agv对接功能。

Common/Setting_Init.cs

@@ -42,6 +42,19 @@ namespace OnlineStore.Common
         [MyConfigComment("二维码扫码超时毫秒")]
         public static MyConfig<int> Device_RfidServer_Port = 30001;
 
+
+        [MyConfigComment("Agv服务器地址")]
+        public static MyConfig<string> Device_AgvServer = "127.0.0.1";
+
+        [MyConfigComment("AGV服务器端口号")]
+        public static MyConfig<int> Device_AgvPort = 12000;
+        
+        [MyConfigComment("Agv节点ID列表")]
+        public static MyConfig<string[]> Device_AgvNodeId =new string[] { "1","2","3","4"};
+
+        [MyConfigComment("AGV节点名称")]
+        public static MyConfig<string[]> Device_AgvNodeName=new string[] { "A1", "A2", "A3", "A4" };
+
         [MyConfigComment("管理员密码")]
         public static MyConfig<string> User_AdminPassword = "123456";
         [MyConfigComment("启用管理员密码")]

DeviceLibrary/Config/general.config

 <?xml version="1.0" encoding="UTF-8"?>
 <config ver="10">
-  <item key="App_Title" ver="10" value="SMD-BOX-XLC" />
+  <item key="App_Title" ver="10" value="出料机构" />
   <item key="EnableBuzzer" ver="10" value="False" />
 </config>
\ No newline at end of file

DeviceLibrary/DeviceLibrary.csproj

@@ -32,6 +32,9 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="AGVLib">
+      <HintPath>..\SharedDLL\agv\AGVLib.dll</HintPath>
+    </Reference>
     <Reference Include="Asa.Camera.VisionLib, Version=1.3.8479.24297, Culture=neutral, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\SharedDLL\Asa.Camera.VisionLib.dll</HintPath>
@@ -79,6 +82,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="DeviceLibrary\AcSerialBean.cs" />
+    <Compile Include="DeviceLibrary\agv\AgvClient.cs" />
     <Compile Include="DeviceLibrary\Camera.cs" />
     <Compile Include="DeviceLibrary\CylinderManger.cs" />
     <Compile Include="DeviceLibrary\HttpServer.cs" />
@@ -89,7 +93,9 @@
     <Compile Include="DeviceLibrary\ReelParam.cs" />
     <Compile Include="DeviceLibrary\ServerCommunication.cs" />
     <Compile Include="DeviceLibrary\AxisBean.cs" />
+    <Compile Include="DeviceLibrary\WaitUtil.cs" />
     <Compile Include="theMachine\BaseBean.cs" />
+    <Compile Include="theMachine\OutShelfBean_AgvPro.cs" />
     <Compile Include="theMachine\ReelTransport.cs" />
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\InReelBean.cs" />

DeviceLibrary/DeviceLibrary/IOMonitor.cs

@@ -2,10 +2,7 @@
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
-using System.Linq;
-using System.Text;
 using System.Threading;
-using System.Threading.Tasks;
 using System.Timers;
 
 namespace DeviceLibrary
@@ -27,6 +24,10 @@ namespace DeviceLibrary
         }
         private static void T1_Elapsed(object sender, ElapsedEventArgs e)
         {
+            if (RobotManage.mainMachine == null || (!RobotManage.mainMachine.LoadOk))
+            {
+                return;
+            }
             foreach (var iOMonitorStrut in iOMonitorStruts)
             {
                 var current_iovalue = IOManager.IOValue(iOMonitorStrut.ioType, iOMonitorStrut.Config);

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -5,10 +5,7 @@ using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Linq;
-using System.Text;
 using System.Threading;
-using System.Threading.Tasks;
-
 namespace DeviceLibrary
 {
     public class ServerCommunication

DeviceLibrary/DeviceLibrary/WaitUtil.cs

+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary.DeviceLibrary
+{
+    public class WaitUtil
+    {
+        public delegate bool IsOk();
+
+        /// <summary>
+        /// 使用异步委托检测超时，防止isOk方法不返回结果导致卡死的问题
+        /// </summary>
+        /// <param name="waitName"></param>
+        /// <param name="timeout"></param>
+        /// <param name="isOk"></param>
+        public static bool Wait(int timeout, IsOk isOk, string waitName = "")
+        {
+            DateTime startTime = System.DateTime.Now;
+            TimeSpan timoutSpan = TimeSpan.FromMilliseconds(timeout);
+            TimeSpan waitSpan = TimeSpan.FromMilliseconds(0);
+            int sleepTime = 10;
+            while (true)
+            {
+                TimeSpan remainTimes = timoutSpan.Subtract(waitSpan);
+                if (remainTimes.TotalMilliseconds < 0)
+                {
+                    //已经超时
+                    throw new TimeoutException(waitName + "超时");
+                }
+                try
+                {
+                    IAsyncResult re = isOk.BeginInvoke(null, null);
+                    var waitResult = re.AsyncWaitHandle.WaitOne(remainTimes);
+                    if (waitResult)
+                    {
+                        bool okResult = isOk.EndInvoke(re);
+                        if (okResult)
+                        {
+                            return true;
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("同步等待出现异常：", ex);
+                }
+                Thread.Sleep(sleepTime);
+                waitSpan = System.DateTime.Now.Subtract(startTime);
+            }
+        }
+
+    }
+} 

DeviceLibrary/DeviceLibrary/agv/AgvClient.cs

+using AGVLib;
+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+
+namespace DeviceLibrary
+{
+      
+    public class AgvClient
+    {
+        public static bool DisAgv = false;
+        private static Client client;
+        /// <summary>
+        /// key=agvId
+        /// </summary>
+        public static Dictionary<int, AGVLib.NodeStatus> nodeStatusMap = new Dictionary<int, NodeStatus>();
+        private static bool isInit = false;
+        public static  void Init()
+        {
+            LogUtil.info("开始  Init client");
+            if (!isInit)
+            {
+                isInit = true;
+                client = new Client();
+                 
+                client.ConnectedEvent += Client_ConnectedEvent;
+                client.ReceivedEvent += Client_ReceivedEvent;
+                client.IsAutoReconnect = true;
+                
+                LogUtil.info($" 开始 client.Connect: {Setting_Init.Device_AgvServer},{Setting_Init.Device_AgvPort}");
+                client.Connect(Setting_Init.Device_AgvServer, Setting_Init.Device_AgvPort);
+            }
+        }
+
+        public static void setDisAgv(bool disAgv)
+        {
+            LogUtil.info("设置：DisAgv=" + disAgv);
+            DisAgv = disAgv; 
+        }
+
+        private static string getNodeStr(Node node)
+        {
+            return $"nodeInfo: id={node.id},name={node.name},level={node.level},status={node.status} ,shelf_id={node.shelf_id}";
+        }
+
+        private static OutShelfBean GetShelfBean(string nodeName)
+        {
+            List<OutShelfBean> outShelfBeans = new List<OutShelfBean>(RobotManage.mainMachine.outShelfBeans.Values);
+            foreach (OutShelfBean bean in outShelfBeans)
+            {
+                if (bean.agvName.Equals(nodeName))
+                {
+                    return bean;
+                }
+            }
+            return null;
+        }
+        private static void Client_ReceivedEvent(Node node)
+        {
+            LogUtil.info($"Client_ReceivedEvent :  node={getNodeStr(node)}"  );
+
+            OutShelfBean outShelfBean = GetShelfBean(node.name);
+            if (outShelfBean == null)
+            { 
+                LogUtil.info($"Client_ReceivedEvent :  node={getNodeStr(node)} ,未找到对应的OutShelfBean ");
+                return;
+            }
+            if (node.status.Equals(NodeStatus.Arrive))
+            {
+                outShelfBean.AgvArrive(node); 
+            }else if (node.status.Equals(NodeStatus.RequestEnter))
+            {
+
+                outShelfBean.AgvRequestEnter(node);
+            }
+        
+            else if (node.status.Equals(NodeStatus.RequestLeave))
+            {
+
+                outShelfBean.AgvRequestLeave(node);
+            }
+            
+        }
+
+        private static void Client_ConnectedEvent(bool status)
+        {
+            LogUtil.info("Client_ConnectedEvent := " + status);
+        }
+
+        internal static bool ISConnected()
+        {
+            if (client == null)
+            {
+                return false;
+            }
+            return client.Connected;
+        }
+        public static void SetStatus(int agvId,string agvName, string shelfId = "", NodeStatus status = NodeStatus.None, NodeLevel level = NodeLevel.Low, bool isMust = false)
+        {
+
+            if (!isMust && level.Equals(NodeLevel.Low))
+            {
+                if (nodeStatusMap.ContainsKey(agvId))
+                {
+                    NodeStatus currA = nodeStatusMap[agvId]; //相同状态就设置一次
+                    if (currA.Equals(status))
+                    {
+                        return;
+                    }
+                }
+            }
+            string mark = "";
+            if (shelfId != "")
+            {
+                int index = shelfId.IndexOf(',');
+                if (index > 0)
+                {
+                    //紧急出料模块，料架离开时，mark=紧急料或者分配料，rfid=料架号
+                    mark = shelfId.Substring(index + 1, shelfId.Length - index - 1);
+                    shelfId = shelfId.Substring(0, index);
+                }
+            }
+
+            Node node = new Node(agvId, agvName);
+            node.SetState(status, level, shelfId);
+
+
+            client.SetStatus(node);
+            UpdateStatus(agvId, node);
+        }
+        public static bool SetToNone(int agvId, string agvName, string shelfId = "")
+        {
+
+            NodeStatus currA = GetCurrStatus(agvId);
+            if (currA.Equals(NodeStatus.None) || currA.Equals(NodeStatus.NeedLeave) || currA.Equals(NodeStatus.NeedEnter))
+            {
+                SetStatus(agvId,agvName, shelfId, NodeStatus.None);
+                return true;
+            }
+            return false;
+        }
+        public static bool NeedEnter(int agvId, string agvName, string shelfId = "", NodeLevel level = NodeLevel.Low)
+        {
+            NodeStatus currA = GetCurrStatus(agvId);
+            if (currA.Equals(NodeStatus.None) || currA.Equals(NodeStatus.NeedLeave) || currA.Equals(NodeStatus.NeedEnter))
+            {
+                SetStatus(agvId,agvName, shelfId, NodeStatus.NeedEnter, level);
+                return true;
+            }
+            return false;
+        }
+        public static bool NeedLeave(int agvId, string agvName, string shelfId = "", NodeLevel level = NodeLevel.Low)
+        {
+            NodeStatus currA = GetCurrStatus(agvId);
+            if (currA.Equals(NodeStatus.None) || currA.Equals(NodeStatus.NeedLeave) || currA.Equals(NodeStatus.NeedEnter))
+            {
+                SetStatus(agvId,agvName, shelfId, NodeStatus.NeedLeave, level);
+                return true;
+            }
+            return false;
+        }
+         
+        
+        public static NodeStatus GetCurrStatus(int agvId)
+        {
+            if (nodeStatusMap.ContainsKey(agvId))
+            {
+                return nodeStatusMap[agvId];
+            }
+            return NodeStatus.None;
+        }
+        public static void UpdateStatus(int agvId, Node node)
+        {
+            if (nodeStatusMap.ContainsKey(agvId))
+            {
+                nodeStatusMap[agvId] = node.status;
+            }
+            else
+            {
+                nodeStatusMap.Add(agvId, node.status);
+            }
+        }
+        public static void Dispose()
+        {
+            try
+            {
+                if (client != null)
+                {
+                    client.Close();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("释放 client " + Setting_Init.Device_AgvServer + " 出错：", ex);
+            }
+        }
+    }
+}

DeviceLibrary/theMachine/MainMachine.cs

@@ -117,13 +117,40 @@ namespace DeviceLibrary
                 InReelBean inReel = new InReelBean("IN_"+i);
                 inReelBeans.Add(inReel); 
             }
+            List<string> rfidIp = new List<string> { Config.RFID_U1, Config.RFID_U2, Config.RFID_U3, Config.RFID_U4 };
+            for (int i = 1; i <= 4; i++)
+            {
+                string rfidip = rfidIp[i - 1];
+                string[] agvNodeIds = Setting_Init.Device_AgvNodeId;
+                string[] agvNodeNames = Setting_Init.Device_AgvNodeName;
+                if (agvNodeIds == null || agvNodeIds.Length <= 0)
+                {
+                    agvNodeIds = new string[] { "1", "2", "3", "4" };
+
+                }
+                if (agvNodeNames == null || agvNodeNames.Length <= 0)
+                {
+                    agvNodeNames = new string[] { "A1", "A2", "A3", "A4" };
+                }
+                int agvid = 0;
+                try
+                {
+                    agvid = Convert.ToInt32(agvNodeIds[i - 1]);
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error($"U{i}的agvID转为int失败，默认=0：" + ex.ToString());
+                }
+                string agvname = agvNodeNames[i - 1];
+                outShelfBeans.Add("U" + i, new OutShelfBean("U" + i, rfidip, agvid, agvname));
+            }
 
-            
-            outShelfBeans.Add("U1", new OutShelfBean("U1", Config.RFID_U1));
-            outShelfBeans.Add("U2", new OutShelfBean("U2", Config.RFID_U2));
-            outShelfBeans.Add("U3", new OutShelfBean("U3", Config.RFID_U3));
-            outShelfBeans.Add("U4", new OutShelfBean("U4", Config.RFID_U4));
 
+            //outShelfBeans.Add("U1", new OutShelfBean("U1", Config.RFID_U1));
+            //outShelfBeans.Add("U2", new OutShelfBean("U2", Config.RFID_U2));
+            //outShelfBeans.Add("U3", new OutShelfBean("U3", Config.RFID_U3));
+            //outShelfBeans.Add("U4", new OutShelfBean("U4", Config.RFID_U4));
+            AgvClient.Init();
             LedProcessInit();
             LoadOk = true;
         }

DeviceLibrary/theMachine/MoveStep.cs

@@ -156,18 +156,18 @@ namespace DeviceLibrary
         S21_ShelfNeedLeave, 
         //呼叫agv拉料
         S22_WaitAGV,
-        //agv到位
-        S23_AgvDetect,
-        //定位气缸下降
-        S24_LocationDown,
-        //电机反转
-        S25_LineRRun,
-        //等待前端料格检测 On变OFF
-        S26_ShelfBackHigh,
-        //等待前端料格检测 On变OFF
-        S27_ShelfBackLow,
-        //电机反转延时2秒OFF
-        S28_WaitTime,
+        ////agv到位
+        //S23_AgvDetect,
+        ////定位气缸下降
+        //S24_LocationDown,
+        ////电机反转
+        //S25_LineRRun,
+        ////等待前端料格检测 On变OFF
+        //S26_ShelfBackHigh,
+        ////等待前端料格检测 On变OFF
+        //S27_ShelfBackLow,
+        ////电机反转延时2秒OFF
+        //S28_WaitTime,
 
 
         /// <summary>

DeviceLibrary/theMachine/RobotManage.cs

@@ -99,7 +99,7 @@ namespace DeviceLibrary
             }
             catch (Exception ex)
             {
-                LoadFinishEvent?.Invoke(false, ex.Message);
+                LoadFinishEvent?.Invoke(false, ex.Message+":"+ex.ToString());
                 return;
             }
             LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);

TheMachine/FormMain.cs

@@ -227,8 +227,8 @@ namespace TheMachine
                 string name = moveInfo.Name;
                 OutShelfBean bean = RobotManage.mainMachine.getOutShelf(name);
                 if (bean != null && bean.CurrShelf != null)
-                {
-                    stateinfo += "[" + bean.CurrShelf.ToStr() + "]";
+                { 
+                    stateinfo += "[" + bean.CurrShelf.ToStr() + "]["+bean.getAgvStatus()+"]";
                 }
                 else
                 {
@@ -740,5 +740,16 @@ namespace TheMachine
             LogUtil.info("[" + String.Join(",", camers) + "]扫码测试结果：\r\n" + lastCode);
             MessageBox.Show("[" + String.Join(",", camers) + crc.GetString("Res0109", "]扫码测试结果：") + lastCode);
         }
+
+        private void chbDIsAgv_CheckedChanged(object sender, EventArgs e)
+        {
+            if (chbDIsAgv.Checked.Equals(AgvClient.DisAgv))
+            {
+                return;
+            } 
+                LogUtil.info("勾选：" + chbDIsAgv.Text + " =" +( chbDIsAgv.Checked ? "√" : "×"));
+            AgvClient.setDisAgv(chbDIsAgv.Checked);
+
+        }
     }
 }
\ No newline at end of file

TheMachine/UC/uc_boxdebug.cs

 using DeviceLibrary;
-using log4net;
 using OnlineStore;
 using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections;
 using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
 using System.Drawing;
 using System.IO;
-using System.Linq;
-using System.Reflection;
-using System.Text;
-using System.Text.RegularExpressions;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace TheMachine
@@ -31,7 +22,7 @@ namespace TheMachine
                 if (value == null)
                     return;
                 _Config = value;
-                storePosControl1.Config = _Config;
+                storePosControl1.Config = _Config; 
                 Init();
             }
         }