1

ABBRobotTest/ABBRobotManager.cs

+using ABB.Robotics.Controllers;
+using ABB.Robotics.Controllers.Discovery;
+using ABB.Robotics.Controllers.IOSystemDomain;
+using ABB.Robotics.Controllers.RapidDomain;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ABBRobotTest
+{
+    public class ABBRobotManager
+    {
+
+        private NetworkScanner scanner = null;
+        // private Controller controller = null;
+        private Task[] tasks = null;
+        private NetworkWatcher networkwatcher = null;
+        private Dictionary<string, Controller> controllerMap = new Dictionary<string, Controller>();
+         
+        public void LoadController()
+        {
+            this.scanner = new NetworkScanner();
+            this.scanner.Scan();
+            ControllerInfoCollection controllers = scanner.Controllers;
+            int i = 0;
+            foreach (ControllerInfo controllerInfo in controllers)
+            {
+                Controller con = ControllerFactory.CreateFrom(controllerInfo);
+                con.Logon(UserInfo.DefaultUser);
+                ControllerState state = con.State;
+                controllerMap.Add(con.IPAddress.ToString(), con);
+                // controller = con;
+                i++; 
+            }
+
+            this.networkwatcher = new NetworkWatcher(scanner.Controllers);
+            this.networkwatcher.Found += new EventHandler<NetworkWatcherEventArgs>(HandleFoundEvent);
+            this.networkwatcher.Lost += new EventHandler<NetworkWatcherEventArgs>(HandleLostEvent);
+            this.networkwatcher.EnableRaisingEvents = true;
+        }
+
+        private void HandleLostEvent(object sender, NetworkWatcherEventArgs e)
+        { 
+        }
+
+        private void HandleFoundEvent(object sender, NetworkWatcherEventArgs e)
+        {
+            this.Invoke(new
+            EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
+            new Object[] { this, e });
+        }
+
+        private void Invoke(EventHandler<NetworkWatcherEventArgs> eventHandler, object[] v)
+        {
+            throw new NotImplementedException();
+        }
+
+        private void AddControllerToListView(object sender, NetworkWatcherEventArgs e)
+        {
+            //ControllerInfo controllerInfo = e.Controller; ListViewItem item
+            // = new ListViewItem(controllerInfo.IPAddress.ToString());
+            //item.SubItems.Add(controllerInfo.Id); item.SubItems.Add(controllerInfo.Availability.ToString()); item.SubItems.Add(controllerInfo.IsVirtual.ToString()); item.SubItems.Add(controllerInfo.SystemName); item.SubItems.Add(controllerInfo.Version.ToString()); item.SubItems.Add(controllerInfo.ControllerName); this.listView1.Items.Add(item); item.Tag
+            //       = controllerInfo;
+        }
+        private void StartRobot(string ip)
+        {
+            try
+            {
+                Controller controller = GetControllerByIP(ip);
+                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
+                { 
+                    tasks = controller.Rapid.GetTasks();
+                    using (Mastership m = Mastership.Request(controller.Rapid))
+                    {
+                        tasks[0].SetProgramPointer("aaa", "main");
+                        controller.State = ControllerState.MotorsOn;
+                        controller.Rapid.Start();
+                        //Perform operation
+                        //tasks[0].Start();
+
+                        m.Dispose();
+                    } 
+                }
+                else
+                {
+                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
+                }
+            }
+            catch (System.InvalidOperationException ex)
+            {
+                Console.WriteLine("Mastership is held by another client." + ex.Message);
+            }
+            catch (System.Exception ex)
+            {
+                Console.WriteLine("Unexpected error occurred: " + ex.Message);
+            }
+        }
+        private void StopRobot(string ip)
+        {
+            try
+            {
+                Controller controller = GetControllerByIP(ip);
+                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
+                {
+
+                    tasks = controller.Rapid.GetTasks();
+                    using (Mastership m = Mastership.Request(controller.Rapid))
+                    {
+                        //tasks[0].SetProgramPointer("aaa", "main");
+                        //controller.State = ControllerState.MotorsOn;
+                        //controller.Rapid.Start();
+                        //Perform operation
+                        //tasks[0].Start();
+                        controller.Rapid.Stop();
+                        m.Dispose();
+                    }
+                }
+                else
+                {
+                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
+                }
+            }
+            catch (System.InvalidOperationException ex)
+            {
+                Console.WriteLine("Mastership is held by another client." + ex.Message);
+            }
+            catch (System.Exception ex)
+            {
+                Console.WriteLine("Unexpected error occurred: " + ex.Message);
+            }
+        } 
+
+        private void SetRobotSignal(string ip, string name)
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            {
+                // string name = comboBox1.Text;
+                Signal singalValue = controller.IOSystem.GetSignal(name);
+                DigitalSignal digitalSig = (DigitalSignal)singalValue;
+
+                digitalSig.Set();
+            }
+        }
+
+        private void ResetRobotSignal(string ip, string name)
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            {
+                //string name = comboBox1.Text;
+                Signal singalValue = controller.IOSystem.GetSignal(name);
+                DigitalSignal digitalSig = (DigitalSignal)singalValue;
+                digitalSig.Reset();
+            }
+        }
+
+        public string GetRobotState(string ip)
+
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            { 
+                ControllerState state = controller.State;
+                return state.ToString(); 
+            }
+            return "";
+        }
+
+        private Controller GetControllerByIP(string ip)
+        {
+            if (controllerMap.ContainsKey(ip))
+            {
+                return controllerMap[ip];
+            }
+            return null;
+        }
+
+
+        private void DisposeControllers()
+        {
+            foreach (Controller con in controllerMap.Values)
+            {
+                con.Logoff();
+                con.Dispose();
+            }
+            controllerMap.Clear();
+        } 
+    }
+}
+ 

ABBRobotTest/ABBRobotServer.cs

+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace ABBRobotTest
+{
+    public class ABBRobotServer
+    { 
+
+        private static TcpServer tcpserver = null;
+        public static bool IsStart = false;
+        private static int ClientKeepSecond = 10;
+         
+        private static int ServerPort = 21; 
+        public static string ErrorInfo = "";
+        private static string MoveOK = "point ok";
+        private static string FreeOK = "free ok";
+        private static string LockOK = "lock ok";
+
+        private static string MoveCMD_1 = "move";
+        private static string MoveCMD_2 = "move2";
+
+        public static Dictionary<string, Client> ClientMap = new Dictionary<string, Client>();
+        
+        //最后一次软件控制移动到的位置
+        public static string LastSendPoint = "";
+
+        public delegate void OpEnd(string result);
+        private static event OpEnd OnMoveEnd;
+         
+        private static object LockObj = new object();
+
+        public static void StartServer(int port)
+        {
+            if (!IsStart)
+            {
+                ClientMap = new Dictionary<string, Client>();
+                if (tcpserver == null)
+                {
+                    tcpserver = new TcpServer();
+                }
+                IsStart = true;
+                tcpserver.Start(port);
+                LogUtil.info( "ABBRobotServer在端口[" + port + "]监听！");
+                tcpserver.ReviceMsgEvent += tcp_ReviceMsgEvent;
+            }
+
+        }
+
+        public static void StopServer()
+        {
+            try
+            {
+                if (IsStart)
+                {
+                    IsStart = false;
+                    tcpserver.Stop();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("关闭 监听出错：" + ex.ToString());
+            }
+        }
+        private static void tcp_ReviceMsgEvent(Client client, string msg)
+        {
+            try
+            {
+                if (String.IsNullOrEmpty(msg))
+                {
+                    return;
+                }
+                ProcessMsg(client, msg);
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("处理料仓消息【" + msg + "】出错：" + ex.ToString());
+            }
+        }
+
+        private static bool ProcessMsg(Client client, string msg)
+        {
+            IPEndPoint clientipe = (IPEndPoint)client.ClientSocket.RemoteEndPoint;
+            string add = clientipe.Address.ToString();
+            //  string[] msgArray = msg.Split(cmd_spilt);
+            msg = msg.Replace("\r", "");
+            LogUtil.debug("收到【" + add + "】的消息【" + msg + "】");
+            if (msg.ToUpper().Contains("ERROR"))
+            {
+
+            }else if(msg.ToUpper().Contains("MOVE")&& msg.ToUpper().Contains("OK"))
+            {
+                OnMoveEnd?.Invoke(msg);
+            }
+            else if (msg.ToUpper().Contains("MOVE2") && msg.ToUpper().Contains("OK"))
+            { 
+                OnMoveEnd?.Invoke(msg);
+            } 
+            return false;
+        }
+
+        public static void MoveTo(string robotIp, string PointName,   string moveType="L"  , double targetSpeed = 100, OpEnd AfterMove = null)
+        { 
+            ABBRobotServer.OnMoveEnd = AfterMove;
+            SendMovePoint(robotIp, MoveCMD_1,PointName,moveType,targetSpeed.ToString());
+        }
+      
+        public static void Move2To(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
+        { 
+            ABBRobotServer.OnMoveEnd = AfterMove;
+            SendMovePoint(robotIp, MoveCMD_2, PointName, moveType, targetSpeed.ToString());
+        }
+        
+        private static void SendMovePoint(string robotIp, string param1,string param2,string param3,string param4)
+        {
+            lock (LockObj)
+            {
+                if (ClientMap.ContainsKey(robotIp))
+                {
+                    Client client = ClientMap[robotIp];
+                    string str = param1 + "," + param2 + "," + param3 + "," + param4+"\r\n";
+                    LastSendPoint = param2;
+
+                    SendStrToClient(client, str);
+                }
+            }
+        }
+        private static bool SendStrToClient(Client client, string sendMsg)
+        {
+            if (client != null && client.ClientSocket.Connected)
+            {
+                byte[] sendBuffer = new byte[1024];
+                sendBuffer = Encoding.UTF8.GetBytes(sendMsg);
+                client.ClientSocket.Send(sendBuffer);
+                return true;
+            }
+
+            return false;
+        }
+       
+      
+    }
+}

ABBRobotTest/ABBRobotTest.csproj

@@ -55,6 +55,8 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="ABBRobotServer.cs" />
+    <Compile Include="ABBRobotManager.cs" />
     <Compile Include="FrmRobotTest.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -88,5 +90,11 @@
   <ItemGroup>
     <None Include="App.config" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\source\Common\Common.csproj">
+      <Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project>
+      <Name>Common</Name>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

source/AssemblyLineClient/FrmFeedingEquip.cs

@@ -174,26 +174,20 @@ namespace OnlineStore.AssemblyLine
         private void FrmStoreIOStatus_Load(object sender, EventArgs e)
         {
             chbDebug.Checked = feedEquip.IsDebug;
-            if (feedEquip.UpdownUseAxis)
-            { 
-                portName = feedEquip.Config.Batch_Axis.DeviceName;
-                SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
-                txtAxisDeviceName.Text = portName;
-                txtSlaveId.Text = SlvAddr.ToString();
-                comboBox1.Items.Clear();
-                comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
-                comboBox1.SelectedIndex = 0;
-                
-                txtAxisValue.Text = SlvAddr.ToString();
-            }
-            else
-            {
-                tabControl1.TabPages.Remove(tabPage2);
-            }
+
+            portName = feedEquip.Config.Batch_Axis.DeviceName;
+            SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
+            txtAxisDeviceName.Text = portName;
+            txtSlaveId.Text = SlvAddr.ToString();
+            comboBox1.Items.Clear();
+            comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
+            comboBox1.SelectedIndex = 0; 
+            txtAxisValue.Text = SlvAddr.ToString();
+
 
             cmbSizeList.Items.Clear();
             cmbSizeList.Items.Add("0=默认位置");
-            for(int i = 8; i <= 48; i = i + 4)
+            for (int i = 8; i <= 48; i = i + 4)
             {
                 cmbSizeList.Items.Add(i.ToString());
             }
@@ -593,7 +587,7 @@ namespace OnlineStore.AssemblyLine
         private void btnAxisOn_Click(object sender, EventArgs e)
         {
             this.Enabled = false;
-            feedEquip.RunAxis(false);
+            feedEquip.RunAxis(false,feedEquip.Config.Batch_Axis);
             this.Enabled = true;
             LogUtil.info("伺服运转ON完成");
         }

source/AssemblyLineClient/FrmMoveEquip.cs

@@ -186,7 +186,7 @@ namespace OnlineStore.AssemblyLine
         private void FrmStoreIOStatus_Load(object sender, EventArgs e)
         {
             chbDebug.Checked = moveEquip.IsDebug;
-            if (moveEquip.UpdownUseAxis)
+            if (moveEquip.UseAxis)
             { 
                 portName = moveEquip.Config.UpDown_Axis.DeviceName;
                 SlvAddr = moveEquip.Config.UpDown_Axis.GetAxisValue();
@@ -605,7 +605,7 @@ namespace OnlineStore.AssemblyLine
         private void btnAxisOn_Click(object sender, EventArgs e)
         {
             this.Enabled = false;
-            moveEquip.RunAxis(false);
+            moveEquip.RunAxis(false,moveEquip.Config.UpDown_Axis);
             this.Enabled = true;
             LogUtil.info("伺服运转ON完成");
         }

source/DeviceLibrary/DeviceLibrary.csproj

@@ -78,6 +78,7 @@
     <Compile Include="deviceLibrary\PanasonicServo\ACCMDManager.cs" />
     <Compile Include="deviceLibrary\PanasonicServo\ACServerManager.cs" />
     <Compile Include="deviceLibrary\PanasonicServo\ACServerManager_Partial.cs" />
+    <Compile Include="model\EquipBase.cs" />
     <Compile Include="model\LineAlarm.cs">
       <SubType>Code</SubType>
     </Compile>

source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv

@@ -13,13 +13,5 @@ PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
 PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
 PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
 ,,,,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 ,,,,,,,,, 
 PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
+,,,,,,,,,
 PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
-PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
+,,,,,,,,,
 PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
-PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
-PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
-PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,,
-PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
-PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,, 
-PRO,0,移栽上下轴走到待机点速度,UpdownAxis_P1Speed,400,,,,,
+,,,,,,,,,
+PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs

@@ -11,158 +11,10 @@ namespace OnlineStore.DeviceLibrary
 {
     partial class MoveEquip
     {
-        /// <summary>
-        /// 上一个盘号
-        /// </summary>
-        internal int preTrayNum = 0;
-        /// <summary>
-        /// 当前正在通过的托盘号
-        /// </summary>
-        private int currMoveTrayNum = 0;
-        private DateTime preRWTime = DateTime.Now;
-        private void CheckWait(LineMoveInfo moveInfo)
-        {
-            List<WaitResultInfo> list = moveInfo.WaitList;
-            if (list.Count <= 0)
-            {
-                moveInfo.EndStepWait();
-                return;
-            }
-
-            //当等待超过一分钟时，需要打印提示 
-            TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
-            string NotOkMsg = "";
-            bool isOk = true;
-            if (moveInfo.OneWaitCanEndStep)
-            {
-                isOk = false;
-            }
-            foreach (WaitResultInfo wait in list)
-            {
-                if (wait.IsEnd)
-                {
-                    continue;
-                }
-                NotOkMsg = wait.ToStr();
-                if (wait.WaitType.Equals(1))
-                {
-                    string msg = "";
-                    if (wait.IsHomeMove)
-                    {
-                        wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
-                    }
-                    else
-                    {
-                        wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                    }
-                    if (!msg.Equals(""))
-                    {
-                        isOk = false;
-                        WarnMsg = msg;
-                        Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
-                        break;
-                    }
-                }
-                else if (wait.WaitType.Equals(2))
-                {
-                    NotOkMsg = " (" + Config.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
-                    wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
-
-                    if (!wait.IsEnd)
-                    {
-                        //屏蔽料盘检测信号
-                        if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
-                        {
-                            LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
-                        }
-                        //夹紧按钮若果超过一秒钟还未收到，默认成功
-                        else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 4000)
-                        {
-                            LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过4秒钟，默认下一步骤");
-                            wait.IsEnd = true;
-                        }
-                        else
-                        {
-                            TimeSpan rwSpan = DateTime.Now - preRWTime;
-                            //一分钟还未检测到
-                            if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
-                            {
-                                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);
-                            }
-                            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：";
-                                bool isLog = false;
-                                foreach (WaitResultInfo ww in list)
-                                {
-                                    if (ww != null && ww.WaitType.Equals(2) && Config.DOList.ContainsKey(ww.IoType))
-                                    {
-                                        isLog = true;
-                                        IOMove(ww.IoType, ww.IoValue);
-                                        msg += ww.ToStr() + "，";
-                                    }
-                                }
-                                if (isLog)
-                                {
-                                    LogUtil.error(msg);
-                                }
-                            }
-                            isOk = false;
-                            break;
-                        }
-                    }
-                }
-                else if (wait.WaitType.Equals(3))
-                {
-                    wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-                }
-                else if (wait.WaitType.Equals(8))
-                {
-                    string posId = moveInfo.MoveParam.PosId;
-                    int id = moveInfo.MoveParam.GetStoreId();
-                    wait.IsEnd = LineServer.RightInPosId(id, posId);
-                }
-                else if (wait.WaitType.Equals(9))
-                {
-                    int storeId = moveInfo.MoveParam.GetStoreId();
-                    wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
-                }
-                else if (wait.WaitType.Equals(10))
-                {
-                    wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
-                }
-                if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = true;
-                    break;
-                }
-                else if (!moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = false;
-                    break;
-                }
-            }
-            if (isOk)
-            {
-                moveInfo.EndStepWait();
-            }
-            else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
-            {
-                WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
-                    + "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
-                LogUtil.error(WarnMsg, 18);
-                Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
-            }
 
-        }
         #region 出库 
         public override bool StartOutStoreMove(InOutParam param)
-        {
-
+        { 
             string posId = param != null ? param.PosId : "";
             //调试模式移栽装置不需要有操作
             if (IsDebug)
@@ -807,14 +659,7 @@ namespace OnlineStore.DeviceLibrary
         }
 
         #endregion
-        public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
-        {
-            if (this.alarmType.Equals(alarmType))
-            {
-                return;
-            }
-            this.alarmType = alarmType;
-        }
+    
         private void CheckLog(string msg)
         {
             LogUtil.debug(Name + msg);
@@ -831,25 +676,7 @@ namespace OnlineStore.DeviceLibrary
         }
 
 
-        public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType)
-        {
-            IOMove(IoLowType, IO_VALUE.LOW);
-            IOMove(IoHighType, IO_VALUE.HIGH);
-            if (moveInfo != null)
-            {
-                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
-                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
-            }
-        }
-        public void IOMove(string IoType, IO_VALUE value)
-        {
-            IOManager.IOMove(IoType, value, Config.Id);
-        }
-        public IO_VALUE IOValue(string IoType)
-        {
-            return IOManager.IOValue(IoType, Config.Id);
-        }
-
+       
         public void LogInfo(string logInfo)
         {
             LogUtil.info(Name + logInfo);