AgvClient.cs
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using Asa;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
public static bool CurrCancelState = false ;
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Asa.AgvClient agvClient;
public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
public static List<string> NodeList = new List<string>();
private static bool isInit = false;
public static void Init()
{
try
{
// LogUtil.info("开始 Init agvclient");
if (!isInit)
{
isInit = true;
agvClient = new Asa.AgvClient(ServerIp);
agvClient.CancelState = true;
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.Ready += AgvClient_Ready;
agvClient.CloseDoor += AgvClient_CloseDoor;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
LogUtil.info(" 开始 agvClient.Connect");
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
}
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
public static void SetCancelState(bool isCancel)
{
CurrCancelState = isCancel;
if (agvClient != null)
{
agvClient.CancelState = isCancel;
}
}
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low,bool isMust=false)
{
if (!isMust)
{
if (actionMap.ContainsKey(id))
{
ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
}
string mark = "";
if (shelfId != "")
{
int index = shelfId.IndexOf(',');
if (index > 0)
{
//紧急出料模块，料串离开时，mark=紧急料或者分配料，rfid=料串号
mark = shelfId.Substring(index + 1, shelfId.Length - index - 1);
shelfId = shelfId.Substring(0, index);
}
}
agvClient.SetStatus(id,mark, shelfId, action, level);
UpdateAction(id, action);
LogUtil.info("AgvClient SetStatus id:"+id+ ",mark:"+ mark + ",shelfId:"+ shelfId+ ",action:"+ action.ToString() + ",level:"+ level.ToString());
}
private static void AgvClient_Ready(string id, string rfid)
{
try
{
//UpdateAction(id, ClientAction.Ready);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] "+ GetAction(id).ToString());
if (GetAction(id) == ClientAction.NeedEnter || id=="D1")
{
SetStatus(id, "", ClientAction.MayEnter);
}
else if (GetAction(id) == ClientAction.NeedLeave || id=="D2")
{
SetStatus(id, "", ClientAction.MayLeave);
}
if (RobotManager.robot.inputEquip.Config.LeftAgvName.Equals(id))
{
RobotManager.robot.inputEquip.LeftBatchMove.AgvReady(id, rfid, GetAction(id));
}
else if (RobotManager.robot.inputEquip.Config.RightAgvName.Equals(id))
{
RobotManager.robot.inputEquip.RightBatchMove.AgvReady(id, rfid, GetAction(id));
}
else if (RobotManager.robot.outputEquip.Config.AgvInName.Equals(id) || RobotManager.robot.outputEquip.Config.AgvOutName.Equals(id))
{
RobotManager.robot.outputEquip.AgvReady(id, rfid);
if (!rfid.StartsWith("B"))
{
//SetStatus(id, "", ClientAction.MayLeave);
}
else
{
//SetStatus(id, "", ClientAction.MayEnter);
}
}
else
{
LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理");
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Ready [" + id + "] [" + rfid + "] 处理出错：" + ex.ToString());
}
}
private static void AgvClient_CloseDoor(string id, string rfid)
{
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 暂无需处理 ");
}
private static void AgvClient_Arrive(string id, string rfid)
{
// UpdateAction(id, ClientAction.Arrive);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid + "]暂无需处理 ");
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId="", ClientLevel level = ClientLevel.Low)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedEnter, level);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId="",ClientLevel level=ClientLevel.Low)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedLeave, level);
return true;
}
return false;
}
private static bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
private static void AgvClient_Log(string s)
{
try
{
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
}
public static Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient " + ServerIp + " 出错：", ex);
}
}
}
}