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Commit f18c2fa9 由 LN
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放行料架需要阻挡下降2秒

1 个父辈 b52de064
内嵌 并排
正在显示 8 个修改的文件 包含 105 行增加 和 35 行删除
dll/Client.dll
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dll/Client.xml
......@@ -230,11 +230,6 @@
</summary>
<param name="s"></param>
</member>
<member name="E:Asa.Client2.GetRFID">
<summary>
服务端发送的RFID
</summary>
</member>
<member name="E:Asa.Client2.Arrive">
<summary>
小车到达，仅包装料仓
......@@ -385,12 +380,12 @@
</member>
<member name="F:Asa.ClientAction.MayEnter">
<summary>
可以进入料架（包装料仓）
可以进入料架，Arrive事件使用，让小车开始对接
</summary>
</member>
<member name="F:Asa.ClientAction.MayLeave">
<summary>
可以出去料架（包装料仓）
可以出去料架，Arrive事件使用，让小车开始对接
</summary>
</member>
<member name="F:Asa.ClientAction.NeedEnter">
......@@ -415,12 +410,12 @@
</member>
<member name="F:Asa.ClientAction.Arrive">
<summary>
小车到达
小车到达，到达包装料仓门口，等待开门
</summary>
</member>
<member name="F:Asa.ClientAction.Ready">
<summary>
小车已准备好
小车已准备，已对接上流水线
</summary>
</member>
<member name="T:Asa.ClientLevel">
......
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -71,6 +71,7 @@
<Compile Include="acVmiLine\VMILineBean.cs" />
<Compile Include="acVmiLine\VMILineBean_Partial.cs" />
<Compile Include="acVmiLine\RobotManager.cs" />
<Compile Include="acVmiLine\WaitUtil.cs" />
<Compile Include="agvClient\AgvClient.cs" />
<Compile Include="bean\StoreMoveInfo.cs" />
<Compile Include="IO\AIOBOX\AIOBOXManager.cs" />
......
source/DeviceLibrary/acVmiLine/VMILineBean.cs


using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
......@@ -255,7 +256,7 @@ namespace OnlineStore.DeviceLibrary
private Stopwatch ol_noshelfWatch = new Stopwatch();
private DateTime ol_lastSendShelfTime = DateTime.Now;
private int StopDownMS = 600;
private int StopDownMS = 1500;
/// <summary>
/// 出料线体定时处理
/// </summary>
......@@ -288,7 +289,7 @@ namespace OnlineStore.DeviceLibrary
AgvClient.NeedEnter(Config.OutL_AgvName, "");
}else
{
AgvClient.ConnotEnter(Config.OutL_AgvName, "");
AgvClient.SetToNone(Config.OutL_AgvName, "");
}
}
private DateTime il_lastCallAgvTime = DateTime.Now.AddMinutes(-5);
......@@ -302,15 +303,15 @@ namespace OnlineStore.DeviceLibrary
//出口有料架，需要通知agv取走料架
//每次叫小车时间间隔3分钟？
//出口信号需要持续1秒钟
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 180)
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 60)
{
if (LineManager.checkWatch(il_outstopCheckWarch, 1000))
{
il_lastCallAgvTime = DateTime.Now;
//StopIOMove(IO_Type.InL_OutStopDown, StopDownMS);
LogUtil.info(" 入库线体出口有料架"+ LastOutShelfId + "，呼叫agv小车[" + Config.InL_AgvName + "] [NeedLeave] ");
AgvClient.NeedLeave(Config.InL_AgvName,LastOutShelfId);
LogUtil.info(" 入库线体出口有料架" + LastOutShelfId + "，呼叫agv小车[" + Config.InL_AgvName + "] [NeedLeave] ");
AgvClient.NeedLeave(Config.InL_AgvName, LastOutShelfId);
}
}
else if (span.TotalMilliseconds > StopDownMS)
......@@ -319,7 +320,13 @@ namespace OnlineStore.DeviceLibrary
if (IOManager.IOValue(IO_Type.InL_OutStopDown).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
}
}
}
//如果是出口无料架，NeedLeave状态，改为None
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.InL_AgvName).Equals(ClientAction.NeedLeave))
{
LogUtil.info(" 入库线体出口无料架 ，更改[" + Config.InL_AgvName + "] 状态[None] ");
AgvClient.SetStatus(Config.InL_AgvName, "", ClientAction.None);
}
}
......
source/DeviceLibrary/acVmiLine/VMILineBean_Partial.cs
......@@ -83,7 +83,7 @@ namespace OnlineStore.DeviceLibrary
}
}
public void StopIOMove(string ioType, int ms = 600)
public void StopIOMove(string ioType, int ms = 1000)
{
Task.Factory.StartNew(delegate
{
......
source/DeviceLibrary/acVmiLine/WaitUtil.cs 0 → 100644
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class WaitUtil
{
public delegate bool IsOk();
/// <summary>
/// 使用异步委托检测超时，防止isOk方法不返回结果导致卡死的问题
/// </summary>
/// <param name="waitName"></param>
/// <param name="timeout"></param>
/// <param name="isOk"></param>
public static bool Wait(int timeout, IsOk isOk, string waitName = "")
{
DateTime startTime = System.DateTime.Now;
TimeSpan timoutSpan = TimeSpan.FromMilliseconds(timeout);
TimeSpan waitSpan = TimeSpan.FromMilliseconds(0);
int sleepTime = 10;
while (true)
{
TimeSpan remainTimes = timoutSpan.Subtract(waitSpan);
if (remainTimes.TotalMilliseconds < 0)
{
//已经超时
throw new TimeoutException(waitName + "超时");
}
try
{
IAsyncResult re = isOk.BeginInvoke(null, null);
var waitResult = re.AsyncWaitHandle.WaitOne(remainTimes);
if (waitResult)
{
bool okResult = isOk.EndInvoke(re);
if (okResult)
{
return true;
}
}
}
catch (Exception ex)
{
LogUtil.error("同步等待出现异常：", ex);
}
Thread.Sleep(sleepTime);
waitSpan = System.DateTime.Now.Subtract(startTime);
}
}
}
}
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -72,21 +72,29 @@ namespace OnlineStore.DeviceLibrary
UpdateAction(id, Asa.ClientAction.Ready);
if (id.Equals(LineManager.Config.OutL_AgvName))
{
// MayEnter("C2");
if (IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.LOW))
{
SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ");
Task.Factory.StartNew(delegate
{
//两秒后改为离开状态
Thread.Sleep(5000);
SetStatus(id, "", ClientAction.FinishEnter);
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ,等待OutL_InCheck");
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.HIGH);
}, "等待OutL_InCheck=HIGH");
if (IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.HIGH))
{
//两秒后改为离开状态
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.FinishEnter);
SetStatus(id, "", ClientAction.None);
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.None);
}
else
{
LogUtil.error("AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ,等待OutL_InCheck超时");
}
});
}
}
......@@ -95,16 +103,16 @@ namespace OnlineStore.DeviceLibrary
{
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH))
{
LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown);
LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown, 2000);
//agvClient.MayLeave(id);
SetStatus(id, "", ClientAction.MayLeave);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ，下降 InL_OutStopDown 600ms，调用 MayLeave ");
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ，下降 InL_OutStopDown ，调用 MayLeave ");
Task.Factory.StartNew(delegate
{
//两秒后改为离开状态
Thread.Sleep(5000);
SetStatus(id, "", ClientAction.FinishEnter);
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.FinishLeave);
Thread.Sleep(2000);
......@@ -117,9 +125,10 @@ namespace OnlineStore.DeviceLibrary
{
UpdateAction(id, Asa.ClientAction.Arrive);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
}
public static bool ConnotEnter(string id,string shelfId)
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.FinishLeave) || currA.Equals(ClientAction.FinishEnter) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
......
source/VMILineClient/记录.txt

\ No newline at end of file
ready是对接上流水线，arrive是在流水线附近等开门，所有节点都会发这两个事件，环形线和vmi只记录arrive的日志
\ No newline at end of file
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