Control.cs
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using System;
using System.Collections.Generic;
using System.Drawing.Text;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization;
using AGVControl;
using BLL;
using log4net.Util;
using RestSharp;
namespace AGVControl.BLL
{
public class Control
{
//private int areaC_Index;
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
//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 event AgvChangedEvent NodeChangedEvent;
public Control()
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 300,
AutoReset = true,
Enabled = false
};
AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
AgvStateTimer = new System.Timers.Timer
{
Interval = 3000,
AutoReset = true,
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
NodeStateTimer = new System.Timers.Timer
{
Interval = 5000,
AutoReset = true,
Enabled = false
};
NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
}
public void Start()
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
}
private bool NodeStateInProcess = false;
private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (NodeStateInProcess) return;
NodeStateInProcess = true;
List<AlarmMsg> msglist = new List<AlarmMsg>();
try
{
String tmp = "";
for (int j = 0; j < Common.nodeInfo.Count; j++)
{
if (!Common.nodeInfo[j].Online)
{
msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "离线"));
}
if (Common.nodeInfo[j].Name.StartsWith(SettingString.D4_Name_Prefix) || Common.nodeInfo[j].Name.StartsWith(SettingString.C4_Name_Prefix))
{
if (!Common.nodeInfo[j].Name.Equals(SettingString.C4FeederIn) && !Common.nodeInfo[j].Name.Equals(SettingString.C4FeederOut) &&
!Common.nodeInfo[j].Name.Equals(SettingString.D4FeederIn) && !Common.nodeInfo[j].Name.Equals(SettingString.D4FeederOut))
{
tmp = AGVManager.GetFirstRFID(Common.nodeInfo[j].Name);
if (!tmp.Equals(Common.nodeInfo[j].RFID))
{
Common.nodeInfo[j].RFID = tmp;
NodeChangedEvent?.Invoke(j);
}
}
if (Common.nodeInfo[j].Name.Equals(SettingString.C4FeederOut) || Common.nodeInfo[j].Name.Equals(SettingString.D4FeederOut))
{
if (Common.missionManager.GetUnlockCnt(Common.nodeInfo[j].Name) > 0)
{
tmp = Common.missionManager.GetUnlockRfids(Common.nodeInfo[j].Name)[0];
if (!tmp.Equals(Common.nodeInfo[j].RFID))
{
Common.nodeInfo[j].RFID = tmp;
NodeChangedEvent?.Invoke(j);
}
}
}
}
}
AGVManager.updateDeviceAlarmMsg(msglist);
}
catch(Exception ex)
{
Common.log.Error("NodeStateTimer " + ex.Message + ex.StackTrace);
}
NodeStateInProcess = false;
}
private bool AgvStateInProcess = false;
//private eAGVState preAGVState = eAGVState.None;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
bool rtn;
if (AgvStateInProcess) return;
AgvStateInProcess = true;
List<AlarmMsg> msglist = new List<AlarmMsg>();
for (int i = 0; i < Common.agvInfo.Count; i++)
{
//上报异常
bool isAlarm = false;
//if (msglist.Count > 0)
// msglist.Clear();
try
{
if (!CheckOnline(i)) continue;
bool change = false;
Common.mir.Get_Task_State(Common.agvInfo[i].CurTaskID, out string stateStr);
Thread.Sleep(50);
//获取AGV状态
rtn = Common.mir.Get_State(Common.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
Thread.Sleep(50);
if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
// if (change)
{
AgvChanged?.Invoke(i);
}
Thread.Sleep(50);
//rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
//Common.log.Debug("获取IO状态");
//preAGVState = Common.agvInfo[i].StateID;
if (Common.agvInfo[i].StandTimeOut)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".StandTimeOut", "在" + Common.agvInfo[i].PlaceAliceName + "停留超时" + (DateTime.Now - Common.agvInfo[i].StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
}
if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Error.EmergencyStop", "agv状态:" + stateText + ""));
}
if (!isAlarm)
{
try
{
if (!Common.agvInfo[i].Msg.Equals(""))
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", Common.agvInfo[i].Msg, 1));
else
{
if ((Common.agvInfo[i].Place.Contains(SettingString.AutoCharge) || Common.agvInfo[i].Place.Contains(SettingString.Standby)))
{
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Place", Common.agvInfo[i].Place, 1));
}
}
}
catch (Exception ex)
{
Common.log.Error(Common.agvInfo[i].Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
}
}
AGVManager.updateDeviceAlarmMsg(msglist);
}
catch (Exception ex)
{
Common.log.Error("AgvStateTimer_" + Common.agvInfo[i].Name + ex.Message + ex.StackTrace);
}
}
AgvStateInProcess = false;
}
/// <summary>
/// 从节点获取任务
/// </summary>
/// <param name="agv_Info"></param>
/// <returns></returns>
public Job GetJob(Agv_Info agv_Info)
{
foreach (Node node in Common.nodeInfo)
{
Job job = null;
if (node.Name.Equals("A5"))
{
if (!SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
continue;
job = ((DoubleLineNodeFor4C)node).GetNewJob(agv_Info);
}
else if (node.Name.Equals("A6"))
{
if (SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
continue;
job = ((DoubleLineNodeFor4D)node).GetNewJob(agv_Info);
}
else
{
job = node.GetNewJob(agv_Info);
}
if (job != null)
{
Common.log.Info(node.Name + " GetJob OK " + job.ToString());
return job;
}
}
return null;
}
private bool AgvCallInProcess = false;
private void AgvCallTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvCallInProcess) return;
AgvCallInProcess = true;
for (int i = 0; i < Common.agvInfo.Count; i++)
{
try
{
Agv_Info agv = Common.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接
if (!Common.agvInfo[i].IsUse) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if (!Common.agvInfo[i].StateID.Equals(eAGVState.Ready) && !Common.agvInfo[i].StateID.Equals(eAGVState.Pause)
&& !Common.agvInfo[i].StateID.Equals(eAGVState.Executing) && !Common.agvInfo[i].StateID.Equals(eAGVState.Error))
{
Common.LogInfo(string.Format("{0}不能调用 StateID={1}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID.ToString()));
continue;
}
if (agv.CurJob == null)
{
Job job = GetJob(agv);
if (job != null)
{
agv.CurJob = job;
}
else
{
//if (agv.Battery < Common.chargeStatus.chargeMax)
agv.CurJob = new ChargeJob(agv.Place);
}
}
if (agv.CurJob != null)
{
agv.CurJob = agv.CurJob.Execute(agv);
}
}
catch (Exception ex)
{
Common.log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
AgvCallInProcess = false;
}
private bool CheckOnline(int idx)
{
bool rtn = Common.mir.CheckIP(Common.agvInfo[idx].IP);
if (rtn)
{
if (Common.agvInfo[idx].IsCon)
{
Common.log.Debug(Common.agvInfo[idx].Name + " Online");
}
else
{
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);
}
else
{
Common.log.Debug(Common.agvInfo[idx].Name + " Offline");
}
}
return rtn;
}
}
}