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Commit 3cce09bf 由 LN
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1 个父辈 0918f3ac
内嵌 并排
正在显示 4 个修改的文件 包含 83 行增加 和 257 行删除
source/DeviceLibrary/agvClient/AgvClient -20200210-back.cs deleted 100644 → 0

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
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Client agvClient;
public static Dictionary<string, string> actionMap = new Dictionary<string, string>();
public static List<string> NodeList = new List<string>();
public static void Init()
{
try
{
if (agvClient == null)
{
agvClient = new Client(ServerIp);
}
actionMap = new Dictionary<string, string>();
foreach (string key in NodeList)
{
actionMap.Add(key, AGVAction.None);
}
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
agvClient.Connect(NodeList.ToArray());
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
private static void AgvClient_Ready(string id, byte[] content)
{
UpdateAction(id, AGVAction.Ready);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
LogUtil.error ("收到 AgvClient_Ready ["+id+"] ["+data.ToData()+"] 未找到对应的设备 ，暂不处理");
return;
}
equip.AgvReady(id,data);
}
private static void AgvClient_CanEnter(string id, byte[] content)
{
UpdateAction(id, AGVAction.CanEnter);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CanEnter [" + id + "] [" + data.ToData() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
string okName = "";
foreach(FeedingEquip feed in LineManager.Line.FeedingEquipMap.Values)
{
if (id.Contains(feed.Config.AgvInName))
{
if (feed.AgvCanEnter(id, data))
{
okName += feed.Config.AgvInName;
}
}
}
agvClient.IsEnter(okName);
return;
}
else
{
bool result = equip.AgvCanEnter(id, data);
agvClient.IsEnter(equip.Config.AgvInName);
}
}
private static void AgvClient_Arrive(string id, byte[] content)
{
UpdateAction(id, AGVAction.Arrive );
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
LogUtil.error("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 未找到对应的设备 ，暂不处理 ");
return;
}
equip.AgvArrive(id, data);
}
private static FeedingEquip getFeedEquip(string nodeId)
{
foreach (FeedingEquip feed in LineManager.Line.FeedingEquipMap.Values)
{
if (feed.Config.AgvInName.Equals(nodeId) || feed.Config.AgvOutName.Equals(nodeId))
{
return feed;
}
}
return null;
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
internal static void SendRFID(string NodeName, string rfid)
{
agvClient.SendRFID(NodeName, rfid);
}
internal static void NeedEnter(string NodeName)
{
agvClient.NeedEnter(NodeName);
}
internal static void NeedLeave(string NodeName)
{
agvClient.NeedLeave(NodeName);
}
internal static void MayEnter(string NodeName)
{
agvClient.MayEnter(NodeName);
}
internal static void FinishEnter(string NodeName)
{
agvClient.FinishEnter(NodeName);
}
internal static void MayLeave(string NodeName)
{
agvClient.MayLeave(NodeName);
}
private static void AgvClient_Log(string s)
{
try
{
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}catch(Exception ex)
{
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
}
public static string GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return AGVAction.None;
}
public static void UpdateAction(string name, string 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);
}
}
}
public class AGVAction
{
public static string None = "None";
public static string Arrive = "Arrive";
public static string CanEnter = "CanEnter";
public static string GetRFID = "GetRFID";
public static string Ready = "Ready";
}
}
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
...@@ -435,6 +435,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -435,6 +435,27 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.MI_14_CylinderAfter)) else if (MoveInfo.IsStep(LineMoveStep.MI_14_CylinderAfter))
{ {
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore); MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
string code = MoveInfo.MoveParam.WareCode;
if (OnlyProOutTray)
{
if (MoveInfo.MoveParam.InStoreNg)
{
OutLog( MoveInfo.SLog + "，NG料已放到出料口，发送 cancelPutInTask ");
string msg = SServerManager.cancelPutInTask(Name, code);
afterPutCutOK = true;
}
else
{
OutLog( MoveInfo.SLog + "，工单料到达接驳台，发送 arrive3fRobotLocation ");
string msg = SServerManager.arrive3fRobotLocation(Name, 1, code);
afterPutCutOK = true;
}
}
else
{
afterPutCutOK = true;
}
InLog("入库 " + MoveInfo.SLog + "，通知BOX开始入库，等待3000"); InLog("入库 " + MoveInfo.SLog + "，通知BOX开始入库，等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam); LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
...@@ -471,6 +492,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -471,6 +492,7 @@ namespace OnlineStore.DeviceLibrary
MoveEndS(); MoveEndS();
} }
} }
private bool afterPutCutOK = false;
private int sendCount = 0; private int sendCount = 0;
private bool IsInStoreNeed() private bool IsInStoreNeed()
{ {
...@@ -556,7 +578,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -556,7 +578,7 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
private int LastWidth = 0;
private bool ChekcIsNeedMoveReel() private bool ChekcIsNeedMoveReel()
{ {
if (currTrayNum <= 0) if (currTrayNum <= 0)
...@@ -566,14 +588,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -566,14 +588,31 @@ namespace OnlineStore.DeviceLibrary
if (OnlyProOutTray) if (OnlyProOutTray)
{ {
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum); TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
InOutParam param = tray.InoutPar;
if (tray.InOrOutStore.Equals(2)) if (tray.InOrOutStore.Equals(2))
{ {
return true; //获取尺寸
}else if (tray.InoutPar.InStoreNg) int robotIndex = 0;
string code = SecondMoveInfo.MoveParam.WareCode;
string result = SServerManager.GetTraySize(Name, robotIndex, code, out LastWidth);
LogUtil.info(Name+ "[" + currTrayNum + "] [" + code + "] 获取尺寸【" + LastWidth + "】【" + result + "】");
if (LastWidth > 0)
{
SecondMoveInfo.MoveParam = param.Clone();
return true;
}
else
{
LogUtil.info(Name + "[" + currTrayNum + "] [" + tray.ToStr() + "] 获取尺寸失败，托盘继续流转");
}
}
else if (param.InStoreNg)
{ {
SecondMoveInfo.MoveParam = param.Clone();
return true; return true;
} }
}return false; }
return false;
} }
private bool CheckIsNeedInStore() private bool CheckIsNeedInStore()
......
source/DeviceLibrary/model/LineMoveInfo.cs
...@@ -296,37 +296,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -296,37 +296,7 @@ namespace OnlineStore.DeviceLibrary
wait.WaitType = WaitEnum.W009_BoxCanInstore; wait.WaitType = WaitEnum.W009_BoxCanInstore;
return wait; return wait;
} }
//public static WaitResultInfo WaitSWCanTopUp(int swNum)
//{
// WaitResultInfo wait = new WaitResultInfo();
// wait.WaitType = WaitEnum.W010_SWCanTopUp;
// wait.TargetPosition = swNum;
// return wait;
//}
//public static WaitResultInfo WaitSideWay()
//{
// WaitResultInfo wait = new WaitResultInfo();
// wait.WaitType = WaitEnum.W010_SW34NoTray;
// return wait;
//}
/// <summary>
/// 等待出料移栽可以开始移栽
/// </summary>
//public static WaitResultInfo WaitProvidingEquipCanOut()
//{
// WaitResultInfo wait = new WaitResultInfo();
// wait.WaitType = WaitEnum.W201_ProvidingCanOut;
// return wait;
//}
/// <summary>
/// 等待出料流水线可以接收料盘
/// </summary>
//public static WaitResultInfo WaitDLineCanReviceTray()
//{
// WaitResultInfo wait = new WaitResultInfo();
// wait.WaitType = WaitEnum.W202_DLineCanOut;
// return wait;
//}
public static WaitResultInfo WaitBatchAxis(ConfigMoveAxis axis, int targetPosition, int targetSpeed) public static WaitResultInfo WaitBatchAxis(ConfigMoveAxis axis, int targetPosition, int targetSpeed)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
......
source/DeviceLibrary/server/LineServer.cs
...@@ -91,21 +91,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -91,21 +91,34 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - box.LastMsgTime; TimeSpan span = DateTime.Now - box.LastMsgTime;
if (box != null && span.TotalSeconds < ClientKeepSecond) if (box != null && span.TotalSeconds < ClientKeepSecond)
{ {
if (id.Equals(7))
LineStatus status = (LineStatus)box.SStatus; {
LineRunStatus runs = (LineRunStatus)box.SRunStatus; LineStatus status = (LineStatus)box.SStatus;
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Busy)) if (runs.Equals(LineRunStatus.Busy))
{
if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute) || box.WaitInStoreList.Contains(posId))
{
return true;
}
}
}
else
{ {
if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute)) LineStatus status = (LineStatus)box.SStatus;
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Busy))
{ {
if (box.WaitInStoreList != null && box.WaitInStoreList.Contains(posId)) if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute))
{ {
LogUtil.error("IsInStorePro[" + id + "][" + posId + "]，库位还在入库等待列表中，返回false"); if (box.WaitInStoreList != null && box.WaitInStoreList.Contains(posId))
return false; {
LogUtil.error("IsInStorePro[" + id + "][" + posId + "]，库位还在入库等待列表中，返回false");
return false;
}
return true;
} }
return true;
} }
} }
} }
...@@ -121,14 +134,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -121,14 +134,24 @@ namespace OnlineStore.DeviceLibrary
BoxInfo box = GetBoxInfo(id); BoxInfo box = GetBoxInfo(id);
if (box != null) if (box != null)
{ {
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
TimeSpan span = DateTime.Now - box.LastMsgTime; TimeSpan span = DateTime.Now - box.LastMsgTime;
if (span.TotalSeconds < ClientKeepSecond && box.HasTray.Equals(0) && box.SAlarmType.Equals(LineAlarmType.None)) if (span.TotalSeconds < ClientKeepSecond && box.HasTray.Equals(0) && box.SAlarmType.Equals(LineAlarmType.None))
{ {
LineRunStatus runs = (LineRunStatus)box.SRunStatus; if (id.Equals(7))
if (runs.Equals(LineRunStatus.Runing))
{ {
return true; if (box.WaitInStoreList == null || box.WaitInStoreList.Count <= 0)
{
return true;
}
}
else
{
if (runs.Equals(LineRunStatus.Runing))
{
return true;
}
} }
} }
} }
...@@ -432,7 +455,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -432,7 +455,7 @@ namespace OnlineStore.DeviceLibrary
public static string S_WareCode = "WareCode"; public static string S_WareCode = "WareCode";
public static string S_IsDebug = "IsDebug"; public static string S_IsDebug = "IsDebug";
public static string S_RFID = "rfid"; public static string S_RFID = "rfid";
public static string S_NG = "rfid"; public static string S_NG = "IsNg";
} }
public class StoreReviceBean public class StoreReviceBean
......
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