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 | 1668 +++++++++++++++++++++++++++--------------------------------
1 files changed, 765 insertions(+), 903 deletions(-)
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 39d3fd6..45a0f4f 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/src/A032.Process/ProcessControl_Method.cs
@@ -1,259 +1,13 @@
-锘縰sing Bro.Common.Base;
-using Bro.Common.Helper;
+锘縰sing Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
-using Bro.Device.AuboRobot;
-using Bro.Device.HikCamera;
-using Bro.Device.SeerAGV;
-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 partial class ProcessControl
{
- Dictionary<int, int> machineFullTrayDict = new Dictionary<int, int>();
- Dictionary<int, int> machineEmptyTrayDict = new Dictionary<int, int>();
- List<TaskAssignInfo> taskAssignedList = new List<TaskAssignInfo>();
-
- private void OnAGVTaskStatusChanged(SeerAGVDriver agv, AGVTaskStatus taskStatus)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
-
- if (bind == null)
- {
- throw new ProcessException("鏈兘鏍规嵁AGV淇℃伅鑾峰彇缁戝畾璁惧淇℃伅", null);
- }
-
- if (bind.AGVDest == agv.CurrentPosition && taskStatus == AGVTaskStatus.Completed)
- {
- //PathPosition loadEmptyTrayPosition = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
-
- //if (bind.AGVDest == loadEmptyTrayPosition.PositionCode)
- //{
- // bind.RobotStatus = TaskStatus.Running;
- //}
-
- bind.AGVStatus = TaskStatus.Available;
- }
- }
-
- private void OnAGVPositionChanged(SeerAGVDriver agv, string positionCode)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
-
- if (bind == null)
- {
- throw new ProcessException("鏈兘鏍规嵁AGV淇℃伅鑾峰彇缁戝畾璁惧淇℃伅", null);
- }
-
- if (bind.AGVDest == positionCode && agv.TaskStatus == AGVTaskStatus.Completed)
- {
- //PathPosition loadEmptyTrayPosition = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
-
- //if (bind.AGVDest == loadEmptyTrayPosition.PositionCode)
- //{
- // bind.RobotStatus = TaskStatus.Running;
- //}
-
- bind.AGVStatus = TaskStatus.Available;
- }
- }
-
- private void OnRobotMsgReceived(DateTime dt, AuboRobotDriver robot, RobotMsg msg)
- {
- LogAsync(dt, robot.Name + "鎺ユ敹淇℃伅", msg.GetDisplayText());
-
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robot.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);
- }
-
- List<AGVTaskModel> models = new List<AGVTaskModel>();
-
- switch (msg.Action)
- {
- case RobotMsgAction.Load:
- {
- switch (msg.Para1)
- {
- case RobotMsgParas.EmptyTray:
- {
- bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
- }
- break;
- case RobotMsgParas.FullTray:
- {
- machineFullTrayDict[msg.Para2]--;
- bind.CurrentFullTray = int.Parse(msg.Datas[1]);
-
- if (machineFullTrayDict[msg.Para2] > 0 && !bind.IsFullTrayFull)
- {
- RobotMsg_UnloadEmptyTray.Para2 = msg.Para2;
- robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
- }
- else
- {
- bind.RobotStatus = TaskStatus.Available;
- }
- }
- break;
- default:
- break;
- }
- }
- break;
- case RobotMsgAction.Unload:
- {
- switch (msg.Para1)
- {
- case RobotMsgParas.EmptyTray:
- {
- machineEmptyTrayDict[msg.Para2]++;
- bind.CurrentEmptyTray = int.Parse(msg.Datas[0]);
-
- if (machineEmptyTrayDict[msg.Para2] < Config.Machine_EmptyTrayNum)
- {
- bind.RobotIOHandle.Reset();
- bind.RobotIOHandle.WaitOne();
-
- if (!bind.IsFullTrayFull)
- {
- RobotMsg_UnloadEmptyTray.Para2 = msg.Para2;
- robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
- }
- }
- else
- {
- bind.RobotStatus = TaskStatus.Available;
- }
- }
- break;
- case RobotMsgParas.FullTray:
- {
- bind.CurrentFullTray = int.Parse(msg.Datas[1]);
-
- bind.RobotIOHandle.Reset();
- bind.RobotIOHandle.WaitOne();
-
- if (!bind.IsFullTrayEmpty)
- {
- Camera_UnloadFullTray(robot.Id, msg.Para2);
- }
- }
- break;
- default:
- break;
- }
- }
- break;
- case RobotMsgAction.Move:
- {
- switch (msg.Para1)
- {
- case RobotMsgParas.LineSnap:
- {
- Camera_UnloadFullTray(robot.Id, msg.Para2);
- }
- break;
- case RobotMsgParas.LoadFullTraySnap:
- {
- Camera_LoadFullTray(robot.Id, msg.Para2);
- }
- break;
- case RobotMsgParas.UnloadEmptyTraySnap:
- {
- Camera_UnloadEmptyTray(robot.Id, msg.Para2);
- }
- break;
- case RobotMsgParas.Home:
- {
- bind.RobotStatus = TaskStatus.Available;
- }
- break;
- default:
- break;
- }
- }
- break;
- case RobotMsgAction.Calibration:
- {
-
- }
- break;
- case RobotMsgAction.StandardPoint:
- {
-
- }
- break;
- default:
- break;
- }
-
- if (models.Count > 0)
- {
- models.ForEach(model =>
- {
- if (!bind.TaskList.Any(t => t.MethodFunc.Method.Name == model.MethodFunc.Method.Name))
- {
- model.OpConfig = new AGVBindOpConfig(bind.Id);
- bind.TaskList.Add(model);
- }
- });
- }
- }
-
- public void QueryRobotIO()
- {
- RobotDict.Values.ToList().ForEach(r =>
- {
- r.SendMsg(RobotMsgAction.IO, RobotMsgParas.Query, 0);
- });
- }
-
- private void OnBindUnitTaskInvoke(AGVBindUnit bind)
- {
- var task = bind.TaskList[0];
- var response = task.MethodFunc.Invoke(task.OpConfig, task.Device);
- }
-
#region Robot鐩戝惉浜嬩欢
- private void AddNewTaskToBind(string robotId, List<AGVTaskModel> models)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
-
- 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);
- }
-
- AddNewTaskToBind(bind, models);
- }
-
- private void AddNewTaskToBind(AGVBindUnit bind, List<AGVTaskModel> models)
- {
- if (models.Count > 0)
- {
- models.ForEach(model =>
- {
- if (!bind.TaskList.Any(t => t.MethodFunc.Method.Name == model.MethodFunc.Method.Name))
- {
- model.OpConfig = new AGVBindOpConfig(bind.Id);
- bind.TaskList.Add(model);
- }
- });
- }
- }
-
[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)
{
@@ -261,11 +15,11 @@
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);
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
}
- bind.AGV.PauseTask();
- bind.RobotStatus = TaskStatus.Warning;
+ bind.AGV.CancelTask();
+ bind.UnitState = AGVState.Warning;
return new ProcessResponse(true);
}
@@ -273,76 +27,58 @@
[ProcessMethod("", "Robot_Monitor_EmptyTrayEmpty", "鏈哄櫒浜虹洃鍚簨浠�-绌篢ray鍖哄煙娓呯┖", true)]
public ProcessResponse Robot_Monitor_EmptyTrayEmpty(IOperationConfig config, IDevice device)
{
- bool isEmptyTrayEmpty = config.InputPara[0] == 1;
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
- if (isEmptyTrayEmpty)
+
+ if (bind == null)
{
- bind.IsEmptyTrayEmpty = true;
-
- Task.Run(() =>
- {
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadEmptyTray;
- while (bind.IsEmptyTrayEmpty && bind.TaskList.Count == 0 && !bind.TaskList.Any(u => u.MethodFunc.Method.Name == action.Method.Name))
- {
- if (bind.TaskList.Count == 0)
- {
- List<AGVTaskModel> models = new List<AGVTaskModel>();
- models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_LoadEmptyTray));
- models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, AfterEmptyTrayPositionArrived));
-
- AddNewTaskToBind(device.Id, models);
- }
- else
- {
- Thread.Sleep(500);
- }
- }
- });
-
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
}
- else
- {
- bind.IsEmptyTrayEmpty = false;
- }
+
+ 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)
{
- bool isFullTrayFull = config.InputPara[0] == 1;
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
- if (isFullTrayFull)
- {
- bind.IsFullTrayFull = true;
- Task.Run(() =>
- {
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadFullTray;
- while (bind.IsFullTrayFull && !bind.TaskList.Any(u => u.MethodFunc.Method.Name == action.Method.Name))
- {
- if (bind.TaskList.Count == 0)
- {
- List<AGVTaskModel> models = new List<AGVTaskModel>();
- models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_UnloadFullTray));
- models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadFullTray));
-
- AddNewTaskToBind(device.Id, models);
- }
- else
- {
- Thread.Sleep(500);
- }
- }
- });
- }
- else
+ if (bind == null)
{
- bind.IsFullTrayFull = false;
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
}
- bind.RobotIOHandle.Set();
+ //if (bind.FullTrayNum >= Config.AGVAvailableTrayNums)
+ {
+ bind.FullTrayNum = Config.AGVAvailableTrayNums;
+
+ TrayTask task = new TrayTask();
+ task.TaskType = TaskType.UnloadFullTrayToLine;
+ task.SourceDeviceId = device.Id;
+
+ //濡傛灉鐩墠鍦板潃琚崰鐢紝鍦板潃鏈夊彲鑳戒负绌猴紝闇�瑕佸湪浠诲姟鎸囨淳鏃跺啀娆＄‘璁�
+ task.Location = Config.PositionCollection.FirstOrDefault(u => !u.IsOccupied && u.Description == PathPositionDefinition.UnloadFullTray);
+
+ InsertTask(task);
+ }
return new ProcessResponse(true);
}
@@ -350,11 +86,14 @@
[ProcessMethod("", "Robot_Monitor_FullTrayEmpty", "鏈哄櫒浜虹洃鍚簨浠�-婊ray鍖哄煙娓呯┖", true)]
public ProcessResponse Robot_Monitor_FullTrayEmpty(IOperationConfig config, IDevice device)
{
- bool isFullTrayEmpty = config.InputPara[0] == 1;
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
- bind.IsFullTrayEmpty = isFullTrayEmpty;
- bind.RobotIOHandle.Set();
+ if (bind == null)
+ {
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
+ }
+
+ bind.FullTrayNum = 0;
return new ProcessResponse(true);
}
@@ -390,191 +129,322 @@
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);
+ throw new ProcessException($"鏈兘鑾峰彇{device.Name}鐨勭粦瀹氳澶囦俊鎭�");
}
bind.AGV.CancelTask();
- //isEmptyTrayTaskAssigned = false;
- //isFullTrayTaskAssigned = false;
-
- taskAssignedList.RemoveAll(u => u.AgvId == device.Id);
-
- bind.TaskList.Clear();
- bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
+ Reset(bind.Id);
return new ProcessResponse(true);
}
#endregion
- #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);
- }
-
- [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);
- }
-
- //[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();
-
+ #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)
{
- if (config.InputPara == null || config.InputPara.Count == 0)
+ 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)
{
- throw new ProcessException("涓婄┖Tray鏂规硶鏈厤缃緭鍏ュ弬鏁�", null);
- }
-
- bool isEmptyTrayNeed = config.InputPara[0] == 1;
-
- if (isEmptyTrayNeed)
- {
- var position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.DeviceOwner == device.Id);
-
- machineEmptyTrayDict[position.PositionNo] = 0;
-
- if (!taskAssignedList.Any(u => u.PositionNo == position.PositionNo))
- {
- taskAssignedList.Add(new TaskAssignInfo()
- {
- IsTaskNeed = true,
- IsTaskAssgined = false,
- PositionNo = position.PositionNo,
- });
- }
-
- CheckEmptyTrayTask(position.PositionNo);
+ 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);
}
- private async void CheckEmptyTrayTask(int positionNo)
- {
- await Task.Run(() =>
- {
- var taskStatus = taskAssignedList.FirstOrDefault(u => u.PositionNo == positionNo);
+ #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 (taskStatus == null)
- return;
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�");
+ //// }
- while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
- {
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;
+ //// bind.AGVDest = position.PositionCode;
+ //// bind.AGV.TaskOrder(position.PositionCode);
- //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, action, new AGVBindOpConfig(bind.Id, position));
- AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadEmptyTray, new AGVBindOpConfig(bind.Id));
+ //// bind.AGVStatus = TaskStatus.Running;
- bind.TaskList.Add(model_AGV);
- bind.TaskList.Add(model_Robot);
+ //// return new ProcessResponse(true);
+ ////}
- taskStatus.IsTaskAssgined = true;
- taskStatus.AgvId = bind.AGVId;
- }
- }
-
- Thread.Sleep(300);
- }
- });
- }
-
- //[ProcessMethod("", "AGV_UnloadEmptyTray", "AGV鍘诲線鍗歌浇绌篢ray鏂欎綅缃�", true)]
- public ProcessResponse AGV_UnloadEmptyTray(IOperationConfig config, IDevice device)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
-
- PathPosition position = (config as AGVBindOpConfig).Position;
-
- if (position == null)
- {
- throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
- }
-
- bind.AGVDest = position.PositionCode;
- bind.AGV.TaskOrder(position.PositionCode);
-
- bind.AGVStatus = TaskStatus.Running;
-
- return new ProcessResponse(true);
- }
-
- //[ProcessMethod("", "Robot_UnloadEmptyTray", "鏈哄櫒浜鸿繍鍔ㄨ嚦绌篢ray鎷嶇収浣嶇疆", true)]
- public ProcessResponse Robot_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 && 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);
-
- return new ProcessResponse(true);
- }
-
- //[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)
+ //public bool AGV_LoadEmptyTray(string bindId)
//{
- // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
- // 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)
// {
@@ -586,233 +456,242 @@
// 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);
+ // float adjust_X = 0.0f;
+ // float adjust_Y = 0.0f;
+ // float adjust_Angle = 0.0f;
- // if (visionConfig == null)
+ // if (Config.IsEnableVisionGuide)
// {
- // 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");
- // }
+ // PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
- // 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))
+ // if (visionConfig == null)
// {
- // throw new ProcessException($"鏈厤缃瓹amera_UnloadEmptyTray鐨勮瑙夌畻娉曡矾寰�");
+ // 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");
// }
- // 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();
+ // float x = 0;
+ // float y = 0;
+ // float angle = 0;
- // x = (float)tool.GetResultTuple("OUTPUT_X").D;
- // y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- // angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ // 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;
// }
- // 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 });
+ // //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
- public ProcessResponse Camera_UnloadEmptyTray(string robotId, int positionNum)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
+ //#region 浠庢満鍙颁笂婊ray
+ ////bool isFullTrayNeed = false;
+ ////bool isFullTrayTaskAssigned = false;
+ //RobotMsg RobotMsg_LoadFullTray = new RobotMsg();
- 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�");
- }
-
- 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 });
- RobotMsg_UnloadEmptyTray.Action = RobotMsgAction.Unload;
- RobotMsg_UnloadEmptyTray.Para1 = RobotMsgParas.EmptyTray;
- RobotMsg_UnloadEmptyTray.Para2 = position.PositionNo;
- RobotMsg_UnloadEmptyTray.Datas = new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, 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();
-
- [ProcessMethod("", "PLC_NoticeFullTray", "PLC閫氱煡婊ray闇�瑕佸彇璧�", true)]
- public ProcessResponse PLC_NoticeFullTray(IOperationConfig config, IDevice device)
- {
- if (config.InputPara == null || config.InputPara.Count == 0)
- {
- throw new ProcessException("涓婄┖Tray鏂规硶鏈厤缃緭鍏ュ弬鏁�", null);
- }
-
- bool isFullTrayNeed = config.InputPara[0] == 1;
- if (isFullTrayNeed)
- {
- var position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.DeviceOwner == device.Id);
-
- machineFullTrayDict[position.PositionNo] = Config.Machine_FullTrayNum;
-
- if (!taskAssignedList.Any(u => u.PositionNo == position.PositionNo))
- {
- taskAssignedList.Add(new TaskAssignInfo()
- {
- IsTaskNeed = true,
- IsTaskAssgined = false,
- PositionNo = position.PositionNo,
- });
- }
-
- CheckFullTrayTask(position.PositionNo);
- }
-
- return new ProcessResponse(true);
- }
-
- 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, action, new AGVBindOpConfig(bind.Id, position));
- AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, Robot_LoadFullTray, new AGVBindOpConfig(bind.Id));
-
- bind.TaskList.Add(model_AGV);
- bind.TaskList.Add(model_Robot);
-
- 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 ProcessResponse AGV_LoadFullTray(IOperationConfig config, IDevice device)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).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�");
- }
-
- bind.AGVDest = position.PositionCode;
- bind.AGV.TaskOrder(position.PositionCode);
-
- bind.AGVStatus = TaskStatus.Running;
-
- 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);
- }
-
- //[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)
+ //private async void CheckFullTrayTask(int positionNo)
//{
- // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // await Task.Run(() =>
+ // {
+ // var taskStatus = taskAssignedList.FirstOrDefault(u => u.PositionNo == positionNo);
- // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray);
+ // 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)
// {
@@ -824,256 +703,239 @@
// 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);
+ // float adjust_X = 0.0f;
+ // float adjust_Y = 0.0f;
+ // float adjust_Angle = 0.0f;
- // if (visionConfig == null)
+ // if (Config.IsEnableVisionGuide)
// {
- // 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");
- // }
+ // PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
- // 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))
+ // if (visionConfig == null)
// {
- // throw new ProcessException($"鏈厤缃瓹amera_LoadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ // 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");
// }
- // 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();
+ // float x = 0;
+ // float y = 0;
+ // float angle = 0;
- // x = (float)tool.GetResultTuple("OUTPUT_X").D;
- // y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- // angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ // 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;
// }
- // 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 });
+ // //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
- public ProcessResponse Camera_LoadFullTray(string robotId, int positionNum)
- {
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
+ //#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);
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNum);
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ //// }
- if (position == null)
- {
- throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
- }
+ //// bind.AGVDest = position.PositionCode;
+ //// bind.AGV.TaskOrder(position.PositionCode);
- if (bind.AGV.CurrentPosition != position.PositionCode)
- {
- throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
- }
+ //// bind.AGVStatus = TaskStatus.Running;
- PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+ //// return new ProcessResponse(true);
+ ////}
- 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");
- }
+ //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);
- float x = 0;
- float y = 0;
- float angle = 0;
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
- 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�");
- }
+ // if (bind.SetAGVStatus(TaskStatus.Running))
+ // {
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
- 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();
+ // return true;
+ // }
+ // else
+ // {
+ // return false;
+ // }
+ //}
- x = (float)tool.GetResultTuple("OUTPUT_X").D;
- y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
- }
+ ////[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 (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");
- }
+ //// if (position == null)
+ //// {
+ //// throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ //// }
- float dx = visionConfig.StandardPoint.X - x;
- float dy = visionConfig.StandardPoint.Y - y;
+ //// if (bind.AGV.CurrentPosition != position.PositionCode)
+ //// {
+ //// throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓嬫枡鐐�");
+ //// }
- 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.RobotStatus = TaskStatus.Running;
+ //// bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
- //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>() { (float)dx_Robot.D, (float)dy_Robot.D, angle }.ConvertAll(s => s.ToString()).ToList();
- bind.Robot.SendMsg(RobotMsg_LoadFullTray, true);
+ //// return new ProcessResponse(true);
+ ////}
- 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
-
- #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);
- }
-
- [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);
- }
-
- //[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�");
- }
-
- 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");
- }
-
- bool isLineReady = false;
- 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" });
- //}
-
- 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
- }
-
- public class AGVBindOpConfig : OperationConfigBase
- {
- public string BindId { get; set; }
- public PathPosition Position { get; set; }
-
- public AGVBindOpConfig() { }
-
- public AGVBindOpConfig(string bindId, PathPosition position = null)
- {
- BindId = bindId;
- Position = position;
- }
- }
-
- public class TaskAssignInfo
- {
- public int PositionNo { get; set; }
-
- public bool IsTaskNeed { get; set; } = false;
-
- public bool IsTaskAssgined { get; set; } = false;
-
- public string AgvId { get; set; }
}
}
--
Gitblit v1.8.0