} = 3; //
#region 客户端管理器初始化
public void Initialize()
{
// 导入client
string path = Path.Combine(PathManager.Instance.GetSettingsPath(), ClientConfigFileName);
if (File.Exists(path))
{
LoadClientFromXmlFile(path);
}
else
{
_cmmSvrConfigs = new List <CmmServerConfig>();
}
// 循环初始化client
foreach (var config in CmmSvrConfigs)
{
CmmClient client = new CmmClient(config);
client.IsActived = true;
//client.InitClient(); //
// 更新UI界面
ClientUICommon.AddCmmToView(config, client.State);
_cmmClients.Add(client);
}
// 设置心跳信号
PlcClient.Instance.DisconnectEvent += Plc_DisconnectEvent;
PlcClient.Instance.ReconnectEvent += Plc_ReconnectEvent;
_heartbeatTimer.Start();
}
protected override void PerformAction()
{
ClientUICommon.RefreshPlcLog("PLC-等待抓取完成");
Stopwatch sw = new Stopwatch();
sw.Start();
while (true)
{
if (!_heartbeat)
{
// 更新界面 PLC断开连接
break;
}
else if (sw.Elapsed > TimeSpan.FromMinutes(10))
{
// 更新界面， PLC发送抓料响应失败
break;
}
else
{
if (_plcClient.VerifyGripCompleted(_client.CmmSvrConfig.ServerID)) // 抓料完成，调用完成事件
{
CompletedEventInvoker(this, null);
break;
}
}
Thread.Sleep(1000);
}
CompletedEvent -= _client.OnGripCompleted;
base.PerformAction();
}
private bool VerifyCompleted()
{
ClientUICommon.RefreshPlcLog("PLC-等待上料完成");
bool result = false;
Stopwatch sw = new Stopwatch();
sw.Start();
while (true)
{
if (sw.Elapsed > TimeSpan.FromMinutes(10) || !_heartbeat)
{
// 超时或中断连接跳出
result = false;
break;
}
result = _plcClient.VerifyPlaceCompleted(_client.CmmSvrConfig.ServerID);
if (result)
{
break;
}
Thread.Sleep(1000);
}
sw.Stop();
return(result);
}
public bool Initialize()
{
// 连接时效15s
//_initTimer = new Timer(new TimerCallback(InitPlcConnect), null, 1000, 2000);
_hbTimer.Stop();
_initPlcConnect = false;
CancellationTokenSource cs = new CancellationTokenSource();
Task.Factory.StartNew(InitPlcConnect, cs.Token, cs.Token);
bool result = _initEvent.WaitOne((int)TimeSpan.FromSeconds(15).TotalMilliseconds);
if (!result)
{
ClientUICommon.RefreshPlcConnectState("PLC连接失败");
_isConnected = false;
return(false);
}
_isConnected = true;
cs.Cancel();
ClientUICommon.RefreshPlcConnectState("PLC连接成功");
//连接成功开启心跳信号
_hbTimer.Start();
return(result);
}
private bool ReadPartID(out string rfid)
{
bool result = false;
Stopwatch sw = new Stopwatch();
sw.Start();
while (true)
{
if (sw.Elapsed > TimeSpan.FromMinutes(1) || !_heartbeat)
{
// 超时或中断连接跳出
result = false;
rfid = string.Empty;
break;
}
result = _plcClient.VerifyDuringPlacement(_client.CmmSvrConfig.ServerID, out rfid);
if (result)
{
ClientUICommon.RefreshPlcLog($"PLC-读取RFID : {rfid}");
break;
}
Thread.Sleep(1000);
}
sw.Stop();
return(result);
}
public void InitClient()
{
try
{
_proxyFactory = null;
_proxyFactory = new ProxyFactory(this);
_cmmCtrl = _proxyFactory.GetCmmControl(CmmSvrConfig);
_partConfigService = _proxyFactory.GetPartConfigService(CmmSvrConfig);
_IsInitialed = _cmmCtrl.IsInitialed(); // 返回服务器端是否初始化
_connected = true;
if (_IsInitialed)
{
State = ClientState.CS_Idle;
string cmmError = string.Format($"三坐标{CmmSvrConfig.ServerID} 初始化成功");
ClientUICommon.RefreshCmmEventLog(cmmError);
}
else
{
State = ClientState.CS_InitError; //
string cmmError = string.Format($"三坐标{CmmSvrConfig.ServerID}没有初始化");
ClientUICommon.RefreshCmmEventLog(cmmError);
}
}
catch (Exception ex)
{
_IsInitialed = false; // 初始化不成功
//string cmmError = string.Format($"三坐标{CmmSvrConfig.ServerID} 连接错误");
//_connected = false;
//ClientUICommon.RefreshCmmEventLog(cmmError);
//State = ClientState.CS_ConnectError;
ReportConnectError(ex);
}
}
protected override void PerformAction()
{
ClientUICommon.RefreshPlcLog("PLC-三坐标准备就绪");
Stopwatch sw = new Stopwatch();
sw.Start();
while (true)
{
if (!_heartbeat)
{
// 更新界面 PLC断开连接
break;
}
else if (sw.Elapsed > TimeSpan.FromMinutes(10))
{
// 更新界面， PLC发送准备就绪信号失败
break;
}
else
{
if (_plcClient.SendCmmReadySignal(_client.CmmSvrConfig.ServerID))
{
// 等待PLC准备就绪
Thread.Sleep(5000);
// 开始等待抓料响应
ChangeAction(new RobotPlaceRequest(_client));
_client.OnPerformPlcRequest();
break;
}
}
Thread.Sleep(1000);
}
sw.Stop();
base.PerformAction();
}
public void ClearCmmError(int index)
{
if (_cmmClients[index].State == ClientState.CS_InitError)
{
if (_cmmClients[index].CmmIsInitialed())
{
_cmmClients[index].State = ClientState.CS_Idle;
string str = "三坐标" + _cmmClients[index].CmmSvrConfig.ServerID.ToString() + "错误恢复";
ClientUICommon.RefreshCmmEventLog(str);
}
}
if (_cmmClients[index].State == ClientState.CS_Error)
{
_cmmClients[index].State = ClientState.CS_Idle;
string str = "三坐标" + _cmmClients[index].CmmSvrConfig.ServerID.ToString() + "错误恢复";
ClientUICommon.RefreshCmmEventLog(str);
}
// PLC连接错误
//if (!_plcHeartbeat)
//{
// _cmmClients.ForEach(client =>
// {
// client.State = ClientState.CS_Idle;
// string str = "三坐标服务器" + "复位";
// ClientUICommon.RefreshCmmEventLog(str);
// });
//}
}
protected override void PerformAction()
{
ClientUICommon.RefreshPlcLog("PLC-抓取请求");
Stopwatch sw = new Stopwatch();
sw.Start();
while (true)
{
if (!_heartbeat)
{
// 更新界面 PLC断开连接
break;
}
else if (sw.Elapsed > TimeSpan.FromMinutes(10))
{
// 更新界面， PLC发送抓料响应失败
break;
}
else
{
if (_plcClient.SendGripRequest(_client.CmmSvrConfig.ServerID, _isPass))
{
// 开始等待抓料响应
ChangeAction(new RobotGripResponse(_client));
_client.OnPerformPlcRequest();
break;
}
}
Thread.Sleep(1000);
}
base.PerformAction();
}
protected override void PerformAction()
{
//Stopwatch sw = new Stopwatch();
//sw.Start();
//while (true)
//{
// if (!_heartbeat)
// {
// // 更新界面 PLC断开连接
// break;
// }
// else if (sw.Elapsed > TimeSpan.FromMinutes(10))
// {
// // 更新界面， PLC发送抓料响应失败
// break;
// }
// else
// {
// string partID = string.Empty;
// //if (_plcClient.VerifyPlaceCompleted(_client.CmmSvrConfig.ServerID, out partID)) // 抓料完成，调用完成事件
// //{
// // CompletedEventArgs ce = new CompletedEventArgs(partID);
// // CompletedEventInvoker(this, ce);
// // // 关闭心跳事件
// // break;
// //}
// if (_plcClient.VerifyDuringPlacement(_client.CmmSvrConfig.ServerID, out partID))
// {
// }
// }
// Thread.Sleep(1000);
//}
//ClientUICommon.RefreshPlcLog("PLC-等待上料完成");
string partId = string.Empty;
var rdtask = Task.Run(() => ReadPartID(out partId));
if (rdtask.Result)
{
var vftask = Task.Run(() => VerifyCompleted());
if (vftask.Result)
{
CompletedEventArgs ce = new CompletedEventArgs(partId);
CompletedEventInvoker(this, ce);
}
else
{
// 报告放置工作出错
ClientUICommon.RefreshPlcLog("PLC-上料出错");
}
}
else
{
// 报告放置时读取RFID错误
ClientUICommon.RefreshPlcLog("PLC-读取RFID出错");
}
CompletedEvent -= _client.OnGripCompleted;
base.PerformAction();
}
private void ReportConnectError(Exception ex)
{
string cmmError = string.Format($"三坐标{CmmSvrConfig.ServerID} 连接异常：{ex.Message}");
_connected = false;
ClientUICommon.RefreshCmmEventLog(cmmError);
State = ClientState.CS_ConnectError;
}
public void CmmConnect(int index)
{
if (_cmmClients[index].Connected)
{
return;
}
_cmmClients[index].InitClient();
ClientUICommon.RefreshCmmViewState(index, _cmmClients[index].State);
}
public void ServerInErrorStatus(string message)
{
_cmmClient.State = ClientState.CS_Error;
_cmmClient.ErrorInfo = message;
// 刷新三坐标界面显示
string str = "三坐标" + _cmmClient.CmmSvrConfig.ServerID.ToString() + "错误: " + message;
ClientUICommon.RefreshCmmEventLog(str);
}
/// <summary>
/// 响应下料完成
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
internal void OnGripCompleted(object sender, EventArgs e)
{
// todo 返回料架的事件不定，需要一直监控料架
PartRack.Instance.RefreshSlots(_resultRecord);
// 更新总体报告列表
ClientUICommon.AddCommonReport(_resultRecord);
// 继续上料
// todo 定义标志可以停止流程, 比如改变State为Stop状态
State = ClientState.CS_GripCompleted; //
}
public void ClearCmmServerError()
{
// 恢复到初始状态
if (_cmmClient.State == ClientState.CS_InitError || _cmmClient.State == ClientState.CS_Error)
{
_cmmClient.State = ClientState.CS_Idle;
string str = "三坐标" + _cmmClient.CmmSvrConfig.ServerID.ToString() + "错误恢复";
ClientUICommon.RefreshCmmEventLog(str);
}
}
public void ServerWorkStatus(string message)
{
// todo CSFeedback 测试修改状态
//_cmmClient.State = ClientState.CS_Idle;
// 不更新三坐标状态
// 刷新三坐标界面显示
string str = "三坐标" + _cmmClient.CmmSvrConfig.ServerID.ToString() + ": " + message;
ClientUICommon.RefreshCmmEventLog(str);
}
/// <summary>
/// 连接三坐标服务器
/// </summary>
public void InitClients()
{
//foreach (CmmClient client in _cmmClients)
for (int i = 0; i < _cmmClients.Count; i++)
{
if (_cmmClients[i].Connected)
{
continue;
}
_cmmClients[i].InitClient();
ClientUICommon.RefreshCmmViewState(i, _cmmClients[i].State); // 初始化是否成功
}
}
private async void cmmConnButton_Click(object sender, EventArgs e)
{
int index = comboBox1.SelectedIndex;
if (!ClientManager.Instance.CmmConnected(index))
{
toolStripProgressBar1.Style = ProgressBarStyle.Marquee;
deleteCmmTsb.Enabled = false;
InitClientTsb.Enabled = false;
cmmConnButton.Enabled = false;
cmmConnButton.Text = "正在连接";
bool result = await Task.Run(() =>
{
Stopwatch sw = new Stopwatch();
bool connected = false;
sw.Start();
while (true)
{
ClientManager.Instance.CmmConnect(index);
connected = ClientManager.Instance.CmmConnected(index);
if (connected)
{
break;
}
if (sw.Elapsed > TimeSpan.FromSeconds(15))
{
break;
}
Thread.Sleep(2000);
}
sw.Stop();
return(connected);
});
if (!result)
{
ClientUICommon.RefreshCmmEventLog("连接三坐标服务器失败");
cmmConnButton.Enabled = true;
}
else
{
comboBox1.Refresh();
}
cmmConnButton.Text = "连接";
InitClientTsb.Enabled = true;
deleteCmmTsb.Enabled = true;
toolStripProgressBar1.Style = ProgressBarStyle.Blocks;
}
}
/// <summary>
/// 响应上料完成
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
internal void OnPlaceCompleted(object sender, CompletedEventArgs e)
{
if (!FindPart(e.PartID))
{
//SendPartIDErrorSign(e.ClientID);
//Trace.Write("工件标识错误");
string str = "三坐标" + CmmSvrConfig.ServerID.ToString() + ":" + "读取工件标识错误";
ClientUICommon.RefreshCmmEventLog(str);
State = ClientState.CS_Error; // 设置客户端为错误状态
return;
}
CurPartId = e.PartID;
State = ClientState.CS_PlaceCompleted;
//StartMeasureWorkFlow(e.PartID);
}
/// <summary>
/// 添加客户端
/// </summary>
/// <param name="csConf"></param>
/// <returns>返回false表示客户端已存在，返回true添加成功</returns>
public bool AddClient(CmmServerConfig csConf)
{
// 判断机器是否已经存在
if (_cmmSvrConfigs.Where(cl => cl.HostIPAddress.Equals(csConf.HostIPAddress)).Count() == 0 && _cmmSvrConfigs.Where(cl => cl.ServerID == csConf.ServerID).Count() == 0)
{
_cmmSvrConfigs.Add(csConf); // 添加机器配置信息
CmmClient client = new CmmClient(csConf);
client.IsActived = true;
//client.InitClient(); // 添加client时不做初始化
_cmmClients.Add(client);
//
ClientUICommon.AddCmmToView(csConf, client.State);
return(true);
}
return(false);
}
private void UpdateRack()
{
while (true)
{
if (_plcHbDis)
{
break;
}
if (_plcClient.ReadUnloadSlot(15, out _slotNumber))
{
IsReadOk = true;
ClientUICommon.RefreshRackView(CurPartResult, _slotNumber);
break;
}
Thread.Sleep(1500);
}
}
public void PullReport()
{
//State = ClientState.CS_Busy;
// 获取当前的cmm和rpt报告文件
int partCount;
_resultRecord = null;
_resultRecord = new ResultRecord();
lock (syncObj)
{
partCount = _partNbSet[CurPartId]; // 获得标识的工件个数
_resultRecord.PartNumber = ++partCount;
}
_resultRecord.PartID = CurPartId;
_resultRecord.IsPass = IsPass;
_resultRecord.ServerID = CmmSvrConfig.ServerID;
_resultRecord.MeasDateTime = DateTime.Now;
_resultRecord.MeasProgram = PartConfigManager.Instance.GetPartConfig(CurPartId).ProgFileName;
bool ok = DownFileFromServer("cmm");
if (!ok)
{
// 更新用户界面
State = ClientState.CS_Error;
//ClientUICommon.RefreshCmmViewState(CmmSvrConfig.ServerID, State);
ClientUICommon.RefreshCmmEventLog("下载结果文件出错");
return;
}
ok = DownFileFromServer("rpt");
if (!ok)
{
// 更新用户界面
State = ClientState.CS_Error;
//ClientUICommon.RefreshCmmViewState(CmmSvrConfig.ServerID, State);
ClientUICommon.RefreshCmmEventLog("下载结果文件出错");
return;
}
// 添加报告记录，并且更改成可继续测量状态
resultRecords.Add(_resultRecord);
//ClientUICommon.AddPartResult(_resultRecord);
State = ClientState.CS_Grip;
}
/// <summary>
/// 三坐标连接心跳信号
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _heartbeatTimer_Elapsed(object sender, ElapsedEventArgs e)
{
_heartbeatTimer.Stop();
// 没有三坐标
//if (_cmmClients.Count == 0)
//{
// return;
//}
try
{
for (int i = 0; i < _cmmClients.Count; i++)
{
bool oldConnected = _cmmClients[i].Connected;
_cmmClients[i].QueryCmmServer();
if (!_cmmClients[i].Connected)
{
_cmmClients[i].State = ClientState.CS_ConnectError;
//ClientUICommon.RefreshCmmStatus(i);
if (oldConnected)
{
ClientUICommon.RefreshCmmViewState(i, _cmmClients[i].State);
ClientUICommon.RefreshCmmEventLog($"三坐标{_cmmClients[i].CmmSvrConfig.ServerID} 连接错误。");
oldConnected = false;
}
// todo 这里有调试错误
}
}
}
catch (Exception)
{
// todo 主界面退出后可能还会启动几轮心跳信号
}
//_cmmClients.ForEach(cmm =>
//{
//});
_heartbeatTimer.Start();
}
