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Commit f9ebe4ba 由 LN
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1 个父辈 634bb766
内嵌 并排
正在显示 6 个修改的文件 包含 62 行增加 和 36 行删除
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -70,7 +70,7 @@
<ItemGroup>
<Compile Include="acVmiLine\VMILineBean.cs" />
<Compile Include="acVmiLine\VMILineBean_Partial.cs" />
<Compile Include="acVmiLine\RobotManager.cs" />
<Compile Include="acVmiLine\LineManager.cs" />
<Compile Include="acVmiLine\WaitUtil.cs" />
<Compile Include="agvClient\AgvClient.cs" />
<Compile Include="bean\StoreMoveInfo.cs" />
......
source/DeviceLibrary/LineConfig/VMILineConfig.csv
......@@ -37,6 +37,6 @@ DO,进料线入口阻挡,InL_InStopDown,9,PRO_AOI_IP_1,0,进料线入口阻挡,Y730,DO-02,0,
,,,15,PRO_AOI_IP_1,0,,Y736,DO-08,0,
PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,
PRO,出空料架流水线AGV节点名称,OutL_AgvName,A2,,,,,,,
PRO,入料架流水线AGV节点名称,InL_AgvName,A1,,,,,,,
PRO,入料架流水线AGV节点名称,InL_AgvName,A3,,,,,,,
PRO,入料架流水线入口RFIDIP,InL_In_RFIDIP,192.168.102.108,,,,,, ,
PRO,入料架流水线出口RFIDIP,InL_Out_RFIDIP,192.168.102.107,,,,,, ,
source/DeviceLibrary/acVmiLine/VMILineBean.cs
......@@ -98,12 +98,15 @@ namespace OnlineStore.DeviceLibrary
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(MoveStep.VMI_H_StopUp);
LogUtil.info(Name + " 开始复位：所有阻挡上升");
LogUtil.info(Name + " 开始复位：所有阻挡上升,设置状态为None");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
IOManager.IOMove(IO_Type.InL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_InStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_OutStopDown, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.OutL_OutStopDown, IO_VALUE.LOW);
AgvClient.SetStatus(Config.InL_AgvName);
AgvClient.SetStatus(Config.OutL_AgvName);
mainTimer.Enabled = true;
serverConnectTimer.Enabled = true;
}
......@@ -317,16 +320,21 @@ namespace OnlineStore.DeviceLibrary
else if (span.TotalMilliseconds > StopDownMS)
{
il_outstopCheckWarch.Stop();
if (IOManager.IOValue(IO_Type.InL_OutStopDown).Equals(IO_VALUE.HIGH))
ClientAction currA = AgvClient.GetAction(Config.InL_AgvName);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
IOManager.IOMove(IO_Type.InL_OutStopDown, IO_VALUE.LOW);
}
}
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))
{
il_outstopCheckWarch.Stop();
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);
AgvClient.SetToNone(Config.InL_AgvName, "" );
}
}
......@@ -458,7 +466,7 @@ namespace OnlineStore.DeviceLibrary
#region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
private string LastInShelfId = "";
private string LastOutShelfId = "";
public string LastOutShelfId = "";
private bool isInProcess = false;
public void server_connect_timer_Tick(object sender, EventArgs e)
{
......
source/DeviceLibrary/acVmiLine/VMILineBean_Partial.cs
......@@ -83,7 +83,7 @@ namespace OnlineStore.DeviceLibrary
}
}
public void StopIOMove(string ioType, int ms = 1000)
public void StopIOMove(string ioType, int ms = 1000)
{
Task.Factory.StartNew(delegate
{
......
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -67,7 +67,8 @@ namespace OnlineStore.DeviceLibrary
{
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
string logName = "收到 AgvClient_Ready [" + id + "] [" + data.NumStr() + "] ";
LogUtil.info(logName);
UpdateAction(id, Asa.ClientAction.Ready);
if (id.Equals(LineManager.Config.OutL_AgvName))
......@@ -77,48 +78,65 @@ namespace OnlineStore.DeviceLibrary
Task.Factory.StartNew(delegate
{
SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ,等待OutL_InCheck");
WaitUtil.Wait(60000, delegate
LogUtil.info(logName + "调用 MayEnter ,等待OutL_InCheck");
try
{
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);
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.None);
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.HIGH);
}, "等待OutL_InCheck=HIGH");
}
else
catch (Exception ex)
{
LogUtil.error("AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ,等待OutL_InCheck超时");
LogUtil.error(logName + ":" + ex.ToString());
}
//两秒后改为离开状态
Thread.Sleep(3000);
LogUtil.info(logName + " ，调用 FinishEnter ");
SetStatus(id, "", ClientAction.FinishEnter);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
}
else
{
LogUtil.error(logName + " OutL_InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
else if (id.Equals(LineManager.Config.InL_AgvName))
{
string shefId = LineManager.VMILine.LastOutShelfId;
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH))
{
LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown, 2000);
LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown, 3000);
//agvClient.MayLeave(id);
SetStatus(id, "", ClientAction.MayLeave);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ，下降 InL_OutStopDown ，调用 MayLeave ");
SetStatus(id, shefId, ClientAction.MayLeave);
LogUtil.info(logName + "下降 InL_OutStopDown ，调用 MayLeave " + shefId);
Task.Factory.StartNew(delegate
{
//两秒后改为离开状态
Thread.Sleep(2000);
SetStatus(id, "", ClientAction.FinishLeave);
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishLeave " + shefId);
SetStatus(id, shefId, ClientAction.FinishLeave);
Thread.Sleep(2000);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
}
else
{
LogUtil.error(logName + " InL_OutStopCheck 未检测到料架，无法将料架进入AGV");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
}
private static void AgvClient_Arrive(string id, byte[] content)
......@@ -128,10 +146,11 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
}
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))
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.None);
return true;
......@@ -141,7 +160,7 @@ namespace OnlineStore.DeviceLibrary
public static bool NeedEnter(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))
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedEnter);
return true;
......@@ -150,9 +169,8 @@ namespace OnlineStore.DeviceLibrary
}
public static bool NeedLeave(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))
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedLeave);
return true;
......
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