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@@ -1,6 +1,9 @@
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using Aitex.Common.Util;
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+using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Log;
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+using Aitex.Core.RT.Routine;
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using Aitex.Core.Util;
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+using CyberX8_Core;
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using MECF.Framework.Common.Beckhoff.AxisProvider;
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using MECF.Framework.Common.Beckhoff.Station;
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using MECF.Framework.Common.Device.Galil;
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@@ -8,6 +11,7 @@ using MECF.Framework.Common.Equipment;
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using System;
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using System.Collections.Generic;
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using System.IO;
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+using System.Runtime.InteropServices.ComTypes;
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namespace MECF.Framework.Common.Simulator
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{
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@@ -29,6 +33,8 @@ namespace MECF.Framework.Common.Simulator
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private const string HOMING_SIGNAL = "HomingSignal";
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private const string MOTION_SIGNAL = "MotionSignal";
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private const string STOP_SIGNAL = "StopSignal";
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+ private const string FESTO_DATABUFFER_TRANSPORT1_LOCK = "ProcessTransporterLock";
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+ private const string FESTO_DATABUFFER_TRANSPORT2_LOCK = "LoaderTransporterLock";
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/// <summary>
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/// 定时器间隔(ms)
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/// </summary>
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@@ -52,6 +58,22 @@ namespace MECF.Framework.Common.Simulator
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/// Key:moduleName, Value:minStep
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/// </summary>
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private Dictionary<string, int> _motorNameMinStepDic = new Dictionary<string, int>();
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+ /// <summary>
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+ /// Key:stationName, Value:position
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+ /// </summary>
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+ private Dictionary<string, double> _stationPositionDic = new Dictionary<string, double>();
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+ /// <summary>
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+ /// Key:stationName, Value:Tolerance
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+ /// </summary>
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+ private Dictionary<string, double> _toleranceDic = new Dictionary<string, double>();
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+ /// <summary>
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+ /// Key:stationName, Value:BeckhoffProviderAxis
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+ /// </summary>
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+ private Dictionary<string, BeckhoffProviderAxis> _axisDataDic = new Dictionary<string, BeckhoffProviderAxis>();
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+ /// <summary>
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+ /// 其他模块数据
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+ /// </summary>
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+ private Dictionary<string, bool> _otherModuleDataDic = new Dictionary<string, bool>();
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#endregion
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#region 属性
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@@ -60,14 +82,19 @@ namespace MECF.Framework.Common.Simulator
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//delegate
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#region Delegate
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- public delegate void UpdateVariableValueChanged(Dictionary<string, SimulatorMotionData> datasDic);
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+ public delegate void UpdateVariableValueMotionDatasChanged(Dictionary<string, SimulatorMotionData> datasDic);
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+ public delegate void UpdateVariableValueInputDatasChanged(string module, string VariableName, bool value);
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#endregion
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#region 事件
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/// <summary>
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- /// 变量变更事件
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+ /// MotionDatas变更事件
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+ /// </summary>
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+ public event UpdateVariableValueMotionDatasChanged OnUpdateMotionDatasChanged;
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+ /// <summary>
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+ /// InputDatas变更事件
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/// </summary>
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- public event UpdateVariableValueChanged OnUpdateVariableValueChanged;
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+ public event UpdateVariableValueInputDatasChanged OnUpdateInputDatasChanged;
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#endregion
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/// <summary>
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/// 初始化
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@@ -82,6 +109,8 @@ namespace MECF.Framework.Common.Simulator
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/// </summary>
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private void Init()
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{
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+ SimulatorCommManager.Instance.OnUpdateVariableValueChanged += UpdataDataCausedByOtherModule;
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+ InitOtherModuleDatas();
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//加载对应配置文件 GalilControllerCfg-Simulator.xml，初始化数据字典
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try
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{
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@@ -100,6 +129,7 @@ namespace MECF.Framework.Common.Simulator
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_motorNameDataDic[$"{config.Module}.{item.Name}"].NegativeTorqueLimit = item.NegativeTorqueLimit;
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_motorNameDataDic[$"{config.Module}.{item.Name}"].PositiveTorqueLimit = item.PositiveTorqueLimit;
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_motorNameDataDic[$"{config.Module}.{item.Name}"].SwitchSignal = true;
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+ _motorNameDataDic[$"{config.Module}.{item.Name}"].ModuleName = config.Module;
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}
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}
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}
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@@ -120,6 +150,7 @@ namespace MECF.Framework.Common.Simulator
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foreach (BeckhoffProviderAxis item in axisProviderCfg.Axes)
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{
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double value = item.ScaleFactor / 30;
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+ _axisDataDic[item.Name] = item;
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_motorNameMinStepDic[item.Name] = (int)((value < 100) ? 100 : value);
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}
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}
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@@ -132,35 +163,39 @@ namespace MECF.Framework.Common.Simulator
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try
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{
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string oldXmlPath = PathManager.GetCfgDir();
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- string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\StationPositionsCfg_Simulator.xml";
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+ string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Station\\StationPositionsCfg_Simulator.xml";
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StationPositionCfg cfg = CustomXmlSerializer.Deserialize<StationPositionCfg>(new FileInfo(newXmlPath));
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if (cfg != null)
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{
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- //foreach (BeckhoffStationModule config in cfg.Module)
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- //{
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- // if (config.Name == ModuleName.Transporter1.ToString())
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- // {
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- // foreach (BeckhoffStationAxis item in config.Axises)
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- // {
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- // ;
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- // }
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- // }
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- // else if(config.Name == ModuleName.Transporter2.ToString())
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- // {
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- // foreach (BeckhoffStationAxis item in config.Axises)
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- // {
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- // ;
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- // }
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- // }
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-
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- //}
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+ foreach (BeckhoffStationModule config in cfg.Module)
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+ {
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+ if (config.Name.Contains("Transporter"))
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+ {
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+ foreach (BeckhoffStationAxis item in config.Axises)
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+ {
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+ _toleranceDic[item.Name] = item.ToleranceDefault;
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+ if (item.Name.Contains("Elevator"))
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+ {
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+ foreach(var subItem in item.Stations)
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+ {
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+ _stationPositionDic[subItem.Name.ToLower()] = double.Parse(subItem.Position);
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+ }
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+ }
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+ }
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+ }
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+ }
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}
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}
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catch
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{
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- LOG.WriteLog(eEvent.ERR_GALIL, "Galil", "Load galil GalilControllerCfg-Simulator.xml failed");
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+ LOG.WriteLog(eEvent.ERR_GALIL, "StationPosition", "Load StationPositionCfg-Simulator.xml failed");
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}
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}
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+ private void InitOtherModuleDatas()
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+ {
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+ _otherModuleDataDic[FESTO_DATABUFFER_TRANSPORT1_LOCK] = false;
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+ _otherModuleDataDic[FESTO_DATABUFFER_TRANSPORT2_LOCK] = false;
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+ }
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/// <summary>
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/// 定时器执行
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/// </summary>
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@@ -173,23 +208,38 @@ namespace MECF.Framework.Common.Simulator
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//对应电机进行模拟
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MotorMotionSimulator(motorItem);
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//实时更新电机数据
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- UpdateVariableValue(_motorNameDataDic);
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+ UpdateMotionDatas(_motorNameDataDic);
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+ //更新InputDatas
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+ UpdateInputDatas(motorItem);
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}
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return true;
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}
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/// <summary>
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- /// 通知Galil模块数据变化
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+ /// 通知Galil模块motion数据变化
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/// </summary>
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/// <param name="data"></param>
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- private void UpdateVariableValue(Dictionary<string, SimulatorMotionData> datasDic)
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+ private void UpdateMotionDatas(Dictionary<string, SimulatorMotionData> datasDic)
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{
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- if (OnUpdateVariableValueChanged != null)
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+ if (OnUpdateMotionDatasChanged != null)
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{
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- OnUpdateVariableValueChanged(datasDic);
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+ OnUpdateMotionDatasChanged(datasDic);
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}
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}
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/// <summary>
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+ /// 通知Galil模块Input数据变化
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+ /// </summary>
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+ /// <param name="module"></param>
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+ /// <param name="value"></param>
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+ private void UpdateInputDatas(KeyValuePair<string, SimulatorMotionData> motorItem)
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+ {
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+ if (OnUpdateInputDatasChanged != null && CheckMotionData(motorItem, out string VariableName, out bool value))
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+ {
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+ OnUpdateInputDatasChanged(motorItem.Value.ModuleName, VariableName, value);
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+ }
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+ }
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+
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+ /// <summary>
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/// 设置电机数据
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/// </summary>
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/// <param name="axisName"></param>
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@@ -357,6 +407,52 @@ namespace MECF.Framework.Common.Simulator
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}
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return speed;
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}
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-
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+ /// <summary>
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+ /// 检查电机数据
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckMotionData(KeyValuePair<string, SimulatorMotionData> motor, out string name,out bool value)
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+ {
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+ bool result = false;
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+ value = false;
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+ name = "";
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+ switch (motor.Key)
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+ {
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+ case "Transporter1.Elevator":
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+ name = "r_TRANSPORT1_WS_HOLD_PRESENT";
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+ value = _otherModuleDataDic[FESTO_DATABUFFER_TRANSPORT1_LOCK] && CheckAtStation(motor.Key, motor.Value, "up") ? true : false;
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+ result = true;
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+ break;
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+ case "Transporter2.Elevator":
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+ name = "r_TRANSPORT2_WS_HOLD_PRESENT";
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+ value = _otherModuleDataDic[FESTO_DATABUFFER_TRANSPORT2_LOCK] && CheckAtStation(motor.Key, motor.Value, "up") ? true : false;
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+ result = true;
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+ break;
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+ default:
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+ break;
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+ }
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+ return result;
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+ }
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+ /// <summary>
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+ /// 更新其他模块数据
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+ /// </summary>
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+ /// <param name="name"></param>
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+ /// <param name="value"></param>
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+ private void UpdataDataCausedByOtherModule(string name, bool value)
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+ {
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+ if (_otherModuleDataDic.ContainsKey(name))
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+ {
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+ _otherModuleDataDic[name] = value;
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+ }
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+ }
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+ private bool CheckAtStation(string name, SimulatorMotionData data, string stationName)
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+ {
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+ double diff = Math.Abs(data.ActualPosition - _stationPositionDic[$"{name.ToLower()}.{stationName.ToLower()}"] * _axisDataDic[name].ScaleFactor);
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+ if (diff <= _toleranceDic[name] * _axisDataDic[name].ScaleFactor)
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+ {
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+ return true;
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+ }
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+ return false;
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+ }
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}
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}
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