AgvClient.cs
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using OnlineStore.Common;
using System;
using System.Collections.Generic;
using AsaPL;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using OnlineStore.LoadCSVLibrary;
using System.Web.UI.WebControls;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private AsaPL.AgvClient agvClient;
private static bool isInit = false;
public static Dictionary<string, AsaPL.ClientAction> actionMap = new Dictionary<string, AsaPL.ClientAction>();
public bool InLine_InProcess = false;
public bool OutLine_InProcess = false;
private static string InLine_Name = ConfigAppSettings.GetValue(Setting_Init.InLine_Name);
private static string OutLine_Name = ConfigAppSettings.GetValue(Setting_Init.OutLine_Name);
public string OutLine_RFID { get; set; } = "";
#region InLine Action
/// <summary>
/// 无状态
/// </summary>
public void InLine_None()
{
SetStatus(InLine_Name, "", ClientAction.None);
}
/// <summary>
/// 可以进入状态
/// </summary>
public void InLine_NeedEnter()
{
SetStatus(InLine_Name, "", ClientAction.NeedEnter);
}
#endregion
#region OutLine Action
/// <summary>
/// 无状态
/// </summary>
public void OutLine_None(string rfid="")
{
SetStatus(OutLine_Name, rfid, ClientAction.None);
}
/// <summary>
/// 可以出去状态
/// </summary>
public void OutLine_NeedLeave(string rfid)
{
if (!OutLine_RFID.Equals(rfid))
{
OutLine_RFID = rfid;
SetStatus(OutLine_Name, rfid, ClientAction.NeedLeave);
}
}
#endregion
public void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new AsaPL.AgvClient(ServerIp);
agvClient.CancelState = false;
agvClient.ReadyEnter += AgvClient_ReadyEnter;
agvClient.ReadyLeave += AgvClient_ReadyLeave;
agvClient.AGVFinishEnter += AgvClient_FinishEnter;
agvClient.AGVFinishLeave += AgvClient_FinishLeave;
}
actionMap = new Dictionary<string, AsaPL.ClientAction>();
agvClient.SetStatus(InLine_Name, "", ClientAction.None);
agvClient.SetStatus(OutLine_Name, "", ClientAction.None);
agvClient.Connect();
LogUtil.info("初始化AGV服务");
}
catch (Exception ex)
{
LogUtil.error("初始化AGV服务 " + ServerIp + " 出错：", ex);
}
}
/// <summary>
/// 设置取消状态
/// </summary>
/// <param name="isCancel">true则ClientAction为None</param>
public void SetCancelState(bool isCancel)
{
agvClient.CancelState = isCancel;
}
public string Feeder_In_Msg = "";
public string Feeder_Out_Msg = "";
/// <summary>
/// 小车准备进入
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyEnter(string name)
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW) && !InLine_InProcess && name.Equals(InLine_Name))
{
MayEnter(InLine_Name);
Task.Factory.StartNew(delegate
{
Feeder_In_Msg = "Feeder In: 等待 L1_InCheck=HIGH";
LogUtil.info(Feeder_In_Msg);
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("Feeder In:" + ex.ToString());
}
//五秒后改为离开状态
Thread.Sleep(5000);
Feeder_In_Msg = "Feeder In: 调用 FinishEnter ";
LogUtil.info(Feeder_In_Msg);
FinishEnter(InLine_Name);
Feeder_In_Msg = "Feeder In: 处理结束 更新状态为None ";
LogUtil.info(Feeder_In_Msg);
InLine_None();
});
}
else
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.HIGH))
Feeder_In_Msg = "Feeder In: L1_InCheck 检测到有料架，AGV的料架无法进入";
LogUtil.info(Feeder_In_Msg);
InLine_None();
}
LogUtil.info("收到 AgvClient_ReadyEnter [" + name + "]");
}
/// <summary>
///料架准备离开
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyLeave(string name)
{
//SetStatus(name, "", ClientAction.ReadyLeave);
//if (name.Equals("D22"))
//{
// D22_InProcess = true;
// D22_ReadyLeave = true;
//}
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && !OutLine_InProcess && name.Equals(OutLine_Name))
{
MayLeave(OutLine_Name, OutLine_RFID);
//LineManager.feederLine.UpdateSleep(false);
LineManager.feederLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
//agvClient.MayLeave(id);
// SetStatus(id, shefId, ClientAction.MayLeave);
Feeder_Out_Msg = "Feeder Out: 允许流出料架";
LogUtil.info(Feeder_Out_Msg);
Task.Factory.StartNew(delegate
{
//十秒后改为完成状态
Thread.Sleep(10000);
Feeder_Out_Msg = "Feeder Out: 调用 FinishLeave ";
LogUtil.info(Feeder_Out_Msg);
FinishLeave(OutLine_Name, OutLine_RFID);
Thread.Sleep(5000);
Feeder_Out_Msg = "Feeder Out: 处理结束 更新状态为None ";
LogUtil.info(Feeder_Out_Msg);
OutLine_None();
});
}
else
{
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW))
Feeder_Out_Msg = "Feeder Out: L2_OutCheck 未检测到料架，无法将料架进入AGV";
LogUtil.info(Feeder_Out_Msg);
OutLine_None();
}
LogUtil.info("收到 AgvClient_ReadyLeave [" + name + "] ");
}
/// <summary>
/// 料架离开小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishLeave(string name)
{
if (name.Equals(InLine_Name))
{
InLine_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
OutLine_InProcess = false;
}
LogUtil.info("收到 AgvClient_FinishLeave [" + name + "] ");
}
/// <summary>
/// 料架进入小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishEnter(string name)
{
//if (name.Equals("D21"))
//{
// D21_InProcess = false;
//}
//else if (name.Equals("D22"))
//{
// D22_InProcess = false;
//}
LogUtil.info("收到 AgvClient_FinishEnter [" + name + "] ");
}
public void MayEnter(string name)
{
SetStatus(name, "", ClientAction.MayEnter);
if (name.Equals(InLine_Name))
{
InLine_InProcess = true;
}
LogUtil.info("MayEnter [" + name + "] ");
}
public void MayLeave(string name, string rfid)
{
SetStatus(name, rfid, ClientAction.MayLeave);
if (name.Equals(OutLine_Name))
{
OutLine_InProcess = true;
}
LogUtil.info("MayLeave [" + name + "] ");
}
/// <summary>
/// 料架进入产线完成
/// </summary>
/// <param name="name"></param>
public void FinishEnter(string name)
{
Task.Factory.StartNew(delegate
{
SetStatus(name, "", ClientAction.FinishEnter);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
{
InLine_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
OutLine_InProcess = false;
}
});
}
/// <summary>
/// 料架离开产线完成
/// </summary>
/// <param name="name"></param>
public void FinishLeave(string name, string rfid = "")
{
Task.Factory.StartNew(delegate
{
SetStatus(name, rfid, ClientAction.FinishLeave);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
{
InLine_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
OutLine_InProcess = false;
}
});
}
private bool SetStatus(string name, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
// if (!agvClient.IsConn)
// {
// LogUtil.error("SetStatus AGV服务未连接！");
// return false;
// }
if (actionMap.ContainsKey(name))
{
ClientAction currA = actionMap[name]; //相同状态就设置一次
if (currA.Equals(action) && shelfId == "")
{
return false;
}
// actionMap[name] = action;
// agvClient.SetStatus(name, shelfId, action, level);
LogUtil.info("设置 " + name + " [" + shelfId + "] " + action.ToString());
return true;
}
agvClient.SetStatus(name, shelfId, action, level);
//actionMap.Add(name, action);
LogUtil.info("设置 " + name + " ["+ shelfId + "] "+ action.ToString());
return true;
}
public bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
LogUtil.info("关闭AGV服务");
}
}
catch (Exception ex)
{
LogUtil.error("关闭AGV服务 " + ServerIp + " 出错：", ex);
}
}
}
}