public SymbolLines(SymbolLinesCmd symbolLinesCmd, CoordinateCorrector coordinateCorrector) { this.RunnableModule = symbolLinesCmd.RunnableModule; this.Program = symbolLinesCmd.RunnableModule.CommandsModule.Program; if (this.RunnableModule.Mode == ModuleMode.AssignMode1 || this.RunnableModule.Mode == ModuleMode.MainMode) { this.Valve = ValveType.Valve1; } else if (this.RunnableModule.Mode == ModuleMode.DualFallow) { this.Valve = ValveType.Both; } else { this.Valve = ValveType.Valve2; } this.symbolLinesCmd = symbolLinesCmd; this.arcSpeed = this.symbolLinesCmd.ArcSpeed; this.oriSymbols = symbolLinesCmd.Symbls; if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look) { curMeasureHeightValue = Machine.Instance.Robot.CalibPrm.SafeZ; } else { foreach (SymbolLine item in symbolLinesCmd.Symbls) { if (item.MHCmdList.Count > 0)//至少有个首点 { this.LaserZDelta = item.MHCmdList[0].ZPos - Machine.Instance.Robot.CalibPrm.SafeZ; curMeasureHeightValue = item.MHCmdList[0].RealHtValue + this.LaserZDelta; break; } } } // 校准当前多线段所有轨迹 this.oriSymbols = new List <SymbolLine>(); foreach (SymbolLine item in symbolLinesCmd.Symbls) { SymbolLine symbol = item.Clone() as SymbolLine; symbol.Correct(this.RunnableModule, coordinateCorrector); symbol.AddOffset(); if (symbol.MHList == null) { symbol.MHList = new List <MeasureHeight>(); } symbol.MHList.Clear(); //校正测高点 foreach (var mhCmd in item.MHCmdList) { symbol.MHList.Add(new MeasureHeight(mhCmd, coordinateCorrector)); } this.oriSymbols.Add(symbol); } this.OffsetX = symbolLinesCmd.OffsetX; this.OffsetY = symbolLinesCmd.OffsetY; }
public ModifyPoint(SymbolLine symbolLine, int pointNo, SymbolLinesCmd symbolLinesCmd, CoordinateCorrector coordinateCorrector) { this.SymbolLine = symbolLine; this.PointNo = pointNo; this.SymbolLinesCmd = symbolLinesCmd; PointD point = new PointD(symbolLine.symbolPoints[pointNo].X, symbolLine.symbolPoints[pointNo].Y); this.PointWithCorrect = coordinateCorrector.Correct(symbolLinesCmd.RunnableModule, point, Executor.Instance.Program.ExecutantOriginOffset); }
/// <summary> /// 记录 RunnableModule -- SymbolLinesCmd 映射关系,语法解析时 /// </summary> /// <param name="module"></param> /// <param name="markCmd"></param> public void RecordSymbolLinesCmd(RunnableModule module, SymbolLinesCmd symbolCmd) { List <SymbolLinesCmd> symbolCmdSet; if (!symbolLinesMap.ContainsKey(module)) { symbolCmdSet = new List <SymbolLinesCmd>(); symbolLinesMap.Add(module, symbolCmdSet); } else { symbolCmdSet = symbolLinesMap[module]; } symbolCmdSet.Add(symbolCmd); }
/// <summary> /// 解析指令 /// 注意: 传递的实际原点坐标值,是引用当前模块的指令(DO, DO MULTIPASS)里面的坐标值;如果当前模块是FluidProgram,则原点值为(0, 0) /// </summary> /// <param name="origin">当前模块实际原点坐标</param> /// <param name="parent">包含当前模块的外层模块, 一个模块解析后对应的是RunnableModule类型,所以parent类型是RunnableModule</param> /// <param name="level">当前模块所处的层级,Program为0,Workpiece为1,以此类推</param> /// <returns>解析结果. 如果解析成功,携带对应的RunnableModule;如果解析失败,携带出错行CmdLine、出错描述信息</returns> private Result parse(CommandsModule commandsModule, PointD origin, RunnableModule parent, int level, int boardNo) { Pattern currPattern = commandsModule as Pattern; RunnableModule runnableModule = new RunnableModule(commandsModule, origin); runnableModule.BoardNo = boardNo; // workpiece下面所有拼版根据因引用的Do指令或DoMultiPass指令的Valve设定拼版 if (level == 2) { runnableModule.Valve = (commandsModule as Pattern).Valve; if (runnableModule.Valve == Drive.ValveSystem.ValveType.Valve1) { runnableModule.Mode = ModuleMode.AssignMode1; runnableModule.SaveMode = ModuleMode.AssignMode1; } else if (runnableModule.Valve == Drive.ValveSystem.ValveType.Valve2) { runnableModule.Mode = ModuleMode.AssignMode2; runnableModule.SaveMode = ModuleMode.AssignMode2; } else if (runnableModule.Valve == Drive.ValveSystem.ValveType.Both) { runnableModule.Mode = ModuleMode.DualFallow; runnableModule.SaveMode = ModuleMode.DualFallow; } } if (level > 2) { runnableModule.Valve = parent.Valve; runnableModule.Mode = parent.Mode; runnableModule.SaveMode = parent.SaveMode; } program.ModuleStructure.AddModule(runnableModule, parent, level); // 是否已经遇到END: bool ended = false; // 记录当前处在什么类型的子句中,例如:loop block, pass block BlockState blockState = new BlockState(); // 开始解析: List <CmdLine> cmdLineList; cmdLineList = new List <CmdLine>(commandsModule.CmdLineList); CmdLine cmdLine = null; bool hasPassBlock = false; int lastPassblockIndex = -1; MeasureHeightCmd curMeasureHeightCmd = null; //增加螺杆阀的速度、重量键值对 Dictionary <int, double> svValvespeedDic = new Dictionary <int, double>(); //TODO 将5换为阀参数设置的默认值,10换为默认值 svValvespeedDic.Add(5, 10); for (int i = 0; i < cmdLineList.Count; i++) { cmdLine = cmdLineList[i]; // 忽略被禁用的命令 if (!cmdLine.Enabled) { continue; } // END: 后面不允许添加任何命令 if (ended) { return(new Result(false, cmdLine, "No commands is allowed to be added after END")); } if (cmdLine is SetHeightSenseModeCmdLine) { runnableModule.AddCommand(new SetHeightSenseModeCmd(runnableModule, cmdLine as SetHeightSenseModeCmdLine)); } else if (cmdLine is MarkCmdLine) { // Mark点命令必须处在最前面 if (i > 0) { // 寻找Mark点前面的Enable==true且不是注释的命令 CmdLine lastestCmdLine = getLastestEnabledCmdLine(cmdLineList, i - 1); if (lastestCmdLine != null && !(lastestCmdLine is MarkCmdLine)) { return(new Result(false, cmdLine, "MARK must be added before the other command types.")); } } if (findMarkCmdLineIndex(cmdLineList, cmdLine as MarkCmdLine) > 1) { return(new Result(false, cmdLine, "MARK number can not be more than 2.")); } MarkCmd markCmd = new MarkCmd(runnableModule, cmdLine as MarkCmdLine); runnableModule.AddCommand(markCmd); program.ModuleStructure.RecordMarkPoint(runnableModule, markCmd); } else if (cmdLine is BadMarkCmdLine) { //// 屏蔽原因 : BadMark模式由每个拼版只有一个 改为 测高指令那种模式 //// BadMark点命令必须处在非Mark命令的前面 //if (i > 0) //{ // // 寻找Bad Mark点前面的Enable==true且不是注释的命令 // CmdLine lastestCmdLine = getLastestEnabledCmdLine(cmdLineList, i - 1); // if (lastestCmdLine != null && !(lastestCmdLine is MarkCmdLine)) // { // // 当前指令前面有非Mark指令,判断是否是BadMark,每个pattern只能添加一个BadMark // if (lastestCmdLine is BadMarkCmdLine) // { // return new Result(false, cmdLine, "Only one BADMARK command can be added per pattern"); // } // else // { // return new Result(false, cmdLine, "BADMARK must be added before the non-mark command types."); // } // } //} BadMarkCmd badMarkCmd = new BadMarkCmd(runnableModule, cmdLine as BadMarkCmdLine); runnableModule.AddCommand(badMarkCmd); program.ModuleStructure.RecordBadMarkPoint(runnableModule, badMarkCmd); } else if (cmdLine is MeasureCmdLine) { MeasureCmd measureCmd = new MeasureCmd(runnableModule, cmdLine as MeasureCmdLine); runnableModule.AddCommand(measureCmd); //记录检测指令里的测高 program.ModuleStructure.RecordMeasureGlueHTCmds(runnableModule, measureCmd); } else if (cmdLine is BlobsCmdLine) { BlobsCmd blobsCmd = new BlobsCmd(runnableModule, cmdLine as BlobsCmdLine); runnableModule.AddCommand(blobsCmd); program.ModuleStructure.RecordBlobsCmds(runnableModule, blobsCmd); } else if (cmdLine is BarcodeCmdLine) { BarcodeCmd barcodeCmd = new BarcodeCmd(runnableModule, cmdLine as BarcodeCmdLine); runnableModule.AddCommand(barcodeCmd); program.ModuleStructure.RecordBarcodeCmds(runnableModule, barcodeCmd); } else if (cmdLine is ConveyorBarcodeCmdLine) { ConveyorBarcodeCmd conveyorBarcodeCmd = new ConveyorBarcodeCmd(runnableModule, cmdLine as ConveyorBarcodeCmdLine); runnableModule.AddCommand(conveyorBarcodeCmd); } else if (cmdLine is MeasureHeightCmdLine) { MeasureHeightCmdLine measureHeightCmdLine = cmdLine as MeasureHeightCmdLine; curMeasureHeightCmd = new MeasureHeightCmd(runnableModule, measureHeightCmdLine); runnableModule.AddCommand(curMeasureHeightCmd); program.ModuleStructure.RecordMeasureHeightPoint(runnableModule, curMeasureHeightCmd); } else if (cmdLine is NozzleCheckCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new NozzleCheckCmd(runnableModule, cmdLine as NozzleCheckCmdLine, curMeasureHeightCmd)); } else if (cmdLine is SymbolLinesCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } SymbolLinesCmdLine symbolLinesCmdLine = cmdLine as SymbolLinesCmdLine; SymbolLinesCmd symbolLinesCmd = new SymbolLinesCmd(runnableModule, symbolLinesCmdLine); runnableModule.AddCommand(symbolLinesCmd); foreach (MeasureHeightCmd item in symbolLinesCmd.GetAllMeasureCmdLineList()) { if (item == null) { continue; } program.ModuleStructure.RecordMeasureHeightPoint(runnableModule, item); } program.ModuleStructure.RecordSymbolLinesCmd(runnableModule, symbolLinesCmd); } else if (cmdLine is MultiTracesCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new MultiTracesCmd(runnableModule, cmdLine as MultiTracesCmdLine, curMeasureHeightCmd)); } else if (cmdLine is DotCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new DotCmd(runnableModule, cmdLine as DotCmdLine, curMeasureHeightCmd)); } else if (cmdLine is FinishShotCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new FinishShotCmd(runnableModule, cmdLine as FinishShotCmdLine, curMeasureHeightCmd)); } else if (cmdLine is LineCmdLine) // 包含了 cmdLine is SnakeLineCmdLine { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new LineCmd(runnableModule, cmdLine as LineCmdLine, curMeasureHeightCmd)); } else if (cmdLine is ArcCmdLine) // 包含了 CircleCmdLine { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new ArcCmd(runnableModule, cmdLine as ArcCmdLine, curMeasureHeightCmd)); } else if (cmdLine is CircleCmdLine) { if (level > 1) { cmdLine.Valve = runnableModule.Valve; } runnableModule.AddCommand(new ArcCmd(runnableModule, cmdLine as CircleCmdLine, curMeasureHeightCmd)); } else if (cmdLine is MoveXyCmdLine) { runnableModule.AddCommand(new MoveXyCmd(runnableModule, cmdLine as MoveXyCmdLine)); } else if (cmdLine is MoveAbsXyCmdLine) { runnableModule.AddCommand(new MoveAbsXyCmd(runnableModule, cmdLine as MoveAbsXyCmdLine)); } else if (cmdLine is MoveAbsZCmdLine) { runnableModule.AddCommand(new MoveAbsZCmd(runnableModule, cmdLine as MoveAbsZCmdLine)); } else if (cmdLine is MoveToLocationCmdLine) { MoveToLocationCmdLine moveToLocationCmdLine = cmdLine as MoveToLocationCmdLine; // 检测系统预定义坐标名称是否存在 if (runnableModule.CommandsModule.program.UserPositions.Find(x => x.Name == moveToLocationCmdLine.PositionName) == null) { return(new Result(false, cmdLine, "\'" + moveToLocationCmdLine.PositionName + "\' is not defined in system.")); } runnableModule.AddCommand(new MoveToLocationCmd(runnableModule, moveToLocationCmdLine)); } else if (cmdLine is NormalTimerCmdLine) { // TIMER不能放在pass block里面 if (blockState.Type == BlockType.PASS_BLOCK) { return(new Result(false, cmdLine, "TIMER must not be added in pass block")); } runnableModule.AddCommand(new NormalTimerCmd(runnableModule, cmdLine as NormalTimerCmdLine)); } else if (cmdLine is TimerCmdLine) { // TIMER必须在pass block里面 if (blockState.Type != BlockType.PASS_BLOCK) { return(new Result(false, cmdLine, "TIMER must be added in pass block")); } // TIMER必须是END PASS的前一个命令行,也就是说TIMER必须是分组内的最后一个命令行 if (i >= cmdLineList.Count - 1 || !(cmdLineList[i + 1] is EndPassCmdLine)) { return(new Result(false, cmdLine, "TIMER must be added before END PASS.")); } //// TIMER不能放在最后一个分组中,无意义 //if (i + 2 <= cmdLineList.Count - 1 && !(cmdLineList[i + 2] is StartPassCmdLine)) //{ // return new Result(false, cmdLine, "TIMER is no need to be added in the last pass block."); //} runnableModule.AddCommand(new TimerCmd(runnableModule, cmdLine as TimerCmdLine)); } else if (cmdLine is StepAndRepeatCmdLine) { StepAndRepeatCmdLine stepAndRepeatCmdLine = cmdLine as StepAndRepeatCmdLine; Pattern pattern = program.GetPatternByName(stepAndRepeatCmdLine.PatternName); if (pattern == null) { return(new Result(false, cmdLine, "Pattern '" + stepAndRepeatCmdLine.PatternName + "' is not found.")); } if (pattern.HasPassBlocks) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain pass blocks.")); } if (pattern.IsContainItself) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself.")); } cmdLineList.InsertRange(i + 1, (cmdLine as StepAndRepeatCmdLine).DoCmdLineList); } else if (cmdLine is DoCmdLine) { DoCmdLine doCmdLine = cmdLine as DoCmdLine; Pattern pattern = program.GetPatternByName(doCmdLine.PatternName); if (pattern == null) { return(new Result(false, cmdLine, "Pattern '" + doCmdLine.PatternName + "' is not found.")); } //设置父级Pattern,建立Pattern的引用关系 pattern.ParentPattern = currPattern; currPattern?.AddChild(pattern); Logger.DEFAULT.Debug(this.GetType().Name, string.Format("{0}'s parent pattern is {1}", pattern.Name, currPattern?.Name)); if (pattern.HasPassBlocks) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain pass blocks.")); } if (pattern.Name == commandsModule.Name) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself.")); } if (checkExitInAncestorNode(pattern, runnableModule)) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself.")); } pattern.Valve = doCmdLine.Valve; //倒序 if (doCmdLine.Reverse) { pattern = pattern.ReversePattern(); } if (level > 0) { if (runnableModule.BoardNo != 0) { doCmdLine.BoardNo = runnableModule.BoardNo; } program.ModuleStructure.AddBoardNo(doCmdLine.BoardNo); } Result result = parse(pattern, doCmdLine.Origin, runnableModule, level + 1, doCmdLine.BoardNo); if (!result.IsOk) { return(result); } // 拼版穴位号逻辑 (result.Param as RunnableModule).BoardNo = doCmdLine.BoardNo; runnableModule.AddCommand(new DoCmd(runnableModule, result.Param as RunnableModule, curMeasureHeightCmd)); } else if (cmdLine is DoMultiPassCmdLine) { if (blockState.Type != BlockType.LOOP_BLOCK) { return(new Result(false, cmdLine, "DO MULTIPASS must be added in loop block.")); } DoMultiPassCmdLine doMultiPassCmdLine = cmdLine as DoMultiPassCmdLine; Pattern pattern = program.GetPatternByName(doMultiPassCmdLine.PatternName); //设置父级Pattern,建立Pattern的引用关系 pattern.ParentPattern = currPattern; if (pattern == null) { return(new Result(false, cmdLine, "Pattern '" + doMultiPassCmdLine.PatternName + "' is not found.")); } currPattern?.AddChild(pattern); Logger.DEFAULT.Debug(this.GetType().Name, string.Format("{0}'s parent pattern is {1}", pattern.Name, currPattern?.Name)); if (pattern.IsContainItself) { return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself.")); } pattern.Valve = doMultiPassCmdLine.Valve; if (level > 0) { if (runnableModule.BoardNo != 0) { doMultiPassCmdLine.BoardNo = runnableModule.BoardNo; } program.ModuleStructure.AddBoardNo(doMultiPassCmdLine.BoardNo); } Result result = parse(pattern, doMultiPassCmdLine.Origin, runnableModule, level + 1, doMultiPassCmdLine.BoardNo); if (!result.IsOk) { return(result); } if (!pattern.HasPassBlocks) { return(new Result(false, cmdLine, "Pattern '" + doMultiPassCmdLine.PatternName + "' has no pass blocks.")); } // 拼版穴位号逻辑 (result.Param as RunnableModule).BoardNo = doMultiPassCmdLine.BoardNo; // 此处先暂时添加在cmdList中,在结尾处,对处于子句中的语句,集中处理。 runnableModule.AddCommand(new DoMultipassCmd(runnableModule, result.Param as RunnableModule, curMeasureHeightCmd)); } else if (cmdLine is LoopPassCmdLine) { if (blockState.Type != BlockType.NONE) { return(new Result(false, cmdLine, blockState.NoEndDescription)); } blockState.Type = BlockType.LOOP_BLOCK; blockState.BlockCmdObj = new LoopBlockCmd(runnableModule, cmdLine as LoopPassCmdLine); } else if (cmdLine is NextLoopCmdLine) { if (blockState.Type != BlockType.LOOP_BLOCK) { return(new Result(false, cmdLine, "LOOP PASS is not found for the loop block.")); } //不同拼版的同一个分组只需要一个计时器,不需要每个拼版都记一次时间 LoopBlockCmd loopBlockCmd = blockState.BlockCmdObj as LoopBlockCmd; for (int doMultiPassCmdIndex = 1; doMultiPassCmdIndex < loopBlockCmd.DoMultipassCmdList.Count; doMultiPassCmdIndex++) { RunnableModule tempModule = loopBlockCmd.DoMultipassCmdList[doMultiPassCmdIndex].AssociatedRunnableModule; foreach (Command item in tempModule.CmdList) { if (item is PassBlockCmd) { (item as PassBlockCmd).CmdList.RemoveAll(data => data is TimerCmd); } } } runnableModule.AddCommand(blockState.BlockCmdObj as LoopBlockCmd); blockState.Reset(); } else if (cmdLine is StartPassCmdLine) { if (blockState.Type != BlockType.NONE) { return(new Result(false, cmdLine, blockState.NoEndDescription)); } // 当前pass block序号必须比上一个pass block序号大 if ((cmdLine as StartPassCmdLine).Index <= lastPassblockIndex) { return(new Result(false, cmdLine, "Current pass block index must be bigger than the previous.")); } // 相邻pass block之间不允许添加指令 if (hasPassBlock && !(cmdLineList[i - 1] is EndPassCmdLine)) { return(new Result(false, cmdLine, "No commands is allowed to be added between pass blocks.")); } blockState.Type = BlockType.PASS_BLOCK; blockState.BlockCmdObj = new PassBlockCmd(runnableModule, cmdLine as StartPassCmdLine); } else if (cmdLine is EndPassCmdLine) { if (blockState.Type != BlockType.PASS_BLOCK) { return(new Result(false, cmdLine, "START PASS is not found for the pass block")); } PassBlockCmd passBlockCmd = blockState.BlockCmdObj as PassBlockCmd; runnableModule.AddCommand(passBlockCmd); hasPassBlock = true; lastPassblockIndex = passBlockCmd.Index; blockState.Reset(); } else if (cmdLine is EndCmdLine) { ended = true; } else if (cmdLine is PurgeCmdLine) { if (commandsModule is Pattern) { cmdLine.Valve = (commandsModule as Pattern).Valve; } runnableModule.AddCommand(new PurgeCmd(runnableModule, cmdLine as PurgeCmdLine)); } else if (cmdLine is ChangeSpeedCmdLine) { ChangeSpeedCmdLine changeSpeedCmdLine = cmdLine as ChangeSpeedCmdLine; if (svValvespeedDic.ContainsKey(changeSpeedCmdLine.Speed)) { } else if (this.program.RuntimeSettings.VavelSpeedDic.ContainsKey(changeSpeedCmdLine.Speed)) { double value; this.program.RuntimeSettings.VavelSpeedDic.TryGetValue(changeSpeedCmdLine.Speed, out value); svValvespeedDic.Add(changeSpeedCmdLine.Speed, value); } else { //TODO 将10替换为默认参数 svValvespeedDic.Add(changeSpeedCmdLine.Speed, 10); } runnableModule.AddCommand(new ChangeSpeedCmd(runnableModule, changeSpeedCmdLine)); //传递程序中的速度重量键值对 SvOrGearValveSpeedWeightValve.VavelSpeedWeightDic = FluidProgram.CurrentOrDefault().RuntimeSettings.VavelSpeedDic; } // 处理包含在子句中的语句: if (blockState.Type != BlockType.NONE && runnableModule.CmdList.Count > 0) { switch (blockState.Type) { case BlockType.LOOP_BLOCK: if (!(cmdLine is LoopPassCmdLine)) { if (!(cmdLine is DoMultiPassCmdLine)) { return(new Result(false, cmdLine, "Only DO MULTIPASS can be added in loop block.")); } (blockState.BlockCmdObj as LoopBlockCmd).DoMultipassCmdList.Add(runnableModule.GetCommandAtTail() as DoMultipassCmd); runnableModule.RemoveCommandAtTail(); } break; case BlockType.PASS_BLOCK: if (!(cmdLine is StartPassCmdLine)) { (blockState.BlockCmdObj as PassBlockCmd).CmdList.Add(runnableModule.GetCommandAtTail()); runnableModule.RemoveCommandAtTail(); } break; } } } //替换Program中的SvValveDic this.program.RuntimeSettings.VavelSpeedDic = svValvespeedDic; var lastCmdLine = getLastestEnabledCmdLine(cmdLineList, cmdLineList.Count - 1); // 检查子句命令是否完成 if (blockState.Type != BlockType.NONE) { return(new Result(false, lastCmdLine, blockState.NoEndDescription)); } // 必须以END命令结尾 if (!ended) { return(new Result(false, lastCmdLine, "END is not found.")); } return(new Result(true, runnableModule)); }