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Admin
2025-04-24 08:56:43 +08:00
parent 33e94b92f9
commit 158557e046
6 changed files with 7601 additions and 7459 deletions
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287
DH.Devices.PLC/XinJEPLCTcpNet.cs
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@ -11,6 +11,7 @@ using System.Threading.Tasks;
using System.Xml.Linq;
using DH.Commons.Base;
using DH.Commons.Enums;
using DH.Commons.Helper;
using DH.Commons.Models;
using HslCommunication;
using HslCommunication.Enthernet;
@ -37,6 +38,8 @@ namespace DH.Devices.PLC
public event Action<LogMsg> OnLog;
private XinJETcpNet TcpNet = new XinJETcpNet();
private TaskFactory _taskFac = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
public override bool PLCConnect()
{
try
@ -82,7 +85,7 @@ namespace DH.Devices.PLC
}
catch(Exception ex)
catch (Exception ex)
{
Connected = false;
LogAsync(DateTime.Now, LogLevel.Error, $"{IP}:{Port}PLC连接失败!失败原因:{ex.ToString()}");
@ -182,7 +185,7 @@ namespace DH.Devices.PLC
LogAsync(DateTime.Now, LogLevel.Error, $"PLC未连接,地址{address}");
throw new Exception($"PLC未连接,地址{address}");
}
}
catch (Exception ex)
{
@ -258,7 +261,8 @@ namespace DH.Devices.PLC
public override bool ReadBool(string address)
{
try
{ if (Connected)
{
if (Connected)
{
// 读取Bool变量
var result = TcpNet.ReadBool(address);
@ -343,7 +347,7 @@ namespace DH.Devices.PLC
public override bool WriteUInt16(string address, UInt16 writeValue, bool waitForReply = true)
{
if (Connected)
if (Connected)
{
if (string.IsNullOrEmpty(address))
{
@ -472,13 +476,13 @@ namespace DH.Devices.PLC
{
throw new Exception($"PLC未连接,地址{address}");
}
return false;
}
/// <summary>
/// 写单独地址 float 值
/// </summary>
@ -534,7 +538,7 @@ namespace DH.Devices.PLC
/// <param name="waitForReply">是否等待回复</param>
public override bool WriteBool(string address, bool writeValue, bool waitForReply = true)
{
if(Connected)
if (Connected)
{
if (string.IsNullOrEmpty(address))
{
@ -570,17 +574,17 @@ namespace DH.Devices.PLC
LogAsync(DateTime.Now, LogLevel.Error, $"PLC未连接,地址{address}");
throw new Exception($"PLC未连接,地址{address}");
}
return false;
}
public override bool PLCDisConnect()
{
if (Connected)
{
var res = TcpNet.ConnectClose();
if (res.IsSuccess)
{
@ -598,7 +602,7 @@ namespace DH.Devices.PLC
private void MonitorPieces()
{
ThreadStart ts = new ThreadStart(MonitorPiecesImpl);
Thread th = new Thread(ts);
th.Priority = ThreadPriority.AboveNormal;
@ -617,7 +621,9 @@ namespace DH.Devices.PLC
/// int,int 轴号 捕获位置
/// </summary>
public event Action<int, uint> OnNewPieces;
private System.Threading.Timer timer;
private System.Threading.TimerCallback timerCallback;
public void NewPieces(int axisIndex, uint pieceNumber)
{
@ -631,14 +637,47 @@ namespace DH.Devices.PLC
public async Task HeartbeatAsync1()
{
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "心跳地址");
#if false
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
if (pLCItem == null)
return;
while (Connected)
{
if (pLCItem == null)
return;
WriteBool(pLCItem.Address, true);
await Task.Delay(900); // 非阻塞，等待1秒
try
{
LogAsync(DateTime.Now, LogLevel.Information, $"心跳\t");
WriteBool(pLCItem.Address, true);
await Task.Delay(2000); // 非阻塞，等待1秒
}
catch (Exception ex) { }
}
#else
timerCallback = (object? state) =>
{
timer.Change(2000, 2000);
try
{
//WriteBool(pLCItem.Address, true);
WriteBool("M31", true);
}
catch (Exception ex)
{
LogAsync(DateTime.Now, LogLevel.Error, $"心跳:{ex.Message}");
}
};
timer = new System.Threading.Timer(
timerCallback, null, 0, 2000);
timer.Change(2000, 2000);
#endif
}
/// <summary>
/// 入料监听
@ -647,7 +686,7 @@ namespace DH.Devices.PLC
private void MonitorPiecesImpl()
{
PLCItem pLCItem= PLCItemList.FirstOrDefault(u => u.Name == "产品计数");
PLCItem pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "产品计数");
if (pLCItem == null)
return;
string Count = pLCItem.Address;
@ -661,8 +700,8 @@ namespace DH.Devices.PLC
Stopwatch sw = new Stopwatch();
uint tmpPieceNumber = 0;
sw.Start();
// var ret = TcpNet.ReadUInt16("D1016");
// var ret = TcpNet.ReadUInt16("D1016");
var ret = TcpNet.ReadUInt32(Count);
sw.Stop();
@ -678,13 +717,13 @@ namespace DH.Devices.PLC
//LogAsync(DateTime.Now, LogLevel.Information, $"转盘{0}产品入列 {piecesCountDic[0]} size:{sum}");
if (tmpPieceNumber != piecesCount + 1)
{
LogAsync(DateTime.Now, LogLevel.Information, $"入列触发丢失\t{tmpPieceNumber}");
LogAsync(DateTime.Now, LogLevel.Information, $"入列触发丢失\t{tmpPieceNumber}");
// Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")}\t板卡{station}产品入列触发丢失，{piecesCountDic[station]}\t{tmpPieceNumber}");
}
piecesCount = tmpPieceNumber;
//NewPieces(ai, piecesCountDic[station]);
NewPieces(1, piecesCount);
NewPieces(1, piecesCount);
sw.Stop();
startTime = DateTime.Now;
//if (idalarm)
@ -695,7 +734,7 @@ namespace DH.Devices.PLC
}
Thread.Sleep(1);
Thread.Sleep(2);
}
}
@ -703,19 +742,19 @@ namespace DH.Devices.PLC
{
//启用心跳
OpenHeartbeat(true);
// LogAsync(DateTime.Now, LogLevel.Information, $"启用心跳");
// LogAsync(DateTime.Now, LogLevel.Information, $"启用心跳");
//状态复位
StatusReset();
//LogAsync(DateTime.Now, LogLevel.Information, $"状态复位");
//关闭定位
VisionPos(false);
// LogAsync(DateTime.Now, LogLevel.Information, $"关闭定位");
// LogAsync(DateTime.Now, LogLevel.Information, $"关闭定位");
//写入流程加载点位配置
InitProcessAction();
//LogAsync(DateTime.Now, LogLevel.Information, $"写入流程加载点位配置");
//计数清零
CountToZero();
// LogAsync(DateTime.Now, LogLevel.Information, $"计数清零");
// LogAsync(DateTime.Now, LogLevel.Information, $"计数清零");
//停止转盘
TurnStart(false);
//LogAsync(DateTime.Now, LogLevel.Information, $"停止转盘");
@ -725,16 +764,18 @@ namespace DH.Devices.PLC
//开启入料监听
MonitorPieces();
}
public void StartProcess()
{
{
//状态复位
StatusReset();
// LogAsync(DateTime.Now, LogLevel.Information, $"状态复位");
// LogAsync(DateTime.Now, LogLevel.Information, $"状态复位");
//关闭定位
VisionPos(false);
// LogAsync(DateTime.Now, LogLevel.Information, $"关闭定位");
// LogAsync(DateTime.Now, LogLevel.Information, $"关闭定位");
//写入流程启动点位配置
StartProcessAction();
PLCItem? pLCItem = ConfigModel.GlobalList?
@ -743,7 +784,7 @@ namespace DH.Devices.PLC
.Where(it => it.Name == "挡料电机回原点速度").FirstOrDefault();
if (pLCItem == null)
{
throw new Exception( $"未找到挡料电机回原点速度地址，请检查该地址是否存在于点位表！");
throw new Exception($"未找到挡料电机回原点速度地址，请检查该地址是否存在于点位表！");
}
PLCItem? pLCItem1 = ConfigModel.GlobalList?
.FirstOrDefault()?
@ -792,17 +833,26 @@ namespace DH.Devices.PLC
//转盘启动
TurnStart(true);
}
public void StopProcess()
{
StatusReset();
VisionPos(false);
CountToZero();
StopProcessAction();
TurnStart(false);
// LogAsync(DateTime.Now, LogLevel.Information, $"PLC断开连接");
}
public void CloseProcess()
{
StatusReset();
VisionPos(false);
CountToZero();
TurnStart(false);
TurnStart(false);
TurnEnable(false);
StopProcessAction();
OpenHeartbeat(false);
PLCDisConnect();
// LogAsync(DateTime.Now, LogLevel.Information, $"PLC断开连接");
// LogAsync(DateTime.Now, LogLevel.Information, $"PLC断开连接");
}
public void InitProcessAction() =>
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.InitProcessList?.ToList() ?? new List<PLCItem>());
@ -875,7 +925,7 @@ namespace DH.Devices.PLC
if (pLCItem == null)
return;
WriteBool(pLCItem.Address, b);
}
/// <summary>
@ -888,7 +938,7 @@ namespace DH.Devices.PLC
if (pLCItem == null)
return;
WriteUInt16(pLCItem.Address, (ushort)speed);
}
/// <summary>
@ -968,12 +1018,16 @@ namespace DH.Devices.PLC
{
int timeout = 5000;
int timeout = 60000;
int elapsedTime = 0;
int checkInterval = 100;
MotorToZero(false);
// 检查是否不在原点，如果不在，则回原点
Thread.Sleep(300);
MotorClockwise(false);
Thread.Sleep(300);
MotorCounterclockwise(false);
Thread.Sleep(300);
MotorSpeed(speed); // 速度
Thread.Sleep(300);
@ -984,22 +1038,34 @@ namespace DH.Devices.PLC
// 等待回到原点
while (!ReadMotorToZero())
while (true)
{
if (elapsedTime >= timeout)
{
LogAsync(DateTime.Now, LogLevel.Error, $"超时");
break;
}
if (ReadMotorRealPos() == 0)
{
break;
}
Thread.Sleep(checkInterval);
elapsedTime += checkInterval;
}
// }
MotorToZero(false);
Thread.Sleep(200);
MotorClockwise(false);
Thread.Sleep(200);
MotorCounterclockwise(false);
// 无论是刚回到原点还是已经在原点，执行目标位置、速度和方向设置
MotorSpeed(speed);
// MotorSpeed(speed);
Thread.Sleep(300);
MotorPos(pos); // 目标位置
Thread.Sleep(300);
if (direction)
{
MotorClockwise(true); // 顺时针转动
@ -1010,11 +1076,27 @@ namespace DH.Devices.PLC
MotorCounterclockwise(true); // 逆时针转动
}
Thread.Sleep(30);
MotorPos(pos); // 目标位置
Thread.Sleep(2000);
int timeout1 = 60000;
int elapsedTime1 = 0;
int checkInterval1 = 100;
while (true)
{
if (elapsedTime1 >= timeout1)
{
break;
}
if (ReadMotorRealPos() == pos)
{
break;
}
Thread.Sleep(checkInterval1);
elapsedTime1 += checkInterval1;
}
Thread.Sleep(1500);
}
@ -1024,61 +1106,84 @@ namespace DH.Devices.PLC
/// False: 逆时针
/// </summary>
/// <param name="u"></param>
public void FeedingMotor( bool direction,int speed,int pos)
public void FeedingMotor(bool direction, int speed, int pos)
{
int timeout = 5000;
int timeout = 10000;
int elapsedTime = 0;
int checkInterval = 100;
BarrierToZero(false);
Thread.Sleep(300);
// 检查是否不在原点，如果不在，则回原点
BarrierClockwise(false);
Thread.Sleep(300);
BarrierCounterclockwise(false);
Thread.Sleep(300);
BarrierToZeroSpeed(speed); // 速度
Thread.Sleep(300);
// 发送回原点指令
BarrierToZero(true);
Thread.Sleep(1000); // 给设备一些时间响应
Thread.Sleep(300);
// 发送回原点指令
BarrierToZero(true);
Thread.Sleep(300); // 给设备一些时间响应
// 等待回到原点
while (!ReadBarrierToZero())
// 等待回到原点
while (true)
{
if (elapsedTime >= timeout)
{
if (elapsedTime >= timeout)
{
break;
}
Thread.Sleep(checkInterval);
elapsedTime += checkInterval;
break;
}
if (ReadBarrierRealPos() == 0)
{
break;
}
Thread.Sleep(checkInterval);
elapsedTime += checkInterval;
}
// 无论是刚回到原点还是已经在原点，执行目标位置、速度和方向设置
BarrierSpeed(speed);
Thread.Sleep(300);
if (direction)
{
BarrierClockwise(true); // 顺时针转动
BarrierClockwise(true); // 顺时针转动
}
else
{
BarrierCounterclockwise(true); // 逆时针转动
}
Thread.Sleep(30);
Thread.Sleep(300);
BarrierPos(pos); // 目标位置
Thread.Sleep(2000);
Thread.Sleep(300);
int timeout1 = 10000;
int elapsedTime1 = 0;
int checkInterval1 = 100;
while (true)
{
if (elapsedTime1 >= timeout1)
{
break;
}
if (ReadBarrierRealPos() == pos)
{
break;
}
Thread.Sleep(checkInterval1);
elapsedTime1 += checkInterval1;
}
Thread.Sleep(300);
}
/// <summary>
/// 转盘清料
/// </summary>
@ -1106,7 +1211,8 @@ namespace DH.Devices.PLC
if (b)
{
//开启心跳
Task.Run(async () => await HeartbeatAsync1());
//Task.Run(async () => await HeartbeatAsync1());
_taskFac.StartNew(async () => await HeartbeatAsync1());
}
}
@ -1116,7 +1222,7 @@ namespace DH.Devices.PLC
int Register = (int)((productNumber - 1) % 30);
currentRegister = 411 + Register;
WriteUInt16($"D{currentRegister}", value);
}
/// <summary>
@ -1155,6 +1261,20 @@ namespace DH.Devices.PLC
WriteBool(pLCItem.Address, b);
}
/// <summary>
/// 读取挡料电机实时位置
/// </summary>
/// <returns></returns>
public int ReadBarrierRealPos()
{
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机实时位置");
if (pLCItem == null)
{
throw new Exception("未找到挡料电机实时位置点位");
}
return ReadInt16(pLCItem.Address);
}
/// <summary>
/// 读取 挡杆回原点状态
/// </summary>
@ -1169,7 +1289,7 @@ namespace DH.Devices.PLC
// throw new Exception("未找到挡料电机回原点点位");
//}
//挡料电机传感器感应点
return ReadBool("X11");
return ReadBool("X11");
}
/// <summary>
@ -1180,7 +1300,7 @@ namespace DH.Devices.PLC
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机回原点速度");
if (pLCItem == null)
return;
WriteUInt32(pLCItem.Address, (uint)speed);
WriteInt32(pLCItem.Address, speed);
}
@ -1192,7 +1312,7 @@ namespace DH.Devices.PLC
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机位置");
if (pLCItem == null)
return;
WriteUInt16(pLCItem.Address, (ushort)value);
WriteInt16(pLCItem.Address, (short)value);
}
@ -1253,12 +1373,13 @@ namespace DH.Devices.PLC
/// <exception cref="Exception"></exception>
public bool ReadMotorToZero()
{
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "相机步进原点");
if (pLCItem == null)
{
throw new Exception("未找到挡料电机回原点点位");
}
return ReadBool(pLCItem.Address);
//PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "相机步进原点");
//if (pLCItem == null)
//{
// throw new Exception("未找到挡料电机回原点点位");
//}
//return ReadBool(pLCItem.Address);
return ReadBool("X10");
}
@ -1271,7 +1392,7 @@ namespace DH.Devices.PLC
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "相机步进位置");
if (pLCItem == null)
return;
WriteUInt16(pLCItem.Address, (ushort)value);
WriteInt32(pLCItem.Address, (ushort)value);
}
@ -1285,7 +1406,7 @@ namespace DH.Devices.PLC
{
throw new Exception("未找到相机步进实时位置");
}
return ReadInt16(pLCItem.Address);
return ReadInt32(pLCItem.Address);
}