//读取4号位所有数据
public Result PLC04ReadInfoEvent(ActionArgs actionArgs)
{
//获取4号位所有信息;更新料箱明细表
byte[] P4PlcInfo = (byte[])actionArgs.StepResult.Data;
//对比物料号数据，得出是否需要更新
bool isUpdate = CompareP4PlcInfo(P4PlcInfo);
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
if (!isUpdate)
{
//4号位需要更新
FlowBlock blocku = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC04UpdateB");
eng.EnqueueBlock(blocku);
//更新具体信息
//TODO 获取更新的内容
string content = "";
FlowBlock blockci = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC04UpdateCppInfoB");
blockci.Steps[0].Value = content;
eng.EnqueueBlock(blockci);
}
else
{
//4号位不需要更新
FlowBlock block = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC04NoUpdateB");
eng.EnqueueBlock(block);
}
Logger.Device.Info($" invoke PLC04NoUpdateB 读取4号位所有数据");
return(Result.Success());
}
/// <summary>
/// Should called only From RobotSystem
/// </summary>
/// <param name="deltaTime"></param>
public void ExecuteWaitingBlock(float deltaTime)
{
if (this.installedRobotSourceCode == null)
{
Debug.Log("Please add RobotSourceCode");
return;
}
this.WaitingTime += deltaTime; // Add WaitingTime
if (this.BlockCallStack.Count == 0)
{
//Still WaitingBlock is null, Set Top Of LoopedBlock To WaitingBlock
this.PushToBlockCallStack(this.installedRobotSourceCode.LoopedBlock);
}
if (this.BlockCallStack.Count == 0)
{
return;
}
FlowBlock topBlock = this.BlockCallStack.Peek();
bool isOperatable = topBlock.IsOperatable(this);
if (isOperatable == true)
{
this.BlockCallStack.Pop(); //remove top block
FlowBlock nextBlock = topBlock.StartFlowBlock(this); // Start WaitingBlock
this.PushToBlockCallStack(nextBlock);
}
}
//读取2号位取到第几片
public Result PLC02ReadNumDoneEvent(ActionArgs actionArgs)
{
//TODO 1.读取2号位取到第几片
int p2Num = (int)actionArgs.StepResult.Data;
//TODO 2.更新2号料表信息
int btsIndex = p2Num / 8 - 1;
int btIndex = p2Num % 8 - 1;
string btstr = Convert.ToString(curentRfidStation.LocaNumbInfo[btsIndex], 2);
char[] chars = btstr.ToCharArray();
for (int i = 0; i < 8; i++)
{
chars[btIndex] = '0';
}
btstr = chars.ToString();
byte tarbt = Convert.ToByte(btstr, 2);
curentRfidStation.LocaNumbInfo[btsIndex] = tarbt;
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock block = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC02UpdateInfoB");
block.Steps[0].Value = curentRfidStation.ToJsonStr();
eng.EnqueueBlock(block);
//存放当前取第几片料
actionArgs.RedisClientLocal.Set($"LD:{Constant.OrderLine}:APCM:P2NUM", p2Num);
Constant.p2Num = p2Num;
Logger.Device.Info($" invoke PLC02ReadInfoEvent 2号位读取数据初始化");
return(Result.Success());
}
public void PushToBlockCallStack(FlowBlock addedBlock)
{
if (addedBlock == null)
{
return;
}
this.BlockCallStack.Push(addedBlock);
}
//写入批次号成功
public Result PLC05WriteBatchEvent(ActionArgs actionArgs)
{
//生成批次号
string batch = CreateBatch(actionArgs.StepResult);
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock blocku = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC05WriteBatchB");
blocku.Steps[0].Value = batch;
eng.EnqueueBlock(blocku);
Logger.Device.Info($" invoke PLC05WriteBatchEvent 写入批次号成功");
return(Result.Success());
}
private void UpdateP1Info(RfidStationInfo rfidStationInfo)
{
if (Plc01Action.curentRsInfoList.RfidStationInfos.Contains(rfidStationInfo))
{
Plc01Action.curentRsInfoList.RfidStationInfos.Remove(rfidStationInfo);
}
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC01UpdateInfoB");
block.Steps[0].Value = Plc01Action.curentRsInfoList.ToJsonStr();
eng.EnqueueBlock(block);
}
//请求产生抽检料
public Result SpotReqCheckTaskEvent(ActionArgs actionArgs)
{
//查找当前工作流引擎
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC00SpotReqCheckTaskB");
if (block != null)
{
eng?.EnqueueBlock(block);
}
Logger.Device.Info($" invoke SpotReqCheckTaskEvent 请求产生抽检料执行完毕");
return(Result.Success());
}
//料箱转移到2号位
public Result PLC02WorkbinInEvent(ActionArgs actionArgs)
{
//模拟触发2号位RFIDReadInfo
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock block = eng._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC02UpdateInfoB");
//模拟料箱信息初始化写入RFID
byte[] bts = InitStationInfo(actionArgs);
block.Steps[0].Value = Encoding.ASCII.GetString(bts);
eng.EnqueueBlock(block);
Logger.Device.Info($" invoke PLC02WorkbinInEvent 料箱转移到2号位成功");
return(Result.Success());
}
//读取NgNum来判断是否需要NG空箱呼叫
public Result PLC03NgNumReadEvent(ActionArgs actionArgs)
{
//查找当前工作流引擎
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
int NgNum = (int)actionArgs.StepResult.Data;
if (NgNum >= Constant.Package)
{
//触发设置空箱任务呼叫信号
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC03Setp3NgNullAgvCallB");
eng?.EnqueueBlock(block);
}
Logger.Device.Info($" invoke PLC03WorkbinInEvent 料箱转移到3号位成功");
return(Result.Success());
}
private void DebugBlockFlowRecursive(FlowBlock flowBlock, ref StringBuilder stringBuilder)
{
if (flowBlock != null)
{
if (flowBlock != null)
{
stringBuilder.Append(flowBlock.GetType().Name);
}
stringBuilder.Append("\n|\n|\n");
this.DebugBlockFlowRecursive(flowBlock.NextBlock, ref stringBuilder);
}
}
//记录AGV到达1号位信号
public Result AgvArriviedEvent(ActionArgs actionArgs)
{
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC01UpdateInfoB");
//模拟3个料箱信息写入RFID
byte[] bts = InitRfidStationInfos(actionArgs);
if (block == null)
{
return(Result.Fail());
}
block.Steps[0].Value = Encoding.Unicode.GetString(bts);
eng.EnqueueBlock(block);
Logger.Device.Info($" invoke AgvArriviedEvent 记录AGV到达1号位信号");
return(Result.Success());
}
private void SynCncOpInfo()
{
List <Tuple <string, string, OpInfo> > opInfos = new List <Tuple <string, string, OpInfo> >();
List <Tuple <string, string, NcInfo> > cncInfos = new List <Tuple <string, string, NcInfo> >();
foreach (RMesDispatch dispatch in ModBusDataFactory.dispatrchs.OrderBy(v => v.OP_CODE))
{
_mesRepository = new Repository(SysConf.Main.DbMES);
TB_ROUTE_OP rOuteOp = _mesRepository.Single <TB_ROUTE_OP>(v => v.OP_CODE == dispatch.OP_CODE);
OpInfo opInfo = new OpInfo()
{
OpSeq = rOuteOp.OP_SEQ,
OpCode = rOuteOp.OP_CODE,
OpDoc = dispatch.OP_DOC,
OpDocPath = dispatch.OP_DOC_PATH,
OpDocVer = dispatch.OP_DOC_VER
};
NcInfo ncInfo = new NcInfo()
{
NcId = dispatch.NC_ID,
NcPath = dispatch.NC_PATH,
NcVer = dispatch.NC_VER
};
opInfos.Add(new Tuple <string, string, OpInfo>(dispatch.LINE, dispatch.EQUIP_CODE, opInfo));
cncInfos.Add(new Tuple <string, string, NcInfo>(dispatch.LINE, dispatch.EQUIP_CODE, ncInfo));
}
//按设备编号正向排序，得出工序
opInfos = opInfos.OrderBy(v => v.Item2).ToList();
byte[] cncOp = new byte[12];
int i = 0;
foreach (Tuple <string, string, OpInfo> tuple in opInfos)
{
i++;
cncOp[i] = Convert.ToByte(tuple.Item3.OpSeq);
}
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
//触发更新CnCOp模块
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC00CncOpB");
block.Steps[0].Value = Encoding.ASCII.GetString(cncOp);
eng?.EnqueueBlock(block);
}
//获取派工单信息；做线体准备工作
public Result GetOrderEvent(ActionArgs actionArgs)
{
//下发工序，CNC程序等给线体机台
SynCncOpInfo();
Constant.OrderLine = ModBusDataFactory.OrderLine;
if (Constant.Package == -1)
{
int package = int.Parse(actionArgs.RedisClientLocal.Get($"LD:{Constant.OrderLine}:APCM:PACKAGE"));
Constant.Package = package;
}
//获取2号位置数量
if (Constant.p2Num == -1)
{
Constant.p2Num = int.Parse(actionArgs.RedisClientLocal.Get($"LD:{Constant.OrderLine}:APCM:P2NUM"));
}
//获取4号位置数量
if (Constant.p4Num == -1)
{
Constant.p4Num = int.Parse(actionArgs.RedisClientLocal.Get($"LD:{Constant.OrderLine}:APCM:P4NUM"));
}
//查找当前工作流引擎
var eng = ModBusDataFactory.workFlowEngines.FirstOrDefault(x => x.ModuleName == "WFE");
if (Constant.Package > 25)
{
//触发空箱任务模块
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC01SetNullTaskB");
eng?.EnqueueBlock(block);
}
else
{
//触发正常上料模块
FlowBlock block = eng?._workFlow.Blocks.FirstOrDefault(v => v.Name == "PLC01SetAvgCallB");
eng?.EnqueueBlock(block);
}
Logger.Device.Info($" invoke EmptyAgvCallEvent 获取派工单成功,并判断下发什么任务");
return(Result.Success());
}
/// <summary>
/// Spawn Flow Block Recursivly
/// Spawned Block create child block again,
/// and spawned child block create child of block of that ..........
/// </summary>
/// <param name="flowBlock"></param>
public FlowBlockEditorUnit SpawnFlowBlockEditorUnit(FlowBlock createdNewFlowBlock, FlowBlockEditorUnit parentBlockEditorUnit, BlockEditorWindow blockEditorWindow, Transform parent)
{
if (createdNewFlowBlock == null)
{
return(null);
}
FlowBlockEditorUnit blockEditorUnit = this.CreateBlockEditorUnit(createdNewFlowBlock, blockEditorWindow, parent) as FlowBlockEditorUnit;
if (parentBlockEditorUnit != null)
{
FlowBlockEditorUnit.ConnectFlowBlockEditorUnit(parentBlockEditorUnit, blockEditorUnit);
}
if (createdNewFlowBlock.NextBlock != null)
{
this.SpawnFlowBlockEditorUnit(createdNewFlowBlock.NextBlock, blockEditorUnit, blockEditorWindow, parent);
}
return(blockEditorUnit);
}
private void AddFlowBlockRecursively(ref FlowBlock[] flowBlockContainer, ref int flowBlockIndex, FlowBlock flowBlock)
{
if (flowBlock == null)
{
return;
}
flowBlock.IndexInRobotSourceCode = flowBlockIndex;
if (flowBlockContainer.Length == flowBlockIndex)
{//when flowBlockIndex meet flowBlockContainer size
//expand flowBlockContainer array
//this is little bit slow, so set large number to default capacity
int originalSize = flowBlockContainer.Length;
FlowBlock[] newArray = new FlowBlock[originalSize * 2];
System.Array.Copy(flowBlockContainer, 0, newArray, 0, originalSize); // copy original array to new expanded array
flowBlockContainer = newArray; // set new
}
flowBlockContainer[flowBlockIndex] = flowBlock;
flowBlockIndex++;
this.AddFlowBlockRecursively(ref flowBlockContainer, ref flowBlockIndex, flowBlock.NextBlock);
}
