CtuService.cs
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using Mushiny;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using OnlineStore.Common;
using log4net.Util;
namespace DeviceLibrary.CtuService
{
public class CtuService : IDisposable
{
public delegate void ProcessMsg(List<Msg> msg);
public event ProcessMsg ProcessMsgEvent;
bool run = true;
public CtuService()
{
}
/// <summary>
/// 需要更新
/// </summary>
public bool NeedUpdate { get; set; }
/// <summary>
/// 用户暂停
/// </summary>
public bool UserPause { get; set; }
public void Start()
{
serviceProcess();
}
public void Stop()
{
run = false;
}
DateTime lastClearMsgTime = DateTime.Now;
string[] disabledLanes = TaskUtil.disabledLancode;
void showMsgInfo()
{
try
{
if (disabledLanes != null && disabledLanes.Length > 0)
{
if(disabledLanes.Length==1)
{
if (string.IsNullOrEmpty(disabledLanes[0])) return;
}
Msg.add($"当前已屏蔽任务的巷道：{string.Join(",", disabledLanes)}", MsgLevel.info);
}
}
catch (Exception ex)
{
}
}
void serviceProcess()
{
run = true;
while (run)
{
Thread.Sleep(200);
if (!RobotManager.isRunning)
continue;
if (UserPause) continue;
showMsgInfo();
foreach (var ctu in CTUManager.GetCTUs())
{
try
{
if (ctu.Enabled)
ctu.ShowAgvState();
if (ctu.RunState != RunState.Executing)
continue;
ctu.Process();
}
catch (Exception ex)
{
LogUtil.error($"[{ctu.Name}]执行异常", ex);
}
}
ProcessMsgEvent?.Invoke(Msg.get());
if ((DateTime.Now - lastClearMsgTime).TotalSeconds > 2)
{
Msg.clear();
lastClearMsgTime = DateTime.Now;
}
}
RobotManager.isRunning = false;
}
public void Dispose()
{
run = false;
}
~CtuService()
{
Dispose();
}
}
}