From 7971d855ba2cf9772b46a7f67e2b669c0afcb91b Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 22 十月 2019 11:30:35 +0800
Subject: [PATCH] 1. 添加标定操作及界面 2. 修改配置界面方法调用参数 3. SeerAGV添加电池信息监听 4. 添加AGV电池充电操作 5. 修改AGV状态变化操作，添加操作锁
---
src/A032.Process/ProcessControl.cs | 122 +++++++++++++++++++++++++++++-----------
1 files changed, 89 insertions(+), 33 deletions(-)
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index 7d26329..dfd85ab 100644
--- a/src/A032.Process/ProcessControl.cs
+++ b/src/A032.Process/ProcessControl.cs
@@ -179,7 +179,7 @@
ProcessState = DeviceState.DSOpen;
- QueryRobotIO();
+ //QueryRobotIO();
//Task.Run(() =>
//{
@@ -263,6 +263,7 @@
});
}
+ //Dictionary<string, MethodInfo> InvokeMethodDict = new Dictionary<string, MethodInfo>();
public List<ProcessMethodAttribute> CollectProcessMethods()
{
List<ProcessMethodAttribute> resultList = new List<ProcessMethodAttribute>();
@@ -274,6 +275,7 @@
if (attr != null)
{
resultList.Add(attr);
+ //InvokeMethodDict[attr.MethodCode] = m;
}
});
@@ -287,20 +289,51 @@
StationConfig = LoadStationConfig(configPath);
#region 涓埆閰嶇疆鐨勭壒鍒鐞�
-
#endregion
_warningRemains.CollectionChanged -= _warningRemains_CollectionChanged;
_warningRemains.CollectionChanged += _warningRemains_CollectionChanged;
InitialPLCs();
- InitialRobots();
InitialAGVs();
+ InitialRobots();
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 +354,11 @@
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 +369,14 @@
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 +387,10 @@
SeerAGVDriver agv = new SeerAGVDriver();
agv.InitialConfig = c;
AGVDict[agv.InitialConfig.ID] = agv;
+
+ agv.OnAGVPositoinChanged = OnAGVPositionChanged;
+ agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
+ agv.OnAGVBatteryLvlChanged = OnAGVBatterLvlChanged;
});
}
@@ -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 +529,44 @@
}
});
- #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);
+ });
+
+ Config.ProcessOpConfigDict.Values.ToList().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 +581,8 @@
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 +594,7 @@
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 +712,7 @@
#endregion
}
- private void Plc_OnMonitorAlarm(DateTime dt, WarningSet warning, bool isAlarmRaised)
+ private void OnMonitorAlarm(DateTime dt, IDevice device, WarningSet warning, bool isAlarmRaised)
{
}
@@ -1099,7 +1158,7 @@
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 +1190,6 @@
camera.UploadOperationConfig(opConfig);
camera.Snapshot(opConfig, out hImage);
-
- //SaveTempImage(cameraName, camera.ImageFilePath);
- //SaveTempImage(camera, cameraId);
if (cameraConifg.DelayAfter > 0)
{
--
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