public void setup(Action <bool, string> errorhandler, Action <string, string, LogViewType> loghandler, IOpcClient client, OPCParam param)
{
this.loghandler = loghandler;
this.client = client;
this.param = param;
loghandler?.Invoke("!fake robot setup.", LogType.ROBOT_STACK, LogViewType.OnlyForm);
loghandler?.Invoke($"!ip: {ip}, job name: {jobName}", "fake robot", LogViewType.OnlyFile);
}
public static void NotifyFullPanel(IOpcClient client, OPCParam param, string relloc)
{
client.TryWrite(param.BAreaPanelFinish[relloc], true);
FrmMain.logOpt.Write($"{relloc}: 满板信号发出。slot: {param.BAreaPanelFinish[relloc]}", LogType.ROBOT_STACK);
const int SIGNAL_3 = 3;
client.TryWrite(param.BAreaPanelState[relloc], SIGNAL_3);
FrmMain.logOpt.Write($"{relloc}: 板状态信号发出，状态值: {SIGNAL_3}。slot: {param.BAreaPanelState[relloc]}", LogType.ROBOT_STACK);
}
/// <summary>
/// 标签采集处，写布卷直径和去向。
/// </summary>
/// <param name="client"></param>
/// <param name="diameter">直径</param>
/// <param name="channel">去向, 1 or 2.</param>
/// <param name="param"></param>
public static void WriteLabelUpData(IOpcClient client, OPCParam param, decimal diameter, RollCatchChannel channel)
{
// diameter单位是毫米。
client.TryWrite(param.LableUpParam.Diameter, diameter);
client.TryWrite(param.LableUpParam.Goto, channel);
Thread.Sleep(DELAY);
// 复位标签采集处来料信号。
client.TryWrite(param.LableUpParam.Signal, 0);
param.LableUpParam.PlcSn.WriteSN(client);
}
public static bool WriteScanResult(IOpcClient client, OPCParam param, string area, string locationNo, string codepart1, string codepart2)
{
client.TryWrite(param.ScanParam.ToLocationArea, area);
client.TryWrite(param.ScanParam.ToLocationNo, locationNo);
// write label.
client.TryWrite(param.ScanParam.ScanLable1, codepart1);
client.TryWrite(param.ScanParam.ScanLable2, codepart2);
// write camera no. and set state true.
return(client.TryWrite(param.ScanParam.ScanState, true));
}
/// <summary>
/// 写缓存动作
/// </summary>
/// <param name="client">opc client.</param>
/// <param name="job">动作编号。</param>
/// <param name="posSave">动作编号。</param>
/// <param name="posGet">动作编号。</param>
/// <param name="param"></param>
/// <param name="lcode"></param>
public static void WriteCacheJob(IOpcClient client, OPCParam param, CacheState job, int posSave, int posGet, string lcode)
{
client.TryWrite(param.CacheParam.BeforCacheLable1, lcode.Substring(0, 6));
client.TryWrite(param.CacheParam.BeforCacheLable2, lcode.Substring(6, 6));
client.TryWrite(param.CacheParam.CacheStatus, job);
client.TryWrite(param.CacheParam.CachePoint, posSave);
client.TryWrite(param.CacheParam.GetPoint, posGet);
Thread.Sleep(DELAY);
// 复位来料信号。
param.CacheParam.PlcSn.WriteSN(client);
client.TryWrite(param.CacheParam.BeforCacheStatus, 0);
}
private static void notifyOpc(string lcode)
{
var param = new OPCParam();
IOpcClient client;
#if DEBUG
client = new FakeOpcClient(param);
#else
client = new OPCClient();
#endif
client.Open(clsSetting.OPCServerIP);
param.DeleteLCode = new LCodeSignal(client, "DeleteLCode");
PlcHelper.NotifyLabelCodeDeleted(client, param, lcode);
}
public static bool IsPushedAside(IOpcClient client, OPCParam param, Action onResetError = null)
{
var slot = param.ScanParam.PlcPushAside;
if (client.TryReadBool(slot))
{
var resetok = client.TryWrite(slot, 0);
if (!resetok)
{
onResetError?.Invoke(); // 复位失败
}
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 标签扫描处理完成以后，发消息告知OPC。
/// </summary>
/// <param name="area">交地所在的区代码："A", "B" or "C"</param>
/// <param name="numb">交地序号</param>
/// <param name="label1">标签前半部分</param>
/// <param name="label2">标签后半部分</param>
/// <param name="camera">相机号</param>
/// <param name="client">opc client</param>
/// <param name="param">opc param</param>
public static void WriteScanOK(IOpcClient client,
OPCParam param,
string area,
string numb,
string label1,
string label2,
string camera)
{
// 交地
client.TryWrite(param.ScanParam.ToLocationArea, area);
client.TryWrite(param.ScanParam.ToLocationNo, numb);
// 标签条码
client.TryWrite(param.ScanParam.ScanLable1, label1);
client.TryWrite(param.ScanParam.ScanLable2, label2);
// 相机
client.TryWrite(param.ScanParam.PushAside, camera);
// 完成信号。
WriteScanOK(client, param);
}
/// <summary>
/// 抓料处来料信号。
/// </summary>
/// <param name="client"></param>
/// <param name="pos">抓料处位置编号。</param>
/// <param name="param"></param>
/// <returns></returns>
public static bool ReadItemCatchSignal(IOpcClient client, OPCParam param, int pos)
{
var slot = "";
if (pos == 1)
{
slot = param.RobotCarryParam.RobotCarryA;
}
if (pos == 2)
{
slot = param.RobotCarryParam.RobotCarryB;
}
if (slot == "")
{
throw new Exception("error pos.");
}
return(client.TryReadBool(slot));
}
/// <summary>
/// 复位抓料处信号。
/// </summary>
/// <param name="client"></param>
/// <param name="pos"></param>
/// <param name="param"></param>
public static void ResetItemCatchSignal(IOpcClient client, OPCParam param, int pos)
{
var slot = "";
if (pos == 1)
{
slot = param.RobotCarryParam.RobotCarryA;
}
if (pos == 2)
{
slot = param.RobotCarryParam.RobotCarryB;
}
if (slot == "")
{
throw new Exception("error pos.");
}
client.TryWrite(slot, 0);
}
/// <summary>
/// 读布卷到达缓冲信号。
/// </summary>
/// <param name="client">opc client</param>
/// <param name="param">opc param</param>
/// <returns></returns>
public static bool ReadBeforeCacheSignal(IOpcClient client, OPCParam param)
{
return(client.TryReadBool(param.CacheParam.BeforCacheStatus));
}
public static void WriteWeighingSignal(IOpcClient client, OPCParam param, bool b)
{
var val = b ? "0" : "2";
client.TryWrite(param.WeighParam.GetWeigh, val);
}
public static int ReadWeighingSignal(IOpcClient client, OPCParam param)
{
return(client.TryReadInt(param.WeighParam.GetWeigh));
}
public FakeOpcClient(OPCParam param_)
{
param = param_;
}
public void setup(Action <bool, string> errorhandler, Action <string, string, LogViewType> logfunc, IOpcClient c, OPCParam p)
{
onerror = errorhandler;
_log = logfunc;
client = c;
param = p;
}
public static void setup(OPCClient c, OPCParam p, Action <string, string, LogViewType> logfunc)
{
client = c;
param = p;
_log = logfunc;
}
public static string ReadCacheLabble(IOpcClient client, OPCParam param)
{
return(client.TryReadString(param.CacheParam.BeforCacheLable1).PadLeft(6, '0') +
client.TryReadString(param.CacheParam.BeforCacheLable2).PadLeft(6, '0'));
}
/// <summary>
/// 缓存处来料信号
/// </summary>
/// <param name="client"></param>
/// <param name="param"></param>
/// <returns></returns>
public static bool ReadCacheSignal(IOpcClient client, OPCParam param)
{
var r = param.CacheParam.PlcSn.ReadSN(client);
return(r);
}
/// <summary>
/// 代替主窗口的同名函数。
/// </summary>
/// <param name="client"></param>
/// <param name="param"></param>
/// <param name="errorCode">错误码</param>
public static void ERPAlarmNo(IOpcClient client, OPCParam param, int errorCode)
{
client.TryWrite(param.None.ERPAlarm, errorCode);
}
public static void NotifyBadLayerShape(IOpcClient client, OPCParam param, string tolocation)
{
const int BAD_SHAPE = 1;
client.TryWrite(param.BadShapeLocations[tolocation], BAD_SHAPE);
}
/// <summary>
/// 删除号码以后，告知opc.
/// </summary>
/// <param name="client"></param>
/// <param name="param"></param>
/// <param name="lcode">12位长的号码</param>
public static void NotifyLabelCodeDeleted(IOpcClient client, OPCParam param, string lcode)
{
client.TryWrite(param.DeleteLCode.LCode1, lcode.Substring(0, 6));
client.TryWrite(param.DeleteLCode.LCode2, lcode.Substring(6, 6));
client.TryWrite(param.DeleteLCode.Signal, true);
}
public static void ResetBeforeCacheSignal(IOpcClient client, OPCParam param)
{
client.TryWrite(param.CacheParam.BeforCacheStatus, false);
}
/// <summary>
/// 读扫描状态信号。
/// </summary>
/// <param name="client">opc client.</param>
/// <param name="param">opc param.</param>
/// <returns></returns>
public static bool ReadScanState(IOpcClient client, OPCParam param)
{
return(client.TryReadBool(param.ScanParam.ScanState));
}
/// <summary>
/// 取OPC的diameter和length两个量。
/// 和static getFromOPC函数等价。
/// </summary>
public void getFromOPC(IOpcClient client, OPCParam param)
{
diameter = client.TryReadDecimal(param.ScanParam.Diameter);
length = client.TryReadDecimal(param.ScanParam.Length);
}
/// <summary>
/// 布卷条码扫描完成，令托架放下，传送带动。
/// </summary>
/// <param name="client">opc client instance.</param>
/// <param name="param">opc param</param>
public static void WriteScanOK(IOpcClient client, OPCParam param)
{
client.TryWrite(param.ScanParam.ScanState, true);
}
public static void PushAside(IOpcClient client, OPCParam param)
{
const int PUSH_ASIDE = 1;
client.TryWrite(param.ScanParam.PushAside, PUSH_ASIDE);
}
