AGV建构修改

AGVControl-ProductionLine/bean/Agv_Info.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    public class Agv_Info
+    {
+        /// <summary>
+        /// 小车名称
+        /// </summary>
+        public string Name { private set; get; }
+        /// <summary>
+        /// 小车在FLEET中的ID号
+        /// </summary>
+        public string ID { private set; get; }
+        /// <summary>
+        /// IP地址
+        /// </summary>
+        public string IP { private set; get; }
+        /// <summary>
+        /// IO模块GUID
+        /// </summary>
+        public string IOID { private set; get; }
+        /// <summary>
+        /// 授权码
+        /// </summary>
+        public string Authorization { private set; get; }
+
+        /// <summary>
+        /// 当前架子的RFID
+        /// </summary>
+        public string RFID { set; get; }
+        /// <summary>
+        /// 是否在线
+        /// </summary>
+        public bool IsCon { set; get; }
+        /// <summary>
+        /// 是否可用
+        /// </summary>
+        public bool IsUse { set; get; }
+        /// <summary>
+        /// 地点
+        /// </summary>
+        public string Place { set; get; }
+        /// <summary>
+        /// 地点
+        /// </summary>
+        public string PlaceAliceName { set; get; } = "";
+
+        /// <summary>
+        /// 地点的状态
+        /// </summary>
+        public PlaceState PlaceState { private set; get; }
+
+        /// <summary>
+        /// 小车的状态ID，（从小车获取）
+        /// </summary>
+        public int StateID { private set; get; }
+
+        /// <summary>
+        /// 负载
+        /// </summary>
+        public bool IsExistShelf { set; get; } = false;
+        /// <summary>
+        /// 小车的状态，（从小车获取）
+        /// </summary>
+        public string StateText { private set; get; }
+        /// <summary>
+        /// 电量百分比，（从小车获取）
+        /// </summary>
+        public int Battery { private set; get; }
+        /// <summary>
+        /// 当前任务文本，（从小车获取）
+        /// </summary>
+        public string MissionText { set; get; }
+        /// <summary>
+        /// 下一个地点
+        /// </summary>
+        public string NextPlace { set; get; }
+        /// <summary>
+        /// 下一个地点
+        /// </summary>
+        public string NextPlaceAliceName { set; get; } = "";
+
+        /// <summary>
+        /// 关门，用于执行一次
+        /// </summary>
+        //public bool CloseDoor { set; get; }
+        /// <summary>
+        /// 任务发送
+        /// </summary>
+        public string TaskSend { set; get; } = "";
+        /// <summary>
+        /// 闲置等待时间，用于充电
+        /// </summary>
+        public int WaitTime { set; get; }
+        /// <summary>
+        /// 临时待机位，用于执行一次
+        /// </summary>
+        //public bool StandbyTemp { set; get; }
+        public struct DockingStru
+        {
+            public DateTime startTime;
+            public bool IsDocking;
+        }
+        /// <summary>
+        /// 停靠信息
+        /// </summary>
+        public DockingStru DockingInfo;
+
+        public class clsPosition
+        {
+            public double orientation { get; set; }
+            public double x { get; set; }
+            public double y { get; set; }
+        }
+        /// <summary>
+        /// 当前位置
+        /// </summary>
+        public clsPosition Position;
+
+        /// <summary>
+        /// 任务内容
+        /// </summary>
+        public string Msg { get; set; }
+        public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid)
+        {
+            ID = id;
+            Name = name;
+            IP = ip;
+            Authorization = authorization;
+            IOID = ioID;
+            RFID = rfid;
+            IsCon = false;
+            IsUse = isUse;
+            Place = "";
+            TaskSend = "";
+            NextPlace = "";
+            Msg = "";
+            DockingInfo.IsDocking = false;
+            DockingInfo.startTime = DateTime.Now;
+            Position = new Agv_Info.clsPosition();
+        }
+
+        DateTime IoStartTime = DateTime.MaxValue;
+        int IoLastTime = 5000;
+        public bool SetState(int stateID, string stateText, int battery, string missionText, clsPosition position)
+        {
+            bool isChange = false;
+            bool preShelfState = IsExistShelf;
+            //if (input != null && input.Length == 4)
+            //{
+            //    bool reachIoValue = input[3].Equals(true);//input[2] &&
+            //    if (reachIoValue)
+            //    {
+            //        //满足给定的IO值，计算持续时间
+            //        if (IoStartTime == DateTime.MaxValue)
+            //        {
+            //            IoStartTime = DateTime.Now;
+            //        }
+
+
+            //        if (IoLastTime > 0)
+            //        {
+            //            //持续时间
+            //            TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
+            //            IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
+            //        }
+            //        else
+            //        {
+            //            IsExistShelf = true;
+            //        }
+            //    }
+            //    else
+            //    {
+            //        //重新计时
+            //        IoStartTime = DateTime.MinValue;
+            //        IsExistShelf =  input[3];
+            //    }
+            //}
+            if (!StateID.Equals(stateID) || !StateText.Equals(stateText)
+                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState)) //!Battery.Equals(battery)
+                isChange = true;
+            StateID = stateID;
+            StateText = stateText;
+            Battery = battery;
+            MissionText = missionText;
+            Position = position;
+            return isChange;
+        }
+
+        public void GetPlace(int value)
+        {
+            Common.log.Debug(Name + " PLC20=" + value);
+            if (value == 0)
+            {
+                Place = "";
+                PlaceState = PlaceState.None;
+            }
+            else if (value > 0 && value < 1000)
+            {
+                //Place = "";
+                //PlaceState = PlaceState.None;
+                //TaskSend = "";
+            }
+            else if (value >= 1000)
+            {
+                int a = value / 1000;
+                int b = (value - a * 1000) / 10;
+                int c = value - a * 1000 - b * 10;
+                if (c.Equals(1) || c.Equals(3) || c.Equals(5))//Move,Enter,Leave
+                    TaskSend = "";
+                Place = (char)(64 + a) + b.ToString();
+                if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
+                {
+                    ClientNode node = Common.nodeInfo.Find(s => s.Name == Place);
+                    if (node != null)
+                        PlaceAliceName = node.AliceName;
+                    else
+                        PlaceAliceName = Place;
+                }
+                PlaceState = (PlaceState)c;
+            }
+        }
+
+        public string[] ToRow()
+        {
+            //AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存
+            List<string> s = new List<string>();
+            s.Add(Name);
+            s.Add(IP);
+            if (IsCon)
+            {
+                s.Add(StateText);
+                s.Add(RFID);
+                s.Add(Msg);
+                s.Add(MissionText);
+                s.Add(PlaceAliceName);
+                //s.Add(Place);
+                s.Add(PlaceState.ToString());
+                if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
+                {
+                    ClientNode node = Common.nodeInfo.Find(q => q.Name == NextPlace);
+                    if (node != null)
+                        NextPlaceAliceName = node.AliceName;
+                    else
+                        NextPlaceAliceName = NextPlace;
+                }
+                s.Add(NextPlaceAliceName);
+            }
+            else
+            {
+                s.AddRange(new List<string> { "", "", "", "", "", "", "" });
+            }
+            s.Add(IsExistShelf ? "满载" : "空载");
+            s.Add(IsCon ? "在线" : "离线");
+            s.Add(Battery + "%");
+            s.Add(IsUse ? "是" : "否");
+            s.Add("清空");
+
+            return s.ToArray();
+        }
+
+    }
+}

AGVControl-ProductionLine/bean/Job.cs

+using AGVControl;
+using System;
+using System.Collections.Generic;
+
+namespace AGVControl
+{
+    public abstract class Job
+    {
+        /// <summary>
+        /// 是否任务正在执行，防止任务执行时间过长产生多线程问题
+        /// </summary>
+        public bool IsProcess { get; set; }
+
+        /// <summary>
+        /// 任务优先级
+        /// </summary>
+        /// <returns></returns>
+        public abstract int GetPriority();
+
+        /// <summary>
+        /// 任务是否已经结束
+        /// </summary>
+        /// <returns></returns>
+       public abstract bool IsEnd();
+
+        /// <summary>
+        /// 根据任务状态继续执行任务
+        /// </summary>
+       public abstract void Execute(Agv_Info agv);
+
+    }
+}
+

AGVControl-ProductionLine/bean/JobStep.cs

+using AGVControl;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    public class JobStep<T> where T : Enum
+    {
+        private T step;
+        private string msg = "";
+        public string Msg
+        {
+            get { return msg; }
+            set
+            {
+                if (!string.IsNullOrEmpty(value))
+                {
+                    //不为空，且与上一个消息不一样才打印
+                    if (!value.Equals(msg))
+                    {
+                        Common.LogInfo(value);
+                    }
+                }
+                msg = value;
+            }
+
+        }
+        private DateTime startTime = DateTime.Now;
+
+        public JobStep(T initStep)
+        {
+            this.step = initStep;
+            this.msg = "";
+        }
+
+
+        /// <summary>
+        /// 当前步骤是否是某个步骤
+        /// </summary>
+        /// <param name="step"></param>
+        /// <returns></returns>
+        public bool IsStep(T step)
+        {
+            return this.step.Equals(step);
+        }
+
+        /// <summary>
+        /// 是否超时
+        /// </summary>
+        /// <param name="timeOutMilliseconds"></param>
+        /// <returns></returns>
+        public bool IsTimeOut(int timeOutMilliseconds)
+        {
+            TimeSpan span = DateTime.Now - startTime;
+            if (span.TotalMilliseconds > timeOutMilliseconds)
+            {
+                return true;
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// 进入下一个步骤
+        /// </summary>
+        /// <param name="nextStep"></param>
+        public void ToNextStep(T nextStep)
+        {
+            step = nextStep;
+            startTime = DateTime.Now;
+        }
+
+        public string StatusStr()
+        {
+            return step.ToString();
+        }
+
+        
+        
+    }
+}

AGVControl-ProductionLine/bean/Node.cs

+using System;
+using System.Collections.Generic;
+
+namespace AGVControl
+{
+    public abstract class Node
+    {
+        public Node(string name)
+        {
+            Name = name;
+        }
+
+        protected NodeStatus nodeStatus = new NodeStatus();
+
+        public string Name { get; set; }
+
+        public void UpdateNodeStatus(NodeStatus status)
+        {
+           nodeStatus = status;
+        }
+
+        public virtual Job GetNewJob(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+        {
+            return null;
+        }
+
+    }
+}
+

AGVControl-ProductionLine/bean/job/SendFullShelfJob.cs

+
+using AGVControl;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// 回收空料架任务
+    /// </summary>
+    public class SendFullShelfJob : Job
+    {
+        public SendFullShelfJob(string palce, int priority)
+        {
+            EmptyShelfPlace = palce;
+            _priority = priority;
+        }
+
+        /// <summary>
+        /// 空料架位置点
+        /// </summary>
+        private string EmptyShelfPlace{ get; set; }
+
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        private int _priority;
+
+        private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
+        
+        public override void Execute(Agv_Info agv)
+        {
+
+            if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
+            {
+                Common.LogInfo("开始执行回收空料架任务，发送到AGV");
+                TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK);
+                ClientNode node = Common.nodeInfo.Find(s => s.Name == EmptyShelfPlace);
+
+               
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK))
+            {
+                //判断小车是否开始执行任务
+                bool isTaskStart = false;
+                if (isTaskStart)
+                {
+                    Common.LogInfo("AGV已接收并开始执行回收空料架任务，等待到达取架点");
+                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE);
+                }
+            }else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE))
+            {
+
+            }
+        }
+
+        public override int GetPriority()
+        {
+            return _priority;
+        }
+
+        public override bool IsEnd()
+        {
+            return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END);
+        }
+    }
+    /// <summary>
+    /// AGV离开A4
+    /// </summary>
+    public enum TAKE_EMPTY_STEP
+    {
+        NONE,
+        /// <summary>
+        /// 等待AGV开始执行去取架点任务
+        /// </summary>
+        WAIT_AGV_START_TAKE_TASK,
+        /// <summary>
+        /// 等待AGV到达取架点
+        /// </summary>
+        WAIT_REACH_TAKE_PLACE,
+        /// <summary>
+        /// AGV到达取架点
+        /// </summary>
+        REACH_TAKE_PLACE,
+        
+        /// <summary>
+        /// 送上双层线
+        /// </summary>
+        END
+    }
+}

AGVControl-ProductionLine/bean/job/TakeEmptyShelfJob.cs

+
+using AGVControl;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// 回收空料架任务
+    /// </summary>
+    public class TakeEmptyShelfJob : Job
+    {
+        public TakeEmptyShelfJob(string palce, int priority)
+        {
+            EmptyShelfPlace = palce;
+            _priority = priority;
+        }
+
+        /// <summary>
+        /// 空料架位置点
+        /// </summary>
+        private string EmptyShelfPlace{ get; set; }
+
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        private int _priority;
+
+        private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
+        
+        public override void Execute(Agv_Info agv)
+        {
+
+            if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
+            {
+                Common.LogInfo("开始执行回收空料架任务，发送到AGV");
+                TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK);
+                ClientNode node = Common.nodeInfo.Find(s => s.Name == EmptyShelfPlace);
+
+               
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK))
+            {
+                //判断小车是否开始执行任务
+                bool isTaskStart = false;
+                if (isTaskStart)
+                {
+                    Common.LogInfo("AGV已接收并开始执行回收空料架任务，等待到达取架点");
+                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE);
+                }
+            }else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE))
+            {
+
+            }
+        }
+
+        public override int GetPriority()
+        {
+            return _priority;
+        }
+
+        public override bool IsEnd()
+        {
+            return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END);
+        }
+
+        /// <summary>
+        /// AGV离开A4
+        /// </summary>
+        private enum TAKE_EMPTY_STEP
+        {
+            NONE,
+            /// <summary>
+            /// 等待AGV开始执行去取架点任务
+            /// </summary>
+            WAIT_AGV_START_TAKE_TASK,
+            /// <summary>
+            /// 等待AGV到达取架点
+            /// </summary>
+            WAIT_REACH_TAKE_PLACE,
+            /// <summary>
+            /// AGV到达取架点
+            /// </summary>
+            REACH_TAKE_PLACE,
+
+            /// <summary>
+            /// 送上双层线
+            /// </summary>
+            END
+        }
+    }
+    
+}

AGVControl-ProductionLine/bean/node/ClientNode.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// 客户端的节点
+    /// </summary>
+    public class ClientNode
+    {
+        private string rfid = "00";
+
+        /// <summary>
+        /// 节点名称
+        /// </summary>
+        public string Name { set; get; }
+        /// <summary>
+        /// IP地址
+        /// </summary>
+        public string IP { set; get; }
+        /// <summary>
+        /// RFID
+        /// </summary>
+        public string RFID
+        {
+            set
+            {
+                if (value.Length < 2)
+                    rfid = value.PadLeft(2, '0');
+                else
+                    rfid = value;
+            }
+            get
+            {
+                return rfid;
+            }
+        }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public ClientAction Action { set; get; }
+        /// <summary>
+        /// 小车名称
+        /// </summary>
+        public string AgvName { set; get; }
+        /// <summary>
+        /// 在线
+        /// </summary>
+        public bool Online { set; get; }
+        /// <summary>
+        /// 是否可用
+        /// </summary>
+        public bool IsUse { set; get; }
+
+        /// <summary>
+        /// 节点位置的guid
+        /// </summary>
+        public string Pos_guid { set; get; }
+        /// <summary>
+        /// 节点位置名称
+        /// </summary>
+        public string Pos_name { get; set; }
+        /// <summary>
+        /// 节点位置坐标
+        /// </summary>
+        public PositionStru position;
+
+        public string AliceName { get; set; }
+        /// <summary>
+        /// 客户端节点
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="ip"></param>
+        /// <param name="isUse"></param>
+        public ClientNode(string name, string ip, string aliceName, string pos_name, string pos_guid, bool isUse)
+        {
+            Name = name;
+            IP = ip;
+            AliceName = aliceName;
+            RFID = rfid;
+            Action = ClientAction.None;
+            AgvName = "";
+            Online = false;
+            IsUse = isUse;
+            this.Pos_name = pos_name;
+            this.Pos_guid = pos_guid;
+        }
+
+        /// <summary>
+        /// 客户端节点
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="rfid"></param>
+        /// <param name="action"></param>
+        /// <param name="level"></param>
+        public ClientNode(string name, string rfid = "", ClientAction action = ClientAction.None)
+        {
+            Name = name;
+            RFID = rfid;
+            Action = action;
+            AgvName = "";
+            Online = false;
+            IsUse = false;
+        }
+
+        /// <summary>
+        /// 所有属性的文本形式
+        /// </summary>
+        /// <returns></returns>
+        public string ToText()
+        {
+            string s = string.Format("Name={0}, Action={1}, RFID={2}", Name, Action, RFID);
+            return s;
+        }
+
+        public string[] ToRow()
+        {
+            //节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
+            string[] s = new string[9];
+            s[0] = AliceName;
+            s[1] = IP;
+            // if (Online)
+            //  {
+            s[2] = string.Format("({0},{1})", position.X.ToString("f2"), position.Y.ToString("f2"));
+            s[3] = Action.ToString();
+            s[4] = RFID;
+            s[5] = AgvName;
+            // }
+            s[6] = Online ? "在线" : "离线";
+            s[7] = IsUse ? "是" : "否";
+            s[8] = "清除";
+            return s;
+        }
+
+        /// <summary>
+        /// 脱机
+        /// </summary>
+        public void Offline()
+        {
+            RFID = "00";
+            Action = ClientAction.None;
+            AgvName = "";
+            Online = false;
+        }
+
+        public virtual Job GetNewJob(Agv_Info agv)
+        {
+            return null;
+        }
+    }
+}

AGVControl-ProductionLine/bean/node/InDoubleLineNode.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// 
+    /// </summary>
+    public class InDoubleLineNode : ClientNode
+    {
+        public InDoubleLineNode(string name, string ip, string aliceName, string pos_name, string pos_guid, bool isUse): base(name,ip, aliceName,pos_name,pos_guid, isUse)
+        {
+        }
+
+        public override Job GetNewJob(Agv_Info agv)
+        {
+            //
+            return null;
+        }
+    }
+}

AGVControl-ProductionLine/bean/node/OutDoubleLineNode.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// 双层线有料料架出口
+    /// </summary>
+    public class OutDoubleLineNode : ClientNode
+    {
+        public OutDoubleLineNode(string name, string ip, string aliceName, string pos_name, string pos_guid, bool isUse): base(name,ip, aliceName,pos_name,pos_guid, isUse)
+        {
+        }
+
+        public override Job GetNewJob(Agv_Info agv)
+        {
+            //如果有要出的料架，判断目的地线体是否空料架，如果有，暂时不出，返回
+            return null;
+        }
+    }
+}