添加与服务器交互功能

张东亮
Commit 517829cb 由 张东亮 编写于 2022-03-08 14:18:06 +0800
dll/jaka/_system~.ini
dll/jaka/jaka_files/_system~.ini
source/CarriageClient/App.config
source/CarriageClient/FrmClient.Designer.cs
source/CarriageClient/FrmClient.cs
source/CarriageClient/robotForm/FrmRobotEquip.Designer.cs
source/CarriageClient/robotForm/FrmRobotEquip.cs
source/Common/Setting_Init.cs
source/Common/bean/Bean.cs
source/DeviceLibrary/Config/Config_Client.csv
source/DeviceLibrary/clientEquip/inletEquip/InletEquip.cs
source/DeviceLibrary/clientEquip/inletEquip/InletEquip_InStore.cs
source/DeviceLibrary/clientEquip/inletEquip/_system~.ini
source/DeviceLibrary/clientEquip/outletEquip/OutletEquip_OutStore.cs
source/DeviceLibrary/clientEquip/outletEquip/_system~.ini
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_ConnectServerTimer.cs
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_InExecute.cs
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_OutExecute.cs
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs
--- a/dll/jaka/_system~.ini 0 → 100644
查看文件 @517829c
+++ b/dll/jaka/_system~.ini 0 → 100644
查看文件 @517829c
--- a/dll/jaka/jaka_files/_system~.ini 0 → 100644
查看文件 @517829c
+++ b/dll/jaka/jaka_files/_system~.ini 0 → 100644
查看文件 @517829c
--- a/source/CarriageClient/App.config
查看文件 @517829c
+++ b/source/CarriageClient/App.config
查看文件 @517829c
@@ -20,7 +20,8 @@
 		<add key="ConfigPath_TrayList" value="\LineConfig\TrayList.data" />
 		<add key="ImagePath" value="\Images\" />
 		<add key="UseBuzzer" value="0" />
-		<add key="Line_CID" value="01" />
+		<!--获取库位的料仓cid列表;多个用,分割-->
+		<add key="Line_CID" value="01,02,03,04,05,06" />
 		<!--end one store config-->
 		<!--二维码类型列表配置，用#分割，一维码=Barcode  二维码： QR Code#Data Matrix ECC 200#Micro QR Code-->
 		<add key="CodeType" value="Data Matrix ECC 200#QR Code" />
@@ -63,6 +64,8 @@
 		<add key="TrayInRobotInfo" value="" />
 		<!--出料口上的料盘信息-->
 		<add key="TrayInOutletInfo" value="" />
+		<!--入料口上的料盘信息-->
+		<add key="TrayInInletInfo" value="" />
 		<!--夹爪夹紧时忽略的料号列表，多个用#分割-->
 		<add key="PNList" value="3402021720#3402021721#3402021100#3402021101#3402021102#3402021103#3402021104#3402021105#3402021106#3402021107#3402021108#3402021109#3402021112#3402021122" />
 	</appSettings>

--- a/source/CarriageClient/FrmClient.Designer.cs
查看文件 @517829c
+++ b/source/CarriageClient/FrmClient.Designer.cs
查看文件 @517829c
@@ -36,9 +36,12 @@
            this.tabPage2 = new System.Windows.Forms.TabPage();
            this.panel1 = new System.Windows.Forms.Panel();
            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.robotDataControl = new OnlineStore.XLRStore.ReelDataControl();
            this.robotControl = new OnlineStore.XLRStore.EquipControl();
            this.inletControl = new OnlineStore.XLRStore.EquipControl();
            this.outletControl = new OnlineStore.XLRStore.EquipControl();
+            this.outletDataControl = new OnlineStore.XLRStore.ReelDataControl();
+            this.inletDataControl = new OnlineStore.XLRStore.ReelDataControl();
            this.ngboxDataControl = new OnlineStore.XLRStore.ReelDataControl();
            this.lblStatus = new System.Windows.Forms.Label();
            this.lblWarnMsg = new System.Windows.Forms.Label();
@@ -154,20 +157,37 @@
            this.tableLayoutPanel1.ColumnCount = 2;
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Controls.Add(this.robotDataControl, 0, 3);
            this.tableLayoutPanel1.Controls.Add(this.robotControl, 0, 0);
            this.tableLayoutPanel1.Controls.Add(this.inletControl, 0, 1);
            this.tableLayoutPanel1.Controls.Add(this.outletControl, 1, 1);
-            this.tableLayoutPanel1.Controls.Add(this.ngboxDataControl, 0, 2);
+            this.tableLayoutPanel1.Controls.Add(this.outletDataControl, 1, 2);
+            this.tableLayoutPanel1.Controls.Add(this.inletDataControl, 0, 2);
+            this.tableLayoutPanel1.Controls.Add(this.ngboxDataControl, 1, 3);
            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
-            this.tableLayoutPanel1.RowCount = 3;
+            this.tableLayoutPanel1.RowCount = 4;
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
            this.tableLayoutPanel1.Size = new System.Drawing.Size(988, 605);
            this.tableLayoutPanel1.TabIndex = 0;
            // 
+            // robotDataControl
+            // 
+            this.robotDataControl.BackColor = System.Drawing.Color.White;
+            this.robotDataControl.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.robotDataControl.ColorStatus = System.Drawing.Color.White;
+            this.robotDataControl.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.robotDataControl.Location = new System.Drawing.Point(3, 456);
+            this.robotDataControl.Name = "robotDataControl";
+            this.robotDataControl.ReelText = "机器人夹爪物料信息";
+            this.robotDataControl.Size = new System.Drawing.Size(488, 146);
+            this.robotDataControl.TabIndex = 8;
+            // 
            // robotControl
            // 
            this.robotControl.BackColor = System.Drawing.Color.White;
@@ -179,7 +199,7 @@
            this.robotControl.Location = new System.Drawing.Point(3, 3);
            this.robotControl.MoveInfo = "暂无出入库";
            this.robotControl.Name = "robotControl";
-            this.robotControl.Size = new System.Drawing.Size(982, 195);
+            this.robotControl.Size = new System.Drawing.Size(982, 145);
            this.robotControl.TabIndex = 0;
            this.robotControl.WorkStatus = "暂未启动";
            // 
@@ -190,10 +210,10 @@
            this.inletControl.ColorStatus = System.Drawing.Color.White;
            this.inletControl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.inletControl.EquipText = "入料口";
-            this.inletControl.Location = new System.Drawing.Point(3, 204);
+            this.inletControl.Location = new System.Drawing.Point(3, 154);
            this.inletControl.MoveInfo = "暂无出入库";
            this.inletControl.Name = "inletControl";
-            this.inletControl.Size = new System.Drawing.Size(488, 195);
+            this.inletControl.Size = new System.Drawing.Size(488, 145);
            this.inletControl.TabIndex = 1;
            this.inletControl.WorkStatus = "暂未启动";
            // 
@@ -204,24 +224,48 @@
            this.outletControl.ColorStatus = System.Drawing.Color.White;
            this.outletControl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.outletControl.EquipText = "出料口";
-            this.outletControl.Location = new System.Drawing.Point(497, 204);
+            this.outletControl.Location = new System.Drawing.Point(497, 154);
            this.outletControl.MoveInfo = "暂无出入库";
            this.outletControl.Name = "outletControl";
-            this.outletControl.Size = new System.Drawing.Size(488, 195);
+            this.outletControl.Size = new System.Drawing.Size(488, 145);
            this.outletControl.TabIndex = 2;
            this.outletControl.WorkStatus = "暂未启动";
            // 
+            // outletDataControl
+            // 
+            this.outletDataControl.BackColor = System.Drawing.Color.White;
+            this.outletDataControl.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.outletDataControl.ColorStatus = System.Drawing.Color.White;
+            this.outletDataControl.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.outletDataControl.Location = new System.Drawing.Point(497, 305);
+            this.outletDataControl.Name = "outletDataControl";
+            this.outletDataControl.ReelText = "出料口物料信息";
+            this.outletDataControl.Size = new System.Drawing.Size(488, 145);
+            this.outletDataControl.TabIndex = 5;
+            // 
+            // inletDataControl
+            // 
+            this.inletDataControl.BackColor = System.Drawing.Color.White;
+            this.inletDataControl.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.inletDataControl.ColorStatus = System.Drawing.Color.White;
+            this.inletDataControl.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.inletDataControl.Location = new System.Drawing.Point(3, 305);
+            this.inletDataControl.Name = "inletDataControl";
+            this.inletDataControl.ReelText = "入料口物料信息";
+            this.inletDataControl.Size = new System.Drawing.Size(488, 145);
+            this.inletDataControl.TabIndex = 7;
+            // 
            // ngboxDataControl
            // 
            this.ngboxDataControl.BackColor = System.Drawing.Color.White;
            this.ngboxDataControl.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.ngboxDataControl.ColorStatus = System.Drawing.Color.White;
            this.ngboxDataControl.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ngboxDataControl.Location = new System.Drawing.Point(3, 405);
+            this.ngboxDataControl.Location = new System.Drawing.Point(497, 456);
            this.ngboxDataControl.Name = "ngboxDataControl";
            this.ngboxDataControl.ReelText = "NG箱物料信息";
-            this.ngboxDataControl.Size = new System.Drawing.Size(488, 197);
+            this.ngboxDataControl.Size = new System.Drawing.Size(488, 146);
-            this.ngboxDataControl.TabIndex = 3;
+            this.ngboxDataControl.TabIndex = 6;
            // 
            // lblStatus
            // 
@@ -618,6 +662,9 @@
        private EquipControl robotControl;
        private EquipControl inletControl;
        private EquipControl outletControl;
+        private ReelDataControl robotDataControl;
+        private ReelDataControl outletDataControl;
+        private ReelDataControl inletDataControl;
        private ReelDataControl ngboxDataControl;
    }
 }

--- a/source/CarriageClient/FrmClient.cs
查看文件 @517829c
+++ b/source/CarriageClient/FrmClient.cs
查看文件 @517829c
@@ -122,6 +122,9 @@ namespace OnlineStore.XLRStore
            ShowNGState();
            ngboxDataControl.linkClear.Click += LinkClear_ClickA1;
+            inletDataControl.linkClear.Click += LinkClear_Click;
+            outletDataControl.linkClear.Click += LinkClear_Click1;
+            robotDataControl.linkClear.Click += LinkClear_Click2;
            robotControl.InitData(StoreManager.Client.robotEquip.Name);
            inletControl.InitData(StoreManager.Client.inletEquip.Name);
            outletControl.InitData(StoreManager.Client.outletEquip.Name);
@@ -131,7 +134,63 @@ namespace OnlineStore.XLRStore
            outletControl.DoubleClick += OutletControl_DoubleClick;           
            LoadOk = true;
        }
+        /// <summary>
+        /// 机器人夹爪清除料盘按钮
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        /// <exception cref="NotImplementedException"></exception>
+        private void LinkClear_Click2(object sender, EventArgs e)
+        {
+            if (BufferDataManager.TrayInRobotInfo == null)
+            {
+                return;
+            }
+            DialogResult result = MessageBox.Show("确定清除机器人夹爪上的物料缓存？", "", MessageBoxButtons.OKCancel);
+            if (result.Equals(DialogResult.OK))
+            {
+                BufferDataManager.TrayInRobotInfo = null;
+                LogUtil.info(Name + "清除机器人夹爪上的物料缓存");
+            }
+        }
+        /// <summary>
+        /// 出料口清除料盘按钮
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        /// <exception cref="NotImplementedException"></exception>
+        private void LinkClear_Click1(object sender, EventArgs e)
+        {
+            if (BufferDataManager.TrayInOutletInfo == null)
+            {
+                return;
+            }
+            DialogResult result = MessageBox.Show("确定清除出料口的物料缓存？", "", MessageBoxButtons.OKCancel);
+            if (result.Equals(DialogResult.OK))
+            {
+                BufferDataManager.TrayInOutletInfo = null;
+                LogUtil.info(Name + "清除出料口的物料缓存");
+            }
+        }
+        /// <summary>
+        /// 入料口清除料盘按钮
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        /// <exception cref="NotImplementedException"></exception>
+        private void LinkClear_Click(object sender, EventArgs e)
+        {
+            if (BufferDataManager.TrayInInletInfo == null)
+            {
+                return;
+            }
+            DialogResult result = MessageBox.Show("确定清除入料口的物料缓存？", "", MessageBoxButtons.OKCancel);
+            if (result.Equals(DialogResult.OK))
+            {
+                BufferDataManager.TrayInInletInfo = null;
+                LogUtil.info(Name + "清除入料口的物料缓存");
+            }
+        }
        private void ShowNGState()
        {
@@ -143,7 +202,32 @@ namespace OnlineStore.XLRStore
            {
                ngboxDataControl.ShowData("NG箱物料信息", BufferDataManager.TraysInNGBoxInfo, IO_VALUE.HIGH);
            }
+            if (BufferDataManager.TrayInInletInfo == null)
+            {
+                ngboxDataControl.ShowData("入料口物料信息", BufferDataManager.TrayInInletInfo, IO_VALUE.LOW);
+            }
+            else
+            {
+                ngboxDataControl.ShowData("入料口物料信息", BufferDataManager.TrayInInletInfo, IO_VALUE.HIGH);
+            }
+            if (BufferDataManager.TrayInOutletInfo == null)
+            {
+                ngboxDataControl.ShowData("出料口物料信息", BufferDataManager.TrayInOutletInfo, IO_VALUE.LOW);
+            }
+            else
+            {
+                ngboxDataControl.ShowData("出料口物料信息", BufferDataManager.TrayInOutletInfo, IO_VALUE.HIGH);
+            }
+            if (BufferDataManager.TrayInRobotInfo == null)
+            {
+                ngboxDataControl.ShowData("机器人夹爪物料信息", BufferDataManager.TrayInRobotInfo, IO_VALUE.LOW);
+            }
+            else
+            {
+                ngboxDataControl.ShowData("机器人夹爪物料信息", BufferDataManager.TrayInRobotInfo, IO_VALUE.HIGH);
            }
+        }
        private void OutletControl_DoubleClick(object sender, EventArgs e)
        {
            tabControl1.SelectedIndex = 3;

--- a/source/CarriageClient/robotForm/FrmRobotEquip.Designer.cs
查看文件 @517829c
+++ b/source/CarriageClient/robotForm/FrmRobotEquip.Designer.cs
查看文件 @517829c
@@ -80,6 +80,7 @@
            this.lblStoreStatus = new System.Windows.Forms.Label();
            this.btnStart = new System.Windows.Forms.Button();
            this.btnStop = new System.Windows.Forms.Button();
+            this.lblrobotTaskInfo = new System.Windows.Forms.Label();
            this.groupBox1.SuspendLayout();
            this.groupBox4.SuspendLayout();
            this.groupBox3.SuspendLayout();
@@ -328,6 +329,7 @@
            // 
            // groupBox6
            // 
+            this.groupBox6.Controls.Add(this.lblrobotTaskInfo);
            this.groupBox6.Controls.Add(this.lblInoutInfo);
            this.groupBox6.Controls.Add(this.lblMoveInfo);
            this.groupBox6.Controls.Add(this.lblInstoreList);
@@ -870,6 +872,17 @@
            this.btnStop.UseVisualStyleBackColor = false;
            this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
            // 
+            // lblrobotTaskInfo
+            // 
+            this.lblrobotTaskInfo.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblrobotTaskInfo.ForeColor = System.Drawing.Color.Black;
+            this.lblrobotTaskInfo.Location = new System.Drawing.Point(2, 394);
+            this.lblrobotTaskInfo.Name = "lblrobotTaskInfo";
+            this.lblrobotTaskInfo.Size = new System.Drawing.Size(977, 109);
+            this.lblrobotTaskInfo.TabIndex = 282;
+            this.lblrobotTaskInfo.Text = "机器人获取任务";
+            // 
            // FrmRobotEquip
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
@@ -973,6 +986,7 @@
        private System.Windows.Forms.Label lblValue;
        private System.Windows.Forms.Button button1;
        private System.Windows.Forms.ComboBox cmbBoxAd;
+        private System.Windows.Forms.Label lblrobotTaskInfo;
    }
 }
--- a/source/CarriageClient/robotForm/FrmRobotEquip.cs
查看文件 @517829c
+++ b/source/CarriageClient/robotForm/FrmRobotEquip.cs
查看文件 @517829c
@@ -241,6 +241,7 @@ namespace OnlineStore.XLRStore
                {
                    lblInoutInfo.Text = "";
                }
+                lblrobotTaskInfo.Text = SServerManager.RobotTaskInfo;
                lblMoveInfo.Text = robotEquip.GetMoveStr();//+ "料仓类型：" + (boxBean.Config.IsBigTray.Equals(1) ? "大料盘" : "小料盘");
                //string canOut = boxBean.CanOutStore(boxBean.DeviceID) ? "可出库" : "不可出库";
                lblStoreStatus.Text = DeviceBase.GetRunStr(robotEquip.runStatus);// + "(" + canOut + ")";

--- a/source/Common/Setting_Init.cs
查看文件 @517829c
+++ b/source/Common/Setting_Init.cs
查看文件 @517829c
@@ -103,6 +103,7 @@ namespace OnlineStore.Common
        public static string TrayInRobotInfo = "TrayInRobotInfo";
        public static string TrayInOutletInfo = "TrayInOutletInfo";
+        public static string TrayInInletInfo = "TrayInInletInfo";
        public static string TraysInNGBoxInfo = "TraysInNGBoxInfo";
        /// <summary>
        /// 禁用光栅

--- a/source/Common/bean/Bean.cs
查看文件 @517829c
+++ b/source/Common/bean/Bean.cs
查看文件 @517829c
@@ -273,5 +273,7 @@ namespace OnlineStore.Common
        public static string executeTime = "executeTime ";
        public static string code = "code";
+        public static string type = "type";
+        public static string cid = "cid";
    }
 }
--- a/source/DeviceLibrary/Config/Config_Client.csv
查看文件 @517829c
+++ b/source/DeviceLibrary/Config/Config_Client.csv
查看文件 @517829c
@@ -9,7 +9,7 @@ PRO,0,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,,,
 PRO,0,机器人IP,Robot_IP,192.168.102.21,,,,,,,,,,,,,,
 PRO,0,料盘高度转换系数,Coeff_Height,0.5,,,,,,,,,,,,,,
 PRO,0,料盘宽度转换系数,Coeff_Width,0.5,,,,,,,,,,,,,,
-PRO,0,扫码的相机名称(多个用#分隔),ScanCodeCamera,GigE:MV-CE200-10GC (00E70964538),,,,,,,,,,,,,,
+PRO,0,扫码的相机名称(多个用#分隔),ScanCodeCamera,GigE:MV-CE200-10GC (00E70964538)#GigE:MV-CE200-10GC (00E70964539),,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,行走机构_待机点,MoveAxis_P1,0,,,,,,,,,,,,
 PRO,0,行走机构_入料口,MoveAxis_P2_Inlet,0,,,,,,,,,,,,
@@ -76,5 +76,6 @@ DO,1,13寸料盘顶升下降,Inlet_13InchJackDown,9,HC,Y09,,,,,,,,,,,,
 DO,2,出料线体顶升上升,Outlet_JackUp,10,HC,Y10,,,,,,,,,,,,
 DO,2,出料线体顶升下降,Outlet_JackDown,11,HC,Y11,,,,,,,,,,,,
 DO,1,入料线体送料允许,Inlet_AllowFeed,12,HC,Y12,,,,,,,,,,,,
+DO,1,入料线体相机光源,Inlet_CamLed,13,HC,Y13,,,,,,,,,,,,
--- a/source/DeviceLibrary/clientEquip/inletEquip/InletEquip.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/inletEquip/InletEquip.cs
查看文件 @517829c
@@ -196,7 +196,7 @@ namespace OnlineStore.DeviceLibrary
                if (MoveInfo.MoveType.Equals(MoveType.None) && NoErrorAlarm())
                {
-                    if(TrayIsInPosition())
+                    if (!TrayIsInPosition() && BufferDataManager.TrayInInletInfo == null)
                    {
                        StartInstore(new InOutParam());
                    }

--- a/source/DeviceLibrary/clientEquip/inletEquip/InletEquip_InStore.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/inletEquip/InletEquip_InStore.cs
查看文件 @517829c
@@ -154,7 +154,8 @@ namespace OnlineStore.DeviceLibrary
                    //    MoveLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + oldPos.PlateW + "X" + oldPos.PlateH + "】服务器返回尺寸【" + LastPosInfo.PlateW + "X" + LastPosInfo.PlateH + "】   ");
                    //}
                    MoveInfo.MoveParam.PosInfo = lastPosInfo;
-                    NextMoveStep(StepEnum.Inlet_08_WaitTrayLeave, "获取目标仓位成功，等待料盘离开");
+                    NextMoveStep(StepEnum.Inlet_08_WaitTrayLeave, $"获取目标仓位成功【{MoveInfo.MoveParam.PosInfo.ToStr()}】，等待料盘离开");
+                    BufferDataManager.TrayInInletInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
                    AddWaitTrayInPosition(false);
                    SetCurCmd(RobotEquip.GetCmd_InletUp());
                }
@@ -166,7 +167,6 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.IsStep(StepEnum.Inlet_08_WaitTrayLeave))
            {
                NextMoveStep(StepEnum.Inlet_09_WaitRobotInSafe, "料盘离开入料口，等待机器人到安全位置");
-                BufferDataManager.TrayInRobotInfo = MoveInfo.MoveParam.PosInfo;
                SetCurCmd(RobotEquip.GetCmd_Standby());
                AddWaitTime(10000);
                MoveInfo.OneWaitCanEndStep=true;
@@ -203,16 +203,22 @@ namespace OnlineStore.DeviceLibrary
                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
                    try
                    {
+                        IOMove(IO_Type.Inlet_CamLed, IO_VALUE.HIGH);
                        LastCodeList = CodeManager.CameraScan(Config.ScanCodeCamera, Name);
                        if (LastCodeList.Count <= 0)
                        {
                            LastCodeList = CodeManager.CameraScan(Config.ScanCodeCamera, Name);
                        }
                    }
                    catch (Exception ex)
                    {
                        LogUtil.error("扫码出错", ex);
                    }
+                    finally
+                    {
+                        IOMove(IO_Type.Inlet_CamLed, IO_VALUE.LOW);
+                    }
                }
                string code = CodeManager.ProcessCode(LastCodeList);
@@ -288,7 +294,7 @@ namespace OnlineStore.DeviceLibrary
                            Thread.Sleep(ms);
                            LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次  " + MoveInfo.SLog + "  结果【" + result.Result + "】，等待" + ms + "后重新获取");
                        }
-                        else if (!result.Msg.Equals(""))
+                        else if (!result.Result.Equals(0))
                        {
                            lastPosInfo = result.Param;
                            LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次  " + MoveInfo.SLog + "  入库NG：" + result.Msg);

--- a/source/DeviceLibrary/clientEquip/inletEquip/_system~.ini 0 → 100644
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/inletEquip/_system~.ini 0 → 100644
查看文件 @517829c
--- a/source/DeviceLibrary/clientEquip/outletEquip/OutletEquip_OutStore.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/outletEquip/OutletEquip_OutStore.cs
查看文件 @517829c
@@ -87,7 +87,8 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.Outlet_04_WaitTrayLeave))
            {
-                NextMoveStep(StepEnum.Outlet_05_JackUp, "料盘离开完成，链条停止，顶升抬起");
+                NextMoveStep(StepEnum.Outlet_05_JackUp, "料盘离开完成，清除出料口缓存，链条停止，顶升抬起");
+                BufferDataManager.TrayInOutletInfo = null;
                OutletRun(false);
                JackUp(true);
                AddWaitTrayCheck2(false);

--- a/source/DeviceLibrary/clientEquip/outletEquip/_system~.ini 0 → 100644
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/outletEquip/_system~.ini 0 → 100644
查看文件 @517829c
--- a/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs
查看文件 @517829c
@@ -255,6 +255,14 @@ namespace OnlineStore.DeviceLibrary
            if (!runStatus.Equals(RunStatus.Runing))
                return;
        }
+        private void CheckInStoreProcess()
+        {
+            if (StoreManager.Client.inletEquip.TrayIsInPosition() && BufferDataManager.TrayInInletInfo != null)
+            {
+                LogInfo("机器人执行入库【" + BufferDataManager.TrayInInletInfo.ToStr() + "】");
+                StartExecuctOut(new InOutParam(BufferDataManager.TrayInInletInfo));
+            }
+        }
        private void ExecuteOutListProcess()
        {
            try
@@ -289,6 +297,10 @@ namespace OnlineStore.DeviceLibrary
            {
                ExecuteOutListProcess();
            }
+            if (runStatus.Equals(RunStatus.Runing))
+            {
+                CheckInStoreProcess();
+            }
            BusyMoveProcess();
            IOTimeOutProcess();
            if (NoErrorAlarm())
@@ -427,7 +439,7 @@ namespace OnlineStore.DeviceLibrary
        {
            preNgSig = curNgSig;
            curNgSig = IOValue(IO_Type.NGBox_TrayCheck).Equals(IO_VALUE.HIGH);
-            if(curNgSig==true && preNgSig==false)
+            if (curNgSig == true && preNgSig == false)
            {
                BufferDataManager.AddTrayInNGBox(new InOutPosInfo());
            }

--- a/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_ConnectServerTimer.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_ConnectServerTimer.cs
查看文件 @517829c
--- a/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_InExecute.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_InExecute.cs
查看文件 @517829c
@@ -45,7 +45,7 @@ namespace OnlineStore.DeviceLibrary
                    InStore_06_CompressTray();
                    break;
                case StepEnum.InStore_06_CompressTray:
-                    NextMoveStep(StepEnum.InStore_07_ArmBackToP1, "在入料口取料完成，机械臂回待机点");
+                    NextMoveStep(StepEnum.InStore_07_ArmBackToP1, "在入料口取料完成，清除入料口缓存，机械臂回待机点");
                    InStore_07_ArmBackToP1();
                    break;
                case StepEnum.InStore_07_ArmBackToP1:
@@ -75,7 +75,10 @@ namespace OnlineStore.DeviceLibrary
                    InStore_11_ReleaseTray();
                    break;
                case StepEnum.InStore_11_ReleaseTray:
-                    NextMoveStep(StepEnum.InStore_16_ArmBackToP1, "在仓门口放料完成，机械臂回待机点");
+                    NextMoveStep(StepEnum.InStore_16_ArmBackToP1, "在仓门口放料完成，清除机器人料叉缓存，机械臂回待机点");
+                    //在料仓口口放料完成
+                    BufferDataManager.TrayInRobotInfo = null;
+                    UpdateLocInfo(MoveInfo.MoveParam.PosInfo.barcode, TaskStatus.BOXDOOR);
                    InStore_16_ArmBackToP1();
                    break;
                #region 去NG箱
@@ -99,7 +102,10 @@ namespace OnlineStore.DeviceLibrary
                    InStore_15_ReleaseTray();
                    break;
                case StepEnum.InStore_15_ReleaseTray:
-                    NextMoveStep(StepEnum.InStore_16_ArmBackToP1, "在NG箱放料完成，机械臂回待机点");
+                    NextMoveStep(StepEnum.InStore_16_ArmBackToP1, "在NG箱放料完成，清除机器人料叉缓存，机械臂回待机点");
+                    //在料仓口口放料完成
+                    BufferDataManager.TrayInRobotInfo = null;
+                   // UpdateLocInfo(MoveInfo.MoveParam.PosInfo.barcode, TaskStatus.BOXDOOR);
                    InStore_16_ArmBackToP1();
                    break;
                #endregion
@@ -146,6 +152,10 @@ namespace OnlineStore.DeviceLibrary
        }
        private void InStore_07_ArmBackToP1()
        {
+            //在入料口取料完成
+            BufferDataManager.TrayInInletInfo = null;
+            BufferDataManager.TrayInRobotInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
+            UpdateLocInfo(MoveInfo.MoveParam.PosInfo.barcode, TaskStatus.INROBOT);
            SendCmd(GetCmd_Standby());
        }
        private void InStore_08_MoveAxisToStore()
@@ -197,6 +207,18 @@ namespace OnlineStore.DeviceLibrary
            targetIndex = 0;
        }
        #endregion
+        /// <summary>
+        /// 机器人更新任务状态
+        /// </summary>
+        /// <param name="barcode"></param>
+        /// <param name="status"></param>
+        private void UpdateLocInfo(string barcode,string status)
+        {
+            string result=SServerManager.UpdateTrayLoc(barcode, status);
+            if(!result.Equals(""))
+            {
+                SServerManager.UpdateTrayLoc(barcode, status);
+            }
+        }
    }
 }
--- a/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_OutExecute.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_OutExecute.cs
查看文件 @517829c
@@ -45,7 +45,7 @@ namespace OnlineStore.DeviceLibrary
                    OutStore_06_CompressTray();
                    break;
                case StepEnum.OutStore_06_CompressTray:
-                    NextMoveStep(StepEnum.OutStore_07_ArmBackToP1, "在仓门口取料完成，机械臂回待机点");
+                    NextMoveStep(StepEnum.OutStore_07_ArmBackToP1, "在仓门口取料完成，添加机器人缓存，机械臂回待机点");
                    OutStore_07_ArmBackToP1();
                    break;
                case StepEnum.OutStore_07_ArmBackToP1:
@@ -67,7 +67,7 @@ namespace OnlineStore.DeviceLibrary
                    OutStore_11_ReleaseTray();
                    break;
                case StepEnum.OutStore_11_ReleaseTray:
-                    NextMoveStep(StepEnum.OutStore_12_ArmBackToP1, "在出料口放料完成，机械臂回待机点");
+                    NextMoveStep(StepEnum.OutStore_12_ArmBackToP1, "在出料口放料完成，清除机器人缓存，机械臂回待机点");
                    OutStore_12_ArmBackToP1();
                    break;
                case StepEnum.OutStore_12_ArmBackToP1:
@@ -101,6 +101,9 @@ namespace OnlineStore.DeviceLibrary
        }
        private void OutStore_07_ArmBackToP1()
        {
+            //添加机器人缓存，并上报任务状态
+            BufferDataManager.TrayInRobotInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
+            UpdateLocInfo(MoveInfo.MoveParam.PosInfo.barcode, TaskStatus.INROBOT);
            SendCmd(GetCmd_Standby());
        }
@@ -127,6 +130,10 @@ namespace OnlineStore.DeviceLibrary
        }
        private void OutStore_12_ArmBackToP1()
        {
+            //上报任务状态
+            BufferDataManager.TrayInRobotInfo = null;
+            BufferDataManager.TrayInOutletInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
+            UpdateLocInfo(MoveInfo.MoveParam.PosInfo.barcode, TaskStatus.FINISHED);
            SendCmd(GetCmd_Standby());
        }
        #endregion

--- a/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs
查看文件 @517829c
@@ -109,8 +109,11 @@ namespace OnlineStore.DeviceLibrary
                string[] recv = bean.RobotData.RecvMsg.Split(',');
                if (recv != null && recv.Length == 2 &&
                    recv[1].Equals(rtn_done))
+                {
+                    LogUtil.info($"RobotMoveEnd:[{recv[0]},{recv[1]}]");
                    return true;
                }
+            }
            catch (Exception ex)
            {
                LogUtil.error($"RobotMoveEnd:{bean.RobotData.RecvMsg}", ex);
@@ -272,7 +275,7 @@ namespace OnlineStore.DeviceLibrary
        int targetIndex = 0;
        private void MoveAxisToStore()
        {
-            switch (MoveInfo.MoveParam.PosInfo.PosId.Substring(0, 2))
+            switch (MoveInfo.MoveParam.PosInfo.Cid)
            {
                case "01":
                    targetIndex = 1;
@@ -345,7 +348,7 @@ namespace OnlineStore.DeviceLibrary
            startInStoreTime = DateTime.Now;
            LogInfo(" 启动入库【" + param.PosInfo.ToStr() + "】 ");
            param.MoveP = new LineMoveP(Config, param.PosInfo.PosId);
-            LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
+            //LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
            MoveInfo.NewMove(MoveType.InStore, param);
            SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy, param.PosInfo);
            MoveInfo.NextMoveStep(StepEnum.InStore_01_Wait);
@@ -376,15 +379,15 @@ namespace OnlineStore.DeviceLibrary
            {
                lock (outStoreObject)
                {
-                    if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveParam.PosInfo.PosId.Equals(param.PosInfo.PosId))
+                    if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveParam.PosInfo.Cid.Equals(param.PosInfo.Cid))
                    {
-                        LogUtil.error(Name + " 出库命令【" + param.PosInfo.ToStr() + "】重复，【" + MoveInfo.MoveParam.PosInfo.PosId + "】出库执行中");
+                        LogUtil.error(Name + " 出库命令【" + param.PosInfo.ToStr() + "】重复，【" + MoveInfo.MoveParam.PosInfo.Cid + "】出库执行中");
                        return;
                    }
                    List<InOutParam> reviceList = new List<InOutParam>();
                    reviceList.AddRange(waitOutStoreList);
-                    reviceList = (from m in reviceList where m.PosInfo.PosId.Equals(param.PosInfo.PosId) select m).ToList<InOutParam>();
+                    reviceList = (from m in reviceList where m.PosInfo.Cid.Equals(param.PosInfo.Cid) select m).ToList<InOutParam>();
                    if (reviceList.Count == 0)
                    {
                        LogInfo(" 执行出库【" + param.PosInfo.ToStr() + "】失败，加入等待队列");
@@ -418,7 +421,7 @@ namespace OnlineStore.DeviceLibrary
            SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy, param.PosInfo);
            MoveInfo.NewMove(MoveType.OutStore, param);
            LogInfo("启动出库【" + param.PosInfo.ToStr() + "】  ");
-            LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
+            //LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
            MoveInfo.NextMoveStep(StepEnum.OutStore_01_Wait);
            return true;

--- a/source/DeviceLibrary/clientEquip/robotEquip/_system~.ini 0 → 100644
查看文件 @517829c
+++ b/source/DeviceLibrary/clientEquip/robotEquip/_system~.ini 0 → 100644
查看文件 @517829c
--- a/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
查看文件 @517829c
@@ -102,7 +102,7 @@ namespace OnlineStore.DeviceLibrary
        }
        public static List<string> CameraScan(string cameraName, string deviceName, bool findRightCodeBreak = false, int timeOut = 1500)
        {
-            List<string> nameList = new List<string>() { cameraName };
+            List<string> nameList = cameraName.Split('#').ToList();//new List<string>() { cameraName };
            return CameraScan(nameList, deviceName, findRightCodeBreak, timeOut);
        }
        private static int ScanCount = 0;

--- a/source/DeviceLibrary/manager/BufferDataManager.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/manager/BufferDataManager.cs
查看文件 @517829c
@@ -11,6 +11,7 @@ namespace OnlineStore.DeviceLibrary
    {
        private static InOutPosInfo trayInRobotInfo = null;
        private static InOutPosInfo trayInOutletInfo = null;
+        private static InOutPosInfo trayInInletInfo = null;
        private static List<InOutPosInfo> traysInNGBoxInfo = null;
        /// <summary>
        ///机器人夹爪上的料盘信息，null时无料
@@ -33,6 +34,15 @@ namespace OnlineStore.DeviceLibrary
                SaveData(Setting_Init.TrayInOutletInfo, value);
            }
        }
+        public static InOutPosInfo TrayInInletInfo
+        {
+            get { return trayInInletInfo; }
+            set
+            {
+                trayInInletInfo = value;
+                SaveData(Setting_Init.TrayInInletInfo, value);
+            }
+        }
        /// <summary>
        /// NG箱里的料盘信息
        /// </summary>
@@ -58,6 +68,7 @@ namespace OnlineStore.DeviceLibrary
            TrayInRobotInfo = LoadInoutPosInfo(Setting_Init.TrayInRobotInfo);
            TraysInNGBoxInfo = LoadNGBoxPosInfos(Setting_Init.TraysInNGBoxInfo);
            TrayInOutletInfo = LoadInoutPosInfo(Setting_Init.TrayInOutletInfo);
+            TrayInInletInfo = LoadInoutPosInfo(Setting_Init.TrayInInletInfo);
        }
        private static InOutPosInfo LoadInoutPosInfo(string configStr)
        {

--- a/source/DeviceLibrary/manager/SServerManager.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/manager/SServerManager.cs
查看文件 @517829c
--- a/source/DeviceLibrary/manager/model/InOutParam.cs
查看文件 @517829c
+++ b/source/DeviceLibrary/manager/model/InOutParam.cs
查看文件 @517829c
@@ -48,10 +48,6 @@ namespace OnlineStore.DeviceLibrary
        }
        public InOutPosInfo PosInfo { get; set; }
-        /// <summary>
-        /// 料叉已取料的信息
-        /// </summary>
-        public InOutPosInfo PosInfoBack { get; set; } = null;
        public LineMoveP MoveP { get; set; }
        /// <summary>
        /// 入料机构从哪个料串取料，或出库放到哪个料串
@@ -88,10 +84,11 @@ namespace OnlineStore.DeviceLibrary
            inOut.CreateTime = DateTime.Now;
            return inOut;
        }
+        public string Cid { get; set; }
        /// <summary>
        /// 创建时间
        /// </summary>
-        public DateTime CreateTime { get; private set; }
+        public DateTime CreateTime { get; set; }
        /// <summary>
        /// 物品二维码
        /// </summary>
@@ -134,8 +131,7 @@ namespace OnlineStore.DeviceLibrary
        public bool singleOut = false;
        public string ToStr()
        {
-            return "  [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + "]，urgentReel [" + urgentReel
+            return "  [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + "]，[cid="+Cid+"]";
-                + "],cutReel [" + cutReel + "],smallReel [" + smallReel + "],rfid [" + rfid + "],rfidLoc [" + rfidLoc + "],singleOut[" + singleOut + "]";
        }
        public bool IsNG { get; set; } = false;
@@ -191,11 +187,11 @@ namespace OnlineStore.DeviceLibrary
        /// <param name="posId"></param>
        public void UpdatePosById(string posId)
        {
-            BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
+            //BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
-            if (position == null)
+            //if (position == null)
-            {
+            //{
-                LogUtil.error("GetPositon[" + posId + "] =null,没有库位不能执行出入库");
+            //    LogUtil.error("GetPositon[" + posId + "] =null,没有库位不能执行出入库");
-            }
+            //}
        }
        /// <summary>

--- a/source/LoadCVSLibrary/clientConfig/config/IO_Type.cs
查看文件 @517829c
+++ b/source/LoadCVSLibrary/clientConfig/config/IO_Type.cs
查看文件 @517829c
@@ -154,6 +154,10 @@ namespace OnlineStore.LoadCSVLibrary
        /// DO,1,入料线体送料允许,Inlet_AllowFeed,12,HC,Y12,,,,,,,,,,,,
        /// </summary>
        public static string Inlet_AllowFeed = "Inlet_AllowFeed";
+        /// <summary>
+        /// DO,1,入料线体相机光源,Inlet_CamLed,13,HC,Y13,,,,,,,,,,,,
+        /// </summary>
+        public static string Inlet_CamLed = "Inlet_CamLed";
    }
    public enum IO_VALUE
    {