From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/A032.Process/ProcessControl.cs | 289 +++++++++++++++++++++++++++++----------------------------
1 files changed, 147 insertions(+), 142 deletions(-)
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index 7d26329..f823dc3 100644
--- a/src/A032.Process/ProcessControl.cs
+++ b/src/A032.Process/ProcessControl.cs
@@ -3,9 +3,7 @@
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
-using Bro.Common.Model.Interface;
using Bro.Common.PubSub;
-using Bro.Common.UI;
using Bro.Device.AuboRobot;
using Bro.Device.OmronFins;
using Bro.Device.SeerAGV;
@@ -14,18 +12,14 @@
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using System;
-using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Collections.Specialized;
-using System.Configuration;
using System.Diagnostics;
using System.Drawing;
-using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Reflection;
-using System.Runtime.ExceptionServices;
using System.Threading;
using System.Threading.Tasks;
using static Bro.Common.Helper.EnumHelper;
@@ -40,7 +34,7 @@
{
#region AutoFac娉ㄥ唽
builder.RegisterInstance<ProcessConfig>(StationConfig as ProcessConfig);
- builder.RegisterInstance<List<IDevice>>(GetDeviceList());
+ builder.RegisterInstance<List<IDevice>>(DeviceList);
builder.RegisterInstance<List<ProcessMethodAttribute>>(CollectProcessMethods());
if (isBuild)
@@ -125,6 +119,8 @@
Dictionary<string, SeerAGVDriver> AGVDict = new Dictionary<string, SeerAGVDriver>();
Dictionary<string, CameraBase> CameraDict = new Dictionary<string, CameraBase>();
+ public List<IDevice> DeviceList { get; set; } = new List<IDevice>();
+
private ProcessConfig Config { get => StationConfig as ProcessConfig; }
string _configBackupStr = "";
@@ -152,6 +148,11 @@
if (ProcessState == DeviceState.DSClose)
return;
+ List<string> currentTaskIds = Config.AGVBindCollection.Select(u => u.CurrentTaskId).Where(s => !string.IsNullOrWhiteSpace(s)).ToList();
+ TrayTaskCollection.RemoveAll(t => !currentTaskIds.Contains(t.TaskId));
+
+ _bindTaskDoneHandleDict.Values.ToList().ForEach(h => h.WaitOne());
+
CloseDevice(PLCDict.Values.ToList());
CloseDevice(RobotDict.Values.ToList());
CloseDevice(AGVDict.Values.ToList());
@@ -168,6 +169,7 @@
return;
InitialProcessMethods();
+ TrayTaskCollection.OnItemChangedWithItemInfo = OnTaskListChanged;
OpenDevices(RobotDict.Values.ToList());
OpenDevices(AGVDict.Values.ToList());
@@ -177,14 +179,15 @@
OpenDevices(PLCDict.Values.ToList());
+ //鍔犺浇AGVUnit鐘舵�佷簨浠�
+ Config.AGVBindCollection.ForEach(b =>
+ {
+ b.OnUnitStateChanged = OnUnitStateChanged;
+
+ _bindTaskDoneHandleDict[b.Id] = new AutoResetEvent(true);
+ });
+
ProcessState = DeviceState.DSOpen;
-
- QueryRobotIO();
-
- //Task.Run(() =>
- //{
- // //PLCMonitor();
- //});
LogAsync(DateTime.Now, "Process Opened", "");
}
@@ -263,6 +266,7 @@
});
}
+ //Dictionary<string, MethodInfo> InvokeMethodDict = new Dictionary<string, MethodInfo>();
public List<ProcessMethodAttribute> CollectProcessMethods()
{
List<ProcessMethodAttribute> resultList = new List<ProcessMethodAttribute>();
@@ -274,6 +278,7 @@
if (attr != null)
{
resultList.Add(attr);
+ //InvokeMethodDict[attr.MethodCode] = m;
}
});
@@ -287,20 +292,55 @@
StationConfig = LoadStationConfig(configPath);
#region 涓埆閰嶇疆鐨勭壒鍒鐞�
-
#endregion
- _warningRemains.CollectionChanged -= _warningRemains_CollectionChanged;
- _warningRemains.CollectionChanged += _warningRemains_CollectionChanged;
+ WarningRemains.CollectionChanged -= _warningRemains_CollectionChanged;
+ WarningRemains.CollectionChanged += _warningRemains_CollectionChanged;
+
+ #region 璁惧鍒濆鍖�
+ DeviceList = new List<IDevice>();
InitialPLCs();
- InitialRobots();
InitialAGVs();
+ InitialRobots();
InitialCameras();
+ InitialAGVBindUnit();
+ //InitialMachineTrayNums();
+ #endregion
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()
@@ -310,6 +350,8 @@
CameraBase camera = CameraHelper.GetCameraInstance(c.DriverType);
camera.InitialConfig = c;
CameraDict[camera.InitialConfig.ID] = camera;
+
+ DeviceList.Add(camera);
});
}
@@ -321,11 +363,13 @@
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;
+
+ DeviceList.Add(plc);
});
}
@@ -336,6 +380,18 @@
AuboRobotDriver robot = new AuboRobotDriver();
robot.InitialConfig = c;
RobotDict[robot.InitialConfig.ID] = robot;
+
+ robot.OnLog = OnDeviceLog;
+
+ robot.OnMsgReceived = OnRobotMsgReceived;
+
+ robot.OnMonitorAlarm -= OnMonitorAlarm;
+ robot.OnMonitorInvoke -= OnMonitorInvoke;
+
+ robot.OnMonitorAlarm += OnMonitorAlarm;
+ robot.OnMonitorInvoke += OnMonitorInvoke;
+
+ DeviceList.Add(robot);
});
}
@@ -346,6 +402,19 @@
SeerAGVDriver agv = new SeerAGVDriver();
agv.InitialConfig = c;
AGVDict[agv.InitialConfig.ID] = agv;
+
+ agv.OnMonitorAlarm -= OnMonitorAlarm;
+ agv.OnMonitorInvoke -= OnMonitorInvoke;
+
+ agv.OnMonitorAlarm += OnMonitorAlarm;
+ agv.OnMonitorInvoke += OnMonitorInvoke;
+
+ agv.OnLog = OnDeviceLog;
+ agv.OnAGVPositoinChanged = OnAGVPositionChanged;
+ agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
+ agv.OnAGVBatteryLvlChanged = OnAGVBatteryLvlChanged;
+
+ DeviceList.Add(agv);
});
}
@@ -400,7 +469,7 @@
ProcessConfig pConfig = config as ProcessConfig;
if (pConfig == null)
- throw new ProcessException("鐩墠鍙敮鎸丳rocessConfig绫诲瀷鐨勯潪绌哄唴瀹逛繚瀛�", null);
+ throw new ProcessException("鐩墠鍙敮鎸丳rocessConfig绫诲瀷鐨勯潪绌哄唴瀹逛繚瀛�");
string newConfig = JsonConvert.SerializeObject(pConfig, new JsonSerializerSettings() { TypeNameHandling = TypeNameHandling.Auto });
using (StreamWriter writer = new StreamWriter(CONFIG_PATH, false, System.Text.Encoding.UTF8))
@@ -447,7 +516,7 @@
/// </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();
@@ -457,73 +526,52 @@
if (attr != null)
{
_processMethodDict[attr.MethodCode] = m;
-
- #region 鍒濆鍖朒alconTool
- //if (attr.DeviceType.EndsWith("Camera"))
- //{
- // if (StationConfig.ProcessOpConfigDict.Keys.Contains(attr.MethodCode))
- // {
- // var opConfig = StationConfig.ProcessOpConfigDict[attr.MethodCode] as HalconRelatedCameraOprerationConfigBase;
-
- // if (opConfig != null)
- // {
- // if (!string.IsNullOrWhiteSpace(opConfig.AlgorithemPath))
- // {
- // string directoryPath = Path.GetDirectoryName(opConfig.AlgorithemPath);
- // string fileName = Path.GetFileNameWithoutExtension(opConfig.AlgorithemPath);
-
- // HDevEngineTool tool = new HDevEngineTool(directoryPath);
- // tool.LoadProcedure(fileName);
-
- // _halconToolDict[attr.MethodCode] = tool;
- // }
- // }
- // }
- //}
- #endregion
}
});
- #region 鍒濆鍖朒alconTool
- _halconToolDict = new Dictionary<string, HDevEngineTool>();
- Config.PLCConfigCollection.SelectMany(plcConfig => plcConfig.MonitorSetCollection).Select(ms => ms.OpConfig).ToList().ForEach(c =>
- {
- IHalconToolPath toolPath = c as IHalconToolPath;
- if (toolPath != null)
- {
- toolPath.GetHalconToolPathList().ForEach(path =>
- {
- if (!string.IsNullOrWhiteSpace(path))
- {
- string directoryPath = Path.GetDirectoryName(path);
- string fileName = Path.GetFileNameWithoutExtension(path);
-
- HDevEngineTool tool = new HDevEngineTool(directoryPath);
- tool.LoadProcedure(fileName);
-
- _halconToolDict[path] = tool;
- }
- });
- }
- });
+ #region 鍒濆鍖朒alconTool 鏍规嵁閰嶇疆鐨勬帴鍙ｇ被鍨嬫潵閰嶇疆
+ InitialHalconTool();
#endregion
}
- public List<IDevice> GetDeviceList()
+ private void InitialHalconTool()
{
- List<IDevice> list = new List<IDevice>();
+ foreach (HDevEngineTool tool in _halconToolDict.Values)
+ {
+ tool?.Dispose();
+ }
- list.AddRange(PLCDict.Values);
- list.AddRange(RobotDict.Values);
- list.AddRange(AGVDict.Values);
- list.AddRange(CameraDict.Values);
+ _halconToolDict = new Dictionary<string, HDevEngineTool>();
- return list;
+ Config.GetHalconToolPathList().ForEach(path =>
+ {
+ if (!string.IsNullOrWhiteSpace(path) && !_halconToolDict.ContainsKey(path))
+ {
+ string directoryPath = Path.GetDirectoryName(path);
+ string fileName = Path.GetFileNameWithoutExtension(path);
+
+ HDevEngineTool tool = new HDevEngineTool(directoryPath);
+ tool.LoadProcedure(fileName);
+
+ _halconToolDict[path] = tool;
+ }
+ });
}
- #region PLC鐩戝惉
+ //public List<IDevice> GetDeviceList()
+ //{
+ // List<IDevice> list = new List<IDevice>();
- private void Plc_OnMonitorInvoke(DateTime dt, MonitorSet monitorSet)
+ // list.AddRange(PLCDict.Values);
+ // list.AddRange(RobotDict.Values);
+ // list.AddRange(AGVDict.Values);
+ // list.AddRange(CameraDict.Values);
+
+ // return list;
+ //}
+
+ #region IMonitor鐩戝惉
+ private void OnMonitorInvoke(DateTime dt, IDevice device, MonitorSet monitorSet)
{
IOperationConfig config = monitorSet.OpConfig;
string methodCode = monitorSet.MethodCode;
@@ -535,7 +583,7 @@
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
@@ -559,7 +607,7 @@
res = new ProcessResponse((int)ReturnValue.EXCEPTIONVALUE);
}
- var newEx = new ProcessException("鍑芥暟" + methodCode + "鎵ц寮傚父", ex);
+ var newEx = new ProcessException("鍑芥暟" + methodCode + "鎵ц寮傚父", ExceptionLevel.Warning, ex);
}
else
{
@@ -597,64 +645,24 @@
monitorSet.Response.ResultValue = (int)ReturnValue.OKVALUE;
}
#endregion
-
- //sw.Stop();
- //LogAsync(DateTime.Now, methodCode + " 璋冪敤鑰楁椂: " + sw.ElapsedMilliseconds.ToString() + "ms", "");
- //TimeRecordCSV(DateTime.Now, methodCode + "璋冪敤", (int)sw.ElapsedMilliseconds);
- //sw.Start();
-
- #region 鍘熸湁PLC鍐欏叆缁撴灉鎿嶄綔锛岀幇杞埌寮傛璋冪敤鍚庡洖璋冨幓鎵ц
- //ProcessResponse resValues = res as ProcessResponse;
-
- //if (resValues.ResultValue == (int)PLCReplyValue.IGNORE)
- //{
- // return;
- //}
-
- //if (monitorSet.ReplyDataAddress != -1 && resValues.DataList.Count > 0)
- //{
- // PLC_ITEM item = new PLC_ITEM();
- // item.OP_TYPE = 2;
- // item.ITEM_LENGTH = resValues.DataList.Count;
- // item.ADDRESS = monitorSet.ReplyDataAddress.ToString();
- // item.ITEM_VALUE = String.Join(",", resValues.DataList);
- // PLC.WriteItem(item, false);
- //}
-
- //if (monitorSet.NoticeAddress != -1)
- //{
- // //娴嬭瘯妯″紡涓嬪缁堝弽棣圤K淇″彿
- // if (StationConfig.IsDemoMode && resValues.ResultValue <= 0)
- // {
- // resValues.ResultValue = (int)ReturnValue.OKVALUE;
- // }
-
- // int repeatTime = 5;
-
- // //LogAsync(DateTime.Now, methodCode + "寮�濮嬪弽棣�", "");
- // do
- // {
- // try
- // {
- // PLC.WriteSingleAddress(set.NoticeAddress, resValues.ResultValue, false);
- // repeatTime = 0;
- // }
- // catch (Exception ex)
- // {
- // repeatTime--;
-
- // if (repeatTime <= 0)
- // {
- // new ProcessException("PLC鍙嶉鍐欏叆寮傚父", ex);
- // }
- // }
- // } while (repeatTime > 0);
- //}
- #endregion
}
- private void Plc_OnMonitorAlarm(DateTime dt, WarningSet warning, bool isAlarmRaised)
+ private void OnMonitorAlarm(DateTime dt, IDevice device, WarningSet warning)
{
+ var bind = Config.AGVBindCollection.FirstOrDefault(u => u.CameraId == device.Id || u.RobotId == device.Id || u.AGVId == device.Id);
+
+ if (bind == null)
+ {
+ throw new ProcessException($"{device.Name}鐨勫紓甯镐俊鎭湭鑳借幏鍙栫浉鍏崇粦瀹氳澶囦俊鎭�");
+ }
+
+ if (warning.CurrentStatus == warning.TriggerValue)
+ {
+ bind.WarningMsg.Add(warning.WarningDescription);
+ bind.UnitState = AGVState.Warning;
+ }
+
+ //鏆傛椂涓嶆墽琛岃嚜鍔ㄥ浣嶏紝闇�瑕佹墜宸ュ浣�
}
//List<int> _monitorList = new List<int>();
@@ -1099,7 +1107,7 @@
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;
@@ -1114,7 +1122,7 @@
else
{
//MessageBox.Show("鏈兘鑾峰彇绂荤嚎鍥剧墖锛�");
- throw new ProcessException("鏈兘鑾峰彇绂荤嚎鍥剧墖锛�", null);
+ throw new ProcessException("鏈兘鑾峰彇绂荤嚎鍥剧墖锛�");
}
}
}
@@ -1131,9 +1139,6 @@
camera.UploadOperationConfig(opConfig);
camera.Snapshot(opConfig, out hImage);
-
- //SaveTempImage(cameraName, camera.ImageFilePath);
- //SaveTempImage(camera, cameraId);
if (cameraConifg.DelayAfter > 0)
{
@@ -1381,7 +1386,7 @@
#endregion
#region 鎶ヨ鍜孌ownTime
- public ObservableCollection<string> _warningRemains = new ObservableCollection<string>();
+ public ObservableCollection<string> WarningRemains { get; set; } = new ObservableCollection<string>();
bool warningRemainFlag = false;
bool WarningRemainFlag
--
Gitblit v1.8.0