Revise puf carton Bugs; Add Dryer related simualtor；

CyberX8_MainPages/ViewModels/OperationOverViewModel.cs

@@ -36,6 +36,7 @@ using MECF.Framework.Common.CommonData.PUF;
 using MECF.Framework.Common.Beckhoff.AxisProvider;
 using QiHe.CodeLib;
 using MECF.Framework.Common.Jobs;
+using ExcelLibrary.BinaryFileFormat;
 
 
 namespace CyberX8_MainPages.ViewModels
@@ -153,6 +154,10 @@ namespace CyberX8_MainPages.ViewModels
         /// </summary>
         private double _puf1FlipPosition;
         /// <summary>
+        /// Puf1 Flip Diff
+        /// </summary>
+        private double _puf1FlipDiff;
+        /// <summary>
         /// Puf1 Rotation最左侧的位置
         /// </summary>
         private double _puf1RotationMotorPositionMax;
@@ -767,12 +772,13 @@ namespace CyberX8_MainPages.ViewModels
                 //目标位置数据获取
                 Puf1RotationAxis = CommonFunction.GetValue<BeckhoffStationAxis>(RtDataValues, $"Station.PUF1.Rotation");
                 //Puf1Rotation比例尺计算
-                var resultRotation = Puf1RotationAxis != null ? CalculateMaxMin(Puf1RotationAxis) : (0, 0);
-                double distance = resultRotation.max - resultRotation.min;
+                var resultRotation = Puf1RotationAxis != null ? CalculatePufMaxMin(Puf1RotationAxis) : (0, 0);
+                double distance = resultRotation.right - resultRotation.left;
                 _puf1RotationRatio = distance / _pufLayoutRotationDistance;
-                _puf1RotationMotorPositionMax = resultRotation.max;
-
-                       
+                _puf1RotationMotorPositionMax = resultRotation.left;
+                //目标位置数据获取
+                Puf1FlipAxis = CommonFunction.GetValue<BeckhoffStationAxis>(RtDataValues, $"Station.PUF1.Flip");
+                _puf1FlipDiff = CalculatePufFlipDiff(Puf1FlipAxis);
             }
         }
 
@@ -1009,11 +1015,11 @@ namespace CyberX8_MainPages.ViewModels
                     Loader1RotationMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"Loader1.Rotation.{MOTOR_POSITION}");
                     Puf1FlipMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"PUF1.Flip.{MOTOR_POSITION}");
                     //计算Puf1 Rotation UI位置
-                    Puf1RotationPosition = _robotLayoutPosition + (_puf1RotationMotorPositionMax - Puf1RotationMotorPosition) / _puf1RotationRatio;
+                    Puf1RotationPosition = _robotLayoutPosition + (Puf1RotationMotorPosition - _puf1RotationMotorPositionMax) / _puf1RotationRatio;
                     //计Loader Rotation UI位置
                     Loader1RotationPosition = -Loader1RotationMotorPosition - LOADER_ROTATION_DIFFER;
                     //计算Puf1 Flip UI位置                    
-                    Puf1FlipPosition = Puf1FlipMotorPosition - PUF_FLIP_DIFFER;
+                    Puf1FlipPosition = Puf1FlipMotorPosition - _puf1FlipDiff;
                     //判断Loader1的TiltA水平状态
                     LoaderTiltACurrentStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(RtDataValues, $"Loader1.TiltA.{CURRENT_STATION}"), "Loader1.TiltA");
                     if (LoaderTiltACurrentStation == "HORI")
@@ -1524,12 +1530,17 @@ namespace CyberX8_MainPages.ViewModels
         /// </summary>
         /// <param name="Puf1RotationAxis"></param>
         /// <returns></returns>
-        private (double max, double min) CalculateMaxMin(BeckhoffStationAxis pufAxis)
+        private (double right, double left) CalculatePufMaxMin(BeckhoffStationAxis pufAxis)
         {
-            double max = 0;
-            double min = 0;
+            if (pufAxis == null || pufAxis.Stations.Count == 0) return (-1,-1);
+            double max = double.Parse(pufAxis.Stations[0].Position);
+            double min = double.Parse(pufAxis.Stations[0].Position);
+            double home = 0;
+            double pickup = 0;
             foreach (Station item in pufAxis.Stations)
             {
+                if (item.Name.ToLower().Contains("home")) home = double.Parse(item.Position);
+                if (item.Name.ToLower().Contains("pickup")) pickup = double.Parse(item.Position);
                 double position = double.Parse(item.Position);
                 if (position > max)
                 {
@@ -1540,19 +1551,24 @@ namespace CyberX8_MainPages.ViewModels
                     min = position;
                 }
             }
+            
+            return pickup < home ? (min, max):(max, min);
+        }
+        /// <summary>
+        /// 计算PufFlip差值
+        /// </summary>
+        /// <param name="pufAxis"></param>
+        /// <returns></returns>
+        private double CalculatePufFlipDiff(BeckhoffStationAxis pufAxis)
+        {
+            double sideAangle = 0;
+            double sideBangle = 0; ;
             foreach (Station item in pufAxis.Stations)
             {
-                double position = double.Parse(item.Position);
-                if (position > max)
-                {
-                    max = position;
-                }
-                if (position < min)
-                {
-                    min = position;
-                }
+                if (item.Name.ToLower().Contains("sideA")) sideAangle = double.Parse(item.Position);
+                if (item.Name.ToLower().Contains("sideB")) sideBangle = double.Parse(item.Position);
             }
-            return (max, min);
+            return sideAangle > sideBangle ? 180 : 0;
         }
         /// <summary>
         /// 判定是否在station位置

CyberX8_MainPages/ViewModels/TransporterViewModel.cs

@@ -221,7 +221,7 @@ namespace CyberX8_MainPages.ViewModels
                     LoaderElevatorMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter2}.Elevator.{IS_MOVING}");
                     LoaderTransporterIsHomed = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter2}.{IS_HOMED}");
                     LoaderBarcode = CommonFunction.GetValue<string>(_rtDataValueDic, $"{LoaderBarcodeReaderDeviceName}.BarcodeValue");
-                    LoaderElevatorJam = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter2}.{FORWARD_LIMIT}");
+                    LoaderElevatorJam = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter2}.Elevator.{FORWARD_LIMIT}");
 
                     ProcessTransporterData = CommonFunction.GetValue<TransporterData>(_rtDataValueDic, $"{ModuleName.Transporter1}.{TRANSPORTER_DATA}");
                     ProcessGantryMotorOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter1}.Gantry.{IS_SWITCH_ON}");
@@ -232,7 +232,7 @@ namespace CyberX8_MainPages.ViewModels
                     ProcessElevatorMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter1}.Elevator.{IS_MOVING}");
                     ProcessTransporterIsHomed = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter1}.{IS_HOMED}");
                     ProcessBarcode = CommonFunction.GetValue<string>(_rtDataValueDic, $"{ProcessBarcodeReaderDeviceName}.BarcodeValue");
-                    ProcessElevatorJam = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter1}.{FORWARD_LIMIT}");
+                    ProcessElevatorJam = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ModuleName.Transporter1}.Elevator.{FORWARD_LIMIT}");
 
                     string loaderElevatorStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(_rtDataValueDic, $"{ModuleName.Transporter2}.Elevator.CurrentStation"), $"{ModuleName.Transporter2}.Elevator");
                     LoaderElevatorIsInUpPlace = "UP".Equals(loaderElevatorStation) ? true : false;

CyberX8_RT/Config/Devices/WagoControllerCfg-Simulator.xml

@@ -290,7 +290,7 @@
 			</AIGroup>
 			<AIGroup Name="3">
 				<AI Name="AI8"  Address="8" Scaling="0=3276.7,-757.5=16383.5" DataType="short"/>
-				<AI Name="r_SYSTEM_EXHAUST"  Address="9" Scaling="0=3276.7,-757.5=16383.5" DataType="short"/>
+				<AI Name="r_SYSTEM_EXHAUST"  Address="9" Scaling="0=0, 2=32767" DataType="short"/>
 				<AI Name="r_PREWET_FLOW"  Address="10" Scaling="0=3276.7,40=32767" DataType="short"/>
 				<AI Name="r_DI_WATER_PRESSURE"  Address="11" Scaling="0=3276.7,100=32767" DataType="short"/>
 			</AIGroup>

CyberX8_RT/Config/System.sccfg

@@ -135,7 +135,7 @@
 	</configs>
 	<!--DualPUF-->
 	<configs name="DualPUF" nameView="DualPUF">
-		<config default="513" name="PufLayoutRotationDistance" nameView="PufLayoutRotationDistance" description="Rotation Layout distance between efem and loader." max="600" min="300" paramter="" tag="" unit="mm" type="Integer" />
+		<config default="490" name="PufLayoutRotationDistance" nameView="PufLayoutRotationDistance" description="Rotation Layout distance between efem and loader." max="600" min="300" paramter="" tag="" unit="mm" type="Integer" />
 		<config default="-218" name="RobotLayoutPosition" nameView="RobotLayoutPosition" description="Robot Layout position." max="200" min="-300" paramter="" tag="" unit="mm" type="Integer" />
 	</configs>
 	<!--PUF1-->

CyberX8_Simulator/Config/UILayout.xml

@@ -14,6 +14,8 @@
 	</Navigation>
 
 	<Navigation Id="Festo" Name="Festo">
+		<SubView Id="Festo1" Name="Festo1" ViewClass="CyberX8_Simulator.Views.FestoView" Assembly="CyberX8_Simulator" Port="504"/>
+		<SubView Id="Festo2" Name="Festo2" ViewClass="CyberX8_Simulator.Views.FestoView" Assembly="CyberX8_Simulator" Port="503"/>
 		<SubView Id="Festo3" Name="Festo3" ViewClass="CyberX8_Simulator.Views.FestoView" Assembly="CyberX8_Simulator" Port="502"/>
 	</Navigation>
 

CyberX8_Simulator/Devices/WagoSocketSimulator.cs

@@ -117,13 +117,23 @@ namespace CyberX8_Simulator.Devices
         /// <param name="value"></param>
         private void UpdateDataCausedByWago(int position, bool value)
         {
-            if (position == DONameIndexDic["c_PUF_CHUCK"])
+            if (DONameIndexDic.ContainsKey("c_PUF_CHUCK") && position == DONameIndexDic["c_PUF_CHUCK"])
             {
                 UpdataDIBytes("r_PUF_A_CHUCK_OUT", value ? 1 : 0);
                 UpdataDIBytes("r_PUF_B_CHUCK_OUT", value ? 1 : 0);
                 UpdataDIBytes("r_PUF_A_CHUCK_IN", !value ? 1 : 0);
                 UpdataDIBytes("r_PUF_B_CHUCK_IN", !value ? 1 : 0);                             
             }
+            if (DONameIndexDic.ContainsKey("c_HVD_1_HIGH") && position == DONameIndexDic["c_HVD_1_HIGH"])
+            {
+                UpdataAIShorts("r_HVD_1_ANALOG", value ? 4500 : 0);
+            }
+
+            if (DONameIndexDic.ContainsKey("c_HVD_2_HIGH") && position == DONameIndexDic["c_HVD_2_HIGH"])
+            {
+                UpdataAIShorts("r_HVD_2_ANALOG", value ? 4500 : 0);
+            }
+            
         }
         /// <summary>
         /// 初始化字典
@@ -205,6 +215,9 @@ namespace CyberX8_Simulator.Devices
             if (AINameIndexDic.ContainsKey("r_LoaderB_LS_Vacuum_anlg")) AIShorts[AINameIndexDic["r_LoaderB_LS_Vacuum_anlg"]] = 0x32C8;
             if (AINameIndexDic.ContainsKey("r_DPUF_A_CHUCK_A_VAC")) AIShorts[AINameIndexDic["r_DPUF_A_CHUCK_A_VAC"]] = 0x32C8;
             if (AINameIndexDic.ContainsKey("r_DPUF_A_CHUCK_B_VAC")) AIShorts[AINameIndexDic["r_DPUF_A_CHUCK_B_VAC"]] = 0x32C8;
+            if (AINameIndexDic.ContainsKey("r_SYSTEM_EXHAUST")) AIShorts[AINameIndexDic["r_SYSTEM_EXHAUST"]] = 0x3A98;
+            if (DONameIndexDic.ContainsKey("c_HVD_1_ENABLE")) DOBytes[DONameIndexDic["c_HVD_1_ENABLE"]] = 1;
+            if (DONameIndexDic.ContainsKey("c_HVD_2_ENABLE")) DOBytes[DONameIndexDic["c_HVD_2_ENABLE"]] = 1;
         }
         #region 公共方法
         public void UpdataDOBytes(string name,int value)

CyberX8_Themes/UserControls/TransporterDebugControl.xaml

@@ -81,7 +81,7 @@
 
                             
                                 <Label Content="Jam" Grid.Row="2" VerticalAlignment="Center"></Label>
-                                <Ellipse Grid.Row="2" Width="16" Height="16"  Fill="{Binding ElementName=self,Path=ReadyToLock1On,Converter={StaticResource boolToColor}}" Stroke="Silver" HorizontalAlignment="Left" VerticalAlignment="Center" Margin="180,0,0,0"/>
+                                <Ellipse Grid.Row="2" Width="16" Height="16"  Fill="{Binding ElementName=self,Path=ForwardLimit,Converter={StaticResource boolToColor}}" Stroke="Silver" HorizontalAlignment="Left" VerticalAlignment="Center" Margin="180,0,0,0"/>
 
 
                                 <Label Content="WS Present" Grid.Row="1" VerticalAlignment="Center"></Label>

CyberX8_Themes/UserControls/TransporterStationPositionControl.xaml.cs

@@ -480,6 +480,7 @@ namespace CyberX8_Themes.UserControls
             {
                 if (!string.IsNullOrEmpty(ModuleName))
                 {
+                    _rtDataKeys.Clear();
                     IncrementValue = (double)QueryDataClient.Instance.Service.GetConfig("System.Increment");
                     _rtDataKeys.Add($"Station.{ModuleName}");
                     _rtDataKeys.Add($"{ModuleName}.AxisProvider");