OutShelfBean_AgvPro.cs
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using AGVLib;
using DeviceLibrary.DeviceLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class OutShelfBean
{
internal bool CheckNeedLeave(bool IsReset = true)
{
if (IsDis())
{
return false;
}
if (CurrShelf.IsNeedLeave)
{
return true;
}
if (CurrShelf.EmptyPos <= 0)
{
CurrShelf.IsNeedLeave = true;
LogUtil.info(Name + " " + CurrShelf.ToStr() + " 没有空位需要离开 ");
if (IsReset)
{
Reset();
}
return true;
}
return false;
}
#region AGV状态处理
private void AgvStatusPro()
{
if (ShelfReady())
{
if (CheckNeedLeave())
{
return;
}
AgvClient.SetToNone(agvId, agvName);
}
else if ((CurrShelf==null|| CurrShelf.realRFID.Equals("") )&& IOManager.IOValue(Shelf_Front_Check).Equals(IO_VALUE.LOW) && IOManager.IOValue(Shelf_Back_Check).Equals(IO_VALUE.LOW))
{
if (locationCylinder.IsLow())
{
//暂无料架，需要料架
AgvClient.NeedEnter(agvId, agvName, "");
}
else
{
locationCylinder.ToLow(null);
AgvClient.SetToNone(agvId, agvName);
}
}
else if (IOManager.IOValue(Shelf_Front_Check).Equals(IO_VALUE.HIGH) && IOManager.IOValue(Shelf_Back_Check).Equals(IO_VALUE.HIGH) && CurrShelf.IsNeedLeave)
{
if ( locationCylinder.IsLow())
{
//设置等待离开
AgvClient.NeedLeave(agvId, agvName, CurrShelf.realRFID);
}
else
{
locationCylinder.ToLow(null);
AgvClient.SetToNone(agvId, agvName);
}
}
else
{
AgvClient.SetToNone(agvId, agvName);
}
}
#endregion
internal void AgvArrive(Node node)
{
string theAgvName = node.name;
string logN = Name + "收到 AgvArrive 事件 [" + node.id + "-"+node.name+"] [" + node.shelf_id + "] ";
if (theAgvName.Equals(agvName))
{
}
LogUtil.info(logN + "：" + "暂无处理");
}
internal void AgvRequestEnter(Node node)
{
string theAgvName = node.name;
string logN = Name + "收到 AgvRequestEnter 事件 [" + node.id + "-" + node.name + "] [" + node.shelf_id + "] ";
if (theAgvName.Equals(agvName))
{
if (IOManager.IOValue(Shelf_Front_Check).Equals(IO_VALUE.HIGH) || IOManager.IOValue(Shelf_Back_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info(logN + " ，已有料架，暂不处理，设置 [" + theAgvName + "] 状态为 RejectEnter");
AgvClient.SetStatus(node.id,node.name,"",NodeStatus.RejectEnter,NodeLevel.High);
return;
}
ShelfEnterProcess();
}
}
internal void AgvRequestLeave(Node node)
{
string theAgvName = node.name;
string logN = Name + "收到 AgvRequestLeave 事件 [" + node.id + "-" + node.name + "] [" + node.shelf_id + "] ";
if (theAgvName.Equals(agvName))
{
if (IOManager.IOValue(Shelf_Front_Check).Equals(IO_VALUE.LOW) && IOManager.IOValue(Shelf_Back_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logN + " ，未检测到料架，暂不处理，设置 [" + theAgvName + "] 状态为 RejectLeave");
AgvClient.SetStatus(node.id,node.name,"",NodeStatus.RejectLeave, NodeLevel.High);
return;
}
ShelfLeaveProcess();
}
}
private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false;
internal void ShelfLeaveProcess()
{
//AGV已到达，将料架送入AGV中
Task.Factory.StartNew(delegate
{
string logName = Name + "[" + agvName + "] 料架送入AGV ";
try
{
LogUtil.info(logName + "开始，先设置状态为 MayLeave");
AgvClient.SetStatus(agvId,agvName, CurrShelf.realRFID, NodeStatus.MayLeave, NodeLevel.High);
ProcessShelfOut = true;
LineRRun();
bool result = WaitIo(Shelf_Back_Check, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + Shelf_Back_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
}
result = WaitIo(Shelf_Front_Check, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + Shelf_Front_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
}
Thread.Sleep(8000);
LineStopRun();
AgvClient.SetStatus(agvId, agvName, CurrShelf.realRFID, NodeStatus.FinishLeave, NodeLevel.High);
Thread.Sleep(2000);
AgvClient.SetStatus(agvId, agvName, "", NodeStatus.None, NodeLevel.High);
ProcessShelfOut = false;
LogUtil.info(logName + ",停止转动，清空" + CurrShelf.ToStr() + "， 结束");
CurrShelf = new ShelfInfo();
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
AgvClient.SetStatus(agvId, agvName, "", NodeStatus.None, NodeLevel.High);
LineStopRun();
ProcessShelfOut = false;
}
});
}
internal void ShelfEnterProcess()
{
Task.Factory.StartNew(delegate
{
string logName = Name + "AGV料架进入 [" + agvName + "] ";
try
{
CurrShelf = new ShelfInfo();
LogUtil.info(logName + " 开始，清空料架信息，设置状态=MayEnter");
AgvClient.SetStatus(agvId,agvName, "", NodeStatus.MayEnter, NodeLevel.High, true);
ProcessShelfEnter = true;
LineFRun();
bool result = false;
//等待进料检测信号
result = WaitIo(Shelf_Front_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Front_Check + "信号");
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=High 结果： " + result + "， 开始等待 " + Shelf_Front_Check + " 信号");
result = WaitIo(Shelf_Back_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Back_Check + "信号");
Thread.Sleep(5000);
LineStopRun();
AgvClient.SetStatus(agvId, agvName, CurrShelf.realRFID, NodeStatus.FinishEnter, NodeLevel.High);
//LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=High 结果： " + result + "，开始等待 FinishEnter 超时10分钟");
//try
//{
// result = WaitUtil.Wait(600000, delegate ()
// {
// return AgvClient.GetCurrStatus(agvId).Equals(NodeStatus.FinishEnter);
// }, logName + "等待FinishEnter超时");
//}
//catch (TimeoutException te)
//{
// LogUtil.error(logName + " 超时：" + te);
//}
LogUtil.info(logName + "，完成，信号已到位 ，停止线体，发送FinishEnter");
LineStopRun();
Thread.Sleep(2000);
AgvClient.SetStatus(agvId,agvName, "", NodeStatus.None, NodeLevel.High, true);
ProcessShelfEnter = false;
Reset();
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
AgvClient.SetStatus(agvId, agvName, "", NodeStatus.None, NodeLevel.High, true);
LineStopRun();
ProcessShelfEnter = false;
}
});
}
public string getAgvStatus()
{
return AgvClient.GetCurrStatus(agvId).ToString();
}
protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
{
try
{
return WaitUtil.Wait(timeOut, delegate ()
{
return value.Equals(IOManager.IOValue(ioType));
}, errName);
}
catch (Exception ex)
{
LogUtil.error(Name + "等待" + ioType + "=" + value + "超时：" + ex.ToString());
return false;
}
}
}
}