From 6428fad15dbe79e30a48ffc9aabe31e03a45426c Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期四, 05 十二月 2019 12:50:13 +0800
Subject: [PATCH] 1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数
---
src/A032.Process/ProcessControl.cs | 18 +++++++++++++-----
1 files changed, 13 insertions(+), 5 deletions(-)
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index 04638ee..08cba1d 100644
--- a/src/A032.Process/ProcessControl.cs
+++ b/src/A032.Process/ProcessControl.cs
@@ -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;
}
});
@@ -287,19 +289,16 @@
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();
@@ -333,7 +332,7 @@
u.Camera = CameraDict[u.CameraId];
}
- u.OnMethodInvoke = OnBindUnitTaskInvoke;
+ //u.OnMethodInvoke = OnBindUnitTaskInvoke;
});
}
@@ -371,6 +370,8 @@
robot.InitialConfig = c;
RobotDict[robot.InitialConfig.ID] = robot;
+ robot.OnLog = OnDeviceLog;
+
robot.OnMsgReceived = OnRobotMsgReceived;
robot.OnMonitorAlarm -= OnMonitorAlarm;
@@ -389,8 +390,10 @@
agv.InitialConfig = c;
AGVDict[agv.InitialConfig.ID] = agv;
+ agv.OnLog = OnDeviceLog;
agv.OnAGVPositoinChanged = OnAGVPositionChanged;
agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
+ agv.OnAGVBatteryLvlChanged = OnAGVBatteryLvlChanged;
});
}
@@ -540,6 +543,11 @@
{
InitialHalconTool(c as IHalconToolPath);
});
+
+ Config.ProcessOpConfigDict.Values.ToList().ForEach(c =>
+ {
+ InitialHalconTool(c as IHalconToolPath);
+ });
#endregion
}
--
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