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Commit b7aece47 由 张东亮
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扫码数量和超时以配置形式

1 个父辈 35d87eae
内嵌 并排
正在显示 6 个修改的文件 包含 67 行增加 和 53 行删除
source/Common/Setting_Init.cs
...@@ -79,6 +79,7 @@ namespace OnlineStore.Common ...@@ -79,6 +79,7 @@ namespace OnlineStore.Common
public static string NeedScanCode = "NeedScanCode"; public static string NeedScanCode = "NeedScanCode";
public static string CodeCount = "CodeCount"; public static string CodeCount = "CodeCount";
public static string ScanCodeTimeout = "ScanCodeTimeout";
public static string DefaultTrayNum = "DefaultTrayNum"; public static string DefaultTrayNum = "DefaultTrayNum";
public static string MaxTrayNum = "MaxTrayNum"; public static string MaxTrayNum = "MaxTrayNum";
......
source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
...@@ -107,7 +107,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -107,7 +107,8 @@ namespace OnlineStore.DeviceLibrary
return CameraScan(nameList, deviceName, findRightCodeBreak, timeOut); return CameraScan(nameList, deviceName, findRightCodeBreak, timeOut);
} }
private static int ScanCount = 0; private static int ScanCount = 0;
private static int codeCount = ConfigAppSettings.GetIntValue(Setting_Init.CodeCount, 4); private static int codeCount = ConfigAppSettings.GetIntValue(Setting_Init.CodeCount, 3);
private static int codeTimeout = ConfigAppSettings.GetIntValue(Setting_Init.ScanCodeTimeout, 3000);
[HandleProcessCorruptedStateExceptions] [HandleProcessCorruptedStateExceptions]
static List<string> CameraScan(List<string> cameraList, string deviceName, bool findRightCodeBreak = false, int timeOut = 1500) static List<string> CameraScan(List<string> cameraList, string deviceName, bool findRightCodeBreak = false, int timeOut = 1500)
{ {
...@@ -142,6 +143,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,6 +143,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(deviceName + " 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机"); LogUtil.error(deviceName + " 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName); CloseCamera(cameraName);
LoadCamera(true);
continue; continue;
} }
...@@ -186,8 +188,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,8 +188,8 @@ namespace OnlineStore.DeviceLibrary
RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
{ {
codeTypeList = codeTypeList.ToArray(), codeTypeList = codeTypeList.ToArray(),
codeCount = 3, codeCount = codeCount,
timeout = 3000 timeout = codeTimeout
}; };
cc = RemoteDecodeHelper.DecodeRequest(ho_Image, remoteDecodeParam); cc = RemoteDecodeHelper.DecodeRequest(ho_Image, remoteDecodeParam);
if (cc != null) if (cc != null)
...@@ -272,6 +274,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,6 +274,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(deviceName + " 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString()); LogUtil.error(deviceName + " 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName); Camera._cam.Close(cameraName);
LoadCamera(true);
// GC.Collect(); // GC.Collect();
} }
catch (Exception ex) catch (Exception ex)
...@@ -342,6 +345,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -342,6 +345,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机"); LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName); CloseCamera(cameraName);
LoadCamera(true);
continue; continue;
} }
LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码"); LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码");
...@@ -368,8 +372,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -368,8 +372,8 @@ namespace OnlineStore.DeviceLibrary
RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
{ {
codeTypeList = codeTypeList.ToArray(), codeTypeList = codeTypeList.ToArray(),
codeCount = 3, codeCount = codeCount,
timeout = 3000 timeout = codeTimeout
}; };
cc = RemoteDecodeHelper.DecodeRequest(ho_Image, remoteDecodeParam); cc = RemoteDecodeHelper.DecodeRequest(ho_Image, remoteDecodeParam);
if (cc != null) if (cc != null)
...@@ -428,6 +432,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -428,6 +432,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString()); LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
Camera._cam.Close(cameraName); Camera._cam.Close(cameraName);
LoadCamera(true);
// GC.Collect(); // GC.Collect();
} }
catch (Exception ex) catch (Exception ex)
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -225,8 +225,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -225,8 +225,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveParam.PosInfoBack != null)//料叉有料，忽略当前入料口，直接入库 else if (MoveInfo.MoveParam.PosInfoBack != null)//料叉有料，忽略当前入料口，直接入库
{ {
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3); MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"入库 {MoveInfo.SLog}：入口料盘无入库信息，另一面料叉有料。先将当前移栽旋转轴到抽屉库位垂直取放料点P3，然后对另一面入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：入口料盘无入库信息，另一面料叉有料，对另一面入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MiddleAxis_To_P3(); //MiddleAxis_To_P3();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy(); MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId); MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
...@@ -237,7 +237,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -237,7 +237,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.SI_03_VerifyBufferState); MoveInfo.NextMoveStep(StepEnum.SI_03_VerifyBufferState);
BuffAreaInstoreDoor(true); BuffAreaInstoreDoor(true);
LogInfo($"入库 {MoveInfo.SLog}：入料口入库信息确认,入料防护门打开[barcode={MoveInfo.MoveParam.PosInfo.barcode}][posId={MoveInfo.MoveParam.PosInfo.PosId}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]，开始取料"); LogInfo($"入库 {MoveInfo.SLog}：入料口入库信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][posId={MoveInfo.MoveParam.PosInfo.PosId}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]，开始取料");
} }
break; break;
case StepEnum.SI_03_VerifyBufferState: case StepEnum.SI_03_VerifyBufferState:
...@@ -296,7 +296,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -296,7 +296,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3); MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
//MiddleAxis_To_P3(); //MiddleAxis_To_P3();
BuffAreaInstoreDoor(false); BuffAreaInstoreDoor(false);
LogInfo($"入库 {MoveInfo.SLog}：另一面无料,关闭入料防护门，直接入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3 LogInfo($"入库 {MoveInfo.SLog}：另一面无料，直接入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3
} }
} }
else //另一个料叉已有料，进行入库 else //另一个料叉已有料，进行入库
...@@ -304,7 +304,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,7 +304,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3); MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
//MiddleAxis_To_P3(); //MiddleAxis_To_P3();
BuffAreaInstoreDoor(false); BuffAreaInstoreDoor(false);
LogInfo($"入库 {MoveInfo.SLog}：另一个料叉已有料,关闭入料防护门，进行入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3 LogInfo($"入库 {MoveInfo.SLog}：另一个料叉已有料，进行入库[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");//移栽旋转轴到料屉库位垂直取放料点P3
} }
break; break;
...@@ -421,7 +421,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -421,7 +421,7 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SI_18_PutTrayDown: case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack); MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,移栽X轴去待机点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide()) if (CheckASide())
{ {
if (!GetShieldState(sheidAColmns[GetPosColumn()])) if (!GetShieldState(sheidAColmns[GetPosColumn()]))
...@@ -432,6 +432,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -432,6 +432,7 @@ namespace OnlineStore.DeviceLibrary
if (!GetShieldState(sheidBColmns[GetPosColumn()])) if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
} }
BothXAxis_To_P1();
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
break; break;
case StepEnum.SI_19_InoutBack: case StepEnum.SI_19_InoutBack:
...@@ -440,12 +441,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -440,12 +441,12 @@ namespace OnlineStore.DeviceLibrary
if (InDoorSigCheck()|| InputInstoreCheck()) if (InDoorSigCheck()|| InputInstoreCheck())
{ {
MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby); MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点,料斗升降轴去待机点,移栽升降轴到上暂存区入库取料低点P3,移栽X轴去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点,料斗升降轴去待机点,移栽升降轴到上暂存区入库取料低点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1(); MoveAxisToP1();
PullAxis_UpdownToP1(); PullAxis_UpdownToP1();
UpdownAxisTo_P3_P9(); UpdownAxisTo_P3_P9();
//XAxis_To_P1(); //XAxis_To_P1();
BothXAxis_To_P1(); //BothXAxis_To_P1();
} }
else else
{ {
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
...@@ -48,16 +48,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -48,16 +48,16 @@ namespace OnlineStore.DeviceLibrary
UpdateShelf(1); UpdateShelf(1);
if (CurrShelf.ShelfState.Equals(3)) if (CurrShelf.ShelfState.Equals(3))
{ {
// bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High); // bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High);
LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid); LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid);
return false; return false;
} }
else if (Robot.IOValue(Config.IO_Shelf_FrontCheck).Equals(IO_VALUE.HIGH) ) else if (Robot.IOValue(Config.IO_Shelf_FrontCheck).Equals(IO_VALUE.HIGH))
{ {
MoveInfo.NewMove(MoveType.InStore,new InOutParam()); MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB03_LineStart(); IB03_LineStart();
} }
else if(Robot.IOValue(Config.IO_Shelf_InPlaceCheck).Equals(IO_VALUE.HIGH)) else if (Robot.IOValue(Config.IO_Shelf_InPlaceCheck).Equals(IO_VALUE.HIGH))
{ {
MoveInfo.NewMove(MoveType.InStore, new InOutParam()); MoveInfo.NewMove(MoveType.InStore, new InOutParam());
IB04_LineWait(); IB04_LineWait();
...@@ -89,7 +89,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -89,7 +89,7 @@ namespace OnlineStore.DeviceLibrary
WorkLog("定位工位检测到料串： 链条停止，阻挡气缸上升"); WorkLog("定位工位检测到料串： 链条停止，阻挡气缸上升");
LineStop(); LineStop();
StopUp(MoveInfo); StopUp(MoveInfo);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
} }
private void IB02_BatchAxisToP1() private void IB02_BatchAxisToP1()
{ {
...@@ -102,7 +102,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -102,7 +102,7 @@ namespace OnlineStore.DeviceLibrary
{ {
WorkLog("料串入料 ：入口有料串，转动料串到位"); WorkLog("料串入料 ：入口有料串，转动料串到位");
MoveInfo.NextMoveStep(StepEnum.IB03_LineStart); MoveInfo.NextMoveStep(StepEnum.IB03_LineStart);
LineRun(MoveInfo); LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_InPlaceCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_InPlaceCheck, IO_VALUE.HIGH));
} }
...@@ -215,7 +215,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -215,7 +215,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove)) else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
{ {
CheckHasTray(); CheckHasTray();
}else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4)) }
else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
{ {
if (Robot.AxisIsInShelfUp(ShelfType)) if (Robot.AxisIsInShelfUp(ShelfType))
{ {
...@@ -237,7 +238,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -237,7 +238,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsTimeOut(10)) else if (MoveInfo.IsTimeOut(10))
{ {
WarnMsg = Name + "[" + MoveInfo.MoveStep + "] " + "等待旋转轴离开料串超时" + "[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]"; 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)) else if (MoveInfo.IsStep(StepEnum.IB11_ScanCode))
{ {
...@@ -268,8 +269,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -268,8 +269,9 @@ namespace OnlineStore.DeviceLibrary
var span = DateTime.Now - MoveInfo.LastSetpTime; 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()); 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); string code = CodeManager.ProcessCode(LastCodeList);
MoveInfo.NextMoveStep(StepEnum.IB13_ScanOK); MoveInfo.NextMoveStep(StepEnum.IB13_ScanOK);
...@@ -289,6 +291,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -289,6 +291,12 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LastHeight = GetHeight(); LastHeight = GetHeight();
} }
else 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;
}
else if (MoveInfo.IsStep(StepEnum.IB17_WaitReelLeave)) else if (MoveInfo.IsStep(StepEnum.IB17_WaitReelLeave))
{ {
CheckHasTray(); CheckHasTray();
...@@ -313,7 +321,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -313,7 +321,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
EmptyShelf = true; EmptyShelf = true;
//bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High); //bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High);
// WorkLog("上料完成 ：通知agv来取料串，等待料串离开Config.AgvName:" + Config.AgvName + ",CurrShelfId:" + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString()); // WorkLog("上料完成 ：通知agv来取料串，等待料串离开Config.AgvName:" + Config.AgvName + ",CurrShelfId:" + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW));
} }
...@@ -413,22 +421,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -413,22 +421,22 @@ namespace OnlineStore.DeviceLibrary
{ {
toBatchP4 = false; toBatchP4 = false;
//判断扫码点是否可用，可用，运动到扫码点 //判断扫码点是否可用，可用，运动到扫码点
int currP = BatchAxis.GetAclPosition(); int currP = BatchAxis.GetAclPosition();
int targetPosition = currP + Config.BatchAxisP4; int targetPosition = currP + Config.BatchAxisP4;
if (Config.BatchAxisP4 > 0 &&(targetPosition<Config.BatchAxisP2 )) if (Config.BatchAxisP4 > 0 && (targetPosition < Config.BatchAxisP2))
{ {
batchAxisReelPosition = currP; batchAxisReelPosition = currP;
toBatchP4 = true; toBatchP4 = true;
MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4); MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
BatchAxis.AbsMove(MoveInfo, targetPosition, Robot.Config.BatchAxis_P4Speed); 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 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)) if (Robot.AxisIsInShelfUp(ShelfType))
{ {
MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan); MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan);
...@@ -439,7 +447,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -439,7 +447,7 @@ namespace OnlineStore.DeviceLibrary
{ {
IB11_ScanCode(); IB11_ScanCode();
} }
} }
} }
else else
{ {
...@@ -464,7 +472,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -464,7 +472,7 @@ namespace OnlineStore.DeviceLibrary
} }
private void SendInShelfLeave(string msg = "") private void SendInShelfLeave(string msg = "")
{ {
WorkLog(" SendInShelfLeave :" + msg+",清空条码"); WorkLog(" SendInShelfLeave :" + msg + ",清空条码");
LastCodeList = new List<string>(); LastCodeList = new List<string>();
preCodeList = new List<string>(); preCodeList = new List<string>();
bool needLeave = true; bool needLeave = true;
...@@ -638,8 +646,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -638,8 +646,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.TimeOutSeconds = 40; MoveInfo.TimeOutSeconds = 40;
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
// bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High); // bool agvcallresult = AgvClient.NeedLeave(Config.AgvName, CurrShelf.ShelfRfid, ClientLevel.High);
// WorkLog("送出出库料串 ：通知agv来取料串，等待料串离开Config.AgvName:" + Config.AgvName + ",CurrShelfId:" + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString()); // WorkLog("送出出库料串 ：通知agv来取料串，等待料串离开Config.AgvName:" + Config.AgvName + ",CurrShelfId:" + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Config.IO_Shelf_FrontCheck, IO_VALUE.LOW));
} }
...@@ -687,9 +695,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -687,9 +695,9 @@ namespace OnlineStore.DeviceLibrary
} }
internal void ReelPutOk() internal void ReelPutOk()
{ {
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.IsStep(StepEnum.IS13_WaitReel)) if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.IsStep(StepEnum.IS13_WaitReel))
{ {
MoveInfo.NextMoveStep(StepEnum.IS14_ReelOK); MoveInfo.NextMoveStep(StepEnum.IS14_ReelOK);
WorkLog($"出库{MoveInfo.SLog} 放料完成"); WorkLog($"出库{MoveInfo.SLog} 放料完成");
CheckShelfIsFull(); CheckShelfIsFull();
...@@ -701,7 +709,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -701,7 +709,7 @@ namespace OnlineStore.DeviceLibrary
} }
private void CheckShelfIsFull() private void CheckShelfIsFull()
{ {
int currPositon = BatchAxis.GetAclPosition(); int currPositon = BatchAxis.GetAclPosition();
int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 20); int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 20);
if (nextP <= Config.BatchAxisP1) if (nextP <= Config.BatchAxisP1)
...@@ -718,7 +726,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -718,7 +726,7 @@ namespace OnlineStore.DeviceLibrary
} }
else 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)) else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
...@@ -787,7 +795,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -787,7 +795,7 @@ namespace OnlineStore.DeviceLibrary
// LineRun(); // LineRun();
// //等待进料检测信号 // //等待进料检测信号
// bool result = Robot.WaitIo(Config.IO_Shelf_FrontCheck, IO_VALUE.HIGH, 60000); // bool result = Robot.WaitIo(Config.IO_Shelf_FrontCheck, IO_VALUE.HIGH, 60000);
// //
// if (!result) // if (!result)
// { // {
...@@ -932,7 +940,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -932,7 +940,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveType.Equals(MoveType.InStore)) if (MoveInfo.MoveType.Equals(MoveType.InStore))
{ {
if (MoveInfo.IsStep(StepEnum.IB16_SaveHight)) if (MoveInfo.IsStep(StepEnum.IB16_SaveHight))
{ {
MoveInfo.NextMoveStep(StepEnum.IB17_WaitReelLeave); 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"); WorkLog("当前料盘已离开,开始判断是否有下一盘，开始扫码");
LastHeight = 0; LastHeight = 0;
...@@ -942,7 +950,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -942,7 +950,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayLeave暂不处理"); LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayLeave暂不处理");
} }
} }
private bool isFastLoad = true; private bool isFastLoad = true;
public bool UpdateShelf(int state = 0, string xnRfid = "") public bool UpdateShelf(int state = 0, string xnRfid = "")
...@@ -962,7 +970,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -962,7 +970,7 @@ namespace OnlineStore.DeviceLibrary
{ {
CurrShelf = new ShelfInfo(); CurrShelf = new ShelfInfo();
EmptyShelf = false; EmptyShelf = false;
// AgvClient.SetStatus(Config.AgvName); // AgvClient.SetStatus(Config.AgvName);
} }
else else
{ {
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_OutStore.cs
...@@ -284,9 +284,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -284,9 +284,9 @@ namespace OnlineStore.DeviceLibrary
{ {
// int shelf = MoveInfo.MoveParam.ShelfType; // int shelf = MoveInfo.MoveParam.ShelfType;
// if (shelf.Equals(1)) // if (shelf.Equals(1))
{ //{
BatchMove.GetTrayStartLeave(); // BatchMove.GetTrayStartLeave();
} //}
} }
string getSideName(int shelf) string getSideName(int shelf)
{ {
......
source/DeviceLibrary/storeBean/inputBean/PrintLabelBean.cs
...@@ -239,11 +239,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,11 +239,11 @@ namespace OnlineStore.DeviceLibrary
if (!CheckLabel()) if (!CheckLabel())
{ {
MoveInfo.NextMoveStep(StepEnum.Label03_HasLabelAtDoor); MoveInfo.NextMoveStep(StepEnum.Label03_HasLabelAtDoor);
MoveLog($"打标:剥纸器上无标签"); MoveLog($"打标:出口无标签");
} }
else else
{ {
SetWarnMsg($"剥纸器上有标签,无法打印"); SetWarnMsg($"出口有标签,无法打印");
Thread.Sleep(2000); Thread.Sleep(2000);
} }
} }
...@@ -266,11 +266,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -266,11 +266,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.Label05_WaitPrintOK); MoveInfo.NextMoveStep(StepEnum.Label05_WaitPrintOK);
MoveLog($"打标:5秒超时，认为出标完成"); MoveLog($"打标:5秒超时，认为出标完成");
} }
//else if (MoveInfo.IsTimeOut(15))
//{
// MoveInfo.NextMoveStep(StepEnum.Label03_HasLabelAtDoor);
// MoveLog($"打标:出标超时15秒，重新发送打印任务");
//}
Thread.Sleep(1000); Thread.Sleep(1000);
} }
else if (MoveInfo.IsStep(StepEnum.Label05_WaitPrintOK)) else if (MoveInfo.IsStep(StepEnum.Label05_WaitPrintOK))
...@@ -289,9 +284,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -289,9 +284,10 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.Label01_ConnectPrinter); SetWarnMsg("标签未在平台上，请处理");
MoveLog($"打标:未检测到标签在平台上，标签平台后退，准备重新打印"); //MoveInfo.NextMoveStep(StepEnum.Label01_ConnectPrinter);
Label_CylinderBack(MoveInfo); //MoveLog($"打标:未检测到标签在平台上，标签平台后退，准备重新打印");
//Label_CylinderBack(MoveInfo);
} }
} }
else if (MoveInfo.IsStep(StepEnum.Label07_CheckLabelInPos)) else if (MoveInfo.IsStep(StepEnum.Label07_CheckLabelInPos))
...@@ -379,6 +375,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -379,6 +375,9 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns> /// <returns></returns>
bool checkLabelInPos() bool checkLabelInPos()
{ {
bool useLabelCheck = ConfigAppSettings.GetBoolValue(Setting_Init.UseLabelCheck, false);
if (useLabelCheck)
return IOValue(IO_Type.Printer_LabelCheck).Equals(IO_VALUE.HIGH);
return true; return true;
} }
public void SetWarnMsg(string msg = "") public void SetWarnMsg(string msg = "")
......
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