void initParas()
{
ioMgr = new IOMgr();
var normal = transform.Find("normal");
labWin = normal.Find("win").GetChild(0).GetComponent <Text> ();
labLose = normal.Find("lose").GetChild(0).GetComponent <Text> ();
labMinTime = normal.Find("mTime").GetChild(0).GetComponent <Text> ();
labAvgTime = normal.Find("aTime").GetChild(0).GetComponent <Text> ();
labRate = normal.Find("rate").GetChild(0).GetComponent <Text> ();
labCount = normal.Find("count").GetChild(0).GetComponent <Text> ();
labMaxWinSteak = normal.Find("mWinSteak").GetChild(0).GetComponent <Text> ();
labCurWinSteak = normal.Find("nWinSteak").GetChild(0).GetComponent <Text> ();
var big = transform.Find("big");
labWinSP = big.Find("win").GetChild(0).GetComponent <Text> ();
labLoseSP = big.Find("lose").GetChild(0).GetComponent <Text> ();
labMinTimeSP = big.Find("mTime").GetChild(0).GetComponent <Text> ();
labAvgTimeSP = big.Find("aTime").GetChild(0).GetComponent <Text> ();
labRateSP = big.Find("rate").GetChild(0).GetComponent <Text> ();
labCountSP = big.Find("count").GetChild(0).GetComponent <Text> ();
labMaxWinSteakSP = big.Find("mWinSteak").GetChild(0).GetComponent <Text> ();
labCurWinSteakSP = big.Find("nWinSteak").GetChild(0).GetComponent <Text> ();
}
private void EvenAddHardware()
{
GlobalVariable.g_eventStationStateChanged += StationStateChangedHandler;
alarmtimer.Elapsed += new System.Timers.ElapsedEventHandler((object senders, ElapsedEventArgs es) =>
{
// if(!bStartAlarmTimer)
{
try
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", !IOMgr.GetInstace().ReadIoOutBit("蜂鸣"));
}
bStartAlarmTimer = true;
}
catch (Exception ex)
{
return;
}
}
});
IOMgr.GetInstace().m_deltgateSystemSingl += ProcessSysIo;
MotionMgr.GetInstace().m_eventAxisSingl += ProcessSysIo;
// 注册安全函数
UserConfig.AddIoSafeOperate();
UserConfig.AddAxisSafeOperate();
}
public void MotionBackRun(bool bRunDir = false)
{
if (nAxisOnLine != -1)
{
MotionMgr.GetInstace().JogMove(nAxisOnLine, !bOutMotorRunDirOnLine, 0, (double)SpeedType.High);
return;
}
if (IOMotionDir == null || IOMotionDir == "")
{
if (BackMotorIo != null && BackMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(BackMotorIo, true);
}
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
}
else
{
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, true);
}
if (IOMotionDir != null && IOMotionDir != "")
{
IOMgr.GetInstace().WriteIoBit(IOMotionDir, bRunDir);
}
}
}
/// <summary>
/// 在启动/恢复程序前，检查安全门光栅
/// </summary>
/// <returns></returns>
public bool IsSafeDoorAndGrating()
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全门"))
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("安全门") && !IOMgr.GetInstace().ReadIoInBit("安全门"))
{
MessageBox.Show("安全门打开", "Warn", MessageBoxButtons.OK, MessageBoxIcon.Error);
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全门打开", null, DlgWaranType.WaranOK);
return(false);
}
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("气源检测") && IOMgr.GetInstace().GetInputDic().ContainsKey("气源检测"))
{
if (!IOMgr.GetInstace().ReadIoInBit("气源检测"))
{
MessageBox.Show("气源检测失败，请打开气源", "Warn", MessageBoxButtons.OK, MessageBoxIcon.Error);
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("气源检测失败，请打开气源", null, DlgWaranType.WaranOK);
return(false);
}
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("真空气源检测") && IOMgr.GetInstace().GetInputDic().ContainsKey("真空气源检测"))
{
if (!IOMgr.GetInstace().ReadIoInBit("真空气源检测"))
{
MessageBox.Show("真空气源检测失败,请打开真空气源", "Warn", MessageBoxButtons.OK, MessageBoxIcon.Error);
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("真空气源检测失败,请打开真空气源", null, DlgWaranType.WaranOK);
return(false);
}
}
return(true);
}
/// <summary>
/// 报警提示
/// </summary>
/// <param name="i"></param>
public static void AlarmTips(int i)
{
if (i % 2 == 0)
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", true);
}
}
else
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
}
}
public void UpDataAllIo()
{
Dictionary <string, IOMgr.IoDefine> dicInput = IOMgr.GetInstace().GetInputDic();
int indexIn = 0;
foreach (var tem in dicInput)
{
m_labelControl_IoInput[indexIn++].State = IOMgr.GetInstace().ReadIoInBit(tem.Key);
}
Dictionary <string, IOMgr.IoDefine> dicOutput = IOMgr.GetInstace().GetOutputDic();
int indexOut = 0;
foreach (var tem in dicOutput)
{
if (!ParamSetMgr.GetInstance().GetBoolParam("是否用平行光管或中继镜气缸"))
{
if (tem.Key == "平行光管升降气缸")
{
continue;
}
}
m_labelControl_IoOutput[indexOut++].State = IOMgr.GetInstace().ReadIoOutBit(tem.Key);
}
}
public void MotionStop()
{
if (nAxisOnLine != -1)
{
MotionMgr.GetInstace().StopAxis(nAxisOnLine);
return;
}
if (IOMotionDir == null || IOMotionDir == "")
{
if (BackMotorIo != null && BackMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(BackMotorIo, false);
}
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
}
else
{
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
if (IOMotionDir != null && IOMotionDir != "")
{
IOMgr.GetInstace().WriteIoBit(IOMotionDir, false);
}
}
}
public static void CloseHardWork()
{
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
}
public void CheckBuzzerPlaneAndUp(bool bManual = false)
{
if (IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"))
{
Task task0 = new Task(() =>
{
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", false);
Info("装料步进运动");
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
pos = pos + (int)(ParamSetMgr.GetInstance().GetDoubleParam("装料步长") * nResolutionZ);
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, bManual ? null : this);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
});
task0.Start();
}
else
{
Task task = new Task(() =>
{
Info("回到原始位置");
double pos = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
//AlarmMgr.GetIntance().WarnWithDlg("右剥料工站 装料平台无料，请添加蜂鸣片", bManual ? null : this, CommonDlg.DlgWaranType.WaranOK);
AlarmMgr.GetIntance().WarnWithDlg("右剥料工站 装料平台无料，请添加蜂鸣片,添加完成点击OK", this, CommonDlg.DlgWaranType.WaranOK);
FindBuzzer(bManual);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
});
task.Start();
task.Wait();
}
}
private void Start()
{
IOMgr.Init();
IOMgr.ReadConfig();
// store last thrust
prevSetThrust = IOMgr.GetControl(IOMgr.Control.Thrust_Set_To);
}
public static IOMgr getInstance()
{
if (mgr == null)
{
mgr = new IOMgr();
}
return(mgr);
}
private void button_start_Click(object sender, EventArgs e)
{
// ProcessSysIo("启动", true);
if (GlobalVariable.g_StationState == StationState.StationStateStop)
{
if (!IsSafeDoorAndGrating())
{
return;
}
ParamSetMgr.GetInstance().SetBoolParam("启动清料", false);
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);
}
StationMgr.GetInstance().Run();
// sys.g_StationState = StationState.StationStateRun;
}
else if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
// sys.g_StationState = StationState.StationStatePause;
//暂停
StationMgr.GetInstance().Pause();
}
else if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
if (!IsSafeDoorAndGrating())
{
return;
}
IOMgr.GetInstace().WriteIoBit("绿灯", false);
IOMgr.GetInstace().WriteIoBit("红灯", false);
IOMgr.GetInstace().WriteIoBit("黄灯", true);
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
StationMgr.GetInstance().Resume();
}
else if (GlobalVariable.g_StationState == StationState.StationStateEmg)
{
MessageBox.Show("发生错误，请先复位", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
public void Parse()
{
if (strIoName != null && strIoName != "")
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey(strIoName))
{
nCardIndex = IOMgr.GetInstace().GetOutputDic()[strIoName]._CardIndex;
nAxisNo = IOMgr.GetInstace().GetOutputDic()[strIoName]._AxisIndex;
nIoIndex = IOMgr.GetInstace().GetOutputDic()[strIoName]._IoIndex;
}
}
}
private void button_start_Click(object sender, EventArgs e)
{
UserTest.RunLog.Write($"【点击启动】", LogType.Info, PathHelper.LogPathManual);
//ProcessSysIo("启动", true);
if (GlobalVariable.g_StationState == StationState.StationStateStop)
{
if (!IsSafeDoorAndGrating())
{
return;
}
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);
}
StationMgr.GetInstance().Run();
// sys.g_StationState = StationState.StationStateRun;
}
else if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
// sys.g_StationState = StationState.StationStatePause;
//暂停
StationMgr.GetInstance().Pause();
}
else if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
if (!IsSafeDoorAndGrating())
{
return;
}
IOMgr.GetInstace().WriteIoBit("绿灯", false);
IOMgr.GetInstace().WriteIoBit("红灯", false);
IOMgr.GetInstace().WriteIoBit("黄灯", true);
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
StationMgr.GetInstance().Resume();
}
else if (GlobalVariable.g_StationState == StationState.StationStateEmg)
{
MessageBox.Show("发生错误，请先复位", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
}
}
private void Start()
{
thesaurusls = BaseManager <IOMgr> .GetInstance();
jumpToScene = GetComponent <UIPoint>();
SVC = GameObject.Find("Scroll View").GetComponentInChildren <ScrollViewContral>();
LoadThesaurusls(inputWord);
jumpToScene.jumpSceneName = SceneName.startScene;
//监听输入框输入
inputField = GameObject.Find("InputField").GetComponent <InputField>();
inputField.GetComponent <InputField>().onEndEdit.AddListener(EndEdit);
}
private APP()
{
MotionMgr = MotionMgr.GetInstace();
IOMgr = IOMgr.GetInstace();
AlarmMgr = AlarmMgr.GetIntance();
ConfigToolMgr = ConfigToolMgr.GetInstance();
StationMgr = StationMgr.GetInstance();
ParamSetMgr = ParamSetMgr.GetInstance();
ComMgr = ComMgr.GetInstance();
TcpMgr = TcpMgr.GetInstance();
SocketSeverMgr = SocketSeverMgr.GetInstace();
}
public bool IsSafeWhenURun(string SoketName)
{
string Soket = SoketName;
if (IOMgr.GetInstace().ReadIoInBit($"{Soket}治具盖上检测"))
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 初始化Epson 4轴机械手
/// </summary>
public static void InitEpson4Robot()
{
if (IsHaveEpson == false)
{
return;
}
Task.Run(() =>
{
IOMgr.GetInstace().WriteIoBit("机器人程序启动", true);
Thread.Sleep(10000);
ScaraRobot.GetInstance().Init(out string msg);
});
}
void Update()
{
if (Globals.paused)
{
return;
}
// legacy way, fixed bindings
/*flight.thrust = Input.GetButton ("Jump") ? 1 : 0;
* flight.roll = Input.GetAxis ("Horizontal");
* flight.pitch = Input.GetAxis ("Vertical");*/
// legacy way, configurable bindings
var setThrust = IOMgr.GetControl(IOMgr.Control.Thrust_Set_To);
if (prevSetThrust != setThrust)
{
// if "set thrust" value changed, get new value
flight.thrust = setThrust;
prevSetThrust = setThrust;
}
var deltaThrust = IOMgr.GetControl(IOMgr.Control.Thrust_Increase)
- IOMgr.GetControl(IOMgr.Control.Thrust_Decrease);
flight.thrust += thrustSensitivity * deltaThrust * Time.deltaTime;
flight.roll = IOMgr.GetControl(IOMgr.Control.Roll_Right)
- IOMgr.GetControl(IOMgr.Control.Roll_Left);
flight.pitch = IOMgr.GetControl(IOMgr.Control.Nose_Up)
- IOMgr.GetControl(IOMgr.Control.Nose_Down);
laser.trigger = IOMgr.GetControl(IOMgr.Control.Fire_Guns) > .5f;
if (camFollow)
{
camFollow.SetCurrentView(IOMgr.GetControl(IOMgr.Control.Look_Back) > .5f ? 1 : 0);
}
// new input system, abandoned as too buggy at the time
/*var val = aaThrottleSet.ReadValue<float> ();
* if (prevSetThrust != val) {
* if (prevSetThrust != -1f) flight.thrust = val;
* prevSetThrust = val;
* }
* var deltaThrust = aaThrottle.ReadValue<float> ();
* flight.thrust = flight.thrust + thrustSensitivity * deltaThrust * Time.deltaTime;
* var move = aaMove.ReadValue<Vector2> ();
* flight.roll = move.x;
* flight.pitch = move.y;
* laser.trigger = aaFire.ReadValue<float> () > .5f;
* if (camFollow) camFollow.setCurrentView (aaLookBack.ReadValue<float> () > .5f ? 1 : 0);*/
}
public static void InitHandWareWithUI()
{
// IOMgr.GetInstace().WriteIoBit("点胶机", false);
IOMgr.GetInstace().WriteIoBit("相机光源", false);
IOMgr.GetInstace().WriteIoBit("平行光管升降气缸", false);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", false);
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
IOMgr.GetInstace().WriteIoBit("红灯", false);
IOMgr.GetInstace().WriteIoBit("黄灯", false);
IOMgr.GetInstace().WriteIoBit("绿灯", false);
IOMgr.GetInstace().WriteIoBit("黄灯", true);
IOMgr.GetInstace().WriteIoBit("UV固化", false);
}
private void OnVisibleChanged(object sender, EventArgs e)
{
if (Visible == true)
{
UpDataAllIo();
IOMgr.GetInstace().m_eventIoInputChanage += ChangedIoInState;
IOMgr.GetInstace().m_eventIoOutputChanage += ChangedIoOutState;
}
else
{
IOMgr.GetInstace().m_eventIoInputChanage -= ChangedIoInState;
IOMgr.GetInstace().m_eventIoOutputChanage -= ChangedIoOutState;
}
}
UIPoint jumpToSence; //跳转到游戏开始场景
private void Start()
{
IOMgr = BaseManager <IOMgr> .GetInstance();
WSC = GameObject.Find("WordsView").GetComponentInChildren <WordScrollContral>();
USC = GameObject.Find("UsedView").GetComponentInChildren <UsedScrollContral>();
tipsText = GameObject.Find("TipsText").GetComponentInChildren <Text>();
jumpToSence = GetComponent <UIPoint>();
LoadThesaurusls(inputWord);
LoadChooseWord();
//监听输入框输入
inputField = GameObject.Find("InputField").GetComponent <InputField>();
inputField.GetComponent <InputField>().onEndEdit.AddListener(EndEdit);
}
protected override bool InitStation()
{
ParamSetMgr.GetInstance().SetBoolParam("点胶工站初始化完成", false);
//IOMgr.GetInstace().WriteIoBit("点胶机", false);
IOMgr.GetInstace().WriteIoBit("相机光源", false);
TableData.GetInstance().ResetStartCmd("A_UnLoadLoad");
TableData.GetInstance().ResetStartCmd("B_UnLoadLoad");
ClearAllStep();
PushMultStep((int)StationStep.Step_Init);
// x = dispCalibParam.pointDispenseCalibs.Find(t => t.strPointName == "吐胶点").MachinePoint.x;
// y = dispCalibParam.pointDispenseCalibs.Find(t => t.strPointName == "吐胶点").MachinePoint.y;
// z = dispCalibParam.pointDispenseCalibs.Find(t => t.strPointName == "吐胶点").MachinePoint.z;
Info("点胶站加载完成");
return(true);
}
public void PlaceToSocket(int index, bool bmanual = false)
{
WaranResult waranResult;
string name = index == 1 ? "A" : "B";
string strCloseSocketIoControlName = $"{name}Lens升降气缸";
retry_up:
IOMgr.GetInstace().WriteIoBit(strCloseSocketIoControlName, true);
Thread.Sleep(20);
waranResult = CheckIobyName($"{name}Lens上升到位", true, $"手动取料时,{name}#Lens气缸上升失败 ", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_up;
}
}
public void ULoad(string SoketName, bool bManual)
{
string Soket = SoketName;
retry_open_cliyder:
IOMgr.GetInstace().WriteIoBit($"{Soket}工位夹紧", false);
WaranResult waranResult = stationAAT.CheckIobyName($"{Soket}治具松开检测", true, $"{Soket}治具松开检测 失败，请检查气缸及感应器", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_open_cliyder;
}
retry_close_checkVac:
IOMgr.GetInstace().WriteIoBit($"{Soket}真空吸", false);
}
public bool IsLoadOK(string SoketName, bool bManual)
{
string Soket = SoketName;
if (
IOMgr.GetInstace().ReadIoInBit($"{Soket}治具盖上检测") &&
IOMgr.GetInstace().ReadIoInBit($"{Soket}治具LENS检测")
)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 报警提示后 处理
/// </summary>
public static void AlarmAfterTips()
{
try
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", true);
}
}
catch (Exception E)
{ }
}
public void UpDataAllIo()
{
Dictionary <string, IOMgr.IoDefine> dicInput = IOMgr.GetInstace().GetInputDic();
int indexIn = 0;
foreach (var tem in dicInput)
{
m_labelControl_IoInput[indexIn++].State = IOMgr.GetInstace().ReadIoInBit(tem.Key);
}
Dictionary <string, IOMgr.IoDefine> dicOutput = IOMgr.GetInstace().GetOutputDic();
int indexOut = 0;
foreach (var tem in dicOutput)
{
m_labelControl_IoOutput[indexOut++].State = IOMgr.GetInstace().ReadIoOutBit(tem.Key);
}
}
public static void CloseHardWork()
{
//for (int i = 0; i < 6; i++)
// LightControl.GetInstance().CloseLight(i);
ResetIO();
AlarmMgr.GetIntance().StopAlarmBeet();
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
OtherDevices.ckPower.SetVoltage(1, 0);
OtherDevices.ckPower.SetVoltage(2, 0);
}
// LightControl.GetInstance().Close();
// Weighing.GetInstance().Close();
}
public bool IsLoadOK(string SoketName, bool bManual)
{
string Soket = SoketName;
if (
IOMgr.GetInstace().ReadIoInBit($"{Soket}治具夹紧检测") &&
(
sys.g_AppMode == AppMode.Run && IOMgr.GetInstace().ReadIoInBit($"{Soket}治具真空检测") ||
sys.g_AppMode == AppMode.AirRun) &&
IOMgr.GetInstace().ReadIoInBit($"{Soket}治具LENS检测")
)
{
return(true);
}
else
{
return(false);
}
}
