MainMachine_AGV.cs
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using AGVLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
namespace DeviceLibrary
{
public partial class MainMachine
{
string serverIp = Setting_Init.AGV_ServerIp;
int serverPort = Setting_Init.AGV_ServerPort;
int nodeId = Setting_Init.AGV_NodeId;
string nodeName = Setting_Init.AGV_NodeName;
Client client;
Node curNode;
MoveInfo AGVMoveInfo;
void initAgv()
{
if (!UseAgv())
return;
AGVMoveInfo = new MoveInfo("AGV");
curNode = new Node()
{
id = nodeId,
name = nodeName,
};
client = new Client(new List<Node> { curNode });
client.ConnectedEvent += Client_ConnectedEvent;
client.ReceivedEvent += Client_ReceivedEvent;
client.Connect(serverIp, serverPort);
LogUtil.LOGGER.Info($"初始化AGV节点，并连接服务端：{serverIp}:{serverPort}");
}
public bool UseAgv()
{
return Setting_Init.AGV_Enable;
}
public void SetStatus(NodeStatus nodeStatus)
{
curNode.status = nodeStatus;
client.SetStatus(curNode);
}
private void Client_ReceivedEvent(Node node)
{
if (curNode.id == nodeId && curNode.name.Equals(node.name))
{
curNode.status = node.status;
curNode.shelf_id = node.shelf_id;
curNode.level = node.level;
LogUtil.LOGGER.Info($"收到AGV服务端信息：【{node.name}】【{node.status}】【{node.shelf_id}】");
}
}
private void Client_ConnectedEvent(bool status)
{
if (status)
LogUtil.LOGGER.Info("已连接AGV服务端");
else
{
LogUtil.LOGGER.Info("已断开AGV服务");
}
}
NodeStatus curNodeStatus;
/// <summary>
/// 呼叫AGV--需要料串
/// </summary>
void needEnter(NodeStatus nodeStatus)
{
if (!UseAgv())
return;
if (nodeStatus.Equals(NodeStatus.NeedEnter) ||
nodeStatus.Equals(NodeStatus.NeedEnter_Empty) ||
nodeStatus.Equals(NodeStatus.NeedEnter_Full))
{
if (AGVMoveInfo.IsStep(MoveStep.Wait))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In01);
curNodeStatus = nodeStatus;
AGVMoveInfo.log($"需要进入料串,{curNodeStatus}");
}
}
}
/// <summary>
/// 呼叫AGV--送出料串
/// </summary>
void needLeave(NodeStatus nodeStatus)
{
if (!UseAgv())
return;
if (nodeStatus.Equals(NodeStatus.NeedLeave) ||
nodeStatus.Equals(NodeStatus.NeedLeave_Full) ||
nodeStatus.Equals(NodeStatus.NeedLeave_Empty))
{
if (AGVMoveInfo.IsStep(MoveStep.Wait))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out01);
curNodeStatus = nodeStatus;
AGVMoveInfo.log($"需要离开料串,{curNodeStatus}");
}
}
}
public void AGVProcess()
{
if (!UseAgv())
{
return;
}
if (CheckWait(AGVMoveInfo))
return;
Node curnode = curNode;
if (curnode == null)
{
LogUtil.LOGGER.Error("无节点信息,请检查配置");
return;
}
switch (AGVMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (StringMoveInfo.IsStep(MoveStep.StringOut_Released) || StringMoveInfo.IsStep(MoveStep.Wait))
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
//AGV已到达，请求开门
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"Wait,AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
else if (curnode.status.Equals(NodeStatus.DetachOk))
{
//AGV分离完成，可关门
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"Wait,收到脱离脱离信号，关闭折叠门");
}
else
{
AGVMoveInfo.log($"Wait,收到{curnode.status}信号，不处理");
}
}
else//料串不在正常状态
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
//AGV已到达，请求开门
SetStatus(NodeStatus.RejectDock);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequsetDock}/{NodeStatus.Arrive}信号，当前料串正在使用，拒绝停靠");
}
else if (curnode.status.Equals(NodeStatus.RequestEnter))
{
//AGV请求出料到料仓
SetStatus(NodeStatus.RejectEnter);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，当前料串正在使用，拒绝AGV出料");
}
else if (curnode.status.Equals(NodeStatus.RequestLeave))
{
//AGV请求进料到AGV
SetStatus(NodeStatus.RejectLeave);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，当前料串正在使用，拒绝AGV进料");
}
}
break;
#region 进料
case MoveStep.AGV_In01:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
break;
case MoveStep.AGV_In02:
if (IOMonitor.IODebound(IO_Type.StringFront_Check, Config, IO_VALUE.HIGH, 2000) ||
IOMonitor.IODebound(IO_Type.StringBack_Check, Config, IO_VALUE.HIGH, 2000))
{
RobotManage.mainMachine.SetStatus(NodeStatus.None);
AGVMoveInfo.log($"前端信号/后端信号亮，取消呼叫AGV送料串");
AGVMoveInfo.EndMove();
}
else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
}
else
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
}
break;
case MoveStep.AGV_In03:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In04);
break;
case MoveStep.AGV_In04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05);
Line.LineRun("n", false, 30);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料");
break;
case MoveStep.AGV_In05:
if (curnode.status == NodeStatus.MayEnter)
{
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06);
RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter);
AGVMoveInfo.log($"料串到位");
AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else
{
// ShowInfo("等待料串到位");
}
}
else
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
}
break;
case MoveStep.AGV_In06:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
AGVMoveInfo.log($"向AGV发送脱离信号");
break;
#endregion
#region 出料
case MoveStep.AGV_Out01:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
break;
case MoveStep.AGV_Out02:
if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
{
RobotManage.mainMachine.SetStatus(NodeStatus.None);
AGVMoveInfo.log($"前端信号和后端信号均灭，取消呼叫AGV接料串");
AGVMoveInfo.EndMove();
}
else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
RobotManage.mainMachine.SetStatus(curNodeStatus);
AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
}
else
{
if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
AGVMoveInfo.log($"AGV到达，准备开门");
//AGV已到达，请求开门
OpenDoor(AGVMoveInfo);
}
}
break;
case MoveStep.AGV_Out03:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out04);
break;
case MoveStep.AGV_Out04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
Line.LineRun("n", true, 30);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
break;
case MoveStep.AGV_Out05:
if (curnode.status != NodeStatus.MayLeave)
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
}
else
{
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out06);
RobotManage.mainMachine.SetStatus(NodeStatus.FinishLeave);
AGVMoveInfo.log($"料串离开");
AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
}
break;
case MoveStep.AGV_Out06:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
AGVMoveInfo.log($"向AGV发送脱离信号");
break;
#endregion
case MoveStep.AGV_OpenDoor:
if (curnode.status == NodeStatus.RequestEnter)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", false, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
}
else if (curnode.status == NodeStatus.RequestLeave)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", true, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
}
else if (curnode.status.Equals(NodeStatus.RequsetDock))
{
if (IOValue(IO_Type.StringDoor_Open).Equals(IO_VALUE.HIGH))
{
RobotManage.mainMachine.SetStatus(NodeStatus.MayDock);
}
}
break;
case MoveStep.AGV_DetachOK:
if (curnode.status == NodeStatus.DetachOk)
{
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
Line.LineStop("n");
AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门");
}
else if (AGVMoveInfo.IsTimeOut())
{
if (StringDoor.isAtBOTTOM)
{
Line.LineStop("n");
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
}
}
break;
case MoveStep.AGV_CloseDoor:
AGVMoveInfo.EndMove();
break;
}
}
void OpenDoor(MoveInfo moveInfo)
{
StringDoorOpen(moveInfo);
}
void CloseDoor(MoveInfo moveInfo)
{
StringDoorClose(moveInfo);
}
}
}