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@@ -146,10 +146,8 @@ namespace FryPot_DosingSystem.Control |
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List<string> LNinerobotJobId = new List<string>(); //从线体3到清洗台路径 |
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List<string> LNinerobotJobId = new List<string>(); //从线体3到清洗台路径 |
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List<string> LTenrobotJobId = new List<string>(); //从清洗台到线体4路径 |
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List<string> LTenrobotJobId = new List<string>(); //从清洗台到线体4路径 |
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Dictionary<string, int> agvCodeOne = new Dictionary<string, int>();//1号agv小车的编号对AGV动画小车编号 |
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Dictionary<string, int> agvCodeTwo = new Dictionary<string, int>();//2号agv小车的编号对AGV动画小车编号 |
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Dictionary<string, int> agvCodeThree =new Dictionary<string, int>();//3号agv小车的编号对AGV动画小车编号 |
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Dictionary<string, int> agvCodeFour = new Dictionary<string, int>();//4号agv小车的编号对AGV动画小车编号 |
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Dictionary<string, int> agvCode = new Dictionary<string, int>() { { "1",1 }, { "2",2 }, { "3",3 }, { "4",4 } };//agv小车的编号对AGV动画小车编号 |
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public int CleanNum = 0;//当前清洗台桶数 |
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public int CleanNum = 0;//当前清洗台桶数 |
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@@ -686,7 +684,7 @@ namespace FryPot_DosingSystem.Control |
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Upstreamrequest objData = JsonConvert.DeserializeObject<Upstreamrequest>(obj.ToString()); |
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Upstreamrequest objData = JsonConvert.DeserializeObject<Upstreamrequest>(obj.ToString()); |
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if (objData != null) |
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if (objData != null) |
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{ |
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{ |
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#region 线体到炒锅 |
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#region 线体到炒锅请求上下料 |
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//线体1请求上下料 |
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//线体1请求上下料 |
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if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段,AGV请求上料 |
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if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段,AGV请求上料 |
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{ |
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{ |
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@@ -730,11 +728,8 @@ namespace FryPot_DosingSystem.Control |
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if (objData.robotJobId == LFourrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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if (objData.robotJobId == LFourrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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{ |
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{ |
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globalVar.rollerLineOne.agvArriveLineFour = true;//AGV到达下料位置 |
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globalVar.rollerLineOne.agvArriveLineFour = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
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AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hj); |
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AgvViewModel.GetInstance().Set停车桩(1, IsBool.Yes); |
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// AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
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} |
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} |
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if (objData.robotJobId == LFiverobotJobId && objData.command == "LOAD") |
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if (objData.robotJobId == LFiverobotJobId && objData.command == "LOAD") |
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@@ -745,11 +740,8 @@ namespace FryPot_DosingSystem.Control |
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if (objData.robotJobId == LFiverobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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if (objData.robotJobId == LFiverobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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{ |
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{ |
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globalVar.rollerLineTwo.agvArriveLineFour = true;//AGV到达下料位置 |
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globalVar.rollerLineTwo.agvArriveLineFour = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
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AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hj); |
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AgvViewModel.GetInstance().Set停车桩(2, IsBool.Yes); |
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} |
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} |
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if (objData.robotJobId == LSixrobotJobId && objData.command == "LOAD") |
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if (objData.robotJobId == LSixrobotJobId && objData.command == "LOAD") |
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@@ -760,14 +752,11 @@ namespace FryPot_DosingSystem.Control |
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if (objData.robotJobId == LSixrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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if (objData.robotJobId == LSixrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 |
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{ |
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{ |
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globalVar.rollerLineThree.agvArriveLineFour = true;//AGV到达下料位置 |
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globalVar.rollerLineThree.agvArriveLineFour = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
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AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hj); |
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AgvViewModel.GetInstance().Set停车桩(3, IsBool.Yes); |
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} |
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} |
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#endregion |
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#endregion |
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#region 线体到清洗台 |
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#region 线体123到清洗台请求上下料 |
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if (LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD")//同一任务号且处于上料阶段,AGV请求上料 |
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if (LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD")//同一任务号且处于上料阶段,AGV请求上料 |
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{ |
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{ |
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globalVar.agvArriveLineOneLoadEmptyRoller = true;//AGV到达上料位置 |
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globalVar.agvArriveLineOneLoadEmptyRoller = true;//AGV到达上料位置 |
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@@ -777,10 +766,7 @@ namespace FryPot_DosingSystem.Control |
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{ |
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{ |
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globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); |
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AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
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AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
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} |
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} |
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if ( LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "LOAD") |
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if ( LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "LOAD") |
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@@ -792,10 +778,7 @@ namespace FryPot_DosingSystem.Control |
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{ |
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{ |
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globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); |
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AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
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AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
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} |
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} |
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@@ -808,13 +791,10 @@ namespace FryPot_DosingSystem.Control |
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{ |
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{ |
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globalVar.rollerLineThree.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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globalVar.rollerLineThree.agvArriveCleanUnLoad = true;//AGV到达下料位置 |
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AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); |
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AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
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AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
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} |
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} |
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#endregion |
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#endregion |
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#region 清洗台到线体4请求上下料 |
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if (LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD") |
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if (LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD") |
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{ |
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{ |
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globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置 |
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globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置 |
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@@ -823,12 +803,10 @@ namespace FryPot_DosingSystem.Control |
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{ |
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{ |
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globalVar.agvArriveLineFour = true;//agv到达线体4下料位置 |
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globalVar.agvArriveLineFour = true;//agv到达线体4下料位置 |
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AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
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AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
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AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.hj); |
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AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
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} |
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} |
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#endregion |
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} |
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} |
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} |
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} |
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@@ -861,35 +839,20 @@ namespace FryPot_DosingSystem.Control |
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{ |
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{ |
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//日志 |
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//日志 |
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} |
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} |
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//---------------------空桶从线体去清洗-------------------------------// |
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//线体1任务上报 |
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if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料,指线体空桶上料 |
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{ |
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// globalVar.rollerLineOne.IsEpmtyBefore = false; |
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} |
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//线体2任务上报 |
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if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料,指线体空桶上料 |
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{ |
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// globalVar.rollerLineTwo.IsEpmtyBefore = false; |
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} |
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//线体3任务上报 |
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if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料,指线体空桶上料 |
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{ |
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// globalVar.rollerLineThree.IsEpmtyBefore = false; |
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} |
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//线体1任务上报 |
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//线体1任务上报 |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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{ |
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{ |
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globalVar.agvLineOneLoadCom = true; |
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globalVar.agvLineOneLoadCom = true; |
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AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.Yes); |
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AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); |
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if (globalVar.LOneFryPotSerial == 1) |
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if (globalVar.LOneFryPotSerial == 1) |
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{ |
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{ |
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AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_1); |
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AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_1); |
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} |
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} |
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else if (globalVar.LOneFryPotSerial == 4) |
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else if (globalVar.LOneFryPotSerial == 4) |
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{ |
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{ |
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AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_4); |
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AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_4); |
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} |
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} |
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} |
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} |
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@@ -897,15 +860,15 @@ namespace FryPot_DosingSystem.Control |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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{ |
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{ |
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globalVar.agvLineTwoLoadCom = true; |
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globalVar.agvLineTwoLoadCom = true; |
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AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.Yes); |
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AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); |
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if (globalVar.LTwoFryPotSerial == 2) |
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if (globalVar.LTwoFryPotSerial == 2) |
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{ |
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{ |
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AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2); |
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AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_2); |
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} |
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} |
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else if (globalVar.LTwoFryPotSerial == 5) |
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else if (globalVar.LTwoFryPotSerial == 5) |
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{ |
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{ |
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AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5); |
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AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_5); |
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} |
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} |
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} |
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} |
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@@ -913,74 +876,59 @@ namespace FryPot_DosingSystem.Control |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体上料 |
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{ |
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{ |
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globalVar.agvLineThreeLoadCom = true; |
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globalVar.agvLineThreeLoadCom = true; |
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AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.Yes); |
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AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3); |
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AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString()); |
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AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); |
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AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_3_3); |
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} |
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} |
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//线体1任务上报 |
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//线体1任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体1空桶上料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
globalVar.agvArriveLineOneLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(1, globalVar.LOneMaterialNum.ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_1); |
|
|
|
|
|
//到清洗处 |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体2空桶上料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
globalVar.agvArriveLineTwoLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(2, globalVar.LTwoMaterialNum.ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_2); |
|
|
|
|
|
//到清洗处 |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体3空桶上料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
globalVar.agvArriveLineThreeLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(3, globalVar.LThreeMaterialNum.ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_3); |
|
|
|
|
|
//到清洗处 |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//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 == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode],CartMotionTrajectory.hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//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,指线体下料 |
|
|
|
|
|
|
|
|
if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//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,指线体下料 |
|
|
|
|
|
|
|
|
if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指线体到炒锅下料 |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//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,指线体下料 |
|
|
|
|
|
{ |
|
|
|
|
|
|
|
|
#endregion |
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
//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,指线体下料 |
|
|
|
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
//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,指线体下料 |
|
|
|
|
|
{ |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
#endregion |
|
|
|
|
|
|
|
|
|
|
|
#region 空桶上下料任务信息回报 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#region 炒锅空桶上下料任务信息回报 |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指炒锅空桶上料 |
|
|
if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")// AGV正在上料,指炒锅空桶上料 |
|
|
{ |
|
|
{ |
|
@@ -1001,36 +949,36 @@ namespace FryPot_DosingSystem.Control |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
{ |
|
|
{ |
|
|
globalVar.agvFryPotEmptyRollerArrive = true; |
|
|
globalVar.agvFryPotEmptyRollerArrive = true; |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
if (globalVar.LOneFryPotSerial == 1) |
|
|
if (globalVar.LOneFryPotSerial == 1) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_1); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_1); |
|
|
} |
|
|
} |
|
|
else if (globalVar.LOneFryPotSerial == 4) |
|
|
else if (globalVar.LOneFryPotSerial == 4) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_4); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4); |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
{ |
|
|
{ |
|
|
globalVar.LTwoagvFryPotEmptyRollerArrive = true; |
|
|
globalVar.LTwoagvFryPotEmptyRollerArrive = true; |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
if (globalVar.LTwoFryPotSerial == 2) |
|
|
if (globalVar.LTwoFryPotSerial == 2) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_2); |
|
|
} |
|
|
} |
|
|
else if (globalVar.LTwoFryPotSerial == 5) |
|
|
else if (globalVar.LTwoFryPotSerial == 5) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_5); |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成,这里指炒锅空桶上料 |
|
|
{ |
|
|
{ |
|
|
globalVar.LThreeagvFryPotEmptyRollerArrive = true; |
|
|
globalVar.LThreeagvFryPotEmptyRollerArrive = true; |
|
|
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); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_3); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
|
|
@@ -1038,131 +986,173 @@ namespace FryPot_DosingSystem.Control |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
//线体2任务上报 |
|
|
|
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
//线体3任务上报 |
|
|
|
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
|
|
|
{ |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
//线体1任务上报 |
|
|
|
|
|
if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
|
|
|
{ |
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
} |
|
|
} |
|
|
else |
|
|
else |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
|
|
} |
|
|
} |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
|
|
|
|
|
|
if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
} |
|
|
} |
|
|
else |
|
|
else |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
|
|
} |
|
|
} |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料,指炒锅空桶下料 |
|
|
|
|
|
|
|
|
if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
|
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
} |
|
|
} |
|
|
else |
|
|
else |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
|
|
} |
|
|
} |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
} |
|
|
} |
|
|
|
|
|
#endregion |
|
|
|
|
|
#region 线体123空桶到清戏台 |
|
|
//线体1任务上报 |
|
|
//线体1任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体1空桶上料 |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
// globalVar.EmptyRollerUnLoadcCom = true; |
|
|
|
|
|
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); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
globalVar.agvArriveLineOneLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_1); |
|
|
|
|
|
//到清洗处 |
|
|
} |
|
|
} |
|
|
//线体2任务上报 |
|
|
//线体2任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体2空桶上料 |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
// globalVar.EmptyRollerUnLoadcCom = true; |
|
|
|
|
|
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); |
|
|
|
|
|
|
|
|
globalVar.agvArriveLineTwoLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_2); |
|
|
|
|
|
//到清洗处 |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
//线体3任务上报 |
|
|
//线体3任务上报 |
|
|
if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指炒锅空桶下料 |
|
|
|
|
|
|
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成,这里指线体3空桶上料 |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成"); |
|
|
|
|
|
// globalVar.EmptyRollerUnLoadcCom = true; |
|
|
|
|
|
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); |
|
|
|
|
|
|
|
|
globalVar.agvArriveLineThreeLoadCom = true; |
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString()); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_3); |
|
|
|
|
|
//到清洗处 |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (objData.state == "DONE" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体1到清戏台空桶下料 |
|
|
if (objData.state == "DONE" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体1到清戏台空桶下料 |
|
|
{ |
|
|
{ |
|
|
LSevenrobotJobId.Remove(objData.robotJobId); |
|
|
LSevenrobotJobId.Remove(objData.robotJobId); |
|
|
MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(4); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("线体【1】空桶在清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
|
|
|
AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
|
|
} |
|
|
} |
|
|
if (objData.state == "DONE" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体2到清戏台空桶下料 |
|
|
if (objData.state == "DONE" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体2到清戏台空桶下料 |
|
|
{ |
|
|
{ |
|
|
LEightrobotJobId.Remove(objData.robotJobId); |
|
|
LEightrobotJobId.Remove(objData.robotJobId); |
|
|
MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(4); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("线体【2】空桶在清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
|
|
|
AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
|
|
} |
|
|
} |
|
|
if (objData.state == "DONE" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体3到清戏台空桶下料 |
|
|
if (objData.state == "DONE" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指从线体3到清戏台空桶下料 |
|
|
{ |
|
|
{ |
|
|
LNinerobotJobId.Remove(objData.robotJobId); |
|
|
LNinerobotJobId.Remove(objData.robotJobId); |
|
|
MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(4); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("线体【3】空桶在清洗台卸桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
|
|
|
AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); |
|
|
} |
|
|
} |
|
|
|
|
|
#endregion |
|
|
|
|
|
#region 清洗台到线体4 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料位置上料完成,指清戏台空桶到上料 |
|
|
if (objData.state == "ROLLER_LOAD_FINISH" && LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料位置上料完成,指清戏台空桶到上料 |
|
|
{ |
|
|
{ |
|
|
MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); |
|
|
MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.hs_4);//去四号空桶线 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4);//去四号空桶线 |
|
|
|
|
|
AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum); |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "")//指定下料点正在下料,指清洗台空桶到线体4下料 |
|
|
if (objData.state == "ROLLER_UNLOAD_DOING" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "")//指定下料点正在下料,指清洗台空桶到线体4下料 |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
if (objData.state == "DONE"&& LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指清戏台空桶到线体4下料 |
|
|
|
|
|
{ |
|
|
|
|
|
LTenrobotJobId.Remove(objData.robotJobId); |
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("【4】号线空桶回桶完成"); |
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
if (globalVar.LFourRollerNum >= 8) |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); |
|
|
} |
|
|
} |
|
|
else |
|
|
else |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
if (objData.state == "DONE"&& LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成,指清戏台空桶到线体4下料 |
|
|
|
|
|
{ |
|
|
|
|
|
LTenrobotJobId.Remove(objData.robotJobId); |
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog("【4】号线空桶回桶完成"); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(4); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); |
|
|
|
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); |
|
|
|
|
|
AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
#endregion |
|
|
#endregion |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
} |
|
|
} |
|
@@ -1485,19 +1475,19 @@ namespace FryPot_DosingSystem.Control |
|
|
if (globalVar.rollerLineOne.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineOne.EmptyRollerNum != 0) |
|
|
if (globalVar.rollerLineOne.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineOne.EmptyRollerNum != 0) |
|
|
{ |
|
|
{ |
|
|
globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum); |
|
|
globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum); |
|
|
globalVar.LOneMaterialNum++; |
|
|
|
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|
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|
|
++globalVar.LOneMaterialNum; |
|
|
//是否手动复位PLC |
|
|
//是否手动复位PLC |
|
|
} |
|
|
} |
|
|
if (globalVar.rollerLineTwo.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineTwo.EmptyRollerNum != 0) |
|
|
if (globalVar.rollerLineTwo.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineTwo.EmptyRollerNum != 0) |
|
|
{ |
|
|
{ |
|
|
globalVar.rollerLineTwo.EmptyRollerNums.Add(globalVar.rollerLineTwo.EmptyRollerNum); |
|
|
globalVar.rollerLineTwo.EmptyRollerNums.Add(globalVar.rollerLineTwo.EmptyRollerNum); |
|
|
globalVar.LTwoMaterialNum++; |
|
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|
|
++globalVar.LTwoMaterialNum; |
|
|
//是否手动复位PLC |
|
|
//是否手动复位PLC |
|
|
} |
|
|
} |
|
|
if (globalVar.rollerLineThree.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineThree.EmptyRollerNum != 0) |
|
|
if (globalVar.rollerLineThree.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineThree.EmptyRollerNum != 0) |
|
|
{ |
|
|
{ |
|
|
globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum); |
|
|
globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum); |
|
|
globalVar.LThreeMaterialNum++; |
|
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|
++globalVar.LThreeMaterialNum; |
|
|
//是否手动复位PLC |
|
|
//是否手动复位PLC |
|
|
} |
|
|
} |
|
|
//炒锅状态数据 |
|
|
//炒锅状态数据 |
|
@@ -2066,9 +2056,7 @@ namespace FryPot_DosingSystem.Control |
|
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WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC |
|
|
WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置"); |
|
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MessageLog.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置"); |
|
|
// MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); |
|
|
// MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); |
|
|
AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum); |
|
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AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); |
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AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_4); |
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} |
|
|
} |
|
|
} |
|
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} |
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|
@@ -2724,7 +2712,7 @@ namespace FryPot_DosingSystem.Control |
|
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{ |
|
|
{ |
|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
} |
|
|
} |
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); |
|
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//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 |
|
@@ -2784,7 +2772,7 @@ namespace FryPot_DosingSystem.Control |
|
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|
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|
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|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
} |
|
|
} |
|
|
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 |
|
@@ -2820,7 +2808,7 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
|
|
|
|
|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); |
|
|
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 |
|
@@ -2906,7 +2894,6 @@ namespace FryPot_DosingSystem.Control |
|
|
//} |
|
|
//} |
|
|
globalVar.agvFryPotEmptyRollerArrive = false; |
|
|
globalVar.agvFryPotEmptyRollerArrive = false; |
|
|
globalVar.InOrOutputLock = false; |
|
|
globalVar.InOrOutputLock = false; |
|
|
globalVar.LOneMaterialNum--; |
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LOneFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LOneFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
globalVar.AllowAgvToLineLoadRoller = true; |
|
|
globalVar.AllowAgvToLineLoadRoller = true; |
|
@@ -2962,7 +2949,7 @@ namespace FryPot_DosingSystem.Control |
|
|
//} |
|
|
//} |
|
|
globalVar.LTwoagvFryPotEmptyRollerArrive = false; |
|
|
globalVar.LTwoagvFryPotEmptyRollerArrive = false; |
|
|
globalVar.LTwoInOrOutputLock = false; |
|
|
globalVar.LTwoInOrOutputLock = false; |
|
|
globalVar.LTwoMaterialNum--; |
|
|
|
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LTwoFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LTwoFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
globalVar.AllowAgvToLineTwoLoadRoller = true; |
|
|
globalVar.AllowAgvToLineTwoLoadRoller = true; |
|
@@ -3008,7 +2995,7 @@ namespace FryPot_DosingSystem.Control |
|
|
//AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3); |
|
|
//AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3); |
|
|
globalVar.LThreeagvFryPotEmptyRollerArrive = false; |
|
|
globalVar.LThreeagvFryPotEmptyRollerArrive = false; |
|
|
globalVar.LThreeInOrOutputLock = false; |
|
|
globalVar.LThreeInOrOutputLock = false; |
|
|
globalVar.LThreeMaterialNum--; |
|
|
|
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LThreeFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LThreeFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
//AGV拿到空桶,让AGV运桶到指定位置,同时可以让下一个AGV从线体装料运到炒锅 |
|
|
globalVar.AllowAgvToLineThreeLoadRoller = true; |
|
|
globalVar.AllowAgvToLineThreeLoadRoller = true; |
|
@@ -3521,7 +3508,7 @@ namespace FryPot_DosingSystem.Control |
|
|
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); |
|
|
|
|
|
|
|
|
|
|
|
globalVar.LOneCurrentCookingStep++; |
|
|
globalVar.LOneCurrentCookingStep++; |
|
|
OutputMaterialQuene.Enqueue(materialInfo); |
|
|
OutputMaterialQuene.Enqueue(materialInfo); |
|
|
globalVar.agvArriveUpLoad = false; |
|
|
globalVar.agvArriveUpLoad = false; |
|
@@ -3556,8 +3543,8 @@ namespace FryPot_DosingSystem.Control |
|
|
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"); |
|
|
DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc |
|
|
DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start); |
|
|
|
|
|
globalVar.LOneMaterialNum--; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
globalVar.agvArriveLineOneLoadEmptyRoller = false; |
|
|
globalVar.agvArriveLineOneLoadEmptyRoller = false; |
|
|
//原料到位,agv到位,agv自行运料到清洗处 |
|
|
//原料到位,agv到位,agv自行运料到清洗处 |
|
|
} |
|
|
} |
|
@@ -3598,7 +3585,7 @@ 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); |
|
|
|
|
|
|
|
|
|
|
|
globalVar.LTwoCurrentCookingStep++; |
|
|
globalVar.LTwoCurrentCookingStep++; |
|
|
LTwoOutputMaterialQuene.Enqueue(materialInfo); |
|
|
LTwoOutputMaterialQuene.Enqueue(materialInfo); |
|
|
globalVar.agvArriveLTwoUpLoad = false; |
|
|
globalVar.agvArriveLTwoUpLoad = false; |
|
@@ -3635,8 +3622,8 @@ namespace FryPot_DosingSystem.Control |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置"); |
|
|
DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc |
|
|
DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start); |
|
|
|
|
|
globalVar.LTwoMaterialNum--; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
globalVar.agvArriveLineTwoLoadEmptyRoller = false; |
|
|
globalVar.agvArriveLineTwoLoadEmptyRoller = false; |
|
|
|
|
|
|
|
|
//原料到位,agv到位,agv自行运料到清洗处 |
|
|
//原料到位,agv到位,agv自行运料到清洗处 |
|
@@ -3678,7 +3665,7 @@ 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); |
|
|
|
|
|
|
|
|
|
|
|
globalVar.LThreeCurrentCookingStep++; |
|
|
globalVar.LThreeCurrentCookingStep++; |
|
|
LThreeOutputMaterialQuene.Enqueue(materialInfo); |
|
|
LThreeOutputMaterialQuene.Enqueue(materialInfo); |
|
|
globalVar.agvArriveLThreeUpLoad = false; |
|
|
globalVar.agvArriveLThreeUpLoad = false; |
|
@@ -3715,8 +3702,8 @@ namespace FryPot_DosingSystem.Control |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置"); |
|
|
MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置"); |
|
|
DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc |
|
|
DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); |
|
|
AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start); |
|
|
|
|
|
globalVar.LThreeMaterialNum--; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
globalVar.agvArriveLineThreeLoadEmptyRoller = false; |
|
|
globalVar.agvArriveLineThreeLoadEmptyRoller = false; |
|
|
// globalVar.rollerLineThree.IsEpmtyBefore = false; |
|
|
// globalVar.rollerLineThree.IsEpmtyBefore = false; |
|
|
|
|
|
|
|
@@ -3753,9 +3740,6 @@ 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($"AGV去{num}号滚筒线装桶"); |
|
|
globalVar.AllowAgvToLineLoadRoller = false; |
|
|
globalVar.AllowAgvToLineLoadRoller = false; |
|
|
} |
|
|
} |
|
@@ -3777,9 +3761,7 @@ namespace FryPot_DosingSystem.Control |
|
|
{ |
|
|
{ |
|
|
if (errorCode == "SUCCESS") |
|
|
if (errorCode == "SUCCESS") |
|
|
{ |
|
|
{ |
|
|
AgvViewModel.GetInstance().Set停车桩(num, IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); |
|
|
|
|
|
AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue($"tqx_{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"); |
|
|
} |
|
|
} |
|
|
else if (errorCode == "Analysis Error") |
|
|
else if (errorCode == "Analysis Error") |
|
@@ -3800,9 +3782,7 @@ 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, CartMotionTrajectory.jtqx); |
|
|
|
|
|
|
|
|
|
|
|
MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶"); |
|
|
MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶"); |
|
|
} |
|
|
} |
|
|
else if (errorCode == "Analysis Error") |
|
|
else if (errorCode == "Analysis Error") |
|
|