public Level2()
{
Console.WriteLine("Level2");
Reset();
timebarSpace = 10.768F;
this.Add(new SpriteGameObject("spr_background"));
thePlayer = new Player(3, 3);
door = new Door(14, 0);
goal = new MainGoal(26, 3);
xaxis = new Xaxis(8, "Map/spr_horizontal_art_blue");
yaxis = new Yaxis(20, "Map/spr_vertical_art_blue");
Mouse.SetPosition(GameEnvironment.Screen.X / 2, GameEnvironment.Screen.Y / 2);
floors = new GameObjectList();
walls = new GameObjectList();
goals = new GameObjectList();
inputScreen = new InputScreen(GameEnvironment.Screen.X / 2 - 64 * 2, GameEnvironment.Screen.Y);
inputanswer = new InputAnswer(GameEnvironment.Screen.X / 2 - 64 * 2, GameEnvironment.Screen.Y);
timeGround = new SpriteGameObject("Map/time_ground");
guards = new GameObjectList();
lasers = new GameObjectList();
times = new GameObjectList();
score = new Score(12, 20, (int)time);
Axis_nums = new Axis_numbers(20, 8);
switchBoards = new GameObjectList();
this.Add(floors);
this.Add(switchBoards);
this.Add(lasers);
this.Add(walls);
this.Add(door);
this.Add(xaxis);
this.Add(yaxis);
this.Add(Axis_nums);
this.Add(goal);
this.Add(goals);
this.Add(guards);
this.Add(thePlayer);
this.Add(inputScreen);
this.Add(timeGround);
this.Add(times);
this.Add(score);
this.Add(inputanswer);
goals.Add(new ExtraGoal(11, 9));
guards.Add(new Guard(new Vector2(3, 13), new Vector2(25, 13)));
FloorSetup();
WallSetup();
TimeBarSetup();
SoundSetup();
lasers.Add(new Laser(new Vector2(11, 6), new Vector2(14, 10), Color.Red, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(23, 10), new Vector2(28, 7), Color.Blue, xaxis.gridPos, yaxis.gridPos));
switchBoards.Add(new SwitchBoard(3, 7, Color.Blue));
switchBoards.Add(new SwitchBoard(22, 3, Color.Red));
}
private Box <IPlotProperty> _CreateLayoutProperties()
{
var xaxis = Scene.xaxis(Xaxis.color("red"));
var yaxis = Scene.yaxis(Yaxis.color("green"));
var zaxis = Scene.zaxis(Zaxis.color("blue"));
var camera = Camera.up(Up.x(0), Up.y(1), Up.z(0));
var scene = Layout.scene(Scene.Aspectmode.data(), Scene.camera(camera), xaxis, yaxis, zaxis);
var shapes = Layout.shapes(_Shapes.ToArray());
return(Plot.layout
(Layout.autosize(true)
// , Layout.width(0)
, Layout.height(920)
// , Layout.margin(Margin.autoexpand(true))
// , Layout.margin(Margin.pad(5))
// , Layout.margin(Margin.t(5), Margin.b(5))
, scene
, shapes
));
}
/// <summary>
/// 从世界坐标变换到摄像机坐标
/// </summary>
/// <param name="eye"></param>
/// <param name="at"></param>
/// <param name="up"></param>
/// <returns></returns>
public static Matrix GetViewMatrix(Vector eye, Vector at, Vector up)
{
Vector Xaxis, Yaxis, Zaxis;
Zaxis = at - eye;
Zaxis.NormalizedVector();
Xaxis = Vector.CrossMultiply(up, Zaxis);
Xaxis.NormalizedVector();
Yaxis = Vector.CrossMultiply(Zaxis, Xaxis);
Matrix mat = new Matrix();
mat[0, 0] = Xaxis.x;
mat[1, 0] = Xaxis.y;
mat[2, 0] = Xaxis.z;
mat[3, 0] = -Vector.DotMultiply(Xaxis, eye);
mat[0, 1] = Yaxis.x;
mat[1, 1] = Yaxis.y;
mat[2, 1] = Yaxis.z;
mat[3, 1] = -Vector.DotMultiply(Yaxis, eye);
mat[0, 2] = Zaxis.x;
mat[1, 2] = Zaxis.y;
mat[2, 2] = Zaxis.z;
mat[3, 2] = -Vector.DotMultiply(Zaxis, eye);
mat[0, 3] = 0;
mat[1, 3] = 0;
mat[2, 3] = 0;
mat[3, 3] = 1;
//-----------------------得到旋转矩阵------------------
return(mat);
}
public override void Running(RunningModes runningMode)
{
var step = 0;
var ScrewIsDone = 0;
var CannotTorIn = false;
var GetScrewPos = new Point3D <int>();
var ScrewHolePos = new Point3D <int>();
var ZaxisScrewpos = 0;
var watchCameratimeout = new Stopwatch();
//var watchScrewtimeout = new Stopwatch();
var tempPut1 = false;
var tempPut2 = false;
var GetScrew1 = false;
var GetScrew2 = false;
var pressPulse = false;
var startForbid = false;
var _watch = new Stopwatch();
_watch.Start();
PlateformAlarm alarm = 0;
while (true)
{
Thread.Sleep(10);
InhaleCylinder.Condition.External = externalSign;
#region 判断后端设备交互信号
if (tempPut1 && !GetScrew2)
{
tempPut1 = false;
GetScrew1 = true;
}
if (tempPut2 && !GetScrew1)
{
tempPut2 = false;
GetScrew2 = true;
}
if (!IoPoints.TDI7.Value && !Global.GetScrew1SignSheild)
{
tempPut1 = false;
}
if (!IoPoints.TDI8.Value && !Global.GetScrew2SignSheild)
{
tempPut2 = false;
}
if ((IoPoints.TDI7.Value || Global.GetScrew1SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut1 = true;
}
if ((IoPoints.TDI8.Value || Global.GetScrew2SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut2 = true;
}
#endregion
#region 自动流程
if (stationOperate.Running)
{
switch (step)
{
case 0:
Marking.CoderResult.SN = "";
Marking.CoderResult.Result = "";
step = 10;
Marking.watchCT.Restart();
break;
case 10: //触发读码器读码
ReadCodePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
step = 20;
break;
case 20: //判断读码器是否读到SN
Thread.Sleep(300);
if (Marking.CoderResult.SN == "")
{
step = 10;
}
else
{
step = 30;
}
break;
case 30: //双按钮启动，双按钮按下的时间间隔必须小于500ms才正常启动设备
if (!pressPulse && (IoPoints.TDI15.Value || IoPoints.TDI16.Value))
{
pressPulse = true;
startForbid = true;
_watch.Restart();
}
if (startForbid && IoPoints.TDI15.Value && IoPoints.TDI16.Value)
{
step = 40;
startForbid = false;
pressPulse = false;
}
else
{
if (500 <= _watch.ElapsedMilliseconds)
{
startForbid = false;
}
}
if (!IoPoints.TDI15.Value && !IoPoints.TDI16.Value)
{
pressPulse = false;
startForbid = false;
}
break;
case 40: //判断哪个螺丝整列机优先准备好
if (GetScrew1 && !GetScrew2)
{
GetScrewPos = Position.Put1ScrewPosition;
step = 50;
}
else if (!GetScrew1 && GetScrew2)
{
GetScrewPos = Position.Put2ScrewPosition;
step = 50;
}
break;
case 50: //判断Z轴是否在0位置，X轴移动到取螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(GetScrewPos.X, AxisParameter.XvelocityCurve);
step = 60;
}
break;
case 60: //X轴到达取螺丝位置，Z轴下降
if (Xaxis.IsInPosition(GetScrewPos.X))
{
Zaxis.MoveTo(GetScrewPos.Z, AxisParameter.ZvelocityCurve);
step = 70;
}
break;
case 70: //Z轴到达取螺丝位置，吸真空
if (Zaxis.IsInPosition(GetScrewPos.Z))
{
InhaleCylinder.Set();
step = 80;
}
break;
case 80: //Z轴上升0位置
if (InhaleCylinder.OutMoveStatus)
{
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
ScrewHolePos = Position.ScrewHolePosition[Marking.WorkIndex - 1];
step = 90;
}
break;
case 90: //Z轴到达0位置，XY轴移动拧螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(ScrewHolePos.X, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(ScrewHolePos.Y, AxisParameter.YvelocityCurve);
step = 100;
}
break;
case 100: //XY轴到达拧螺丝位置，Z轴下降
if (Xaxis.IsInPosition(ScrewHolePos.X) && Yaxis.IsInPosition(ScrewHolePos.Y))
{
Zaxis.MoveTo(ScrewHolePos.Z, AxisParameter.ZvelocityCurve);
step = 110;
}
break;
case 110: //Z轴到达拧螺丝位置，启动电批,并Z轴慢速下行
if (Zaxis.IsInPosition(ScrewHolePos.Z))
{
IoPoints.TDO11.Value = true;
ZaxisScrewpos = ScrewHolePos.Z + Position.ScrewDepth;
if (IoPoints.TDI9.Value)
{
Zaxis.MoveTo(ZaxisScrewpos, new VelocityCurve(0, (double)Position.ZScrewSpeed, 0));
step = 120;
}
}
break;
case 120: //Z轴到达位置，判断螺丝是否拧紧
if (Zaxis.IsInPosition(ZaxisScrewpos))
{
if (alarm == PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号)
{
CannotTorIn = true;
alarm = PlateformAlarm.无消息;
IoPoints.TDO11.Value = false;
IoPoints.TDO12.Value = true;
Thread.Sleep(200);
IoPoints.TDO12.Value = false;
step = 130;
}
if (IoPoints.TDI10.Value || IoPoints.TDI11.Value)
{
step = 130;
}
else
{
if (ScrewIsDone > 2)
{
alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
m_Alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
}
Thread.Sleep(100);
ScrewIsDone++;
}
}
break;
case 130: //触发读取数据
ScrewPort.Trigger(new TriggerArgs()
{
tryTimes = 1,
message = "0,TR"
});
HeightGaugePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
Thread.Sleep(200);
step = 140;
break;
case 140: //判断检测结果
if (CannotTorIn)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
step = 150;
}
else
{
if (Marking.ResultScrew[Marking.WorkIndex].Result == "OK")
{
var data = Marking.ResultScrew[Marking.WorkIndex].HeightValue - Global.BaseHeight;
if (data > Position.MinHeight && data <= Position.MaxHeight)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "OK";
}
else
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
}
step = 150;
}
if (Marking.ResultScrew[Marking.WorkIndex].Result == "NG")
{
step = 150;
}
}
break;
case 150: //电批停止，真空吸气OFF,Z轴回到0位置
IoPoints.TDO11.Value = false;
InhaleCylinder.Reset();
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
step = 160;
break;
case 160: //真空吸气达到,Z轴到达0位置，计数加+1
if (InhaleCylinder.OutOriginStatus && Zaxis.IsInPosition(0))
{
Marking.WorkIndex++;
if (Marking.WorkIndex < Position.HoleNum)
{
step = 40;
}
else
{
step = 170;
}
}
break;
case 170: //判断产品拧螺丝结果
for (var i = 0; i < Position.HoleNum; i++)
{
if (Marking.ResultScrew[i].Result == "OK")
{
Marking.ProductResult &= true;
}
else
{
Marking.ProductResult &= false;
}
}
if (Marking.ProductResult)
{
Config.ProductOkTotal++;
}
else
{
Config.ProductNgTotal++;
}
step = 180;
break;
case 180: //XY轴回到0位置
Xaxis.MoveTo(0, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(0, AxisParameter.YvelocityCurve);
step = 190;
break;
case 190: //XY轴到达0位置
if (Xaxis.IsInPosition(0) && Yaxis.IsInPosition(0))
{
step = 200;
}
break;
default:
Marking.ProductResult = true;
stationOperate.RunningSign = false;
Marking.WorkIndex = 0;
step = 0;
break;
}
}
#endregion
#region 初始化流程
if (stationInitialize.Running)
{
switch (stationInitialize.Flow)
{
case 0: //清除所有标志位的状态
stationInitialize.InitializeDone = false;
stationOperate.RunningSign = false;
alarm = PlateformAlarm.无消息;
Marking.ProductResult = true;
Marking.WorkIndex = 0;
step = 0;
Xaxis.Stop();
Yaxis.Stop();
Zaxis.Stop();
if (!Xaxis.IsAlarmed && !Yaxis.IsAlarmed)
{
Xaxis.IsServon = true;
Yaxis.IsServon = true;
Zaxis.IsServon = true;
stationInitialize.Flow = 10;
}
break;
case 10: //复位Z轴，真空
IoPoints.ApsController.BackHome(Zaxis.NoId);
InhaleCylinder.InitExecute();
InhaleCylinder.Reset();
stationInitialize.Flow = 20;
break;
case 20: //判断所有气缸到位，启动Z轴回原点
if (InhaleCylinder.OutOriginStatus)
{
if (IoPoints.ApsController.CheckHomeDone(Zaxis.NoId, 10.0) == 0)
{
IoPoints.ApsController.BackHome(Xaxis.NoId);
IoPoints.ApsController.BackHome(Yaxis.NoId);
stationInitialize.Flow = 30;
}
else
{
Zaxis.Stop();
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
}
break;
case 30: //判断XY轴是否异常，为0,正常，为1：原点异常，为<0：故障
var resultX = IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0);
var resultY = IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0);
if (IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0) == 0 &&
IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0) == 0)
{
stationInitialize.InitializeDone = true;
stationInitialize.Flow = 40;
}
else //异常处理
{
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
break;
default:
break;
}
}
#endregion
//故障清除
if (externalSign.AlarmReset)
{
m_Alarm = PlateformAlarm.无消息;
}
}
}
public Level4()
{
Console.WriteLine("Level4");
Reset();
timebarSpace = 10.768F;
this.Add(new SpriteGameObject("spr_background"));
thePlayer = new Player(2, 2);
door = new Door(1, 0);
xaxis = new Xaxis(8, "Map/spr_horizontal_art_blue");
yaxis = new Yaxis(13, "Map/spr_vertical_art_blue");
goal = new MainGoal(3, 13);
Mouse.SetPosition(GameEnvironment.Screen.X / 2, GameEnvironment.Screen.Y / 2);
floors = new GameObjectList();
walls = new GameObjectList();
goals = new GameObjectList();
inputScreen = new InputScreen(GameEnvironment.Screen.X / 2 - 64 * 2, GameEnvironment.Screen.Y);
inputanswer = new InputAnswer(GameEnvironment.Screen.X / 2 - 64 * 2, GameEnvironment.Screen.Y);
timeGround = new SpriteGameObject("Map/time_ground");
guards = new GameObjectList();
lasers = new GameObjectList();
times = new GameObjectList();
score = new Score(12, 20, (int)time);
Axis_nums = new Axis_numbers(13, 8);
switchBoards = new GameObjectList();
this.Add(floors);
this.Add(switchBoards);
this.Add(lasers);
this.Add(walls);
this.Add(door);
this.Add(xaxis);
this.Add(yaxis);
this.Add(Axis_nums);
this.Add(goal);
this.Add(goals);
this.Add(guards);
this.Add(thePlayer);
this.Add(inputScreen);
this.Add(timeGround);
this.Add(times);
this.Add(score);
this.Add(inputanswer);
goals.Add(new ExtraGoal(7, 2));
goals.Add(new ExtraGoal(12, 2));
goals.Add(new ExtraGoal(22, 2));
goals.Add(new ExtraGoal(26, 2));
goals.Add(new ExtraGoal(27, 2));
goals.Add(new ExtraGoal(26, 3));
goals.Add(new ExtraGoal(27, 3));
goals.Add(new ExtraGoal(17, 8));
goals.Add(new ExtraGoal(9, 13));
goals.Add(new ExtraGoal(26, 13));
FloorSetup();
WallSetup();
TimeBarSetup();
SoundSetup();
lasers.Add(new Laser(new Vector2(21, 9), new Vector2(28, 6), Color.Red, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(13, 10), new Vector2(19, 4), Color.Blue, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(14, 12), new Vector2(26, 15), Color.Yellow, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(7, 12), new Vector2(5, 15), Color.Purple, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(1, 9), new Vector2(5, 11), Color.Green, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(26, 5), new Vector2(28, 5), Color.DarkGray, xaxis.gridPos, yaxis.gridPos));
lasers.Add(new Laser(new Vector2(1, 5), new Vector2(6, 10), Color.Aqua, xaxis.gridPos, yaxis.gridPos));
switchBoards.Add(new SwitchBoard(15, 10, Color.Red));
switchBoards.Add(new SwitchBoard(6, 10, Color.Blue));
switchBoards.Add(new SwitchBoard(23, 10, Color.Yellow));
switchBoards.Add(new SwitchBoard(20, 11, Color.Purple));
switchBoards.Add(new SwitchBoard(10, 11, Color.Green));
switchBoards.Add(new SwitchBoard(17, 11, Color.DarkGray));
switchBoards.Add(new SwitchBoard(4, 4, Color.Aqua));
guards.Add(new Guard(new Vector2(2, 13), new Vector2(25, 13)));
guards.Add(new Guard(new Vector2(26, 13), new Vector2(27, 1)));
guards.Add(new Guard(new Vector2(5, 8), new Vector2(11, 2)));
}
