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.HikCamera;
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using Bro.Device.SeerAGV;
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using HalconDotNet;
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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.Drawing;
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using System.IO;
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using System.Linq;
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using System.Text;
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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 partial class ProcessControl
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{
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#region Robot监听事件
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[ProcessMethod("", "Robot_Monitor_Alarm", "机器人监听事件-报警", true)]
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public ProcessResponse Robot_Monitor_Alarm(IOperationConfig config, IDevice device)
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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if (bind == null)
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{
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throw new ProcessException($"未能获取{device.Name}的绑定设备信息");
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}
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bind.AGV.CancelTask();
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bind.UnitState = AGVState.Warning;
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return new ProcessResponse(true);
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}
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[ProcessMethod("", "Robot_Monitor_EmptyTrayEmpty", "机器人监听事件-空Tray区域清空", true)]
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public ProcessResponse Robot_Monitor_EmptyTrayEmpty(IOperationConfig config, IDevice device)
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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if (bind == null)
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{
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throw new ProcessException($"未能获取{device.Name}的绑定设备信息");
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}
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bind.EmptyTrayNum = 0;
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TrayTask task = new TrayTask();
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task.TaskType = TaskType.LoadEmptyTrayToAGV;
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//task.Priority = 10;
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task.SourceDeviceId = device.Id;
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//task.SourceDeviceName = device.Name;
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//如果目前地址被占用，地址有可能为空，需要在任务指派时再次确认
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.LoadEmptyTray);
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InsertTask(task);
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return new ProcessResponse(true);
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}
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/// <summary>
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/// 信号要求长信号触发，避免误触发
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/// </summary>
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/// <param name="config"></param>
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/// <param name="device"></param>
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/// <returns></returns>
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[ProcessMethod("", "Robot_Monitor_FullTrayFull", "机器人监听事件-满Tray区域放满", true)]
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public ProcessResponse Robot_Monitor_FullTrayFull(IOperationConfig config, IDevice device)
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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if (bind == null)
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{
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throw new ProcessException($"未能获取{device.Name}的绑定设备信息");
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}
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//if (bind.FullTrayNum >= Config.AGVAvailableTrayNums)
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{
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bind.FullTrayNum = Config.AGVAvailableTrayNums;
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TrayTask task = new TrayTask();
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task.TaskType = TaskType.UnloadFullTrayToLine;
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task.SourceDeviceId = device.Id;
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//如果目前地址被占用，地址有可能为空，需要在任务指派时再次确认
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task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.UnloadFullTray);
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InsertTask(task);
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}
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return new ProcessResponse(true);
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}
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[ProcessMethod("", "Robot_Monitor_FullTrayEmpty", "机器人监听事件-满Tray区域清空", true)]
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public ProcessResponse Robot_Monitor_FullTrayEmpty(IOperationConfig config, IDevice device)
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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if (bind == null)
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{
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throw new ProcessException($"未能获取{device.Name}的绑定设备信息");
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}
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bind.FullTrayNum = 0;
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return new ProcessResponse(true);
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}
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//[ProcessMethod("", "Robot_Monitor_LoadEmptyTrayReady", "机器人监听事件-载入空Tray就绪", true)]
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//public ProcessResponse Robot_Monitor_LoadEmptyTrayReady(IOperationConfig config, IDevice device)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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// if (bind == null)
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// {
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// throw new ProcessException("未能根据机器人信息获取绑定设备信息", null);
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// }
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// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
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// if (bind.AGV.CurrentPosition != position.PositionCode)
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// {
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// new ProcessException("上空Tray完成信号仅在上空Tray地点有效", null);
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// return new ProcessResponse(true);
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// }
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// List<AGVTaskModel> models = new List<AGVTaskModel>();
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// models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, EmptyTrayReady));
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// AddNewTaskToBind(bind, models);
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// return new ProcessResponse(true);
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//}
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[ProcessMethod("", "Robot_Monitor_Reset", "机器人监听事件-Reset复位", true)]
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public ProcessResponse Robot_Monitor_Reset(IOperationConfig config, IDevice device)
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{
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
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if (bind == null)
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{
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throw new ProcessException($"未能获取{device.Name}的绑定设备信息");
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}
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bind.AGV.CancelTask();
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Reset(bind.Id);
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return new ProcessResponse(true);
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}
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#endregion
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#region PLC监听事件
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[ProcessMethod("", "PLC_NoticeEmptyTray", "PLC通知需要上空Tray", true)]
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public ProcessResponse PLC_NoticeEmptyTray(IOperationConfig config, IDevice device)
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{
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TrayTask task = new TrayTask();
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task.TaskType = TaskType.UnloadEmptyTrayToMachine;
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task.SourceDeviceId = device.Id;
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//task.SourceDeviceName = device.Name;
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task.Location = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.DeviceOwner == device.Id);
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InsertTask(task);
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return new ProcessResponse(true);
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}
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[ProcessMethod("", "PLC_NoticeFullTray", "PLC通知满Tray需要取走", true)]
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public ProcessResponse PLC_NoticeFullTray(IOperationConfig config, IDevice device)
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{
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TrayTask task = new TrayTask();
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task.TaskType = TaskType.LoadFullTrayFromMachine;
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task.SourceDeviceId = device.Id;
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//task.SourceDeviceName = device.Name;
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task.Location = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.DeviceOwner == device.Id);
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InsertTask(task);
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return new ProcessResponse(true);
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}
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#endregion
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[ProcessMethod("OperationTest", "OperationDemo", "单步测试方法", true)]
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public ProcessResponse OperationDemo(IOperationConfig config, IDevice device)
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{
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string s = (-1).ToString("D2");
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string a = (1).ToString("D2");
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OperationTestConfig opConfig = config as OperationTestConfig;
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var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == opConfig.AGVId);
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if (bind == null)
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throw new ProcessException("未能获取指定AGV信息或AGV绑定的设备信息");
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switch (opConfig.TaskInfo.TaskType)
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{
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case TaskType.LoadEmptyTrayToAGV:
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LoadEmptyTrayToAGV(opConfig.TaskInfo, bind);
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break;
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case TaskType.LoadFullTrayFromMachine:
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LoadFullTrayFromMachine(opConfig.TaskInfo, bind);
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break;
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case TaskType.UnloadEmptyTrayToMachine:
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UnloadEmptyTrayToMachine(opConfig.TaskInfo, bind);
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break;
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case TaskType.UnloadFullTrayToLine:
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UnloadFullTrayToLine(opConfig.TaskInfo, bind);
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break;
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default:
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throw new ProcessException($"未能指定{opConfig.TaskInfo.TaskType.ToString()}的对应方法");
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}
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return new ProcessResponse(true);
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}
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#region old
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//#region 空Tray上料
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////[ProcessMethod("", "AGV_LoadEmptyTray", "AGV去往空Tray上料", true)]
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////public ProcessResponse AGV_LoadEmptyTray(IOperationConfig config, IDevice device)
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////{
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//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
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//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
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//// if (position == null)
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//// {
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//// throw new ProcessException("路径配置未设置空Tray上料点");
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//// }
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//// bind.AGVDest = position.PositionCode;
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//// bind.AGV.TaskOrder(position.PositionCode);
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//// bind.AGVStatus = TaskStatus.Running;
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//// return new ProcessResponse(true);
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////}
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//public bool AGV_LoadEmptyTray(string bindId)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
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// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
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// if (position == null)
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// {
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// throw new ProcessException("路径配置未设置空Tray上料点");
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// }
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// if (bind.SetAGVStatus(TaskStatus.Running))
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// {
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// bind.AGVDest = position.PositionCode;
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// bind.AGV.TaskOrder(position.PositionCode);
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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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//}
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////[ProcessMethod("", "AfterEmptyTrayPositionArrived", "到达空Tray上料点", true)]
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////public ProcessResponse AfterEmptyTrayPositionArrived(IOperationConfig config, IDevice device)
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////{
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//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
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//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
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//// if (position == null)
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//// {
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//// throw new ProcessException("路径配置未设置空Tray上料点", null);
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//// }
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//// if (bind.AGV.CurrentPosition != position.PositionCode)
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//// {
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//// throw new ProcessException("AGV尚未到达空Tray上料点", null);
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//// }
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//// bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
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//// bind.RobotStatus = TaskStatus.Running;
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//// return new ProcessResponse(true);
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////}
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//public void Robot_LoadEmptyTray(string bindId, PathPosition position)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
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// //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
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// if (position == null)
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// {
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// throw new ProcessException("路径配置未设置空Tray上料点", null);
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// }
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// if (bind.AGV.CurrentPosition != position.PositionCode)
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// {
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// throw new ProcessException("AGV尚未到达空Tray上料点", null);
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// }
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// bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
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// bind.RobotStatus = TaskStatus.Running;
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//}
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////[ProcessMethod("", "EmptyTrayReady", "空Tray上料完成", true)]
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////public ProcessResponse EmptyTrayReady(IOperationConfig config, IDevice device)
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////{
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//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
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//// bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
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//// return new ProcessResponse(true);
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////}
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//#endregion
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//#region 空Tray往机台下料
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////bool isEmptyTrayNeed = false;
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////bool isEmptyTrayTaskAssigned = false;
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//RobotMsg RobotMsg_UnloadEmptyTray = new RobotMsg();
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//private async void CheckUnloadEmptyTrayTask(int positionNo)
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//{
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// await Task.Run(() =>
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// {
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// var taskStatus = taskAssignedList.FirstOrDefault(u => u.PositionNo == positionNo);
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// if (taskStatus == null)
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// return;
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// while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
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// {
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// //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;
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// //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodName == "AGV_UnloadEmptyTray")))
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// {
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.UnitStatus == TaskStatus.Available);
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// if (bind != null)
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// {
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// var position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNo);
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// //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadEmptyTray", new AGVBindOpConfig(bind.Id, position));
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// //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_UnloadEmptyTray", new AGVBindOpConfig(bind.Id));
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// //bind.AddTask(model_AGV);
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// //bind.AddTask(model_Robot);
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// if (AGV_UnloadEmptyTray(bind.Id, position))
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// {
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// taskStatus.IsTaskAssgined = true;
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// taskStatus.AgvId = bind.AGVId;
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// }
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// }
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// }
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// Thread.Sleep(WAITTIME);
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// }
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// });
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//}
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////[ProcessMethod("", "AGV_UnloadEmptyTray", "AGV去往卸载空Tray料位置", true)]
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//public bool AGV_UnloadEmptyTray(string bindId, PathPosition position)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
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// if (position == null)
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// {
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// throw new ProcessException("路径配置未设置空Tray下料点");
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// }
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// if (bind.SetAGVStatus(TaskStatus.Running))
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// {
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// bind.AGVDest = position.PositionCode;
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// bind.AGV.TaskOrder(position.PositionCode);
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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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//}
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////[ProcessMethod("", "Robot_UnloadEmptyTray", "机器人运动至空Tray拍照位置", true)]
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//public void Robot_UnloadEmptyTraySnap(string bindId, PathPosition position)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
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// //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.PositionCode == bind.AGV.CurrentPosition);
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// if (position == null)
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// {
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// throw new ProcessException("路径配置未设置空Tray下料点");
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// }
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// taskAssignedList.RemoveAll(u => u.AgvId == bind.AGVId && u.PositionNo == position.PositionNo);
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// bind.RobotStatus = TaskStatus.Running;
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// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.UnloadEmptyTraySnap, position.PositionNo);
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//}
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////[ProcessMethod("", "Camera_UnloadEmptyTray", "相机确认空Tray卸载机器人位置调整", true)]
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////public ProcessResponse Camera_UnloadEmptyTray(IOperationConfig config, IDevice device)
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////{
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//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
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//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray);
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//// if (position == null)
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//// {
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//// throw new ProcessException("路径配置未设置空Tray下料点");
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//// }
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//// if (bind.AGV.CurrentPosition != position.PositionCode)
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//// {
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//// throw new ProcessException("AGV当前未处于空Tray下料点");
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//// }
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//// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
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//// if (visionConfig == null)
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//// {
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//// throw new ProcessException("未配置该相机的空Tray下料点的视觉操作配置");
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//// }
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//// float x = 0;
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//// float y = 0;
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//// float angle = 0;
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//// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
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//// {
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//// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
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//// if (!_halconToolDict.ContainsKey(toolPath))
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//// {
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//// throw new ProcessException($"未配置Camera_UnloadEmptyTray的视觉算法路径");
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//// }
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//// var tool = _halconToolDict[toolPath];
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//// tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
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//// tool.RunProcedure();
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//// x = (float)tool.GetResultTuple("OUTPUT_X").D;
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//// y = (float)tool.GetResultTuple("OUTPUT_Y").D;
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//// angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
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//// }
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//// if (x <= 0 || y <= 0)
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//// {
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//// throw new ProcessException("Camera_UnloadEmptyTray视觉计算获取点位不可小于0");
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//// }
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//// float dx = visionConfig.StandardPoint.X - x;
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//// float dy = visionConfig.StandardPoint.Y - y;
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//// HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
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//// bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
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//// return new ProcessResponse(true);
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////}
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//public ProcessResponse Camera_UnloadEmptyTray(string robotId, int positionNum)
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//{
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// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
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// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNum);
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// if (position == null)
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// {
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// throw new ProcessException("路径配置未设置空Tray下料点");
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// }
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// if (bind.AGV.CurrentPosition != position.PositionCode)
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// {
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// throw new ProcessException("AGV当前未处于空Tray下料点");
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// }
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// float adjust_X = 0.0f;
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// float adjust_Y = 0.0f;
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// float adjust_Angle = 0.0f;
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// if (Config.IsEnableVisionGuide)
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// {
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// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
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// if (visionConfig == null)
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// {
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// throw new ProcessException("未配置该相机的空Tray下料点的视觉操作配置");
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// }
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// float x = 0;
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// float y = 0;
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// float angle = 0;
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// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
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// {
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// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
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// if (!_halconToolDict.ContainsKey(toolPath))
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// {
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// throw new ProcessException($"未配置Camera_UnloadEmptyTray的视觉算法路径");
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// }
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// var tool = _halconToolDict[toolPath];
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// tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
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// tool.RunProcedure();
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// x = (float)tool.GetResultTuple("OUTPUT_X").D;
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// y = (float)tool.GetResultTuple("OUTPUT_Y").D;
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// angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
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// }
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// if (x <= 0 || y <= 0)
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// {
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// throw new ProcessException("Camera_UnloadEmptyTray视觉计算获取点位不可小于0");
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// }
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// float dx = visionConfig.StandardPoint.X - x;
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// float dy = visionConfig.StandardPoint.Y - y;
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// HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
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// adjust_X = (float)dx_Robot.D;
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// adjust_Y = (float)dy_Robot.D;
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// adjust_Angle = visionConfig.StandardPoint.Angle - angle;
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// }
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// //bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
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// RobotMsg_UnloadEmptyTray.Action = RobotMsgAction.Unload;
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// RobotMsg_UnloadEmptyTray.Para1 = RobotMsgParas.EmptyTray;
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// RobotMsg_UnloadEmptyTray.Para2 = position.PositionNo;
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// RobotMsg_UnloadEmptyTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
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// bind.Robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
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// return new ProcessResponse(true);
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//}
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//#endregion
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|
//#region 从机台上满Tray
|
////bool isFullTrayNeed = false;
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////bool isFullTrayTaskAssigned = false;
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//RobotMsg RobotMsg_LoadFullTray = new RobotMsg();
|
|
//private async void CheckFullTrayTask(int positionNo)
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//{
|
// await Task.Run(() =>
|
// {
|
// var taskStatus = taskAssignedList.FirstOrDefault(u => u.PositionNo == positionNo);
|
|
// if (taskStatus == null)
|
// return;
|
|
// while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
|
// {
|
// //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadFullTray;
|
|
// //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodFunc.Method.Name == action.Method.Name)))
|
// {
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.UnitStatus == TaskStatus.Available);
|
// if (bind != null)
|
// {
|
// var position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNo);
|
// //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadFullTray", new AGVBindOpConfig(bind.Id, position));
|
// //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_LoadFullTray", new AGVBindOpConfig(bind.Id));
|
|
// //bind.AddTask(model_AGV);
|
// //bind.AddTask(model_Robot);
|
|
// if (AGV_LoadFullTray(bind.Id, position))
|
// {
|
// taskStatus.IsTaskAssgined = true;
|
// taskStatus.AgvId = bind.AGVId;
|
// }
|
// }
|
// }
|
|
// Thread.Sleep(300);
|
// }
|
// });
|
//}
|
|
////[ProcessMethod("", "AGV_LoadFullTray", "AGV去往满Tray上料位置", true)]
|
//public bool AGV_LoadFullTray(string bindId, PathPosition position)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
|
|
// //PathPosition position = (config as AGVBindOpConfig).Position;
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray上料点");
|
// }
|
|
// if (bind.SetAGVStatus(TaskStatus.Running))
|
// {
|
// bind.AGVDest = position.PositionCode;
|
// bind.AGV.TaskOrder(position.PositionCode);
|
|
// return true;
|
// }
|
// else
|
// {
|
// return false;
|
// }
|
|
// //return new ProcessResponse(true);
|
//}
|
|
////[ProcessMethod("", "Robot_LoadFullTray", "机器人运动至满Tray拍照位置", true)]
|
////public ProcessResponse Robot_LoadFullTray(IOperationConfig config, IDevice device)
|
////{
|
//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
|
//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
|
|
//// if (position == null)
|
//// {
|
//// throw new ProcessException("路径配置未设置满Tray上料点");
|
//// }
|
|
//// //if (bind.AGV.CurrentPosition != position.PositionCode)
|
//// //{
|
//// // throw new ProcessException("AGV当前未处于满Tray上料点");
|
//// //}
|
|
//// bind.RobotStatus = TaskStatus.Running;
|
//// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);
|
|
//// return new ProcessResponse(true);
|
////}
|
|
//public void Robot_LoadFullTraySnap(string bindId, PathPosition position)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
|
// //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray上料点");
|
// }
|
|
// //if (bind.AGV.CurrentPosition != position.PositionCode)
|
// //{
|
// // throw new ProcessException("AGV当前未处于满Tray上料点");
|
// //}
|
|
// bind.RobotStatus = TaskStatus.Running;
|
// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);
|
//}
|
|
////[ProcessMethod("", "Camera_LoadFullTray", "相机确认满Tray上料机器人位置调整", true)]
|
////public ProcessResponse Camera_LoadFullTray(IOperationConfig config, IDevice device)
|
////{
|
//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
|
|
//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray);
|
|
//// if (position == null)
|
//// {
|
//// throw new ProcessException("路径配置未设置满Tray上料点");
|
//// }
|
|
//// if (bind.AGV.CurrentPosition != position.PositionCode)
|
//// {
|
//// throw new ProcessException("AGV当前未处于满Tray上料点");
|
//// }
|
|
//// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
|
|
//// if (visionConfig == null)
|
//// {
|
//// throw new ProcessException("未配置该相机的满Tray上料点的视觉操作配置");
|
//// }
|
|
//// float x = 0;
|
//// float y = 0;
|
//// float angle = 0;
|
|
//// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_LoadFullTray"))
|
//// {
|
//// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
|
//// if (!_halconToolDict.ContainsKey(toolPath))
|
//// {
|
//// throw new ProcessException($"未配置Camera_LoadFullTray的视觉算法路径");
|
//// }
|
|
//// var tool = _halconToolDict[toolPath];
|
//// tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
|
//// tool.RunProcedure();
|
|
//// x = (float)tool.GetResultTuple("OUTPUT_X").D;
|
//// y = (float)tool.GetResultTuple("OUTPUT_Y").D;
|
//// angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
|
//// }
|
|
//// if (x <= 0 || y <= 0)
|
//// {
|
//// throw new ProcessException("Camera_LoadFullTray视觉计算获取点位不可小于0");
|
//// }
|
|
//// float dx = visionConfig.StandardPoint.X - x;
|
//// float dy = visionConfig.StandardPoint.Y - y;
|
|
//// HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
|
|
//// bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
|
|
//// return new ProcessResponse(true);
|
////}
|
|
//public ProcessResponse Camera_LoadFullTray(string robotId, int positionNum)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
|
|
// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNum);
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray上料点");
|
// }
|
|
// if (bind.AGV.CurrentPosition != position.PositionCode)
|
// {
|
// throw new ProcessException("AGV当前未处于满Tray上料点");
|
// }
|
|
// float adjust_X = 0.0f;
|
// float adjust_Y = 0.0f;
|
// float adjust_Angle = 0.0f;
|
|
// if (Config.IsEnableVisionGuide)
|
// {
|
// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
|
|
// if (visionConfig == null)
|
// {
|
// throw new ProcessException("未配置该相机的满Tray上料点的视觉操作配置");
|
// }
|
|
// float x = 0;
|
// float y = 0;
|
// float angle = 0;
|
|
// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_LoadFullTray"))
|
// {
|
// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
|
// if (!_halconToolDict.ContainsKey(toolPath))
|
// {
|
// throw new ProcessException($"未配置Camera_LoadFullTray的视觉算法路径");
|
// }
|
|
// var tool = _halconToolDict[toolPath];
|
// tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
|
// tool.RunProcedure();
|
|
// x = (float)tool.GetResultTuple("OUTPUT_X").D;
|
// y = (float)tool.GetResultTuple("OUTPUT_Y").D;
|
// angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
|
// }
|
|
// if (x <= 0 || y <= 0)
|
// {
|
// throw new ProcessException("Camera_LoadFullTray视觉计算获取点位不可小于0");
|
// }
|
|
// float dx = visionConfig.StandardPoint.X - x;
|
// float dy = visionConfig.StandardPoint.Y - y;
|
|
// HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
|
|
// adjust_X = (float)dx_Robot.D;
|
// adjust_Y = (float)dy_Robot.D;
|
// adjust_Angle = visionConfig.StandardPoint.Angle - angle;
|
// }
|
|
// //bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
|
// RobotMsg_LoadFullTray.Action = RobotMsgAction.Load;
|
// RobotMsg_LoadFullTray.Para1 = RobotMsgParas.FullTray;
|
// RobotMsg_LoadFullTray.Para2 = position.PositionNo;
|
// RobotMsg_LoadFullTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
|
// bind.Robot.SendMsg(RobotMsg_LoadFullTray, true);
|
|
// return new ProcessResponse(true);
|
//}
|
//#endregion
|
|
//#region 满Tray产线下料
|
////[ProcessMethod("", "AGV_UnloadFullTray", "AGV去往卸载满Tray料", true)]
|
////public ProcessResponse AGV_UnloadFullTray(IOperationConfig config, IDevice device)
|
////{
|
//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
|
//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
|
|
//// if (position == null)
|
//// {
|
//// throw new ProcessException("路径配置未设置满Tray下料点");
|
//// }
|
|
//// bind.AGVDest = position.PositionCode;
|
//// bind.AGV.TaskOrder(position.PositionCode);
|
|
//// bind.AGVStatus = TaskStatus.Running;
|
|
//// return new ProcessResponse(true);
|
////}
|
|
//public bool AGV_UnloadFullTray(string bindId)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
|
// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray下料点");
|
// }
|
|
// if (bind.SetAGVStatus(TaskStatus.Running))
|
// {
|
// bind.AGVDest = position.PositionCode;
|
// bind.AGV.TaskOrder(position.PositionCode);
|
|
// return true;
|
// }
|
// else
|
// {
|
// return false;
|
// }
|
//}
|
|
////[ProcessMethod("", "Robot_UnloadFullTray", "机器人卸载满Tray", true)]
|
////public ProcessResponse Robot_UnloadFullTray(IOperationConfig config, IDevice device)
|
////{
|
//// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
|
//// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
|
|
//// if (position == null)
|
//// {
|
//// throw new ProcessException("路径配置未设置满Tray下料点");
|
//// }
|
|
//// if (bind.AGV.CurrentPosition != position.PositionCode)
|
//// {
|
//// throw new ProcessException("AGV当前未处于满Tray下料点");
|
//// }
|
|
//// bind.RobotStatus = TaskStatus.Running;
|
//// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
|
|
//// return new ProcessResponse(true);
|
////}
|
|
//public void Robot_UnloadFullTraySnap(string bindId, PathPosition position)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
|
// //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray下料点");
|
// }
|
|
// if (bind.AGV.CurrentPosition != position.PositionCode)
|
// {
|
// throw new ProcessException("AGV当前未处于满Tray下料点");
|
// }
|
|
// bind.RobotStatus = TaskStatus.Running;
|
// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
|
// //LogAsync(DateTime.Now, "Robot运动至下满Tray拍照", "");
|
//}
|
|
////[ProcessMethod("", "Camera_UnloadFullTray", "相机操作卸载满Tray", true)]
|
////public ProcessResponse Camera_UnloadFullTray(IOperationConfig config, IDevice device)
|
//public ProcessResponse Camera_UnloadFullTray(string robotId, int positionNum)
|
//{
|
// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
|
// PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray && u.PositionNo == positionNum);
|
|
// if (position == null)
|
// {
|
// throw new ProcessException("路径配置未设置满Tray下料点");
|
// }
|
|
// if (bind.AGV.CurrentPosition != position.PositionCode)
|
// {
|
// throw new ProcessException("AGV当前未处于满Tray下料点");
|
// }
|
|
// //float adjust_X = 0.0f;
|
// //float adjust_Y = 0.0f;
|
// //float adjust_Angle = 0.0f;
|
// bool isLineReady = false;
|
|
// if (Config.IsEnableVisionGuide)
|
// {
|
// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
|
|
// if (visionConfig == null)
|
// {
|
// throw new ProcessException("未配置该相机的满Tray下料点的视觉操作配置");
|
// }
|
|
|
// int reTryTime = Config.LineBusyRetryTimes;
|
|
// do
|
// {
|
// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadFullTray"))
|
// {
|
// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
|
// if (!_halconToolDict.ContainsKey(toolPath))
|
// {
|
// throw new ProcessException($"未配置Camera_UnloadFullTray的视觉算法路径");
|
// }
|
|
// _halconToolDict[toolPath].SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_Result", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
|
// _halconToolDict[toolPath].RunProcedure();
|
|
// isLineReady = _halconToolDict[toolPath].GetResultTuple("OUTPUT_Result").I == 1;
|
// }
|
|
// if (!isLineReady)
|
// {
|
// Thread.Sleep(Config.LineBusyWaitInterval * 1000);
|
// reTryTime--;
|
// }
|
// else
|
// {
|
// reTryTime = 0;
|
// }
|
// } while (reTryTime > 0);
|
|
// //if (!isLineReady)
|
// //{
|
// // bind.Robot.SendMsg(RobotMsgType.Send, -1, true, RobotMsgAction.State, RobotMsgParas.LineSnap, new List<string>() { "-1" });
|
// // throw new ProcessException("产线忙，等待超时");
|
// //}
|
// //else
|
// //{
|
// // bind.Robot.SendMsg(RobotMsgType.Send, -1, true, RobotMsgAction.State, RobotMsgParas.LineSnap, new List<string>() { "1" });
|
// //}
|
// }
|
// else
|
// {
|
// isLineReady = true;
|
// }
|
|
// if (isLineReady)
|
// {
|
// bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.FullTray, position.PositionNo);
|
// }
|
// else
|
// {
|
// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.Home, position.PositionNo);
|
// }
|
|
// return new ProcessResponse(true);
|
//}
|
//#endregion
|
#endregion
|
}
|
}
|
