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C00225155-02/C00225155/MegaRobo.C00225155/MegaRobo.C00225155App/MenuViewModels/HomeViewModel.cs

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添加项目文件。
2026-04-13 09:12:49 +00:00
using Common;
using Common.DevicesModels;
using Common.Models;
using CommunityToolkit.Mvvm.Input;
using CommunityToolkit.Mvvm.Messaging;
using MaterialDesignThemes.Wpf;
using MegaRobo.C00224159App;
using MegaRobo.C00225155.AppServer;
using MegaRobo.C00225155.ControlDevices;
using MegaRobo.C00225155.ControlDevices.Scanner;
using MegaRobo.C00225155.DataAccess;
using MegaRobo.C00225155.Entities;
using MegaRobo.C00225155.Entities.Entity_DB;
using MegaRobo.C00225155.Entities.Enums;
using MegaRobo.C00225155App.MenuViews;
using MegaRobo.Contract;
using MegaRobo.ControlDevices.Models;
using MegaRobo.Entities;
using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.Hamilton5mlDevices;
using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.HamiltonDevices;
using MegaRobo.WpfInfrastructure.Abstractions;
using NetTaste;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Net.NetworkInformation;
using System.Reflection;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using System.Windows.Forms;
using System.Windows.Input;
using System.Windows.Threading;
using Telerik.Windows.Controls.Data;
using static Org.BouncyCastle.Math.EC.ECCurve;
using static System.Windows.Forms.MonthCalendar;
using static Vanara.PInvoke.Gdi32;
using static Vanara.PInvoke.Kernel32;
using static Vanara.PInvoke.Kernel32.PSS_HANDLE_ENTRY;
using Pipette1ml = MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.HamiltonDevices;
using Pipette5ml = MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.Hamilton5mlDevices;
namespace MegaRobo.C00225155App.MenuViewModels
{
public class HomeViewModel : ViewModelBaseEx
{
#region 7个传送工装位置
public ObservableCollection<int> BoxIndexList { get; set; } = new ObservableCollection<int>();
private int selectedBoxIndex;
public int SelectedBoxIndex
{
get { return selectedBoxIndex; }
set {
SetProperty(ref selectedBoxIndex, value);
}
}
private BoxTypeEnum selectedboxtype;
public BoxTypeEnum SelectedBoxType
{
get { return selectedboxtype; }
set {
SetProperty(ref selectedboxtype, value);
if (selectedboxtype == BoxTypeEnum._40mL原液工装)
{
BoxIndexList.Clear(); BoxIndexList.Add(4);BoxIndexList.Add(5);
}
else if(selectedboxtype == BoxTypeEnum._12mL样品工装 || selectedboxtype == BoxTypeEnum._5mL样品工装)
{
BoxIndexList.Clear(); BoxIndexList.Add(1);BoxIndexList.Add(2); BoxIndexList.Add(3); ;
}
else
{
BoxIndexList.Clear(); BoxIndexList.Add(6);BoxIndexList.Add(7);
}
//BoxIndexList.Clear(); BoxIndexList.AddRange(new int[] { 1, 2, 3, 4, 5, 6, 7 });
}
}
private List<string> baselocalInfo;
public List<string> BaselocalInfo
{
get { return baselocalInfo; }
set { SetProperty(ref baselocalInfo, value); }
}
private ObservableCollection<SampleBottleModel> samplelist = new ObservableCollection<SampleBottleModel>();
private ObservableCollection<SourceLiquidBottleModel> liquidlist = new ObservableCollection<SourceLiquidBottleModel>();
private ObservableCollection<SourcePowderBottleModel> powderlist = new ObservableCollection<SourcePowderBottleModel>();
private ObservableCollection<SourcePowderBottleModel> powderlist_125 = new ObservableCollection<SourcePowderBottleModel>();
private ObservableCollection<TipHeadItem> tipHeadslist = new ObservableCollection<TipHeadItem>();
public ICommand LoadBoxCommand { get; set; }
public IAsyncRelayCommand UploadBoxCommand { get; set; }
public IAsyncRelayCommand TransferOutCommand { get; set; }
public IAsyncRelayCommand TransferInCommand { get; set; }
public IAsyncRelayCommand ClearTransferCommand { get; set; }
public IAsyncRelayCommand StartUnloadCommand { get; set; }
public IAsyncRelayCommand ResetSampleBottlesCommand { get; set; }
public ICommand UpdateSampleBoxPropertyCommand { get; set; }
#endregion
#region 服务
private IModbusClientExtend _modbusClient_Plc1;
private IModbusClientExtend _modbusClient_Plc2;
private AppConfigService appConfigService { get; set; }
private WorkService workService;
protected IDataAccessService dataAccessService;
/// <summary>
/// 扫码枪服务
/// </summary>
protected ScannerService scannerService;
protected ScannerService scannerService_Powder;
protected WeightService_Ts02 preWeight;
#endregion
#region properties
private static readonly SemaphoreSlim _lockWaitSignal = new SemaphoreSlim(1, 1);
private string tiptxt = "暂停";
/// <summary>
/// 投料站的暂停按钮tooltip提示信息
/// </summary>
public string PauseContinueTipText
{
get { return tiptxt; }
set
{
SetProperty(ref tiptxt, value);
}
}
private DateTime _lastReportTime { get; set; } = DateTime.Now;
private string doseRunState = "Manual";
/// <summary>
/// 投料站的 自动、暂停、待机状态，用于样式切换
/// </summary>
public string DoseRunState
{
get => doseRunState;
set => SetProperty(ref doseRunState, value);
}
private bool btnEnableState = true;
/// <summary>
/// 管控投料站的启动按钮是否可用IsEnable
/// </summary>
public bool BtnEnableState
{
get { return btnEnableState; }
set
{
if (SetProperty(ref btnEnableState, value))
{
if (btnEnableState)
{
DoseRunState = "Idel";
}
else
{
DoseRunState = "Runing";
}
}
}
}
public ProjectProperty ProjectPro
{
get => workService.ProjectPro;
set
{
if (workService.ProjectPro != value)
{
workService.ProjectPro = value;
OnPropertyChanged(nameof(ProjectPro));
}
}
}
#endregion properties
#region events
/// <summary>
/// 设置运行的命令
/// </summary>
public ICommand RunCommand { get; set; }
/// <summary>
/// 设置项目方案命令
/// </summary>
public ICommand ProjectCommand { get; set; }
public ICommand TipFeedCommand { get; set; }
public RelayCommand<string> OpenPipetteManageWindowCommand { get; set; }
#endregion
public HomeViewModel()
{
}
#region functions
public override void Initialize(ICoreService coreService, string title, params object[] args)
{
base.Initialize(coreService, title, args);
samplelist = new ObservableCollection<SampleBottleModel>();
for (int i = 0; i < 12; i++)
{
samplelist.Add(new SampleBottleModel()
{
SampleBottleLidState = SampleBottleLidStateEnum.Close,
PosId_InBox = i + 1,
HaveBottle = true,
bDoseFinish = false,
SNCode = string.Empty,
});
}
liquidlist = new ObservableCollection<SourceLiquidBottleModel>();
for (int i = 0; i < 8; i++)
{
liquidlist.Add(new SourceLiquidBottleModel()
{
LiquidBottleLidState = SourceBottleLidStateEnum.Close,
PosId_InBox = i + 1,
HaveBottle = true,
RemainVolume = 0,
SNCode = string.Empty,
SourceLiquidBottleState = SourceBottleStateEnum.Idl,
});
}
powderlist = new ObservableCollection<SourcePowderBottleModel>();
for (int i = 0; i < 4; i++)
{
powderlist.Add(new SourcePowderBottleModel()
{
PosId_InBox = i + 1,
HaveBottle = false,
RemainWeight = 0,
SNCode = string.Empty,
PowderBottleType = PowderBottleTypeEnum._16mL,
SourcePowderBottleState = SourceBottleStateEnum.Idl,
});
}
powderlist_125 = new ObservableCollection<SourcePowderBottleModel>();
for (int i = 0; i < 2; i++)
{
powderlist_125.Add(new SourcePowderBottleModel()
{
PosId_InBox = i + 1,
HaveBottle = false,
RemainWeight = 0,
SNCode = string.Empty,
PowderBottleType = PowderBottleTypeEnum._125mL,
SourcePowderBottleState = SourceBottleStateEnum.Idl,
});
}
tipHeadslist.Clear();
for (int i = 0; i < 96; i++)
{
tipHeadslist.Add(new TipHeadItem() { IsAvailable = true, UseIndex = i + 1, });
}
}
protected override void LoadServices()
{
base.LoadServices();
_modbusClient_Plc1 = this.CoreService.GetServiceInstance<IModbusClientExtend>(DeviceNames.Plc1.ToString());
preWeight = this.CoreService.GetServiceInstance<WeightService_Ts02>(DeviceNames.PreWeight.ToString());
scannerService = this.CoreService.GetServiceInstance<ScannerService>(DeviceNames.Scanner.ToString());
scannerService_Powder = this.CoreService.GetServiceInstance<ScannerService>(DeviceNames.Scanner_Powder.ToString());
appConfigService = this.CoreService.GetServiceInstance<AppConfigService>();
dataAccessService = this.CoreService.GetServiceInstance<IDataAccessService>();
this.workService = this.CoreService.GetServiceInstance<WorkService>();
if (workService != null)
{
workService.ProjectProChanged += OnProjectProChanged; //更新当前界面绑定的Projectproperty属性
workService.stationService_Dose.UpdateDeviceStatusEvent += OnDeviceStatusChanged;
workService.stationService_Dose.OnScanPlcErrorListEvent += StationService_Config_OnScanPlcErrorListEvent;
}
}
/// <summary>
/// 配置站的报警弹窗
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void StationService_Config_OnScanPlcErrorListEvent(object sender, List<PLCErrorPoint> plcErrorsInfo)
{
if (plcErrorsInfo != null && plcErrorsInfo.Count > 0)
{
BaselocalInfo = plcErrorsInfo.Where(e => e.ErrorAddress.Contains(".")).Select(x => x.ErrorInfo).ToList(); //本地展示的数据
if ((DateTime.Now - _lastReportTime).TotalSeconds > 10)
{
_lastReportTime = DateTime.Now;
var toBsInfo = plcErrorsInfo.Where(e => !e.ErrorAddress.Contains(".")).ToList(); //10S向BS推送一次
if (toBsInfo.Count > 0)
{
//todo:向BS报告
_ = Task.Run(async () =>
{
//todo:暂时屏蔽报错推送
//var res = await workService.stationService_Dose.SendJson((new Guid()).ToString(), "error", toBsInfo.ToJson());
});
}
}
}
}
private void OnDeviceStatusChanged(object sender, C00225155.Entities.DeviceStatus e)
{
switch (e)
{
case C00225155.Entities.DeviceStatus.Idel:
DoseRunState = "Idel";
break;
case C00225155.Entities.DeviceStatus.CarryOn:
DoseRunState = "CarryOn";
break;
case C00225155.Entities.DeviceStatus.Runing:
if (PauseContinueTipText == "继续")
{
PauseContinueTipText = "暂停";
}
DoseRunState = "Runing";
break;
case C00225155.Entities.DeviceStatus.Pause:
if (PauseContinueTipText == "暂停")
{
PauseContinueTipText = "继续";
}
DoseRunState = "Pause";
break;
case C00225155.Entities.DeviceStatus.Finish:
DoseRunState = "Finish";
break;
case C00225155.Entities.DeviceStatus.Abort:
DoseRunState = "Abort";
break;
default:
break;
}
}
protected override void LoadDatas()
{
base.LoadDatas();
//加载项目文件
BoxIndexList.Clear();
//BoxIndexList.Add(1); BoxIndexList.Add(2); BoxIndexList.Add(3);
//BoxIndexList.Add(4); BoxIndexList.Add(5); BoxIndexList.Add(6); BoxIndexList.Add(7);
}
protected override void Register()
{
base.Register();
RegisterCommand();
LoadBoxCommand = new RelayCommand(LoadBox);
UploadBoxCommand = new AsyncRelayCommand(UploadBox);
TransferOutCommand = new AsyncRelayCommand(TransferOut);
TransferInCommand = new AsyncRelayCommand(TransferIn);
ClearTransferCommand = new AsyncRelayCommand(ClearTransfer);
StartUnloadCommand = new AsyncRelayCommand(StartUnload);
ResetSampleBottlesCommand = new AsyncRelayCommand<int>(ResetSampleBottles);
UpdateSampleBoxPropertyCommand = new RelayCommand<int>(UpdateSampleBoxProperty);
WeakReferenceMessenger.Default.Register<SingleBoolMessage>(this, (r, m) =>
{
BtnEnableState = m.Value;
});
}
/// <summary>
/// 按照瓶1配置信息更新样品工装
/// </summary>
/// <param name="sampleboxIdParam"></param>
private void UpdateSampleBoxProperty(int sampleboxIdParam)
{
int index = 0;
index = sampleboxIdParam;
BaseBottleBox box = workService.ProjectPro.TransferArea.FirstOrDefault(f => f.BoxId_inDoseUpload == index);
if (!(box is SampleBottleBoxModel)) return;
SampleBottleBoxModel sampleBottlebox = box as SampleBottleBoxModel;
if (sampleBottlebox != null)
{
for (int i = 0; i < sampleBottlebox.SampleBottleList.Count; i++)
{
SampleBottleModel sampleBottle = File_Operator.DeepCopy(sampleBottlebox.SampleBottleList[0]);
SampleBottleModel needtochangemodel = sampleBottlebox.SampleBottleList.FirstOrDefault(f => f.PosId_InBox == (i + 1));
needtochangemodel.SampleBottleType = sampleBottle.SampleBottleType;
needtochangemodel.MaterialDoseFlowList = sampleBottle.MaterialDoseFlowList;
needtochangemodel.HaveBottle = sampleBottle.HaveBottle;
//needtochangemodel.SampleFunctionFlowList = sampleBottle.SampleFunctionFlowList;
//needtochangemodel.AddLiquidFunctionFlowList = sampleBottle.AddLiquidFunctionFlowList;
}
}
OnPropertyChanged(nameof(ProjectPro));
}
private async Task ResetSampleBottles(int arg)
{
workService.ProjectPro.TransferArea[arg - 1] = new BaseBottleBox()
{
BoxArea = BoxAreaEnum._手套箱传送平台, BoxId_inDoseUpload = arg, IsEmpty = true
};
}
public new event PropertyChangedEventHandler PropertyChanged;
// 当ProjectPro变更时调用此方法
private void OnProjectProChanged()
{
// 通知视图ProjectPro属性已变更
PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(nameof(ProjectPro)));
}
#endregion functions
private void RegisterCommand()
{
RunCommand = new RelayCommand<object>(async (obj) =>
{
if (obj is string param)
{
if (!workService.ProjectPro.bNoUseBS)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage()
{
Header = "提示",
Content = "请勾选不启用BS！"
});
return;
}
switch (param)
{
//配置站启动 停止 暂停
case "Start":
//if (!workService.stationService_Dose.StationProp.bHaveReset)
//{
// WeakReferenceMessenger.Default.Send(new AlertMessage()
// {
// Header = "复位提示",
// Content = "请先点复位按钮，复位后再启动！"
// });
// break;
//}
//workService.stationService_Dose.StationProp.bStopButtonTrigger = false;
//workService.stationService_Dose.StationProp.bRunFinish = false;
//workService.stationService_Dose.StationProp.bResetButtonTrigger = false;
//workService.stationService_Dose.StationProp.bStartButtonTrigger = true;
//BtnEnableState = false;
//workService.ProjectPro.Dose_CT = string.Empty;
if (workService.stationService_Dose.StationProp.deviceStatus != C00225155.Entities.DeviceStatus.CarryOn)
{
var result = workService.ValidateSampleBottle();
if (!result.isSuccess)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage()
{
Header = "提示",
Content = result.msg
});
return;
}
await workService.stationService_Dose.WriteCmdToPlc("start");
await workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Runing);
}
else
{
WeakReferenceMessenger.Default.Send(new AlertMessage()
{
Header = "提示",
Content = "搬运过程中无法启动！"
});
}
break;
case "Stop":
//BtnEnableState = true;
//workService.stationService_Dose.StationProp.bStopButtonTrigger = true;
//WeakReferenceMessenger.Default.Send(new SingleBoolPeifangMessage(true));
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
{
Header = "确认",
Content = "确认是否结束！",
OkButtonContent = "确认",
CancelButtonContent = "取消",
ClosedAction = new Action<bool?>((bool? issuccess) => {
if (issuccess != null && (bool)issuccess)
{
workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Abort);
}
}),
});
break;
case "Pause":
if (workService.stationService_Dose.StationProp.deviceStatus == C00225155.Entities.DeviceStatus.CarryOn)
{
WeakReferenceMessenger.Default.Send(new AlertMessage()
{
Header = "提示",
Content = "搬运过程中无法暂停！"
});
break;
}
if (PauseContinueTipText == "暂停")
{
PauseContinueTipText = "继续";
await workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Pause);
//workService.stationService_Dose.StationProp.ManualResetEvent.Reset();
await workService.stationService_Dose.WriteCmdToPlc("pause");
}
else if (PauseContinueTipText == "继续")
{
PauseContinueTipText = "暂停";
await workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Runing);
await workService.stationService_Dose.WriteCmdToPlc("start");
//workService.stationService_Dose.StationProp.ManualResetEvent.Set();
}
break;
case "Reset":
await workService.stationService_Dose.WriteCmdToPlc("reset");
//workService.stationService_Dose.StationProp.bResetButtonTrigger = true;
//workService.stationService_Dose.StationProp.bHaveReset = true;
break;
case "Init":
await workService.stationService_Dose.WriteCmdToPlc("init");
break;
}
}
});
ProjectCommand = new RelayCommand<object>((obj) =>
{
if (obj is string param)
{
switch (param)
{
case "OpenProject": //导入方案
OpenFileDialog dlgopen = new OpenFileDialog();
dlgopen.Filter = "pro文件(*.pro)|*.pro";
if (!Directory.Exists(Application.StartupPath + @"\Projects")) Directory.CreateDirectory(Application.StartupPath + @"\Projects");
dlgopen.InitialDirectory = Application.StartupPath + @"\Projects";
if (dlgopen.ShowDialog() == DialogResult.OK)
{
ProjectProperty project = new ProjectProperty();
bool readOk = false;
project = File_Operator.Xml_Serialize(dlgopen.FileName, false, project, out readOk);
if (readOk)
{
workService.ProjectPro = project;
workService.ProjectPro.LastOpenProject = dlgopen.FileName;
IniHelper.IniWrite(Application.StartupPath + "\\projectOpen.ini", "OpenProject", "LastOpenProject", dlgopen.FileName);
workService.ProjectPro.NowOpenProjectFile = dlgopen.FileName.Substring(dlgopen.FileName.LastIndexOf("\\") + 1).Trim();
OnPropertyChanged(nameof(ProjectPro));
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage { Content = "导入方案成功！" });
}
}
break;
}
}
});
OpenPipetteManageWindowCommand = new RelayCommand<string>((type) =>
{
if (type == "1ml")
{
WeakReferenceMessenger.Default.Send(new ShowViewMessage(viewName: ViewNames.Pipette1mlWindow.ToString()) { ViewType = ViewType.Windows });
return;
}
WeakReferenceMessenger.Default.Send(new ShowViewMessage(viewName: ViewNames.Pipette5mlWindow.ToString()) { ViewType = ViewType.Windows });
});
}
#region 手动加载工装事件
private void LoadBox()
{
if (SelectedBoxIndex < 1 || SelectedBoxIndex > 7) // 修正：位置是1-7，不是0-7
{
MessageBox.Show("请先选择一个传送工装位置（1-7）！");
return;
}
if ( (SelectedBoxIndex != 6 && SelectedBoxIndex != 7) && (SelectedBoxType == BoxTypeEnum._125mL粉末瓶工装 || SelectedBoxType == BoxTypeEnum._16mL粉末瓶工装 || SelectedBoxType == BoxTypeEnum._1000uLTip头工装 || SelectedBoxType == BoxTypeEnum._300uLTip头工装 || SelectedBoxType == BoxTypeEnum._50uLTip头工装))
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "tip/粉末只能放在6-7号位置"});
return;
}
if (SelectedBoxType == BoxTypeEnum._40mL原液工装 && SelectedBoxIndex != 4 && SelectedBoxIndex != 5)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "40ML原液瓶只能放在4-5号位置" });
return;
}
if ((SelectedBoxType == BoxTypeEnum._5mL样品工装 || SelectedBoxType == BoxTypeEnum._12mL样品工装) && SelectedBoxIndex != 1 && SelectedBoxIndex != 2 && SelectedBoxIndex != 1 && SelectedBoxIndex != 3)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "5/12ML原液瓶只能放在1-3号位置" });
return;
}
// 计算集合索引（SelectedBoxIndex是1-7，集合索引0-6）
int transferIndex = SelectedBoxIndex - 1;
switch (SelectedBoxType)
{
case BoxTypeEnum._40mL原液工装:
var liquidBox = new SourceLiquidBottleBoxModel
{
FixtureType = SelectedBoxType,
BoxSNCode = string.Empty,
SourceLiquidBottleCollection = File_Operator.DeepCopy(liquidlist), // 复制集合，避免共享引用
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = liquidBox; // 直接替换集合元素
break;
case BoxTypeEnum._12mL样品工装:
var sampleList12mL = File_Operator.DeepCopy(samplelist); // 复制集合
foreach (var bottle in sampleList12mL)
{
bottle.SampleBottleType = SampleBottleTypeEnum._12mL;
}
var sampleBox12mL = new SampleBottleBoxModel
{
FixtureType = SelectedBoxType,
BoxSNCode = string.Empty,
SampleBottleList = sampleList12mL,
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = sampleBox12mL;
break;
case BoxTypeEnum._5mL样品工装:
var sampleList5mL = File_Operator.DeepCopy(samplelist); // 复制集合
foreach (var bottle in sampleList5mL)
{
bottle.SampleBottleType = SampleBottleTypeEnum._5mL; // 修正：改为5mL
}
var sampleBox5mL = new SampleBottleBoxModel
{
FixtureType = SelectedBoxType,
BoxSNCode = string.Empty,
SampleBottleList = sampleList5mL,
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = sampleBox5mL;
break;
case BoxTypeEnum._16mL粉末瓶工装:
var powderList16mL = File_Operator.DeepCopy(powderlist); // 复制集合
foreach (var bottle in powderList16mL)
{
bottle.PowderBottleType = PowderBottleTypeEnum._16mL;
}
var powderBox16mL = new SourcePowderBottleBoxModel
{
FixtureType = SelectedBoxType,
BoxSNCode = string.Empty,
SourcePowderBottleCollection = powderList16mL,
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = powderBox16mL;
break;
case BoxTypeEnum._125mL粉末瓶工装:
var powderList125mL = File_Operator.DeepCopy(powderlist_125);
foreach (var bottle in powderList125mL)
{
bottle.PowderBottleType = PowderBottleTypeEnum._125mL;
}
var powderBox125mL = new SourcePowderBottleBoxModel_125ml
{
FixtureType = SelectedBoxType,
BoxSNCode = string.Empty,
SourcePowderBottleCollection = powderList125mL,
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = powderBox125mL;
break;
// Tip头工装逻辑类似，统一复制集合，避免共享引用
case BoxTypeEnum._300uLTip头工装:
var tipBox300UL = new TipBoxModel
{
FixtureType = SelectedBoxType,
TipType = TipTypeEnum._300UL,
BoxSNCode = string.Empty,
TipItems = File_Operator.DeepCopy(tipHeadslist),
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
HaveBox = true, // 标记有工装
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = tipBox300UL;
break;
case BoxTypeEnum._50uLTip头工装:
var tipBox50UL = new TipBoxModel
{
FixtureType = SelectedBoxType,
TipType = TipTypeEnum._50UL,
BoxSNCode = string.Empty,
TipItems = File_Operator.DeepCopy(tipHeadslist),
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
HaveBox = true,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = tipBox50UL;
break;
case BoxTypeEnum._1000uLTip头工装:
var tipBox1000UL = new TipBoxModel
{
FixtureType = SelectedBoxType,
TipType = TipTypeEnum._1000UL,
BoxSNCode = string.Empty,
TipItems = File_Operator.DeepCopy(tipHeadslist),
IsDoseFinish = false,
IsEmpty = false,
IsUseFinsh = false,
HaveBox = true,
BoxId_inDoseUpload = SelectedBoxIndex,
BoxArea = BoxAreaEnum._手套箱传送平台
};
workService.ProjectPro.TransferArea[transferIndex] = tipBox1000UL;
break;
}
OnPropertyChanged(nameof(ProjectPro));
}
private async Task ClearTransfer()
{
var clearData = new
{
isContinueLoad = true,
isBSRequest = true
};
for (int i = 0; i < 7; i++)
{
App.Current.Dispatcher.Invoke(() =>
{
ProjectPro.TransferArea[i] = new BaseBottleBox()
{
IsEmpty = true,
BoxId_inDoseDnload = i + 1,
BoxId_inDoseUpload = i + 1,
IsDoseFinish = false,
IsUseFinsh = false,
BoxArea = BoxAreaEnum._手套箱传送平台
};
});
}
await workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Idel);
}
private async Task StartUnload()
{
await workService.stationService_Dose.ChangeDeviceStatus(C00225155.Entities.DeviceStatus.Finish);
}
private async Task<(bool res, string msg)> TransferIn()
{
(bool res, string msg) result = (true, "");
if (workService.stationService_Dose.StationProp.bStartButtonTrigger)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "运行中不能打开门" });
result.res = false;
result.msg = "运行中不能打开门";
return result;
}
//await TransferPlateformMoveTo(PlateformPos.TransferIn, cancellationTokenSource.Token);
await TransferPlateformMoveTo(PlateformPos.TransferIn, cancellationTokenSource.Token);
return result;
}
private async Task<(bool res,string msg)> TransferOut()
{
//await workService.stationService_Dose.TestSuckVolume(new CancellationToken(), 200,false);
//return (true,"");
(bool res, string msg) result = (true, "");
if (workService.stationService_Dose.StationProp.bStartButtonTrigger)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "运行中不能打开门"});
result.res = false;
result.msg = "运行中不能打开门";
return result;
}
//await TransferPlateformMoveTo(PlateformPos.TransferIn, cancellationTokenSource.Token);
await TransferPlateformMoveTo(PlateformPos.TransferOut,cancellationTokenSource.Token);
return result;
}
private async Task UploadBox()
{
if (SelectedBoxIndex < 0 || SelectedBoxIndex > 7)
{
MessageBox.Show("请先选择一个传送工装位置（1-7）！");
return;
}
await UploadBoxFromTransferPlateToHCBox(cancellationTokenSource.Token);
OnPropertyChanged(nameof(ProjectPro));
}
#endregion
/// <summary>
/// 从传动平台取工装到 治具缓存区 线程
/// </summary>
/// <param name="token"></param>
/// <returns></returns>
private async Task UploadBoxFromTransferPlateToHCBox(CancellationToken token)
{
if (!workService.ProjectPro.bNoUseBS)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "请选择不启用BS!" });
return;
}
if (workService.stationService_Dose.StationProp.deviceStatus == C00225155.Entities.DeviceStatus.Runing)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "运行过程中不能上下料!" });
return;
}
//todo:手动料需要做数据校验
await workService.stationService_Dose.ChangeDeviceStatus( C00225155.Entities.DeviceStatus.CarryOn);
await workService.stationService_Dose.StartLoad();
/*//弃用
if (workService.stationService_Dose.StationProp.bStartButtonTrigger)
{
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = "提示", Content = "运行中不能搬运" });
return;
}
await TransferPlateformMoveTo(PlateformPos.TransferIn, cancellationTokenSource.Token);
// 3. 粉末瓶：从粉末工装 → 粉末缓存区（逐个处理）先处理粉末，放置干涉
while (workService.ProjectPro.TransferArea.Any(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._16mL粉末瓶工装 || f.FixtureType == BoxTypeEnum._125mL粉末瓶工装))
&& workService.ProjectPro.PowderHeaderCacheArea.Any(f => !f.HaveBottle))
{
await TransferPlateformMoveTo(PlateformPos.GloveBox1, cancellationTokenSource.Token);
var powderFixture = workService.ProjectPro.TransferArea.FirstOrDefault(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._16mL粉末瓶工装 || f.FixtureType == BoxTypeEnum._125mL粉末瓶工装));
SourcePowderBottleBoxModel powderBox = null;
SourcePowderBottleBoxModel_125ml powderBox_125 = null;
if (powderFixture is SourcePowderBottleBoxModel)
{
powderBox = powderFixture as SourcePowderBottleBoxModel;
}
else if (powderFixture is SourcePowderBottleBoxModel_125ml)
{
powderBox_125 = powderFixture as SourcePowderBottleBoxModel_125ml;
}
if (powderBox == null && powderBox_125 == null) return;
int powderTransferIndex = workService.ProjectPro.TransferArea.IndexOf(powderFixture);
if (powderBox != null)
{
for (int i = 0; i < powderBox.SourcePowderBottleCollection.Count; i++)
{
// 处理每个有瓶的粉末瓶（只处理一个，避免一次搬多个）
var powderBottle = powderBox.SourcePowderBottleCollection.FirstOrDefault(b => b.HaveBottle);
if (powderBottle == null) continue;
// 找到粉末缓存区的空位置
var aimPowderBottle = workService.ProjectPro.PowderHeaderCacheArea.FirstOrDefault(f => !f.HaveBottle);
if (aimPowderBottle == null)
{
MessageBox.Show("粉末缓存区已满，无法继续上料！");
return;
}
int aimPowderIndex = workService.ProjectPro.PowderHeaderCacheArea.IndexOf(aimPowderBottle);
// 执行机械手操作
await FourAxisTakePowderHeader((int)BoxAreaEnum._手套箱传送平台, powderFixture.BoxId_inDoseUpload, powderBottle.PosId_InBox, powderBox.PowderBottleType, token);
await FourAxisGoToScannPos_powder(token, powderBottle);
// 称重
await preWeight.Peel();
await FourAxisPutPowderHeaderToPreWeight(token);
double powderWeight = await preWeight.ReadWeightValue();
powderBottle.OriginWeight = powderBottle.RemainWeight = powderWeight;
this._modbusClient_Plc1.Command.WriteValue<short>(PlcPoints_MaterialDose.W_Robot_PreWeightFinish, 1);
// 放入缓存区
await FourAxisPutPowderHeader((int)BoxAreaEnum._加样头存放平台, 1, aimPowderBottle.Pos_InDosePowderHC, powderBox.PowderBottleType, token);
// 更新粉末缓存区（替换集合元素）
var newPowderBottle = File_Operator.DeepCopy(powderBottle);
newPowderBottle.HaveBottle = true;
newPowderBottle.Pos_InDosePowderHC = aimPowderBottle.Pos_InDosePowderHC;
workService.ProjectPro.PowderHeaderCacheArea[aimPowderIndex] = newPowderBottle;
// 标记原粉末瓶为空
var updatedBottle = powderBox.SourcePowderBottleCollection.FirstOrDefault(b => b.PosId_InBox == powderBottle.PosId_InBox);
updatedBottle.HaveBottle = false;
}
workService.ProjectPro.TransferArea[powderTransferIndex] = new SourcePowderBottleBoxModel()
{
BoxId_inDoseUpload = powderTransferIndex + 1,
IsEmpty = true,
IsDoseFinish = false,
FixtureType = BoxTypeEnum._16mL粉末瓶工装,
SourcePowderBottleCollection = powderlist,
};
}
else if (powderBox_125 != null)
{
for (int i = 0; i < powderBox_125.SourcePowderBottleCollection.Count; i++)
{
// 处理每个有瓶的粉末瓶（只处理一个，避免一次搬多个）
var powderBottle = powderBox_125.SourcePowderBottleCollection.FirstOrDefault(b => b.HaveBottle);
if (powderBottle == null) continue;
// 找到粉末缓存区的空位置
var aimPowderBottle = workService.ProjectPro.PowderHeaderCacheArea.FirstOrDefault(f => !f.HaveBottle);
if (aimPowderBottle == null)
{
MessageBox.Show("粉末缓存区已满，无法继续上料！");
return;
}
int aimPowderIndex = workService.ProjectPro.PowderHeaderCacheArea.IndexOf(aimPowderBottle);
// 执行机械手操作
await FourAxisTakePowderHeader((int)BoxAreaEnum._手套箱传送平台, powderFixture.BoxId_inDoseUpload, powderBottle.PosId_InBox, powderBox.PowderBottleType, token);
await FourAxisGoToScannPos_powder(token, powderBottle);
// 称重
await FourAxisPutPowderHeaderToPreWeight(token);
await preWeight.Peel();
double powderWeight = await preWeight.ReadWeightValue();
powderBottle.OriginWeight = powderBottle.RemainWeight = powderWeight;
this._modbusClient_Plc1.Command.WriteValue<short>(PlcPoints_MaterialDose.W_Robot_PreWeightFinish, 1);
// 放入缓存区
await FourAxisPutPowderHeader((int)BoxAreaEnum._加样头存放平台, 1, aimPowderBottle.Pos_InDosePowderHC, powderBox.PowderBottleType, token);
// 更新粉末缓存区（替换集合元素）
var newPowderBottle = File_Operator.DeepCopy(powderBottle);
newPowderBottle.HaveBottle = true;
newPowderBottle.Pos_InDosePowderHC = aimPowderBottle.Pos_InDosePowderHC;
workService.ProjectPro.PowderHeaderCacheArea[aimPowderIndex] = newPowderBottle;
// 标记原粉末瓶为空
var updatedBottle = powderBox_125.SourcePowderBottleCollection.FirstOrDefault(b => b.PosId_InBox == powderBottle.PosId_InBox);
updatedBottle.HaveBottle = false;
}
workService.ProjectPro.TransferArea[powderTransferIndex] = new SourcePowderBottleBoxModel_125ml()
{
BoxId_inDoseUpload = powderTransferIndex + 1,
IsEmpty = true,
IsDoseFinish = false,
FixtureType = BoxTypeEnum._125mL粉末瓶工装,
SourcePowderBottleCollection = powderlist_125,
};
}
OnPropertyChanged(nameof(ProjectPro));
}
// 4. Tip头工装：从传送平台 → Tip头区域
while (workService.ProjectPro.TransferArea.Any(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._50uLTip头工装 || f.FixtureType == BoxTypeEnum._300uLTip头工装 || f.FixtureType == BoxTypeEnum._1000uLTip头工装))
&& workService.ProjectPro.TipHeadArea.Any(f => !f.HaveBox && f.IsEmpty))
{
await TransferPlateformMoveTo(PlateformPos.GloveBox2, cancellationTokenSource.Token);
var tipFixture = workService.ProjectPro.TransferArea.First(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._50uLTip头工装 || f.FixtureType == BoxTypeEnum._300uLTip头工装 || f.FixtureType == BoxTypeEnum._1000uLTip头工装));
int tipTransferIndex = workService.ProjectPro.TransferArea.IndexOf(tipFixture);
// 找到Tip头区域的空位置
var aimTipBox = workService.ProjectPro.TipHeadArea.First(f => !f.HaveBox && f.IsEmpty);
int aimTipIndex = workService.ProjectPro.TipHeadArea.IndexOf(aimTipBox);
// 执行机械手操作
await FourAxisTakeBox((int)BoxAreaEnum._手套箱传送平台, tipFixture.FixtureType, (ushort)tipFixture.BoxId_inDoseUpload, token);
await FourAxisPutBox((int)BoxAreaEnum._Tip托盘存放平台, tipFixture.FixtureType, (ushort)aimTipBox.BoxId_inDosingStation, token);
// 复制Tip头工装到Tip区域（替换集合元素）
BaseBottleBox TipBox = File_Operator.DeepCopy(tipFixture);
if (TipBox is TipBoxModel newTipBox)
{
newTipBox.BoxId_inDosingStation = aimTipBox.BoxId_inDosingStation;
newTipBox.HaveBox = true;
newTipBox.IsEmpty = false;
newTipBox.IsUseFinsh = false;
workService.ProjectPro.TipHeadArea[aimTipIndex] = newTipBox; // 关键：更新集合元素
}
else
{
MessageBox.Show("error");
}
// 重置传送平台
workService.ProjectPro.TransferArea[tipTransferIndex] = new BaseBottleBox()
{
IsEmpty = true,
BoxId_inDoseUpload = tipFixture.BoxId_inDoseUpload,
IsDoseFinish = false,
IsUseFinsh = false,
BoxArea = BoxAreaEnum._手套箱传送平台
};
OnPropertyChanged(nameof(ProjectPro));
}
// 1. 样品工装：从传送平台 → 工装缓存区（排除1、5号位置）
while (workService.ProjectPro.TransferArea.Any(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._5mL样品工装 || f.FixtureType == BoxTypeEnum._12mL样品工装))
&& workService.ProjectPro.FixtureCacheArea.Any(a => a.IsEmpty && a.BoxId_inDosingStation != 1 && a.BoxId_inDosingStation != 5))
{
await TransferPlateformMoveTo(PlateformPos.GloveBox2, cancellationTokenSource.Token);
// 找到传送平台中的样品工装（取第一个非空）
var sampleFixture = workService.ProjectPro.TransferArea.First(f => !f.IsEmpty &&
(f.FixtureType == BoxTypeEnum._5mL样品工装 || f.FixtureType == BoxTypeEnum._12mL样品工装));
int sampleTransferIndex = workService.ProjectPro.TransferArea.IndexOf(sampleFixture); // 获取集合索引
// 找到缓存区的空位置
var aimFixture = workService.ProjectPro.FixtureCacheArea.First(a => a.IsEmpty && a.BoxId_inDosingStation != 1 && a.BoxId_inDosingStation != 5 && a.BoxId_inDosingStation != 2 && a.BoxId_inDosingStation != 6);
int aimCacheIndex = workService.ProjectPro.FixtureCacheArea.IndexOf(aimFixture); // 获取集合索引
// 执行机械手操作（传入原工装类型，而非空工装类型）
await FourAxisTakeBox((int)BoxAreaEnum._手套箱传送平台, sampleFixture.FixtureType, (ushort)sampleFixture.BoxId_inDoseUpload, token);
await FourAxisPutBox((int)BoxAreaEnum._托盘存放平台, sampleFixture.FixtureType, (ushort)aimFixture.BoxId_inDosingStation, token);
// 复制样品工装到缓存区（替换集合元素）
var newCacheFixture = File_Operator.DeepCopy(sampleFixture);
newCacheFixture.BoxId_inDosingStation = aimFixture.BoxId_inDosingStation;
newCacheFixture.IsDoseFinish = false;
newCacheFixture.IsEmpty = false;
newCacheFixture.IsUseFinsh = false;
workService.ProjectPro.FixtureCacheArea[aimCacheIndex] = newCacheFixture;
// 重置传送平台位置为空工装
workService.ProjectPro.TransferArea[sampleTransferIndex] = new BaseBottleBox()
{
IsEmpty = true,
BoxId_inDoseDnload = sampleFixture.BoxId_inDoseUpload,
BoxId_inDoseUpload = sampleFixture.BoxId_inDoseUpload,
IsDoseFinish = false,
IsUseFinsh = false,
BoxArea = BoxAreaEnum._手套箱传送平台
};
OnPropertyChanged(nameof(ProjectPro));
}
// 2. 原液工装：从传送平台 → 工装缓存区（任意空位置 改为 0，4号位置）
while (workService.ProjectPro.TransferArea.Any(f => !f.IsEmpty && f.FixtureType == BoxTypeEnum._40mL原液工装)
&& workService.ProjectPro.FixtureCacheArea.Any(a => a.IsEmpty && (a.BoxId_inDosingStation == 0 || a.BoxId_inDosingStation == 4)))
{
await TransferPlateformMoveTo(PlateformPos.GloveBox2, cancellationTokenSource.Token);
var liquidFixture = workService.ProjectPro.TransferArea.First(f => !f.IsEmpty && f.FixtureType == BoxTypeEnum._40mL原液工装);
int liquidTransferIndex = workService.ProjectPro.TransferArea.IndexOf(liquidFixture);
var aimFixture = workService.ProjectPro.FixtureCacheArea.First(a => a.IsEmpty && (a.BoxId_inDosingStation == 1 || a.BoxId_inDosingStation == 5)); //原液只能放置在1，5
int aimCacheIndex = workService.ProjectPro.FixtureCacheArea.IndexOf(aimFixture);
// 执行机械手操作（传入原工装类型）
await FourAxisTakeBox((int)BoxAreaEnum._手套箱传送平台, liquidFixture.FixtureType, (ushort)liquidFixture.BoxId_inDoseUpload, token);
await FourAxisPutBox((int)BoxAreaEnum._托盘存放平台, liquidFixture.FixtureType, (ushort)aimFixture.BoxId_inDosingStation, token);
// 复制原液工装到缓存区
var newCacheFixture = File_Operator.DeepCopy(liquidFixture);
newCacheFixture.BoxId_inDosingStation = aimFixture.BoxId_inDosingStation;
newCacheFixture.IsDoseFinish = false;
newCacheFixture.IsEmpty = false;
newCacheFixture.IsUseFinsh = false;
workService.ProjectPro.FixtureCacheArea[aimCacheIndex] = newCacheFixture;
// 重置传送平台
workService.ProjectPro.TransferArea[liquidTransferIndex] = new BaseBottleBox()
{
IsEmpty = true,
BoxId_inDoseDnload = liquidFixture.BoxId_inDoseUpload,
BoxId_inDoseUpload = liquidFixture.BoxId_inDoseUpload,
IsDoseFinish = false,
IsUseFinsh = false,
BoxArea = BoxAreaEnum._手套箱传送平台
};
OnPropertyChanged(nameof(ProjectPro));
}
await TransferPlateformMoveTo(PlateformPos.TransferIn, cancellationTokenSource.Token); //最终停留在这个位置最安全
// 无符合条件的工装可上料
if (workService.ProjectPro.TransferArea.Any(f => !f.IsEmpty))
{
MessageBox.Show("无可用工装或目标区域已满，无法上料！");
}
*/
}
#region 四轴机械手
private CancellationTokenSource cancellationTokenSource = new CancellationTokenSource();
public async Task WaitForActionFinishAsync_FourAxis(ushort point, ushort waitValue, CancellationToken token)
{
await _lockWaitSignal.WaitAsync();
try
{
ushort result = 0;
do
{
result = this._modbusClient_Plc1.Command.ReadValue<ushort>(point);
await Task.Delay(300, token);
} while (result != waitValue && !token.IsCancellationRequested);
}
catch (Exception)
{
throw;
}
finally
{
_lockWaitSignal.Release();
}
}
/// <summary>
/// 四轴机械手取托盘
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="boxType">托盘类型</param>
/// <param name="pos">目标托盘位置号</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisTakeBox(ushort aimarea, BoxTypeEnum boxType, ushort pos, CancellationToken token)
{
///// 目标区域
///// 1：手套箱传送平台； 2：Tip托盘存放平台；12：托盘存放平台；
///// </summary>
//public readonly static ushort W_Robot_AimArea = 2202;
///// <summary>
///// 目标托盘位置号
///// </summary>
//public readonly static ushort W_Robot_AimAreaBoxPosid = 2203;
///// <summary>
///// 托盘类型：1:40mL瓶; 2:12mL瓶; 3:5mL瓶; 4:TIP头;
///// </summary>
//public readonly static ushort W_Robot_BoxType = 2204;
if (token.IsCancellationRequested) return;
ushort fixtureType = 0;
switch (boxType)
{
case BoxTypeEnum._40mL原液工装:
fixtureType = 1;
break;
case BoxTypeEnum._12mL样品工装:
fixtureType = 2;
break;
case BoxTypeEnum._5mL样品工装:
fixtureType = 3;
break;
case BoxTypeEnum._50uLTip头工装:
fixtureType = 4;
break;
case BoxTypeEnum._300uLTip头工装:
fixtureType = 4;
break;
case BoxTypeEnum._1000uLTip头工装:
fixtureType = 4;
break;
}
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, pos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, fixtureType);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 11);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 5, token);
}
/// <summary>
/// 四轴机械手放托盘
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="boxType">托盘类型</param>
/// <param name="pos">目标托盘位置号</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisPutBox(ushort aimarea, BoxTypeEnum boxType, ushort pos, CancellationToken token)
{
///// 目标区域
///// 1：手套箱传送平台； 2：Tip托盘存放平台；12：托盘存放平台；
///// </summary>
//public readonly static ushort W_Robot_AimArea = 2202;
///// <summary>
///// 目标托盘位置号
///// </summary>
//public readonly static ushort W_Robot_AimAreaBoxPosid = 2203;
///// <summary>
///// 托盘类型：1:40mL瓶; 2:12mL瓶; 3:5mL瓶; 4:TIP头;
///// </summary>
//public readonly static ushort W_Robot_BoxType = 2204;
if (token.IsCancellationRequested) return;
ushort fixtureType = 0;
switch (boxType)
{
case BoxTypeEnum._40mL原液工装:
fixtureType = 1;
break;
case BoxTypeEnum._12mL样品工装:
fixtureType = 2;
break;
case BoxTypeEnum._5mL样品工装:
fixtureType = 3;
break;
case BoxTypeEnum._50uLTip头工装:
fixtureType = 4;
break;
case BoxTypeEnum._300uLTip头工装:
fixtureType = 4;
break;
case BoxTypeEnum._1000uLTip头工装:
fixtureType = 4;
break;
}
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, pos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, fixtureType);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 12);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 5, token);
}
private async Task TransferPlateformMoveTo(PlateformPos plateformPos, CancellationToken token)
{
await workService.stationService_Dose.TransferPlateformMoveTo(plateformPos, token);
//if (token.IsCancellationRequested) return;
//this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_TransferPlate_TaskNo, (ushort)plateformPos);
////等待PLC回复执行完成
//await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_TransferPlate_RunResult, 22, token);
////信号清零
//this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_TransferPlate_TaskNo, 0);
//await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_TransferPlate_RunResult, 5, token);
}
/// <summary>
/// 四轴机械手取粉末加样头
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="aimarea_box">目标托盘号</param>
/// <param name="bottlepos">目标位置号</param>
/// <param name="powderbottletype">粉末类型</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisTakePowderHeader(int aimarea, int aimarea_box, int bottlepos, PowderBottleTypeEnum powderbottletype, CancellationToken token)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, powderbottletype == PowderBottleTypeEnum._16mL ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 1);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 5, token);
}
/// <summary>
/// 四轴机械手放粉末加样头
/// </summary>
/// <param name="aimarea"></param>
/// <param name="aimarea_box"></param>
/// <param name="bottlepos"></param>
/// <param name="powderbottletype"></param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisPutPowderHeader(int aimarea, int aimarea_box, int bottlepos, PowderBottleTypeEnum powderbottletype, CancellationToken token)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, powderbottletype == PowderBottleTypeEnum._16mL ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 2);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 5, token);
}
/// <summary>
/// 四轴运行到粉末瓶扫码位置
/// </summary>
/// <param name="ispowder">是否是粉末瓶子</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisGoToScannPos_powder(CancellationToken token, SourcePowderBottleModel powderbottle)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 3);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_ArriveSideScanPos, 1, token);
//触发扫码
string snCode = await scannerService_Powder.ReadAsnyc(TimeSpan.FromSeconds(5));
powderbottle.SNCode = snCode;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_SideScanResult, 1); //回复扫码完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_ArriveSideScanPos, 0, token);
//清除信号
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_SideScanResult, 0);
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 5, token);
}
private async Task FourAxisPutPowderHeaderToPreWeight(CancellationToken token)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 4);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 2);
//等待PLC回复到预称重位
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_ArrivePreWeightPos, 1, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
}
/// <summary>
/// 四轴机械手拿液体瓶子
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="aimarea_box">目标托盘位置号</param>
/// <param name="bottlepos">目标孔编号</param>
/// <param name="powderbottletype">瓶类型</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisTakeLiquidBottle(CancellationToken token, int aimarea, int aimarea_box, int bottlepos, SourceLiquidBottleModel sourceLiquidBottle)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 1);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, sourceLiquidBottle.LiquidBottleLidState == SourceBottleLidStateEnum.Close ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 21);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
}
/// <summary>
/// 四轴机械手放液体瓶子
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="aimarea_box">目标托盘位置号</param>
/// <param name="bottlepos">目标孔编号</param>
/// <param name="powderbottletype">瓶类型</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisPutLiquidBottle(CancellationToken token, int aimarea, int aimarea_box, int bottlepos, SourceLiquidBottleModel sourceLiquidBottle)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 1);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, sourceLiquidBottle.LiquidBottleLidState == SourceBottleLidStateEnum.Close ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 22);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
}
/// <summary>
/// 四轴机械手取样品瓶子
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="aimarea_box">目标托盘位置号</param>
/// <param name="bottlepos">目标孔编号</param>
/// <param name="powderbottletype">瓶类型</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisTakeSampleBottle(CancellationToken token, int aimarea, int aimarea_box, int bottlepos, SampleBottleModel sampleBottle)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, sampleBottle.SampleBottleType == SampleBottleTypeEnum._5mL ? (ushort)3 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, sampleBottle.SampleBottleLidState == SampleBottleLidStateEnum.Close ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 21);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
}
/// <summary>
/// 四轴机械手放样品瓶子
/// </summary>
/// <param name="aimarea">目标区域编号</param>
/// <param name="aimarea_box">目标托盘位置号</param>
/// <param name="bottlepos">目标孔编号</param>
/// <param name="powderbottletype">瓶类型</param>
/// <param name="token"></param>
/// <returns></returns>
private async Task FourAxisPutSampleBottle(CancellationToken token, int aimarea, int aimarea_box, int bottlepos, SampleBottleModel sampleBottle)
{
if (token.IsCancellationRequested) return;
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, (ushort)aimarea);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, (ushort)aimarea_box);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, (ushort)bottlepos);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, sampleBottle.SampleBottleType == SampleBottleTypeEnum._5mL ? (ushort)3 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, sampleBottle.SampleBottleLidState == SampleBottleLidStateEnum.Close ? (ushort)1 : (ushort)2);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 22);
//等待PLC回复执行完成
await WaitForActionFinishAsync_FourAxis(PlcPoints_MaterialDose.R_Robot_RunResult, 22, token);
//信号清零
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param1, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param2, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param3, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param4, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_Param5, 0);
this._modbusClient_Plc1.Command.WriteValue<ushort>(PlcPoints_MaterialDose.W_Robot_TaskNo, 0);
}
#endregion
}
}