public void SetVaccum(StationTask task, bool status, int delay = 0, int timeout = 1000, bool checkSensor = false, bool showError = false)
{
foreach (var vaccumDoEx in VaccumDoExs)
{
vaccumDoEx.SetDo(status);
}
if (delay > 0)
{
Thread.Sleep(delay);
}
if (VaccumSensors.Count > 0)
{
var ret = VaccumSensors.ToArray().WaitDi(task, status, timeout);
if (!ret)
{
task.Log($"{string.Join(",", VaccumDoExs.Select(v => v.Description))} 信号异常", showError ? LogLevel.Error : LogLevel.Info);
}
else
{
task.Log($"{string.Join(",", VaccumDoExs.Select(v => v.Description))} SetVaccum {status} success");
}
}
}
public bool WaitStart(StationTask task, bool dryRun)
{
//wait start
DoStart1?.SetDo(false);
DoStart2?.SetDo(false);
if (dryRun)
{
return(true);
}
//wait start
while ((!DiStart1.GetDiSts() || !DiStart2.GetDiSts()))
{
if (dryRun)
{
return(true);
}
Thread.Sleep(100);
task.JoinIfPause();
task.AbortIfCancel("cancel trans wait start");
}
task.Station.ShowAlarm(string.Empty, LogLevel.None);
//normal start
DoStart1?.SetDo();
DoStart2?.SetDo();
return(true);
}
public static void AssertNoNull(this object obj, StationTask task, string msg = null)
{
if (obj == null)
{
task.ThrowException($"{obj.GetType().Name.ToString()}{msg ?? "SOME OBJECT"} is NULL");
}
}
/// <summary>
/// 按statusPattern检查传感器是否在触发状态
/// </summary>
/// <param name="task"></param>
/// <param name="statusPattern"></param>
/// <returns></returns>
public bool CheckByPattern(StationTask task, bool[] statusPattern)
{
if (DISensors == null || DISensors.Count <= 0)
{
task.Log($"{ErrorMsg} - NO DI SENSOR CHECK", LogLevel.Warning);
return(false);
}
if (DISensors.Count != statusPattern.Length)
{
task.Log($"{ErrorMsg} - DI SENSOR CHECK PATTERN ERROR ", LogLevel.Warning);
return(false);
}
var ret = true;
for (int i = 0; i < statusPattern.Length; i++)
{
if (!DISensors[i].GetDiSts(statusPattern[i]))
{
ret = false;
}
}
if (!ret)
{
task.Station.Machine.Beep();
task.Log($"{ErrorMsg} - {string.Join(",", DISensors.Select(s => s.Description))} ", LogLevel.Warning);
return(false);
}
return(true);
}
public static bool SetVio(this IVioEx vioex, StationTask task, bool status = true)
{
task?.AbortIfCancel(nameof(SetVio));
task?.JoinIfPause();
vioex.DriverCard.SetDo(vioex.Port, status ? 1 : 0);
task?.Log($"{vioex.Name} SetVio {vioex.Port} {status} success", LogLevel.Debug);
return(true);
}
public bool AssertAutoMode(StationTask task)
{
if (!_isAutoMode)
{
task.Log($"{Name} not in Auto Mode", LogLevel.Error);
return(false);
}
return(true);
}
public bool AssertPosTeached(string pos, StationTask task)
{
if (this[pos] == null)
{
task?.Log($"{Name} {pos} not teached", LogLevel.Error);
return(false);
}
return(true);
}
/// <summary>
/// StationTask Platform Ctor
/// </summary>
/// <param name="name"></param>
/// <param name="axis"></param>
/// <param name="task"></param>
/// <param name="positions"></param>
public PlatformEx(string name, IAxisEx[] axis, StationTask task, List <IPlatformPos> positions)
{
_isAutoMode = true;
Name = name;
Task = task;
Axis = axis;
Positions = positions;
}
public StationSimulation(Station station)
{
Station = station;
_currentTask = null;
_currentTaskIsFinished = true;
_drones = new List <Drone>();
_packagesToSent = new List <Package>();
_packagesToGive = new List <Package>();
_tasks = new Queue <StationTask>();
_chargeSlots = new List <int>();
}
public static bool WaitResetFinish(this StationTask curTask, StationTask waitTask)
{
//wait measure task
while (waitTask.State != TaskState.WaitRun || waitTask.State != TaskState.Running)
{
curTask.AbortIfCancel("cancel wait tasks");
System.Threading.Thread.Sleep(1);
}
return(true);
}
public static bool WaitVioAndClear(this IVioEx vioex, StationTask task, bool status = true,
bool clearStatus = false, int timeout = -1)
{
if (!WaitVio(vioex, task, status, timeout))
{
return(false);
}
SetVio(vioex, task, clearStatus);
return(true);
}
public void Reset(StationTask task, int timeout = 150, bool?ignoreOrWarningOrError = null)
{
if (_clamps == null)
{
_clamps = Clamps.ToArray();
}
_clamps.SetDoAsync(task, false);
_clamps.WaitDi(task, Clamps.Select(c => false).ToArray(), timeout, ignoreOrWarningOrError);
}
public bool Check(StationTask task)
{
//检查定位传感器
if (!DISensorCheck1.GetDiSts() || !DISensorCheck2.GetDiSts())
{
task.Station.Machine.Beep();
task.Log($"{DISensorCheck1?.Description} {DISensorCheck2?.Description} {ErrorMsg}", LogLevel.Warning);
return(false);
}
return(true);
}
public bool WaitStart(StationTask task)
{
//wait start
while ((!DIStart1.GetDiSts() || !DIStart2.GetDiSts()))
{
Thread.Sleep(100);
task.JoinIfPause();
task.AbortIfCancel("cancel trans wait start");
}
task.Station.ShowAlarm(string.Empty, LogLevel.None);
return(true);
}
/// <summary>
/// must call in stationtask
/// </summary>
/// <returns></returns>
public PlatformEx EnterAuto(StationTask task = null)
{
if (task != null)
{
Task = task;
}
foreach (var sc in SafeChecks)
{
sc.Enable = true;
}
_isAutoMode = true;
return(this);
}
public static bool WaitResetFinish(this StationTask waitTask, StationTask curTask)
{
if (waitTask == null)
{
curTask.ThrowException($"Task is NULL");
}
//wait measure task
while (waitTask.RunningState != RunningState.WaitRun && waitTask.RunningState != RunningState.Running)
{
curTask.AbortIfCancel($"Cancel Waiting {waitTask.Name} Reset Finish");
System.Threading.Thread.Sleep(1);
}
return(true);
}
/// <summary>
/// 检查所有传感器为触发状态
/// </summary>
/// <param name="task"></param>
/// <returns></returns>
public bool Check(StationTask task)
{
if (DISensors == null || DISensors.Count <= 0)
{
task.Log($"{ErrorMsg} - NO DI SENSOR CHECK", LogLevel.Warning);
return(false);
}
//检查定位传感器
if (DISensors.Any(s => !s.GetDiSts()))
{
task.Station.Machine.Beep();
task.Log($"{ErrorMsg} - {string.Join(",", DISensors.Select(s => s.Description))} ", LogLevel.Warning);
return(false);
}
return(true);
}
public static bool WaitVio(this IVioEx vioex, StationTask task, bool status = true, int timeout = -1)
{
task?.AbortIfCancel(nameof(WaitVio));
task?.JoinIfPause();
timeout = timeout < 0 ? int.MaxValue : timeout;
var err = $"{vioex.Name} WaitVio {vioex.Port} {status}";
var t = 0;
while (t++ <= timeout)
{
var sts = 0;
vioex.DriverCard.GetDo(vioex.Port, out sts);
if (sts == 1 == status)
{
task?.Log($"{err} success", LogLevel.Debug);
return(true);
}
if (task != null)
{
task.JoinIfPause();
task.AbortIfCancel(nameof(WaitVio));
}
else
{
Application.DoEvents();
}
Thread.Sleep(1);
}
task?.Log($"{err} timeout", LogLevel.Error);
return(false);
}
public void AddTask(StationTask stationTask)
{
_station.AddTask(stationTask);
}
public void SetTask(StationTask stationTask)
{
_station.SetTask(stationTask);
}
public PlatformXyz(string name, IAxisEx[] axis, StationTask task, List <IPlatformPos> positions) : base(name, axis, task, positions)
{
}
public PlatformXyz(string name, IAxisEx[] axis, StationTask task, List <PosXYZ> positions) : base(name, axis, task, positions.Cast <IPlatformPos>().ToList())
{
}
public void RunGtService(StationTask t)
{
if (FrameworkExtenion.IsSimulate)
{
return;
}
if (_task != null)
{
return;
}
_task = t;
if (!Connected)
{
_task.Log($"RunGtService error", LogLevel.Error);
return;
}
Task.Run(() =>
{
try
{
_task.Log($"RunGtService Start.....", LogLevel.Info);
var ns = GetStream();
byte[] readBuffer = new byte[4096];
byte[] writeBuffer = Encoding.ASCII.GetBytes("M0\r\n");
_sw.Start();
while (_task.RunningState == RunningState.WaitRun || _task.RunningState == RunningState.Running || _task.RunningState == RunningState.Pause)
{
lock (this)
{
ns.Write(writeBuffer, 0, writeBuffer.Length);
Thread.Sleep(10);
var count = ns.Read(readBuffer, 0, readBuffer.Length);
var data = Encoding.ASCII.GetString(readBuffer, 0, count).Replace("\r\n", string.Empty);
GtValue = data.Split(',').Skip(1).Select(v => double.Parse(v) / 10000).ToArray();
if (GtValue.Length < 3)
{
_task.Log($"DATA LEGTH {GtValue.Length} ERROR", LogLevel.Error);
return;
}
else if (GtValue.Any(v => v > 6))
{
_task.Log($"GT READ MAX OVERRANGE {string.Join(",", GtValue.Select(v => v.ToString("F3")))} ERROR", LogLevel.Error);
return;
}
}
}
_sw.Stop();
}
catch (Exception ex)
{
_task.Log($"RunGtServiceError:{ex.Message}", LogLevel.Error);
}
finally
{
if (_task.RunningState == RunningState.Running || _task.RunningState == RunningState.Pause)
{
_task.Log("RunGTService Error Finish!!!", LogLevel.Error);
}
else
{
_task.Log("RunGTService Finish!!!", LogLevel.Debug);
}
}
});
}
public void AddTask(StationTask stationTask)
{
throw new NotImplementedException();
}
