566 lines
16 KiB
C#
566 lines
16 KiB
C#
using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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using MECF.Framework.Common.Communications;
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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;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.MachineVision.Keyence
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{
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public class KeyenceCVX300F : BaseDevice, IConnection, IDevice
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{
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private KeyenceCVX300FConnection _connection;
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private bool _isOn;
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private bool _activeMonitorStatus;
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private int _errorCode;
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private string _lastError = string.Empty;
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//private RD_TRIG _trigPumpOnOff = new RD_TRIG();
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//private R_TRIG _trigError = new R_TRIG();
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//private R_TRIG _trigOverTemp = new R_TRIG();
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//private R_TRIG _trigWarningMessage = new R_TRIG();
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private R_TRIG _trigCommunicationError = new R_TRIG();
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private R_TRIG _trigRetryConnect = new R_TRIG();
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uint iCurrentOper = 0xff;
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List<byte> liReceivedData = new List<byte>();
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byte bEnd = 0x0d;
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//bool bStaGood = true;
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//bool bCanBeat = false;
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//int iBeatTimes = 0;
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private int _iArea = 0;
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public string _sResult;
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//
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private PeriodicJob _thread;
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private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
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private object _locker = new object();
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private bool _enableLog = true;
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private string _scRoot;
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private string _strCmd;
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#region 属性
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public string Address
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{
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get; set;
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}
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public bool IsConnected
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{
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get
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{
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return _connection != null && _connection.IsConnected;
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}
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}
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//属性
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public bool AlarmStatus { get; set; }
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public bool PositionComplete { get; set; }
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public bool MotorBusy { get; set; }
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//
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public bool IsBusy { get; set; }
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//public bool IsStbOff { get; set; } //StbOff消息是否发送
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public int AreaData
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{
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get { return _iArea; }
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}
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#endregion
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public bool Connect()
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{
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return true;
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}
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public bool Disconnect()
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{
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return true;
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}
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public KeyenceCVX300F(string module, string scRoot, string name) : base(module, name, name, name)
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{
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_scRoot = scRoot;
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_activeMonitorStatus = true;
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//
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}
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public bool Initialize()
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{
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// string portName = SC.GetStringValue($"{_scRoot}.{Module}.{Name}.Address");
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string sAddress = SC.GetStringValue($"{Name}.Address");
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Address = sAddress;
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_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
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_connection = new KeyenceCVX300FConnection(sAddress);
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_connection.EnableLog(_enableLog);
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//
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_sResult = "";
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//
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if (_connection.Connect())
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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}
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//设置属性
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this.SetAttr();
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//设置操作
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this.SetOP();
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//
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_thread = new PeriodicJob(200, OnTimer, $"{Name} MonitorHandler", true);
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//
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//this.InitMachine();
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//
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ConnectionManager.Instance.Subscribe($"{Name}", this);
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//SetServoOn();
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return true;
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}
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/// <summary>
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/// 设置属性
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/// </summary>
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private void SetAttr()
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{
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//DATA.Subscribe($"{Module}.{Name}.Area", () => _iArea);
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DATA.Subscribe($"{Module}.{Name}.Result", () => this._sResult);
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}
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/// <summary>
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/// 设置操作
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/// </summary>
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private void SetOP()
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{
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//读取面积
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//OP.Subscribe($"{Module}.{Name}.CVXCheckArea", (cmd, param) =>
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//{
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// //Set("T1","T1");
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// //EV.PostInfoLog(Module, $"{Name} Get area data.");
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// return true;
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//});
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//读取结果
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OP.Subscribe($"{Module}.{Name}.GetResult", (cmd, param) =>
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{
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GetResult(Convert.ToInt32(param[0]));
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//
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return true;
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});
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//转至运行模式
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OP.Subscribe($"{Module}.{Name}.RunR0", (cmd, param) =>
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{
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RunR0();
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return true;
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});
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//清除结果
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OP.Subscribe($"{Module}.{Name}.ClearResult", (cmd, param) =>
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{
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this.ClearResult();
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return true;
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});
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}
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public void ClearResult()
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{
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this._sResult = "";
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}
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/// <summary>
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/// 转到运行模式
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/// </summary>
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public void RunR0()
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{
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Set("R0", "R0");
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EV.PostInfoLog(Module, $"{Name} Run R0 command.");
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}
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/// <summary>
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/// 获取拍照比对结果
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/// </summary>
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/// <param name="iConId">执行条件编号</param>
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public void GetResult(int iConId)
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{
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SetExecCond(iConId);
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//this._strCmd = param[0] as string;
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//if (this._strCmd.Length > 0)
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//{
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// Set(this._strCmd, this._strCmd);
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// EV.PostInfoLog(Module, $"{Name} Get result.");
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//}
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//
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//Set("T1", "T1");
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EV.PostInfoLog(Module, $"{Name} Get result.");
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}
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/// <summary>
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/// 设置输出文件名
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/// </summary>
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/// <param name="sFileName"></param>
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public void SetFileName(string sFileName)
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{
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string sCmd = "STW,1," + sFileName.Trim();//1为相机内文件名编号，相机输出时调用编号
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Set("STW", sCmd);
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EV.PostInfoLog(Module, $"{Name} Set file name:" + sFileName);
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}
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/// <summary>
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/// 写入执行条件:EXW,n
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/// </summary>
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/// <param name="iConId">条件编号</param>
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public void SetExecCond(int iConId)
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{
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string sCmd = "EXW," + iConId.ToString();//执行条件编号，现在是点1处使用条件1，点2处使用条件2
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Set("EXW", sCmd);
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EV.PostInfoLog(Module, $"{Name} Set condition no.");
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}
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/// <summary>
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/// 加入命令队列
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/// </summary>
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/// <param name="strCmd">命令 Ascii格式</param>
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public void Set(string name, string strCmd)
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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if (_connection.IsBusy)
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{
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_connection.ForceClear();
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}
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List<byte> liCmd = Encoding.ASCII.GetBytes(strCmd).ToList<byte>();
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liCmd.Add(0x0d); //CR
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//liCmd.Add(0x0a); //LF 不可颠倒
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byte[] bCmd = liCmd.ToArray();
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//_lstHandler.AddLast(new HwAlignerGuideQueryHandler(this, strCmd, bCmd));
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_lstHandler.AddLast(new KeyenceCVX300FSetHandler(this, name, bCmd));
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}
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}
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public int _connecteTimes { get; set; }
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private bool OnTimer()
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{
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try
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{
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//
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_connection.MonitorTimeout();
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//若断，重连
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if ((!_connection.IsConnected) || _connection.IsCommunicationError)
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{
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lock (_locker)
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{
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//_trigSevroOn.RST = true;
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//IsBusy = false;
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_lstHandler.Clear();
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}
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//
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_trigRetryConnect.CLK = _connection.IsConnected; //不可重复置值，否则Q会有变化
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if (_connection.Connect())
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{
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//
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//if (_trigRetryConnect.Q)
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//{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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LOG.Write($"{Module}.{Name} connected");
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//}
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//转至运行模式，此命令可以重入
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this.RunR0();
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this.SetFileName("sic");
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_trigRetryConnect.CLK = true;
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}
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else
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{
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if (_trigRetryConnect.Q)
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{
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EV.PostInfoLog(Module, $"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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LOG.Write($"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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}
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}
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Thread.Sleep(2000);//降低重连频率
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}
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//处理命令队列
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HandlerBase handler = null;
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if (!_connection.IsBusy)
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{
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lock (_locker)
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{
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if (_lstHandler.Count == 0 && _activeMonitorStatus && !IsBusy)
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{
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//Query();
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}
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if (_lstHandler.Count > 0)
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{
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handler = _lstHandler.First.Value;
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_lstHandler.RemoveFirst();
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}
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}
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if (handler != null)
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{
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_connection.Execute(handler);
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}
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}
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//
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return true;
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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return true;
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}
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internal void NoteError()
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{
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}
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public void Monitor()
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{
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try
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{
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_connection.EnableLog(_enableLog);
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//if (_connecteTimes < 4) return;
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_trigCommunicationError.CLK = _connection.IsCommunicationError;
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if (_trigCommunicationError.Q)
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{
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EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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public void Terminate()
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{
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try
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{
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if (_connection != null)
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{
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_connection.Disconnect();
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_connection = null;
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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public void Reset()
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{
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//
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_connecteTimes = 0;
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_connection.SetCommunicationError(false, "");//这里重置了CommunicationError ，就是去了OnTimer里面的重连的触发，所以需要另设变量以触发之(使用timeout来触发的情况）
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_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
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_trigCommunicationError.RST = true;
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_trigRetryConnect.RST = true;
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//
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}
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public void SetActiveMonitor(bool active)
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{
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_activeMonitorStatus = active;
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}
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//internal void NoteOnOff(bool isOn)
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//{
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// _isOn = isOn;
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//}
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public bool _PraseData(string name, byte[] buffer)
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{
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bool bRes = false;
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//
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try
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{
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this.bEnd = 0x0d;
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this.liReceivedData.AddRange(buffer);
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List<byte> liData = new List<byte>();
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int iIndex = this.liReceivedData.LastIndexOf(bEnd);
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//int iIndex = this.liReceivedData.IndexOf(bEnd);
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if (iIndex > 0)
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{
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liData.AddRange(this.liReceivedData.GetRange(0, iIndex + 1));
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this.liReceivedData.RemoveRange(0, iIndex + 1);
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}
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else
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{
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return false;
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}
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string sAnswer = Encoding.ASCII.GetString(liData.ToArray());
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//string sAnswer = Encoding.ASCII.GetString(buffer);
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//返回一次 "T1\r" ,再次返回 "T1\r00004422,0\r"
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string[] sCmds = sAnswer.Split('\n', '\r');
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foreach (string sOneCmd in sCmds)
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{
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if (sOneCmd.Length > 0 && sOneCmd.Trim().CompareTo(name) != 0)
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{
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//bRes = this.DoOneCmd(name, sOneCmd);
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}
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}
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}
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catch (Exception ex)
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{
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string sEx = $"{Module}.{Name} Exception:" + ex.Message;
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EV.PostAlarmLog(Module, sEx);
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LOG.Write(sEx);
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}
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//
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return bRes;
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}
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public bool PraseData(string name, byte[] buffer)
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{
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//
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string sCmdBack = Encoding.ASCII.GetString(buffer);
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bool bRes = false;
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//
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if (sCmdBack.Trim().Length > 0)
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{
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//
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if (name.CompareTo("T1") == 0)
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{
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if (sCmdBack.CompareTo("T1\r") == 0)
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{
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bRes = false;
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}
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else
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{
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bool bResult = sCmdBack.Replace("T1\r", "").Contains("0");
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//
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if (bResult)
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{
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this._sResult = "OK";
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}
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else
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{
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this._sResult = "NG";
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}
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bRes = true;
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}
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}
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else if (name.CompareTo("EXW") == 0)
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{
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Set("T1", "T1");
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bRes = true;
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}
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else
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{
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if (sCmdBack.Contains("ER,"))
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{
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EV.PostWarningLog(Module, "Keyence CCD camera get an error answer.");
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}
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bRes = true;
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}
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}
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//
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return bRes;
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}
|
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|
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|
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//public void SetErrorCode(int errorCode)
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//{
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// _errorCode = errorCode;
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//}
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//public void SetError(string reason)
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//{
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// _trigWarningMessage.CLK = true;
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// if (_trigWarningMessage.Q)
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// {
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// EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason}");
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// }
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//}
|
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private static byte[] ModRTU_CRC(byte[] buffer)
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{
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ushort crc = 0xFFFF;
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// var buf = System.Text.Encoding.UTF8.GetBytes(String.Join(Environment.NewLine, buffer));
|
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var buf = buffer;
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var len = buffer.Length;
|
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for (var pos = 0; pos < len; pos++)
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{
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crc ^= buf[pos]; // XOR byte into least sig. byte of crc
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for (var i = 8; i != 0; i--)
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// Loop over each bit
|
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if ((crc & 0x0001) != 0)
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{
|
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// If the LSB is set
|
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crc >>= 1; // Shift right and XOR 0xA001
|
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crc ^= 0xA001;
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}
|
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else // Else LSB is not set
|
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{
|
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crc >>= 1; // Just shift right
|
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}
|
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}
|
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|
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// Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
|
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return BitConverter.GetBytes(crc);
|
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|
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}
|
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}
|
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}
|