private void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.layer == 9)
{
actions = Comport.IDDLE;
}
}
/// <summary>
/// Get all serial port names
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void PortDetails_Load(object sender, EventArgs e)
{
//string [] prt = SerialPort.GetPortNames();
List <string> comportList = Comport.GetComportList();
comportList.Add("COM1");
comportList.Add("COM2");
string[] prt = comportList.ToArray <string>();
IEnumerable <string> enu = prt.Distinct();
comboPort.DataSource = null;
String[] ports = enu.ToArray <string>();
string[] portArray = new string[ports.Length];
for (int i = 0; i < ports.Length; i++)
{
ports[i] = ports[i].Trim();
for (int charChk = ports[i].Length - 1; charChk >= 0; charChk--)
{
if (Char.IsDigit(ports[i][charChk]) == false)
{
ports[i] = ports[i].Remove(charChk);
}
else
{
break;
}
}
portArray[i] = ports[i];
}
comboPort.DataSource = portArray;
}
public void Activate()
{
RaycastHit hit;
//if (state == transformations.GIGANT) {
if (actions == Comport.CARGANDO)
{
bxSript.Soltar();
actions = Comport.IDDLE;
}
Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward) * 10, Color.yellow);
if (Physics.Raycast(transform.position, transform.TransformDirection(Vector3.forward), out hit, 10))
{
if (hit.transform.gameObject.layer == 10)
{
bxSript = hit.transform.GetComponent <BoxScript>();
bxSript.Agarre();
Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward) * 10, Color.red);
Debug.Log("Did Hit");
actions = Comport.CARGANDO;
}
}
//}
}
public bool Init(MotionCardCfg motionCfg, ICommunicationPortCfg communicationPortCfg)
{
this.motionCfg = motionCfg;
MAX_AXIS = motionCfg.MaxAxisNo;
MIN_AXIS = motionCfg.MinAxisNo;
comport = CommunicationMgr.Instance.FindPortByPortName(motionCfg.PortName) as Comport;
_controller = IrixiEE0017.CreateInstance(motionCfg.PortName);
if (comport == null)
{
return(false);
}
_controller = IrixiEE0017.CreateInstance(motionCfg.PortName);
if (_controller != null)
{
_controller.OnAxisStateChanged += OnIrixiAxisStateChanged;
if (motionCfg.NeedInit)
{
return(_controller.Init(Int32.Parse(comport.ToString().ToLower().Replace("com", ""))));
}
else
{
return(true);
}
}
return(false);
}
public bool Init(IOCardCfg ioCfg, ICommunicationPortCfg communicationPortCfg)
{
this.ioCfg = ioCfg;
comport = CommunicationMgr.Instance.FindPortByPortName(ioCfg.PortName) as Comport;
if (comport == null)
{
return(false);
}
else
{
_controller = IrixiEE0017.CreateInstance(ioCfg.PortName);
if (_controller != null)
{
_controller.OnOutputStateChanged += _controller_OnOutputStateChanged;
_controller.OnInputStateChanged += _controller_OnInputStateChanged;
if (ioCfg.NeedInit)
{
return(_controller.Init(Int32.Parse(comport.ToString().ToLower().Replace("com", ""))));
}
else
{
return(true);
}
}
return(false);
}
}
private void button_Stop_Click_1(object sender, EventArgs e)
{
// Close COM_Port
try
{
Comport.Close();
}
catch (Exception ex2)
{
MessageBox.Show(ex2.Message, "COM Port is using by another Process.");
}
}
private void Comport_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
// Read incoming serial data and read line by line
com_RGB = Comport.ReadLine();
// pass that data to displaydata_event
this.Invoke(new EventHandler(RGBpass_event));
}
catch (Exception ex3)
{
MessageBox.Show(ex3.Message, "COM PORT Error : Restart Programme");
}
}
public void Jump()
{
if (state == transformations.GIGANT)
{
return;
}
if (actions == Comport.AIR)
{
return;
}
if (actions == Comport.CARGANDO)
{
return;
}
rb.AddForce(transform.up * jumpForce, ForceMode.Impulse);
actions = Comport.AIR;
}
public bool Init(MotionCardCfg motionCfg, ICommunicationPortCfg communicationPortCfg)
{
try
{
this.motionCfg = motionCfg;
MAX_AXIS = motionCfg.MaxAxisNo;
MIN_AXIS = motionCfg.MinAxisNo;
ComportCfg portCfg = communicationPortCfg as ComportCfg;
comport = CommunicationMgr.Instance.FindPortByPortName(motionCfg.PortName) as Comport;
_controller = M12Wrapper.CreateInstance(portCfg.Port, portCfg.BaudRate);
_controller.OnUnitStateUpdated += OnIrixiAxisStateChanged;
_controller.Open();
return(true);
}
catch
{
return(false);
}
}
public bool Init(IOCardCfg ioCfg, ICommunicationPortCfg communicationPortCfg)
{
try
{
this.ioCfg = ioCfg;
ComportCfg portCfg = communicationPortCfg as ComportCfg;
comport = CommunicationMgr.Instance.FindPortByPortName(ioCfg.PortName) as Comport;
if (comport == null)
{
return(false);
}
else
{
_controller = M12Wrapper.CreateInstance(portCfg.Port, portCfg.BaudRate);
_controller.Open();
return(true);
}
}
catch
{
return(false);
}
}
//public static
public void LoadConfig(out List <string> errList)
{
#region >>>>Hardware init
errList = new List <string>();
try
{
var json_string = File.ReadAllText(File_HardwareCfg);
HardwareCfgMgr = JsonConvert.DeserializeObject <HardwareCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add($"Unable to load config file { File_HardwareCfg}, { ex.Message}");
}
IMotion motionBase = null;
IIO ioBase = null;
InstrumentBase instrumentBase = null;
LightBase lightBase = null;
Type hardWareMgrType = HardwareCfgMgr.GetType();
//先初始化通信端口
foreach (var it in hardWareMgrType.GetProperties())
{
switch (it.Name)
{
case "Comports":
foreach (var comportCfg in HardwareCfgMgr.Comports)
{
CommunicationPortBase port = new Comport(comportCfg);
CommunicationMgr.Instance.AddCommunicationPort(comportCfg.PortName, port);
}
break;
case "Ethernets":
case "Gpibs":
case "Visas":
break;
default:
break;
}
}
foreach (var it in hardWareMgrType.GetProperties())
{
switch (it.Name)
{
case "MotionCards":
var motionCfgs = it.GetValue(HardwareCfgMgr) as MotionCardCfg[];
if (motionCfgs == null)
{
break;
}
foreach (var motionCfg in motionCfgs)
{
if (motionCfg.Enabled)
{
motionBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.MotionCards." + motionCfg.Name.Substring(0, motionCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, /*new object[] { motionCfg }*/ null, null, null) as IMotion;
if (motionBase != null)
{
if (motionCfg.ConnectMode.ToLower() != "none")
{
var p = hardWareMgrType.GetProperty($"{motionCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == motionCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (motionBase.Init(motionCfg, ports.ElementAt(0)))
{
//设置单位，轴类型， 软限位等
for (int i = 0; i < motionBase.MAX_AXIS - motionBase.MIN_AXIS + 1; i++)
{
var settings = HardwareCfgMgr.AxisSettings.Where(a => a.AxisNo == i + motionBase.MIN_AXIS);
try
{
motionBase.SetAxisPara(i, settings == null ? null : settings.First());
}
catch (Exception ex)
{
errList.Add($"{ex.Message}");
}
}
MotionMgr.Instance.AddMotionCard(motionCfg.Name, motionBase);
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (motionBase.Init(motionCfg, null))
{
//设置单位，轴类型， 软限位等
for (int i = 0; i < motionBase.MAX_AXIS - motionBase.MIN_AXIS; i++)
{
var settings = HardwareCfgMgr.AxisSettings.Where(a => a.AxisNo == i + motionBase.MIN_AXIS);
try
{
motionBase.SetAxisPara(i, settings == null ? null : settings.First());
}
catch (Exception ex)
{
errList.Add($"{ex.Message}");
}
}
MotionMgr.Instance.AddMotionCard(motionCfg.Name, motionBase);
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{motionCfg.Name} Create instanse failed");
}
}
}
break;
case "IOCards":
var ioCfgs = it.GetValue(HardwareCfgMgr) as IOCardCfg[];
if (ioCfgs == null)
{
break;
}
foreach (var ioCfg in ioCfgs)
{
if (ioCfg.Enabled)
{
ioBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.IOCards." + ioCfg.Name.Substring(0, ioCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as IIO;
if (ioBase != null)
{
ioBase.ioCfg = ioCfg;
if (ioCfg.ConnectMode.ToLower() != "none") //没有屏蔽端口
{
var p = hardWareMgrType.GetProperty($"{ioCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == ioCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (ioBase.Init(ioCfg, ports.ElementAt(0)))
{
IOCardMgr.Instance.AddIOCard(ioCfg.Name, ioBase);
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (ioBase.Init(ioCfg, null))
{
IOCardMgr.Instance.AddIOCard(ioCfg.Name, ioBase);
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{ioCfg.Name} Create instanse failed");
}
}
}
break;
case "Instruments":
var instrumentCfgs = it.GetValue(HardwareCfgMgr) as InstrumentCfg[];
if (instrumentCfgs == null)
{
break;
}
foreach (var instrumentCfg in instrumentCfgs)
{
if (instrumentCfg.Enabled)
{
instrumentBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.Instruments." + instrumentCfg.InstrumentName.Substring(0, instrumentCfg.InstrumentName.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as InstrumentBase;
if (instrumentBase != null)
{
if (instrumentBase.Init())
{
}
}
}
}
break;
case "Cameras":
var cameraCfgs = it.GetValue(HardwareCfgMgr) as CameraCfg[];
break;
case "Lights":
var lightCfgs = it.GetValue(HardwareCfgMgr) as LightCfg[];
foreach (var lightCfg in lightCfgs)
{
if (lightCfg.Enabled)
{
lightBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.Vision.Light." + lightCfg.Name.Substring(0, lightCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as LightBase;
if (lightBase != null)
{
if (lightCfg.ConnectMode.ToLower() != "none")
{
var p = hardWareMgrType.GetProperty($"{lightCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == lightCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (lightBase.Init(lightCfg, ports.ElementAt(0))) //如果不需要初始化就直接加入字典
{
LigtMgr.Instance.AddLight(lightCfg.Name, lightBase);
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (lightBase.Init(lightCfg, null))
{
LigtMgr.Instance.AddLight(lightCfg.Name, lightBase);
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{lightCfg.Name} Create instanse failed");
}
}
}
break;
default:
break;
}
}
#endregion
#region >>>>Software init
try
{
var json_string = File.ReadAllText(File_SoftwareCfg);
SoftwareCfgMgr = JsonConvert.DeserializeObject <SoftwareCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_SoftwareCfg, ex.Message));
}
Type tStationCfg = SoftwareCfgMgr.GetType();
PropertyInfo[] pis = tStationCfg.GetProperties();
WorkFlowConfig[] WorkFlowCfgs = null;
WorkFlowBase workFlowBase = null;
foreach (PropertyInfo pi in pis)
{
if (pi.Name == "WorkFlowConfigs")
{
WorkFlowCfgs = pi.GetValue(SoftwareCfgMgr) as SoftwareManager.WorkFlowConfig[];
foreach (var it in WorkFlowCfgs)
{
if (it.Enable)
{
workFlowBase = tStationCfg.Assembly.CreateInstance("JPT_TosaTest.WorkFlow." + it.Name, true, BindingFlags.CreateInstance, null, new object[] { it }, null, null) as WorkFlowBase;
if (workFlowBase == null)
{
errList.Add($"Station: {it.Name} Create instance failed!");
}
else
{
WorkFlowMgr.Instance.AddStation(it.Name, workFlowBase);
}
}
}
}
}
#endregion
#region >>>>SystemCfg
try
{
var json_string = File.ReadAllText(File_SystemParaCfg);
SystemParaCfgMgr = JsonConvert.DeserializeObject <SystemParaCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_SystemParaCfg, ex.Message));
}
#endregion
#region >>>> UserCfg init
try
{
var json_string = File.ReadAllText(File_UserCfg);
UserCfgMgr = JsonConvert.DeserializeObject <UserCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_UserCfg, ex.Message));
}
#endregion
#region >>>>ProcessPara
//从文件中读取参数
try
{
var json_string = File.ReadAllText(File_ProcessPara);
ProcessDataMgr = JsonConvert.DeserializeObject <ProcessParaMgr>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_UserCfg, ex.Message));
}
#endregion
}
