public CarrierSafeCheck(PlatformEx up, PlatformEx down, ICylinderEx downGT, SafeCheckType target)
{
Target = target;
Up = up;
Down = down;
DownGT = downGT;
}
public override bool Check(PlatformEx up, int i)
{
switch (Target)
{
case SafeCheckType.ManualHome:
case SafeCheckType.Manual:
if (i < 2)
{
if (Carrier.LocateInPos("Wait"))
{
return(true);
}
else if (Carrier.LocateInPos("Work"))
{
return(true);
}
else
{
if (!up.LocateInPos("Wait", 2))
{
Error = $"UpSafeCheck {up.Name} Z 不在等待位";
return(false);
}
return(true);
}
}
return(true);
default:
return(true);
}
}
public TransTask(int id, string name, Station station) : base(id, name, station)
{
DualStartButton = new DualStartButton()
{
DiStart1 = station.Machine.Find <IDiEx>("DiStart1"),
DiStart2 = station.Machine.Find <IDiEx>("DiStart2"),
};
MultiSensorCheck = new MultiDiSensorCheck()
{
DISensors = new List <IDiEx>()
{
station.Machine.Find <IDiEx>("DiSensor1"),
station.Machine.Find <IDiEx>("DiSensor2"),
}
};
MultiClampCylinders = new MultiClampCylinders()
{
Clamps = new List <ICylinderEx>()
{
station.Machine.Find <ICylinderEx>("FBCY"),
station.Machine.Find <ICylinderEx>("LRCY"),
}
};
Platform = station.Machine.Find <PlatformEx>("TransPlatform");
VioMeasureStart = station.Machine.Find <IVioEx>("VioMeasureStart");
VioMeasureFinish = station.Machine.Find <IVioEx>("VioMeasureFinish");
}
public TransTask(int id, string name, Station station) : base(id, name, station)
{
DualStartButton = new DualStartButton
{
DiStart1 = station.Machine.Find <IDiEx>("DiStart1"),
DiStart2 = station.Machine.Find <IDiEx>("DiStart2")
};
FinSensorCheck = new MultiDiSensorCheck
{
DISensors = new List <IDiEx>()
{
station.Machine.Find <IDiEx>("DiSensor2"),
station.Machine.Find <IDiEx>("DiSensor3"),
station.Machine.Find <IDiEx>("DiSensor1"),
}
};
CarrierLoader = new CarrierLoader()
{
Task = this,
CyLeft = station.Machine.Find <ICylinderEx>("LCY"),
CyBack = station.Machine.Find <ICylinderEx>("BCY"),
CyFront = station.Machine.Find <ICylinderEx>("FCY"),
CyRight = station.Machine.Find <ICylinderEx>("RCY"),
Vaccum1 = station.Machine.Find <IDoEx>("DOVaccum1"),
Vaccum2 = station.Machine.Find <IDoEx>("DOVaccum2"),
VaccumSensor1 = station.Machine.Find <IDiEx>("DiVaccum1"),
VaccumSensor2 = station.Machine.Find <IDiEx>("DiVaccum2"),
CarrierSensor1 = station.Machine.Find <IDiEx>("DiSensor2"),
CarrierSensor2 = station.Machine.Find <IDiEx>("DiSensor3"),
};
VioMeasureStart = station.Machine.Find <IVioEx>("VioMeasureStart");
VioMeasureFinish = station.Machine.Find <IVioEx>("VioMeasureFinish");
Platform = station.Machine.Find <PlatformEx>("TransPlatform");
}
public MeasureTask(int id, string name, Station station) : base(id, name, station)
{
VioMeasureStart = station.Machine.Find <IVioEx>("VioMeasureStart");
VioMeasureFinish = station.Machine.Find <IVioEx>("VioMeasureFinish");
Camera = new ThermoCameraA();
Platform = station.Machine.Find <PlatformEx>("MeasurePlatform");
var toFilePos = new Func <double[], double[]>(d => (new PosXYZ(d) - new PosXYZ(Platform["Origin"]?.Data())).Data());
var toMovePos = new Func <double[], double[]>(d => (new PosXYZ(d) + new PosXYZ(Platform["Origin"]?.Data())).Data());
Platform.PosConvertFuncs.Clear();
Platform.PosConvertFuncs.Add("FILE", toFilePos);
Platform.PosConvertFuncs.Add("MOVE", toMovePos);
}
public override bool Check(PlatformEx platform, int i)
{
switch (Target)
{
case SafeCheckType.AutoHome:
case SafeCheckType.Auto:
if (!Up.LocateInPos("Wait", 2))
{
Error = $"CarrierSafeCheck {Up.Name} 不在等待位置";
return(false);
}
else if (!Down.LocateInPos("Wait", 2))
{
Error = $"CarrierSafeCheck {Down.Name} 不在等待位置";
return(false);
}
return(true);
case SafeCheckType.ManualHome:
case SafeCheckType.Manual:
if (!Up.LocateInPos("Wait", 2))
{
Error = $"CarrierSafeCheck {Up.Name} Z 不在等待位置";
return(false);
}
else if (!Down.LocateInPos("Wait", 2))
{
Error = $"CarrierSafeCheck {Down.Name} 不在等待位置";
return(false);
}
return(true);
default:
return(true);
}
}
public UpSafeCheck(PlatformEx carrier, SafeCheckType target)
{
Target = target;
Carrier = carrier;
}
public DownSafeCheck(PlatformEx carrier, ICylinderEx downGt, SafeCheckType target)
{
Carrier = carrier;
DownGt = downGt;
Target = target;
}
public void ParseContent(StateMachine machine, string line)
{
if (Section != "PLATFORM")
{
if (line.Length == 0)
{
//read next line
return;
}
}
switch (Section)
{
case "MOTION":
new MotionCardWrapper().Import(line, machine);
break;
case "DI":
new DiEx().Import(line, machine);
break;
case "ESTOP":
case "START":
case "STOP":
case "RESET":
DiEx.Import(Section, line, machine);
break;
case "DO":
new DoEx().Import(line, machine);
break;
case "LIGHTGREEN":
case "LIGHTYELLOW":
case "LIGHTRED":
case "BUZZER":
DoEx.Import(Section, line, machine);
break;
case "CY":
new CylinderEx().Import(line, machine);
break;
case "VIO":
new VioEx().Import(line, machine);
break;
case "AXIS":
new AxisEx().Import(line, machine);
break;
case "PLATFORM":
if (string.IsNullOrEmpty(IndentSection))
{
IndentSection = line.Split(' ')[1];
PlatformEx.Import(line, machine);
_indentIndex = 0;
}
else
{
if (line.StartsWith("NULL") || line.StartsWith("null") || line.StartsWith("Null"))
{
var platform = machine.Platforms.Values.FirstOrDefault(p => p.Name == IndentSection);
if (platform != null)
{
platform.Axis[_indentIndex] = null;
}
_indentIndex++;
}
else
{
IAxisEx axis = new AxisEx();
axis.Import(line, machine);
axis = machine.Find <IAxisEx>(axis.Name);
var platform = machine.Platforms.Values.FirstOrDefault(p => p.Name == IndentSection);
if (platform != null)
{
platform.Axis[_indentIndex] = axis;
}
_indentIndex++;
}
}
break;
case "STATION":
if (string.IsNullOrEmpty(IndentSection))
{
IndentSection = line.Split(' ')[1];
Station.Import("STATION", line, machine);
}
else
{
var data = line.Split(' ');
if (data.Length == 6)
{
//import task
Station.Import("STATIONTASK", line, machine.Find <Station>(IndentSection));
}
else if (data.Length == 7)
{
//import pause signal
Station.Import("PAUSESIGNAL", line, machine.Find <Station>(IndentSection));
}
else
{
throw new Exception($"{Section} {line} FORMAT ERROR");
}
}
break;
default:
throw new Exception($"Not Support Section - {Section}");
}
}
public abstract bool Check(PlatformEx platform, int i);
