AgvClient-新协议.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;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
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 void Init()
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new Asa.AgvClient(ServerIp);
agvClient.Received += AgvClient_Received; ;
}
actionMap = new Dictionary<string, Asa.ClientAction>();
//foreach (string key in NodeList)
//{
// actionMap.Add(key, Asa.ClientAction.None);
//}
agvClient.Connect();
foreach (string str in NodeList)
{
SetStatus(str);
LogUtil.info("初始化agvClient,SetStatus[" + str + "]=none ");
}
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
private static void AgvClient_Received(ClientNode node)
{
string logName = "";
if (node.Name.Equals(LineManager.Config.L1_AgvName))
{
switch (node.Action)
{
case ClientAction.ReadyEnter:
logName = "收到 AgvClient_ReadyEnter [" + node.Name + "] ";
LogUtil.info(logName);
UpdateAction(node.Name, Asa.ClientAction.ReadyEnter);
LineManager.DISTLine.UpdateSleep(false);
if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
{
Task.Factory.StartNew(delegate
{
// SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info(logName + " ,等待 L1_InCheck");
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(logName + ":" + ex.ToString());
}
//两秒后改为离开状态
Thread.Sleep(3000);
LogUtil.info(logName + " ，调用 FinishEnter ");
SetStatus(node.Name, "", ClientAction.FinishEnter);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(node.Name, "", ClientAction.None);
});
}
else
{
LogUtil.error(logName + " L1_InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(node.Name, "", ClientAction.None, ClientLevel.High);
}
break;
case ClientAction.Arrive:
UpdateAction(node.Name, Asa.ClientAction.Arrive);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + node.Name + "] ");
break;
}
}
else if (node.Name.Equals(LineManager.Config.L2_AgvName))
{
switch (node.Action)
{
case ClientAction.ReadyLeave:
logName = "收到 AgvClient_ReadyLeave [" + node.Name + "] ";
LogUtil.info(logName);
UpdateAction(node.Name, Asa.ClientAction.ReadyLeave);
LineManager.DISTLine.UpdateSleep(false);
string shefId = LineManager.DISTLine.LastOutShelfId;
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH))
{
LineManager.DISTLine.UpdateSleep(false);
LineManager.DISTLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
//agvClient.MayLeave(id);
// SetStatus(id, shefId, ClientAction.MayLeave);
LogUtil.info(logName + "下降 L2_OutStopDown ， " + shefId);
Task.Factory.StartNew(delegate
{
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info(logName + " ，调用 FinishLeave " + shefId);
SetStatus(node.Name, shefId, ClientAction.FinishLeave);
Thread.Sleep(5000);
LogUtil.info(logName + " ，处理结束 更新状态为None ");
SetStatus(node.Name, "", ClientAction.None);
});
}
else
{
LogUtil.error(logName + " L2_OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(node.Name, "", ClientAction.None, ClientLevel.High);
}
break;
case ClientAction.Arrive:
UpdateAction(node.Name, Asa.ClientAction.Arrive);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + node.Name + "] ");
break;
}
}
}
public static void SetCancelState(bool isCancel)
{
}
//private static void AgvClient_CloseDoor(string id, string rfid)
//{
// //RFIDData data = new RFIDData(content);
// LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
//}
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
// ClientAction currA = GetAction(id);
if (actionMap.ContainsKey(id))
{
ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
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);
// UpdateAction(id, Asa.ClientAction.Ready);
// if (id.Equals(LineManager.Config.L1_AgvName))
// {
// LineManager.DISTLine.UpdateSleep(false);
// if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
// {
// Task.Factory.StartNew(delegate
// {
// // SetStatus(id, "", ClientAction.MayEnter);
// LogUtil.info(logName + " ,等待 L1_InCheck");
// 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(logName + ":" + ex.ToString());
// }
// //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);
// LogUtil.info(logName + " ，处理结束 更新状态为None ");
// SetStatus(id, "", ClientAction.None);
// });
// }
// else
// {
// LogUtil.error(logName + " L1_InCheck 检测到有料架，AGV的料架无法进入");
// SetStatus(id, "", ClientAction.None, ClientLevel.High);
// }
// }
// else if (id.Equals(LineManager.Config.L2_AgvName))
// {
// string shefId = LineManager.DISTLine.LastOutShelfId;
// if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH))
// {
// LineManager.DISTLine.UpdateSleep(false);
// LineManager.DISTLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
// //agvClient.MayLeave(id);
// // SetStatus(id, shefId, ClientAction.MayLeave);
// LogUtil.info(logName + "下降 L2_OutStopDown ， " + shefId);
// Task.Factory.StartNew(delegate
// {
// //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);
// LogUtil.info(logName + " ，处理结束 更新状态为None ");
// SetStatus(id, "", ClientAction.None);
// });
// }
// else
// {
// 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);
// }
// }
//}
//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 + "] ");
//}
public static bool SetToNone(string id, string shelfId = "")
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedEnter);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId)
{
ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
{
SetStatus(id, shelfId, ClientAction.NeedLeave);
return true;
}
return false;
}
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 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 Asa.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Asa.ClientAction.None;
}
public static void UpdateAction(string name, Asa.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
}