AgvClient-20200117-back.cs
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using Asa;
using Asa.RFID;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private static Asa.Client agvClient;
public static Dictionary<string, string> actionMap = new Dictionary<string, string>();
public static List<string> NodeList = new List<string>();
private static bool isInit = false;
public static void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new Asa.Client(ServerIp);
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.CanEnter += AgvClient_CanEnter;
agvClient.Ready += AgvClient_Ready;
}
lastNeedLeave = "";
lastNeedEnter = "";
actionMap = new Dictionary<string, string>();
foreach (string key in NodeList)
{
actionMap.Add(key, AGVAction.None);
}
agvClient.Connect(NodeList.ToArray());
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
private static void AgvClient_Ready(string id, byte[] content)
{
UpdateAction(id, AGVAction.Ready);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ");
if (id.Equals(LineManager.Config.OutL_AgvName))
{
// MayEnter("C2");
if (IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.LOW))
{
agvClient.MayEnter(id);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] 调用 MayEnter ");
}
}
else if (id.Equals(LineManager.Config.InL_AgvName))
{
if (IOManager.IOValue(IO_Type.InL_OutStopCheck).Equals(IO_VALUE.HIGH))
{
LineManager.VMILine.StopIOMove(IO_Type.InL_OutStopDown);
agvClient.MayLeave(id);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + data.ToData() + "] ，下降 InL_OutStopDown 600ms，调用 MayLeave ");
}
}
}
private static void AgvClient_CanEnter(string id, byte[] content)
{
UpdateAction(id, AGVAction.CanEnter);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CanEnter [" + id + "] [" + data.ToData() + "] ");
if (id.Equals(LineManager.Config.OutL_AgvName))
{
bool result = IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.LOW);
if (IOManager.IOValue(IO_Type.OutL_InCheck).Equals(IO_VALUE.LOW))
{
agvClient.IsEnter(id);
}
}
else if (id.Equals(LineManager.Config.InL_AgvName))
{
}
}
private static void AgvClient_Arrive(string id, byte[] content)
{
UpdateAction(id, AGVAction.Arrive);
RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + data.ToData() + "] ");
}
public static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static void SendRFID(string NodeName, string rfid)
{
agvClient.SendRFID(NodeName, rfid);
}
private static string lastNeedEnter = "";
public static void NeedEnter(string NodeName, string shelfID, bool NeedClearLast = false)
{
if (NeedClearLast)
{
lastNeedEnter = "";
}
if (lastNeedEnter.Equals(NodeName + shelfID))
{
//return;
}
bool result = agvClient.NeedEnter(NodeName);
if (result)
{
lastNeedEnter = NodeName + shelfID;
LogUtil.info(" agvClient 料架需要进入：NeedEnter[" + NodeName + shelfID + "]，呼叫成功");
}
else
{
LogUtil.info(" agvClient 料架需要进入：NeedEnter[" + NodeName + shelfID + "]，呼叫失败，等待重新呼叫");
}
}
private static string lastNeedLeave = "";
public static void NeedLeave(string NodeName, string shelfID, bool NeedClearLast = false)
{
if (NeedClearLast)
{
lastNeedLeave = "";
}
if (lastNeedLeave.Equals(NodeName + shelfID))
{
// return;
}
bool result = agvClient.NeedLeave(NodeName);
if (result)
{
lastNeedLeave = NodeName + shelfID;
LogUtil.info(" agvClient 料架需要离开：NeedLeave[" + NodeName + shelfID + "]，呼叫成功");
}
else
{
LogUtil.info(" agvClient 料架需要离开：NeedLeave[" + NodeName + shelfID + "]，呼叫失败，等待重新呼叫");
}
}
public static void MayEnter(string NodeName)
{
agvClient.MayEnter(NodeName);
}
public static void FinishEnter(string NodeName)
{
agvClient.FinishEnter(NodeName);
}
public static void MayLeave(string NodeName)
{
agvClient.MayLeave(NodeName);
}
public static void IsEnter(string NodeName, bool result)
{
if (result)
{
agvClient.IsEnter(NodeName);
}
}
private static void AgvClient_Log(string s)
{
try
{
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
if (isLog)
{
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
catch (Exception ex)
{
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
}
public static string GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return AGVAction.None;
}
public static void UpdateAction(string name, string action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
lastNeedLeave = "";
lastNeedEnter = "";
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
public class AGVAction
{
public static string None = "None";
public static string Arrive = "Arrive";
public static string CanEnter = "CanEnter";
public static string GetRFID = "GetRFID";
public static string Ready = "Ready";
}
}