AgvClient.cs
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using AGVLib;
using OnlineStore.Common;
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
{
public static bool CurrCancelState = false;
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp,"127.0.0.1");
private static Client agvClient;
public static List<Node> NodeList = new List<Node>();
private static bool isInit = false;
static int port = 12000;
public static void Init()
{
try
{
LogUtil.info("开始 Init agvclient");
if (!isInit)
{
isInit = true;
agvClient = new Client();
agvClient.ReceivedEvent += AgvClient_ReceivedEvent;
agvClient.ConnectedEvent += AgvClient_ConnectedEvent;
}
LogUtil.info(" 开始 agvClient.Connect");
agvClient.Connect(ServerIp, port);
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
static bool connectStr =false;
private static void AgvClient_ConnectedEvent(bool status)
{
if(status!=connectStr)
{
connectStr= status;
LogUtil.info($"连接AGV服务器结果：{ServerIp}:{port}" + (status ? "已连接" : "断开"));
}
}
public delegate void ReceiveServerInfoHandlerInfo(Node node);
public static event ReceiveServerInfoHandlerInfo RecvServerInfo;
private static void AgvClient_ReceivedEvent(Node node)
{
RecvServerInfo?.Invoke(node);
}
public static void SetCancelState(bool isCancel)
{
if (agvClient == null)
{
return;
}
CurrCancelState = isCancel;
agvClient.Shielded = isCancel;
}
public static void SetStatus(int id,NodeStatus nodeStatus,string shelfId="",NodeLevel level = NodeLevel.None,bool isMust=false)
{
if (agvClient == null)
{
return;
}
Node node= getNode(id);
if (!isMust && level.Equals(NodeLevel.None))
{
if (node!=null)
{
// NodeStatus currA = node.status; //相同状态就设置一次
if (node.status.Equals(nodeStatus) && node.shelf_id.Equals(shelfId))
{
return;
}
}
}
//string mark = "";
node.status = nodeStatus;
node.shelf_id = shelfId;
node.level = level;
agvClient.SetStatus(node);
UpdateAction(id, node.status);
}
static Node getNode(int id)
{
return NodeList.Find(s => s.id.Equals(id));
}
public static bool MayEnter(int id, string shelfId = "")
{
NodeStatus currA = GetAction(id);
if (!currA.Equals(NodeStatus.MayEnter))
{
Node node = getNode(id);
SetStatus(id, NodeStatus.MayEnter, shelfId);
return true;
}
return false;
}
public static bool MayLeave(int id, string shelfId = "")
{
NodeStatus currA = GetAction(id);
if (!currA.Equals(NodeStatus.MayLeave))
{
Node node = getNode(id);
SetStatus(id, NodeStatus.MayLeave, shelfId);
return true;
}
return false;
}
public static bool SetToNone(int id, string shelfId = "")
{
NodeStatus currA = GetAction(id);
if (!currA.Equals(NodeStatus.None))
{
Node node = getNode(id);
SetStatus(id, NodeStatus.None,shelfId);
return true;
}
return false;
}
public static bool SetToComplete(int id, string shelfId = "")
{
NodeStatus currA = GetAction(id);
if (!currA.Equals(NodeStatus.Complete))
{
Node node = getNode(id);
SetStatus(id, NodeStatus.Complete,shelfId);
return true;
}
return false;
}
public static bool NeedLeave(int id,string shelf_id="")
{
NodeStatus currA = GetAction(id);
if (!currA.Equals(NodeStatus.NeedLeave))
{
SetStatus(id, NodeStatus.NeedLeave, shelf_id);
return true;
}
return false;
}
public static NodeStatus GetAction(int id)
{
Node node = getNode(id);
if (node!=null)
{
return node.status;
}
return NodeStatus.None;
}
public static void UpdateAction(int id, NodeStatus action)
{
Node node=getNode(id);
if (node!=null)
{
node.status = action;
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("释放 agvClient " + ServerIp + " 出错：", ex);
}
}
}
}