AgvClient.cs
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using Agv;
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 int ServerPort = ConfigAppSettings.GetIntValue(Setting_Init.AgvServerPort);
private static Agv.AgvClient agvClient;
public static Dictionary<string, Agv.ClientAction> actionMap = new Dictionary<string, Agv.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 Agv.AgvClient();
agvClient.Received += AgvClient_Received;
}
actionMap = new Dictionary<string, Agv.ClientAction>();
//foreach (string key in NodeList)
//{
// actionMap.Add(key, Agv.ClientAction.None);
//}
agvClient.Connect(ServerIp,ServerPort);
foreach (string str in NodeList)
{
SetStatus(str);
LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
}
SetCancelState(false);
}
catch (Exception ex)
{
LogUtil.error("初始化agvClient " + ServerIp + " 出错：", ex);
}
}
private static void AgvClient_Received(Agv.Node node)
{
switch(node.Action)
{
//case ClientAction.ReadyLeave:
// AgvClient_ReadyLeave(node.Name,node.RFID);
// break;
//case ClientAction.ReadyEnter:
// AgvClient_ReadyEnter(node.Name,node.RFID);
// break;
//default:
// log.info(node.ToText());
// break;
case ClientAction.Ready:
AgvClient_Ready(node.Name, node.RFID);
break;
case ClientAction.None:
log.debug("收到心跳包");
break;
default:
log.info(node.ToText());
break;
}
log.debug(node.ToText());
}
/// <summary>
/// 设置是否屏蔽AGV状态
/// </summary>
/// <param name="cancel"></param>
public static void SetCancelState(bool cancel)
{
agvClient.CancelState = cancel;
}
public static void SetStatus(string id, string shelfId = "", Agv.ClientAction action = Agv.ClientAction.None, Agv.ClientLevel level = Agv.ClientLevel.Low, Agv.ClientShelf shelf = ClientShelf.None)
{
// ClientAction currA = GetAction(id);
if (actionMap.ContainsKey(id))
{
Agv.ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
}
agvClient.SetStatus(id, "",shelfId, action, level,shelf);
UpdateAction(id, action);
}
private static void AgvClient_Ready(string id, string rfid)
{
string logName = "收到 AgvClient_Ready [" + id + "] [" + rfid + "] ";
LogUtil.info(logName);
UpdateAction(id, Agv.ClientAction.Ready);
if (id.Equals(LineManager.Config.L1_Out_AgvName))
{
string shefId = LineManager.Line.LastL1OutShelfId;
if (IOManager.IOValue(IO_Type.L1_OutCheck).Equals(IO_VALUE.HIGH))
{
SetStatus(id, shefId, ClientAction.MayLeave);
LineManager.Line.UpdateSleep(false);
LineManager.Line.StopIOMove(IO_Type.L1_OutStopDown, 2000);
LogUtil.info(logName + "下降 L1_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 + " L1_OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
else if (id.Equals(LineManager.Config.L2_Out_AgvName))
{
string shefId = LineManager.Line.LastL2OutShelfId;
if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH))
{
SetStatus(id, shefId, ClientAction.MayLeave);
LineManager.Line.UpdateSleep(false);
LineManager.Line.StopIOMove(IO_Type.L2_OutStopDown, 2000);
//agvClient.MayLeave(id);
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);
}
}
if (id.Equals(LineManager.Config.L1_In_AgvName))
{
LineManager.Line.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_In_AgvName))
{
LineManager.Line.UpdateSleep(false);
if (IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.LOW))
{
Task.Factory.StartNew(delegate
{
SetStatus(id, "", ClientAction.MayEnter);
LogUtil.info(logName + " ,等待L2_InCheck");
try
{
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.L2_InCheck).Equals(IO_VALUE.HIGH);
}, "等待L2_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 + " L2_InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(id, "", ClientAction.None, ClientLevel.High);
}
}
}
public static bool SetToNone(string id, string shelfId = "")
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.None);
return true;
}
return false;
}
public static bool NeedEnter(string id, string shelfId)
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.NeedEnter);
return true;
}
return false;
}
public static bool NeedLeave(string id, string shelfId,ClientShelf shelf = ClientShelf.None)
{
Agv.ClientAction currA = GetAction(id);
if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
{
SetStatus(id, shelfId, Agv.ClientAction.NeedLeave,ClientLevel.None,shelf);
return true;
}
return false;
}
public static bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public static Agv.ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return Agv.ClientAction.None;
}
public static void UpdateAction(string name, Agv.ClientAction action)
{
if (actionMap.ContainsKey(name))
{
actionMap[name] = action;
}
else
{
actionMap.Add(name, action);
}
}
public static void Dispose()
{
try
{
if (agvClient != null)
{
SetCancelState(true);
agvClient.Close();
}
}
catch (Exception ex)
{
LogUtil.error("agvClient.Close " + ServerIp + " 出错：", ex);
}
}
}
}