RobotManage.cs
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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 event EventHandler<bool> UserPauseSet;
public static MainMachine mainMachine;
public static Robot_Config Config;
public static bool IsLoadOk = true;
public static bool IsDebug = false;
public delegate void LoadFinish(bool state, string msg);
public static event LoadFinish LoadFinishEvent;
public static bool isRunning = false;
public static PrinterHelper printerHelper = new PrinterHelper();
/// <summary>
/// 抓取料盘夹具
/// </summary>
public static ClampTool clampTool;
static string baseDir = Application.StartupPath;
static Thread mainThread;
public static void Init()
{
try
{
mainMachine = null;
string msg = "";
string configFile = Path.Combine(baseDir, "config\\Config.csv");
Config = new Robot_Config(0, "", configFile);
Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
CodeManager.LoadConfig();
clampTool = new ClampTool();
if (!clampTool.Open())
{
msg += crc.GetString("Res0188", "打开夹爪失败，{0}",0) + "\n";
IsLoadOk = false;
}
mainMachine = new MainMachine(RobotManage.Config);
if (!IOManager.ConnectionIOList(new List<string>()))
{
IsLoadOk = false;
msg += crc.GetString("Res0189", "IO板卡初始化失败") + "\n";
}
if (!printerHelper.Connection(""))
{
msg += "标签打印机打开失败" + "\n";
IsLoadOk = false;
}
else
{
LogUtil.info("标签打印机打开成功");
}
// IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LoadFinishEvent?.Invoke(IsDebug ? IsDebug : IsLoadOk, msg);
}
catch (Exception ex)
{
LoadFinishEvent?.Invoke(false, ex.Message);
}
}
public static void LoadDebug()
{
LoadFinishEvent?.Invoke(true, crc.GetString("Res0190", "打开配置模式"));
}
public static void Start()
{
//Init();
if (!IsLoadOk)
{
LogUtil.info("系统还未加载完毕,无法启动");
if (!IsDebug)
return;
}
mainMachine.ServerCM.StartConnectServer();
clampTool.Open();
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?.ServerCM?.StopConnectServer();
mainMachine?.Stop();
mainMachine.UserPause = false;
isRunning = false;
}
public static void ShutDown()
{
LogUtil.info("开始关闭系统.");
IOManager.CloseAllDO();
IOManager.CloseAllConnection();
clampTool.Close();
}
public static void UserPause(bool userpause)
{
UserPause("", userpause);
if (userpause)
LogUtil.info("用户暂停");
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 static void LoadPrintSetting()
{
string PrintName = ConfigHelper.Config.Get(Setting_Init.PrinterName);
string labelName = ConfigHelper.Config.Get(Setting_Init.LabelName);
//RobotManage.printerHelper.Print(labelName, new Dictionary<string, string>(), out string msg);
LogUtil.info("PrintLabel 打印机初始化完成【" + labelName + "】【" + PrintName + "】");
}
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);
}
}
}