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 DateTime[] timeout;
private PointF[] position;
private DateTime errorTime;
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
position = new PointF[Common.agvInfos.Count];
for (int i = 0; i < position.Length; i++)
position[i] = new PointF();
}
public void Start()
{
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
{
info.IsCall = true;
CheckAgvOnline(ref info);
if (!info.IsOnline) continue; //脱机
GetAgvState(ref 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;
}
}
UpdateBoard();
}
private void GetAgvState(ref 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 pos);
//Common.log.Debug(string.Format("{1} GetAgvState[return={0}] stateID={2}, stateText={3}, battery={4}, missionText={5}, position={6}", rtn, info.FullName, stateID, stateText, battery, missionText, position));
if (rtn)
{
info.StateID = stateID;
info.StateText = stateText;
info.Battery = battery;
info.MissionText = missionText;
info.Position = pos;
string ip = info.IP;
int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
if (idx > -1) AgvChanged?.Invoke(idx);
}
}
private void CheckAgvOnline(ref AgvInfo info)
{
bool rtn = Common.mir.CheckIP(info.IP);
if (rtn)
{
if (!info.IsOnline)
{
info.IsOnline = true;
string ip = info.IP;
int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
if (idx > -1) AgvOnline?.Invoke(idx);
//rtn = Common.mir.Get_IO_Modules(info.IP, info.Authorization, out string[] guid);
//if (rtn) info.IOGuid = guid[0];
}
}
else
{
if (info.IsOnline)
{
info.IsOnline = false;
string ip = info.IP;
int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
if (idx > -1) AgvOnline?.Invoke(idx);
}
Common.log.Debug(string.Format("{0}[{1}] 脱机", info.Name, info.IP));
}
}
private void UpdateBoard()
{
for (int i = 0; i < Common.agvInfos.Count; i++)
{
AgvInfo agv = Common.agvInfos[i];
if (agv.CurrentJob == null)
{
timeout[i] = DateTime.Now;
continue;
}
agv.LogJson.OutputLog();
string name = "";
if (int.TryParse(agv.Name.Substring(0, 2), out int result))
name = result + "号车";
//if (agv.Name.IndexOf("11") >= 0)
// name = "11号车";
//else if (agv.Name.IndexOf("13") >= 0)
// name = "13号车";
//else if (agv.Name.IndexOf("21") >= 0)
// name = "21号车";
if (!agv.IsOnline && agv.IsAuto) //自动+离线
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", "离线", 0);
//agv.LogJson.SetErrorInfo(agv.TaskName, "离线");
continue;
}
if (!agv.IsOnline && !agv.IsAuto) //手动+离线
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", "停用", 0);
//agv.LogJson.SetErrorInfo(agv.TaskName, "停用");
continue;
}
if (agv.IsOnline && !agv.IsAuto) //手动+在线
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", "正常", 1);
continue;
}
//自动在线，显示当前状态
if (Math.Abs(agv.Position.X - position[i].X) < 1 && Math.Abs(agv.Position.Y - position[i].Y) < 1)
{
TimeSpan span = DateTime.Now - timeout[i];
int tt = Convert.ToInt32(span.TotalMinutes - Common.BoardTimeout);
if (tt > 0)
{
if (agv.CurrentJob is ChargeJob)
{
DisplayBoard.Add(name, "lineAgv." + name + ".Place", "AutoCharge", 1);
}
else if (agv.CurrentJob is StandbyJob)
{
DisplayBoard.Add(name, "lineAgv." + name + ".Place", "Standby", 1);
}
else if (agv.CurrentJob is StorageJob && agv.CurrentJob.Msg.IndexOf("等待离开信号") > 0)
{
string value = string.Format("在仓储等待离开信号超时{0:F}分钟", tt);
DisplayBoard.Add(name, "lineAgv." + name + ".StandTimeOut", value, 0);
Common.log.Info(agv.Name + " 上传报告 " + value);
agv.LogJson.SetErrorStart(agv.TaskName, value);
}
else
{
string value = string.Format("在去{0}途中停留超时{1:F}分钟，{2}", agv.Place, tt, agv.MissionText);
DisplayBoard.Add(name, "lineAgv." + name + ".StandTimeOut", value, 0);
Common.log.Info(agv.Name + " 上传报告 " + value);
agv.LogJson.SetErrorStart(agv.TaskName, value);
}
}
else
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", agv.CurrentJob.Msg, 1);
}
}
else
{
DisplayBoard.Add(name, "lineAgv." + name + ".Msg", agv.CurrentJob.Msg, 1);
timeout[i] = DateTime.Now;
position[i] = new PointF(agv.Position.X, agv.Position.Y);
agv.LogJson.SetErrorOver();
}
}
DisplayBoard.UpdateAlarmMsg();
}
private enum StateID : int
{
None,
Starting,
ShuttingDown,
Ready,
Pause,
Executing,
Aborted,
Completed,
Docked,
Docking,
EmergencyStop,
ManualControl,
Error
}
}
}