TrayManager.cs
12.4 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public static partial class TrayManager
{
public static Dictionary<string,TrayInfo> Traylist = new Dictionary<string,TrayInfo>();
/// <summary>
/// 处理更新托盘信息
/// </summary>
/// <param name="rfid"></param>
/// <param name="addr"></param>
/// <param name="trayInfo"></param>
/// <returns>是否放行 放行true, 拦截false</returns>
public static bool Process(string rfid, int addr, out TrayInfo trayInfo) {
lock (Traylist)
{
LogUtil.info($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
if (!Traylist.ContainsKey(rfid))
{
Traylist.Add(rfid, new TrayInfo());
Traylist[rfid].RFID = rfid;
}
Traylist[rfid].LastUpdateTime = DateTime.Now;
Traylist[rfid].LastAddr = addr;
Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr];
Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr];
trayInfo = Traylist[rfid];
//Statistics();
}
return true;
}
public static void SetTrayLoadInfo(string rfid, RequestLoadInfo requestLoadInfo)
{
lock (Traylist)
{
LogUtil.info($"SetTrayLoadInfo:{rfid},{requestLoadInfo?.LoadParam?.ToStr()},{requestLoadInfo?.DeviceGroupName}");
if (requestLoadInfo == null)
{
Traylist[rfid].SetToEmpty();
}
else
{
Traylist[rfid].LoadType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), requestLoadInfo.TrayType);
Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
}
}
}
/// <summary>
/// deviceGroupName,RequestLoadInfo
/// </summary>
public static Dictionary<string, RequestLoadInfo> TrayRequest = new Dictionary<string, RequestLoadInfo>();
public static bool HasTrayRequest(string deviceGroupName,string rfid,out ReelParam reelParam)
{
reelParam = null;
LogUtil.info($"HasTrayRequest:{deviceGroupName},{rfid},{TrayRequest.ContainsKey(deviceGroupName)}");
lock (TrayRequest)
{
if (!TrayRequest.ContainsKey(deviceGroupName))
return false;
bool hasrequest = rfid.StartsWith(TrayRequest[deviceGroupName].TrayType, true, null);
if (hasrequest)
{
reelParam = TrayRequest[deviceGroupName].LoadParam?.clone();
TrayRequest.Remove(deviceGroupName);
return true;
}
else
return false;
}
}
public static void ClearTrayRequest(string deviceGroupName)
{
lock (TrayRequest)
{ TrayRequest.Remove(deviceGroupName); }
}
/// <summary>
/// 设置托盘需求
/// </summary>
/// <param name="requestLoadInfo"></param>
public static void SetTrayRequest(RemoteLoad remoteLoad)
{
LogUtil.info($"SetTrayRequest:{remoteLoad.GroupName}=>{remoteLoad.RequestLoadInfo.DeviceGroupName},{remoteLoad.RequestLoadInfo.TrayType}");
lock (TrayRequest)
{
if (!TrayRequest.ContainsKey(remoteLoad.GroupName))
TrayRequest.Add(remoteLoad.GroupName, remoteLoad.RequestLoadInfo);
TrayRequest[remoteLoad.GroupName] = remoteLoad.RequestLoadInfo;
}
}
public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload) {
if (!hasload)
{
var addrs = TrayRequest.Values.Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
foreach (var a in addrs)
{
var trayaddrs = TrayManager.Traylist.Values.Where(t => (DateTime.Now - t.LastUpdateTime).TotalSeconds < 30 && t.TrayType == a.TaryType && !hasload).Select(t => t.LastAddr).ToList();
if (trayaddrs.Count == 0)
return false;
var ttt = 0;
if (curaddr1 == 9)
ttt = 15;
else if (curaddr1 == 4)
ttt = 19;
else if (curaddr1 == 19)
ttt = 4;
//当前托盘到需求距离
var ts = dis(a.Addr, ttt);
return !(trayaddrs.Where(t1 => dis(a.Addr, t1) < ts).Count() > 0);
};
return false;
}
else
return calc(curaddr1, destaddr1);
bool calc(int curaddr, int destaddr)
{
if (destaddr == -1)
return false;
if (curaddr == 9 && (destaddr > 15 || destaddr < 9))
return true;
if (curaddr == 4 && (destaddr > 19 || destaddr < 4))
return true;
if (curaddr == 19 && (destaddr > 4 && destaddr < 19))
return true;
return false;
}
int dis(int needa,int trayb) {
var d = needa - trayb;
if (d >= 0)
return d;
else
return d + 20;
}
}
public static void SetToEmpty(string rfid)
{
lock (Traylist)
{
LogUtil.info("清空托盘信息 RFID:" + rfid);
Traylist[rfid].SetToEmpty();
}
}
/// <summary>
/// 托盘释放
/// </summary>
/// <param name="requestLoadInfo"></param>
public static void TrayRelease(RemoteLoad remoteLoad)
{
var requestLoadInfo = remoteLoad.RequestLoadInfo;
LogUtil.info($"TrayRelease:{remoteLoad.GroupName}{requestLoadInfo.DeviceGroupName},{requestLoadInfo?.LoadParam.ToStr()}");
lock (requestLoadInfo)
{
var device = TrayStop.DeviceList[remoteLoad.GroupName];
if (requestLoadInfo.IsEmpty)
{
SetTrayLoadInfo(device.CurrrentRFID, null);
ServerCommunication.UpdateRobotStatus(requestLoadInfo.LoadParam.WareCode, RobotStatusE.FINISHED, remoteLoad.GroupName);
}
else {
SetTrayLoadInfo(device.CurrrentRFID, requestLoadInfo);
}
LogUtil.info("释放设备:"+device.GroupName);
device.TrayRelease();
}
}
/// <summary>
/// 空托盘数量
/// </summary>
public static int EmptyCount;
/// <summary>
/// 入库托盘数量
/// </summary>
public static int InStoreCount;
/// <summary>
/// 出库托盘数量
/// </summary>
public static int OutStoreCount;
/// <summary>
/// 离线托盘数量
/// </summary>
public static int OfflineCount;
public static int TotalCount{ get => EmptyCount + InStoreCount + OutStoreCount; }
static DateTime lastrefresh;
public static void Statistics() {
EmptyCount = 0;
InStoreCount = 0;
OutStoreCount = 0;
OfflineCount = 0;
lastrefresh = DateTime.Now;
Traylist.Values.ToList().ForEach(ti=> {
if ((lastrefresh - ti.LastUpdateTime).TotalSeconds > 15)
{
ti.isOnline = false;
OfflineCount++;
}
if (ti.HasLoad) {
if (ti.Direction == DirectionE.In)
InStoreCount++;
else
OutStoreCount++;
} else {
EmptyCount++;
}
});
}
}
public class TrayInfo {
string _rfid;
public string RFID { get => _rfid; set {
try
{
var ss = Enum.GetNames(typeof(TrayTypeE));
TrayType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), ss.ToList().Find(s => value.StartsWith(s)));
_rfid = value;
}
catch (Exception ex) {
LogUtil.error($"获取RFID的类型时出错:{value}");
}
}
}
public string Destination;
public int DestinationAddr=-1;
public int LastAddr=-1;
public string LastPosition;
public bool HasLoad { get => LoadType != TrayTypeE.None; }
public TrayTypeE LoadType = TrayTypeE.None;
public TrayTypeE TrayType;
public DateTime LastUpdateTime;
public ReelParam TrayParam;
public bool SenSorStatus = false;
public DirectionE Direction { get => (Destination ==StoreCID.AMH_ML5_1 || Destination == StoreCID.AMH_ML5_2) ? DirectionE.Out : DirectionE.In; }
public bool isOnline = true;
public void SetToEmpty() {
LoadType = TrayTypeE.None;
DestinationAddr = -1;
TrayParam = new ReelParam();
SenSorStatus = false;
}
}
public enum MagzineTypeE {
C01, //PCB治具
C02, //Pizza治具
C03, //Tray治具
C04, //ShoeBOX治具
}
public enum DirectionE
{
In,Out
}
public static partial class TrayManager
{
public static Dictionary<TrayTypeE, string> TrayTypeDesc = new Dictionary<TrayTypeE, string>();
public static Dictionary<int, string> AddrDesc = new Dictionary<int, string>();
static TrayManager() {
TrayTypeDesc.Add(TrayTypeE.None, crc.GetString("Res0002","空"));
TrayTypeDesc.Add(TrayTypeE.MTP1, crc.GetString("Res0003","流水线治具托盘"));
TrayTypeDesc.Add(TrayTypeE.MTP2, crc.GetString("Res0004","流水线料盘托盘"));
TrayTypeDesc.Add(TrayTypeE.S007, crc.GetString("Res0005","料串"));
TrayTypeDesc.Add(TrayTypeE.M03, crc.GetString("Res0006","Tray料格"));
TrayTypeDesc.Add(TrayTypeE.M02, crc.GetString("Res0007","PCB料格"));
TrayTypeDesc.Add(TrayTypeE.M01, crc.GetString("Res0008","PizzaBOX料格"));
TrayTypeDesc.Add(TrayTypeE.M04, crc.GetString("Res0009","ShoeBOX料格"));
//TrayTypeDesc.Add(TrayTypeE.C01, crc.GetString("Res0010","PCB治具"));
//TrayTypeDesc.Add(TrayTypeE.C02, crc.GetString("Res0011","Pizza治具"));
//TrayTypeDesc.Add(TrayTypeE.C03, crc.GetString("Res0012","Tray治具"));
//TrayTypeDesc.Add(TrayTypeE.C04, crc.GetString("Res0013","ShoeBOX治具"));
}
public static void Init(Dictionary<string, DeviceGroup> deviceGroup) {
if (!AddrDesc.ContainsKey(-1))
AddrDesc.Add(-1, crc.GetString("Res0014", "未知"));
foreach (var dg in deviceGroup) {
if (dg.Value.addr_2 >= 0)
{
if (!AddrDesc.ContainsKey(dg.Value.addr_1))
AddrDesc.Add(dg.Value.addr_1, dg.Value.GroupName + "-1");
if (!AddrDesc.ContainsKey(dg.Value.addr_2))
AddrDesc.Add(dg.Value.addr_2, dg.Value.GroupName + "-2");
}
else {
if (!AddrDesc.ContainsKey(dg.Value.addr_1))
AddrDesc.Add(dg.Value.addr_1, dg.Value.GroupName);
}
}
}
/// <summary>
/// 获取设备地址
/// </summary>
/// <returns></returns>
public static int GetAddrByGroupName(string groupname) {
var addr = AddrDesc.Where(a => a.Value == groupname).First();
return addr.Key;
}
}
}