1.清空入库任务时清空托盘。2.入料夹爪抓料后如果伺服检测信号亮，从服务器获取库位成功继续入库，未取到尺寸直接NG. 3.皮带线视觉识别图片保存功能。

source/AssemblyLineClient/FrmMoveEquip.cs

@@ -709,6 +709,14 @@ namespace OnlineStore.AssemblyLine
             }
             else
             {
+
+                //查找对应的托盘
+                TrayInfo tray = TrayManager.GetTrayInfo(param.TrayNumber);
+                if(tray!=null&&tray.IsFull&& tray.InoutPar.PosId.Equals(param.PosId) && tray.InoutPar.WareCode.Equals(param.WareCode))
+                {
+                    LogUtil.info("手动清除入库任务前清空托盘：" + tray.ToStr());
+                    TrayManager.UpdateTrayInfo(tray.TrayCode);
+                }
                 equipBean.RemoveInStore(param, "手动清除入库任务");
                 txtPosId.Clear();
             }

source/AssemblyLineClient/记录.txt

@@ -613,3 +613,23 @@ PRO,0,是否存放的大料盘,IsBigTray,1,,,,,
 信号超时报警也需要响蜂鸣器。短皮带线二增加相机检测功能。
 Config_DischargeLine_1.csv 需要增加一行配置（r_camera_2需要改为为真实相机名称）： 
 PRO,0,短皮带线2监控相机,CameraName_2,r_camera_2,,,,, 
+
+
+抓料报警。
+
+没有高度，使用
+
+没有宽度尺寸 ，托盘标记为NG,  到检测点 NG
+没有从服务器获取到尺寸NG 。
+
+
+
+料串自动下降到信号灭。
+
+
+流水线清理入库任务，同时清空托盘，给服务器发取消任务。
+
+20221124修改：
+1.清空入库任务时清空托盘。
+2.入料夹爪抓料后如果伺服检测信号亮，从服务器获取库位成功继续入库，未取到尺寸直接NG. 
+3.皮带线视觉识别图片保存功能。
\ No newline at end of file

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -841,7 +841,7 @@ namespace OnlineStore.DeviceLibrary
                 if (TrayLCylinderMoveCount < 10)
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.FI_07_TrayLocation_Before);
-                    InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第"+TrayLCylinderMoveCount+"次前进 2秒"); 
+                    InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第" + TrayLCylinderMoveCount + "次前进 2秒");
                     TrayLCylinderBefore(null);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 }
@@ -917,11 +917,40 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_17_UpdownAxisToP1))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_18_WaitNoLocationCheck);
-                InLog("料盘移栽" + MoveInfo.SLog + "：等待 SL_AxisLocationCheck=LOW");
+                InLog("料盘移栽" + MoveInfo.SLog + "：等待 SL_AxisLocationCheck=LOW，最多等待 5000，清空 LastHeight，LastWidth ");
+                LastHeight = 0;
+                LastWidth = 0;
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_AxisLocationCheck, IO_VALUE.LOW));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_WaitNoLocationCheck))
             {
+                //判断是否检测到
+                if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH))
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_18_GetReelSize); 
+                    InLog("料盘移栽" + MoveInfo.SLog + "：SL_AxisLocationCheck=HIGH, 从服务器获取尺寸 ");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
+                    string code = CodeManager.ProcessCode(LastCodeList);
+                    //从服务器获取尺寸信息
+                    string result = SServerManager.GetReelSize(Name, code, out int width, out int height);
+                    if (string.IsNullOrEmpty(result) && width > 0 && height > 0)
+                    {
+                        LastWidth = width;
+                        LastHeight = height;
+                        LogUtil.error(Name + "料盘移栽" + MoveInfo.SLog + "：SL_AxisLocationCheck =HIGH，从服务器获取到尺寸【" + LastWidth + "X" + LastHeight + "】 不需要计算高度直接继续，横移气缸上升 ");
+                    }
+                    else
+                    {
+                        //判断是否有宽度
+                        LastWidth = GetNoHeightWidth();
+                        LastHeight = 0;
+                        LogUtil.error(Name + "料盘移栽" + MoveInfo.SLog + "：SL_AxisLocationCheck =HIGH，从服务器获取到尺寸结果【" + result + "】,【" + LastWidth + "X" + LastHeight + "】  不需要计算高度直接继续，横移气缸上升 ");
+                    }
+                    FI_19_GetHFromServer();
+                }
+                else
+                {
                     MoveInfo.NextMoveStep(LineMoveStep.FI_19_BatchAxisToP3);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     LastWidth = GetWidth();
@@ -936,6 +965,23 @@ namespace OnlineStore.DeviceLibrary
                     }
                     BatchAxisToP3(false);
                 }
+            }
+            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_GetHFromServer))
+            {
+                if (MoveCylineIsUp())
+                {
+                    FI_21_CylinderGive();
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
+                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
+                    CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+                }
+
+                InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】，预扫码");
+                YuScanCode();
+            }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
@@ -959,9 +1005,6 @@ namespace OnlineStore.DeviceLibrary
                 }
                 if (MoveCylineIsUp())
                 {
-                    //MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
-                    //InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
-                    //CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                     FI_21_CylinderGive();
                 }
                 else
@@ -970,24 +1013,7 @@ namespace OnlineStore.DeviceLibrary
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
                 }
-                //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
-                //LastHeight = GetHeight();
-                //if (LastWidth.Equals(7))
-                //{
-                //    if (LastHeight > 16)
-                //    {
-                //        LogUtil.error(Name + "计算后高度" + LastWidth + "X" + LastHeight + "，七寸盘默认盘高最高=16，修改高度为16");
-                //        LastHeight = 16;
-                //    }
-                //}
-                //else
-                //{
-                //    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");
-                //        LastHeight = 12;
-                //    }
-                //}
+
                 //判断是否还有料盘
                 if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
                 {
@@ -1018,9 +1044,6 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (MoveCylineIsUp())
                 {
-                    //MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
-                    //InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
-                    //CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                     FI_21_CylinderGive();
                 }
                 else
@@ -1048,34 +1071,7 @@ namespace OnlineStore.DeviceLibrary
                 FI_25_WaitTray();
                 //FI_24_GetPosID(); 
             }
-            //else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_WaitReelCheck))
-            //{
-            //    FI_24_GetPosID();
-            //}
-            //else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_24_GetPosID))
-            //{
-            //    FI_25_WaitTray();
-            //if (getPosTask.IsCompleted && LastPosParam != null)
-            //{
-            //    MoveInfo.NextMoveStep(LineMoveStep.FI_25_WaitTray);
-            //    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
-            //    if ((!LastPosParam.PlateH.Equals(LastHeight)) || (!LastPosParam.PlateW.Equals(LastWidth)))
-            //    {
-            //        InLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + LastWidth + "X" + LastHeight + "】更改为服务器返回尺寸【" + LastPosParam.PlateW + "X" + LastPosParam.PlateH + "】   ");
-            //        LastWidth = LastPosParam.PlateW;
-            //        LastHeight = LastPosParam.PlateH;
-            //    }
-            //    InLog(" " + MoveInfo.SLog + " 开始拦截空托盘  " + LastPosParam.ToStr() + "");
-            //    getPosIdMsg = "";
-            //    ClearTimeoutAlarm("获取库位号超时");
-            //}
-            //else if (MoveInfo.IsTimeOut(120))
-            //{
-            //    WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 获取库位号超时 "+ getPosIdMsg + " [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
-            //    LogUtil.error(WarnMsg, DeviceID * 1000 + 30);
-            //    Alarm(LineAlarmType.IoSingleTimeOut);
-            //}
-            //}
+
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_WaitTray))//TODO
             {
                 if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
@@ -1272,9 +1268,26 @@ namespace OnlineStore.DeviceLibrary
             #endregion
         }
 
+        private void FI_19_GetHFromServer()
+        {
+            //尺寸正常，当做正常抓到的料 提升轴下降到信号灭
+            MoveInfo.NextMoveStep(LineMoveStep.FI_19_GetHFromServer);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+            InLog("料盘移栽" + MoveInfo.SLog + "：SL_AxisLocationCheck =HIGH，从服务器获取到高度【" + LastHeight + "】，盘宽【" + LastWidth + "】不需要计算高度直接继续，横移气缸上升 ");
+            if (!CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
+            {
+                CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+            }
+            else
+            {
+                CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
+            }
+             
+        }
+
         private void FI_25_WaitTray()
         {
-            if (getPosTask.IsCompleted && LastPosParam != null)
+            if ((getPosTask==null|| getPosTask.IsCompleted) && LastPosParam != null)
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_25_WaitTray);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
@@ -1311,10 +1324,49 @@ namespace OnlineStore.DeviceLibrary
         {
             //MoveInfo.NextMoveStep(LineMoveStep.FI_24_GetPosID);
             //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
-            InLog("清空LastPosResult，从服务器获取入库库位");
             LastPosParam = null;
             string code = CodeManager.ProcessCode(LastCodeList);
             lastcode = code;
+            //如果尺寸或者高度为0，不需要获取库位号
+            if (LastWidth <= 0 || LastHeight <= 0)
+            {
+                InLog($"【" + code + "】清空LastPosResult，料盘尺寸 {LastWidth}X{LastHeight} 尺寸不完整，直接NG不需要获取库位号");
+                getPosTask = null;
+             
+                LastPosParam = new InOutParam(0,lastcode,"",LastHeight,LastWidth,true) ;
+                LastPosParam.NgMsg =$"入库：{LastWidth}X{LastHeight} 尺寸不完整";
+                LastPosParam.InStoreNg = true;
+                LastPosParam.rfid = CurrShelfId;
+                LastPosParam.WareCode = lastcode;
+                LastPosParam.ManualJudgeNG = true;
+                //如果没有宽度，默认最宽料盘
+                if (LastWidth <= 0)
+                {
+                    LastWidth = 15;
+                    LastHeight = 56;
+                    LastPosParam.PlateH = LastHeight;
+                    LastPosParam.PlateW = LastWidth; 
+                    InLog($"【{ code }】宽度为0，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true"); 
+                }
+                else
+                {
+                    if (LastWidth.Equals(7))
+                    {
+                        LastHeight = 16; 
+                    }
+                    else
+                    {
+                        LastHeight = 56;
+                    }
+                    LastPosParam.PlateH = LastHeight;
+                    InLog($"【{ code }】宽度为{LastWidth}，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true");
+                }
+                return;
+            }
+            
+
+            InLog("清空LastPosResult，从服务器获取入库库位");
+          
             getPosTask = Task.Factory.StartNew(delegate
             {
                 //更新托盘条码信息 
@@ -1743,6 +1795,33 @@ namespace OnlineStore.DeviceLibrary
             }
             return width;
         }
+
+        public int GetNoHeightWidth()
+        {
+            int width = 15;
+            if (IOValue(IO_Type.SL_TrayCheck4).Equals(IO_VALUE.HIGH))
+            {
+                width = 15;
+            }
+            else if (IOValue(IO_Type.SL_TrayCheck3).Equals(IO_VALUE.HIGH))
+            {
+                width = 13;
+            }
+            else if (IOValue(IO_Type.SL_TrayCheck2).Equals(IO_VALUE.HIGH))
+            {
+                width = 11;
+            }
+            else if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH))
+            {
+                width = 7;
+            }
+            else
+            {
+                LogUtil.error(Name + "GetWidth ：1234都未检测到，默认为7寸盘");
+                width = 0;
+            }
+            return width;
+        }
         #endregion
 
         #region 判断托盘是否需要

source/DeviceLibrary/assemblymanager/SServerManager.cs

@@ -599,7 +599,7 @@ namespace OnlineStore.DeviceLibrary
                 //如果当前正在出入库中，需要记录下来，等待空闲时执行
                 LogUtil.info(deviceName + "[" + moveEquip.Name + " ]入库命令： " + param.ToStr() + "加入等待列表中！");
                 InOutParam inOutParam = moveEquip.waitInStoreList.Find(s => param.PosId.Equals(s.PosId));
-                if(inOutParam!=null)
+                if (inOutParam != null)
                 {
                     moveEquip.waitInStoreList.Remove(inOutParam);
                 }
@@ -823,9 +823,9 @@ namespace OnlineStore.DeviceLibrary
                     {
                         return (-1, data.data);
                     }
-                    else if(data.code.Equals(100))
+                    else if (data.code.Equals(100))
                     {
-                        if(data.data.plateH>0&& data.data.plateW>0)
+                        if (data.data.plateH > 0 && data.data.plateW > 0)
                         {
                             return (100, data.data);
                         }
@@ -844,7 +844,67 @@ namespace OnlineStore.DeviceLibrary
             {
                 LogUtil.error("getTaskInfo " + ex.ToString());
             }
-            return (result,task);
+            return (result, task);
+        }
+
+
+        /// <summary>
+        ///上料机构获取料盘高度
+        /// </summary>
+        private static string Addr_getReelHeight = "/rest/api/qisda/device/getReelSize";
+
+        public static string GetReelSize(string deviceName, string barcode, out int outWidth, out int outHeight)
+        {
+            outWidth = 0;
+            outHeight = 0;
+            string msg = "";
+            try
+            {
+                if (String.IsNullOrEmpty(barcode))
+                {
+                    return msg = deviceName + "未扫到条码";
+                }
+                ///rest/api/qisda/device/getReelSize
+                //传入参数: barcode
+                //返回: {code:0, msg:"",data:{"barcode":"ABC","plateW": 7,"plateH":8}}
+
+                //code= 0 表示正常,其他为异常
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("barcode", barcode);//  barcode = 扫到的条码
+
+                string server = GetAddr(Addr_getReelHeight, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Post(server, "");
+
+                LogUtil.info("GetReelSize   " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
+                //返回: { "code": 0, "msg":"ok", data: 7} 
+                ReturnData4 serverResult = JsonHelper.DeserializeJsonToObject<ReturnData4>(resultStr);
+                if (serverResult == null)
+                {
+                    return msg = deviceName + " GetReelSize 条码【 " + barcode + "】没有收到服务器反馈";
+                }
+                else if (serverResult.code.Equals(0).Equals(false))
+                {
+                    return msg = deviceName + "  GetReelSize 条码【 " + barcode + "】返回：" + "[" + serverResult.code + "]" + serverResult.msg;
+                }
+                if (serverResult.data == null)
+                {
+                    return msg = deviceName + " GetReelSize 条码【 " + barcode + "】未解析到尺寸信息";
+                }
+                else
+                {
+                    //  data:料盘直径,= 7时升起气缸
+                    outWidth = serverResult.data.plateW;
+                    outHeight = serverResult.data.plateH;
+                    LogUtil.info(deviceName + "GetReelSize 条码【 " + barcode + "】，获得尺寸：" + outWidth + "X" + outHeight);
+                    return "";
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " ", ex);
+                return "GetReelSize 条码【 " + barcode + "】出错："+ex.ToString();
+            }
         }
     }
 
@@ -893,6 +953,32 @@ namespace OnlineStore.DeviceLibrary
 
         public taskInfo data { get; set; }
     }
+    //返回: {code:0, msg:"",data:{"barcode":"ABC","plateW": 7,"plateH":8}}
+    public class ReturnData4
+    {
+        // { "code":0,"msg":"ok","data":true}
+        public int code { get; set; }
+
+        public string msg { get; set; }
+
+        public reelInfo data { get; set; }
+    }
+    public class reelInfo
+    { 
+        /// <summary>
+        /// 解析后的条码
+        /// </summary>
+        public string barcode { get; set; } 
+        /// <summary>
+        /// 料盘尺寸
+        /// </summary>
+        public int plateW { get; set; }
+        /// <summary>
+        /// 料盘厚度
+        /// </summary>
+        public int plateH { get; set; } 
+    }
+
     public class taskInfo
     {
         /// <summary>

source/DeviceLibrary/deviceLibrary/halcon/EyemManager.cs

@@ -41,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
         { 
             try
             {
-                Bitmap b = GetReducedImage(a, 1024, 0);
+                Bitmap b = GetReducedImage(a, a.Width, a.Height);
                 a.Dispose();
 
                 EyemImage image = new EyemImage();

source/DeviceLibrary/deviceLibrary/reelCheck/ReelCheckUtil.cs

@@ -165,22 +165,26 @@ dMinorStep 步进，默认1.0。
             eyemTrackFeature(image, mask, tpRoi, hGlobal, ipResults.Length, tpHsvModel, ipResults, out EyemImage tpDstImg);
 
             string resultStr = "";
+            int hasReelCount = 0;
             for (int i = 0; i < ipResults.Length; i++)
             {
                 if (ipResults[i] == 1)
                 {
                     Console.WriteLine("检测到{0}位置有料盘", i);
+                    hasReelCount++;
                 }
                 resultStr += ipResults[i];
             }
 
             Bitmap dstBitmap = eyemCvtToBitmap(tpDstImg);
-            if (dstBitmap != null && SaveImage)
+            if (dstBitmap != null &&(hasReelCount<2) && SaveImage)
             {
+                string dataFolder = DateTime.Now.ToString("yyyyMMdd");
+                string hourFolder = DateTime.Now.ToString("HH");
                 string date = cameraName.Trim().Replace('_', '-') + "-" + DateTime.Now.ToString("yyyyMMdd-HHmmss") + DateTime.Now.Millisecond;
                 string imageName = date + "-" + resultStr + ".bmp";
                 imgName = imageName;
-                string path = "D:\\image\\" + cameraName + "\\ResOut\\"; 
+                string path = "D:\\image\\" + cameraName + "\\ResOut\\"+ dataFolder+"\\"+hourFolder+"\\"; 
                 if (canSavePic(path))
                 {
                     dstBitmap.Save(path + imageName, ImageFormat.Jpeg);
@@ -212,7 +216,7 @@ dMinorStep 步进，默认1.0。
             int zhao =(int)( freespace / 1024);
             if (zhao < 5)
             {
-                LogUtil.error(volume + "盘剩余空间：" + freespace + "M, 不再保存料盘图片");
+                LogUtil.error(volume + "盘剩余空间：" + freespace + "G, 不再保存料盘图片");
                 return false;
             }
             return true;

source/DeviceLibrary/model/StoreStep.cs

@@ -798,12 +798,25 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         [Description("入料_取料完成_等待伺服检测信号消失")]
         FI_18_WaitNoLocationCheck,
+
+
+        /// <summary>
+        /// 料盘移栽：等待没有伺服料盘检测信号，从服务器获取库位号
+        /// </summary>
+        [Description("入料_取料完成_等待没有伺服料盘检测信号，从服务器获取库位号")]
+        FI_18_GetReelSize,
+
         /// <summary>
         /// 料盘移栽：提升伺服运动到P3，横移气缸上升
         /// </summary>
         [Description("入料_取料完成_提升伺服运动到P3，横移气缸上升")]
         FI_19_BatchAxisToP3,
         /// <summary>
+        /// 料盘移栽：提升伺服运动到P3，横移气缸上升
+        /// </summary>
+        [Description("入料_取料完成_伺服检测信号一直亮，从服务器获取尺寸，横移气缸上升")]
+        FI_19_GetHFromServer,
+        /// <summary>
         ///  料盘移栽：记录高度尺寸
         /// </summary>
         [Description("入料_取料完成_记录高度尺寸")]