RobotManage.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
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 StoreType StoreType = ConfigHelper.Config.Get<StoreType>("StoreType",StoreType.TypeA);
public static bool IsLoadOk = true;
public static bool IsConfigMode = false;
public static bool InoutDebugMode = 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;
public static Dictionary<string, ACStorePosition> allPositionMap { get => CSVPositionReader<ACStorePosition>.allPositionMap; }
public static List<string> PositionNumList { get => CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList(); }
static string baseDir = Application.StartupPath;
static Thread mainThread;
public static HIKCamera CameraA=new HIKCamera();
public static HIKCamera CameraB= new HIKCamera();
public static void Init() {
string msg = "";
try
{
mainMachine = null;
string configFile = Path.Combine(baseDir, "config\\Config.csv");
Config = new Robot_Config(0, "", configFile);
Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
string positionConfigFile = Path.Combine(baseDir, "StoreConfig\\linePositions.csv");
if (File.Exists(positionConfigFile))
{
LogUtil.info("加载位置文件：" + positionConfigFile);
CSVPositionReader<ACStorePosition>.ReloadCSVFile(positionConfigFile);
}
else {
IsLoadOk = false;
msg += "找不到库位配置文件\n";
}
CodeManager.LoadConfig();
mainMachine = new MainMachine(RobotManage.Config);
if (!IOManager.ConnectionIOList(new List<string>()))
{
IsLoadOk = false;
msg += "IO板卡初始化失败\n";
}
if (StoreType == StoreType.TypeA)
{
if (!OKLEController.Init(Config.WeightSensorPort))
{
IsLoadOk = false;
msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n";
}
}
if (!CameraA.LoadCameraConfig("CameraA", out string errmsg))
{
IsLoadOk = false;
msg += errmsg + "\r\n";
}
if (!CameraB.LoadCameraConfig("CameraB", out errmsg))
{
IsLoadOk = false;
msg += errmsg+"\r\n";
}
IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
}
catch (Exception ex) {
LoadFinishEvent?.Invoke(false, ex.Message);
return;
}
LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
}
public static void LoadDebug() {
LoadFinishEvent?.Invoke(true, "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.Run));
mainThread.Start();
isRunning = true;
GC.KeepAlive(mainThread);
Task.Run(()=> {
AxisBean.List.ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
Task.Delay(1000).Wait();
if (mainMachine.DeviceCheck())
mainMachine.BeginHomeReset(true);
});
}
public static void Stop()
{
LogUtil.info("开始停止系统.");
mainMachine.Stop();
mainMachine.UserPause = false;
//IOManager.CloseAllConnection();
//electricGripper.ClosePort();
isRunning = false;
}
public static void ShutDown()
{
LogUtil.info("开始关闭系统.");
IOManager.CloseAllConnection();
}
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);
}
else
LogUtil.info("用户取消暂停");
}
public static void IgnoreSafecheck(bool s)
{
mainMachine.IgnoreSafecheck = s;
if (s)
LogUtil.info("用户设置忽略安全检查");
else
LogUtil.info("用户取消忽略安全检查");
}
public static void IgnoreGratingSignal(bool s)
{
mainMachine.IgnoreGratingSignal = s;
if (s)
LogUtil.info("用户设置忽略安全光栅");
else
LogUtil.info("用户取消忽略安全光栅");
}
}
public enum StoreType {
TypeA,TypeB
}
}