Control.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Web.Script.Serialization;
using AGVControl;
using RestSharp;
namespace BLL
{
public class Control
{
private bool loop;
//private int areaC_Index;
private Thread tAgvCall;
private Thread tAgvState;
//public List<string> Marks;
private const int REG_STATUS = 20;
//private List<string> shelfLockedNodeNames;
public delegate void AgvChangedEvent(int agvIndex);
public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline;
public Control()
{
}
public void Start()
{
loop = true;
tAgvState = new Thread(new ThreadStart(AgvState));
tAgvCall = new Thread(new ThreadStart(AgvCall));
tAgvState.Start();
tAgvCall.Start();
}
public void Stop()
{
loop = false;
}
private void AgvState()
{
bool rtn;
while (loop)
{
Thread.Sleep(1000);
for (int i = 0; i < Common.agvInfo.Count; i++)
{
if (!CheckOnline(i)) continue;
if (!loop) break;
//获取AGV状态
rtn = Common.mir.Get_State(Common.agvInfo[i], out int stateID, out string stateText, out int battery, out string mission_text);
bool change = false;
if (rtn) change = Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text);
//上报异常
if (Common.agvInfo[i].MissionText != mission_text)
{
Common.agvInfo[i].MissionText = mission_text;
if (mission_text.Equals("停靠") || mission_text.ToLower().Equals("DOCKING"))
{
Common.agvInfo[i].DockingInfo.startTime = DateTime.Now;
Common.agvInfo[i].DockingInfo.IsDocking = true;
}
}
bool isAlarm = false;
List<AlarmMsg> msglist = new List<AlarmMsg>();
if (Common.agvInfo[i].DockingInfo.IsDocking && (DateTime.Now - Common.agvInfo[i].DockingInfo.startTime).TotalMinutes.Equals(2))
{
isAlarm = true;
Common.agvInfo[i].DockingInfo.IsDocking = false;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv.Docking", mission_text));
}
if (battery <= 10)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv.battery", battery.ToString()));
}
if (stateText.Equals("Error") || stateText.Equals("EmergencyStop"))
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv.Error.EmergencyStop", "agv状态" + stateText));
}
if (isAlarm)
BLL.AGVManager.updateDeviceAlarmMsg(msglist);
//获取地点任务状态
Thread.Sleep(50);
rtn = Common.mir.Get_Register(Common.agvInfo[i], REG_STATUS, out int regValue);
if (rtn) Common.agvInfo[i].GetPlace(regValue);
if (change)
{
Common.LogInfo(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text));
}
//执行任务更新状态
if (stateID == 5 || change)
{
Common.LogInfo(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue));
AgvChanged?.Invoke(i);
}
//获取任务队列
//rtn = Common.mir.Get_Mission_Queue(Common.agvInfo[i], out List<string> mission);
//if (rtn)
//{
// string[] arr = new string[mission.Count];
// for (int j = 0; j < mission.Count; j++)
// arr[j] = Common.agvMission.FirstOrDefault(q => q.Value == mission[j]).Key;
// string missionKey = string.Join(",", arr);
// if (Common.agvInfo[i].MissionQueue != missionKey)
// {
// Common.agvInfo[i].MissionQueue = missionKey;
// AgvChanged?.Invoke(i);
// }
//}
}
}
}
private void AgvCall()
{
while (loop)
{
Thread.Sleep(1000);
for (int i = 0; i < Common.agvInfo.Count; i++)
{
if (!loop) break;
if (!Common.agvInfo[i].IsCon) continue; //AGV网络连接
if (!Common.agvInfo[i].IsUse) continue; //AGV是否可用
//Ready,Pause,Executing
if (Common.agvInfo[i].StateID != 3 && Common.agvInfo[i].StateID != 4 && Common.agvInfo[i].StateID != 5)
{
Common.LogInfo(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText));
continue;
}
switch (Common.agvInfo[i].PlaceState)
{
case PlaceState.None:
StateNone(i);
break;
case PlaceState.Move:
StateMove(i);
break;
case PlaceState.MoveFinish:
StateMoveFinish(i);
break;
case PlaceState.Enter:
StateEnter(i);
break;
case PlaceState.EnterFinish:
StateEnterFinish(i);
break;
case PlaceState.Leave:
StateLeave(i);
break;
case PlaceState.LeaveFinish:
StateLeaveFinish(i);
break;
case PlaceState.Error:
StateError(i);
break;
}
}
}
}
private bool CheckOnline(int idx)
{
bool rtn = Common.mir.CheckIP(Common.agvInfo[idx].IP);
if (rtn)
{
if (!Common.agvInfo[idx].IsCon)
{
Common.agvInfo[idx].IsCon = true;
Common.LogInfo(Common.agvInfo[idx].Name + " Online");
AgvOnline?.Invoke(idx);
AgvChanged?.Invoke(idx);
}
}
else
{
if (Common.agvInfo[idx].IsCon)
{
Common.agvInfo[idx].IsCon = false;
Common.LogInfo(Common.agvInfo[idx].Name + " Offline");
AgvOnline?.Invoke(idx);
AgvChanged?.Invoke(idx);
}
}
return rtn;
}
/// <summary>
/// agv空闲
/// </summary>
/// <param name="idx"></param>
private void StateNone(int idx)
{
bool rtn;
int index;
string RFID = "";
Agv_Info agv = Common.agvInfo[idx];
if (agv.TaskSend != "") return;
//A6出满料
rtn = FindA6Leave(out string nextNode);
if (rtn)
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
if (rtn)
{
agv.NextPlace = nextNode;
index = FindNode("A6");
Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
RFID = Common.nodeInfo[index].RFID;
index = FindNode(nextNode);
Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
}
Common.LogInfo(string.Format("A6有满料架[{0}]要出,目的地为{1}", RFID, nextNode));
agv.TaskSend = rtn ? "MoveA6" : "";
return;
}
if (Common.linePlace.Count == 0)
{
Common.LogInfo("Common.linePlace.Count == 0 无空料架要出");
return;
}
//ClientLevel clientLevel = Common.linePlace.Values.Max<ClientLevel>();
////出空料架
//foreach (var item in Common.linePlace)
//{
// if (!clientLevel.Equals(item.Value))
// continue;
// string name = item.Key;
// index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.Action == ClientAction.NeedLeave && s.IsUse);
// if (index > -1)
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
// if (rtn)
// {
// Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
// Common.linePlace.Remove(name);
// }
// agv.TaskSend = rtn ? "Move" + name : "";
// }
// Common.LogInfo(string.Format("[{0}-{1}] 出空料架.", name, item.Value));
// if (Common.linePlace.Count.Equals(0).Equals(false))
// Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.Keys.ToArray())
// + "；对应紧急程度：" + string.Join(",", Common.linePlace.Values.ToArray()));
// if (rtn) break;
//}
for (int i = 0; i < Common.linePlace.Count; i++)
{
string name = Common.linePlace[i];
index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.IsUse);
if (index > -1)
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
if (rtn)
{
Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
Common.linePlace.RemoveAt(i);
System.IO.File.WriteAllLines(Common.CONFIG_PATH + "LinePlace.txt", Common.linePlace);
}
agv.TaskSend = rtn ? "Move" + name : "";
}
Common.LogInfo(string.Format("[{0}] 出空料架.", name));
if (Common.linePlace.Count.Equals(0).Equals(false))
Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.ToArray()));
if (rtn) break;
}
}
/// <summary>
/// agv正在运动
/// </summary>
/// <param name="idx"></param>
private void StateMove(int idx)
{
}
/// <summary>
/// agv运动完成
/// </summary>
/// <param name="idx"></param>
private void StateMoveFinish(int idx)
{
bool rtn;
Agv_Info agv = Common.agvInfo[idx];
int index = FindNode(agv.Place);
if (index == -1) return;
ClientNode node = Common.nodeInfo[index];
switch (agv.Place)
{
case "A5":
if (node.Action == ClientAction.MayEnter)
{
if (agv.TaskSend == "Leave") return;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
}
else
{
rtn = Common.server.ReadyEnter(agv.Place);
if (!rtn) return;
Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
}
break;
case "A6":
if (node.Action == ClientAction.MayEnter)
{
if (agv.TaskSend == "Leave") return;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.MayLeave)
{
if (agv.TaskSend == "Leave") return;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.NeedEnter)
{
rtn = Common.server.ReadyEnter(agv.Place);
if (!rtn) return;
Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.NeedLeave)
{
rtn = Common.server.ReadyLeave(agv.Place);
if (!rtn) return;
Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.NeedEnterLeave)
{
//rtn = Common.server.ReadyLeave(agv.Place);
//if (!rtn) return;
}
break;
case "E1":
case "E2":
case "E3":
case "E4":
case "E5":
case "E6":
case "E7":
case "E8":
case "E9":
case "E10":
case "E11":
case "E12":
if (node.Action == ClientAction.MayEnter)
{
if (agv.TaskSend == "Leave") return;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.MayLeave)
{
if (agv.TaskSend == "Leave") return;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.NeedEnter)
{
rtn = Common.server.ReadyEnter(agv.Place);
if (!rtn) return;
Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.NeedLeave)
{
rtn = Common.server.ReadyLeave(agv.Place);
if (!rtn) return;
Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
}
break;
}
}
/// <summary>
/// agv正在进入
/// </summary>
/// <param name="idx"></param>
private void StateEnter(int idx)
{
}
/// <summary>
/// agv进入完成
/// </summary>
/// <param name="idx"></param>
private void StateEnterFinish(int idx)
{
bool rtn;
Agv_Info agv = Common.agvInfo[idx];
int index = FindNode(agv.Place);
if (index == -1) return;
ClientNode node = Common.nodeInfo[index];
switch (agv.Place)
{
case "A6":
if (node.Action == ClientAction.FinishLeave)
{
string nextPlace = agv.NextPlace;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nextPlace]);
if (rtn)
{
agv.NextPlace = "";
}
node.AgvName = "";
agv.TaskSend = rtn ? "Move" + nextPlace : "";
if (rtn)
Common.LogInfo(string.Format("{0}完成出满料架，准备运往{1}","A6",nextPlace));
}
break;
}
}
/// <summary>
/// agv正在离开
/// </summary>
/// <param name="idx"></param>
private void StateLeave(int idx)
{
}
/// <summary>
/// agv离开完成
/// </summary>
/// <param name="idx"></param>
private void StateLeaveFinish(int idx)
{
bool rtn;
Agv_Info agv = Common.agvInfo[idx];
int index = FindNode(agv.Place);
if (index == -1) return;
ClientNode node = Common.nodeInfo[index];
switch (agv.Place)
{
case "A5":
if (node.Action == ClientAction.FinishEnter)
{
Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
}
break;
case "A6":
if (node.Action == ClientAction.FinishEnter)
{
Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
}
break;
}
}
private void StateError(int idx)
{
Agv_Info agv = Common.agvInfo[idx];
Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}",agv.Name,agv.TaskSend,agv.MissionText));
}
private int FindNode(string nodeName)
{
int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
return idx;
}
private bool FindA6Leave(out string nextNode)
{
nextNode = "";
int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals("A6") && (s.Action == ClientAction.NeedLeave || s.Action == ClientAction.NeedEnterLeave) && s.IsUse);
if (idx == -1) return false;
bool rtn = true;//FindA6Destination(Common.nodeInfo[idx].RFID, out string dest);
string dest = "E2";
if (!rtn) return false;
idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(dest)&& s.IsUse);
if (idx == -1)
{
return false;
}
else
{
nextNode = dest;
return true;
}
}
private bool FindA6Destination(string rfid, out string dest)
{
dest = "";
try
{
string url = Common.itsHttp + rfid;
var client = new RestClient(url) { Timeout = -1 };
var request = new RestRequest(Method.GET);
//request.AddHeader("Host", "10.85.17.233");
IRestResponse response = client.Execute(request);
string json = response.Content;
json = json.Replace("\r", "");
json = json.Replace("\n", "");
json = json.Replace(" ", "");
Common.LogInfo("ITS URL: " + url + " Return: " + json);
if (string.IsNullOrWhiteSpace(json)) return false;
JavaScriptSerializer serializer = new JavaScriptSerializer();
Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
if (dic == null) return false;
bool b1 = dic.TryGetValue("id", out object id);
bool b2 = dic.TryGetValue("location", out object location);
if (b1 && b2)
{
if (id.ToString() == rfid)
{
if (Common.agvProductionLine.TryGetValue(location.ToString(), out string loc))
{
dest = loc;
return true;
}
}
}
return false;
}
catch (Exception ex)
{
Common.log.Error("FindA6Destination", ex);
return false;
}
}
}
}