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 8e2fb2ea 由 LN
选项

出料修改

1 个父辈 ccc9f6e5
内嵌 并排
正在显示 8 个修改的文件 包含 107 行增加 和 64 行删除
source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
......@@ -35,6 +35,7 @@
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.btnOutStopDown = new System.Windows.Forms.Button();
this.btnSwStop = new System.Windows.Forms.Button();
this.btnFLStop1 = new System.Windows.Forms.Button();
this.btnFLStop2Down = new System.Windows.Forms.Button();
......@@ -97,7 +98,6 @@
this.chbMoveStop = new System.Windows.Forms.CheckBox();
this.lblName = new System.Windows.Forms.Label();
this.btnScan = new System.Windows.Forms.Button();
this.btnOutStopDown = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.groupBox4.SuspendLayout();
this.groupBox3.SuspendLayout();
......@@ -362,6 +362,19 @@
this.groupBox5.TabStop = false;
this.groupBox5.Text = "IO操作测试";
//
// btnOutStopDown
//
this.btnOutStopDown.BackColor = System.Drawing.Color.White;
this.btnOutStopDown.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnOutStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOutStopDown.Location = new System.Drawing.Point(168, 179);
this.btnOutStopDown.Name = "btnOutStopDown";
this.btnOutStopDown.Size = new System.Drawing.Size(153, 34);
this.btnOutStopDown.TabIndex = 272;
this.btnOutStopDown.Text = "SL出料阻挡下降";
this.btnOutStopDown.UseVisualStyleBackColor = false;
this.btnOutStopDown.Click += new System.EventHandler(this.btnOutStopDown_Click);
//
// btnSwStop
//
this.btnSwStop.BackColor = System.Drawing.Color.White;
......@@ -628,9 +641,9 @@
this.lblThisSta.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblThisSta.ForeColor = System.Drawing.Color.Red;
this.lblThisSta.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblThisSta.Location = new System.Drawing.Point(406, 110);
this.lblThisSta.Location = new System.Drawing.Point(406, 77);
this.lblThisSta.Name = "lblThisSta";
this.lblThisSta.Size = new System.Drawing.Size(720, 109);
this.lblThisSta.Size = new System.Drawing.Size(720, 155);
this.lblThisSta.TabIndex = 246;
this.lblThisSta.Text = "等待启动";
this.lblThisSta.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......@@ -734,7 +747,7 @@
this.lblwidth.AutoSize = true;
this.lblwidth.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblwidth.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblwidth.Location = new System.Drawing.Point(248, 78);
this.lblwidth.Location = new System.Drawing.Point(417, 52);
this.lblwidth.Name = "lblwidth";
this.lblwidth.Size = new System.Drawing.Size(92, 17);
this.lblwidth.TabIndex = 279;
......@@ -756,7 +769,7 @@
this.lblAgvInfo.AutoSize = true;
this.lblAgvInfo.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblAgvInfo.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblAgvInfo.Location = new System.Drawing.Point(248, 25);
this.lblAgvInfo.Location = new System.Drawing.Point(417, 25);
this.lblAgvInfo.Name = "lblAgvInfo";
this.lblAgvInfo.Size = new System.Drawing.Size(61, 17);
this.lblAgvInfo.TabIndex = 276;
......@@ -769,7 +782,7 @@
this.lblInstoreList.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblInstoreList.ForeColor = System.Drawing.Color.Green;
this.lblInstoreList.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblInstoreList.Location = new System.Drawing.Point(406, 220);
this.lblInstoreList.Location = new System.Drawing.Point(406, 258);
this.lblInstoreList.Name = "lblInstoreList";
this.lblInstoreList.Size = new System.Drawing.Size(720, 109);
this.lblInstoreList.TabIndex = 277;
......@@ -1194,19 +1207,6 @@
this.btnScan.UseVisualStyleBackColor = false;
this.btnScan.Click += new System.EventHandler(this.btnScan_Click);
//
// btnOutStopDown
//
this.btnOutStopDown.BackColor = System.Drawing.Color.White;
this.btnOutStopDown.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnOutStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOutStopDown.Location = new System.Drawing.Point(168, 179);
this.btnOutStopDown.Name = "btnOutStopDown";
this.btnOutStopDown.Size = new System.Drawing.Size(153, 34);
this.btnOutStopDown.TabIndex = 272;
this.btnOutStopDown.Text = "SL出料阻挡下降";
this.btnOutStopDown.UseVisualStyleBackColor = false;
this.btnOutStopDown.Click += new System.EventHandler(this.btnOutStopDown_Click);
//
// FrmFeedingEquip
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
......
source/DeviceLibrary/assemblyLine/DischargeLine.cs
......@@ -379,18 +379,19 @@ namespace OnlineStore.DeviceLibrary
}
public virtual string GetMoveStr()
{
string msg = "";
int tLength = 15;
msg += "runStatus：".PadRight(tLength, ' ') + runStatus + "\n";
msg += "lineStatus：".PadRight(tLength, ' ') + lineStatus + "\n";
msg += "MoveType：".PadRight(tLength, ' ') + MoveInfo.MoveType + "\n";
msg += "MoveStep：".PadRight(tLength, ' ') + MoveInfo.SLog + "\n";
int tLength = 10;
msg += "runS：" + runStatus + "\n";
msg += "runS："+ lineStatus + "\n";
msg += "MoveT："+ MoveInfo.MoveType + "\n";
msg += "MoveS："+ MoveInfo.SLog + "\n";
msg += "Line1-Move：".PadRight(tLength, ' ') + TrayLine1.MoveInfo.MoveType +" " + TrayLine1.MoveInfo.MoveStep + "\n";
msg += "Line2-Move：".PadRight(tLength, ' ') + TrayLine2.MoveInfo.MoveType + " " + TrayLine2.MoveInfo.MoveStep + "\n";
msg += "LastTrayP：".PadRight(tLength, ' ') + TrayLine1.LastTrayPosition+" " + TrayLine2.LastTrayPosition + " " + Line3LastTrayP + " " + "\n";
msg += "IsInRun：".PadRight(tLength, ' ') + TrayLine1.IsInTurn() + " " + TrayLine2.IsInTurn() + " " +Line3Turn.InTurn + " " +"\n";
msg += "Line3CanRun：".PadRight(tLength, ' ') + TrayLine1.Line3CanRun + " " + TrayLine2.Line3CanRun + " " + "\n";
msg += "L1-M："+ TrayLine1.MoveInfo.MoveType +" " + TrayLine1.MoveInfo.MoveStep + "\n";
msg += "L2-M："+ TrayLine2.MoveInfo.MoveType + " " + TrayLine2.MoveInfo.MoveStep + "\n";
msg += "LastTP："+ TrayLine1.LastTrayPosition+" " + TrayLine2.LastTrayPosition + " " + Line3LastTrayP + " " + "\n";
msg += "LIsRun："+ TrayLine1.IsInTurn() + " " + TrayLine2.IsInTurn() + " " +Line3Turn.InTurn + " " +"\n";
msg += "L3CanRun："+ TrayLine1.Line3CanRun + " " + TrayLine2.Line3CanRun + " " + "\n";
return msg;
}
public override bool StartInStoreMove(InOutParam param)
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -571,15 +571,15 @@ namespace OnlineStore.DeviceLibrary
{
string msg = "";
int tLength = 15;
msg += "preTrayNum：".PadRight(tLength, ' ') + preTrayNum + "\n";
msg += "currTrayNum：".PadRight(tLength, ' ') + currTrayNum + "\n";
msg += "上个托盘：" + preTrayNum + "\n";
msg += "当前托盘：" + currTrayNum + "\n";
msg += "runStatus：".PadRight(tLength, ' ') + runStatus + "\n";
msg += "lineStatus：".PadRight(tLength, ' ') + lineStatus + "\n";
msg += "MoveType：".PadRight(tLength, ' ') + MoveInfo.MoveType+"\n";
msg += "MoveStep：".PadRight(tLength, ' ') + MoveInfo.SLog + "\n";
msg += "SMoveType：".PadRight(tLength, ' ') + SecondMoveInfo.MoveType + "\n";
msg += "SMoveStep：".PadRight(tLength, ' ') + SecondMoveInfo.MoveStep + "";
msg += "runS： " + runStatus + "\n";
msg += "lineS： " + lineStatus + "\n";
msg += "MoveT："+ MoveInfo.MoveType+"\n";
msg += "MoveS ：" + MoveInfo.SLog + "\n";
msg += "SMoveT：" + SecondMoveInfo.MoveType + "\n";
msg += "SMoveS：" + SecondMoveInfo.MoveStep + "";
return msg;
}
}
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -51,15 +51,14 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(LineMoveType.OutStore, outParam);
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度，升降轴回原点");
int targetPosition = BatchAxis.GetAclPosition() - outParam.PlateH * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度，目标："+ targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
return true;
//UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
public void StartOutStoreP()
{
......@@ -354,6 +353,9 @@ namespace OnlineStore.DeviceLibrary
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_211_AxisDownMove))
{
//判断伺服检测信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_212_CylinderTake);
......@@ -367,6 +369,19 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else
{
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
int targetPosition = BatchAxis.GetAclPosition() - MoveInfo.MoveParam.PlateH * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：TrayOutProcess 伺服检测信号亮并且不再P2点，再次下降指定的高度，目标："+ targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_212_CylinderTake))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
......@@ -445,7 +460,7 @@ namespace OnlineStore.DeviceLibrary
string msg = SServerManager.PutShelfFinished(Name, MoveInfo.MoveParam.WareCode, CurrShelfId, OutStoreCount.ToString(), out serverShelfData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "【"+MoveInfo.MoveParam.WareCode+"】【"+CurrShelfId+"】【"+OutStoreCount.ToString()+"】PutShelfFinished 结果：" + msg);
LogUtil.error(Name + "【" + MoveInfo.MoveParam.WareCode + "】【" + CurrShelfId + "】【" + OutStoreCount.ToString() + "】PutShelfFinished 结果：" + msg);
serverShelfData = null;
}
});
......@@ -470,7 +485,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要送出料架
if (serverShelfData != null && serverShelfData.cutTask <= 0)
{
SendOutShelfOut("服务器返回cutTask="+serverShelfData.cutTask+"，需要送出料架");
SendOutShelfOut("服务器返回cutTask=" + serverShelfData.cutTask + "，需要送出料架");
}
else
{
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -981,15 +981,15 @@ namespace OnlineStore.DeviceLibrary
{
string msg = "";
// int tLength = 20;
msg += "Sw41TrayNum： " + Sw41TrayNum + "\n";
msg += "Sw23TrayNum：" + Sw23TrayNum + "\n";
msg += "runStatus： "+ runStatus + "\n";
msg += "lineStatus： "+ lineStatus + "\n";
msg += "MoveType： " + MoveInfo.MoveType + "\n";
msg += "MoveStep： " + MoveInfo.SLog + "\n";
msg += "SW41_Move： "+ SW41_MoveInfo.MoveType + " "+ SW41_MoveInfo.MoveStep + "\n";
msg += "SW23_Move： " + SW23_MoveInfo.MoveType + " " + SW23_MoveInfo.MoveStep + "\n";
msg += "横移41托盘： " + Sw41TrayNum + "\n";
msg += "横移23托盘：" + Sw23TrayNum + "\n";
msg += "runS： "+ runStatus + "\n";
msg += "lineS： "+ lineStatus + "\n";
msg += "MoveT：" + MoveInfo.MoveType + "\n";
msg += "MoveS： " + MoveInfo.SLog + "\n";
msg += "SW41： "+ SW41_MoveInfo.MoveType + " "+ SW41_MoveInfo.MoveStep + "\n";
msg += "SW23： " + SW23_MoveInfo.MoveType + " " + SW23_MoveInfo.MoveStep + "\n";
return msg;
}
}
......
source/DeviceLibrary/assemblymanager/SServerManager.cs
......@@ -39,7 +39,7 @@ namespace OnlineStore.DeviceLibrary
string path = server + addr.Trim() + "?";
foreach (string paramName in paramsMap.Keys)
{
string par= System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
path += paramName + "=" + par + "&";
}
path = path.Substring(0, path.Length - 1);
......@@ -78,7 +78,7 @@ namespace OnlineStore.DeviceLibrary
string server = GetAddr(Addr_PosForPutin, paramMap);
//string server = GetAddr(Addr_PosForPutin) + "?cids=" + LineServer.GetAllCID() + "&code=%3D" + codeStr;
LogUtil.info(deviceName + "托盘【" + trayNum + "】 条码<< " + codeStr + "，获取入库PosID：" );
LogUtil.info(deviceName + "托盘【" + trayNum + "】 条码<< " + codeStr + "，获取入库PosID：");
string resultStr = HttpHelper.Post(server, "");
LogUtil.info("CodeReceived 【" + server + "】【" + resultStr + "】");
......@@ -121,7 +121,7 @@ namespace OnlineStore.DeviceLibrary
}
LogUtil.info("收到入库命令： " + param.ToStr() + " ，更新盘空满信息，托盘号【" + trayNum + "】，有料," + ReelType.InStore + "");
TrayManager.UpdateTrayInfo(trayNum, true, ReelType.InStore,new InOutParam(trayNum, wareNum, posId, plateH, plateW,false));
TrayManager.UpdateTrayInfo(trayNum, true, ReelType.InStore, new InOutParam(trayNum, wareNum, posId, plateH, plateW, false));
//TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
if (LineServer.BoxCanInStore(moveEquip.DeviceID))
......@@ -138,7 +138,7 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(deviceName + " ",ex);
LogUtil.error(deviceName + " ", ex);
}
return "";
}
......@@ -176,7 +176,7 @@ namespace OnlineStore.DeviceLibrary
{
return msg = deviceName + " 【" + robotIndex + "】 条码【 " + codeStr + "】没有收到服务器反馈";
}
else if ( serverResult.code.Equals(0).Equals(false))
else if (serverResult.code.Equals(0).Equals(false))
{
// code: 0为正常,其他为异常,
// msg:消息,
......@@ -192,7 +192,7 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(deviceName + " ",ex);
LogUtil.error(deviceName + " ", ex);
}
return "";
}
......@@ -233,7 +233,7 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(deviceName + " ",ex);
LogUtil.error(deviceName + " ", ex);
}
return msg;
}
......@@ -245,6 +245,7 @@ namespace OnlineStore.DeviceLibrary
shelfData = null;
try
{
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("barcode", barcode); // 参数: barcode=料盘的条码
paramMap.Add("rfid", rfid); // rfid = 料架的RFID信息
......@@ -254,7 +255,11 @@ namespace OnlineStore.DeviceLibrary
string resultStr = HttpHelper.Post(server, "");
LogUtil.info("PutShelfFinished 【" + server + "】【" + resultStr + "】");
// 返回: {"code": 0, "msg":"ok", "data":{"rfid":"xxx","smallEmpty":0,"bigEmpty":0, "packageEmpty":0,"cutPackageTask":0,"packageTask":10,"cutTask":10, "smallTask":5, "bigTask":5}
ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
PutFinishedData serverResult = JsonHelper.DeserializeJsonToObject<PutFinishedData>(resultStr);
// string str = "{"code":0,"msg":"ok","data":{"smallTask":"1","cutPackageTask":"0","packageTask":"0","bigTask":"0","smallEmpty":"0","bigEmpty":"0","packageEmpty":"0","rfid":" - 1 - 1","cutTask":"0"}}";
//PutShelfFinished 【http://localhost/myproject/rest/api/qisda/device/putShelfFinished?barcode=R008062019120301889&rfid=-1-1&rfidLoc=4】
//【{"code":0,"msg":"ok","data":{"smallTask":"1","cutPackageTask":"0","packageTask":"0","bigTask":"0","smallEmpty":"0","bigEmpty":"0","packageEmpty":"0","rfid":"-1-1","cutTask":"0"}}】
if (serverResult == null)
{
return msg = deviceName + "PutShelfFinished【 " + barcode + "】【" + rfid + "】【" + rfidPosId + "】没有收到服务器反馈";
......@@ -263,14 +268,15 @@ namespace OnlineStore.DeviceLibrary
{
return msg = deviceName + " PutShelfFinished【 " + barcode + "】【" + rfid + "】【" + rfidPosId + "】 ：" + serverResult.msg;
}
if (String.IsNullOrEmpty(serverResult.data).Equals(false))
{
shelfData = JsonHelper.DeserializeJsonToObject<ShelfData>(serverResult.data);
}
//if (String.IsNullOrEmpty(serverResult.data).Equals(false))
//{
// shelfData = JsonHelper.DeserializeJsonToObject<ShelfData>(serverResult.data);
//}
shelfData = serverResult.data;
}
catch (Exception ex)
{
LogUtil.error(deviceName + " ",ex);
LogUtil.error(deviceName + " ", ex);
}
return "";
}
......@@ -299,8 +305,18 @@ namespace OnlineStore.DeviceLibrary
public string msg { get; set; }
public string data { get; set; }
//PutShelfFinished 【http://localhost/myproject/rest/api/qisda/device/putShelfFinished?barcode=R008062019120301889&rfid=-1-1&rfidLoc=4】
//【{"code":0,"msg":"ok","data":{"smallTask":"1","cutPackageTask":"0","packageTask":"0","bigTask":"0","smallEmpty":"0","bigEmpty":"0","packageEmpty":"0","rfid":"-1-1","cutTask":"0"}}】
}
public class PutFinishedData
{
public int code { get; set; }
public string msg { get; set; }
public ShelfData data { get; set; }
}
public class ShelfData
{
/// <summary>
......
source/DeviceLibrary/baan/AxisBean.cs
......@@ -194,6 +194,17 @@ namespace OnlineStore.DeviceLibrary
int p = ACServerManager.GetActualtPosition(Config);
return p;
}
public bool IsInPosition(int targetP)
{
int currp = GetAclPosition();
int chaz = targetP - currp;
if (Math.Abs(chaz) < Config.CanErrorCountMax)
{
return true;
}
return false;
}
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
......
source/DeviceLibrary/model/TrayInfo.cs
......@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (InOrOutStore.Equals(2))
{
type = inoutPar.urgentReel ? "[紧急出料]" : "出料[ " + inoutPar.ToStr() + " ]";
type = inoutPar.urgentReel ? "[紧急出料][ " + inoutPar.ToStr() + " ]" : "出料[ " + inoutPar.ToStr() + " ]";
}
//return "托盘 [" + TrayCode + "] [" + (IsFull ? "有料" : "空") +"] ["+ type +
......
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!