public bool currLoadPointIndex; // 当前落脚点
public hyCarrier(hyWorkFlow wf)
{
this.workFlow = wf;
pos = hyWorkFlow.POS_LOAD;
currPosDraw = new ServoPoint(LayoutDrawing.loadPoints[hyWorkFlow.POS_LOAD].X, LayoutDrawing.loadPoints[hyWorkFlow.POS_LOAD].Z);
currPosReal = new ServoPoint(ABTask.loadPoints[hyWorkFlow.POS_LOAD].X, ABTask.loadPoints[hyWorkFlow.POS_LOAD].Z);
}
public LayoutDrawing()
{
// -----------------------------------------------------------------------------
//
// 动画的装载点位
//
logicPoints[0] = loadPoints[hyWorkFlow.POS_LOAD] = new ServoPoint(0, 100);// 装载点
logicPoints[1] = loadPoints[0] = new ServoPoint(145, 171);
logicPoints[2] = loadPoints[1] = new ServoPoint(213, 171);
logicPoints[3] = loadPoints[2] = new ServoPoint(283, 171);
logicPoints[4] = loadPoints[3] = new ServoPoint(370, 156);
logicPoints[5] = loadPoints[4] = new ServoPoint(466, 156);
logicPoints[6] = loadPoints[5] = new ServoPoint(562, 156);
logicPoints[7] = loadPoints[6] = new ServoPoint(650, 156);
//logicPoints[8] = loadPoints[7] = new ServoPoint(880, 171);
logicPoints[8] = loadPoints[7] = new ServoPoint(733, 171);
logicPoints[9] = loadPoints[8] = new ServoPoint(806, 171);
//logicPoints[10] = loadPoints[9] = new ServoPoint(733, 171);
logicPoints[10] = loadPoints[9] = new ServoPoint(880, 171);
logicPoints[12] = loadPoints[hyWorkFlow.POS_IDLE] = new ServoPoint(954, 156);// 空地
logicPoints[11] = loadPoints[10] = new ServoPoint(964, 156);
logicPoints[13] = loadPoints[11] = new ServoPoint(1093, 156);
logicPoints[14] = loadPoints[12] = new ServoPoint(1188, 156);
logicPoints[15] = loadPoints[hyWorkFlow.POS_UNLOAD] = new ServoPoint(1380, 100);// 卸载点
//loadPoints[hyWorkFlow.POS_ZERO] = zeroPos;// 零点
//
destPosDraw = new ServoPoint(0, 0);
currPosDraw = new ServoPoint(zeroPos.X, zeroPos.Z);
// -----------------------------------------------------------------------------
//
// 任务线程
//
threadAB = new Thread(new ThreadStart(ThreadAB)); //也可简写为 new Thread(ThreadMethod);
threadAB.Start(); //启动线程
//
threadOpenStoveLid = new Thread(new ThreadStart(ThreadOpenStoveLid));
threadOpenStoveLid.Start();// 打开、关闭炉盖任务
if (drawOnly)
{// 模拟操作
for (int i = 0; i < 7; i++)
{
SerialManual.stoveLidState[i] = SerialManual.STOVE_LID_STATE.CLOSED;
}
}
}
public ABTask LoadXmlNodeTaskInfo()
{
if (xmlDoc == null)
{
xmlDoc = new XmlDocument();
xmlDoc.Load(xmlName); //加载xml文件
xroot = xmlDoc.SelectSingleNode("task");
}
XmlNodeList xnl = xroot.ChildNodes;
ABTask task = null;
foreach (hyWorkFlow wf in workGroup.workFlowList)
{
if (wf.carrier.status == hyCarrier.STATUS.DOING_CHANGE_OVER)
{ // 寻找当前正在换型的夹具
if (wf.carrier.id == Convert.ToInt32(xnl[3].InnerText))
{ // 确定夹具ID是一致的（复查）
task = new ABTask(wf);
task.taskStatus = (ABTask.STATUS)Convert.ToInt32(xnl[0].InnerText); // task_status
task.AB_TASK_A = Convert.ToInt32(xnl[1].InnerText); // A
task.AB_TASK_B = Convert.ToInt32(xnl[2].InnerText); // B
task.carrier = wf.carrier;
currCarrier = wf.carrier;
carrierList.Add(currCarrier);
int p = task.AB_TASK_A;
switch (task.taskStatus)
{
case ABTask.STATUS.IDLE:
case ABTask.STATUS.PREA:
case ABTask.STATUS.CLAMPA:
p = task.AB_TASK_A;
break;
default:
p = task.AB_TASK_B;
break;
}
currCarrier.currPosDraw = new ServoPoint(loadPoints[p].X, loadPoints[p].Z);
currPosDraw = new ServoPoint(currCarrier.currPosDraw.X, currCarrier.currPosDraw.Z);
taskList.Add(task);
}
}
}
return(task);
}
public static void Init()
{
if (loadPoints == null)
{
// -----------------------------------------------------------------------------
//
// 实际装载点位
//
loadPoints = new ServoPoint[hyProcess.loadPointsNum];
logicPoints = new ServoPoint[hyProcess.loadPointsNum];
logicPoints[0] = loadPoints[hyWorkFlow.POS_LOAD] = new ServoPoint(0, 1360);// 装载点
logicPoints[1] = loadPoints[0] = new ServoPoint(2795, 2810);
logicPoints[2] = loadPoints[1] = new ServoPoint(4215, 2810);
logicPoints[3] = loadPoints[2] = new ServoPoint(5560, 2810);
logicPoints[4] = loadPoints[3] = new ServoPoint(7250, 2670);
logicPoints[5] = loadPoints[4] = new ServoPoint(9130, 2685);
logicPoints[6] = loadPoints[5] = new ServoPoint(10920, 2720);
logicPoints[7] = loadPoints[6] = new ServoPoint(12765, 2700);
logicPoints[8] = loadPoints[7] = new ServoPoint(14460, 2805);
//logicPoints[8] = loadPoints[7] = new ServoPoint(17120, 2820);//第6号水槽作为第4个位置
logicPoints[9] = loadPoints[8] = new ServoPoint(15790, 2810);
//logicPoints[10] = loadPoints[9] = new ServoPoint(14460, 2805);//第4号水槽作为第6个位置
logicPoints[10] = loadPoints[9] = new ServoPoint(17120, 2820);
logicPoints[11] = loadPoints[hyWorkFlow.POS_IDLE] = new ServoPoint(1100, 100);// 空地
//暂未标定12 13 14，且12号变为空冷，不要除渣炉
logicPoints[12] = loadPoints[10] = new ServoPoint(18260, 1365);
logicPoints[13] = loadPoints[11] = new ServoPoint(24728, 500);
logicPoints[14] = loadPoints[12] = new ServoPoint(26878, 500);
logicPoints[15] = loadPoints[hyWorkFlow.POS_UNLOAD] = new ServoPoint(18260, 1365);//空地卸载点
//logicPoints[15] = loadPoints[hyWorkFlow.POS_UNLOAD] = new ServoPoint(28150, 1370);// 标准卸载点
//loadPoints[hyWorkFlow.POS_ZERO] = zeroPos;// 零点
}
}
public bool PointsInRange(ServoPoint a, ServoPoint b, int range)
{
return((Math.Abs(a.X - b.X) <= range) && (Math.Abs(a.Z - b.Z) <= range));
}
