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Commit 41f0bdef 由 张东亮
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initial

1 个父辈 35cc8911
内嵌 并排
正在显示 15 个修改的文件 包含 1033 行增加 和 306 行删除
dll/Client.dll 0 → 100644
此文件类型无法预览
dll/Client.xml 0 → 100644
<?xml version="1.0"?>
<doc>
<assembly>
<name>Client</name>
</assembly>
<members>
<member name="T:Asa.Client">
<summary>
电脑客户端
</summary>
</member>
<member name="F:Asa.Client.HEART">
<summary>
心跳包，HEART
</summary>
</member>
<member name="F:Asa.Client.SERVER_OFF">
<summary>
服务器关闭，OFF
</summary>
</member>
<member name="F:Asa.Client.CLIENT_OFF">
<summary>
客户端关闭，OFF
</summary>
</member>
<member name="T:Asa.Client.ActionEvent">
<summary>
小车动作事件
</summary>
</member>
<member name="E:Asa.Client.GetRFID">
<summary>
服务端发送的RFID
</summary>
</member>
<member name="E:Asa.Client.Arrive">
<summary>
小车到达，仅包装料仓
</summary>
</member>
<member name="E:Asa.Client.Ready">
<summary>
小车已准备，对接完成
</summary>
</member>
<member name="E:Asa.Client.CanEnter">
<summary>
能否进入，仅流水线
</summary>
</member>
<member name="T:Asa.Client.LogEvent">
<summary>
日志事件
</summary>
<param name="s"></param>
</member>
<member name="E:Asa.Client.Log">
<summary>
日志
</summary>
</member>
<member name="P:Asa.Client.IsConn">
<summary>
是否连接服务器
</summary>
</member>
<member name="P:Asa.Client.RFID">
<summary>
RFID的内容
</summary>
</member>
<member name="M:Asa.Client.#ctor(System.String)">
<summary>
电脑客户端
</summary>
<param name="serverIP">服务器IP地址</param>
</member>
<member name="M:Asa.Client.Connect(System.String[])">
<summary>
连接
</summary>
<param name="id"></param>
</member>
<member name="M:Asa.Client.Close">
<summary>
关闭
</summary>
</member>
<member name="M:Asa.Client.SendRFID(System.String,System.String)">
<summary>
发送RFID信息
</summary>
<param name="id"></param>
<param name="s"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.NeedEnter(System.String,System.String)">
<summary>
需要进入料架（包装料仓）
</summary>
<param name="id"></param>
<param name="mark"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.NeedLeave(System.String)">
<summary>
需要出料架
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.MayEnter(System.String)">
<summary>
可以进入
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.FinishEnter(System.String)">
<summary>
完成进入
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.MayLeave(System.String)">
<summary>
可以出去
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.FinishLeave(System.String)">
<summary>
完成出去
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.IsEnter(System.String)">
<summary>
是否可以进入，仅用于CanEnter事件
</summary>
<param name="id">节点，可以多个</param>
<returns></returns>
</member>
<member name="M:Asa.Client.Send(System.Byte[])">
<summary>
发送命令
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.HexBuff(System.Byte[])">
<summary>
16进制
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.ListenNet">
<summary>
监听线程
</summary>
</member>
<member name="M:Asa.Client.Resolve">
<summary>
分析数据包
</summary>
</member>
<member name="M:Asa.Client.Splice(System.Byte,System.String,System.Byte[])">
<summary>
拼接命令
</summary>
<param name="code"></param>
<param name="id"></param>
<param name="content"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.CheckRemoteIP(System.String)">
<summary>
检查远程IP地址
</summary>
<param name="ip"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.IsHeart(System.Byte[])">
<summary>
是否心跳包
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client.IsServerOffline(System.Byte[])">
<summary>
是否服务器断开
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="T:Asa.Client2">
<summary>
电脑客户端
</summary>
</member>
<member name="F:Asa.Client2.HEART">
<summary>
心跳包，HEART
</summary>
</member>
<member name="F:Asa.Client2.SERVER_OFF">
<summary>
服务器关闭，OFF
</summary>
</member>
<member name="F:Asa.Client2.CLIENT_OFF">
<summary>
客户端关闭，OFF
</summary>
</member>
<member name="T:Asa.Client2.ActionEvent">
<summary>
小车动作事件
</summary>
</member>
<member name="T:Asa.Client2.LogEvent">
<summary>
日志事件
</summary>
<param name="s"></param>
</member>
<member name="E:Asa.Client2.Arrive">
<summary>
小车到达，仅包装料仓
</summary>
</member>
<member name="E:Asa.Client2.Ready">
<summary>
小车已准备，对接完成
</summary>
</member>
<member name="E:Asa.Client2.CloseDoor">
<summary>
关门，仅包装料仓
</summary>
</member>
<member name="E:Asa.Client2.EnterShelf">
<summary>
准备进入料架不能出料，仅包装料仓
</summary>
</member>
<member name="E:Asa.Client2.Log">
<summary>
日志
</summary>
</member>
<member name="M:Asa.Client2.#ctor(System.String)">
<summary>
电脑客户端
</summary>
<param name="serverIP">服务器IP地址</param>
</member>
<member name="P:Asa.Client2.IsConn">
<summary>
是否连接服务器
</summary>
</member>
<member name="P:Asa.Client2.CancelState">
<summary>
取消状态，true发送none，false发送实际状态
</summary>
</member>
<member name="P:Asa.Client2.SendLog">
<summary>
发送命令的日志是否打印，不影响其他日志
</summary>
</member>
<member name="P:Asa.Client2.SendSleep">
<summary>
发送命令的时间间隔（单位：秒）
</summary>
</member>
<member name="M:Asa.Client2.Connect">
<summary>
连接
</summary>
</member>
<member name="M:Asa.Client2.Close">
<summary>
关闭
</summary>
</member>
<member name="M:Asa.Client2.SetStatus(System.String,System.String,System.String,Asa.ClientAction,Asa.ClientLevel)">
<summary>
设置状态
</summary>
<param name="name">节点名称</param>
<param name="mark">节点标记</param>
<param name="rfid">架子RFID</param>
<param name="action"></param>
<param name="level"></param>
</member>
<member name="M:Asa.Client2.Splice(Asa.ClientNode)">
<summary>
拼接命令
</summary>
<param name="node"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.ListenNet">
<summary>
监听线程
</summary>
</member>
<member name="M:Asa.Client2.Resolve">
<summary>
分析数据包
</summary>
</member>
<member name="M:Asa.Client2.Send(System.Byte[])">
<summary>
发送命令
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.HexBuff(System.Byte[])">
<summary>
16进制
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.IsHeart(System.Byte[])">
<summary>
是否心跳包
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.Client2.IsServerOffline(System.Byte[])">
<summary>
是否服务器断开
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="T:Asa.ClientNode">
<summary>
客户端的节点
</summary>
</member>
<member name="F:Asa.ClientNode.Name">
<summary>
节点名称
</summary>
</member>
<member name="F:Asa.ClientNode.Mark">
<summary>
标记，用于包装料仓
</summary>
</member>
<member name="F:Asa.ClientNode.RFID">
<summary>
当前架子的RFID
</summary>
</member>
<member name="F:Asa.ClientNode.Action">
<summary>
动作
</summary>
</member>
<member name="F:Asa.ClientNode.Level">
<summary>
优先级
</summary>
</member>
<member name="M:Asa.ClientNode.#ctor(System.String,System.String,System.String,Asa.ClientAction,Asa.ClientLevel)">
<summary>
客户端节点
</summary>
<param name="name"></param>
<param name="mark"></param>
<param name="rfid"></param>
<param name="action"></param>
<param name="level"></param>
</member>
<member name="T:Asa.ClientAction">
<summary>
客户端的动作
</summary>
</member>
<member name="F:Asa.ClientAction.None">
<summary>
没有动作
</summary>
</member>
<member name="F:Asa.ClientAction.CloseDoor">
<summary>
包装料仓关门
</summary>
</member>
<member name="F:Asa.ClientAction.MayEnter">
<summary>
可以进入料架，Arrive事件使用，让小车开始对接
</summary>
</member>
<member name="F:Asa.ClientAction.MayLeave">
<summary>
可以出去料架，Arrive事件使用，让小车开始对接
</summary>
</member>
<member name="F:Asa.ClientAction.NeedEnter">
<summary>
需要进入料架
</summary>
</member>
<member name="F:Asa.ClientAction.NeedLeave">
<summary>
需要出去料架
</summary>
</member>
<member name="F:Asa.ClientAction.FinishEnter">
<summary>
完成进入料架
</summary>
</member>
<member name="F:Asa.ClientAction.FinishLeave">
<summary>
完成出去料架
</summary>
</member>
<member name="F:Asa.ClientAction.Arrive">
<summary>
小车到达，到达包装料仓门口，等待开门
</summary>
</member>
<member name="F:Asa.ClientAction.Ready">
<summary>
小车已准备，已对接上流水线
</summary>
</member>
<member name="F:Asa.ClientAction.EnterShelf">
<summary>
包装料仓只能入料不能出料
</summary>
</member>
<member name="T:Asa.ClientLevel">
<summary>
客户端的优先级
</summary>
</member>
<member name="F:Asa.ClientLevel.Low">
<summary>
低
</summary>
</member>
<member name="F:Asa.ClientLevel.Middle">
<summary>
中等
</summary>
</member>
<member name="F:Asa.ClientLevel.High">
<summary>
高
</summary>
</member>
</members>
</doc>
source/BackFeedLine/App.config
......@@ -12,14 +12,14 @@
<!--storeType-->
<add key="store_count" value="1" />
<!--start one store config-->
<add key="Line_Config" value="\LineConfig\FeederLineConfig.csv" />
<add key="Line_Config" value="\LineConfig\LineConfig.csv" />
<add key="Config_Pwd" value="123456" />
<!--IO配置-->
<add key="UseAIOBOX" value="1" />
<add key="DIMS" value="60" />
<add key="DOMS" value="300" />
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="10.85.199.1" />
<add key="AgvServerIp" value="10.85.199.20" />
<!--是否调试状态-->
<add key="IsInDebug" value="1" />
<add key="Agv_Log_Open" value="1" />
......@@ -37,7 +37,7 @@
</layout>
</appender>
<appender name="TheRFID" type="log4net.Appender.RollingFileAppender">
<file value="logs/TheRFID-vmi.log" />
<file value="logs/TheRFID-line.log" />
<param name="Encoding" value="UTF-8" />
<appendToFile value="true" />
<rollingStyle value="Date" />
......
source/BackFeedLine/BackFeedLineClient.csproj
......@@ -81,11 +81,11 @@
<Compile Include="FrmBase.Designer.cs">
<DependentUpon>FrmBase.cs</DependentUpon>
</Compile>
<Compile Include="FrmBackFeedClient.cs">
<Compile Include="FrmLineClient.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmBackFeedClient.Designer.cs">
<DependentUpon>FrmBackFeedClient.cs</DependentUpon>
<Compile Include="FrmLineClient.Designer.cs">
<DependentUpon>FrmLineClient.cs</DependentUpon>
</Compile>
<Compile Include="ManagerUtil.cs" />
<Compile Include="Program.cs" />
......@@ -94,8 +94,8 @@
<DependentUpon>FrmBase.cs</DependentUpon>
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="FrmBackFeedClient.resx">
<DependentUpon>FrmBackFeedClient.cs</DependentUpon>
<EmbeddedResource Include="FrmLineClient.resx">
<DependentUpon>FrmLineClient.cs</DependentUpon>
<SubType>Designer</SubType>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
......@@ -146,8 +146,6 @@
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="BackFeed.ico" />
<Content Include="box.ico" />
<Content Include="DfIcon.ico" />
<Content Include="记录.txt" />
</ItemGroup>
<ItemGroup>
......
source/BackFeedLine/FrmBackFeedClient.Designer.cs → source/BackFeedLine/FrmLineClient.Designer.cs
......@@ -210,9 +210,9 @@
this.cmbStopList.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.cmbStopList.FormattingEnabled = true;
this.cmbStopList.Items.AddRange(new object[] {
"Feeder1进料线_阻挡",
"Feeder1进料线_出口阻挡",
"Feeder2出料线_阻挡"});
"进料线_阻挡",
"进料线_出口阻挡",
"出料线_阻挡"});
this.cmbStopList.Location = new System.Drawing.Point(22, 435);
this.cmbStopList.Name = "cmbStopList";
this.cmbStopList.Size = new System.Drawing.Size(153, 28);
......@@ -261,7 +261,7 @@
this.btnOLOutStopDown.Name = "btnOLOutStopDown";
this.btnOLOutStopDown.Size = new System.Drawing.Size(140, 39);
this.btnOLOutStopDown.TabIndex = 281;
this.btnOLOutStopDown.Text = "Feeder2线体出口阻挡下降";
this.btnOLOutStopDown.Text = "出料线体出口阻挡下降";
this.btnOLOutStopDown.UseVisualStyleBackColor = true;
this.btnOLOutStopDown.Click += new System.EventHandler(this.btnOLOutStopDown_Click);
//
......@@ -272,7 +272,7 @@
this.btnOLInStopDown.Name = "btnOLInStopDown";
this.btnOLInStopDown.Size = new System.Drawing.Size(140, 39);
this.btnOLInStopDown.TabIndex = 280;
this.btnOLInStopDown.Text = "Feeder2线体阻挡下降";
this.btnOLInStopDown.Text = "出料线体阻挡下降";
this.btnOLInStopDown.UseVisualStyleBackColor = true;
this.btnOLInStopDown.Click += new System.EventHandler(this.btnOLInStopDown_Click);
//
......@@ -283,7 +283,7 @@
this.btnInLOutStopDown.Name = "btnInLOutStopDown";
this.btnInLOutStopDown.Size = new System.Drawing.Size(140, 39);
this.btnInLOutStopDown.TabIndex = 279;
this.btnInLOutStopDown.Text = "Feeder1出口缓冲打开";
this.btnInLOutStopDown.Text = "入料出口缓冲打开";
this.btnInLOutStopDown.UseVisualStyleBackColor = true;
this.btnInLOutStopDown.Click += new System.EventHandler(this.btnInLOutStopDown_Click);
//
......@@ -294,7 +294,7 @@
this.btnInLInStopDown.Name = "btnInLInStopDown";
this.btnInLInStopDown.Size = new System.Drawing.Size(140, 39);
this.btnInLInStopDown.TabIndex = 278;
this.btnInLInStopDown.Text = "Feeder1线体阻挡下降";
this.btnInLInStopDown.Text = "入料线体阻挡下降";
this.btnInLInStopDown.UseVisualStyleBackColor = true;
this.btnInLInStopDown.Click += new System.EventHandler(this.btnInLInStopDown_Click);
//
......@@ -305,7 +305,7 @@
this.btnInLineRun.Name = "btnInLineRun";
this.btnInLineRun.Size = new System.Drawing.Size(140, 39);
this.btnInLineRun.TabIndex = 276;
this.btnInLineRun.Text = "Feeder1线体运转";
this.btnInLineRun.Text = "入料线体运转";
this.btnInLineRun.UseVisualStyleBackColor = true;
this.btnInLineRun.Click += new System.EventHandler(this.btnInLineRun_Click);
//
......@@ -316,7 +316,7 @@
this.btnOutL.Name = "btnOutL";
this.btnOutL.Size = new System.Drawing.Size(140, 39);
this.btnOutL.TabIndex = 277;
this.btnOutL.Text = "Feeder2线体运转";
this.btnOutL.Text = "出料线体运转";
this.btnOutL.UseVisualStyleBackColor = true;
this.btnOutL.Click += new System.EventHandler(this.btnOutL_Click);
//
......
source/BackFeedLine/FrmBackFeedClient.cs → source/BackFeedLine/FrmLineClient.cs
......@@ -224,7 +224,7 @@ namespace OnlineStore.FeederLineClient
IOManager.instance.CloseAllDO();
IOManager.instance.CloseAllConnection();
feederLine.agvClient.Dispose();
AgvClient.Dispose();
System.Environment.Exit(System.Environment.ExitCode);
}
catch (Exception ex)
......@@ -332,32 +332,32 @@ namespace OnlineStore.FeederLineClient
}
private void btnInLineRun_Click(object sender, EventArgs e)
{
BtnMove(btnInLineRun, "退料1线体运转", "退料1线体停止", IO_Type.L1_Run);
BtnMove(btnInLineRun, "入料线体运转", "入料线体停止", IO_Type.L1_Run);
}
private void btnInLInStopDown_Click(object sender, EventArgs e)
{
BtnMove(btnInLInStopDown, "退料1线体阻挡下降", "退料1线体阻挡上升", IO_Type.L1_StopDown);
BtnMove(btnInLInStopDown, "入料线体阻挡下降", "入料线体阻挡上升", IO_Type.L1_StopDown);
}
private void btnInLOutStopDown_Click(object sender, EventArgs e)
{
BtnMove(btnInLOutStopDown, "退料1出口缓冲打开", "退料1出口缓冲关闭", IO_Type.L1_OutStopDown);
BtnMove(btnInLOutStopDown, "入料出口缓冲打开", "入料出口缓冲关闭", IO_Type.L1_OutStopDown);
}
private void btnOLInStopDown_Click(object sender, EventArgs e)
{
BtnMove(btnOLInStopDown, "退料2线体阻挡下降", "退料2线体阻挡上升", IO_Type.L2_StopDown);
BtnMove(btnOLInStopDown, "出料线体阻挡下降", "出料线体阻挡上升", IO_Type.L2_StopDown);
}
private void btnOutL_Click(object sender, EventArgs e)
{
BtnMove(btnOutL, "退料2线体运转", "退料2线体停止", IO_Type.L2_Run);
BtnMove(btnOutL, "出料线体运转", "出料线体停止", IO_Type.L2_Run);
}
private void btnOLOutStopDown_Click(object sender, EventArgs e)
{
BtnMove(btnOLOutStopDown, "退料2线体出口阻挡下降", "退料2线体出口阻挡上升", IO_Type.L2_OutStopDown);
BtnMove(btnOLOutStopDown, "出料线体出口阻挡下降", "出料线体出口阻挡上升", IO_Type.L2_OutStopDown);
}
private void btnCloseA_Click(object sender, EventArgs e)
......
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -42,8 +42,8 @@
<Reference Include="Asa.RFID">
<HintPath>..\..\dll\Asa.RFID.dll</HintPath>
</Reference>
<Reference Include="AsaPL.AgvClient">
<HintPath>..\..\dll\AsaPL.AgvClient.dll</HintPath>
<Reference Include="Client">
<HintPath>..\..\dll\Client.dll</HintPath>
</Reference>
<Reference Include="CodeLibrary">
<HintPath>..\..\..\RC32-SZBOSCH-ACSingleStore\dll\CodeLibrary.dll</HintPath>
......@@ -98,7 +98,7 @@
</ItemGroup>
<ItemGroup />
<ItemGroup>
<None Include="LineConfig\FeederLineConfig.csv">
<None Include="LineConfig\LineConfig.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>
......
source/DeviceLibrary/LineConfig/FeederLineConfig.csv deleted 100644 → 0
类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID,
PRO,IO模块对应的DI数量,IO_DILength,192.168.103.28#16,,,,,,,
PRO,模块对应的DO数量,IO_DOLength,192.168.103.28#16,,,,,,,
PRO,IO模块IP,PRO_AOI_IP_1,192.168.103.28,,,,,,,
,,,,,,,,,,
DI,急停,SuddenStop_BTN,0,PRO_AOI_IP_1,0,急停,X761,DI-01,0,
DI,退料1线入口检测,L1_InCheck,1,PRO_AOI_IP_1,0,退料1线入口检测,X762,DI-02,0,
DI,退料1线阻挡检测,L1_StopCheck,2,PRO_AOI_IP_1,0,退料1线阻挡检测,X763,DI-03,0,
DI,退料1线出口检测,L1_OutCheck,3,PRO_AOI_IP_1,0,退料1线出口检测,X764,DI-04,0,
DI,退料2线入口检测,L2_InCheck,4,PRO_AOI_IP_1,0,退料2线入口检测,X765,DI-05,0,
DI,退料2线阻挡检测,L2_StopCheck,5,PRO_AOI_IP_1,0,退料2线阻挡检测,X766,DI-06,0,
DI,退料2线出口检测,L2_OutCheck,6,PRO_AOI_IP_1,0,退料2线出口检测,X767,DI-07,0,
DI,退料1线人工取料信号,L1_ManualRecSig,7,PRO_AOI_IP_1,0,退料1线人工取料信号,X768,DI-08,0,
DI,退料1线顶升上升端,L1_Updown_Up_Sig,8,PRO_AOI_IP_1,0,退料1线顶升上升端,X769,DI-09,0,
DI,退料1线顶升下降端,L1_Updown_Down_Sig,9,PRO_AOI_IP_1,0,退料1线顶升下降端,X770,DI-10,0,
DI,退料2线顶升上升端,L2_Updown_Up_Sig,10,PRO_AOI_IP_1,0,退料2线顶升上升端,X771,DI-11,0,
DI,退料2线顶升下降端,L2_Updown_Down_Sig,11,PRO_AOI_IP_1,0,退料2线顶升下降端,X772,DI-12,0,
,,,12,PRO_AOI_IP_1,0,,X773,DI-13,0,
,,,13,PRO_AOI_IP_1,0,,X774,DI-14,0,
,,,14,PRO_AOI_IP_1,0,,X775,DI-15,0,
,,,15,PRO_AOI_IP_1,0,,X776,DI-16,0,
DO,退料1线驱动电机运转,L1_Run,0,PRO_AOI_IP_1,0,退料1线驱动电机运转,Y761,DO-01,0,
DO,退料2线驱动电机运转,L2_Run,1,PRO_AOI_IP_1,0,退料2线驱动电机运转,Y762,DO-02,0,
DO,退料1线阻挡1下降,L1_StopDown,2,PRO_AOI_IP_1,0,退料1线阻挡1下降,Y763,DO-03,0,
DO,退料1线出口缓冲器,L1_OutStopDown,3,PRO_AOI_IP_1,0,退料1线出口缓冲器,Y764,DO-04,0,
DO,退料2线出口阻挡下降,L2_OutStopDown,4,PRO_AOI_IP_1,0,退料2线出口阻挡下降,Y765,DO-05,0,
DO,退料2线阻挡1下降,L2_StopDown,5,PRO_AOI_IP_1,0,退料2线阻挡1下降,Y766,DO-06,0,
DO,退料线横移机构上升SOL,Tranverse_Up_SOL,6,PRO_AOI_IP_1,0,退料线横移机构上升SOL,Y767,DO-07,0,
DO,退料线横移机构下降SOL,Tranverse_Down_SOL,7,PRO_AOI_IP_1,0,退料线横移机构下降SOL,Y768,DO-08,0,
DO,退料线横移电机运转,Tranverse_Run,8,PRO_AOI_IP_1,0,退料线横移电机运转,Y769,DO-09,0,
,,,9,PRO_AOI_IP_1,0,,Y770,DO-10,0,
,,,10,PRO_AOI_IP_1,0,,Y771,DO-11,0,
,,,11,PRO_AOI_IP_1,0,,Y772,DO-12,0,
,,,12,PRO_AOI_IP_1,0,,Y773,DO-13,0,
,,,13,PRO_AOI_IP_1,0,,Y774,DO-14,0,
,,,14,PRO_AOI_IP_1,0,,Y775,DO-15,0,
,,,15,PRO_AOI_IP_1,0,,Y776,DO-16,0,
PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,
PRO,退料1线AGV节点名称,L1_AgvName,D21,,,,,,,
PRO,退料2线AGV节点名称,L2_AgvName,D22,,,,,,,
PRO,退料线出口RFIDIP,L2Out_RFIDIP,192.168.103.108,,,,,, ,
PRO,休眠秒数（秒）,SleepSeconds,60,,,,,,,
source/DeviceLibrary/LineConfig/LineConfig.csv 0 → 100644
类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID,
PRO,IO模块对应的DI数量,IO_DILength,192.168.103.28#16,,,,,,,
PRO,模块对应的DO数量,IO_DOLength,192.168.103.28#16,,,,,,,
PRO,IO模块IP,PRO_AOI_IP_1,192.168.103.28,,,,,,,
,,,,,,,,,,
DI,急停,SuddenStop_BTN,0,PRO_AOI_IP_1,0,急停,X01,DI-01,0,
DI,进料线体入口检测,L1_InCheck,1,PRO_AOI_IP_1,0,进料线体入口检测,X02,DI-02,0,
DI,进料线体阻挡检测,L1_StopCheck,2,PRO_AOI_IP_1,0,进料线体阻挡检测,X03,DI-03,0,
DI,进料线体出口检测,L1_OutCheck,3,PRO_AOI_IP_1,0,进料线体出口检测,X04,DI-04,0,
DI,出料线体入口检测,L2_InCheck,4,PRO_AOI_IP_1,0,出料线体入口检测,X05,DI-05,0,
DI,出料线体阻挡检测,L2_StopCheck,5,PRO_AOI_IP_1,0,出料线体阻挡检测,X06,DI-06,0,
DI,出料线体出口检测,L2_OutCheck,6,PRO_AOI_IP_1,0,出料线体出口检测,X07,DI-07,0,
DI,进料线体人工取料信号,L1_ManualRecSig,7,PRO_AOI_IP_1,0,进料线体人工取料信号,X08,DI-08,0,
DI,入料线体顶升上升端,L1_Updown_Up_Sig,8,PRO_AOI_IP_1,0,入料线体顶升上升端,X09,DI-09,0,
DI,入料线体顶升下降端,L1_Updown_Down_Sig,9,PRO_AOI_IP_1,0,入料线体顶升下降端,X10,DI-10,0,
DI,出料线体顶升上升端,L2_Updown_Up_Sig,10,PRO_AOI_IP_1,0,出料线体顶升上升端,X11,DI-11,0,
DI,出料线体顶升下降端,L2_Updown_Down_Sig,11,PRO_AOI_IP_1,0,出料线体顶升下降端,X12,DI-12,0,
,,,12,PRO_AOI_IP_1,0,,X13,DI-13,0,
,,,13,PRO_AOI_IP_1,0,,X774,DI-14,0,
,,,14,PRO_AOI_IP_1,0,,X775,DI-15,0,
,,,15,PRO_AOI_IP_1,0,,X776,DI-16,0,
DO,进料线体驱动电机运转,L1_Run,0,PRO_AOI_IP_1,0,进料线体驱动电机运转,Y01,DO-01,0,
DO,出料线体驱动电机运转,L2_Run,1,PRO_AOI_IP_1,0,出料线体驱动电机运转,Y02,DO-02,0,
DO,进料线体阻挡1下降,L1_StopDown,2,PRO_AOI_IP_1,0,进料线体阻挡1下降,Y03,DO-03,0,
DO,进料线体出口缓冲器,L1_OutStopDown,3,PRO_AOI_IP_1,0,进料线体出口缓冲器,Y04,DO-04,0,
DO,出料线体出口阻挡下降,L2_OutStopDown,4,PRO_AOI_IP_1,0,出料线体出口阻挡下降,Y05,DO-05,0,
DO,出料线体阻挡1下降,L2_StopDown,5,PRO_AOI_IP_1,0,出料线体阻挡1下降,Y06,DO-06,0,
DO,横移机构上升SOL,Tranverse_Up_SOL,6,PRO_AOI_IP_1,0,横移机构上升SOL,Y07,DO-07,0,
DO,横移机构下降SOL,Tranverse_Down_SOL,7,PRO_AOI_IP_1,0,横移机构下降SOL,Y08,DO-08,0,
DO,横移电机运转,Tranverse_Run,8,PRO_AOI_IP_1,0,横移电机运转,Y09,DO-09,0,
,,,9,PRO_AOI_IP_1,0,,Y770,DO-10,0,
,,,10,PRO_AOI_IP_1,0,,Y771,DO-11,0,
,,,11,PRO_AOI_IP_1,0,,Y772,DO-12,0,
,,,12,PRO_AOI_IP_1,0,,Y773,DO-13,0,
,,,13,PRO_AOI_IP_1,0,,Y774,DO-14,0,
,,,14,PRO_AOI_IP_1,0,,Y775,DO-15,0,
,,,15,PRO_AOI_IP_1,0,,Y776,DO-16,0,
PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,
PRO,入料线体AGV节点名称,L1_AgvName,D3,,,,,,,
PRO,出料线体AGV节点名称,L2_AgvName,D4,,,,,,,
PRO,退料线出口RFIDIP,L2Out_RFIDIP,192.168.103.108,,,,,, ,
PRO,休眠秒数（秒）,SleepSeconds,60,,,,,,,
source/DeviceLibrary/acFeederLine/FeederLineBean.cs

using AsaPL;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
......@@ -21,7 +20,6 @@ namespace OnlineStore.DeviceLibrary
public LineMoveInfo MoveInfo = null;
public AlarmType alarmType = AlarmType.None;
public RunStatus runStatus = RunStatus.Wait;
public AgvClient agvClient;
public string WarnMsg = "";
private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
private System.Timers.Timer mainTimer = new System.Timers.Timer();
......@@ -46,14 +44,15 @@ namespace OnlineStore.DeviceLibrary
IOManager.Init();
IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
AgvClient.NodeList.Add(config.L2_AgvName);
AgvClient.NodeList.Add(config.L1_AgvName);
mainTimer.Enabled = false;
int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
if (isAuto == 1)
{
mainTimer.Enabled = true;
}
agvClient = new AgvClient();
agvClient.Init();
AgvClient.Init();
//Thread.Sleep(300);
}
......@@ -164,7 +163,7 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = "";
RFIDManager.Close();
agvClient.SetCancelState(true);
AgvClient.SetCancelState(true);
mainTimer.Enabled = false;
serverConnectTimer.Enabled = false;
StopMove();
......@@ -346,10 +345,10 @@ namespace OnlineStore.DeviceLibrary
}
}
stopwatch.Stop();
Thread.Sleep(5000);
IOManager.CIOMove(IO_Type.Tranverse_Run, IO_VALUE.LOW);
// IOManager.IOMove(IO_Type.Roller_Run, IO_VALUE.LOW);
LogUtil.info(" 横移电机停止");
Thread.Sleep(5000);
IOManager.CIOMove(IO_Type.Tranverse_Up_SOL, IO_VALUE.LOW);
Thread.Sleep(1000);
IOManager.CIOMove(IO_Type.Tranverse_Down_SOL, IO_VALUE.HIGH);
......@@ -363,7 +362,7 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - il_lastCallAgvTime;
//退料1出口有料架，退料2入口空
//出口信号需要持续6秒钟
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW) && span.TotalSeconds > 6)
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW) && IOManager.IOValue(IO_Type.L1_ManualRecSig).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 6)
{
if (LineManager.checkWatch(ol_tranverseShelfWatch, 2000))
{
......
source/DeviceLibrary/acFeederLine/FeederLineBean_Partial.cs
......@@ -130,8 +130,8 @@ namespace OnlineStore.DeviceLibrary
{
//return "进料线出口" + Config.L2_AgvName + "：" + AgvClient.GetAction(Config.L2_AgvName) + "，料架： " + LastInShelfId + "\r\n" +
// "出料线进口" + Config.L1_AgvName + "：" + AgvClient.GetAction(Config.L1_AgvName) + "，料架： " + LastOutShelfId + "\r\n";
return "退料1线入料口" + Config.L1_AgvName + "：" +agvClient.Feeder_In_Msg+ "\r\n" + //"料架： " + LastInShelfId + AgvClient.GetAction(Config.L1_AgvName)
"退料2线出料口" + Config.L2_AgvName + "：" + "料架： " + LastOutShelfId +" "+ agvClient.Feeder_Out_Msg + "\r\n";//+ "料架： " + LastOutShelfId + AgvClient.GetAction(Config.L2_AgvName) +
return "入料线体入料口" + Config.L1_AgvName + "：" + AgvClient.GetAction(Config.L1_AgvName) + "\r\n" + //"料架： " + LastInShelfId + AgvClient.GetAction(Config.L1_AgvName)
"出料线体出料口" + Config.L2_AgvName + "：" + AgvClient.GetAction(Config.L2_AgvName) + "料架： " + LastOutShelfId +"\r\n";//+ "料架： " + LastOutShelfId + AgvClient.GetAction(Config.L2_AgvName) +
}
#endregion
......@@ -170,8 +170,8 @@ namespace OnlineStore.DeviceLibrary
needCheckList.Add(IO_Type.L2_StopDown);
}
bool agvBusy = false;
if (agvClient.D21_InProcess || agvClient.D22_InProcess)
agvBusy = true;
//if (agvClient.D21_InProcess || agvClient.D22_InProcess)
// agvBusy = true;
if (agvBusy && IsSleep)
{
UpdateSleep(false);
......
source/DeviceLibrary/acFeederLine/LineManager.cs
......@@ -60,14 +60,14 @@ namespace OnlineStore.DeviceLibrary
string appPath = Application.StartupPath;
string linefilePath = appPath + ConfigAppSettings.GetValue(Setting_Init.Line_Config);
LogUtil.info(LOGGER, " 开始加载Feeder流水线配置：" + linefilePath);
LogUtil.info(LOGGER, " 开始加载线体配置：" + linefilePath);
RobotConfig storeConfig = CSVConfigReader.LoadConfig(linefilePath);
Config = (FeederLineConfig)storeConfig;
feederLine = new FeederLineBean(Config);
LogUtil.info(LOGGER, "加载Feeder流水线完成！");
LogUtil.info(LOGGER, "加载线体配置完成！");
return feederLine;
}
......
source/DeviceLibrary/agvClient/AgvClient.cs

using Asa;
using Asa.RFID;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using AsaPL;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using OnlineStore.LoadCSVLibrary;
using System.Web.UI.WebControls;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private AsaPL.AgvClient agvClient;
private static Asa.AgvClient agvClient;
public static Dictionary<string, Asa.ClientAction> actionMap = new Dictionary<string, Asa.ClientAction>();
public static List<string> NodeList = new List<string>();
private static bool isInit = false;
public static Dictionary<string, AsaPL.ClientAction> actionMap = new Dictionary<string, AsaPL.ClientAction>();
public bool D21_InProcess = false;
public bool D22_InProcess = false;
public static void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new Asa.AgvClient(ServerIp);
agvClient.CancelState = true;
agvClient.Log += AgvClient_Log;
agvClient.Arrive += AgvClient_Arrive;
agvClient.Ready += AgvClient_Ready;
agvClient.CloseDoor += AgvClient_CloseDoor;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
//foreach (string key in NodeList)
//{
// actionMap.Add(key, Asa.ClientAction.None);
//}
private static string InLine_Name = "C21";
private static string OutLine_Name = "C22";
public string D22_RFID { get; set; } = "";
#region D21 Action
/// <summary>
/// 无状态
/// </summary>
public void D21_None()
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus("D21", "", ClientAction.None);
SetStatus(str);
LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
}
/// <summary>
/// 可以进入状态
/// </summary>
public void D21_NeedEnter()
}
catch (Exception ex)
{
SetStatus("D21", "", ClientAction.NeedEnter);
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
#endregion
#region D22 Action
/// <summary>
/// 无状态
/// </summary>
public void D22_None()
public static void SetCancelState(bool isCancel)
{
SetStatus("D22", "", ClientAction.None);
agvClient.CancelState = isCancel;
}
/// <summary>
/// 可以出去状态
/// </summary>
public void D22_NeedLeave()
private static void AgvClient_CloseDoor(string id, string rfid)
{
SetStatus("D22", D22_RFID, ClientAction.NeedLeave);
//RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
}
#endregion
public void Init()
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
try
// ClientAction currA = GetAction(id);
if (actionMap.ContainsKey(id))
{
if (!isInit)
{
isInit = true;
agvClient = new AsaPL.AgvClient(ServerIp);
agvClient.CancelState = false;
agvClient.ReadyEnter += AgvClient_ReadyEnter;
agvClient.ReadyLeave += AgvClient_ReadyLeave;
agvClient.AGVFinishEnter += AgvClient_FinishEnter;
agvClient.AGVFinishLeave += AgvClient_FinishLeave;
}
actionMap = new Dictionary<string, AsaPL.ClientAction>();
agvClient.SetStatus(InLine_Name, "", ClientAction.None);
agvClient.SetStatus(OutLine_Name, "", ClientAction.None);
agvClient.Connect();
LogUtil.info("初始化AGV服务");
}
catch (Exception ex)
ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
LogUtil.error("初始化AGV服务 " + ServerIp + " 出错：", ex);
return;
}
}
/// <summary>
/// 设置取消状态
/// </summary>
/// <param name="isCancel">true则ClientAction为None</param>
public void SetCancelState(bool isCancel)
{
agvClient.CancelState = isCancel;
agvClient.SetStatus(id, "",shelfId, action, level);
UpdateAction(id, action);
}
private static void AgvClient_Ready(string id, string rfid)
{
// RFIDData data = new RFIDData(content);
string logName = "收到 AgvClient_Ready [" + id + "] [" + rfid + "] ";
LogUtil.info(logName);
public string Feeder_In_Msg = "";
public string Feeder_Out_Msg = "";
/// <summary>
/// 小车准备进入
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyEnter(string name)
UpdateAction(id, Asa.ClientAction.Ready);
if (id.Equals(LineManager.Config.L1_AgvName))
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW) && !D21_InProcess && name.Equals(InLine_Name))
LineManager.feederLine.UpdateSleep(false);
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
{
MayEnter(InLine_Name);
Task.Factory.StartNew(delegate
{
Feeder_In_Msg = "Feeder In: 等待 L1_InCheck=HIGH";
LogUtil.info(Feeder_In_Msg);
// SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info(logName + " ,等待OutL_InCheck");
try
{
WaitUtil.Wait(60000, delegate
......@@ -118,227 +104,156 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error("Feeder In:" + ex.ToString());
LogUtil.error(logName + ":" + ex.ToString());
}
//五秒后改为离开状态
//两秒后改为离开状态
Thread.Sleep(3000);
LogUtil.info(logName + " ，调用 FinishEnter ");
SetStatus(id, "", ClientAction.FinishEnter);
Thread.Sleep(5000);
Feeder_In_Msg = "Feeder In: 调用 FinishEnter ";
LogUtil.info(Feeder_In_Msg);
FinishEnter(InLine_Name);
Feeder_In_Msg = "Feeder In: 处理结束 更新状态为None ";
LogUtil.info(Feeder_In_Msg);
D21_None();
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
}
else
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.HIGH))
Feeder_In_Msg = "Feeder In: L1_InCheck 检测到有料架，AGV的料架无法进入";
LogUtil.info(Feeder_In_Msg);
D21_None();
LogUtil.error(logName + " OutL_InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
LogUtil.info("收到 AgvClient_ReadyEnter [" + name + "]");
}
/// <summary>
///料架准备离开
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyLeave(string name)
else if (id.Equals(LineManager.Config.L2_AgvName))
{
//SetStatus(name, "", ClientAction.ReadyLeave);
//if (name.Equals("D22"))
//{
// D22_InProcess = true;
// D22_ReadyLeave = true;
//}
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && !D22_InProcess && name.Equals(OutLine_Name))
string shefId = LineManager.feederLine.LastOutShelfId;
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH))
{
MayLeave(OutLine_Name);
//LineManager.feederLine.UpdateSleep(false);
LineManager.feederLine.UpdateSleep(false);
LineManager.feederLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
//agvClient.MayLeave(id);
// SetStatus(id, shefId, ClientAction.MayLeave);
Feeder_Out_Msg = "Feeder Out: 允许流出料架";
LogUtil.info(Feeder_Out_Msg);
LogUtil.info(logName + "下降 L2_OutStopDown ， " + shefId);
Task.Factory.StartNew(delegate
{
//十秒后改为完成状态
Thread.Sleep(10000);
Feeder_Out_Msg = "Feeder Out: 调用 FinishLeave ";
LogUtil.info(Feeder_Out_Msg);
FinishLeave(OutLine_Name);
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishLeave " + shefId);
SetStatus(id, shefId, ClientAction.FinishLeave);
Thread.Sleep(5000);
Feeder_Out_Msg = "Feeder Out: 处理结束 更新状态为None ";
LogUtil.info(Feeder_Out_Msg);
D22_None();
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(id, "", ClientAction.None);
});
}
else
{
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW))
Feeder_Out_Msg = "Feeder Out: L2_OutCheck 未检测到料架，无法将料架进入AGV";
LogUtil.info(Feeder_Out_Msg);
D22_None();
LogUtil.error(logName + " L2_OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
LogUtil.info("收到 AgvClient_ReadyLeave [" + name + "] ");
}
}
private static void AgvClient_Arrive(string id, string rfid)
{
UpdateAction(id, Asa.ClientAction.Arrive);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" +rfid + "] ");
}
/// <summary>
/// 料架离开小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishLeave(string name)
public static bool SetToNone(string id, string shelfId = "")
{
if (name.Equals(InLine_Name))
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
D21_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
D22_InProcess = false;
}
LogUtil.info("收到 AgvClient_FinishLeave [" + name + "] ");
SetStatus(id, shelfId, ClientAction.None);
return true;
}
/// <summary>
/// 料架进入小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishEnter(string name)
{
//if (name.Equals("D21"))
//{
// D21_InProcess = false;
//}
//else if (name.Equals("D22"))
//{
// D22_InProcess = false;
//}
LogUtil.info("收到 AgvClient_FinishEnter [" + name + "] ");
return false;
}
public void MayEnter(string name)
public static bool NeedEnter(string id, string shelfId)
{
SetStatus(name, "", ClientAction.MayEnter);
if (name.Equals(InLine_Name))
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
D21_InProcess = true;
SetStatus(id, shelfId, ClientAction.NeedEnter);
return true;
}
LogUtil.info("MayEnter [" + name + "] ");
return false;
}
public void MayLeave(string name)
public static bool NeedLeave(string id, string shelfId)
{
SetStatus(name, "", ClientAction.MayLeave);
if (name.Equals(OutLine_Name))
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
D22_InProcess = true;
SetStatus(id, shelfId, ClientAction.NeedLeave);
return true;
}
LogUtil.info("MayLeave [" + name + "] ");
return false;
}
/// <summary>
/// 料架进入产线完成
/// </summary>
/// <param name="name"></param>
public void FinishEnter(string name)
public static bool ISConnected()
{
Task.Factory.StartNew(delegate
{
SetStatus(name, "", ClientAction.FinishEnter);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
if (agvClient == null)
{
D21_InProcess = false;
return false;
}
else if (name.Equals(OutLine_Name))
{
D22_InProcess = false;
return agvClient.IsConn;
}
});
//public static void SendRFID(string NodeName, string rfid)
//{
// agvClient.SendRFID(NodeName, rfid);
}
/// <summary>
/// 料架离开产线完成
/// </summary>
/// <param name="name"></param>
public void FinishLeave(string name)
//}
private static void AgvClient_Log(string s)
{
Task.Factory.StartNew(delegate
try
{
SetStatus(name, "", ClientAction.FinishLeave);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
bool isLog = ConfigAppSettings.GetIntValue(Setting_Init.Agv_Log_Open).Equals(1);
if (isLog)
{
D21_InProcess = false;
LogUtil.info(" AGV " + ServerIp + " Log : " + s);
}
}
else if (name.Equals(OutLine_Name))
catch (Exception ex)
{
D22_InProcess = false;
LogUtil.error("AgvClient_Log 出错：" + ex.ToString());
}
});
}
private bool SetStatus(string name, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
public static Asa.ClientAction GetAction(string NodeName)
{
// if (!agvClient.IsConn)
// {
// LogUtil.error("SetStatus AGV服务未连接！");
// return false;
// }
if (actionMap.ContainsKey(name))
{
ClientAction currA = actionMap[name]; //相同状态就设置一次
if (currA.Equals(action) && shelfId == "")
if (actionMap.ContainsKey(NodeName))
{
return false;
}
// actionMap[name] = action;
// agvClient.SetStatus(name, shelfId, action, level);
//LogUtil.info("设置 " + name + " [" + shelfId + "] " + action.ToString());
return true;
return actionMap[NodeName];
}
agvClient.SetStatus(name, shelfId, action, level);
//actionMap.Add(name, action);
//LogUtil.info("设置 " + name + " ["+ shelfId + "] "+ action.ToString());
return true;
return Asa.ClientAction.None;
}
public bool ISConnected()
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (agvClient == null)
if (actionMap.ContainsKey(name))
{
return false;
actionMap[name] = action;
}
return agvClient.IsConn;
else
{
actionMap.Add(name, action);
}
public void Dispose()
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
LogUtil.info("关闭AGV服务");
}
}
catch (Exception ex)
{
LogUtil.error("关闭AGV服务 " + ServerIp + " 出错：", ex);
LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
......
source/DeviceLibrary/agvClient/AgvClient1.cs 0 → 100644

using OnlineStore.Common;
using System;
using System.Collections.Generic;
using AsaPL;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using OnlineStore.LoadCSVLibrary;
using System.Web.UI.WebControls;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
private AsaPL.AgvClient agvClient;
private static bool isInit = false;
public static Dictionary<string, AsaPL.ClientAction> actionMap = new Dictionary<string, AsaPL.ClientAction>();
public bool D21_InProcess = false;
public bool D22_InProcess = false;
private static string InLine_Name = "C21";
private static string OutLine_Name = "C22";
public string D22_RFID { get; set; } = "";
#region D21 Action
/// <summary>
/// 无状态
/// </summary>
public void D21_None()
{
SetStatus("D21", "", ClientAction.None);
}
/// <summary>
/// 可以进入状态
/// </summary>
public void D21_NeedEnter()
{
SetStatus("D21", "", ClientAction.NeedEnter);
}
#endregion
#region D22 Action
/// <summary>
/// 无状态
/// </summary>
public void D22_None()
{
SetStatus("D22", "", ClientAction.None);
}
/// <summary>
/// 可以出去状态
/// </summary>
public void D22_NeedLeave()
{
SetStatus("D22", D22_RFID, ClientAction.NeedLeave);
}
#endregion
public void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new AsaPL.AgvClient(ServerIp);
agvClient.CancelState = false;
agvClient.ReadyEnter += AgvClient_ReadyEnter;
agvClient.ReadyLeave += AgvClient_ReadyLeave;
agvClient.AGVFinishEnter += AgvClient_FinishEnter;
agvClient.AGVFinishLeave += AgvClient_FinishLeave;
}
actionMap = new Dictionary<string, AsaPL.ClientAction>();
agvClient.SetStatus(InLine_Name, "", ClientAction.None);
agvClient.SetStatus(OutLine_Name, "", ClientAction.None);
agvClient.Connect();
LogUtil.info("初始化AGV服务");
}
catch (Exception ex)
{
LogUtil.error("初始化AGV服务 " + ServerIp + " 出错：", ex);
}
}
/// <summary>
/// 设置取消状态
/// </summary>
/// <param name="isCancel">true则ClientAction为None</param>
public void SetCancelState(bool isCancel)
{
agvClient.CancelState = isCancel;
}
public string Feeder_In_Msg = "";
public string Feeder_Out_Msg = "";
/// <summary>
/// 小车准备进入
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyEnter(string name)
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW) && !D21_InProcess && name.Equals(InLine_Name))
{
MayEnter(InLine_Name);
Task.Factory.StartNew(delegate
{
Feeder_In_Msg = "Feeder In: 等待 L1_InCheck=HIGH";
LogUtil.info(Feeder_In_Msg);
try
{
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.HIGH);
}, "等待L1_InCheck=HIGH");
}
catch (Exception ex)
{
LogUtil.error("Feeder In:" + ex.ToString());
}
//五秒后改为离开状态
Thread.Sleep(5000);
Feeder_In_Msg = "Feeder In: 调用 FinishEnter ";
LogUtil.info(Feeder_In_Msg);
FinishEnter(InLine_Name);
Feeder_In_Msg = "Feeder In: 处理结束 更新状态为None ";
LogUtil.info(Feeder_In_Msg);
D21_None();
});
}
else
{
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.HIGH))
Feeder_In_Msg = "Feeder In: L1_InCheck 检测到有料架，AGV的料架无法进入";
LogUtil.info(Feeder_In_Msg);
D21_None();
}
LogUtil.info("收到 AgvClient_ReadyEnter [" + name + "]");
}
/// <summary>
///料架准备离开
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyLeave(string name)
{
//SetStatus(name, "", ClientAction.ReadyLeave);
//if (name.Equals("D22"))
//{
// D22_InProcess = true;
// D22_ReadyLeave = true;
//}
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && !D22_InProcess && name.Equals(OutLine_Name))
{
MayLeave(OutLine_Name);
//LineManager.feederLine.UpdateSleep(false);
LineManager.feederLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
//agvClient.MayLeave(id);
// SetStatus(id, shefId, ClientAction.MayLeave);
Feeder_Out_Msg = "Feeder Out: 允许流出料架";
LogUtil.info(Feeder_Out_Msg);
Task.Factory.StartNew(delegate
{
//十秒后改为完成状态
Thread.Sleep(10000);
Feeder_Out_Msg = "Feeder Out: 调用 FinishLeave ";
LogUtil.info(Feeder_Out_Msg);
FinishLeave(OutLine_Name);
Thread.Sleep(5000);
Feeder_Out_Msg = "Feeder Out: 处理结束 更新状态为None ";
LogUtil.info(Feeder_Out_Msg);
D22_None();
});
}
else
{
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW))
Feeder_Out_Msg = "Feeder Out: L2_OutCheck 未检测到料架，无法将料架进入AGV";
LogUtil.info(Feeder_Out_Msg);
D22_None();
}
LogUtil.info("收到 AgvClient_ReadyLeave [" + name + "] ");
}
/// <summary>
/// 料架离开小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishLeave(string name)
{
if (name.Equals(InLine_Name))
{
D21_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
D22_InProcess = false;
}
LogUtil.info("收到 AgvClient_FinishLeave [" + name + "] ");
}
/// <summary>
/// 料架进入小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishEnter(string name)
{
//if (name.Equals("D21"))
//{
// D21_InProcess = false;
//}
//else if (name.Equals("D22"))
//{
// D22_InProcess = false;
//}
LogUtil.info("收到 AgvClient_FinishEnter [" + name + "] ");
}
public void MayEnter(string name)
{
SetStatus(name, "", ClientAction.MayEnter);
if (name.Equals(InLine_Name))
{
D21_InProcess = true;
}
LogUtil.info("MayEnter [" + name + "] ");
}
public void MayLeave(string name)
{
SetStatus(name, "", ClientAction.MayLeave);
if (name.Equals(OutLine_Name))
{
D22_InProcess = true;
}
LogUtil.info("MayLeave [" + name + "] ");
}
/// <summary>
/// 料架进入产线完成
/// </summary>
/// <param name="name"></param>
public void FinishEnter(string name)
{
Task.Factory.StartNew(delegate
{
SetStatus(name, "", ClientAction.FinishEnter);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
{
D21_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
D22_InProcess = false;
}
});
}
/// <summary>
/// 料架离开产线完成
/// </summary>
/// <param name="name"></param>
public void FinishLeave(string name)
{
Task.Factory.StartNew(delegate
{
SetStatus(name, "", ClientAction.FinishLeave);
Thread.Sleep(15000);
if (name.Equals(InLine_Name))
{
D21_InProcess = false;
}
else if (name.Equals(OutLine_Name))
{
D22_InProcess = false;
}
});
}
private bool SetStatus(string name, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
// if (!agvClient.IsConn)
// {
// LogUtil.error("SetStatus AGV服务未连接！");
// return false;
// }
if (actionMap.ContainsKey(name))
{
ClientAction currA = actionMap[name]; //相同状态就设置一次
if (currA.Equals(action) && shelfId == "")
{
return false;
}
// actionMap[name] = action;
// agvClient.SetStatus(name, shelfId, action, level);
//LogUtil.info("设置 " + name + " [" + shelfId + "] " + action.ToString());
return true;
}
agvClient.SetStatus(name, shelfId, action, level);
//actionMap.Add(name, action);
//LogUtil.info("设置 " + name + " ["+ shelfId + "] "+ action.ToString());
return true;
}
public bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
LogUtil.info("关闭AGV服务");
}
}
catch (Exception ex)
{
LogUtil.error("关闭AGV服务 " + ServerIp + " 出错：", ex);
}
}
}
}
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