MiROperation.cs
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using Common;
using Common.Communication;
using DeviceLib.BLL;
using DeviceLib.Model.AGV.MiR.schema;
using System;
using System.Threading;
namespace DeviceLib.Model.AGV.MiR
{
public class MiROperation : RobotOperation
{
public MiROperation(Robot robot)
{
Log = new LogBean(Setting_Str.RobotLog);
this.robot = robot;
if (robot.fleet.ip != null && !robot.fleet.ip.Equals(""))
client_fleet = new HttpClient("http://" + robot.fleet.ip + "/api/v2.0.0");
client_robot = new HttpClient("http://" + robot.ip + "/api/v2.0.0");
client_robot.Headers.Add("accept", "application/json");
client_robot.Headers.Add("Accept-Language", "zh_CN");
client_robot.Headers.Add("Authorization", "Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==");
}
/// <summary>
/// 获取IO模块的状态
/// </summary>
/// <param name="robot"></param>
/// <param name="input"></param>
/// <param name="output"></param>
/// <returns></returns>
public override void Get_IO_Status()
{
foreach (IOModule io in robot.io_modules)
{
try
{
string url = "/io_modules/" + io.ip + "/status";
string json = client_robot.Get(url);
if (string.IsNullOrWhiteSpace(json)) continue;
IO_Status status = JsonHelper.DeserializeJsonToObject<IO_Status>(json);
if (status != null)
{
io.status = status;
}
}
catch (Exception ex)
{
Log.Error("Get_IO_Status", ex);
}
}
}
public override bool Set_IO_Output(string guid, Arg_IO_Status iO_Status)
{
try
{
string url = "/io_modules/" + guid + "/status";
string json = client_robot.Put(url, JsonHelper.SerializeObject(iO_Status));
if (string.IsNullOrWhiteSpace(json)) return false;
return true;
}
catch (Exception ex)
{
Log.Error("Set_IO_Output", ex);
}
return false;
}
object locObj = new object();
/// <summary>
/// 添加任务到任务队列
/// </summary>
/// <param name="info"></param>
/// <param name="mission_id"></param>
/// <returns></returns>
public override bool Add_Mission(Mission mission)
{
//if (Monitor.TryEnter(locObj, 500))
{
try
{
robot.mission_state = new MissionState() { node_name = robot?.mission_state?.node_name ?? "" };
robot.mission_state.mission = mission;
robot.mission_state.run_id = -1;
if (mission.type_id == MissionManager.moveMission_type)
robot.mission_state.node_name = mission.name;
robot.place = robot.mission_state.node_name;
if (!(robot?.status?.is_online ?? false))
{
Log.Error($"【{robot.name}】offline,Add_Mission 【{mission.name}】Fail");
return false;
}
//删除上一任务
Del_Mission();
string url = "";
string json = string.Empty;
string guid = Guid.NewGuid().ToString();
robot.mission_state.description = guid;
if (robot.use_fleet)
{
url = "/mission_scheduler";
json = client_robot.Post(new MissionQueue() { mission_id = mission.guid, robot_id = robot.id, description = guid }, url);
}
else
{
url = "/mission_queue";
json = client_robot.Post(new MissionQueue() { mission_id = mission.guid, robot_id = robot.id, description = guid }, url);
}
if (string.IsNullOrEmpty(json))
{
return false;
}
MissionQueueRtn rtn = JsonHelper.DeserializeJsonToObject<MissionQueueRtn>(json);
if (rtn != null)
{
if (mission.guid.Equals(rtn.mission_id) && rtn.id > 0)
{
robot.mission_state.run_id = rtn.id;
return true;
}
}
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Add_Mission 【{mission.name}】Fail", ex);
return false;
}
//finally
//{
// Monitor.Exit(locObj);
//}
}
return false;
}
/// <summary>
/// 获取根据描述获取任务运行编号
/// </summary>
/// <returns></returns>
public override bool Get_MissionByDesc()
{
try
{
string url = "";
string body = "{\"filters\" : [{\"fieldname\": \"description\", \"operator\": \"LIKE\", \"value\": \"" + robot.mission_state.description + "\"}]}";
string json = string.Empty;
if (robot.use_fleet)
{
url = "/mission_scheduler/search";
json = client_fleet?.Post(body, url);
}
else
{
url = "/missions/search";
json = client_robot.Post(body, url);
}
if (string.IsNullOrEmpty(json)) return false;
MissionQueueRtn rtn = JsonHelper.DeserializeJsonToObject<MissionQueueRtn>(json);
if (rtn != null)
{
robot.mission_state.run_id = rtn.id;
if (robot.mission_state.run_id == -1)
return false;
return true;
}
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Get_MissionByDesc", ex);
return false;
}
}
/// <summary>
/// 删除当前任务
/// 删除Fleet尽快中指定id的任务，已运行的无法删除
/// </summary>
/// <param name="info"></param>
public override bool Del_Mission()
{
try
{
string url = "/mission_queue";
System.Net.HttpStatusCode statusCode = client_robot.Delete(url);
if (robot.use_fleet)
{
url = "/mission_scheduler/" + robot.mission_state.description;
client_fleet?.Delete(url);
}
if (statusCode.Equals(System.Net.HttpStatusCode.NotFound) || statusCode.Equals(System.Net.HttpStatusCode.NoContent))
return true;
return false;
}
catch (Exception ex)
{
Log.Error("Del_Mission", ex);
return false;
}
}
/// <summary>
/// 获取任务任务是否在队列
/// </summary>
/// <returns></returns>
public override bool Check_Mission_InQueue()
{
try
{
if ((robot.mission_state?.run_id ?? -1) == -1)
return false;
string url = "";
string json = string.Empty;
if (robot.use_fleet)
{
url = "/mission_scheduler/" + robot.mission_state.run_id;
json = client_fleet?.Get(url);
Log.Debug("URL: " + url + "\n" + "Return: " + json);
if (string.IsNullOrEmpty(json)) return false;
}
else
{
url = "/mission_queue/" + robot.mission_state.run_id;
json = client_robot.Get(url);
if (string.IsNullOrEmpty(json)) return false;
}
MissionQueueRtn rtn = JsonHelper.DeserializeJsonToObject<MissionQueueRtn>(json);
// "mission_id": "2e433130-c045-11ea-9a66-94c691a7387d",
// "id": 7178,
// "state": "Done"
if (rtn.id.Equals(robot.mission_state.run_id))
{
robot.mission_state.state = rtn.state;
return true;
}
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】 Get_Mission_State", ex);
return false;
}
}
/// <summary>
/// 获取当前小车状态
/// </summary>
/// <param name="info"></param>
/// <param name="stateID"></param>
/// <param name="stateText"></param>
/// <param name="battery"></param>
/// <param name="mission_text"></param>
/// <returns></returns>
public override bool Get_Status(out Status Status)
{
Status = new Status();
schema.Status mirStatus = null;
try
{
string url = "/status";//?whitelist=state_id,state_text,battery_percentage,mission_text,position,errors
string json = client_robot.Get(url);
if (string.IsNullOrEmpty(json)) return false;
mirStatus = JsonHelper.DeserializeJsonToObject<schema.Status>(json);
if (mirStatus == null) return false;
Status.battery_percentage = mirStatus.battery_percentage;
Status.battery_time_remaining = mirStatus.battery_time_remaining;
Status.distance_to_next_target = mirStatus.distance_to_next_target;
Status.mission_text = mirStatus.mission_text;
Status.moved = mirStatus.moved;
Status.state_id = mirStatus.state_id;
Status.is_online = true;
return true;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Get_Status", ex);
return false;
}
}
/// <summary>
/// 小车状态改为Ready
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
public override bool Set_Ready()
{
try
{
string url = "/status";
string body = "{\"state_id\": 3}";
string json = client_robot.Put(url, body);
if (string.IsNullOrEmpty(json)) return false;
schema.Status status = JsonHelper.DeserializeJsonToObject<schema.Status>(json);
if (status == null) return false;
if (status.state_id == 3)
return true;
else
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Set_Ready", ex);
return false;
}
}
/// <summary>
/// 小车状态改为Pause
/// </summary>
/// <returns></returns>
public override bool Set_Pause()
{
try
{
string url = "/status";
string body = "{\"state_id\": 4}";
string json = client_robot.Put(url, body);
if (string.IsNullOrEmpty(json)) return false;
schema.Status status = JsonHelper.DeserializeJsonToObject<schema.Status>(json);
if (status == null) return false;
if (status.state_id == 4)
return true;
else
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Set_Pause", ex);
return false;
}
}
/// <summary>
/// 清除错误
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
public override bool Clear_Error()
{
try
{
string url = "/status";
string body = "{\"clear_error\": true}";
string json = client_robot.Put(url, body);
if (string.IsNullOrWhiteSpace(json)) return false;
return true;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Clear_Error", ex);
return false;
}
}
/// <summary>
/// 获取PLC寄存器的值
/// </summary>
/// <param name="reg"></param>
/// <param name="regValue"></param>
/// <returns></returns>
public override bool Get_Register(int reg, out double regValue)
{
try
{
regValue = -1;
string url = "/registers/" + reg;// + "?whitelist=value";
string json = client_robot.Get(url);
if (string.IsNullOrWhiteSpace(json)) return false;
Register register = JsonHelper.DeserializeJsonToObject<Register>(json);
if (register == null)
{
Log.Error("URL: " + url + "\n" + "Return: " + json);
return false;
}
regValue = register.value;
return true;
}
catch (Exception ex)
{
regValue = -1;
Log.Error("Get_Register", ex);
return false;
}
}
/// <summary>
/// 设置PLC寄存器的内容
/// </summary>
/// <param name="reg"></param>
/// <param name="regValue"></param>
/// <returns></returns>
public override bool Set_Register(int reg, double regValue)
{
try
{
string url = "/registers/" + reg;
string body = "{\"value\": " + regValue + "}";
string json = client_robot.Post(body, url);
if (string.IsNullOrWhiteSpace(json)) return false;
Register register = JsonHelper.DeserializeJsonToObject<Register>(json);
if (register == null)
{
Log.Error("URL: " + url + "\n" + "Return: " + json);
return false;
}
if (regValue == register.value)
{
Log.Info($"【{robot.name}】Set_Register:{reg}={regValue}");
return true;
}
else
return false;
}
catch (Exception ex)
{
Log.Error($"【{robot.name}】Set_Register:{reg}={regValue}", ex);
return false;
}
}
}
}