优化启动流程

Rs.SkyLine/Commom/Ops.cs

@@ -24,104 +24,104 @@ namespace Rs.MotionPlat.Commom
             SysConfigParam.Init();
             int errNum = 0;
             //Task.Run(() => {
-                #region 初始化固高卡
-                ErrorCode errCode = GugaoPulseCardManager.Instance.Init();
-                if (errCode > ErrorCode.Ok)
-                {
-                    errNum++;
-                    MessageQueue.Instance.Warn($"Gugao motion card load fail {errCode}");
-                    LogHelper.Debug($"Gugao motion card load fail {errCode}");
-                }
-                else
-                {
-                    MessageQueue.Instance.Insert("Gugao motion card load success");
-                }
-                #endregion
+            #region 初始化固高卡
+            ErrorCode errCode = GugaoPulseCardManager.Instance.Init();
+            if (errCode > ErrorCode.Ok)
+            {
+                errNum++;
+                MessageQueue.Instance.Warn($"Gugao motion card load fail {errCode}");
+                LogHelper.Debug($"Gugao motion card load fail {errCode}");
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("Gugao motion card load success");
+            }
+            #endregion
 
-                #region 初始化ztm卡
-                errCode = ZtmCardManager.Instance.Init();
-                if (errCode > ErrorCode.Ok)
-                {
-                    errNum++;
-                    MessageQueue.Instance.Warn($"rs motion card load fail {errCode}"); return;
-                }
-                else
-                {
-                    MessageQueue.Instance.Insert("rs motion card load ok");
+            #region 初始化ztm卡
+            errCode = ZtmCardManager.Instance.Init();
+            if (errCode > ErrorCode.Ok)
+            {
+                errNum++;
+                MessageQueue.Instance.Warn($"rs motion card load fail {errCode}"); return;
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("rs motion card load ok");
 
-                }
-                #endregion
+            }
+            #endregion
+
+            #region 初始化IO
+            IoManager.Instance.Init();
+            #endregion
 
-                #region 初始化IO
-                IoManager.Instance.Init();
-                #endregion
+            #region 链接相机
+            //链接相机
+            ECameraErrorCode ceCode = HikCamera.Instance.Init();
+            if (ceCode > ECameraErrorCode.Ok)
+            {
+                errNum++;
+                MessageQueue.Instance.Warn(ceCode.ToString());
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("Camera load ok!");
 
-                #region 链接相机
-                //链接相机
-                ECameraErrorCode ceCode = HikCamera.Instance.Init();
-                if (ceCode > ECameraErrorCode.Ok)
+                int ret = HikCamera.Instance.SetReverseX("upCamera", EDir.Y, false);
+                ret += HikCamera.Instance.SetReverseX("upCamera", EDir.X, false);
+                if (ret != 0)
                 {
-                    errNum++;
-                    MessageQueue.Instance.Warn(ceCode.ToString());
+                    MessageQueue.Instance.Warn("Camera init error");
                 }
-                else
+                ret = 0;
+                ret = HikCamera.Instance.SetReverseX("downCamera", EDir.X, true);
+                ret += HikCamera.Instance.SetReverseX("downCamera", EDir.Y, false);
+                if (ret != 0)
                 {
-                    MessageQueue.Instance.Insert("Camera load ok!");
-
-                    int ret = HikCamera.Instance.SetReverseX("upCamera", EDir.Y, false);
-                    ret += HikCamera.Instance.SetReverseX("upCamera", EDir.X, false);
-                    if (ret != 0)
-                    {
-                        MessageQueue.Instance.Warn("Camera init error");
-                    }
-                    ret = 0;
-                    ret = HikCamera.Instance.SetReverseX("downCamera", EDir.X, true);
-                    ret += HikCamera.Instance.SetReverseX("downCamera", EDir.Y, false);
-                    if (ret != 0)
-                    {
-                        MessageQueue.Instance.Warn("Camera init error");
-                    }
-
-                    ret = HikCamera.Instance.StartGrab("upCamera");
-                    if (ret != 0)
-                    {
-                        MessageQueue.Instance.Warn("Camera init error");
-                    }
-                    ret = HikCamera.Instance.StartGrab("locationCamera");
-                    if (ret != 0)
-                    {
-                        MessageQueue.Instance.Warn("Camera init error");
-                    }
-
-                    ret = HikCamera.Instance.StartGrab("scanCamera");
-                    if (ret != 0)
-                    {
-                        MessageQueue.Instance.Warn("Camera init error");
-                    }
+                    MessageQueue.Instance.Warn("Camera init error");
                 }
-                #endregion
-
-                //使能所有轴卡
-                AxisControl.AllEnable();
-                SafeControl.Instance.Init();
-                NozzleManager.Init();
-                TestCenter.Instance.Init();
-                TrayPointManager.LoadPoint();
-                AxisControl.AllStop();
-                if (errNum==0)
+
+                ret = HikCamera.Instance.StartGrab("upCamera");
+                if (ret != 0)
                 {
-                    MessageQueue.Instance.Insert("Init finished");
+                    MessageQueue.Instance.Warn("Camera init error");
                 }
-               else
+                ret = HikCamera.Instance.StartGrab("locationCamera");
+                if (ret != 0)
                 {
-                    MessageQueue.Instance.Insert("Init fail");
+                    MessageQueue.Instance.Warn("Camera init error");
                 }
-                Ops.On("上下气缸电磁阀原位");
-                Ops.Off("上下气缸电磁阀动位");
-                Ops.Off("下左相机光源触发");
-                Ops.Off("下右相机光源触发");
-                Ops.Off("上相机光源触发");
 
+                ret = HikCamera.Instance.StartGrab("scanCamera");
+                if (ret != 0)
+                {
+                    MessageQueue.Instance.Warn("Camera init error");
+                }
+            }
+            #endregion
+
+            //使能所有轴卡
+            AxisControl.AllEnable();
+            SafeControl.Instance.Init();
+            NozzleManager.Init();
+            TestCenter.Instance.Init();
+            TrayPointManager.LoadPoint();
+            AxisControl.AllStop();
+            if (errNum == 0)
+            {
+                MessageQueue.Instance.Insert("Init finished");
+            }
+            else
+            {
+                MessageQueue.Instance.Insert("Init fail");
+            }
+            Ops.On("上下气缸电磁阀原位");
+            Ops.Off("上下气缸电磁阀动位");
+            Ops.Off("下左相机光源触发");
+            Ops.Off("下右相机光源触发");
+            Ops.Off("上相机光源触发");
+            TurnoverSlotOffset.Init();
                 MonitorSystemButton.Instance.Start();
             //});
            
@@ -130,17 +130,18 @@ namespace Rs.MotionPlat.Commom
 
         public static void Start()
         {
+            TakeTrayFlow.Instance.Start();
+            StockManager.Instance.Start();
             Task.Run(() => {
                 MachineManage.Instance.MachineStatus = EMachineStatus.Working;
-                TakeTrayFlow.Instance.Start();
-                StockManager.Instance.Start();
                 WorkEnvironment.Instance.Ready();
                 if (WorkEnvironment.Instance.EnvReadyOkEvent.WaitOne())
                 {
                     WorkFlow.Instance.Start();
                     TurnoverFlow.Instance.Start();
-                    MachineManage.Instance.RunState = ERunState.Waiting;
-                    MachineManage.Instance.MachineStatus = EMachineStatus.Working;
+                    MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Started);
+                    MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
+                    MachineManage.Instance.SetLocalMachineStatus(EMachineStatus.Working);
                 }
             });
         }

Rs.SkyLine/Commom/Scheduling.cs

@@ -365,7 +365,15 @@ namespace Rs.MotionPlat.Commom
             /// <summary>
             /// 多功能仓
             /// </summary>
-            Multifunction
+            Multifunction,
+            /// <summary>
+            /// 待测空盘
+            /// </summary>
+            EmptyInput,
+            /// <summary>
+            /// 已测空盘料仓
+            /// </summary>
+            EmptyOutput
         }
         public enum EMultifunctionType
         {
@@ -431,7 +439,11 @@ namespace Rs.MotionPlat.Commom
             /// <summary>
             /// 切回上一个
             /// </summary>
-            Previous
+            Previous,
+            /// <summary>
+            /// 回收料盘
+            /// </summary>
+            Recycle
         }
 
         public enum ESiloStatus

Rs.SkyLine/Flow/AlarmConstID.cs

@@ -0,0 +1,66 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Rs.MotionPlat.Flow
+{
+    /// <summary>
+    /// 报警常量
+    /// </summary>
+    public class AlarmConstID
+    {
+        /// <summary>
+        /// Tray盘取料失败报警
+        /// </summary>
+        public const int TrayTakeFailAlarm = 1;
+
+        /// <summary>
+        /// 周转盘取料失败报警
+        /// </summary>
+        public const int TurnoverTakeFailAlarm = 2;
+
+        /// <summary>
+        /// 测试盘取料失败报警
+        /// </summary>
+        public const int TestTakeFailAlarm = 3;
+
+
+        /// <summary>
+        /// 周转盘放料失败报警
+        /// </summary>
+        public const int TurnoverDumpFailAlarm = 4;
+
+        /// <summary>
+        /// 测试盘放料失败报警
+        /// </summary>
+        public const int TestDumpFailAlarm = 5;
+
+        /// <summary>
+        /// Empty1满料报警
+        /// </summary>
+        public const int Empty1FullAlarm = 6;
+
+        /// <summary>
+        /// Input盘缺料报警
+        /// </summary>
+        public const int InputNullAlarm = 7;
+        /// <summary>
+        /// OK盘满料报警
+        /// </summary>
+        public const int OkFullAlarm = 8;
+        /// <summary>
+        /// NG盘满料报警
+        /// </summary>
+        public const int NgFullAlarm = 9;
+        /// <summary>
+        /// 多功能盘满料报警
+        /// </summary>
+        public const int MultiFullAlarm = 10;
+        /// <summary>
+        /// Empty2缺料报警
+        /// </summary>
+        public const int Empty2NullAlarm = 11;
+    }
+}

Rs.SkyLine/Flow/BaseFlow.cs

@@ -13,6 +13,7 @@ namespace Rs.MotionPlat.Flow
         protected bool b_IsRun = false;
         protected bool b_IsStop = true;
         private Task mainTask;
+        protected string logInfo = "";
         protected int stopWaitTime = 10;
         protected int sleepTime = 10;
         public BaseFlow() {

Rs.SkyLine/Flow/MachineManage.cs

@@ -92,5 +92,32 @@ namespace Rs.MotionPlat.Flow
         public EAssignMode AssignMode { get; set; } = EAssignMode.Normal;
 
         public bool NeedRestoreMove { get; set; } = false;
+
+        /// <summary>
+        /// 设置返回中控的运行状态
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetCenterMachineStatus(ERunStatus status)
+        {
+            RunStatus= status;
+        }
+
+        /// <summary>
+        /// 设置本地运行状态
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetLocalMachineStatus(EMachineStatus status)
+        {
+            MachineStatus= status;
+        }
+
+        /// <summary>
+        /// 设置上下料的状态
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetLoadUnloadStatus(ERunState status)
+        {
+            RunState= status;
+        }
     }
 }

Rs.SkyLine/Flow/Space/TrayTest.cs

@@ -12,6 +12,7 @@ namespace Rs.AutoDischarge.V3.Flow
     enum ETrayTestStep
     {
         等待命令,
+        下料前料仓满料检测,
         到下料降速位,
         等待到下料降速位,
         到下料结束位,
@@ -99,7 +100,6 @@ namespace Rs.AutoDischarge.V3.Flow
         IAxis StockFlow = null;
         IAxis StockZ=null;
         Stopwatch timer = new Stopwatch();
-        string loginfo = "";
         public override void Run()
         {
             
@@ -110,6 +110,7 @@ namespace Rs.AutoDischarge.V3.Flow
                     {
                         if (NeedUnload)
                         {
+                            logInfo = $"{stockNo} 料仓收到下料任务";
                             Status = ETrayStatus.Unloading;
                             //下料
                             IoManager.Instance.WriteOut($"{stockNo}号料仓斜推气缸", 0);
@@ -119,7 +120,7 @@ namespace Rs.AutoDischarge.V3.Flow
                             Step = ETrayTestStep.到下料降速位;
 
                         }
-                        else if (NeedLoad)
+                        else if (NeedLoad && (Status!= ETrayStatus.Loading))
                         {
                             if(!Ops.IsOn($"{stockNo}号料仓料盘到位光电检测") || m_bWholeLoad==false)
                             {
@@ -137,6 +138,7 @@ namespace Rs.AutoDischarge.V3.Flow
                             }
                             else
                             {
+                                NeedLoad = false;
                                 Msg.ShowError($"检测到{stockNo}号料仓处有料盘，不能重复送料盘");
                                 MessageQueue.Instance.Warn($"检测到{stockNo}号料仓处有料盘，不能重复送料盘");
                                 LogHelper.Debug($"检测到{stockNo}号料仓处有料盘，不能重复送料盘");
@@ -144,6 +146,9 @@ namespace Rs.AutoDischarge.V3.Flow
                         }
                         
                     }
+                    break;
+                case ETrayTestStep.下料前料仓满料检测:
+
                     break;
                 case ETrayTestStep.到下料降速位:
                     StockFlow.MoveOffset(SysConfigParam.GetValue<double>("HighSpeedDistance"), GlobalVar.WholeSpeed);
@@ -315,10 +320,10 @@ namespace Rs.AutoDischarge.V3.Flow
                     else
                     {
                         timer.Stop();
-                        loginfo = $"料仓{stockNo}上料未到位，请手动处理后，点击确定";
-                        MessageQueue.Instance.Warn(loginfo);
-                        LogHelper.Debug(loginfo);
-                        Msg.ShowError(loginfo);
+                        logInfo = $"料仓{stockNo}上料未到位，请手动处理后，点击确定";
+                        MessageQueue.Instance.Warn(logInfo);
+                        LogHelper.Debug(logInfo);
+                        Msg.ShowError(logInfo);
                         timer.Restart();
                     }
                     break;

Rs.SkyLine/Flow/TestCenter.cs

@@ -16,7 +16,7 @@ namespace Rs.MotionPlat.Flow
 {
     public class TestCenter
     {
-        TcpClientHelper client = new TcpClientHelper("127.0.0.1",2048);
+        TcpClientHelper client = new TcpClientHelper("10.86.15.67",2048);
         SchedulingResult schedulResult = new SchedulingResult();
         SchedulingMaterial sm;
         public event Action<string> ReciveTaskEvent;
@@ -80,25 +80,16 @@ namespace Rs.MotionPlat.Flow
                 switch (eInstructioneInstruction)
                 {
                     case EInstruction.InquireSiloStatus:
+                        InquireSiloStatus(json);
+                        break;
+                    case EInstruction.RequestSwitchTray:
+
                         break;
                     case EInstruction.InquireConnectionInfo:
-                        SchedulingConnectionInfo info = JsonConvert.DeserializeObject<SchedulingConnectionInfo>(json);
-                        info.Type = SchedulingConnectionInfo.EType.Scheduling;
-                        client.Send(info.ToString());
-                        //LogHelper.Debug(info.ToString());
-                        ReplayTaskEvent?.Invoke(info.ToString());
+                        InquireConnectionInfo(json);
                         break;
                     case EInstruction.LoadAndUnload:
-                        LogHelper.Debug("recive:" + json);
-                        MachineManage.Instance.RunState = ERunState.Busying;
-                        sm = JsonConvert.DeserializeObject<SchedulingMaterial>(json);
-                        schedulResult = new SchedulingResult() { Instruction = sm.Instruction, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
-                        string buffer = schedulResult.ToString();
-                        client.Send(buffer);
-                        LogHelper.TestCenterLog(buffer);
-                        LoadAndUnloadTask.Instance.Add(sm);
-                        MessageQueue.Instance.Insert(sm.Instruction.ToString());
-                        ReplayTaskEvent?.Invoke(schedulResult.ToString());
+                        LoadAndUnload(json);
                         break;
                     case EInstruction.CancelLoadAndUnload:
                         //schedulResult = new SchedulingResult() { Instruction = EInstruction.CancelLoadAndUnload, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
@@ -184,8 +175,6 @@ namespace Rs.MotionPlat.Flow
                         client.Send(schedulResult.ToString());
                         ReplayTaskEvent?.Invoke(schedulResult.ToString());
                         break;
-                    case EInstruction.RequestSwitchTray:
-                        break;
                     case EInstruction.BeginSwitchTray:
                         break;
                     case EInstruction.MoveScanner:
@@ -221,6 +210,68 @@ namespace Rs.MotionPlat.Flow
 
         }
 
+
+        private void LoadAndUnload(string json)
+        {
+            LogHelper.Debug("recive:" + json);
+            MachineManage.Instance.RunState = ERunState.Busying;
+            sm = JsonConvert.DeserializeObject<SchedulingMaterial>(json);
+            schedulResult = new SchedulingResult() { Instruction = sm.Instruction, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
+            string buffer = schedulResult.ToString();
+            client.Send(buffer);
+            LoadAndUnloadTask.Instance.Add(sm);
+            //MessageQueue.Instance.Insert(sm.Instruction.ToString());
+            //ReplayTaskEvent?.Invoke(schedulResult.ToString());
+        }
+        /// <summary>
+        /// 查询 状态
+        /// </summary>
+        /// <param name="json"></param>
+        private void InquireConnectionInfo(string json)
+        {
+            SchedulingConnectionInfo info = JsonConvert.DeserializeObject<SchedulingConnectionInfo>(json);
+            info.Type = SchedulingConnectionInfo.EType.Scheduling;
+            TestCenter.instance.Send(info);
+        }
+        /// <summary>
+        /// 查询料仓状态
+        /// </summary>
+        /// <param name="json"></param>
+        private void InquireSiloStatus(string json)
+        {
+            SchedulingSilo inquireSilo = JsonConvert.DeserializeObject<SchedulingSilo>(json);
+            switch (inquireSilo.SiloType)
+            {
+                case SchedulingSiloBase.ESiloType.ToBeTested:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    break;
+                case SchedulingSiloBase.ESiloType.Passed:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    break;
+                case SchedulingSiloBase.ESiloType.Failed:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    break;
+                case SchedulingSiloBase.ESiloType.Multifunction:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    break;
+                case SchedulingSiloBase.ESiloType.EmptyInput:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;// StockManager.Instance.GetStockStatus(EStockType.Empty1);
+                    break;
+                case SchedulingSiloBase.ESiloType.EmptyOutput:
+                    inquireSilo.SiloStatus = SchedulingSilo.ESiloStatus.Standby;
+                    break;
+            }
+            TestCenter.instance.Send(inquireSilo);
+            //查询料仓状态
+        }
+        /// <summary>
+        /// 请求切盘
+        /// </summary>
+        private void RequestSwitchTray(string json)
+        {
+
+        }
+
         /// <summary>
         /// 断开连接
         /// </summary>
@@ -282,6 +333,12 @@ namespace Rs.MotionPlat.Flow
             return client.Send(content);
         }
 
+        public int Send(Scheduling scheduing)
+        {
+            string content = JsonConvert.SerializeObject(scheduing, new StringEnumConverter());
+            return Send(content);
+        }
+
         public void EndInput()
         {
             Scheduling s = new Scheduling();

Rs.SkyLine/Flow/WorkEnvironment.cs

@@ -38,6 +38,7 @@ namespace Rs.MotionPlat.Flow
         }
         public void Ready()
         {
+            step = EStockCheckStep.Input料仓是否就绪;
             EnvReadyOkEvent.Reset();
             Task.Run(() =>
             {

Rs.SkyLine/Flow/WorkFlow.cs

@@ -121,7 +121,6 @@ namespace Rs.MotionPlat.Flow
         int needGrabNum = 0;//需要拍照的吸嘴数量
         int reGrabCount = 0;//重拍次数
         ErrorCode errCode = ErrorCode.Ok;
-        string logInfo = "";
         List<TurnoverInfo> testLoadList = new List<TurnoverInfo>();
         List<TurnoverInfo> testUnLoadList = new List<TurnoverInfo>();
         public override void Run()
@@ -129,7 +128,7 @@ namespace Rs.MotionPlat.Flow
             switch (flowStep)
             {
                 case EWorkFlowStep.等待任务:
-                    if (LoadAndUnloadTask.Instance.Count > 0)
+                    if (LoadAndUnloadTask.Instance.Count > 0 && WorkEnvironment.Instance.EnvironmentOk)
                     {
                         if(LoadAndUnloadTask.Instance.CanRunTask())
                         {
@@ -179,7 +178,7 @@ namespace Rs.MotionPlat.Flow
                             curSlotPoint = null;
                             if (curTask.FromType == TurnoverType.Turnover)
                             {
-                                logInfo = $"吸嘴{curTask.FromIndex + 1} 去周转盘 {curTask.FromIndex + 1} 号穴位取料";
+                                logInfo = $"吸嘴 {curNozzle.NozzleIndex} 去周转盘 {curTask.FromIndex + 1} 号穴位取料";
                                 curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curTask.FromIndex + 1, EPointType.RUN);
                                 MessageQueue.Instance.Insert(logInfo);
                                 LogHelper.Debug(logInfo);

Rs.SkyLine/Rs.SkyLine.csproj

@@ -152,6 +152,7 @@
     <Compile Include="DebugMove.designer.cs">
       <DependentUpon>DebugMove.cs</DependentUpon>
     </Compile>
+    <Compile Include="Flow\AlarmConstID.cs" />
     <Compile Include="Flow\AxisControl.cs" />
     <Compile Include="Flow\BaseFlow.cs" />
     <Compile Include="Flow\HomeFlow.cs" />