;
private void SideWayTimerProcess()
{
//流水线转动中，并且在忙碌或出入库处理中，需要处理移栽
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH) && runStatus >= LineRunStatus.Runing)
TimeSpan span = DateTime.Now - sdlastProTime;
if (sdIsInprocess && span.TotalSeconds < 5)
{
return;
}
try
{
if (SW12_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay2_FixtureCheck).Equals(IO_VALUE.LOW))
sdIsInprocess = true; sdlastProTime = DateTime.Now;
//流水线转动中，并且在忙碌或出入库处理中，需要处理移栽
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH) && runStatus >= LineRunStatus.Runing)
{
TimeSpan span12 = DateTime.Now - SideWay12Ntime;
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡2下降，盘通过
if (IOValue(IO_Type.SidesWay1_StopFixtureCheck).Equals(IO_VALUE.HIGH))
if (SW12_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay2_FixtureCheck).Equals(IO_VALUE.LOW))
{
if (SideWay12IsWait && span12.TotalSeconds > 1)
TimeSpan span12 = DateTime.Now - SideWay12Ntime;
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡2下降，盘通过
if (IOValue(IO_Type.SidesWay1_StopFixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道阻挡1检测到托盘，开始移动托盘，下降横移气缸12");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW12_MoveInfo);
}
else if (!SideWay12IsWait)
{
SideWay12IsWait = true;
SideWay12Ntime = DateTime.Now;
if (SideWay12IsWait && span12.TotalSeconds > 1)
{
SWLog("横移轨道阻挡1检测到托盘，开始移动托盘，下降横移气缸12");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
SideWay12TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW12_MoveInfo);
}
else if (!SideWay12IsWait)
{
SideWay12IsWait = true;
SideWay12Ntime = DateTime.Now;
}
}
}
else if (IOValue(IO_Type.SidesWay1_FixtureCheck).Equals(IO_VALUE.HIGH))
{
if (SideWay12IsWait && span12.TotalSeconds > 1)
else if (IOValue(IO_Type.SidesWay1_FixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道1检测到托盘，阻挡1上升，等待横移1夹具检测信号");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.LOW);
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay1_FixtureCheck, IO_VALUE.HIGH));
if (SideWay12IsWait && span12.TotalSeconds > 1)
{
SWLog("横移轨道1检测到托盘，阻挡1上升，等待横移1夹具检测信号");
SW12_MoveInfo.NewMove(LineMoveType.InStore);
SW12_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
IOMove(IO_Type.SidesWay1_StopCylinderDown, IO_VALUE.LOW);
SW12_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SidesWay1_FixtureCheck, IO_VALUE.HIGH));
}
else if (!SideWay12IsWait)
{
SideWay12IsWait = true;
SideWay12Ntime = DateTime.Now;
}
}
else if (!SideWay12IsWait)
else
{
SideWay12IsWait = true;
SideWay12Ntime = DateTime.Now;
SideWay12IsWait = false;
}
}
else
{
SideWay12IsWait = false;
SideWay12BusyProcess();
}
}
else
{
SideWay12IsWait = false;
SideWay12BusyProcess();
}
if (SW34_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay4_FixtureCheck).Equals(IO_VALUE.LOW))
{
TimeSpan span34 = DateTime.Now - SideWay34Ntime;
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡4下降，盘通过
if (IOValue(IO_Type.SidesWay3_FixtureCheck).Equals(IO_VALUE.HIGH))
if (SW34_MoveInfo.MoveType.Equals(LineMoveType.None) && IOValue(IO_Type.SidesWay4_FixtureCheck).Equals(IO_VALUE.LOW))
{
if (SideWay34IsWait && span34.TotalSeconds > 1)
TimeSpan span34 = DateTime.Now - SideWay34Ntime;
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡4下降，盘通过
if (IOValue(IO_Type.SidesWay3_FixtureCheck).Equals(IO_VALUE.HIGH))
{
SWLog("横移轨道3检测到托盘，开始移动托盘");
SW34_MoveInfo.NewMove(LineMoveType.InStore);
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopCylinderDown);
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.HIGH);
SideWay34TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW34_MoveInfo);
if (SideWay34IsWait && span34.TotalSeconds > 1)
{
SWLog("横移轨道3检测到托盘，开始移动托盘");
SW34_MoveInfo.NewMove(LineMoveType.InStore);
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopCylinderDown);
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.HIGH);
SideWay34TopCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW, SW34_MoveInfo);
}
else if (!SideWay34IsWait)
{
SideWay34IsWait = true;
SideWay34Ntime = DateTime.Now;
}
}
else if (!SideWay34IsWait)
else
{
SideWay34IsWait = true;
SideWay34Ntime = DateTime.Now;
SideWay34IsWait = false;
}
}
else
{
SideWay34IsWait = false;
SideWay34BusyProcess();
}
}
else
{
SideWay34IsWait = false;
SideWay34BusyProcess();
SideWay12IsWait = false;
}
}
else
catch (Exception ex)
{
SideWay34IsWait = false;
SideWay12IsWait = false;
LogUtil.error("SideWayTimerProcess 出错：" + ex.StackTrace);
}
sdIsInprocess = false;
}
private void SideWay12BusyProcess()
......@@ -812,7 +827,8 @@ namespace OnlineStore.DeviceLibrary
else if (SW34_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
{
SW34_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
SWLog("横移轨道34：顶升气缸上升 ,横移3阻挡上升 ");
SWLog("横移轨道34：顶升气缸上升 ,横移3阻挡上升,至少等待1000 ");
SW34_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
IOMove(IO_Type.SidesWay3_StopCylinderDown, IO_VALUE.LOW);
SideWay34TopCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH, SW34_MoveInfo);
}
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
......@@ -20,7 +20,7 @@ namespace OnlineStore.DeviceLibrary
public bool UpdownUseAxis = false;
public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
public MoveEquip_Config Config;
/// <summary>
///移栽装置后面分为两条移动线
/// </summary>
......@@ -29,13 +29,13 @@ namespace OnlineStore.DeviceLibrary
public List<InOutParam> waitOutStoreList = new List<InOutParam>();
public List<InOutParam> waitInStoreList = new List<InOutParam>();
public object waitInListLock = "";
public object waitOutListLock = "";
public object waitOutListLock = "";
public MoveEquip(string cid, MoveEquip_Config config)
{
this.DeviceID = config.Id;
this.Config = config;
Name = (" " + "_移栽_" + DeviceID + " ").ToUpper();
Name = (" " + "_移栽_" + DeviceID + " ").ToUpper();
//Name = (" " + cid + "_移栽_" + DeviceID + " ").ToUpper();
Init();
//添加调试
......@@ -44,8 +44,8 @@ namespace OnlineStore.DeviceLibrary
IsDebug = true;
}
//this.Box = box;
MoveInfo = new LineMoveInfo(DeviceID,"移栽-"+DeviceID+"-MoveInfo");
MoveInfo = new LineMoveInfo(DeviceID, "移栽-" + DeviceID + "-MoveInfo");
SecondMoveInfo = new LineMoveInfo(DeviceID, "移栽-" + DeviceID + "-SecondMoveInfo");
IsDebug = config.IsDebug.Equals(1);
UpdownUseAxis = config.UpDownUseAxis.Equals(1);
......@@ -66,20 +66,20 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun( )
public override bool StartRun()
{
preTrayNum = 0;
currMoveTrayNum = 0;
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
lineStatus = LineStatus.StoreOnline;
lineStatus = LineStatus.StoreOnline;
//TODO 调试时暂时注释
runStatus = LineRunStatus.HomeMoving;
return MoveEquipMentHome();
return MoveEquipMentHome();
}
public bool StartDebugRun()
public bool StartDebugRun()
{
preTrayNum = 0;
currMoveTrayNum = 0;
......@@ -89,7 +89,7 @@ namespace OnlineStore.DeviceLibrary
lineStatus = LineStatus.StoreOnline;
//TODO 调试时暂时注释
runStatus = LineRunStatus.HomeMoving;
bool result= MoveEquipMentHome();
bool result = MoveEquipMentHome();
if (result)
{
mainTimer.Enabled = true;
......@@ -167,13 +167,13 @@ namespace OnlineStore.DeviceLibrary
StopMoveProcess();
}
if (SecondMoveInfo.MoveType .Equals( LineMoveType.CheckFixture))
if (SecondMoveInfo.MoveType.Equals(LineMoveType.CheckFixture))
{
CheckFixtureProcess();
}
}
protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimerProcess();
......@@ -199,15 +199,15 @@ namespace OnlineStore.DeviceLibrary
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
LineBean lineBean = LineManager.Line;
if (lineBean.isCanProcessLine() && IOManager.IOValue(IO_Type.DriveMotor_Run,0).Equals(IO_VALUE.HIGH) && lineBean.runStatus >= LineRunStatus.Runing && lineBean.IsSleep.Equals(false))
if (lineBean.isCanProcessLine() && IOManager.IOValue(IO_Type.DriveMotor_Run, 0).Equals(IO_VALUE.HIGH) && lineBean.runStatus >= LineRunStatus.Runing && lineBean.IsSleep.Equals(false))
{
// LogUtil.info("StartCheckFixture");
// LogUtil.info("StartCheckFixture");
StartCheckFixture();
}
}
IOTimeOutProcess();
OutStoreListPro ();
OutStoreListPro();
}
catch (Exception ex)
{
......@@ -221,7 +221,7 @@ namespace OnlineStore.DeviceLibrary
/// 出库队列处理
/// </summary>
private void OutStoreListPro()
{
{
//料仓出库完成，移栽装置开始出库检测
if (IsDebug.Equals(false) && MoveInfo.MoveType.Equals(LineMoveType.None) && runStatus.Equals(LineRunStatus.Runing))
{
......@@ -238,7 +238,7 @@ namespace OnlineStore.DeviceLibrary
{
LogUtil.info(Name + "开始 执行排队中的出库【" + waitOutParma.ToStr() + "】");
//出库
bool result = StartOutStoreMove(waitOutParma);
bool result = StartOutStoreMove(waitOutParma);
if (!result)
{
LogUtil.info(Name + " 执行排队中的出库【" + waitOutParma.ToStr() + "】失败，重新加入等待队列");
......@@ -247,11 +247,20 @@ namespace OnlineStore.DeviceLibrary
}
}
}
public void AddWaitOutInfo(InOutParam param)
{
public void AddWaitOutInfo(InOutParam param)
{
lock (waitOutListLock)
{
waitOutStoreList.Add(param);
//判断是否已经加入，不重复加
List<InOutParam> paramList = (from m in waitOutStoreList where m.PosId.Equals(param.PosId) select m).ToList<InOutParam>();
if (paramList.Count > 0)
{
LogUtil.error(Name + "出库【" + param.ToStr() + "】加入等待出库队列失败，此库位已存在列表中");
}
else
{
waitOutStoreList.Add(param);
}
}
}
......@@ -261,17 +270,17 @@ namespace OnlineStore.DeviceLibrary
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1&& alarmType.Equals(LineAlarmType.IoSingleTimeOut))
if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
{
preIoTimerOutTime = DateTime.Now;
if (runStatus < LineRunStatus.Runing|| isInSuddenDown || isNoAirCheck)
if (runStatus < LineRunStatus.Runing || isInSuddenDown || isNoAirCheck)
{
return;
}
}
//若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (MoveInfo.IsInWait .Equals(false)&&SecondMoveInfo.IsInWait.Equals(false))
if (MoveInfo.IsInWait.Equals(false) && SecondMoveInfo.IsInWait.Equals(false))
{
LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
alarmType = LineAlarmType.None;
......@@ -281,14 +290,14 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error( "IOTimeOutProcess出错：" + ex.ToString());
LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
}
}
/// <summary>
/// 移栽装置原点返回
/// </summary>
public bool MoveEquipMentHome()
public bool MoveEquipMentHome()
{
mainTimer.Stop();
if (!RunAxis(true))
......@@ -298,11 +307,11 @@ namespace OnlineStore.DeviceLibrary
alarmType = LineAlarmType.None;
runStatus = LineRunStatus.HomeMoving;
LogInfo( "开始原点返回： (上下气缸回原点，阻挡气缸输入=0 )开始");
LogInfo("开始原点返回： (上下气缸回原点，阻挡气缸输入=0 )开始");
MoveInfo.NewMove(LineMoveType.ReturnHome);
//移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0
UpdownHomeMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
if (IsDebug)
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
......@@ -311,17 +320,17 @@ namespace OnlineStore.DeviceLibrary
else
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
return true;
}
/// <summary>
/// 移栽装置重置
/// </summary>
public override bool Reset()
public override bool Reset()
{
WarnMsg = "";
//如果正在出库中，需要减去托盘号
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
......@@ -329,7 +338,7 @@ namespace OnlineStore.DeviceLibrary
//减去需要的盘数
TrayManager.DelNeedEmptyTrayNum();
MoveInfo.EndMove();
}
}
if (!RunAxis(true))
{
return false;
......@@ -338,13 +347,13 @@ namespace OnlineStore.DeviceLibrary
//重置时清理盘号，从头开始判断
preTrayNum = 0;
currMoveTrayNum = 0;
LogInfo( "开始重置：清零上一个托盘号，（上下气缸回原点，阻挡气缸输入=0 ）开始；");
LogInfo("开始重置：清零上一个托盘号，（上下气缸回原点，阻挡气缸输入=0 ）开始；");
runStatus = LineRunStatus.Reset;
SecondMoveInfo.EndMove();
MoveInfo.NewMove(LineMoveType.Reset);
UpdownHomeMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
if (IsDebug)
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
......@@ -389,7 +398,7 @@ namespace OnlineStore.DeviceLibrary
case LineMoveStep.MH_UpDownCylinder_Up:
MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
LogInfo( "重置： (上升到位，顶升气缸下降，前后气缸回退 )开始");
LogInfo("重置： (上升到位，顶升气缸下降，前后气缸回退 )开始");
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
......@@ -397,7 +406,7 @@ namespace OnlineStore.DeviceLibrary
case LineMoveStep.MH_OtherCylinder_Back:
LogInfo( "重置完成！");
LogInfo("重置完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
......@@ -412,7 +421,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 原点返回处理
/// </summary>
protected void ReturnHomeProcess()
protected void ReturnHomeProcess()
{
if (MoveInfo.IsInWait)
{
......@@ -444,7 +453,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
LogInfo( "原点返回完成！");
LogInfo("原点返回完成！");
runStatus = LineRunStatus.Runing;
//如果是调试模式，移栽装置两个阻挡气缸落下，并且不再移动
if (IsDebug)
......@@ -475,12 +484,12 @@ namespace OnlineStore.DeviceLibrary
if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
{
//流水线各装置复原位，夹料气缸状态不变 //阻挡气缸全部=0 //上下气缸上升，、 //上升到位，顶升气缸下降，前后气缸回退
case LineMoveStep.MH_UpDownCylinder_Up:
{
MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
LogInfo( "停止运动： (上升到位，顶升气缸下降，前后气缸回退 )开始");
LogInfo("停止运动： (上升到位，顶升气缸下降，前后气缸回退 )开始");
IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
......@@ -513,22 +522,22 @@ namespace OnlineStore.DeviceLibrary
//如果正在出库中，需要减去托盘号
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
LogInfo( "停止运动时出库执行中，减去托盘数；");
LogInfo("停止运动时出库执行中，减去托盘数；");
//减去需要的盘数
TrayManager.DelNeedEmptyTrayNum();
MoveInfo.EndMove();
}
runStatus = LineRunStatus.Busy;
SecondMoveInfo.EndMove();
LogInfo( "停止运动：（上下气缸上升端，阻挡气缸输入=0 ）开始 ");
SecondMoveInfo.EndMove();
LogInfo("停止运动：（上下气缸上升端，阻挡气缸输入=0 ）开始 ");
MoveInfo.NewMove(LineMoveType.StopMove);
MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
UpdownUpMove();
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
public void ChangeDebug()
......@@ -559,7 +568,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
internal void OpenStopCylinder()
{
LogInfo( "下降阻挡气缸，上下气缸上升，顶升气缸下降");
LogInfo("下降阻挡气缸，上下气缸上升，顶升气缸下降");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
//上下气缸上升
......@@ -574,7 +583,7 @@ namespace OnlineStore.DeviceLibrary
}
internal void CloseCylinderStop()
{
LogInfo( "上升阻挡气缸，关闭上下气缸，顶升气缸IO");
LogInfo("上升阻挡气缸，关闭上下气缸，顶升气缸IO");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
//上下气缸上升
......@@ -584,7 +593,7 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
}
#region 上下气缸伺服运动
private string portName;
private short slvAddr;
......@@ -629,33 +638,33 @@ namespace OnlineStore.DeviceLibrary
private bool OpenAxis()
{
//判断轴是否正常
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info(Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
}
else
{
//清理报警，再重新打开一次
LogUtil.info(Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info( Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
LogUtil.info(Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
}
else
{
//清理报警，再重新打开一次
LogUtil.info( Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
}
else
{
ACServerManager.ServoOff(portName, slvAddr);
WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
LogUtil.info( Name + WarnMsg);
Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
return false;
}
ACServerManager.ServoOff(portName, slvAddr);
WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
LogUtil.info(Name + WarnMsg);
Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
return false;
}
}
return true;
}
......@@ -673,12 +682,12 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
}
private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{
moveAxis.TargetPosition = 0;
LogUtil.info( moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
LogUtil.info(moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
}
......@@ -688,7 +697,7 @@ namespace OnlineStore.DeviceLibrary
private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition;
moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
}
......@@ -700,7 +709,7 @@ namespace OnlineStore.DeviceLibrary
msg = "";
string deviceName = moveAxis.DeviceName;
short axisNo = moveAxis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
......@@ -713,7 +722,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error( moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
LogUtil.error(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");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--;
......@@ -722,7 +731,7 @@ namespace OnlineStore.DeviceLibrary
{
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";
LogUtil.error( msg);
LogUtil.error(msg);
}
}
return false;
......@@ -742,7 +751,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error( 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(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( StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
MoveInfo.CanWhileCount--;
......@@ -750,11 +759,11 @@ namespace OnlineStore.DeviceLibrary
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";
LogUtil.error( msg);
LogUtil.error(msg);
}
}
return false;
}
}
/// <summary>
/// 上下气缸移动到上升端
/// </summary>
......@@ -769,7 +778,7 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
private void UpdownDownMove(int trayHeight)
{
if (UpdownUseAxis)
......@@ -787,7 +796,7 @@ namespace OnlineStore.DeviceLibrary
if (UpdownUseAxis)
{
int position = Config.GetUpdownBoxPosition(trayHeight);
ACAxisMove(Config.UpDown_Axis, position,Config.UpdownAxis_DownSpeed);
ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
}
else
{
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -87,12 +87,12 @@ namespace OnlineStore.DeviceLibrary
//一分钟还未检测到
if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "等待" + NotOkMsg + " 超时";
Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
LogUtil.error( MoveInfo.Name + WarnMsg, 13);
LogUtil.error(MoveInfo.Name + WarnMsg, 13);
}
else if (rwSpan.TotalSeconds > 3&&span.TotalSeconds>3)
else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
......@@ -120,7 +120,7 @@ namespace OnlineStore.DeviceLibrary
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals( 8))
else if (wait.WaitType.Equals(8))
{
string posId = moveInfo.MoveParam.PosId;
int id = moveInfo.MoveParam.GetStoreId();
......@@ -130,9 +130,10 @@ namespace OnlineStore.DeviceLibrary
{
int storeId = moveInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
}else if (wait.WaitType.Equals(10))
}
else if (wait.WaitType.Equals(10))
{
// wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
}
if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
{
......@@ -153,7 +154,7 @@ namespace OnlineStore.DeviceLibrary
{
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
+ "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error( WarnMsg, 18);
LogUtil.error(WarnMsg, 18);
Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
}
......@@ -182,7 +183,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param;
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
TrayManager.AddNeedEmptyTrayNum();
TrayManager.AddNeedEmptyTrayNum();
return true;
}
else
......@@ -212,10 +213,10 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess))
{
OutStoreLog("出库： MO_51_BeforeAfterCylinderBefore ( 前后气缸前进 )");
MoveInfo.NextMoveStep(LineMoveStep.MO_51_BeforeAfterCylinderBefore);
MoveInfo.NextMoveStep(LineMoveStep.MO_51_BeforeAfterCylinderBefore);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_BeforeAfterCylinderBefore))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_BeforeAfterCylinderBefore))
{
OutStoreLog("出库： MO_52_UpDownCylinderDown ( 上下气缸1下降 )");
MoveInfo.NextMoveStep(LineMoveStep.MO_52_UpDownCylinderDown);
......@@ -309,7 +310,7 @@ namespace OnlineStore.DeviceLibrary
OutStoreLog("出库：(MO_08_UpDownCylinderUp 上下气缸1上升）");
this.MoveInfo.NextMoveStep(LineMoveStep.MO_60_UpDownCylinderUp);
UpdownUpMove();
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_UpDownCylinderUp))
{
......@@ -320,9 +321,9 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_06_TopCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
LogInfo("【" + posId + "】出库处理结束，！");
LogInfo("【" + posId + "】出库处理结束，！");
lineStatus = LineStatus.StoreOnline;
runStatus = LineRunStatus.Runing;
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
}
......@@ -395,14 +396,14 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：(MI_09_UpDownCylinderUp，上下气缸1上升）");
MoveInfo.NextMoveStep(LineMoveStep.MI_09_UpDownCylinderUp);
UpdownUpMove();
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_09_UpDownCylinderUp))
{
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.MI_10_WaitBox);
LogInfo("入库【" + posId + "】处理（等待移栽）：(判断box门口没有盘, 且可以入库)，更新盘号【" + num + "】为空盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
TrayManager.UpdateFixtureValue(num, false, 0);
//阻挡气缸移动
......@@ -445,7 +446,7 @@ namespace OnlineStore.DeviceLibrary
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_14_BeforeAfterCylinderAfter))
{
{
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendEnd);
//判断料仓是否在入库中，如果么有在入库中，需要重新发送入库消息
if (!LineServer.IsInStorePro(DeviceID))
......@@ -456,7 +457,7 @@ namespace OnlineStore.DeviceLibrary
else
{
InStoreLog("入库：(MI_15_SendEnd ， 送料流程完成，料仓已开始入库）");
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_15_SendEnd))
{
......@@ -493,7 +494,7 @@ namespace OnlineStore.DeviceLibrary
/// <param name="currMoveTrayNum"></param>
/// <returns></returns>
private bool CheckIsNeedOutStore()
{
{
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && (MoveInfo.MoveStep >= LineMoveStep.MO_56_BeforeAfterCylinderAfter)
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_UpDownCylinderUp)))
......@@ -517,7 +518,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
/// <returns></returns>
private bool CheckIsNeedInStore()
{
{
bool isfull = TrayManager.IsFixTureFull(currMoveTrayNum);
LogInfo("***************入库*****验证入库编号，托盘号【" + currMoveTrayNum + "】,isfull【" + isfull + "】");
//FixtureCodeInfo code = GetBox().currInOutFixture;
......@@ -540,7 +541,7 @@ namespace OnlineStore.DeviceLibrary
{
reIndex = i;
currCode = cc;
LogInfo("***************入库*****需要入库，托盘号【" + currMoveTrayNum + "】，是排队列表中的入库信息【" + currCode.ToStr() + "】 ，入库移栽");
LogInfo("*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽");
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW);
break;
}
......@@ -550,8 +551,8 @@ namespace OnlineStore.DeviceLibrary
waitInStoreList.RemoveAt(reIndex);
if (!LineServer.BoxCanInStore(DeviceID))
{
LogUtil.info(Name + "***************需要入库 【" + currCode.ToStr() + "】 ，料仓未上线或出库中，入库失败");
return false;
LogUtil.info(Name + "*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先移栽再等待料仓可入库，开始入库移栽");
return true;
}
else
{
......@@ -567,33 +568,35 @@ namespace OnlineStore.DeviceLibrary
#region 托盘检测
private void StartCheckFixture()
{
{
int num = TrayManager.GetNum(DeviceID);
if (IOValue(IO_Type.Fixture_Check_4).Equals(IO_VALUE.HIGH))
{
//托盘在两个阻挡内
if (num > 0)
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_03_StopCylinder2Down 阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.EndStepWait();
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
// SecondMoveInfo.EndStepWait();
}
else
{
LogUtil.error(Name + "检测到check4亮，但是为获取到托盘号，StartCheckFixture失败~");
}
}
}
else if (IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.HIGH))
{
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
CheckLog(" 托盘检测：料盘检测 SecondStoreMove（MIO_01_StopCylinder1Down阻挡气缸1-1下降 ,等待夹具检测4=1，最多等待1秒）");
CheckLog(" 托盘检测：料盘检测 SecondStoreMove（MIO_01_StopCylinder1Down阻挡气缸1-1下降 ，最多等待1秒）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check_4, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check_4, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
}
private void CheckFixtureProcess()
......@@ -617,6 +620,7 @@ namespace OnlineStore.DeviceLibrary
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_02_FixtureCheck 阻挡气缸1-1上升，等待夹具检测4=1）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check_4, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
......@@ -624,7 +628,8 @@ namespace OnlineStore.DeviceLibrary
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_03_StopCylinder2Down 阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.EndStepWait();
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_StopCylinder2Down))
{
......@@ -681,12 +686,12 @@ namespace OnlineStore.DeviceLibrary
}
CheckLog("托盘放行 SecondStoreMove：(MO_07_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_07_WaitCanGo);
//if (DeviceID.Equals(2))
//{
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
// SecondMoveInfo.OneWaitCanEndStep = true;
//}
if (DeviceID.Equals(2))
{
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
SecondMoveInfo.OneWaitCanEndStep = true;
}
}
}
catch (Exception ex)
......@@ -761,12 +766,12 @@ namespace OnlineStore.DeviceLibrary
{
CheckLog("托盘放行 SecondStoreMove：(MO_07_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_07_WaitCanGo);
//if (DeviceID.Equals(2))
//{
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
// SecondMoveInfo.OneWaitCanEndStep = true;
//}
if (DeviceID.Equals(2))
{
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
SecondMoveInfo.OneWaitCanEndStep = true;
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_07_WaitCanGo))
......@@ -774,7 +779,8 @@ namespace OnlineStore.DeviceLibrary
CheckLog("托盘放行 SecondStoreMove：(MO_10_StopCylinder2_Down ，阻挡气缸1-2下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_10_StopCylinder2_Down);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.EndStepWait();
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_10_StopCylinder2_Down))
{
......@@ -787,6 +793,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_StopCylinder_Back);
CheckLog("托盘放行 SecondStoreMove：(MO_12_StopCylinder_Back ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_12_StopCylinder_Back))
......@@ -845,7 +852,7 @@ namespace OnlineStore.DeviceLibrary
public void LogInfo(string logInfo)
{
LogUtil.info( Name + logInfo);
LogUtil.info(Name + logInfo);
}
}
}
source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
......@@ -88,17 +88,13 @@ namespace OnlineStore.DeviceLibrary
{
if (balserNameList.Contains(cameraName))
{
bool result = BaslerCamera.Instance.IsOpen;
if (!result)
{
result = BaslerCamera.Instance.Open(cameraName);
LogUtil.info("打开相机：" + cameraName + "(" + result + ")");
}
bool result = BaslerCamera.Instance.Open(cameraName);
// LogUtil.info("打开相机：" + cameraName + "(" + result + ")");
if (result)
{
BaslerCamera.Instance.GrabOne();
bitm = BaslerCamera.Instance.Image;
//BaslerCamera.Instance.Close();
BaslerCamera.Instance.Close();
}
else
{
......@@ -107,17 +103,13 @@ namespace OnlineStore.DeviceLibrary
}
else if (hikNameList.Contains(cameraName))
{
bool result = HIKCamera.Instance.IsOpen;
if (!result)
{
result = HIKCamera.Instance.Open(cameraName);
LogUtil.info("打开相机：" + cameraName + "(" + result + ")");
}
bool result = HIKCamera.Instance.Open(cameraName);
// LogUtil.info("打开相机：" + cameraName + "(" + result + ")");
if (result)
{
HIKCamera.Instance.GrabOne();
bitm = HIKCamera.Instance.Image;
//HIKCamera.Instance.Close();
HIKCamera.Instance.Close();
}
else
{
......
source/DeviceLibrary/server/LineServer.cs
......@@ -38,7 +38,8 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
}return false;
}
return false;
}
/// <summary>
/// 移栽装置拦截托盘时， 判断是否可以入库，入库执行可以入库，出库过程中不能入库
......@@ -54,7 +55,7 @@ namespace OnlineStore.DeviceLibrary
if (span.TotalSeconds < ClientKeepSecond && box.SAlarmType.Equals(LineAlarmType.None))
{
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Runing))
{
return true;
......@@ -74,18 +75,39 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 判断库位是否验证成功
/// </summary>
public static bool RightInPosId(int id,string posId)
public static bool RightInPosId(int id, string posId)
{
BoxInfo box = GetBoxInfo(id);
if (box != null)
{
TimeSpan span = DateTime.Now - box.LastMsgTime;
if (span.TotalSeconds < ClientKeepSecond )
if (span.TotalSeconds < ClientKeepSecond)
{
if (box.WaitInStoreList != null && box.WaitInStoreList.Contains(posId))
{
return true;
}
}
}
}
return false;
}
public static bool IsInStorePro(int id)
{
BoxInfo box = GetBoxInfo(id);
TimeSpan span = DateTime.Now - box.LastMsgTime;
if (box != null && span.TotalSeconds < ClientKeepSecond)
{
LineStatus status = (LineStatus)box.SStatus;
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Busy))
{
if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute))
{
return true;
}
}
}
return false;
......@@ -101,34 +123,13 @@ namespace OnlineStore.DeviceLibrary
if (box != null)
{
TimeSpan span = DateTime.Now - box.LastMsgTime;
if (span.TotalSeconds < ClientKeepSecond&&box.HasTray.Equals(0)&&box.SAlarmType.Equals(LineAlarmType.None) )
if (span.TotalSeconds < ClientKeepSecond && box.HasTray.Equals(0) && box.SAlarmType.Equals(LineAlarmType.None))
{
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Runing))
{
return true;
}
}
}
return false;
}
public static bool IsInStorePro(int id)
{
BoxInfo box = GetBoxInfo(id);
TimeSpan span = DateTime.Now - box.LastMsgTime;
if (box != null && span.TotalSeconds < ClientKeepSecond)
{
LineStatus status = (LineStatus)box.SStatus;
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Busy))
{
if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute))
{
return true;
}
}
}
......@@ -147,7 +148,7 @@ namespace OnlineStore.DeviceLibrary
if (span.TotalSeconds < ClientKeepSecond)
{
if (LineManager.Line.CanIntore(box.ID))
{
{
result += box.CId + ",";
}
}
......@@ -176,7 +177,7 @@ namespace OnlineStore.DeviceLibrary
}
}
public static void StopServer()
{
try
......@@ -192,15 +193,15 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(LOGGER, "关闭 监听出错：" + ex.ToString());
}
}
public static bool UpdateBoxDebug(int id,int isDebug)
public static bool UpdateBoxDebug(int id, int isDebug)
{
if (ClientMap.ContainsKey(id))
{
Dictionary<string,object> paramList =new Dictionary<string, object>();
Dictionary<string, object> paramList = new Dictionary<string, object>();
paramList.Add(S_Cmd, cmd_updateDebug);
int canOutStore = LineManager.Line.CanOutStore(id) ? 1 : 0;
paramList.Add(S_CanOutStore, canOutStore);
paramList.Add(S_IsDebug, isDebug);
paramList.Add(S_IsDebug, isDebug);
string msg = ToParamStr(paramList);
Client client = ClientMap[id];
bool result = SendStrToClient(client, msg);
......@@ -228,7 +229,7 @@ namespace OnlineStore.DeviceLibrary
bool result = SendStrToClient(client, msg);
if (!result)
{
LogUtil.error("StartInStore【" + id+"】【"+msg+"】失败");
LogUtil.error("StartInStore【" + id + "】【" + msg + "】失败");
}
}
return false;
......@@ -236,7 +237,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 获取整个料仓的状态
/// </summary>
public static Operation GetInStoreOperation(string message)
public static Operation GetInStoreOperation(string message)
{
//构建发送给服务器的对象
Operation lineOperation = new Operation();
......@@ -273,21 +274,22 @@ namespace OnlineStore.DeviceLibrary
}
else
{
// LogUtil.info("CheckInStorePos【" + id + "】【" + msg + "】发送成功");
// LogUtil.info("CheckInStorePos【" + id + "】【" + msg + "】发送成功");
}
}
}catch(Exception ex)
}
catch (Exception ex)
{
LogUtil.error("CheckInStorePos【" + id + "】【" + param.ToStr() + "】失败");
}
return false;
}
private static bool SendStrToClient(Client client, string sendMsg)
private static bool SendStrToClient(Client client, string sendMsg)
{
if (client != null && client.ClientSocket.Connected)
{
......@@ -296,7 +298,7 @@ namespace OnlineStore.DeviceLibrary
client.ClientSocket.Send(sendBuffer);
return true;
}
return false;
}
private static string ToParamStr(Dictionary<string, object> paramList)
......@@ -306,7 +308,7 @@ namespace OnlineStore.DeviceLibrary
return result + "\r";
}
private static object MapLock = "";
private static void SaveBoxClient(int id,BoxInfo box,Client client)
private static void SaveBoxClient(int id, BoxInfo box, Client client)
{
lock (MapLock)
{
......@@ -324,19 +326,19 @@ namespace OnlineStore.DeviceLibrary
}
}
private static void tcp_ReviceMsgEvent(Client client, string msg)
{
{
try
{
if (String.IsNullOrEmpty(msg))
{
return;
}
ProcessMsg(client, msg);
ProcessMsg(client, msg);
}
catch (Exception ex)
{
LogUtil.error("处理料仓消息【"+msg+"】出错："+ ex.ToString());
LogUtil.error("处理料仓消息【" + msg + "】出错：" + ex.ToString());
}
}
......@@ -349,14 +351,14 @@ namespace OnlineStore.DeviceLibrary
LogUtil.debug("收到【" + add + "】的消息【" + msg + "】");
StoreSendBean storeSMsg = JsonHelper.DeserializeJsonToObject<StoreSendBean>(msg);
if ( storeSMsg==null)
if (storeSMsg == null)
{
LogUtil.error("收到【" + add + "】的消息【" + msg + "】，解析失败");
}
else
{
int id = storeSMsg.StoreId;
BoxInfo box = new BoxInfo(storeSMsg.StoreId,storeSMsg.Cid,storeSMsg.Seq,storeSMsg.SStatus,storeSMsg.SRunStatus,storeSMsg.DoorHasTray,storeSMsg.AlarmType,storeSMsg.WaitInStoreList);
BoxInfo box = new BoxInfo(storeSMsg.StoreId, storeSMsg.Cid, storeSMsg.Seq, storeSMsg.SStatus, storeSMsg.SRunStatus, storeSMsg.DoorHasTray, storeSMsg.AlarmType, storeSMsg.WaitInStoreList);
SaveBoxClient(id, box, client);
string cmd = storeSMsg.Cmd;
......@@ -385,16 +387,16 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("SendHeartBack【" + id + "】【" + msg + "】失败");
}
return true;
}
return false;
}
private static char cmd_spilt = ';';
private static char cmd_spilt = ';';
private static string cmd_heart = "heart";
private static string cmd_outend = "outend";
private static string cmd_startIn = "starIn";
private static string cmd_updateDebug = "updateDebug";
private static string cmd_updateDebug = "updateDebug";
public static string cmd_checStartIn = "cmd_checStartIn";
......@@ -444,4 +446,4 @@ namespace OnlineStore.DeviceLibrary
public List<string> WaitInStoreList = new List<string>();
}
}
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