|
@@ -17,6 +17,7 @@ using System.Threading; |
|
|
using System.Threading.Tasks; |
|
|
using System.Threading.Tasks; |
|
|
using System.Windows.Media; |
|
|
using System.Windows.Media; |
|
|
using System.Windows; |
|
|
using System.Windows; |
|
|
|
|
|
using FryPot_DosingSystem.AGV; |
|
|
|
|
|
|
|
|
namespace FryPot_DosingSystem.Control |
|
|
namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
@@ -224,7 +225,7 @@ namespace FryPot_DosingSystem.Control |
|
|
ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitMainTask = true; }), "FryPotDosingMainTaskExit"); |
|
|
ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitMainTask = true; }), "FryPotDosingMainTaskExit"); |
|
|
HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis); |
|
|
HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis); |
|
|
HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis); |
|
|
HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis); |
|
|
// ResetProgram(); |
|
|
|
|
|
|
|
|
// ResetProgram(); |
|
|
ReadPlcData(); |
|
|
ReadPlcData(); |
|
|
MainTask(); |
|
|
MainTask(); |
|
|
CommandRegist(); |
|
|
CommandRegist(); |
|
@@ -296,7 +297,7 @@ namespace FryPot_DosingSystem.Control |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指线体上料 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指线体上料 |
|
|
{ |
|
|
{ |
|
|
//日志 |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指线体上料 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指线体上料 |
|
@@ -312,17 +313,21 @@ namespace FryPot_DosingSystem.Control |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.Yes); |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指线体上料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指线体下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指线体下料 |
|
@@ -391,34 +396,69 @@ namespace FryPot_DosingSystem.Control |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); |
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
|
|
|
} |
|
|
|
|
|
else |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
} |
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); |
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
|
|
|
} |
|
|
|
|
|
else |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
} |
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); |
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
|
|
|
} |
|
|
|
|
|
else |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
} |
|
|
} |
|
|
} |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(1); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(1, IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(2, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(2); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(2, IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指空桶下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(3, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(3); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(3, IsBool.Yes); |
|
|
} |
|
|
} |
|
|
#endregion |
|
|
#endregion |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
@@ -467,123 +507,123 @@ namespace FryPot_DosingSystem.Control |
|
|
/// </summary> |
|
|
/// </summary> |
|
|
public void ReadPlcData() |
|
|
public void ReadPlcData() |
|
|
{ |
|
|
{ |
|
|
//ThreadManage.GetInstance().StartLong(new Action(() => |
|
|
|
|
|
//{ |
|
|
|
|
|
// GetAddressData("D2001", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.rollerLineOne.StationOne = data[0]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationTwo = data[1]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationThree = data[2]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationFour = data[3]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationFive = data[4]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationSix = data[5]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationSeven = data[6]; |
|
|
|
|
|
// globalVar.rollerLineOne.StationEight = data[7]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2011", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.rollerLineTwo.StationOne = data[0]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationTwo = data[1]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationThree = data[2]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationFour = data[3]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationFive = data[4]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationSix = data[5]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationSeven = data[6]; |
|
|
|
|
|
// globalVar.rollerLineTwo.StationEight = data[7]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2021", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.rollerLineThree.StationOne = data[0]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationTwo = data[1]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationThree = data[2]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationFour = data[3]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationFive = data[4]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationSix = data[5]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationSeven = data[6]; |
|
|
|
|
|
// globalVar.rollerLineThree.StationEight = data[7]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2031", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.rollerLineOne.OutMaterialingSingle = data[3]; |
|
|
|
|
|
// globalVar.rollerLineTwo.OutMaterialingSingle = data[4]; |
|
|
|
|
|
// globalVar.rollerLineThree.OutMaterialingSingle = data[5]; |
|
|
|
|
|
// //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6]; |
|
|
|
|
|
// //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7]; |
|
|
|
|
|
// //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8]; |
|
|
|
|
|
|
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2040", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0]; |
|
|
|
|
|
// globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1]; |
|
|
|
|
|
// globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2]; |
|
|
|
|
|
// globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3]; |
|
|
|
|
|
// globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2045", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.fryPotOne.InputMaterialArrivedSingle = data[0]; |
|
|
|
|
|
// globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1]; |
|
|
|
|
|
// globalVar.fryPotThree.InputMaterialArrivedSingle = data[2]; |
|
|
|
|
|
// globalVar.fryPotFour.InputMaterialArrivedSingle = data[3]; |
|
|
|
|
|
// globalVar.fryPotFive.InputMaterialArrivedSingle = data[4]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2050", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0]; |
|
|
|
|
|
// globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1]; |
|
|
|
|
|
// globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2]; |
|
|
|
|
|
// globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3]; |
|
|
|
|
|
// globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2065", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0]; |
|
|
|
|
|
// globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1]; |
|
|
|
|
|
// globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2]; |
|
|
|
|
|
// globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3]; |
|
|
|
|
|
// globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2070", new Action<ushort[]>((data) => |
|
|
|
|
|
// { |
|
|
|
|
|
// //globalVar.fryPotOne.RollerTroubleSingle = data[0]; |
|
|
|
|
|
// //globalVar.fryPotTwo.RollerTroubleSingle = data[1]; |
|
|
|
|
|
// //globalVar.fryPotThree.RollerTroubleSingle = data[2]; |
|
|
|
|
|
// //globalVar.fryPotFour.RollerTroubleSingle = data[3]; |
|
|
|
|
|
// //globalVar.fryPotFive.RollerTroubleSingle = data[4]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble = data[0]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble = data[1]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble = data[2]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble = data[3]; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble = data[4]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2078", new Action<ushort[]>(data => |
|
|
|
|
|
// { |
|
|
|
|
|
// globalVar.rollerLineOne.RecipeCompleteSingle = data[0]; |
|
|
|
|
|
// globalVar.rollerLineTwo.RecipeCompleteSingle = data[1]; |
|
|
|
|
|
// globalVar.rollerLineThree.RecipeCompleteSingle = data[2]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2075", new Action<ushort[]>(data => |
|
|
|
|
|
// { |
|
|
|
|
|
|
|
|
ThreadManage.GetInstance().StartLong(new Action(() => |
|
|
|
|
|
{ |
|
|
|
|
|
GetAddressData("D2001", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.rollerLineOne.StationOne = data[0]; |
|
|
|
|
|
globalVar.rollerLineOne.StationTwo = data[1]; |
|
|
|
|
|
globalVar.rollerLineOne.StationThree = data[2]; |
|
|
|
|
|
globalVar.rollerLineOne.StationFour = data[3]; |
|
|
|
|
|
globalVar.rollerLineOne.StationFive = data[4]; |
|
|
|
|
|
globalVar.rollerLineOne.StationSix = data[5]; |
|
|
|
|
|
globalVar.rollerLineOne.StationSeven = data[6]; |
|
|
|
|
|
globalVar.rollerLineOne.StationEight = data[7]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2011", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.rollerLineTwo.StationOne = data[0]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationTwo = data[1]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationThree = data[2]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationFour = data[3]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationFive = data[4]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationSix = data[5]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationSeven = data[6]; |
|
|
|
|
|
globalVar.rollerLineTwo.StationEight = data[7]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2021", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.rollerLineThree.StationOne = data[0]; |
|
|
|
|
|
globalVar.rollerLineThree.StationTwo = data[1]; |
|
|
|
|
|
globalVar.rollerLineThree.StationThree = data[2]; |
|
|
|
|
|
globalVar.rollerLineThree.StationFour = data[3]; |
|
|
|
|
|
globalVar.rollerLineThree.StationFive = data[4]; |
|
|
|
|
|
globalVar.rollerLineThree.StationSix = data[5]; |
|
|
|
|
|
globalVar.rollerLineThree.StationSeven = data[6]; |
|
|
|
|
|
globalVar.rollerLineThree.StationEight = data[7]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2031", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.rollerLineOne.OutMaterialingSingle = data[3]; |
|
|
|
|
|
globalVar.rollerLineTwo.OutMaterialingSingle = data[4]; |
|
|
|
|
|
globalVar.rollerLineThree.OutMaterialingSingle = data[5]; |
|
|
|
|
|
//globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6]; |
|
|
|
|
|
//globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7]; |
|
|
|
|
|
//globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8]; |
|
|
|
|
|
|
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2040", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0]; |
|
|
|
|
|
globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1]; |
|
|
|
|
|
globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2]; |
|
|
|
|
|
globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3]; |
|
|
|
|
|
globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2045", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.fryPotOne.InputMaterialArrivedSingle = data[0]; |
|
|
|
|
|
globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1]; |
|
|
|
|
|
globalVar.fryPotThree.InputMaterialArrivedSingle = data[2]; |
|
|
|
|
|
globalVar.fryPotFour.InputMaterialArrivedSingle = data[3]; |
|
|
|
|
|
globalVar.fryPotFive.InputMaterialArrivedSingle = data[4]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2050", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0]; |
|
|
|
|
|
globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1]; |
|
|
|
|
|
globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2]; |
|
|
|
|
|
globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3]; |
|
|
|
|
|
globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2065", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0]; |
|
|
|
|
|
globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1]; |
|
|
|
|
|
globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2]; |
|
|
|
|
|
globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3]; |
|
|
|
|
|
globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2070", new Action<ushort[]>((data) => |
|
|
|
|
|
{ |
|
|
|
|
|
//globalVar.fryPotOne.RollerTroubleSingle = data[0]; |
|
|
|
|
|
//globalVar.fryPotTwo.RollerTroubleSingle = data[1]; |
|
|
|
|
|
//globalVar.fryPotThree.RollerTroubleSingle = data[2]; |
|
|
|
|
|
//globalVar.fryPotFour.RollerTroubleSingle = data[3]; |
|
|
|
|
|
//globalVar.fryPotFive.RollerTroubleSingle = data[4]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble = data[0]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble = data[1]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble = data[2]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble = data[3]; |
|
|
|
|
|
AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble = data[4]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2078", new Action<ushort[]>(data => |
|
|
|
|
|
{ |
|
|
|
|
|
globalVar.rollerLineOne.RecipeCompleteSingle = data[0]; |
|
|
|
|
|
globalVar.rollerLineTwo.RecipeCompleteSingle = data[1]; |
|
|
|
|
|
globalVar.rollerLineThree.RecipeCompleteSingle = data[2]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2075", new Action<ushort[]>(data => |
|
|
|
|
|
{ |
|
|
|
|
|
|
|
|
// globalVar.CleadBarrelEnterSingle = data[0]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// GetAddressData("D2077", new Action<ushort[]>(data => |
|
|
|
|
|
// { |
|
|
|
|
|
|
|
|
globalVar.CleadBarrelEnterSingle = data[0]; |
|
|
|
|
|
})); |
|
|
|
|
|
GetAddressData("D2077", new Action<ushort[]>(data => |
|
|
|
|
|
{ |
|
|
|
|
|
|
|
|
// globalVar.CleadBarrelExitSingle = data[0]; |
|
|
|
|
|
// })); |
|
|
|
|
|
// //globalVar.rollerLineOne.OutMaterialingSingle = 0; |
|
|
|
|
|
// //globalVar.rollerLineOne.StationOne = 401; |
|
|
|
|
|
// //globalVar.rollerLineOne.StationTwo = 402; |
|
|
|
|
|
// //globalVar.rollerLineOne.OutMaterialingTroubleSingle = 1; |
|
|
|
|
|
// // AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble =1; |
|
|
|
|
|
// RollerLineStatusDisplay(); |
|
|
|
|
|
// Thread.Sleep(10); |
|
|
|
|
|
//}), "MainViewReadPlcData"); |
|
|
|
|
|
|
|
|
globalVar.CleadBarrelExitSingle = data[0]; |
|
|
|
|
|
})); |
|
|
|
|
|
//globalVar.rollerLineOne.OutMaterialingSingle = 0; |
|
|
|
|
|
//globalVar.rollerLineOne.StationOne = 401; |
|
|
|
|
|
//globalVar.rollerLineOne.StationTwo = 402; |
|
|
|
|
|
//globalVar.rollerLineOne.OutMaterialingTroubleSingle = 1; |
|
|
|
|
|
// AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble =1; |
|
|
|
|
|
RollerLineStatusDisplay(); |
|
|
|
|
|
Thread.Sleep(10); |
|
|
|
|
|
}), "MainViewReadPlcData"); |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
/// <summary> |
|
|
/// <summary> |
|
@@ -713,20 +753,6 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
if (obj != null && obj is NewRecipeModel[] recipes) |
|
|
if (obj != null && obj is NewRecipeModel[] recipes) |
|
|
{ |
|
|
{ |
|
|
//int? res = (recipe.materialCollection.ElementAt(0).MaterialLoc) / 100; |
|
|
|
|
|
//if (res != null) |
|
|
|
|
|
//{ |
|
|
|
|
|
// switch (res) |
|
|
|
|
|
// { |
|
|
|
|
|
// case 1: |
|
|
|
|
|
// case 4: RecipeQuene.Enqueue(recipe); break; |
|
|
|
|
|
// case 3: LThreeRecipeQuene.Enqueue(recipe); break; |
|
|
|
|
|
// case 2: |
|
|
|
|
|
// case 5: LTwoRecipeQuene.Enqueue(recipe); break; |
|
|
|
|
|
// } |
|
|
|
|
|
// ReicpeNum++; |
|
|
|
|
|
// MessageLog.GetInstance.ShowUserLog($"接收到第{ReicpeNum}个配方"); |
|
|
|
|
|
//} |
|
|
|
|
|
ReicpeNum = ReicpeNum + recipes.Length; |
|
|
ReicpeNum = ReicpeNum + recipes.Length; |
|
|
MessageLog.GetInstance.ShowUserLog($"新接收到{recipes.Length}个配方,总共{ReicpeNum}个配方"); |
|
|
MessageLog.GetInstance.ShowUserLog($"新接收到{recipes.Length}个配方,总共{ReicpeNum}个配方"); |
|
|
for (int i = 0; i < recipes.Length; i++) |
|
|
for (int i = 0; i < recipes.Length; i++) |
|
@@ -770,7 +796,8 @@ namespace FryPot_DosingSystem.Control |
|
|
//LOneFryPotOutputMaterial(); |
|
|
//LOneFryPotOutputMaterial(); |
|
|
//LTwoFryPotOutputMaterial(); |
|
|
//LTwoFryPotOutputMaterial(); |
|
|
//LThreeFryPotOutputMaterial(); |
|
|
//LThreeFryPotOutputMaterial(); |
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute();Thread.Sleep(10); }) , "滚筒线1任务线程"); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程"); |
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程"); |
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程"); |
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程"); |
|
|
ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程"); |
|
|
|
|
|
|
|
@@ -855,6 +882,8 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
LThreeErrorRecipe = false; |
|
|
LThreeErrorRecipe = false; |
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; |
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; |
|
|
|
|
|
globalVar.LThreeMaterialNum = result.materialCollection.Count; |
|
|
|
|
|
globalVar.LThreeFryPotSerial = headNum; |
|
|
globalVar.LThreeCurrentRecipeName = result.RecipeName; |
|
|
globalVar.LThreeCurrentRecipeName = result.RecipeName; |
|
|
MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
@@ -907,6 +936,8 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
LTwoErrorRecipe = false; |
|
|
LTwoErrorRecipe = false; |
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; |
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; |
|
|
|
|
|
globalVar.LTwoMaterialNum = result.materialCollection.Count; |
|
|
|
|
|
globalVar.LTwoFryPotSerial = headNum; |
|
|
globalVar.LTwoCurrentRecipeName = result.RecipeName; |
|
|
globalVar.LTwoCurrentRecipeName = result.RecipeName; |
|
|
MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
@@ -955,7 +986,9 @@ namespace FryPot_DosingSystem.Control |
|
|
if (RecipeQuene.TryDequeue(out NewRecipeModel result)) |
|
|
if (RecipeQuene.TryDequeue(out NewRecipeModel result)) |
|
|
{ |
|
|
{ |
|
|
ErrorRecipe = false; |
|
|
ErrorRecipe = false; |
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; ; |
|
|
|
|
|
|
|
|
int headNum = result.materialCollection[0].MaterialLoc / 100; |
|
|
|
|
|
globalVar.LOneMaterialNum = result.materialCollection.Count; |
|
|
|
|
|
globalVar.LOneFryPotSerial = headNum; |
|
|
globalVar.LOneCurrentRecipeName = result.RecipeName; |
|
|
globalVar.LOneCurrentRecipeName = result.RecipeName; |
|
|
MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方"); |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
|
for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料 |
|
@@ -1133,9 +1166,17 @@ namespace FryPot_DosingSystem.Control |
|
|
/// </summary> |
|
|
/// </summary> |
|
|
public void LOneFryPotInputMaterial() |
|
|
public void LOneFryPotInputMaterial() |
|
|
{ |
|
|
{ |
|
|
if (OutputMaterialQuene.Count > 0 && agvArriveUnLoad && globalVar.AgvToFryPot&&!globalVar.PotOneInputMaterialArrive) |
|
|
|
|
|
|
|
|
if (OutputMaterialQuene.Count > 0 && agvArriveUnLoad && globalVar.AgvToFryPot && !globalVar.PotOneInputMaterialArrive) |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【1】号线体指定炒锅下料位置"); |
|
|
|
|
|
|
|
|
if (globalVar.LOneFryPotSerial == 1) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("yc_1_1")); |
|
|
|
|
|
} |
|
|
|
|
|
else if (globalVar.LOneFryPotSerial == 4) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("yc_1-4")); |
|
|
|
|
|
} |
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LOneFryPotSerial}】号炒锅下料位置"); |
|
|
AgvArriveFryPotOneOrFourSingleSetDown(); |
|
|
AgvArriveFryPotOneOrFourSingleSetDown(); |
|
|
agvArriveUnLoad = false; |
|
|
agvArriveUnLoad = false; |
|
|
globalVar.PotOneInputMaterialArrive = true; |
|
|
globalVar.PotOneInputMaterialArrive = true; |
|
@@ -1144,11 +1185,12 @@ namespace FryPot_DosingSystem.Control |
|
|
|
|
|
|
|
|
public void LOneFallMaterial() |
|
|
public void LOneFallMaterial() |
|
|
{ |
|
|
{ |
|
|
if (!globalVar.InOrOutputLock && (globalVar.fryPotOne.InputMaterialArrivedSingle == 1 || globalVar.fryPotFour.InputMaterialArrivedSingle == 1) && globalVar.PotOneInputMaterialArrive&&OutputMaterialQuene.Count>0&&!globalVar.PotOneOutputRollerArrive) |
|
|
|
|
|
|
|
|
if (!globalVar.InOrOutputLock && (globalVar.fryPotOne.InputMaterialArrivedSingle == 1 || globalVar.fryPotFour.InputMaterialArrivedSingle == 1) && globalVar.PotOneInputMaterialArrive && OutputMaterialQuene.Count > 0 && !globalVar.PotOneOutputRollerArrive) |
|
|
{ |
|
|
{ |
|
|
FryPotOneRollerTroubleCheck(); |
|
|
FryPotOneRollerTroubleCheck(); |
|
|
if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障 |
|
|
if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
FryPotOneOrFourInputMaterialRollerOperate(); |
|
|
FryPotOneOrFourInputMaterialRollerOperate(); |
|
|
AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV |
|
|
AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV |
|
@@ -1164,6 +1206,14 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
if (LTwoOutputMaterialQuene.Count > 0 && LTwoagvArriveUnLoad && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive) |
|
|
if (LTwoOutputMaterialQuene.Count > 0 && LTwoagvArriveUnLoad && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive) |
|
|
{ |
|
|
{ |
|
|
|
|
|
if (globalVar.LTwoFryPotSerial == 2) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2); |
|
|
|
|
|
} |
|
|
|
|
|
else if (globalVar.LTwoFryPotSerial == 5) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5); |
|
|
|
|
|
} |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【2】号线体指定炒锅下料位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【2】号线体指定炒锅下料位置"); |
|
|
AgvArriveFryPotTwoOrFiveSingleSetDown(); |
|
|
AgvArriveFryPotTwoOrFiveSingleSetDown(); |
|
|
LTwoagvArriveUnLoad = false; |
|
|
LTwoagvArriveUnLoad = false; |
|
@@ -1177,6 +1227,7 @@ namespace FryPot_DosingSystem.Control |
|
|
FryPotTwoRollerTroubleCheck(); |
|
|
FryPotTwoRollerTroubleCheck(); |
|
|
if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障 |
|
|
if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
FryPotTwoOrFiveInputMaterialRollerOperate(); |
|
|
FryPotTwoOrFiveInputMaterialRollerOperate(); |
|
|
AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV |
|
|
AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV |
|
@@ -1192,6 +1243,7 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
if (LThreeOutputMaterialQuene.Count > 0 && LThreeagvArriveUnLoad && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive) |
|
|
if (LThreeOutputMaterialQuene.Count > 0 && LThreeagvArriveUnLoad && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive) |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【3】号线体指定炒锅下料位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【3】号线体指定炒锅下料位置"); |
|
|
AgvArriveFryPotThreeSingleSetDown(); |
|
|
AgvArriveFryPotThreeSingleSetDown(); |
|
|
LThreeagvArriveUnLoad = false; |
|
|
LThreeagvArriveUnLoad = false; |
|
@@ -1201,11 +1253,12 @@ namespace FryPot_DosingSystem.Control |
|
|
|
|
|
|
|
|
public void LThreeFallMaterial() |
|
|
public void LThreeFallMaterial() |
|
|
{ |
|
|
{ |
|
|
if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1 && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive) |
|
|
|
|
|
|
|
|
if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1 && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive) |
|
|
{ |
|
|
{ |
|
|
FryPotThreeRollerTroubleCheck(); |
|
|
FryPotThreeRollerTroubleCheck(); |
|
|
if (FryPotThreeAlarm == 1)//炒锅滚筒无故障 |
|
|
if (FryPotThreeAlarm == 1)//炒锅滚筒无故障 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
//炒锅滚筒进料运行到位处理 |
|
|
FryPotThreeInputMaterialRollerOperate(); |
|
|
FryPotThreeInputMaterialRollerOperate(); |
|
|
AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV |
|
|
AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV |
|
@@ -1255,7 +1308,7 @@ namespace FryPot_DosingSystem.Control |
|
|
/// </summary> |
|
|
/// </summary> |
|
|
public void LOneFryPotOutputMaterial() |
|
|
public void LOneFryPotOutputMaterial() |
|
|
{ |
|
|
{ |
|
|
if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock && agvArriveUpLoad && globalVar.PotOneOutputRollerArrive&& !globalVar.AgvArrivePot) |
|
|
|
|
|
|
|
|
if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock && agvArriveUpLoad && globalVar.PotOneOutputRollerArrive && !globalVar.AgvArrivePot) |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线对应炒锅空桶上料位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线对应炒锅空桶上料位置"); |
|
@@ -1266,14 +1319,24 @@ namespace FryPot_DosingSystem.Control |
|
|
} |
|
|
} |
|
|
public void LOneEmptyOperate() |
|
|
public void LOneEmptyOperate() |
|
|
{ |
|
|
{ |
|
|
if ((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1) && agvFryPotEmptyRollerArrive&&OutputMaterialQuene.Count>0&& globalVar.AgvArrivePot) |
|
|
|
|
|
|
|
|
if ((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1) && agvFryPotEmptyRollerArrive && OutputMaterialQuene.Count > 0 && globalVar.AgvArrivePot) |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
FryPotOneRollerTroubleCheck(); |
|
|
FryPotOneRollerTroubleCheck(); |
|
|
if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障 |
|
|
if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障 |
|
|
{ |
|
|
{ |
|
|
FryPotOneOrFourOutEmpetyRollerOperate(); |
|
|
FryPotOneOrFourOutEmpetyRollerOperate(); |
|
|
if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes); |
|
|
|
|
|
if (globalVar.LOneFryPotSerial == 1) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("hs_1")); |
|
|
|
|
|
} |
|
|
|
|
|
else if (globalVar.LOneFryPotSerial == 4) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("hs_4")); |
|
|
|
|
|
} |
|
|
agvFryPotEmptyRollerArrive = false; |
|
|
agvFryPotEmptyRollerArrive = false; |
|
|
agvArriveUpLoad = false; |
|
|
agvArriveUpLoad = false; |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
@@ -1285,12 +1348,13 @@ namespace FryPot_DosingSystem.Control |
|
|
globalVar.PotOneInputMaterialArrive = false; |
|
|
globalVar.PotOneInputMaterialArrive = false; |
|
|
globalVar.PotOneOutputRollerArrive = false; |
|
|
globalVar.PotOneOutputRollerArrive = false; |
|
|
globalVar.AgvArrivePot = false; |
|
|
globalVar.AgvArrivePot = false; |
|
|
|
|
|
globalVar.LOneMaterialNum--; |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary> |
|
|
/// <summary> |
|
|
/// 线体2对应炒锅出桶 |
|
|
/// 线体2对应炒锅出桶 |
|
|
/// </summary> |
|
|
/// </summary> |
|
@@ -1316,6 +1380,15 @@ namespace FryPot_DosingSystem.Control |
|
|
FryPotTwoOrFiveOutEmpetyRollerOperate(); |
|
|
FryPotTwoOrFiveOutEmpetyRollerOperate(); |
|
|
if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes); |
|
|
|
|
|
if (globalVar.LOneFryPotSerial == 2) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2); |
|
|
|
|
|
} |
|
|
|
|
|
else if (globalVar.LOneFryPotSerial == 5) |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5); |
|
|
|
|
|
} |
|
|
LTwoagvFryPotEmptyRollerArrive = false; |
|
|
LTwoagvFryPotEmptyRollerArrive = false; |
|
|
agvArriveLTwoUpLoad = false; |
|
|
agvArriveLTwoUpLoad = false; |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
@@ -1352,11 +1425,13 @@ namespace FryPot_DosingSystem.Control |
|
|
if (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && LThreeagvFryPotEmptyRollerArrive && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot) |
|
|
if (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && LThreeagvFryPotEmptyRollerArrive && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot) |
|
|
{ |
|
|
{ |
|
|
FryPotThreeRollerTroubleCheck(); |
|
|
FryPotThreeRollerTroubleCheck(); |
|
|
if (FryPotThreeAlarm == 1 )//无故障 |
|
|
|
|
|
|
|
|
if (FryPotThreeAlarm == 1)//无故障 |
|
|
{ |
|
|
{ |
|
|
FryPotThreeOutEmpetyRollerOperate(); |
|
|
FryPotThreeOutEmpetyRollerOperate(); |
|
|
if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后,出料原料队列移除对应原料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3); |
|
|
LThreeagvFryPotEmptyRollerArrive = false; |
|
|
LThreeagvFryPotEmptyRollerArrive = false; |
|
|
agvArriveLThreeUpLoad = false; |
|
|
agvArriveLThreeUpLoad = false; |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线对应炒锅空桶上料完成,将进行空桶回收"); |
|
@@ -1787,15 +1862,17 @@ namespace FryPot_DosingSystem.Control |
|
|
/// <param name="lineAlarm"></param> |
|
|
/// <param name="lineAlarm"></param> |
|
|
public void AgvFromLineOneToFryPot() |
|
|
public void AgvFromLineOneToFryPot() |
|
|
{ |
|
|
{ |
|
|
erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble ==0) |
|
|
|
|
|
|
|
|
erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0) |
|
|
{ |
|
|
{ |
|
|
if (agvArriveUpLoad && globalVar.LoadRoller && globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.AgvToFryPot)//无故障 |
|
|
if (agvArriveUpLoad && globalVar.LoadRoller && globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.AgvToFryPot)//无故障 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置"); |
|
|
AgvArriveLineSingelSetDown(InputMaterialQuene); |
|
|
AgvArriveLineSingelSetDown(InputMaterialQuene); |
|
|
if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start); |
|
|
OutputMaterialQuene.Enqueue(materialInfo); |
|
|
OutputMaterialQuene.Enqueue(materialInfo); |
|
|
agvArriveUpLoad = false; |
|
|
agvArriveUpLoad = false; |
|
|
globalVar.AgvToFryPot = true; |
|
|
globalVar.AgvToFryPot = true; |
|
@@ -1833,6 +1910,7 @@ namespace FryPot_DosingSystem.Control |
|
|
if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start); |
|
|
LTwoOutputMaterialQuene.Enqueue(materialInfo); |
|
|
LTwoOutputMaterialQuene.Enqueue(materialInfo); |
|
|
agvArriveLTwoUpLoad = false; |
|
|
agvArriveLTwoUpLoad = false; |
|
|
globalVar.LTwoAgvToFryPot = true; |
|
|
globalVar.LTwoAgvToFryPot = true; |
|
@@ -1871,6 +1949,7 @@ namespace FryPot_DosingSystem.Control |
|
|
if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start); |
|
|
LThreeOutputMaterialQuene.Enqueue(materialInfo); |
|
|
LThreeOutputMaterialQuene.Enqueue(materialInfo); |
|
|
agvArriveLThreeUpLoad = false; |
|
|
agvArriveLThreeUpLoad = false; |
|
|
globalVar.LThreeAgvToFryPot = true; |
|
|
globalVar.LThreeAgvToFryPot = true; |
|
@@ -1903,6 +1982,9 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
if (errorCode == "SUCCESS") |
|
|
if (errorCode == "SUCCESS") |
|
|
{ |
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(num, IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(num, AgvViewModel.GetInstance().GetCommandValue($"qc_{num}")); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶"); |
|
|
globalVar.AllowAgvToLineLoadRoller = false; |
|
|
globalVar.AllowAgvToLineLoadRoller = false; |
|
|
} |
|
|
} |
|
@@ -2024,7 +2106,7 @@ namespace FryPot_DosingSystem.Control |
|
|
// MessageLog.GetInstance.ShowRunLog("警告:滚筒输送线体【3】故障!!!"); |
|
|
// MessageLog.GetInstance.ShowRunLog("警告:滚筒输送线体【3】故障!!!"); |
|
|
// // lineAlarm = -1; |
|
|
// // lineAlarm = -1; |
|
|
//} |
|
|
//} |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
/// <summary> |
|
|
/// <summary> |
|
|
/// 1号线体数据下发 |
|
|
/// 1号线体数据下发 |
|
|