/// <summary>
/// 状态机运行
/// </summary>
public void TrackRun()
{
while (!this.bSystemExit)
{
Thread.Sleep(20);
CurStep?.Handler(this);
}
}
public void StartTrack()
{
if (TrackTask == null)
{
CurStep.CurState = TrackStep.State.Enter;
TrackTask = Task.Factory.StartNew(() =>
{
this.TrackRun();
});
}
else
{
CurStep.ReActive();
}
}
public void PauseTrack()
{
CurStep.Pasue();
}
/// <summary>
/// 开始流程
/// </summary>
public void Start()
{
if (FeederDefine.Instance.InstallFeederName[this.Module][Feeder.Right] == string.Empty &&
FeederDefine.Instance.InstallFeederName[this.Module][Feeder.Left] == string.Empty)
{
MessageBox.Show($"没有安装Feeder信息 请给该模组安装Feeder信息!!!");
return;
}
// 相机状态设置
for (Camera cam = Camera.Top; cam <= Camera.Bottom2; ++cam)
{
CameraDefine.Instance.Camera[this.Module][cam].StopGrab();
CameraDefine.Instance.Camera[this.Module][cam].StartGrab(); // 相机设置可采图
}
for (Feeder feeder = Feeder.Left; feeder <= Feeder.Right; ++feeder)
{
FeederConfig left = null;
if (FeederDefine.Instance.InstallFeederName[this.Module][feeder] != string.Empty)
{
string feederName = CommonHelper.GetEnumDescription(typeof(Feeder), feeder);
left = FeederDefine.Instance[this.Module, feeder];
if (left == null)
{
MessageBox.Show($"找不到可{feederName} [{FeederDefine.Instance.InstallFeederName[this.Module][feeder]}] 请检查程式!!!");
return;
}
string loadrtn = VisionCalHelper.Instance.InstallVision(left.LabelName);
if (!string.IsNullOrEmpty(loadrtn))
{
MessageBox.Show($"{feederName} 视觉方法导入失败 [{left.LabelName}] 请检查视觉库!!!");
return;
}
}
}
// 安装视觉
string rtn = VisionCalHelper.Instance.InstallVision(this.Program.VisionList);
if (rtn != string.Empty)
{
MessageBox.Show(rtn);
return;
}
TrackManager.Instance.TrackStart((Config.Track) this.Module);
if (CurStep == null)
{
CurStep = new SuckLabelStep(this, this.MachineEntiy);
CurStep.CurState = FlowStep.State.Enter;
this.RunData.Restet(this.Program);
}
else
{
CurStep.ReStart();
}
if (FlowThd == null)
{
FlowThd = new Thread(Thread_Main);
FlowThd.Start();
}
this.MachineEntiy.MachineIO.StopBtnLight.SetIO(false);
this.MachineEntiy.MachineIO.StartBtnLight.SetIO(true);
this.Pasued = false;
}
