public MotionManager Motion(IMotion motion)
{
motion.Init(this);
if (currentMotion == null)
{
currentMotion = motion;
currentMotion.Start();
}
motion.OnComplete += () =>
{
if (motions.IndexOf(currentMotion) == motions.Count - 1)
{
Completed = true;
if (completed != null)
{
completed();
}
}
else
{
currentMotion = motions[motions.IndexOf(currentMotion) + 1];
currentMotion.Start();
}
};
motions.Add(motion);
return(this);
}
//public static
public void LoadConfig(out List <string> errList)
{
#region >>>>Hardware init
errList = new List <string>();
try
{
var json_string = File.ReadAllText(File_HardwareCfg);
HardwareCfgMgr = JsonConvert.DeserializeObject <HardwareCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add($"Unable to load config file { File_HardwareCfg}, { ex.Message}");
}
IMotion motionBase = null;
IIO ioBase = null;
InstrumentBase instrumentBase = null;
LightBase lightBase = null;
Type hardWareMgrType = HardwareCfgMgr.GetType();
//先初始化通信端口
foreach (var it in hardWareMgrType.GetProperties())
{
switch (it.Name)
{
case "Comports":
foreach (var comportCfg in HardwareCfgMgr.Comports)
{
CommunicationPortBase port = new Comport(comportCfg);
CommunicationMgr.Instance.AddCommunicationPort(comportCfg.PortName, port);
}
break;
case "Ethernets":
case "Gpibs":
case "Visas":
break;
default:
break;
}
}
foreach (var it in hardWareMgrType.GetProperties())
{
switch (it.Name)
{
case "MotionCards":
var motionCfgs = it.GetValue(HardwareCfgMgr) as MotionCardCfg[];
if (motionCfgs == null)
{
break;
}
foreach (var motionCfg in motionCfgs)
{
if (motionCfg.Enabled)
{
motionBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.MotionCards." + motionCfg.Name.Substring(0, motionCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, /*new object[] { motionCfg }*/ null, null, null) as IMotion;
if (motionBase != null)
{
if (motionCfg.ConnectMode.ToLower() != "none")
{
var p = hardWareMgrType.GetProperty($"{motionCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == motionCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (motionBase.Init(motionCfg, ports.ElementAt(0)))
{
//设置单位，轴类型， 软限位等
for (int i = 0; i < motionBase.MAX_AXIS - motionBase.MIN_AXIS + 1; i++)
{
var settings = HardwareCfgMgr.AxisSettings.Where(a => a.AxisNo == i + motionBase.MIN_AXIS);
try
{
motionBase.SetAxisPara(i, settings == null ? null : settings.First());
}
catch (Exception ex)
{
errList.Add($"{ex.Message}");
}
}
MotionMgr.Instance.AddMotionCard(motionCfg.Name, motionBase);
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (motionBase.Init(motionCfg, null))
{
//设置单位，轴类型， 软限位等
for (int i = 0; i < motionBase.MAX_AXIS - motionBase.MIN_AXIS; i++)
{
var settings = HardwareCfgMgr.AxisSettings.Where(a => a.AxisNo == i + motionBase.MIN_AXIS);
try
{
motionBase.SetAxisPara(i, settings == null ? null : settings.First());
}
catch (Exception ex)
{
errList.Add($"{ex.Message}");
}
}
MotionMgr.Instance.AddMotionCard(motionCfg.Name, motionBase);
}
else
{
errList.Add($"{motionCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{motionCfg.Name} Create instanse failed");
}
}
}
break;
case "IOCards":
var ioCfgs = it.GetValue(HardwareCfgMgr) as IOCardCfg[];
if (ioCfgs == null)
{
break;
}
foreach (var ioCfg in ioCfgs)
{
if (ioCfg.Enabled)
{
ioBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.IOCards." + ioCfg.Name.Substring(0, ioCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as IIO;
if (ioBase != null)
{
ioBase.ioCfg = ioCfg;
if (ioCfg.ConnectMode.ToLower() != "none") //没有屏蔽端口
{
var p = hardWareMgrType.GetProperty($"{ioCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == ioCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (ioBase.Init(ioCfg, ports.ElementAt(0)))
{
IOCardMgr.Instance.AddIOCard(ioCfg.Name, ioBase);
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (ioBase.Init(ioCfg, null))
{
IOCardMgr.Instance.AddIOCard(ioCfg.Name, ioBase);
}
else
{
errList.Add($"{ioCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{ioCfg.Name} Create instanse failed");
}
}
}
break;
case "Instruments":
var instrumentCfgs = it.GetValue(HardwareCfgMgr) as InstrumentCfg[];
if (instrumentCfgs == null)
{
break;
}
foreach (var instrumentCfg in instrumentCfgs)
{
if (instrumentCfg.Enabled)
{
instrumentBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.Instruments." + instrumentCfg.InstrumentName.Substring(0, instrumentCfg.InstrumentName.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as InstrumentBase;
if (instrumentBase != null)
{
if (instrumentBase.Init())
{
}
}
}
}
break;
case "Cameras":
var cameraCfgs = it.GetValue(HardwareCfgMgr) as CameraCfg[];
break;
case "Lights":
var lightCfgs = it.GetValue(HardwareCfgMgr) as LightCfg[];
foreach (var lightCfg in lightCfgs)
{
if (lightCfg.Enabled)
{
lightBase = hardWareMgrType.Assembly.CreateInstance("JPT_TosaTest.Vision.Light." + lightCfg.Name.Substring(0, lightCfg.Name.IndexOf("[")), true, BindingFlags.CreateInstance, null, null, null, null) as LightBase;
if (lightBase != null)
{
if (lightCfg.ConnectMode.ToLower() != "none")
{
var p = hardWareMgrType.GetProperty($"{lightCfg.ConnectMode}s");
var portCfgs = p.GetValue(HardwareCfgMgr) as ICommunicationPortCfg[];
var ports = from portCfg in portCfgs where portCfg.PortName == lightCfg.PortName select portCfg;
if (ports != null && ports.Count() > 0)
{
if (lightBase.Init(lightCfg, ports.ElementAt(0))) //如果不需要初始化就直接加入字典
{
LigtMgr.Instance.AddLight(lightCfg.Name, lightBase);
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
else //无需选择通信端口
{
if (lightBase.Init(lightCfg, null))
{
LigtMgr.Instance.AddLight(lightCfg.Name, lightBase);
}
else
{
errList.Add($"{lightCfg.Name} init failed");
}
}
}
else
{
errList.Add($"{lightCfg.Name} Create instanse failed");
}
}
}
break;
default:
break;
}
}
#endregion
#region >>>>Software init
try
{
var json_string = File.ReadAllText(File_SoftwareCfg);
SoftwareCfgMgr = JsonConvert.DeserializeObject <SoftwareCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_SoftwareCfg, ex.Message));
}
Type tStationCfg = SoftwareCfgMgr.GetType();
PropertyInfo[] pis = tStationCfg.GetProperties();
WorkFlowConfig[] WorkFlowCfgs = null;
WorkFlowBase workFlowBase = null;
foreach (PropertyInfo pi in pis)
{
if (pi.Name == "WorkFlowConfigs")
{
WorkFlowCfgs = pi.GetValue(SoftwareCfgMgr) as SoftwareManager.WorkFlowConfig[];
foreach (var it in WorkFlowCfgs)
{
if (it.Enable)
{
workFlowBase = tStationCfg.Assembly.CreateInstance("JPT_TosaTest.WorkFlow." + it.Name, true, BindingFlags.CreateInstance, null, new object[] { it }, null, null) as WorkFlowBase;
if (workFlowBase == null)
{
errList.Add($"Station: {it.Name} Create instance failed!");
}
else
{
WorkFlowMgr.Instance.AddStation(it.Name, workFlowBase);
}
}
}
}
}
#endregion
#region >>>>SystemCfg
try
{
var json_string = File.ReadAllText(File_SystemParaCfg);
SystemParaCfgMgr = JsonConvert.DeserializeObject <SystemParaCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_SystemParaCfg, ex.Message));
}
#endregion
#region >>>> UserCfg init
try
{
var json_string = File.ReadAllText(File_UserCfg);
UserCfgMgr = JsonConvert.DeserializeObject <UserCfgManager>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_UserCfg, ex.Message));
}
#endregion
#region >>>>ProcessPara
//从文件中读取参数
try
{
var json_string = File.ReadAllText(File_ProcessPara);
ProcessDataMgr = JsonConvert.DeserializeObject <ProcessParaMgr>(json_string);
}
catch (Exception ex)
{
errList.Add(String.Format("Unable to load config file {0}, {1}", File_UserCfg, ex.Message));
}
#endregion
}