RobotManage.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using Robot.UR;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
public static class RobotManage
{
public static MainMachine mainMachine;
public static Robot_Config Config;
public static Dictionary<string,DeviceGroup> DeviceGroup;
public static bool IsLoadOk = true;
public static bool IsConfigMode = false;
public delegate void LoadFinish(bool state,string msg);
public static event LoadFinish LoadFinishEvent;
public static event EventHandler<bool> UserPauseSet;
public static bool isRunning = false;
static string baseDir = Application.StartupPath;
static Thread mainThread;
internal static bool InoutDebugMode;
public static Dictionary<string, RobotPosition> MI1Postion;
public static Dictionary<string, RobotPosition> MI2Postion;
public static Dictionary<string, RobotPosition> CIPostion;
public static URRobotControl Robot_MI1;
public static URRobotControl Robot_MI2;
public static URRobotControl Robot_CI;
public static VStoreCollection VStoreCollection;
public static void Init() {
string msg = "";
try
{
mainMachine = null;
string configFile = "config\\Config.csv";
Config = new Robot_Config(0, "", configFile);
Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
string DeviceGroupFile = "config\\DeviceGroup.csv";
DeviceGroup = CSVPositionReader<DeviceGroup>.AddCSVFile(DeviceGroupFile);
if (File.Exists(configFile))
{
LogUtil.info("加载位置文件：" + configFile);
}
else {
IsLoadOk = false;
msg += crc.GetString("Res0180","找不到库位配置文件")+ "\n";
}
string MI1PostionFile = "config\\MI1Postion.csv";
string MI2PostionFile = "config\\MI2Postion.csv";
string CIPostionFile = "config\\CIPostion.csv";
MI1Postion = CSVPositionReader<RobotPosition>.LoadCSVFile(MI1PostionFile);
MI2Postion = CSVPositionReader<RobotPosition>.LoadCSVFile(MI2PostionFile);
CIPostion = CSVPositionReader<RobotPosition>.LoadCSVFile(CIPostionFile);
Robot_MI1 = new URRobotControl(Setting_Init.URRobot_MI1_IP);
Robot_MI1.SetSpeedRate(Setting_Init.URRobot_MI1_Speed_Rate);
Robot_MI2 = new URRobotControl(Setting_Init.URRobot_MI2_IP);
Robot_MI2.SetSpeedRate(Setting_Init.URRobot_MI2_Speed_Rate);
Robot_CI = new URRobotControl(Setting_Init.URRobot_CI_IP);
Robot_CI.SetSpeedRate(Setting_Init.URRobot_CI_Speed_Rate);
VStoreCollection = new VStoreCollection();
//if (Robot_MI1.StartRobot()) {
// LogUtil.info("MI1 UR机器人启动成功,"+ Robot_MI1.GetStatus());
//} else {
// IsLoadOk = false;
// msg += "MI1 UR机器人启动失败" + "\n";
//}
//if (Robot_MI2.StartRobot())
//{
// LogUtil.info("MI2 UR机器人启动成功," + Robot_MI2.GetStatus());
//}
//else
//{
// IsLoadOk = false;
// msg += "MI2 UR机器人启动失败" + "\n";
//}
//if (Robot_CI.StartRobot())
//{
// LogUtil.info("CI UR机器人启动成功," + Robot_CI.GetStatus());
//}
//else
//{
// IsLoadOk = false;
// msg += "CI UR机器人启动失败" + "\n";
//}
CodeManager.LoadConfig();
RemoteService.Init();
mainMachine = new MainMachine(out string m);
if (!string.IsNullOrWhiteSpace(m)) {
IsLoadOk = false;
msg += m;
}
//Thread.Sleep(5000);
if (!IOManager.ConnectionIOList(new List<string>()))
{
IsLoadOk = false;
msg += crc.GetString("Res0181","IO板卡初始化失败")+ "\n";
}
//IsLoadOk = true;
}
catch (Exception ex) {
LogUtil.error(ex.ToString());
MessageBox.Show(ex.ToString());
LoadFinishEvent?.Invoke(false, ex.Message);
return;
}
LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
}
public static void LoadDebug() {
LoadFinishEvent?.Invoke(true, crc.GetString("Res0182","打开调试模式"));
}
public static void Start() {
//Init();
if (!IsLoadOk)
{
LogUtil.info("系统还未加载完毕,无法启动");
if (!IsConfigMode)
return;
}
mainThread = new Thread(new ThreadStart(mainMachine.Start));
mainThread.Start();
VStoreCollection.Start();
Thread.Sleep(50);
var d1 = new DeviceRunControl("SideMove", SideMove.DeviceList.Values.ToList<IDevice>());
var d2 = new DeviceRunControl("TransplantMove", TransplantMove.DeviceList.Values.ToList<IDevice>());
var d3 = new DeviceRunControl("TrayStop", TrayStop.DeviceList.Values.ToList<IDevice>());
var d4 = new DeviceRunControl("MI", MI.DeviceList.Values.ToList<IDevice>());
isRunning = true;
GC.KeepAlive(mainThread);
mainMachine.BeginHomeReset(true);
d1.Start();
d2.Start();
d3.Start();
d4.Start();
}
public static void Stop()
{
LogUtil.info("开始停止系统.");
if (mainMachine != null)
{
mainMachine.Stop();
mainMachine.UserPause = false;
}
VStoreCollection.Stop();
isRunning = false;
}
public static void ShutDown()
{
LogUtil.info("开始关闭系统.");
IOManager.CloseAllConnection();
VStoreCollection.ShutDown();
Robot_MI1.StopRobot();
Robot_MI2.StopRobot();
Robot_CI.StopRobot();
}
public static void UserPause(bool userpause)
{
UserPause("", userpause);
}
public static void UserPause(string msg="",bool userpause=true) {
UserPauseSet?.Invoke(null, userpause);
mainMachine.UserPause = userpause;
if (userpause)
{
if(string.IsNullOrEmpty(msg))
LogUtil.info("用户暂停");
else
LogUtil.info("系统暂停: "+msg);
Thread.Sleep(500);
}
else
LogUtil.info("用户取消暂停:"+ msg);
}
}
public enum StoreType {
TypeA,TypeB
}
}