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Commit ae723b5b 由 张东亮
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优化

1 个父辈 66be7140
内嵌 并排
正在显示 3 个修改的文件 包含 65 行增加 和 47 行删除
source/DeviceLibrary/manager/SServerManager.cs
......@@ -629,7 +629,7 @@ namespace OnlineStore.DeviceLibrary
try
{
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("cids", StoreManager.Config.CID);
paramMap.Add("cid", StoreManager.Config.CID);
paramMap.Add("hSerial", hSerial);
string server = GetAddr("/service/store/outTaskCount", paramMap);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_ConnectServerTimer.cs
......@@ -60,7 +60,7 @@ namespace OnlineStore.DeviceLibrary
SendLineStatus();
HttpHelper.Post<DoorInfo>(HttpHelper.GetPostApi("/api/xlc/updateDoorInfo"), StoreManager.XLRStore.inputEquip.BatchMove_A.doorInfo);
HttpHelper.Post<DoorInfo>(HttpHelper.GetPostApi("/api/xlc/updateDoorInfo"), StoreManager.XLRStore.inputEquip.BatchMove_B.doorInfo);
}
}
}
......@@ -76,8 +76,12 @@ namespace OnlineStore.DeviceLibrary
public void SendStoreState(string posid, DeviceStatus storeStatus)
{
Operation operation = getLineBoxStatus();
if (!string.IsNullOrEmpty(posid))
if (!string.IsNullOrEmpty(posid) && !operation.boxStatus[1].data.ContainsKey(ParamDefine.posId))
operation.boxStatus[1].data.Add(ParamDefine.posId, posid);
else if (!string.IsNullOrEmpty(posid) && operation.boxStatus[1].data.ContainsKey(ParamDefine.posId))
{
operation.boxStatus[1].data[ParamDefine.posId] = posid;
}
LogUtil.info($"SendStoreState,posid:{posid}, storeStatus:{storeStatus}");
operation.boxStatus[1].status = (int)storeStatus;
......@@ -127,26 +131,26 @@ namespace OnlineStore.DeviceLibrary
else if (runStatus.Equals(DeviceStatus.OutStoreBoxEnd) || runStatus.Equals(DeviceStatus.InStoreEnd))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.data.Add(ParamDefine.barcode,lastBarcode);
boxStatus.data.Add(ParamDefine.barcode, lastBarcode);
boxStatus.data.Add(ParamDefine.executeTime, executeTime);
}
else if (!lastPosId.Equals(""))
{
boxStatus.data.Add(ParamDefine.posId, lastPosId);
boxStatus.data.Add(ParamDefine.barcode, lastBarcode);
boxStatus.data.Add(ParamDefine.executeTime,executeTime);
boxStatus.data.Add(ParamDefine.executeTime, executeTime);
boxStatus.status = (int)deviceStatus;
if (lastPosId != "")
{
LogUtil.info("给服务器发送出入库消息：" + Name + ",status【" + deviceStatus + "】posId【" + lastPosId + "】barcode【"+lastBarcode+"】");
LogUtil.info("给服务器发送出入库消息：" + Name + ",status【" + deviceStatus + "】posId【" + lastPosId + "】barcode【" + lastBarcode + "】");
}
lastPosId = "";
lastBarcode = "";
}
if (MoveInfo.MoveType.Equals(MoveType.InStore)||MoveInfo.MoveType.Equals(MoveType.OutStore))
if (MoveInfo.MoveType.Equals(MoveType.InStore) || MoveInfo.MoveType.Equals(MoveType.OutStore))
{
if ((MoveInfo.MoveParam != null)&&( MoveInfo.MoveParam.PosInfo!=null))
if ((MoveInfo.MoveParam != null) && (MoveInfo.MoveParam.PosInfo != null))
{
if (!boxStatus.data.ContainsKey(ParamDefine.posId))
{
......@@ -186,14 +190,14 @@ namespace OnlineStore.DeviceLibrary
vals.Add("humidity", humitureParams[i].Humidity.ToString());
vals.Add("temperature", humitureParams[i].Temperate.ToString());
valuePairs.Add(vals);
}
}
boxStatus.data.Add(ParamDefine.humiAndtempList, JsonHelper.SerializeObject(valuePairs));
//LogUtil.info($"上报温湿度数据【{JsonHelper.SerializeObject(valuePairs)}】【{JsonHelper.SerializeObject(boxStatus.data)}】");
}
}
catch(Exception ex)
catch (Exception ex)
{
LogUtil.error("上报温湿度数据异常",ex);
LogUtil.error("上报温湿度数据异常", ex);
}
return lineOperation;
}
......@@ -278,7 +282,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (resultOperation.op.Equals(1))
{
LogUtil.info(logName + " 成功"+$"【{JsonHelper.SerializeObject(resultOperation)}】");
LogUtil.info(logName + " 成功" + $"【{JsonHelper.SerializeObject(resultOperation)}】");
return true;
}
else
......@@ -360,8 +364,8 @@ namespace OnlineStore.DeviceLibrary
try
{
//判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && (MoveInfo.MoveParam.PosInfo.PosId.Equals(posId)||
(MoveInfo.MoveParam.PosInfoBack !=null && MoveInfo.MoveParam.PosInfoBack.PosId.Equals(posId))))
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && (MoveInfo.MoveParam.PosInfo.PosId.Equals(posId) ||
(MoveInfo.MoveParam.PosInfoBack != null && MoveInfo.MoveParam.PosInfoBack.PosId.Equals(posId))))
{
LogUtil.error(Name + " 出库命令【" + inoutParam.PosInfo.ToStr() + "】重复，正在【" + posId + "】出库中");
continue;
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
......@@ -44,7 +44,7 @@ namespace OnlineStore.DeviceLibrary
if (AgvClient.GetAction(Config.AgvName) == ClientAction.NeedLeave || AgvClient.GetAction(Config.AgvName) == ClientAction.MayLeave)
{
//WorkLog("料串入料 ：等待AGV来取空料串1");
return false;
return false;
}
UpdateShelf(1);
if (CurrShelf.ShelfState.Equals(3))
......@@ -59,12 +59,12 @@ namespace OnlineStore.DeviceLibrary
return false;
}
else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) )
else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(MoveType.InStore,new InOutParam());
MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB03_LineStart();
}
else if(Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
else if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB04_LineWait();
......@@ -96,7 +96,7 @@ namespace OnlineStore.DeviceLibrary
WorkLog("定位工位检测到料串： 链条停止，阻挡气缸上升");
LineStop();
StopUp(MoveInfo);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
private void IB02_BatchAxisToP1()
{
......@@ -109,7 +109,7 @@ namespace OnlineStore.DeviceLibrary
{
WorkLog("料串入料 ：入口有料串，转动料串到位");
MoveInfo.NextMoveStep(StepEnum.IB03_LineStart);
LineRun(MoveInfo);
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineEnd_Check, IO_VALUE.HIGH));
}
......@@ -222,7 +222,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
{
CheckHasTray();
}else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
}
else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
{
if (Robot.AxisIsInShelfUp(ShelfType))
{
......@@ -244,7 +245,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(10))
{
WarnMsg = Name + "[" + MoveInfo.MoveStep + "] " + "等待旋转轴离开料串超时" + "[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
}
}
}
else if (MoveInfo.IsStep(StepEnum.IB11_ScanCode))
{
......@@ -275,8 +276,9 @@ namespace OnlineStore.DeviceLibrary
var span = DateTime.Now - MoveInfo.LastSetpTime;
WorkLog("料串入料 ：扫码结束【" + code + "】，等待取料机构来取料," + MoveInfo.MoveParam.PosInfo.ToStr());
}
}else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToReelPosition))
}
else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToReelPosition))
{
string code = CodeManager.ProcessCode(LastCodeList);
MoveInfo.NextMoveStep(StepEnum.IB13_ScanOK);
......@@ -397,7 +399,7 @@ namespace OnlineStore.DeviceLibrary
{
LastCodeList = CodeManager.CameraScan(Config.CameraName, Name);
}
// Robot.IOMove(IO_Type.CameraLed, IO_VALUE.LOW);
// Robot.IOMove(IO_Type.CameraLed, IO_VALUE.LOW);
//TODO 需要判断是否和上次的条码重复，重复的条码不可用
bool isCanUse = true;
......@@ -442,22 +444,22 @@ namespace OnlineStore.DeviceLibrary
{
toBatchP4 = false;
//判断扫码点是否可用，可用，运动到扫码点
int currP = BatchAxis.GetAclPosition();
int targetPosition = currP + Config.BatchAxisP4;
if (Config.BatchAxisP4 > 0 &&(targetPosition<Config.BatchAxisP2 ))
if (Config.BatchAxisP4 > 0 && (targetPosition < Config.BatchAxisP2))
{
batchAxisReelPosition = currP;
toBatchP4 = true;
MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
BatchAxis.AbsMove(MoveInfo, targetPosition, Robot.Config.BatchAxis_P4Speed);
WorkLog("料盘已到位，批量轴当前位置【"+currP+ "】，扫码上升高度P4【" + Config.BatchAxisP4+"】可用，批量轴走到扫码点【"+ targetPosition + "】");
WorkLog("料盘已到位，批量轴当前位置【" + currP + "】，扫码上升高度P4【" + Config.BatchAxisP4 + "】可用，批量轴走到扫码点【" + targetPosition + "】");
}
else
{
LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【"+ Config.BatchAxisP2 + "】,可直接扫码");
LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【" + Config.BatchAxisP2 + "】,可直接扫码");
if (Robot.AxisIsInShelfUp(ShelfType))
{
MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan);
......@@ -468,7 +470,7 @@ namespace OnlineStore.DeviceLibrary
{
IB11_ScanCode();
}
}
}
}
else
{
......@@ -493,7 +495,7 @@ namespace OnlineStore.DeviceLibrary
}
private void SendInShelfLeave(string msg = "")
{
WorkLog(" SendInShelfLeave :" + msg+",清空条码");
WorkLog(" SendInShelfLeave :" + msg + ",清空条码");
LastCodeList = new List<string>();
preCodeList = new List<string>();
bool needLeave = true;
......@@ -502,7 +504,7 @@ namespace OnlineStore.DeviceLibrary
{
needLeave = false;
}
else if (ShelfType.Equals(1) && Robot.BatchMove_B.ShelfIsOut())
else if (ShelfType.Equals(1) && Robot.BatchMove_B.ShelfIsOut())
{
needLeave = true;
}
......@@ -636,9 +638,16 @@ namespace OnlineStore.DeviceLibrary
}
else
{
doorInfo.status = doorStatusE.outStore;
MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
//{
// SendOutShelfLeave("检测到工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
//}
//else
{
doorInfo.status = doorStatusE.outStore;
MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
}
}
else if (MoveInfo.IsStep(StepEnum.IS12_AxisDown))
......@@ -684,12 +693,16 @@ namespace OnlineStore.DeviceLibrary
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_LineIn_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StepEnum.IS23_WaitAgv)) {
if (Robot.IOValue(Config.IO_AGV_RequestOut).Equals(IO_VALUE.HIGH)) {
else if (MoveInfo.IsStep(StepEnum.IS23_WaitAgv))
{
if (Robot.IOValue(Config.IO_AGV_RequestOut).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StepEnum.IS24_ShelfOut);
WorkLog("收到AGV抵达信号");
ShelfOutProcess("", CurrShelf.ShelfRfid);
}else if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.LOW)) {
}
else if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.IS24_ShelfOut);
WorkLog("料串已离开");
}
......@@ -738,9 +751,9 @@ namespace OnlineStore.DeviceLibrary
}
internal void ReelPutOk()
{
{
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.IsStep(StepEnum.IS13_WaitReel))
{
{
MoveInfo.NextMoveStep(StepEnum.IS14_ReelOK);
WorkLog($"出库{MoveInfo.SLog} 放料完成");
......@@ -748,7 +761,8 @@ namespace OnlineStore.DeviceLibrary
{
SendOutShelfLeave("工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
}else
}
else
CheckShelfIsFull();
}
else
......@@ -777,7 +791,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
SendOutShelfLeave("料串出满需离开(信号到位)");
SendOutShelfLeave("料串出满需离开(信号到位)");
}
}
else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
......@@ -851,11 +865,11 @@ namespace OnlineStore.DeviceLibrary
if (!result)
{
LogUtil.error(logName + $" 等待{ Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check } 信号");
LogUtil.error(logName + $" 等待{Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check} 信号");
}
else
{
LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 { Config.IO_LineEnd_Check} 信号");
LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 {Config.IO_LineEnd_Check} 信号");
}
result = Robot.WaitIo(Config.IO_LineEnd_Check, IO_VALUE.HIGH, 60000);
......@@ -926,7 +940,7 @@ namespace OnlineStore.DeviceLibrary
bool result = Robot.WaitIo(Config.IO_LineIn_Check, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.error(logName + $" 等待 { Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave");
LogUtil.error(logName + $" 等待 {Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave");
}
else
{
......@@ -994,7 +1008,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
if (MoveInfo.IsStep(StepEnum.IB16_SaveHight))
{
{
MoveInfo.NextMoveStep(StepEnum.IB17_WaitReelLeave);
WorkLog("当前料盘已离开,开始判断是否有下一盘，开始扫码");
LastHeight = 0;
......@@ -1004,7 +1018,7 @@ namespace OnlineStore.DeviceLibrary
{
LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayLeave暂不处理");
}
}
}
private bool isFastLoad = true;
public bool UpdateShelf(int state = 0, string xnRfid = "")
......
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