Add Puf vaccum and chuck in/out in simulator; Modify FestoSimulator UI；

CyberX8_RT/Modules/PUF/PUFEntity.cs

@@ -348,9 +348,9 @@ namespace CyberX8_RT.Modules.PUF
         private bool Abort(object parameter)
         {
             bool preHomed = IsHomed;
-            _flipAxis.StopPositionOperation();
-            _rotationAxis.StopPositionOperation();
-            _verticalAxis.StopPositionOperation();
+            if(_flipAxis != null) _flipAxis.StopPositionOperation();
+            if(_rotationAxis != null) _rotationAxis.StopPositionOperation();
+            if(_verticalAxis != null) _verticalAxis.StopPositionOperation();
             if(_currentRoutine!=null)
             {
                 _currentRoutine.Abort();

CyberX8_Simulator/Config/SimulatorIOMapCfg.xml

@@ -8,4 +8,6 @@
 	<SimulatorIOMapItem SourceIOName="c_LoaderB_LS_Vacuum" TargetIONameA="r_LoaderB_LS_Vacuum_anlg"/>
 	<SimulatorIOMapItem SourceIOName="c_LOADERA_BERNOULLI_N2" TargetIONameA="r_LOADERA_BERNOULLI_PRESSURE"/>
 	<SimulatorIOMapItem SourceIOName="c_LOADERB_BERNOULLI_N2" TargetIONameA="r_LOADERB_BERNOULLI_PRESSURE"/>
+	<SimulatorIOMapItem SourceIOName="c_DPUF_A_CHUCK_A_RELEASE" TargetIONameA="r_DPUF_A_CHUCK_A_VAC"/>
+	<SimulatorIOMapItem SourceIOName="c_DPUF_A_CHUCK_B_RELEASE" TargetIONameA="r_DPUF_A_CHUCK_B_VAC"/>
 </SimulatorIOMapConfig>

CyberX8_Simulator/Devices/FestoSocketSimulator.cs

@@ -8,6 +8,7 @@ using MECF.Framework.Simulator.Core.Driver;
 using System;
 using System.Collections.Generic;
 using System.IO;
+using System.Net;
 
 namespace CyberX8_Simulator.Devices
 {
@@ -29,7 +30,11 @@ namespace CyberX8_Simulator.Devices
         /// <summary>
         /// 数据(DOName - index)
         /// </summary>
-        private Dictionary<string, FestoDO> _festoNameIndexDic = new Dictionary<string, FestoDO>();
+        public Dictionary<string, FestoDO> FestoNameIndexDic = new Dictionary<string, FestoDO>();
+        /// <summary>
+        /// 数据字典(DOName - value)
+        /// </summary>
+        public Dictionary<string, bool> FestoNameValueDic = new Dictionary<string, bool>();//***********
         /// <summary>
         /// do 索引对象字典(key-地址索引-bit，value--do名称)
         /// </summary>
@@ -177,9 +182,9 @@ namespace CyberX8_Simulator.Devices
         /// <param name="value"></param>
         public void UpdataDOBytes(string name, int value)
         {
-            if (_festoNameIndexDic.ContainsKey(name))
+            if (FestoNameIndexDic.ContainsKey(name))
             {
-                FestoDO festoDO = _festoNameIndexDic[name];
+                FestoDO festoDO = FestoNameIndexDic[name];
                 short byteValue = (short) (_festoOutputDataDic[(festoDO.Address - FESTO_DO_START_ADDRESS) * 2] & ~(1 << festoDO.Bit));
                 short tmp = (short)(value << festoDO.Bit);
                 _festoOutputDataDic[(festoDO.Address - FESTO_DO_START_ADDRESS) * 2] = (short)(byteValue | tmp);
@@ -191,11 +196,11 @@ namespace CyberX8_Simulator.Devices
         /// <param name="address"></param>
         /// <param name="value"></param>
         /// <returns></returns>
-        private (string, bool) DecodeDOData(ushort address, short value, out bool flag)
+        private (string, bool) DecodeDOData(ushort address, short value, out bool flag, bool check = false)
         {
             flag = true;
             int index = (address - FESTO_DO_START_ADDRESS) * 2;
-            if (_festoOutputDataDic[index] == value) 
+            if (!check &&_festoOutputDataDic[index] == value) 
             {
                 flag = false;
                 return ("", false);
@@ -206,6 +211,18 @@ namespace CyberX8_Simulator.Devices
             return (_doNameDictionary[str], valueBool);
         }
         /// <summary>
+        /// 获取当前DO数据
+        /// </summary>
+        /// <param name="doName"></param>
+        /// <returns></returns>
+        public int GetDOData(string doName)
+        {
+            FestoDO data = FestoNameIndexDic[doName];
+            int result = 0;
+            result = (_festoOutputDataDic[(data.Address - FESTO_DO_START_ADDRESS) * 2] & (short)(1 << data.Bit)) == 0 ? 0 : 1;
+            return result;
+        }
+        /// <summary>
         /// 初始化
         /// </summary>
         private void InitData(int port)
@@ -229,7 +246,7 @@ namespace CyberX8_Simulator.Devices
                         {
                             foreach (FestoDO item in config.FestoDoes)
                             {
-                                _festoNameIndexDic[item.Name] = item;
+                                FestoNameIndexDic[item.Name] = item;
                                 string str = $"{item.Address}-{item.Bit}";
                                 _doNameDictionary[str] = item.Name;
                             }

CyberX8_Simulator/Devices/WagoSocketSimulator.cs

@@ -61,11 +61,18 @@ namespace CyberX8_Simulator.Devices
                     case "r_LoaderB_LS_Vacuum_anlg":
                         AIShorts[AINameIndexDic[name]] = value ? (short)0x2AF8 : (short)0x32C8;
                         break;
+                    case "r_DPUF_A_CHUCK_A_VAC":
+                    case "r_DPUF_A_CHUCK_B_VAC":
+                        AIShorts[AINameIndexDic[name]] = !value ? (short)0x2AF8 : (short)0x32C8;
+                        break;
                     case "r_LOADERA_BERNOULLI_PRESSURE":
                     case "r_LOADERB_BERNOULLI_PRESSURE":
+                    case "r_LOADERA_CHUCK_BLADDER":
+                    case "r_LOADERB_CHUCK_BLADDER":
+                    case "r_LOADERA_WS_BLADDER_PRESSURE":
+                    case "r_LOADERB_WS_BLADDER_PRESSURE":
                         AIShorts[AINameIndexDic[name]] = value ? (short)0x2AF8 : (short)0x00;
                         break;
-                
                     default:
                         break;
 
@@ -73,6 +80,21 @@ namespace CyberX8_Simulator.Devices
            
             }
         }
+        /// <summary>
+        /// 触发Wago对应数据更新
+        /// </summary>
+        /// <param name="position"></param>
+        /// <param name="value"></param>
+        private void UpdateDataCausedByWago(int position, bool value)
+        {
+            if (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);                             
+            }
+        }
         /// <summary>
         /// 初始化字典
         /// </summary>
@@ -336,6 +358,8 @@ namespace CyberX8_Simulator.Devices
                     DOBytes[position] = status ? (byte)1 : (byte)0;
                 }
                 OnWriteMessage(data); //原消息返回
+                //触发Wago对应数据更新
+                UpdateDataCausedByWago(position, status);
                 return;
             }
             else if (command == 0x06)//写AO

CyberX8_Simulator/Views/FestoView.xaml

@@ -5,6 +5,7 @@
         xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
         xmlns:local="clr-namespace:CyberX8_Simulator.Views"
         xmlns:commons="clr-namespace:MECF.Framework.Simulator.Core.Commons;assembly=MECF.Framework.Simulator.Core"
+        xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
         mc:Ignorable="d"
         d:Height="900" d:Width="1200">
     <Grid>
@@ -20,11 +21,20 @@
         <Grid  Grid.Row="1">
             <StackPanel Orientation="Horizontal" Width="1200">
                 <Button Content="Clear Log" Width="100" Height="35"   Command="{Binding ClearLogCommand}"></Button>
-                <StackPanel Orientation="Horizontal" Width="500" Height="50" Margin="100,0,0,0">
+                <StackPanel Orientation="Horizontal" Width="559" Height="50" Margin="100,0,0,0">
                     <Label Content="DO:" VerticalAlignment="Center"></Label>
-                    <ComboBox  Width="250" Height="30" VerticalContentAlignment="Center" ItemsSource="{Binding DONameItems}" SelectedItem="{Binding DOSelectedItem}" />
+                    <ComboBox  Width="250" Height="30" VerticalContentAlignment="Center" ItemsSource="{Binding DONameItems}" SelectedItem="{Binding DOSelectedItem}">
+                        <i:Interaction.Triggers>
+                            <i:EventTrigger EventName="SelectionChanged">
+                                <i:InvokeCommandAction Command="{Binding DOSelectionChangedCommand}"/>
+                            </i:EventTrigger>
+                        </i:Interaction.Triggers>
+                    </ComboBox>
                     <ComboBox  Width="60" Height="30" Margin="5,0,0,0" VerticalContentAlignment="Center" ItemsSource="{Binding DigitalOutputSelected}" SelectedItem="{Binding DOInputValue}" HorizontalContentAlignment="Center"></ComboBox>
                     <Button Content="DOInput" Height="30" Width="100" Margin="5,10,0,0" Command="{Binding SetDOCommand}"/>
+                    <Border Margin="5,0,0,0" Background="Black" Height="30" Width="80">
+                        <TextBlock Text="{Binding DOCurrentValue}" Foreground="Lime"   FontSize="16" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                    </Border>
                 </StackPanel>
             </StackPanel>
         </Grid>

CyberX8_Simulator/Views/FestoView.xaml.cs

@@ -10,6 +10,7 @@ using System.IO;
 using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Input;
+using System.Xml.Linq;
 
 namespace CyberX8_Simulator.Views
 {
@@ -62,11 +63,26 @@ namespace CyberX8_Simulator.Views
                 _DOInputValue = value;
             }
         }
+        private int _DOCurrentValue;
+        [IgnorePropertyChange]
+        public int DOCurrentValue
+        {
+            get
+            {
+                return _DOCurrentValue;
+            }
+            set
+            {
+                _DOCurrentValue = value;
+            }
+        }
         public ObservableCollection<string> DONameItems { get; set; }
         public ObservableCollection<int> DigitalOutputSelected { get; set; }
         #endregion
 
         public ICommand SetDOCommand { get; set; }
+        public ICommand DOSelectionChangedCommand { get; set; }
+
         private FestoSocketSimulator _sim;
         public FestoViewModel(string str) : base("FestoViewModel")
         {
@@ -75,30 +91,25 @@ namespace CyberX8_Simulator.Views
             Init(_sim);
             InitData(port);
             SetDOCommand = new DelegateCommand<object>(SetDOAction);
+            DOSelectionChangedCommand = new DelegateCommand<object>(DOSelectionChangedAction);
         }
         private void InitData(int port)
         {
             DigitalOutputSelected = new ObservableCollection<int> { 0, 1 };
-            string oldXmlPath = PathManager.GetCfgDir();
-            string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\FestoControllerCfg-Simulator.xml";
-            FestoControllerCfg cfg = CustomXmlSerializer.Deserialize<FestoControllerCfg>(new FileInfo(newXmlPath));
             DONameItems = new ObservableCollection<string>();
-            foreach (FestoDeviceConfig config in cfg.FestoDeviceConfigs)
+            foreach (var item in _sim.FestoNameIndexDic.Keys)
             {
-                if (port == config.Port)
-                {
-                    foreach (FestoDO item in config.FestoDoes)
-                    {
-                        DONameItems.Add(item.Name);
-                    }
-                }
-            }
-            
-       
+                DONameItems.Add(item);
+            }    
         }
         private void SetDOAction(object obj)
         {
             _sim.UpdataDOBytes(DOSelectedItem, DOInputValue);
+            DOSelectionChangedAction("");
+        }
+        private void DOSelectionChangedAction(object obj)
+        {
+            DOCurrentValue = _sim.GetDOData(DOSelectedItem);
         }
     }
 }