1

DeviceLibrary/AGVManager.cs

@@ -5,10 +5,12 @@ using OnlineStore;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
+using System.Drawing;
 using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Windows.Forms;
 using static DL.StandardRobot.StandardRobot;
 
 namespace DeviceLibrary
@@ -105,7 +107,15 @@ namespace DeviceLibrary
                 }
             }
         }
-
+        /// <summary>
+        /// 入料口
+        /// </summary>
+        const string B1 = "B1";
+        /// <summary>
+        /// 出料口
+        /// </summary>
+        const string B2 = "B2";
+        const string MIMO = "MIMO";
         /// <summary>
         /// 处理AGV请求的操作
         /// </summary>
@@ -114,15 +124,23 @@ namespace DeviceLibrary
         public static void HandleDeviceOperate(DeviceCheckDto deviceCheckDto, out RtnData rtnData)
         {
             rtnData = new RtnData();
-
-            switch (deviceCheckDto.task_type)
+            if (deviceCheckDto.device_code.Equals(B1) || deviceCheckDto.device_code.Equals(B2))
             {
-                case STDTaskType.NS200_LOAD_B1://NS200入料口上料任务
+                if (!RobotManage.isRunning)
+                {
+                    rtnData.code = 201;
+                    rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
+                    return;
+                }
+            }
+            switch (deviceCheckDto.device_code)
+            {
+                case B1://NS200入料口上料任务
                     if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
                     {
                         if (!RobotManage.isRunning)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
                         }
                         else
@@ -134,22 +152,15 @@ namespace DeviceLibrary
                     {
                         if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "入料口正在进料";
                         }
                     }
-                    else
-                    {
-                        rtnData.code = -1;
-                        rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
-                    }
-                    break;
-                case STDTaskType.NS200_UNLOAD_B1://NS200入料口下料任务
-                    if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
+                    else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
                     {
                         if (!RobotManage.isRunning)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
                         }
                         else
@@ -161,22 +172,22 @@ namespace DeviceLibrary
                     {
                         if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "入料口正在出料";
                         }
                     }
                     else
                     {
-                        rtnData.code = -1;
+                        rtnData.code = 201;
                         rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
                     }
                     break;
-                case STDTaskType.NS200_LOAD_B2://NS200出料口上料任务
+                case B2://NS200出料口上料任务
                     if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
                     {
                         if (!RobotManage.isRunning)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
                         }
                         else
@@ -188,22 +199,15 @@ namespace DeviceLibrary
                     {
                         if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "出料口正在入料";
                         }
                     }
-                    else
-                    {
-                        rtnData.code = -1;
-                        rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
-                    }
-                    break;
-                case STDTaskType.NS200_UNLOAD_B2://NS200出料口下料任务
-                    if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
+                    else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
                     {
                         if (!RobotManage.isRunning)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
                         }
                         else
@@ -215,22 +219,22 @@ namespace DeviceLibrary
                     {
                         if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "出料口正在出料";
                         }
                     }
                     else
                     {
-                        rtnData.code = -1;
+                        rtnData.code = 201;
                         rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
                     }
                     break;
-                case STDTaskType.MIMO_LOAD://MIMO上料任务
+                case MIMO://MIMO上料任务
                     if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
                     {
                         if (!StringDoorIsOpen)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "折叠门开门信号未亮，不允许上料";
                         }
                         else
@@ -254,19 +258,11 @@ namespace DeviceLibrary
                     {
 
                     }
-                    else
-                    {
-                        rtnData.code = -1;
-                        rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
-                    }
-                    break;
-
-                case STDTaskType.MIMO_UNLOAD:////MIMO下料任务
-                    if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
+                    else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
                     {
                         if (!StringDoorIsOpen)
                         {
-                            rtnData.code = -1;
+                            rtnData.code = 201;
                             rtnData.msg = "折叠门开门信号未亮，不允许下料";
                         }
                         else
@@ -292,12 +288,13 @@ namespace DeviceLibrary
                     }
                     else
                     {
-                        rtnData.code = -1;
+                        rtnData.code = 201;
                         rtnData.msg = "任务类型" + deviceCheckDto.task_type + "不允许使用该操作" + deviceCheckDto.operate;
                     }
                     break;
             }
-            sendAgvLog($"AGV在设备{deviceCheckDto.device_code}的操作{deviceCheckDto.operate}");
+            if (rtnData.code == 200)
+                sendAgvLog($"收到AGV对设备{deviceCheckDto.device_code}的操作{deviceCheckDto.operate}请求");
         }
         static Dictionary<string, string> StringDoor(bool open)
         {
@@ -384,8 +381,17 @@ namespace DeviceLibrary
                 RtnData rtnData = JsonHelper.DeserializeJsonToObject<RtnData>(result);
                 if (rtnData != null)
                 {
-                    if (rtnData.code == 0)
+                    if (rtnData.code == 200)
                     {
+                        //出入料口操作
+                        if (STDTaskType.NS200_UNLOAD_B1.Equals(task_type))
+                        {
+                            releaseRight();
+                        }
+                        else if (STDTaskType.NS200_UNLOAD_B2.Equals(task_type))
+                        {
+                            releaseLeft();
+                        }
                         UpdateTaskStatus(taskDto.task_code, taskDto.task_type);
                         return true;
                     }
@@ -397,53 +403,119 @@ namespace DeviceLibrary
             }
             return false;
         }
-    }
-
-    public class TaskDto
-    {
-        /// <summary>
-        /// 任务编码
-        /// </summary>
-        public string task_code { get; set; }
         /// <summary>
-        /// 任务类型
+        /// 左侧出料口
         /// </summary>
-        public string task_type { get; set; }
-    }
+        static void releaseLeft()
+        {
+            if (RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.Wait)
+            {
+                //MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
+                return;
+            }
+            else if (RobotManage.mainMachine.SafeReleaseLeftShelf)
+            {
+               // MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
+                return;
+            }
+            else if (RobotManage.mainMachine.LeftMoveInfo.MoveStep < MoveStep.L04 || RobotManage.mainMachine.LeftMoveInfo.MoveStep > MoveStep.L30_LabelFinish)
+            {
+                //MessageBox.Show(crc.GetString("Res0083", "左侧料串正在提升或下降, 不能释放"));
+                return;
+            }
+
+            RobotManage.mainMachine.SafeReleaseLeftShelf = true;
+            Task.Run(() => {
+                int timeout = 2 * 60;
+                while (RobotManage.mainMachine.SafeReleaseLeftShelf && timeout > 0)
+                {
+                    Task.Delay(500).Wait();
+                    timeout--;
+                    if ((RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel || RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut) && (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait || RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.REND))
+                    {
+                        RobotManage.mainMachine.LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
+                    }
+                }
+                RobotManage.mainMachine.SafeReleaseLeftShelf = false;
+            });
+        }
+
+        static void releaseRight()
+        {
+            if (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait)
+            {
+               // MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
+                return;
+            }
+            else if (RobotManage.mainMachine.SafeReleaseRightShelf)
+            {
+                //MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
+                return;
+            }
+            else if (RobotManage.mainMachine.RightMoveInfo.MoveStep < MoveStep.R04 || RobotManage.mainMachine.RightMoveInfo.MoveStep > MoveStep.R11_NextReel)
+            {
+                //MessageBox.Show(crc.GetString("Res0086", "右侧料串当前没有就位, 不能释放"));
+                return;
+            }
+
+            RobotManage.mainMachine.SafeReleaseRightShelf = true;
+            //btn_releaserightshelf.BackColor = Color.OrangeRed;
+            Task.Run(() => {
+                int timeout = 2 * 60;
+                while (RobotManage.mainMachine.SafeReleaseRightShelf && timeout > 0)
+                {
+                    Task.Delay(500).Wait();
+                    timeout--;
+                }
+                RobotManage.mainMachine.SafeReleaseRightShelf = false;
+            });
+        }
+}
+public class TaskDto
+{
     /// <summary>
-    /// 斯坦得AGV可执行的任务类型
+    /// 任务编码
     /// </summary>
-    public class STDTaskType
-    {
-        /// <summary>
-        /// NS200 入料口上料任务
-        /// </summary>
-        public const string NS200_LOAD_B1 = "NS200_LOAD_B1";
-        /// <summary>
-        /// NS200 入料口下料任务
-        /// </summary>
-        public const string NS200_UNLOAD_B1 = "NS200_UNLOAD_B1";
-        /// <summary>
-        /// NS200 出料口上料任务
-        /// </summary>
-        public const string NS200_LOAD_B2 = "NS200_LOAD_B2";
-        /// <summary>
-        /// NS200 出料口下料任务
-        /// </summary>
-        public const string NS200_UNLOAD_B2 = "NS200_UNLOAD_B2";
-        /// <summary>
-        /// MIMO上料任务
-        /// </summary>
-        public const string MIMO_LOAD = "MIMO_LOAD";
-        /// <summary>
-        /// MIMO下料任务
-        /// </summary>
-        public const string MIMO_UNLOAD = "MIMO_UNLOAD";
-    }
-    public class TaskState
-    {
-        public string task_code { get; set; }
-        public bool updated { get; set; } = false;
-        public string task_status { get; set; } = "CREATED";
-    }
+    public string task_code { get; set; }
+    /// <summary>
+    /// 任务类型
+    /// </summary>
+    public string task_type { get; set; }
+}
+/// <summary>
+/// 斯坦得AGV可执行的任务类型
+/// </summary>
+public class STDTaskType
+{
+    /// <summary>
+    /// NS200 入料口上料任务
+    /// </summary>
+    public const string NS200_LOAD_B1 = "NS200_LOAD_B1";
+    /// <summary>
+    /// NS200 入料口下料任务
+    /// </summary>
+    public const string NS200_UNLOAD_B1 = "NS200_UNLOAD_B1";
+    /// <summary>
+    /// NS200 出料口上料任务
+    /// </summary>
+    public const string NS200_LOAD_B2 = "NS200_LOAD_B2";
+    /// <summary>
+    /// NS200 出料口下料任务
+    /// </summary>
+    public const string NS200_UNLOAD_B2 = "NS200_UNLOAD_B2";
+    /// <summary>
+    /// MIMO上料任务
+    /// </summary>
+    public const string MIMO_LOAD = "MIMO_LOAD";
+    /// <summary>
+    /// MIMO下料任务
+    /// </summary>
+    public const string MIMO_UNLOAD = "MIMO_UNLOAD";
+}
+public class TaskState
+{
+    public string task_code { get; set; }
+    public bool updated { get; set; } = false;
+    public string task_status { get; set; } = "CREATED";
+}
 }

DeviceLibrary/AGVService/Controllers/taskNotificationController.cs → DeviceLibrary/AGVService/Controllers/notificationController.cs

@@ -13,7 +13,7 @@ namespace DeviceLibrary.AGVService.Controllers
     /// 任务执行通知
     /// </summary>
     [RoutePrefix("nepconSmf/notification")]
-    public class taskNotificationController : ApiController
+    public class notificationController : ApiController
     {
         [HttpPost]
         public RtnData taskStatus([FromBody] NotificationDto dto)

DeviceLibrary/AGVService/Schemas/RtnData.cs

@@ -8,7 +8,7 @@ namespace DeviceLibrary.AGVService.Schemas
 {
     public class RtnData
     {
-        public int code { get; set; } = 0;
+        public int code { get; set; } = 200;
         public object data { get; set; }
         public string msg { get; set; } = "ok";
     }

DeviceLibrary/DeviceLibrary.csproj

@@ -87,7 +87,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="AGVService\Controllers\deviceOperateController.cs" />
-    <Compile Include="AGVService\Controllers\taskNotificationController.cs" />
+    <Compile Include="AGVService\Controllers\notificationController.cs" />
     <Compile Include="AGVService\HttpService.cs" />
     <Compile Include="AGVService\Schemas\DeviceCheckDto.cs" />
     <Compile Include="AGVService\Schemas\NotificationDto.cs" />

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -46,23 +46,10 @@ namespace DeviceLibrary
 
         private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            if (Monitor.TryEnter(serverConnectTimer))
-            {
-                try
-                {
-                    if (!server.StartsWith("http"))
-                        return;
-                    SendLineStatus();
-                }
-                catch (Exception ex)
-                {
-                    LogUtil.error($"ServerConnectTimer_Elapsed:{ex}");
-                }
-                finally
-                {
-                    Monitor.Exit(serverConnectTimer);
-                }
-            }
+            if (!server.StartsWith("http"))
+                return;
+            SendLineStatus();
+
         }
         public void StartConnectServer()
         {
@@ -164,29 +151,36 @@ namespace DeviceLibrary
         {
             if (RobotManage.IsDebug)
                 return;
-
-            lock (serverclock)
+            try
             {
-                bool printlog = false;
-                DateTime time = DateTime.Now;
-                //构建发送给服务器的对象
-                Operation lineOperation = getLineBoxStatus();
-
-                if (lineOperation.status != laststatus)
+                lock (serverclock)
                 {
-                    laststatus = lineOperation.status;
-                    printlog = true;
-                }
+                    bool printlog = false;
+                    DateTime time = DateTime.Now;
+                    //构建发送给服务器的对象
+                    Operation lineOperation = getLineBoxStatus();
 
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, 700, printlog);
-                //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
-                ResultProcess(resultOperation);
-                TimeSpan span = DateTime.Now - time;
-                if (span.TotalMilliseconds > 700)
-                {
-                    LogUtil.info(StoreName + "TimerProcess[" + span.TotalMilliseconds + "]");
+                    if (lineOperation.status != laststatus)
+                    {
+                        laststatus = lineOperation.status;
+                        printlog = true;
+                    }
+
+                    Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, 700, printlog);
+                    //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
+                    ResultProcess(resultOperation);
+                    TimeSpan span = DateTime.Now - time;
+                    if (span.TotalMilliseconds > 700)
+                    {
+                        LogUtil.info(StoreName + "TimerProcess[" + span.TotalMilliseconds + "]");
+                    }
                 }
             }
+            catch (Exception ex)
+            {
+                LogUtil.error("SendLineStatus",ex);
+            }
+
         }
         public bool SendAgvLog(string msg)
         {
@@ -198,7 +192,7 @@ namespace DeviceLibrary
                 {
                     new AgvLogInfo(msg)
                 };
-                LogUtil.info(JsonHelper.SerializeObject(operation));
+                //LogUtil.info(JsonHelper.SerializeObject(operation));
 
                 Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);