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张东亮 / RC1250-FeederLineClient

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Commit 41172313 由 张东亮
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0112

1 个父辈 ca8c4274
内嵌 并排
正在显示 2 个修改的文件 包含 65 行增加 和 21 行删除
source/DeviceLibrary/acFeederLine/FeederLineBean.cs
......@@ -237,7 +237,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (runStatus.Equals(RunStatus.Runing))
{
//InLineTimerProcess();
InLineTimerProcess();
OutLineTimerProcess();
TranverseTimerProcess();
......@@ -259,10 +259,57 @@ namespace OnlineStore.DeviceLibrary
InProcess = false;
}
private DateTime il_lastCallAgvTime = DateTime.Now.AddMinutes(-5);
private Stopwatch il_outstopCheckWarch = new Stopwatch();
private Stopwatch il_manualCheckWatch = new Stopwatch();
/// <summary>
/// 入料线体定时处理
/// </summary>
private void InLineTimerProcess()
{
TimeSpan span = DateTime.Now - il_lastCallAgvTime;
//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.L2_OutCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 60)
{
if (LastOutShelfId.Equals("000").Equals(false))
{
if (LineManager.checkWatch(il_outstopCheckWarch, 1000))
{
il_lastCallAgvTime = DateTime.Now;
//StopIOMove(IO_Type.InL_OutStopDown, StopDownMS);
LogUtil.info(" 出料线体出口有料架" + LastOutShelfId + "，呼叫agv小车[" + Config.L2_AgvName + "] [NeedLeave] ");
agvClient.OutLine_NeedLeave(LastOutShelfId);
}
}
}
else if (span.TotalMilliseconds > StopDownMS)
{
il_outstopCheckWarch.Stop();
ClientAction currA = AgvClient.GetAction(Config.L2_AgvName);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
if (IOManager.IOValue(IO_Type.L2_StopDown).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.L2_StopDown, IO_VALUE.LOW);
}
}
}
//如果是出口无料架，NeedLeave状态，改为None
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.L2_AgvName).Equals(ClientAction.NeedLeave))
{
il_outstopCheckWarch.Stop();
LogUtil.info(" 出料线体出口无料架 ，更改[" + Config.L2_AgvName + "] 状态[None] ");
agvClient.OutLine_RFID = "";
agvClient.OutLine_None(LastOutShelfId);
}
}
private Stopwatch ol_noshelfWatch = new Stopwatch();
private Stopwatch ol_noshelfWatch1 = new Stopwatch();
private Stopwatch rfidWatch = new Stopwatch();
private Stopwatch rfidNoWatch = new Stopwatch();
private DateTime ol_lastSendShelfTime = DateTime.Now;
private int StopDownMS = 1500;
/// <summary>
......@@ -280,10 +327,10 @@ namespace OnlineStore.DeviceLibrary
if (IOManager.IOValue(IO_Type.L2_StopCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && span.TotalSeconds > 3)
{
//如果出料线体出口无料架，放一个料架到出口
if (LineManager.checkWatch(ol_noshelfWatch, 1000))
if (LineManager.checkWatch(ol_noshelfWatch, 5000))
{
IOManager.CIOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
LogUtil.info(" Feeder2线体出口无料架，下降 [" + IO_Type.L2_StopDown + "] [" + StopDownMS + "] 秒");
LogUtil.info(" 出料线体出口无料架，下降 [" + IO_Type.L2_StopDown + "] [" + StopDownMS + "] 秒");
ol_lastSendShelfTime = DateTime.Now;
StopIOMove(IO_Type.L2_StopDown, StopDownMS);
}
......@@ -296,7 +343,7 @@ namespace OnlineStore.DeviceLibrary
{
StopIOMove(IO_Type.L1_OutStopDown, StopDownMS);
Thread.Sleep(1000);
LogUtil.info(" Feeder1线体出口无料架，下降 [" + IO_Type.L1_StopDown + "] [" + StopDownMS + "] 秒");
LogUtil.info(" 入料线体出口无料架，下降 [" + IO_Type.L1_StopDown + "] [" + StopDownMS + "] 秒");
ol_lastSendShelfTime = DateTime.Now;
StopIOMove(IO_Type.L1_StopDown, StopDownMS);
}
......@@ -309,16 +356,6 @@ namespace OnlineStore.DeviceLibrary
IOManager.CIOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
}
if(IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && LineManager.checkWatch(rfidWatch, 2000))
{
agvClient.OutLine_NeedLeave(LastOutShelfId);
}
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && LineManager.checkWatch(rfidNoWatch, 2000))
{
agvClient.OutLine_RFID = "";
agvClient.OutLine_None(LastOutShelfId);
}
}
private Task TranverseTask;
private static void TranverseProcess()
......@@ -370,9 +407,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(" TranverseProcess Finish");
}
private Stopwatch ol_tranverseShelfWatch = new Stopwatch();
private DateTime il_lastTranverseTime = DateTime.Now.AddMinutes(-5);
private void TranverseTimerProcess()
{
TimeSpan span = DateTime.Now - il_lastCallAgvTime;
TimeSpan span = DateTime.Now - il_lastTranverseTime;
//Feeder1出口有料架，Feeder2入口空
//出口信号需要持续6秒钟
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW) && span.TotalSeconds > 6)
......@@ -382,12 +420,12 @@ namespace OnlineStore.DeviceLibrary
if (TranverseTask ==null)
{
TranverseTask = Task.Factory.StartNew(new Action(TranverseProcess));
il_lastCallAgvTime = DateTime.Now;
il_lastTranverseTime = DateTime.Now;
}
else if (TranverseTask.IsCompleted)
{
TranverseTask = Task.Factory.StartNew(new Action(TranverseProcess));
il_lastCallAgvTime = DateTime.Now;
il_lastTranverseTime = DateTime.Now;
}
}
......@@ -397,7 +435,6 @@ namespace OnlineStore.DeviceLibrary
ol_tranverseShelfWatch.Stop();
}
}
private DateTime il_lastCallAgvTime = DateTime.Now.AddMinutes(-5);
//private void LedProcess()
//{
......
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -127,7 +127,7 @@ namespace OnlineStore.DeviceLibrary
}
//五秒后改为离开状态
Thread.Sleep(5000);
Thread.Sleep(10000);
Feeder_In_Msg = "Feeder In: 调用 FinishEnter ";
LogUtil.info(Feeder_In_Msg);
FinishEnter(InLine_Name);
......@@ -329,7 +329,14 @@ namespace OnlineStore.DeviceLibrary
}
return agvClient.IsConn;
}
public static ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return ClientAction.None;
}
public void Dispose()
{
try
......
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