AgvClient.cs
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using Asa;
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 Asa.Client2 agvClient;
public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.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 Asa.Client2(ServerIp);
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
// agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
// agvClient.GetRFID += AgvClient_GetRFID;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
foreach (string key in NodeList)
{
actionMap.Add(key, Asa.ClientAction.None);
}
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
}
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString());
}
}
public static void SetStatus(string id,string mark="", string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
ClientAction currA = GetAction(id);
//相同状态就设置一次
if (currA.Equals(action))
{
return;
}
agvClient.SetStatus(id,mark, shelfId, action, level);
UpdateAction(id, action);
}
private static void AgvClient_Ready(string id, byte[] content)
{
UpdateAction(id, ClientAction.Ready);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.NumStr() + "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Ready);
}
private static void AgvClient_Arrive(string id, byte[] content)
{
UpdateAction(id, ClientAction.Arrive);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.NumStr() + "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Arrive);
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, shelfId, ClientAction.NeedEnter);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter) || currA.Equals(ClientAction.FinishEnter)||currA.Equals(ClientAction.FinishLeave))
{
SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave);
return true;
}
return false;
}
private static void AgvClient_Log(string s)
{
try
{
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
}
public static Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient " + ServerIp + " 出错："+ ex.ToString());
}
}
}
//public class AGVAction
//{
// public static string None = "None";
// public static string Arrive = "Arrive";
// public static string CanEnter = "CanEnter";
// public static string GetRFID = "GetRFID";
// public static string Ready = "Ready";
// public static string FinishOut = "FinishOut";
//}
}