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346 lines
12 KiB
C#
346 lines
12 KiB
C#
using Rs.Camera;
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using Rs.Framework;
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using Rs.Motion.GugaoEcat;
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using Rs.Motion.GugaoPulse;
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using Rs.Motion;
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using Rs.MotionPlat.Flow;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using Rs.Motion.Base;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.ToolTip;
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using Rs.Controls;
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using System.Threading;
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using System.Diagnostics;
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namespace Rs.MotionPlat.Commom
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{
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public class Ops
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{
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public static void Init()
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{
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SysConfigParam.Init();
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int errNum = 0;
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Task.Run(() => {
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#region 初始化固高卡
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ErrorCode errCode = GugaoPulseCardManager.Instance.Init();
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if (errCode > ErrorCode.Ok)
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{
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errNum++;
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MessageQueue.Instance.Warn($"Gugao motion card load fail {errCode}");
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}
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else
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{
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MessageQueue.Instance.Insert("Gugao motion card load success");
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}
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#endregion
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#region 初始化ztm卡
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errCode = ZtmCardManager.Instance.Init();
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if (errCode > ErrorCode.Ok)
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{
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errNum++;
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MessageQueue.Instance.Warn($"rs motion card load fail {errCode}"); return;
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}
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else
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{
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MessageQueue.Instance.Insert("rs motion card load ok");
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}
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#endregion
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#region 初始化IO
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IoManager.Instance.Init();
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#endregion
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#region 链接相机
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//链接相机
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ECameraErrorCode ceCode = HikCamera.Instance.Init();
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if (ceCode > ECameraErrorCode.Ok)
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{
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errNum++;
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MessageQueue.Instance.Warn(ceCode.ToString());
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}
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else
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{
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MessageQueue.Instance.Insert("Camera load ok!");
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int ret = HikCamera.Instance.SetReverseX("upCamera", EDir.Y, false);
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ret += HikCamera.Instance.SetReverseX("upCamera", EDir.X, false);
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if (ret != 0)
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{
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MessageQueue.Instance.Warn("Camera init error");
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}
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ret = 0;
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ret = HikCamera.Instance.SetReverseX("downCamera", EDir.X, true);
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ret += HikCamera.Instance.SetReverseX("downCamera", EDir.Y, false);
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if (ret != 0)
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{
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MessageQueue.Instance.Warn("Camera init error");
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}
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ret = HikCamera.Instance.StartGrab("upCamera");
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if (ret != 0)
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{
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MessageQueue.Instance.Warn("Camera init error");
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}
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ret = HikCamera.Instance.StartGrab("locationCamera");
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if (ret != 0)
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{
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MessageQueue.Instance.Warn("Camera init error");
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}
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ret = HikCamera.Instance.StartGrab("scanCamera");
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if (ret != 0)
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{
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MessageQueue.Instance.Warn("Camera init error");
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}
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}
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#endregion
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//使能所有轴卡
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AxisControl.AllEnable();
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SafeControl.Instance.Init();
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NozzleManager.Init();
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TestCenter.Instance.Init();
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TrayPointManager.LoadPoint();
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AxisControl.AllStop();
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if (errNum==0)
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{
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MessageQueue.Instance.Insert("Init finished");
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}
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else
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{
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MessageQueue.Instance.Insert("Init fail");
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}
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Ops.On("上下气缸电磁阀原位");
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Ops.Off("上下气缸电磁阀动位");
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Ops.Off("下左相机光源触发");
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Ops.Off("下右相机光源触发");
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Ops.Off("上相机光源触发");
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StockManager.Instance.Start();
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MonitorSystemButton.Instance.Start();
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});
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}
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public static bool IsStop(params string[] axies)
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{
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foreach (var axisname in axies)
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{
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if (!IsStop(AxisControl.GetAxis(axisname)))
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return false;
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}
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return true;
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}
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public static bool IsStop(params IAxis[] axies)
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{
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foreach (var axis in axies)
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{
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axis.IsStop(out bool bStop);
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if (!bStop)
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return false;
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}
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return true;
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}
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public static bool IsHomed(params string[] axies)
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{
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foreach (var axisname in axies)
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{
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if (!IsHomed(AxisControl.GetAxis(axisname)))
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return false;
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}
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return true;
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}
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public static bool IsHomed(params IAxis[] axies)
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{
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foreach (var axis in axies)
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{
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if (axis.HomeStatus != EHomeStatus.Finished)
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return false;
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}
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return true;
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}
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public static void On(string ioName)
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{
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IoManager.Instance.WriteOut(ioName, 1);
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}
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public static void Off(string ioName)
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{
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IoManager.Instance.WriteOut(ioName, 0);
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}
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public static bool IsOn(string ioName)
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{
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return IoManager.Instance.ReadIn(ioName) == 1;
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}
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public static bool IsOff(string ioName)
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{
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return IoManager.Instance.ReadIn(ioName) == 0;
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}
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public static bool IsOutOn(string ioName)
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{
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return IoManager.Instance.ReadOut(ioName) == 1;
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}
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public static bool IsOutOff(string ioName)
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{
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return IoManager.Instance.ReadOut(ioName) == 0;
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}
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public static void Quit()
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{
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AxisControl.AllDisable();
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HikCamera.Instance.Deinit();
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}
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public static bool AllZHomed()
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{
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if(AxisControl.NozzleZ1.HomeStatus!= EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ2.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ3.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ4.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ5.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ6.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ7.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ8.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleZ9.HomeStatus != EHomeStatus.Finished) return false;
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return true;
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}
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public static bool AllZStoped()
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{
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if (!IsStop(AxisControl.NozzleZ1)) return false;
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if (!IsStop(AxisControl.NozzleZ2)) return false;
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if (!IsStop(AxisControl.NozzleZ3)) return false;
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if (!IsStop(AxisControl.NozzleZ4)) return false;
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if (!IsStop(AxisControl.NozzleZ5)) return false;
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if (!IsStop(AxisControl.NozzleZ6)) return false;
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if (!IsStop(AxisControl.NozzleZ7)) return false;
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if (!IsStop(AxisControl.NozzleZ8)) return false;
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if (!IsStop(AxisControl.NozzleZ9)) return false;
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return true;
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}
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public static bool AllRStoped()
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{
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if (!IsStop(AxisControl.NozzleR1)) return false;
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if (!IsStop(AxisControl.NozzleR2)) return false;
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if (!IsStop(AxisControl.NozzleR3)) return false;
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if (!IsStop(AxisControl.NozzleR4)) return false;
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if (!IsStop(AxisControl.NozzleR5)) return false;
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if (!IsStop(AxisControl.NozzleR6)) return false;
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if (!IsStop(AxisControl.NozzleR7)) return false;
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if (!IsStop(AxisControl.NozzleR8)) return false;
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if (!IsStop(AxisControl.NozzleR9)) return false;
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return true;
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}
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public static bool AllRHomed()
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{
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if (AxisControl.NozzleR1.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR2.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR3.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR4.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR5.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR6.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR7.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR8.HomeStatus != EHomeStatus.Finished) return false;
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if (AxisControl.NozzleR9.HomeStatus != EHomeStatus.Finished) return false;
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return true;
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}
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/// <summary>
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/// 检查有没有轴报警
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/// </summary>
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/// <returns></returns>
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public static bool CheckHasAlarm()
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{
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return false;
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}
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public static double GetCurPosition(string axisName)
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{
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double pos = 0.0;
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IAxis axis=AxisControl.GetAxis(axisName);
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if (axis == null) return 0;
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if(axis.Config.EnableEncoder==1)
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{
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if (axis.Config.AxisName.IndexOf("Nozzle") >= 0)
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{
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axis.GetPrfPosition(out pos);
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}
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else
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{
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axis.GetEncoderPosition(out pos);
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}
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}
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else
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{
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axis.GetPrfPosition (out pos);
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}
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return pos;
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}
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public static void HomeAndGoStartPos(string axisName)
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{
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Task.Run(() => {
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IAxis axis = AxisControl.GetAxis(axisName);
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axis.Home();
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MessageQueue.Instance.Insert("stat home");
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Thread.Sleep(10);
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Stopwatch timeout = new Stopwatch();
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timeout.Restart();
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while (axis.HomeStatus != EHomeStatus.Finished)
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{
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MessageQueue.Instance.Insert("homing");
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Thread.Sleep(10);
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}
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timeout.Stop();
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if (axis.HomeStatus == EHomeStatus.Finished)
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{
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MessageQueue.Instance.Insert("go to start pos");
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Thread.Sleep(100);
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timeout.Restart();
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ErrorCode errCode = axis.MovePos(SysConfigParam.GetValue<double>($"{axisName}StartPos"), GlobalVar.WholeSpeed);
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while (!Ops.IsStop(axisName) && timeout.ElapsedMilliseconds < 5000)
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{
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Thread.Sleep(10);
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}
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}
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timeout.Stop();
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});
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}
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/// <summary>
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/// 是否已回原并在起始位
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/// </summary>
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/// <param name="axisName"></param>
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public static bool IsHomedAndNearStartPos(string axisName)
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{
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IAxis axis = AxisControl.GetAxis(axisName);
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if(axis.HomeStatus==EHomeStatus.Finished)
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{
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double curPos = GetCurPosition(axisName);
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double startPos = SysConfigParam.GetValue<double>($"{axisName}StartPos");
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if (Math.Abs(curPos - startPos) <= 0.02)
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{
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return true;
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}
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}
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return false;
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}
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}
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}
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