AgvClient_Line.cs
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using OnlineStore.Common;
using System;
using System.Collections.Generic;
using AsaPL;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using OnlineStore.LoadCSVLibrary;
namespace OnlineStore.DeviceLibrary
{
public class AgvClient_Line
{
private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.AgvServerIp);
public AsaPL.AgvClient agvClient;
private static bool isInit = false;
public static Dictionary<string, AsaPL.ClientAction> actionMap = new Dictionary<string, AsaPL.ClientAction>();
string Agv_In_Name = "A2";
string Agv_Out_Name = "A1";
public void Init(string agvIn,string agvOut)
{
try
{
if (!isInit)
{
isInit = true;
agvClient = new AsaPL.AgvClient(ServerIp);
agvClient.CancelState = false;
agvClient.ReadyEnter += AgvClient_ReadyEnter;
agvClient.ReadyLeave += AgvClient_ReadyLeave;
agvClient.AGVFinishEnter += AgvClient_FinishEnter;
agvClient.AGVFinishLeave += AgvClient_FinishLeave;
}
actionMap = new Dictionary<string, AsaPL.ClientAction>();
Agv_In_Name = agvIn;
Agv_Out_Name = agvOut;
agvClient.SetStatus(Agv_In_Name, "", ClientAction.None);
agvClient.SetStatus(Agv_Out_Name, "", ClientAction.None);
agvClient.Connect();
LogUtil.info("初始化AGV服务");
}
catch (Exception ex)
{
LogUtil.error("初始化AGV服务 " + ServerIp + " 出错：", ex);
}
}
/// <summary>
/// 设置取消状态
/// </summary>
/// <param name="isCancel">true则ClientAction为None</param>
public void SetCancelState(bool isCancel)
{
agvClient.CancelState = isCancel;
}
/// <summary>
/// 料架准备进入线体
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyEnter(string name)
{
LogUtil.info("收到 AgvClient_ReadyEnter [" + name + "]");
if (name.Equals(Agv_In_Name))
{
LineManager.Line.UpdateSleep(false);
if (IOManager.IOValue(IO_Type.InCheck).Equals(IO_VALUE.LOW))
{
Task.Factory.StartNew(delegate
{
SetStatus(name, "", ClientAction.MayEnter);
LogUtil.info("入口无料架，向服务端发送 MayEnter");
try
{
WaitUtil.Wait(60000, delegate
{
return IOManager.IOValue(IO_Type.InCheck).Equals(IO_VALUE.HIGH);
}, "等待InCheck=HIGH");
}
catch (Exception ex)
{
LogUtil.error("AgvClient_ReadyEnter:" + ex.ToString());
}
//两秒后改为离开状态
Thread.Sleep(3000);
LogUtil.info("调用 FinishEnter ");
SetStatus(name, "", ClientAction.FinishEnter);
Thread.Sleep(5000);
LogUtil.info( "处理结束 更新状态为None ");
SetStatus(name, "", ClientAction.None);
});
}
else
{
LogUtil.error("InCheck 检测到有料架，AGV的料架无法进入");
SetStatus(name, "", ClientAction.None, ClientLevel.High);
}
}
}
/// <summary>
///料架准备离开线体
/// </summary>
/// <param name="name">节点名称</param>
private void AgvClient_ReadyLeave(string name)
{
LogUtil.info("收到 AgvClient_ReadyLeave [" + name + "] ");
if (name.Equals(Agv_Out_Name))
{
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH))
{
SetStatus(name, "", ClientAction.MayLeave);
Thread.Sleep(3000);
LineManager.Line.UpdateSleep(false);
LineManager.Line.StopIOMove(IO_Type.OutStopDown, 1500);
LogUtil.info("下降 OutStopDown1.5秒");
Task.Factory.StartNew(delegate
{
//两秒后改为离开状态
Thread.Sleep(5000);
LogUtil.info("调用 FinishLeave ");
SetStatus(name, "", ClientAction.FinishLeave);
Thread.Sleep(5000);
LogUtil.info("处理结束 更新状态为None ");
SetStatus(name, "", ClientAction.None);
});
}
else
{
LogUtil.error("OutCheck 未检测到料架，无法将料架进入AGV");
SetStatus(name, "", ClientAction.None, ClientLevel.High);
}
}
}
/// <summary>
/// 料架离开小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishLeave(string name)
{
LogUtil.info("收到 AgvClient_FinishLeave [" + name + "] ");
}
/// <summary>
/// 料架进入小车完成
/// </summary>
/// <param name="name"></param>
private void AgvClient_FinishEnter(string name)
{
LogUtil.info("收到 AgvClient_FinishEnter [" + name + "] ");
}
/// <summary>
/// 左侧料架可以进入
/// </summary>
public bool A5_ReadyEnter { private set; get; }
/// <summary>
/// 右侧料架可以进入
/// </summary>
public bool A6_ReadyEnter { private set; get; }
/// <summary>
/// 右侧料架可以出去
/// </summary>
public bool A6_ReadyLeave { private set; get; }
public void MayEnter(string name)
{
SetStatus(name, "", ClientAction.MayEnter);
if (name.Equals("A5"))
{
A5_ReadyEnter = false;
}
else if (name.Equals("A6"))
{
A6_ReadyEnter = false;
}
}
public void MayLeave(string name)
{
SetStatus(name, "", ClientAction.MayLeave);
if (name.Equals("A6"))
{
A6_ReadyLeave = false;
}
}
public void NeedEnter(string nodeName,string rfid)
{
SetStatus(nodeName, rfid,ClientAction.NeedEnter);
}
public void NeedLeave(string nodeName, string rfid)
{
SetStatus(nodeName, rfid,ClientAction.NeedLeave);
}
public void SetToNone(string nodeName)
{
SetStatus(nodeName);
}
private bool SetStatus(string name, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
{
// if (!agvClient.IsConn)
// {
// LogUtil.error("SetStatus AGV服务未连接！");
// return false;
// }
if (actionMap.ContainsKey(name))
{
//ClientAction currA = actionMap[name]; //相同状态就设置一次
//if (currA.Equals(action) && shelfId == "")
//{
// return false;
//}
actionMap[name] = action;
agvClient.SetStatus(name, shelfId, action, level);
//LogUtil.info("设置 " + name + " [" + shelfId + "] " + action.ToString());
return true;
}
agvClient.SetStatus(name, shelfId, action, level);
actionMap.Add(name, action);
LogUtil.debug("设置 " + name + " ["+ shelfId + "] "+ action.ToString());
return true;
}
public bool ISConnected()
{
if (agvClient == null)
{
return false;
}
return agvClient.IsConn;
}
public void Dispose()
{
try
{
if (agvClient != null)
{
agvClient.Close();
LogUtil.info("关闭AGV服务");
}
}
catch (Exception ex)
{
LogUtil.error("关闭AGV服务 " + ServerIp + " 出错：", ex);
}
}
public ClientAction GetAction(string NodeName)
{
if (actionMap.ContainsKey(NodeName))
{
return actionMap[NodeName];
}
return ClientAction.None;
}
}
}