//机械手运行到指定脉冲
private void btRunAuto_Click(object sender, RoutedEventArgs e)
{
ShowKey(false);
//csKey.Close();
Cursor = Cursors.Wait;
PLC_Tcp_CP.ChangeAdd(1);
string x = tbTargetX.Text.Trim();
string z = tbTargetZ.Text.Trim();
if (string.IsNullOrEmpty(x))
{
csMsg.ShowWarning("X轴脉冲不能为空", false);
Cursor = null;
return;
}
if (string.IsNullOrEmpty(z))
{
csMsg.ShowWarning("Z轴脉冲不能为空", false);
Cursor = null;
return;
}
float xp; float zp;
if (float.TryParse(x, out xp) && float.TryParse(z, out zp))
{
PLC_Tcp_CP.ExtramanAutoMoveToPulse(xp, zp);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(200);
while (!PLC_Tcp_CP.ExtramanAutoMoveIsOK())
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Extraman))
{
break;
}
Thread.Sleep(200);
}
if (DateTime.Now <= timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Extraman))
{
tbNowX.Text = PLC_Tcp_CP.ReadExtramanPulseX().ToString();
tbNowZ.Text = PLC_Tcp_CP.ReadExtramanPulseZ().ToString();
}
else
{
csMsg.ShowWarning("机械手未运行到指定位置", false);
}
}
else
{
csMsg.ShowWarning("脉冲值格式不正确", false);
}
Cursor = null;
}
private void Back()
{
SetErrorVisibility(Visibility.Hidden);
ShowPlate(PLC_Tcp_AP.PlateType.Left, "", 0);
ShowPlate(PLC_Tcp_AP.PlateType.Right, "", 0);
PLC_Tcp_CP.ChangeAdd(1);
//运行到接药口
PLC_Tcp_CP.ExtramanAutoMoveToPulse(float.Parse(Config.Mac_C.Pulse_Meet_X), float.Parse(Config.Mac_C.Pulse_Meet_Z));
//推药板复位
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Left, float.Parse(Config.Mac_C.Pulse_Plate_Min_Left));
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Right, float.Parse(Config.Mac_C.Pulse_Plate_Min_Right));
}
//加药
private void Add()
{
bool stop = false;
if (plate_Left.Num > 0)
{
//查询缺药储位
string sql = "select poscode from drug_pos where drugnummax>drugnum and (substring(poscode,1,1)<" + Config.Mac_C.Count_Unit + " or substring(poscode,4,2)<={2}) and maccode='{0}' and drugonlycode='{1}' order by (drugnummax-drugnum) desc";
sql = string.Format(sql, Config.Soft.MacCode, plate_Left.DrugOnlyCode, Config.Mac_C.MaxCol);
DataTable dt = new DataTable();
csSql.ExecuteSelect(sql, Config.Soft.ConnString, out dt);
List <string> poss = new List <string>();
foreach (DataRow row in dt.Rows)
{
poss.Add(row["poscode"].ToString());
}
//获取左侧最短加药路径
List <string> shortestPoss = poss;// GetShortestPath(poss, "A", "L");
//int haveNum = plate_Left.Num;
string drugOnlyCode = plate_Left.DrugOnlyCode;
foreach (string pos in shortestPoss)
{
if (plate_Left.Num > 0)
{
//先盘点
if (Config.Mac_C.PDBeforeAdd == "Y")
{
int n = PLC_Tcp_CP.PDNum(pos, false);
if (n >= 0)
{
sql = "update drug_pos set drugnum='{0}' where maccode='{1}' and poscode='{2}'";
sql = string.Format(sql, n, Config.Soft.MacCode, pos);
csSql.ExecuteSql(sql, Config.Soft.ConnString);
}
}
sql = "select (drugnummax-drugnum) from drug_pos where maccode='{0}' and poscode='{1}'";
sql = string.Format(sql, Config.Soft.MacCode, pos);
int shortNum = 0; string v;
csSql.ExecuteScalar(sql, Config.Soft.ConnString, out v);
if (!string.IsNullOrEmpty(v))
{
shortNum = int.Parse(v);
}
int addNum = 0;
if (shortNum > 0)
{
int n = int.Parse(v);
if (plate_Left.Num > n)
{
addNum = n;
//plate_Left.Num -= n;
}
else
{
addNum = plate_Left.Num;
//haveNum = 0;
}
}
int a = Add(pos, "L", addNum, plate_Left.Batch, plate_Left.QZ, ref stop);
plate_Left.Num -= a;
SetNumL(plate_Left.Num);
if (stop)
{
break;
}
}
else
{
break;
}
}
if (!stop)
{
//推药板复位
//PLC_Tcp.ChangeAdd(1);
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Left, float.Parse(Config.Mac_C.Pulse_Plate_Min_Left));
}
plate_Left.DrugOnlyCode = "";
plate_Left.Num = 0;
}
if (plate_Right.Num > 0 && !stop)
{
//查询缺药储位
string sql = "select poscode from drug_pos where drugnummax>drugnum and (substring(poscode,1,1)>1 or substring(poscode,4,2)>={2}) and maccode='{0}' and drugonlycode='{1}' order by (drugnummax-drugnum) desc";
sql = string.Format(sql, Config.Soft.MacCode, plate_Right.DrugOnlyCode, Config.Mac_C.MinCol);
DataTable dt = new DataTable();
csSql.ExecuteSelect(sql, Config.Soft.ConnString, out dt);
List <string> poss = new List <string>();
foreach (DataRow row in dt.Rows)
{
poss.Add(row["poscode"].ToString());
}
//获取右侧最短加药路径
List <string> shortestPoss = poss;// GetShortestPath(poss, "A", "R");
//int haveNum = plate_Right.Num;
string drugOnlyCode = plate_Right.DrugOnlyCode;
foreach (string pos in shortestPoss)
{
if (plate_Right.Num > 0)
{
//先盘点
if (Config.Mac_C.PDBeforeAdd == "1")
{
int n = PLC_Tcp_CP.PDNum(pos, false);
if (n >= 0)
{
sql = "update drug_pos set drugnum='{0}' where maccode='{1}' and poscode='{2}'";
sql = string.Format(sql, n, Config.Soft.MacCode, pos);
csSql.ExecuteSql(sql, Config.Soft.ConnString);
}
}
sql = "select (drugnummax-drugnum) from drug_pos where maccode='{0}' and poscode='{1}'";
sql = string.Format(sql, Config.Soft.MacCode, pos);
int shortNum = 0; string v;
csSql.ExecuteScalar(sql, Config.Soft.ConnString, out v);
if (!string.IsNullOrEmpty(v))
{
shortNum = int.Parse(v);
}
int addNum = 0;
if (shortNum > 0)
{
int n = int.Parse(v);
if (plate_Right.Num > n)
{
addNum = n;
//plate_Right.Num -= n;
}
else
{
addNum = plate_Right.Num;
//haveNum = 0;
}
}
int a = Add(pos, "R", addNum, plate_Right.Batch, plate_Right.QZ, ref stop);
//haveNum -= a;
plate_Right.Num -= a;
SetNumR(plate_Right.Num);
if (stop)
{
break;
}
}
else
{
break;
}
}
if (!stop)
{
//推药板复位
//PLC_Tcp.ChangeAdd(1);
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Right, float.Parse(Config.Mac_C.Pulse_Plate_Min_Right));
}
plate_Right.DrugOnlyCode = "";
plate_Right.Num = 0;
}
IsBusy = false;
//ShowPlate(PLC.PlateType.Left, "", 0);
//ShowPlate(PLC.PlateType.Right, "", 0);
//ShowPos(tbCode.Text.Trim());
if (!stop)
{
PLC_Tcp_CP.ExtramanAutoMoveToPulse(float.Parse(Config.Mac_C.Pulse_Meet_X), float.Parse(Config.Mac_C.Pulse_Meet_Z));
}
}
private void PDItem()
{
toPD = false;
Pos[] ps = lvPos.ItemsSource as Pos[];
Pos p = null;
int index = 0;
for (int i = 0; i < ps.Length; i++)
{
if (string.IsNullOrEmpty(ps[i].PDNum))
{
p = ps[i];
index = i;
break;
}
}
if (p != null)
{
if (index > lvPos.Items.Count - 10)
{
lvPos.ScrollIntoView(lvPos.Items[lvPos.Items.Count - 1]);
}
else
{
lvPos.ScrollIntoView(lvPos.Items[index + 5]);
}
int n = PLC_Tcp_CP.PDNum(p.PosCode, false);
if (n < 0)
{
p.PDNum = "-1";
p.BackColor = color_Error;
}
else
{
p.PDNum = n.ToString();
int num = int.Parse(p.DrugNum);
if (n == num)
{
p.BackColor = color_Ok;
}
else
{
if (n > num)
{
p.BackColor = color_Ying;
}
else if (n < num)
{
p.BackColor = color_Kui;
}
string sql = "insert into sys_error values('{0}','{1}','{2}','PE',{3},{4},getdate())";
sql = string.Format(sql, Config.Soft.MacCode, p.PosCode, p.DrugOnlyCode, num, n);
csSql.ExecuteSql(sql, Config.Soft.ConnString);
}
string s = "update drug_pos set drugnum={2} where maccode='{0}' and poscode='{1}'";
s = string.Format(s, Config.Soft.MacCode, p.PosCode, p.PDNum);
csSql.ExecuteSql(s, Config.Soft.ConnString);
p.DrugNum = n.ToString();
}
lvPos.ItemsSource = ps.ToList().ToArray();
toPD = true;
}
else
{
toPD = false;
timer_PD.Stop();
csMsg.ShowInfo("盘点完成", false);
//运行到接药口
PLC_Tcp_CP.ExtramanAutoMoveToPulse(float.Parse(Config.Mac_C.Pulse_Meet_X), float.Parse(Config.Mac_C.Pulse_Meet_Z));
}
}
//指定储位加药
private int Add(string posCode, string dir, int num, string batch, bool qz, ref bool stopAdd)
{
int result = 0;
string sql = "select pulsex,pulsez from pos_pulse where maccode='{0}' and poscode='{1}' and pulselr='{2}' and pulsetype='A'";
sql = string.Format(sql, Config.Soft.MacCode, posCode, dir);
DataTable dt;
csSql.ExecuteSelect(sql, Config.Soft.ConnString, out dt);
if (dt.Rows.Count <= 0)
{
return(0);
}
float targetX = float.Parse(dt.Rows[0][0].ToString());
float targetZ = float.Parse(dt.Rows[0][1].ToString());
//PLC.ChangeAdd(1);
//运行到加药位置
if (PLC_Tcp_CP.ExtramanAutoMoveToPulse(targetX, targetZ))
{
DateTime timeBegin = DateTime.Now;
Thread.Sleep(200);
while (!PLC_Tcp_CP.ExtramanAutoMoveIsOK())
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Extraman))
{
csMsg.ShowWarning("加药定位失败", false);
return(0);
}
Thread.Sleep(200);
}
}
else
{
csMsg.ShowWarning("加药定位指令发送失败", false);
return(0);
}
float maxPulse = float.Parse(Config.Mac_C.Pulse_Plate_Max_Left);
PLC_Tcp_AP.PlateType type = PLC_Tcp_AP.PlateType.Left;
if (dir == "R")
{
type = PLC_Tcp_AP.PlateType.Right;
maxPulse = float.Parse(Config.Mac_C.Pulse_Plate_Max_Right);
}
float nowPulse = PLC_Tcp_CP.ReadPlatePulse(type);
//计数清零
PLC_Tcp_CP.ResetPlateRecord(type);
int oldRecord = 0, newRecord = 0;
stopAdd = false;
//获取药盒厚度
float drugThickness = 10;
sql = "select height from drug_infoannex where drugonlycode in(select drugonlycode from drug_pos where poscode='{0}')";
sql = string.Format(sql, posCode);
string s;
csSql.ExecuteScalar(sql, Config.Soft.ConnString, out s);
if (!string.IsNullOrEmpty(s))
{
drugThickness = float.Parse(s);
}
//上推脉冲
float upPulse = Convert.ToInt32(drugThickness * Config.Mac_C.OneMMPulse_Plate);
//补偿脉冲值
//int bcPulse = 500;
for (int i = 0; i < num;)
{
//有障碍物，暂停
//int z = PLC.PlateErrorZHA();
//while (z == 1 || z == 2)
//{
// Thread.Sleep(200);
// if (z == 1)
// ThrowMsg("左侧加药手有障碍物");
// else if (z == 1)
// ThrowMsg("右侧加药手有障碍物");
// z = PLC.PlateErrorZHA();
//}
//加药+补偿
for (int j = 1; j <= (Config.Mac_C.Count_BC + 1); j++)
{
if (j == 1)
{
nowPulse += upPulse;
}
else
{
nowPulse += Config.Mac_C.OneMMPulse_Plate * (drugThickness * Config.Mac_C.Height_BC);
}
if (nowPulse > maxPulse)
{
nowPulse = maxPulse;
}
//上推
PLC_Tcp_CP.PlateAutoMoveToPulse(type, nowPulse);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(100);
while (!PLC_Tcp_CP.PlateAutoMoveToPulseIsOK(type))
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Plate))
{
csMsg.ShowWarning("推板定位失败", false);
break;
}
Thread.Sleep(100);
}
//上推完成，判断计数
if (DateTime.Now <= timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Plate))
{
DateTime t1 = DateTime.Now;
Thread.Sleep(200);
while (true)
{
newRecord = PLC_Tcp_CP.ReadPlateRecord(type);
if (newRecord > oldRecord)
{
break;
}
else if (DateTime.Now > t1.AddSeconds(2))
{
break;
}
Thread.Sleep(200);
}
if (newRecord > oldRecord)
{
oldRecord = newRecord;
if (dir == "L")
{
SetNumL(plate_Left.Num - newRecord);
}
else
{
SetNumR(plate_Right.Num - newRecord);
}
break;
}
else
{
if (j < (Config.Mac_C.Count_BC + 1))
{
continue;
}
else
{
//故障
SetErrorVisibility(Visibility.Visible);
stopAdd = true;
}
}
}
else
{
break;
}
}
i = newRecord;
if (nowPulse >= maxPulse)
{
break;
}
if (stopAdd)
{
break;
}
}
result = newRecord;
string drugBatch = "";
if (qz)
{
drugBatch = batch;
}
else
{
sql = "select * from drug_pos where (drugbatch<'{0}' or drugbatch is null) and maccode='{1}' and poscode='{2}' order by drugbatch";
sql = string.Format(sql, batch, Config.Soft.MacCode, posCode);
csSql.ExecuteSelect(sql, Config.Soft.ConnString, out dt);
if (dt.Rows.Count > 0)
{
drugBatch = dt.Rows[0]["drugbatch"].ToString().Trim();
}
else
{
drugBatch = batch;
}
}
//更新储位库存
s = "update drug_pos set drugnum=(drugnum+{0}),drugbatch='{1}' where maccode='{2}' and poscode='{3}';";
sql = string.Format(s, result, drugBatch, Config.Soft.MacCode, posCode);
//增加加药明细
s = "insert into drug_import select '{0}',drugonlycode,'{1}','I','{2}',drugunit,'{3}',getdate(),'' from drug_pos where maccode='{0}' and poscode='{4}';";
sql += string.Format(s, Config.Soft.MacCode, batch, result, Config.Soft.UserCode, posCode);
csSql.ExecuteSql(sql, Config.Soft.ConnString);
return(result);
}