From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/A032.Process/ProcessControl_Method.cs | 946 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 925 insertions(+), 21 deletions(-)
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 1ff4d8d..45a0f4f 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/src/A032.Process/ProcessControl_Method.cs
@@ -1,37 +1,941 @@
锘縰sing Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
-using Bro.Device.HikCamera;
-using HalconDotNet;
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.IO;
using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
namespace A032.Process
{
- public enum ResultState
- {
- OK = 1,
- NG = -1,
- Undetermined = -2,
- }
-
public partial class ProcessControl
{
- public void QueryRobotIO()
+ #region Robot鐩戝惉浜嬩欢
+ [ProcessMethod("", "Robot_Monitor_Alarm", "鏈哄櫒浜虹洃鍚簨浠�-鎶ヨ", true)]
+ public ProcessResponse Robot_Monitor_Alarm(IOperationConfig config, IDevice device)
{
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
- }
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
- [ProcessMethod("HikCamera", "RobotCorrection", "鎷嶆憚锛岀‘璁ゆ満鍣ㄤ汉璋冩暣浣嶇疆", true)]
- public ProcessResponse RobotCorrection(IOperationConfig config)
- {
+ bind.AGV.CancelTask();
+ bind.UnitState = AGVState.Warning;
+
return new ProcessResponse(true);
}
+
+ [ProcessMethod("", "Robot_Monitor_EmptyTrayEmpty", "鏈哄櫒浜虹洃鍚簨浠�-绌篢ray鍖哄煙娓呯┖", true)]
+ public ProcessResponse Robot_Monitor_EmptyTrayEmpty(IOperationConfig config, IDevice device)
+ {
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
+
+ bind.EmptyTrayNum = 0;
+
+ TrayTask task = new TrayTask();
+ task.TaskType = TaskType.LoadEmptyTrayToAGV;
+ //task.Priority = 10;
+ task.SourceDeviceId = device.Id;
+ //task.SourceDeviceName = device.Name;
+
+ //濡傛灉鐩墠鍦板潃琚崰鐢紝鍦板潃鏈夊彲鑳戒负绌猴紝闇�瑕佸湪浠诲姟鎸囨淳鏃跺啀娆＄‘璁�
+ task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.LoadEmptyTray);
+
+ InsertTask(task);
+
+ return new ProcessResponse(true);
+ }
+
+ /// <summary>
+ /// 淇″彿瑕佹眰闀夸俊鍙疯Е鍙戯紝閬垮厤璇Е鍙�
+ /// </summary>
+ /// <param name="config"></param>
+ /// <param name="device"></param>
+ /// <returns></returns>
+ [ProcessMethod("", "Robot_Monitor_FullTrayFull", "鏈哄櫒浜虹洃鍚簨浠�-婊ray鍖哄煙鏀炬弧", true)]
+ public ProcessResponse Robot_Monitor_FullTrayFull(IOperationConfig config, IDevice device)
+ {
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
+
+ //if (bind.FullTrayNum >= Config.AGVAvailableTrayNums)
+ {
+ bind.FullTrayNum = Config.AGVAvailableTrayNums;
+
+ TrayTask task = new TrayTask();
+ task.TaskType = TaskType.UnloadFullTrayToLine;
+ task.SourceDeviceId = device.Id;
+
+ //濡傛灉鐩墠鍦板潃琚崰鐢紝鍦板潃鏈夊彲鑳戒负绌猴紝闇�瑕佸湪浠诲姟鎸囨淳鏃跺啀娆＄‘璁�
+ task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.UnloadFullTray);
+
+ InsertTask(task);
+ }
+
+ return new ProcessResponse(true);
+ }
+
+ [ProcessMethod("", "Robot_Monitor_FullTrayEmpty", "鏈哄櫒浜虹洃鍚簨浠�-婊ray鍖哄煙娓呯┖", true)]
+ public ProcessResponse Robot_Monitor_FullTrayEmpty(IOperationConfig config, IDevice device)
+ {
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
+
+ bind.FullTrayNum = 0;
+
+ return new ProcessResponse(true);
+ }
+
+ //[ProcessMethod("", "Robot_Monitor_LoadEmptyTrayReady", "鏈哄櫒浜虹洃鍚簨浠�-杞藉叆绌篢ray灏辩华", true)]
+ //public ProcessResponse Robot_Monitor_LoadEmptyTrayReady(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+
+ // if (bind == null)
+ // {
+ // throw new ProcessException("鏈兘鏍规嵁鏈哄櫒浜轰俊鎭幏鍙栫粦瀹氳澶囦俊鎭�", null);
+ // }
+
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // new ProcessException("涓婄┖Tray瀹屾垚淇″彿浠呭湪涓婄┖Tray鍦扮偣鏈夋晥", null);
+ // return new ProcessResponse(true);
+ // }
+
+ // List<AGVTaskModel> models = new List<AGVTaskModel>();
+ // models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, EmptyTrayReady));
+ // AddNewTaskToBind(bind, models);
+
+ // return new ProcessResponse(true);
+ //}
+
+ [ProcessMethod("", "Robot_Monitor_Reset", "鏈哄櫒浜虹洃鍚簨浠�-Reset澶嶄綅", true)]
+ public ProcessResponse Robot_Monitor_Reset(IOperationConfig config, IDevice device)
+ {
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
+ bind.AGV.CancelTask();
+
+ Reset(bind.Id);
+
+ return new ProcessResponse(true);
+ }
+ #endregion
+
+ #region PLC鐩戝惉浜嬩欢
+ [ProcessMethod("", "PLC_NoticeEmptyTray", "PLC閫氱煡闇�瑕佷笂绌篢ray", true)]
+ public ProcessResponse PLC_NoticeEmptyTray(IOperationConfig config, IDevice device)
+ {
+ TrayTask task = new TrayTask();
+ task.TaskType = TaskType.UnloadEmptyTrayToMachine;
+ task.SourceDeviceId = device.Id;
+ //task.SourceDeviceName = device.Name;
+ task.Location = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.DeviceOwner == device.Id);
+
+ InsertTask(task);
+
+ return new ProcessResponse(true);
+ }
+
+ [ProcessMethod("", "PLC_NoticeFullTray", "PLC閫氱煡婊ray闇�瑕佸彇璧�", true)]
+ public ProcessResponse PLC_NoticeFullTray(IOperationConfig config, IDevice device)
+ {
+ TrayTask task = new TrayTask();
+ task.TaskType = TaskType.LoadFullTrayFromMachine;
+ task.SourceDeviceId = device.Id;
+ //task.SourceDeviceName = device.Name;
+ task.Location = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.DeviceOwner == device.Id);
+
+ InsertTask(task);
+
+ return new ProcessResponse(true);
+ }
+ #endregion
+
+ [ProcessMethod("OperationTest", "OperationDemo", "鍗曟娴嬭瘯鏂规硶", true)]
+ public ProcessResponse OperationDemo(IOperationConfig config, IDevice device)
+ {
+ string s = (-1).ToString("D2");
+ string a = (1).ToString("D2");
+
+ OperationTestConfig opConfig = config as OperationTestConfig;
+
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == opConfig.AGVId);
+ if (bind == null)
+ throw new ProcessException("鏈兘鑾峰彇鎸囧畾AGV淇℃伅鎴朅GV缁戝畾鐨勮澶囦俊鎭�");
+
+ switch (opConfig.TaskInfo.TaskType)
+ {
+ case TaskType.LoadEmptyTrayToAGV:
+ LoadEmptyTrayToAGV(opConfig.TaskInfo, bind);
+ break;
+ case TaskType.LoadFullTrayFromMachine:
+ LoadFullTrayFromMachine(opConfig.TaskInfo, bind);
+ break;
+ case TaskType.UnloadEmptyTrayToMachine:
+ UnloadEmptyTrayToMachine(opConfig.TaskInfo, bind);
+ break;
+ case TaskType.UnloadFullTrayToLine:
+ UnloadFullTrayToLine(opConfig.TaskInfo, bind);
+ break;
+ default:
+ throw new ProcessException($"鏈兘鎸囧畾{opConfig.TaskInfo.TaskType.ToString()}鐨勫搴旀柟娉�");
+ }
+
+ return new ProcessResponse(true);
+ }
+
+ #region old
+ //#region 绌篢ray涓婃枡
+ ////[ProcessMethod("", "AGV_LoadEmptyTray", "AGV鍘诲線绌篢ray涓婃枡", true)]
+ ////public ProcessResponse AGV_LoadEmptyTray(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.LoadEmptyTray);
+
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�");
+ //// }
+
+ //// bind.AGVDest = position.PositionCode;
+ //// bind.AGV.TaskOrder(position.PositionCode);
+
+ //// bind.AGVStatus = TaskStatus.Running;
+
+ //// return new ProcessResponse(true);
+ ////}
+
+ //public bool AGV_LoadEmptyTray(string bindId)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�");
+ // }
+
+ // if (bind.SetAGVStatus(TaskStatus.Running))
+ // {
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
+
+ // return true;
+ // }
+ // else
+ // {
+ // return false;
+ // }
+ //}
+
+ ////[ProcessMethod("", "AfterEmptyTrayPositionArrived", "鍒拌揪绌篢ray涓婃枡鐐�", true)]
+ ////public ProcessResponse AfterEmptyTrayPositionArrived(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.LoadEmptyTray);
+
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�", null);
+ //// }
+
+ //// if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// {
+ //// throw new ProcessException("AGV灏氭湭鍒拌揪绌篢ray涓婃枡鐐�", null);
+ //// }
+
+ //// bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
+ //// bind.RobotStatus = TaskStatus.Running;
+
+ //// return new ProcessResponse(true);
+ ////}
+
+ //public void Robot_LoadEmptyTray(string bindId, PathPosition position)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ // //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�", null);
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV灏氭湭鍒拌揪绌篢ray涓婃枡鐐�", null);
+ // }
+
+ // bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
+ // bind.RobotStatus = TaskStatus.Running;
+ //}
+
+ ////[ProcessMethod("", "EmptyTrayReady", "绌篢ray涓婃枡瀹屾垚", true)]
+ ////public ProcessResponse EmptyTrayReady(IOperationConfig config, IDevice device)
+ ////{
+ //// var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ //// bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
+
+ //// return new ProcessResponse(true);
+ ////}
+ //#endregion
+
+ //#region 绌篢ray寰�鏈哄彴涓嬫枡
+ ////bool isEmptyTrayNeed = false;
+ ////bool isEmptyTrayTaskAssigned = false;
+ //RobotMsg RobotMsg_UnloadEmptyTray = new RobotMsg();
+
+ //private async void CheckUnloadEmptyTrayTask(int positionNo)
+ //{
+ // 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_UnloadEmptyTray;
+
+ // //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodName == "AGV_UnloadEmptyTray")))
+ // {
+ // 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_UnloadEmptyTray", new AGVBindOpConfig(bind.Id, position));
+ // //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_UnloadEmptyTray", new AGVBindOpConfig(bind.Id));
+
+ // //bind.AddTask(model_AGV);
+ // //bind.AddTask(model_Robot);
+
+ // if (AGV_UnloadEmptyTray(bind.Id, position))
+ // {
+ // taskStatus.IsTaskAssgined = true;
+ // taskStatus.AgvId = bind.AGVId;
+ // }
+ // }
+ // }
+
+ // Thread.Sleep(WAITTIME);
+ // }
+ // });
+ //}
+
+ ////[ProcessMethod("", "AGV_UnloadEmptyTray", "AGV鍘诲線鍗歌浇绌篢ray鏂欎綅缃�", true)]
+ //public bool AGV_UnloadEmptyTray(string bindId, PathPosition position)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.SetAGVStatus(TaskStatus.Running))
+ // {
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
+
+ // return true;
+ // }
+ // else
+ // {
+ // return false;
+ // }
+ //}
+
+ ////[ProcessMethod("", "Robot_UnloadEmptyTray", "鏈哄櫒浜鸿繍鍔ㄨ嚦绌篢ray鎷嶇収浣嶇疆", true)]
+ //public void Robot_UnloadEmptyTraySnap(string bindId, PathPosition position)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ // //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.PositionCode == bind.AGV.CurrentPosition);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
+ // }
+
+ // taskAssignedList.RemoveAll(u => u.AgvId == bind.AGVId && u.PositionNo == position.PositionNo);
+
+ // bind.RobotStatus = TaskStatus.Running;
+ // bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.UnloadEmptyTraySnap, position.PositionNo);
+ //}
+
+ ////[ProcessMethod("", "Camera_UnloadEmptyTray", "鐩告満纭绌篢ray鍗歌浇鏈哄櫒浜轰綅缃皟鏁�", true)]
+ ////public ProcessResponse Camera_UnloadEmptyTray(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.UnloadEmptyTray);
+
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
+ //// }
+
+ //// if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// {
+ //// throw new ProcessException("AGV褰撳墠鏈浜庣┖Tray涓嬫枡鐐�");
+ //// }
+
+ //// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+
+ //// if (visionConfig == null)
+ //// {
+ //// throw new ProcessException("鏈厤缃鐩告満鐨勭┖Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ //// }
+
+ //// float x = 0;
+ //// float y = 0;
+ //// float angle = 0;
+
+ //// using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
+ //// {
+ //// string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
+ //// if (!_halconToolDict.ContainsKey(toolPath))
+ //// {
+ //// throw new ProcessException($"鏈厤缃瓹amera_UnloadEmptyTray鐨勮瑙夌畻娉曡矾寰�");
+ //// }
+
+ //// 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_UnloadEmptyTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬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.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
+
+ //// return new ProcessResponse(true);
+ ////}
+
+ //public ProcessResponse Camera_UnloadEmptyTray(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("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV褰撳墠鏈浜庣┖Tray涓嬫枡鐐�");
+ // }
+
+ // 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("鏈厤缃鐩告満鐨勭┖Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ // }
+
+ // float x = 0;
+ // float y = 0;
+ // float angle = 0;
+
+ // using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
+ // {
+ // string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
+ // if (!_halconToolDict.ContainsKey(toolPath))
+ // {
+ // throw new ProcessException($"鏈厤缃瓹amera_UnloadEmptyTray鐨勮瑙夌畻娉曡矾寰�");
+ // }
+
+ // 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_UnloadEmptyTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬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.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
+ // RobotMsg_UnloadEmptyTray.Action = RobotMsgAction.Unload;
+ // RobotMsg_UnloadEmptyTray.Para1 = RobotMsgParas.EmptyTray;
+ // RobotMsg_UnloadEmptyTray.Para2 = position.PositionNo;
+ // RobotMsg_UnloadEmptyTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
+ // bind.Robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
+
+ // return new ProcessResponse(true);
+ //}
+ //#endregion
+
+ //#region 浠庢満鍙颁笂婊ray
+ ////bool isFullTrayNeed = false;
+ ////bool isFullTrayTaskAssigned = false;
+ //RobotMsg RobotMsg_LoadFullTray = new RobotMsg();
+
+ //private async void CheckFullTrayTask(int positionNo)
+ //{
+ // 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鍘诲線婊ray涓婃枡浣嶇疆", 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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ // }
+
+ // 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", "鏈哄櫒浜鸿繍鍔ㄨ嚦婊ray鎷嶇収浣嶇疆", 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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ //// }
+
+ //// //if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// //{
+ //// // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
+ //// //}
+
+ //// 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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ // }
+
+ // //if (bind.AGV.CurrentPosition != position.PositionCode)
+ // //{
+ // // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
+ // //}
+
+ // bind.RobotStatus = TaskStatus.Running;
+ // bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);
+ //}
+
+ ////[ProcessMethod("", "Camera_LoadFullTray", "鐩告満纭婊ray涓婃枡鏈哄櫒浜轰綅缃皟鏁�", 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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ //// }
+
+ //// if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// {
+ //// throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
+ //// }
+
+ //// PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+
+ //// if (visionConfig == null)
+ //// {
+ //// throw new ProcessException("鏈厤缃鐩告満鐨勬弧Tray涓婃枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ //// }
+
+ //// 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($"鏈厤缃瓹amera_LoadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ //// }
+
+ //// 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瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
+ // }
+
+ // 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("鏈厤缃鐩告満鐨勬弧Tray涓婃枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ // }
+
+ // 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($"鏈厤缃瓹amera_LoadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ // }
+
+ // 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瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬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 婊ray浜х嚎涓嬫枡
+ ////[ProcessMethod("", "AGV_UnloadFullTray", "AGV鍘诲線鍗歌浇婊ray鏂�", 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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ //// }
+
+ //// 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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.SetAGVStatus(TaskStatus.Running))
+ // {
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
+
+ // return true;
+ // }
+ // else
+ // {
+ // return false;
+ // }
+ //}
+
+ ////[ProcessMethod("", "Robot_UnloadFullTray", "鏈哄櫒浜哄嵏杞芥弧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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ //// }
+
+ //// if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// {
+ //// throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓嬫枡鐐�");
+ //// }
+
+ //// 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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓嬫枡鐐�");
+ // }
+
+ // bind.RobotStatus = TaskStatus.Running;
+ // bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
+ // //LogAsync(DateTime.Now, "Robot杩愬姩鑷充笅婊ray鎷嶇収", "");
+ //}
+
+ ////[ProcessMethod("", "Camera_UnloadFullTray", "鐩告満鎿嶄綔鍗歌浇婊ray", 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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓嬫枡鐐�");
+ // }
+
+ // //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("鏈厤缃鐩告満鐨勬弧Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ // }
+
+
+ // 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($"鏈厤缃瓹amera_UnloadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ // }
+
+ // _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("浜х嚎蹇欙紝绛夊緟瓒呮椂");
+ // //}
+ // //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
}
}
--
Gitblit v1.8.0