using Autofac;
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using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using Bro.Device.AuboRobot;
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using Bro.Device.SeerAGV;
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using HalconDotNet;
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Collections.Specialized;
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using System.ComponentModel;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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namespace A032.Process
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{
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public class TrayTask : IComplexDisplay
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{
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[Browsable(false)]
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public string TaskId { get; set; } = Guid.NewGuid().ToString();
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/// <summary>
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/// 优先级越高，越快执行
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/// </summary>
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[Category("任务配置")]
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[Description("优先级。优先级越高，越快执行")]
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public int Priority { get; set; }
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private string locationCode = "";
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[Category("任务配置")]
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[Description("任务执行地址代码")]
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[TypeConverter(typeof(PositionCodeConverter))]
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public string LocationCode
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{
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get => locationCode;
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set
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{
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if (locationCode != value)
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{
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locationCode = value;
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using (var scope = GlobalVar.Container.BeginLifetimeScope())
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{
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ProcessConfig config = scope.Resolve<ProcessConfig>();
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Location = config.PositionCollection.FirstOrDefault(u => u.PositionCode == locationCode);
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}
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}
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}
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}
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[Browsable(false)]
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public PathPosition Location { get; set; } = new PathPosition();
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private TaskType taskType = TaskType.LoadEmptyTrayToAGV;
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[Category("任务配置")]
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[Description("任务类型")]
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public TaskType TaskType
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{
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get => taskType;
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set
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{
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taskType = value;
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var attr = taskType.GetEnumAttribute<PriorityAttribute>();
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if (attr != null)
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{
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Priority = attr.Priority;
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}
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}
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}
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private string sourceDeviceId = "";
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[Category("任务配置")]
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[Description("任务来源设备")]
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[TypeConverter(typeof(AllDeviceIdConverter))]
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public string SourceDeviceId
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{
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get => sourceDeviceId;
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set
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{
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if (sourceDeviceId != value)
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{
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sourceDeviceId = value;
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using (var scope = GlobalVar.Container.BeginLifetimeScope())
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{
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List<IDevice> deviceList = scope.Resolve<List<IDevice>>();
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var device = deviceList.FirstOrDefault(u => u.Id == value);
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SourceDeviceName = device.Name;
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}
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}
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}
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}
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[Browsable(false)]
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[JsonIgnore]
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public string SourceDeviceName { get; set; } = "";
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[Browsable(false)]
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[JsonIgnore]
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public string BindId { get; set; } = "";
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[Browsable(false)]
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[JsonIgnore]
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public int WaitShift { get; set; } = 0;
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public string GetDisplayText()
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{
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return $"{SourceDeviceName}发起的{TaskType.ToString()}任务";
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}
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}
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public enum TaskType
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{
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[Priority(30)]
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UnloadEmptyTrayToMachine,
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[Priority(20)]
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LoadEmptyTrayToAGV,
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[Priority(30)]
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LoadFullTrayFromMachine,
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[Priority(20)]
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UnloadFullTrayToLine,
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[Priority(50)]
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Charge,
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[Priority(10)]
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IdleCharge,
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}
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public class PriorityAttribute : Attribute
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{
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public int Priority { get; set; }
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public PriorityAttribute(int priority)
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{
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Priority = priority;
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}
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}
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public partial class ProcessControl
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{
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private bool isEnableExecuteTask = true;
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public bool IsEnableExecuteTask
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{
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get => isEnableExecuteTask;
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set
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{
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isEnableExecuteTask = value;
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LogAsync(DateTime.Now, $"Set IsEnableExecuteTask {value.ToString()}", $"{(value ? "打开" : "关闭")}任务执行");
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}
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}
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List<AGVState> _disableStates = new List<AGVState>() { AGVState.InCharge, AGVState.Warning, AGVState.Unknown };
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private void Reset(string bindId = "")
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{
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WarningRemains.Clear();
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IsEnableExecuteTask = true;
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if (string.IsNullOrWhiteSpace(bindId))
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{
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Config.AGVBindCollection.ForEach(bind =>
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{
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if (bind.UnitState == AGVState.Warning)
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{
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//bind.WarningMsg.Clear();
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//bind.UnitState = AGVState.Idle;
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bind.Reset();
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}
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});
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LogAsync(DateTime.Now, "Reset", "执行全体复位操作");
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}
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else
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
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if (bind != null && bind.UnitState == AGVState.Warning)
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{
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//bind.WarningMsg.Clear();
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//bind.UnitState = AGVState.Idle;
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bind.Reset();
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LogAsync(DateTime.Now, "Reset", $"执行{bind.AGV.Name}复位操作");
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}
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}
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}
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static object _taskLock = new object();
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NoticedList<TrayTask> TrayTaskCollection = new NoticedList<TrayTask>();
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private void InsertTask(TrayTask task)
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{
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lock (_taskLock)
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{
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if (TrayTaskCollection.Any(u => u.TaskType == task.TaskType && u.SourceDeviceId == task.SourceDeviceId))
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{
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LogAsync(DateTime.Now, "重复任务", $"{task.SourceDeviceName}发起的{task.TaskType.ToString()}任务已存在任务列表中");
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return;
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}
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int insertIndex = TrayTaskCollection.Count;
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var nextTask = TrayTaskCollection.FirstOrDefault(u => u.Priority < task.Priority && u.WaitShift == 0);
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if (nextTask != null)
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{
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insertIndex = TrayTaskCollection.IndexOf(nextTask);
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}
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TrayTaskCollection.Insert(insertIndex, task);
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}
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}
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#region 任务触发
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private async void OnTaskListChanged(NotifyCollectionChangedAction action, List<TrayTask> task)
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{
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await Task.Run(() =>
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{
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if (action == NotifyCollectionChangedAction.Add)
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{
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ExecuteTask();
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}
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});
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}
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private async void OnUnitStateChanged(string unitId, AGVState preState, AGVState currentState)
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{
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await Task.Run(() =>
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{
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if (currentState == AGVState.Idle || currentState == AGVState.IdleCharge)
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{
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ExecuteTask(unitId);
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}
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});
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}
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private void ExecuteTask(string unitId = "")
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{
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TrayTask task = null;
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lock (_taskLock)
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{
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if (TrayTaskCollection.Count <= 0)
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{
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return;
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}
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task = TrayTaskCollection.FirstOrDefault(u => string.IsNullOrWhiteSpace(u.BindId));
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}
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//任务是否已在执行中
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if (Config.AGVBindCollection.Any(u => u.CurrentTaskId == task.TaskId))
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{
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LogAsync(DateTime.Now, "任务执行中", $"{task.GetDisplayText()}正在执行中");
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return;
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}
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AGVBindUnit bind = null;
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if (string.IsNullOrWhiteSpace(unitId))
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{
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var available = Config.AGVBindCollection.Where(u => u.UnitState == AGVState.Idle || u.UnitState == AGVState.IdleCharge);
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switch (task.TaskType)
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{
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case TaskType.LoadFullTrayFromMachine:
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available = available.Where(u => u.FullTrayNum < Config.AGVAvailableTrayNums);
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break;
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case TaskType.UnloadEmptyTrayToMachine:
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available = available.Where(u => u.EmptyTrayNum > 0);
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break;
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default:
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break;
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}
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bind = available.FirstOrDefault();
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}
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else
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{
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bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == unitId && (u.UnitState == AGVState.Idle || u.UnitState == AGVState.IdleCharge));
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}
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if (bind == null)
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{
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LogAsync(DateTime.Now, $"暂时没有可执行任务的单元", "");
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ReArrangeTask(task);
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return;
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}
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if (task.Location == null)
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{
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switch (task.TaskType)
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{
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case TaskType.LoadEmptyTrayToAGV:
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.LoadEmptyTray);
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break;
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case TaskType.LoadFullTrayFromMachine:
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.LoadFullTray && u.DeviceOwner == task.SourceDeviceId);
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break;
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case TaskType.UnloadEmptyTrayToMachine:
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.UnloadEmptyTray && u.DeviceOwner == task.SourceDeviceId);
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break;
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case TaskType.UnloadFullTrayToLine:
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.UnloadFullTray && u.DeviceOwner == task.SourceDeviceId);
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break;
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default:
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break;
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}
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}
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if (task.Location == null)
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{
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ReArrangeTask(task);
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return;
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}
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else
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{
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task.Location.IsOccupied = true;
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}
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task.BindId = bind.Id;
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if (!string.IsNullOrWhiteSpace(bind.CurrentTaskId))
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{
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bind.AGV.CancelTask();
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}
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LogAsync(DateTime.Now, $"开始执行任务", task.GetDisplayText());
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bind.IsTaskCancelled = false;
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bind.IsTaskCancelling = false;
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bind.UnitState = AGVState.Running;
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bind.CurrentTaskId = task.TaskId;
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try
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{
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switch (task.TaskType)
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{
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case TaskType.LoadEmptyTrayToAGV:
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LoadEmptyTrayToAGV(task, bind);
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break;
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case TaskType.LoadFullTrayFromMachine:
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LoadFullTrayFromMachine(task, bind);
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break;
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case TaskType.UnloadEmptyTrayToMachine:
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UnloadEmptyTrayToMachine(task, bind);
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break;
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case TaskType.UnloadFullTrayToLine:
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UnloadFullTrayToLine(task, bind);
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break;
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default:
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break;
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}
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////任务完成后检查电量
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//bind.AGV.BatteryHandle.Reset();
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//bool isNotTimeout = bind.AGV.BatteryHandle.WaitOne((bind.AGV.InitialConfig as SeerAGVInitialConfig).ScanInterval * 10);
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//if (!isNotTimeout)
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//{
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// throw new ProcessException($"{bind.AGV.Name}获取电池状态超时");
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//}
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}
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catch (TaskCanceledException ex)
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{
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try
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{
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CancelTask(bind);
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}
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catch (Exception)
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{
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ExceptionHandle(task, bind, ex, $"任务{task.TaskId}取消失败，");
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return;
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}
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finally
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{
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bind.IsTaskCancelled = false;
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bind.IsTaskCancelling = false;
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}
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}
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catch (Exception ex)
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{
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ExceptionHandle(task, bind, ex);
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return;
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}
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finally
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{
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//lock (_taskListLock)
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//{
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// _taskList.RemoveAt(0);
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//}
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}
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LogAsync(DateTime.Now, $"任务{task.TaskId}流程结束", "");
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AfterTaskHandle(task, bind);
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}
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private void ReArrangeTask(TrayTask task)
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{
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task.WaitShift++;
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TrayTaskCollection.Remove(task);
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if (task.WaitShift > Config.DefaultWaitShift)
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{
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LogAsync(DateTime.Now, "任务无法执行", $"{task.GetDisplayText()}等待{task.WaitShift}次无法执行，已移出任务队列");
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}
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else
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{
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InsertTask(task);
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}
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}
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//AutoResetEvent _taskDoneHandle = new AutoResetEvent(true);
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Dictionary<string, AutoResetEvent> _bindTaskDoneHandleDict = new Dictionary<string, AutoResetEvent>();
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private void AfterTaskHandle(TrayTask task, AGVBindUnit bind, string warningMsg = "", bool isWarningRaised = false)
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{
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lock (_taskLock)
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{
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task.Location.IsOccupied = false;
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TrayTaskCollection.Remove(task);
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}
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bind.CurrentTaskId = "";
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if (isWarningRaised)
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{
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bind.WarningMsg.Add(warningMsg);
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bind.UnitState = AGVState.Warning;
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}
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else
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{
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//任务完成后检查电量
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bind.AGV.BatteryHandle.Reset();
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bool isNotTimeout = bind.AGV.BatteryHandle.WaitOne((bind.AGV.InitialConfig as SeerAGVInitialConfig).ScanInterval * 10);
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if (!isNotTimeout)
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{
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string msg = $"{bind.AGV.Name}获取电池状态超时";
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bind.WarningMsg.Add(msg);
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new ProcessException(msg);
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bind.UnitState = AGVState.Warning;
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}
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else
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{
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SeerAGVInitialConfig iConfig = bind.AGV.InitialConfig as SeerAGVInitialConfig;
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if (bind.AGV.BatteryLvl <= iConfig.BatteryLvlToCharge)
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{
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bind.UnitState = AGVState.InCharge;
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var chargePosition = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.Charge);
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if (chargePosition == null)
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{
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string msg = $"{bind.AGV.Name}目前无可用充电地址";
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bind.WarningMsg.Add(msg);
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new ProcessException(msg);
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bind.UnitState = AGVState.Warning;
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}
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else
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{
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bind.AGV.TaskOrder(chargePosition.PositionCode, true);
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}
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}
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else
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{
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bind.UnitState = AGVState.Idle;
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}
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}
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}
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_bindTaskDoneHandleDict[bind.Id].Set();
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}
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/// <summary>
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/// 取消当前任务，如果已取卷宗，归还到原处
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/// </summary>
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/// <param name="bind"></param>
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private void CancelTask(AGVBindUnit bind)
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{
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bind.IsTaskCancelling = true;
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bind.AGV.CancelTask();
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bind.Robot.Move(new RobotPoint(), MoveType.Origin, true);
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}
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/// <summary>
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/// 过程异常处理，反馈异常消息到RabbitMQ
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/// </summary>
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/// <param name="task"></param>
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/// <param name="bind"></param>
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/// <param name="ex"></param>
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/// <param name="errorMsg"></param>
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private void ExceptionHandle(TrayTask task, AGVBindUnit bind, Exception ex, string errorMsg = "")
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{
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bool isWarningEx = false;
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if (ex is ProcessException)
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{
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isWarningEx = (ex as ProcessException).Level > 0;
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errorMsg += (ex as ProcessException).ErrorCode;
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}
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else
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{
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isWarningEx = true;
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errorMsg += ex.Message;
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LogAsync(DateTime.Now, $"{task.TaskId}异常", ex.GetExceptionMessage());
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}
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try
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{
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SwitchLight(bind.Robot, false);
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bind.Robot.Move(new RobotPoint(), MoveType.Origin, true);
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}
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catch (Exception)
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{
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}
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LogAsync(DateTime.Now, $"任务{task.GetDisplayText()}异常反馈", errorMsg);
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AfterTaskHandle(task, bind, errorMsg, isWarningEx);
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}
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#endregion
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|
#region 任务执行
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/// <summary>
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/// 将满Tray放置到产线上
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/// </summary>
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/// <param name="task"></param>
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/// <param name="bind"></param>
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private void UnloadFullTrayToLine(TrayTask task, AGVBindUnit bind)
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{
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string methodName = "UnloadFullTrayToLine";
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bind.AGV.TaskOrder(task.Location.PositionCode, true);
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var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == task.Location.PositionCode);
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if (visionConfig == null)
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throw new ProcessException($"未能获取{bind.Camera.Name}在{task.Location.PositionCode}的视觉配置");
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while (bind.FullTrayNum > 0)
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{
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bind.Robot.Move(visionConfig.RobotSnapshotPoint, MoveType.AbsoluteMove, true);
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bool isLineReady = false;
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if (Config.IsEnableVisionGuide)
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{
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int reTryTime = Config.LineBusyRetryTimes;
|
|
HDevEngineTool tool = null;
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if (!_halconToolDict.ContainsKey(visionConfig.CameraOpConfig.AlgorithemPath))
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{
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throw new ProcessException($"未配置{methodName}的算法工具");
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}
|
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tool = _halconToolDict[visionConfig.CameraOpConfig.AlgorithemPath];
|
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SwitchLight(bind.Robot, true);
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Thread.Sleep(500);//等待灯开
|
|
do
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{
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RobotPoint point = new RobotPoint();
|
using (var hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, methodName))
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{
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tool.InputImageDic.Clear();
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tool.InputImageDic["INPUT_Image"] = hImage;
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tool.RunProcedure();
|
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if (!tool.IsSuccessful)
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{
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throw new ProcessException($"{visionConfig.CameraOpConfig.AlgorithemPath}算法运行失败");
|
}
|
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isLineReady = tool.GetResultTuple("OUTPUT_Result").I == 1;
|
}
|
|
if (!isLineReady)
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{
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LogAsync(DateTime.Now, $"{task.Location.PositionCode}位置线体繁忙", "");
|
Thread.Sleep(Config.LineBusyWaitInterval * 1000);
|
reTryTime--;
|
}
|
else
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{
|
reTryTime = 0;
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}
|
} while (reTryTime > 0);
|
|
SwitchLight(bind.Robot, false);
|
}
|
else
|
{
|
isLineReady = true;
|
}
|
|
if (isLineReady)
|
{
|
bind.Robot.UnLoad(bind.Robot.CurrentPoint, TrayType.FullTray, true);
|
}
|
else
|
{
|
bind.Robot.Move(new RobotPoint(), MoveType.Origin, true);
|
break;
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}
|
}
|
}
|
|
/// <summary>
|
/// 将空Tray放置到压机上
|
/// </summary>
|
/// <param name="task"></param>
|
/// <param name="bind"></param>
|
private void UnloadEmptyTrayToMachine(TrayTask task, AGVBindUnit bind)
|
{
|
string methodName = "UnloadEmptyTrayToMachine";
|
|
MachineRelatedOperation(task, bind, methodName);
|
|
RobotPoint point = bind.Robot.CurrentPoint.DeepSerializeClone();
|
|
int emptyTrayNum = 0;
|
do
|
{
|
bind.Robot.UnLoad(point, TrayType.EmptyTray, true);
|
emptyTrayNum++;
|
|
bind.Robot.MonitorHandle.Reset();
|
var isNotTimeout = bind.Robot.MonitorHandle.WaitOne((bind.Robot.InitialConfig as AuboRobotInitialConfig).ReplyTimeout * 3);
|
if (!isNotTimeout)
|
throw new ProcessException($"{bind.Robot.Name}监听操作超时");
|
|
} while (emptyTrayNum < Config.Machine_EmptyTrayNum && bind.EmptyTrayNum > 0);
|
}
|
|
/// <summary>
|
/// 从压机上取满Tray到AGV
|
/// </summary>
|
/// <param name="task"></param>
|
/// <param name="bind"></param>
|
private void LoadFullTrayFromMachine(TrayTask task, AGVBindUnit bind)
|
{
|
string methodName = "LoadFullTrayFromMachine";
|
|
MachineRelatedOperation(task, bind, methodName);
|
|
RobotPoint point = bind.Robot.CurrentPoint.DeepSerializeClone();
|
|
int fullTrayNum = Config.Machine_FullTrayNum;
|
do
|
{
|
bind.Robot.Load(point, TrayType.FullTray, true);
|
fullTrayNum--;
|
bind.FullTrayNum++;
|
|
bind.Robot.MonitorHandle.Reset();
|
var isNotTimeout = bind.Robot.MonitorHandle.WaitOne((bind.Robot.InitialConfig as AuboRobotInitialConfig).ReplyTimeout * 3);
|
if (!isNotTimeout)
|
throw new ProcessException($"{bind.Robot.Name}监听操作超时");
|
|
} while (fullTrayNum > 0 && bind.FullTrayNum < Config.AGVAvailableTrayNums);
|
}
|
|
private void MachineRelatedOperation(TrayTask task, AGVBindUnit bind, string methodName)
|
{
|
bind.AGV.TaskOrder(task.Location.PositionCode, true);
|
|
var visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.CameraId == bind.CameraId && u.PositionCode == task.Location.PositionCode);
|
|
if (visionConfig == null)
|
throw new ProcessException($"未能获取{bind.Camera.Name}在{task.Location.PositionCode}的视觉配置");
|
|
bind.Robot.Move(visionConfig.RobotSnapshotPoint, MoveType.AbsoluteMove, true);
|
|
if (Config.IsEnableVisionGuide)
|
{
|
int repeatTime = Config.VisionGuideTimes;
|
|
HDevEngineTool tool = null;
|
if (!_halconToolDict.ContainsKey(visionConfig.CameraOpConfig.AlgorithemPath))
|
{
|
throw new ProcessException($"未配置{methodName}的算法工具");
|
}
|
|
tool = _halconToolDict[visionConfig.CameraOpConfig.AlgorithemPath];
|
|
SwitchLight(bind.Robot, true);
|
Thread.Sleep(500);//等待灯开
|
|
do
|
{
|
RobotPoint point = new RobotPoint();
|
using (var hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, methodName))
|
{
|
tool.InputImageDic.Clear();
|
tool.InputImageDic["INPUT_Image"] = hImage;
|
|
tool.RunProcedure();
|
|
if (!tool.IsSuccessful)
|
{
|
throw new ProcessException($"{visionConfig.CameraOpConfig.AlgorithemPath}算法运行失败");
|
}
|
|
double du = tool.GetResultTuple("OUTPUT_X").D;
|
double dv = tool.GetResultTuple("OUTPUT_Y").D;
|
|
if (du < 0 || dv < 0)
|
{
|
throw new ProcessException($"{visionConfig.CameraOpConfig.AlgorithemPath}算法结果异常，点位信息获取失败");
|
}
|
|
du -= visionConfig.StandardPoint.X;
|
dv -= visionConfig.StandardPoint.Y;
|
|
HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix), du, dv, out HTuple dx, out HTuple dy);
|
|
point.X = (float)dx.D;
|
point.Y = (float)dy.D;
|
point.A = (float)tool.GetResultTuple("OUTPUT_Angle").D;
|
}
|
|
LogAsync(DateTime.Now, $"{methodName}引导坐标", point.GetDisplayText());
|
|
bind.Robot.Move(point, MoveType.RobotRelativeMove, true);
|
|
repeatTime--;
|
} while (repeatTime > 0);
|
|
SwitchLight(bind.Robot, false);
|
|
//视觉导引后再做固定偏移
|
bind.Robot.Move(visionConfig.RobotShift, MoveType.RobotRelativeMove, true);
|
}
|
}
|
|
/// <summary>
|
/// 人工装空Tray到AGV
|
/// </summary>
|
/// <param name="task"></param>
|
/// <param name="bind"></param>
|
private void LoadEmptyTrayToAGV(TrayTask task, AGVBindUnit bind)
|
{
|
bind.AGV.TaskOrder(task.Location.PositionCode, true);
|
bind.Robot.Load(new RobotPoint(), TrayType.EmptyTray, true);
|
}
|
#endregion
|
}
|
}
|
