Samuele E. Locatelli
656 lines
22 KiB
C#
656 lines
22 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using IOB_UT;
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using CncLib.CNC;
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using System.Net.NetworkInformation;
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using System.Net;
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namespace IOB_WIN
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{
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public class IobFanuc : IobGeneric
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{
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protected byte[] MemBlockF = new byte[2];
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protected byte[] MemBlockG = new byte[44];
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protected byte[] MemBlockF_pre = new byte[2];
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/// <summary>
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/// wrapper chiamata lettura/scrittura SINGOLO BYTE...
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/// </summary>
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/// <param name="bWrite"></param>
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/// <param name="MemType"></param>
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/// <param name="memIndex"></param>
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/// <param name="Value"></param>
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/// <returns></returns>
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public bool FanucMemRW(bool bWrite, FANUC.MemType MemType, Int32 memIndex, ref byte Value)
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{
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bool answ = false;
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if (FANUC_ref.Connected)
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{
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try
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{
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parentForm.commPlcActive = true;
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answ = FANUC_ref.F_RW_Byte(bWrite, MemType, memIndex, ref Value);
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}
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catch
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{ }
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}
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parentForm.commPlcActive = false;
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return answ;
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}
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/// <summary>
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/// wrapper chiamata lettura/scrittura MULTI BYTE...
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/// </summary>
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/// <param name="bWrite"></param>
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/// <param name="MemType"></param>
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/// <param name="memIndex"></param>
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/// <param name="MATRICE Value"></param>
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/// <returns></returns>
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public bool FanucMemRW(bool bWrite, FANUC.MemType MemType, Int32 memIndex, ref byte[] Value)
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{
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bool answ = false;
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if (FANUC_ref.Connected)
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{
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try
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{
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parentForm.commPlcActive = true;
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answ = FANUC_ref.F_RW_Byte(bWrite, MemType, memIndex, ref Value);
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}
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catch
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{ }
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}
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parentForm.commPlcActive = false;
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return answ;
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}
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/// <summary>
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/// Oggetto MAIN x connessione FANUC
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/// </summary>
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protected FANUC FANUC_ref;
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/// <summary>
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/// estende l'init della classe base...
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/// </summary>
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/// <param name="caller"></param>
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/// <param name="adpConf"></param>
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public IobFanuc(AdapterForm caller, IobConfiguration IOBConf) : base(caller, IOBConf)
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{
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// i dati RAW principali sono 6 byte...
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RawInput = new byte[6];
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// è little endian (NON serve conversione)
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hasBigEndian = false;
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lg.Info("Start init Adapter FANUC all'IP {0}:{1} per IOB {2}", IOBConf.cncIpAddr, IOBConf.cncPort, IOBConf.codIOB);
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// Creo oggetto connessione NC
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parentForm.commPlcActive = true;
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Runtime.CreateNC(CNC.NcType.FANUC, IOBConf.cncIpAddr, IOBConf.cncPort);
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parentForm.commPlcActive = false;
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// aggiungo referenza obj FANUC
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FANUC_ref = (FANUC)Runtime.NC;
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if (utils.CRB("verbose")) lg.Info("FANUC_ref da CncLib");
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// disconnetto e connetto...
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if (utils.CRB("verbose")) lg.Info("FANUC: tryDisconnect");
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tryDisconnect();
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lg.Info("FANUC: tryConnect");
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tryConnect();
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lg.Info("End init Adapter FANUC");
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}
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/// <summary>
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/// Override disconnessione
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/// </summary>
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public override void tryDisconnect()
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{
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if (connectionOk)
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{
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string szStatusConnection = "";
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try
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{
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FANUC_ref.Disconnect(ref szStatusConnection);
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connectionOk = false;
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lg.Info(szStatusConnection);
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lg.Info("Effettuata disconnessione adapter FANUC!");
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}
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catch (Exception exc)
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{
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lg.Fatal(exc, "Errore nella disconnessione dall'adapter FANUC");
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}
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}
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else
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{
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lg.Error("IMPOSSIBILE effettuare disconnessione: Connessione non disponibile...");
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}
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}
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/// <summary>
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/// Override connessione
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/// </summary>
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public override void tryConnect()
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{
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if (!connectionOk)
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{
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// controllo che il ping sia stato tentato almeno pingTestSec fa...
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if (DateTime.Now.Subtract(lastPING).TotalSeconds > utils.CRI("pingTestSec"))
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{
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if (verboseLog || periodicLog) lg.Info("ConnKO - tryConnect");
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// in primis salvo data ping...
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lastPING = DateTime.Now;
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// ora PING!!!
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Ping pingSender = new Ping();
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IPAddress address = IPAddress.Loopback;
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IPAddress.TryParse(currIobConf.cncIpAddr, out address);
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PingReply reply = pingSender.Send(address, 100);
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// se passa il ping faccio il resto...
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if (reply.Status == IPStatus.Success)
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{
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string szStatusConnection = "";
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try
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{
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// ora provo connessione...
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parentForm.commPlcActive = true;
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FANUC_ref.Connect(ref szStatusConnection);
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parentForm.commPlcActive = false;
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lg.Info("szStatusConnection: " + szStatusConnection);
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connectionOk = true;
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// refresh stato allarmi!!!
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if (connectionOk)
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{
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if (adpRunning)
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{
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// carico status allarmi (completo)
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lg.Info("Inizio refresh completo stato allarmi...");
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forceAlarmCheck();
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lg.Info("Completato refresh completo stato allarmi!");
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}
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else
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{
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lg.Info("Connessione OK");
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}
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}
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else
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{
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lg.Error("Impossibile procedere, connessione mancante...");
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}
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}
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catch (Exception exc)
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{
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lg.Fatal(string.Format("Errore nella connessione all'adapter FANUC: {0}{1}{2}", szStatusConnection, Environment.NewLine, exc));
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connectionOk = false;
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lg.Info(string.Format("Eccezione in TryConnect, Adapter NON running, pausa di {0} msec prima di ulteriori tentativi di riconnessione", utils.CRI("waitRecMSec")));
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}
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}
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else
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{
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// loggo no risposta ping ...
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connectionOk = false;
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if (verboseLog || periodicLog) lg.Info(string.Format("Attenzione: controllo PING fallito per IP {0} - {1}", currIobConf.cncIpAddr, reply.Status));
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}
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}
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}
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// se non è ancora connesso faccio procesisng memoria caso disconnesso...
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if (!connectionOk)
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{
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// processo semafori ed invio...
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processMemoryDiscon();
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}
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}
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public override void readSemafori()
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{
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base.readSemafori();
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if (verboseLog) lg.Info("inizio read semafori");
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parentForm.sIN = Semaforo.SV;
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// leggo SEMAFORI, leggo da Y8 ...leggo 3 bit in Y8..Y10 HARD CODED, rendere parametrico!!!
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byte[] MemBlock = new byte[4];
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// Red: Y8.4 | Yellow: Y8.5 | Green Y8.6 | WrkZone Y8.7 | All DoorsClosed: Y10.5
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int memIndex = 8;
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inizio = DateTime.Now;
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FanucMemRW(R, FANUC.MemType.Y, memIndex, ref MemBlock);
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-Y", MemBlock.Length), DateTime.Now.Subtract(inizio).Ticks);
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// riporto!
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Buffer.BlockCopy(MemBlock, 0, RawInput, 0, 4);
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// ora mi leggo 2 byte in area X... HARD CODED, rendere parametrico...
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MemBlock = new byte[2];
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// GESTIONE memoria endcycle
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// la variabile X7.0 (da 1 a 0) oppure la X7.1 (da 0 a 1) indica il CONTAPEZZI --> copio 2 byte!
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inizio = DateTime.Now;
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FanucMemRW(R, FANUC.MemType.X, 6, ref MemBlock);
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-X", MemBlockF.Length), DateTime.Now.Subtract(inizio).Ticks);
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// riporto!
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Buffer.BlockCopy(MemBlock, 0, RawInput, 4, 2);
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if (verboseLog) lg.Info(string.Format("RawInput: {0}", utils.binaryForm((int)RawInput[0])));
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// salvo il solo BYTE dell'input decifrando il semaforo...
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decodeToBitmap();
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}
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/// <summary>
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/// Effettua decodifica aree memoria alla bitmap usata x MAPO
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/// </summary>
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private void decodeToBitmap()
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{
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// init a zero...
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B_input = 0;
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// !!!FARE!!! generalizzazione... x ora usa dati "hard coded"...
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//Red: Y8.4 | Yellow: Y8.5 | Green Y8.6
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// leggo i byte interessati...
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int byteSem = RawInput[0];
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int byteCount = RawInput[5];
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if (verboseLog) lg.Info(string.Format("PrimoByte: {0}", byteSem));
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if (utils.CRB("macOnFromConn"))
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{
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// SE SI E' CONNESSO al FANUC allora è 1...
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if (FANUC_ref.Connected)
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{
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B_input += 1 << 0;
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}
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}
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else
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{
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// B0: facio un OR tra i 3 semafori...
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if ((byteSem & 112) > 0)
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{
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B_input += 1 << 0;
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}
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}
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// B1: verde! Y8.6
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if ((byteSem & 64) > 0)
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{
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B_input += 1 << 1;
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}
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// B2: contapezzi da area X
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if ((byteCount & 2) > 0)
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{
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B_input += 1 << 2;
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}
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// B3: Rosso! Y8.4
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if ((byteSem & 16) > 0)
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{
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B_input += 1 << 3;
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}
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// B4: giallo! Y8.5
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if ((byteSem & 32) > 0)
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{
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B_input += 1 << 4;
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}
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// log opzionale!
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if (verboseLog) lg.Info(string.Format("Trasformazione B_input: {0}", B_input));
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}
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/// <summary>
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/// Recupero programma in lavorazione
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/// </summary>
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/// <returns></returns>
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public override string getPrgName()
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{
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string prgName = "";
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// recupero NUOVO prgName...
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try
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{
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// recupero nome programma MAIN
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prgName = utils.purgedChar2String(FANUC_ref.getPrgNameMain());
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// trimmo path del programma, ovvero "CNCMEMUSERPATH1"
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prgName = prgName.Replace(utils.CRS("basePrgMemPath"), "");
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}
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catch (Exception exc)
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{
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lg.Error(string.Format("Eccezione in recupero PRG NAME MAIN:{0}{1}", Environment.NewLine, exc));
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}
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return prgName;
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}
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/// <summary>
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/// Recupero programma in lavorazione come Dictionary FANUC...
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/// - SYSINFO: (prima KEY globale) TUTTI i valori separati da # (x fare check modifica)
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/// - altre stringhe: ogni singolo parametro / valore
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/// </summary>
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/// <returns></returns>
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public override Dictionary<string, string> getSysInfo()
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{
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Dictionary<string, string> outVal = new Dictionary<string, string>();
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inizio = DateTime.Now;
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CncLib.Focas1.ODBSYS answ = FANUC_ref.getSysInfo();
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("SYS-INFO"), DateTime.Now.Subtract(inizio).Ticks);
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try
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{
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string cnc_type = new string(answ.cnc_type);
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string mt_type = new string(answ.mt_type);
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string series = new string(answ.series);
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string version = new string(answ.version);
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string axes = new string(answ.axes);
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//short addInfo = answ.addinfo;
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short max_axis = answ.max_axis;
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// preparo i singoli valori dell'array...
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outVal.Add("SYSINFO", string.Format("{0}#{1}#{2}#{3}#{4}#{5}", cnc_type, mt_type, series, version, axes, max_axis));
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outVal.Add("CNC", cnc_type);
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outVal.Add("MTT", mt_type);
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outVal.Add("SER", series);
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outVal.Add("VER", version);
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outVal.Add("AXS", string.Format("{0}|{1}", axes, max_axis));
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}
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catch (Exception exc)
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{
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lg.Error(exc, "Errore in getSysInfo");
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}
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return outVal;
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}
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/// <summary>
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/// Effettua vero processing contapezzi
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/// </summary>
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public override void processContapezzi()
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{
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if (utils.CRB("enableContapezzi"))
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{
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try
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{
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// verifico quale modalità sia richiesta: STD (6711) oppure BIT (CUstom, con indicazione area)
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if (currIobConf.optPar.Count > 0 && currIobConf.optPar["PZCOUNT_MODE"] != "")
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{
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if (currIobConf.optPar["PZCOUNT_MODE"] == "STD")
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{
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object output = new object();
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// deve usare F_RW_Param_Integer
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FANUC_ref.F_RW_Param_Integer(false, 6711, 3, ref output);
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lg.Info(string.Format("Contapezzi 6711: {0}", output));
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FANUC_ref.F_RW_Param_Integer(false, 6712, 3, ref output);
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lg.Info(string.Format("Contapezzi 6712: {0}", output));
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FANUC_ref.F_RW_Param_Integer(false, 6713, 3, ref output);
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lg.Info(string.Format("Contapezzi 6713: {0}", output));
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// !!!FARE!!! salvo numero!!!
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// 6711: pezzi lavorati
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// 6712: pezzi lavorati totali
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// 6713: pezzi richiesti
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// output!
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}
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else if (currIobConf.optPar["PZCOUNT_MODE"] == "BIT")
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{
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// posizioni DWord
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//1602:543809: NUM PEZZI x ciclo (6408..6411)
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//1603:5300: NUM PEZZI RICHIESTI (6412..6415)
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//1604:5007: NUM PEZZI FATTI (6416..6419)
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//1605:543809: NUM PEZZI TOTALI (6420..6423)
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//[OPTPAR]
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//ENDCYCLE_MADDR=X7.1
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//PZ_CAD_MADDR=1602
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//PZ_REQ_MADDR=1603
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//PZ_DONE_MADDR=1604
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//PZ_GTOT_MADDR=1605
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// LEGGO le memorie DW dei vari contatori
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// salvo in area locale e confronto con precedenti, dove cambiato INVIO come dato aggiuntivo
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}
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}
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}
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catch (Exception exc)
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{
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lg.Error(exc, "Errore in contapezzi FANUC");
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}
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}
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}
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/// <summary>
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/// Esegue processing MODE (e nel contempo recupera altri dati dell'area G)
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/// </summary>
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public override void processMode()
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{
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if (utils.CRB("enableMode"))
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{
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try
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{
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inizio = DateTime.Now;
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// leggo tutto da 0 a 43...
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int memIndex = 0;
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FanucMemRW(R, FANUC.MemType.G, memIndex, ref MemBlockG);
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-G-AREA", MemBlockG.Length), DateTime.Now.Subtract(inizio).Ticks);
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// verifico modo con valore corrente, se cambia aggiorno...
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CNC_MODE newMode = decodeG43(MemBlockG[43]);
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if (newMode != currMode)
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{
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// aggiorno!
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currMode = newMode;
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// conversione NUM MODE in descrizione da ENUM
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string descrMode = Enum.GetName(typeof(CNC_MODE), currMode);
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// accodo x invio
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string sVal = string.Format("[CNC_MODE]{0}", descrMode);
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// chiamo accodamento...
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accodaFLog(sVal, qEncodeFLog("CNC_MODE", descrMode));
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}
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}
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catch (Exception exc)
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{
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lg.Error(exc, "Errore in process Mode G43");
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}
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}
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}
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/// <summary>
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/// decodifica il modo dai valori del byte G43
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/// </summary>
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/// <param name="currVal"></param>
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/// <returns></returns>
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protected CNC_MODE decodeG43(byte currVal)
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{
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// hard coded da valori tabellari a MODI definiti in CNC_MODE...
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CNC_MODE answ = CNC_MODE.ND;
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switch (currVal)
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{
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case 0:
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answ = CNC_MODE.MDI;
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break;
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case 1:
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answ = CNC_MODE.MEN;
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break;
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case 3:
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answ = CNC_MODE.EDIT;
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break;
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case 4:
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answ = CNC_MODE.HANDLE_INC;
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break;
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case 5:
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answ = CNC_MODE.JOG;
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break;
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case 6:
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answ = CNC_MODE.TJOG;
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break;
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case 7:
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answ = CNC_MODE.THND;
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break;
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case 33:
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answ = CNC_MODE.RMT;
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break;
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case 133:
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answ = CNC_MODE.REF;
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break;
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default:
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answ = CNC_MODE.ND;
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break;
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}
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return answ;
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}
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/// <summary>
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/// Recupero dati dinamici...
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/// </summary>
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public override Dictionary<string, string> getDynData()
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{
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Dictionary<string, string> outVal = new Dictionary<string, string>();
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inizio = DateTime.Now;
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CncLib.Focas1.ODBDY2_1 answ = FANUC_ref.getAllDynData();
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("PROC-DYN-DATA"), DateTime.Now.Subtract(inizio).Ticks);
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try
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{
|
|
string actf = answ.actf.ToString();
|
|
string acts = answ.acts.ToString();
|
|
//string numAlarm = answ.alarm.ToString();
|
|
// preparo i singoli valori dell'array...
|
|
//outVal.Add("DYNDATA", string.Format("{0}#{1}#{2}", actf, acts, numAlarm));
|
|
outVal.Add("DYNDATA", string.Format("FEED {0}#SPEED_RPM {1}", actf, acts));
|
|
if (utils.CRB("SendFeedSpeed"))
|
|
{
|
|
outVal.Add("FEED", actf);
|
|
outVal.Add("SPEED_RPM", acts);
|
|
//outVal.Add("NUM_ALARM", numAlarm);
|
|
}
|
|
if (utils.CRB("SendAxPos"))
|
|
{
|
|
// salvo le posizioni...
|
|
CncLib.Focas1.FAXIS posAx = answ.pos;
|
|
int[] currPosAbs = posAx.absolute;
|
|
int i = 0;
|
|
foreach (var item in currPosAbs)
|
|
{
|
|
i++;
|
|
outVal.Add(string.Format("POS_{0:00}", i), item.ToString());
|
|
}
|
|
}
|
|
}
|
|
catch (Exception exc)
|
|
{
|
|
lg.Error(exc, "Errore in getDynData");
|
|
}
|
|
return outVal;
|
|
}
|
|
/// <summary>
|
|
/// Recupero dati override (da area G che è già stata letta...)
|
|
/// </summary>
|
|
/// <returns></returns>
|
|
public override Dictionary<string, string> getOverrides()
|
|
{
|
|
Dictionary<string, string> outVal = new Dictionary<string, string>();
|
|
outVal.Add("FEED_OVER", MemBlockG[30].ToString());
|
|
outVal.Add("RAPID_OVER", MemBlockG[12].ToString());
|
|
return outVal;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Override salvataggio valori in memoria...
|
|
/// </summary>
|
|
public override void saveMemDump()
|
|
{
|
|
dump_MemAreaD();
|
|
dump_MemAreaY();
|
|
}
|
|
public override void sampleMemDump()
|
|
{
|
|
dump_MemAreaD(6400, 400);
|
|
}
|
|
/// <summary>
|
|
/// Dump PERIODICO area D della memoria
|
|
/// </summary>
|
|
/// <param name="memIndex">area memoria di partenza</param>
|
|
/// <param name="memSyzeByte"></param>
|
|
private void dump_MemAreaD(int memIndex, int memSyzeByte)
|
|
{
|
|
// leggo TUTTI i 9999 byte della memoria D...
|
|
byte[] MemBlockD = new byte[memSyzeByte];
|
|
inizio = DateTime.Now;
|
|
if (verboseLog) lg.Info("START MemDump AreaD");
|
|
FanucMemRW(R, FANUC.MemType.D, memIndex, ref MemBlockD);
|
|
if (verboseLog) lg.Info("END MemDump AreaD");
|
|
if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-MemDumpD", MemBlockD.Length), DateTime.Now.Subtract(inizio).Ticks);
|
|
// file out!
|
|
string nomeFile = "";
|
|
Dictionary<string, string> mappaValori = new Dictionary<string, string>();
|
|
// salvo in file i dati letti come DWord (4byte)
|
|
nomeFile = string.Format(@"{0}\SAMPLES\MemDump_D_DW_{1:yyyyMMdd_HHmmss}.dat", utils.dataDatDir, DateTime.Now);
|
|
for (int i = 0; i < MemBlockD.Length / 4; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt32(MemBlockD, i * 4).ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
}
|
|
/// <summary>
|
|
/// Dump area D della memoria
|
|
/// </summary>
|
|
private void dump_MemAreaD()
|
|
{
|
|
// faccio chaimate e salvo in file dump...
|
|
int memIndex = 0;
|
|
// leggo TUTTI i 9999 byte della memoria D...
|
|
byte[] MemBlockD = new byte[9999];
|
|
inizio = DateTime.Now;
|
|
if (verboseLog) lg.Info("START MemDump AreaD");
|
|
FanucMemRW(R, FANUC.MemType.D, memIndex, ref MemBlockD);
|
|
if (verboseLog) lg.Info("END MemDump AreaD");
|
|
if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-MemDumpD", MemBlockD.Length), DateTime.Now.Subtract(inizio).Ticks);
|
|
//
|
|
string nomeFile = "";
|
|
// salvo in file i dati letti come BYTE
|
|
nomeFile = string.Format(@"{0}\MemDump_D_Byte.dat", utils.dataDatDir);
|
|
Dictionary<string, string> mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockD.Length; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), MemBlockD[i].ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
|
|
// salvo in file i dati letti come DWord (4byte)
|
|
nomeFile = string.Format(@"{0}\MemDump_D_DW.dat", utils.dataDatDir);
|
|
mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockD.Length / 4; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt32(MemBlockD, i * 4).ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
|
|
// salvo in file i dati letti come DWord (4byte)
|
|
nomeFile = string.Format(@"{0}\MemDump_D_W.dat", utils.dataDatDir);
|
|
mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockD.Length / 2; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt16(MemBlockD, i * 2).ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
}
|
|
/// <summary>
|
|
/// Dump area Y della memoria
|
|
/// </summary>
|
|
private void dump_MemAreaY()
|
|
{
|
|
// faccio chaimate e salvo in file dump...
|
|
int memIndex = 0;
|
|
// leggo TUTTI i 9999 byte della memoria Y...
|
|
byte[] MemBlockY = new byte[10];
|
|
inizio = DateTime.Now;
|
|
if (verboseLog) lg.Info("START MemDump AreaY");
|
|
FanucMemRW(R, FANUC.MemType.Y, memIndex, ref MemBlockY);
|
|
if (verboseLog) lg.Info("END MemDump AreaY");
|
|
if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-MemDumpY", MemBlockY.Length), DateTime.Now.Subtract(inizio).Ticks);
|
|
//
|
|
string nomeFile = "";
|
|
// salvo in file i dati letti come BYTE
|
|
nomeFile = string.Format(@"{0}\MemDump_Y_Byte.dat", utils.dataDatDir);
|
|
Dictionary<string, string> mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockY.Length; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), MemBlockY[i].ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
|
|
// salvo in file i dati letti come DWord (4byte)
|
|
nomeFile = string.Format(@"{0}\MemDump_Y_DW.dat", utils.dataDatDir);
|
|
mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockY.Length / 4; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt32(MemBlockY, i * 4).ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
|
|
// salvo in file i dati letti come DWord (4byte)
|
|
nomeFile = string.Format(@"{0}\MemDump_Y_W.dat", utils.dataDatDir);
|
|
mappaValori = new Dictionary<string, string>();
|
|
for (int i = 0; i < MemBlockY.Length / 2; i++)
|
|
{
|
|
mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt16(MemBlockY, i * 2).ToString());
|
|
}
|
|
utils.WritePlain(mappaValori, nomeFile);
|
|
}
|
|
}
|
|
}
|