Samuele E. Locatelli
531 lines
18 KiB
C#
531 lines
18 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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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[] 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(MainForm 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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string szStatusConnection = "";
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try
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{
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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("Segnalo 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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}
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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 6 bit da Y8 a Y13...
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byte[] MemBlock = new byte[RawInput.Length];
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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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if (verboseLog) lg.Info("START FanucMemRW-Y");
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FanucMemRW(R, FANUC.MemType.Y, memIndex, ref MemBlock);
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if (verboseLog) lg.Info("END FanucMemRW-Y");
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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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if (verboseLog) lg.Info(string.Format("MemBlock: {0}", utils.binaryForm((int)MemBlock[0])));
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// suddivido!
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Buffer.BlockCopy(MemBlock, 0, RawInput, 0, 6);
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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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if (utils.CRB("enableTest"))
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{
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if (verboseLog) lg.Info("START FanucMemRW-FG");
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// !!!FARE!!! ora leggo CABLATO i byte F e G...
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//byte[] MemBlockG = new byte[2];
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inizio = DateTime.Now;
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FanucMemRW(R, FANUC.MemType.F, 0, ref MemBlockF);
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-F", MemBlockF.Length), DateTime.Now.Subtract(inizio).Ticks);
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//inizio = DateTime.Now;
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//FanucMemRW(R, FANUC.MemType.G, 7, ref MemBlockG);
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//if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-G", MemBlockG.Length), DateTime.Now.Subtract(inizio).Ticks);
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if (verboseLog) lg.Info("END FanucMemRW-FG");
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// se cambiato loggo!
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if (MemBlockF != MemBlockF_pre)
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{
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lg.Info(string.Format("Dati F: {0:X} | {1:X}", MemBlockF[0], MemBlockF[1]));
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}
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if (nReadIN % 50 == 0) lg.Info(string.Format("Dati F: {0:X} | {1:X}", MemBlockF[0], MemBlockF[1]));
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MemBlockF_pre = MemBlockF;
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//if (nReadIN % 50 == 0) lg.Info(string.Format("Dati G: {0:X}", MemBlockG));
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// commento lettura X...
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#if false
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byte[] MemBlockX = new byte[2];
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inizio = DateTime.Now;
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FanucMemRW(R, FANUC.MemType.X, 6, ref MemBlockX);
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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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// output!
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for (int i = 0; i < MemBlockX.Length; i++)
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{
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lg.Info(string.Format("MemBlockX[{0}]: {0} | {1}", i, utils.binaryForm((int)MemBlockX[i])));
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}
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#endif
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}
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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 primo byte...
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int primoByte = RawInput[0];
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if (verboseLog) lg.Info(string.Format("PrimoByte: {0}", primoByte));
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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 ((primoByte & 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 ((primoByte & 64) > 0)
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{
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B_input += 1 << 1;
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}
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// NON HO CONTAPEZZI ovvero 1 << 2
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// B3: Rosso! Y8.4
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if ((primoByte & 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 ((primoByte & 32) > 0)
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{
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B_input += 1 << 4;
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}
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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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CncLib.Focas1.ODBEXEPRG answ = FANUC_ref.getPrgName();
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try
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{
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// nome prg bonificato!
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string nome = utils.purgedChar2String(answ.name);
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//string nome = new string(answ.name.Where(c => char.IsLetter(c) || char.IsDigit(c)).ToArray());
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prgName = string.Format("{0}|{1}", answ.o_num, nome);
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}
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catch (Exception exc)
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{
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lg.Error(exc, "Errore in getPrgName");
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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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CncLib.Focas1.ODBSYS answ = FANUC_ref.getSysInfo();
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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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//base.processContapezzi();
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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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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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// 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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// 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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// aggiunta lettura area X
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byte[] MemBlockX = new byte[2];
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inizio = DateTime.Now;
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FanucMemRW(R, FANUC.MemType.X, 6, ref MemBlockX);
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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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// output!
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for (int i = 0; i < MemBlockX.Length; i++)
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{
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lg.Info(string.Format("MemBlockX_{0}: {0} | {1}", i, utils.binaryForm((int)MemBlockX[i])));
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}
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// la variabile X7.0 (da 1 a 0) oppure la X7.1 (da 0 a 1) indica il CONTAPEZZI
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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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public override void processMode()
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{
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//base.processMode();
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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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int memIndex = 43;
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byte[] MemBlock = new byte[1];
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if (verboseLog) lg.Info("START ProcessMode");
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FanucMemRW(R, FANUC.MemType.G, memIndex, ref MemBlock);
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if (verboseLog) lg.Info("END ProcessMode");
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-G43", MemBlock.Length), DateTime.Now.Subtract(inizio).Ticks);
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lg.Info(string.Format("Mode G43: {0:X}", MemBlock[0]));
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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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/// Override salvataggio valori in memoria...
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/// </summary>
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public override void saveMemDump()
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{
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dump_MemAreaD();
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dump_MemAreaY();
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}
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public override void sampleMemDump()
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{
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dump_MemAreaD(6400, 400);
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}
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/// <summary>
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/// Dump PERIODICO area D della memoria
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/// </summary>
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/// <param name="memIndex">area memoria di partenza</param>
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/// <param name="memSyzeByte"></param>
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private void dump_MemAreaD(int memIndex, int memSyzeByte)
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{
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// leggo TUTTI i 9999 byte della memoria D...
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byte[] MemBlockD = new byte[memSyzeByte];
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inizio = DateTime.Now;
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if (verboseLog) lg.Info("START MemDump AreaD");
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FanucMemRW(R, FANUC.MemType.D, memIndex, ref MemBlockD);
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if (verboseLog) lg.Info("END MemDump AreaD");
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-MemDumpD", MemBlockD.Length), DateTime.Now.Subtract(inizio).Ticks);
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// file out!
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string nomeFile = "";
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Dictionary<string, string> mappaValori = new Dictionary<string, string>();
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// salvo in file i dati letti come DWord (4byte)
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nomeFile = string.Format(@"{0}\SAMPLES\MemDump_D_DW_{1:yyyyMMdd_HHmmss}.dat", utils.dataDatDir, DateTime.Now);
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for (int i = 0; i < MemBlockD.Length / 4; i++)
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{
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mappaValori.Add(i.ToString("0000"), BitConverter.ToUInt32(MemBlockD, i * 4).ToString());
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}
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utils.WritePlain(mappaValori, nomeFile);
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}
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/// <summary>
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/// Dump area D della memoria
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/// </summary>
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private void dump_MemAreaD()
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{
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// faccio chaimate e salvo in file dump...
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int memIndex = 0;
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// leggo TUTTI i 9999 byte della memoria D...
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byte[] MemBlockD = new byte[9999];
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inizio = DateTime.Now;
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if (verboseLog) lg.Info("START MemDump AreaD");
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FanucMemRW(R, FANUC.MemType.D, memIndex, ref MemBlockD);
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if (verboseLog) lg.Info("END MemDump AreaD");
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if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-MemDumpD", MemBlockD.Length), DateTime.Now.Subtract(inizio).Ticks);
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//
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string nomeFile = "";
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// salvo in file i dati letti come BYTE
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nomeFile = string.Format(@"{0}\MemDump_D_Byte.dat", utils.dataDatDir);
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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);
|
|
}
|
|
}
|
|
}
|