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Commit 256f3373 由 LN
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agv修改

1 个父辈 3078ab8b
内嵌 并排
正在显示 10 个修改的文件 包含 120 行增加 和 113 行删除
dll/Client.dll
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source/ACPackingStore/App.config
......@@ -54,6 +54,7 @@
<add key ="AutoShelfInstore" value ="1"/>
<!--是否启用入料口移门，1=启用，0=禁用-->
<add key ="UseDoor" value ="1"/>
<add key ="Agv_Log_Open" value ="1"/>
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......@@ -67,7 +68,7 @@
</layout>
</appender>
<appender name="TheRFID" type="log4net.Appender.RollingFileAppender">
<file value="logs/TheRFID.log"/>
<file value="logs/TheRFID-p-1-2.log"/>
<param name="Encoding" value="UTF-8" />
<appendToFile value="true"/>
<rollingStyle value="Date"/>
......
source/Common/Setting_Init.cs
......@@ -11,6 +11,7 @@ namespace OnlineStore.Common
/// </summary>
public class Setting_Init
{
public static string Agv_Log_Open = "Agv_Log_Open";
public static string Server_Log_Open = "Server_Log_Open";
/// <summary>
/// 系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
......@@ -105,12 +105,12 @@ namespace OnlineStore.DeviceLibrary
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{
int agvA = (int)AgvClient.GetAction(Config.AgvNodeName);
string agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = agvA.Equals(wait.TargetPosition);
if (!wait.IsEnd && span.TotalSeconds > 10)
{
//如果是等待AGV到达，等待有料架信号也算结束
if (wait.TargetPosition.Equals((int)Asa.Actions.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
if (wait.AgvAction.Equals(AGVAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
......@@ -123,7 +123,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = true;
}
}
else if (wait.TargetPosition.Equals((int)Asa.Actions.FinishOut))
else if (wait.AgvAction.Equals(AGVAction.FinishOut))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
......@@ -743,8 +743,8 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog("出库 " + MoveInfo.SLog + "： 通知agv调度准备带料架的agv，等待agv到达或检测到料架信号，进出轴到P1");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//需要先叫agv到达
AgvClient.ReadyShelf(Config.AgvNodeName);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.Arrive));
AgvClient.NeedEnter(Config.AgvNodeName);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.Arrive));
}
else
{
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -201,15 +201,15 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
InOutStoreLog(moveName + MoveInfo.SLog + "：调用AgvClient.ReadyEmpty，等待Agv到达 ,最多等待1000");
AgvClient.ReadyEmpty(Config.AgvNodeName);
AgvClient.NeedLeave(Config.AgvNodeName);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.Arrive));
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.Arrive));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_ReadyEmpty))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_LineBackRun);
//agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(Asa.Actions.Arrive))
if (AgvClient.GetAction(Config.AgvNodeName).Equals(AGVAction.Arrive))
{
if (instoreShelf)
{
......@@ -221,11 +221,12 @@ namespace OnlineStore.DeviceLibrary
{
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达， 调用AgvClient.MayOut，线体开始反转");
}
AgvClient.MayOut(Config.AgvNodeName);
AgvClient.MayLeave(Config.AgvNodeName);
LineBackRun();
}
else
{//如果agv未到达，直接结束
{
//如果agv未到达，直接结束
MoveEndToRuningStatus();
EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：等待agv超时，直接结束");
......@@ -241,10 +242,12 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitInLineSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitTime);
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动3000时间，同时等待收到FinishOut");
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动3000时间，同时等待收到FinishOut，等待入料口无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
//等到agv离开
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.FinishOut));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.FinishOut));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitTime))
{
......@@ -252,7 +255,7 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog(moveName + MoveInfo.SLog + "： ，同时等待 AGV离开,最多等待5000");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.FinishOut));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_WaitAGVLeave))
......@@ -275,11 +278,11 @@ namespace OnlineStore.DeviceLibrary
#region AGV
internal bool ProcessAGVAction(string name, Asa.Actions action)
internal bool ProcessAGVAction(string name, string action)
{
string logN = name + "收到调度【" + name + "】=【" + action + "】";
//状态处理
if (action.Equals(Asa.Actions.Usable))
if (action.Equals(AGVAction.CanEnter))
{
//判断入口是否可用：入口无料架，缓冲工位无料架，不在入料架处理中
bool usable = (storeRunStatus.Equals(StoreRunStatus.Runing) &&
......@@ -289,10 +292,10 @@ namespace OnlineStore.DeviceLibrary
&& IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW));
LogUtil.info(logN + "：" + usable);
LogUtil.info(logN + "：" + usable);
return usable;
}
else if (action.Equals(Asa.Actions.Arrive))
else if (action.Equals(AGVAction.Arrive))
{
//出库处理中不处理
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
......@@ -387,7 +387,7 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = msg;
}
internal bool AGVProcess(string name, Actions action)
internal bool AGVProcess(string name, string action)
{
foreach (AC_BOX_Bean box in this.BoxMap.Values)
{
......
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -39,7 +39,8 @@
<Reference Include="Asa.IOModule.AIOBOX">
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
</Reference>
<Reference Include="Client">
<Reference Include="Client, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\Client.dll</HintPath>
</Reference>
<Reference Include="CodeLibrary">
......
source/DeviceLibrary/agvClient/AgvClient.cs
using BLL;
using Asa;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
......@@ -11,142 +11,134 @@ namespace OnlineStore.DeviceLibrary
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
//private string NodeName = "";
private static Client agvClient = new Client(ServerIp);
public static Dictionary<string, Asa.Actions> actionMap = new Dictionary<string, Asa.Actions>();
public static List<string> NodeList = new List<string>();
public static void Init( )
private static Client agvClient;
public static Dictionary<string, string> actionMap = new Dictionary<string, string>();
public static List<string> NodeList = new List<string>();
public static void Init()
{
try
{
// this.NodeName = nodeID;
if (agvClient == null)
{
agvClient = new Client(ServerIp);
agvClient = new Client(ServerIp);
}
actionMap = new Dictionary<string, Asa.Actions>();
foreach(string key in NodeList)
actionMap = new Dictionary<string, string>();
foreach (string key in NodeList)
{
actionMap.Add(key, Asa.Actions.ClientClose);
actionMap.Add(key, AGVAction.None);
}
agvClient.Info += AgvClient_Info;
agvClient.Log += AgvClient_Log;
agvClient.Connected += AgvClient_Connected;
agvClient.Action += AgvClient_Action;
agvClient.Arrive += AgvClient_Arrive;
agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
agvClient.Connect();
agvClient.SetNodeID(NodeList.ToArray());
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：" + ex.ToString());
}
}
internal static bool ISConnected()
private static void AgvClient_Ready(string id, byte[] content)
{
UpdateAction(id, AGVAction.Ready);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.Ready);
}
private static void AgvClient_CanEnter(string id, byte[] content)
{
UpdateAction(id, AGVAction.CanEnter);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.CanEnter);
}
private static void AgvClient_Arrive(string id, byte[] content)
{
UpdateAction(id, AGVAction.Arrive);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.Arrive);
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
}
return agvClient.IsConn;
}
/// <summary>
///02 发送RFID
/// </summary>
/// <param name="NodeName"></param>
internal static void SendRFID(string NodeName, string shelfId)
internal static void SendRFID(string NodeName, string rfid)
{
byte[] data = null;
agvClient.SendRFID(NodeName, data);
}
/// <summary>
/// 10 准备空车
/// </summary>
/// <param name="NodeName"></param>
internal static void ReadyEmpty(string NodeName)
agvClient.SendRFID(NodeName, rfid);
}
internal static void NeedEnter(string NodeName)
{
agvClient.ReadyEmpty(NodeName);
agvClient.NeedEnter(NodeName);
}
/// <summary>
/// 11 准备agv带料架
/// </summary>
/// <param name="NodeName"></param>
internal static void ReadyShelf(string NodeName)
internal static void NeedLeave(string NodeName)
{
agvClient.ReadyShelf(NodeName);
agvClient.NeedLeave(NodeName);
}
/// <summary>
/// 12 可以进入
/// </summary>
/// <param name="NodeName"></param>
internal static void MayEnter(string NodeName)
{
agvClient.MayEnter(NodeName);
}
/// <summary>
///13 完成进入
/// </summary>
/// <param name="NodeName"></param>
internal static void FinishEnter(string NodeName)
{
agvClient.FinishEnter(NodeName);
}
/// <summary>
/// 14 可以出去
/// </summary>
/// <param name="NodeName"></param>
internal static void MayOut(string NodeName)
{
agvClient.MayOut(NodeName);
}
/// <summary>
///17 agv离开
/// </summary>
/// <param name="NodeName"></param>
internal static void GetOut(string NodeName)
internal static void MayLeave(string NodeName)
{
agvClient.GetOut(NodeName);
agvClient.MayLeave(NodeName);
}
private static bool AgvClient_Action(string name, Asa.Actions action)
private static void AgvClient_Log(string s)
{
if (actionMap.ContainsKey(name))
try
{
actionMap[name] = action;
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
else
catch (Exception ex)
{
actionMap.Add(name, action);
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
return StoreManager.Store.AGVProcess(name, action);
}
private static void AgvClient_Connected()
{
agvClient.SetNodeID(NodeList.ToArray());
}
private static void AgvClient_Log(string s)
{
LogUtil.info("AGV "+ ServerIp + " Log:" + s);
}
private static void AgvClient_Info(string s)
{
LogUtil.info("AGV "+ ServerIp + " Info:" + s);
}
public static Asa.Actions GetAction(string NodeName)
public static string GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.Actions.ClientClose;
return AGVAction.None;
}
public static void Dispose()
public static void UpdateAction(string name, string action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
......@@ -157,8 +149,17 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient "+ ServerIp + " 出错：" + ex.ToString());
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";
}
}
source/DeviceLibrary/device/RFID/RFIDManager.cs
......@@ -51,7 +51,7 @@ namespace OnlineStore.DeviceLibrary
{
//LogUtil.error("ReadRFID["+ip+"]出错：" + ex.ToString());
}
return new RFIDData(-1, -1);
return new RFIDData();
}
......@@ -73,11 +73,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// RFID类型，区分是料架还是托盘，托盘E=69,包装料料架A=65，料串=B
/// </summary>
public char RFType = 'A';
public char RFType = '0';
public int Num = 0;
public RFIDData(int num, int t)
public RFIDData(int num=0, int t=0)
{
if (t < 65)
{
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
......@@ -267,11 +267,11 @@ namespace OnlineStore.DeviceLibrary
wait.IsHomeMove = false;
return wait;
}
public static WaitResultInfo WaitAgvAction( int arrive)
public static WaitResultInfo WaitAgvAction( string arrive)
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = WaitEnum.W010_AgvStatus;
wait.TargetPosition = arrive;
wait.AgvAction = arrive;
return wait;
}
public string ToStr()
......@@ -319,7 +319,7 @@ namespace OnlineStore.DeviceLibrary
return "扫码完成";
}else if (WaitType.Equals(WaitEnum.W010_AgvStatus))
{
return "Agv状态：" + (Asa.Actions)TargetPosition;
return "Agv状态：" + AgvAction;
}
else
{
......@@ -372,7 +372,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public bool IsEnd{ get; set; }
public string AgvAction = "";
}
internal class WaitEnum
{
......
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