AgvControl.cs
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using DeviceLibrary;
using DL.StandardRobot;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AutoScanAndLabel.UC
{
public partial class AgvControl : UserControl
{
public string serverIp = "";
public AgvControl()
{
InitializeComponent();
serverIp = ConfigAppSettings.GetValue(Setting_Init.STD_IP);
AGVManager.Connect(serverIp);
load();
groupBox2.Text = $"AGV状态[{serverIp}]";
AGVManager.Register(MissionStateChanged);
endit(false);
}
~AgvControl()
{
AGVManager.UnRegister(MissionStateChanged);
AGVManager.Close();
}
private void load()
{
txtEnterId.Text=ConfigAppSettings.GetValue(Setting_Init.ShelfInAGV);
txtLeaveId.Text = ConfigAppSettings.GetValue(Setting_Init.ShelfOutAGV);
txtMoveLSTId.Text = ConfigAppSettings.GetValue(Setting_Init.LStation);
txtMoveRSTId.Text = ConfigAppSettings.GetValue(Setting_Init.RStation);
}
private void save()
{
ConfigAppSettings.SaveValue(Setting_Init.ShelfInAGV, txtEnterId.Text);
ConfigAppSettings.SaveValue(Setting_Init.ShelfOutAGV, txtLeaveId.Text);
ConfigAppSettings.SaveValue(Setting_Init.LStation, $"{txtMoveLSTId.Text}");
ConfigAppSettings.SaveValue(Setting_Init.RStation, $"{txtMoveRSTId.Text}");
}
private void MissionStateChanged(MissionState state)
{
if (!this.IsHandleCreated) return;
this.Invoke(new Action(() =>
{
try
{
lblCurMissionId.Text = $"当前任务编号：{state.MissionId}";
lblCurRunMissionId.Text = $"运行任务编号：{state.RunMissionId}";
lblMissionRunstate.Text = $"任务运行状态：{state.MissionRunState}";
lblMissionResult.Text = $"任务运行结果：{state.MissionResult}";
}
catch
{
}
}));
}
private void button_rightneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
Task.Run(() =>
{
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到 R40_InShelf的结束步骤里去
});
}
else
MessageBox.Show("当前有料串不能请求进入料串");
}
private void button_rightleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
{
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到R30_OutShelf的结束步骤里去
});
}
else
MessageBox.Show("当前没有料串不能请求取料串");
}
private void button_Leftleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
{
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到L50_OutShelf的结束步骤里去
});
}
else
MessageBox.Show("当前没有料串不能请求取料串");
}
private void button_leftneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
Task.Run(() =>
{
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到 L60_InShelf的结束步骤里去
});
}
else
MessageBox.Show("当前有料串不能请求进入料串");
}
private void btnSave_Click(object sender, EventArgs e)
{
save();
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
endit(checkBox1.Checked);
}
void endit(bool maul)
{
groupBox3.Enabled = maul;
}
private void button1_Click(object sender, EventArgs e)
{
int.TryParse(txtMissionId.Text,out int val);
AGVManager.AddMission(val);
}
}
}