AgvClient.cs
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using Agv;
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 int ServerPort = ConfigAppSettings.GetIntValue(Setting_Init.AgvServerPort);
private static Agv.AgvClient agvClient;
public static Dictionary<string, Agv.ClientAction> actionMap = new Dictionary<string, Agv.ClientAction>();
public static List<string> NodeList = new List<string>();
private static bool isInit = false;
public static void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new Agv.AgvClient();
agvClient.Received += AgvClient_Received;
NodeList.Add(StoreManager.Config.AgvInName);
NodeList.Add(StoreManager.Config.AgvOutName);
}
actionMap = new Dictionary<string, Agv.ClientAction>();
foreach (string key in NodeList)
{
actionMap.Add(key, Agv.ClientAction.None);
}
agvClient.Connect(ServerIp, ServerPort);
foreach (string str in NodeList)
{
SetStatus(str,"");
LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
}
SetCancelState(false);
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
private static void AgvClient_Connected(bool status)
{
LogUtil.info($"AgvClient_Connected:{status}");
}
private static void AgvClient_Received(Node node)
{
/*var nodename = node.Name;
if (nodename == StoreManager.Config.AgvInName) {
SetStatus(nodename, "", ClientAction.MayEnter);
_ = StoreManager.Store.AgvSendShelfIn();
}
else if (nodename == StoreManager.Config.AgvOutName) {
SetStatus(nodename, "", ClientAction.MayLeave);
StoreManager.Store.OneShelfOutProcess();
}*/
AgvClient_Ready(node.Name, node.RFID);
}
public static void SetCancelState(bool cancel)
{
agvClient.CancelState = cancel;
}
public static void SetStatus(string id, string shelfId, ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
{
if (agvClient == null)
return;
if (actionMap.ContainsKey(id))
{
Agv.ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
agvClient.SetStatus(id, "", shelfId, action, level);
UpdateAction(id, action);
LogUtil.info("AgvClient SetStatus id:" + id + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString());
}
private static void AgvClient_Ready(string id, string rfid)
{
try
{
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] " + GetAction(id).ToString());
if (GetAction(id) == ClientAction.NeedEnter || id == StoreManager.Config.AgvInName)
{
SetStatus(id, "", ClientAction.MayEnter);
_=StoreManager.Store.AgvSendShelfIn();
}
else if (GetAction(id) == ClientAction.NeedLeave || id == StoreManager.Config.AgvOutName)
{
SetStatus(id, "", ClientAction.MayLeave);
StoreManager.Store.OneShelfOutProcess();
}
else
{
LogUtil.error("收到 AgvClient_Arrive [" + id + "] [" + rfid + "] 未找到对应的设备 ，暂不处理");
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Ready [" + id + "] [" + rfid + "] 处理出错：" + ex.ToString());
}
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static bool SetToNone(string id, string shelfId = "")
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId)
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.NeedEnter);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId)
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.NeedLeave);
return true;
}
return false;
}
public static Agv.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Agv.ClientAction.None;
}
public static void UpdateAction(string name, Agv.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
SetCancelState(true);
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
}