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1 个父辈 1ad17547
内嵌 并排
正在显示 17 个修改的文件 包含 500 行增加 和 159 行删除
AutoScanAndLabel/AboutBox1.Designer.cs
......@@ -50,8 +50,7 @@ namespace AutoScanAndLabel
this.tableLayoutPanel.Controls.Add(this.textBoxDescription, 1, 4);
this.tableLayoutPanel.Controls.Add(this.okButton, 1, 5);
this.tableLayoutPanel.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel.Location = new System.Drawing.Point(14, 12);
this.tableLayoutPanel.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.tableLayoutPanel.Location = new System.Drawing.Point(9, 8);
this.tableLayoutPanel.Name = "tableLayoutPanel";
this.tableLayoutPanel.RowCount = 6;
this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 10F));
......@@ -60,17 +59,17 @@ namespace AutoScanAndLabel
this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 10F));
this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 10F));
this.tableLayoutPanel.Size = new System.Drawing.Size(624, 367);
this.tableLayoutPanel.Size = new System.Drawing.Size(417, 245);
this.tableLayoutPanel.TabIndex = 0;
//
// labelProductName
//
this.labelProductName.Dock = System.Windows.Forms.DockStyle.Fill;
this.labelProductName.Location = new System.Drawing.Point(90, 0);
this.labelProductName.Margin = new System.Windows.Forms.Padding(9, 0, 4, 0);
this.labelProductName.MaximumSize = new System.Drawing.Size(0, 24);
this.labelProductName.Location = new System.Drawing.Point(60, 0);
this.labelProductName.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0);
this.labelProductName.MaximumSize = new System.Drawing.Size(0, 16);
this.labelProductName.Name = "labelProductName";
this.labelProductName.Size = new System.Drawing.Size(530, 24);
this.labelProductName.Size = new System.Drawing.Size(354, 16);
this.labelProductName.TabIndex = 19;
this.labelProductName.Text = "产品名称";
this.labelProductName.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
......@@ -78,11 +77,11 @@ namespace AutoScanAndLabel
// labelVersion
//
this.labelVersion.Dock = System.Windows.Forms.DockStyle.Fill;
this.labelVersion.Location = new System.Drawing.Point(90, 36);
this.labelVersion.Margin = new System.Windows.Forms.Padding(9, 0, 4, 0);
this.labelVersion.MaximumSize = new System.Drawing.Size(0, 24);
this.labelVersion.Location = new System.Drawing.Point(60, 24);
this.labelVersion.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0);
this.labelVersion.MaximumSize = new System.Drawing.Size(0, 16);
this.labelVersion.Name = "labelVersion";
this.labelVersion.Size = new System.Drawing.Size(530, 24);
this.labelVersion.Size = new System.Drawing.Size(354, 16);
this.labelVersion.TabIndex = 0;
this.labelVersion.Tag = "not";
this.labelVersion.Text = "版本";
......@@ -92,11 +91,11 @@ namespace AutoScanAndLabel
// labelCopyright
//
this.labelCopyright.Dock = System.Windows.Forms.DockStyle.Fill;
this.labelCopyright.Location = new System.Drawing.Point(90, 72);
this.labelCopyright.Margin = new System.Windows.Forms.Padding(9, 0, 4, 0);
this.labelCopyright.MaximumSize = new System.Drawing.Size(0, 24);
this.labelCopyright.Location = new System.Drawing.Point(60, 48);
this.labelCopyright.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0);
this.labelCopyright.MaximumSize = new System.Drawing.Size(0, 16);
this.labelCopyright.Name = "labelCopyright";
this.labelCopyright.Size = new System.Drawing.Size(530, 24);
this.labelCopyright.Size = new System.Drawing.Size(354, 16);
this.labelCopyright.TabIndex = 21;
this.labelCopyright.Text = "版权";
this.labelCopyright.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
......@@ -104,11 +103,11 @@ namespace AutoScanAndLabel
// labelCompanyName
//
this.labelCompanyName.Dock = System.Windows.Forms.DockStyle.Fill;
this.labelCompanyName.Location = new System.Drawing.Point(90, 108);
this.labelCompanyName.Margin = new System.Windows.Forms.Padding(9, 0, 4, 0);
this.labelCompanyName.MaximumSize = new System.Drawing.Size(0, 24);
this.labelCompanyName.Location = new System.Drawing.Point(60, 72);
this.labelCompanyName.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0);
this.labelCompanyName.MaximumSize = new System.Drawing.Size(0, 16);
this.labelCompanyName.Name = "labelCompanyName";
this.labelCompanyName.Size = new System.Drawing.Size(530, 24);
this.labelCompanyName.Size = new System.Drawing.Size(354, 16);
this.labelCompanyName.TabIndex = 22;
this.labelCompanyName.Text = "公司名称";
this.labelCompanyName.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
......@@ -116,13 +115,13 @@ namespace AutoScanAndLabel
// textBoxDescription
//
this.textBoxDescription.Dock = System.Windows.Forms.DockStyle.Fill;
this.textBoxDescription.Location = new System.Drawing.Point(90, 149);
this.textBoxDescription.Margin = new System.Windows.Forms.Padding(9, 5, 4, 5);
this.textBoxDescription.Location = new System.Drawing.Point(60, 99);
this.textBoxDescription.Margin = new System.Windows.Forms.Padding(6, 3, 3, 3);
this.textBoxDescription.Multiline = true;
this.textBoxDescription.Name = "textBoxDescription";
this.textBoxDescription.ReadOnly = true;
this.textBoxDescription.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.textBoxDescription.Size = new System.Drawing.Size(530, 173);
this.textBoxDescription.Size = new System.Drawing.Size(354, 116);
this.textBoxDescription.TabIndex = 23;
this.textBoxDescription.TabStop = false;
this.textBoxDescription.Text = "说明";
......@@ -131,10 +130,9 @@ namespace AutoScanAndLabel
//
this.okButton.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
this.okButton.DialogResult = System.Windows.Forms.DialogResult.Cancel;
this.okButton.Location = new System.Drawing.Point(508, 332);
this.okButton.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.okButton.Location = new System.Drawing.Point(339, 222);
this.okButton.Name = "okButton";
this.okButton.Size = new System.Drawing.Size(112, 30);
this.okButton.Size = new System.Drawing.Size(75, 20);
this.okButton.TabIndex = 24;
this.okButton.Text = "确定(&O)";
this.okButton.Click += new System.EventHandler(this.okButton_Click);
......@@ -142,16 +140,15 @@ namespace AutoScanAndLabel
// AboutBox1
//
this.AcceptButton = this.okButton;
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(652, 391);
this.ClientSize = new System.Drawing.Size(435, 261);
this.Controls.Add(this.tableLayoutPanel);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog;
this.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "AboutBox1";
this.Padding = new System.Windows.Forms.Padding(14, 12, 14, 12);
this.Padding = new System.Windows.Forms.Padding(9, 8, 9, 8);
this.ShowIcon = false;
this.ShowInTaskbar = false;
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
......
AutoScanAndLabel/Form1.cs
......@@ -18,6 +18,7 @@ using static RemoteDecodeHelper_mod;
using Newtonsoft.Json;
using System.Drawing.Imaging;
using PrintLabel;
using OnlineStore.Common.util;
namespace AutoScanAndLabel
{
......@@ -403,6 +404,7 @@ namespace AutoScanAndLabel
else if (!userpause)
{
userpause = true;
btn_stop.Enabled = true;
RobotManage.UserPause(userpause);
LogUtil.info("用户按下暂停1");
}
......@@ -410,6 +412,7 @@ namespace AutoScanAndLabel
{
userpause = false;
RobotManage.UserPause(userpause);
btn_stop.Enabled = true;
LogUtil.info("用户取消暂停2");
}
......@@ -820,11 +823,15 @@ namespace AutoScanAndLabel
tabControl1.TabPages[tc - i].Parent = null;
}
}
int LeftCount = 0;
private void btnUploadTest_Click(object sender, EventArgs e)
{
FrmUploadTest frmUploadTest = new FrmUploadTest();
frmUploadTest.ShowDialog();
//FrmUploadTest frmUploadTest = new FrmUploadTest();
//frmUploadTest.ShowDialog();
//UnifiedDataHandler.RecordPrintNg(false, false, out string[] strarrys);
//int Xoffset = RobotManage.Config.Label_XOffset;
//int Yoffset = RobotManage.Config.Label_YOffset;
ConfigHelper.Config.Set<int>("LeftCount", LeftCount++);
}
}
}
\ No newline at end of file
Common/util/UnifiedDataHandler.cs
......@@ -4,6 +4,7 @@ using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Net.Http;
using System.Threading.Tasks;
using System.Windows.Forms;
......@@ -36,15 +37,17 @@ namespace OnlineStore.Common.util
{
string json = File.ReadAllText(txtpath);
if (!string.IsNullOrWhiteSpace(json))
if (!string.IsNullOrWhiteSpace(json)&& !json.All(c=>c=='\0'))
{
string[] strings = JsonConvert.DeserializeObject<string[]>(json);
if (strings[0] == DateTime.Today.ToString("dd-MM-yyyy"))
if (strings.Length > 0)
{
strs[0] = strings[0];
strs[1] = strings[1];
strs[2] = strings[2];
if (strings[0] == DateTime.Today.ToString("dd-MM-yyyy"))
{
strs[0] = strings[0];
strs[1] = strings[1];
strs[2] = strings[2];
}
}
}
}
......
DeviceLibrary/AGVManager.cs
......@@ -173,6 +173,8 @@ namespace DeviceLibrary
else
{
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
LogUtil.info("AGVManager:下料请求，等待agv到位后执行,启动料串离开");
}
}
else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
......@@ -349,23 +351,29 @@ namespace DeviceLibrary
}
static void sendAgvLog(string msg)
{
Task.Factory.StartNew(() =>
if (ServerCommunication.EnableHttpServer)
{
Task.Factory.StartNew(() =>
{
while (!RobotManage.mainMachine.ServerCM.SendAgvLog(msg))
{
Thread.Sleep(500);
}
});
}
}
static void sendOpMimoCmd(string opMsg, Dictionary<string, string> op)
{
Task.Factory.StartNew(() =>
if (ServerCommunication.EnableHttpServer)
{
while (!RobotManage.mainMachine.ServerCM.OpMIMO(opMsg, op))
Task.Factory.StartNew(() =>
{
Thread.Sleep(500);
}
});
while (!RobotManage.mainMachine.ServerCM.OpMIMO(opMsg, op))
{
Thread.Sleep(500);
}
});
}
}
/// <summary>
/// 创建AGV运输任务
......
DeviceLibrary/AutoScanAndLabel/MainMachine _BtnProcess.cs
......@@ -15,22 +15,24 @@ namespace DeviceLibrary
{
void BtnProcess()
{
string isskiptest = ConfigHelper.Config.Get("Hardwareversion","V2");
if (isskiptest=="V2")
string isskiptest = ConfigHelper.Config.Get("Hardwareversion", "V2");
string newagvdispose = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
if (isskiptest == "V2")
{
//硬件v2版本，已经去除料车检测X11的io
if ((RightMoveInfo.IsStep(MoveStep.Wait)|| RightMoveInfo.IsStep(MoveStep.REND))
if ((RightMoveInfo.IsStep(MoveStep.Wait) || RightMoveInfo.IsStep(MoveStep.REND))
&& IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH))
{
//有料，出料，无料，进料
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NewMove(MoveStep.R30_OutShelf);
LogUtil.info("BtnProcess:进料串感应到有料，进料口确认");
}
else
{
RightMoveInfo.NewMove(MoveStep.R40_InShelf);
}
}
}
if ((LeftMoveInfo.IsStep(MoveStep.Wait) || LeftMoveInfo.IsStep(MoveStep.LEND) || LeftMoveInfo.IsStep(MoveStep.L10_WaitReelPut))
......@@ -43,7 +45,39 @@ namespace DeviceLibrary
else
{
LeftMoveInfo.NewMove(MoveStep.L60_InShelf);
}
}
}
}
else if (newagvdispose == "V2")
{
if ((RightMoveInfo.IsStep(MoveStep.Wait) || RightMoveInfo.IsStep(MoveStep.REND))
&& IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.HIGH))
{
//有料，出料，无料，进料
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NewMove(MoveStep.R30_OutShelf);
LogUtil.info("BtnProcess:进料串感应到有料，进料口确认");
}
else
{
RightMoveInfo.NewMove(MoveStep.R40_InShelf);
}
}
if ((LeftMoveInfo.IsStep(MoveStep.Wait) || LeftMoveInfo.IsStep(MoveStep.LEND) || LeftMoveInfo.IsStep(MoveStep.L10_WaitReelPut))
&& IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.LeftCar_Check).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);
}
else
{
LeftMoveInfo.NewMove(MoveStep.L60_InShelf);
}
}
}
else
......@@ -55,6 +89,7 @@ namespace DeviceLibrary
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NewMove(MoveStep.R30_OutShelf);
LogUtil.info("BtnProcess:进料串感应到有料，进料口确认，检测到小车");
}
//右侧按钮按下,无料,阻挡下降
else if (RightMoveInfo.IsStep(MoveStep.Wait)
......@@ -78,7 +113,7 @@ namespace DeviceLibrary
{
CylinderMove(null, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
}
}
}
}
}
}
DeviceLibrary/AutoScanAndLabel/MainMachine _IOMonitor.cs
......@@ -10,36 +10,79 @@ namespace DeviceLibrary
{
//agv感应io处理逻辑
string isskiptest = ConfigHelper.Config.Get("Hardwareversion", "V2");
//新的AGV信号处理逻辑
string newagvdispose = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
if (isskiptest == "V2")
{
if ((RightMoveInfo.IsStep(MoveStep.Wait) || RightMoveInfo.IsStep(MoveStep.REND)))
{
// && IOValue(IO_Type.FeedAGV_Feed).Equals(IO_VALUE.LOW) && IOValue(IO_Type.FeedAGV_Feed).Equals(IO_VALUE.LOW)
//无料且无agv送料请求转到进料步骤
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.FeedAGV_Feed).Equals(IO_VALUE.LOW))
{
//Msg.add("入料口有料串，请将料串先取出！", MsgLevel.warning);
RightMoveInfo.NewMove(MoveStep.R40_InShelf);
}
//有料无AGV进料请求转到出料步骤
else if(IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.FeedAGV_Receiving).Equals(IO_VALUE.LOW))
{
RightMoveInfo.NewMove(MoveStep.R30_OutShelf);
LogUtil.info("IOMonitor:进料串感应到有料");
}
}
if ((LeftMoveInfo.IsStep(MoveStep.Wait) || LeftMoveInfo.IsStep(MoveStep.LEND)))
{
//&& && IOValue(IO_Type.DischargeAGV_Receiving).Equals(IO_VALUE.LOW)
//无料且无agv收料请求转到进料步骤
if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW)&& IOValue(IO_Type.DischargeAGV_Feeding).Equals(IO_VALUE.LOW))
{
LeftMoveInfo.NewMove(MoveStep.L60_InShelf);
}
else if(IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.DischargeAGV_Receiving).Equals(IO_VALUE.LOW))
//有料无AGV收料请求转到出料步骤
else if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.DischargeAGV_Receiving).Equals(IO_VALUE.LOW))
{
LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);
}
}
}
if (newagvdispose == "V2")
{
if ((RightMoveInfo.IsStep(MoveStep.Wait) || RightMoveInfo.IsStep(MoveStep.REND)))
{
//按下确认按钮有料串出没有进
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.HIGH)
&& (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.DischargeAGV_Feeding).Equals(IO_VALUE.HIGH)))
{
RightMoveInfo.NewMove(MoveStep.R40_InShelf);
}
else if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.HIGH)
&& (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FeedAGV_Receiving).Equals(IO_VALUE.HIGH)))
{
RightMoveInfo.NewMove(MoveStep.R30_OutShelf);
}
}
if ((LeftMoveInfo.IsStep(MoveStep.Wait) || LeftMoveInfo.IsStep(MoveStep.LEND)))
{
if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.LeftCar_Check).Equals(IO_VALUE.HIGH)
&& (IOValue(IO_Type.DischargeAGV_Feeding).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH)))
{
LeftMoveInfo.NewMove(MoveStep.L60_InShelf);
}
else if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.LeftCar_Check).Equals(IO_VALUE.HIGH)
&& (IOValue(IO_Type.DischargeAGV_Receiving).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH)))
{
LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);
}
}
}
//等待步骤且进料前端有料后端无料进入进料步骤
if (RightMoveInfo.IsStep(MoveStep.Wait)
&& IOValue(IO_Type.RightFornt_Check).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
......@@ -47,6 +90,7 @@ namespace DeviceLibrary
RightMoveInfo.NewMove(MoveStep.R40_InShelf);
LogUtil.info("IOMonitor:右侧检测到入料信号");
}
//等待步骤且料串到位且并非料盘取完的步骤转到上料步骤
if (RightMoveInfo.IsStep(MoveStep.Wait)
&& IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH)
&& !RightShelfNoTray)
......@@ -55,7 +99,7 @@ namespace DeviceLibrary
LogUtil.info("IOMonitor:右侧有新料,准备上料");
}
//等待步骤且前端有料后端无料进入进料步骤
if (LeftMoveInfo.IsStep(MoveStep.Wait)
&& IOValue(IO_Type.LeftFornt_Check).Equals(IO_VALUE.HIGH)
&& IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LabelProcess.cs
......@@ -19,11 +19,14 @@ namespace DeviceLibrary
{
Point Label_p3;
LabelParam CurrentPrintInfo=null;
LabelParam CurrentPrintInfo = null;
double size_7_radiusratio = ConfigHelper.Config.Get<double>("Labeling_size_7_radiusratio", 0.7);
enum LabelFailReason {
PrintFailure,
SuckerFailure
enum LabelFailReason
{
PrintFailure,
SuckerFailure
}
LabelFailReason labelFailReason = LabelFailReason.PrintFailure;
void LabelProcess()
......@@ -33,11 +36,13 @@ namespace DeviceLibrary
switch (LabelMoveInfo.MoveStep)
{
//取标签流程，等待打印标签
case MoveStep.Lbl01:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X到待机点,Label_Y到贴标前点");
//Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P1, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X到待机点,Label_Z到待机点");
break;
case MoveStep.Lbl02:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_1);
......@@ -48,21 +53,35 @@ namespace DeviceLibrary
case MoveStep.Lbl02_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_2);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
LabelMoveInfo.log("Label_X转到取标点,等待标签打印完毕");
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X转到取标点,Label_Z转到取标点,等待标签打印完毕");
break;
case MoveStep.Lbl02_2:
//补一个空白流程, 防止提前检测到Lbl_WaitPrintInfo步骤
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrintInfo);
LabelMoveInfo.log("等待标签打印完毕");
break;
//在中间步骤跳出，中间步骤进入到旋转轴到p3
case MoveStep.Lbl_WaitPrintInfo:
LabelMoveInfo.log("等待打印标签信息");
break;
//中间步骤旋转轴到p3接收打印信息后，开始打印
case MoveStep.Lbl_PrintLabel:
if (CurrentPrintInfo == null) {
if (CurrentPrintInfo == null)
{
LabelMoveInfo.log("等待接收打印标签信息");
return;
}
string newversion2 = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
if (newversion2 == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
{
LabelMoveInfo.log("标签没取走不打印标签");
return;
}
}
var kv = CurrentPrintInfo.Keyword.Select(k => $"{k.Key}={k.Value}").ToArray();
LabelMoveInfo.log("调用 PrintLabel 打印标签 StartPrintLabel ,[" + string.Join(", ", kv) + "] 开始");
......@@ -75,20 +94,28 @@ namespace DeviceLibrary
//数据保存到共享文件夹
DataUploadUtil.LabelUpload(CurrentPrintInfo.Keyword);
}
else {
else
{
LabelMoveInfo.log("PrintLabel 失败 " + msg);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintFail);
labelFailReason = LabelFailReason.PrintFailure;
}
break;
//等待打印完成，v2靠传感器检测，其他的靠方法返回
case MoveStep.Lbl_WaitPrint:
string version = ConfigHelper.Config.Get("Hardwareversion", "V2");
string newversion = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
bool detectLabel = false;
if (version == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
detectLabel = true;
}
else if (newversion == "V2")
{
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
detectLabel = true;
}
else
{
var isPrinted = RobotManage.printerHelper.IsLabelOnPeeler();
......@@ -100,7 +127,7 @@ namespace DeviceLibrary
if (detectLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
LabelMoveInfo.errlog("标签打印完成");
LabelMoveInfo.errlog("标签打印完成");
}
else if (LabelMoveInfo.IsTimeOut(15))
{
......@@ -114,9 +141,10 @@ namespace DeviceLibrary
LabelMoveInfo.log("等待标签打印");
}
break;
//打印失败
case MoveStep.Lbl_PrintFail:
if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0129.0e13d0de","标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.alarm);
Msg.add(crc.GetString("Res0129.0e13d0de", "标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.alarm);
else if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0130.c3836615", "标签吸取失败,请检查,关门后将自动重试"), MsgLevel.alarm);
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.LOW) || IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW))
......@@ -127,7 +155,7 @@ namespace DeviceLibrary
break;
case MoveStep.Lbl_PrintFail_02:
if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0129.0e13d0de","标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.warning);
Msg.add(crc.GetString("Res0129.0e13d0de", "标签打印失败,请检查打印机状态,关门后将自动重试"), MsgLevel.warning);
else if (labelFailReason == LabelFailReason.SuckerFailure)
Msg.add(crc.GetString("Res0130.c3836615", "标签吸取失败,请检查,关门后将自动重试"), MsgLevel.warning);
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW))
......@@ -136,6 +164,7 @@ namespace DeviceLibrary
LabelMoveInfo.log("维护门已关闭");
}
break;
//打印成功，在轴到p3点取标签，到p2点
case MoveStep.Lbl_Printted:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl03);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.HIGH);
......@@ -153,13 +182,19 @@ namespace DeviceLibrary
//CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);
LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
//靠传感器或方法判断取标签
case MoveStep.Lbl05:
string versions = ConfigHelper.Config.Get("Hardwareversion", "V2");
string newversions = ConfigHelper.Config.Get("HardwareversionofAGV", "V2");
bool IsLabelLeave;
if (versions == "V2")
{
IsLabelLeave = IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW);
}
else if (newversions == "V2")
{
IsLabelLeave = IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW);
}
else
{
var ip = RobotManage.printerHelper.IsLabelOnPeeler();
......@@ -181,7 +216,7 @@ namespace DeviceLibrary
Msg.add(crc.GetString("Res0122.62c858d3", "标签取起失败!"), MsgLevel.alarm);
}
break;
//计算贴标位置，贴标完成回去
case MoveStep.Lbl10:
if (!Label_Y_Axis.IsSafe(Config.Label_Y_P3, out msg))
{
......@@ -224,7 +259,7 @@ namespace DeviceLibrary
//else
//{ }
LabelMoveInfo.MoveParam.NewXYAngle.TryGetValue("IsCodeUsed", out int idnex);
if (idnex==-1)
if (idnex == -1)
{
idnex = 0;
}
......@@ -242,13 +277,14 @@ namespace DeviceLibrary
if (newpoint.TryGetValue("PointX", out var pointX) && newpoint.TryGetValue("PointY", out var pointY))
{
p = new Point(pointX, pointY);
LogUtil.info($"PointX:[{pointX}],PointY:[{pointY}]");
}
if (newpoint.TryGetValue("Angle", out var Angle))
{
labelAngle = Angle;
}
Common.RenderedImage(LabelMoveInfo.MoveParam, Right_Batch_Point, p);
LogUtil.info($"NS200接收贴标位置{p};角度={labelAngle}");
LogUtil.info($"NS200接收贴标位置{p};角度={labelAngle}");
}
if (labelAngle > 350 && labelAngle < 355)
......@@ -261,9 +297,26 @@ namespace DeviceLibrary
LogUtil.info($"完整贴标脉冲{labelAxisPos}");
//计算像素点位与中心点的差
Label_p3 = new Point(p.X - Right_Batch_Point.X, p.Y - Right_Batch_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
int xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
int yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
if (LabelMoveInfo.MoveParam.PlateW == 7)
{
LabelMoveInfo.log("当前盘为7寸");
double x = xDiff;
double y = yDiff;
int radiusDistance=(int)Math.Sqrt(x * x + y * y);
LabelMoveInfo.log($"贴标点到圆心距离为{radiusDistance}");
if (radiusDistance > 88900 * size_7_radiusratio)
{
Label_p3.X = (int)(Label_p3.X * size_7_radiusratio);
Label_p3.Y = (int)(Label_p3.Y * size_7_radiusratio);
xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
LabelMoveInfo.log($"由于{LabelMoveInfo.MoveParam.PlateW}寸贴标可能超出边缘缩小坐标");
}
}
Label_p3.X = xDiff + Config.Label_X_P3;
Label_p3.Y = yDiff + Config.Label_Y_P3;
if (Label_p3.Y > 710000)
......@@ -271,6 +324,11 @@ namespace DeviceLibrary
LabelMoveInfo.log($"计算Y轴脉冲：{Label_p3.Y};");
Label_p3.Y = 710000;
}
if (Label_p3.X < -40000)
{
LabelMoveInfo.log($"计算Y轴脉冲：{Label_p3.X},超过负极限-40000，更改为-40000");
Label_p3.X = -40000;
}
//labelAxisPos += 85700;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},X脉冲差值={xDiff},Y脉冲差值={yDiff},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW};角度脉冲{labelAxisPos}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_1);
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LeftProcess.cs
......@@ -17,6 +17,26 @@ namespace DeviceLibrary
int LeftCount = 0;
public bool SafeReleaseLeftShelf = false;
int Uppre = -1000;
int Uplast = -1000;
int step = 0;
/// <summary>
/// 料盘高度单位脉冲
/// </summary>
public int PlwHight
{
get
{
int hight = 0;
//if (Uppre != -1000 && Uplast != -1000&&step==3)
if (Uppre != -1000 && Uplast != -1000 && step == 2)
{
hight = Math.Abs(Uplast - Uppre) + 2000;
RightMoveInfo.log($"料盘高度计算：hight：{hight}，Uppre:{Uppre},Uplast:{Uplast}");
}
return hight;
}
}
void LeftProcess()
{
if (CheckWait(LeftMoveInfo))
......@@ -24,6 +44,7 @@ namespace DeviceLibrary
switch (LeftMoveInfo.MoveStep)
{
//阻挡上升，轴到p2
case MoveStep.L01:
LeftCount = 0;
LeftShelfNoTray = false;
......@@ -31,17 +52,22 @@ namespace DeviceLibrary
CylinderMove(null, IO_Type.LeftStopDown, IO_Type.LeftStopUP);
LeftBatchAxisToP2(true);
LeftMoveInfo.log($"批量轴上升到P2位置,第一次提升,LeftStartMovePosition={LeftStartMovePosition}");
step = 1;
break;
//没有这个步骤
case MoveStep.L02:
LeftMoveInfo.NextMoveStep(MoveStep.L03);
LeftBatchAxisToP2(false);
LeftMoveInfo.log($"批量轴上升到P2位置,二次提升,LeftStartMovePosition={LeftStartMovePosition}");
break;
//轴下降一点
case MoveStep.L03:
LeftMoveInfo.NextMoveStep(MoveStep.L04);
//int currpot = Left_Batch_Axis.GetAclPosition();
LeftBatchAxisDown();
LeftMoveInfo.log($"批量轴下降固定值");
break;
//根据轴位置判断去料串满步骤还是不满步骤
case MoveStep.L04:
var currpos = Left_Batch_Axis.GetAclPosition();
if (currpos <= Config.Left_Batch_P1)
......@@ -54,16 +80,26 @@ namespace DeviceLibrary
LeftMoveInfo.NextMoveStep(MoveStep.L10_WaitReelPut);
}
break;
//等中间步骤抓盘
case MoveStep.L10_WaitReelPut:
Msg.add(crc.GetString("Res0095", "左侧空闲中"), MsgLevel.info);
break;
//中间步骤给盘，下降一点，获取盘信息
case MoveStep.L11_ReelPutted:
LeftCount++;
LeftMoveInfo.NextMoveStep(MoveStep.L12);
LeftBatchAxisDown();
LabelMoveInfo.MoveParam = LeftMoveInfo.MoveParam.clone();
LeftMoveInfo.log($"左侧料盘已放入,批量轴下降固定值");
if (step == 2)
{
LeftCount++;
LeftMoveInfo.NextMoveStep(MoveStep.L12);
LeftBatchAxisDown();
LabelMoveInfo.MoveParam = LeftMoveInfo.MoveParam.clone();
LeftMoveInfo.log($"左侧料盘已放入,批量轴下降固定值");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L11_ReelPutted);
}
break;
//防意外
case MoveStep.L12:
LeftMoveInfo.NextMoveStep(MoveStep.L13);
//LeftBatchAxisToP2(false);
......@@ -72,10 +108,23 @@ namespace DeviceLibrary
break;
case MoveStep.L13:
LeftMoveInfo.NextMoveStep(MoveStep.L20_WaitLabel);
LeftMoveInfo.log($"批量轴完成上升,等待贴标");
int currpot = Left_Batch_Axis.GetAclPosition();
//if (step == 1)
//{
// Uppre = currpot;
// step = 2;
//}
//else if (step == 2)
//{
// Uplast = currpot;
// step = 3;
//}
LeftMoveInfo.log($"批量轴完成上升,等待贴标当前位置{currpot},步骤step:{step},Uppre:{Uppre},Uplast:{Uplast}");
break;
//等贴标，由贴标流程跳出
case MoveStep.L20_WaitLabel:
break;
//贴标完成，没有释放料串时进入判断料串满/不满流程
case MoveStep.L30_LabelFinish:
if (SafeReleaseLeftShelf)
{
......@@ -86,11 +135,19 @@ namespace DeviceLibrary
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L04);
LeftBatchAxisDown();
LeftMoveInfo.log($"贴标完成,批量轴下降固定值");
if (step == 2)
{
LeftMoveInfo.NextMoveStep(MoveStep.L04);
LeftBatchAxisDown();
LeftMoveInfo.log($"贴标完成,批量轴下降固定值");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
}
}
break;
//满了下降到p1点，没有agv运输时挡停下降
case MoveStep.L40_ShelfFull:
LeftShelfNoTray = true;
LeftMoveInfo.NextMoveStep(MoveStep.LEND);
......@@ -110,7 +167,7 @@ namespace DeviceLibrary
LeftMoveInfo.log($"结束运动");
break;
//}
//料串出料流程
//料串出料流程，下降到p1，挡停下降，滚筒反转到后端检测低电平再转10秒，到前端检测低电平再转10秒，再等3秒，再等0.5秒后反转停止
//switch (LeftMoveInfo.MoveStep)
//{
case MoveStep.L50_OutShelf:
......@@ -148,7 +205,7 @@ namespace DeviceLibrary
LeftMoveInfo.log($"电滚停止");
break;
//}
//料串入料流程
//料串入料流程，轴下降到p1，挡停下降，滚筒正转到后端检测高电平后再转60秒，再转1秒，再转0.5秒停止，进入上料流程
//switch (LeftMoveInfo.MoveStep)
//{
case MoveStep.L60_InShelf:
......@@ -270,7 +327,15 @@ namespace DeviceLibrary
/// </summary>
void LeftBatchAxisDown()
{
int targetP1 = Left_Batch_Axis.GetAclPosition() - ConfigHelper.Config.Get("LeftAxisDownValue", 50) * Config.Left_Batch_ChangeValue;
if (PlwHight > 5000)
{
int currpoint = Left_Batch_Axis.GetAclPosition();
int countPleHight= PlwHight / Config.Right_Batch_ChangeValue * Config.Left_Batch_ChangeValue;
targetP1 = currpoint - countPleHight;
LeftMoveInfo.log($"出料提升机构，获取到料盘高度脉冲{PlwHight},当前位置{currpoint},计算盘高{countPleHight}");
}
int targetSpeed = Config.Left_Batch_P1_speed;
if (targetP1 <= 0)
{
......@@ -284,15 +349,15 @@ namespace DeviceLibrary
/// <summary>
/// 下降在上升以后，上升指定阈值，防止感应器失效
/// </summary>
void LeftAxisRiseMax()
void LeftAxisRiseMax()
{
//1.获取当前私服下降后的脉冲
LeftStartMovePosition = Left_Batch_Axis.GetAclPosition();
//2.获取下降的高度、冗余高度、一毫米的脉冲值
int downvalue = ConfigHelper.Config.Get("LeftAxisDownValue", 50);
int redundancy= ConfigHelper.Config.Get("LeftAxisRiseRedundancyValue", 10);
int redundancy = ConfigHelper.Config.Get("LeftAxisRiseRedundancyValue", 10);
int change = Config.Left_Batch_ChangeValue;
int totalpulse=(downvalue+ redundancy)*change;
int totalpulse = (downvalue + redundancy) * change;
int targetP2 = LeftStartMovePosition + totalpulse;
LeftMoveInfo.log($"下降固定值后提升，感应器亮或提升固定值：当前私服高度={LeftStartMovePosition}，下降的固定高度={downvalue}，" +
$"上升最大高度={redundancy}，每毫米脉冲={change}，上升脉冲为{targetP2}，P2={Config.Left_Batch_P2}");
......@@ -300,7 +365,7 @@ namespace DeviceLibrary
LeftMoveInfo.TimeOutSeconds = 200;
LeftMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Left_Batch_Axis, targetP2, targetSpeed));
Config.Left_Batch_Axis.TargetPosition = targetP2;
Left_Batch_Axis.AbsMove(null, targetP2, targetSpeed);
......
DeviceLibrary/AutoScanAndLabel/MainMachine _MiddleProcess.cs
......@@ -22,6 +22,7 @@ namespace DeviceLibrary
switch (MiddleMoveInfo.MoveStep)
{
case MoveStep.M_Standby:
//如果右侧可取料那么那么移动轴到p2点，夹爪释放。获取右侧的标签信息，右侧标签信息复位，否则等待
if (RightMoveInfo.MoveStep == MoveStep.R10_WaitReelLeave)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M02);
......@@ -39,6 +40,7 @@ namespace DeviceLibrary
MiddleMoveInfo.log("等待右侧可以取料");
}
break;
//z轴移动到p3点，抓取，返回p2点
case MoveStep.M02:
MiddleMoveInfo.NextMoveStep(MoveStep.M03);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P3, Config.Take_UpDown_P3_speed);
......@@ -56,6 +58,7 @@ namespace DeviceLibrary
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P2_speed);
MiddleMoveInfo.log("上下轴返回P2点");
break;
//如果抓取完成或者定位低电平，进入下一步，右侧进行下一盘；如果左侧空闲，存在NG或抓取失败人工处理，如果右侧进料确认右侧进入继续取料步骤，如果中间ng轴会p1点否则继续下一个流程
case MoveStep.M05:
if (clampTool.IsClamp() || IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.LOW))
{
......@@ -72,10 +75,12 @@ namespace DeviceLibrary
if (MiddleMoveInfo.MoveParam.IsNg)
{
Msg.add(crc.GetString("Res0096","抓料失败请手动处理,请将料盘放入:NG箱,按右侧按钮继续"), MsgLevel.alarm);
MiddleMoveInfo.log("抓料失败请手动处理,请将料盘放入:NG箱,按右侧按钮继续");
}
else
{
Msg.add(crc.GetString("Res0097","抓料失败请手动处理,请将料盘放入: 左侧料串,按右侧按钮继续"), MsgLevel.alarm);
MiddleMoveInfo.log("抓料失败请手动处理,请将料盘放入: 左侧料串,按右侧按钮继续");
}
if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH))
......@@ -96,6 +101,7 @@ namespace DeviceLibrary
MiddleMoveInfo.log("抓料失败,等待左侧允许放料");
}
break;
//NG料进入NG流程，正常入正常流程
case MoveStep.M06:
if (MiddleMoveInfo.MoveParam.IsNg)
{
......@@ -119,6 +125,7 @@ namespace DeviceLibrary
{
Msg.add(msg, MsgLevel.info);
}
//左侧空闲，等待贴标流程为打印标签，复制信息给标签流程，进入下一步，移动旋转轴到p3
else if(LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut)
{
if (true || clampTool.IsClamp())
......@@ -150,11 +157,13 @@ namespace DeviceLibrary
Msg.add(crc.GetString("Res0098", "等待左侧允许放料"), MsgLevel.info);
}
break;
//z轴到p4
case MoveStep.M08:
MiddleMoveInfo.NextMoveStep(MoveStep.M09);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P4, Config.Take_UpDown_P4_speed);
MiddleMoveInfo.log("左侧允许放料,上下轴到P4");
break;
//夹爪释放复制信息给左侧流程，左侧进入到收到料流程
case MoveStep.M09:
if (clampTool.Release())
{
......@@ -171,6 +180,7 @@ namespace DeviceLibrary
}
Msg.add(crc.GetString("Res0050","等待夹爪放松"), MsgLevel.info);
break;
//待机流程
case MoveStep.M10:
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
......@@ -181,7 +191,13 @@ namespace DeviceLibrary
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
MiddleMoveInfo.log("放料完成,旋转轴返回待机点");
break;
//NG流程
case MoveStep.M20_ToNgBox:
MiddleMoveInfo.NextMoveStep(MoveStep.M20_1_ToNgBox);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
MiddleMoveInfo.log("NG时上下轴转到P1");
break;
case MoveStep.M20_1_ToNgBox:
MiddleMoveInfo.NextMoveStep(MoveStep.M21);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P5, Config.Take_Middle_P5_speed);
MiddleMoveInfo.log("旋转轴转到P5 NG位置");
......
DeviceLibrary/AutoScanAndLabel/MainMachine _RightProcess.cs
......@@ -6,6 +6,7 @@ using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
......@@ -15,6 +16,7 @@ namespace DeviceLibrary
public bool RightShelfNoTray = false;
int RightCount = 0;
public volatile bool SafeReleaseRightShelf = false;
void RightProcess()
{
if (CheckWait(RightMoveInfo))
......@@ -22,6 +24,7 @@ namespace DeviceLibrary
//常规上料扫码流程
switch (RightMoveInfo.MoveStep)
{
//进料口阻挡下降，提升轴先快速上升后缓速调整位置
case MoveStep.R01:
RightCount = 0;
RightShelfNoTray = false;
......@@ -32,15 +35,22 @@ namespace DeviceLibrary
break;
case MoveStep.R02:
RightMoveInfo.NextMoveStep(MoveStep.R03);
Uppre = Right_Batch_Axis.GetAclPosition();
step = 1;
RightBatchAxisToP2(false);
RightMoveInfo.log($"批量轴上升到P2位置,二次提升,RightStartMovePosition={RightStartMovePosition}");
break;
case MoveStep.R03:
RightMoveInfo.NextMoveStep(MoveStep.R04);
RightMoveInfo.NextMoveStep(MoveStep.R04);
Uplast = Right_Batch_Axis.GetAclPosition();
step = 2;
RightMoveInfo.log($"批量轴上升到P2位置到位，当前位置{Uplast}");
break;
//如果定位上升并且特定中间步骤偶，开始扫码
case MoveStep.R04:
if (IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.HIGH) && RightShelfNoTray.Equals(false))
{
if (MiddleMoveInfo.MoveStep >= MoveStep.M09 || MiddleMoveInfo.MoveStep < MoveStep.M02)
{
RightMoveInfo.NextMoveStep(MoveStep.R06_GettedReelInfo);
......@@ -50,6 +60,7 @@ namespace DeviceLibrary
}
else
{
//不是结束取料，当误差过大时消除误差
if (RightShelfNoTray.Equals(false))
{
//判断当前位置是否在指定的位置
......@@ -64,16 +75,19 @@ namespace DeviceLibrary
return;
}
}
//否则进入无料步骤
//无料盘
//RightShelfNoTray = true;
RightMoveInfo.NextMoveStep(MoveStep.R12_ShelfNoTray);
RightMoveInfo.log($"批量轴已上升到顶,料串已空.");
}
break;
//正常扫码流程，获取扫码信息，标记是否NG，进入取盘流程
case MoveStep.R06_GettedReelInfo:
if (RightScanTask.IsCompleted)
{
var (x, k, s,b) = RightScanTask.Result;
//返回扫码信息，关键字，图片路径，坐标
var (x, k, s, b) = RightScanTask.Result;
if (ConfigHelper.Config.Get(Setting_Init.SaveReelPhoto, false))
{
string d = ConfigHelper.Config.Get(Setting_Init.ReelPhotoSaveDir);
......@@ -81,16 +95,26 @@ namespace DeviceLibrary
string df = Path.Combine(d, fn);
File.Copy(s, df);
}
int pointX=-1; int pointY=-1;
int pointX = -1; int pointY = -1;
b.TryGetValue("PointX", out pointX);
b.TryGetValue("PointY", out pointY);
if (x.Count == 0|| pointX<=0||pointY<=0)
if (x.Count == 0 || pointX <= 0 || pointY <= 0)
{
RightMoveInfo.log($"未识别到有效二维码,转入NG箱；pointX={pointX}；pointY={pointY}");
RightMoveInfo.MoveParam.IsNg = true;
ServerCM.SendNGInfo(crc.GetString("Res0128.e5d9ef10", "模版匹配失败"));
UnifiedDataHandler.RecordPrintNg(false,false,out string[] strarrys);
if (ServerCommunication.EnableHttpServer)
{
if (Monitor.TryEnter(ServerCM.serverclock, TimeSpan.FromSeconds(5)))
{
ServerCM.SendNGInfo(crc.GetString("Res0128.e5d9ef10", "模版匹配失败"));
}
else
{
RightMoveInfo.log($"上传服务器NG状态超时");
}
}
UnifiedDataHandler.RecordPrintNg(false, false, out string[] strarrys);
}
else
{
......@@ -115,11 +139,13 @@ namespace DeviceLibrary
RightMoveInfo.log($"等待扫码超时");
}
break;
//等待中间流程跳出这个步骤
case MoveStep.R10_WaitReelLeave:
Msg.add(crc.GetString("Res0099", "等待料盘取走"), MsgLevel.info);
break;
case MoveStep.R11_NextReel:
RightCount++;
//处于释放状态转到无料料流程，否则回到取料流程
if (SafeReleaseRightShelf)
{
SafeReleaseRightShelf = false;
......@@ -133,6 +159,7 @@ namespace DeviceLibrary
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break;
//无料流程，轴下降到P1点，如果用AGV运输料串那么进料口阻挡下降，进入到结束流程（会进入到出料串流程）
case MoveStep.R12_ShelfNoTray:
RightShelfNoTray = true;
ConfigHelper.Config.Set(Setting_Init.SaveReelPhoto, false);
......@@ -146,14 +173,14 @@ namespace DeviceLibrary
{
CylinderMove(LeftMoveInfo, IO_Type.RightStopUP, IO_Type.RightStopDown);
RightMoveInfo.log($"料串已取完, 批量轴下降到P1,阻挡下降");
}
}
break;
case MoveStep.REND:
RightMoveInfo.log($"结束运动");
RightMoveInfo.EndMove();
break;
//}
//料串出料流程
//料串出料流程，下降到P1点，阻挡下降，滚筒反转，等待到位后端检测为低电平延时3秒，等待到位前端检测为低电平延时3秒，延时0.5秒反转停止，进入结束步骤
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R30_OutShelf:
......@@ -187,7 +214,7 @@ namespace DeviceLibrary
RightMoveInfo.log($"电滚停止");
break;
//}
//料串入料流程
//料串入料流程，轴下降到P1点，阻挡下降，滚筒正转，等待后端到位检测高电平延时5秒，0.5秒后滚筒正转停，阻挡上升，进入上料料流程
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R40_InShelf:
......@@ -205,7 +232,7 @@ namespace DeviceLibrary
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.HIGH));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5*1000));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5 * 1000));
//RightMoveInfo.TimeOutSeconds = 60;
//RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待料串到位");
......@@ -242,14 +269,14 @@ namespace DeviceLibrary
string state = "";
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
state += string.Format(crc.GetString("Res0123.d86f0192","有料串,已提取{0}张料盘"), RightCount);
state += string.Format(crc.GetString("Res0123.d86f0192", "有料串,已提取{0}张料盘"), RightCount);
if (RightShelfNoTray)
state += crc.GetString("Res0100", ",料串已清空. ")+"\r\n";
state += crc.GetString("Res0100", ",料串已清空. ") + "\r\n";
else
state += ".";
state += crc.GetString("Res0045", "当前ReelID:") + RightMoveInfo.MoveParam.WareCode;
}
}
else
{
return crc.GetString("Res0046", "无料串");
......@@ -322,6 +349,6 @@ namespace DeviceLibrary
//开始检测信号
Right_Batch_Axis.BatchAxisStartCheck(IO_Type.RightTop_Check, IO_VALUE.HIGH);
}
int RightEndMovePosition = 0;
int RightEndMovePosition = 0;
}
}
\ No newline at end of file
DeviceLibrary/AutoScanAndLabel/MainMachine.cs
......@@ -250,52 +250,84 @@ namespace DeviceLibrary
switch (ResetMoveInfo.MoveStep)
{
case MoveStep.H01_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ResetMoveInfo.log("正在回原");
ResetMoveInfo.NextMoveStep(MoveStep.H01_1_HomeReset);
ResetMoveInfo.log("正在回原H01_HomeReset");
SafeReleaseLeftShelf = false;
Label_Z_Axis.HomeMove(ResetMoveInfo);
Take_UpDown_Axis.HomeMove(ResetMoveInfo);
IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
break;
case MoveStep.H01_1_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H01_2_HomeReset);
ResetMoveInfo.log("正在回原H01_1_HomeReset");
Take_Middle_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
break;
case MoveStep.H01_2_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("正在回原H01_2_HomeReset");
Label_Z_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原");
ResetMoveInfo.NextMoveStep(MoveStep.H02_1_HomeReset);
ResetMoveInfo.log("正在回原H02_HomeReset");
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
Left_Batch_Axis.HomeMove(ResetMoveInfo);
Right_Batch_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H02_1_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_2_HomeReset);
ResetMoveInfo.log("正在回原H02_1_HomeReset");
Label_R_Axis.HomeMove(ResetMoveInfo);
Label_X_Axis.HomeMove(ResetMoveInfo);
//Label_Y_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H02_2_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H02_3_HomeReset);
ResetMoveInfo.log("正在回原H02_2_HomeReset");
Label_R_Axis.AbsMove(ResetMoveInfo, Config.Label_R_P1, Config.Label_R_P1_speed);
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
//Label_Y_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
break;
case MoveStep.H02_3_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原H02_3_HomeReset");
Label_Y_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("正在回原");
Label_R_Axis.AbsMove(ResetMoveInfo, Config.Label_R_P1, Config.Label_R_P1_speed);
ResetMoveInfo.log("正在回原H03_HomeReset");
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P1, Config.Label_Y_P1_speed);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
ResetMoveInfo.log("正在回原");
Take_UpDown_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.log("正在回原H04_HomeReset");
//Take_UpDown_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
Take_Middle_Axis.HomeMove(ResetMoveInfo);
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P1, Config.Label_Y_P1_speed);
ResetMoveInfo.log("正在回原H05_HomeReset");
//Take_Middle_Axis.HomeMove(ResetMoveInfo);
//Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
//Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P1, Config.Label_Y_P1_speed);
Right_Batch_Axis.AbsMove(ResetMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
Left_Batch_Axis.AbsMove(ResetMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("正在回原");
ResetMoveInfo.log("正在回原H06_HomeReset");
Take_UpDown_Axis.AbsMove(ResetMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
ResetMoveInfo.log("正在回原H07_HomeReset");
Take_Middle_Axis.AbsMove(ResetMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
ResetMoveInfo.log("正在回原 进出料口滚筒正转5秒");
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
......@@ -306,6 +338,7 @@ namespace DeviceLibrary
break;
case MoveStep.H08_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原H08_HomeReset");
ResetMoveInfo.log("正在回原 阻挡气缸判断");
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
......
DeviceLibrary/AutoScanAndLabel/MoveStep.cs
......@@ -12,7 +12,12 @@ namespace DeviceLibrary
Wait,
//回原流程
H01_HomeReset,
H01_1_HomeReset,
H01_2_HomeReset,
H02_HomeReset,
H02_1_HomeReset,
H02_2_HomeReset,
H02_3_HomeReset,
H03_HomeReset,
H04_HomeReset,
H05_HomeReset,
......@@ -92,6 +97,7 @@ namespace DeviceLibrary
M09,
M10,
M20_ToNgBox,
M20_1_ToNgBox,
M21,
M22,
M23,
......
DeviceLibrary/DeviceLibrary/CodeManager.cs
......@@ -23,7 +23,7 @@ namespace DeviceLibrary
public class CodeManager
{
public static string CodeType = ConfigAppSettings.GetValue(Setting_Init.CodeType);
private static int QRCodeCount = ConfigAppSettings.GetIntValue(Setting_Init.QRCodeCount);
//private static int QRCodeCount = ConfigAppSettings.GetIntValue(Setting_Init.QRCodeCount);
public static List<string> cameraNameList = new List<string>();
public static List<string> codeTypeList = new List<string>();
public static List<string> hikNameList = new List<string>();
......@@ -108,7 +108,7 @@ namespace DeviceLibrary
}
Camera.Type = cameraType;
Camera._cam.Load();
LogUtil.error($"本次加载相机类型为：{camname}");
LogUtil.info($"本次加载相机类型为：{camname}");
}
catch (Exception ex)
{
......
DeviceLibrary/DeviceLibrary/DataUploadUtil.cs
......@@ -168,7 +168,7 @@ namespace DeviceLibrary
string con = line;
fileContainer.CreateFile(fileName, con);
lastFileInfo = "[" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "]: " + fileName + "\t" + line;
LogUtil.error($"共享文件夹{smb_path} 创建文件{fileName}完成 ");
LogUtil.info($"共享文件夹{smb_path} 创建文件{fileName}完成 ");
}
else
......
DeviceLibrary/DeviceLibrary/PrinterHelper.cs
......@@ -21,7 +21,9 @@ namespace DeviceLibrary
int dpi = 100;
public static bool istscprin = ConfigHelper.Config.Get("Hardwareversion", "V2")=="V2";
public PrintDevice printDevice = ConfigHelper.Config.Get("PrintDevice", istscprin ? PrintDevice.TSC : PrintDevice.Zebra);
public static bool newistscprin = ConfigHelper.Config.Get("HardwareversionofAGV", "V2") == "V2";
//public PrintDevice printDevice = ConfigHelper.Config.Get("PrintDevice", istscprin ? PrintDevice.TSC : PrintDevice.Zebra);
public PrintDevice printDevice = ConfigHelper.Config.Get("PrintDevice", istscprin ? PrintDevice.TSC : (newistscprin? PrintDevice.TSC : PrintDevice.Zebra));
public enum PrintDevice {
TSC,
Zebra,
......
DeviceLibrary/DeviceLibrary/RemoteDecodeHelper.cs
using CodeLibrary;
using DeviceLibrary;
using HalconDotNet;
using IDHIKCamera;
using Newtonsoft.Json;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
......@@ -92,11 +93,22 @@ public class RemoteDecodeHelper_mod
}
#region 扫码相机请求ns100方法
public static WebResultCode NeoSacnRequest(Bitmap bitmap, List<CodeInfo> codeInfos,int PlateW)
public static WebResultCode NeoSacnRequest(Bitmap bitmap, List<CodeLibrary.CodeInfo> codeInfos,int PlateW)
{
WebResultCode resultCode = null;
try
{
var deg = codeInfos[0].Orientation;
//if (codeInfos[0].CodeType == "QR Code")
//{
// deg += 90;
// if (deg > 360)
// deg = deg - 360;
// LogUtil.info("QR Code转换后角度:" + deg);
//}
//codeInfos[0].Orientation = deg;
CheckAndRunServer();
BitmapData bitmapData = new BitmapData();
string iamgestr = BitmapToBase64(bitmap);
......
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
using ConfigHelper;
using HalconDotNet;
using Newtonsoft.Json;
using OnlineStore;
......@@ -24,6 +25,7 @@ namespace DeviceLibrary
public class ServerCommunication
{
volatile StoreStatus _storeStatus = StoreStatus.Debugging;
public static bool EnableHttpServer = Config.Get<bool>("EnableHttpServer", true);
public StoreStatus storeStatus
{
get => _storeStatus;
......@@ -42,7 +44,7 @@ namespace DeviceLibrary
string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
object serverclock = new object();
public object serverclock = new object();
public ServerCommunication()
{
serverConnectTimer.Interval = 1000;
......@@ -60,8 +62,18 @@ namespace DeviceLibrary
if (!RobotManage.isRunning)
return;
SendLineStatus();
if (ServerCommunication.EnableHttpServer)
{
if (Monitor.TryEnter(serverclock, TimeSpan.FromSeconds(5)))
{
SendLineStatus();
}
else
{
LogUtil.error("上传SendLineStatus超时");
}
}
}
public void ProcessMsg(List<Msg> msg)
......@@ -226,62 +238,78 @@ namespace DeviceLibrary
}
public bool SendAgvLog(string msg)
{
if (!server.ToLower().StartsWith("http"))
{
return false;
}
lock (serverclock)
if (Monitor.TryEnter(serverclock, TimeSpan.FromSeconds(5)))
{
Operation operation = getLineBoxStatus();
if (!server.ToLower().StartsWith("http"))
{
return false;
}
lock (serverclock)
{
Operation operation = getLineBoxStatus();
//operation.logList = new List<AgvLogInfo>
//{
// new AgvLogInfo(msg)
//};
//LogUtil.info(JsonHelper.SerializeObject(operation));
//operation.logList = new List<AgvLogInfo>
//{
// new AgvLogInfo(msg)
//};
//LogUtil.info(JsonHelper.SerializeObject(operation));
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);
if (resultOperation == null)
{
LogUtil.info($"SendAgvLog error:{msg}");
return false;
if (resultOperation == null)
{
LogUtil.info($"SendAgvLog error:{msg}");
return false;
}
LogUtil.info($"SendAgvLog success:{msg}");
}
LogUtil.info($"SendAgvLog success:{msg}");
return true;
}
else
{
LogUtil.info($"SendAgvLog 超时");
return false;
}
return true;
}
string mimoCid = ConfigHelper.Config.Get("MIMO_CID", "01");
public bool OpMIMO(string msg, Dictionary<string, string> operate)
{
if (!server.ToLower().StartsWith("http"))
if (Monitor.TryEnter(serverclock, TimeSpan.FromSeconds(5)))
{
return false;
}
lock (serverclock)
{
Operation operation = getLineBoxStatus();
if (!server.ToLower().StartsWith("http"))
{
return false;
}
lock (serverclock)
{
Operation operation = getLineBoxStatus();
//operation.mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
//Dictionary<string, string> op = new Dictionary<string, string>
//{
// { "Y10", "open" }
//};
//operation.mimoOpMap.Add("1", op);
//operation.mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
//Dictionary<string, string> op = new Dictionary<string, string>
//{
// { "Y10", "open" }
//};
//operation.mimoOpMap.Add("1", op);
//operation.mimoOpMap.Add(mimoCid, operate);
LogUtil.info(JsonHelper.SerializeObject(operation));
//operation.mimoOpMap.Add(mimoCid, operate);
LogUtil.info(JsonHelper.SerializeObject(operation));
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 1000);
Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 1000);
if (resultOperation == null)
{
LogUtil.info($"OpMIMO error:{msg}");
return false;
if (resultOperation == null)
{
LogUtil.info($"OpMIMO error:{msg}");
return false;
}
LogUtil.info($"OpMIMO success:{msg}");
}
LogUtil.info($"OpMIMO success:{msg}");
return true;
}
else
{
LogUtil.info($"OpMIMO超时");
return false;
}
return true;
}
public int queueTaskCount = -1;
ConcurrentQueue<string> commandResultMsg = new ConcurrentQueue<string>();
......
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