派生自 A032
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
patrick
2019-12-06 b0a4c47dd74bc41c5df3bab6ddd8de7bcc6a52b0 
 src/A032.Process/ProcessControl.cs


@@ -5,7 +5,6 @@


using Bro.Common.Model;


using Bro.Common.Model.Interface;


using Bro.Common.PubSub;


using Bro.Common.UI;


using Bro.Device.AuboRobot;


using Bro.Device.OmronFins;


using Bro.Device.SeerAGV;


@@ -14,18 +13,14 @@


using Newtonsoft.Json;


using Newtonsoft.Json.Linq;


using System;


using System.Collections.Concurrent;


using System.Collections.Generic;


using System.Collections.ObjectModel;


using System.Collections.Specialized;


using System.Configuration;


using System.Diagnostics;


using System.Drawing;


using System.Drawing.Imaging;


using System.IO;


using System.Linq;


using System.Reflection;


using System.Runtime.ExceptionServices;


using System.Threading;


using System.Threading.Tasks;


using static Bro.Common.Helper.EnumHelper;


@@ -152,6 +147,11 @@


            if (ProcessState == DeviceState.DSClose)


                return;




            List<string> currentTaskIds = Config.AGVBindCollection.Select(u => u.CurrentTaskId).Where(s => !string.IsNullOrWhiteSpace(s)).ToList();


            TrayTaskCollection.RemoveAll(t => !currentTaskIds.Contains(t.TaskId));




            _bindTaskDoneHandleDict.Values.ToList().ForEach(h => h.WaitOne());




            CloseDevice(PLCDict.Values.ToList());


            CloseDevice(RobotDict.Values.ToList());


            CloseDevice(AGVDict.Values.ToList());


@@ -168,6 +168,7 @@


                return;




            InitialProcessMethods();


            TrayTaskCollection.OnItemChangedWithItemInfo = OnTaskListChanged;




            OpenDevices(RobotDict.Values.ToList());


            OpenDevices(AGVDict.Values.ToList());


@@ -177,14 +178,15 @@




            OpenDevices(PLCDict.Values.ToList());




            //加载AGVUnit状态事件


            Config.AGVBindCollection.ForEach(b =>


            {


                b.OnUnitStateChanged = OnUnitStateChanged;




                _bindTaskDoneHandleDict[b.Id] = new AutoResetEvent(true);


            });




            ProcessState = DeviceState.DSOpen;




            //QueryRobotIO();




            //Task.Run(() =>


            //{


            //    //PLCMonitor();


            //});




            LogAsync(DateTime.Now, "Process Opened", "");


        }


@@ -291,27 +293,27 @@


            #region 个别配置的特别处理


            #endregion




            _warningRemains.CollectionChanged -= _warningRemains_CollectionChanged;


            _warningRemains.CollectionChanged += _warningRemains_CollectionChanged;


            WarningRemains.CollectionChanged -= _warningRemains_CollectionChanged;


            WarningRemains.CollectionChanged += _warningRemains_CollectionChanged;




            InitialPLCs();


            InitialAGVs();


            InitialRobots();


            InitialCameras();


            InitialAGVBindUnit();


            InitialMachineTrayNums();


            //InitialMachineTrayNums();




            AutoFacRegister();




            LogAsync(DateTime.Now, "Process Initialized", "");


        }




        private void InitialMachineTrayNums()


        {


            machineEmptyTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.UnloadEmptyTray).ToDictionary(p => p.PositionNo, p => 0);


        //private void InitialMachineTrayNums()


        //{


        //    machineEmptyTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.UnloadEmptyTray).ToDictionary(p => p.PositionNo, p => 0);




            machineFullTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.LoadFullTray).ToDictionary(p => p.PositionNo, p => 0);


        }


        //    machineFullTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.LoadFullTray).ToDictionary(p => p.PositionNo, p => 0);


        //}




        private void InitialAGVBindUnit()


        {


@@ -390,6 +392,9 @@


                agv.InitialConfig = c;


                AGVDict[agv.InitialConfig.ID] = agv;




                agv.OnMonitorAlarm -= OnMonitorAlarm;


                agv.OnMonitorInvoke -= OnMonitorInvoke;




                agv.OnLog = OnDeviceLog;


                agv.OnAGVPositoinChanged = OnAGVPositionChanged;


                agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;


@@ -448,7 +453,7 @@




            ProcessConfig pConfig = config as ProcessConfig;


            if (pConfig == null)


                throw new ProcessException("目前只支持ProcessConfig类型的非空内容保存", null);


                throw new ProcessException("目前只支持ProcessConfig类型的非空内容保存");




            string newConfig = JsonConvert.SerializeObject(pConfig, new JsonSerializerSettings() { TypeNameHandling = TypeNameHandling.Auto });


            using (StreamWriter writer = new StreamWriter(CONFIG_PATH, false, System.Text.Encoding.UTF8))


@@ -505,71 +510,36 @@


                if (attr != null)


                {


                    _processMethodDict[attr.MethodCode] = m;




                    #region 初始化HalconTool 根据processMethod的特性来配置


                    //if (attr.DeviceType.EndsWith("Camera"))


                    //{


                    //    if (StationConfig.ProcessOpConfigDict.Keys.Contains(attr.MethodCode))


                    //    {


                    //        var opConfig = StationConfig.ProcessOpConfigDict[attr.MethodCode] as HalconRelatedCameraOprerationConfigBase;




                    //        if (opConfig != null)


                    //        {


                    //            if (!string.IsNullOrWhiteSpace(opConfig.AlgorithemPath))


                    //            {


                    //                string directoryPath = Path.GetDirectoryName(opConfig.AlgorithemPath);


                    //                string fileName = Path.GetFileNameWithoutExtension(opConfig.AlgorithemPath);




                    //                HDevEngineTool tool = new HDevEngineTool(directoryPath);


                    //                tool.LoadProcedure(fileName);




                    //                _halconToolDict[attr.MethodCode] = tool;


                    //            }


                    //        }


                    //    }


                    //}


                    #endregion


                }


            });




            #region 初始化HalconTool 根据配置的接口类型来配置


            _halconToolDict = new Dictionary<string, HDevEngineTool>();


            Config.PLCConfigCollection.SelectMany(plcConfig => plcConfig.MonitorSetCollection).Select(ms => ms.OpConfig).ToList().ForEach(c =>


            {


                InitialHalconTool(c as IHalconToolPath);


            });




            Config.VisionConfigCollection.ForEach(c =>


            {


                InitialHalconTool(c as IHalconToolPath);


            });




            Config.ProcessOpConfigDict.Values.ToList().ForEach(c =>


            {


                InitialHalconTool(c as IHalconToolPath);


            });


            InitialHalconTool();


            #endregion


        }




        private void InitialHalconTool(IHalconToolPath toolPath)


        private void InitialHalconTool()


        {


            //IHalconToolPath toolPath = c as IHalconToolPath;


            if (toolPath != null)


            foreach (HDevEngineTool tool in _halconToolDict.Values)


            {


                toolPath.GetHalconToolPathList().ForEach(path =>


                {


                    if (!string.IsNullOrWhiteSpace(path) && !_halconToolDict.ContainsKey(path))


                    {


                        string directoryPath = Path.GetDirectoryName(path);


                        string fileName = Path.GetFileNameWithoutExtension(path);




                        HDevEngineTool tool = new HDevEngineTool(directoryPath);


                        tool.LoadProcedure(fileName);




                        _halconToolDict[path] = tool;


                    }


                });


                tool?.Dispose();


            }




            _halconToolDict = new Dictionary<string, HDevEngineTool>();




            Config.GetHalconToolPathList().ForEach(path =>


            {


                if (!string.IsNullOrWhiteSpace(path) && !_halconToolDict.ContainsKey(path))


                {


                    string directoryPath = Path.GetDirectoryName(path);


                    string fileName = Path.GetFileNameWithoutExtension(path);




                    HDevEngineTool tool = new HDevEngineTool(directoryPath);


                    tool.LoadProcedure(fileName);




                    _halconToolDict[path] = tool;


                }


            });


        }




        public List<IDevice> GetDeviceList()


@@ -621,7 +591,7 @@


                                    res = new ProcessResponse((int)ReturnValue.EXCEPTIONVALUE);


                                }




                                var newEx = new ProcessException("函数" + methodCode + "执行异常", ex);


                                var newEx = new ProcessException("函数" + methodCode + "执行异常", ExceptionLevel.Warning, ex);


                            }


                            else


                            {


@@ -658,60 +628,6 @@


            {


                monitorSet.Response.ResultValue = (int)ReturnValue.OKVALUE;


            }


            #endregion




            //sw.Stop();


            //LogAsync(DateTime.Now, methodCode + " 调用耗时: " + sw.ElapsedMilliseconds.ToString() + "ms", "");


            //TimeRecordCSV(DateTime.Now, methodCode + "调用", (int)sw.ElapsedMilliseconds);


            //sw.Start();




            #region 原有PLC写入结果操作，现转到异步调用后回调去执行


            //ProcessResponse resValues = res as ProcessResponse;




            //if (resValues.ResultValue == (int)PLCReplyValue.IGNORE)


            //{


            //    return;


            //}




            //if (monitorSet.ReplyDataAddress != -1 && resValues.DataList.Count > 0)


            //{


            //    PLC_ITEM item = new PLC_ITEM();


            //    item.OP_TYPE = 2;


            //    item.ITEM_LENGTH = resValues.DataList.Count;


            //    item.ADDRESS = monitorSet.ReplyDataAddress.ToString();


            //    item.ITEM_VALUE = String.Join(",", resValues.DataList);


            //    PLC.WriteItem(item, false);


            //}




            //if (monitorSet.NoticeAddress != -1)


            //{


            //    //测试模式下始终反馈OK信号


            //    if (StationConfig.IsDemoMode && resValues.ResultValue <= 0)


            //    {


            //        resValues.ResultValue = (int)ReturnValue.OKVALUE;


            //    }




            //    int repeatTime = 5;




            //    //LogAsync(DateTime.Now, methodCode + "开始反馈", "");


            //    do


            //    {


            //        try


            //        {


            //            PLC.WriteSingleAddress(set.NoticeAddress, resValues.ResultValue, false);


            //            repeatTime = 0;


            //        }


            //        catch (Exception ex)


            //        {


            //            repeatTime--;




            //            if (repeatTime <= 0)


            //            {


            //                new ProcessException("PLC反馈写入异常", ex);


            //            }


            //        }


            //    } while (repeatTime > 0);


            //}


            #endregion


        }




@@ -1176,7 +1092,7 @@


                    else


                    {


                        //MessageBox.Show("未能获取离线图片！");


                        throw new ProcessException("未能获取离线图片！", null);


                        throw new ProcessException("未能获取离线图片！");


                    }


                }


            }


@@ -1440,7 +1356,7 @@


        #endregion




        #region 报警和DownTime


        public ObservableCollection<string> _warningRemains = new ObservableCollection<string>();


        public ObservableCollection<string> WarningRemains { get; set; } = new ObservableCollection<string>();




        bool warningRemainFlag = false;


        bool WarningRemainFlag