Control.cs
12.4 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
317
318
319
320
321
322
323
324
325
326
327
328
329
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");
static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
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);
}
}
}
}
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;
if (!AGVManager.agvInfo[i].AllocatingTask && AGVManager.agvInfo[i].IsUse && AGVManager.agvInfo[i].CurJob != null && AGVManager.agvInfo[i].CurTaskID.Equals(-1))
{
if(AGVManager.agvInfo[i].UseFleet)
{
if (!MiR_API.Get_Fleet_Mission_Info(AGVManager.agvInfo[i]))
{
AGVManager.agvInfo[i].CurJob.ResendTask(AGVManager.agvInfo[i]);
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{AGVManager.agvInfo[i].CurTarName}");
}
else
{
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={AGVManager.agvInfo[i].CurTaskID}");
}
}
else
{
if (!MiR_API.Get_Mission_Info(AGVManager.agvInfo[i]))
{
AGVManager.agvInfo[i].CurJob.ResendTask(AGVManager.agvInfo[i]);
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{AGVManager.agvInfo[i].CurTarName}");
}
else
{
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={AGVManager.agvInfo[i].CurTaskID}");
}
}
}
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);
if (rtn) change = AGVManager.agvInfo[i].SetState(stateID, taskStateStr, battery, mission_text, position);
// if (change)
{
AgvChanged?.Invoke(i);
}
}
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)
{
log.Debug(agv_Info.Name + " GetJob OK " + job.ToString());
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 (!AGVManager.agvInfo[i].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;
}
//else
//{
// //if (agv.Battery < Common.chargeStatus.chargeMax)
// agv.CurJob = new ChargeJob(agv.Place);
//}
}
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)
{
log.Debug(AGVManager.agvInfo[idx].Name + " Online");
}
else
{
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);
}
else
{
log.Debug(AGVManager.agvInfo[idx].Name + " Offline");
}
}
return rtn;
}
}
}
public class RunInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum { get; set; } = "";
/// <summary>
/// 时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 任务信息
/// </summary>
public string MissionInfo { get; set; } = "";
public RunInfo(string AGVNum, string missionInfo)
{
//2006-01-02 15:04:05
DateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
this.AGVNum = AGVNum;
MissionInfo = missionInfo;
}
public RunInfo() { }
public override bool Equals(object obj)
{
if (obj is RunInfo)
{
RunInfo info = (RunInfo)obj;
if (this.MissionInfo.Equals(info.MissionInfo))
return true;
this.MissionInfo = info.MissionInfo;
}
return false;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}