AgvClient.cs
12.2 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
using Asa;
using Asa.RFID;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Asa.AgvClient 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 (!isInit)
{
isInit = true;
agvClient = new Asa.AgvClient(ServerIp);
agvClient.CancelState = true;
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.Ready += AgvClient_Ready;
agvClient.CloseDoor += AgvClient_CloseDoor;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
//foreach (string key in NodeList)
//{
// actionMap.Add(key, Asa.ClientAction.None);
//}
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
}
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
public static void SetCancelState(bool isCancel)
{
agvClient.CancelState = isCancel;
}
private static void AgvClient_CloseDoor(string id, string rfid)
{
//RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
}
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
// ClientAction currA = GetAction(id);
if (actionMap.ContainsKey(id))
{
ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
agvClient.SetStatus(id, "",shelfId, action, level);
UpdateAction(id, action);
}
private static void AgvClient_Ready(string id, string rfid)
{
// RFIDData data = new RFIDData(content);
string logName = "收到 AgvClient_Ready [" + id + "] [" + rfid + "] ";
LogUtil.info(logName);
UpdateAction(id, Asa.ClientAction.Ready);
if (id.Equals(LineManager.Config.L1_AgvName))
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
{
IOManager.CIOMove(IO_Type.L1_Run, IO_VALUE.HIGH);
Task.Factory.StartNew(delegate
{
SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info(logName + " ,等待L1_InCheck");
try
{
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.HIGH);
}, "等待L1_InCheck=HIGH");
}
catch (Exception ex)
{
LogUtil.error(logName + ":" + ex.ToString());
}
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishEnter ");
SetStatus(id, "", ClientAction.FinishEnter);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
LineManager.DISTLine.UpdateSleep(false);
});
}
else
{
LogUtil.error(logName + " OutL_InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
else if (id.Equals(LineManager.Config.L2_AgvName))
{
string shefId = LineManager.DISTLine.LastOutShelfId;
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH))
{
IOManager.CIOMove(IO_Type.L2_Run, IO_VALUE.HIGH);
//agvClient.MayLeave(id);
SetStatus(id, shefId, ClientAction.MayLeave);
//LineManager.DISTLine.StopIOMove(IO_Type.L2_OutStopDown, 2000);
IOManager.CIOMove(IO_Type.L2_OutStopDown, IO_VALUE.HIGH);
LogUtil.info(logName + "下降 L2_OutStopDown ， " + shefId);
Task.Factory.StartNew(delegate
{
try
{
WaitUtil.Wait(10000, delegate
{
IOManager.CIOMove(IO_Type.L2_OutStopDown, IOManager.IOValue(IO_Type.L2_OutCheck));
return IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW);
}, "等待L2_OutCheck=Low");
}
catch (Exception ex)
{
LogUtil.error(logName + ":" + ex.ToString());
}
IOManager.CIOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishLeave " + shefId);
SetStatus(id, shefId, ClientAction.FinishLeave);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
LineManager.DISTLine.UpdateSleep(false);
}
else
{
LogUtil.error(logName + " L2_OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
else if (id.Equals(LineManager.Config.L3_AgvName))
{
string shefId = LineManager.DISTLine.LastOutShelfId;
if (IOManager.IOValue(IO_Type.L3_OutCheck).Equals(IO_VALUE.HIGH))
{
SetStatus(id, shefId, ClientAction.MayLeave);
LogUtil.info(logName + "下降 L3_OutStopDown ， " + shefId);
IOManager.CIOMove(IO_Type.L3_Run, IO_VALUE.HIGH);
IOManager.CIOMove(IO_Type.L3_OutStopDown, IO_VALUE.HIGH);
Task.Factory.StartNew(delegate
{
try
{
WaitUtil.Wait(10000, delegate
{
IOManager.CIOMove(IO_Type.L3_OutStopDown, IOManager.IOValue(IO_Type.L3_OutCheck));
return IOManager.IOValue(IO_Type.L3_OutCheck).Equals(IO_VALUE.LOW);
}, "等待L3_OutCheck=Low");
}
catch (Exception ex)
{
LogUtil.error(logName + ":" + ex.ToString());
}
IOManager.CIOMove(IO_Type.L3_OutStopDown, IO_VALUE.LOW);
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishLeave " + shefId);
SetStatus(id, shefId, ClientAction.FinishLeave);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
LineManager.DISTLine.UpdateSleep(false);
}
else
{
LogUtil.error(logName + " L3_OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
}
private static void AgvClient_Arrive(string id, string rfid)
{
UpdateAction(id, Asa.ClientAction.Arrive);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" +rfid + "] ");
}
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedEnter);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedLeave);
return true;
}
return false;
}
public static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
//public static void SendRFID(string NodeName, string rfid)
//{
// agvClient.SendRFID(NodeName, rfid);
//}
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 Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, Asa.ClientAction 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("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
}