Control.cs
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using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Threading;
using Model;
namespace BLL
{
public class Control
{
private Timer timerCall;
//private PointF[] position;
//private DateTime[] timeout;
public delegate void AgvChangedEvent(int agvIndex);
public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline;
public Control()
{
ThreadPool.SetMaxThreads(5, 5); //线程池最大数量
}
public void Start()
{
//position = new PointF[Common.agvInfos.Count];
//for (int i = 0; i < position.Length; i++)
// position[i] = new PointF();
//timeout = new DateTime[Common.agvInfos.Count];
//for (int i = 0; i < timeout.Length; i++)
// timeout[i] = DateTime.Now;
timerCall = new Timer(CallProcess, null, 0, 2000);
}
public void Stop()
{
if (timerCall != null)
timerCall.Dispose();
}
private void CallProcess(object obj)
{
for (int i = 0; i < Common.agvInfos.Count; i++)
{
AgvInfo info = Common.agvInfos[i];
if (info.IsCall) continue;
try
{
string name = "12号车";
info.IsCall = true;
CheckAgvOnline(info);
if (!info.IsOnline && info.IsAuto) //脱机
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", "离线", 0);
continue;
}
if (!info.IsOnline && info.IsAuto) //脱机
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", "停用", 0);
continue;
}
GetAgvState(info);
if (!info.IsAuto) continue; //手动
if (info.StateID == (int)StateID.Pause)
Common.mir.State_Ready(info.IP, info.Authorization);
if (info.CurrentJob == null)
{
//软件刚打开时，防止有任务在运行
Common.mir.Del_Mission(info.IP, info.Authorization);
info.CurrentJob = new StandbyJob();
}
else
{
info.CurrentJob = info.CurrentJob.Execute(info);
}
}
catch (Exception ex)
{
Common.log.Error("CallProcess " + info.Name, ex);
}
finally
{
info.IsCall = false;
}
}
DisplayBoard.UpdateAlarmMsg();
}
private void GetAgvState(AgvInfo info)
{
if (!info.IsOnline) return;
bool rtn = Common.mir.Get_State(info.IP, info.Authorization, out int stateID, out string stateText, out int battery, out string missionText, out PointF position);
//Common.log.Debug(string.Format("{0}[{1}] AgvState[{2}] stateID={3}, stateText={4}, battery={5}, missionText={6}, position={7}", info.Name, info.IP, rtn, stateID, stateText, battery, missionText, position.ToString()));
if (rtn)
{
info.StateID = stateID;
info.StateText = stateText;
info.Battery = battery;
info.MissionExplain = missionText;
info.Position = position;
int idx = Common.agvInfos.FindIndex(s => s.IP == info.IP);
if (idx > -1) AgvChanged?.Invoke(idx);
}
}
private void CheckAgvOnline(AgvInfo info)
{
bool rtn = Common.mir.CheckIP(info.IP);
if (rtn)
{
if (!info.IsOnline)
{
info.IsOnline = true;
int idx = Common.agvInfos.FindIndex(s => s.IP == info.IP);
if (idx > -1) AgvOnline?.Invoke(idx);
Common.log.Info(string.Format("{0}[{1}] 上线", info.Name, info.IP));
}
}
else
{
if (info.IsOnline)
{
info.IsOnline = false;
int idx = Common.agvInfos.FindIndex(s => s.IP == info.IP);
if (idx > -1) AgvOnline?.Invoke(idx);
}
Common.log.Warn(string.Format("{0}[{1}] 脱机", info.Name, info.IP));
}
}
private enum StateID : int
{
None,
Starting,
ShuttingDown,
Ready,
Pause,
Executing,
Aborted,
Completed,
Docked,
Docking,
EmergencyStop,
ManualControl,
Error
}
}
}