Control.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization;
using System.Windows.Forms;
using System.Xml.Linq;
using Common;
using DeviceLibrary.manager;
using log4net.Util;
using RestSharp;
namespace DeviceLibrary
{
public class Control
{
private static log4net.ILog log = log4net.LogManager.GetLogger("Control");
static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
private const int REG_STATUS = 20;
//public event AgvChangedEvent NodeChangedEvent;
public Control()
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 500,
AutoReset = true,
Enabled = false
};
AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
AgvStateTimer = new System.Timers.Timer
{
Interval = 1000,
AutoReset = true,
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
NodeStateTimer = new System.Timers.Timer
{
Interval = 2000,
AutoReset = true,
Enabled = false
};
NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
}
public void Start()
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
}
private bool NodeStateInProcess = false;
private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (NodeStateInProcess) return;
NodeStateInProcess = true;
try
{
foreach (string item in AGVManager.sysClients)
{
List<AgvInfo> agvs = AGVManager.agvInfo.FindAll(s => s.Client.Equals(item) && s.Auto && !s.IsDebug && s.IsCon.Equals(true)//
&& s.Scope != null && s.JobContext != null && s.JobContext.MissionId.Equals(""));//&& s.Scope.Remark != null
if (agvs != null && agvs.Count > 0)
{
foreach (AgvInfo agv in agvs)
{
string[] lifts = agv.Scope.Remark.Split(',');
foreach (string eleva in lifts)
{
lift.LiftContext.UpdateStatus(new lift.ClientStatus() { hasIdleAgv = true, liftId = eleva, sourceClient = item });
}
}
}
else
{
agvs = AGVManager.agvInfo.FindAll(s => s.Client.Equals(item));
foreach (AgvInfo agv in agvs)
{
string[] lifts = agv.Scope.Remark.Split(',');
foreach (string eleva in lifts)
{
lift.LiftContext.UpdateStatus(new lift.ClientStatus() { hasIdleAgv = false, liftId = eleva, sourceClient = item });
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error("UpdateStatus " + ex.StackTrace);
}
NodeStateInProcess = false;
}
private bool AgvStateInProcess = false;
//private eAGVState preAGVState = eAGVState.None;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvStateInProcess) return;
AgvStateInProcess = true;
HttpManager.AUOIsUsingD2(out MissionManager.AUOResult);
manager.UploadManager.UploadAgvState();
AgvStateInProcess = false;
}
/// <summary>
/// 从节点获取任务
/// </summary>
/// <param name="agv_Info"></param>
/// <returns></returns>
public Job GetJob(AgvInfo agv_Info)
{
foreach (JobType jobType in AGVManager.jobTypes)
{
Job job = null;
if (agv_Info.Auto)
job = jobType.GetNewJob(agv_Info);
else
return null;
if (job != null)
{
return job;
}
}
return null;
}
private bool AgvCallInProcess = false;
private void AgvCallTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvCallInProcess) return;
AgvCallInProcess = true;
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
try
{
AgvInfo agv = AGVManager.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接
if (!AGVManager.agvInfo[i].Auto) continue; //AGV是否可用
if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error))
{
MiR_API.Clear_Error(AGVManager.agvInfo[i]);
continue;
}
if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
{
MiR_API.State_Ready(AGVManager.agvInfo[i]);
}
//if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
// && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
//{
// continue;
//}
//if (!agv.TaskRunState.IsAllocatingTask && agv.Auto && agv.CurJob != null && agv.TaskRunState.TaskID.Equals(-1)
// && agv.TaskRunState.Task != null && !string.IsNullOrEmpty(agv.TaskRunState.Task.Guid))
//{
// if (!MiR_API.Get_MissionByDescrp(agv))
// {
// LogUtil.info($"{agv.Name}：Task=-1处理,Fleet无任务,重发任务:{agv.TaskRunState.Task.Name}");
// agv.CurJob.ResendTask(agv);
// }
// else
// {
// LogUtil.info($"{agv.Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={agv.TaskRunState.TaskID}");
// }
//}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
{
if (agv.CurJob != null)
{
agv.CurJob.ResendTask(agv);
}
else
{
agv.TaskRunState.ClearWaitTaskQueue();
}
}
if (agv.CurJob == null)
{
Job job = GetJob(agv);
if (job != null)
{
agv.CurJob = job;
LogUtil.info($"{agv.Name} 收到任务 {job?.JobParam?.GetMissionInfo()?.missionId??""}");
}
}
else
{
agv.CurJob = agv.CurJob.Execute(agv);
if(agv.CurJob==null)
{
LogUtil.info($"{agv.Name} 任务完成");
}
}
}
catch (Exception ex)
{
log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
AgvCallInProcess = false;
}
public static bool CheckOnline(AgvInfo agv)
{
bool rtn = MiR_API.CheckIP(agv.IP);
if (rtn)
{
if (agv.IsCon)
{
//log.Debug(AGVManager.agvInfo[idx].Name + " Online");
}
else
{
agv.IsCon = true;
log.Info(agv.Name + " Online");
}
}
else
{
if (agv.IsCon)
{
agv.IsCon = false;
log.Info(agv.Name + " Offline");
}
else
{
//log.Debug(AGVManager.agvInfo[idx].Name + " Offline");
}
}
return rtn;
}
}
}
public class RunInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum { get; set; } = "";
/// <summary>
/// 时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 任务信息
/// </summary>
public string MissionInfo { get; set; } = "";
public RunInfo(string AGVNum, string missionInfo)
{
//2006-01-02 15:04:05
DateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
this.AGVNum = AGVNum;
MissionInfo = missionInfo;
}
public RunInfo() { }
public override bool Equals(object obj)
{
if (obj is RunInfo)
{
RunInfo info = (RunInfo)obj;
if (this.MissionInfo.Equals(info.MissionInfo))
return true;
this.MissionInfo = info.MissionInfo;
}
return false;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}