Robot_Config.cs
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using log4net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.LoadCSVLibrary
{
public class Robot_Config : DeviceConfig
{
public Robot_Config()
: base()
{
}
public Robot_Config(int id, string type, string filepath)
: base(id, LoadCSVLibrary.DeviceType.Line, filepath)
{
}
/// <summary>
/// 设备是否处于调试状态（1=调试，0=正常）
/// </summary>
[ConfigProAttribute("IsDebug",false)]
public int IsDebug { get; set; }
/// <summary>
/// 气压检测信号关闭需要持续的时间
/// </summary>
[ConfigProAttribute("AirCheckSeconds")]
public int AirCheckSeconds { get; set; }
/// <summary>
/// PRO,当多久没有出入库操作时，流水线进行休眠(休眠毫秒数）,Sleep_MSeconds,120,,,,,
/// </summary>
[ConfigProAttribute("Sleep_MSeconds")]
public int Sleep_MSeconds { get; set; }
/// <summary>
/// PRO IO信号超时时间（秒） IOSingle_TimerOut 5000
/// </summary>
[ConfigProAttribute("IOSingle_TimerOut",false)]
public int IOSingle_TimerOut { get; set; }
/// <summary>
/// PRO IO模块对应的DI数量 IO_DILength 192.168.200.10#16;192.168.200.11#4
/// </summary>
[ConfigProAttribute("IO_DILength")]
public string IO_DILength { get; set; }
/// <summary>
/// PRO 模块对应的DO数量 IO_DOLength 192.168.200.10#16;192.168.200.11#4
/// </summary>
[ConfigProAttribute("IO_DOLength")]
public string IO_DOLength { get; set; }
/// <summary>
/// AXIS,,取料机构旋转轴_SVD01,Take_Middle_Axis,1,COM1,,,,250,80,80,80,60,50,10,1000,0,0
/// </summary>
[ConfigProAttribute("Take_Middle_Axis")]
public ConfigMoveAxis Take_Middle_Axis { get; set; }
/// <summary>
/// AXIS,,取料机构上下轴_SVD02,Take_UpDown_Axis,2,COM1,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Take_UpDown_Axis")]
public ConfigMoveAxis Take_UpDown_Axis { get; set; }
/// <summary>
/// AXIS,,取料机构进出轴_SVD03,Take_InOut_Axis,3,COM1,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Take_InOut_Axis")]
public ConfigMoveAxis Take_InOut_Axis { get; set; }
/// <summary>
/// AXIS,,左轨道提升轴_SVD04,Left_Batch_Axis,4,COM1,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Left_Batch_Axis")]
public ConfigMoveAxis Left_Batch_Axis { get; set; }
/// <summary>
/// AXIS,,右轨道提升轴_SVD05,Right_Batch_Axis,5,COM1,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Right_Batch_Axis")]
public ConfigMoveAxis Right_Batch_Axis { get; set; }
/// <summary>
/// AXIS,,取料移栽机构X轴_SVD06,Move_X_Axis,1,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Move_X_Axis")]
public ConfigMoveAxis Move_X_Axis { get; set; }
/// <summary>
/// AXIS,,取料移栽机构Z轴_SVD07,Move_Z_Axis,2,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Move_Z_Axis")]
public ConfigMoveAxis Move_Z_Axis { get; set; }
/// <summary>
/// AXIS,,贴标移栽机构X轴_SVD08,Label_X_Axis,3,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Label_X_Axis")]
public ConfigMoveAxis Label_X_Axis { get; set; }
/// <summary>
/// AXIS,,贴标移栽机构Y轴_SVD09,Label_Y_Axis,4,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Label_Y_Axis")]
public ConfigMoveAxis Label_Y_Axis { get; set; }
/// <summary>
/// AXIS,,贴标移栽机构Z轴_SVD10,Label_Z_Axis,5,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Label_Z_Axis")]
public ConfigMoveAxis Label_Z_Axis { get; set; }
/// <summary>
/// AXIS,,贴标移栽机构R轴_SVD11,Label_R_Axis,6,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Label_R_Axis")]
public ConfigMoveAxis Label_R_Axis { get; set; }
/// <summary>
/// AXIS,,出料工位提升轴_SVD12,Out_Batch_Axis,7,COM2,,,,100,300,200,20,50,200,10,1000,0,0
/// </summary>
[ConfigProAttribute("Out_Batch_Axis")]
public ConfigMoveAxis Out_Batch_Axis { get; set; }
public void SetAxisParam()
{
Left_Batch_Axis.ServerOnDO = IO_Type.LeftBatchAxis_ON;
Left_Batch_Axis.BreakOnDO = IO_Type.LeftBatchAxis_Break;
Right_Batch_Axis.ServerOnDO = IO_Type.RightBatchAxis_ON;
Right_Batch_Axis.BreakOnDO = IO_Type.RightBatchAxis_Break;
Out_Batch_Axis.ServerOnDO = IO_Type.OutBatchAxis_ON;
Out_Batch_Axis.BreakOnDO = IO_Type.OutBatchAxis_Break;
Take_Middle_Axis.ServerOnDO = IO_Type.TakeAxis_ON;
Take_InOut_Axis.ServerOnDO = IO_Type.TakeAxis_ON;
Take_UpDown_Axis.ServerOnDO = IO_Type.TakeAxis_ON;
Take_UpDown_Axis.BreakOnDO = IO_Type.Take_Axis_Break;
Move_X_Axis.ServerOnDO = IO_Type.MoveAxis_ON;
Move_Z_Axis.ServerOnDO = IO_Type.MoveAxis_ON;
Move_Z_Axis.BreakOnDO = IO_Type.MoveAxis_Break;
Label_R_Axis.ServerOnDO = IO_Type.LabelAxis_ON;
Label_X_Axis.ServerOnDO = IO_Type.LabelAxis_ON;
Label_Y_Axis.ServerOnDO = IO_Type.LabelAxis_ON;
Label_Z_Axis.ServerOnDO = IO_Type.LabelAxis_ON;
Label_Z_Axis.BreakOnDO = IO_Type.LabelAxis_Break;
}
private Dictionary<string, ushort> DILengthMap = null;
private Dictionary<string, ushort> DOLengthMap = null;
public ushort GetDILength(string ip)
{
try
{
if (DILengthMap == null)
{
DILengthMap = new Dictionary<string, ushort>();
string[] arrayList = IO_DILength.Split(';');
foreach (string str in arrayList)
{
string[] arrStr = str.Split('#');
if (arrStr.Length == 2)
{
string ioip = arrStr[0];
ushort length = Convert.ToUInt16(arrStr[1]);
DILengthMap.Add(ioip, length);
}
}
}
}
catch (Exception ex)
{
}
if (DILengthMap.ContainsKey(ip))
{
return DILengthMap[ip];
}
return 16;
}
public ushort GetDOLength(string ip)
{
try
{
if (DOLengthMap == null)
{
DOLengthMap = new Dictionary<string, ushort>();
string[] arrayList = IO_DOLength.Split(';');
foreach (string str in arrayList)
{
string[] arrStr = str.Split('#');
if (arrStr.Length == 2)
{
string ioip = arrStr[0];
ushort length = Convert.ToUInt16(arrStr[1]);
DOLengthMap.Add(ioip, length);
}
}
}
}
catch (Exception ex)
{
}
if (DOLengthMap.ContainsKey(ip))
{
return DOLengthMap[ip];
}
return 16;
}
}
}