From 4e8bf084f8a04617a9f542099183b8d829fa7c4b Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期五, 18 十月 2019 19:07:51 +0800
Subject: [PATCH] 1. 修改机器人通信协议及相关流程触发和操作
---
src/A032.Process/Calibration/CalibrationConfig.cs | 87 +
src/A032.Process/Calibration/FrmCalib9PDynamic.Designer.cs | 47
src/Bro.Device.SeerAGV/SeerAGVConfig.cs | 1
src/A032.Process/ProcessConfig.cs | 114 -
src/A032.Process/A032.Process.csproj | 22
src/A032.Process/ProcessControl_Calibration.cs | 101 +
src/Bro.Common.Model/Interface/IStationProcess.cs | 2
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 22
src/A032.Process/ProcessControl.cs | 113 +
src/Bro.Device.AuboRobot/AuboRobotConfig.cs | 107 +
src/A032.Process/Calibration/FrmCalib9PDynamic.resx | 120 ++
src/A032.Process/AGVPath.cs | 110 ++
src/A032.Process/ProcessControl_Method.cs | 1064 +++++++++++++++++++
src/A032.Process/Calibration/CtrlCalib9PDynamic.resx | 123 ++
src/Bro.Device.OmronFins/OmronFinsConfig.cs | 8
src/Bro.Common.Model/Interface/IMonitor.cs | 7
src/Bro.Device.AuboRobot/AuboRobotDriver.cs | 166 ++
src/Bro.Device.AuboRobot/Bro.Device.AuboRobot.csproj | 1
src/A032.Process/Calibration/CtrlCalib9PDynamic.Designer.cs | 378 +++++++
src/A032.Process/AGVBindUnit.cs | 295 +++++
src/Bro.Device.Common/DeviceBase/PLCBase.cs | 4
src/A032.Process/Calibration/FrmCalib9PDynamic.cs | 50
src/Bro.Common.Model/Helper/ExceptionHelper.cs | 2
src/A032.Process/Calibration/CtrlCalib9PDynamic.cs | 277 +++++
24 files changed, 3,037 insertions(+), 184 deletions(-)
diff --git a/src/A032.Process/A032.Process.csproj b/src/A032.Process/A032.Process.csproj
index f644f1f..2a1c97b 100644
--- a/src/A032.Process/A032.Process.csproj
+++ b/src/A032.Process/A032.Process.csproj
@@ -55,6 +55,21 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
+ <Compile Include="AGVBindUnit.cs" />
+ <Compile Include="AGVPath.cs" />
+ <Compile Include="Calibration\CalibrationConfig.cs" />
+ <Compile Include="Calibration\CtrlCalib9PDynamic.cs">
+ <SubType>UserControl</SubType>
+ </Compile>
+ <Compile Include="Calibration\CtrlCalib9PDynamic.Designer.cs">
+ <DependentUpon>CtrlCalib9PDynamic.cs</DependentUpon>
+ </Compile>
+ <Compile Include="Calibration\FrmCalib9PDynamic.cs">
+ <SubType>Form</SubType>
+ </Compile>
+ <Compile Include="Calibration\FrmCalib9PDynamic.Designer.cs">
+ <DependentUpon>FrmCalib9PDynamic.cs</DependentUpon>
+ </Compile>
<Compile Include="Forms\MonitorSetBindFrm.cs">
<SubType>Form</SubType>
</Compile>
@@ -75,6 +90,7 @@
</Compile>
<Compile Include="Helper\PropertyConvertHelper.cs" />
<Compile Include="ProcessConfig.cs" />
+ <Compile Include="ProcessControl_Calibration.cs" />
<Compile Include="ProcessControl_Method.cs" />
<Compile Include="ProcessControl.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
@@ -109,6 +125,12 @@
<None Include="packages.config" />
</ItemGroup>
<ItemGroup>
+ <EmbeddedResource Include="Calibration\CtrlCalib9PDynamic.resx">
+ <DependentUpon>CtrlCalib9PDynamic.cs</DependentUpon>
+ </EmbeddedResource>
+ <EmbeddedResource Include="Calibration\FrmCalib9PDynamic.resx">
+ <DependentUpon>FrmCalib9PDynamic.cs</DependentUpon>
+ </EmbeddedResource>
<EmbeddedResource Include="Forms\MonitorSetBindFrm.resx">
<DependentUpon>MonitorSetBindFrm.cs</DependentUpon>
</EmbeddedResource>
diff --git a/src/A032.Process/AGVBindUnit.cs b/src/A032.Process/AGVBindUnit.cs
new file mode 100644
index 0000000..460c4f4
--- /dev/null
+++ b/src/A032.Process/AGVBindUnit.cs
@@ -0,0 +1,295 @@
+锘縰sing Autofac;
+using Bro.Common.Base;
+using Bro.Common.Helper;
+using Bro.Common.Interface;
+using Bro.Common.Model;
+using Bro.Device.AuboRobot;
+using Bro.Device.SeerAGV;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.ComponentModel;
+using System.Linq;
+using System.Threading;
+
+namespace A032.Process
+{
+ public enum TaskStatus
+ {
+ Available = 1,
+ Running = 2,
+ Warning = 3,
+ }
+
+ public enum TaskAvailableLevel
+ {
+ Robot = 1,
+ AGV = 2,
+ Both = 3,
+ }
+
+ public class AGVTaskModel
+ {
+ public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
+
+ public Func<IOperationConfig, IDevice, ProcessResponse> MethodFunc { get; set; }
+
+ public IOperationConfig OpConfig { get; set; }
+
+ public IDevice Device { get; set; }
+
+ //public int Priority { get; set; } = 10;
+
+ public AGVTaskModel() { }
+
+ public AGVTaskModel(TaskAvailableLevel level, Func<IOperationConfig, IDevice, ProcessResponse> methodFunc, IOperationConfig opConfig = null, IDevice device = null)
+ {
+ Level = level;
+ MethodFunc = methodFunc;
+ OpConfig = opConfig ?? new OperationConfigBase();
+ Device = device;
+ }
+ }
+
+ public class AGVBindUnit : IComplexDisplay
+ {
+ #region 鍙紪杈戦」鐩�
+ [Category("璁惧缁戝畾")]
+ [Description("缁戝畾Id")]
+ [ReadOnly(true)]
+ public string Id { get; set; } = Guid.NewGuid().ToString();
+
+ [Category("璁惧缁戝畾")]
+ [Description("缁戝畾AGV")]
+ [TypeConverter(typeof(AGVDeviceConverter))]
+ public string AGVId { get; set; }
+
+ [Category("璁惧缁戝畾")]
+ [Description("缁戝畾Robot")]
+ [TypeConverter(typeof(RobotDeviceConverter))]
+ public string RobotId { get; set; }
+
+ [Category("璁惧缁戝畾")]
+ [Description("缁戝畾Camera")]
+ [TypeConverter(typeof(CameraDeviceConverter))]
+ public string CameraId { get; set; }
+
+ public string GetDisplayText()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ ProcessConfig config = scope.Resolve<ProcessConfig>();
+
+ string agv = config.AGVConfigCollection.FirstOrDefault(u => u.ID == AGVId)?.Name ?? "鏈粦瀹欰GV";
+ string robot = config.RobotConfigCollection.FirstOrDefault(u => u.ID == RobotId)?.Name ?? "鏈粦瀹氭満鍣ㄤ汉";
+ string camera = config.CameraConfigCollection.FirstOrDefault(u => u.ID == CameraId)?.Name ?? "鏈粦瀹氱浉鏈�";
+
+ return agv + "-" + robot + "-" + camera;
+ }
+ }
+ #endregion
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public Action<AGVBindUnit> OnMethodInvoke { get; set; }
+
+ public string AGVDest { get; set; } = "";
+
+ private TaskStatus agvStatus = TaskStatus.Available;
+ [Browsable(false)]
+ [JsonIgnore]
+ public TaskStatus AGVStatus
+ {
+ get => agvStatus;
+ set
+ {
+ agvStatus = value;
+ InvokeTaskCheck();
+ }
+ }
+
+ private TaskStatus robotStatus = TaskStatus.Available;
+ [Browsable(false)]
+ [JsonIgnore]
+ public TaskStatus RobotStatus
+ {
+ get => robotStatus;
+ set
+ {
+ robotStatus = value;
+ InvokeTaskCheck();
+ }
+ }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public TaskStatus UnitStatus
+ {
+ get
+ {
+ if (AGVStatus == TaskStatus.Warning || RobotStatus == TaskStatus.Warning)
+ {
+ return TaskStatus.Warning;
+ }
+ else
+ {
+ if (AGVStatus == TaskStatus.Available && RobotStatus == TaskStatus.Available)
+ {
+ return TaskStatus.Available;
+ }
+ }
+
+ return TaskStatus.Running;
+ }
+ }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public SeerAGVDriver AGV { get; set; } = null;
+ [Browsable(false)]
+ [JsonIgnore]
+ public AuboRobotDriver Robot { get; set; } = null;
+ [Browsable(false)]
+ [JsonIgnore]
+ public CameraBase Camera { get; set; } = null;
+ [Browsable(false)]
+ [JsonIgnore]
+ public ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public int CurrentEmptyTray { get; set; }
+ [Browsable(false)]
+ [JsonIgnore]
+ public int CurrentFullTray { get; set; }
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsFullTrayFull { get; set; }
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsFullTrayEmpty { get; set; }
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsEmptyTrayEmpty { get; set; }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);
+
+ public AGVBindUnit()
+ {
+ TaskList.CollectionChanged += TaskList_CollectionChanged;
+ }
+
+ private void TaskList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
+ {
+ if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
+ {
+ InvokeTaskCheck();
+ }
+ }
+
+ private void InvokeTaskCheck()
+ {
+ for (int i = 0; i < TaskList.Count; i++)
+ {
+ var task = TaskList[i];
+
+ bool isAgvOK = false;
+ bool isRobotOK = false;
+
+ if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
+ {
+ isAgvOK = AGVStatus == TaskStatus.Available;
+ }
+ else
+ {
+ isAgvOK = true;
+ }
+
+ if ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
+ {
+ isRobotOK = RobotStatus == TaskStatus.Available;
+ }
+ else
+ {
+ isRobotOK = true;
+ }
+
+ if (isRobotOK && isAgvOK)
+ {
+ OnMethodInvoke?.Invoke(this);
+ TaskList.RemoveAt(i);
+ break;
+ }
+ }
+ }
+ }
+
+ public class AGVDeviceConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ ProcessConfig config = scope.Resolve<ProcessConfig>();
+
+ config.AGVConfigCollection.ForEach(plc =>
+ {
+ _hash[plc.ID] = plc.Name;
+ });
+ }
+ }
+ }
+
+ public class RobotDeviceConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ ProcessConfig config = scope.Resolve<ProcessConfig>();
+
+ config.RobotConfigCollection.ForEach(plc =>
+ {
+ _hash[plc.ID] = plc.Name;
+ });
+ }
+ }
+ }
+
+ public class CameraDeviceConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ ProcessConfig config = scope.Resolve<ProcessConfig>();
+
+ config.CameraConfigCollection.ForEach(plc =>
+ {
+ _hash[plc.ID] = plc.Name;
+ });
+ }
+ }
+ }
+
+ public class PLCDeviceConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ _hash[""] = "鏈寚瀹�";
+
+ ProcessConfig config = scope.Resolve<ProcessConfig>();
+
+ config.PLCConfigCollection.ForEach(plc =>
+ {
+ _hash[plc.ID] = plc.Name;
+ });
+ }
+ }
+ }
+}
diff --git a/src/A032.Process/AGVPath.cs b/src/A032.Process/AGVPath.cs
new file mode 100644
index 0000000..1bfb3e0
--- /dev/null
+++ b/src/A032.Process/AGVPath.cs
@@ -0,0 +1,110 @@
+锘縰sing Autofac;
+using Bro.Common.Helper;
+using Bro.Common.Model;
+using Bro.Common.Model.Interface;
+using Bro.Device.HikCamera;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing.Design;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace A032.Process
+{
+ public enum PathPositionDefinition
+ {
+ [Description("鏃犲湴鐐�")]
+ None = 0,
+ [Description("涓婄┖Tray鍦扮偣")]
+ LoadEmptyTray = 1,
+ [Description("鍗歌浇绌篢ray鍦扮偣")]
+ UnloadEmptyTray = 2,
+ [Description("涓婃弧Tray鍦扮偣")]
+ LoadFullTray = 3,
+ [Description("鍗歌浇婊ray鍦扮偣")]
+ UnloadFullTray = 4,
+ }
+
+ public class PathPosition : IComplexDisplay
+ {
+ [Category("瀵艰埅璺緞")]
+ [Description("AGV璺緞鑺傜偣浠ｇ爜")]
+ public string PositionCode { get; set; }
+
+ [Category("瀵艰埅璺緞")]
+ [Description("Robot璺緞鑺傜偣鏁板瓧")]
+ public int PositionNo { get; set; }
+
+ [Category("瀵艰埅璺緞")]
+ [Description("璺緞鑺傜偣鎻忚堪")]
+ public PathPositionDefinition Description { get; set; } = PathPositionDefinition.None;
+
+ [Category("褰掑睘璁惧")]
+ [Description("褰掑睘璁惧缂栧彿")]
+ [TypeConverter(typeof(PLCDeviceConverter))]
+ public string DeviceOwner { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"{PositionCode}-{Description}";
+ }
+ }
+
+ public class PositionVisionConfig : IComplexDisplay, IHalconToolPath
+ {
+ [Category("鍏宠仈閰嶇疆")]
+ [Description("浣嶇疆浠ｇ爜")]
+ [TypeConverter(typeof(PositionCodeConverter))]
+ public string PositionCode { get; set; }
+
+ [Category("鍏宠仈閰嶇疆")]
+ [Description("閫傜敤鐩告満缂栧彿")]
+ [TypeConverter(typeof(CameraDeviceConverter))]
+ public string CameraId { get; set; }
+
+ [Category("瑙嗚閰嶇疆")]
+ [Description("璇ヤ綅缃爣瀹氱煩闃碉紝鐢ㄤ簬浠庣浉鏈哄儚绱犲潗鏍囪浆鎹㈠埌鏈哄櫒浜虹殑杩愬姩浜岀淮鍧愭爣绯伙紝鍙绠楀亸绉�")]
+ [TypeConverter(typeof(SimpleCollectionConvert<double>))]
+ public List<double> Matrix { get; set; } = new List<double>();
+
+ [Category("瑙嗚閰嶇疆")]
+ [Description("璇ヤ綅缃爣鍑嗙偣浣嶄俊鎭�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public CustomizedPoint StandardPoint { get; set; } = new CustomizedPoint();
+
+ [Category("瑙嗚閰嶇疆")]
+ [Description("璇ヤ綅缃媿鎽勯厤缃�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public HikCameraOperationConfig CameraOpConfig { get; set; } = new HikCameraOperationConfig();
+
+ public string GetDisplayText()
+ {
+ return $"{PositionCode}:鏇濆厜锛歿CameraOpConfig.Exposure};鏍囧畾鐭╅樀锛歿string.Join(",", Matrix)}";
+ }
+
+ public List<string> GetHalconToolPathList()
+ {
+ return new List<string>() { CameraOpConfig.AlgorithemPath };
+ }
+ }
+
+ public class PositionCodeConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ var config = scope.Resolve<ProcessConfig>();
+
+ config.PositionCollection.ForEach(p =>
+ {
+ _hash[p.PositionCode] = $"{p.PositionCode}-{p.Description.GetEnumDescription()}";
+ });
+ }
+ }
+ }
+}
diff --git a/src/A032.Process/Calibration/CalibrationConfig.cs b/src/A032.Process/Calibration/CalibrationConfig.cs
new file mode 100644
index 0000000..8c0d7fe
--- /dev/null
+++ b/src/A032.Process/Calibration/CalibrationConfig.cs
@@ -0,0 +1,87 @@
+锘縰sing Bro.Common.Base;
+using Bro.Common.Helper;
+using Bro.Common.Model;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Drawing.Design;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace A032.Process.Calibration
+{
+ [Device("CalibrationCollection", "澶氭鏍囧畾閰嶇疆", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class CalibrationConfigCollection : OperationConfigBase
+ {
+ [Category("鍏宠仈閰嶇疆")]
+ [Description("浣嶇疆浠ｇ爜")]
+ [TypeConverter(typeof(PositionCodeConverter))]
+ public string PositionCode { get; set; }
+
+ [Category("鍏宠仈閰嶇疆")]
+ [Description("閫傜敤鐩告満缂栧彿")]
+ [TypeConverter(typeof(CameraDeviceConverter))]
+ public string CameraId { get; set; }
+
+ [Category("鏍囧畾閰嶇疆")]
+ [Description("鏍囧畾閰嶇疆闆嗗悎")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<CalibrationConfig>), typeof(UITypeEditor))]
+ public List<CalibrationConfig> Configs { get; set; } = new List<CalibrationConfig>();
+ }
+
+ //[Device("Calibration", "鍗曟鏍囧畾閰嶇疆", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class CalibrationConfig : OperationConfigBase, IComplexDisplay, INotifyPropertyChanged
+ {
+ private Bitmap image = null;
+ [JsonIgnore]
+ [Browsable(false)]
+ public Bitmap Image
+ {
+ get => image;
+ set
+ {
+ image = value;
+
+ if (value != null)
+ {
+ //PropertyChanged?.BeginInvoke(this, new PropertyChangedEventArgs("Image"), null, null);
+ PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Image"));
+ }
+ }
+ }
+
+ [Category("瑙嗚淇℃伅")]
+ [Description("绂荤嚎鍥剧墖璺緞")]
+ [Editor(typeof(FileDialogEditor), typeof(UITypeEditor))]
+ public string OfflineImagePath { get; set; }
+
+ [Category("瑙嗚淇℃伅")]
+ [Description("鍥惧儚鏍囧噯鐐瑰潗鏍�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public CustomizedPoint ImageMarkPoint { get; set; } = new CustomizedPoint();
+
+ [Category("鐩告満閰嶇疆")]
+ [Description("鐩告満鎿嶄綔閰嶇疆")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public HalconRelatedCameraOprerationConfigBase CameraOpConfig { get; set; } = new HalconRelatedCameraOprerationConfigBase();
+
+ [Category("杩愬姩骞冲彴璁剧疆")]
+ [Description("骞冲彴褰撳墠鍧愭爣")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public CustomizedPoint CurrentPlatPoint { get; set; } = new CustomizedPoint();
+
+ public event PropertyChangedEventHandler PropertyChanged;
+
+ public string GetDisplayText()
+ {
+ return JsonConvert.SerializeObject(this);
+ }
+ }
+}
diff --git a/src/A032.Process/Calibration/CtrlCalib9PDynamic.Designer.cs b/src/A032.Process/Calibration/CtrlCalib9PDynamic.Designer.cs
new file mode 100644
index 0000000..b876f22
--- /dev/null
+++ b/src/A032.Process/Calibration/CtrlCalib9PDynamic.Designer.cs
@@ -0,0 +1,378 @@
+锘縩amespace A032.Process.Calibration
+{
+ partial class CtrlCalib9PDynamic
+ {
+ /// <summary>
+ /// 蹇呴渶鐨勮璁″櫒鍙橀噺銆�
+ /// </summary>
+ private System.ComponentModel.IContainer components = null;
+
+ /// <summary>
+ /// 娓呯悊鎵�鏈夋鍦ㄤ娇鐢ㄧ殑璧勬簮銆�
+ /// </summary>
+ /// <param name="disposing">濡傛灉搴旈噴鏀炬墭绠¤祫婧愶紝涓� true锛涘惁鍒欎负 false銆�</param>
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region 缁勪欢璁捐鍣ㄧ敓鎴愮殑浠ｇ爜
+
+ /// <summary>
+ /// 璁捐鍣ㄦ敮鎸佹墍闇�鐨勬柟娉� - 涓嶈淇敼
+ /// 浣跨敤浠ｇ爜缂栬緫鍣ㄤ慨鏀规鏂规硶鐨勫唴瀹广��
+ /// </summary>
+ private void InitializeComponent()
+ {
+ this.splitMain = new System.Windows.Forms.SplitContainer();
+ this.plOpBtns = new System.Windows.Forms.Panel();
+ this.chkManualConfirm = new System.Windows.Forms.CheckBox();
+ this.label3 = new System.Windows.Forms.Label();
+ this.label2 = new System.Windows.Forms.Label();
+ this.label1 = new System.Windows.Forms.Label();
+ this.chkContinueMode = new System.Windows.Forms.CheckBox();
+ this.chkOfflineRun = new System.Windows.Forms.CheckBox();
+ this.chkOfflineCalib = new System.Windows.Forms.CheckBox();
+ this.btnCalcuMatrix = new System.Windows.Forms.Button();
+ this.btnContinueCalib = new System.Windows.Forms.Button();
+ this.btnSnap = new System.Windows.Forms.Button();
+ this.btnLoadOfflineImages = new System.Windows.Forms.Button();
+ this.btnStepRun = new System.Windows.Forms.Button();
+ this.btnStartCalib = new System.Windows.Forms.Button();
+ this.splitConfig = new System.Windows.Forms.SplitContainer();
+ this.lvConfigs = new System.Windows.Forms.ListView();
+ this.clIndex = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
+ this.clConfigData = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
+ this.propGridConfig = new System.Windows.Forms.PropertyGrid();
+ this.plImage = new System.Windows.Forms.Panel();
+ this.stspStatus = new System.Windows.Forms.StatusStrip();
+ this.tsslStepHint = new System.Windows.Forms.ToolStripStatusLabel();
+ this.tsslInfo = new System.Windows.Forms.ToolStripStatusLabel();
+ ((System.ComponentModel.ISupportInitialize)(this.splitMain)).BeginInit();
+ this.splitMain.Panel1.SuspendLayout();
+ this.splitMain.Panel2.SuspendLayout();
+ this.splitMain.SuspendLayout();
+ this.plOpBtns.SuspendLayout();
+ ((System.ComponentModel.ISupportInitialize)(this.splitConfig)).BeginInit();
+ this.splitConfig.Panel1.SuspendLayout();
+ this.splitConfig.Panel2.SuspendLayout();
+ this.splitConfig.SuspendLayout();
+ this.stspStatus.SuspendLayout();
+ this.SuspendLayout();
+ //
+ // splitMain
+ //
+ this.splitMain.Dock = System.Windows.Forms.DockStyle.Fill;
+ this.splitMain.FixedPanel = System.Windows.Forms.FixedPanel.Panel1;
+ this.splitMain.Location = new System.Drawing.Point(0, 0);
+ this.splitMain.Name = "splitMain";
+ //
+ // splitMain.Panel1
+ //
+ this.splitMain.Panel1.Controls.Add(this.plOpBtns);
+ this.splitMain.Panel1.Controls.Add(this.splitConfig);
+ //
+ // splitMain.Panel2
+ //
+ this.splitMain.Panel2.Controls.Add(this.plImage);
+ this.splitMain.Panel2.Controls.Add(this.stspStatus);
+ this.splitMain.Size = new System.Drawing.Size(836, 514);
+ this.splitMain.SplitterDistance = 278;
+ this.splitMain.TabIndex = 0;
+ //
+ // plOpBtns
+ //
+ this.plOpBtns.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
+ | System.Windows.Forms.AnchorStyles.Right)));
+ this.plOpBtns.Controls.Add(this.chkManualConfirm);
+ this.plOpBtns.Controls.Add(this.label3);
+ this.plOpBtns.Controls.Add(this.label2);
+ this.plOpBtns.Controls.Add(this.label1);
+ this.plOpBtns.Controls.Add(this.chkContinueMode);
+ this.plOpBtns.Controls.Add(this.chkOfflineRun);
+ this.plOpBtns.Controls.Add(this.chkOfflineCalib);
+ this.plOpBtns.Controls.Add(this.btnCalcuMatrix);
+ this.plOpBtns.Controls.Add(this.btnContinueCalib);
+ this.plOpBtns.Controls.Add(this.btnSnap);
+ this.plOpBtns.Controls.Add(this.btnLoadOfflineImages);
+ this.plOpBtns.Controls.Add(this.btnStepRun);
+ this.plOpBtns.Controls.Add(this.btnStartCalib);
+ this.plOpBtns.Location = new System.Drawing.Point(3, 354);
+ this.plOpBtns.Name = "plOpBtns";
+ this.plOpBtns.Size = new System.Drawing.Size(272, 158);
+ this.plOpBtns.TabIndex = 1;
+ //
+ // chkManualConfirm
+ //
+ this.chkManualConfirm.AutoSize = true;
+ this.chkManualConfirm.Location = new System.Drawing.Point(11, 132);
+ this.chkManualConfirm.Name = "chkManualConfirm";
+ this.chkManualConfirm.Size = new System.Drawing.Size(72, 16);
+ this.chkManualConfirm.TabIndex = 3;
+ this.chkManualConfirm.Text = "浜哄伐纭";
+ this.chkManualConfirm.UseVisualStyleBackColor = true;
+ //
+ // label3
+ //
+ this.label3.AutoSize = true;
+ this.label3.Location = new System.Drawing.Point(6, 117);
+ this.label3.Name = "label3";
+ this.label3.Size = new System.Drawing.Size(257, 12);
+ this.label3.TabIndex = 2;
+ this.label3.Text = "------------------------------------------";
+ //
+ // label2
+ //
+ this.label2.AutoSize = true;
+ this.label2.Location = new System.Drawing.Point(6, 76);
+ this.label2.Name = "label2";
+ this.label2.Size = new System.Drawing.Size(257, 12);
+ this.label2.TabIndex = 2;
+ this.label2.Text = "------------------------------------------";
+ //
+ // label1
+ //
+ this.label1.AutoSize = true;
+ this.label1.Location = new System.Drawing.Point(7, 35);
+ this.label1.Name = "label1";
+ this.label1.Size = new System.Drawing.Size(257, 12);
+ this.label1.TabIndex = 2;
+ this.label1.Text = "------------------------------------------";
+ //
+ // chkContinueMode
+ //
+ this.chkContinueMode.AutoSize = true;
+ this.chkContinueMode.Location = new System.Drawing.Point(90, 95);
+ this.chkContinueMode.Name = "chkContinueMode";
+ this.chkContinueMode.Size = new System.Drawing.Size(72, 16);
+ this.chkContinueMode.TabIndex = 1;
+ this.chkContinueMode.Text = "杩炵画鎷嶇収";
+ this.chkContinueMode.UseVisualStyleBackColor = true;
+ this.chkContinueMode.CheckedChanged += new System.EventHandler(this.chkContinueMode_CheckedChanged);
+ //
+ // chkOfflineRun
+ //
+ this.chkOfflineRun.AutoSize = true;
+ this.chkOfflineRun.Location = new System.Drawing.Point(90, 56);
+ this.chkOfflineRun.Name = "chkOfflineRun";
+ this.chkOfflineRun.Size = new System.Drawing.Size(72, 16);
+ this.chkOfflineRun.TabIndex = 1;
+ this.chkOfflineRun.Text = "绂荤嚎妯″紡";
+ this.chkOfflineRun.UseVisualStyleBackColor = true;
+ //
+ // chkOfflineCalib
+ //
+ this.chkOfflineCalib.AutoSize = true;
+ this.chkOfflineCalib.Location = new System.Drawing.Point(90, 15);
+ this.chkOfflineCalib.Name = "chkOfflineCalib";
+ this.chkOfflineCalib.Size = new System.Drawing.Size(72, 16);
+ this.chkOfflineCalib.TabIndex = 1;
+ this.chkOfflineCalib.Text = "绂荤嚎妯″紡";
+ this.chkOfflineCalib.UseVisualStyleBackColor = true;
+ //
+ // btnCalcuMatrix
+ //
+ this.btnCalcuMatrix.Location = new System.Drawing.Point(168, 50);
+ this.btnCalcuMatrix.Name = "btnCalcuMatrix";
+ this.btnCalcuMatrix.Size = new System.Drawing.Size(93, 23);
+ this.btnCalcuMatrix.TabIndex = 0;
+ this.btnCalcuMatrix.Text = "鏍囧畾缁撴灉杩愮畻";
+ this.btnCalcuMatrix.UseVisualStyleBackColor = true;
+ this.btnCalcuMatrix.Click += new System.EventHandler(this.btnCalcuMatrix_Click);
+ //
+ // btnContinueCalib
+ //
+ this.btnContinueCalib.Location = new System.Drawing.Point(87, 128);
+ this.btnContinueCalib.Name = "btnContinueCalib";
+ this.btnContinueCalib.Size = new System.Drawing.Size(75, 23);
+ this.btnContinueCalib.TabIndex = 0;
+ this.btnContinueCalib.Text = "缁х画鏍囧畾";
+ this.btnContinueCalib.UseVisualStyleBackColor = true;
+ this.btnContinueCalib.Visible = false;
+ this.btnContinueCalib.Click += new System.EventHandler(this.btnContinueCalib_Click);
+ //
+ // btnSnap
+ //
+ this.btnSnap.Location = new System.Drawing.Point(8, 91);
+ this.btnSnap.Name = "btnSnap";
+ this.btnSnap.Size = new System.Drawing.Size(75, 23);
+ this.btnSnap.TabIndex = 0;
+ this.btnSnap.Text = "閲嶆柊鎷嶇収";
+ this.btnSnap.UseVisualStyleBackColor = true;
+ this.btnSnap.Click += new System.EventHandler(this.btnSnap_Click);
+ //
+ // btnLoadOfflineImages
+ //
+ this.btnLoadOfflineImages.Location = new System.Drawing.Point(168, 9);
+ this.btnLoadOfflineImages.Name = "btnLoadOfflineImages";
+ this.btnLoadOfflineImages.Size = new System.Drawing.Size(93, 23);
+ this.btnLoadOfflineImages.TabIndex = 0;
+ this.btnLoadOfflineImages.Text = "杞藉叆绂荤嚎鍥剧墖";
+ this.btnLoadOfflineImages.UseVisualStyleBackColor = true;
+ this.btnLoadOfflineImages.Click += new System.EventHandler(this.btnLoadOfflineImages_Click);
+ //
+ // btnStepRun
+ //
+ this.btnStepRun.Location = new System.Drawing.Point(8, 50);
+ this.btnStepRun.Name = "btnStepRun";
+ this.btnStepRun.Size = new System.Drawing.Size(75, 23);
+ this.btnStepRun.TabIndex = 0;
+ this.btnStepRun.Text = "鍗曟杩愮畻";
+ this.btnStepRun.UseVisualStyleBackColor = true;
+ this.btnStepRun.Click += new System.EventHandler(this.btnStepRun_Click);
+ //
+ // btnStartCalib
+ //
+ this.btnStartCalib.Location = new System.Drawing.Point(8, 9);
+ this.btnStartCalib.Name = "btnStartCalib";
+ this.btnStartCalib.Size = new System.Drawing.Size(75, 23);
+ this.btnStartCalib.TabIndex = 0;
+ this.btnStartCalib.Text = "寮�濮嬫爣瀹�";
+ this.btnStartCalib.UseVisualStyleBackColor = true;
+ this.btnStartCalib.Click += new System.EventHandler(this.btnStartCalib_Click);
+ //
+ // splitConfig
+ //
+ this.splitConfig.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
+ | System.Windows.Forms.AnchorStyles.Left)
+ | System.Windows.Forms.AnchorStyles.Right)));
+ this.splitConfig.FixedPanel = System.Windows.Forms.FixedPanel.Panel2;
+ this.splitConfig.Location = new System.Drawing.Point(3, 0);
+ this.splitConfig.Name = "splitConfig";
+ this.splitConfig.Orientation = System.Windows.Forms.Orientation.Horizontal;
+ //
+ // splitConfig.Panel1
+ //
+ this.splitConfig.Panel1.Controls.Add(this.lvConfigs);
+ //
+ // splitConfig.Panel2
+ //
+ this.splitConfig.Panel2.Controls.Add(this.propGridConfig);
+ this.splitConfig.Size = new System.Drawing.Size(272, 348);
+ this.splitConfig.SplitterDistance = 61;
+ this.splitConfig.TabIndex = 0;
+ //
+ // lvConfigs
+ //
+ this.lvConfigs.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
+ this.clIndex,
+ this.clConfigData});
+ this.lvConfigs.Dock = System.Windows.Forms.DockStyle.Fill;
+ this.lvConfigs.FullRowSelect = true;
+ this.lvConfigs.Location = new System.Drawing.Point(0, 0);
+ this.lvConfigs.MultiSelect = false;
+ this.lvConfigs.Name = "lvConfigs";
+ this.lvConfigs.Size = new System.Drawing.Size(272, 61);
+ this.lvConfigs.TabIndex = 0;
+ this.lvConfigs.UseCompatibleStateImageBehavior = false;
+ this.lvConfigs.View = System.Windows.Forms.View.Details;
+ this.lvConfigs.SelectedIndexChanged += new System.EventHandler(this.lvConfigs_SelectedIndexChanged);
+ //
+ // clIndex
+ //
+ this.clIndex.Text = "搴忓彿";
+ //
+ // clConfigData
+ //
+ this.clConfigData.Text = "閰嶇疆";
+ this.clConfigData.Width = 200;
+ //
+ // propGridConfig
+ //
+ this.propGridConfig.Dock = System.Windows.Forms.DockStyle.Fill;
+ this.propGridConfig.Location = new System.Drawing.Point(0, 0);
+ this.propGridConfig.Name = "propGridConfig";
+ this.propGridConfig.Size = new System.Drawing.Size(272, 283);
+ this.propGridConfig.TabIndex = 0;
+ this.propGridConfig.ToolbarVisible = false;
+ //
+ // plImage
+ //
+ this.plImage.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
+ | System.Windows.Forms.AnchorStyles.Left)
+ | System.Windows.Forms.AnchorStyles.Right)));
+ this.plImage.Location = new System.Drawing.Point(-1, 0);
+ this.plImage.Name = "plImage";
+ this.plImage.Size = new System.Drawing.Size(555, 489);
+ this.plImage.TabIndex = 1;
+ //
+ // stspStatus
+ //
+ this.stspStatus.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+ this.tsslStepHint,
+ this.tsslInfo});
+ this.stspStatus.Location = new System.Drawing.Point(0, 492);
+ this.stspStatus.Name = "stspStatus";
+ this.stspStatus.Size = new System.Drawing.Size(554, 22);
+ this.stspStatus.TabIndex = 0;
+ this.stspStatus.Text = "statusStrip1";
+ //
+ // tsslStepHint
+ //
+ this.tsslStepHint.Name = "tsslStepHint";
+ this.tsslStepHint.Size = new System.Drawing.Size(28, 17);
+ this.tsslStepHint.Text = " ";
+ //
+ // tsslInfo
+ //
+ this.tsslInfo.Name = "tsslInfo";
+ this.tsslInfo.Size = new System.Drawing.Size(28, 17);
+ this.tsslInfo.Text = " ";
+ //
+ // CtrlCalib9PDynamic
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.Controls.Add(this.splitMain);
+ this.Name = "CtrlCalib9PDynamic";
+ this.Size = new System.Drawing.Size(836, 514);
+ this.Load += new System.EventHandler(this.CtrlCalib9PDynamic_Load);
+ this.splitMain.Panel1.ResumeLayout(false);
+ this.splitMain.Panel2.ResumeLayout(false);
+ this.splitMain.Panel2.PerformLayout();
+ ((System.ComponentModel.ISupportInitialize)(this.splitMain)).EndInit();
+ this.splitMain.ResumeLayout(false);
+ this.plOpBtns.ResumeLayout(false);
+ this.plOpBtns.PerformLayout();
+ this.splitConfig.Panel1.ResumeLayout(false);
+ this.splitConfig.Panel2.ResumeLayout(false);
+ ((System.ComponentModel.ISupportInitialize)(this.splitConfig)).EndInit();
+ this.splitConfig.ResumeLayout(false);
+ this.stspStatus.ResumeLayout(false);
+ this.stspStatus.PerformLayout();
+ this.ResumeLayout(false);
+
+ }
+
+ #endregion
+
+ private System.Windows.Forms.SplitContainer splitMain;
+ private System.Windows.Forms.Panel plOpBtns;
+ private System.Windows.Forms.SplitContainer splitConfig;
+ private System.Windows.Forms.Label label2;
+ private System.Windows.Forms.Label label1;
+ private System.Windows.Forms.CheckBox chkContinueMode;
+ private System.Windows.Forms.CheckBox chkOfflineRun;
+ private System.Windows.Forms.CheckBox chkOfflineCalib;
+ private System.Windows.Forms.Button btnCalcuMatrix;
+ private System.Windows.Forms.Button btnSnap;
+ private System.Windows.Forms.Button btnLoadOfflineImages;
+ private System.Windows.Forms.Button btnStepRun;
+ private System.Windows.Forms.Button btnStartCalib;
+ private System.Windows.Forms.Panel plImage;
+ private System.Windows.Forms.StatusStrip stspStatus;
+ private System.Windows.Forms.ToolStripStatusLabel tsslStepHint;
+ private System.Windows.Forms.ToolStripStatusLabel tsslInfo;
+ private System.Windows.Forms.ListView lvConfigs;
+ private System.Windows.Forms.ColumnHeader clIndex;
+ private System.Windows.Forms.ColumnHeader clConfigData;
+ private System.Windows.Forms.PropertyGrid propGridConfig;
+ private System.Windows.Forms.CheckBox chkManualConfirm;
+ private System.Windows.Forms.Label label3;
+ private System.Windows.Forms.Button btnContinueCalib;
+ }
+}
diff --git a/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs b/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs
new file mode 100644
index 0000000..dcf6c73
--- /dev/null
+++ b/src/A032.Process/Calibration/CtrlCalib9PDynamic.cs
@@ -0,0 +1,277 @@
+锘縰sing System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using Bro.Common.Helper;
+using Bro.Common.Interface;
+using Bro.Common.Base;
+using Bro.Common.UI;
+using Bro.Common.PubSub;
+using static Bro.Common.Helper.EnumHelper;
+using Bro.Common.Model;
+using HalconDotNet;
+using System.Threading;
+
+namespace A032.Process.Calibration
+{
+ [Device("Calibration_9P_Dynamic", "鍔ㄦ��9鐐规爣瀹�", EnumHelper.DeviceAttributeType.OperationConfigCtrl)]
+ public partial class CtrlCalib9PDynamic : UserControl, IConfigCtrl<CameraBase, CalibrationConfigCollection>
+ {
+ PubSubCenter PubSubCenter = PubSubCenter.GetInstance();
+ AutoResetEvent _confirmHandle = new AutoResetEvent(false);
+
+ public CtrlCalib9PDynamic()
+ {
+ InitializeComponent();
+ }
+
+ public CtrlCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
+ {
+ InitializeComponent();
+
+ ProcessControl = process;
+ Camera = device as CameraBase;
+ Config = config as CalibrationConfigCollection;
+ FinalCalculation = finalCalculation;
+ }
+
+ public CalibrationConfigCollection Config { get; set; }
+ public CameraBase Camera { get; set; }
+ public ProcessControl ProcessControl { get; set; }
+ public Action<List<CalibrationConfig>> FinalCalculation { get; set; }
+
+ public CalibrationConfigCollection GetConfig()
+ {
+ return null;
+ }
+
+ public void LoadConfig(CalibrationConfigCollection config)
+ {
+ lvConfigs.Items.Clear();
+
+ for (int i = 0; i < Config.Configs.Count; i++)
+ {
+ ListViewItem item = new ListViewItem((i + 1).ToString());
+ item.SubItems.Add(Config.Configs[i].GetDisplayText());
+
+ lvConfigs.Items.Add(item);
+
+ Config.Configs[i].PropertyChanged -= CtrlCalib9PDynamic_PropertyChanged;
+ Config.Configs[i].PropertyChanged += CtrlCalib9PDynamic_PropertyChanged;
+ }
+
+ if (lvConfigs.Items.Count > 0)
+ {
+ lvConfigs.Items[0].Selected = true;
+ }
+ }
+
+ private void CtrlCalib9PDynamic_PropertyChanged(object sender, PropertyChangedEventArgs e)
+ {
+ OnCalibPropertyChanged();
+ }
+
+ private void OnCalibPropertyChanged()
+ {
+ if (this.InvokeRequired)
+ {
+ this.Invoke(new Action(() => OnCalibPropertyChanged()));
+ }
+ else
+ {
+ for (int i = 0; i < Config.Configs.Count; i++)
+ {
+ if (Config.Configs[i].Image != null)
+ {
+ lvConfigs.Items[i].BackColor = Color.GreenYellow;
+ }
+ else
+ {
+ lvConfigs.Items[i].BackColor = Color.Transparent;
+ }
+ }
+ }
+ }
+
+ Canvas _canvas = new Canvas();
+ private void CtrlCalib9PDynamic_Load(object sender, EventArgs e)
+ {
+ _canvas.IsShowElementList = true;
+ _canvas.Dock = DockStyle.Fill;
+ plImage.Controls.Add(_canvas);
+
+ RemoveHandles();
+
+ if (Camera != null)
+ {
+ Camera.UpdateShowImage -= Camera_UpdateShowImage;
+ Camera.UpdateShowImage += Camera_UpdateShowImage;
+ }
+
+ LoadConfig(Config);
+
+ PubSubCenter.Subscribe(PubTag.CalibStepDone.ToString(), CalibStepDone);
+ PubSubCenter.Subscribe(PubTag.CalibAllDone.ToString(), CalibAllDone);
+ }
+
+ public void RemoveHandles()
+ {
+ if (Camera != null)
+ {
+ Camera.UpdateShowImage -= Camera_UpdateShowImage;
+ }
+ PubSubCenter.RemoveSubscriber(PubTag.CalibStepDone.ToString(), CalibStepDone);
+ PubSubCenter.RemoveSubscriber(PubTag.CalibAllDone.ToString(), CalibAllDone);
+
+ chkContinueMode.Checked = false;
+ }
+
+ AutoResetEvent _imageShowedHandle = new AutoResetEvent(false);
+ private void Camera_UpdateShowImage(CameraBase camera, Bitmap image, string imagePath)
+ {
+ _canvas.LoadImage(image);
+ _imageShowedHandle.Set();
+ }
+
+ private object CalibAllDone(ISubscriber arg1, object arg2, object arg3)
+ {
+ string msg = arg3.ToString();
+ tsslInfo.Text = msg;
+
+ return null;
+ }
+
+ private object CalibStepDone(ISubscriber arg1, object arg2, object arg3)
+ {
+ int index = Convert.ToInt32(arg2);
+
+ _canvas.LoadImage(Config.Configs[index].Image);
+ _canvas.Elements.Clear();
+ CrossHair ch = new CrossHair(new CalibrationPoint(Config.Configs[index].ImageMarkPoint, Config.Configs[index].CurrentPlatPoint));
+ _canvas.Elements.Add(ch);
+
+ tsslInfo.Text = $"姝ラ{index + 1}瀹屾垚";
+
+ if (chkManualConfirm.Checked)
+ {
+ this.Invoke(new Action(() => btnContinueCalib.Visible = true)); ;
+ _confirmHandle.WaitOne();
+ }
+
+ return null;
+ }
+
+ int _selectedStepIndex = -1;
+ private void lvConfigs_SelectedIndexChanged(object sender, EventArgs e)
+ {
+ if (lvConfigs.SelectedItems.Count <= 0)
+ return;
+
+ _selectedStepIndex = lvConfigs.SelectedIndices[0];
+ var stepConfig = Config.Configs[_selectedStepIndex];
+ propGridConfig.SelectedObject = stepConfig;
+
+ tsslStepHint.Text = $"{(_selectedStepIndex + 1).ToString()}/{Config.Configs.Count}";
+
+ if (stepConfig.Image != null)
+ {
+ _canvas.LoadImage(stepConfig.Image);
+ _canvas.Elements.Clear();
+ _canvas.Elements.Add(new CrossHair(new CalibrationPoint(stepConfig.ImageMarkPoint, stepConfig.CurrentPlatPoint)));
+ }
+ }
+
+ private void btnStartCalib_Click(object sender, EventArgs e)
+ {
+ if (chkOfflineCalib.Checked)
+ {
+ //ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
+ }
+ else
+ {
+ //ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
+ }
+ }
+
+ private void btnLoadOfflineImages_Click(object sender, EventArgs e)
+ {
+ Config.Configs.ForEach(c =>
+ {
+ if (!string.IsNullOrWhiteSpace(c.OfflineImagePath))
+ {
+ c.Image = (Bitmap)Image.FromFile(c.OfflineImagePath);
+ }
+ });
+
+ tsslInfo.Text = "绂荤嚎鍥剧墖杞藉叆瀹屾垚";
+ }
+
+ private void btnStepRun_Click(object sender, EventArgs e)
+ {
+ //CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
+ //if (!chkOfflineRun.Checked)
+ //{
+ // ProcessControl.CalibMarkPoint(Camera, config, _selectedStepIndex + 1);
+ //}
+ //else
+ //{
+ // ProcessControl.CalibMarkPoint(_canvas.MAP, config, _selectedStepIndex + 1);
+ //}
+
+ //tsslInfo.Text = $"鍗曟杩愮畻瀹屾垚銆傛爣璁扮偣鍧愭爣锛歿config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";
+ }
+
+ private void btnCalcuMatrix_Click(object sender, EventArgs e)
+ {
+ FinalCalculation.Invoke(Config.Configs);
+ }
+
+ private void btnSnap_Click(object sender, EventArgs e)
+ {
+ CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
+ Camera.UploadOperationConfig(config.CameraOpConfig);
+ Camera.Snapshot(config.CameraOpConfig, out HObject hImage);
+ hImage.Dispose();
+ }
+
+ private void chkContinueMode_CheckedChanged(object sender, EventArgs e)
+ {
+ if (chkContinueMode.Checked)
+ {
+ Task.Run(() =>
+ {
+ HalconRelatedCameraOprerationConfigBase config = (propGridConfig.SelectedObject as CalibrationConfig).CameraOpConfig;
+ bool temp = config.IsSaveImage;
+ config.IsSaveImage = false;
+
+ while (chkContinueMode.Checked)
+ {
+ try
+ {
+ Camera.UploadOperationConfig(config);
+ Camera.Snapshot();
+
+ _imageShowedHandle.WaitOne(3000);
+ }
+ catch (Exception)
+ {
+ }
+ }
+
+ config.IsSaveImage = temp;
+ });
+ }
+ }
+
+ private void btnContinueCalib_Click(object sender, EventArgs e)
+ {
+ _confirmHandle.Set();
+ btnContinueCalib.Visible = false;
+ }
+ }
+}
diff --git a/src/A032.Process/Calibration/CtrlCalib9PDynamic.resx b/src/A032.Process/Calibration/CtrlCalib9PDynamic.resx
new file mode 100644
index 0000000..1b481a6
--- /dev/null
+++ b/src/A032.Process/Calibration/CtrlCalib9PDynamic.resx
@@ -0,0 +1,123 @@
+锘�<?xml version="1.0" encoding="utf-8"?>
+<root>
+ <!--
+ Microsoft ResX Schema
+
+ Version 2.0
+
+ The primary goals of this format is to allow a simple XML format
+ that is mostly human readable. The generation and parsing of the
+ various data types are done through the TypeConverter classes
+ associated with the data types.
+
+ Example:
+
+ ... ado.net/XML headers & schema ...
+ <resheader name="resmimetype">text/microsoft-resx</resheader>
+ <resheader name="version">2.0</resheader>
+ <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+ <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+ <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+ <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+ <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+ <value>[base64 mime encoded serialized .NET Framework object]</value>
+ </data>
+ <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+ <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+ <comment>This is a comment</comment>
+ </data>
+
+ There are any number of "resheader" rows that contain simple
+ name/value pairs.
+
+ Each data row contains a name, and value. The row also contains a
+ type or mimetype. Type corresponds to a .NET class that support
+ text/value conversion through the TypeConverter architecture.
+ Classes that don't support this are serialized and stored with the
+ mimetype set.
+
+ The mimetype is used for serialized objects, and tells the
+ ResXResourceReader how to depersist the object. This is currently not
+ extensible. For a given mimetype the value must be set accordingly:
+
+ Note - application/x-microsoft.net.object.binary.base64 is the format
+ that the ResXResourceWriter will generate, however the reader can
+ read any of the formats listed below.
+
+ mimetype: application/x-microsoft.net.object.binary.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.soap.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.bytearray.base64
+ value : The object must be serialized into a byte array
+ : using a System.ComponentModel.TypeConverter
+ : and then encoded with base64 encoding.
+ -->
+ <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+ <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+ <xsd:element name="root" msdata:IsDataSet="true">
+ <xsd:complexType>
+ <xsd:choice maxOccurs="unbounded">
+ <xsd:element name="metadata">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" />
+ </xsd:sequence>
+ <xsd:attribute name="name" use="required" type="xsd:string" />
+ <xsd:attribute name="type" type="xsd:string" />
+ <xsd:attribute name="mimetype" type="xsd:string" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="assembly">
+ <xsd:complexType>
+ <xsd:attribute name="alias" type="xsd:string" />
+ <xsd:attribute name="name" type="xsd:string" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="data">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+ <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+ <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="resheader">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" />
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:choice>
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:schema>
+ <resheader name="resmimetype">
+ <value>text/microsoft-resx</value>
+ </resheader>
+ <resheader name="version">
+ <value>2.0</value>
+ </resheader>
+ <resheader name="reader">
+ <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+ <resheader name="writer">
+ <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+ <metadata name="stspStatus.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+ <value>17, 17</value>
+ </metadata>
+</root>
\ No newline at end of file
diff --git a/src/A032.Process/Calibration/FrmCalib9PDynamic.Designer.cs b/src/A032.Process/Calibration/FrmCalib9PDynamic.Designer.cs
new file mode 100644
index 0000000..1c2fab9
--- /dev/null
+++ b/src/A032.Process/Calibration/FrmCalib9PDynamic.Designer.cs
@@ -0,0 +1,47 @@
+锘縩amespace A032.Process.Calibration
+{
+ partial class FrmCalib9PDynamic
+ {
+ /// <summary>
+ /// Required designer variable.
+ /// </summary>
+ private System.ComponentModel.IContainer components = null;
+
+ /// <summary>
+ /// Clean up any resources being used.
+ /// </summary>
+ /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region Windows Form Designer generated code
+
+ /// <summary>
+ /// Required method for Designer support - do not modify
+ /// the contents of this method with the code editor.
+ /// </summary>
+ private void InitializeComponent()
+ {
+ this.SuspendLayout();
+ //
+ // FrmCalib9PDynamic
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.ClientSize = new System.Drawing.Size(800, 450);
+ this.Name = "FrmCalib9PDynamic";
+ this.Text = "鏍囧畾鐣岄潰";
+ this.Load += new System.EventHandler(this.FrmCalib9PDynamic_Load);
+ this.ResumeLayout(false);
+
+ }
+
+ #endregion
+ }
+}
\ No newline at end of file
diff --git a/src/A032.Process/Calibration/FrmCalib9PDynamic.cs b/src/A032.Process/Calibration/FrmCalib9PDynamic.cs
new file mode 100644
index 0000000..e780681
--- /dev/null
+++ b/src/A032.Process/Calibration/FrmCalib9PDynamic.cs
@@ -0,0 +1,50 @@
+锘縰sing Bro.Common.Base;
+using Bro.Common.Interface;
+using Bro.Common.UI;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace A032.Process.Calibration
+{
+ public partial class FrmCalib9PDynamic : Form
+ {
+ public FrmCalib9PDynamic()
+ {
+ InitializeComponent();
+ }
+
+ public FrmCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
+ {
+ InitializeComponent();
+
+ Device = device as CameraBase;
+ Config = config as CalibrationConfigCollection;
+ FinalCalculation = finalCalculation;
+ CtrlCalib9PDynamic = new CtrlCalib9PDynamic(process, device, config, finalCalculation);
+ }
+
+ CameraBase Device { get; set; }
+ CalibrationConfigCollection Config { get; set; }
+ CtrlCalib9PDynamic CtrlCalib9PDynamic { get; set; }
+ Action<List<CalibrationConfig>> FinalCalculation { get; set; }
+
+ private void FrmCalib9PDynamic_Load(object sender, EventArgs e)
+ {
+ CtrlCalib9PDynamic.Dock = DockStyle.Fill;
+ this.Controls.Add(CtrlCalib9PDynamic);
+
+ this.FormClosing += (send, ee) =>
+ {
+ CtrlCalib9PDynamic.RemoveHandles();
+ };
+ }
+ }
+}
diff --git a/src/A032.Process/Calibration/FrmCalib9PDynamic.resx b/src/A032.Process/Calibration/FrmCalib9PDynamic.resx
new file mode 100644
index 0000000..1af7de1
--- /dev/null
+++ b/src/A032.Process/Calibration/FrmCalib9PDynamic.resx
@@ -0,0 +1,120 @@
+锘�<?xml version="1.0" encoding="utf-8"?>
+<root>
+ <!--
+ Microsoft ResX Schema
+
+ Version 2.0
+
+ The primary goals of this format is to allow a simple XML format
+ that is mostly human readable. The generation and parsing of the
+ various data types are done through the TypeConverter classes
+ associated with the data types.
+
+ Example:
+
+ ... ado.net/XML headers & schema ...
+ <resheader name="resmimetype">text/microsoft-resx</resheader>
+ <resheader name="version">2.0</resheader>
+ <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+ <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+ <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+ <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+ <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+ <value>[base64 mime encoded serialized .NET Framework object]</value>
+ </data>
+ <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+ <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+ <comment>This is a comment</comment>
+ </data>
+
+ There are any number of "resheader" rows that contain simple
+ name/value pairs.
+
+ Each data row contains a name, and value. The row also contains a
+ type or mimetype. Type corresponds to a .NET class that support
+ text/value conversion through the TypeConverter architecture.
+ Classes that don't support this are serialized and stored with the
+ mimetype set.
+
+ The mimetype is used for serialized objects, and tells the
+ ResXResourceReader how to depersist the object. This is currently not
+ extensible. For a given mimetype the value must be set accordingly:
+
+ Note - application/x-microsoft.net.object.binary.base64 is the format
+ that the ResXResourceWriter will generate, however the reader can
+ read any of the formats listed below.
+
+ mimetype: application/x-microsoft.net.object.binary.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.soap.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.bytearray.base64
+ value : The object must be serialized into a byte array
+ : using a System.ComponentModel.TypeConverter
+ : and then encoded with base64 encoding.
+ -->
+ <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+ <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+ <xsd:element name="root" msdata:IsDataSet="true">
+ <xsd:complexType>
+ <xsd:choice maxOccurs="unbounded">
+ <xsd:element name="metadata">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" />
+ </xsd:sequence>
+ <xsd:attribute name="name" use="required" type="xsd:string" />
+ <xsd:attribute name="type" type="xsd:string" />
+ <xsd:attribute name="mimetype" type="xsd:string" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="assembly">
+ <xsd:complexType>
+ <xsd:attribute name="alias" type="xsd:string" />
+ <xsd:attribute name="name" type="xsd:string" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="data">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+ <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+ <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="resheader">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" />
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:choice>
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:schema>
+ <resheader name="resmimetype">
+ <value>text/microsoft-resx</value>
+ </resheader>
+ <resheader name="version">
+ <value>2.0</value>
+ </resheader>
+ <resheader name="reader">
+ <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+ <resheader name="writer">
+ <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+</root>
\ No newline at end of file
diff --git a/src/A032.Process/ProcessConfig.cs b/src/A032.Process/ProcessConfig.cs
index 3640397..200811f 100644
--- a/src/A032.Process/ProcessConfig.cs
+++ b/src/A032.Process/ProcessConfig.cs
@@ -46,6 +46,12 @@
[TypeConverter(typeof(CollectionCountConvert))]
[Editor(typeof(ComplexCollectionEditor<HikCameraInitialConfig>), typeof(UITypeEditor))]
public List<HikCameraInitialConfig> CameraConfigCollection { get; set; } = new List<HikCameraInitialConfig>();
+
+ [Category("璁惧閰嶇疆")]
+ [Description("AGV灏忚溅璁惧缁戝畾閰嶇疆锛岄厤缃粦瀹氱殑AGV锛屾満鍣ㄤ汉鍜岀浉鏈轰俊鎭�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<AGVBindUnit>), typeof(UITypeEditor))]
+ public List<AGVBindUnit> AGVBindCollection { get; set; } = new List<AGVBindUnit>();
#endregion
#region 鎿嶄綔閰嶇疆
@@ -55,15 +61,15 @@
//[Editor(typeof(MonitorSetBindEditor), typeof(UITypeEditor))]
//public Dictionary<string, MonitorSet> PLCMonitorSet { get; set; } = new Dictionary<string, MonitorSet>();
- ///// <summary>
- ///// 鎿嶄綔閰嶇疆鐨勫瓧鍏搁泦鍚�
- ///// Key锛歁ethodCode锛孷alue锛氭搷浣滈厤缃�
- ///// </summary>
- //[Category("鎿嶄綔閰嶇疆")]
- //[Description("鎿嶄綔閰嶇疆闆嗗悎")]
- //[TypeConverter(typeof(CollectionCountConvert))]
- //[Editor(typeof(OperationConfigBindEditor), typeof(UITypeEditor))]
- //public Dictionary<string, IOperationConfig> ProcessOpConfigDict { get; set; } = new Dictionary<string, IOperationConfig>();
+ /// <summary>
+ /// 鎿嶄綔閰嶇疆鐨勫瓧鍏搁泦鍚�
+ /// Key锛歁ethodCode锛孷alue锛氭搷浣滈厤缃�
+ /// </summary>
+ [Category("鎿嶄綔閰嶇疆")]
+ [Description("榛樿鎿嶄綔閰嶇疆闆嗗悎")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(OperationConfigBindEditor), typeof(UITypeEditor))]
+ public Dictionary<string, IOperationConfig> ProcessOpConfigDict { get; set; } = new Dictionary<string, IOperationConfig>();
//[Category("鐩戝惉鍜屾搷浣滈厤缃�")]
//[Description("鐩戝惉鎿嶄綔閰嶇疆闆嗗悎")]
@@ -140,8 +146,44 @@
[Category("璺緞鐩稿叧")]
[Description("鍚勪綅缃爣瀹氱煩闃�")]
[TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor<PositionMatrix>), typeof(UITypeEditor))]
- public List<PositionMatrix> MatrixCollection { get; set; } = new List<PositionMatrix>();
+ [Editor(typeof(ComplexCollectionEditor<PositionVisionConfig>), typeof(UITypeEditor))]
+ public List<PositionVisionConfig> VisionConfigCollection { get; set; } = new List<PositionVisionConfig>();
+
+ /// <summary>
+ /// 绌篢ray涓婃枡闃堝�硷紝AGV涓婄殑绌簍ray鏁伴噺涓嶅ぇ浜庤鏁板�兼椂锛孉GV鍙互鎵ц绌篢ray涓婃枡浠诲姟
+ /// </summary>
+ [Category("闃堝�艰缃�")]
+ [Description("绌篢ray涓婃枡闃堝�硷紝AGV涓婄殑绌簍ray鏁伴噺涓嶅ぇ浜庤鏁板�兼椂锛孉GV鍙互鎵ц绌篢ray涓婃枡浠诲姟")]
+ public int AGV_EmptyTrayThreshold { get; set; } = 0;
+
+ /// <summary>
+ /// 婊ray涓嬫枡闃堝�硷紝AGV涓婄殑婊ray鏁伴噺涓嶅皬浜庤鏁板�兼椂锛孉GV鍙互鎵ц婊ray涓嬫枡浠诲姟
+ /// </summary>
+ [Category("闃堝�艰缃�")]
+ [Description("婊ray涓嬫枡闃堝�硷紝AGV涓婄殑婊ray鏁伴噺涓嶅皬浜庤鏁板�兼椂锛孉GV鍙互鎵ц婊ray涓嬫枡浠诲姟")]
+ public int AGV_FullTrayThreshold { get; set; } = 10;
+
+ /// <summary>
+ /// 浜х嚎蹇欐椂鎷嶇収纭绛夊緟闂撮殧锛屼互绉掍负鍗曚綅
+ /// </summary>
+ [Category("闃堝�艰缃�")]
+ [Description("浜х嚎蹇欐椂鎷嶇収纭绛夊緟闂撮殧锛屼互绉掍负鍗曚綅")]
+ public int LineBusyWaitInterval { get; set; } = 60;
+
+ /// <summary>
+ /// 浜х嚎蹇欐椂鎷嶇収閲嶈瘯娆℃暟
+ /// </summary>
+ [Category("闃堝�艰缃�")]
+ [Description("浜х嚎蹇欐椂鎷嶇収閲嶈瘯娆℃暟")]
+ public int LineBusyRetryTimes { get; set; } = 10;
+
+ [Category("闃堝�艰缃�")]
+ [Description("鏈哄彴鍘嬫満婊ray鏁伴噺")]
+ public int Machine_FullTrayNum { get; set; }
+
+ [Category("闃堝�艰缃�")]
+ [Description("鏈哄彴鍘嬫満绌篢ray鏁伴噺")]
+ public int Machine_EmptyTrayNum { get; set; }
#region Ignore
[Browsable(false)]
@@ -190,55 +232,5 @@
[JsonIgnore]
public virtual bool IsDBSave { get; set; } = false;
#endregion
- }
-
- public class PathPosition : IComplexDisplay
- {
- [Category("瀵艰埅璺緞")]
- [Description("璺緞鑺傜偣浠ｇ爜")]
- public string PositionCode { get; set; }
-
- [Category("瀵艰埅璺緞")]
- [Description("璺緞鑺傜偣鎻忚堪")]
- public string Description { get; set; }
-
- public string GetDisplayText()
- {
- return $"{PositionCode}-{Description}";
- }
- }
-
- public class PositionMatrix : IComplexDisplay
- {
- [Category("浣嶇疆鐭╅樀")]
- [Description("浣嶇疆浠ｇ爜")]
- [TypeConverter(typeof(PositionCodeConverter))]
- public string PositionCode { get; set; }
-
- [Category("浣嶇疆鐭╅樀")]
- [Description("璇ヤ綅缃爣瀹氱煩闃�")]
- [TypeConverter(typeof(SimpleCollectionConvert<double>))]
- public List<double> Matrix { get; set; } = new List<double>();
-
- public string GetDisplayText()
- {
- return $"{PositionCode}:{string.Join(",", Matrix)}";
- }
- }
-
- public class PositionCodeConverter : ComboBoxItemTypeConvert
- {
- public override void GetConvertHash()
- {
- using (var scope = GlobalVar.Container.BeginLifetimeScope())
- {
- var config = scope.Resolve<ProcessConfig>();
-
- config.PositionCollection.ForEach(p =>
- {
- _hash[p.PositionCode] = $"{p.PositionCode}-{p.Description}";
- });
- }
- }
}
}
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index 7d26329..04638ee 100644
--- a/src/A032.Process/ProcessControl.cs
+++ b/src/A032.Process/ProcessControl.cs
@@ -179,7 +179,7 @@
ProcessState = DeviceState.DSOpen;
- QueryRobotIO();
+ //QueryRobotIO();
//Task.Run(() =>
//{
@@ -298,9 +298,43 @@
InitialAGVs();
InitialCameras();
+ InitialAGVBindUnit();
+
+ InitialMachineTrayNums();
+
AutoFacRegister();
LogAsync(DateTime.Now, "Process Initialized", "");
+ }
+
+ private void InitialMachineTrayNums()
+ {
+ machineEmptyTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.UnloadEmptyTray).ToDictionary(p => p.PositionNo, p => 0);
+
+ machineFullTrayDict = Config.PositionCollection.Where(u => u.Description == PathPositionDefinition.LoadFullTray).ToDictionary(p => p.PositionNo, p => 0);
+ }
+
+ private void InitialAGVBindUnit()
+ {
+ Config.AGVBindCollection.ForEach(u =>
+ {
+ if (AGVDict.ContainsKey(u.AGVId))
+ {
+ u.AGV = AGVDict[u.AGVId];
+ }
+
+ if (RobotDict.ContainsKey(u.RobotId))
+ {
+ u.Robot = RobotDict[u.RobotId];
+ }
+
+ if (CameraDict.ContainsKey(u.CameraId))
+ {
+ u.Camera = CameraDict[u.CameraId];
+ }
+
+ u.OnMethodInvoke = OnBindUnitTaskInvoke;
+ });
}
private void InitialCameras()
@@ -321,11 +355,11 @@
plc.InitialConfig = c;
PLCDict[plc.InitialConfig.ID] = plc;
- plc.OnMonitorAlarm -= Plc_OnMonitorAlarm;
- plc.OnMonitorInvoke -= Plc_OnMonitorInvoke;
+ plc.OnMonitorAlarm -= OnMonitorAlarm;
+ plc.OnMonitorInvoke -= OnMonitorInvoke;
- plc.OnMonitorAlarm += Plc_OnMonitorAlarm;
- plc.OnMonitorInvoke += Plc_OnMonitorInvoke;
+ plc.OnMonitorAlarm += OnMonitorAlarm;
+ plc.OnMonitorInvoke += OnMonitorInvoke;
});
}
@@ -336,6 +370,14 @@
AuboRobotDriver robot = new AuboRobotDriver();
robot.InitialConfig = c;
RobotDict[robot.InitialConfig.ID] = robot;
+
+ robot.OnMsgReceived = OnRobotMsgReceived;
+
+ robot.OnMonitorAlarm -= OnMonitorAlarm;
+ robot.OnMonitorInvoke -= OnMonitorInvoke;
+
+ robot.OnMonitorAlarm += OnMonitorAlarm;
+ robot.OnMonitorInvoke += OnMonitorInvoke;
});
}
@@ -346,6 +388,9 @@
SeerAGVDriver agv = new SeerAGVDriver();
agv.InitialConfig = c;
AGVDict[agv.InitialConfig.ID] = agv;
+
+ agv.OnAGVPositoinChanged = OnAGVPositionChanged;
+ agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
});
}
@@ -447,7 +492,7 @@
/// </summary>
protected Dictionary<string, HDevEngineTool> _halconToolDict = new Dictionary<string, HDevEngineTool>();
- private void InitialProcessMethods()
+ public virtual void InitialProcessMethods()
{
_processMethodDict = new Dictionary<string, MethodInfo>();
var methods = this.GetType().GetMethods().ToList();
@@ -458,7 +503,7 @@
{
_processMethodDict[attr.MethodCode] = m;
- #region 鍒濆鍖朒alconTool
+ #region 鍒濆鍖朒alconTool 鏍规嵁processMethod鐨勭壒鎬ф潵閰嶇疆
//if (attr.DeviceType.EndsWith("Camera"))
//{
// if (StationConfig.ProcessOpConfigDict.Keys.Contains(attr.MethodCode))
@@ -484,29 +529,39 @@
}
});
- #region 鍒濆鍖朒alconTool
+ #region 鍒濆鍖朒alconTool 鏍规嵁閰嶇疆鐨勬帴鍙ｇ被鍨嬫潵閰嶇疆
_halconToolDict = new Dictionary<string, HDevEngineTool>();
Config.PLCConfigCollection.SelectMany(plcConfig => plcConfig.MonitorSetCollection).Select(ms => ms.OpConfig).ToList().ForEach(c =>
+ {
+ InitialHalconTool(c as IHalconToolPath);
+ });
+
+ Config.VisionConfigCollection.ForEach(c =>
+ {
+ InitialHalconTool(c as IHalconToolPath);
+ });
+ #endregion
+ }
+
+ private void InitialHalconTool(IHalconToolPath toolPath)
+ {
+ //IHalconToolPath toolPath = c as IHalconToolPath;
+ if (toolPath != null)
+ {
+ toolPath.GetHalconToolPathList().ForEach(path =>
{
- IHalconToolPath toolPath = c as IHalconToolPath;
- if (toolPath != null)
+ if (!string.IsNullOrWhiteSpace(path) && !_halconToolDict.ContainsKey(path))
{
- toolPath.GetHalconToolPathList().ForEach(path =>
- {
- if (!string.IsNullOrWhiteSpace(path))
- {
- string directoryPath = Path.GetDirectoryName(path);
- string fileName = Path.GetFileNameWithoutExtension(path);
+ string directoryPath = Path.GetDirectoryName(path);
+ string fileName = Path.GetFileNameWithoutExtension(path);
- HDevEngineTool tool = new HDevEngineTool(directoryPath);
- tool.LoadProcedure(fileName);
+ HDevEngineTool tool = new HDevEngineTool(directoryPath);
+ tool.LoadProcedure(fileName);
- _halconToolDict[path] = tool;
- }
- });
+ _halconToolDict[path] = tool;
}
});
- #endregion
+ }
}
public List<IDevice> GetDeviceList()
@@ -521,9 +576,8 @@
return list;
}
- #region PLC鐩戝惉
-
- private void Plc_OnMonitorInvoke(DateTime dt, MonitorSet monitorSet)
+ #region IMonitor鐩戝惉
+ private void OnMonitorInvoke(DateTime dt, IDevice device, MonitorSet monitorSet)
{
IOperationConfig config = monitorSet.OpConfig;
string methodCode = monitorSet.MethodCode;
@@ -535,7 +589,7 @@
try
{
//鏈塈OperationConfig鍙傛暟鐨勮皟鐢�
- res = _processMethodDict[methodCode].Invoke(this, new object[] { config });
+ res = _processMethodDict[methodCode].Invoke(this, new object[] { config, device });
reTryTimes = -1;
}
catch (Exception invokeEX) //娴佺▼鍔ㄤ綔寮傚父澶辫触
@@ -653,7 +707,7 @@
#endregion
}
- private void Plc_OnMonitorAlarm(DateTime dt, WarningSet warning, bool isAlarmRaised)
+ private void OnMonitorAlarm(DateTime dt, IDevice device, WarningSet warning, bool isAlarmRaised)
{
}
@@ -1099,7 +1153,7 @@
protected Dictionary<string, Queue<string>> CameraBitmapDict = new Dictionary<string, Queue<string>>();
//protected Dictionary<string, Bitmap> CameraBitmapDict = new Dictionary<string, Bitmap>();
- protected HObject CollectHImage(CameraBase camera, IOperationConfig opConfig, string cameraId, string methodCode)
+ protected HObject CollectHImage(CameraBase camera, IOperationConfig opConfig, string methodCode)
{
HObject hImage = null;
@@ -1131,9 +1185,6 @@
camera.UploadOperationConfig(opConfig);
camera.Snapshot(opConfig, out hImage);
-
- //SaveTempImage(cameraName, camera.ImageFilePath);
- //SaveTempImage(camera, cameraId);
if (cameraConifg.DelayAfter > 0)
{
diff --git a/src/A032.Process/ProcessControl_Calibration.cs b/src/A032.Process/ProcessControl_Calibration.cs
new file mode 100644
index 0000000..49fa9ee
--- /dev/null
+++ b/src/A032.Process/ProcessControl_Calibration.cs
@@ -0,0 +1,101 @@
+锘縰sing A032.Process.Calibration;
+using Bro.Common.Base;
+using Bro.Common.Helper;
+using Bro.Common.Interface;
+using Bro.Common.Model;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace A032.Process
+{
+ public partial class ProcessControl
+ {
+ [ProcessMethod("CalibrationCollection", "RobotCalibration", "鏈哄櫒浜�9鐐规爣瀹�", true)]
+ public ProcessResponse RobotCalibration(IOperationConfig config)
+ {
+ return new ProcessResponse(true);
+ }
+
+ [ProcessMethod("CalibrationCollection", "StandardPointCalibration", "鏍囧噯鐐逛綅鏍囧畾", true)]
+ public ProcessResponse StandardPointCalibration(IOperationConfig config)
+ {
+ return new ProcessResponse(true);
+ }
+
+ public void SendCalibrationStartSignal(int stepNum)
+ {
+
+ }
+
+ private int MultipleStepsCalibration(CalibrationConfigCollection configs, Action<List<CalibrationConfig>> FinalCalculation)
+ {
+ throw new NotImplementedException();
+
+ //configs.Configs.ForEach(c =>
+ //{
+ // c.Image = null;
+ //});
+
+ //if (string.IsNullOrWhiteSpace(configs.CameraId) || !CameraDict.ContainsKey(configs.CameraId))
+ //{
+ // throw new ProcessException("鏍囧畾閰嶇疆鏈厤缃纭殑鐩告満缂栧彿");
+ //}
+
+ //if (string.IsNullOrWhiteSpace(configs.PositionCode))
+ //{
+ // throw new ProcessException("鏍囧畾閰嶇疆鏈寚瀹氳矾寰勪綅缃�");
+ //}
+
+ //CameraBase camera = CameraDict[configs.CameraId];
+ //FrmCalib9PDynamic frm9PDynamic = new FrmCalib9PDynamic(this, camera, configs, FinalCalculation);
+ //frm9PDynamic.ShowDialog();
+
+ //if (configs.InputPara == null || configs.InputPara.Count <= 0)
+ //{
+ // return (int)PLCReplyValue.NG;
+ //}
+
+ //if (configs.InputPara[0] <= 0 || configs.InputPara[0] > configs.Configs.Count)
+ //{
+ // configs.InputPara = null;
+ // return (int)PLCReplyValue.IGNORE;
+ //}
+
+ //int sequence = configs.InputPara[0];
+
+ ////绗竴娆�
+ //if (sequence == 1)
+ //{
+ // configs.Configs.ForEach(c =>
+ // {
+ // c.Image = null;
+ // c.OfflineImagePath = "";
+ // c.CurrentPlatPoint = new CustomizedPoint();
+ // c.ImageMarkPoint = new CustomizedPoint();
+ // });
+ //}
+
+ //CalibrationConfig stepConfig = configs.Configs[sequence - 1];
+
+ //HDevEngineTool tool = _halconToolDict[]
+
+ //CalibMarkPoint(camera, stepConfig, sequence);
+
+ ////鑾峰彇褰撳墠骞冲彴鐐逛綅
+ //stepConfig.CurrentPlatPoint = new CustomizedPoint(_monitorList.Skip(locationStartIndex).Take(4).ToList());
+ ////stepConfig.CurrentPlatPoint = new CustomizedPoint(configs.InputPara.Skip(1).Take(4).ToList());
+
+ ////鏈�鍚庝竴娆�
+ //if (sequence == configs.Configs.Count)
+ //{
+ // FinalCalculation?.Invoke(configs.Configs);
+ //}
+
+ //configs.InputPara = null;
+ //return (int)PLCReplyValue.OK;
+ }
+ }
+}
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 1ff4d8d..61fb662 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/src/A032.Process/ProcessControl_Method.cs
@@ -1,7 +1,10 @@
-锘縰sing Bro.Common.Helper;
+锘縰sing Bro.Common.Base;
+using 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;
@@ -14,24 +17,1063 @@
namespace A032.Process
{
- public enum ResultState
- {
- OK = 1,
- NG = -1,
- Undetermined = -2,
- }
-
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);
+ });
}
- [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)
+ 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)
+ {
+ 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);
+ }
+
+ bind.AGV.PauseTask();
+ bind.RobotStatus = TaskStatus.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)
+ {
+ bool isEmptyTrayEmpty = config.InputPara[0] == 1;
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+ if (isEmptyTrayEmpty)
+ {
+ 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);
+ }
+ }
+ });
+
+ }
+ else
+ {
+ bind.IsEmptyTrayEmpty = false;
+ }
+
+ return new ProcessResponse(true);
+ }
+
+ [ProcessMethod("", "Robot_Monitor_EmptyTrayEmpty", "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
+ {
+ bind.IsFullTrayFull = false;
+ }
+
+ bind.RobotIOHandle.Set();
+
+ 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)
+ {
+ bool isFullTrayEmpty = config.InputPara[0] == 1;
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
+ bind.IsFullTrayEmpty = isFullTrayEmpty;
+
+ bind.RobotIOHandle.Set();
+
+ 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("鏈兘鏍规嵁鏈哄櫒浜轰俊鎭幏鍙栫粦瀹氳澶囦俊鎭�", null);
+ }
+ bind.AGV.CancelTask();
+
+ //isEmptyTrayTaskAssigned = false;
+ //isFullTrayTaskAssigned = false;
+
+ taskAssignedList.RemoveAll(u => u.AgvId == device.Id);
+
+ bind.TaskList.Clear();
+ bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
+
+ 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();
+
+ [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)
+ {
+ 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);
+ }
+
+ return new ProcessResponse(true);
+ }
+
+ private async void CheckEmptyTrayTask(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.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.TaskList.Add(model_AGV);
+ bind.TaskList.Add(model_Robot);
+
+ 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)
+ //{
+ // 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�");
+ }
+
+ 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)
+ //{
+ // 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�");
+ }
+
+ 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 });
+ 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);
+ }
+ #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; }
}
}
diff --git a/src/Bro.Common.Model/Helper/ExceptionHelper.cs b/src/Bro.Common.Model/Helper/ExceptionHelper.cs
index 446c170..db85703 100644
--- a/src/Bro.Common.Model/Helper/ExceptionHelper.cs
+++ b/src/Bro.Common.Model/Helper/ExceptionHelper.cs
@@ -50,7 +50,7 @@
// PositionIndex = positionIndex;
//}
- public ProcessException(string error, Exception ex) : base(error, ex)
+ public ProcessException(string error, Exception ex = null) : base(error, ex)
{
ErrorCode = error;
OriginalException = ex;
diff --git a/src/Bro.Common.Model/Interface/IMonitor.cs b/src/Bro.Common.Model/Interface/IMonitor.cs
index 5747279..2d9e1b3 100644
--- a/src/Bro.Common.Model/Interface/IMonitor.cs
+++ b/src/Bro.Common.Model/Interface/IMonitor.cs
@@ -1,4 +1,5 @@
-锘縰sing System;
+锘縰sing Bro.Common.Interface;
+using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -6,8 +7,8 @@
namespace Bro.Common.Model.Interface
{
- public delegate void OnMonitorInvokeDelegate(DateTime dt, MonitorSet monitorSet);
- public delegate void OnMonitorAlarmDelegate(DateTime dt, WarningSet warning, bool isAlarmRaised);
+ public delegate void OnMonitorInvokeDelegate(DateTime dt, IDevice device, MonitorSet monitorSet);
+ public delegate void OnMonitorAlarmDelegate(DateTime dt, IDevice device, WarningSet warning, bool isAlarmRaised);
public interface IMonitor
{
List<int> GetMonitorValues(int startAddress, int length);
diff --git a/src/Bro.Common.Model/Interface/IStationProcess.cs b/src/Bro.Common.Model/Interface/IStationProcess.cs
index 8e526d6..64d39df 100644
--- a/src/Bro.Common.Model/Interface/IStationProcess.cs
+++ b/src/Bro.Common.Model/Interface/IStationProcess.cs
@@ -48,6 +48,8 @@
/// </summary>
/// <returns></returns>
List<ProcessMethodAttribute> CollectProcessMethods();
+
+ void InitialProcessMethods();
#endregion
#region 浜嬩欢
diff --git a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
index 190ee8b..50cfc4a 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
@@ -1,8 +1,11 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
+using Bro.Common.Model;
using System;
using System.Collections.Generic;
using System.ComponentModel;
+using System.Drawing.Design;
+using System.Linq;
namespace Bro.Device.AuboRobot
{
@@ -28,6 +31,16 @@
[Category("閫氫俊璁剧疆")]
[Description("鍗忚鍐呭鍒嗛殧瀛楃")]
public string Seperator { get; set; } = ",";
+
+ [Category("IO鐩戝惉璁剧疆")]
+ [Description("IO鐩戝惉鎿嶄綔閰嶇疆闆嗗悎")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<MonitorSet>), typeof(UITypeEditor))]
+ public List<MonitorSet> MonitorSetCollection { get; set; } = new List<MonitorSet>();
+
+ [Category("IO鐩戝惉璁剧疆")]
+ [Description("IO鐩戝惉闂撮殧锛屼互ms涓哄崟浣�")]
+ public int ScanInterval { get; set; } = 100;
}
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.OperationConfig)]
@@ -45,22 +58,44 @@
public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;
- public List<string> Paras { get; set; } = new List<string>();
+ public int Para2 { get; set; } = 0;
+
+ /// <summary>
+ /// Paras涓嶅寘鍚玃ara1,Para2鍐呭
+ /// </summary>
+ public List<string> Datas { get; set; } = new List<string>();
public byte[] GetMsgBytes(string seperator, string endChar)
{
- List<string> list = new List<string>() { Type.ToString(), ID.ToString() };
+ List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };
if (Type == RobotMsgType.Send)
{
- list.Add(Action.ToString());
+ list.Add(((int)Action).ToString("D2"));
- if (Para1 != RobotMsgParas.None)
+ list.Add(((int)Para1).ToString("D2"));
+ list.Add(Para2.ToString("D2"));
+
+ if (Datas == null)
{
- list.Add(Para1.ToString());
+ Datas = new List<string>();
}
- list.AddRange(Paras);
+ while (Datas.Count < 5)
+ {
+ Datas.Add("0");
+ }
+
+ list.AddRange(Datas.ConvertAll(s =>
+ {
+ string res = float.Parse(s).ToString("F7");
+
+ while (res.Length < 11)
+ {
+ res = "0" + s;
+ }
+ return res;
+ }));
}
string msg = string.Join(seperator, list);
@@ -74,31 +109,17 @@
RobotMsg msg = new RobotMsg();
- msg.Type = (RobotMsgType)Enum.Parse(typeof(RobotMsgType), datas[0]);
+ msg.Type = (RobotMsgType)int.Parse(datas[0]);
msg.ID = int.Parse(datas[1]);
if (msg.Type == RobotMsgType.Send)
{
- msg.Action = (RobotMsgAction)Enum.Parse(typeof(RobotMsgAction), datas[2]);
+ msg.Action = (RobotMsgAction)int.Parse(datas[2]);
- if (int.TryParse(datas[3], out int para1))
- {
- msg.Para1 = RobotMsgParas.None;
+ msg.Para1 = (RobotMsgParas)int.Parse(datas[3]);
+ msg.Para2 = int.Parse(datas[4]);
- for (int i = 3; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
- else
- {
- msg.Para1 = (RobotMsgParas)Enum.Parse(typeof(RobotMsgParas), datas[3]);
-
- for (int i = 4; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
+ msg.Datas = datas.Skip(5).ToList();
}
return msg;
@@ -106,38 +127,36 @@
public string GetDisplayText()
{
- string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}{(Paras.Count > 0 ? ("_" + string.Join(",", Paras)) : "")}";
+ string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{(Datas.Count > 0 ? ("_" + string.Join(",", Datas)) : "")}";
return msg;
}
}
public enum RobotMsgType
{
- Send,
- Rec
+ Send = 1,
+ Rec = 2,
}
public enum RobotMsgAction
{
- Move,
- State,
- Adjust,
- IO,
+ Move = 1,
+ Unload = 2,
+ Load = 3,
+ IO = 6,
+ Calibration = 9,
+ StandardPoint = 10,
}
public enum RobotMsgParas
{
- None,
- LineSnap,
- Line,
- Robot,
- LoadEmptyTraySnap,
- LoadEmptyTrayDone,
- LoadFullTraySnap,
- LoadFullTrayDone,
- EmptyTrayReady,
- EmptyTrayEmpty,
- FullTrayFull,
- Query,
+ None = 0,
+ Home = 1,
+ LineSnap = 2,
+ EmptyTray = 3,
+ FullTray = 4,
+ UnloadEmptyTraySnap = 5,
+ LoadFullTraySnap = 6,
+ Query = 7,
}
}
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 26e7324..7007dc8 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -1,6 +1,8 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
+using Bro.Common.Model;
+using Bro.Common.Model.Interface;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -12,9 +14,9 @@
namespace Bro.Device.AuboRobot
{
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.Device)]
- public class AuboRobotDriver : DeviceBase
+ public class AuboRobotDriver : DeviceBase, IMonitor
{
- public Action<RobotMsg> OnMsgReceived { get; set; }
+ public Action<DateTime, AuboRobotDriver, RobotMsg> OnMsgReceived { get; set; }
AuboRobotInitialConfig IConfig
{
@@ -52,10 +54,20 @@
{
}
+ RobotMsg scanMsg = new RobotMsg();
protected override void Start()
{
//Query Robot IOs
//SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());
+
+ scanMsg = new RobotMsg();
+ scanMsg.Action = RobotMsgAction.IO;
+ scanMsg.Para1 = RobotMsgParas.Query;
+
+ Task.Run(() =>
+ {
+ Monitor();
+ });
}
protected override void Stop()
@@ -152,8 +164,24 @@
}
else
{
- SendMsg(RobotMsgType.Rec, msg.ID, false);
- OnMsgReceived?.Invoke(msg);
+ canMonitor = true;
+
+ if (msg.Action == RobotMsgAction.IO && msg.Para1 == RobotMsgParas.Query)
+ {
+ string resultStr = msg.Datas[0];
+ newValues = new List<int>();
+
+ for (int i = resultStr.Length - 1; i >= 0; i--)
+ {
+ newValues.Add(resultStr[i]);
+ }
+
+ monitorHandle.Set();
+ }
+ else
+ {
+ OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
+ }
}
});
});
@@ -164,7 +192,7 @@
{
get
{
- if (sid > 999)
+ if (sid > 99)
{
sid = 1;
}
@@ -176,27 +204,33 @@
List<int> replyHandleList = new List<int>();
Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();
- public void SendMsg(RobotMsgType type, int replyId, bool isWaitReply = true, RobotMsgAction action = RobotMsgAction.Move, RobotMsgParas para1 = RobotMsgParas.None, List<string> paras = null)
+ public void SendMsg(RobotMsgAction action, RobotMsgParas para1, int para2, List<float> paras = null)
+ {
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = action;
+ msg.Para1 = para1;
+ msg.Para2 = para2;
+
+ msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));
+
+ SendMsg(msg, true);
+ }
+
+ public void SendReplyMsg(int replyId)
{
RobotMsg msg = new RobotMsg();
- msg.Type = type;
- if (msg.Type == RobotMsgType.Send)
- {
- msg.ID = SID;
- }
- else
- {
- msg.ID = replyId;
- }
+ msg.Type = RobotMsgType.Rec;
+ msg.ID = replyId;
- msg.Para1 = para1;
- msg.Paras = new List<string>(paras ?? new List<string>());
-
- SendMsg(msg, isWaitReply);
+ SendMsg(msg, false);
}
- public void SendMsg(RobotMsg msg, bool isWaitReply = true)
+ bool canMonitor = true;
+ public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
{
if (isWaitReply)
{
@@ -205,17 +239,99 @@
}
byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
- client.GetStream().Write(bytes, 0, bytes.Length);
- if (isWaitReply)
+ if (!isMonitorMsg)
{
- replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
+ canMonitor = false;
+ }
- if (replyHandleList.Contains(msg.ID))
+ if (isMonitorMsg && !canMonitor)
+ return;
+
+ lock (this)
+ {
+ client.GetStream().Write(bytes, 0, bytes.Length);
+ if (isWaitReply)
{
- throw new ProcessException("鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText(), null);
+ replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
+
+ if (replyHandleList.Contains(msg.ID))
+ {
+ throw new ProcessException("鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText(), null);
+ }
}
}
}
+
+ #region IMonitor
+ public event OnMonitorInvokeDelegate OnMonitorInvoke;
+ public event OnMonitorAlarmDelegate OnMonitorAlarm;
+
+ protected List<int> oldValues = new List<int>();
+ List<int> newValues = new List<int>();
+ AutoResetEvent monitorHandle = new AutoResetEvent(false);
+ public List<int> GetMonitorValues(int startAddress, int length)
+ {
+ SendMsg(scanMsg, true, true);
+ monitorHandle.WaitOne();
+
+ return newValues;
+ }
+
+ public virtual void Monitor()
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
+ {
+ try
+ {
+ List<int> newValues = GetMonitorValues(0, 0);
+
+ if (newValues == null || newValues.Count == 0)
+ continue;
+
+ if (oldValues.Count == newValues.Count)
+ {
+ var tempNew = new List<int>(newValues);
+ var tempOld = new List<int>(oldValues);
+ MonitorCheckAndInvoke(tempNew, tempOld);
+ }
+ oldValues = new List<int>(newValues);
+
+ Thread.Sleep(IConfig.ScanInterval);
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父:{ex.GetExceptionMessage()}");
+ }
+ }
+ }
+
+ protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
+ {
+ IConfig.MonitorSetCollection.ForEach(m =>
+ {
+ int newValue = tempNew[m.TriggerIndex];
+ int oldValue = tempOld[m.TriggerIndex];
+
+ if (newValue != oldValue)
+ {
+ if (m.TriggerValue == -999 || newValue == m.TriggerValue)
+ {
+ if (m.OpConfig == null)
+ {
+ m.OpConfig = new OperationConfigBase();
+ }
+
+ m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index];
+ }).ToList();
+
+ OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
+ }
+ }
+ });
+ }
+ #endregion
}
}
diff --git a/src/Bro.Device.AuboRobot/Bro.Device.AuboRobot.csproj b/src/Bro.Device.AuboRobot/Bro.Device.AuboRobot.csproj
index bea6b68..0af4af5 100644
--- a/src/Bro.Device.AuboRobot/Bro.Device.AuboRobot.csproj
+++ b/src/Bro.Device.AuboRobot/Bro.Device.AuboRobot.csproj
@@ -36,6 +36,7 @@
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
+ <Reference Include="System.Drawing" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
diff --git a/src/Bro.Device.Common/DeviceBase/PLCBase.cs b/src/Bro.Device.Common/DeviceBase/PLCBase.cs
index c1e99b9..10d42f1 100644
--- a/src/Bro.Device.Common/DeviceBase/PLCBase.cs
+++ b/src/Bro.Device.Common/DeviceBase/PLCBase.cs
@@ -79,7 +79,7 @@
}
catch (Exception ex)
{
- OnLog?.Invoke(DateTime.Now, this, "PLC鐩戝惉寮傚父:" + ex.GetExceptionMessage());
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父:{ex.GetExceptionMessage()}");
}
}
}
@@ -141,7 +141,7 @@
return tempNew[index];
}).ToList();
- OnMonitorInvoke?.BeginInvoke(DateTime.Now, m, OnMethodInvoked, m);
+ OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, OnMethodInvoked, m);
}
}
});
diff --git a/src/Bro.Device.OmronFins/OmronFinsConfig.cs b/src/Bro.Device.OmronFins/OmronFinsConfig.cs
index a4d31ad..6d2c675 100644
--- a/src/Bro.Device.OmronFins/OmronFinsConfig.cs
+++ b/src/Bro.Device.OmronFins/OmronFinsConfig.cs
@@ -35,6 +35,7 @@
/// </summary>
[Description("PLC缃戠粶鍙�")]
[Category("閫氫俊璁剧疆-PLC")]
+ [Browsable(false)]
public byte DNA { get; set; } = 0;
/// <summary>
@@ -42,6 +43,7 @@
/// </summary>
[Description("PLC鑺傜偣鍙�")]
[Category("閫氫俊璁剧疆-PLC")]
+ [Browsable(false)]
public byte DA1 { get; set; } = 1;
/// <summary>
@@ -49,6 +51,7 @@
/// </summary>
[Description("PLC鍗曞厓鍙�")]
[Category("閫氫俊璁剧疆-PLC")]
+ [Browsable(false)]
public byte DA2 { get; set; } = 0;
/// <summary>
@@ -70,6 +73,7 @@
/// </summary>
[Description("PC缃戠粶鍙�")]
[Category("閫氫俊璁剧疆-鏈満")]
+ [Browsable(false)]
public byte SNA { get; set; } = 0;
/// <summary>
@@ -77,6 +81,7 @@
/// </summary>
[Description("PC鑺傜偣鍙�")]
[Category("閫氫俊璁剧疆-鏈満")]
+ [Browsable(false)]
public byte SA1 { get; set; } = 10;
/// <summary>
@@ -84,9 +89,8 @@
/// </summary>
[Description("PC鍗曞厓鍙�")]
[Category("閫氫俊璁剧疆-鏈満")]
+ [Browsable(false)]
public byte SA2 { get; set; } = 0;
-
-
}
public class OmronFinsInputConfig : PLCInputConfigBase
diff --git a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
index 88e3b3f..67482a1 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
@@ -136,6 +136,7 @@
QueryTaskStatus = 0x03FC,
CancelTask = 0x0BBB,
+ PauseTask = 0x0BB9,
TaskOrder = 0x0BEB,
}
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index e64d17c..c5247c7 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
@@ -96,7 +96,7 @@
byte[] buffer = new byte[1024];
string currentPosition = "";
- string CurrentPosition
+ public string CurrentPosition
{
get => currentPosition;
set
@@ -105,13 +105,16 @@
{
currentPosition = value;
- OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ if (!string.IsNullOrWhiteSpace(currentPosition))
+ {
+ OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ }
}
}
}
AGVTaskStatus taskStatus = AGVTaskStatus.None;
- AGVTaskStatus TaskStatus
+ public AGVTaskStatus TaskStatus
{
get => taskStatus;
set
@@ -119,7 +122,11 @@
if (taskStatus != value)
{
taskStatus = value;
- OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+
+ if (taskStatus != AGVTaskStatus.None)
+ {
+ OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+ }
}
}
}
@@ -219,8 +226,15 @@
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
+ public void PauseTask()
+ {
+ SeerMessage msg = new SeerMessage((int)AGVCode.PauseTask, SID);
+ SendMsg(client_Guide, IConfig.GuidePort, msg);
+ }
+
public void TaskOrder(string dest)
{
+ CurrentPosition = "";
SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
--
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