Control.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization;
using Common;
using log4net.Util;
using RestSharp;
namespace DeviceLibrary
{
public class Control
{
private static log4net.ILog log = log4net.LogManager.GetLogger("Control");
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
//public List<string> Marks;
private const int REG_STATUS = 20;
//private List<string> shelfLockedNodeNames;
public delegate void AgvChangedEvent(int agvIndex);
public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline;
public event AgvChangedEvent NodeChangedEvent;
public Control()
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 300,
AutoReset = true,
Enabled = false
};
AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
AgvStateTimer = new System.Timers.Timer
{
Interval = 3000,
AutoReset = true,
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
NodeStateTimer = new System.Timers.Timer
{
Interval = 5000,
AutoReset = true,
Enabled = false
};
// NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
}
public void Start()
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
}
private bool NodeStateInProcess = false;
//private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
//{
// if (NodeStateInProcess) return;
// NodeStateInProcess = true;
// List<AlarmMsg> msglist = new List<AlarmMsg>();
// try
// {
// String tmp = "";
// for (int j = 0; j < AGVManager.nodeInfo.Count; j++)
// {
// bool isAlarm = false;
// if (!AGVManager.UpdateStationState(AGVManager.nodeInfo[j]))
// {
// isAlarm = true;
// msglist.Add(new AlarmMsg(AGVManager.nodeInfo[j].AliceName, "lineAgv." + AGVManager.nodeInfo[j].Name + ".WarnMsg", AGVManager.nodeInfo[j].WarnMsg));
// }
// if (!isAlarm && !AGVManager.nodeInfo[j].Online)
// {
// msglist.Add(new AlarmMsg(AGVManager.nodeInfo[j].AliceName, "lineAgv." + AGVManager.nodeInfo[j].Name + ".OffLine", "离线"));
// }
// if (AGVManager.nodeInfo[j].Name.StartsWith(SettingString.RoomS_Name_Prefix) || AGVManager.nodeInfo[j].Name.StartsWith(SettingString.RoomC_Name_Prefix))
// {
// if (!AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomCFeederIn) && !AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomCFeederOut) &&
// !AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomDFeederIn) && !AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomDFeederOut))
// {
// tmp = HttpManager.GetFirstRFID(AGVManager.nodeInfo[j].LineName);
// if (!tmp.Equals(AGVManager.nodeInfo[j].RFID))
// {
// AGVManager.nodeInfo[j].RFID = tmp;
// NodeChangedEvent?.Invoke(j);
// }
// }
// //if (AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomCFeederOut) || AGVManager.nodeInfo[j].Name.Equals(SettingString.RoomDFeederOut))
// //{
// // if (AGVManager.unlockManager.GetUnlockCnt(AGVManager.nodeInfo[j].Name) > 0)
// // {
// // tmp = AGVManager.unlockManager.GetUnlockRfids(AGVManager.nodeInfo[j].Name)[0];
// // if (!tmp.Equals(AGVManager.nodeInfo[j].RFID))
// // {
// // AGVManager.nodeInfo[j].RFID = tmp;
// // NodeChangedEvent?.Invoke(j);
// // }
// // }
// //}
// }
// }
// HttpManager.updateDeviceAlarmMsg(msglist);
// }
// catch (Exception ex)
// {
// log.Error("NodeStateTimer " + ex.Message + ex.StackTrace);
// }
// NodeStateInProcess = false;
//}
private bool AgvStateInProcess = false;
//private eAGVState preAGVState = eAGVState.None;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
bool rtn;
if (AgvStateInProcess) return;
AgvStateInProcess = true;
List<AlarmMsg> msglist = new List<AlarmMsg>();
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
//上报异常
bool isAlarm = false;
try
{
if (!CheckOnline(i)) continue;
bool change = false;
MiR_API.Get_Task_State(AGVManager.agvInfo[i], out string taskStateStr);
Thread.Sleep(50);
//获取AGV状态
rtn = MiR_API.Get_State(AGVManager.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.MirPosition position);
Thread.Sleep(50);
change = AGVManager.agvInfo[i].SetState(stateID, taskStateStr, battery, mission_text, position);
// if (change)
{
AgvChanged?.Invoke(i);
}
Thread.Sleep(50);
if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
{
isAlarm = true;
msglist.Add(new AlarmMsg(AGVManager.agvInfo[i].Name, "lineAgv." + AGVManager.agvInfo[i].Name + ".Msg", "状态:" + stateText + ""));
}
if (!isAlarm && AGVManager.agvInfo[i].StandTimeOut)
{
isAlarm = true;
msglist.Add(new AlarmMsg(AGVManager.agvInfo[i].Name, "lineAgv." + AGVManager.agvInfo[i].Name + ".Msg", "在" + AGVManager.agvInfo[i].PlaceAliceName + "停留超时" + (DateTime.Now - AGVManager.agvInfo[i].StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
}
if (!isAlarm)
{
try
{
if (!AGVManager.agvInfo[i].Msg.Equals(""))
msglist.Add(new AlarmMsg(AGVManager.agvInfo[i].Name, "lineAgv." + AGVManager.agvInfo[i].Name + ".Msg", AGVManager.agvInfo[i].Msg, 1));
else
{
if ((AGVManager.agvInfo[i].Place.Contains(SettingString.AutoCharge) || AGVManager.agvInfo[i].Place.Contains(SettingString.Standby)))
{
msglist.Add(new AlarmMsg(AGVManager.agvInfo[i].Name, "lineAgv." + AGVManager.agvInfo[i].Name + ".Place", AGVManager.agvInfo[i].Place, 1));
}
}
}
catch (Exception ex)
{
log.Error(AGVManager.agvInfo[i].Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
}
}
HttpManager.updateDeviceAlarmMsg(msglist);
}
catch (Exception ex)
{
log.Error("AgvStateTimer_" + AGVManager.agvInfo[i].Name + ex.Message + ex.StackTrace);
}
}
AgvStateInProcess = false;
}
/// <summary>
/// 从节点获取任务
/// </summary>
/// <param name="agv_Info"></param>
/// <returns></returns>
public Job GetJob(Agv_Info agv_Info)
{
foreach (JobType jobType in AGVManager.jobTypes)
{
Job job = null;
if (agv_Info.IsUse)
job = jobType.GetNewJob(agv_Info);
else
return null;
if (job != null)
{
return job;
}
}
return null;
}
private bool AgvCallInProcess = false;
private void AgvCallTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvCallInProcess) return;
AgvCallInProcess = true;
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
try
{
Agv_Info agv = AGVManager.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接
if (!agv.IsUse) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause)
&& !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
{
log.Warn(string.Format("{0}不能调用 StateID={1}", AGVManager.agvInfo[i].Name, AGVManager.agvInfo[i].StateID.ToString()));
continue;
}
if (agv.CurJob == null)
{
Job job = GetJob(agv);
if (job != null)
{
agv.CurJob = job;
}
}
if (agv.CurJob != null)
{
agv.CurJob = agv.CurJob.Execute(agv);
}
}
catch (Exception ex)
{
log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
AgvCallInProcess = false;
}
private bool CheckOnline(int idx)
{
bool rtn = MiR_API.CheckIP(AGVManager.agvInfo[idx].IP);
if (rtn)
{
if (!AGVManager.agvInfo[idx].IsCon)
{
AGVManager.agvInfo[idx].IsCon = true;
log.Info(AGVManager.agvInfo[idx].Name + " Online");
AgvOnline?.Invoke(idx);
}
}
else
{
if (AGVManager.agvInfo[idx].IsCon)
{
AGVManager.agvInfo[idx].IsCon = false;
log.Info(AGVManager.agvInfo[idx].Name + " Offline");
AgvOnline?.Invoke(idx);
}
}
return rtn;
}
}
}