Skip to content

孙克 / RC30-AutoInOutStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit d13b6b32 由 刘韬
选项

1

1 个父辈 b444f6fa
内嵌 并排
正在显示 12 个修改的文件 包含 187 行增加 和 92 行删除
source/ACSingleStore/App.config
......@@ -60,7 +60,8 @@
<add key="Tool_P6_Offset" value="6000" />
<add key="Tool_TargetSpeed" value="20" />
<add key="Tool_TargetPosition" value="6000" />
<add key ="CodeCount" value ="1"/>
<add key="CodeCount" value="1" />
<add key="CodeRun" value="1" />
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......@@ -109,42 +110,13 @@
</startup>
<!-- 部署服务库项目时，必须将配置文件的内容添加到
主机的 app.config 文件中。System.Configuration 不支持库的配置文件。 -->
<system.serviceModel>
<services>
<service name="AcStoreWCF.CWSMDBox">
<endpoint address="" binding="basicHttpBinding" contract="AcStoreWCF.ICWSMDBox">
<identity>
<dns value="localhost" />
</identity>
</endpoint>
<endpoint address="mex" binding="mexHttpBinding" contract="IMetadataExchange" />
<host>
<baseAddresses>
<add baseAddress="http://localhost:8733/Design_Time_Addresses/AcStoreWCF/CWSMDBox/" />
</baseAddresses>
</host>
</service>
</services>
<behaviors>
<serviceBehaviors>
<behavior>
<!-- 为避免泄漏元数据信息，
请在部署前将以下值设置为 false -->
<serviceMetadata httpGetEnabled="True" httpsGetEnabled="True" />
<!-- 要接收故障异常详细信息以进行调试，
请将以下值设置为 true。在部署前设置为 false
以避免泄漏异常信息 -->
<serviceDebug includeExceptionDetailInFaults="False" />
</behavior>
</serviceBehaviors>
</behaviors>
</system.serviceModel>
<runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
<dependentAssembly>
<assemblyIdentity name= "log4net" culture= "neutral" publicKeyToken= "669e0ddf0bb1aa2a" Retargetable= "Yes"/>
<bindingRedirect oldVersion= "0.0.0.0-9.9.9.0" newVersion= "2.0.12.0"/>
<assemblyIdentity name="log4net" culture="neutral" publicKeyToken="669e0ddf0bb1aa2a" Retargetable="Yes" />
<bindingRedirect oldVersion="0.0.0.0-9.9.9.0" newVersion="2.0.12.0" />
</dependentAssembly>
</assemblyBinding>
</runtime>
</configuration>
\ No newline at end of file
source/ACSingleStore/AutoInOutStore.csproj
......@@ -12,6 +12,21 @@
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<TargetFrameworkProfile />
<PublishUrl>publish\</PublishUrl>
<Install>true</Install>
<InstallFrom>Disk</InstallFrom>
<UpdateEnabled>false</UpdateEnabled>
<UpdateMode>Foreground</UpdateMode>
<UpdateInterval>7</UpdateInterval>
<UpdateIntervalUnits>Days</UpdateIntervalUnits>
<UpdatePeriodically>false</UpdatePeriodically>
<UpdateRequired>false</UpdateRequired>
<MapFileExtensions>true</MapFileExtensions>
<ApplicationRevision>0</ApplicationRevision>
<ApplicationVersion>1.0.0.%2a</ApplicationVersion>
<IsWebBootstrapper>false</IsWebBootstrapper>
<UseApplicationTrust>false</UseApplicationTrust>
<BootstrapperEnabled>true</BootstrapperEnabled>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
......@@ -37,6 +52,7 @@
<PropertyGroup>
<ApplicationIcon>box.ico</ApplicationIcon>
</PropertyGroup>
<PropertyGroup />
<ItemGroup>
<Reference Include="CodeLibrary, Version=1.0.7844.17688, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
......@@ -50,8 +66,10 @@
<HintPath>..\..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Configuration" />
<Reference Include="System.Core" />
<Reference Include="System.ServiceModel" />
<Reference Include="System.Web.Extensions" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
......@@ -131,7 +149,6 @@
<EmbeddedResource Include="Properties\Resource.en-US.resx">
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resource.ge-DE.resx" />
<EmbeddedResource Include="Properties\Resource.ja-JP.resx">
<SubType>Designer</SubType>
</EmbeddedResource>
......@@ -163,15 +180,6 @@
<EmbeddedResource Include="userControl\uc_boxdebug.resx">
<DependentUpon>uc_boxdebug.cs</DependentUpon>
</EmbeddedResource>
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
</None>
<Compile Include="Properties\Settings.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile>
</ItemGroup>
<ItemGroup>
<None Include="App.config">
......@@ -246,6 +254,18 @@
<ItemGroup>
<WCFMetadata Include="Connected Services\" />
</ItemGroup>
<ItemGroup>
<BootstrapperPackage Include=".NETFramework,Version=v4.6.1">
<Visible>False</Visible>
<ProductName>Microsoft .NET Framework 4.6.1 %28x86 和 x64%29</ProductName>
<Install>true</Install>
</BootstrapperPackage>
<BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
<Visible>False</Visible>
<ProductName>.NET Framework 3.5 SP1</ProductName>
<Install>false</Install>
</BootstrapperPackage>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
......
source/ACSingleStore/Properties/Resource.en-US.resx
......@@ -1224,4 +1224,7 @@
<data name="BatchFull" xml:space="preserve">
<value>The material tray is full, please take out the material</value>
</data>
<data name="InStoreFailed_takereel" xml:space="preserve">
<value>Warehousing failed, please remove the tray</value>
</data>
</root>
\ No newline at end of file
source/ACSingleStore/Properties/Resource.ja-JP.resx
......@@ -1224,4 +1224,7 @@
<data name="BatchFull" xml:space="preserve">
<value>トレイがいっぱいになっていますので、材料を取り出してください</value>
</data>
<data name="InStoreFailed_takereel" xml:space="preserve">
<value>倉庫保管に失敗しました。トレイを取り外してください</value>
</data>
</root>
\ No newline at end of file
source/ACSingleStore/Properties/Resource.zh-CN.resx
......@@ -1223,4 +1223,7 @@
<data name="BatchOutFail_DoorNotLock" xml:space="preserve">
<value>批量出库失败,门锁未关闭</value>
</data>
<data name="InStoreFailed_takereel" xml:space="preserve">
<value>入库失败,请取走料盘</value>
</data>
</root>
\ No newline at end of file
source/ACSingleStore/Properties/Settings.Designer.cs deleted 100644 → 0
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace OnlineStore.AutoInOutStore.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default {
get {
return defaultInstance;
}
}
}
}
source/ACSingleStore/Properties/Settings.settings deleted 100644 → 0
<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
</Profiles>
<Settings />
</SettingsFile>
source/DeviceLibrary/DeviceLibrary/halcon/CodeManager.cs
......@@ -11,6 +11,7 @@ using System.Windows.Forms;
using CodeLibrary;
using System.Drawing.Imaging;
using System.Text.RegularExpressions;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
......@@ -155,12 +156,28 @@ namespace OnlineStore.DeviceLibrary
continue;
}
DateTime startTime = DateTime.Now;
int retryTimes = 0;
retry:
LogUtil.info( " 【" + cameraName + "】开始取图片");
HalconDotNet.HObject ho_Image = null;
Bitmap bit=null;
try
{
ho_Image = Camera._cam.CaptureOnImage(cameraName,out bit,true);
if (bit == null)
{
retryTimes++;
LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName);
Thread.Sleep(100);
if (retryTimes > 2)
{
return new List<string>();
}
LogUtil.info(" 【" + cameraName + "】取图片失败，重试:" + retryTimes);
goto retry;
}
//if (ho_Image == null)
//{
// LogUtil.error( " 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
......
source/DeviceLibrary/ResourceControl.cs
......@@ -363,5 +363,9 @@ namespace OnlineStore.DeviceLibrary
/// 批量轴已放满
/// </summary>
public static string BatchFull= "BatchFull";
/// <summary>
/// 入库失败,请取走料盘
/// </summary>
public static string InStoreFailed_takereel = "InStoreFailed_takereel";
}
}
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -550,13 +550,7 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{
InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
Task.Run(delegate { SendLineStatus(); });
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
......@@ -567,28 +561,97 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog("入库：SI_13 叉子从库位返回，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InOutBackToP1(moveP.InOut_P1);
if (Config.IsUse_Tray_Check.Equals(1))
{
InStoreLog("入库：SI_13 进出轴到P1后，判断是否放下物料 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_InoutBack)
{
InStoreLog("入库：SI_14 返回待机点，轴2/轴1到P1,轴4到P3");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTray);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_CheckTray)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_16_sendstate);
if (Config.IsUse_Tray_Check.Equals(1) && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (false && AutomaticBaiting.StoreMove.MoveStep >= StoreMoveStep.AUTO_I09_WaitTrayLeave || AutomaticBaiting.StoreMove.MoveStep == StoreMoveStep.Wait)
{
InStoreLog("入库：SI_15 进出轴到P1后，发现仍有物料 打开NG门");
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
ACAxisMove(Config.Middle_Axis, Config.UpDownAxis_Door_P7, Config.MiddleAxis_P1_Speed);
SetWarnMsg(ResourceControl.InStoreFailed_takereel);
}
//StoreMove.NextMoveStep(StoreMoveStep.SI_15_CheckTray);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
//IOManager.IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
//IOManager.IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SI_16_sendstate);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_15_CheckTray)
{
if (IOManager.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH)
&& IOManager.IOValue(IO_Type.BatchDoor_Close2).Equals(IO_VALUE.HIGH)
&& IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
StoreMove.NextMoveStep(StoreMoveStep.SI_17_GoBack);
InStoreLog("入库：SI_15 门已关, 取消入库:" + StoreMove.MoveParam.PositionNum);
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
StoreManager.cancelPutInTask(posId);
SetWarnMsg("");
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack)
else if (IOManager.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH)
&& IOManager.IOValue(IO_Type.BatchDoor_Close2).Equals(IO_VALUE.HIGH))
{
InStoreLog("入库：SI_15 关门后,发现仍有物料,再次打开NG门");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_CheckTray);
BatchDoorOpen(true);
}
else
{
SetWarnMsg(ResourceControl.InStoreFailed_takereel);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_16_sendstate)
{
StoreMove.NextMoveStep(StoreMoveStep.SI_17_GoBack);
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
Task.Run(delegate { SendLineStatus(); });
InStoreLog("入库：SI_16 发送入库完成信息给服务器");
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_17_GoBack)
{
preProTime = DateTime.Now.AddSeconds(-5);
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, " 【" + posId + "】 入库结束，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】！");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(posId,StoreMoveType.InStore);
InOutEndProcess(posId, StoreMoveType.InStore);
}
#region 送出料盘处理
else if (StoreMove.MoveStep == StoreMoveStep.SI_21_DeviceToDoor)
......@@ -635,16 +698,20 @@ namespace OnlineStore.DeviceLibrary
{
if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
InStoreLog("入库：取消入库:" + StoreMove.MoveParam.PositionNum);
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
StoreManager.cancelPutInTask(posId);
InStoreLog("送出料盘：SI_13 叉子从库位返回，进出轴到P1(待机点) ");
CodeOrInoutMsg = "";
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
//string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = "";
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InOutBackToP1(moveP.InOut_P1);
CloseDoorAndWait();
SetWarnMsg("");
}
}
......@@ -654,7 +721,42 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + " 入库，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
public void BatchDoorOpen(bool isWait)
{
//ClearInStoreInfo();
//ClearOutStoreInfo();
//DoorStatus = 1;
IOManager.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.HIGH);
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close2, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open2, IO_VALUE.HIGH));
}
}
public bool BatchDoorClose(bool isWait)
{
if (!IOManager.IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH))
{
return false;
}
//ClearInStoreInfo();
//ClearOutStoreInfo();
//DoorStatus = 2;
if (isWait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Open2, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchDoor_Close2, IO_VALUE.HIGH));
}
IOManager.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.HIGH);
return true;
}
protected void SingleInStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
......
source/DeviceLibrary/acSingleStore/StoreManager.cs
......@@ -42,7 +42,7 @@ namespace OnlineStore.DeviceLibrary
if (valueList.Contains(item))
{
LogUtil.error(LOGGER, type.Name + "枚举值：" + item + "重复存在，请检查代码！");
Application.Exit();
throw new Exception(type.Name + "枚举值：" + item + "重复存在，请检查代码！");
break;
}
valueList.Add(item);
......
source/DeviceLibrary/store/StoreMoveStep.cs
......@@ -356,7 +356,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 压紧轴压紧后，升降轴稍微下降之后叉子再后退
/// </summary>
SI_061_UpdownAxisDown = 215,
SI_061_UpdownAxisDown = 218,
/// <summary>
/// 入库。。叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点）
......@@ -365,7 +365,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 拿到料盘后判断叉子料盘检测信号
/// </summary>
SI_071_CheckFixture = 216,
SI_071_CheckFixture = 219,
/// <summary>
/// 入库。。，定位气缸伸出 (有压紧轴的不需要此步骤)
/// </summary>
......@@ -390,10 +390,13 @@ namespace OnlineStore.DeviceLibrary
/// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary>
SI_13_InoutBack = 213,
SI_14_CheckTray = 214,
SI_15_CheckTray = 215,
SI_16_sendstate = 216,
/// <summary>
/// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
/// </summary>
SI_14_GoBack = 214,
SI_17_GoBack = 217,
......@@ -597,6 +600,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
AUTO_O07_WaitDown = 1307,
#endregion
}
......
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!