校准库位料盘顶起检查功能

DeviceLibrary/DeviceLibrary.csproj

@@ -84,6 +84,7 @@
     <Compile Include="DeviceLibrary\ServerCommunication.cs" />
     <Compile Include="DeviceLibrary\AxisBean.cs" />
     <Compile Include="DeviceLibrary\ServerCommunication_AgvProcess.cs" />
+    <Compile Include="DeviceLibrary\VisionHelper.cs" />
     <Compile Include="theMachine\BoxTransport.cs" />
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\JobList.cs" />

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -256,14 +256,14 @@ namespace DeviceLibrary
                     if (moveInfo1.WaitList[0].WaitType == WaitEnum.W013_Action)
                     {
                         var wt = moveInfo1.WaitList[0];
-                        for (int i = 0; i < 1000; i++)
+                        for (int i = 0; i < 100; i++)
                         {
                             var w = wt.Action?.Invoke(moveInfo1.WaitList[0]);
                             if (w == null)
                                 return;
                             if (w.Value)
                                 break;
-                            Task.Delay(10).Wait();
+                            Task.Delay(100).Wait();
                         }
                     }
                 }

DeviceLibrary/DeviceLibrary/VisionHelper.cs

+using Common;
+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Diagnostics.Eventing.Reader;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace DeviceLibrary
+{
+    public class VisionHelper
+    {
+        static string visionUrl = ConfigHelper.Config.Get("VisionUrl", "http://localhost:8089/vision/eyem");
+        public static bool ReelStatusCheck()
+        {
+            string cameraName = ConfigHelper.Config.Get("MonitorCamName", "cam1");
+            string url = visionUrl + "/reelStatusCheck/cam?camName=" + cameraName;
+            try
+            {
+                CheckAndRunServer();
+                string json = HttpHelper.Get(url);
+                Result result = JsonHelper.DeserializeJsonToObject<Result>(json);
+                if (result != null && result.code == 0)
+                {
+                    LogUtil.info("料盘放置正常");
+                    return true;
+                }
+                else
+                {
+                    LogUtil.info("料盘放置异常");
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("ReelStatusCheck", ex);
+            }
+            return false;
+        }
+       static Process EyemFeatureSet = new Process();
+        static int webclienttimeout = 30000;
+       public static void CheckAndRunServer()
+        {
+            lock (EyemFeatureSet)
+            {
+                Process[] processesByName = Process.GetProcessesByName("EyemFeatureSet");
+                if (processesByName.Length != 0)
+                {
+                    return;
+                }
+
+                string text = "Modules\\EyemFeatureSet\\EyemFeatureSet.exe";
+                if (!File.Exists(text))
+                {
+                    throw new Exception("找不到算法服务器文件");
+                }
+
+                EyemFeatureSet= ProcessUtil.StartProcess("EyemFeatureSet", Application.StartupPath+"\\Modules\\EyemFeatureSet\\");
+                int num = 5;
+                while (num > 0)
+                {
+                    num--;
+                    Thread.Sleep(1000);
+                    MyWebClient myWebClient = new MyWebClient(webclienttimeout);
+                    string text2 = myWebClient.DownloadString(visionUrl+"/alive");
+                    if (text2.Trim() == "\"1\"")
+                    {
+                        return;
+                    }
+                }
+                throw new Exception("算法服务器文件打开失败");
+            }
+        }
+        public class Result
+        {
+            /// <summary>
+            /// 状态码，0为正常
+            /// </summary>
+            public int code { get; set; } = 0;
+            /// <summary>
+            /// 返回数据
+            /// </summary>
+            public Dictionary<string, string> data { get; set; }
+            /// <summary>
+            /// 提示信息
+            /// </summary>
+            public string msg { get; set; } = "ok";
+        }
+    }
+}

DeviceLibrary/theMachine/MoveStep.cs

@@ -138,6 +138,10 @@ namespace DeviceLibrary
         StoreFIX02,
         StoreFIX03,
         StoreFIX04,
+        StoreFIX04_01_InoutBackToP1,
+        StoreFIX04_02_CheckLocation,
+        StoreFIX04_03_ReloadPos,
+        StoreFIX04_04_InoutToPos,
         StoreFIX05,
         StoreFIX06,
         StoreTS10,

TheMachine/Program.cs

@@ -73,8 +73,8 @@ namespace TheMachine
             var t = stopwatch.ElapsedMilliseconds / 1000d;
             b.Save(@"D:\rick\vs\SO1069MIMO_PLUS\11-57-09-156_11.bmp");
             */
-            
 
+           DeviceLibrary.VisionHelper.CheckAndRunServer();
 
             _ = new Mutex(true, Application.ProductName, out bool ret);
             if (!ret)

TheMachine/WindowManager.cs

@@ -13,7 +13,7 @@ namespace TheMachine
     internal class WindowManager
     {
         public static List<WindInfo> windInfos = new List<WindInfo>();
-        static string baseDir = @".\Modules\";
+        static string baseDir = Application.StartupPath + @"\Modules\";
         public static void Start()
         {
             foreach (var item in windInfos)