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 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
{
if (agvClient == null)
{
agvClient = new Client(ServerIp);
}
actionMap = new Dictionary<string, string>();
foreach (string key in NodeList)
{
actionMap.Add(key, AGVAction.None);
}
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);
}
}
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() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
LogUtil.error ("收到 AgvClient_Ready ["+id+"] ["+data.ToData()+"] 未找到对应的设备 ，暂不处理");
return;
}
equip.AgvReady(id,data);
}
private static void AgvClient_CanEnter(string id, byte[] content)
{
UpdateAction(id, AGVAction.CanEnter);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CanEnter [" + id + "] [" + data.ToData() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
string okName = "";
foreach(FeedingEquip feed in LineManager.Line.FeedingEquipMap.Values)
{
if (id.Contains(feed.Config.AgvInName))
{
if (feed.AgvCanEnter(id, data))
{
okName += feed.Config.AgvInName;
}
}
}
agvClient.IsEnter(okName);
return;
}
else
{
bool result = equip.AgvCanEnter(id, data);
agvClient.IsEnter(equip.Config.AgvInName);
}
}
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() + "] ");
FeedingEquip equip = getFeedEquip(id);
if (equip == null)
{
LogUtil.error("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 未找到对应的设备 ，暂不处理 ");
return;
}
equip.AgvArrive(id, data);
}
private static FeedingEquip getFeedEquip(string nodeId)
{
foreach (FeedingEquip feed in LineManager.Line.FeedingEquipMap.Values)
{
if (feed.Config.AgvInName.Equals(nodeId) || feed.Config.AgvOutName.Equals(nodeId))
{
return feed;
}
}
return null;
}
internal static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
internal static void SendRFID(string NodeName, string rfid)
{
agvClient.SendRFID(NodeName, rfid);
}
internal static void NeedEnter(string NodeName)
{
agvClient.NeedEnter(NodeName);
}
internal static void NeedLeave(string NodeName)
{
agvClient.NeedLeave(NodeName);
}
internal static void MayEnter(string NodeName)
{
agvClient.MayEnter(NodeName);
}
internal static void FinishEnter(string NodeName)
{
agvClient.FinishEnter(NodeName);
}
internal static void MayLeave(string NodeName)
{
agvClient.MayLeave(NodeName);
}
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 string GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return AGVAction.None;
}
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
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient " + ServerIp + " 出错：", ex);
}
}
}
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";
}
}