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Commit 3f22a0a2 由 LN
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agv修改

1 个父辈 a55f7b61
内嵌 并排
正在显示 15 个修改的文件 包含 428 行增加 和 98 行删除
dll/Client.dll
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dll/Client.xml
......@@ -199,5 +199,249 @@
<param name="buff"></param>
<returns></returns>
</member>
<member name="T:Asa.Client2">
<summary>
电脑客户端
</summary>
</member>
<member name="F:Asa.Client2.HEART">
<summary>
心跳包，HEART
</summary>
</member>
<member name="F:Asa.Client2.SERVER_OFF">
<summary>
服务器关闭，OFF
</summary>
</member>
<member name="F:Asa.Client2.CLIENT_OFF">
<summary>
客户端关闭，OFF
</summary>
</member>
<member name="T:Asa.Client2.ActionEvent">
<summary>
小车动作事件
</summary>
</member>
<member name="T:Asa.Client2.LogEvent">
<summary>
日志事件
</summary>
<param name="s"></param>
</member>
<member name="E:Asa.Client2.GetRFID">
<summary>
服务端发送的RFID
</summary>
</member>
<member name="E:Asa.Client2.Arrive">
<summary>
小车到达，仅包装料仓
</summary>
</member>
<member name="E:Asa.Client2.Ready">
<summary>
小车已准备，对接完成
</summary>
</member>
<member name="E:Asa.Client2.Log">
<summary>
日志
</summary>
</member>
<member name="M:Asa.Client2.#ctor(System.String)">
<summary>
电脑客户端
</summary>
<param name="serverIP">服务器IP地址</param>
</member>
<member name="P:Asa.Client2.IsConn">
<summary>
是否连接服务器
</summary>
</member>
<member name="M:Asa.Client2.Connect">
<summary>
连接
</summary>
</member>
<member name="M:Asa.Client2.Close">
<summary>
关闭
</summary>
</member>
<member name="M:Asa.Client2.SetStatus(System.String,System.String,System.String,Asa.ClientAction,Asa.ClientLevel)">
<summary>
设置状态
</summary>
<param name="name">节点名称</param>
<param name="mark">节点标记</param>
<param name="rfid">架子RFID</param>
<param name="action"></param>
<param name="level"></param>
</member>
<member name="M:Asa.Client2.Reconnect">
<summary>
发送RFID
</summary>
<param name="name"></param>
<param name="content"></param>
</member>
<member name="M:Asa.Client2.Splice(Asa.ClientNode)">
<summary>
拼接命令
</summary>
<param name="node"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.ListenNet">
<summary>
监听线程
</summary>
</member>
<member name="M:Asa.Client2.Resolve">
<summary>
分析数据包
</summary>
</member>
<member name="M:Asa.Client2.Send(System.Byte[])">
<summary>
发送命令
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.HexBuff(System.Byte[])">
<summary>
16进制
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.IsHeart(System.Byte[])">
<summary>
是否心跳包
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.IsServerOffline(System.Byte[])">
<summary>
是否服务器断开
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="T:Asa.ClientNode">
<summary>
客户端的节点
</summary>
</member>
<member name="F:Asa.ClientNode.Name">
<summary>
节点名称
</summary>
</member>
<member name="F:Asa.ClientNode.Mark">
<summary>
标记，用于包装料仓
</summary>
</member>
<member name="F:Asa.ClientNode.RFID">
<summary>
当前架子的RFID
</summary>
</member>
<member name="F:Asa.ClientNode.Action">
<summary>
动作
</summary>
</member>
<member name="F:Asa.ClientNode.Level">
<summary>
优先级
</summary>
</member>
<member name="M:Asa.ClientNode.#ctor(System.String,System.String,System.String,Asa.ClientAction,Asa.ClientLevel)">
<summary>
客户端节点
</summary>
<param name="name"></param>
<param name="mark"></param>
<param name="rfid"></param>
<param name="action"></param>
<param name="level"></param>
</member>
<member name="T:Asa.ClientAction">
<summary>
客户端的动作
</summary>
</member>
<member name="F:Asa.ClientAction.None">
<summary>
没有动作
</summary>
</member>
<member name="F:Asa.ClientAction.MayEnter">
<summary>
可以进入料架（包装料仓）
</summary>
</member>
<member name="F:Asa.ClientAction.MayLeave">
<summary>
可以出去料架（包装料仓）
</summary>
</member>
<member name="F:Asa.ClientAction.NeedEnter">
<summary>
需要进入料架
</summary>
</member>
<member name="F:Asa.ClientAction.NeedLeave">
<summary>
需要出去料架
</summary>
</member>
<member name="F:Asa.ClientAction.FinishEnter">
<summary>
完成进入料架
</summary>
</member>
<member name="F:Asa.ClientAction.FinishLeave">
<summary>
完成出去料架
</summary>
</member>
<member name="F:Asa.ClientAction.Arrive">
<summary>
小车到达
</summary>
</member>
<member name="F:Asa.ClientAction.Ready">
<summary>
小车已准备好
</summary>
</member>
<member name="T:Asa.ClientLevel">
<summary>
客户端的优先级
</summary>
</member>
<member name="F:Asa.ClientLevel.Low">
<summary>
低
</summary>
</member>
<member name="F:Asa.ClientLevel.Middle">
<summary>
中等
</summary>
</member>
<member name="F:Asa.ClientLevel.High">
<summary>
高
</summary>
</member>
</members>
</doc>
dll/CodeLibrary.dll
此文件类型无法预览
source/ACPackingStore/App.config
......@@ -50,6 +50,12 @@
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="192.168.103.22" />
<add key ="CodeCount" value ="2"/>
<add key="Tool_P3_Offset" value="7000" />
<add key="Tool_P4_Offset" value="-2000" />
<add key="Tool_P5_Offset" value="-2000" />
<add key="Tool_P6_Offset" value="7000" />
<add key="Tool_TargetSpeed" value="20" />
<add key="Tool_TargetPosition" value="1835000" />
<!--检测到料架后自动开始入库-->
<add key ="AutoShelfInstore" value ="1"/>
<!--是否启用入料口移门，1=启用，0=禁用-->
......
source/ACPackingStore/FrmBox.cs
......@@ -153,6 +153,7 @@ namespace OnlineStore.ACPackingStore
lblTemp.Text = BoxBean.humBean.currTempStr;
lblWarnMsg.Text = BoxBean.GetWarnMsg();
lblMoveInfo.Text = BoxBean.GetMoveStr();
lblMoveEquipInfo.Text="当前出入库信息："
//ReadPosistion();
if (BoxBean.storeRunStatus > StoreRunStatus.Wait)
{
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
using OnlineStore.Common;
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
......@@ -105,12 +106,12 @@ namespace OnlineStore.DeviceLibrary
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{
string agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = agvA.Equals(wait.TargetPosition);
ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
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.AgvAction.Equals(AGVAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
if (wait.AgvAction.Equals((int)ClientAction.Arrive) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
......@@ -123,7 +124,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = true;
}
}
else if (wait.AgvAction.Equals(AGVAction.FinishOut))
else if (wait.AgvAction.Equals((int)ClientAction.FinishLeave))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
......@@ -286,7 +287,7 @@ namespace OnlineStore.DeviceLibrary
if (data.RFType.Equals("A"))
{
CurrShelfID = data.NumStr();
AgvClient.SendRFID(Config.AgvNodeName, CurrShelfID);
AgvClient.SetStatus(Config.AgvNodeName,"", CurrShelfID,ClientAction.FinishEnter);
}
}
......@@ -743,8 +744,8 @@ 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.NeedEnter(Config.AgvNodeName);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.Arrive));
AgvClient.NeedEnter(Config.AgvNodeName,MoveInfo.MoveParam.ShelfPosID);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
}
else
{
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
using OnlineStore.Common;
using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
......@@ -164,13 +165,14 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
InOutStoreLog("送出出库料架：顶升气缸下降");
InOutStoreLog("送出出库料架：顶升气缸下降，清空料架clearPutInRfid[" + CurrShelfID + "]");
}
else
{
InOutStoreLog("送出空料架：顶升气缸下降");
InOutStoreLog("送出空料架：顶升气缸下降，清空料架clearPutInRfid[" + CurrShelfID + "]");
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
StoreManager.clearPutInRfid(Name, CurrShelfID);
}
private void ShelfOutProcess()
{
......@@ -201,21 +203,21 @@ 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.NeedLeave(Config.AgvNodeName);
AgvClient.NeedLeave(Config.AgvNodeName, CurrShelfID);
//等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.Arrive));
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.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(AGVAction.Arrive))
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{
if (instoreShelf)
{
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达，调用AgvClient.SendRFID【" + CurrShelfID + "】,调用AgvClient.MayOut，线体开始反转");
//TODO AGV到达，发送料架信息，是否需要重新读取?
AgvClient.SendRFID(Config.AgvNodeName, CurrShelfID);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave);
}
else
{
......@@ -278,35 +280,36 @@ namespace OnlineStore.DeviceLibrary
#region AGV
internal bool ProcessAGVAction(string name, string action)
internal bool ProcessAGVAction(string name, ClientAction action)
{
string logN = name + "收到调度【" + name + "】=【" + action + "】";
//状态处理
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) &&
waitOutStoreList.Count <= 0 &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
alarmType.Equals(StoreAlarmType.None)
&& IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW));
LogUtil.info(logN + "：" + usable);
return usable;
}
else if (action.Equals(AGVAction.Arrive))
//if (action.Equals(ClientAction.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) &&
// waitOutStoreList.Count <= 0 &&
// MoveInfo.MoveType.Equals(StoreMoveType.None) &&
// alarmType.Equals(StoreAlarmType.None)
// && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)
// && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW));
// LogUtil.info(logN + "：" + usable);
// return usable;
//}
//else
if (action.Equals(ClientAction.Arrive))
{
//出库处理中不处理
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{
return true;
}
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logN + " ，未检测到：LineIn_Check，不处理");
return false;
}
//if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
//{
// LogUtil.info(logN + " ，未检测到：LineIn_Check，不处理");
// return false;
//}
//agv到达，开始处理
if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
......@@ -541,7 +544,7 @@ namespace OnlineStore.DeviceLibrary
if (inoutParam.rfidLoc > 0 && ShelfPosList.Count >= inoutParam.rfidLoc)
{
shelfPosID = StoreManager.GetShelfIDByLoc(inoutParam.rfidLoc, ShelfPosList);
// shelfPosID = ShelfPosList[inoutParam.rfidLoc - 1];
// shelfPosID = ShelfPosList[inoutParam.rfidLoc - 1];
inoutParam.NeedEnterShelf = false;
inoutParam.NeedOutShelf = false;
inoutParam.ShelfPosID = shelfPosID;
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
......@@ -387,7 +387,7 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = msg;
}
internal bool AGVProcess(string name, string action)
internal bool AGVProcess(string name, ClientAction action)
{
foreach (AC_BOX_Bean box in this.BoxMap.Values)
{
......
source/DeviceLibrary/ACPackingStore/StoreManager.cs
......@@ -329,7 +329,7 @@ namespace OnlineStore.DeviceLibrary
/// 地址: /rest/api/qisda/device/updateLocInfo
/// </summary>
private static string Addr_updateLocInfo = "/rest/api/qisda/device/updateLocInfo";
public static string UpdateTrayLoc(string deviceName, string barcode, string locInfo)
public static string UpdateTrayLoc(string deviceName, string barcode, string locInfo)
{
string msg = "";
try
......@@ -368,6 +368,30 @@ namespace OnlineStore.DeviceLibrary
}
return msg;
}
private static string Addr_clearPutInRfid = "/service/store/qisda/clearPutInRfid";
public static string clearPutInRfid(string deviceName, string rfid)
{
string msg = "";
try
{
if (String.IsNullOrEmpty(rfid))
{
return msg;
}
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("rfid", rfid);//rfid
string server = GetAddr(Addr_clearPutInRfid, paramMap);
string resultStr = HttpHelper.Post(server, "");
LogUtil.info(deviceName + "clearPutInRfid 【" + server + "】【" + resultStr + "】");
}
catch (Exception ex)
{
LogUtil.error(deviceName + " " + ex.ToString());
}
return msg;
}
public static int GetLocByShelfPosID(string shelfId, List<String> shelfPosList)
{
int loc = -1;
......@@ -413,7 +437,7 @@ namespace OnlineStore.DeviceLibrary
}
return shelfId;
}
public static string ProcessCode(int LastWidth,int LastHeight,List<string> LastScanCodes)
public static string ProcessCode(int LastWidth, int LastHeight, List<string> LastScanCodes)
{
string message = "";
string spiltStr = "##";
......@@ -434,7 +458,7 @@ namespace OnlineStore.DeviceLibrary
return message;
}
}
public class ServerData
{
......
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -39,7 +39,7 @@
<Reference Include="Asa.IOModule.AIOBOX">
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
</Reference>
<Reference Include="Client, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="Client, Version=1.0.0.1, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\Client.dll</HintPath>
</Reference>
......
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -11,59 +11,84 @@ namespace OnlineStore.DeviceLibrary
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Client agvClient;
public static Dictionary<string, string> actionMap = new Dictionary<string, string>();
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 (agvClient == null)
if (!isInit)
{
agvClient = new Client(ServerIp);
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, string>();
actionMap = new Dictionary<string, Asa.ClientAction>();
foreach (string key in NodeList)
{
actionMap.Add(key, AGVAction.None);
actionMap.Add(key, Asa.ClientAction.None);
}
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
}
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
agvClient.Connect(NodeList.ToArray());
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：" + ex.ToString());
LogUtil.error("初始化agvClient " + ServerIp + " 出错："+ ex.ToString());
}
}
//private static void AgvClient_GetRFID(string name, byte[] content)
//{
// RFIDData data = new RFIDData(content);
// LogUtil.info("收到 AgvClient_GetRFID [" + name + "] [" + data.ToData() + "] ");
//}
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, AGVAction.Ready);
UpdateAction(id, ClientAction.Ready);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.Ready);
StoreManager.Store.AGVProcess(id, ClientAction.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() + "] ");
//private static void AgvClient_CanEnter(string id, byte[] content)
//{
// UpdateAction(id, ClientAction.CanEnter);
// RFIDData data = new RFIDData(content);
// LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.CanEnter);
}
// StoreManager.Store.AGVProcess(id, ClientAction.CanEnter);
//}
private static void AgvClient_Arrive(string id, byte[] content)
{
UpdateAction(id, AGVAction.Arrive);
UpdateAction(id, ClientAction.Arrive);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
StoreManager.Store.AGVProcess(id, AGVAction.Arrive);
StoreManager.Store.AGVProcess(id, ClientAction.Arrive);
}
......@@ -75,33 +100,48 @@ namespace OnlineStore.DeviceLibrary
}
return agvClient.IsConn;
}
internal static void SendRFID(string NodeName, string rfid)
{
agvClient.SendRFID(NodeName, rfid);
//internal static void SendRFID(string NodeName, string rfid)
//{
// agvClient.SendRFID(NodeName, rfid);
}
internal static void NeedEnter(string NodeName)
//}
public static bool NeedEnter(string id, string shelfId)
{
agvClient.NeedEnter(NodeName);
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.FinishLeave) || currA.Equals(ClientAction.FinishEnter))
{
SetStatus(id, shelfId, shelfId, ClientAction.NeedEnter);
return true;
}
return false;
}
internal static void NeedLeave(string NodeName)
public static bool NeedLeave(string id, string shelfId = "")
{
agvClient.NeedLeave(NodeName);
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.FinishLeave) || currA.Equals(ClientAction.FinishEnter))
{
SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave);
return true;
}
return false;
}
internal static void MayEnter(string NodeName)
internal static void MayEnter(string NodeName, string shelfId = "")
{
agvClient.MayEnter(NodeName);
SetStatus(NodeName, shelfId, shelfId, ClientAction.MayEnter);
//agvClient.MayEnter(NodeName);
}
internal static void FinishEnter(string NodeName)
internal static void FinishEnter(string NodeName, string shelfId = "")
{
agvClient.FinishEnter(NodeName);
SetStatus(NodeName, shelfId, shelfId, ClientAction.FinishEnter);
// agvClient.FinishEnter(NodeName);
}
internal static void MayLeave(string NodeName)
internal static void MayLeave(string NodeName, string shelfId = "")
{
agvClient.MayLeave(NodeName);
SetStatus(NodeName, shelfId, shelfId, ClientAction.MayLeave);
// agvClient.MayLeave(NodeName);
}
private static void AgvClient_Log(string s)
{
try
......@@ -118,15 +158,15 @@ namespace OnlineStore.DeviceLibrary
}
}
public static string GetAction(string NodeName)
public static Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return AGVAction.None;
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, string action)
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
......@@ -148,17 +188,17 @@ 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";
}
//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/halcon/CodeManager.cs
......@@ -215,13 +215,15 @@ namespace OnlineStore.DeviceLibrary
string r = "";
foreach (CodeInfo c in cc)
{
codeList.Add(c.CodeStr);
r = r + "##" + c.CodeStr;
string str = CodeManager.ReplaceCode(c.CodeStr);
codeList.Add(str);
r = r + "##" + str;
}
LogUtil.info(" 【" + cameraName + "】【" + codeType + "】扫码完成：" + r);
//}
}
ho_Image.Dispose();
bitmap.Dispose();
}
}
......@@ -258,7 +260,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
/// <param name="message"></param>
/// <returns></returns>
private static string ReplaceCode(string message)
public static string ReplaceCode(string message)
{
message = message.Trim();
message = message.Replace("\r", "");
......@@ -271,7 +273,12 @@ namespace OnlineStore.DeviceLibrary
List<byte> newBytes = new List<byte>();
foreach (byte by in bytes)
{
if (!by.Equals(24))
int value = (int)by;
if (value.Equals(24) || value.Equals(30) || value.Equals(29) || value.Equals(4))
{
continue;
}
if (!value.Equals(24))
{
newBytes.Add(by);
}
......
source/DeviceLibrary/store/AutoInoutInfo.cs
......@@ -79,6 +79,7 @@ namespace OnlineStore.DeviceLibrary
InOutParam param = new InOutParam("AAAA", posid, shelfPosId);
param.NeedOutShelf = false;
param.NeedEnterShelf = false;
//判断是否需要重置
if (CurrInOutACount >= boxBean.Config.Box_ResetACount)
{
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -160,6 +160,9 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 料架进入料仓步骤 1000开始
/// <summary>
/// 通知agv准备带料架agv
/// </summary>
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
......@@ -267,7 +267,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsHomeMove = false;
return wait;
}
public static WaitResultInfo WaitAgvAction( string arrive)
public static WaitResultInfo WaitAgvAction(int arrive)
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = WaitEnum.W010_AgvStatus;
......@@ -372,7 +372,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public bool IsEnd{ get; set; }
public string AgvAction = "";
public int AgvAction = 0;
}
internal class WaitEnum
{
......
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