/// <summary>
/// Todo tray change
/// </summary>
/// <returns></returns>
public async Task <WaitBlock> WorkAsync()
{
return(await Task.Run(async() =>
{
string log = string.Empty;
try
{
//Task<WaitBlock>[] blocks;
if (_currentCycleId == 0)
{
_currentCycleId = 1;
}
//if (VLoadStation.GetInsideOpticalSensor()==false)
//{
// VLoadStation.LoadATray();
//}
//if (VUnloadStation.GetInsideOpticalSensor() == false)
//{
// VUnloadStation.LoadATray();
//}
//if (LLoadStation.GetInsideOpticalSensor()==false)
//{
// LLoadStation.LoadATray();
//}
do
{
//WorkTable.Fixtures[(int)FixtureId.V].IsEmpty = false;
//WorkTable.Fixtures[(int)FixtureId.V].NG = false;
log = string.Empty;
//Stop production.
if (VRobot.StopProduction)
{
bool allEmpty = true;
foreach (var fixture in WorkTable.Fixtures)
{
if (fixture.IsEmpty == false)
{
allEmpty = false;
}
}
if (allEmpty)
{
break;
}
}
//if (VRobot.LoadTray.CurrentPart.XIndex > VRobot.LoadTray.ColumneCount)
//{
// VLoadTrayEmptyManualResetEvent.Reset();
// VLoadTrayEmptyManualResetEvent.WaitOne();
//}
//blocks = new Task<WaitBlock>[2];
//blocks[0] = VRobot.WorkAsync();
//blocks[1] = LRobot.WorkAsync();
//blocks[2] = UVLight.WorkAsync();
//blocks[0] = VRobot.WorkAsync();
//blocks[0] = LRobot.WorkAsync();
//blocks[1] = UVLight.WorkAsync();
//await blocks[0];
//await blocks[1];
//Task.WaitAll(blocks);
//CheckTaskResults(blocks);
//Helper.CheckTaskResult(blocks[1]);
var vTask = VRobot.WorkAsync(_currentCycleId);
var gpTask = GluePointRobot.WorkAsync(_currentCycleId);
var glTask = GlueLineRobot.WorkAsync(_currentCycleId);
var lTask = LRobot.WorkAsync(_currentCycleId);
var uVTask = UVLight.WorkAsync(_currentCycleId);
await vTask;
await gpTask;
await glTask;
await lTask;
await uVTask;
log += vTask.Result.Message + Environment.NewLine;
log += gpTask.Result.Message + Environment.NewLine;
log += glTask.Result.Message + Environment.NewLine;
log += lTask.Result.Message + Environment.NewLine;
Helper.CheckTaskResult(vTask);
Helper.CheckTaskResult(gpTask);
Helper.CheckTaskResult(glTask);
Helper.CheckTaskResult(lTask);
Helper.CheckTaskResult(uVTask);
var tableTask = WorkTable.TurnsAsync();
await tableTask;
Helper.CheckTaskResult(tableTask);
_currentCycleId++;
} while (KeepThisShitRunning);
return new WaitBlock()
{
Message = "Production stopped."
};
}
catch (Exception ex)
{
return new WaitBlock()
{
Code = ErrorCode.ProductionFail,
Message = "Production interruptted due to: " + ex.Message + " " + log,
};
}
}));
}
public void Setup()
{
LaserSensorGlueLine = new LaserSensor("COM4", 9600, 2);
LaserSensorGluePoint = new LaserSensor("COM3", 9600, 1);
PressureSensorGlueLine = new PressureSensor("COM6", 9600, 2);
PressureSensorGluePoint = new PressureSensor("COM5", 9600, 1);
LaserSensorGluePoint.Start();
LaserSensorGlueLine.Start();
PressureSensorGluePoint.Start();
PressureSensorGlueLine.Start();
Mc = new MotionController();
Mc.Connect();
Mc.Setup();
Mc.ZeroAllPositions();
Vision = new VisionServer(Mc);
WorkTable = new RoundTable(Mc);
WorkTable.Setup();
UVLight = new UVLight(Mc, WorkTable);
LoadCapturePositions();
LoadUserOffsets();
LoadDevelopPoints();
LoadGlueParameters();
LoadUserSettings();
SettingManager = new SettingManager(this);
LRobot = new LStation(Mc, Vision, WorkTable, CapturePositions, UserOffsets);
LRobot.Setup();
VLoadStation = new VLoadTrayStation(Mc);
VLoadStation.Setup();
VUnloadStation = new VUnloadTrayStation(Mc);
VUnloadStation.Setup();
LLoadStation = new LLoadTrayStation(Mc);
LLoadStation.Setup();
LUnloadStation = new LUnloadTrayStation(Mc);
LUnloadStation.Setup();
VRobot = new VStation(Mc, Vision, WorkTable, VLoadStation, VUnloadStation,
CapturePositions, UserOffsets);
VRobot.Setup();
GlueLineRobot = new GlueLineStation(Mc, Vision, WorkTable, CoordinateId.GlueLine,
GlueParameters, CapturePositions, UserOffsets,
PressureSensorGlueLine, LaserSensorGlueLine);
GlueLineRobot.Setup();
GluePointRobot = new GluePointStation(Mc, Vision, WorkTable, CoordinateId.GluePoint,
GlueParameters, CapturePositions, UserOffsets,
PressureSensorGluePoint, LaserSensorGluePoint);
GluePointRobot.Setup();
VRobot.CheckVacuumValue = _checkVacuum;
LRobot.CheckVacuumValue = _checkVacuum;
}
