public virtual Differences VisitDoWhile(DoWhile doWhile1, DoWhile doWhile2){
Differences differences = new Differences(doWhile1, doWhile2);
if (doWhile1 == null || doWhile2 == null){
if (doWhile1 != doWhile2) differences.NumberOfDifferences++; else differences.NumberOfSimilarities++;
return differences;
}
DoWhile changes = (DoWhile)doWhile2.Clone();
DoWhile deletions = (DoWhile)doWhile2.Clone();
DoWhile insertions = (DoWhile)doWhile2.Clone();
Differences diff = this.VisitBlock(doWhile1.Body, doWhile2.Body);
if (diff == null){Debug.Assert(false); return differences;}
changes.Body = diff.Changes as Block;
deletions.Body = diff.Deletions as Block;
insertions.Body = diff.Insertions as Block;
Debug.Assert(diff.Changes == changes.Body && diff.Deletions == deletions.Body && diff.Insertions == insertions.Body);
differences.NumberOfDifferences += diff.NumberOfDifferences;
differences.NumberOfSimilarities += diff.NumberOfSimilarities;
diff = this.VisitExpressionList(doWhile1.Invariants, doWhile2.Invariants, out changes.Invariants, out deletions.Invariants, out insertions.Invariants);
if (diff == null){Debug.Assert(false); return differences;}
differences.NumberOfDifferences += diff.NumberOfDifferences;
differences.NumberOfSimilarities += diff.NumberOfSimilarities;
diff = this.VisitExpression(doWhile1.Condition, doWhile2.Condition);
if (diff == null){Debug.Assert(false); return differences;}
changes.Condition = diff.Changes as Expression;
deletions.Condition = diff.Deletions as Expression;
insertions.Condition = diff.Insertions as Expression;
Debug.Assert(diff.Changes == changes.Condition && diff.Deletions == deletions.Condition && diff.Insertions == insertions.Condition);
differences.NumberOfDifferences += diff.NumberOfDifferences;
differences.NumberOfSimilarities += diff.NumberOfSimilarities;
if (differences.NumberOfDifferences == 0){
differences.Changes = null;
differences.Deletions = null;
differences.Insertions = null;
}else{
differences.Changes = changes;
differences.Deletions = deletions;
differences.Insertions = insertions;
}
return differences;
}
public WordsCollection Analiza()
{
WordsCollection currentSymbol = new WordsCollection(); //Simbolo Actual obtenido del
int x = 0; //Fila
int y = 0; //Columna
int r = 0; //Resultado (regla, desplazamiento o aceptacion)
Estado fila = new Estado(0);
int pops = 0; //Cantidad de elementos que produce la regla
bool error = false; //Bandera que detiene el ciclo
bool newSymbol = true; //Decide si se necesita un nuevo simbolo del Lexico o no
//Inicializa cola
ColaSintactica.Push(new Estado(0));
Node Root = new Node();
//Ciclo que ejecuta el analisis sintactico
while (!error)
{
if (newSymbol)
{
currentSymbol = ALexico.sigSimbolo();
}
//x = (int)pila.Peek();
x = ((Estado)pila.Peek()).transicion;
y = currentSymbol.TypeId;
r = TablaLR[x, y];
Node nodo = new Node();
nodo = null;
if (r > 0)
{
//Desplazamiento
//pila.Push(currentSymbol);
pila.Push(new Terminal(currentSymbol.Word));
//pila.Push(r);
pila.Push(new Estado(r));
newSymbol = true;
}
else if (r < 0)
{
//Regla
r = Math.Abs(r) - 1;
if (r == 0)
{
//Cadena Aceptada
break;
}
// Obtencion de la cantidad de POPs a realizar en la cola.
switch (r)
{
//case 1: //<programa> ::= <Definiciones>
//nodo=new programa(pila);
// break;
case 3: //<Definiciones> ::= <Definicion> <Definiciones>
case 16: //<DefLocales> ::= <DefLocal> <DefLocales>
case 20: //<Sentencias> ::= <Sentencia> <Sentencias>
case 32: //<Argumentos> ::= <Expresion> <ListaArgumentos>
pila.Pop(); //quita estado
Node aux = (Node)pila.Pop(); //quita <definiciones>
pila.Pop(); //quita estado
nodo = (Node)pila.Pop(); //quita <definicion>
if (nodo != null)
{
nodo.Siguiente = aux;
}
break;
case 1:
case 4: //<Definicion> ::= <DefVar>
case 5: //<Definicion> ::= <DefFunc>
case 17: //<DefLocal> ::= <DefVar>
case 18: //<DefLocal> ::= <Sentencia>
case 35: //<Atomo> ::= <LlamadaFunc>
case 39: //<SentenciaBloque> ::= <Sentencia>
case 40: //<SentenciaBloque> ::= <Bloque>
case 50: //<Expresion> ::= <Atomo>
pila.Pop(); //quita estado
nodo = (Node)pila.Pop(); //quita defvar
break;
case 6: // <DefVar> ::= tipo id <ListaVar> ;
nodo = new DefVar(ref pila);
break;
case 8: //<ListaVar> ::= , id <ListaVar>
pila.Pop(); //quita estado
Node lvar = ((Node)pila.Pop());
pila.Pop(); //quita estado
nodo = new Identificador(((Terminal)pila.Pop()).nodo.Simbolo); //quita id
nodo.Siguiente = lvar;
pila.Pop(); //quita estado
pila.Pop(); //quita la coma
break;
case 9: //<DefFunc> ::= tipo id ( <Parametros> ) <BloqFunc>
nodo = new DefFunc(ref pila);
break;
case 11: //<Parametros> ::= tipo id <ListaParam>
nodo = new Parametros(ref pila);
break;
case 13: //<ListaParam> ::= , tipo id <ListaParam>
nodo = new Parametros(ref pila);
pila.Pop(); //quita estado;
pila.Pop(); //quita la coma
break;
case 14: //<BloqFunc> ::= { <DefLocales> }
case 30: //<Bloque> ::= { <Sentencias> }
case 41: //<Expresion> ::= ( <Expresion> )
pila.Pop(); //quita estado
pila.Pop(); //quita }
pila.Pop(); //quita estado
nodo = ((Node)pila.Pop()); //quita <deflocales> o <sentencias>
pila.Pop();
pila.Pop(); //quita la {
break;
case 21: //<Sentencia> ::= id = <Expresion> ;
nodo = new Asignacion(ref pila);
break;
case 22: //<Sentencia> ::= if ( <Expresion> ) <SentenciaBloque> <Otro>
nodo = new If(ref pila);
break;
case 23: //<Sentencia> ::= while ( <Expresion> ) <Bloque>
nodo = new While(ref pila);
break;
case 24: //<Sentencia> ::= do <Bloque> while ( <Expresion> ) ;
nodo = new DoWhile(ref pila);
break;
case 25: //<Sentencia> ::= for id = <Expresion> : <Expresion> : <Expresion> <SentenciaBloque>
nodo = new For(ref pila);
break;
case 26: //<Sentencia> ::= return <Expresion> ;
nodo = new Return(ref pila);
break;
case 27: //<Sentencia> ::= <LlamadaFunc> ;
pila.Pop();
pila.Pop(); //quita ;
pila.Pop();
nodo = ((Node)pila.Pop()); //quita llamadafunc
break;
case 29: //<Otro> ::= else <SentenciaBloque>
pila.Pop();
nodo = ((Node)pila.Pop()); //quita sentencia bloque
pila.Pop();
pila.Pop(); //quita el else
break;
case 34: // <ListaArgumentos> ::= , <Expresion> <ListaArgumentos>
pila.Pop();
aux = ((Node)pila.Pop()); //quita la lsta de argumentos
pila.Pop();
nodo = ((Node)pila.Pop()); //quita expresion
pila.Pop();
pila.Pop(); //quita la ,
nodo.Siguiente = aux;
break;
case 36:
pila.Pop();
nodo = new Identificador(((Terminal)pila.Pop()).nodo.Simbolo);
break;
case 37:
pila.Pop();
nodo = new Constante(((Terminal)pila.Pop()).nodo.Simbolo);
break;
case 38:
nodo = new LlamadaFunc(ref pila);
break;
//R42 < Expresion > ::= opSuma < Expresion >
//R43 < Expresion > ::= opNot < Expresion >
case 42:
case 43:
nodo = new Operacion1(ref pila);
break;
//R44 < Expresion > ::= < Expresion > opMul < Expresion >
//R45 < Expresion > ::= < Expresion > opSuma < Expresion >
//R46 < Expresion > ::= < Expresion > opRelac < Expresion >
//R47 < Expresion > ::= < Expresion > opIgualdad < Expresion >
//R48 < Expresion > ::= < Expresion > opAnd < Expresion >
//R49 < Expresion > ::= < Expresion > opOr < Expresion >
case 44:
case 45:
case 46:
case 47:
case 48:
case 49:
nodo = new Operacion2(ref pila);
break;
//aqui cae R2,R7,R10,R12,R15,R19,R28,R31,R33,
default:
pops = Rules.ElementAt(r).TotalProductions;
if (pops > 0)
{
while (pops > 0)
{
pila.Pop();
pila.Pop();
pops--;
}
}
break;
}
//x = (int)pila.Peek();
x = ((Estado)pila.Peek()).transicion; //((Estado)pila.Peek()).numestado;
y = rules.ElementAt(r).Id; //columna= idreglas[regla];
NoTerminal nt = new NoTerminal(y); //NoTerminal NT =new NoTerminal(idreglas[regla]);
//nt.nodo = nodo;
//pila.Push(rules.ElementAt(r).Id);
pila.Push(nodo);
r = tablaLR[x, y]; //transicion = tabla[fila][columna];
//pila.Push(r);
pila.Push(new Estado(r));
newSymbol = false;
Root = nodo;
}
else
{
//Error
error = true;
}
}
Root.validatipos(ASemantico.Simbolos, ASemantico.Errores);
if (error)
{
currentSymbol.ErrorSintactico = true;
}
if (ASemantico.Errores.Count > 0)
{
currentSymbol.ErrorSemantico = true;
currentSymbol.Errores = ASemantico.Errores;
error = true;
}
return(error ? currentSymbol : null);
}
public override Statement VisitDoWhile(DoWhile doWhile)
{
throw new ApplicationException("unimplemented");
}
public override Statement VisitDoWhile(DoWhile doWhile) {
if (doWhile == null) return null;
this.loopCount++;
doWhile.Invariants = this.VisitLoopInvariantList(doWhile.Invariants);
doWhile.Body = this.VisitBlock(doWhile.Body);
doWhile.Condition = this.VisitBooleanExpression(doWhile.Condition);
this.loopCount--;
return doWhile;
}
public override bool Walk(DoWhile node)
{
AddNode(node); return(true);
}
public override Statement VisitDoWhile(DoWhile doWhile)
{
if (doWhile == null) return null;
return base.VisitDoWhile((DoWhile)doWhile.Clone());
}
/// <summary>
/// Creates a matrix using a DO-WHILE statement.
/// </summary>
/// <param name="Elements">Elements.</param>
/// <param name="Start">Start position in script expression.</param>
/// <param name="Length">Length of expression covered by node.</param>
/// <param name="Expression">Expression containing script.</param>
public MatrixDoWhileDefinition(DoWhile Elements, int Start, int Length, Expression Expression)
: base(Elements, Start, Length, Expression)
{
}
public void Visit(DoWhile node)
{
// not applicable; terminate
}
public virtual bool Walk(DoWhile node)
{
return(true);
}
protected virtual T VisitDoWhile(DoWhile W)
{
return(VisitUnknown(W));
}
public virtual void PostWalk(DoWhile node)
{
}
static public Block ParseBlock(ref List <Token> .Enumerator tokens, Block parent, FunctionType func)
{
var thisBlock = new Block(parent);
thisBlock.Function = func;
// Climb the parents to find the function we are in
if (func == null)
{
Block curBlock = thisBlock;
do
{
if (curBlock.Function != null)
{
func = curBlock.Function;
}
curBlock = curBlock.Parent;
}while (curBlock != null);
}
if (parent != null)
{
thisBlock.TempDeclarationNumber = parent.TempDeclarationNumber;
}
while (tokens.Current != null && tokens.Current.Type != TokenType.CloseBlock)
{
if (tokens.Current.Text == "typedef")
{
}
else if (tokens.Current.Text == "if")
{
thisBlock.Statements.Add(If.ParseIf(thisBlock, ref tokens));
}
else if (tokens.Current.Text == "do")
{
thisBlock.Statements.Add(DoWhile.Parse(thisBlock, ref tokens));
}
else if (tokens.Current.Text == "while")
{
thisBlock.Statements.Add(While.Parse(thisBlock, ref tokens));
}
else if (tokens.Current.Text == "struct")
{
tokens.MoveNext();
if (tokens.Current.Type != TokenType.OpenBlock)
{
throw new System.Exception("That was gay");
}
}
else if (tokens.Current.Text == "return")
{
tokens.MoveNext();
if (tokens.Current.Type == TokenType.StatementEnd)
{
var returnStatement = new Return(null);
thisBlock.Statements.Add(returnStatement);
tokens.MoveNext();
}
else
{
var returnList = Tokenizer.GetStatement(ref tokens);
Declaration decl = thisBlock.CreateTempDeclaration(func.ReturnType);
StatementHelper.Parse(thisBlock, decl, returnList);
var returnStatement = new Return(decl);
thisBlock.Statements.Add(returnStatement);
tokens.MoveNext();
}
}
else
{
FunctionType.CallConvention specifiedConvention = FunctionType.CallConvention.CalleeSave;
bool useStack = false;
while (tokens.Current.Text.StartsWith("__"))
{
switch (tokens.Current)
{
case "__usestack":
useStack = true;
break;
case "__stdcall":
specifiedConvention = FunctionType.CallConvention.CalleeSave;
break;
case "__cdecl":
specifiedConvention = FunctionType.CallConvention.CallerSave;
break;
}
tokens.MoveNext();
}
Declaration declForStatement = thisBlock.FindDeclaration(tokens.Current.Text);
if (declForStatement != null)
{
StatementHelper.Parse(thisBlock, Tokenizer.GetStatement(ref tokens));
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
tokens.MoveNext();
}
else
{
String resultName = String.Empty;
Type resultType = TypeHelper.ParseType(ref tokens);
if (resultType == null)
{
StatementHelper.Parse(thisBlock, Tokenizer.GetStatement(ref tokens));
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
tokens.MoveNext();
}
else
{
// Read the name of the declaration/type
if (tokens.Current.Type == TokenType.StringType)
{
resultName = tokens.Current.Text;
tokens.MoveNext();
}
// in this case it's either a prototype or a function
// Either way it gets added to the types of this module
if (tokens.Current.Type == TokenType.OpenParen)
{
FunctionType function = new FunctionType(ref tokens, resultType)
{
CallingConvention = specifiedConvention,
UseStack = useStack
};
resultType = function;
thisBlock.Types.Add(function);
if (tokens.Current.Type == TokenType.OpenBlock)
{
var declaration = new Declaration(resultType, resultName);
thisBlock.Declarations.Add(declaration);
tokens.MoveNext();
var block = Block.ParseBlock(ref tokens, thisBlock, function);
Debug.Assert(tokens.Current.Type == TokenType.CloseBlock);
tokens.MoveNext();
declaration.Code = block;
//STP: Not sure about this
//thisBlock.Declarations.Add(declaration);
}
else
{
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
tokens.MoveNext();
}
}
else if (tokens.Current == "[")
{
resultType = new WabbitC.Model.Types.Array(resultType, ref tokens);
var declaration = new Declaration(resultType, resultName);
thisBlock.Declarations.Add(declaration);
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
tokens.MoveNext();
}
else
{
do
{
var decl = new Declaration(resultType, resultName);
thisBlock.Declarations.Add(decl);
// Handle declarations with initial values
if (tokens.Current.Text == "=")
{
tokens.MoveNext();
var valueList = Tokenizer.GetStatement(ref tokens);
StatementHelper.Parse(thisBlock, decl, valueList);
if (tokens.Current.Text != ",")
{
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
break;
}
else
{
tokens.MoveNext();
Debug.Assert(tokens.Current.Type == TokenType.StringType);
resultName = tokens.Current.Text;
tokens.MoveNext();
}
}
else
{
if (tokens.Current.Text != ",")
{
Debug.Assert(tokens.Current.Type == TokenType.StatementEnd);
break;
}
else
{
tokens.MoveNext();
Debug.Assert(tokens.Current.Type == TokenType.StringType);
resultName = tokens.Current.Text;
tokens.MoveNext();
}
}
} while (true);
tokens.MoveNext();
}
}
}
}
}
return(thisBlock);
}
public virtual void Visit(DoWhile node)
{
if (node != null)
{
if (node.Body != null)
{
node.Body.Accept(this);
}
if (node.Condition != null)
{
node.Condition.Accept(this);
}
}
}
public void ProcessSysIo(string strIoName, bool bCurrentState)
{
if (InvokeRequired)
{
this.BeginInvoke(new Action(() => ProcessSysIo(strIoName, bCurrentState)));
}
else
{
if (strIoName == "急停" && !bCurrentState && GlobalVariable.g_StationState != StationState.StationStateEmg)
{
bAlreadyEmg = true;
if (GlobalVariable.g_StationState == StationState.StationStateRun || GlobalVariable.g_StationState == StationState.StationStatePause)
{
MotionMgr.GetInstace().StopEmg();
StationMgr.GetInstance().Stop();
MotionMgr.GetInstace().StopEmg();
}
GlobalVariable.g_StationState = StationState.StationStateEmg;
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
DoWhile.StopCirculate();
AlarmMgr.GetIntance().Warn("急停被按下", AlarmType.AlarmType_Emg);
}
if (strIoName == "气源压力检测" && !bCurrentState && !bAlreadyEmg)
{
bAlreadyEmg = true;
if (GlobalVariable.g_StationState == StationState.StationStateRun || GlobalVariable.g_StationState == StationState.StationStatePause)
{
MotionMgr.GetInstace().StopEmg();
StationMgr.GetInstance().Stop();
MotionMgr.GetInstace().StopEmg();
}
GlobalVariable.g_StationState = StationState.StationStateStop;
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
DoWhile.StopCirculate();
AlarmMgr.GetIntance().Warn("气源压力检测 失败", AlarmType.AlarmType_Emg);
}
if (strIoName == "安全门" && !bCurrentState)
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全门"))
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
IOMgr.GetInstace().WriteIoBit("绿灯", false);
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
//AlarmMgr.GetIntance().Warn("安全门打开");
MessageBox.Show("安全门打开", "Waran", MessageBoxButtons.OK, MessageBoxIcon.Warning);
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全门打开", null, DlgWaranType.WaranOK);
}
}
}
if (strIoName == "暂停" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
//AlarmMgr.GetIntance().Warn("安全门打开");
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全门打开", null, DlgWaranType.WaranOK);
}
}
if (strIoName == "安全光栅" && !bCurrentState)
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全光栅"))
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全光栅"))
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
IOMgr.GetInstace().WriteIoBit("绿灯", false);
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
// AlarmMgr.GetIntance().Warn("安全光栅打开");
//WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全光栅打开", null, DlgWaranType.WaranOK);
MessageBox.Show("安全光栅打开", "Waran", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
}
}
if (strIoName == "启动" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateStop)
{
if (!IsSafeDoorAndGrating())
{
return;
}
StationMgr.GetInstance().Run();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
}
else if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
if (!IsSafeDoorAndGrating())
{
return;
}
StationMgr.GetInstance().Resume();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
}
else
{
MessageBox.Show("发生错误，请先复位", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
if (strIoName == "复位" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateEmg)
{
GlobalVariable.g_StationState = StationState.StationStateStop;
MotionMgr.GetInstace().ResetAxis();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
bStartAlarmTimer = false;
bAlreadyEmg = false;
}
}
}
}
public WaranResult FindBuzzer(bool bManual = false)
{
if (sys.g_AppMode == AppMode.AirRun)
{
Info("左剥料站：空跑搜寻蜂鸣器成功");
ParamSetMgr.GetInstance().SetBoolParam("左搜寻蜂鸣器成功", true);
ParamSetMgr.GetInstance().SetBoolParam("左装料平台上升到位", true);
return(WaranResult.Run);
}
if (!IOMgr.GetInstace().ReadIoInBit("左装料平台有无感应器"))
{
double pos = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
MotionMgr.GetInstace().StopAxis(AxisZ);
Info("左剥离工站：装料平台无料");
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("左剥料：装料平台无料,请装料，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
//if( WaranResult == WaranResult.)
return(waranResult);
}
else
{
Info("左剥料工站：装料平台寻料");
// MotionMgr.GetInstace().ResetAxis()
DoWhile doWhile = new DoWhile((time, dowhile, bmanual, obj) =>
{
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
if (this.GetStationPointDic().ContainsKey("装料最高位"))
{
if (pos > this.GetStationPointDic()["装料最高位"].pointZ)
{
Warn("左剥料工站：左装料平台寻找蜂鸣器， 已经到达最高位");
Info("左剥离工站：搜寻蜂鸣器失败");
ParamSetMgr.GetInstance().SetBoolParam("左搜寻蜂鸣器成功", false);
MotionMgr.GetInstace().StopAxis(AxisZ);
return(AlarmMgr.GetIntance().WarnWithDlg("左剥料：装料平台Z轴升至最高点 仍然没有检查到物料 请检查最高位设置，感应器之后，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry));
}
if (MotionMgr.GetInstace().IsAxisNormalStop(AxisZ) > AxisState.NormalStop)
{
Warn("左剥料工站：电机报警");
ParamSetMgr.GetInstance().SetBoolParam("左搜寻蜂鸣器成功", false);
return(AlarmMgr.GetIntance().WarnWithDlg("左剥料：装料平台Z轴电机报警 请检查电机及驱动器，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry));
}
if (IOMgr.GetInstace().ReadIoInBit("左装料Z轴上升到位感应器"))
{
MotionMgr.GetInstace().StopAxis(AxisZ);
double currentzaxisPos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
currentzaxisPos = currentzaxisPos + ParamSetMgr.GetInstance().GetDoubleParam("装料抬升距离") * nResolutionZ;
if (currentzaxisPos > GetStationPointDic()["装料最高位"].pointZ)
{
currentzaxisPos = GetStationPointDic()["装料最高位"].pointZ - 10;
}
MoveSigleAxisPosWaitInpos(AxisZ, currentzaxisPos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
Info("左剥离工站：搜寻蜂鸣器成功");
ParamSetMgr.GetInstance().SetBoolParam("左搜寻蜂鸣器成功", true);
ParamSetMgr.GetInstance().SetBoolParam("左装料平台上升到位", true);
ParamSetMgr.GetInstance().SetIntParam("左蜂鸣器顶位", MotionMgr.GetInstace().GetAxisPos(AxisZ));
return(WaranResult.Run);
}
else
{
MotionMgr.GetInstace().JogMove(AxisZ, true, 0, (int)MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelM);
return(WaranResult.CheckAgain);
}
}
else
{
double position = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, position, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, bManual ? null : this);
MotionMgr.GetInstace().StopAxis(AxisZ);
Info("左剥离工站：装料平台无料");
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("左剥料：装料平台无料,请装料，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
return(waranResult);
}
}, int.MaxValue);
return(doWhile.doSomething(this, doWhile, bManual, null));
}
}
public override Statement VisitDoWhile(DoWhile doWhile){
if (doWhile == null) return null;
StatementList statements = new StatementList(4);
Block doWhileBlock = new Block(statements);
doWhileBlock.SourceContext = doWhile.SourceContext;
Block endOfLoop = new Block(null);
Block conditionStart = new Block(null);
this.continueTargets.Add(conditionStart);
this.exitTargets.Add(endOfLoop);
this.VisitBlock(doWhile.Body);
ExpressionList invariants = doWhile.Invariants;
if (invariants != null && invariants.Count > 0)
statements.Add(VisitLoopInvariants(invariants));
statements.Add(doWhile.Body);
statements.Add(conditionStart);
if (doWhile.Condition != null)
statements.Add(this.VisitBranchCondition(doWhile.Condition, doWhileBlock, doWhile.Condition.SourceContext));
statements.Add(endOfLoop);
this.continueTargets.Count--;
this.exitTargets.Count--;
return doWhileBlock;
}
protected internal virtual T Visit(DoWhile node)
{
return(Visit(node as CodeNode));
}
public virtual void Visit(DoWhile node)
{
if (node != null)
{
AcceptChildren(node);
}
}
protected override EP_VP1 Visit(DoWhile node)
{
node.Body.Visit(this);
node.Condition.Visit(this);
return(this);
}
public virtual Statement VisitDoWhile(DoWhile doWhile1, DoWhile doWhile2)
{
if (doWhile1 == null) return null;
if (doWhile2 == null)
{
doWhile1.Invariants = this.VisitExpressionList(doWhile1.Invariants, null);
doWhile1.Body = this.VisitBlock(doWhile1.Body, null);
doWhile1.Condition = this.VisitExpression(doWhile1.Condition, null);
}
else
{
doWhile1.Invariants = this.VisitExpressionList(doWhile1.Invariants, doWhile2.Invariants);
doWhile1.Body = this.VisitBlock(doWhile1.Body, doWhile2.Body);
doWhile1.Condition = this.VisitExpression(doWhile1.Condition, doWhile2.Condition);
}
return doWhile1;
}
public override Statement VisitDoWhile(DoWhile doWhile)
{
throw new ApplicationException("unimplemented");
}
/// <summary>
/// Creates a vector using a DO-WHILE statement.
/// </summary>
/// <param name="Elements">Elements.</param>
/// <param name="Start">Start position in script expression.</param>
/// <param name="Length">Length of expression covered by node.</param>
/// <param name="Expression">Expression containing script.</param>
public VectorDoWhileDefinition(DoWhile Elements, int Start, int Length, Expression Expression)
: base(Elements.LeftOperand, Elements.RightOperand, Start, Length, Expression)
{
}
private async void Test_Click(object sender, EventArgs e)
{
int nAxisNo = textBox_AxisNo.Text.ToInt();
double dLen = textBox_MoveDistance.Text.ToDouble();
int nCount = textBox_Count.Text.ToInt();
int speedSel = 0;
SpeedType speedType = SpeedType.Low;
if (radioButton_HighSpeed.Checked)
{
speedType = SpeedType.High;
speedSel = 1;
}
if (radioButton_MidSpeed.Checked)
{
speedSel = 2;
speedType = SpeedType.Mid;
}
if (radioButton_LowSpeed.Checked)
{
speedSel = 3;
speedType = SpeedType.Low;
}
if (speedSel == 0)
{
return;
}
Task task = Task.Run(() => {
try
{
DoWhile.ResetCirculate();
for (int i = 0; i < nCount; i++)
{
MotionMgr.GetInstace().RelativeMove(nAxisNo, (int)dLen, (int)speedType);
DoWhile doWhile = new DoWhile((time, dowhile, bmanual2, obj) =>
{
AxisState axisState = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo);
if (axisState == AxisState.NormalStop)
{
return(WaranResult.Run);
}
else if (axisState == AxisState.Moving)
{
return(WaranResult.CheckAgain);
}
else
{
logger.Warn(string.Format("{0}轴状态:{1}", nAxisNo, axisState));
throw new Exception("电机测试报警停止" + string.Format("{0}轴状态:{1}", nAxisNo, axisState));
}
}, 3000000);
doWhile.doSomething(null, doWhile, true, null);
Thread.Sleep(textBox_InPosDelay.Text.ToInt());
MotionMgr.GetInstace().RelativeMove(nAxisNo, (int)(-dLen), (int)speedType);
DoWhile doWhile2 = new DoWhile((time, dowhile, bmanual2, obj) =>
{
AxisState axisState = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo);
if (axisState == AxisState.NormalStop)
{
return(WaranResult.Run);
}
else if (axisState == AxisState.Moving)
{
return(WaranResult.CheckAgain);
}
else
{
logger.Warn(string.Format("{0}轴状态:{1}", nAxisNo, axisState));
throw new Exception("电机测试报警停止" + string.Format("{0}轴状态:{1}", nAxisNo, axisState));
}
}, 3000000);
doWhile2.doSomething(null, doWhile2, true, null);
Thread.Sleep(textBox_InPosDelay.Text.ToInt());
}
}
catch (Exception ex)
{
MotionMgr.GetInstace().StopAxis(nAxisNo);
MessageBox.Show(ex.Message, "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
});
await task;
}
public virtual void VisitDoWhile(DoWhile doWhile)
{
if (doWhile == null) return;
this.VisitLoopInvariantList(doWhile.Invariants);
this.VisitBlock(doWhile.Body);
this.VisitExpression(doWhile.Condition);
}
public virtual bool Walk(DoWhile node) { return true; }
public virtual Statement VisitDoWhile(DoWhile doWhile){
if (doWhile == null) return null;
doWhile.Invariants = this.VisitLoopInvariantList(doWhile.Invariants);
doWhile.Body = this.VisitBlock(doWhile.Body);
doWhile.Condition = this.VisitExpression(doWhile.Condition);
return doWhile;
}
public virtual void PostWalk(DoWhile node) { }
public virtual Statement VisitDoWhile(DoWhile doWhile, DoWhile changes, DoWhile deletions, DoWhile insertions){
this.UpdateSourceContext(doWhile, changes);
if (doWhile == null) return changes;
if (changes != null){
if (deletions == null || insertions == null)
Debug.Assert(false);
else{
doWhile.Body = this.VisitBlock(doWhile.Body, changes.Body, deletions.Body, insertions.Body);
doWhile.Condition = this.VisitExpression(doWhile.Condition, changes.Condition, deletions.Condition, insertions.Condition);
}
}else if (deletions != null)
return null;
return doWhile;
}
public static WaranResult JumpInPos(this ScaraRobot scaraRobot, Coordinate coordinate, HandDirection direction, bool bCheckHandleSys = false, bool bmauanl = false, int nTimeout = 20000)
{
logger.Info($"JumpInPos start pos{coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}");
try
{
WaranResult waran = WaranResult.Failture;
bool bcmd = ScaraRobot.GetInstance().Jump(coordinate, direction, getLimit(coordinate));
DoWhile doWhile = new DoWhile((nTimeed, doWhile2, bmanual, objs) =>
{
double dfine = 0.05;
bool bInPosX = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.X - coordinate.X) < dfine;
bool bInPosY = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Y - coordinate.Y) < dfine;
// bool bInPosZ = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Z - coordinate.Z) < dfine;
bool bInPosU = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.U - coordinate.U) < 0.1;
bool bInPos = bInPosX && bInPosY && true && bInPosU;
if (!bmanual)
{
if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
logger.Info($"JumpInPos 程序状态： {GlobalVariable.g_StationState }");
ScaraRobot.GetInstance().SetStopActionFlag();
return(WaranResult.CheckAgain);
}
else if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
Thread.Sleep(50);
bInPosX = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.X - coordinate.X) < dfine;
bInPosY = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Y - coordinate.Y) < dfine;
// bInPosZ = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Z - coordinate.Z) < dfine;
bInPosU = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.U - coordinate.U) < 0.1;
bInPos = bInPosX && bInPosY && true && bInPosU;
if (!bInPos)
{
Coordinate coordinatetemp = ScaraRobot.GetInstance().GetCurrentImmediately();
bInPosX = Math.Abs(coordinatetemp.X - coordinate.X) < dfine;
bInPosY = Math.Abs(coordinatetemp.Y - coordinate.Y) < dfine;
// bInPosZ = Math.Abs(coordinatetemp.Z - coordinate.Z) < dfine;
bInPosU = Math.Abs(coordinatetemp.U - coordinate.U) < 0.1;
bInPos = bInPosX && bInPosY && true && bInPosU;
}
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
if (bInPos)
{
return(WaranResult.Run);
}
else if (ScaraRobot.GetInstance().InPos&& !bInPos)
{
ScaraRobot.GetInstance().ReasetStopActionFlag();
ScaraRobot.GetInstance().Jump(coordinate, direction, getLimit(coordinate));
return(WaranResult.CheckAgain);
}
}
}
if (nTimeed > nTimeout)
{
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 超时， 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().ReasetStopActionFlag();
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 复位， 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
return(WaranResult.TimeOut);
}
if (ScaraRobot.GetInstance().InPos&& bInPos)
{
return(WaranResult.Run);
}
else
{
return(WaranResult.CheckAgain);
}
}
, 30000);
return(doWhile.doSomething2(null, doWhile, bmauanl, null));
}
catch (Exception ex)
{
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().ReasetStopActionFlag();
throw ex;
}
}
