1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数

patrick

2019-12-05 6428fad15dbe79e30a48ffc9aabe31e03a45426c

 src/A032.Process/ProcessControl.cs

@@ -263,6 +263,7 @@
            });
        }

        //Dictionary<string, MethodInfo> InvokeMethodDict = new Dictionary<string, MethodInfo>();
        public List<ProcessMethodAttribute> CollectProcessMethods()
        {
            List<ProcessMethodAttribute> resultList = new List<ProcessMethodAttribute>();
@@ -274,6 +275,7 @@
                if (attr != null)
                {
                    resultList.Add(attr);
                    //InvokeMethodDict[attr.MethodCode] = m;
                }
            });

@@ -287,19 +289,16 @@
            StationConfig = LoadStationConfig(configPath);

            #region 个别配置的特别处理

            #endregion

            _warningRemains.CollectionChanged -= _warningRemains_CollectionChanged;
            _warningRemains.CollectionChanged += _warningRemains_CollectionChanged;

            InitialPLCs();
            InitialRobots();
            InitialAGVs();
            InitialRobots();
            InitialCameras();

            InitialAGVBindUnit();

            InitialMachineTrayNums();

            AutoFacRegister();
@@ -333,7 +332,7 @@
                    u.Camera = CameraDict[u.CameraId];
                }

                u.OnMethodInvoke = OnBindUnitTaskInvoke;
                //u.OnMethodInvoke = OnBindUnitTaskInvoke;
            });
        }

@@ -371,6 +370,8 @@
                robot.InitialConfig = c;
                RobotDict[robot.InitialConfig.ID] = robot;

                robot.OnLog = OnDeviceLog;

                robot.OnMsgReceived = OnRobotMsgReceived;

                robot.OnMonitorAlarm -= OnMonitorAlarm;
@@ -389,8 +390,10 @@
                agv.InitialConfig = c;
                AGVDict[agv.InitialConfig.ID] = agv;

                agv.OnLog = OnDeviceLog;
                agv.OnAGVPositoinChanged = OnAGVPositionChanged;
                agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
                agv.OnAGVBatteryLvlChanged = OnAGVBatteryLvlChanged;
            });
        }

@@ -540,6 +543,11 @@
            {
                InitialHalconTool(c as IHalconToolPath);
            });

            Config.ProcessOpConfigDict.Values.ToList().ForEach(c =>
            {
                InitialHalconTool(c as IHalconToolPath);
            });
            #endregion
        }