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Commit 05b1c9b2 由 张东亮
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.gitignore 0 → 100644
## Ignore Visual Studio temporary files, build results, and
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\ No newline at end of file \ No newline at end of file
AGV_3D_SMD.sln 0 → 100644

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 16
VisualStudioVersion = 16.0.30104.148
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGV_3D_SMD", "AGV_3D_SMD\AGV_3D_SMD.csproj", "{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgvClientTest", "AgvClientTest\AgvClientTest.csproj", "{E1C0827A-FA12-49A9-AC71-6D3E6518754A}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgvClient", "AgvClient\AgvClient.csproj", "{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Release|Any CPU.Build.0 = Release|Any CPU
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SolutionGuid = {6958A655-C82F-4C09-951F-24E629575E89}
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AGV_3D_SMD/AGV_3D_SMD.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>AGV_3D_SMD</RootNamespace>
<AssemblyName>AGV_3D_SMD</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup>
<ApplicationIcon>icon.ico</ApplicationIcon>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net">
<HintPath>dll\log4net.dll</HintPath>
</Reference>
<Reference Include="Newtonsoft.Json, Version=3.5.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>dll\Newtonsoft.Json.dll</HintPath>
</Reference>
<Reference Include="RestSharp, Version=106.11.4.0, Culture=neutral, PublicKeyToken=598062e77f915f75, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>dll\RestSharp.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Configuration" />
<Reference Include="System.Core" />
<Reference Include="System.Runtime.Serialization" />
<Reference Include="System.ServiceModel" />
<Reference Include="System.ServiceModel.Activation" />
<Reference Include="System.ServiceModel.Web" />
<Reference Include="System.Web" />
<Reference Include="System.Web.Extensions" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Deployment" />
<Reference Include="System.Drawing" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="bean\Agv_Info.cs" />
<Compile Include="bean\DisplayBoard.cs" />
<Compile Include="bean\Job.cs" />
<Compile Include="bean\JobStep.cs" />
<Compile Include="bean\jobType\ChargeJobType.cs" />
<Compile Include="bean\jobType\ReturnJobType.cs" />
<Compile Include="bean\JobType.cs" />
<Compile Include="bean\job\GetShelfJob.cs" />
<Compile Include="bean\job\SendShelfJob.cs" />
<Compile Include="bean\job\PackingJob_TransferShelf.cs" />
<Compile Include="bean\job\RecycleEmptyShelf.cs" />
<Compile Include="bean\job\PackingJob_SendShelf.cs" />
<Compile Include="bean\job\PackingJob_GetShelf.cs" />
<Compile Include="bean\job\StandyJob.cs" />
<Compile Include="bean\job\ChargeJob.cs" />
<Compile Include="bean\job\EnterLeaveShelfJob.cs" />
<Compile Include="bean\node\Node.cs" />
<Compile Include="bean\node\ClientNode.cs" />
<Compile Include="bean\jobType\ReelStringJobType.cs" />
<Compile Include="bean\jobType\PackingJobType.cs" />
<Compile Include="BLL\AGVManager.cs" />
<Compile Include="BLL\AgvServer.cs" />
<Compile Include="BLL\ScopeLimit.cs" />
<Compile Include="BLL\Standby.cs" />
<Compile Include="BLL\Charge.cs" />
<Compile Include="BLL\Common.cs" />
<Compile Include="BLL\Control.cs" />
<Compile Include="BLL\HttpHelper.cs" />
<Compile Include="BLL\FileHelper.cs" />
<Compile Include="BLL\JsonHelper.cs" />
<Compile Include="BLL\MyWebClient.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="BLL\SettingString.cs" />
<Compile Include="FrmMain.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmMain.Designer.cs">
<DependentUpon>FrmMain.cs</DependentUpon>
</Compile>
<Compile Include="BLL\MiR_API.cs" />
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<EmbeddedResource Include="FrmMain.resx">
<DependentUpon>FrmMain.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
<Generator>ResXFileCodeGenerator</Generator>
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
<SubType>Designer</SubType>
</EmbeddedResource>
<Compile Include="Properties\Resources.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Resources.resx</DependentUpon>
<DesignTime>True</DesignTime>
</Compile>
<None Include="Config\AgvMission.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="Config\AgvName.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="Config\AgvProductionLine.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="packages.config" />
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
</None>
<Compile Include="Properties\Settings.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile>
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
</ItemGroup>
<ItemGroup>
<Content Include="icon.ico" />
</ItemGroup>
<ItemGroup />
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/App.config 0 → 100644
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
<log4net>
<appender name="AGV_3D_SMD" type="log4net.Appender.RollingFileAppender">
<file value="logs/AGV_3D_SMD.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="AgvServer" type="log4net.Appender.RollingFileAppender">
<file value="logs/AgvServer.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="MiR_API" type="log4net.Appender.RollingFileAppender">
<file value="logs/MiR_API.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<logger name="MiR_API">
<level value="Error"/>
<appender-ref ref="MiR_API"/>
</logger>
<logger name="AgvServer">
<level value="Debug"/>
<appender-ref ref="AgvServer"/>
</logger>
<root>
<level value="Info"/>
<appender-ref ref="AGVControl_SMD_BOX"/>
</root>
</log4net>
<appSettings>
<add key="http_server" value="http://10.85.199.25/myproject/" />
<add key="FLEET" value="10.85.199.3" />
<add key="LocalIP" value="10.85.199.20" />
<add key="AutoCharge" value="True" />
<add key="ChargeThreshold" value="20,90" />
<add key="LimitPoints" value="0,0;0,0;0,0;0,0" />
</appSettings>
</configuration>
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/BLL/Charge.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.BLL
{
public class Charge
{
/// <summary>
/// 充电站
/// </summary>
public Dictionary<string, string> Station;
public const string AutoCharge1 = "AutoCharge1";
public const string AutoCharge2 = "AutoCharge2";
/// <summary>
/// 充电最大电量，小于该值或大于等待指定时间去充电
/// </summary>
public int BatteryMax { get; set; } = 90;
/// <summary>
/// 充电最小电量，小于该值直接去充电
/// </summary>
public int BatteryMin { get; set; } = 20;
/// <summary>
/// 自动充电
/// </summary>
private bool _autoCharge = true;
/// <summary>
/// 自动充电
/// </summary>
public bool AutoCharge
{
set
{
_autoCharge = value;
AppConfigHelper.SaveValue(SettingString.AutoCharge, value);
}
get
{
return _autoCharge;
}
}
public Charge()
{
Station = new Dictionary<string, string>();
Station.Add(AutoCharge1, "");
Station.Add(AutoCharge2, "");
_autoCharge = AppConfigHelper.GetBoolValue(SettingString.AutoCharge);
string s = AppConfigHelper.GetValue(SettingString.ChargeThreshold);
string[] arr = s.Split(',');
BatteryMin = Convert.ToInt32(arr[0]);
BatteryMax = Convert.ToInt32(arr[1]);
}
/// <summary>
/// 在空的充电桩添加占用小车
/// </summary>
/// <param name="chargeName">占用充电桩的名称</param>
/// <returns></returns>
public bool AddOccupyInfo(string chargeName,string agvName)
{
if (agvName.Equals(""))
return false;
if (Station.Keys.Contains(chargeName))
{
Station[chargeName] = agvName;
return true;
}
return false;
}
private static object loc = new object();
/// <summary>
/// 清除占用信息
/// </summary>
/// <param name="chargeName"></param>
/// <returns></returns>
public bool DelOccupyInfo(string agvName)
{
lock(loc)
{
if (Station.Values.Contains(agvName))
{
foreach (string item in Station.Keys)
{
if (Station[item].Equals(agvName))
{
Station[item] = "";
return true;
}
}
}
}
return false;
}
/// <summary>
/// 清除agv占用信息
/// </summary>
/// <param name="chargeName"></param>
/// <returns></returns>
public void DelOccupyInfoByAGV(Agv_Info agv)
{
lock(loc)
{
foreach (string item in Station.Keys)
{
if (Station[item].Equals(agv.Name))
{
Station[item] = "";
break;
}
}
}
}
public void ClearAllOccupyInfo()
{
lock(loc)
{
if (Station != null && Station.Count > 0)
{
foreach (var item in Station.Keys)
{
Station[item] = "";
}
}
}
}
public bool HasEmptyChargeStation()
{
lock(loc)
{
foreach (string item in Station.Keys)
{
if (Station[item].Equals(""))
{
return true;
}
}
}
return false;
}
/// <summary>
/// 开始充电任务
/// </summary>
/// <param name="agv"></param>
/// <returns>充电任务结果</returns>
public bool StartCharge(Agv_Info agv)
{
bool rtn;
string log;
agv.Place = "";
lock(loc)
{
foreach (string chargeStation in Station.Keys)
{
if (Station[chargeStation].Equals(""))
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[chargeStation]);
if (rtn)
{
Station[chargeStation] = agv.Name;
agv.Place = SettingString.AutoCharge;
log = string.Format("{0} {1}", agv.Name, chargeStation);
Common.LogInfo(log);
Common.mir.State_Ready(agv);
}
else
{
Station[chargeStation] = "";
log = string.Format("{0} {1}失败", agv.Name, chargeStation);
Common.LogInfo(log);
}
return true;
}
}
}
return false;
}
}
}
AGV_3D_SMD/BLL/Control.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Drawing.Text;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization;
using AGVControl;
using AGVControl.bean.jobType;
using AGVControl_SMD_BOX.BLL;
using log4net.Util;
using MiR;
using RestSharp;
namespace AGVControl.BLL
{
public class Control
{
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
public delegate void AgvChangedEvent(int agvIndex);
public delegate void AgvMissionEvent();
public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline;
/// <summary>
/// 限制区域
/// </summary>
public ScopeLimit limitArea;
/// <summary>
/// 获取任务打开
/// </summary>
public static bool OpenGetJob = true;
public Control()
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 500,
AutoReset = true,
Enabled = false
};
AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
AgvStateTimer = new System.Timers.Timer
{
Interval = 5000,
AutoReset = true,
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
string[] limitPoints = AppConfigHelper.GetValue(SettingString.LimitPoints).Split(';');
List<Agv_Info.clsPosition> clsPositions = new List<Agv_Info.clsPosition>();
string[] s1;
for (int i = 0; i < limitPoints.Length; i++)
{
s1 = limitPoints[i].Split(',');
clsPositions.Add(new Agv_Info.clsPosition(double.Parse(s1[0]), double.Parse(s1[1])));
}
limitArea = new AGVControl_SMD_BOX.BLL.ScopeLimit(clsPositions);
}
public void Start()
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
}
private bool AgvStateInProcess = false;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
bool rtn;
if (AgvStateInProcess) return;
AgvStateInProcess = true;
for (int i = 0; i < Common.agvInfo.Count; i++)
{
try
{
// if (!CheckOnline(i)) continue;
CheckOnline(i);
bool change = false;
Common.mir.Get_Task_State(Common.agvInfo[i].CurTaskID, out string stateStr);
Thread.Sleep(50);
//获取AGV状态
rtn = Common.mir.Get_State(Common.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
Thread.Sleep(50);
rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
Thread.Sleep(50);
change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
//更新状态stateID.Equals(eAGVState.Executing)
if (change)
{
AgvChanged?.Invoke(i);
}
}
catch (Exception ex)
{
Common.log.Error("AgvStateTimer_" + Common.agvInfo[i].Name + ex.Message + ex.StackTrace);
}
}
AgvStateInProcess = false;
}
private static object lockGetObj = new object();
/// <summary>
/// 获取任务
/// </summary>
/// <param name="agv_Info"></param>
/// <returns></returns>
public Job GetJob(Agv_Info agv_Info)
{
lock(lockGetObj)
{
foreach (JobType find in Common.jobTypeInfo)
{
Job job = null;
if (OpenGetJob)
{
job = find.GetNewJob(agv_Info);
if (job != null)
{
Common.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 < Common.agvInfo.Count; i++)
{
try
{
Agv_Info agv = Common.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接
if (!Common.agvInfo[i].IsUse) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if (!Common.agvInfo[i].StateID.Equals(eAGVState.Ready) && !Common.agvInfo[i].StateID.Equals(eAGVState.Pause)
&& !Common.agvInfo[i].StateID.Equals(eAGVState.Executing) && !Common.agvInfo[i].StateID.Equals(eAGVState.Error))
{
Common.log.Error(Common.agvInfo[i].Name + " 不可调用 StateID=" + Common.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)
{
Common.log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
AgvCallInProcess = false;
}
private bool CheckOnline(int idx)
{
bool rtn = Common.mir.CheckIP(Common.agvInfo[idx].IP);
if (rtn)
{
if (Common.agvInfo[idx].IsCon)
{
Common.log.Debug(Common.agvInfo[idx].Name + " Online");
}
else
{
Common.agvInfo[idx].IsCon = true;
Common.LogInfo(Common.agvInfo[idx].Name + " Online");
AgvOnline?.Invoke(idx);
AgvChanged?.Invoke(idx);
}
}
else
{
if (Common.agvInfo[idx].IsCon)
{
Common.agvInfo[idx].IsCon = false;
Common.LogInfo(Common.agvInfo[idx].Name + " Offline");
AgvOnline?.Invoke(idx);
AgvChanged?.Invoke(idx);
}
else
{
Common.log.Debug(Common.agvInfo[idx].Name + " Offline");
}
}
return rtn;
}
}
}
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/BLL/FileHelper.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Xml;
namespace AGVControl
{
public class IniHelper
{
[DllImport("kernel32")]
//section：要读取的段落名
//key: 要读取的键点击打开链接点击打开链接
//defVal: 读取异常的情况下的缺省值
//retVal: key所对应的值，如果该key不存在则返回空值
//size: 值允许的大小
//filePath: INI文件的完整路径和文件名
private static extern int GetPrivateProfileString(string section, string key, string defVal, StringBuilder retVal, int size, string filePath);
[DllImport("kernel32")]
//section: 要写入的段落名
//key: 要写入的键，如果该key存在则覆盖写入
//val: key所对应的值
//filePath: INI文件的完整路径和文件名
private static extern long WritePrivateProfileString(string section, string key, string val, string filePath);
/// <summary>
/// 读取INI文件
/// </summary>
/// <param name="section">项目名称(如 [section] )</param>
/// <param name="skey">键</param>
/// <param name="path">路径</param>
public static string ReadValue(string section, string skey, string path)
{
StringBuilder temp = new StringBuilder(500);
GetPrivateProfileString(section, skey, "", temp, 500, path);
return temp.ToString();
}
/// <summary>
/// 写入ini文件
/// </summary>
/// <param name="section">项目名称</param>
/// <param name="key">键</param>
/// <param name="value">值</param>
/// <param name="path">路径</param>
public static void WriteValue(string section, string key, string value, string path)
{
WritePrivateProfileString(section, key, value, path);
}
}
public class AppConfigHelper
{
public static System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
public static string GetValue(string key)
{
if (config.AppSettings.Settings[key] == null)
{
Common.log.Error("未找到配置：" + key + ",请检查配置是否完整！");
return "";
}
else
{
return config.AppSettings.Settings[key].Value;
}
}
public static decimal GetNumValue(string key)
{
decimal a = 0;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
Common.log.Error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static int GetIntValue(string key)
{
int a = 0;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
Common.log.Error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static bool GetBoolValue(string key)
{
bool a=false;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
Common.log.Error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
bool.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static void SaveValue(string key, int value)
{
SaveValue(key, value.ToString());
}
public static void SaveValue(string key, bool value)
{
SaveValue(key, value.ToString());
}
public static void SaveValue(string key, string value)
{
try
{
if (key.Equals("") || value.Equals(""))
{
return;
}
//增加的内容写在appSettings段下 <add key="RegCode" value="0"/>
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
SetValue(key, value);
}
else
{
UpdateConfig(key, value);
}
}
catch (Exception ex)
{
Common.log.Error("SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + "," + ex.StackTrace);
}
}
/// <summary>
/// 更新配置文件信息
/// </summary>
/// <param name="name">配置文件字段名称</param>
/// <param name="Xvalue">值</param>
private static void UpdateConfig(string name, string Xvalue)
{
try
{
XmlDocument doc = new XmlDocument();
doc.Load(Application.ExecutablePath + ".config");
XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
XmlElement ele = (XmlElement)node;
ele.SetAttribute("value", Xvalue);
doc.Save(Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
Common.log.Error("UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + "," + ex.StackTrace);
}
}
///<summary>
///向.config文件的appKey结写入信息AppValue 保存设置
///</summary>
///<param name="AppKey">节点名</param>
///<param name="AppValue">值</param>
private static void SetValue(String AppKey, String AppValue)
{
try
{
XmlDocument xDoc = new XmlDocument();
xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
XmlNode xNode;
XmlElement xElem1;
XmlElement xElem2;
xNode = xDoc.SelectSingleNode("//appSettings");
xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
if (xElem1 != null)
xElem1.SetAttribute("value", AppValue);
else
{
xElem2 = xDoc.CreateElement("add");
xElem2.SetAttribute("key", AppKey);
xElem2.SetAttribute("value", AppValue);
xNode.AppendChild(xElem2);
}
xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
Common.log.Error("SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + "," + ex.StackTrace);
}
}
}
}
AGV_3D_SMD/BLL/HttpHelper.cs 0 → 100644
using System;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Web;
using System.Collections;
using System.Net;
using System.Net.Security;
using System.Security;
using System.Security.Cryptography;
using System.Security.Cryptography.X509Certificates;
using System.Reflection;
using System.Net.NetworkInformation;
using MiR;
using AGVControl;
namespace AGVControl
{
public class HttpHelper
{
// public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static string Post(string url, string paramData)
{
return Post(url, paramData, Encoding.UTF8);
}
//public static bool PingURLIP(string url, int ms=100)
//{
// string[] urlArray = url.Split('/');
// if (urlArray.Length > 3)
// {
// string ip = urlArray[2];
// Ping pingSender = new Ping();
// PingReply reply = pingSender.Send(ip, ms);//第一个参数为ip地址，第二个参数为ping的时间
// if (reply.Status == IPStatus.Success)
// {
// //通
// return true;
// }
// else
// {
// //不通
// return false;
// }
// }
// return true;
//}
/// <summary>
///
/// </summary>
/// <param name="url"></param>
/// <param name="operation"></param>
/// <param name="simulate">是否模拟服务器返回结果</param>
/// <returns></returns>
//public static Operation Post(string url, Operation operation, bool simulate)
//{
// try
// {
// ////如果Op=0或者Op=5，先拼Ip，不通不发送
// //if (operation.op < 0 || operation.op.Equals(5))
// //{
// // if (PingURLIP(url, 100).Equals(false))
// // {
// // return null;
// // }
// //}
// if (simulate)
// {//模拟服务器返回
// operation.status = 200;
// operation.data.Clear();
// operation.data.Add("posId", "A001");
// string pos = "D100-111#D102-222#D104-333";
// operation.data.Add("pos", pos);
// if (operation.op == 1 || operation.op == 2)
// {//入库或出库
// string json = JsonHelper.SerializeObject(operation);
// LogUtil.error("模拟HTTP服务器返回出库入库信息：" + json);
// return operation;
// }
// }
// else
// {
// string json = "";
// try
// {
// json = JsonHelper.SerializeObject(operation);
// }
// catch (Exception ex)
// {
// LogUtil.error("JsonHelper.SerializeObject(operation) 出错【operation.op=" + operation.op + "】" + ex);
// }
// string result = Post(url, json);
// if (!string.IsNullOrEmpty(result))
// {
// try
// {
// return JsonHelper.DeserializeJsonToObject<Operation>(result);
// }
// catch (Exception ex)
// {
// LogUtil.error("JsonHelper.DeserializeJsonToObject 出错【result=" + result + "】" + ex);
// }
// }
// }
// }
// catch (Exception ex)
// {
// LogUtil.error("Post 出错【operation.op=" + operation.op + "】：" + ex);
// }
// return null;
//}
public static string LastServerMsg = "";
public static string Post(string url, string paramData, Encoding encoding)
{
//if (PingURLIP(url, 100).Equals(false))
//{
// return null;
//}
if (paramData != "null" && paramData != null)
{
// LogUtil.debug(LOGGER, "HTTP POST to " + url + " \n\t >> " + paramData);
}
string result = "";
if (url.ToLower().IndexOf("https", System.StringComparison.Ordinal) > -1)
{
ServicePointManager.ServerCertificateValidationCallback =
new RemoteCertificateValidationCallback((sender, certificate, chain, errors) => { return true; });
}
try
{
var wc = new MyWebClient(5000);
if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
wc.Encoding = encoding;
result = wc.UploadString(url, "POST", paramData);
//Common.LogInfo(result);
}
catch (Exception e)
{
Common.log.Error("POST ERROR:" + e.ToString());
}
if (!result.Contains("null") && result.Length != 0)
{
//LogUtil.debug(LOGGER,"receive << " + result);
}
LastServerMsg = DateTime.Now.ToLongTimeString() + " URL：" + url + "\r\n"
+ "发送：" + paramData + "\r\n"
+ "接收：" + result + "\r\n"
;
return result;
}
public static string Get(string url)
{
return Get(url, Encoding.UTF8);
}
public static string Get(string url, Encoding encoding)
{
try
{
Common.log.Debug("HTTP GET FROM: " + url);
var wc = new WebClient { Encoding = encoding };
var readStream = wc.OpenRead(url);
using (var sr = new StreamReader(readStream, encoding))
{
var result = sr.ReadToEnd();
Common.log.Debug("receive << " + result);
return result;
}
}
catch (Exception e)
{
Common.log.Error("HTTP GET ERROR:" + e.Message);
}
return "";
}
}
}
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/BLL/JsonHelper.cs 0 → 100644
using AGVControl;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.IO;
namespace AGVControl
{
/// <summary>
/// Json帮助类
/// </summary>
public class JsonHelper
{
/// <summary>
/// 将对象序列化为JSON格式
/// </summary>
/// <param name="o">对象</param>
/// <returns>json字符串</returns>
public static string SerializeObject(object o)
{
string json = JsonConvert.SerializeObject(o);
return json;
}
/// <summary>
/// 解析JSON字符串生成对象实体
/// </summary>
/// <typeparam name="T">对象类型</typeparam>
/// <param name="json">json字符串(eg.{"ID":"112","Name":"石子儿"})</param>
/// <returns>对象实体</returns>
public static T DeserializeJsonToObject<T>(string json) where T : class
{
JsonSerializer serializer = new JsonSerializer();
StringReader sr = new StringReader(json);
object o = serializer.Deserialize(new JsonTextReader(sr), typeof(T));
T t = o as T;
return t;
}
/// <summary>
/// 解析JSON数组生成对象实体集合
/// </summary>
/// <typeparam name="T">对象类型</typeparam>
/// <param name="json">json数组字符串(eg.[{"ID":"112","Name":"石子儿"}])</param>
/// <returns>对象实体集合</returns>
public static List<T> DeserializeJsonToList<T>(string json) where T : class
{
JsonSerializer serializer = new JsonSerializer();
StringReader sr = new StringReader(json);
object o = serializer.Deserialize(new JsonTextReader(sr), typeof(List<T>));
List<T> list = o as List<T>;
return list;
}
/// <summary>
/// 反序列化JSON到给定的匿名对象.
/// </summary>
/// <typeparam name="T">匿名对象类型</typeparam>
/// <param name="json">json字符串</param>
/// <param name="anonymousTypeObject">匿名对象</param>
/// <returns>匿名对象</returns>
public static T DeserializeAnonymousType<T>(string json, T anonymousTypeObject)
{
T t = JsonConvert.DeserializeAnonymousType(json, anonymousTypeObject);
return t;
}
/// <summary>
///写入JSON文件
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ts"></param>
/// <param name="fileName"></param>
public static void WriteJson<T>(List<T> ts, string fileName) where T : class
{
try
{
string path = Common.CONFIG_PATH + fileName + ".json";
string output = JsonConvert.SerializeObject(ts,Formatting.Indented);
File.WriteAllText(path, output);
}
catch (Exception e)
{
Common.log.Error(e.Message + "/r/n" + e.StackTrace);
}
}
/// <summary>
/// 读取JSON文件
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ts"></param>
/// <param name="fileName"></param>
public static List<T> ReadJson<T>(string fileName) where T : class
{
try
{
string path = Common.CONFIG_PATH + fileName + ".json";
StreamReader streamReader = new StreamReader(path);
string jsonStr = streamReader.ReadToEnd();
List<T> jsonObj = DeserializeJsonToList<T>(jsonStr);
streamReader.Close();
return jsonObj;
}
catch (Exception e)
{
Common.log.Error(e.Message + "/r/n" + e.StackTrace);
return null;
}
}
}
///// <summary>
///// 与服务器通信用对象
///// </summary>
//public class Operation
//{
// private string _cid = "";
// public string cid
// {
// get { return _cid; }
// set { _cid = value; }
// }
// public int seq { get; set; }
// public int op { get; set; }
// public int status { get; set; }
// private string _error = "";
// public string error
// {
// get { return _error; }
// set { _error = value; }
// }
// private Dictionary<string, string> _data = new Dictionary<string,string>();
// public Dictionary<string, string> data {
// get { return _data; }
// set { _data = value; }
// }
//}
}
AGV_3D_SMD/BLL/MyWebClient.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
namespace MiR
{
public class MyWebClient:WebClient
{
private int _timeout;
/// <summary>
/// 超时时间(毫秒)
/// </summary>
public int Timeout
{
get
{
return _timeout;
}
set
{
_timeout = value;
}
}
public MyWebClient()
{
this._timeout = 60000;
}
public MyWebClient(int timeout)
{
this._timeout = timeout;
}
protected override WebRequest GetWebRequest(Uri address)
{
var result = base.GetWebRequest(address);
result.Timeout = this._timeout;
return result;
}
}
}
AGV_3D_SMD/BLL/ScopeLimit.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
using AGVControl;
namespace AGVControl_SMD_BOX.BLL
{
public class ScopeLimit
{
List<string> agvIPs;
//不规则图像坐标
List<Agv_Info.clsPosition> positions;
Thread threadPoll;//监控线程
/// <summary>
/// 区域是否可用
/// </summary>
public bool Available { get; private set; } = true;
public delegate void ScopeLimitStateChangedEventHandler(string ip, bool state);
public event ScopeLimitStateChangedEventHandler ScopeLimitStateChangedEvent;
public ScopeLimit(List<Agv_Info.clsPosition> positions)
{
agvIPs = new List<string>();
agvIPs.AddRange(new string[]
{
"10.85.199.68",
"10.85.199.69",
"10.85.199.70",
"10.85.199.71",
"10.85.199.72",
"10.85.199.73",
"10.85.199.74",
"10.85.199.80",
"10.85.199.81",
"10.85.199.114"
});
this.positions = positions;
threadPoll = new Thread(ScopeDetecting);
threadPoll.IsBackground = true;
threadPoll.Start();
}
private void ScopeDetecting()
{
bool rtn;
while (true)
{
Thread.Sleep(5000);
List<string> agvs = new List<string>();
foreach (string ip in agvIPs)
{
Thread.Sleep(1000);
rtn = Common.mir.Get_Position(ip, Common.agvInfo[0].Authorization, out Agv_Info.clsPosition position);
if (rtn)
{
if (IsInPolygon(position, positions))
{
agvs.Add(ip);
}
}
}
if (agvs.Count > 0)
{
Available = false;
ScopeLimitStateChangedEvent?.Invoke(string.Join(";", agvs), Available);
}
else //不在限制区域
{
if (!Available)
{
Available = true;
ScopeLimitStateChangedEvent?.Invoke("", Available);
}
}
}
}
/// <summary>
/// 判断点是否在多边形内.
/// ----------原理----------
/// 注意到如果从P作水平向左的射线的话，如果P在多边形内部，那么这条射线与多边形的交点必为奇数，
/// 如果P在多边形外部，则交点个数必为偶数(0也在内)。
/// </summary>
/// <param name="checkPoint">要判断的点</param>
/// <param name="polygonPoints">多边形的顶点</param>
/// <returns></returns>
bool IsInPolygon(Agv_Info.clsPosition checkPoint, List<Agv_Info.clsPosition> polygonPoints)
{
bool inside = false;
int pointCount = polygonPoints.Count;
Agv_Info.clsPosition p1, p2;
for (int i = 0, j = pointCount - 1; i < pointCount; j = i, i++)//第一个点和最后一个点作为第一条线，之后是第一个点和第二个点作为第二条线，之后是第二个点与第三个点，第三个点与第四个点...
{
p1 = polygonPoints[i];
p2 = polygonPoints[j];
if (checkPoint.y < p2.y)
{//p2在射线之上
if (p1.y <= checkPoint.y)
{//p1正好在射线中或者射线下方
if ((checkPoint.y - p1.y) * (p2.x - p1.x) > (checkPoint.x - p1.x) * (p2.y - p1.y))//斜率判断,在P1和P2之间且在P1P2右侧
{
//射线与多边形交点为奇数时则在多边形之内，若为偶数个交点时则在多边形之外。
//由于inside初始值为false，即交点数为零。所以当有第一个交点时，则必为奇数，则在内部，此时为inside=(!inside)
//所以当有第二个交点时，则必为偶数，则在外部，此时为inside=(!inside)
inside = (!inside);
}
}
}
else if (checkPoint.y < p1.y)
{
//p2正好在射线中或者在射线下方，p1在射线上
if ((checkPoint.y - p1.y) * (p2.x - p1.x) < (checkPoint.x - p1.x) * (p2.y - p1.y))//斜率判断,在P1和P2之间且在P1P2右侧
{
inside = (!inside);
}
}
}
return inside;
}
}
}
AGV_3D_SMD/BLL/SettingString.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
public static class SettingString
{
public const int AGVCNT = 4;
public const string Move = "Move";
public const string Dock = "Dock";
//任务名称
public const string Standby = "Standby";
public const string CheckShelf = "CheckShelf";
public const string DoorDToC = "DoorDToC";
public const string DoorCToD = "DoorCToD";
public const string Wait = "Wait";
public const string Done = "Done";
public const string Aborted = "Aborted";
public const string Invalid = "Invalid";
public const string AutoCharge = "AutoCharge";
public const string Executing = "Executing";
public const string ChargeThreshold = "ChargeThreshold";
public const string SingleMission_IP1 = "10.85.199.67";
public const string FileName_AGV = "AgvName.csv";
public const string FileName_AgvMission = "AgvMission.csv";
public const string FileName_AgvProductionLine = "AgvProductionLine.csv";
public const string FileName_tempData = "tempData.ini";
public const string IsUse = "IsUse";
public const string RFID = "RFID";
public const string EmptyShelfCnt = "EmptyShelfCnt";
public const string FLEET = "FLEET";
/// <summary>
/// 包装料架RFID前缀
/// </summary>
public const string Packing_RFID_Prefix = "A";
public const string Packing_Box_Prefix = "B";
public const string ReelString_RFID_Prefix = "B";
public const string C4_STANDBY1 = "C4_STANDBY1";
public const string C4_STANDBY2 = "C4_STANDBY2";
public const string C4FeederIn = "C21";
public const string D4FeederIn = "D21";
/// <summary>
/// 退料线
/// </summary>
public const string G23_In = "G23";
public const string G24_Out = "G24";
/// <summary>
/// 上料区
/// </summary>
public const string A6 = "A6";
/// <summary>
/// 下料区
/// </summary>
public const string A5 = "A5";
public const string D4_Name_Prefix = "D";
public const string C4_Name_Prefix = "G";
public const string http_server = "http_server";
/// <summary>
/// 包装仓出空料架位置
/// </summary>
public const string A7 = "A7";
/// <summary>
/// 包装仓出空料架位置
/// </summary>
public const string A4 = "A4";
public const string A3 = "A3";
public const string Enter = "Enter";
public const string Leave = "Leave";
/// <summary>
/// 空料串接收位置
/// </summary>
public const string C7 = "C7";
public const string A2 = "A2";
public const string A8 = "A8";
/// <summary>
/// 出满料
/// </summary>
public const string C8 = "C8";
public const string A1 = "A1";
public const string InStore_Mark = "InStore";
/// <summary>
/// 入料口1
/// </summary>
public const string C5 = "C5";
public const string C6 = "C6";
/// <summary>
/// 入料口2
/// </summary>
public const string C3 = "C3";
public const string C4 = "C4";
/// <summary>
/// 入料口3
/// </summary>
public const string C1 = "C1";
public const string C2 = "C2";
/// <summary>
/// 点料机
/// </summary>
public const string D1 = "D1";
public const string D2 = "D2";
public const string D3 = "D3";
public const string D4 = "D4";
public const string LimitPoints = "LimitPoints";
}
}
AGV_3D_SMD/BLL/Standby.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.BLL
{
public class Standby
{
/// <summary>
/// 待机位
/// </summary>
public List<string> Station;
private const int Station_CNT = 4;
public Standby()
{
Station = new List<string>();
Station.AddRange(new string[Station_CNT]);
}
/// <summary>
/// 在空的待机位添加占用小车
/// </summary>
/// <param name="standName">占用待机位的名称</param>
/// <returns></returns>
public bool AddOccupyInfo(string standName)
{
if (standName.Equals(""))
return false;
int i = Station.FindIndex(s => (s == null || s.Equals("")));
if (i > -1)
{
Station[i] = standName;
return true;
}
return false;
}
/// <summary>
/// 清除占用信息
/// </summary>
/// <param name="standName"></param>
/// <returns></returns>
public bool DelOccupyInfo(string standName)
{
if (standName.Equals(""))
return false;
int i = Station.FindIndex(s => s != null && s.Equals(standName));
if (i > -1)
{
Station[i] = "";
return true;
}
return false;
}
public void ClearAllInfo()
{
if (Station != null && Station.Count > 0)
{
Station.Clear();
Station = new List<string>();
Station.AddRange(new string[Station_CNT]);
}
}
public string GetInfoByID(int index)
{
if (Station ==null ||index<0 || index >= Station_CNT || Station[index] ==null)
return "";
else
return Station[index];
}
}
}
AGV_3D_SMD/BLL/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/Config/AgvMission.csv 0 → 100644
任务别称,任务名称,任务GUID
移动到VMI出口,MoveA1,eec1eed4-2a04-11ea-9c84-94c691a734f1
移动到VMI入口,MoveA2,f68f18db-2f89-11ea-9ee4-94c691a734f1
移动到包装线入口,MoveA3,979d10eb-2f9d-11ea-9ee4-94c691a734f1
移动到包装线出口,MoveA4,df6d991a-2f9d-11ea-9ee4-94c691a734f1
移动到分盘线出口,MoveA7,71e01c6d-de10-11ea-a3e4-94c691a7387d
移动到分盘线入口,MoveA8,cd0544f8-de10-11ea-a3e4-94c691a7387d
移动到包装仓10-1,MoveB1,86a6ab06-261e-11ea-a30e-94c691a73861
移动到包装仓10-2,MoveB2,55fcfdc5-2623-11ea-a30e-94c691a73861
移动到包装仓11-1,MoveB3,905399c8-2623-11ea-a30e-94c691a73861
移动到包装仓11-2,MoveB4,aa33e13a-2623-11ea-a30e-94c691a73861
移动到包装仓12-2,MoveB5,2cd36cde-2624-11ea-a30e-94c691a73861
移动到包装仓12-1,MoveB6,3e713e8b-2624-11ea-a30e-94c691a73861
停靠到包装仓10-1,DockB1,339d1830-261f-11ea-a30e-94c691a73861
停靠到包装仓10-2,DockB2,a6d6f52a-2624-11ea-a30e-94c691a73861
停靠到包装仓11-1,DockB3,b66f0714-2624-11ea-a30e-94c691a73861
停靠到包装仓11-2,DockB4,d01443f2-2624-11ea-a30e-94c691a73861
停靠到包装仓12-2,DockB5,f50dd02b-2624-11ea-a30e-94c691a73861
停靠到包装仓12-1,DockB6,0e5503f2-2625-11ea-a30e-94c691a73861
移动到料串入口C1,MoveC1,a6e36b4c-2fa0-11ea-9ee4-94c691a734f1
移动到料串出口C2,MoveC2,6c6829de-2624-11ea-a30e-94c691a73861
移动到料串入口C3,MoveC3,3ffe309f-2ae6-11ea-a6cf-94c691a734f1
移动到料串出口C4,MoveC4,2ef71347-2ae7-11ea-a6cf-94c691a734f1
移动到料串入口C5,MoveC5,34ec2f1f-2ae8-11ea-a6cf-94c691a734f1
移动到料串出口C6,MoveC6,52f37677-2f96-11ea-9ee4-94c691a734f1
移动到紧急入料口,MoveC7,bcd0e389-2ab7-11ea-a6cf-94c691a734f1
移动到紧急出料口,MoveC8,8a48301d-2624-11ea-a30e-94c691a73861
移动到点料机D1口,MoveD1,931f7c6c-a97d-11ea-b91f-94c691a7387d
移动到点料机D2口,MoveD2,ae09ca1e-a97f-11ea-b91f-94c691a7387d
移动到点料机D3口,MoveD3,97b77df3-edfb-11ea-a03e-94c691a7387d
移动到点料机D4口,MoveD4,37961cd0-edfd-11ea-a03e-94c691a7387d
移动到退料线入口,MoveG23,5dc60886-ee00-11ea-a03e-94c691a7387d
移动到退料线出口,MoveG24,9a965176-ee00-11ea-a03e-94c691a7387d
移动到待机位,MoveStandby,4eb9641a-3439-11ea-984a-94c691a734f1
移动到充电位1,AutoCharge1,9e1b33c0-2886-11ea-a0d6-94c691a734f1
移动到充电位2,AutoCharge2,d756f63d-2886-11ea-a0d6-94c691a734f1
小车进料,Enter,2eadcb87-239a-11ea-8343-94c691a73861
小车出料,Leave,80943220-239a-11ea-8343-94c691a73861
小车初始化,Init,cd51e039-34eb-11ea-b4fe-94c691a734f1
AGV_3D_SMD/Config/AgvName.csv 0 → 100644
Fleet ID,agv名称,IP,授权码,IOID
1,1号车,10.85.199.67,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==,007615a5-2220-11ea-99f2-94c691a73b53
2,2号车,10.85.199.68,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==,007615a5-2220-11ea-99f2-94c691a73b53
3,3号车,10.85.199.69,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==,007615a5-2220-11ea-99f2-94c691a73b53
4,4号车,10.85.199.70,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==,007615a5-2220-11ea-99f2-94c691a73b53
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/Config/AgvProductionLine.csv 0 → 100644
节点名,别名,佳世达线名
B1,packing-19,包装仓10-1
B2,packing-20,包装仓10-2
B3,packing-21,包装仓11-1
B4,packing-22,包装仓11-2
B5,packing-24,包装仓12-1
B6,packing-23,包装仓12-2
A1,A1,VMI-A1出口
A2,A2,VMI-A2入口
A3,A3,包装线-A3入口
A4,A4,包装线-A4出口
A7,A7,分盘线-A7出口
A8,A8,分盘线-A8入口
C1,C1,入料3-C1入口
C2,C2,入料3-C2出口
C3,C3,入料2-C3入口
C4,C4,入料2-C4出口
C5,C5,入料1-C5入口
C6,C6,入料1-C6出口
C7,C7,紧急料-C7入口
C8,C8,紧急料-C8出口
D1,D1,点料机-D1入口
D2,D2,点料机-D2出口
D3,D3,点料机-D3口
D4,D4,点料机-D4口
G23,G23,退料线入口
G24,G24,退料线出口
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/Config/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/FrmMain.cs 0 → 100644
此文件的差异被折叠， 点击展开。
AGV_3D_SMD/FrmMain.resx 0 → 100644
此文件的差异被折叠， 点击展开。
AGV_3D_SMD/Program.cs 0 → 100644
using MiR;
using log4net.Config;
using log4net.Util.TypeConverters;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using AGVControl.bean.jobType;
namespace AGVControl
{
static class Program
{
/// <summary>
/// 应用程序的主入口点。
/// </summary>
[STAThread]
static void Main()
{
Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
Application.ThreadException += Application_ThreadException;
AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
XmlConfigurator.Configure();
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
//程序只能运行一次
Process current = Process.GetCurrentProcess();
Process[] processes = Process.GetProcessesByName(current.ProcessName);
foreach (Process process in processes)
{
if (process.Id == current.Id) continue; //自己
if (process.MainModule.FileName == current.MainModule.FileName)
{
//显示已打开的程序
API.ShowWindow(process.MainWindowHandle, API.SW_RESTORE);
API.SwitchToThisWindow(process.MainWindowHandle, true);
return;
}
}
Start();
Application.Run(new FrmMain());
Stop();
}
private static void Start()
{
Common.logTextBox = new TextBox();
Common.log = log4net.LogManager.GetLogger("AGVControl_SMD_BOX");
Common.log.Info("=====程序开始=====");
ReadConfig();
Common.Charge = new BLL.Charge();
Common.Standby = new BLL.Standby();
Common.mir = new MiR.API();
Common.control = new BLL.Control();
Common.control.Start();
Common.server = new BLL.AgvServer();
Common.server.Start();
}
private static void Stop()
{
Common.control.Stop();
Common.server.Stop();
Common.log.Info("=====程序结束=====\r\n");
}
private static void ReadConfig()
{
string path;
string[] line;
string[] temp;
bool isuse;
string rfid = "";
Common.agvInfo = new List<Agv_Info>();
path = Common.CONFIG_PATH + SettingString.FileName_AGV;
line = System.IO.File.ReadAllLines(path, Encoding.UTF8);
for (int i = 1; i < line.Length; i++)
{
temp = line[i].Split(',');
if (temp.Length != 5) continue;
//string val = Common.appConfig.AppSettings.Settings[temp[1]].Value;
bool.TryParse(Common.ReadIni(temp[1], SettingString.IsUse), out isuse); //Convert.ToBoolean(val.Split(',')[0]);
rfid = Common.ReadIni(temp[1], SettingString.RFID); //val.Split(',')[1];
Common.agvInfo.Add(new Agv_Info(temp[0], temp[1], temp[2], temp[3], temp[4], isuse, rfid));
}
Common.agvMission = new Dictionary<string, string>();
Common.showNameMissionName = new Dictionary<string, string>();
path = Common.CONFIG_PATH + SettingString.FileName_AgvMission;
line = System.IO.File.ReadAllLines(path, Encoding.UTF8);
for (int i = 1; i < line.Length; i++)
{
temp = line[i].Split(',');
if (temp.Length != 3) continue;
Common.agvMission.Add(temp[1], temp[2]);
Common.showNameMissionName.Add(temp[0], temp[1]);
}
Common.nodeInfo = new List<ClientNode>();
path = Common.CONFIG_PATH + SettingString.FileName_AgvProductionLine;
line = System.IO.File.ReadAllLines(path, Encoding.GetEncoding("gb2312"));
for (int i = 1; i < line.Length; i++)
{
temp = line[i].Split(',');
if (temp.Length != 3) continue;
Boolean.TryParse(Common.ReadIni(temp[0], SettingString.IsUse), out bool isUse);
Common.nodeInfo.Add(new ClientNode(temp[0], temp[1],temp[2], isUse));
}
//加载任务类型
Common.jobTypeInfo = new List<JobType>();
Common.jobTypeInfo.Add(new PackingJobType());
Common.jobTypeInfo.Add(new ReelStringJobType());
Common.jobTypeInfo.Add(new ReturnJobType());
Common.jobTypeInfo.Add(new ChargeJobType());
}
private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
{
Common.log.Error("CurrentDomain_UnhandledException", (Exception)e.ExceptionObject);
}
private static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
{
Common.log.Error("Application_ThreadException", e.Exception);
}
}
}
AGV_3D_SMD/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("AGVControl-ProductionLine")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("AGVControl-ProductionLine")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("e1c3207d-c67d-4b46-a9db-d182f2074ccb")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
AGV_3D_SMD/Properties/Resources.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace AGV_3D_SMD.Properties {
using System;
/// <summary>
/// 一个强类型的资源类，用于查找本地化的字符串等。
/// </summary>
// 此类是由 StronglyTypedResourceBuilder
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
private static global::System.Resources.ResourceManager resourceMan;
private static global::System.Globalization.CultureInfo resourceCulture;
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
internal Resources() {
}
/// <summary>
/// 返回此类使用的缓存的 ResourceManager 实例。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Resources.ResourceManager ResourceManager {
get {
if (object.ReferenceEquals(resourceMan, null)) {
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AGV_3D_SMD.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 重写当前线程的 CurrentUICulture 属性
/// 重写当前线程的 CurrentUICulture 属性。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture {
get {
return resourceCulture;
}
set {
resourceCulture = value;
}
}
}
}
AGV_3D_SMD/Properties/Resources.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
AGV_3D_SMD/Properties/Settings.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace AGV_3D_SMD.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.7.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default {
get {
return defaultInstance;
}
}
}
}
AGV_3D_SMD/Properties/Settings.settings 0 → 100644
<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
</Profiles>
<Settings />
</SettingsFile>
AGV_3D_SMD/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/bean/DisplayBoard.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.bean
{
public class DisplayBoard
{
/// <summary>
/// 异常列表
/// </summary>
public List<AlarmMsg> MsgList { get; private set; }
/// <summary>
/// 看板类
/// </summary>
public DisplayBoard()
{
MsgList = new List<AlarmMsg>();
}
/// <summary>
/// 添加上报信息
/// </summary>
/// <param name="name"></param>
/// <param name="key"></param>
/// <param name="value"></param>
/// <param name="type">默认类型是异常，1表示正常信息</param>
public void Add(string name, string key, string value, int type = 0)
{
MsgList.Add(new AlarmMsg(name, key, value, type));
}
private void ClearAlram()
{
if (MsgList != null && MsgList.Count > 0)
MsgList.Clear();
}
public void UpdateAlarmMsg()
{
if (MsgList != null && MsgList.Count > 0)
{
AGVManager.updateDeviceAlarmMsg(MsgList);
ClearAlram();
}
}
}
}
AGV_3D_SMD/bean/Job.cs 0 → 100644
using AGVControl;
using System;
using System.Collections.Generic;
namespace AGVControl
{
public abstract class Job
{
/// <summary>
/// 是否任务正在执行，防止任务执行时间过长产生多线程问题
/// </summary>
public bool IsProcess { get; set; }
/// <summary>
/// 运行信息
/// </summary>
public abstract string RunInfo { get; }
/// <summary>
/// 根据任务状态继续执行任务
/// </summary>
public abstract Job Execute(Agv_Info agv);
public int CurTaskID { get; set; } = -1;
/// <summary>
/// 当前的任务名称（与任务GUID对应）
/// </summary>
public string CurTaskName { get; set; } = "";
/// <summary>
/// 当前任务的执行状态
/// </summary>
public string CurTaskState { get; set; } = "Wait";
/// <summary>
/// 更新任务信息
/// </summary>
/// <param name="curTaskName"></param>
/// <param name="curTaskId"></param>
protected void UpdateJobTaskInfo(string curTaskName, int curTaskId)
{
CurTaskID = curTaskId;
CurTaskName = curTaskName;
//CurTaskState = SettingString.Wait;
CurTaskState = Common.GetTakJobState(CurTaskID);
}
/// <summary>
/// 任务重发
/// </summary>
/// <returns></returns>
public bool ResendTask(Agv_Info agv)
{
bool rtn = false;
if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string stateStr))
{
if (stateStr.Equals(SettingString.Aborted) || stateStr.Equals(SettingString.Invalid))
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
}
else if (!CurTaskName.Equals("") && !Common.agvMission[CurTaskName].Equals(agv.CurTaskGUID))//Job的当前任务与agv最新任务不一致
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
else if (CurTaskID.Equals(-1))//任务发送失败，重新发送
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
return false;
}
}
}
AGV_3D_SMD/bean/JobStep.cs 0 → 100644
using AGVControl;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
public class JobStep<T> where T : Enum
{
private T step;
private string msg = "";
public string Msg
{
get { return msg; }
set
{
if (!string.IsNullOrEmpty(value))
{
value = step.ToString() + ":" + value;
//不为空，且与上一个消息不一样才打印
if (!value.Equals(msg))
{
Common.LogInfo(value);
}
}
msg = value;
}
}
private DateTime startTime = DateTime.Now;
public JobStep(T initStep)
{
this.step = initStep;
this.msg = "";
}
/// <summary>
/// 当前步骤是否是某个步骤
/// </summary>
/// <param name="step"></param>
/// <returns></returns>
public bool IsStep(T step)
{
return this.step.Equals(step);
}
/// <summary>
/// 是否超时
/// </summary>
/// <param name="timeOutMilliseconds"></param>
/// <returns></returns>
public bool IsTimeOut(int timeOutMilliseconds,out double timeOutValue)
{
timeOutValue = 0;
TimeSpan span = DateTime.Now - startTime;
if (span.TotalMilliseconds > timeOutMilliseconds)
{
timeOutValue = span.TotalSeconds;
return true;
}
return false;
}
/// <summary>
/// 进入下一个步骤
/// </summary>
/// <param name="nextStep"></param>
public void ToNextStep(T nextStep)
{
step = nextStep;
startTime = DateTime.Now;
}
public void ResetStartTime()
{
startTime = DateTime.Now;
}
public string CurStep()
{
return step.ToString();
}
}
}
AGV_3D_SMD/bean/JobType.cs 0 → 100644
using AGVControl.bean;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
public class JobType
{
public JobType()
{
}
public virtual Job GetNewJob(Agv_Info agv)
{
return null;
}
}
}
AGV_3D_SMD/bean/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/bean/job/ChargeJob.cs 0 → 100644

using AGVControl;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public ChargeJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("充电任务:{0} [任务名称={1}][任务状态={2}]", runInfo,CurTaskName,CurTaskState); }
}
private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = "";
CurTaskState = Common.GetTakJobState(CurTaskID);
if (ChargeStep.IsStep(CHARGE_STEP.NONE))
{
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.Charge.BatteryMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
msg += runInfo;
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
if (!Common.Charge.StartCharge(agv))
{
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.Charge.BatteryMax + "%],由于充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
ChargeStep.Msg = msg;
return new StandyJob(agv.Place);
}
else
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
msg += runInfo;
ChargeStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (agv.Battery > Common.Charge.BatteryMax)
{
runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "去到待机位";
msg += runInfo;
ChargeStep.Msg = msg;
return new StandyJob(agv.Place);
}
else
{
if (!Common.Charge.StartCharge(agv))
{
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.Charge.BatteryMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
ChargeStep.Msg = msg;
return new StandyJob(agv.Place);
}
else
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
msg += runInfo;
ChargeStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (Common.CheckTaskFinished(agv, CurTaskName))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "充电任务分配完成，去充电且等待任务";
msg += runInfo;
ChargeStep.Msg = msg;
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
{
if (agv.Battery > Common.Charge.BatteryMax)
{
runInfo = "充电完成，回待机位";
msg += runInfo;
ChargeStep.Msg = msg;
Common.Charge.DelOccupyInfoByAGV(agv);
return new StandyJob(agv.Place);
}
else if(agv.Battery > Common.Charge.BatteryMin)
{
Job job = Common.control.GetJob(agv);
if (job != null && !(job is ChargeJob) && !(job is StandyJob))
{
runInfo = "在充电位检测到任务，电量[" + agv.Battery + " %]大于最小电量[" + Common.Charge.BatteryMin + " %],可执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
Common.Charge.DelOccupyInfoByAGV(agv);
return job;
}
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV充电流程
/// </summary>
private enum CHARGE_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <summary>
/// 等待AGV到达充电位
/// </summary>
WAIT_REACH_CHARGE_STATION,
/// <summary>
/// 等待充电完成
/// </summary>
WAIT_REACH_CHARGE_OK,
/// <summary>
/// 充电完成去待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}
AGV_3D_SMD/bean/job/EnterLeaveShelfJob.cs 0 → 100644

using AGVControl;
using MiR;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
/// <summary>
/// 小车进出料类型
/// </summary>
public enum eEnterLeaveType
{
/// <summary>
/// 小车进料
/// </summary>
Enter,
/// <summary>
/// 小车出料
/// </summary>
Leave,
}
/// <summary>
/// 进出料任务
/// </summary>
public class EnterLeaveShelfJob : Job
{
/// <summary>
/// 进出料任务
/// </summary>
/// <param name="curNode">位置点</param>
/// <param name="rfid">RFID</param>
public EnterLeaveShelfJob(ClientNode curNode, eEnterLeaveType type,string rfid="")
{
CurNode = curNode;
RFID = rfid;
ActionType = type;
runInfo = type.Equals(eEnterLeaveType.Enter) ? "小车进料任务:" : "小车出料任务:" +curNode.AliceName+" ";
}
/// <summary>
/// 位置点信息
/// </summary>
public ClientNode CurNode { get; set; }
public string RFID { get; set; }
/// <summary>
/// 动作类型
/// </summary>
public eEnterLeaveType ActionType { get; set; }
private string runInfo;
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<ENTER_LEAVE_SHELF_STEP> EnterLeaveShelfStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name+ " ";
bool rtn = false;
agv.Msg = runInfo;
if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{
if (ActionType.Equals(eEnterLeaveType.Leave))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo += "小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if(ActionType.Equals(eEnterLeaveType.Enter))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
runInfo +="小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo+= "料架/料串进入完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
agv.RFID = "";
// return new EmptyAGVBackJob(LineName);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{
runInfo= "料架离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo = "料架/料串出去完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
//return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "料架进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.END))
{
}
return this;
}
}
/// <summary>
/// AGV进出料
/// </summary>
public enum ENTER_LEAVE_SHELF_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待料架离开产线
/// </summary>
WAIT__SHELF_OUT_LINE,
/// <summary>
/// 等待料架进入产线
/// </summary>
WAIT__SHELF_IN_LINE,
/// <summary>
/// 进入/离开完成
/// </summary>
END
}
}
AGV_3D_SMD/bean/job/PackingJob_SendShelf.cs 0 → 100644

using AGVControl;
using AGVControl.bean.jobType;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
/// <summary>
/// 包装仓任务:将包装料架送往包装仓
/// </summary>
public class PackingJob_SendShelf : Job
{
/// <summary>
/// 将包装料架送往包装仓
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
/// <param name="mark">标志：出库任务则显示mark；入库任务显示Mark=InStore</param>
public PackingJob_SendShelf(string agvPlae, string tarPlace, string mark,string RFID= "")
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.mark = mark;
this.RFID = RFID;
if (PackingJobType.IsInStoreMark(mark))
{
}
else
{
//修改mark状态
PackingJobType.ChangeMarkState(mark, eMarkState.Executing);
}
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private string RFID = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
/// <summary>
/// 标记
/// </summary>
public string mark = "";
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get
{
int t1 = Common.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = Common.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = Common.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = Common.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("送包装料架任务:{0} [RFID={5}][Mark={2}][目的地={1}][任务名称={3}][任务状态={4}]", runInfo, to, mark,CurTaskName,CurTaskState,RFID);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
/// <summary>
/// 任务执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
CurTaskState = Common.GetTakJobState(CurTaskID);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION);
runInfo = "收到任务,向包装仓" + TargetPlace + "运行";
msg += runInfo;
curJobStep.Msg = msg;
Common.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION))
{
if (Common.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
if (PackingJobType.IsInStoreMark(mark))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
Common.server.Arrive(TargetPlace, RFID);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
runInfo = "到达包装仓" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
{
if (PackingJobType.CheckNodeMark(mark, TargetPlace))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
Common.server.Arrive(TargetPlace, RFID);
}
else
{
if (PackingJobType.IsInStoreMark(mark))
{
runInfo = "包装仓" + TargetPlace + "无入库任务，回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(TargetPlace,SettingString.A2,RFID);
}
else
{
runInfo = "包装仓" + TargetPlace + "无任务，回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new RecycleEmptyShelf(agvPlace, "", true, ShelfType.PackingShelf);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE))
{
int i = Common.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH);
runInfo = "收到线体对接请求，开始停靠";
msg += runInfo;
curJobStep.Msg = msg;
Common.DockToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
{
runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
curJobStep.Msg = msg;
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH))
{
if (Common.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
{
Common.server.Ready(TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION);
runInfo = "停靠包装仓完成,链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Leave]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION))
{
if (Common.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
Common.server.CloseDoor(TargetPlace);
//int i = Common.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
runInfo = "包装料架进入包装仓"+TargetPlace+"完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
{
//Job job = Common.control.GetJob(agv);
//if (job != null)
//{
// runInfo = "送料架任务完成，检测到任务，开始执行";
// msg += runInfo;
// curJobStep.Msg = msg;
// return job;
//}
return null;
}
return this;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达包装仓
/// </summary>
P2_WAIT_REACH_PACKING_STATION,
/// <summary>
/// 到达包装仓，再次确认是否有任务，防止该任务被手动出掉
/// </summary>
P3_CHECK_PACKING_STATION_STATE,
/// <summary>
/// 等待包装仓回复
/// </summary>
P4_WAIT_PACKING_STATION_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P5_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入包装仓
/// </summary>
P6_WAIT_SHELF_IN_STATION,
/// <summary>
/// 任务结束
/// </summary>
P7_END
}
}
}
AGV_3D_SMD/bean/job/StandyJob.cs 0 → 100644

using AGVControl;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
/// <summary>
/// 待机任务
/// </summary>
public class StandyJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public StandyJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("待机任务:{0} [任务名称={1}][任务状态={2}]", runInfo,CurTaskName,CurTaskState); }
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = "";
CurTaskState = Common.GetTakJobState(CurTaskID);
if (curJobStep.IsStep(EXECUTE_STEP.NONE))
{
if (agvPlace.Equals(SettingString.Standby))//在待机位不操作
{
curJobStep.ToNextStep(EXECUTE_STEP.END);
runInfo = "在待机位，不执行操作";
msg += runInfo;
curJobStep.Msg = msg;
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
curJobStep.ToNextStep(EXECUTE_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "从当前位置" + agvPlace + "回到待机位，先到4D门";
msg += runInfo;
curJobStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY);
runInfo = "从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
curJobStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY);
runInfo = "从4D门回到待机位";
msg += runInfo;
curJobStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.WAIT_REACH_STANDBY))
{
if (Common.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.END);
runInfo = "到达待机位";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.END))
{
Job job = Common.control.GetJob(agv);
if (job != null && !(job is StandyJob))
{
runInfo = "在待机位检测到任务，执行任务";
msg += runInfo;
curJobStep.Msg = msg;
return job;
}
}
return this;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <summary>
/// 等待到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}
AGV_3D_SMD/bean/job/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/bean/jobType/ChargeJobType.cs 0 → 100644
using MiR;
using log4net.Util;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.bean.jobType
{
/// <summary>
/// 待机任务
/// </summary>
public class ChargeJobType : JobType
{
/// <summary>
/// 待机任务
/// </summary>
/// <param name="currentAgv"></param>
/// <returns></returns>
public override Job GetNewJob(Agv_Info currentAgv)
{
if (currentAgv.Battery < Common.Charge.BatteryMax - 10 && Common.Charge.HasEmptyChargeStation())
{
return new ChargeJob(currentAgv.Place);
}
else
{
return new StandyJob(currentAgv.Place);
}
}
}
}
AGV_3D_SMD/bean/jobType/ReturnJobType.cs 0 → 100644
using MiR;
using log4net.Util;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.bean.jobType
{
/// <summary>
/// 退料任务
/// </summary>
public class ReturnJobType : JobType
{
/// <summary>
/// 退料任务
/// </summary>
/// <param name="currentAgv"></param>
/// <returns></returns>
public override Job GetNewJob(Agv_Info currentAgv)
{
if (currentAgv.IP.Equals(SettingString.SingleMission_IP1))
return null;
if (!Common.CheckCanExecuteMission(currentAgv))
return null;
if (!Common.CheckAGVStatusNone(currentAgv))
return null;
string rfid="";
//查找退料线出满料架且点料机需要架子
if (ReelStringJobType.FindNeedLeave(currentAgv, SettingString.G24_Out,out rfid))
{
if (ReelStringJobType.FindNeedEnter(currentAgv, SettingString.D3) )
{
int idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(SettingString.G23_In)));
if (idx == -1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(SettingString.D3)));
if (idx == -1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(SettingString.D3)));
if (idx==-1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(SettingString.G24_Out)));
if (idx == -1)
{
Common.LogInfo(string.Format("{0} 退料任务生成（D3需要满料串，G24出满料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D3, rfid));
return new GetShelfJob(currentAgv.Place, SettingString.G24_Out, "B#",true);
}
}
if (ReelStringJobType.FindNeedEnter(currentAgv, SettingString.D4))
{
int idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(SettingString.G23_In)));
if (idx == -1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(SettingString.D4)));
if (idx == -1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(SettingString.D4)));
if (idx == -1) idx = Common.agvInfo.FindIndex(s => !s.IP.Equals(currentAgv.IP) && s.CurJob != null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(SettingString.G24_Out)));
if (idx == -1)
{
Common.LogInfo(string.Format("{0} 退料任务生成（D4需要满料串，G24出满料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D3, rfid));
return new GetShelfJob(currentAgv.Place, SettingString.G24_Out, "B#",true);
}
}
}
////点料机出空架子
if (ReelStringJobType.FindNeedLeaveMission(currentAgv, SettingString.D3, out rfid))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.G23_In))
{
Common.LogInfo(string.Format("{0} 退料任务生成（D3出空料串，G23需要空料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D3, rfid));
return new GetShelfJob(currentAgv.Place, SettingString.D3, "B#");
}
}
if (ReelStringJobType.FindNeedLeaveMission(currentAgv, SettingString.D4, out rfid))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.G23_In))
{
Common.LogInfo(string.Format("{0} 退料任务生成（D4出空料串，G23需要空料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D4, rfid));
return new GetShelfJob(currentAgv.Place, SettingString.D4, "B#");
}
}
return null;
}
}
}
AGV_3D_SMD/bean/node/ClientNode.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
/// <summary>
/// 客户端的节点
/// </summary>
public class ClientNode : Node
{
private string rfid = "00";
/// <summary>
/// RFID
/// </summary>
public string RFID
{
set
{
//if (value.Length < 2)
// rfid = value.PadLeft(2, '0');
//else
rfid = value;
}
get
{
return rfid;
}
}
/// <summary>
/// 小车名称
/// </summary>
public string AgvName { set; get; }
/// <summary>
/// 线体名（佳世达）
/// </summary>
public string LineName { set; get; }
public ClientLevel Level { get; set; } = ClientLevel.Low;
public string Mark { get; set; } = "";
public string AliceName { get; set; }
/// <summary>
/// 查看节点状态是否更新
/// </summary>
/// <returns></returns>
public bool CheckNodeStateChanged(ClientNode node)
{
if (!Mark.Equals(node.Mark) ||
!StateEquals(node.GetState()) ||
!Level.Equals(node.Level) || RFID != node.RFID)
{
Mark = node.Mark;
nodeStatus = node.GetState();
Level = node.Level;
RFID = node.RFID;
return true;
}
else
{
return false;
}
}
/// <summary>
/// 客户端节点
/// </summary>
/// <param name="name"></param>
/// <param name="ip"></param>
/// <param name="isUse"></param>
public ClientNode(string name, string aliceName, string lineName, bool isUse) : base(name, isUse)
{
LineName = lineName;
AliceName = aliceName;
RFID = rfid;
AgvName = "";
Online = false;
IsUse = isUse;
}
/// <summary>
/// 客户端节点
/// </summary>
/// <param name="name"></param>
/// <param name="rfid"></param>
/// <param name="action"></param>
/// <param name="level"></param>
public ClientNode(string name, string rfid = "", eNodeStatus status = eNodeStatus.None, string mark = "", ClientLevel level = ClientLevel.Low) : base(name)
{
RFID = rfid;
Mark = mark;
Level = level;
nodeStatus = status;
AgvName = "";
}
/// <summary>
/// 节点状态的文本形式
/// </summary>
/// <returns></returns>
public string StatetText()
{
string s = string.Format("[Name={0}, NodeStatus={1}, RFID={2},ClientLevel ={3}]", Name, nodeStatus.ToString(), RFID, Level.ToString());
return s;
}
protected void UpdateDisplayBoard()
{
try
{
if (!Online)
displayBoard.Add(AliceName, "agv." + Name + ".OffLine", "离线");
if (!IsUse)
displayBoard.Add(AliceName, "agv." + Name + ".IsUse", "调用关闭");
displayBoard.UpdateAlarmMsg();
}
catch (Exception ex)
{
Common.log.Error(Name + "上报节点信息失败" + ex.Message + ex.StackTrace);
}
}
public string[] ToRow()
{
//节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
string[] s = new string[7];
s[0] = LineName;
s[1] = nodeStatus.ToString();
s[2] = Level.ToString();
s[3] = Mark;
s[4] = RFID;
s[5] = Online ? "在线" : "离线";
s[6] = IsUse ? "是" : "否";
return s;
}
/// <summary>
/// 脱机
/// </summary>
public void Offline()
{
RFID = "00";
nodeStatus = eNodeStatus.None;
AgvName = "";
Online = false;
}
}
}
AGV_3D_SMD/bean/node/Node.cs 0 → 100644
using AGVControl.bean;
using System;
using System.Collections.Generic;
using System.Windows.Forms;
namespace AGVControl
{
public abstract class Node
{
/// <summary>
/// 节点名称
/// </summary>
public string Name { get; }
/// <summary>
/// 在线状态
/// </summary>
public bool Online { get; set; }
/// <summary>
/// 是否可调用
/// </summary>
public bool IsUse { set; get; }
/// <summary>
/// 节点状态
/// </summary>
protected eNodeStatus nodeStatus;
/// <summary>
/// 看板信息
/// </summary>
protected DisplayBoard displayBoard;
public Node(string name, bool isUse = false)
{
Name = name;
Online = false;
IsUse = isUse;
nodeStatus = eNodeStatus.None;
displayBoard = new DisplayBoard();
}
public Node(string name)
{
Name = name;
}
public bool StateEquals(eNodeStatus obj)
{
return nodeStatus.Equals(obj);
}
/// <summary>
/// 获取当前状态
/// </summary>
/// <returns></returns>
public eNodeStatus GetState()
{
return nodeStatus;
}
/// <summary>
/// 更新节点状态
/// </summary>
/// <param name="status"></param>
public void UpdateNodeStatus(eNodeStatus status)
{
nodeStatus = status;
}
public virtual Job GetNewJob(Agv_Info currentAgvBean)
{
return null;
}
}
/// <summary>
/// 节点状态
/// </summary>
public enum eNodeStatus : byte
{
/// <summary>
/// 没有动作
/// </summary>
None = 0,
/// <summary>
/// 关门（仅包装料仓）
/// </summary>
CloseDoor = 1,
/// <summary>
/// 可以进入料架（仅包装料仓）
/// </summary>
MayEnter = 2,
/// <summary>
/// 可以出去料架（仅包装料仓）
/// </summary>
MayLeave = 3,
/// <summary>
/// 需要进入料架
/// </summary>
NeedEnter = 4,
/// <summary>
/// 需要出去料架
/// </summary>
NeedLeave = 5,
/// <summary>
/// 完成进入料架
/// </summary>
FinishEnter = 6,
/// <summary>
/// 完成出去料架
/// </summary>
FinishLeave = 7,
/// <summary>
/// 小车到达
/// </summary>
Arrive = 8,
/// <summary>
/// 小车已准备好
/// </summary>
Ready = 9,
/// <summary>
/// 只能入料不能出料（仅包装料仓）
/// </summary>
EnterShelf = 10,
/// <summary>
/// 不允许
/// </summary>
MayNot = 11
}
/// <summary>
/// 客户端的优先级
/// </summary>
public enum ClientLevel : byte
{
/// <summary>
/// 低
/// </summary>
Low = 0,
/// <summary>
/// 中等
/// </summary>
Middle = 1,
/// <summary>
/// 高
/// </summary>
High = 2
}
}
AGV_3D_SMD/bean/node/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/dll/AsaPL.AgvClient.dll 0 → 100644
此文件类型无法预览
AGV_3D_SMD/dll/Newtonsoft.Json.dll 0 → 100644
此文件类型无法预览
AGV_3D_SMD/dll/RestSharp.dll 0 → 100644
此文件类型无法预览
AGV_3D_SMD/dll/RestSharp.xml 0 → 100644
此文件的差异太大，无法显示。
AGV_3D_SMD/dll/_system~.ini 0 → 100644
文件属性发生变化
AGV_3D_SMD/dll/log4net.dll 0 → 100644
此文件类型无法预览
AGV_3D_SMD/icon.ico 0 → 100644
此文件类型无法预览
AGV_3D_SMD/packages.config 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="RestSharp" version="106.11.4" targetFramework="net461" />
</packages>
\ No newline at end of file \ No newline at end of file
AGV逻辑.xlsx 0 → 100644
此文件类型无法预览
AgvClient/AgvClient.cs 0 → 100644
此文件的差异被折叠， 点击展开。
AgvClient/AgvClient.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}</ProjectGuid>
<OutputType>Library</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>Asa</RootNamespace>
<AssemblyName>Asa.AgvClient</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<LangVersion>8.0</LangVersion>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<LangVersion>8.0</LangVersion>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net">
<HintPath>..\..\..\..\DLL\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Web.Extensions" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Client.cs" />
<Compile Include="AgvClient.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file \ No newline at end of file
AgvClient/Client.cs 0 → 100644
此文件的差异被折叠， 点击展开。
AgvClient/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("Client")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("Client")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("7dad8f15-0ec9-42df-ae0b-94b45de0f0ac")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("2.1.0.0")]
[assembly: AssemblyFileVersion("2.1.0.0")]
AgvClientTest/AgvClientTest.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{E1C0827A-FA12-49A9-AC71-6D3E6518754A}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>AgvClientTest</RootNamespace>
<AssemblyName>AgvClientTest</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="AsaPL.AgvClient, Version=1.0.0.1, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\AgvClient\bin\Debug\AsaPL.AgvClient.dll</HintPath>
</Reference>
<Reference Include="log4net">
<HintPath>..\..\..\DLL\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Deployment" />
<Reference Include="System.Drawing" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Form1.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Form1.Designer.cs">
<DependentUpon>Form1.cs</DependentUpon>
</Compile>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<EmbeddedResource Include="Form1.resx">
<DependentUpon>Form1.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
<Generator>ResXFileCodeGenerator</Generator>
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
<SubType>Designer</SubType>
</EmbeddedResource>
<Compile Include="Properties\Resources.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Resources.resx</DependentUpon>
</Compile>
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
</None>
<Compile Include="Properties\Settings.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile>
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file \ No newline at end of file
AgvClientTest/App.config 0 → 100644
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
<log4net>
<appender name="AgvClient" type="log4net.Appender.RollingFileAppender">
<file value="logs/AgvClient.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t]%-5p %m%n"/>
</layout>
</appender>
<root>
<level value="Info"/>
<appender-ref ref="AgvClient"/>
</root>
</log4net>
</configuration>
\ No newline at end of file \ No newline at end of file
AgvClientTest/Form1.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AgvClientTest
{
public partial class Form1 : Form
{
private AsaPL.AgvClient client;
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
for (int i = 0; i < 12; i++)
comboBox1.Items.Add((AsaPL.ClientAction)i);
comboBox1.SelectedIndex = 0;
comboBox2.SelectedIndex = 0;
comboBox3.Items.Add(AsaPL.ClientAction.MayEnter);
comboBox3.Items.Add(AsaPL.ClientAction.MayLeave);
comboBox3.SelectedIndex = 0;
client = new AsaPL.AgvClient("10.85.199.1");
client.ReadyEnter += AGV_ReadyEnter;
client.ReadyLeave += AGV_ReadyLeave;
//client.SetStatus("E1", "", AsaPL.ClientAction.None);
//client.SetStatus("E2", "", AsaPL.ClientAction.None);
//client.SetStatus("E3", "", AsaPL.ClientAction.None);
//client.SetStatus("E4", "", AsaPL.ClientAction.None);
//client.SetStatus("E5", "", AsaPL.ClientAction.None);
//client.SetStatus("E6", "", AsaPL.ClientAction.None);
//client.SetStatus("E8", "", AsaPL.ClientAction.None);
//client.SetStatus("E9", "", AsaPL.ClientAction.None);
//client.SetStatus("E10", "", AsaPL.ClientAction.None);
//client.SetStatus("E11", "", AsaPL.ClientAction.None);
//client.SetStatus("E12", "", AsaPL.ClientAction.None);
//client.SetStatus("E14", "", AsaPL.ClientAction.None);
//client.SetStatus("E15", "", AsaPL.ClientAction.None);
//client.SetStatus("E16", "", AsaPL.ClientAction.None);
//client.SetStatus("D4FeederIn", "", AsaPL.ClientAction.None);
//client.SetStatus("D4FeederOut", "", AsaPL.ClientAction.None);
//client.SetStatus("C4FeederIn", "", AsaPL.ClientAction.None);
//client.SetStatus("C4FeederOut", "", AsaPL.ClientAction.None);
client.Connect();
}
private void AGV_ReadyEnter(string nodeName)
{
if (checkBox1.Checked)
{
if (nodeName.StartsWith("A") || nodeName.EndsWith("A"))//|| nodeName.Equals("G10") || nodeName.Equals("G7")
return;
label4.Text = "收到" + nodeName + "ReadyEnter,节点状态变为MayEnter";
client.SetStatus(nodeName, "", AsaPL.ClientAction.MayEnter);
System.Threading.Thread.Sleep(10000);
client.SetStatus(nodeName, "", AsaPL.ClientAction.None);
label4.Text = "设置" + nodeName + " None";
}
}
private void AGV_ReadyLeave(string nodeName)
{
if (checkBox1.Checked)
{
if (nodeName.StartsWith("A") || nodeName.EndsWith("A"))//|| nodeName.Equals("G10") || nodeName.Equals("G7")
return;
label4.Text = "收到" + nodeName + "ReadyLeave,节点状态变为MayLeave";
client.SetStatus(nodeName, "", AsaPL.ClientAction.MayLeave);
System.Threading.Thread.Sleep(10000);
client.SetStatus(nodeName, "", AsaPL.ClientAction.None);
label4.Text = "设置" + nodeName + " None";
}
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
client.Close();
}
private void button1_Click(object sender, EventArgs e)
{
Task task = new Task(new Action(() => {
client.SetStatus(comboBox2.SelectedItem.ToString(), textBox1.Text, (AsaPL.ClientAction)comboBox1.SelectedIndex);
System.Threading.Thread.Sleep(10000);
client.SetStatus(comboBox2.SelectedItem.ToString(), "", AsaPL.ClientAction.None);
label4.Text = "设置" + comboBox2.SelectedItem.ToString() + " None";
}));
task.Start();
}
private void SetLineState(object sender, EventArgs e)
{
Task task = new Task(new Action(()=>{
if (comboBox3.SelectedItem == null)
return;
string name = ((Button)sender).Text;
client.SetStatus(name, "", (AsaPL.ClientAction)Enum.Parse(typeof(AsaPL.ClientAction), comboBox3.SelectedItem.ToString()));
label5.Text = name + " " + comboBox3.SelectedItem.ToString();
System.Threading.Thread.Sleep(10000);
client.SetStatus(name, "", AsaPL.ClientAction.None);
label5.Text = "设置" + name + " None";
}));
task.Start();
}
}
}
AgvClientTest/Form1.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
AgvClientTest/Program.cs 0 → 100644
using log4net.Config;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AgvClientTest
{
static class Program
{
/// <summary>
/// 应用程序的主入口点。
/// </summary>
[STAThread]
static void Main()
{
XmlConfigurator.Configure();
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new Form1());
}
}
}
AgvClientTest/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("AgvClientTest")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("AgvClientTest")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("e1c0827a-fa12-49a9-ac71-6d3e6518754a")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
AgvClientTest/Properties/Resources.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本: 4.0.30319.42000
//
// 对此文件的更改可能导致不正确的行为，如果
// 重新生成代码，则所做更改将丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace AgvClientTest.Properties
{
/// <summary>
/// 强类型资源类，用于查找本地化字符串等。
/// </summary>
// 此类是由 StronglyTypedResourceBuilder
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或删除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources
{
private static global::System.Resources.ResourceManager resourceMan;
private static global::System.Globalization.CultureInfo resourceCulture;
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
internal Resources()
{
}
/// <summary>
/// 返回此类使用的缓存 ResourceManager 实例。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Resources.ResourceManager ResourceManager
{
get
{
if ((resourceMan == null))
{
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AgvClientTest.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 覆盖当前线程的 CurrentUICulture 属性
/// 使用此强类型的资源类的资源查找。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture
{
get
{
return resourceCulture;
}
set
{
resourceCulture = value;
}
}
}
}
AgvClientTest/Properties/Resources.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
AgvClientTest/Properties/Settings.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
namespace AgvClientTest.Properties
{
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
{
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default
{
get
{
return defaultInstance;
}
}
}
}
AgvClientTest/Properties/Settings.settings 0 → 100644
<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
</Profiles>
<Settings />
</SettingsFile>
AgvClientTest/_system~.ini 0 → 100644
文件属性发生变化
_system~.ini 0 → 100644
文件属性发生变化
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