Lucio Maranta
698 lines
27 KiB
C#
698 lines
27 KiB
C#
using CMS_CORE;
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using CMS_CORE.Demo;
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using CMS_CORE.Fanuc;
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using CMS_CORE.Osai;
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using CMS_CORE.Siemens;
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using Step.Database.Controllers;
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using Step.Model.DatabaseModels;
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using Step.Model.DTOModels;
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using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.Linq;
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using static CMS_CORE_Library.DataStructures;
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using static Step.Config.ServerConfig;
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using static Step.Model.Constants;
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namespace Step.NC
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{
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public class NcHandler : IDisposable
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{
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public Nc numericalControl;
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public NcHandler()
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{
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// Choose NC
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numericalControl = SetNumericalControl();
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}
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public void Dispose()
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{
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numericalControl.NC_Disconnect();
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}
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public CmsError Connect()
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{
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// Connect NC
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if (!numericalControl.NC_IsConnected())
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return numericalControl.NC_Connect();
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return null;
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}
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public Nc SetNumericalControl()
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{
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// Return new Numerical control instance choosed from the configuration
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switch (NcConfig.NcVendor)
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{
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case NC_VENDOR.DEMO:
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return new Nc_Demo(NcConfig.NcIpAddress, NcConfig.NcPort);
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case NC_VENDOR.FANUC:
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return new Nc_Fanuc(NcConfig.NcIpAddress, NcConfig.NcPort, 2000);
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case NC_VENDOR.SIEMENS:
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return new Nc_Siemens(2000);
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case NC_VENDOR.OSAI:
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return new Nc_Osai(NcConfig.NcIpAddress, NcConfig.NcPort, 2000);
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}
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return null;
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}
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#region Read Data
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public CmsError GetNcGenericData(out DTONcGenericDataModel genericData)
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{
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genericData = new DTONcGenericDataModel(MachineConfig.Model);
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// Get date time
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DateTime dateTime = new DateTime();
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CmsError cmsError = numericalControl.NC_RDateTime(ref dateTime);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.DateTime = dateTime;
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// Get language
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CultureInfo lang = new CultureInfo("en");
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cmsError = numericalControl.NC_RLanguage(ref lang);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.Language = lang.TwoLetterISOLanguageName;
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string tmpInfo = "";
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// Get serial number
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cmsError = numericalControl.NC_RSerialNumber(ref tmpInfo);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.SerialNumber = tmpInfo;
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// Get software version
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numericalControl.NC_RSoftwareVersion(ref tmpInfo);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.NcSoftwareVersion = tmpInfo;
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// Get model name
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numericalControl.NC_RModelName(ref tmpInfo);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.NcModel = tmpInfo;
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// Get machine number
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numericalControl.NC_RMachineNumber(ref tmpInfo);
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if (cmsError.errorCode != 0)
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return cmsError;
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genericData.CmsMachineIdNumber = tmpInfo;
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// Get max process number
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ushort procNum = 0;
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numericalControl.NC_RProcessesNum(ref procNum);
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if (cmsError.errorCode != 0)
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return cmsError;
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// Max process number
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genericData.ProcessNumber = procNum;
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// Get Installation Date
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genericData.InstallationDate = DateTime.Now;
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// Get PLC version
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genericData.PlcVersion = "1.0.0";
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// Get PLC version
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genericData.UnitOfMeasurement = "mm";
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return cmsError;
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}
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public CmsError GetNcAlarms(out DTOAlarmsModel alarms)
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{
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alarms = new DTOAlarmsModel();
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List<AlarmModel> tmpAlarms = new List<AlarmModel>();
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// Read NC active alarms
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CmsError cmsError = numericalControl.NC_RActiveAlarms(ref tmpAlarms);
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if (cmsError.errorCode != 0)
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return cmsError;
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// Create response list from NC data
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foreach (AlarmModel ncAlarm in tmpAlarms)
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{
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alarms.NcAlarms.Add(new GenericAlarmModel()
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{
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Id = ncAlarm.Id,
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Message = ncAlarm.Message,
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DateTime = DateTime.Now
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});
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}
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// Get NC max process number
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ushort maxProcNumber = 0;
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cmsError = numericalControl.NC_RProcessesNum(ref maxProcNumber);
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if (cmsError.errorCode != 0)
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return cmsError;
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// For each process
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for (ushort i = 1; i <= maxProcNumber; i++)
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{
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// Get process active alarms
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numericalControl.PROC_RActiveAlarms(i, ref tmpAlarms);
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// Create response list from NC data
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foreach (AlarmModel processAlarm in tmpAlarms)
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{
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alarms.ProcessAlarms.Add(new ProcessAlarmModel()
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{
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Id = processAlarm.Id,
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Message = processAlarm.Message,
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Process = processAlarm.Process,
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DateTime = DateTime.Now
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});
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}
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}
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List<PlcAlarmModel> plcAlarms = new List<PlcAlarmModel>();
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// Read PLC Active Messages
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cmsError = numericalControl.PLC_RActiveMessages(ref plcAlarms);
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foreach (PlcAlarmModel plcAlarm in plcAlarms)
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{
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// Create response list from plc data
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alarms.PlcAlarms.Add(new DTOPlcAlarmModel()
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{
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Id = plcAlarm.Id + 1,
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IsWarning = plcAlarm.IsWarning,
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Process = plcAlarm.Process,
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RestorationIsActive = plcAlarm.RestorationIsActive,
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dateTime = DateTime.Now
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});
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}
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if (cmsError.errorCode != 0)
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return cmsError;
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return cmsError;
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}
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public CmsError GetAxesPositions(out List<DTOAxesModel> axes)
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{
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axes = new List<DTOAxesModel>();
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// Get NC max process number
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ushort maxProcNumber = 0;
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CmsError cmsError = numericalControl.NC_RProcessesNum(ref maxProcNumber);
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if (cmsError.errorCode != 0)
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return cmsError;
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// For each process
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for (ushort i = 1; i <= maxProcNumber; i++)
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{
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cmsError = GetAxesPositionsByProcess(i, out DTOAxesModel axis);
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if (cmsError.errorCode != 0)
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return cmsError;
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axes.Add(axis);
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}
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return cmsError;
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}
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public CmsError GetAxesPositionsByProcess(ushort processNum, out DTOAxesModel axes)
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{
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axes = new DTOAxesModel();
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CmsError cmsError = numericalControl.AXES_RInterpPosition(processNum, ref axes.interpolated);
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if (cmsError.errorCode != 0)
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return cmsError;
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numericalControl.AXES_RMachinePosition(processNum, ref axes.machine);
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if (cmsError.errorCode != 0)
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return cmsError;
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numericalControl.AXES_RProgrPosition(processNum, ref axes.programmePos);
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if (cmsError.errorCode != 0)
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return cmsError;
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numericalControl.AXES_RDistanceToGo(processNum, ref axes.toGo);
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if (cmsError.errorCode != 0)
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return cmsError;
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//numericalControl.AXES_RFollowingError(1, ref axes.followingErr);
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return cmsError;
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}
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public CmsError GetPowerOnData(out DTOPowerOnDataModel resultPowerOnData)
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{
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resultPowerOnData = new DTOPowerOnDataModel();
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// Init object
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PreAndPostPowerOnModel prePostPowerOn = new PreAndPostPowerOnModel
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{
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PostPowerOn = new PostPowerOnModel(),
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PrePowerOn = new PrePowerOnModel()
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};
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// Read pre and post power on data
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CmsError cmsError = numericalControl.PLC_RPowerOnData(ref prePostPowerOn);
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if (cmsError.IsError())
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return cmsError;
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// Set return object
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resultPowerOnData.PrePowerOn = prePostPowerOn.PrePowerOn;
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resultPowerOnData.PostPowerOn = prePostPowerOn.PostPowerOn;
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// Read axes procedure data from
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cmsError = numericalControl.PLC_RAxesResetData(ref resultPowerOnData.AxisReset);
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return cmsError;
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}
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public CmsError GetProcessesData(out DTOProcessesDataModel processesData)
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{
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processesData = new DTOProcessesDataModel();
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// Get NC max process number
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ushort maxProcNumber = 0;
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CmsError cmsError = numericalControl.NC_RProcessesNum(ref maxProcNumber);
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if (cmsError.errorCode != 0)
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return cmsError;
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PROC_STATUS status = PROC_STATUS.IDLE;
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// For each process get info
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for (ushort i = 1; i <= maxProcNumber; i++)
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{
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ProcessDataModel tmpProcPP = new ProcessDataModel();
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// Get process status
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cmsError = numericalControl.PROC_RStatusAndData(i, ref tmpProcPP);
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// if at least one process is in run, NC is running
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// Add to list
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processesData.processes.Add(new ProcessModel()
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{
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Id = tmpProcPP.Id,
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IsInAlarm = tmpProcPP.IsInAlarm,
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PartProgramName = tmpProcPP.PartProgramName,
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Reps = tmpProcPP.Reps,
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Status = tmpProcPP.Status,
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Type = tmpProcPP.Type,
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Visible = tmpProcPP.Visible
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});
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// Check if there are running process
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if (!processesData.isRunning)
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{
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// Get process status
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cmsError = numericalControl.PROC_RStatus(i, ref status);
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if (status == PROC_STATUS.RUN || status == PROC_STATUS.HOLD)
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processesData.isRunning = true;
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else
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status = PROC_STATUS.IDLE;
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}
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}
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// Read selected process
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cmsError = numericalControl.PROC_RSelectedProcess(ref processesData.selectedProcess);
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if (cmsError.IsError())
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return cmsError;
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// Read selected axes
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cmsError = numericalControl.AXES_RSelectedAxis(ref processesData.selectedAxis);
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return cmsError;
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}
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public CmsError GetFunctionsMappedWithNC(out List<DTORuntimeFunctionalityModel> functionsAccessList)
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{
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functionsAccessList = new List<DTORuntimeFunctionalityModel>();
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// Read plc functionality
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List<FunctionalityModel> functionalityList = null;
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CmsError cmsError = numericalControl.PLC_RFunctionAccess(ref functionalityList);
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// If empty return
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if (functionalityList == null || functionalityList.Count == 0)
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return cmsError;
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using (FunctionsAccessController functionsAccessController = new FunctionsAccessController())
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{
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// Map plc and database data
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functionsAccessList = functionsAccessController.GetFunctionsMappedWithPlc(functionalityList);
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}
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return cmsError;
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}
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public CmsError GetExpiredMaintenances(out List<DTOExpiredMaintenanceModel> expiredMaintenance)
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{
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// Return value
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expiredMaintenance = new List<DTOExpiredMaintenanceModel>();
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// List of PLC counters
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List<CounterModel> counters = new List<CounterModel>();
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// Get counters values from PLC
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CmsError cmsError = numericalControl.PLC_RMachineCounters(ref counters);
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if (cmsError.IsError())
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return cmsError;
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using (MaintenancesController maintenancesController = new MaintenancesController())
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{
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// Get the last performed maintenance for each maintenance
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List<PerformedMaintenanceModel> performedMaintenance = maintenancesController.FindLastMaintenance();
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// Get all the active maintenances
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List<MaintenanceModel> maintenances = maintenancesController.FindAll(); // TODO db or config file?
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foreach (var currMaintenance in maintenances)
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{
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// Get matching last performed maintenance for current maintenance
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var performed = performedMaintenance.Find(x => x.MaintenanceId == currMaintenance.MaintenanceId);
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switch (currMaintenance.Type)
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{
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case MAINT_MACHINE_INTERVAL_TYPE:
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{
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// Get matching counter for the current maintenance
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var counter = counters.Find(x => x.Id == currMaintenance.CounterId);
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int perfVal = 0;
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if (performed != null)
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perfVal = performed.CounterValue;
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// MAINTENANCE_INTERVAL <= PLC - LASTPERFORMED
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if (currMaintenance.Interval <= counter.Value - perfVal)
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{
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// Update last expiration date if null
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if (currMaintenance.LastExpirationDate == null)
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{
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maintenancesController.UpdateLastExpirationDate(currMaintenance.MaintenanceId, DateTime.Now);
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currMaintenance.LastExpirationDate = DateTime.Now;
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}
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// Add item to return list
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expiredMaintenance.Add(new DTOExpiredMaintenanceModel()
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{
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Id = currMaintenance.MaintenanceId,
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ExpirationDate = (DateTime)currMaintenance.LastExpirationDate
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});
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}
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}
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break;
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case MAINT_EXPIRATION_DATE_TYPE:
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{
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// Already performed
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if (performed != null)
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break;
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// DEADLINE <= NOW
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if (currMaintenance.Deadline <= DateTime.Now)
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// Add item to return list
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expiredMaintenance.Add(new DTOExpiredMaintenanceModel()
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{
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Id = currMaintenance.MaintenanceId,
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ExpirationDate = currMaintenance.Deadline
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});
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}
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break;
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case MAINT_TIME_INTERVAL_TYPE:
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{
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// Get last performed, default value is maintenance creation date
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DateTime perfDate = currMaintenance.CreationDate;
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if (performed != null)
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perfDate = performed.Date;
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// Now - last performed = elapsed interval since last maintenance
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TimeSpan timePassedFromLastMaint = DateTime.Now.Subtract(perfDate);
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// Convert in minutes
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double minutesPassedFromLastMaint = timePassedFromLastMaint.TotalMinutes;
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// Interval - passed minutes since last maintenance
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if (currMaintenance.Interval <= minutesPassedFromLastMaint)
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{
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// Update last expiration date
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if (currMaintenance.LastExpirationDate == null)
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{
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// Exp date = now - ( expiration intervall)
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DateTime expirationDate = DateTime.Now.Subtract(TimeSpan.FromMinutes(minutesPassedFromLastMaint - currMaintenance.Interval));
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maintenancesController.UpdateLastExpirationDate(currMaintenance.MaintenanceId, expirationDate);
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currMaintenance.LastExpirationDate = expirationDate;
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}
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// Add item to return list
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expiredMaintenance.Add(new DTOExpiredMaintenanceModel()
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{
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Id = currMaintenance.MaintenanceId,
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ExpirationDate = (DateTime)currMaintenance.LastExpirationDate
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});
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}
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}
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break;
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}
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}
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}
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return cmsError;
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}
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public CmsError GetUserSoftKeys(out List<DTOUserSoftKeyModel> softKeys)
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{
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softKeys = new List<DTOUserSoftKeyModel>();
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List<SoftKeysModel> plcSoftKeys = new List<SoftKeysModel>();
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// Get softkeys data from PLC
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CmsError cmsError = numericalControl.PLC_RUserSoftKeys(ref plcSoftKeys);
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if (cmsError.IsError() || plcSoftKeys.Count == 0)
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return cmsError;
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foreach (var softKey in SoftKeysConfig)
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{
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// Check type of the selected softkey
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if (softKey.Type == SOFTKEY_TYPE.GROUP)
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{
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// Foreach subkey create a softkey
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foreach (var subkey in softKey.SubKeys)
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{
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// Find the plc matching data
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var plcSoftKey = plcSoftKeys.Find(x => x.Id == subkey.PlcId);
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// Create and add new user softkey model
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softKeys.Add(new DTOUserSoftKeyModel()
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{
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Id = subkey.Id,
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Active = plcSoftKey.Active,
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Category = softKey.Category,
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Value = plcSoftKey.Value
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});
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}
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}
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else
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{
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// Find the plc matching data
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var plcSoftKey = plcSoftKeys.Find(x => x.Id == softKey.PlcId);
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softKeys.Add(new DTOUserSoftKeyModel()
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{
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Id = softKey.Id,
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Active = plcSoftKey.Active,
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Category = softKey.Category,
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Value = plcSoftKey.Value
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});
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}
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}
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return cmsError;
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}
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public CmsError GetNcSoftKeys(out List<DTONcSoftKeyModel> ncSoftKeys)
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{
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ncSoftKeys = new List<DTONcSoftKeyModel>();
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List<SoftKeysModel> plcSoftKeys = new List<SoftKeysModel>();
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// Get Nc softkeys data from PLC
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CmsError cmsError = numericalControl.PLC_RNcSoftKeys(ref plcSoftKeys);
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if (cmsError.IsError() || plcSoftKeys.Count == 0)
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return cmsError;
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foreach (var softKey in NcSoftKeysConfig)
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{
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// Find the plc matching data
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var plcSoftKey = plcSoftKeys.Find(x => x.Id == softKey.Id);
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// Create and add Nc softkey model
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ncSoftKeys.Add(new DTONcSoftKeyModel()
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{
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Id = softKey.Id,
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Active = plcSoftKey.Active,
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Value = plcSoftKey.Value
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});
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}
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return cmsError;
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}
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public CmsError GetHeadsData(out List<DTOHeadModel> heads)
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{
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// Returned value
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heads = new List<DTOHeadModel>();
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// Number of configured heads
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int headsNumber = HeadsConfig.Count;
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List<HeadDataModel> plcHeads = new List<HeadDataModel>();
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// Read value from PLC
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CmsError cmsError = numericalControl.PLC_RHeadsData(plcHeads, headsNumber);
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if (cmsError.IsError())
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return cmsError;
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foreach (var head in plcHeads)
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{
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// Get current head config
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var configuredHead = HeadsConfig.Find(x => x.Id == head.Id);
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// Create different model according on type
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switch (configuredHead.Type)
|
|
{
|
|
case HEAD_TYPE.SPINDLE:
|
|
{
|
|
heads.Add(new DTOSpindleModel()
|
|
{
|
|
Id = head.Id,
|
|
Process = head.Process,
|
|
Type = configuredHead.Type.ToString(),
|
|
inWarning = head.Load_Abrasive >= configuredHead.WarningLimit,
|
|
inAlarm = head.Load_Abrasive >= configuredHead.AlarmLimit,
|
|
OverrideEditable = head.OverrideEditable,
|
|
ActualSpeed = head.ActualSpeed_Pressure,
|
|
Load = head.Load_Abrasive,
|
|
MountedTool = (ushort)head.MountedTool_Vacum,
|
|
Override = head.Override,
|
|
IsActive = head.IsActive,
|
|
IsSelected = head.IsSelected
|
|
});
|
|
}
|
|
break;
|
|
|
|
case HEAD_TYPE.AWJ:
|
|
{
|
|
float vacumValue = (float)head.MountedTool_Vacum / 100;
|
|
heads.Add(new DTOAbrasiveWaterJet()
|
|
{
|
|
Id = head.Id,
|
|
Process = head.Process,
|
|
Type = configuredHead.Type.ToString(),
|
|
inWarning = vacumValue >= configuredHead.WarningLimit,
|
|
inAlarm = vacumValue >= configuredHead.AlarmLimit,
|
|
OverrideEditable = head.OverrideEditable,
|
|
ActualPressure = head.ActualSpeed_Pressure,
|
|
Abrasive = head.Load_Abrasive,
|
|
Vacum = vacumValue,
|
|
Override = head.Override,
|
|
IsActive = head.IsActive,
|
|
IsSelected = head.IsSelected
|
|
});
|
|
}
|
|
break;
|
|
|
|
case HEAD_TYPE.WJ:
|
|
{
|
|
heads.Add(new DTOWaterJet()
|
|
{
|
|
Id = head.Id,
|
|
Process = head.Process,
|
|
Type = configuredHead.Type.ToString(),
|
|
inAlarm = false,
|
|
inWarning = false,
|
|
ActualPressure = head.ActualSpeed_Pressure,
|
|
OverrideEditable = head.OverrideEditable,
|
|
Override = head.Override,
|
|
IsActive = head.IsActive,
|
|
IsSelected = head.IsSelected
|
|
});
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
return cmsError;
|
|
}
|
|
|
|
public CmsError ReadAxisData(out List<DTOAxisNameModel> axesNames)
|
|
{
|
|
axesNames = new List<DTOAxisNameModel>();
|
|
List<AxisModel> plcAxes = new List<AxisModel>();
|
|
// Read selected process
|
|
ushort selectedProcess = 0;
|
|
CmsError cmsError = numericalControl.PROC_RSelectedProcess(ref selectedProcess);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
// Read axes names
|
|
cmsError = numericalControl.AXES_RAxesNames(selectedProcess, ref plcAxes);
|
|
|
|
axesNames = plcAxes.Select(x => new DTOAxisNameModel()
|
|
{
|
|
Id = x.Id,
|
|
Name = x.Name
|
|
}).ToList();
|
|
|
|
return cmsError;
|
|
}
|
|
|
|
#endregion Read Data
|
|
|
|
#region Write data
|
|
|
|
public CmsError PutNcSoftKeyClick(uint id)
|
|
{
|
|
// Write Nc softkey press to plc
|
|
CmsError cmsError = numericalControl.PLC_WNcSoftKey(id);
|
|
|
|
return cmsError;
|
|
}
|
|
|
|
public CmsError PutUserSoftKeyClick(uint id)
|
|
{
|
|
// Write user softkey press to plc
|
|
return numericalControl.PLC_WUserSoftKey(id);
|
|
}
|
|
|
|
public CmsError RefreshAlarm(uint id)
|
|
{
|
|
// Write in memory the request to refresh the alarm
|
|
return numericalControl.PLC_WRefreshMessage(id);
|
|
}
|
|
|
|
public CmsError RestoreAlarm(uint id)
|
|
{
|
|
// Write in memory the request to restore the alarm
|
|
return numericalControl.PLC_WRestoreMessage(id);
|
|
}
|
|
|
|
public CmsError RefreshAllAlarms()
|
|
{
|
|
return numericalControl.PLC_WRefreshAllMessages();
|
|
}
|
|
|
|
public CmsError PutSelectProcess(ushort procNumber)
|
|
{
|
|
return numericalControl.PROC_WSelectProcess(procNumber);
|
|
}
|
|
|
|
public CmsError PutSelectAxis(byte axisId)
|
|
{
|
|
return numericalControl.AXES_WSelectAxis(axisId);
|
|
}
|
|
|
|
public CmsError PutOverride(uint id, string action)
|
|
{
|
|
HEAD_OVERRIDE_SIGN sign = HEAD_OVERRIDE_SIGN.MINUS;
|
|
if (action == "plus")
|
|
sign = HEAD_OVERRIDE_SIGN.PLUS;
|
|
|
|
CmsError cmsError = numericalControl.PLC_WHeadOverride(id, sign);
|
|
return cmsError;
|
|
}
|
|
|
|
public CmsError PutPowerOnData(uint id)
|
|
{
|
|
// Set to true power on data by id
|
|
return numericalControl.PLC_WPowerOnData(id, true);
|
|
}
|
|
|
|
#endregion Write data
|
|
}
|
|
} |