RobotManage.cs
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using Asa.RFID;
using OnlineStore;
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 bool IsLoadOk = true;
public static bool IsConfigMode = false;
public static bool InoutDebugMode = false;
public static bool DisableUpdownProtect {
get => Setting_Init.Device_DisableUpdownProtect;
}
public delegate void LoadFinish(bool state,string msg);
public static event LoadFinish LoadFinishEvent;
public static event EventHandler<bool> UserPauseSet;
public static volatile bool isRunning = false;
public static Dictionary<string, ACStorePosition> allPositionMap { get => CSVPositionReader<ACStorePosition>.allPositionMap; }
static List<string> _positionNumList=null;
public static List<string> PositionNumList { get {
if (_positionNumList == null)
_positionNumList = CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList();
return _positionNumList;
}
}
static List<string> _storepositionNumList=null;
public static List<string> StorePositionNumList { get {
if (_storepositionNumList == null)
{
_storepositionNumList = CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList().Where(x =>x.StartsWith("S")).ToList() ;
}
return _storepositionNumList;
}
}
static List<string> _allPositionMapNumList = null;
public static List<string> AllPositionMapNumList
{
get
{
if (_allPositionMapNumList == null)
{
_allPositionMapNumList = CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList();
}
return _allPositionMapNumList;
}
}
static string baseDir = Application.StartupPath;
static Thread mainThread;
public static bool haveFixpos=false;
/// <summary>
/// 入口相机
/// </summary>
public static HIKCamera CameraA=new HIKCamera();
///// <summary>
///// 出口相机
///// </summary>
//public static HIKCamera CameraB=new HIKCamera();
///// <summary>
///// 左侧相机
///// </summary>
//public static HIKCamera CameraC=new HIKCamera();
///// <summary>
///// 右侧相机
///// </summary>
//public static HIKCamera CameraD=new HIKCamera();
public static DauxiKS107Controller dauxiKS107 = new DauxiKS107Controller();
public static PuYueRFID_FR540SP_C2S RFID = new PuYueRFID_FR540SP_C2S();
public static PrinterHelper printerHelper = new PrinterHelper();
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 EntryPostionFile = "config\\EntryPostion.csv";
string OutPostionFile = "config\\OutPostion.csv";
string StoragePostionFile = "config\\StoragePostion.csv";
//var EntryPostion = CSVPositionReader<ACStorePosition>.LoadCSVFile(EntryPostionFile);
// var OutPostion = CSVPositionReader<ACStorePosition>.LoadCSVFile(OutPostionFile);
//var StoragePostion = CSVPositionReader<ACStorePosition>.LoadCSVFile(StoragePostionFile);
if (File.Exists(EntryPostionFile))
{
LogUtil.info("加载位置文件：" + EntryPostionFile);
CSVPositionReader<ACStorePosition>.AddCSVFile(EntryPostionFile);
}
else {
IsLoadOk = false;
msg += crc.GetString("Res0117","找不到库位配置文件:")+ EntryPostionFile + "\n";
}
if (File.Exists(OutPostionFile))
{
haveFixpos = true;
LogUtil.info("加载库位文件：" + OutPostionFile);
CSVPositionReader<ACStorePosition>.AddCSVFile(OutPostionFile);
}
else
{
IsLoadOk = false;
msg += crc.GetString("Res0117","找不到库位配置文件:") + OutPostionFile + "\n";
}
if (File.Exists(StoragePostionFile))
{
haveFixpos = true;
LogUtil.info("加载库位文件：" + StoragePostionFile);
CSVPositionReader<ACStorePosition>.AddCSVFile(StoragePostionFile);
}
else
{
IsLoadOk = false;
msg += crc.GetString("Res0117","找不到库位配置文件:") + StoragePostionFile + "\n";
}
CodeManager.LoadConfig();
CodeManager.CameraScan(CodeManager.hikNameList);
mainMachine = new MainMachine(RobotManage.Config);
//mainMachine.ScanCode();
//Thread.Sleep(5000);
if (!IOManager.ConnectionIOList(new List<string>()))
{
IsLoadOk = false;
msg += crc.GetString("Res0118","IO板卡初始化失败")+ "\n";
}
if (!CameraA.LoadCameraConfig("CameraA", out string errmsg))
{
IsLoadOk = false;
msg += errmsg + "\r\n";
}
else
{
CameraA.Open();
}
if (!dauxiKS107.OpenPort(Setting_Init.Device_DauxiKS107_Port, out _)) {
IsLoadOk = false;
msg += crc.GetString("Res0119","液位传感器初始化失败,端口:") + $"{Setting_Init.Device_DauxiKS107_Port}\n";
}
dauxiKS107.Quary(out int value, out _);
LogUtil.info("读取到液位:"+ value+"mm");
if (!printerHelper.Connection(Setting_Init.Printer_IP))
{
msg += crc.GetString("Res0120","标签打印机打开失败") + "\n";
IsLoadOk = false;
}
else
LogUtil.info("标签打印机打开成功");
RFID.IP = Setting_Init.Device_RFID_IP;
RFID.Open(Setting_Init.Device_RFID_IP);
if (!RFID.IsConn)
{
IsLoadOk = false;
msg += "RFID连接失败,IP:" + $"{Setting_Init.Device_RFID_IP}\n";
}
else
LogUtil.info("RFID连接成功,IP:"+ Setting_Init.Device_RFID_IP);
//RFID.Init();
//RFID.AntennaPower = 4;
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, crc.GetString("Res0121","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();
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.");
if (mainMachine != null)
{
mainMachine.Stop();
mainMachine.UserPause = false;
}
isRunning = false;
}
public static void ShutDown()
{
LogUtil.info("开始关闭系统.");
RFID.Close();
IOManager.CloseAllConnection();
CameraA.stopCamera();
//CameraB.stopCamera();
//CameraC.stopCamera();
//CameraD.stopCamera();
}
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:"+ msg);
}
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
}
}