1

张东亮
Commit d7abd7ab 由 张东亮 编写于 2023-12-19 13:06:03 +0800
source/DeviceLibrary/DeviceLibrary.csproj
source/DeviceLibrary/Line/AllLine.cs
source/DeviceLibrary/bean/LineFloor.cs
source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs
--- a/source/DeviceLibrary/DeviceLibrary.csproj
查看文件 @d7abd7a
+++ b/source/DeviceLibrary/DeviceLibrary.csproj
查看文件 @d7abd7a
@@ -89,6 +89,7 @@
  </ItemGroup>
  <ItemGroup>
    <Compile Include="agvClient\AgvClient_Dbline.cs" />
+    <Compile Include="bean\LineFloor.cs" />
    <Compile Include="bean\RobotBase.cs" />
    <Compile Include="deviceLibrary\ABB\ABBControl.cs" />
    <Compile Include="deviceLibrary\IO\AIOBOX\AIOBOX.cs" />

--- a/source/DeviceLibrary/Line/AllLine.cs
查看文件 @d7abd7a
+++ b/source/DeviceLibrary/Line/AllLine.cs
查看文件 @d7abd7a
@@ -17,13 +17,45 @@ namespace OnlineStore.DeviceLibrary
        /// 左下层链条
        /// </summary>
        public static LineMonitor LeftLowLine;
+        public static LineMonitor LeftHighLine;
        public static void InitLine()
        {
            LineMonitor.Log.LogEvent += Log_LogEvent;
            LeftLowLine = new LineMonitor("左下层链条");
+            LeftHighLine = new LineMonitor("左上层链条");
            LeftLowLine.LineOperateEvent += LeftLowLine_LineOperateEvent;
            LeftLowLine.LineStateEvent += LeftLowLine_LineStateEvent;
+            LeftHighLine.LineOperateEvent += LeftHighLine_LineOperateEvent;
+            LeftHighLine.LineStateEvent += LeftHighLine_LineStateEvent;
+        }
+        private static bool LeftHighLine_LineStateEvent(LineRunParam runParam)
+        {
+            switch (runParam)
+            {
+                case LineRunParam.Run:
+                    return IOManager.IOValue(IO_Type.LHigh_LineRun).Equals(IO_VALUE.HIGH);
+                case LineRunParam.Stop:
+                    return IOManager.IOValue(IO_Type.LHigh_LineRun).Equals(IO_VALUE.LOW);
+                case LineRunParam.BackRun:
+                    return false;
+                default: return false;
+            }
+        }
+        private static void LeftHighLine_LineOperateEvent(LineRunParam runParam)
+        {
+            switch (runParam)
+            {
+                case LineRunParam.Run:
+                    IOManager.IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH);
+                    break;
+                case LineRunParam.Stop:
+                    IOManager.IOMove(IO_Type.LHigh_LineRun, IO_VALUE.LOW);
+                    break;
+                case LineRunParam.BackRun:
+                    break;
+            }
        }
        private static void Log_LogEvent(LogEventArgs args)

--- a/source/DeviceLibrary/bean/LineFloor.cs 0 → 100644
查看文件 @d7abd7a
+++ b/source/DeviceLibrary/bean/LineFloor.cs 0 → 100644
查看文件 @d7abd7a
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+namespace OnlineStore.DeviceLibrary
+{
+    internal enum LineFloor
+    {
+        /// <summary>
+        /// 未查询到
+        /// </summary>
+        None,
+        /// <summary>
+        /// 一层-大料架
+        /// </summary>
+        One,
+        /// <summary>
+        /// 二层-小料架
+        /// </summary>
+        Two,
+    }
+}
--- a/source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs
查看文件 @d7abd7a
+++ b/source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs
查看文件 @d7abd7a
@@ -15,8 +15,6 @@ namespace OnlineStore.DeviceLibrary
    {
        #region 流水线料架处理，料架进入，出去，工位流转
-        public string LeftUpdownRFID = "";
        private Stopwatch lowWatch = new Stopwatch();
        private Stopwatch lhighWatch = new Stopwatch();
        private Stopwatch rhighWatch = new Stopwatch();
@@ -26,6 +24,14 @@ namespace OnlineStore.DeviceLibrary
        private bool LHighProcess = false;
        private bool RHighProcess = false;
        private bool ROutProcess = false;
+        /// <summary>
+        /// 左侧进去料架所在层
+        /// </summary>
+        LineFloor leftInShelf;
+        /// <summary>
+        /// 左侧提升机rfid
+        /// </summary>
+        public string LeftUpdownRFID = "";
        private void ShelfCheckPro()
        {
@@ -166,8 +172,7 @@ namespace OnlineStore.DeviceLibrary
                            //开始料架进入处理
                            MoveInfo.NewMove(LineMoveType.LeftShelf, MoveStep.SI01_ShelfInLeft);
                            IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
-                            //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_InCheck, IO_VALUE.HIGH));
+                            leftInShelf = LineFloor.None;
-                            //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_StopCheck, IO_VALUE.HIGH));
                        }
                        else
                        {
@@ -271,11 +276,13 @@ namespace OnlineStore.DeviceLibrary
                //等待可放料架
                if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
                {
+                    leftInShelf = LineFloor.Two;
                    LogUtil.info(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",等待上层 LHigh_FullCheck无信号");
                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_FullCheck, IO_VALUE.LOW));
                }
                else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
                {
+                    leftInShelf = LineFloor.One;
                    LogUtil.info(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",等待下层 LLow_FullCheck无信号");
                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LLow_FullCheck, IO_VALUE.LOW));
                }
@@ -283,7 +290,6 @@ namespace OnlineStore.DeviceLibrary
                {
                    LogUtil.error(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",不是正确的料架，结束处理 ");
                    MoveInfo.EndMove();
                }
            }
            else if (MoveInfo.MoveStep.Equals(MoveStep.SI02_ReadRFID))
@@ -294,16 +300,19 @@ namespace OnlineStore.DeviceLibrary
                    LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
                    if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
                    {
+                        leftInShelf = LineFloor.Two;
                        LogUtil.info(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",升降机上升");
                        CylinderMove(MoveInfo, IO_Type.L_Updown_Down, IO_Type.L_Updown_Up);
                    }
                    else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
                    {
+                        leftInShelf = LineFloor.One;
                        LogUtil.info(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",升降机下降");
                        CylinderMove(MoveInfo, IO_Type.L_Updown_Up, IO_Type.L_Updown_Down);
                    }
                    else
                    {
+                        leftInShelf = LineFloor.None;
                        LogUtil.error(Name + MoveInfo.SLog + "  ：左侧新料架=" + LeftUpdownRFID + ",不是正确的料架，结束处理 ");
                        MoveInfo.EndMove();
                    }
@@ -353,7 +362,6 @@ namespace OnlineStore.DeviceLibrary
                    MoveInfo.NextMoveStep(MoveStep.SI06_WaitCheck1Low);
                    LogUtil.info(Name + MoveInfo.SLog + "：阻挡上升，等待检测1灭，或者再等待15秒");
                    LeftLineMove(IO_VALUE.HIGH, null);
-                    LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
                    IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(15000));
                    if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
@@ -400,8 +408,8 @@ namespace OnlineStore.DeviceLibrary
                {
                    MoveInfo.NextMoveStep(MoveStep.SI08_UpdownDown);
                    LeftLineMove(IO_VALUE.HIGH, MoveInfo);
-                    string result = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
+                    LeftUpdownRFID  = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
-                    LogUtil.info(Name + MoveInfo.SLog + " 升降机下降，清理当前rfid:" + result);
+                    LogUtil.info(Name + MoveInfo.SLog + " 升降机下降，清理当前LeftUpdownRFID:" + LeftUpdownRFID);
                    IOMove(IO_Type.L_InLineRun, IO_VALUE.LOW);
                    Thread.Sleep(100);
@@ -411,7 +419,6 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.MoveStep.Equals(MoveStep.SI08_UpdownDown))
            {
                MoveInfo.NextMoveStep(MoveStep.SI09_WaitStopRun);
-                LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
                MoveInfo.TimeOutSeconds = 30;
                LogUtil.info(Name + MoveInfo.SLog + " 等待检测2亮，转动30秒");
                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
@@ -442,7 +449,6 @@ namespace OnlineStore.DeviceLibrary
            {
                MoveInfo.NextMoveStep(MoveStep.SI10_WaitTime);
                LogUtil.info(Name + MoveInfo.SLog + " 再转动5秒");
-                LeftUpdownRFID = RFIDManager.ReadRFID(Config.L_Updown_Rfid, true).NumStr();
                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
                LeftLineMove(IO_VALUE.HIGH, null);
                if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
@@ -466,9 +472,10 @@ namespace OnlineStore.DeviceLibrary
                //    }
                //    else
                //{
+                LeftLineMove(IO_VALUE.LOW);
                LogUtil.info(Name + MoveInfo.SLog + " 停止链条转动，结束处理");
                IOMove(IO_Type.Line_StopCylinder, IO_VALUE.LOW);
-                LeftLineMove(IO_VALUE.LOW);
+                leftInShelf = LineFloor.None;
                MoveInfo.EndMove();
                //}
            }
@@ -476,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
        private void LeftLineMove(IO_VALUE value, LineMoveInfo moveInfo = null)
        {
-            if (LeftUpdownRFID.StartsWith(Static_String.SmallShelf_RFID_Prefix))
+            if (leftInShelf.Equals(LineFloor.Two))
            {
                if (moveInfo != null)
                {
@@ -484,7 +491,7 @@ namespace OnlineStore.DeviceLibrary
                }
                CheckAndMove(IO_Type.LHigh_LineRun, value);
            }
-            else if (LeftUpdownRFID.StartsWith(Static_String.BigShelf_RFID_Prefix))
+            else if (leftInShelf.Equals(LineFloor.One))
            {
                if (moveInfo != null)
                {