AgvClient.cs
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using BLL;
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 string NodeName = "";
private static Client agvClient = null;
public static Dictionary<string, Asa.Actions> actionMap = new Dictionary<string, Asa.Actions>();
public static List<string> NodeList = new List<string>();
public static void Init( )
{
try
{
// this.NodeName = nodeID;
if (agvClient == null)
{
agvClient = new Client(ServerIp);
}
actionMap = new Dictionary<string, Asa.Actions>();
foreach(string key in NodeList)
{
actionMap.Add(key, Asa.Actions.ClientClose);
}
agvClient.Info += AgvClient_Info;
agvClient.Log += AgvClient_Log;
agvClient.Connected += AgvClient_Connected;
agvClient.Action += AgvClient_Action;
agvClient.Connect();
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：" + ex.ToString());
}
}
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, byte[] data)
{
agvClient.SendRFID(NodeName, data);
}
/// <summary>
/// 10 准备空车
/// </summary>
/// <param name="NodeName"></param>
internal static void ReadyEmpty(string NodeName)
{
agvClient.ReadyEmpty(NodeName);
}
/// <summary>
/// 11 准备小车带料架
/// </summary>
/// <param name="NodeName"></param>
internal static void ReadyShelf(string NodeName)
{
agvClient.ReadyShelf(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 小车离开
/// </summary>
/// <param name="NodeName"></param>
internal static void GetOut(string NodeName)
{
agvClient.GetOut(NodeName);
}
private static bool AgvClient_Action(string name, Asa.Actions action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
return LineManager.Line.FeedAGVProcess(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)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.Actions.ClientClose;
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient "+ ServerIp + " 出错：" + ex.ToString());
}
}
}
}