From ff18fa3c007656bd37cad91fac9a9cb03f4070b8 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期日, 20 十月 2019 14:13:16 +0800
Subject: [PATCH] 1. 修改SeerAGV驱动通信代码 2. 修改机器人通信部分代码 3. 取消原有流程任务队列模式，使用即时方法调用。
---
src/A032.Config/ConfigFrm.designer.cs | 28
src/Bro.Device.AuboRobot/AuboRobotDriver.cs | 78 +++-
src/Bro.Device.SeerAGV/SeerAGVConfig.cs | 2
src/A032.Process/ProcessConfig.cs | 4
src/A032.Config/ConfigFrm.cs | 6
src/A032.Process/AGVBindUnit.cs | 137 +++++---
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 43 ++
src/A032.Process/ProcessControl.cs | 4
src/Bro.Device.AuboRobot/AuboRobotConfig.cs | 2
src/A032.Process/ProcessControl_Method.cs | 587 ++++++++++++++++++++++++--------------
10 files changed, 573 insertions(+), 318 deletions(-)
diff --git a/src/A032.Config/ConfigFrm.cs b/src/A032.Config/ConfigFrm.cs
index 29bb85e..cb7c154 100644
--- a/src/A032.Config/ConfigFrm.cs
+++ b/src/A032.Config/ConfigFrm.cs
@@ -22,6 +22,7 @@
using Bro.Common.UI;
using Bro.Common.PubSub;
using static Bro.Common.Helper.EnumHelper;
+using Bro.Device.HikCamera;
namespace M065.Config
{
@@ -727,5 +728,10 @@
chkContinueMode.Checked = false;
}
}
+
+ private void button1_Click(object sender, EventArgs e)
+ {
+ (Process as ProcessControl).Robot_Monitor_FullTrayFull(new OperationConfigBase() { InputPara = new List<int>() { 1 } }, new HikCameraDriver { Id = "3680EBF8-D9F8-4E14-8B0D-6E53BE3BB96D" });
+ }
}
}
diff --git a/src/A032.Config/ConfigFrm.designer.cs b/src/A032.Config/ConfigFrm.designer.cs
index 7af435f..5c1f834 100644
--- a/src/A032.Config/ConfigFrm.designer.cs
+++ b/src/A032.Config/ConfigFrm.designer.cs
@@ -51,6 +51,7 @@
this.cboTestMethod = new System.Windows.Forms.ComboBox();
this.tbLog = new System.Windows.Forms.TabPage();
this.splitContainer1 = new System.Windows.Forms.SplitContainer();
+ this.chkHardwareTrigger = new System.Windows.Forms.CheckBox();
this.lblFrameRate = new System.Windows.Forms.Label();
this.chkContinueMode = new System.Windows.Forms.CheckBox();
this.btnSnap = new System.Windows.Forms.Button();
@@ -74,7 +75,6 @@
this.cboProductionCode = new System.Windows.Forms.ComboBox();
this.statusStrip1 = new System.Windows.Forms.StatusStrip();
this.tsslLoginStatus = new System.Windows.Forms.ToolStripStatusLabel();
- this.chkHardwareTrigger = new System.Windows.Forms.CheckBox();
this.tabControl1.SuspendLayout();
this.tbConfig.SuspendLayout();
this.tbCalibration.SuspendLayout();
@@ -331,6 +331,17 @@
this.splitContainer1.SplitterDistance = 497;
this.splitContainer1.TabIndex = 2;
//
+ // chkHardwareTrigger
+ //
+ this.chkHardwareTrigger.AutoSize = true;
+ this.chkHardwareTrigger.Location = new System.Drawing.Point(220, 12);
+ this.chkHardwareTrigger.Name = "chkHardwareTrigger";
+ this.chkHardwareTrigger.Size = new System.Drawing.Size(60, 16);
+ this.chkHardwareTrigger.TabIndex = 6;
+ this.chkHardwareTrigger.Text = "纭Е鍙�";
+ this.chkHardwareTrigger.UseVisualStyleBackColor = true;
+ this.chkHardwareTrigger.CheckedChanged += new System.EventHandler(this.chkHardwareTrigger_CheckedChanged);
+ //
// lblFrameRate
//
this.lblFrameRate.AutoSize = true;
@@ -451,7 +462,7 @@
this.button1.TabIndex = 1;
this.button1.Text = "Test";
this.button1.UseVisualStyleBackColor = true;
- this.button1.Visible = false;
+ this.button1.Click += new System.EventHandler(this.button1_Click);
//
// btnLoadWarningFromFile
//
@@ -595,17 +606,6 @@
this.tsslLoginStatus.Text = "鏈櫥褰�";
this.tsslLoginStatus.Click += new System.EventHandler(this.tsslLoginStatus_Click);
//
- // chkHardwareTrigger
- //
- this.chkHardwareTrigger.AutoSize = true;
- this.chkHardwareTrigger.Location = new System.Drawing.Point(220, 12);
- this.chkHardwareTrigger.Name = "chkHardwareTrigger";
- this.chkHardwareTrigger.Size = new System.Drawing.Size(60, 16);
- this.chkHardwareTrigger.TabIndex = 6;
- this.chkHardwareTrigger.Text = "纭Е鍙�";
- this.chkHardwareTrigger.UseVisualStyleBackColor = true;
- this.chkHardwareTrigger.CheckedChanged += new System.EventHandler(this.chkHardwareTrigger_CheckedChanged);
- //
// ConfigFrm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -614,8 +614,8 @@
this.Controls.Add(this.statusStrip1);
this.Controls.Add(this.cboProductionCode);
this.Controls.Add(this.tabControl1);
- this.Controls.Add(this.plAdvanced);
this.Controls.Add(this.plBasic);
+ this.Controls.Add(this.plAdvanced);
this.Name = "ConfigFrm";
this.Text = "閰嶇疆鐣岄潰";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.ConfigFrm_FormClosing);
diff --git a/src/A032.Process/AGVBindUnit.cs b/src/A032.Process/AGVBindUnit.cs
index 460c4f4..507d8c8 100644
--- a/src/A032.Process/AGVBindUnit.cs
+++ b/src/A032.Process/AGVBindUnit.cs
@@ -33,7 +33,7 @@
{
public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
- public Func<IOperationConfig, IDevice, ProcessResponse> MethodFunc { get; set; }
+ public string MethodName { get; set; }
public IOperationConfig OpConfig { get; set; }
@@ -43,10 +43,10 @@
public AGVTaskModel() { }
- public AGVTaskModel(TaskAvailableLevel level, Func<IOperationConfig, IDevice, ProcessResponse> methodFunc, IOperationConfig opConfig = null, IDevice device = null)
+ public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
{
Level = level;
- MethodFunc = methodFunc;
+ MethodName = methodName;
OpConfig = opConfig ?? new OperationConfigBase();
Device = device;
}
@@ -57,7 +57,7 @@
#region 鍙紪杈戦」鐩�
[Category("璁惧缁戝畾")]
[Description("缁戝畾Id")]
- [ReadOnly(true)]
+ [Browsable(false)]
public string Id { get; set; } = Guid.NewGuid().ToString();
[Category("璁惧缁戝畾")]
@@ -92,7 +92,7 @@
[Browsable(false)]
[JsonIgnore]
- public Action<AGVBindUnit> OnMethodInvoke { get; set; }
+ public Action<AGVTaskModel> OnMethodInvoke { get; set; }
public string AGVDest { get; set; } = "";
@@ -105,7 +105,7 @@
set
{
agvStatus = value;
- InvokeTaskCheck();
+ //InvokeTaskCheck();
}
}
@@ -118,7 +118,7 @@
set
{
robotStatus = value;
- InvokeTaskCheck();
+ //InvokeTaskCheck();
}
}
@@ -153,9 +153,10 @@
[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 ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
[Browsable(false)]
[JsonIgnore]
@@ -175,56 +176,92 @@
[Browsable(false)]
[JsonIgnore]
+ public bool IsFullTrayTaskAssigned { get; set; }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsEmptyTrayTaskAssigned { get; set; }
+
+ [Browsable(false)]
+ [JsonIgnore]
public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);
public AGVBindUnit()
{
- TaskList.CollectionChanged += TaskList_CollectionChanged;
+ //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 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];
+ //private void InvokeTaskCheck()
+ //{
+ // lock (taskLock)
+ // {
+ // for (int i = 0; i < TaskList.Count; i++)
+ // {
+ // var task = TaskList[i];
- bool isAgvOK = false;
- bool isRobotOK = false;
+ // bool isAgvOK = false;
+ // bool isRobotOK = false;
- if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
- {
- isAgvOK = AGVStatus == TaskStatus.Available;
- }
- else
- {
- isAgvOK = true;
- }
+ // 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 ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
+ // {
+ // isRobotOK = RobotStatus == TaskStatus.Available;
+ // }
+ // else
+ // {
+ // isRobotOK = true;
+ // }
- if (isRobotOK && isAgvOK)
- {
- OnMethodInvoke?.Invoke(this);
- TaskList.RemoveAt(i);
- break;
- }
- }
- }
+ // if (isRobotOK && isAgvOK)
+ // {
+ // OnMethodInvoke?.Invoke(TaskList[i]);
+ // TaskList.RemoveAt(i);
+ // break;
+ // }
+ // }
+ // }
+ //}
+
+ //object taskLock = new object();
+ //public void AddTask(AGVTaskModel task)
+ //{
+ // lock (taskLock)
+ // {
+ // TaskList.Add(task);
+ // }
+ //}
+
+ //public void ClearTask()
+ //{
+ // lock (taskLock)
+ // {
+ // TaskList.Clear();
+ // }
+ //}
+
+ //public AGVTaskModel GetTask(int index)
+ //{
+ // lock (taskLock)
+ // {
+ // return TaskList[index];
+ // }
+ //}
}
public class AGVDeviceConverter : ComboBoxItemTypeConvert
@@ -288,7 +325,7 @@
config.PLCConfigCollection.ForEach(plc =>
{
_hash[plc.ID] = plc.Name;
- });
+ });
}
}
}
diff --git a/src/A032.Process/ProcessConfig.cs b/src/A032.Process/ProcessConfig.cs
index 70c816b..c7cbb46 100644
--- a/src/A032.Process/ProcessConfig.cs
+++ b/src/A032.Process/ProcessConfig.cs
@@ -151,6 +151,10 @@
[Editor(typeof(ComplexCollectionEditor<PositionVisionConfig>), typeof(UITypeEditor))]
public List<PositionVisionConfig> VisionConfigCollection { get; set; } = new List<PositionVisionConfig>();
+ [Category("瑙嗚閰嶇疆")]
+ [Description("鏄惁鍚敤瑙嗚寮曞")]
+ public bool IsEnableVisionGuide { get; set; } = false;
+
/// <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>
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index 04638ee..7ceda2f 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;
}
});
@@ -333,7 +335,7 @@
u.Camera = CameraDict[u.CameraId];
}
- u.OnMethodInvoke = OnBindUnitTaskInvoke;
+ //u.OnMethodInvoke = OnBindUnitTaskInvoke;
});
}
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 39d3fd6..97166ab 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/src/A032.Process/ProcessControl_Method.cs
@@ -8,6 +8,7 @@
using HalconDotNet;
using System;
using System.Collections.Generic;
+using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.Linq;
@@ -64,6 +65,24 @@
//}
bind.AGVStatus = TaskStatus.Available;
+
+ PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
+ switch (position.Description)
+ {
+ case PathPositionDefinition.LoadEmptyTray:
+ Robot_LoadEmptyTray(bind.Id, position);
+ break;
+ case PathPositionDefinition.LoadFullTray:
+ break;
+ case PathPositionDefinition.UnloadEmptyTray:
+ Robot_UnloadEmptyTraySnap(bind.Id, position);
+ break;
+ case PathPositionDefinition.UnloadFullTray:
+ Robot_UnloadFullTraySnap(bind.Id, position);
+ break;
+ default:
+ break;
+ }
}
}
@@ -78,7 +97,7 @@
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>();
+ //List<AGVTaskModel> models = new List<AGVTaskModel>();
switch (msg.Action)
{
@@ -130,6 +149,10 @@
{
RobotMsg_UnloadEmptyTray.Para2 = msg.Para2;
robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
+ }
+ else
+ {
+ bind.RobotStatus = TaskStatus.Available;
}
}
else
@@ -199,17 +222,17 @@
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);
- }
- });
- }
+ //if (models.Count > 0)
+ //{
+ // models.ForEach(model =>
+ // {
+ // if (!bind.TaskList.Any(t => t.MethodName == model.MethodName))
+ // {
+ // model.OpConfig = new AGVBindOpConfig(bind.Id);
+ // bind.AddTask(model);
+ // }
+ // });
+ //}
}
public void QueryRobotIO()
@@ -220,39 +243,40 @@
});
}
- private void OnBindUnitTaskInvoke(AGVBindUnit bind)
- {
- var task = bind.TaskList[0];
- var response = task.MethodFunc.Invoke(task.OpConfig, task.Device);
- }
+ //private void OnBindUnitTaskInvoke(AGVTaskModel task)
+ //{
+ // InvokeMethodDict[task.MethodName].Invoke(this, new object[] { task.OpConfig, task.Device });
+
+ // //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);
+ //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);
- }
+ // 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);
- }
+ // 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);
- }
- });
- }
- }
+ //private void AddNewTaskToBind(AGVBindUnit bind, List<AGVTaskModel> models)
+ //{
+ // if (models.Count > 0)
+ // {
+ // models.ForEach(model =>
+ // {
+ // if (!bind.TaskList.Any(t => t.MethodName == model.MethodName))
+ // {
+ // model.OpConfig = new AGVBindOpConfig(bind.Id);
+ // bind.AddTask(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)
@@ -273,7 +297,7 @@
[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;
+ bool isEmptyTrayEmpty = config.InputPara[0] == 0;
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
if (isEmptyTrayEmpty)
{
@@ -281,16 +305,20 @@
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))
+ //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadEmptyTray;
+ while (bind.IsEmptyTrayEmpty && !bind.IsEmptyTrayTaskAssigned)
{
- if (bind.TaskList.Count == 0)
+ //if (bind.TaskList.Count == 0)
+ if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
{
- List<AGVTaskModel> models = new List<AGVTaskModel>();
- models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_LoadEmptyTray));
- models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, AfterEmptyTrayPositionArrived));
+ //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);
+ //AddNewTaskToBind(device.Id, models);
+
+ AGV_LoadEmptyTray(bind.Id);
+ bind.IsEmptyTrayTaskAssigned = true;
}
else
{
@@ -298,11 +326,11 @@
}
}
});
-
}
else
{
bind.IsEmptyTrayEmpty = false;
+ bind.IsEmptyTrayTaskAssigned = false;
}
return new ProcessResponse(true);
@@ -319,16 +347,21 @@
Task.Run(() =>
{
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadFullTray;
- while (bind.IsFullTrayFull && !bind.TaskList.Any(u => u.MethodFunc.Method.Name == action.Method.Name))
+ //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadFullTray;
+ while (bind.IsFullTrayFull && !bind.IsFullTrayTaskAssigned)
{
- if (bind.TaskList.Count == 0)
+ //if (bind.TaskList.Count == 0)
+ if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
{
- List<AGVTaskModel> models = new List<AGVTaskModel>();
- models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_UnloadFullTray));
- models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadFullTray));
+ //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);
+ //AddNewTaskToBind(device.Id, models);
+
+ AGV_UnloadFullTray(bind.Id);
+
+ bind.IsFullTrayTaskAssigned = true;
}
else
{
@@ -340,6 +373,7 @@
else
{
bind.IsFullTrayFull = false;
+ bind.IsFullTrayTaskAssigned = false;
}
bind.RobotIOHandle.Set();
@@ -350,7 +384,7 @@
[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;
+ bool isFullTrayEmpty = config.InputPara[0] == 0;
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
bind.IsFullTrayEmpty = isFullTrayEmpty;
@@ -399,7 +433,7 @@
taskAssignedList.RemoveAll(u => u.AgvId == device.Id);
- bind.TaskList.Clear();
+ //bind.ClearTask();
bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;
return new ProcessResponse(true);
@@ -407,10 +441,28 @@
#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)
+ //[ProcessMethod("", "AGV_LoadEmptyTray", "AGV鍘诲線绌篢ray涓婃枡", true)]
+ //public ProcessResponse AGV_LoadEmptyTray(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�");
+ // }
+
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
+
+ // bind.AGVStatus = TaskStatus.Running;
+
+ // return new ProcessResponse(true);
+ //}
+
+ public void AGV_LoadEmptyTray(string bindId)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
if (position == null)
@@ -422,15 +474,34 @@
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)
+ //[ProcessMethod("", "AfterEmptyTrayPositionArrived", "鍒拌揪绌篢ray涓婃枡鐐�", true)]
+ //public ProcessResponse AfterEmptyTrayPositionArrived(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�", null);
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV灏氭湭鍒拌揪绌篢ray涓婃枡鐐�", null);
+ // }
+
+ // bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
+ // bind.RobotStatus = TaskStatus.Running;
+
+ // return new ProcessResponse(true);
+ //}
+
+ public void Robot_LoadEmptyTray(string bindId, PathPosition position)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
if (position == null)
{
@@ -444,8 +515,6 @@
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)]
@@ -489,13 +558,13 @@
});
}
- CheckEmptyTrayTask(position.PositionNo);
+ CheckUnloadEmptyTrayTask(position.PositionNo);
}
return new ProcessResponse(true);
}
- private async void CheckEmptyTrayTask(int positionNo)
+ private async void CheckUnloadEmptyTrayTask(int positionNo)
{
await Task.Run(() =>
{
@@ -506,19 +575,21 @@
while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
{
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;
+ //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;
- //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodFunc.Method.Name == action.Method.Name)))
+ //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodName == "AGV_UnloadEmptyTray")))
{
var bind = Config.AGVBindCollection.FirstOrDefault(u => u.UnitStatus == TaskStatus.Available);
if (bind != null)
{
var position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNo);
- AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, action, new AGVBindOpConfig(bind.Id, position));
- AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadEmptyTray, new AGVBindOpConfig(bind.Id));
+ //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadEmptyTray", new AGVBindOpConfig(bind.Id, position));
+ //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_UnloadEmptyTray", new AGVBindOpConfig(bind.Id));
- bind.TaskList.Add(model_AGV);
- bind.TaskList.Add(model_Robot);
+ //bind.AddTask(model_AGV);
+ //bind.AddTask(model_Robot);
+
+ AGV_UnloadEmptyTray(bind.Id, position);
taskStatus.IsTaskAssgined = true;
taskStatus.AgvId = bind.AGVId;
@@ -531,11 +602,9 @@
}
//[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)
+ public void AGV_UnloadEmptyTray(string bindId, PathPosition position)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
-
- PathPosition position = (config as AGVBindOpConfig).Position;
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
if (position == null)
{
@@ -546,15 +615,13 @@
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)
+ public void Robot_UnloadEmptyTraySnap(string bindId, PathPosition position)
{
- 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);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.PositionCode == bind.AGV.CurrentPosition);
if (position == null)
{
@@ -565,8 +632,6 @@
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)]
@@ -645,49 +710,60 @@
throw new ProcessException("AGV褰撳墠鏈浜庣┖Tray涓嬫枡鐐�");
}
- PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+ float adjust_X = 0.0f;
+ float adjust_Y = 0.0f;
+ float adjust_Angle = 0.0f;
- if (visionConfig == null)
+ if (Config.IsEnableVisionGuide)
{
- throw new ProcessException("鏈厤缃鐩告満鐨勭┖Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
- }
+ PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
- float x = 0;
- float y = 0;
- float angle = 0;
-
- using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
- {
- string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
- if (!_halconToolDict.ContainsKey(toolPath))
+ if (visionConfig == null)
{
- throw new ProcessException($"鏈厤缃瓹amera_UnloadEmptyTray鐨勮瑙夌畻娉曡矾寰�");
+ throw new ProcessException("鏈厤缃鐩告満鐨勭┖Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
}
- var tool = _halconToolDict[toolPath];
- tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
- tool.RunProcedure();
+ float x = 0;
+ float y = 0;
+ float angle = 0;
- x = (float)tool.GetResultTuple("OUTPUT_X").D;
- y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadEmptyTray"))
+ {
+ string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
+ if (!_halconToolDict.ContainsKey(toolPath))
+ {
+ throw new ProcessException($"鏈厤缃瓹amera_UnloadEmptyTray鐨勮瑙夌畻娉曡矾寰�");
+ }
+
+ var tool = _halconToolDict[toolPath];
+ tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
+ tool.RunProcedure();
+
+ x = (float)tool.GetResultTuple("OUTPUT_X").D;
+ y = (float)tool.GetResultTuple("OUTPUT_Y").D;
+ angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ }
+
+ if (x <= 0 || y <= 0)
+ {
+ throw new ProcessException("Camera_UnloadEmptyTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬0");
+ }
+
+ float dx = visionConfig.StandardPoint.X - x;
+ float dy = visionConfig.StandardPoint.Y - y;
+
+ HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
+
+ adjust_X = (float)dx_Robot.D;
+ adjust_Y = (float)dy_Robot.D;
+ adjust_Angle = angle;
}
-
- if (x <= 0 || y <= 0)
- {
- throw new ProcessException("Camera_UnloadEmptyTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬0");
- }
-
- float dx = visionConfig.StandardPoint.X - x;
- float dy = visionConfig.StandardPoint.Y - y;
-
- HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
//bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
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();
+ RobotMsg_UnloadEmptyTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
bind.Robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
return new ProcessResponse(true);
@@ -741,7 +817,7 @@
while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
{
- Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadFullTray;
+ //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadFullTray;
//if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodFunc.Method.Name == action.Method.Name)))
{
@@ -749,11 +825,13 @@
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));
+ //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadFullTray", new AGVBindOpConfig(bind.Id, position));
+ //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_LoadFullTray", new AGVBindOpConfig(bind.Id));
- bind.TaskList.Add(model_AGV);
- bind.TaskList.Add(model_Robot);
+ //bind.AddTask(model_AGV);
+ //bind.AddTask(model_Robot);
+
+ AGV_LoadFullTray(bind.Id, position);
taskStatus.IsTaskAssgined = true;
taskStatus.AgvId = bind.AGVId;
@@ -765,12 +843,12 @@
});
}
- [ProcessMethod("", "AGV_LoadFullTray", "AGV鍘诲線婊ray涓婃枡浣嶇疆", true)]
- public ProcessResponse AGV_LoadFullTray(IOperationConfig config, IDevice device)
+ //[ProcessMethod("", "AGV_LoadFullTray", "AGV鍘诲線婊ray涓婃枡浣嶇疆", true)]
+ public void AGV_LoadFullTray(string bindId, PathPosition position)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
- PathPosition position = (config as AGVBindOpConfig).Position;
+ //PathPosition position = (config as AGVBindOpConfig).Position;
if (position == null)
{
@@ -782,14 +860,35 @@
bind.AGVStatus = TaskStatus.Running;
- return new ProcessResponse(true);
+ //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)
+ //[ProcessMethod("", "Robot_LoadFullTray", "鏈哄櫒浜鸿繍鍔ㄨ嚦婊ray鎷嶇収浣嶇疆", true)]
+ //public ProcessResponse Robot_LoadFullTray(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
+ // }
+
+ // //if (bind.AGV.CurrentPosition != position.PositionCode)
+ // //{
+ // // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
+ // //}
+
+ // bind.RobotStatus = TaskStatus.Running;
+ // bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);
+
+ // return new ProcessResponse(true);
+ //}
+
+ public void Robot_LoadFullTraySnap(string bindId, PathPosition position)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
if (position == null)
{
@@ -803,8 +902,6 @@
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)]
@@ -883,49 +980,60 @@
throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓婃枡鐐�");
}
- PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+ float adjust_X = 0.0f;
+ float adjust_Y = 0.0f;
+ float adjust_Angle = 0.0f;
- if (visionConfig == null)
+ if (Config.IsEnableVisionGuide)
{
- throw new ProcessException("鏈厤缃鐩告満鐨勬弧Tray涓婃枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
- }
+ PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
- float x = 0;
- float y = 0;
- float angle = 0;
-
- using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_LoadFullTray"))
- {
- string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
- if (!_halconToolDict.ContainsKey(toolPath))
+ if (visionConfig == null)
{
- throw new ProcessException($"鏈厤缃瓹amera_LoadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ throw new ProcessException("鏈厤缃鐩告満鐨勬弧Tray涓婃枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
}
- var tool = _halconToolDict[toolPath];
- tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
- tool.RunProcedure();
+ float x = 0;
+ float y = 0;
+ float angle = 0;
- x = (float)tool.GetResultTuple("OUTPUT_X").D;
- y = (float)tool.GetResultTuple("OUTPUT_Y").D;
- angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_LoadFullTray"))
+ {
+ string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
+ if (!_halconToolDict.ContainsKey(toolPath))
+ {
+ throw new ProcessException($"鏈厤缃瓹amera_LoadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ }
+
+ var tool = _halconToolDict[toolPath];
+ tool.SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_X", new HTuple() }, { "OUTPUT_Y", new HTuple() }, { "OUTPUT_Angle", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
+ tool.RunProcedure();
+
+ x = (float)tool.GetResultTuple("OUTPUT_X").D;
+ y = (float)tool.GetResultTuple("OUTPUT_Y").D;
+ angle = (float)tool.GetResultTuple("OUTPUT_Angle").D;
+ }
+
+ if (x <= 0 || y <= 0)
+ {
+ throw new ProcessException("Camera_LoadFullTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬0");
+ }
+
+ float dx = visionConfig.StandardPoint.X - x;
+ float dy = visionConfig.StandardPoint.Y - y;
+
+ HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
+
+ adjust_X = (float)dx_Robot.D;
+ adjust_Y = (float)dy_Robot.D;
+ adjust_Angle = angle;
}
-
- if (x <= 0 || y <= 0)
- {
- throw new ProcessException("Camera_LoadFullTray瑙嗚璁＄畻鑾峰彇鐐逛綅涓嶅彲灏忎簬0");
- }
-
- float dx = visionConfig.StandardPoint.X - x;
- float dy = visionConfig.StandardPoint.Y - y;
-
- HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);
//bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
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();
+ RobotMsg_LoadFullTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
bind.Robot.SendMsg(RobotMsg_LoadFullTray, true);
return new ProcessResponse(true);
@@ -933,10 +1041,28 @@
#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)
+ //[ProcessMethod("", "AGV_UnloadFullTray", "AGV鍘诲線鍗歌浇婊ray鏂�", true)]
+ //public ProcessResponse AGV_UnloadFullTray(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
+
+ // bind.AGVDest = position.PositionCode;
+ // bind.AGV.TaskOrder(position.PositionCode);
+
+ // bind.AGVStatus = TaskStatus.Running;
+
+ // return new ProcessResponse(true);
+ //}
+
+ public void AGV_UnloadFullTray(string bindId)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
if (position == null)
@@ -948,15 +1074,34 @@
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)
+ //[ProcessMethod("", "Robot_UnloadFullTray", "鏈哄櫒浜哄嵏杞芥弧Tray", true)]
+ //public ProcessResponse Robot_UnloadFullTray(IOperationConfig config, IDevice device)
+ //{
+ // var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
+ // PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
+
+ // if (position == null)
+ // {
+ // throw new ProcessException("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
+ // }
+
+ // if (bind.AGV.CurrentPosition != position.PositionCode)
+ // {
+ // throw new ProcessException("AGV褰撳墠鏈浜庢弧Tray涓嬫枡鐐�");
+ // }
+
+ // bind.RobotStatus = TaskStatus.Running;
+ // bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
+
+ // return new ProcessResponse(true);
+ //}
+
+ public void Robot_UnloadFullTraySnap(string bindId, PathPosition position)
{
- var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
- PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
+ //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
if (position == null)
{
@@ -970,8 +1115,6 @@
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)]
@@ -991,52 +1134,64 @@
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");
- }
-
+ //float adjust_X = 0.0f;
+ //float adjust_Y = 0.0f;
+ //float adjust_Angle = 0.0f;
bool isLineReady = false;
- int reTryTime = Config.LineBusyRetryTimes;
- do
+ if (Config.IsEnableVisionGuide)
{
- using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadFullTray"))
+ PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);
+
+ if (visionConfig == null)
{
- string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
- if (!_halconToolDict.ContainsKey(toolPath))
+ throw new ProcessException("鏈厤缃鐩告満鐨勬弧Tray涓嬫枡鐐圭殑瑙嗚鎿嶄綔閰嶇疆");
+ }
+
+
+ int reTryTime = Config.LineBusyRetryTimes;
+
+ do
+ {
+ using (HObject hImage = CollectHImage(bind.Camera, visionConfig.CameraOpConfig, "Camera_UnloadFullTray"))
{
- throw new ProcessException($"鏈厤缃瓹amera_UnloadFullTray鐨勮瑙夌畻娉曡矾寰�");
+ string toolPath = visionConfig.CameraOpConfig.AlgorithemPath;
+ if (!_halconToolDict.ContainsKey(toolPath))
+ {
+ throw new ProcessException($"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;
}
- _halconToolDict[toolPath].SetDictionary(new Dictionary<string, HTuple>() { { "OUTPUT_Result", new HTuple() } }, new Dictionary<string, HObject>() { { "INPUT_Image", hImage } });
- _halconToolDict[toolPath].RunProcedure();
+ if (!isLineReady)
+ {
+ Thread.Sleep(Config.LineBusyWaitInterval * 1000);
+ reTryTime--;
+ }
+ else
+ {
+ reTryTime = 0;
+ }
+ } while (reTryTime > 0);
- 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(RobotMsgType.Send, -1, true, RobotMsgAction.State, RobotMsgParas.LineSnap, new List<string>() { "-1" });
+ // throw new ProcessException("浜х嚎蹇欙紝绛夊緟瓒呮椂");
+ //}
+ //else
+ //{
+ // bind.Robot.SendMsg(RobotMsgType.Send, -1, true, RobotMsgAction.State, RobotMsgParas.LineSnap, new List<string>() { "1" });
+ //}
+ }
+ else
+ {
+ isLineReady = true;
+ }
if (isLineReady)
{
@@ -1052,9 +1207,15 @@
#endregion
}
+ //[Device("AGVBind", "AGVBind", EnumHelper.DeviceAttributeType.OperationConfig)]
public class AGVBindOpConfig : OperationConfigBase
{
+ [Category("璁惧淇℃伅")]
+ [Description("鎿嶄綔鐩稿叧鐨勮澶囩紪鍙�")]
public string BindId { get; set; }
+
+ [Category("浣嶇疆淇℃伅")]
+ [Description("鎿嶄綔鐩稿叧鐨勪綅缃�")]
public PathPosition Position { get; set; }
public AGVBindOpConfig() { }
diff --git a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
index 50cfc4a..8c70b49 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
@@ -92,7 +92,7 @@
while (res.Length < 11)
{
- res = "0" + s;
+ res = "0" + res;
}
return res;
}));
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 7007dc8..d2ae516 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -34,6 +34,8 @@
protected override void Init()
{
+ oldValues = new List<int>();
+
if (string.IsNullOrWhiteSpace(IConfig.EndChar))
{
throw new ProcessException("鍗忚鏂囨湰鐨勭粨鏉熷瓧绗︿笉鍙负绌猴紝璇锋鏌ラ厤缃�", null);
@@ -72,7 +74,10 @@
protected override void Stop()
{
- client.Close();
+ if (client != null && client.Connected)
+ {
+ client.Close();
+ }
}
#endregion
@@ -90,30 +95,41 @@
{
OnLog?.Invoke(DateTime.Now, this, ex.GetExceptionMessage());
+ if (client != null && client.Connected)
+ {
+ client.Close();
+ }
client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
}
}
private void OnDateReceived(IAsyncResult ar)
{
- int dataLength = client.GetStream().EndRead(ar);
-
- if (dataLength > 0)
+ try
{
- byte[] data = buffer.Take(dataLength).ToArray();
+ int dataLength = client.GetStream().EndRead(ar);
- string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
- AnalyzeData(dataStr);
-
- client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
- }
- else
- {
- if (!client.Connected)
+ if (dataLength > 0)
{
- OnLog?.Invoke(DateTime.Now, this, "杩斿洖绌烘暟鎹紝杩炴帴涓柇");
- client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
+ byte[] data = buffer.Take(dataLength).ToArray();
+
+ string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
+ AnalyzeData(dataStr);
+
+ client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
}
+ else
+ {
+ if (!client.Connected)
+ {
+ OnLog?.Invoke(DateTime.Now, this, "杩斿洖绌烘暟鎹紝杩炴帴涓柇");
+ client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鏁版嵁鎺ユ敹寮傚父锛歿ex.GetExceptionMessage()}");
}
}
@@ -173,7 +189,7 @@
for (int i = resultStr.Length - 1; i >= 0; i--)
{
- newValues.Add(resultStr[i]);
+ newValues.Add(int.Parse(resultStr[i].ToString()));
}
monitorHandle.Set();
@@ -248,17 +264,18 @@
if (isMonitorMsg && !canMonitor)
return;
- lock (this)
+ //lock (this)
{
client.GetStream().Write(bytes, 0, bytes.Length);
- if (isWaitReply)
- {
- 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);
- }
+ if (isWaitReply)
+ {
+ 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);
}
}
}
@@ -272,8 +289,9 @@
AutoResetEvent monitorHandle = new AutoResetEvent(false);
public List<int> GetMonitorValues(int startAddress, int length)
{
+ scanMsg.ID = SID;
SendMsg(scanMsg, true, true);
- monitorHandle.WaitOne();
+ monitorHandle.WaitOne(IConfig.ReplyTimeout);
return newValues;
}
@@ -288,6 +306,11 @@
if (newValues == null || newValues.Count == 0)
continue;
+
+ if (oldValues.Count == 0)
+ {
+ oldValues = newValues.ConvertAll(s => -1).ToList();
+ }
if (oldValues.Count == newValues.Count)
{
@@ -310,6 +333,11 @@
{
IConfig.MonitorSetCollection.ForEach(m =>
{
+ if (m.TriggerIndex < 0 || m.TriggerIndex >= tempNew.Count)
+ {
+ return;
+ }
+
int newValue = tempNew[m.TriggerIndex];
int oldValue = tempOld[m.TriggerIndex];
diff --git a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
index 67482a1..989fea4 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
@@ -62,7 +62,7 @@
}
public int SyncHead { get; set; } = 0x5A;
- public int Version { get; set; }
+ public int Version { get; set; } = 0x01;
public int SeqNum { get; set; }
public int DataLength { get; set; }
public int TypeCode { get; set; }
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index c5247c7..fdb4428 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
@@ -36,13 +36,13 @@
protected override void Init()
{
- InitialTcpClient(client_State, IConfig.StatusPort);
- InitialTcpClient(client_Guide, IConfig.GuidePort);
+ InitialTcpClient(ref client_State, IConfig.StatusPort);
+ InitialTcpClient(ref client_Guide, IConfig.GuidePort);
}
- private void InitialTcpClient(TcpClient client, int port)
+ private void InitialTcpClient(ref TcpClient client, int port)
{
- if (client == null || !client_State.Connected)
+ if (client == null || !client.Connected)
{
client = new TcpClient();
client.SendBufferSize = client.ReceiveBufferSize = 0;
@@ -73,7 +73,18 @@
protected override void Stop()
{
- throw new NotImplementedException();
+ if (client_Guide != null && client_Guide.Connected)
+ {
+ CancelTask();
+ client_Guide.Close();
+ client_Guide = null;
+ }
+
+ if (client_State != null && client_State.Connected)
+ {
+ client_State.Close();
+ client_State = null;
+ }
}
#endregion
@@ -137,10 +148,17 @@
{
while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
{
- SendMsg(client_State, IConfig.StatusPort, msg_Position);
- Thread.Sleep(IConfig.ScanInterval);
- SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
- Thread.Sleep(IConfig.ScanInterval);
+ try
+ {
+ SendMsg(client_State, IConfig.StatusPort, msg_Position);
+ Thread.Sleep(IConfig.ScanInterval);
+ SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
+ Thread.Sleep(IConfig.ScanInterval);
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父锛歿ex.GetExceptionMessage()}");
+ }
}
}
@@ -152,7 +170,7 @@
{
try
{
- InitialTcpClient(client, port);
+ InitialTcpClient(ref client, port);
var stream = client.GetStream();
stream.Write(msg.Frame, 0, msg.Frame.Length);
@@ -162,8 +180,7 @@
{
byte[] rec = buffer.Take(recSize).ToArray();
SeerMessage recMsg = SeerMessage.GetSeerMessage(rec);
-
- if (recMsg.TypeCode != msg.TypeCode || recMsg.SeqNum != msg.SeqNum)
+ if (recMsg.TypeCode != (10000 + msg.TypeCode) || recMsg.SeqNum != msg.SeqNum)
{
throw new ProcessException("鍙嶉淇℃伅鍜屽彂閫佷俊鎭笉涓�鑷�", null);
}
@@ -206,7 +223,7 @@
{
await Task.Run(() =>
{
- switch (recMsg.TypeCode)
+ switch (recMsg.TypeCode - 10000)
{
case (int)AGVCode.QueryPosition:
CurrentPosition = recMsg.JValues.Value<string>("current_station");
--
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