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 Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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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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namespace A032.Process
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{
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public enum TaskStatus
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{
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Available = 1,
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Running = 2,
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Warning = 3,
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}
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public enum TaskAvailableLevel
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{
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Robot = 1,
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AGV = 2,
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Both = 3,
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}
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public class AGVTaskModel
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{
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public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
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public string MethodName { get; set; }
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public IOperationConfig OpConfig { get; set; }
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public IDevice Device { get; set; }
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//public int Priority { get; set; } = 10;
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public AGVTaskModel() { }
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public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
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{
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Level = level;
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MethodName = methodName;
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OpConfig = opConfig ?? new OperationConfigBase();
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Device = device;
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}
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}
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public class AGVBindUnit : IComplexDisplay
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{
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#region 可编辑项目
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[Category("设备绑定")]
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[Description("绑定Id")]
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[Browsable(false)]
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public string Id { get; set; } = Guid.NewGuid().ToString();
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[Category("设备绑定")]
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[Description("绑定AGV")]
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[TypeConverter(typeof(AGVDeviceConverter))]
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public string AGVId { get; set; }
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[Category("设备绑定")]
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[Description("绑定Robot")]
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[TypeConverter(typeof(RobotDeviceConverter))]
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public string RobotId { get; set; }
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[Category("设备绑定")]
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[Description("绑定Camera")]
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[TypeConverter(typeof(CameraDeviceConverter))]
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public string CameraId { get; set; }
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public string GetDisplayText()
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{
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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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string agv = config.AGVConfigCollection.FirstOrDefault(u => u.ID == AGVId)?.Name ?? "未绑定AGV";
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string robot = config.RobotConfigCollection.FirstOrDefault(u => u.ID == RobotId)?.Name ?? "未绑定机器人";
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string camera = config.CameraConfigCollection.FirstOrDefault(u => u.ID == CameraId)?.Name ?? "未绑定相机";
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return agv + "-" + robot + "-" + camera;
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}
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}
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#endregion
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[Browsable(false)]
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[JsonIgnore]
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public Action<AGVTaskModel> OnMethodInvoke { get; set; }
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public string AGVDest { get; set; } = "";
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private TaskStatus agvStatus = TaskStatus.Available;
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[Browsable(false)]
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[JsonIgnore]
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public TaskStatus AGVStatus
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{
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get => agvStatus;
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set
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{
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agvStatus = value;
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//InvokeTaskCheck();
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}
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}
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private TaskStatus robotStatus = TaskStatus.Available;
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[Browsable(false)]
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[JsonIgnore]
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public TaskStatus RobotStatus
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{
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get => robotStatus;
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set
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{
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robotStatus = value;
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//InvokeTaskCheck();
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}
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}
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[Browsable(false)]
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[JsonIgnore]
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public TaskStatus UnitStatus
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{
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get
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{
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if (AGVStatus == TaskStatus.Warning || RobotStatus == TaskStatus.Warning)
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{
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return TaskStatus.Warning;
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}
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else
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{
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if (AGVStatus == TaskStatus.Available && RobotStatus == TaskStatus.Available)
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{
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return TaskStatus.Available;
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}
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}
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return TaskStatus.Running;
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}
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}
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[Browsable(false)]
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[JsonIgnore]
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public SeerAGVDriver AGV { get; set; } = null;
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[Browsable(false)]
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[JsonIgnore]
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public AuboRobotDriver Robot { get; set; } = null;
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[Browsable(false)]
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[JsonIgnore]
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public CameraBase Camera { get; set; } = null;
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//[Browsable(false)]
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//[JsonIgnore]
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//public ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
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[Browsable(false)]
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[JsonIgnore]
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public int CurrentEmptyTray { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public int CurrentFullTray { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public bool IsFullTrayFull { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public bool IsFullTrayEmpty { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public bool IsEmptyTrayEmpty { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public bool IsFullTrayTaskAssigned { get; set; }
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[Browsable(false)]
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[JsonIgnore]
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public bool IsEmptyTrayTaskAssigned { get; set; }
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//[Browsable(false)]
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//[JsonIgnore]
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//public ManualResetEvent FullTrayFullHandle { get; set; } = new ManualResetEvent(false);
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//[Browsable(false)]
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//[JsonIgnore]
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//public ManualResetEvent FullTrayEmptyHandle { get; set; } = new ManualResetEvent(false);
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public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);
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public AGVBindUnit()
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{
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//TaskList.CollectionChanged += TaskList_CollectionChanged;
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}
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object agvStatusLock = new object();
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public bool SetAGVStatus(TaskStatus status)
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{
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lock (agvStatusLock)
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{
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switch (status)
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{
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case TaskStatus.Available:
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break;
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case TaskStatus.Running:
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if (AGVStatus == TaskStatus.Available)
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{
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AGVStatus = status;
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return true;
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}
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else
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{
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return false;
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}
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case TaskStatus.Warning:
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break;
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default:
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break;
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}
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AGVStatus = status;
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return true;
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}
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}
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//private void TaskList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
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//{
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// if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
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// {
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// InvokeTaskCheck();
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// }
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//}
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//private void InvokeTaskCheck()
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//{
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// lock (taskLock)
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// {
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// for (int i = 0; i < TaskList.Count; i++)
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// {
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// var task = TaskList[i];
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// bool isAgvOK = false;
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// bool isRobotOK = false;
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// if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
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// {
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// isAgvOK = AGVStatus == TaskStatus.Available;
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// }
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// else
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// {
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// isAgvOK = true;
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// }
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// if ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
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// {
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// isRobotOK = RobotStatus == TaskStatus.Available;
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// }
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// else
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// {
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// isRobotOK = true;
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// }
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// if (isRobotOK && isAgvOK)
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// {
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// OnMethodInvoke?.Invoke(TaskList[i]);
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// TaskList.RemoveAt(i);
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// break;
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// }
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// }
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// }
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//}
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//object taskLock = new object();
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//public void AddTask(AGVTaskModel task)
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//{
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// lock (taskLock)
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// {
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// TaskList.Add(task);
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// }
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//}
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//public void ClearTask()
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//{
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// lock (taskLock)
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// {
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// TaskList.Clear();
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// }
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//}
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//public AGVTaskModel GetTask(int index)
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//{
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// lock (taskLock)
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// {
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// return TaskList[index];
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// }
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//}
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}
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public class AGVDeviceConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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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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config.AGVConfigCollection.ForEach(plc =>
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{
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_hash[plc.ID] = plc.Name;
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});
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}
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}
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}
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public class RobotDeviceConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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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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config.RobotConfigCollection.ForEach(robot =>
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{
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_hash[robot.ID] = robot.Name;
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});
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}
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}
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}
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public class CameraDeviceConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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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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config.CameraConfigCollection.ForEach(camera =>
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{
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_hash[camera.ID] = camera.Name;
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});
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}
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}
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}
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public class PLCDeviceConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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using (var scope = GlobalVar.Container.BeginLifetimeScope())
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{
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_hash[""] = "未指定";
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ProcessConfig config = scope.Resolve<ProcessConfig>();
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config.PLCConfigCollection.ForEach(plc =>
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{
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_hash[plc.ID] = plc.Name;
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});
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}
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}
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}
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}
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