agv增加cancelState

source/ACPackingStore/FrmStore.cs

@@ -323,6 +323,7 @@ namespace OnlineStore.ACPackingStore
             }
             }
 
 
             RFIDManager.Close();
             RFIDManager.Close();
+            AgvClient.Dispose();
         }
         }
         private void btnClearLog_Click(object sender, EventArgs e)
         private void btnClearLog_Click(object sender, EventArgs e)
         {
         {

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs

@@ -142,13 +142,13 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             LogInfo("开始启动，启动时间：" + StartTime.ToString());
             LogInfo("开始启动，启动时间：" + StartTime.ToString());
             //   if (IsDebug)
             //   if (IsDebug)
-            {
-                //连接AGV调度
-                if (!AgvClient.ISConnected())
-                {
-                    AgvClient.Init();
-                }
-            }
+            //{
+            //    //连接AGV调度
+            //    if (!AgvClient.ISConnected())
+            //    {
+            //        AgvClient.Init();
+            //    }
+            //}
             AutoInout.StopAuto();
             AutoInout.StopAuto();
             mainTimer.Enabled = false;
             mainTimer.Enabled = false;
             alarmType = StoreAlarmType.None;
             alarmType = StoreAlarmType.None;

source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs

@@ -85,6 +85,9 @@ namespace OnlineStore.DeviceLibrary
                 IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
                 IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
                 mainTimer.Enabled = true;               
                 mainTimer.Enabled = true;               
                 canStart = true;
                 canStart = true;
+
+                //连接AGV调度
+                AgvClient.Init();
             });
             });
         }
         }
 
 
@@ -137,11 +140,10 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.info(Name + "开始启动，连接agv调度，连接rfid，启动时间：" + StartTime.ToString());
                 LogUtil.info(Name + "开始启动，连接agv调度，连接rfid，启动时间：" + StartTime.ToString());
                 storeRunStatus = StoreRunStatus.HomeMoving;
                 storeRunStatus = StoreRunStatus.HomeMoving;
                 StartTime = DateTime.Now;
                 StartTime = DateTime.Now;
-                //连接AGV调度
-                if (!AgvClient.ISConnected())
-                {
-                    AgvClient.Init();
-                }
+                AgvClient.SetCancelState(false);
+                //if (!AgvClient.ISConnected())
+                //{
+                //}
                 RFIDManager.Open(rfidList.ToArray());
                 RFIDManager.Open(rfidList.ToArray());
 
 
                 mainTimer.Enabled = false;
                 mainTimer.Enabled = false;
@@ -197,7 +199,7 @@ namespace OnlineStore.DeviceLibrary
         { 
         { 
             mainTimer.Enabled = false;
             mainTimer.Enabled = false;
             ledProcessTimer.Enabled = false;
             ledProcessTimer.Enabled = false;
-             
+            AgvClient.SetCancelState(true);
             //停止运行时，把阻挡气缸上升
             //停止运行时，把阻挡气缸上升
             StopMove();
             StopMove();
             foreach (AC_BOX_Bean equip in BoxMap.Values)
             foreach (AC_BOX_Bean equip in BoxMap.Values)

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -15,7 +15,7 @@ namespace OnlineStore.DeviceLibrary
         public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
         private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
         private static Asa.Client2 agvClient;
         private static Asa.Client2 agvClient;
-        public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
+        private static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
         public static List<string> NodeList = new List<string>();
         public static List<string> NodeList = new List<string>();
         private static bool isInit = false;
         private static bool isInit = false;
         public static void Init()
         public static void Init()
@@ -26,6 +26,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     isInit = true;
                     isInit = true;
                     agvClient = new Asa.Client2(ServerIp);
                     agvClient = new Asa.Client2(ServerIp);
+                    agvClient.CancelState = true;
                     agvClient.Log += AgvClient_Log;
                     agvClient.Log += AgvClient_Log;
                     agvClient.Arrive += AgvClient_Arrive; 
                     agvClient.Arrive += AgvClient_Arrive; 
                     agvClient.Ready += AgvClient_Ready;
                     agvClient.Ready += AgvClient_Ready;
@@ -49,7 +50,10 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString());
                 LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString());
             }
             }
         }
         }
-
+        public static void SetCancelState(bool isCancel)
+        {
+            agvClient.CancelState = isCancel;
+        }
         public  static Dictionary<string, DateTime> closeDoorTimeMap = new Dictionary<string, DateTime>(); 
         public  static Dictionary<string, DateTime> closeDoorTimeMap = new Dictionary<string, DateTime>(); 
         private static void AgvClient_CloseDoor(string id, byte[] content)
         private static void AgvClient_CloseDoor(string id, byte[] content)
         {
         {