1. 修改机器人通信协议及相关流程触发和操作

patrick

2019-10-18 4e8bf084f8a04617a9f542099183b8d829fa7c4b

 src/A032.Process/ProcessConfig.cs

@@ -46,6 +46,12 @@
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<HikCameraInitialConfig>), typeof(UITypeEditor))]
        public List<HikCameraInitialConfig> CameraConfigCollection { get; set; } = new List<HikCameraInitialConfig>();

        [Category("设备配置")]
        [Description("AGV小车设备绑定配置，配置绑定的AGV，机器人和相机信息")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<AGVBindUnit>), typeof(UITypeEditor))]
        public List<AGVBindUnit> AGVBindCollection { get; set; } = new List<AGVBindUnit>();
        #endregion

        #region 操作配置
@@ -55,15 +61,15 @@
        //[Editor(typeof(MonitorSetBindEditor), typeof(UITypeEditor))]
        //public Dictionary<string, MonitorSet> PLCMonitorSet { get; set; } = new Dictionary<string, MonitorSet>();

        ///// <summary>
        ///// 操作配置的字典集合
        ///// Key：MethodCode，Value：操作配置
        ///// </summary>
        //[Category("操作配置")]
        //[Description("操作配置集合")]
        //[TypeConverter(typeof(CollectionCountConvert))]
        //[Editor(typeof(OperationConfigBindEditor), typeof(UITypeEditor))]
        //public Dictionary<string, IOperationConfig> ProcessOpConfigDict { get; set; } = new Dictionary<string, IOperationConfig>();
        /// <summary>
        /// 操作配置的字典集合
        /// Key：MethodCode，Value：操作配置
        /// </summary>
        [Category("操作配置")]
        [Description("默认操作配置集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(OperationConfigBindEditor), typeof(UITypeEditor))]
        public Dictionary<string, IOperationConfig> ProcessOpConfigDict { get; set; } = new Dictionary<string, IOperationConfig>();

        //[Category("监听和操作配置")]
        //[Description("监听操作配置集合")]
@@ -140,8 +146,44 @@
        [Category("路径相关")]
        [Description("各位置标定矩阵")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<PositionMatrix>), typeof(UITypeEditor))]
        public List<PositionMatrix> MatrixCollection { get; set; } = new List<PositionMatrix>();
        [Editor(typeof(ComplexCollectionEditor<PositionVisionConfig>), typeof(UITypeEditor))]
        public List<PositionVisionConfig> VisionConfigCollection { get; set; } = new List<PositionVisionConfig>();

        /// <summary>
        /// 空Tray上料阈值，AGV上的空tray数量不大于该数值时，AGV可以执行空Tray上料任务
        /// </summary>
        [Category("阈值设置")]
        [Description("空Tray上料阈值，AGV上的空tray数量不大于该数值时，AGV可以执行空Tray上料任务")]
        public int AGV_EmptyTrayThreshold { get; set; } = 0;

        /// <summary>
        /// 满Tray下料阈值，AGV上的满tray数量不小于该数值时，AGV可以执行满Tray下料任务
        /// </summary>
        [Category("阈值设置")]
        [Description("满Tray下料阈值，AGV上的满tray数量不小于该数值时，AGV可以执行满Tray下料任务")]
        public int AGV_FullTrayThreshold { get; set; } = 10;

        /// <summary>
        /// 产线忙时拍照确认等待间隔，以秒为单位
        /// </summary>
        [Category("阈值设置")]
        [Description("产线忙时拍照确认等待间隔，以秒为单位")]
        public int LineBusyWaitInterval { get; set; } = 60;

        /// <summary>
        /// 产线忙时拍照重试次数
        /// </summary>
        [Category("阈值设置")]
        [Description("产线忙时拍照重试次数")]
        public int LineBusyRetryTimes { get; set; } = 10;

        [Category("阈值设置")]
        [Description("机台压机满Tray数量")]
        public int Machine_FullTrayNum { get; set; }

        [Category("阈值设置")]
        [Description("机台压机空Tray数量")]
        public int Machine_EmptyTrayNum { get; set; }

        #region Ignore
        [Browsable(false)]
@@ -190,55 +232,5 @@
        [JsonIgnore]
        public virtual bool IsDBSave { get; set; } = false;
        #endregion
    }

    public class PathPosition : IComplexDisplay
    {
        [Category("导航路径")]
        [Description("路径节点代码")]
        public string PositionCode { get; set; }

        [Category("导航路径")]
        [Description("路径节点描述")]
        public string Description { get; set; }

        public string GetDisplayText()
        {
            return $"{PositionCode}-{Description}";
        }
    }

    public class PositionMatrix : IComplexDisplay
    {
        [Category("位置矩阵")]
        [Description("位置代码")]
        [TypeConverter(typeof(PositionCodeConverter))]
        public string PositionCode { get; set; }

        [Category("位置矩阵")]
        [Description("该位置标定矩阵")]
        [TypeConverter(typeof(SimpleCollectionConvert<double>))]
        public List<double> Matrix { get; set; } = new List<double>();

        public string GetDisplayText()
        {
            return $"{PositionCode}:{string.Join(",", Matrix)}";
        }
    }

    public class PositionCodeConverter : ComboBoxItemTypeConvert
    {
        public override void GetConvertHash()
        {
            using (var scope = GlobalVar.Container.BeginLifetimeScope())
            {
                var config = scope.Resolve<ProcessConfig>();

                config.PositionCollection.ForEach(p =>
                {
                    _hash[p.PositionCode] = $"{p.PositionCode}-{p.Description}";
                });
            }
        }
    }
}