using Basler.Pylon; using Cognex.VisionPro; using Cognex.VisionPro.ToolBlock; using CSScripting; using iTextSharp.testutils; using MathNet.Numerics.Distributions; using MathNet.Numerics.LinearAlgebra; using MathNet.Numerics.RootFinding; using NPOI.SS.Formula.Functions; using NPOI.Util; using Opc.Ua; using OpenCvSharp; using OpenCvSharp.Flann; using Prism.Events; using Prism.Ioc; using Prism.Mvvm; using Prism.Regions; using Prism.Services.Dialogs; using System; using System.Collections; using System.Collections.Generic; using System.Collections.ObjectModel; using System.ComponentModel; using System.Drawing; using System.IO; using System.Linq; using System.Net.Sockets; using System.Reflection.Metadata; using System.Security.Cryptography; using System.Text; using System.Threading; using System.Threading.Tasks; using System.Windows; using System.Windows.Documents; using System.Windows.Interop; using System.Windows.Media; using System.Windows.Media.Media3D; using Team.FFFeederService; using Team.FFFeederService.Interfaces; using TeamAAS_VP; using TeamAAS_VP.Core.PLCs; using TeamAAS_VP.Core.Robots; using TeamAAS_VP.Core.ScrewDriver; using TeamAAS_VP.Data; using TeamAAS_VP.Enums; using TeamAAS_VP.Events; using TeamAAS_VP.Interfaces; using TeamAAS_VP.Models; using TeamAAS_VP.Models.Calibration; using TeamAAS_VP.Models.Feeder; using TeamAAS_VP.Models.Product; using TeamAAS_VP.Resources.Languages; using TeamAAS_VP.Services; using TeamAAS_VP.ViewModels.Home; using TouchSocket.Core; using TouchSocket.Sockets; using static MaterialDesignThemes.Wpf.Theme.ToolBar; using static Org.BouncyCastle.Math.EC.ECCurve; using static System.Windows.Forms.AxHost; namespace TeamAAS_VP.Core { public class Management : BindableBase { #region 字段 IRegionManager _regionManager; IEventAggregator _eventAggregator; IContainerProvider _container; IConfigService _configService; IRobotService _robotService; ICameraService _cameraService; IFeederService _feederService; IPlcService _plcService; ILightManagerService _lightManagerService; IProductService _productService; ICalibrationService _calibrationService; IRemoteCommandService _remoteCommandService; ISystemDatabaseService _systemDatabaseService; IMesService _mesService; Timer yieldtimer; private DateTime StartTime = DateTime.Now; // Pressure collection /// /// 压力采集信号控制CTS /// private CancellationTokenSource[] _pressureCts = new CancellationTokenSource[10]; /// /// 压力采集超时CTS /// private CancellationTokenSource[] _pressureTimeoutCts = new CancellationTokenSource[10]; /// /// 压力采集CTS /// private CancellationTokenSource[] _pressureLinkedCts = new CancellationTokenSource[10]; /// /// 压力数据集合 /// private List<(DateTime Timestamp, float Value)>[] _pressureSamples = new List<(DateTime, float)>[10]; /// /// 采样间隔毫秒 /// private int _pressureSampleIntervalMs = 50; //采样间隔毫秒 /// /// 超时自动停止秒数 /// private int _pressureMaxDurationSeconds = 30; //超时自动停止秒数 #endregion #region 属性 private ObservableCollection _Renders; /// /// 显示界面 /// public ObservableCollection Renders { get { return _Renders; } set { SetProperty(ref _Renders, value); } } public BgCommunicate BgCommunicate { get; private set; } public BgModbusTcpCommunicate BgModbusTcpCommunicate { get; private set; } private ObservableCollection _Status = new ObservableCollection(); /// /// 状态栏集合 /// public ObservableCollection Status { get { return _Status; } set { SetProperty(ref _Status, value); } } private Int64 _TotalQuantity; /// /// 总产量 /// public Int64 TotalQuantity { get { return _TotalQuantity; } set { SetProperty(ref _TotalQuantity, value); } } private Int64 _TotalQuantityToday; /// /// 当天的总产量 /// public Int64 TotalQuantityToday { get { return _TotalQuantityToday; } set { SetProperty(ref _TotalQuantityToday, value); } } private Int64 _CurrentUPH; /// /// 当前的UPH /// public Int64 CurrentUPH { get { return _CurrentUPH; } set { SetProperty(ref _CurrentUPH, value); } } private XYD_ScrewDriver _ScrewDriver; public XYD_ScrewDriver ScrewDriver { get { return _ScrewDriver; } set { SetProperty(ref _ScrewDriver, value); } } public Dictionary BackupObject { get; set; } = new Dictionary(); private double _CTtime; /// /// ct /// public double CTtime { get { return _CTtime; } set { SetProperty(ref _CTtime, value); } } #endregion #region 命令 #endregion #region 事件 #endregion public Management(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, IPlcService plcService, IProductService productService, ICalibrationService calibrationService, IRemoteCommandService remoteCommandService, ISystemDatabaseService systemDatabaseService, ILightManagerService lightManagerService, IMesService mesService) { _regionManager = regionManager; _eventAggregator = ea; _container = container; _configService = configService; _robotService = robotService; _cameraService = cameraService; _feederService = feederService; _plcService = plcService; _calibrationService = calibrationService; yieldtimer = new Timer(DoYieldTime, null, 10000, 1000); Renders = new ObservableCollection(); _configService = configService; _productService = productService; _remoteCommandService = remoteCommandService; _systemDatabaseService = systemDatabaseService; _lightManagerService = lightManagerService; _mesService = mesService; InitPressure(); } #region 初始化硬件模块 /// /// 初始化Feeder /// /// public async Task<(bool IsSucceed, string Msg)> InitFeeders() { var feeders = _configService.GetAllFeeders(); StringBuilder sb = new StringBuilder(); foreach (var item in feeders) { _feederService.CreateFeeder(item.Id, item.FeederNo, item.FeederName, item.IP, item.Port, item.FeederBrand); var feeder = _feederService.GetFeeder(item.Id); Status.Add(new StatusInfo(item.Id, item.FeederName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red))); try { feeder.FeederConnectionStatusChanged += Management_FeederConnectionStatusChanged; await feeder.ConnectAsync(); //连接Feeder //SendTaskMessage($"{item.FeederName}已连接!", MessageLevel.Debug); } catch (Exception ex) { sb.AppendLine($"{item.FeederName}:{Lang.断开连接}![{ex.Message}]"); SendTaskMessage($"{item.FeederName}{Lang.断开连接}!", MessageLevel.Alarm); } } if (sb.Length == 0) { return (true, ""); } else { return (false, sb.ToString()); } } /// /// 初始化机器人 /// /// public async Task<(bool IsSucceed, string Msg)> InitRobots() { var robots = _configService.GetAllRobots(); StringBuilder sb = new StringBuilder(); foreach (var item in robots) { _robotService.CreateRobot(item.Id, item); try { Status.Add(new StatusInfo(item.Id, item.RobotName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red))); var robot = _robotService.GetRobot(item.Id); robot.ReceivedEvent += Management_ReceivedEvent; robot.SendEvent += Management_SendEvent; robot.ConnectedEvent += Management_ConnectedEvent; robot.DisconnectedEvent += Management_DisconnectedEvent; await robot.ConnectAsync(); //连接Robot SendTaskMessage($"{item.RobotName}{Lang.已连接}!", MessageLevel.Debug); } catch (Exception ex) { sb.AppendLine($"{item.RobotName}:{Lang.断开连接}![{ex.Message}]"); SendTaskMessage($"{item.RobotName}{Lang.断开连接}!", MessageLevel.Alarm); } } if (sb.Length == 0) { return (true, ""); } else { return (false, sb.ToString()); } } /// /// 初始化PLC /// /// public async Task<(bool IsSucceed, string Msg)> InitPlc() { var plcs = _configService.GetAllPlcs(); StringBuilder sb = new StringBuilder(); foreach (var item in plcs) { try { _plcService.CreatePlc(item.Id, item); var plc = _plcService.GetPlc(item.Id); Status.Add(new StatusInfo(item.Id, item.Name + $"{Lang.未连接}", new SolidColorBrush(Colors.Red))); plc.ConnectChangedEvent += Management_PlcConnectChangedEvent; await plc.ConnectAsync(); //连接PLC //SendTaskMessage($"{item.Name}{Lang.已连接}!", MessageLevel.Debug); } catch (Exception ex) { sb.AppendLine($"{item.Name}:{Lang.断开连接}![{ex.Message}]"); SendTaskMessage($"{item.Name}{Lang.断开连接}!", MessageLevel.Alarm); } } try { await WriteSystemParameterToPlcAsync(_configService.GetSystemConfiguration()); RegisterPlcMonitorAddress(); } catch (Exception ex) { LogHelper.WriteLogError("为PLC写入系统参数和订阅变量时出错", ex); } if (sb.Length == 0) { return (true, ""); } else { return (false, sb.ToString()); } } /// /// 初始化相机 /// /// public async Task<(bool IsSucceed, string Msg)> InitCameras() { var cameras = _configService.GetAllCameras(); StringBuilder sb = new StringBuilder(); foreach (var item in cameras) { try { // Renders.Add(new ShowRender() { Id = item.Id, CameraName = item.CameraName }); _cameraService.CreateCamera(item.Id, item); var camera = _cameraService.GetCamera(item.Id); Status.Add(new StatusInfo(item.Id, item.CameraName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red))); camera.CameraConnectChangedEvent += Management_CameraConnectChangedEvent; try { if (await camera.OpenDeviceAsync()) { SendTaskMessage($"{item.CameraName}{Lang.已连接}!", MessageLevel.Debug); } else { SendTaskMessage($"{item.CameraName}{Lang.连接失败}!", MessageLevel.Alarm); sb.AppendLine($"{item.CameraName}:{Lang.连接失败}!"); } } catch (Exception ex) { SendTaskMessage($"{item.CameraName}{ex.Message}!", MessageLevel.Alarm); sb.AppendLine($"{item.CameraName}:{ex.Message}!"); } } catch (Exception ex) { SendTaskMessage($"{item.CameraName}{Lang.连接失败}!", MessageLevel.Alarm); sb.AppendLine($"{item.CameraName}:{Lang.连接失败}!:{ex.Message}"); } } //_container.Resolve().Renders = Renders; if (sb.Length == 0) { return (true, ""); } else { return (false, sb.ToString()); } } /// /// 初始化光源控制器 /// /// public async Task<(bool IsSucceed, string Msg)> InitLightControllers() { var lightcontrollers = _configService.GetAllLightControllers(); StringBuilder sb = new StringBuilder(); foreach (var item in lightcontrollers) { try { var lishtCtr = await _lightManagerService.RegisterControllerAsync(item.Id, item); //var lightcontroller = _cameraService.GetLightController(item.Id); //await lightcontroller.ConnectAsync(); //连接光源控制器 //SendTaskMessage($"{item.LightControllerName}{Lang.已连接}!", MessageLevel.Debug); } catch (Exception ex) { //sb.AppendLine($"{item.LightControllerName}:{Lang.断开连接}![{ex.Message}]"); //SendTaskMessage($"{item.LightControllerName}{Lang.断开连接}!", MessageLevel.Alarm); } } if (lightcontrollers.Count > 0) { var result = await _lightManagerService.ConnectAllAsync(); if (result) { return (true, ""); } else { return (false, "Light Controller Connect Failed!"); } } return (true, ""); //if (sb.Length == 0) //{ // return (true, ""); //} //else //{ // return (false, sb.ToString()); //} } /// /// 初始化后台TCP服务器通讯 /// public void InitBgTcp() { var config = _configService.GetBgTcp(); try { BgCommunicate = new BgCommunicate(config); BgCommunicate.ConnectedEvent += BgCommunicate_ConnectedEvent; BgCommunicate.DisconnectedEvent += BgCommunicate_DisconnectedEvent; BgCommunicate.ReceivedEvent += BgCommunicate_ReceivedEvent; BgCommunicate.SendEvent += BgCommunicate_SendEvent; BgCommunicate.StartListening(); SendTaskMessage($"{Lang.已开启监听端口}：{config.Port}", MessageLevel.Debug); } catch (Exception ex) { SendTaskMessage($"{Lang.未开启监听端口}：{config.Port}", MessageLevel.Error); LogHelper.WriteLogError("开启后台服务器通讯时出错!", ex); } } /// /// 初始化后台ModbusTCP从站 /// public void InitModbusTcp() { try { var config = _configService.GetBgModbusTcp(); BgModbusTcpCommunicate = new BgModbusTcpCommunicate(config); if (config.IsEnabled) { BgModbusTcpCommunicate.Listen(); SendTaskMessage($"Start Modbus Tcp Slave：{BgModbusTcpCommunicate.IP}:{BgModbusTcpCommunicate.Port}:{BgModbusTcpCommunicate.SlaveID}", MessageLevel.Debug); } } catch (Exception ex) { SendTaskMessage($"No Start Modbus Tcp Slave：{ex.Message}", MessageLevel.Alarm); LogHelper.WriteLogError("开启后台Modbus TCP通讯时出错!", ex); } } /// /// 初始化后台脚本 /// public void InitBackgroundcript() { try { if (!Directory.Exists(FilePath.BackgroundScriptPath)) { Directory.CreateDirectory(FilePath.BackgroundScriptPath); } try { string[] files = Directory.GetFiles(FilePath.BackgroundScriptPath); List ScriptFilesCollection = new List(); foreach (string file in files) { string fileName = Path.GetFileName(file); string fileExtension = Path.GetExtension(file); if (fileExtension == ".cs") { ScriptFilesCollection.Add(file); } } foreach (var item in ScriptFilesCollection) { try { string script = FileHelper.ReadFile(item); SendTaskMessage($"{Lang.执行脚本}:{item}", MessageLevel.Info); Task.Factory.StartNew(() => { ScriptHelper.ExecuteScriptingAsync(script, _regionManager, _eventAggregator, _container, rst => { if (!rst.Item1) { foreach (var err in rst.Item2) { SendTaskMessage($"{Lang.后台脚本出错}:{err}", MessageLevel.Error); } } }); }); } catch (Exception ex) { LogHelper.WriteLogError($"开启脚本时出错：{item}", ex); } } } catch (Exception ex) { LogHelper.WriteLogError("读取本地脚本文件列表时出错", ex); } } catch (Exception ex) { LogHelper.WriteLogError("开启后台脚本时出错!", ex); } } /// /// 初始化电批 /// /// public async Task InitScrewDriver() { try { var screwDriverConfig = _configService.GetScrewDriverConfig(); ScrewDriver = new XYD_ScrewDriver(screwDriverConfig.IPAdress, screwDriverConfig.Port); Status.Add(new StatusInfo(ScrewDriver.Id, "电批未连接", new SolidColorBrush(Colors.Red))); ScrewDriver.ConnectStateChangedEvent += ScrewDriver_ConnectStateChangedEvent; ScrewDriver.SendTimeout = screwDriverConfig.SendTimeout; screwDriverConfig.ReceiveTimeout = screwDriverConfig.ReceiveTimeout; var isConnected = await ScrewDriver.ConnectAsync(); if (isConnected) { SendTaskMessage($"电批已连接", MessageLevel.Debug); } else { SendTaskMessage($"电批连接失败", MessageLevel.Error); } } catch (Exception ex) { SendTaskMessage($"电批连接失败:{ex.Message}", MessageLevel.Alarm); LogHelper.WriteLogError("连接电批时出错!", ex); } } #endregion #region 机器人指令执行 public Dictionary RobotTCPCollection = new Dictionary(); /// /// 机器人TCP接收 /// /// /// /// private async void Management_ReceivedEvent(Guid robotid, object arg2, TouchSocket.Sockets.ReceivedDataEventArgs e) { try { if (!RobotTCPCollection.ContainsKey(robotid)) RobotTCPCollection.Add(robotid, new CancellationTokenSource()); else { if (RobotTCPCollection[robotid].IsCancellationRequested) { RobotTCPCollection[robotid] = new CancellationTokenSource(); } } var robot = await _robotService.GetRobotAsync(robotid); //从服务器收到信息。但是一般byteBlock和requestInfo会根据适配器呈现不同的值。 var buffer = e.ByteBlock.Span.ToString(robot.GetEncoding()); SendTaskMessage($"{robot.Name}Received:{buffer}", MessageLevel.Info); var _ = _remoteCommandService.ExecuteAsync(buffer, RobotTCPCollection[robotid].Token, async msg => { try { if (robot.ConnectType == TCPConnectType.Client) { if (robot.IsConnected) { await robot.SendAsync($"{msg}"); } } else { var cient = (ITcpSessionClient)arg2; if (cient.Online) { await robot.SendAsync(cient, $"{msg}"); } } } catch (Exception ex) { LogHelper.WriteLogError("TCP发送数据时出错！", ex); SendTaskMessage(ex.Message, MessageLevel.Alarm); } }); } catch (Exception ex) { LogHelper.WriteLogError("处理机器人接收的命令时出错！", ex); SendTaskMessage(ex.Message, MessageLevel.Alarm); } } #endregion #region 机器人&Feeder&相机连接状态事件 /// /// 机器人发送事件 /// /// /// /// /// private void Management_SendEvent(Guid robotid, object arg2, string arg3) { var r = _robotService.GetRobot(robotid); SendTaskMessage($"{r.Name}Send:{arg3}", MessageLevel.Info); } /// /// 机器人断开连接时 /// /// /// /// /// private void Management_DisconnectedEvent(Guid robotid, object arg2, ClosedEventArgs arg3) { if (RobotTCPCollection.ContainsKey(robotid)) { RobotTCPCollection[robotid].Cancel(); } var r = _configService.GetRobot(robotid); if (r.ConnectType == TCPConnectType.Server) { ITcpSessionClient socketClient = arg2 as ITcpSessionClient; SendTaskMessage($"{r.RobotName}[{socketClient.Id}:{socketClient.IP}]{Lang.断开连接}！", MessageLevel.Error); var robot = _robotService.GetRobot(robotid); if (robot.TcpService.Count < 1) { var sta = Status.FirstOrDefault(s => s.ID == robotid); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{r.RobotName}{Lang.未连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); } } else { SendTaskMessage($"{r.RobotName}{Lang.断开连接}！", MessageLevel.Error); var sta = Status.FirstOrDefault(s => s.ID == robotid); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{r.RobotName}{Lang.断开连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); } } /// /// 机器人连接成功时 /// /// /// /// /// private void Management_ConnectedEvent(Guid robotid, object arg2, ConnectedEventArgs arg3) { var r = _configService.GetRobot(robotid); if (r.ConnectType == TCPConnectType.Server) { ITcpSessionClient socketClient = arg2 as ITcpSessionClient; SendTaskMessage($"{r.RobotName}[{socketClient.Id}:{socketClient.IP}]{Lang.已连接}！", MessageLevel.Debug); var robot = _robotService.GetRobot(robotid); if (robot.TcpService.Count > 0) { var sta = Status.FirstOrDefault(s => s.ID == robotid); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{r.RobotName}{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); } } else { SendTaskMessage($"{r.RobotName}{Lang.已连接}！", MessageLevel.Debug); var sta = Status.FirstOrDefault(s => s.ID == robotid); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{r.RobotName}{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); } } /// /// Feeder连接状态改变时 /// /// /// private void Management_FeederConnectionStatusChanged(object sender, bool state) { IFeeder feeder = sender as IFeeder; var sta = Status.FirstOrDefault(s => s.ID == feeder.Id); if (state) { App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{feeder.Name}{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); SendTaskMessage($"{feeder.Name}{Lang.已连接}！", MessageLevel.Debug); } else { App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{feeder.Name}{Lang.未连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); SendTaskMessage($"{feeder.Name}{Lang.断开连接}！", MessageLevel.Error); } } /// /// 相机连接或者断开时 /// /// /// private void Management_CameraConnectChangedEvent(Guid id, bool state) { var sta = Status.FirstOrDefault(s => s.ID == id); var camera = _configService.GetCamera(id); if (sta != null && camera != null) { if (state) { App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{camera.CameraName}{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); } else { App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{camera.CameraName}{Lang.断开连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); } } } /// /// PLC连接状态改变事件 /// /// /// private async void Management_PlcConnectChangedEvent(object sender, bool isconnected) { IPlc plc = sender as IPlc; var sta = Status.FirstOrDefault(s => s.ID == plc.Id); if (plc.IsConnected) { SendTaskMessage($"{plc.Name}{Lang.已连接}！", MessageLevel.Debug); if (sta == null) return; App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{plc.Name}{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); try { await WriteSystemParameterToPlcAsync(_configService.GetSystemConfiguration()); await WritePositionToPlcAsync(); } catch (Exception ex) { LogHelper.WriteLogError("PLC连接成功时，写入系统参数和点位信息时出错！", ex); } } else { SendTaskMessage($"{plc.Name}{Lang.断开连接}！", MessageLevel.Error); if (sta == null) return; App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"{plc.Name}{Lang.未连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); } } /// /// 电批连接状态改变时 /// /// /// private void ScrewDriver_ConnectStateChangedEvent(object screwDevice, bool state) { try { XYD_ScrewDriver screwDriver = screwDevice as XYD_ScrewDriver; if (state) { SendTaskMessage($"电批{Lang.已连接}！", MessageLevel.Debug); var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"电批{Lang.已连接}"; sta.Background = new SolidColorBrush(Colors.Green); })); } else { SendTaskMessage($"电批{Lang.未连接}！", MessageLevel.Error); var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id); App.Current.Dispatcher.Invoke(new Action(() => { sta.Message = $"电批{Lang.未连接}"; sta.Background = new SolidColorBrush(Colors.Red); })); } } catch (Exception ex) { LogHelper.WriteLogError("电批连接状态改变时出错了", ex); } } #endregion #region 后台服务器通讯事件 private void BgCommunicate_SendEvent(ITcpSessionClient client, string msg) { SendTaskMessage($"{Lang.服务器}[{client.ServicePort}] Send To {Lang.客户端}[{client.Id}:{client.IP}]:{msg}", MessageLevel.Info); } public Dictionary BgCommunicateollection = new Dictionary(); private async void BgCommunicate_ReceivedEvent(ITcpSessionClient client, string msg) { try { if (!BgCommunicateollection.ContainsKey(client.Id)) { BgCommunicateollection.Add(client.Id, new CancellationTokenSource()); } SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]ReceiveFor{Lang.客户端}[{client.Id}:{client.IP}]:{msg}", MessageLevel.Info); var _ = _remoteCommandService.ExecuteAsync(msg, BgCommunicateollection[client.Id].Token, async response => { try { if (!client.Online) { return; } await BgCommunicate.SendAsync(client, $"{response}"); } catch (Exception ex) { LogHelper.WriteLogError("后台TCP发送数据时出错！", ex); SendTaskMessage(ex.Message, MessageLevel.Alarm); } }); } catch (Exception ex) { LogHelper.WriteLogError("处理后台服务器接收的命令时出错！", ex); SendTaskMessage(ex.Message, MessageLevel.Alarm); } } private void BgCommunicate_DisconnectedEvent(ITcpSessionClient client, ClosedEventArgs e) { SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]{Lang.客户端}[{client.Id}:{client.IP}]{Lang.断开连接}!", MessageLevel.Alarm); if (BgCommunicateollection.ContainsKey(client.Id)) { BgCommunicateollection[client.Id].Cancel(); } } private void BgCommunicate_ConnectedEvent(ITcpSessionClient client, ConnectedEventArgs e) { SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]{Lang.客户端}[{client.Id}:{client.IP}]{Lang.连接成功}!", MessageLevel.Debug); } #endregion #region PLC /// /// 将系统参数写入PLC /// /// /// public async Task WriteSystemParameterToPlcAsync(SystemConfiguration systemConfiguration) { var addressConfig = _configService.GetPlcAddresses(); var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC; if (plc == null || !plc.IsConnected) return; Dictionary nodeValues = new Dictionary(); nodeValues.Add(addressConfig.Out_WorkMode.Address, (Int16)systemConfiguration.WorkMode); nodeValues.Add(addressConfig.Out_PickPointNum.Address, (Int16)systemConfiguration.PickPointNum); nodeValues.Add(addressConfig.Out_DowmCameraNum.Address, (Int16)systemConfiguration.DowmCameraNum); nodeValues.Add(addressConfig.Out_UpCameraPickNum.Address, (Int16)systemConfiguration.UpCameraPickNum); nodeValues.Add(addressConfig.Out_UpCameraPutNum.Address, (Int16)systemConfiguration.UpCameraPutNum); nodeValues.Add(addressConfig.Out_UPCameracheckNum.Address, (Int16)systemConfiguration.UPCameracheckNum); nodeValues.Add(addressConfig.Out_FixedCameraPickNum.Address, (Int16)systemConfiguration.FixedCameraPickNum); nodeValues.Add(addressConfig.Out_FixedCameraPutNum.Address, (Int16)systemConfiguration.FixedCameraPutNum); nodeValues.Add(addressConfig.Out_FixedCameracheckNum.Address, (Int16)systemConfiguration.FixedCameracheckNum); nodeValues.Add(addressConfig.Out_ScrewTeachNum.Address, (Int16)systemConfiguration.ScrewTeachNum); var res = await plc.WriteNodesAsync(nodeValues); } /// /// 注册需要监控的PLC地址 /// public void RegisterPlcMonitorAddress() { var addressConfig = _configService.GetPlcAddresses(); var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC; if (plc == null || !plc.IsConnected) return; //PLC地址数组 List monitorNodeIds = new List() { addressConfig.In_DowmCameraExe.Address, addressConfig.In_UpCameraPickExe.Address, addressConfig.In_UpCameraPutExe.Address, addressConfig.In_UPCameracheckExe.Address, addressConfig.In_FixedCameraPickExe.Address, addressConfig.In_FixedCameraPutExe.Address, addressConfig.In_FixedCameracheckExe.Address, addressConfig.In_RequestPosition.Address, addressConfig.In_ScrewTeachExe.Address, addressConfig.In_PickINC.Address, }; for (int i = 0; i < 10; i++) { monitorNodeIds.Add(string.Format(addressConfig.In_MesCheck.Address, i)); } for (int i = 0; i < 7; i++) { monitorNodeIds.Add(string.Format(addressConfig.In_WorkStart.Address, i)); monitorNodeIds.Add(string.Format(addressConfig.In_WorkDone.Address, i)); } //订阅PLC地址变化 plc.SubscribeNodes("AutoSensor", monitorNodeIds, PlcCommandTrigger); } /// /// 写入点位信息给PLC /// /// public async Task WritePositionToPlcAsync() { var addressConfig = _configService.GetPlcAddresses(); var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC; if (plc == null || !plc.IsConnected) return; var current = _productService.GetCurrentProduct(); if (current == null) return; if (current.PickCameraPoints != null && current.PickCameraPoints.Count > 0) { foreach (var item in current.PickCameraPoints) { await item.WriteToPlcAddress(addressConfig.Out_PickCamera, plc); } } if (current.PickPoints != null && current.PickPoints.Count > 0) { foreach (var item in current.PickPoints) { await item.WriteToPlcAddress(addressConfig.Out_Pick, plc); } } if (current.SecPosCameraPoints != null && current.SecPosCameraPoints.Count > 0) { foreach (var item in current.SecPosCameraPoints) { await item.WriteToPlcAddress(addressConfig.Out_SecPosCamera, plc); } } if (current.ScrewCameraPoints != null && current.ScrewCameraPoints.Count > 0) { foreach (var item in current.ScrewCameraPoints) { await item.WriteToPlcAddress(addressConfig.Out_ScrewCamera, plc); } } if (current.ScrewPoints != null && current.ScrewPoints.Count > 0) { foreach (var item in current.ScrewPoints) { await item.WriteToPlcAddressEx(addressConfig.Out_Screw, plc); } await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)current.ScrewPoints.Count); } if (current.CheckCameraPoints != null && current.CheckCameraPoints.Count > 0) { foreach (var item in current.CheckCameraPoints) { await item.WriteToPlcAddress(addressConfig.Out_CheckCamera, plc); } } if (current.RemovePoints != null && current.RemovePoints.Count > 0) { foreach (var item in current.RemovePoints) { await item.WriteToPlcAddress(addressConfig.Out_RemovePos, plc); } } if (current.PressurePlacePoints != null && current.PressurePlacePoints.Count > 0) { foreach (var item in current.PressurePlacePoints) { await item.WriteToPlcAddress(addressConfig.Out_PressurePlace, plc); } } if (current.IndependentCamerPoints != null && current.IndependentCamerPoints.Count > 0) { foreach (var item in current.IndependentCamerPoints) { await item.WriteToPlcAddress(addressConfig.Out_IndependentCamer, plc); } } } /// /// 固定向上相机拍照结果 /// OpenCvSharp.Point3f[] DowmCameraResults = new OpenCvSharp.Point3f[10]; /// /// 移动向下相机拍照结果 /// OpenCvSharp.Point3f[] UpCameraPutResults = new OpenCvSharp.Point3f[10]; /// /// 取料移动相机拍照结果 /// OpenCvSharp.Point3f UpCameraPickResult = new OpenCvSharp.Point3f(); /// /// 最终组装位置 /// OpenCvSharp.Point3f PlaceActualCoord = new OpenCvSharp.Point3f(); /// /// 零件SN /// string PartSN = ""; /// /// 二次定位相机的工具坐标 /// PointF DownTool = new PointF(); double _FixedUpCameraAngle = 0; double _MoveCameraAngle = 0; bool _LastDowmCameraExe = false; bool _LastScrewTeachExe = false; bool _LastUpCameraPickExe = false; bool _LastUpCameraPutExe = false; bool _LastUPCameracheckExe = false; bool _LastFixedCameraPickExe = false; bool _LastFixedCameraPutExe = false; bool _LastFixedCameracheckExe = false; Int16[] _LastWorkStart = new Int16[7]; Int16[] _LastWorkDone = new Int16[7]; Int16 _LastRequestPosition = 0; Int16 _LastPickINC = 0; Int16[] _LastMesCheck=new Int16[10]; DateTime[] _LastMesCheckTime = new DateTime[10]; /// /// PLC命令触发时 /// /// private async void PlcCommandTrigger((string key, string nodeId, object value) tuple) { try { if (tuple.key != "AutoSensor") { return; } var addressConfig = _configService.GetPlcAddresses(); var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC; if (plc == null || !plc.IsConnected) return; // 获取当前产品 var currentProduct = _productService.GetCurrentProduct(); if (currentProduct == null) { return; } //获取产品编码 _productService.CurrentProductCode = plc.ReadNode(string.Format(addressConfig.In_Code.Address, 0)); //如果产品编码为空，则以当前的时间戳作为编码 if (string.IsNullOrEmpty(_productService.CurrentProductCode)) { _productService.CurrentProductCode = DateTime.Now.ToString("yyyyMMddHHmmssfff"); } bool isDryMode = plc.ReadNode(addressConfig.In_DryMode.Address); // 触发下相机拍照 if (addressConfig.In_DowmCameraExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastDowmCameraExe != state) { _LastDowmCameraExe = state; } else { return; } if (state) { SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug); //相机的编号 Int16 cameraIndex = plc.ReadNode(addressConfig.In_DowmCameraNum.Address); SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info); // 获取机器人当前坐标 var robot = _robotService.GetAllRobots().FirstOrDefault(); if (robot == null) { SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } var currentPosition = robot.GetRobotPos(); //如果下相机拍照的次数是1，则判断用时拍照的相机是几个 int downCameraNum = _configService.GetSystemConfiguration().DowmCameraNum; if (downCameraNum == 1) { //如果下相机2的流程id为空，则表示只有一个下相机 if (currentProduct.FixedUpCamera2ProcedureId == Guid.Empty) { //获取固定向上相机1的流程 var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId); if (process == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, cameraIndex, null); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } if (visionResult.IsSucceed) { float toolX = (float)(visionResult.X - currentPosition.X); float toolY = (float)(visionResult.Y - currentPosition.Y); DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolY, (float)visionResult.U); DownTool = new PointF(toolX, toolY); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } else { if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } } else { //获取固定向上相机1的流程 var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId); if (process1 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } //获取固定向上相机2的流程 var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera2ProcedureId); if (process2 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera2ProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 2, null); var visionResults = await Task.WhenAll(task1, task2); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed) { float toolX = (float)(visionResults[0].X + visionResults[1].X) / 2; float toolY = (float)(visionResults[0].Y + visionResults[1].Y) / 2; _FixedUpCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y)); DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolY, (float)_FixedUpCameraAngle); DownTool = new PointF(toolX, toolY); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } } } else if (downCameraNum == 2) { if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } //如果下相机2的流程id为空，则表示只有一个下相机 if (currentProduct.FixedUpCamera2ProcedureId == Guid.Empty) { //获取固定向上相机1的流程 //var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId); //if (process == null) //{ // SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm); // await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); // return; //} //// 执行视觉任务 //var _cts = new CancellationTokenSource(); //var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token); //if (visionResult.IsSucceed) //{ // float toolX = (float)(visionResult.X - currentPosition.X); // float toolY = (float)(visionResult.Y - currentPosition.Y); // DowmCameraResults[cameraIndex] = new PointF(toolX, toolX); // if (cameraIndex == downCameraNum) // { // //求取多个DowmCameraResults的中心点 // DownTool = new PointF(toolX, toolX); // } // await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); // return; //} //else //{ // await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); // return; //} //暂时没有应用场景，不支持 await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } else { //获取固定向上相机1的流程 var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId); if (process1 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } //获取固定向上相机2的流程 var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera2ProcedureId); if (process2 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera2ProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 2, null); var visionResults = await Task.WhenAll(task1, task2); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed) { float toolX = (float)(visionResults[0].X + visionResults[1].X) / 2; float toolY = (float)(visionResults[0].Y + visionResults[1].Y) / 2; _FixedUpCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y)); DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolY, (float)_FixedUpCameraAngle); DownTool = new PointF(toolX, toolY); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } } } else { //暂时没有应用场景，不支持 await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } } else { SendTaskMessage($"触发下相机拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)0); } } } // 触发下相机拍照披头 if (addressConfig.In_ScrewTeachExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastScrewTeachExe != state) { _LastScrewTeachExe = state; } else { return; } if (state) { SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug); //相机的编号 Int16 cameraIndex = plc.ReadNode(addressConfig.In_DowmCameraNum.Address); SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info); // 获取流程 //var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId); //if (process == null) //{ // SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm); // await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2); // return; //} //// 获取机器人当前坐标 //var robot = _robotService.GetAllRobots().FirstOrDefault(); //if (robot == null) //{ // SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm); // await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2); // return; //} //var currentPosition = robot.GetRobotPos(); //// 执行视觉任务 //var _cts = new CancellationTokenSource(); //var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token); //if (visionResult.IsSucceed) //{ // //披头偏差 // float offsetX = (float)(visionResult.X - currentPosition.X); // float offsetY = (float)(visionResult.Y - currentPosition.Y); // DowmCameraResults[cameraIndex] = new PointF(offsetX, offsetY); // await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)1); // return; //} //else //{ // await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2); // return; //} } else { SendTaskMessage($"触发下相机拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)0); } } } // 触发上相机取料拍照 else if (addressConfig.In_UpCameraPickExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastUpCameraPickExe != state) { _LastUpCameraPickExe = state; } else { return; } if (state) { SendTaskMessage($"触发上相机取料拍照...", MessageLevel.Debug); //相机的编号 Int16 cameraIndex = plc.ReadNode(addressConfig.In_UpCameraPickNum.Address); SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info); // 获取机器人当前坐标 var robot = _robotService.GetAllRobots().FirstOrDefault(); if (robot == null) { SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } var currentPosition = robot.GetRobotPos(); //如果上相机2的流程id为空，则表示只有一个下相机 if (currentProduct.MoveDownCamer2PickPhotoProcedureId == Guid.Empty) { //获取移动向下相机1的流程 var process = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer1PickPhotoProcedureId); if (process == null) { SendTaskMessage($"移动向下相机1视觉流程，流程ID：{currentProduct.MoveDownCamer1PickPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, cameraIndex, null); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1); return; } if (visionResult.IsSucceed) { currentProduct.PickPoints[0].X_Position = (float)visionResult.X; currentProduct.PickPoints[0].Y_Position = (float)visionResult.Y; //currentProduct.PickPoints[0].U_Position += (float)visionResult.U; await currentProduct.ScrewPoints[0].WriteToPlcAddress(addressConfig.Out_Pick, plc); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } } else { //获取固定向上相机1的流程 var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer1PickPhotoProcedureId); if (process1 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamer1PickPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } //获取固定向上相机2的流程 var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer2PickPhotoProcedureId); if (process2 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamer2PickPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 2, null); var visionResults = await Task.WhenAll(task1, task2); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed) { float tool1X = (float)(visionResults[0].X - visionResults[0].X); float tool1Y = (float)(visionResults[0].Y - visionResults[0].Y); float tool2X = (float)(visionResults[1].X - visionResults[1].X); float tool2Y = (float)(visionResults[1].Y - visionResults[1].Y); float toolX = (tool1X + tool2X) / 2; float toolY = (tool1Y + tool2Y) / 2; //计算两个点的线角度 currentProduct.PickPoints[0].X_Position = (float)toolX; currentProduct.PickPoints[0].Y_Position = (float)toolY; //currentProduct.PickPoints[0].U_Position += (float)visionResult.U; await currentProduct.ScrewPoints[0].WriteToPlcAddress(addressConfig.Out_Pick, plc); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2); return; } } } else { SendTaskMessage($"触发上相机取料拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)0); } } } // 上相机锁附/组装拍照 else if (addressConfig.In_UpCameraPutExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastUpCameraPutExe != state) { _LastUpCameraPutExe = state; } else { return; } if (state) { SendTaskMessage($"触发上相机锁附/组装拍照...", MessageLevel.Debug); //相机的编号 Int16 cameraIndex = plc.ReadNode(addressConfig.In_UpCameraPutNum.Address); SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info); // 获取机器人当前坐标 var robot = _robotService.GetAllRobots().FirstOrDefault(); if (robot == null) { SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } var currentPosition = robot.GetRobotPos(); //如果上相机2的流程id为空，则表示只有一个上相机 if (currentProduct.MoveDownCamera2LockPhotoProcedureId == Guid.Empty) { //获取移动向下相机1的流程 var process = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera1LockPhotoProcedureId); if (process == null) { SendTaskMessage($"移动向下相机1视觉流程，流程ID：{currentProduct.MoveDownCamera1LockPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, cameraIndex, null); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1); return; } if (visionResult.IsSucceed) { UpCameraPutResults[cameraIndex] = new OpenCvSharp.Point3f((float)visionResult.X, (float)visionResult.Y, (float)visionResult.U); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } } else { //获取移动向下相机1的流程 var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera1LockPhotoProcedureId); if (process1 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamera1LockPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } //获取移动向下相机2的流程 var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera2LockPhotoProcedureId); if (process2 == null) { SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamera2LockPhotoProcedureId}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, 2, null); var visionResults = await Task.WhenAll(task1, task2); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed) { float centerX = (float)(visionResults[0].X + visionResults[1].X) / 2; float centerY = (float)(visionResults[0].Y + visionResults[1].Y) / 2; _MoveCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y)); UpCameraPutResults[cameraIndex] = new OpenCvSharp.Point3f(centerX, centerY, (float)_MoveCameraAngle); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1); return; } else { await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2); return; } } } else { SendTaskMessage($"触发上相机锁附/组装拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)0); } } } // 上相机检测拍照 else if (addressConfig.In_UPCameracheckExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastUPCameracheckExe != state) { _LastUPCameracheckExe = state; } else { return; } if (state) { SendTaskMessage($"触发上相机检测拍照...", MessageLevel.Debug); //相机的编号 Int16 cameraIndex = plc.ReadNode(addressConfig.Out_UPCameracheckNum.Address); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1); return; } //视觉流程ID Guid procedureId = Guid.Empty; //获取锁付拍照的点位 var pos = currentProduct.CheckCameraPoints.FirstOrDefault(p => p.Number == cameraIndex); if (pos != null) { procedureId = pos.VisionProcessID; } // 获取流程 var process = _productService.GetCurrentProductProcedureModelById(procedureId); if (process == null) { SendTaskMessage(string.Format("未找到点位：{0}的视觉流程：{1}", cameraIndex, procedureId), MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)2); return; } // 执行视觉任务 var _cts = new CancellationTokenSource(); var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token, cameraIndex, null); if (visionResult.IsSucceed) { await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1); SendTaskMessage($"点位{cameraIndex}检测OK", MessageLevel.Debug); } else { await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)2); SendTaskMessage($"点位{cameraIndex}检测NG", MessageLevel.Error); } await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1); } else { SendTaskMessage($"触发上相机检测拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)0); } } } // 固定相机取料拍照 else if (addressConfig.In_FixedCameraPickExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastFixedCameraPickExe != state) { _LastFixedCameraPickExe = state; } else { return; } if (state) { SendTaskMessage($"触发固定相机取料拍照...", MessageLevel.Debug); //相机的编号 //Int16 cameraIndex = plc.ReadNode(addressConfig.In_FixedCameraPickNum.Address); if (currentProduct.IndependentCamer1AuxProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer2AuxProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer3AuxProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer4AuxProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2); return; } //获取四个独立相机的流程id var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer1AuxProcedureId); var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer2AuxProcedureId); var process3 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer3AuxProcedureId); var process4 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer4AuxProcedureId); // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, null, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, null, _cts.Token, 2, null); var task3 = _remoteCommandService.ExecutePhotoGetSinglePoint(process3, null, null, _cts.Token, 3, null); var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token, 4, null); var visionResults = await Task.WhenAll(task1, task2, task3, task4); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed) { Vector p1 = Vector.Build.Dense(new double[] { visionResults[1].X, visionResults[1].Y }); Vector p2 = Vector.Build.Dense(new double[] { visionResults[2].X, visionResults[2].Y }); Vector p3 = Vector.Build.Dense(new double[] { visionResults[3].X, visionResults[3].Y }); Vector p4 = Vector.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y }); var center = RectangleCenterCalculator.CalculateByPCAWithKnownOrder(new List> { p1, p2, p3, p4 }); UpCameraPutResults[1].X = (float)center.Center[0]; UpCameraPutResults[1].Y = (float)center.Center[1]; UpCameraPutResults[1].Z = (float)center.MajorAxisAngle; SendTaskMessage($"LCD拍照结果：X={UpCameraPutResults[1].X},Y={UpCameraPutResults[1].Y},Angle={UpCameraPutResults[1].Z}", MessageLevel.Info); } else { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2); return; } await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1); } else { SendTaskMessage($"触发固定相机取料拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)0); } } } // 固定相机锁附/组装拍照 else if (addressConfig.In_FixedCameraPutExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastFixedCameraPutExe != state) { _LastFixedCameraPutExe = state; } else { return; } if (state) { SendTaskMessage($"触发固定相机锁附/组装拍照...", MessageLevel.Debug); //相机的编号 //Int16 cameraIndex = plc.ReadNode(addressConfig.In_FixedCameraPutNum.Address); if (currentProduct.IndependentCamer1ProductProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer2ProductProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer3ProductProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer4ProductProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2); return; } //获取四个独立相机的流程id var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer1ProductProcedureId); var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer2ProductProcedureId); var process3 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer3ProductProcedureId); var process4 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer4ProductProcedureId); // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, null, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, null, _cts.Token, 2, null); var task3 = _remoteCommandService.ExecutePhotoGetSinglePoint(process3, null, null, _cts.Token, 3, null); var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token, 4, null); var visionResults = await Task.WhenAll(task1, task2, task3, task4); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed) { Vector p1=Vector.Build.Dense(new double[] { visionResults[1].X, visionResults[1].Y }); Vector p2=Vector.Build.Dense(new double[] { visionResults[2].X, visionResults[2].Y }); Vector p3=Vector.Build.Dense(new double[] { visionResults[3].X, visionResults[3].Y }); Vector p4 = Vector.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y }); var center = RectangleCenterCalculator.CalculateByPCAWithKnownOrder(new List> { p1, p2, p3, p4 }); UpCameraPutResults[0].X = (float)center.Center[0]; UpCameraPutResults[0].Y = (float)center.Center[1]; UpCameraPutResults[0].Z= (float)center.MajorAxisAngle; SendTaskMessage($"产品拍照结果：X={UpCameraPutResults[0].X},Y={UpCameraPutResults[0].Y},Angle={UpCameraPutResults[0].Z}", MessageLevel.Info); } else { await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2); return; } await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)1); } else { SendTaskMessage($"触发固定相机锁附/组装拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)0); } } } // 固定相机检测拍照 else if (addressConfig.In_FixedCameracheckExe.Address.Contains(tuple.nodeId)) { if (tuple.value is bool state) { if (_LastFixedCameracheckExe != state) { _LastFixedCameracheckExe = state; } else { return; } if (state) { SendTaskMessage($"触发固定相机检测拍照...", MessageLevel.Debug); //相机的编号 //Int16 cameraIndex = plc.ReadNode(addressConfig.In_FixedCameracheckNum.Address); if (currentProduct.IndependentCamer1CheckProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer2CheckProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer3CheckProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2); return; } if (currentProduct.IndependentCamer4CheckProcedureId == Guid.Empty) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2); return; } //获取四个独立相机的流程id var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer1CheckProcedureId); var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer2CheckProcedureId); var process3 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer3CheckProcedureId); var process4 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer4CheckProcedureId); // 执行视觉任务 var _cts = new CancellationTokenSource(); var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, null, _cts.Token, 1, null); var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, null, _cts.Token, 2, null); var task3 = _remoteCommandService.ExecutePhotoGetSinglePoint(process3, null, null, _cts.Token, 3, null); var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token, 4, null); var visionResults = await Task.WhenAll(task1, task2, task3, task4); if (isDryMode) { await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1); return; } if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed) { SendTaskMessage($"固定相机检测OK", MessageLevel.Debug); await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1); return; } else { SendTaskMessage($"固定相机检测NG", MessageLevel.Error); await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2); return; } } else { SendTaskMessage($"触发固定相机检测拍照信号已关闭", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)0); } } } // 多相机坐标合并 else if (addressConfig.In_RequestPosition.Address.Contains(tuple.nodeId)) { if (tuple.value is Int16 state) { if (_LastRequestPosition != state) { _LastRequestPosition = state; } else { return; } if (state == 1) { SendTaskMessage($"收到多相机坐标合并请求，开始合并...", MessageLevel.Debug); if (isDryMode) { var point1 = currentProduct.ScrewPoints[0].Clone(); SendTaskMessage($"点：1，{point1.X_Position:F3}，{point1.Y_Position:F4}，{point1.U_Position:F4}", MessageLevel.Info); await point1.WriteToPlcAddress(addressConfig.Out_Screw, plc); await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)1); await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)1); return; } // 获取机器人当前坐标 var robot = _robotService.GetAllRobots().FirstOrDefault(); if (robot == null) { SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2); return; } var currentPosition = robot.GetRobotPos(); //以LCD的中线创建工具坐标 ToolCoord toolCoord = new ToolCoord(); toolCoord.ComputeTool(currentPosition.X, currentPosition.Y, currentPosition.U, UpCameraPutResults[1].X, UpCameraPutResults[1].Y); //计算放料角度 double angle= currentPosition.U - UpCameraPutResults[1].Z + UpCameraPutResults[0].Z; //将产品的中心点坐标转换为Tool0下的坐标 var point = currentProduct.ScrewPoints[0].Clone(); var pn = Vector.Build.Dense(new double[] { UpCameraPutResults[0].X, UpCameraPutResults[0].Y }); var p0 = toolCoord.GetTool0Coord(pn, angle); point.X_Position = (float)p0[0]; point.Y_Position = (float)p0[1]; point.U_Position = (float)angle; PlaceActualCoord = new OpenCvSharp.Point3f(point.X_Position, point.Y_Position, point.U_Position); SendTaskMessage($"点：1，{point.X_Position:F3}，{point.Y_Position:F4}，{point.U_Position:F4}", MessageLevel.Info); await point.WriteToPlcAddress(addressConfig.Out_Screw, plc); await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)1); await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)1); } else { SendTaskMessage($"多相机坐标合并请求已结束或被取消，state={state}", MessageLevel.Alarm); await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)0); } } } // 螺丝供料器螺丝递减 else if (addressConfig.In_PickINC.Address.Contains(tuple.nodeId)) { if (tuple.value is Int16 state) { if (_LastPickINC != state) { _LastPickINC = state; } else { return; } if (state != 0) { SendTaskMessage($"螺丝供料器...", MessageLevel.Info); await plc.WriteNodeAsync(addressConfig.In_PickINC.Address, (Int16)0); } } } else { // 过站检查 for (int i = 0; i < 10; i++) { if (string.Format(addressConfig.In_MesCheck.Address, i).Contains(tuple.nodeId)) { if (tuple.value is Int16 state) { if (_LastMesCheck[i] != state) { _LastMesCheck[i] = state; } else { return; } var code = plc.ReadNode(string.Format(addressConfig.In_Code.Address, i)); if (state == 1) { //这里缺少从MES获取产品配方的内容，需要补充 _LastMesCheckTime[i] = DateTime.UtcNow; LogHelper.WriteLogMes($"【mes开始QUERY】"); SendTaskMessage($"mes开始QUERY", MessageLevel.Info); (bool isSuccess, string response) = await _mesService.StationGetAsync(code, "",2); if (i == 0) { SendTaskMessage($"收到当前过站检查请求（当站是否生产）...", MessageLevel.Debug); } else { SendTaskMessage($"收到{i}过站检查请求（当站是否生产）...", MessageLevel.Debug); } if (isSuccess) { //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改 await plc.WriteNodeAsync(addressConfig.Out_ScrewFeederIsChanged.Address, (Int16)1); //不发生改变 await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1); LogHelper.WriteLogMes($"询问mes成功"); SendTaskMessage($"询问mes成功", MessageLevel.Debug); LogHelper.WriteLogMes($"【mes结束QUERY】"); SendTaskMessage($"mes结束QUERY", MessageLevel.Info); return; } else { //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改 await plc.WriteNodeAsync(addressConfig.Out_ScrewFeederIsChanged.Address, (Int16)1); //不发生改变 await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)2); LogHelper.WriteLogMes($"询问mes失败"); SendTaskMessage($"询问mes失败:{response}", MessageLevel.Error); LogHelper.WriteLogMes($"【mes结束QUERY】"); SendTaskMessage($"mes结束QUERY", MessageLevel.Info); return; } } // 上传本站数据 else if (state == 2) { SendTaskMessage($"收到{i}上传本站数据请求...", MessageLevel.Debug); //这里缺少上传MES的本站数据结果及开始和结束时间，需要补充 double ct = DateTime.UtcNow.Subtract(_LastMesCheckTime[i]).TotalSeconds; if (i == 0) { CTtime = ct; } //读取产品结果 Int16 resultIndex = plc.ReadNode(string.Format(addressConfig.In_Result.Address,i)); //读取压力值 float pressure = plc.ReadNode(string.Format(addressConfig.In_PressureValue.Address, i)); AssemblyRecord assemblyRecord = new AssemblyRecord(); assemblyRecord.ProductSN = code; assemblyRecord.RecipeName = currentProduct.Name; assemblyRecord.PartSN = PartSN; assemblyRecord.AssemblyDurationSeconds = ct; assemblyRecord.AssemblyPressure = pressure; assemblyRecord.DeviceId = i; assemblyRecord.DeviceName = $""; assemblyRecord.OperatorName = _systemDatabaseService.GetCurrentUser().UserName; assemblyRecord.Success = resultIndex == 1 ? true : false; assemblyRecord.DownCameraCoord1 = ""; assemblyRecord.DownCameraCoord2 = ""; assemblyRecord.DownCameraCoord3 = ""; assemblyRecord.DownCameraCoord4 = ""; assemblyRecord.PickMoveCameraCoord = ""; assemblyRecord.PlaceMoveCameraCoord1 = ""; assemblyRecord.PlaceMoveCameraCoord2 = ""; assemblyRecord.PlaceMoveCameraCoord3 = ""; assemblyRecord.PlaceMoveCameraCoord4 = ""; assemblyRecord.PlaceActualCoord = ""; //目前只记录当前站 if (i == 0) { await _systemDatabaseService.RecordProductionAsync(new ProductionRecord() { ProductName = currentProduct.Name, ProductCode = code, DeviceId = i, DeviceName = "", Category = resultIndex == 1 ? "OK" : "NG", Quantity = 1, Remark = $"TotalSeconds:{ct.ToString("F2")}", UserName = _systemDatabaseService.GetCurrentUser().UserName, }); assemblyRecord.PlaceMoveCameraCoord1 = $"{UpCameraPutResults[0].X:F3},{UpCameraPutResults[0].Y:F3},{UpCameraPutResults[0].Z:F3}"; assemblyRecord.PlaceMoveCameraCoord2 = $"{UpCameraPutResults[1].X:F3},{UpCameraPutResults[1].Y:F3},{UpCameraPutResults[1].Z:F3}"; assemblyRecord.PlaceActualCoord = $"{PlaceActualCoord.X:F3},{PlaceActualCoord.Y:F3},{PlaceActualCoord.Z:F3}"; App.Current.Dispatcher.Invoke(() => { _eventAggregator.GetEvent().Publish(assemblyRecord); }); } await _systemDatabaseService.RecordAssemblyAsync(assemblyRecord); LogHelper.WriteLogMes($"【mes开始ADD】"); SendTaskMessage($"【mes开始ADD】", MessageLevel.Info); (bool isSuccess, string response) = await _mesService.SubmitGetAsync(code,"", resultIndex == 1 ? true : false, _LastMesCheckTime[i], DateTime.UtcNow); if (isSuccess) { LogHelper.WriteLogMes($"上传mes成功"); SendTaskMessage($"上传mes成功", MessageLevel.Debug); } else { LogHelper.WriteLogMes($"上传mes失败"); SendTaskMessage($"上传mes失败", MessageLevel.Error); } await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)3); LogHelper.WriteLogMes($"【mes结束ADD】"); SendTaskMessage($"mes结束ADD", MessageLevel.Info); return; } else { SendTaskMessage($"{i}过站检查信号：state={state}，处理为默认状态", MessageLevel.Alarm); await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)0); return; } } } } //开始/停止 组装/锁附 for (int i = 0; i < 7; i++) { //开始组装 if (string.Format(addressConfig.In_WorkStart.Address, i).Contains(tuple.nodeId)) { if (tuple.value is Int16 state) { if (_LastWorkStart[i] != state) { _LastWorkStart[i] = state; } else { return; } var code = plc.ReadNode(string.Format(addressConfig.In_Code.Address, i)); if (state == 1) { //SendTaskMessage($"收到开始组装信号[{i}]...", MessageLevel.Debug); SendTaskMessage($"收到开始保压信号[{i}]...", MessageLevel.Debug); // 开始采集压力值 StartPressureCollection(currentProduct.Name, code, i); } else { SendTaskMessage($"开始保压信号[{i}]已关闭", MessageLevel.Alarm); //// 关闭时的处理（如需）可放在这里 //SendTaskMessage($"收到关闭保压信号[{i}]...", MessageLevel.Debug); //// 停止采集压力并保存 //await StopAndSavePressureCollectionAsync(currentProduct.Name, code, i); } } } //停止组装 else if (string.Format(addressConfig.In_WorkDone.Address, i).Contains(tuple.nodeId)) { if (tuple.value is Int16 state) { if (_LastWorkDone[i] != state) { _LastWorkDone[i] = state; } else { return; } if (state == 1) { SendTaskMessage($"收到停止压力信号[{i}]...", MessageLevel.Debug); //获取当前锁付点 //var screwPoint = currentProduct.ScrewPoints.FirstOrDefault(p => p.Number == positionIndex); ////获取当前的机器人点位 //var robot = _robotService.GetAllRobots().FirstOrDefault(); //var currentPosition = robot.GetRobotPos(); ////读取压力值 //float pressure = plc.ReadNode(addressConfig.In_PressureValue.Address); //await Task.Delay(60); ////获取电批结果 //bool isSucced = ScrewDriver.GetData(); //LockResult lockResult = new LockResult(); //lockResult.ScrewdriverGetDataSucceed = isSucced; //lockResult.Number = positionIndex; //lockResult.LockPassed = ScrewDriver.Success; //lockResult.ProductNumber = _productService.CurrentProductCode; //lockResult.LockTurns = (float)ScrewDriver.Truns; //lockResult.LockTorque = (float)ScrewDriver.TorqueValue; //lockResult.LockDuration = (float)ScrewDriver.FinalTime; //lockResult.ScrewdriverProgramNumber = ScrewDriver.ProgramNumber; //lockResult.ResultDetails = ScrewDriver.ErrorInfo; //lockResult.Pressure = pressure; //lockResult.TargetTorque = ScrewDriver.TargetTorque; //lockResult.TargetTurnsUpperLimit = ScrewDriver.TargetTurnsUpperLimit; //lockResult.TargetTurnsLowerLimit = ScrewDriver.TargetTurnsLowerLimit; //lockResult.TargetLockSpeed = ScrewDriver.TargetLockSpeed; //lockResult.StartPositionX = currentPosition.X; //lockResult.StartPositionY = currentPosition.Y; //lockResult.StartPositionZ = screwPoint.Z_Position_Start; //lockResult.EndPositionZ = currentPosition.Z; //lockResult.LockDescentSpeed = screwPoint.Z_Velocity_Stop; //lockResult.FeederNumber = screwPoint != null ? screwPoint.Feeder : 0; //lockResult.NozzleNumber = ""; //lockResult.OperatorName = _systemDatabaseService.GetCurrentUser().UserName; //lockResult.ProductImagePath = ""; //lockResult.WaveDatas = ScrewDriver.WaveDatas; //App.Current.Dispatcher.Invoke(() => //{ // _eventAggregator.GetEvent().Publish(lockResult); //}); //await _systemDatabaseService.RecordLockResultAsync(lockResult); await plc.WriteNodeAsync(addressConfig.In_WorkDone.Address, (Int16)0); var code = plc.ReadNode(string.Format(addressConfig.In_Code.Address, i)); // 停止采集压力并保存 await StopAndSavePressureCollectionAsync(currentProduct.Name, code, i); } else { SendTaskMessage($"停止压力信号[{i}]已关闭", MessageLevel.Alarm); } } } } } } catch (Exception ex) { SendTaskMessage(ex.Message, MessageLevel.Error); } } #endregion #region 方法 private void SendTaskMessage(string msg, MessageLevel level) { App.Current.Dispatcher.Invoke(() => { _eventAggregator.GetEvent().Publish(new Models.MessageStruct() { Message = msg, level = level }); }); } #region Pressure collection helpers public void InitPressure() { for (int i = 0; i < _pressureSamples.Length; i++) { _pressureSamples[i] = new List<(DateTime, float)>(); } for (int i = 0; i < _pressureCts.Length; i++) { _pressureCts[i] = new CancellationTokenSource(); } for (int i = 0; i < _pressureTimeoutCts.Length; i++) { _pressureTimeoutCts[i] = new CancellationTokenSource(); } for (int i = 0; i < _pressureLinkedCts.Length; i++) { _pressureLinkedCts[i] = new CancellationTokenSource(); } } /// /// 开始采集压力值 /// /// 配方名称 /// 产品编号 /// 编号 private void StartPressureCollection(string productName, string productCode, int Index) { try { // cancel existing if any //_pressureCts[Index]?.Cancel(); //_pressureTimeoutCts[Index]?.Cancel(); //_pressureLinkedCts[Index]?.Dispose(); _pressureSamples[Index]?.Clear(); _pressureCts[Index] = new CancellationTokenSource(); _pressureTimeoutCts[Index] = new CancellationTokenSource(); // timeout after configured seconds _pressureTimeoutCts[Index].CancelAfter(TimeSpan.FromSeconds(_pressureMaxDurationSeconds)); // link tokens so either stop or timeout cancels _pressureLinkedCts[Index] = CancellationTokenSource.CreateLinkedTokenSource(_pressureCts[Index].Token, _pressureTimeoutCts[Index].Token); var token = _pressureLinkedCts[Index].Token; var addressConfig = _configService.GetPlcAddresses(); var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC; if (plc == null || !plc.IsConnected) return; Task.Run(async () => { SendTaskMessage($"Pressure collection started for position {Index}", MessageLevel.Debug); while (!token.IsCancellationRequested) { try { float pressure = plc.ReadNode(string.Format(addressConfig.In_PressureValue.Address, Index)); lock (_pressureSamples[Index]) { _pressureSamples[Index].Add((DateTime.Now, pressure)); } } catch (Exception ex) { LogHelper.WriteLogError("采集压力值时出错", ex); } await Task.Delay(_pressureSampleIntervalMs); } // if cancelled due to timeout if (_pressureTimeoutCts[Index].IsCancellationRequested && !_pressureCts[Index].IsCancellationRequested) { SendTaskMessage("Pressure collection timed out, saving collected data.", MessageLevel.Alarm); await StopAndSavePressureCollectionAsync(productName, productCode, Index); } }, token); } catch (Exception ex) { LogHelper.WriteLogError("StartPressureCollection error", ex); SendTaskMessage($"压力采集时出错:{ex.Message}", MessageLevel.Error); } } /// /// 停止采集并保存压力数据 /// /// /// /// /// private async Task StopAndSavePressureCollectionAsync(string productName, string productCode, int Index) { try { // cancel sampling //_pressureCts[Index]?.Cancel(); // allow worker to observe cancel await Task.Delay(50); List<(DateTime Timestamp, float Value)> snapshot; lock (_pressureSamples[Index]) { snapshot = new List<(DateTime, float)>(_pressureSamples[Index]); } if (snapshot.Count == 0) { SendTaskMessage("No pressure samples collected.", MessageLevel.Info); return; } // save to file under configured path try { //获取系统参数 var systemConfig = _configService.GetSystemConfiguration(); if (systemConfig.PressureSensorConfig == null || systemConfig.PressureSensorConfig.Count <= 0) { SendTaskMessage("当前没有配置任何压力传感器！", MessageLevel.Alarm); return; } //获取当前压力传感器配置 var pressureSensorConfig = systemConfig.PressureSensorConfig.FirstOrDefault(p => p.SensorId == Index); if (pressureSensorConfig == null) { SendTaskMessage($"当前压力传感器配置不存在！- {Index}", MessageLevel.Alarm); return; } //PressureFinishNotification : Prism.Events.PubSubEvent<(bool IsSuccess, int Index, (DateTime Timestamp, float Value)[] values,string SavePath )> string basePath = pressureSensorConfig?.PressureCurvePath ?? Environment.GetFolderPath(Environment.SpecialFolder.MyDocuments); string datePath = DateTime.Now.ToString("yyyy-MM") + "\\" + DateTime.Now.ToString("yyyy-MM-dd") + "\\"; string dirPath = Path.Combine(basePath, datePath, productName ?? "UnknownProduct", productCode ?? DateTime.Now.ToString("yyyyMMddHHmmssfff")); if (!Directory.Exists(dirPath)) Directory.CreateDirectory(dirPath); string csvfileName = $"pressure-{productCode}-{Index}-{DateTime.Now.ToString("HHmmss")}.csv"; string csvPath = Path.Combine(dirPath, csvfileName); string pngfileName = $"pressure-{productCode}-{Index}-{DateTime.Now.ToString("HHmmss")}.png"; string pngPath = Path.Combine(dirPath, pngfileName); if (!pressureSensorConfig.IsSavePressureCurve) { csvPath = string.Empty; pngPath = string.Empty; } App.Current.Dispatcher.Invoke(() => { _eventAggregator.GetEvent().Publish((true, Index, snapshot.ToArray(), pngPath)); }); //判断是否保存锁付曲线 if (pressureSensorConfig.IsSavePressureCurve) { if (!string.IsNullOrEmpty(csvPath)) { var sb = new StringBuilder(); sb.AppendLine("Timestamp,Value"); foreach (var s in snapshot) { sb.AppendLine($"{s.Timestamp:O},{s.Value}"); } File.WriteAllText(csvPath, sb.ToString()); SendTaskMessage($"Pressure samples saved to {csvPath}", MessageLevel.Debug); } } } catch (Exception ex) { LogHelper.WriteLogError("保存压力采样文件时出错", ex); SendTaskMessage("保存压力采样文件时出错: " + ex.Message, MessageLevel.Error); } } catch (Exception ex) { LogHelper.WriteLogError("StopAndSavePressureCollectionAsync error", ex); } finally { try { _pressureLinkedCts[Index]?.Cancel(); _pressureLinkedCts[Index]?.Dispose(); _pressureTimeoutCts[Index]?.Dispose(); _pressureCts[Index]?.Dispose(); _pressureSamples[Index]?.Clear(); } catch { } } } #endregion private async void DoYieldTime(object state) { try { //获取当前产品 var currentproduct = _productService.GetCurrentProduct(); if (currentproduct == null) return; TotalQuantity = await _systemDatabaseService.GetOverallProductionAsync(currentproduct.Name); TotalQuantityToday = await _systemDatabaseService.GetTodayProductionAsync(currentproduct.Name); CurrentUPH = await _systemDatabaseService.GetLastHourProductionAsync(currentproduct.Name); } catch (Exception) { } } #region vm启动检测 /// /// 杀死所有VM有关进程 /// public void KillVMProcess() { KillProcess("VisionMasterServerApp"); KillProcess("VisionMaster"); KillProcess("VmModuleProxy.exe"); KillProcess("vServerApp.exe"); } /// /// 杀死指定进程名的进程 /// /// public void KillProcess(string strKillName) { foreach (System.Diagnostics.Process p in System.Diagnostics.Process.GetProcesses()) { if (p.ProcessName.Contains(strKillName)) { try { p.Kill(); p.WaitForExit(); } catch (Exception ex) { LogHelper.WriteLogError($"杀死进程:{strKillName}时失败！", ex); } } } } #endregion #endregion } }