debug

BLL/BLL.csproj

@@ -54,6 +54,7 @@
     <Compile Include="Job\SendFullJob.cs" />
     <Compile Include="Server.cs" />
     <Compile Include="Job\StandbyJob.cs" />
+    <Compile Include="WorkManage.cs" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\Model\Model.csproj">

BLL/Control.cs

@@ -56,7 +56,7 @@ namespace BLL
                 }
                 catch (Exception ex)
                 {
-                    LogOut.Error("CallProcess " + info.Name, ex);
+                    Common.log.Error("CallProcess " + info.Name, ex);
                 }
                 finally
                 {
@@ -111,7 +111,7 @@ namespace BLL
                     int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
                     if (idx > -1) AgvOnline?.Invoke(idx);
                 }
-                LogOut.Debug(string.Format("{0}[{1}] 脱机", info.Name, info.IP));
+                Common.log.Debug(string.Format("{0}[{1}] 脱机", info.Name, info.IP));
             }
         }
 

BLL/Job/ChargeJob.cs

@@ -5,16 +5,19 @@ namespace BLL
 {
     public class ChargeJob : IJob
     {
+        private string _name;
         private AgvInfo _info;
         private MissionJob move;
         private string mission;
         private JobStep<ChargeStep> chargeStep;
         private int currBattery;
 
-        public ChargeJob()
+        public ChargeJob(string name)
         {
+            IsEnd = false;
+            _name = name;
             chargeStep = new JobStep<ChargeStep>(ChargeStep.None);
-            LogOut.Debug("加载ChargeJob");
+            Common.log.Debug("加载ChargeJob");
         }
 
         public bool IsEnd { get; private set; }
@@ -45,7 +48,7 @@ namespace BLL
             {
                 if (_info.Battery == _info.BatteryMax)
                 {
-                    chargeStep.Msg = _info.Name + "电量达到" + _info.BatteryMax;
+                    chargeStep.Msg = _info.Name + " 电量达到" + _info.BatteryMax;
                     chargeStep.NextStep(ChargeStep.End);
                 }
                 else if (_info.Battery > _info.BatteryMin)
@@ -60,8 +63,9 @@ namespace BLL
             }
             else if (chargeStep.Equals(ChargeStep.End))
             {
+                IsEnd = true;
                 MiR_API.Del_Mission(_info.IP, _info.Authorization);
-                chargeStep.Msg = _info.Name + "充电工作结束，回待机位";
+                chargeStep.Msg = _info.Name + " 充电工作结束，回待机位";
                 return new StandbyJob();
             }
 
@@ -73,12 +77,12 @@ namespace BLL
         /// </summary>
         private void SendCharge()
         {
-            mission = Common.MISSION_CHARGE + _info.Name;
-            _info.Place = mission;
+            mission = Common.MISSION_CHARGE + _name;
+            _info.Place = _name;
             move = new MissionJob(mission);
             move.Execute(_info);
             chargeStep.NextStep(ChargeStep.MoveStation);
-            chargeStep.Msg = _info.Name + "发送任务" + mission;
+            chargeStep.Msg = string.Format("{0} 去{1}，[{2}]", _info.Name, _info.Place, mission);
         }
 
         /// <summary>
@@ -87,11 +91,11 @@ namespace BLL
         private void PassDoor4D()
         {
             mission = Common.MISSION_PASS_DOOR_4D;
-            _info.Place = mission;
+            _info.Place = "Goto4D";
             move = new MissionJob(mission);
             move.Execute(_info);
             chargeStep.NextStep(ChargeStep.PassDoor);
-            chargeStep.Msg = _info.Name + "发送任务" + mission;
+            chargeStep.Msg = string.Format("{0} 去4D车间，[{1}]", _info.Name, mission);
         }
 
         /// <summary>
@@ -101,7 +105,7 @@ namespace BLL
         {
             if (_info.Battery > currBattery)
             {
-                chargeStep.Msg = _info.Name + "到达充电位，准备充电";
+                chargeStep.Msg = _info.Name + " 到达充电位，准备充电";
                 chargeStep.NextStep(ChargeStep.Charging);
             }
         }

BLL/Job/MissionJob.cs

@@ -59,7 +59,7 @@ namespace BLL
             {
                 _times = 0;
                 log = string.Format("MissionJob To:{0},[{1}]发送成功", _info.Name, _mission);
-                LogOut.Debug(log);
+                Common.log.Debug(log);
                 _getTime = DateTime.Now;
                 missionStep.NextStep(MissionStep.Working);
             }
@@ -67,7 +67,7 @@ namespace BLL
             {
                 _times++;
                 log = string.Format("MissionJob To:{0},[{1}]发送失败{2}次", _info.Name, _mission, _times);
-                LogOut.Warn(log);
+                Common.log.Warn(log);
             }
         }
 
@@ -88,7 +88,7 @@ namespace BLL
                 if (rtn)
                 {
                     log = string.Format("MissionJob To:{0},[{1}]任务状态{2}", _info.Name, _mission, state);
-                    LogOut.Debug(log);
+                    Common.log.Debug(log);
                     if (state == MissionState.Done.ToString())
                         missionStep.NextStep(MissionStep.End);
                     else if (state == MissionState.Aborted.ToString())
@@ -101,14 +101,14 @@ namespace BLL
                 else
                 {
                     log = string.Format("MissionJob To:{0},[{1}]获取状态失败", _info.Name, _mission);
-                    LogOut.Warn(log);
+                    Common.log.Warn(log);
                 }
             }
         }
 
         private void Error()
         {
-            LogOut.Debug(string.Format("MissionJob To:{0},[{1}]重新发送", _info.Name, _mission));
+            Common.log.Debug(string.Format("MissionJob To:{0},[{1}]重新发送", _info.Name, _mission));
             MiR_API.Clear_Error(_info.IP, _info.Authorization);
             MiR_API.Del_Mission(_info.IP, _info.Authorization);
             missionStep.NextStep(MissionStep.Send);

BLL/Job/StandbyJob.cs

@@ -13,8 +13,9 @@ namespace BLL
 
         public StandbyJob()
         {
+            IsEnd = false;
             standbyStep = new JobStep<StandbyStep>(StandbyStep.None);
-            LogOut.Debug("加载StandbyJob");
+            Common.log.Debug("加载StandbyJob");
         }
 
         public bool IsEnd { get; private set; }
@@ -41,7 +42,7 @@ namespace BLL
                 if (move.IsEnd)
                 {
                     standbyStep.NextStep(StandbyStep.End);
-                    standbyStep.Msg = _info.Name + "到达待机位";
+                    standbyStep.Msg = _info.Name + " 到达待机位";
                     _getTime = DateTime.Now;
                 }
             }
@@ -49,7 +50,7 @@ namespace BLL
             {
                 if (_info.Battery <= _info.BatteryMin)
                 {
-                    standbyStep.Msg = _info.Name + "电量小于" + _info.BatteryMin + "，执行充电任务";
+                    standbyStep.Msg = _info.Name + " 电量小于" + _info.BatteryMin + "，执行充电任务";
                     return new ChargeJob();
                 }
                 else
@@ -57,7 +58,7 @@ namespace BLL
                     TimeSpan span = DateTime.Now - _getTime;
                     if (span.TotalMinutes >= 2)
                     {
-                        standbyStep.Msg = _info.Name + "在待机位停留超过2分钟，执行充电任务";
+                        standbyStep.Msg = _info.Name + " 在待机位停留超过2分钟，执行充电任务";
                         return new ChargeJob();
                     }
                     else
@@ -77,11 +78,11 @@ namespace BLL
         private void SendStandby()
         {
             mission = Common.MISSION_STANDBY + _info.Name;
-            _info.Place = mission;
+            _info.Place = "待机位";
             move = new MissionJob(mission);
             move.Execute(_info);
             standbyStep.NextStep(StandbyStep.MoveStandby);
-            standbyStep.Msg = _info.Name + "发送任务" + mission;
+            standbyStep.Msg = string.Format("{0} 去待机位，[{1}]", _info.Name, mission);
         }
 
         /// <summary>
@@ -90,11 +91,11 @@ namespace BLL
         private void PassDoor4D()
         {
             mission = Common.MISSION_PASS_DOOR_4D;
-            _info.Place = mission;
+            _info.Place = "Goto4D";
             move = new MissionJob(mission);
             move.Execute(_info);
             standbyStep.NextStep(StandbyStep.PassDoor);
-            standbyStep.Msg = _info.Name + "发送任务" + mission;
+            standbyStep.Msg = string.Format("{0} 去4D车间，[{1}]", _info.Name, mission);
         }
 
 

BLL/Server.cs

@@ -42,11 +42,11 @@ namespace BLL
 
                 _client = new List<Client>();
                 timerListenClient = new Timer(ListenClient, null, 50, Timeout.Infinite);
-                LogOut.Info("AGV服务启动");
+                Common.log.Info("AGV服务启动");
             }
             catch (Exception ex)
             {
-                LogOut.Error("Start", ex);
+                Common.log.Error("Start", ex);
             }
         }
 
@@ -59,7 +59,7 @@ namespace BLL
                 _client[i].Clear();
             if (timerListenClient != null)
                 timerListenClient.Dispose();
-            LogOut.Info("AGV服务关闭");
+            Common.log.Info("AGV服务关闭");
         }
 
         /// <summary>
@@ -224,7 +224,7 @@ namespace BLL
                 Client client = new Client { IP = ip, IsConn = true, Socket = socket };
                 _client.Add(client);
                 client.ListenNet = new Timer(ListenNet, _client.Count - 1, 100, 100);
-                LogOut.Info(string.Format("[{0}] 已连接", client.IP));
+                Common.log.Info(string.Format("[{0}] 已连接", client.IP));
             }
             catch (SocketException)
             {
@@ -232,7 +232,7 @@ namespace BLL
             }
             catch (Exception ex)
             {
-                LogOut.Error("ListenClient", ex);
+                Common.log.Error("ListenClient", ex);
             }
         }
 
@@ -257,9 +257,9 @@ namespace BLL
 
                     ClientNode node = Decode(buff);
                     if (node == null)
-                        LogOut.Info("命令解析失败: " + HexBuff(buff));
+                        Common.log.Info("命令解析失败: " + HexBuff(buff));
                     else
-                        LogOut.Info("From Server: " + node.ToText());
+                        Common.log.Info("From Server: " + node.ToText());
                     UpdateNode(client, node);
                 }
                 else
@@ -268,13 +268,13 @@ namespace BLL
                     if (time > 10000)
                     {
                         Offline(client);
-                        LogOut.Info("[" + client.IP + "] 超过10s没有收到数据，关闭连接");
+                        Common.log.Info("[" + client.IP + "] 超过10s没有收到数据，关闭连接");
                     }
                 }
             }
             catch (Exception ex)
             {
-                LogOut.Error("ListenNet", ex);
+                Common.log.Error("ListenNet", ex);
             }
 
 

BLL/WorkManage.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Model;
+
+namespace BLL
+{
+    public static class WorkManage
+    {
+        public static string GetChargingName(AgvInfo info)
+        {
+            string name = null;
+            if (Common.chargingPile == null) return name;
+
+            //空闲充电桩
+            for (int i = 0; i < Common.chargingPile.Count; i++)
+            {
+                if (Common.chargingPile[i].Employ == "")
+                {
+                    int idx = Array.FindIndex(Common.chargingPile[i].User, s => s == info.Name);
+                    if (idx > -1)
+                    {
+                        name = Common.chargingPile[i].Name;
+                        return name;
+                    }
+                }
+            }
+
+            if (info.Battery <= info.BatteryMin)
+            {
+            }
+
+
+
+
+    
+
+
+
+            return name;
+   
+        }
+
+
+
+
+
+
+    }
+}

ClientTest/FrmMain.cs

@@ -23,15 +23,9 @@ namespace ClientTest
         private void FrmMain_Load(object sender, EventArgs e)
         {
             client = new AgvClient("127.0.0.1");
-            client.Log += Client_Log;
             client.Connect();
         }
 
-        private void Client_Log(string s)
-        {
-            TxtLog.AppendText(s + "\r\n");
-        }
-
         private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
         {
             client.Close();

Clinet/ClientAction.cs

+using System;
+
+namespace Clinet
+{
+    /// <summary>
+    /// 客户端的动作
+    /// </summary>
+    public enum ClientAction : byte
+    {
+        /// <summary>
+        /// 没有动作
+        /// </summary>
+        None = 0,
+        /// <summary>
+        /// 包装料仓关门
+        /// </summary>
+        CloseDoor = 1,
+        /// <summary>
+        /// 可以进入料架，Arrive事件使用，让小车开始对接
+        /// </summary>
+        MayEnter = 2,
+        /// <summary>
+        /// 可以出去料架，Arrive事件使用，让小车开始对接
+        /// </summary>
+        MayLeave = 3,
+        /// <summary>
+        /// 需要进入料架
+        /// </summary>
+        NeedEnter = 4,
+        /// <summary>
+        /// 需要出去料架
+        /// </summary>
+        NeedLeave = 5,
+        /// <summary>
+        /// 完成进入料架
+        /// </summary>
+        FinishEnter = 6,
+        /// <summary>
+        /// 完成出去料架
+        /// </summary>
+        FinishLeave = 7,
+        /// <summary>
+        /// 小车到达，到达包装料仓门口，等待开门
+        /// </summary>
+        Arrive = 8,
+        /// <summary>
+        /// 小车已准备，已对接上流水线
+        /// </summary>
+        Ready = 9,
+        /// <summary>
+        /// 包装料仓只能入料不能出料
+        /// </summary>
+        EnterShelf = 10,
+        /// <summary>
+        /// 不允许
+        /// </summary>
+        MayNot = 11,
+        /// <summary>
+        /// 已收到应答
+        /// </summary>
+        Received
+    }
+
+}
\ No newline at end of file

Clinet/ClientLevel.cs

+using System;
+
+namespace Clinet
+{
+    /// <summary>
+    /// 客户端的优先级
+    /// </summary>
+    public enum ClientLevel : byte
+    {
+        /// <summary>
+        /// 低
+        /// </summary>
+        Low = 0,
+        /// <summary>
+        /// 中等
+        /// </summary>
+        Middle = 1,
+        /// <summary>
+        /// 高
+        /// </summary>
+        High = 2
+    }
+
+}
\ No newline at end of file

Clinet/ClientNode.cs

+using System;
+
+namespace Clinet
+{
+    public class ClientNode
+    {
+        /// <summary>
+        /// 节点名称
+        /// </summary>
+        public string Name { set; get; }
+        /// <summary>
+        /// 标记，用于包装料仓
+        /// </summary>
+        public string Mark { set; get; }
+        /// <summary>
+        /// 当前架子的RFID
+        /// </summary>
+        public string RFID { set; get; }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public ClientAction Action { set; get; }
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        public ClientLevel Level { set; get; }
+
+        public ClientNode()
+        {
+        }
+
+        public ClientNode(string name, string mark, string rfid, ClientAction action, ClientLevel level)
+        {
+            Name = name;
+            Mark = mark;
+            RFID = rfid;
+            Action = action;
+            Level = level;
+        }
+
+        /// <summary>
+        /// 所有属性的文本形式
+        /// </summary>
+        /// <returns></returns>
+        public string ToText()
+        {
+            System.Reflection.PropertyInfo[] info = typeof(ClientNode).GetProperties();
+            string[] arr = new string[info.Length];
+            for (int i = 0; i < info.Length; i++)
+                arr[i] = string.Format("\"{0}\":\"{1}\"", info[i].Name, info[i].GetValue(this));
+            return string.Join(",", arr);
+        
+
+
+
+
+
+            //string s = string.Format("Name={0}, Action={1}, Level={2}, Mark={3}, RFID={4}", Name, Action, Level, Mark, RFID);
+            //return s;
+        }
+
+        public ClientNode ToCopy()
+        {
+            ClientNode node = new ClientNode(Name, Mark, RFID, Action, Level);
+            return node;
+        }
+    }
+}
\ No newline at end of file

Clinet/Clinet.csproj

@@ -31,8 +31,13 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="log4net, Version=2.0.12.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+      <HintPath>..\packages\log4net.2.0.12\lib\net45\log4net.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
+    <Reference Include="System.Configuration" />
     <Reference Include="System.Core" />
+    <Reference Include="System.Web" />
     <Reference Include="System.Web.Extensions" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
@@ -43,7 +48,13 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="AgvClient.cs" />
+    <Compile Include="ClientAction.cs" />
+    <Compile Include="ClientLevel.cs" />
+    <Compile Include="ClientNode.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
   </ItemGroup>
+  <ItemGroup>
+    <None Include="packages.config" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

Clinet/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="log4net" version="2.0.12" targetFramework="net46" />
+</packages>
\ No newline at end of file

Model/ChargingPile.cs

+using System;
+
+namespace Model
+{
+    public class ChargingPile
+    {
+        /// <summary>
+        /// 充电桩名称
+        /// </summary>
+        public string Name { private set; get; }
+        /// <summary>
+        /// 当前使用者
+        /// </summary>
+        public string Employ { set; get; }
+        /// <summary>
+        /// 可以使用的小车
+        /// </summary>
+        public string[] User { set; get; }
+        public int Battery { set; get; }
+
+
+        public ChargingPile(string name)
+        {
+            Name = name;
+            Employ = "";
+            User = null;
+            Battery = 0;
+        }
+
+    }
+}

Model/Common.cs

@@ -5,9 +5,11 @@ namespace Model
 {
     public static class Common
     {
+        public static LogOut log;
         public static List<AgvInfo> agvInfos;
         public static bool fleetSend;
         public static List<ClientNode> nodeInfos;
+        public static List<ChargingPile> chargingPile;
 
         public const string MISSION_CHARGE = "AutoCharge";
         public const string MISSION_STANDBY = "MoveStandby";
@@ -15,5 +17,9 @@ namespace Model
 
         public const string MISSION_PASS_DOOR_4D = "PassDoorInto4D";
         public const string MISSION_PASS_DOOR_4C = "PassDoorInto4C";
+
+        public static readonly string PATH_AGV_NAME = Environment.CurrentDirectory + "\\Config\\AgvName.csv";
+        public static readonly string PATH_AGV_MISSION = Environment.CurrentDirectory + "\\Config\\AgvMission.csv";
+        public static readonly string PATH_CHARGING_PILE = Environment.CurrentDirectory + "\\Config\\ChargingPile.txt";
     }
 }

Model/JobStep.cs

@@ -48,8 +48,8 @@ namespace Model
                 {
                     _msg = value;
                     string s = string.Format("{0} (step={1})", _msg, _step.ToString());
-                    //LogOut.Info(s);
-                    LogOut.UIShow(s);
+                    //Common.log.Info(s);
+                    Common.log.UIShow(s);
 
                 }
             }

Model/LogOut.cs

@@ -2,18 +2,17 @@
 
 namespace Model
 {
-    public static class LogOut
+    public class LogOut
     {
-        private static log4net.ILog LOG;
-        public static System.Windows.Forms.TextBox LogBox { set; get; }
+        private readonly log4net.ILog log;
+        public System.Windows.Forms.TextBox LogBox { set; get; }
 
-        public static void Init(string name)
+        public LogOut(string name)
         {
-            LOG = log4net.LogManager.GetLogger(name);
-
+            log = log4net.LogManager.GetLogger(name);
         }
 
-        public static void UIShow(string s)
+        public void UIShow(string s)
         {
             if (LogBox == null) return;
             string time = string.Format("[{0:HH:mm:ss}] ", DateTime.Now);
@@ -21,29 +20,29 @@ namespace Model
             LogBox.ScrollToCaret();
         }
 
-        public static void Error(string s, Exception ex)
+        public void Error(string s, Exception ex)
         {
-            LOG.Error(s, ex);
+            log.Error(s, ex);
         }
 
-        public static void Debug(string s)
+        public void Debug(string s)
         {
-            LOG.Debug(s);
+            log.Debug(s);
         }
 
-        public static void Info(string s)
+        public void Info(string s)
         {
-            LOG.Info(s);
+            log.Info(s);
         }
 
-        public static void Fatal(string s, Exception ex)
+        public void Fatal(string s, Exception ex)
         {
-            LOG.Fatal(s, ex);
+            log.Fatal(s, ex);
         }
 
-        public static void Warn(string s)
+        public void Warn(string s)
         {
-            LOG.Warn(s);
+            log.Warn(s);
         }
         
 

Model/Model.csproj

@@ -56,6 +56,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="AgvInfo.cs" />
+    <Compile Include="ChargingPile.cs" />
     <Compile Include="Client.cs" />
     <Compile Include="IJob.cs" />
     <Compile Include="JobStep.cs" />

UI/FrmMain.cs

@@ -20,7 +20,7 @@ namespace AGVControl
 
         private void FrmMain_Load(object sender, EventArgs e)
         {
-            LogOut.LogBox = TxtLog;
+            Common.log.LogBox = TxtLog;
 
         }
     }

UI/Program.cs

 using System;
 using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
 using System.Windows.Forms;
+using Model;
 
 namespace AGVControl
 {
@@ -20,22 +19,44 @@ namespace AGVControl
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
 
-            Model.LogOut.Init("AGVControl_SMD");
-            Model.LogOut.Info("=====程序开始=====");
+            Common.log = new LogOut("AGVControl_SMD");
+            Common.log.Info("=====程序开始=====");
+            ReadChargingPile();
             Application.Run(new FrmMain());
-            Model.LogOut.Info("=====程序结束=====\r\n");
+            Common.log.Info("=====程序结束=====\r\n");
         }
 
         private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
         {
-            Model.LogOut.Error("CurrentDomain_UnhandledException", (Exception)e.ExceptionObject);
+            Common.log.Error("CurrentDomain_UnhandledException", (Exception)e.ExceptionObject);
         }
 
         private static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
         {
-            Model.LogOut.Error("Application_ThreadException", e.Exception);
+            Common.log.Error("Application_ThreadException", e.Exception);
         }
 
+        /// <summary>
+        /// 读取充电桩配置
+        /// </summary>
+        private static void ReadChargingPile()
+        {
+            Common.chargingPile = new List<ChargingPile>();
+            string[] lines = System.IO.File.ReadAllLines(Common.PATH_CHARGING_PILE, System.Text.Encoding.UTF8);
+            for (int i = 0; i < lines.Length; i++)
+            {
+                if (lines[i].StartsWith("//")) continue;
+                string[] str = lines[i].Split(',');
+                if (str.Length <= 1) continue;
+                ChargingPile pile = new ChargingPile(str[0]) { User = new string[str.Length - 1] };
+                Array.Copy(str, 1, pile.User, 0, pile.User.Length);
+                Common.chargingPile.Add(pile);
+            }
+            Common.log.Info("读取配置文件 " + Common.PATH_CHARGING_PILE);
+        }
+
+
+
 
     }
 }