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.gitattributes 0 → 100644
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.gitignore 0 → 100644
## Ignore Visual Studio temporary files, build results, and
## files generated by popular Visual Studio add-ons.
# User-specific files
*.suo
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*.userprefs
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# Uncomment if you have tasks that create the project's static files in wwwroot
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\ No newline at end of file
AGV_UI/AGV_UI.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{C6D2FC09-46F7-4EC5-A877-15EA06342E4F}</ProjectGuid>
<OutputType>Library</OutputType>
<RootNamespace>AGV_UI</RootNamespace>
<AssemblyName>AGV_UI</AssemblyName>
<TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup>
<StartupObject />
</PropertyGroup>
<ItemGroup>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Drawing" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Status.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Status.Designer.cs">
<DependentUpon>Status.cs</DependentUpon>
</Compile>
<Compile Include="Manager.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="Properties\Resources.Designer.cs">
<AutoGen>True</AutoGen>
<DesignTime>True</DesignTime>
<DependentUpon>Resources.resx</DependentUpon>
</Compile>
<Service Include="{94E38DFF-614B-4cbd-B67C-F211BB35CE8B}" />
</ItemGroup>
<ItemGroup>
<EmbeddedResource Include="Status.resx">
<DependentUpon>Status.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
<Generator>ResXFileCodeGenerator</Generator>
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
</EmbeddedResource>
</ItemGroup>
<ItemGroup>
<Content Include="battery\charge.png" />
<None Include="state\Unknown.png" />
<None Include="state\ready.png" />
<None Include="state\pause.png" />
<None Include="state\manual.png" />
<None Include="state\Executing.png" />
<None Include="state\Error.png" />
<None Include="state\emergency.png" />
<None Include="state\Aborted.png" />
<None Include="task.png" />
<None Include="online.png" />
<None Include="battery\full.png" />
<None Include="battery\common.png" />
<None Include="battery\low.png" />
<None Include="offline.png" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
AGV_UI/Manager.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGV_UI
{
class Manager
{
static ImageList connImageList;
static ImageList batteryImageList;
static ImageList stateImageList;
static string OnLine = "OnLine";
static string OffLine = "OffLine";
static string LowBattery = "LowBattery";
static string CommonBattery = "CommonBattery";
static string FullBattery = "FullBattery";
static string ChargeBattery = "ChargeBattery";
static string Ready = "Ready";
static string Done = "Done";
static string Pause = "Pause";
static string Executing = "Executing";
static string Aborted = "Aborted";
static string Invalid = "Invalid";
static string EmergencyStop = "EmergencyStop";
static string ManualControl = "ManualControl";
static string Error = "Error";
static string UNKNOWN = "UNKNOWN";
static void InitconnImageList()
{
connImageList = new ImageList();
connImageList.ImageSize = new System.Drawing.Size(32, 32);
connImageList.Images.Add(OnLine, Properties.Resources.online);
connImageList.Images.Add(OffLine, Properties.Resources.offline);
}
static void InitbatteryImageList()
{
batteryImageList = new ImageList();
batteryImageList.ImageSize = new System.Drawing.Size(48, 48);
batteryImageList.Images.Add(LowBattery, Properties.Resources.low);
batteryImageList.Images.Add(CommonBattery, Properties.Resources.common);
batteryImageList.Images.Add(FullBattery, Properties.Resources.full);
batteryImageList.Images.Add(ChargeBattery, Properties.Resources.charge);
}
static void InitStateImageList()
{
stateImageList = new ImageList();
stateImageList.ImageSize = new System.Drawing.Size(48, 48);
stateImageList.Images.Add(UNKNOWN, Properties.Resources.Unknown);
stateImageList.Images.Add(Ready, Properties.Resources.ready);
stateImageList.Images.Add(Done, Properties.Resources.ready);
stateImageList.Images.Add(Pause, Properties.Resources.pause);
stateImageList.Images.Add(ManualControl, Properties.Resources.manual);
stateImageList.Images.Add(Executing, Properties.Resources.Executing);
stateImageList.Images.Add(Error, Properties.Resources.Error);
stateImageList.Images.Add(EmergencyStop, Properties.Resources.emergency);
stateImageList.Images.Add(Aborted, Properties.Resources.Aborted);
stateImageList.Images.Add(Invalid, Properties.Resources.Aborted);
}
/// <summary>
/// 设置连接状态
/// </summary>
/// <param name="state"></param>
/// <returns></returns>
public static Image SetConnState(bool state = false)
{
string tmp = state ? OnLine : OffLine;
if (connImageList == null)
InitconnImageList();
return connImageList.Images[tmp];
}
/// <summary>
/// 设置电量
/// </summary>
/// <param name="min"></param>
/// <param name="max"></param>
public static object[] SetBattery(int curBattery, bool isCharge = false, int min = 20, int max = 90)
{
if (curBattery < 0) curBattery = 0;
Image image;
if (batteryImageList == null)
InitbatteryImageList();
if (isCharge)
{
image = batteryImageList.Images[ChargeBattery];
}
else
{
if (curBattery < min)
image = batteryImageList.Images[LowBattery];
else if (curBattery < max)
image = batteryImageList.Images[CommonBattery];
else
image = batteryImageList.Images[FullBattery];
}
return new object[] { string.Format("{0}%",curBattery), image };
}
/// <summary>
/// 设置小车状态
/// </summary>
/// <param name="curState"></param>
public static object[] SetAGVState(string curState)
{
Image image;
if (stateImageList == null)
InitStateImageList();
if(stateImageList.Images.ContainsKey(curState))
image = stateImageList.Images[curState];
else
image = stateImageList.Images[UNKNOWN];
return new object[] { curState, image };
}
}
}
AGV_UI/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("AGVStatus")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("AGVStatus")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("c6d2fc09-46f7-4ec5-a877-15ea06342e4f")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
AGV_UI/Properties/Resources.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace AGV_UI.Properties {
using System;
/// <summary>
/// 一个强类型的资源类，用于查找本地化的字符串等。
/// </summary>
// 此类是由 StronglyTypedResourceBuilder
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
private static global::System.Resources.ResourceManager resourceMan;
private static global::System.Globalization.CultureInfo resourceCulture;
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
internal Resources() {
}
/// <summary>
/// 返回此类使用的缓存的 ResourceManager 实例。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Resources.ResourceManager ResourceManager {
get {
if (object.ReferenceEquals(resourceMan, null)) {
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AGV_UI.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 重写当前线程的 CurrentUICulture 属性
/// 重写当前线程的 CurrentUICulture 属性。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture {
get {
return resourceCulture;
}
set {
resourceCulture = value;
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap Aborted {
get {
object obj = ResourceManager.GetObject("Aborted", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap charge {
get {
object obj = ResourceManager.GetObject("charge", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap common {
get {
object obj = ResourceManager.GetObject("common", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap emergency {
get {
object obj = ResourceManager.GetObject("emergency", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap Error {
get {
object obj = ResourceManager.GetObject("Error", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap Executing {
get {
object obj = ResourceManager.GetObject("Executing", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap full {
get {
object obj = ResourceManager.GetObject("full", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap low {
get {
object obj = ResourceManager.GetObject("low", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap manual {
get {
object obj = ResourceManager.GetObject("manual", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap offline {
get {
object obj = ResourceManager.GetObject("offline", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap online {
get {
object obj = ResourceManager.GetObject("online", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap pause {
get {
object obj = ResourceManager.GetObject("pause", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap ready {
get {
object obj = ResourceManager.GetObject("ready", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap task {
get {
object obj = ResourceManager.GetObject("task", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap Unknown {
get {
object obj = ResourceManager.GetObject("Unknown", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
}
}
AGV_UI/Properties/Resources.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="offline" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\offline.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="task" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\task.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="online" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\online.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="Aborted" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\Aborted.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="emergency" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\emergency.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\Error.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="Executing" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\Executing.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="manual" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\manual.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="pause" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\pause.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="ready" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\ready.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="Unknown" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\state\Unknown.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="charge" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\battery\charge.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="common" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\battery\common.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="full" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\battery\full.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="low" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\battery\low.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
</root>
\ No newline at end of file
AGV_UI/Properties/_system~.ini 0 → 100644
文件属性发生变化
AGV_UI/Status.Designer.cs 0 → 100644
namespace AGV_UI
{
partial class Status
{
/// <summary>
/// 必需的设计器变量。
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// 清理所有正在使用的资源。
/// </summary>
/// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region 组件设计器生成的代码
/// <summary>
/// 设计器支持所需的方法 - 不要修改
/// 使用代码编辑器修改此方法的内容。
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Status));
this.panelTitle = new System.Windows.Forms.Panel();
this.lblBattery = new System.Windows.Forms.Label();
this.picBxConn = new System.Windows.Forms.PictureBox();
this.lblName = new System.Windows.Forms.Label();
this.panelAGVState = new System.Windows.Forms.Panel();
this.lblAGVState = new System.Windows.Forms.Label();
this.lblTask = new System.Windows.Forms.Label();
this.flowPanelMissionState = new System.Windows.Forms.FlowLayoutPanel();
this.panelTitle.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picBxConn)).BeginInit();
this.panelAGVState.SuspendLayout();
this.SuspendLayout();
//
// panelTitle
//
this.panelTitle.BackColor = System.Drawing.Color.LightBlue;
this.panelTitle.Controls.Add(this.lblBattery);
this.panelTitle.Controls.Add(this.picBxConn);
this.panelTitle.Controls.Add(this.lblName);
this.panelTitle.Dock = System.Windows.Forms.DockStyle.Top;
this.panelTitle.Location = new System.Drawing.Point(0, 0);
this.panelTitle.Name = "panelTitle";
this.panelTitle.Size = new System.Drawing.Size(287, 47);
this.panelTitle.TabIndex = 0;
//
// lblBattery
//
this.lblBattery.Dock = System.Windows.Forms.DockStyle.Right;
this.lblBattery.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblBattery.ForeColor = System.Drawing.Color.Black;
this.lblBattery.Image = ((System.Drawing.Image)(resources.GetObject("lblBattery.Image")));
this.lblBattery.Location = new System.Drawing.Point(249, 0);
this.lblBattery.Name = "lblBattery";
this.lblBattery.Size = new System.Drawing.Size(38, 47);
this.lblBattery.TabIndex = 2;
this.lblBattery.Text = "0%";
this.lblBattery.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// picBxConn
//
this.picBxConn.Dock = System.Windows.Forms.DockStyle.Left;
this.picBxConn.Image = global::AGV_UI.Properties.Resources.offline;
this.picBxConn.Location = new System.Drawing.Point(0, 0);
this.picBxConn.Name = "picBxConn";
this.picBxConn.Size = new System.Drawing.Size(51, 47);
this.picBxConn.SizeMode = System.Windows.Forms.PictureBoxSizeMode.CenterImage;
this.picBxConn.TabIndex = 1;
this.picBxConn.TabStop = false;
//
// lblName
//
this.lblName.Dock = System.Windows.Forms.DockStyle.Fill;
this.lblName.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblName.ForeColor = System.Drawing.Color.Black;
this.lblName.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.lblName.Location = new System.Drawing.Point(0, 0);
this.lblName.Name = "lblName";
this.lblName.Size = new System.Drawing.Size(287, 47);
this.lblName.TabIndex = 0;
this.lblName.Text = "#号车";
this.lblName.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// panelAGVState
//
this.panelAGVState.Controls.Add(this.lblAGVState);
this.panelAGVState.Controls.Add(this.lblTask);
this.panelAGVState.Dock = System.Windows.Forms.DockStyle.Top;
this.panelAGVState.Location = new System.Drawing.Point(0, 47);
this.panelAGVState.Name = "panelAGVState";
this.panelAGVState.Size = new System.Drawing.Size(287, 50);
this.panelAGVState.TabIndex = 1;
//
// lblAGVState
//
this.lblAGVState.Dock = System.Windows.Forms.DockStyle.Right;
this.lblAGVState.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblAGVState.Image = global::AGV_UI.Properties.Resources.Unknown;
this.lblAGVState.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.lblAGVState.Location = new System.Drawing.Point(160, 0);
this.lblAGVState.Name = "lblAGVState";
this.lblAGVState.Size = new System.Drawing.Size(127, 50);
this.lblAGVState.TabIndex = 1;
this.lblAGVState.Text = "None";
this.lblAGVState.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// lblTask
//
this.lblTask.Dock = System.Windows.Forms.DockStyle.Left;
this.lblTask.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblTask.Image = global::AGV_UI.Properties.Resources.task;
this.lblTask.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.lblTask.Location = new System.Drawing.Point(0, 0);
this.lblTask.Name = "lblTask";
this.lblTask.Size = new System.Drawing.Size(216, 50);
this.lblTask.TabIndex = 0;
this.lblTask.Text = "无任务";
this.lblTask.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// flowPanelMissionState
//
this.flowPanelMissionState.BackColor = System.Drawing.Color.LightBlue;
this.flowPanelMissionState.Dock = System.Windows.Forms.DockStyle.Fill;
this.flowPanelMissionState.FlowDirection = System.Windows.Forms.FlowDirection.TopDown;
this.flowPanelMissionState.Location = new System.Drawing.Point(0, 97);
this.flowPanelMissionState.Name = "flowPanelMissionState";
this.flowPanelMissionState.Size = new System.Drawing.Size(287, 230);
this.flowPanelMissionState.TabIndex = 2;
//
// Status
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.flowPanelMissionState);
this.Controls.Add(this.panelAGVState);
this.Controls.Add(this.panelTitle);
this.Name = "Status";
this.Size = new System.Drawing.Size(287, 327);
this.panelTitle.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picBxConn)).EndInit();
this.panelAGVState.ResumeLayout(false);
this.ResumeLayout(false);
}
#endregion
private System.Windows.Forms.Panel panelTitle;
private System.Windows.Forms.Label lblName;
private System.Windows.Forms.PictureBox picBxConn;
private System.Windows.Forms.Label lblBattery;
private System.Windows.Forms.Panel panelAGVState;
private System.Windows.Forms.Label lblTask;
private System.Windows.Forms.Label lblAGVState;
private System.Windows.Forms.FlowLayoutPanel flowPanelMissionState;
}
}
AGV_UI/Status.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGV_UI
{
public partial class Status : UserControl
{
public Status(string name, List<string> infos)
{
InitializeComponent();
AGVName = name;
missionShow = new Dictionary<string, Control>();
if (infos != null && infos.Count > 0)
{
foreach (var item in infos)
{
missionShow.Add(item, new Label() { Name = item,
Font = new Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))),
AutoSize = true
});
}
flowPanelMissionState.Controls.AddRange(missionShow.Values.ToArray());
}
}
public Status( List<string> infos)
{
InitializeComponent();
missionShow = new Dictionary<string, Control>();
if (infos != null && infos.Count > 0)
{
foreach (var item in infos)
{
missionShow.Add(item, new Label()
{
Name = item,
Font = new Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))),
AutoSize = true
});
}
flowPanelMissionState.Controls.AddRange(missionShow.Values.ToArray());
}
}
public Status()
{
}
public void Init(string name="")
{
AGVName = name;
foreach (string item in missionShow.Keys)
{
ShowInfo(item, "");
}
SetTitle();
}
public int MaxBattery { get; set; } = 90;
public int MinBattery { get; set; } = 20;
public string AGVName { get; set; }
#region 私有字段
private Dictionary<string, Control> missionShow;
#endregion
void SetTitle()
{
if (!IsHandleCreated)
return;
this.Invoke(new Action(() =>
{
lblName.Text = AGVName;
}
));
}
/// <summary>
/// 设置电量
/// </summary>
/// <param name="curBattery"></param>
/// <param name="isInCharge"></param>
public void SetBattery(int curBattery, bool isInCharge = false)
{
if (!IsHandleCreated)
return;
object[] objs = Manager.SetBattery(curBattery, isInCharge, MinBattery, MaxBattery);
try
{
this.Invoke(new Action(() =>
{
if (curBattery < MinBattery)
lblBattery.ForeColor = Color.White;
else
lblBattery.ForeColor = Color.Black;
lblBattery.Text = objs[0] as string;
lblBattery.Image = objs[1] as Image;
}
));
}
catch { }
}
/// <summary>
/// 设置连接状态
/// </summary>
/// <param name="state"></param>
public void SetConnectState(bool state = false)
{
if (!IsHandleCreated)
return;
Image image = Manager.SetConnState(state);
this.Invoke(new Action(() =>
{
picBxConn.Image = image;
}
));
}
public void ShowInfo(string key, string info)
{
if (!IsHandleCreated)
return;
this.Invoke(new Action(() =>
{
if (missionShow.ContainsKey(key))
missionShow[key].Text = string.Format("{0}:{1}",key, info);
}
));
}
/// <summary>
/// 设置当前任务名称
/// </summary>
/// <param name="taskName"></param>
public void SetCurTask(string taskName)
{
if (!IsHandleCreated)
return;
this.Invoke(new Action(() =>
{
lblTask.Text = taskName;
}
));
}
/// <summary>
/// 设置agv当前状态
/// </summary>
/// <param name="curState"></param>
public void SetCurState(string curState)
{
if (!IsHandleCreated)
return;
object[] objs = Manager.SetAGVState(curState);
this.Invoke(new Action(() =>
{
lblAGVState.Text = objs[0] as string;
lblAGVState.Image = objs[1] as Image;
}
));
}
}
}
AGV_UI/Status.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="lblBattery.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAADAAAAAwCAYAAABXAvmHAAAABGdBTUEAALGPC/xhBQAAAOZJREFUaEPt
ziEOw1AQxNBcrCT3v1NKDA0CxmrBtzRspbfX6XTadd/382ac/1/2rI3z32QPLQfTZehyMF2GLgfTZehy
MF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfT
ZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2GLgfTZehyMF2G
LgfTZehyMF2GLgfT9XyupxxMl6HLwXQZuhxMl6HLwXQZuhzM6XR61XV9AQQ5qN/xmUs6AAAAAElFTkSu
QmCC
</value>
</data>
</root>
\ No newline at end of file
AGV_UI/_system~.ini 0 → 100644
文件属性发生变化
AGV_UI/battery/_system~.ini 0 → 100644
文件属性发生变化
AGV_UI/state/_system~.ini 0 → 100644
文件属性发生变化
Common/Common.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{BAFEAFE6-04E2-48EE-8845-BFC7EA3E3C21}</ProjectGuid>
<OutputType>Library</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>Common</RootNamespace>
<AssemblyName>Common</AssemblyName>
<TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net">
<HintPath>.\log4net.dll</HintPath>
</Reference>
<Reference Include="Newtonsoft.Json, Version=6.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>.\Newtonsoft.Json.dll</HintPath>
</Reference>
<Reference Include="RestSharp">
<HintPath>.\RestSharp.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Configuration" />
<Reference Include="System.Core" />
<Reference Include="System.Drawing" />
<Reference Include="System.Web" />
<Reference Include="System.Web.Extensions" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="util\AppConfigHelper.cs" />
<Compile Include="util\IniFileHelper.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="SettingString.cs" />
<Compile Include="util\HttpHelper.cs" />
<Compile Include="util\JsonHelper.cs" />
<Compile Include="util\LogUtil.cs" />
<Compile Include="util\MyWebClient.cs">
<SubType>Component</SubType>
</Compile>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
Common/Newtonsoft.Json.dll 0 → 100644
此文件类型无法预览
Common/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("Common")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("Common")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("bafeafe6-04e2-48ee-8845-bfc7ea3e3c21")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
Common/Properties/_system~.ini 0 → 100644
文件属性发生变化
Common/RestSharp.dll 0 → 100644
此文件类型无法预览
Common/RestSharp.xml 0 → 100644
此文件的差异太大，无法显示。
Common/SettingString.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace Common
{
public static class SettingString
{
//任务名称
public const string Standby = "Standby";
public const string CheckShelf = "CheckShelf";
public const string DoorDToC = "DoorDToC";
public const string DoorCToD = "DoorCToD";
public const string DoorAirIn = "DoorAirIn";
public const string DoorAirOut = "DoorAirOut";
public const string AutoCharge = "AutoCharge";
public const string Leave = "Leave";
public const string Enter = "Enter";
public const string Init = "Init";
//任务状态
public const string Wait = "Wait";
public const string Done = "Done";
public const string Aborted = "Aborted";
public const string Executing = "Executing";
public const string Invalid = "Invalid";
public const string File_AgvInfo = "File_AgvInfo";
public const string File_AgvTaskInfo = "File_AgvTaskInfo";
public const string File_NodeInfo = "File_NodeInfo";
public const string FileName_Missions = "Missions.json";
public const string IsUse = "IsUse";
public const string RFID = "RFID";
public const string Warehouse = "Warehouse";
public const string C4_STANDBY1 = "C4_STANDBY1";
public const string C4_STANDBY2 = "C4_STANDBY2";
public const string ChargeThreshold = "ChargeThreshold";
#region 配置名
public const string ITS = "ITS";
public const string httpServer ="http.server";
public const string FLEET = "FLEET";
public const string log4net_configname = "log4net_configname";
#endregion
}
}
Common/_system~.ini 0 → 100644
文件属性发生变化
Common/log4net.dll 0 → 100644
此文件类型无法预览
Common/util/AppConfigHelper.cs 0 → 100644
using System;
using System.Windows.Forms;
using System.Xml;
namespace Common
{
public class AppConfigHelper
{
public static System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
public static string GetValue(string key)
{
if (config.AppSettings.Settings[key] == null)
{
LogUtil.info("未找到配置：" + key + ",请检查配置是否完整！");
return "";
}
else
{
return config.AppSettings.Settings[key].Value;
}
}
public static decimal GetNumValue(string key)
{
decimal a = 0;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static int GetIntValue(string key)
{
int a = 0;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static bool GetBoolValue(string key)
{
bool a = false;
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
return a;
}
else
{
{
bool.TryParse(config.AppSettings.Settings[key].Value, out a);
}
}
return a;
}
public static void SaveValue(string key, int value)
{
SaveValue(key, value.ToString());
}
public static void SaveValue(string key, bool value)
{
SaveValue(key, value.ToString());
}
public static void SaveValue(string key, string value)
{
try
{
if (key.Equals("") || value.Equals(""))
{
return;
}
//增加的内容写在appSettings段下 <add key="RegCode" value="0"/>
//System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
if (config.AppSettings.Settings[key] == null)
{
SetValue(key, value);
}
else
{
UpdateConfig(key, value);
}
}
catch (Exception ex)
{
LogUtil.error("SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + "," + ex.StackTrace);
}
}
/// <summary>
/// 更新配置文件信息
/// </summary>
/// <param name="name">配置文件字段名称</param>
/// <param name="Xvalue">值</param>
private static void UpdateConfig(string name, string Xvalue)
{
try
{
XmlDocument doc = new XmlDocument();
doc.Load(Application.ExecutablePath + ".config");
XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
XmlElement ele = (XmlElement)node;
ele.SetAttribute("value", Xvalue);
doc.Save(Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error("UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + "," + ex.StackTrace);
}
}
///<summary>
///向.config文件的appKey结写入信息AppValue 保存设置
///</summary>
///<param name="AppKey">节点名</param>
///<param name="AppValue">值</param>
private static void SetValue(String AppKey, String AppValue)
{
try
{
XmlDocument xDoc = new XmlDocument();
xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
XmlNode xNode;
XmlElement xElem1;
XmlElement xElem2;
xNode = xDoc.SelectSingleNode("//appSettings");
xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
if (xElem1 != null)
xElem1.SetAttribute("value", AppValue);
else
{
xElem2 = xDoc.CreateElement("add");
xElem2.SetAttribute("key", AppKey);
xElem2.SetAttribute("value", AppValue);
xNode.AppendChild(xElem2);
}
xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
}
catch (Exception ex)
{
LogUtil.error("SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + "," + ex.StackTrace);
}
}
}
}
Common/util/HttpHelper.cs 0 → 100644
using System;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Web;
using System.Collections;
using System.Net;
using System.Net.Security;
using System.Security;
using System.Security.Cryptography;
using System.Security.Cryptography.X509Certificates;
using System.Reflection;
using System.Net.NetworkInformation;
namespace Common
{
public class HttpHelper
{
// public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static string Post(string url, string paramData)
{
return Post(url, paramData, Encoding.UTF8);
}
//public static bool PingURLIP(string url, int ms=100)
//{
// string[] urlArray = url.Split('/');
// if (urlArray.Length > 3)
// {
// string ip = urlArray[2];
// Ping pingSender = new Ping();
// PingReply reply = pingSender.Send(ip, ms);//第一个参数为ip地址，第二个参数为ping的时间
// if (reply.Status == IPStatus.Success)
// {
// //通
// return true;
// }
// else
// {
// //不通
// return false;
// }
// }
// return true;
//}
/// <summary>
///
/// </summary>
/// <param name="url"></param>
/// <param name="operation"></param>
/// <param name="simulate">是否模拟服务器返回结果</param>
/// <returns></returns>
//public static Operation Post(string url, Operation operation, bool simulate)
//{
// try
// {
// ////如果Op=0或者Op=5，先拼Ip，不通不发送
// //if (operation.op < 0 || operation.op.Equals(5))
// //{
// // if (PingURLIP(url, 100).Equals(false))
// // {
// // return null;
// // }
// //}
// if (simulate)
// {//模拟服务器返回
// operation.status = 200;
// operation.data.Clear();
// operation.data.Add("posId", "A001");
// string pos = "D100-111#D102-222#D104-333";
// operation.data.Add("pos", pos);
// if (operation.op == 1 || operation.op == 2)
// {//入库或出库
// string json = JsonHelper.SerializeObject(operation);
// LogUtil.error("模拟HTTP服务器返回出库入库信息：" + json);
// return operation;
// }
// }
// else
// {
// string json = "";
// try
// {
// json = JsonHelper.SerializeObject(operation);
// }
// catch (Exception ex)
// {
// LogUtil.error("JsonHelper.SerializeObject(operation) 出错【operation.op=" + operation.op + "】" + ex);
// }
// string result = Post(url, json);
// if (!string.IsNullOrEmpty(result))
// {
// try
// {
// return JsonHelper.DeserializeJsonToObject<Operation>(result);
// }
// catch (Exception ex)
// {
// LogUtil.error("JsonHelper.DeserializeJsonToObject 出错【result=" + result + "】" + ex);
// }
// }
// }
// }
// catch (Exception ex)
// {
// LogUtil.error("Post 出错【operation.op=" + operation.op + "】：" + ex);
// }
// return null;
//}
public static string LastServerMsg = "";
public static string Post(string url, string paramData, Encoding encoding)
{
//if (PingURLIP(url, 100).Equals(false))
//{
// return null;
//}
if (paramData != "null" && paramData != null)
{
// LogUtil.debug(LOGGER, "HTTP POST to " + url + " \n\t >> " + paramData);
}
string result = "";
if (url.ToLower().IndexOf("https", System.StringComparison.Ordinal) > -1)
{
ServicePointManager.ServerCertificateValidationCallback =
new RemoteCertificateValidationCallback((sender, certificate, chain, errors) => { return true; });
}
try
{
var wc = new MyWebClient(5000);
if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
wc.Encoding = encoding;
result = wc.UploadString(url, "POST", paramData);
//LogUtil.info(result);
}
catch (Exception e)
{
LogUtil.error("POST ERROR:" + e.ToString());
}
if (!result.Contains("null") && result.Length != 0)
{
//LogUtil.debug(LOGGER,"receive << " + result);
}
LastServerMsg = DateTime.Now.ToLongTimeString() + " URL：" + url + "\r\n"
+ "发送：" + paramData + "\r\n"
+ "接收：" + result + "\r\n"
;
return result;
}
public static string Get(string url)
{
return Get(url, Encoding.UTF8);
}
public static string Get(string url, Encoding encoding)
{
try
{
LogUtil.debug("HTTP GET FROM: " + url);
var wc = new WebClient { Encoding = encoding };
var readStream = wc.OpenRead(url);
using (var sr = new StreamReader(readStream, encoding))
{
var result = sr.ReadToEnd();
LogUtil.debug("receive << " + result);
return result;
}
}
catch (Exception e)
{
LogUtil.error("HTTP GET ERROR:" +url+ e.Message);
}
return "";
}
}
}
\ No newline at end of file
Common/util/IniFileHelper.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Common
{
public class IniFileHelper
{
[System.Runtime.InteropServices.DllImport("kernel32")]
//section：要读取的段落名
//key: 要读取的键点击打开链接点击打开链接
//defVal: 读取异常的情况下的缺省值
//retVal: key所对应的值，如果该key不存在则返回空值
//size: 值允许的大小
//filePath: INI文件的完整路径和文件名
private static extern int GetPrivateProfileString(string section, string key, string defVal, StringBuilder retVal, int size, string filePath);
[System.Runtime.InteropServices.DllImport("kernel32")]
//section: 要写入的段落名
//key: 要写入的键，如果该key存在则覆盖写入
//val: key所对应的值
//filePath: INI文件的完整路径和文件名
private static extern long WritePrivateProfileString(string section, string key, string val, string filePath);
/// <summary>
/// 读取INI文件
/// </summary>
/// <param name="section">项目名称(如 [section] )</param>
/// <param name="skey">键</param>
/// <param name="path">路径</param>
public static string ReadValue(string section, string skey, string path)
{
StringBuilder temp = new StringBuilder(500);
GetPrivateProfileString(section, skey, "", temp, 500, path);
return temp.ToString();
}
/// <summary>
/// 写入ini文件
/// </summary>
/// <param name="section">项目名称</param>
/// <param name="key">键</param>
/// <param name="value">值</param>
/// <param name="path">路径</param>
public static void WriteValue(string section, string key, string value, string path)
{
WritePrivateProfileString(section, key, value, path);
}
}
}
Common/util/JsonHelper.cs 0 → 100644
using Newtonsoft.Json;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
namespace Common
{
/// <summary>
/// Json帮助类
/// </summary>
public class JsonHelper
{
/// <summary>
/// 将对象序列化为JSON格式
/// </summary>
/// <param name="o">对象</param>
/// <returns>json字符串</returns>
public static string SerializeObject(object o)
{
string json = JsonConvert.SerializeObject(o);
return json;
}
/// <summary>
/// 解析JSON字符串生成对象实体
/// </summary>
/// <typeparam name="T">对象类型</typeparam>
/// <param name="json">json字符串(eg.{"ID":"112","Name":"石子儿"})</param>
/// <returns>对象实体</returns>
public static T DeserializeJsonToObject<T>(string json) where T : class
{
JsonSerializer serializer = new JsonSerializer();
StringReader sr = new StringReader(json);
object o = serializer.Deserialize(new JsonTextReader(sr), typeof(T));
T t = o as T;
return t;
}
/// <summary>
/// 解析JSON数组生成对象实体集合
/// </summary>
/// <typeparam name="T">对象类型</typeparam>
/// <param name="json">json数组字符串(eg.[{"ID":"112","Name":"石子儿"}])</param>
/// <returns>对象实体集合</returns>
public static List<T> DeserializeJsonToList<T>(string json) where T : class
{
JsonSerializer serializer = new JsonSerializer();
StringReader sr = new StringReader(json);
object o = serializer.Deserialize(new JsonTextReader(sr), typeof(List<T>));
List<T> list = o as List<T>;
return list;
}
/// <summary>
/// 反序列化JSON到给定的匿名对象.
/// </summary>
/// <typeparam name="T">匿名对象类型</typeparam>
/// <param name="json">json字符串</param>
/// <param name="anonymousTypeObject">匿名对象</param>
/// <returns>匿名对象</returns>
public static T DeserializeAnonymousType<T>(string json, T anonymousTypeObject)
{
T t = JsonConvert.DeserializeAnonymousType(json, anonymousTypeObject);
return t;
}
/// <summary>
///写入JSON文件
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ts"></param>
/// <param name="fileName"></param>
public static void WriteJson<T>(List<T> ts, string fileName) where T : class
{
try
{
string path = fileName + ".json";
string output = JsonConvert.SerializeObject(ts,Formatting.Indented);
File.WriteAllText(path, output);
}
catch (Exception e)
{
LogUtil.error(e.Message + "/r/n" + e.StackTrace);
}
}
/// <summary>
/// 读取JSON文件
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ts"></param>
/// <param name="fileName"></param>
public static List<T> ReadJson<T>(string fileName) where T : class
{
try
{
string path =fileName + ".json";
StreamReader streamReader = new StreamReader(path);
string jsonStr = streamReader.ReadToEnd();
List<T> jsonObj = DeserializeJsonToList<T>(jsonStr);
streamReader.Close();
return jsonObj;
}
catch (Exception e)
{
LogUtil.error(e.Message + "/r/n" + e.StackTrace);
return null;
}
}
}
///// <summary>
///// 与服务器通信用对象
///// </summary>
//public class Operation
//{
// private string _cid = "";
// public string cid
// {
// get { return _cid; }
// set { _cid = value; }
// }
// public int seq { get; set; }
// public int op { get; set; }
// public int status { get; set; }
// private string _error = "";
// public string error
// {
// get { return _error; }
// set { _error = value; }
// }
// private Dictionary<string, string> _data = new Dictionary<string,string>();
// public Dictionary<string, string> data {
// get { return _data; }
// set { _data = value; }
// }
//}
}
Common/util/LogUtil.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using log4net;
using System.Reflection;
using System.Drawing;
namespace Common
{
public class LogUtil
{
public static readonly ILog AIOLog = LogManager.GetLogger("AGV_3D_Line");
private static LogUtil instance = new LogUtil();
public delegate void ShowLog(string msg,Color color);
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>();
public static System.Windows.Forms.RichTextBox logBox = null;
public static int showCount = 20;
public static bool debug_opened = false;
public static void info(ILog log, string msg)
{
if (log == null)
{
return;
}
log.Info(msg);
AddToBox(msg, Color.Black);
//clear();
}
public static void info(ILog log, string msg, Color color)
{
log.Info(msg);
AddToBox(msg, color);
}
public static void debug(ILog log, string msg, Color color)
{
log.Debug(msg);
if (debug_opened)
{
AddToBox(msg, color);
}
}
public static void debug(ILog log, string msg)
{
log.Debug(msg);
if (debug_opened)
{
AddToBox(msg, Color.Gray);
}
}
public static void error(string errorMsg, int type)
{
if (lastErrorLogTime.ContainsKey(type))
{
TimeSpan span = DateTime.Now - lastErrorLogTime[type];
if (span.TotalSeconds > 10)
{
lastErrorLogTime.Remove(type);
lastErrorLogTime.Add(type, DateTime.Now);
error(LOGGER, errorMsg);
}
}
else
{
lastErrorLogTime.Add(type, DateTime.Now);
error(LOGGER, errorMsg);
}
}
public static void error(ILog log, string errorMsg, Exception ex = null)
{
if (errorMsg.Trim().Equals(""))
{
return;
}
if (ex == null)
{
log.Error(errorMsg);
}
else
{
log.Error(errorMsg, ex);
}
AddToBox(errorMsg, Color.Red);
}
private static void AddToBox(string msg, Color color)
{
try
{
ShowLogPro(msg, color);
}
catch (Exception ex)
{
LOGGER.Error("出错：", ex);
}
}
private static List<string> logList = new List<string>();
public static string LastText = "";
private static void ShowLogPro(string msg, Color color)
{
try
{
if (logList.Count > 0)
{
// logList.RemoveAt(0);
}
if (logList.Count >= showCount)
{
logList.RemoveAt(0);
}
string text = "";
foreach (string str in logList)
{
text += str;
}
System.DateTime now = System.DateTime.Now;
logList.Add(now.ToLongTimeString() + " " + msg + Environment.NewLine);
if (logBox == null)
{
return;
}
LastText = text;
if (logBox.Visible)
{
logBox.Text = text;
// logBox.Focus(); //使文本框获取焦点
logBox.AppendText(now.ToLongTimeString() + " " + msg + Environment.NewLine); //增加文本
TimeSpan span = DateTime.Now - lastTime;
if (span.TotalSeconds > 3000000)
{
lastTime = DateTime.Now;
logBox.Select(logBox.Text.Length, 0); //设置光标的位置到文本尾
logBox.ScrollToCaret(); //滚动到控件光标处
}
}
}
catch (Exception ex)
{
LOGGER.Error("出错：" + ex.ToString());
}
}
private static DateTime lastTime = DateTime.Now;
public static void UpdateLogbox()
{
if (logBox != null && logBox.Visible)
{
logBox.Text = LastText;
TimeSpan span = DateTime.Now - lastTime;
if (span.TotalSeconds > 3000000)
{
lastTime = DateTime.Now;
logBox.Select(logBox.Text.Length, 0); //设置光标的位置到文本尾
logBox.ScrollToCaret(); //滚动到控件光标处
}
}
}
public static void ClearLog()
{
if (logBox != null)
{
LastText = "";
logList.Clear();
logBox.Text = "";
}
}
public static void debug(string msg)
{
debug(LOGGER, msg);
}
public static void error(string errorMsg, Exception ex = null)
{
error(LOGGER, errorMsg, ex);
}
public static void info(string msg)
{
info(LOGGER, msg);
}
}
}
Common/util/MyWebClient.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
namespace Common
{
public class MyWebClient:WebClient
{
private int _timeout;
/// <summary>
/// 超时时间(毫秒)
/// </summary>
public int Timeout
{
get
{
return _timeout;
}
set
{
_timeout = value;
}
}
public MyWebClient()
{
this._timeout = 60000;
}
public MyWebClient(int timeout)
{
this._timeout = timeout;
}
protected override WebRequest GetWebRequest(Uri address)
{
var result = base.GetWebRequest(address);
result.Timeout = this._timeout;
return result;
}
}
}
Common/util/_system~.ini 0 → 100644
文件属性发生变化
DeviceLibrary/Config/_system~.ini 0 → 100644
文件属性发生变化
DeviceLibrary/Config/agvinfos.xml 0 → 100644
<?xml version="1.0" encoding="utf-8" ?>
<agvs>
<agv id="12" ip="10.85.199.81">
<name>10号车</name>
<!--负责区域:D,C,Air_C-->
<ResponsAreas>
<Area>D</Area>
</ResponsAreas>
<!--是否调用-->
<IsUse>false</IsUse>
<UseFleet>true</UseFleet>
<Authorization>Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==</Authorization>
<IO_GUID>007615a5-2220-11ea-99f2-94c691a73b53</IO_GUID>
</agv>
</agvs>
\ No newline at end of file
DeviceLibrary/Config/chargeinfos.xml 0 → 100644
<?xml version="1.0" encoding="utf-8" ?>
<root>
<!--最小充电电量，小于该电量将不会执行任务-->
<min>20</min>
<!--空闲车辆需要充电的电量-->
<mid>50</mid>
<!--充电完成电量-->
<max>90</max>
<piles>
<pile id ="0">
<!--名称-->
<name>AutoCharge1</name>
<!--别名-->
<alicename>充电位1</alicename>
<!--固定充电桩-->
<fixed>true</fixed>
<!--固定充电桩为true，取第一个；false则判断所有agv.填写AGV编号-->
<agvs>
<agv>12</agv>
</agvs>
</pile>
</piles>
</root>
DeviceLibrary/Config/taskinfos.xml 0 → 100644
<?xml version="1.0" encoding="utf-8" ?>
<tasks>
<task id ="0">
<name>Init</name>
<alicename>初始化</alicename>
<guid>219cd91a-61da-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>None</type>
</task>
<task id ="1">
<name>Standby</name>
<alicename>待机位</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>None</type>
</task>
<task id ="2">
<name>AutoCharge</name>
<alicename>充电位</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>None</type>
</task>
<task id ="3">
<name>Enter</name>
<alicename>进料</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>InOut</type>
</task>
<task id ="4">
<name>Leave</name>
<alicename>出料</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>InOut</type>
</task>
<task id ="5">
<name>CheckShelf</name>
<alicename>负载检查</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>None</type>
</task>
<task id ="6">
<name>D1</name>
<alicename>移动到D1线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="7">
<name>D2</name>
<alicename>移动到D2线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="8">
<name>D3</name>
<alicename>移动到D3线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="9">
<name>D4</name>
<alicename>移动到D4线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="10">
<name>D5</name>
<alicename>移动到D5线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="11">
<name>D6</name>
<alicename>移动到D6线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="12">
<name>D7</name>
<alicename>移动到D7线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="13">
<name>D8</name>
<alicename>移动到D8线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="14">
<name>D9</name>
<alicename>移动到D9线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="15">
<name>D10</name>
<alicename>移动到D10线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="16">
<name>D11</name>
<alicename>移动到D11线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="17">
<name>D12</name>
<alicename>移动到D12线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="18">
<name>D13</name>
<alicename>移动到D13线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="19">
<name>D14</name>
<alicename>移动到D14线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="20">
<name>D15</name>
<alicename>移动到D15线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="21">
<name>D1</name>
<alicename>移动到D16线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="22">
<name>T01</name>
<alicename>移动到T1线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="23">
<name>T02</name>
<alicename>移动到T2线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="24">
<name>T03</name>
<alicename>移动到T3线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="25">
<name>T04</name>
<alicename>移动到T4线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="26">
<name>T05</name>
<alicename>移动到T5线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="27">
<name>T06</name>
<alicename>移动到T6线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="28">
<name>T07</name>
<alicename>移动到T7线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="29">
<name>T08</name>
<alicename>移动到T8线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
<task id ="30">
<name>T09</name>
<alicename>移动到T9线</alicename>
<guid>615cef05-61f4-11eb-96a9-0001297a1dca</guid>
<!--任务类型：None,Move,Dock,InOut-->
<type>Move</type>
</task>
</tasks>
\ No newline at end of file
DeviceLibrary/Control.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization;
using Common;
using log4net.Util;
using RestSharp;
namespace DeviceLibrary
{
public class Control
{
private static log4net.ILog log = log4net.LogManager.GetLogger("Control");
static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
//public List<string> Marks;
private const int REG_STATUS = 20;
//private List<string> shelfLockedNodeNames;
public delegate void AgvChangedEvent(int agvIndex);
public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline;
//public event AgvChangedEvent NodeChangedEvent;
public Control()
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 300,
AutoReset = true,
Enabled = false
};
AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
AgvStateTimer = new System.Timers.Timer
{
Interval = 3000,
AutoReset = true,
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
NodeStateTimer = new System.Timers.Timer
{
Interval = 5000,
AutoReset = true,
Enabled = false
};
NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
}
public void Start()
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
}
private bool NodeStateInProcess = false;
private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (NodeStateInProcess) return;
NodeStateInProcess = true;
NodeStateInProcess = false;
}
private bool AgvStateInProcess = false;
//private eAGVState preAGVState = eAGVState.None;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
bool rtn;
if (AgvStateInProcess) return;
AgvStateInProcess = true;
//List<AlarmMsg> msglist = new List<AlarmMsg>();
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
try
{
AGVManager.agvInfo[i].SetKanban();
if (!CheckOnline(i)) continue;
bool change = false;
MiR_API.Get_Task_State(AGVManager.agvInfo[i]);
Thread.Sleep(50);
//获取AGV状态
rtn = MiR_API.Get_State(AGVManager.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.MirPosition position);
Thread.Sleep(50);
if (rtn) change = AGVManager.agvInfo[i].SetState(stateID, battery, mission_text, position);
// if (change)
{
AgvChanged?.Invoke(i);
}
}
catch (Exception ex)
{
log.Error("AgvStateTimer_" + AGVManager.agvInfo[i].Name + ex.Message + ex.StackTrace);
}
}
AgvStateInProcess = false;
}
/// <summary>
/// 从节点获取任务
/// </summary>
/// <param name="agv_Info"></param>
/// <returns></returns>
public Job GetJob(Agv_Info agv_Info)
{
foreach (JobType jobType in AGVManager.jobTypes)
{
Job job = null;
if (agv_Info.IsUse)
job = jobType.GetNewJob(agv_Info);
else
return null;
if (job != null)
{
log.Debug(agv_Info.Name + " GetJob OK " + job.ToString());
return job;
}
}
return null;
}
private bool AgvCallInProcess = false;
private void AgvCallTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvCallInProcess) return;
AgvCallInProcess = true;
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
try
{
Agv_Info agv = AGVManager.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接
if (!AGVManager.agvInfo[i].IsUse) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause)
&& !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
{
log.Warn(string.Format("{0}不能调用 StateID={1}", AGVManager.agvInfo[i].Name, AGVManager.agvInfo[i].StateID.ToString()));
continue;
}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
{
if (agv.CurJob != null)
{
agv.CurJob.ResendTask(agv);
}
else
{
agv.TaskRunState.ClearWaitTaskQueue();
}
}
if (agv.CurJob == null)
{
Job job = GetJob(agv);
if (job != null)
{
agv.CurJob = job;
}
}
if (agv.CurJob != null)
{
agv.CurJob = agv.CurJob.Execute(agv);
}
}
catch (Exception ex)
{
log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
AgvCallInProcess = false;
}
private bool CheckOnline(int idx)
{
bool rtn = MiR_API.CheckIP(AGVManager.agvInfo[idx].IP);
if (rtn)
{
if (AGVManager.agvInfo[idx].IsCon)
{
log.Debug(AGVManager.agvInfo[idx].Name + " Online");
}
else
{
AGVManager.agvInfo[idx].IsCon = true;
log.Info(AGVManager.agvInfo[idx].Name + " Online");
AgvOnline?.Invoke(idx);
}
}
else
{
if (AGVManager.agvInfo[idx].IsCon)
{
AGVManager.agvInfo[idx].IsCon = false;
log.Info(AGVManager.agvInfo[idx].Name + " Offline");
AgvOnline?.Invoke(idx);
}
else
{
log.Debug(AGVManager.agvInfo[idx].Name + " Offline");
}
}
return rtn;
}
}
}
public class RunInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum { get; set; } = "";
/// <summary>
/// 时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 任务信息
/// </summary>
public string MissionInfo { get; set; } = "";
public RunInfo(string AGVNum, string missionInfo)
{
//2006-01-02 15:04:05
DateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
this.AGVNum = AGVNum;
MissionInfo = missionInfo;
}
public RunInfo() { }
public override bool Equals(object obj)
{
if (obj is RunInfo)
{
RunInfo info = (RunInfo)obj;
if (this.MissionInfo.Equals(info.MissionInfo))
return true;
this.MissionInfo = info.MissionInfo;
}
return false;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}
\ No newline at end of file
DeviceLibrary/DeviceLibrary.csproj 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{F9619F07-15F1-4E59-A383-3871952BBB79}</ProjectGuid>
<OutputType>Library</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>DeviceLibrary</RootNamespace>
<AssemblyName>DeviceLibrary</AssemblyName>
<TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net">
<HintPath>.\log4net.dll</HintPath>
</Reference>
<Reference Include="RestSharp">
<HintPath>.\RestSharp.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Drawing" />
<Reference Include="System.Runtime.Serialization" />
<Reference Include="System.ServiceModel" />
<Reference Include="System.ServiceModel.Activation" />
<Reference Include="System.ServiceModel.Web" />
<Reference Include="System.Web" />
<Reference Include="System.Web.Extensions" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="bean\Agv_Info.cs" />
<Compile Include="bean\ChargePiles.cs" />
<Compile Include="bean\job\ChargeJob.cs" />
<Compile Include="bean\job\EmptyAGVBackJob.cs" />
<Compile Include="bean\job\EmptyShelfBackJob.cs" />
<Compile Include="bean\job\GoEmptyShelfLineJob.cs" />
<Compile Include="bean\job\GoFullShelfStationJob.cs" />
<Compile Include="bean\JobParam.cs" />
<Compile Include="bean\TaskRunState.cs" />
<Compile Include="bean\job\jobType\JobForFixture.cs" />
<Compile Include="bean\job\SendFullShelfToLineJob.cs" />
<Compile Include="bean\job\StandyJob.cs" />
<Compile Include="bean\Task.cs" />
<Compile Include="bean\Node.cs" />
<Compile Include="bean\RunStep.cs" />
<Compile Include="Control.cs" />
<Compile Include="manager\NodeManager.cs" />
<Compile Include="manager\OpManager.cs" />
<Compile Include="manager\HttpManager.cs" />
<Compile Include="AgvServer.cs" />
<Compile Include="bean\job\Job.cs" />
<Compile Include="bean\JobStep.cs" />
<Compile Include="bean\job\jobType\JobType.cs" />
<Compile Include="bean\job\jobType\ChargeJobType.cs" />
<Compile Include="manager\ChargePileManager.cs" />
<Compile Include="manager\AGVManager.cs" />
<Compile Include="DisplayBoard.cs" />
<Compile Include="bean\MiR_API.cs" />
<Compile Include="manager\XmlConfigOpManager.cs" />
<Compile Include="manager\AgvTaskManager.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="service\FixMissionInfo.cs" />
<Compile Include="manager\FixMissionManager.cs" />
<Compile Include="bean\Shelf.cs" />
<Compile Include="service\FixtureService.cs" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\AGV_UI\AGV_UI.csproj">
<Project>{c6d2fc09-46f7-4ec5-a877-15ea06342e4f}</Project>
<Name>AGV_UI</Name>
</ProjectReference>
<ProjectReference Include="..\Common\Common.csproj">
<Project>{bafeafe6-04e2-48ee-8845-bfc7ea3e3c21}</Project>
<Name>Common</Name>
</ProjectReference>
</ItemGroup>
<ItemGroup>
<Content Include="Config\agvinfos.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="Config\chargeinfos.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="Config\nodeinfos.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="Config\taskinfos.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
DeviceLibrary/DisplayBoard.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class DisplayBoard
{
/// <summary>
/// 异常列表
/// </summary>
public List<AlarmMsg> MsgList { get; private set; }
/// <summary>
/// 看板类
/// </summary>
public DisplayBoard()
{
MsgList = new List<AlarmMsg>();
}
/// <summary>
/// 添加上报信息
/// </summary>
/// <param name="name"></param>
/// <param name="key"></param>
/// <param name="value"></param>
/// <param name="type">默认类型是异常，1表示正常信息</param>
public void Add(string name, string key, string value, int type = 0)
{
MsgList.Add(new AlarmMsg(name, key, value, type));
}
private void ClearAlram()
{
if (MsgList != null && MsgList.Count > 0)
MsgList.Clear();
}
public void UpdateAlarmMsg()
{
if (MsgList != null && MsgList.Count > 0)
{
HttpManager.updateDeviceAlarmMsg(MsgList);
ClearAlram();
}
}
}
}
DeviceLibrary/Properties/AssemblyInfo.cs 0 → 100644
using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("DeviceLibrary")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("DeviceLibrary")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("f9619f07-15f1-4e59-a383-3871952bbb79")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
DeviceLibrary/RestSharp.dll 0 → 100644
此文件类型无法预览
DeviceLibrary/ScopeLimit.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
namespace DeviceLibrary
{
//public class ScopeLimit
//{
// List<string> agvIPs;
// //不规则图像坐标
// List<Agv_Info.AgvPosition> positions;
// Thread threadPoll;//监控线程
// /// <summary>
// /// 区域是否可用
// /// </summary>
// public bool Available { get; private set; } = true;
// public delegate void ScopeLimitStateChangedEventHandler(string ip, bool state);
// public event ScopeLimitStateChangedEventHandler ScopeLimitStateChangedEvent;
// public ScopeLimit(List<Agv_Info.AgvPosition> positions)
// {
// agvIPs = new List<string>();
// agvIPs.AddRange(new string[]
// {
// "10.85.199.68",
// "10.85.199.69",
// "10.85.199.70",
// "10.85.199.71",
// "10.85.199.72",
// "10.85.199.73",
// "10.85.199.74",
// "10.85.199.80",
// "10.85.199.81",
// "10.85.199.114"
// });
// this.positions = positions;
// threadPoll = new Thread(ScopeDetecting);
// threadPoll.IsBackground = true;
// threadPoll.Start();
// }
// private void ScopeDetecting()
// {
// bool rtn;
// while (true)
// {
// Thread.Sleep(5000);
// List<string> agvs = new List<string>();
// foreach (string ip in agvIPs)
// {
// Thread.Sleep(1000);
// rtn = MiR_API.Get_Position(ip, AGVManager.agvInfo[0].Authorization, out Agv_Info.AgvPosition position);
// if (rtn)
// {
// if (IsInPolygon(position, positions))
// {
// agvs.Add(ip);
// }
// }
// }
// if (agvs.Count > 0)
// {
// Available = false;
// ScopeLimitStateChangedEvent?.Invoke(string.Join(";", agvs), Available);
// }
// else //不在限制区域
// {
// if (!Available)
// {
// Available = true;
// ScopeLimitStateChangedEvent?.Invoke("", Available);
// }
// }
// }
// }
// /// <summary>
// /// 判断点是否在多边形内.
// /// ----------原理----------
// /// 注意到如果从P作水平向左的射线的话，如果P在多边形内部，那么这条射线与多边形的交点必为奇数，
// /// 如果P在多边形外部，则交点个数必为偶数(0也在内)。
// /// </summary>
// /// <param name="checkPoint">要判断的点</param>
// /// <param name="polygonPoints">多边形的顶点</param>
// /// <returns></returns>
// bool IsInPolygon(Agv_Info.AgvPosition checkPoint, List<Agv_Info.AgvPosition> polygonPoints)
// {
// bool inside = false;
// int pointCount = polygonPoints.Count;
// Agv_Info.AgvPosition p1, p2;
// for (int i = 0, j = pointCount - 1; i < pointCount; j = i, i++)//第一个点和最后一个点作为第一条线，之后是第一个点和第二个点作为第二条线，之后是第二个点与第三个点，第三个点与第四个点...
// {
// p1 = polygonPoints[i];
// p2 = polygonPoints[j];
// if (checkPoint.y < p2.y)
// {//p2在射线之上
// if (p1.y <= checkPoint.y)
// {//p1正好在射线中或者射线下方
// if ((checkPoint.y - p1.y) * (p2.x - p1.x) > (checkPoint.x - p1.x) * (p2.y - p1.y))//斜率判断,在P1和P2之间且在P1P2右侧
// {
// //射线与多边形交点为奇数时则在多边形之内，若为偶数个交点时则在多边形之外。
// //由于inside初始值为false，即交点数为零。所以当有第一个交点时，则必为奇数，则在内部，此时为inside=(!inside)
// //所以当有第二个交点时，则必为偶数，则在外部，此时为inside=(!inside)
// inside = (!inside);
// }
// }
// }
// else if (checkPoint.y < p1.y)
// {
// //p2正好在射线中或者在射线下方，p1在射线上
// if ((checkPoint.y - p1.y) * (p2.x - p1.x) < (checkPoint.x - p1.x) * (p2.y - p1.y))//斜率判断,在P1和P2之间且在P1P2右侧
// {
// inside = (!inside);
// }
// }
// }
// return inside;
// }
//}
}
DeviceLibrary/_system~.ini 0 → 100644
文件属性发生变化
DeviceLibrary/bean/ChargePiles.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean
{
public class ChargePiles
{
List<ChargePile> chargePiles;
/// <summary>
/// 充电最大电量
/// </summary>
public int BatteryMax { get; set; } = 90;
/// <summary>
/// 充电最小电量，小于该值直接去充电
/// </summary>
public int BatteryMin { get; set; } = 20;
/// <summary>
/// 空闲车辆充电点量
/// </summary>
public int BatteryMiddle { get; set; } = 50;
public ChargePiles()
{
chargePiles = new List<ChargePile>();
}
public List<ChargePile> GetChargePiles()
{
return chargePiles;
}
public void AddPile(ChargePile pile)
{
chargePiles.Add(pile);
}
public ChargePile GetChargePileByName(string name)
{
return chargePiles.Find(s=>s.Name.Equals(name));
}
public ChargePile GetChargePileById(int id)
{
return chargePiles.Find(s => s.Id.Equals(id));
}
public List<ChargePile> GetChargePilesByAgv(Agv_Info agv)
{
return chargePiles.FindAll(s => s.Agvs.Contains(agv.ID));
}
public ChargePile GetChargePileByAgv(Agv_Info agv)
{
return chargePiles.Find(s => s.Agvs.Contains(agv.ID));
}
}
public class ChargePile
{
/// <summary>
/// 充电桩ID
/// </summary>
public int Id { get; set; } = -1;
/// <summary>
/// 充电桩名称
/// </summary>
public string Name { get; set; } = "";
/// <summary>
/// 充电桩别名
/// </summary>
public string AliceName { get; set; } = "";
/// <summary>
/// 是否是固定充电桩
/// </summary>
public bool Fixed { get; set; } = false;
/// <summary>
/// 是否占用
/// </summary>
public bool Occupied { get; set; } = false;
/// <summary>
/// 占用充电桩的AGV
/// </summary>
public Agv_Info OccupiedAgv { get; set; }
/// <summary>
/// 可以在该处充电的agv列表
/// </summary>
public List<string> Agvs { get; set; }
public ChargePile()
{
Agvs = new List<string>();
}
/// <summary>
/// 是否有空位
/// </summary>
/// <returns></returns>
public bool HasEmpty(Agv_Info agv)
{
if (Fixed)
{
if (agv.Equals(Agvs[0]))
return true;
else
return false;
}
else //多个agv共享充电桩
{
if (Agvs.Contains(agv.ID))
return Occupied;
else
return false;
}
}
/// <summary>
/// 占用充电桩
/// </summary>
/// <param name="agv"></param>
public ChargePile Occupy(Agv_Info agv)
{
Occupied = true;
OccupiedAgv = agv;
return this;
}
/// <summary>
/// 清除充电桩的占用
/// </summary>
public void DelOccupy(Agv_Info agv)
{
if(agv.Equals(OccupiedAgv))
{
Occupied = false;
OccupiedAgv = null;
}
}
}
}
DeviceLibrary/bean/JobParam.cs 0 → 100644
using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean
{
/// <summary>
/// Job运行参数
/// </summary>
public class JobParam
{
/// <summary>
/// 初始地点
/// </summary>
public Node SrcNode { get; set; }
/// <summary>
/// 任务信息
/// </summary>
public manager.MissionInfo FixMissionInfo { get; set; }
/// <summary>
/// 目标地点
/// </summary>
public Node TargetNode { get; set; }
/// <summary>
/// 料架信息
/// </summary>
public Shelf Shelf { get; set; }
public OpType OpType { get; set; } = OpType.ComToLine;
public JobParam(Node srcplace, Node tarplace =null,Shelf shelf=null)
{
SrcNode = srcplace;
TargetNode = tarplace;
Shelf = shelf;
}
}
/// <summary>
/// 节点所属区域
/// </summary>
public enum Area
{
D,
C,
Air
}
/// <summary>
/// 操作类型
/// </summary>
public enum OpType
{
/// <summary>
/// 手动操作
/// </summary>
Mannual,
/// <summary>
/// 访问接口
/// </summary>
RequestAPI,
/// <summary>
/// 与线体通讯
/// </summary>
ComToLine,
/// <summary>
/// 手动或者访问接口
/// </summary>
MaulAndAPI,
}
}
DeviceLibrary/bean/JobStep.cs 0 → 100644

using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class JobStep<T> where T : Enum
{
private T step;
private string msg = "";
public string Msg
{
get { return msg; }
set
{
if (!string.IsNullOrEmpty(value))
{
//不为空，且与上一个消息不一样才打印
if (!value.Equals(msg))
{
//LogUtil.info(value);
}
}
msg = value;
}
}
public RunInfo StepRunInfo = new RunInfo();
public DateTime startTime = DateTime.Now;
public JobStep(T initStep)
{
this.step = initStep;
this.msg = "";
}
/// <summary>
/// 当前步骤是否是某个步骤
/// </summary>
/// <param name="step"></param>
/// <returns></returns>
public bool IsStep(T step)
{
return this.step.Equals(step);
}
/// <summary>
/// 是否超时
/// </summary>
/// <param name="timeOutMilliseconds"></param>
/// <returns></returns>
public bool IsTimeOut(int timeOutMilliseconds,out TimeSpan timeOutValue)
{
TimeSpan span = DateTime.Now - startTime;
timeOutValue = span;
if (span.TotalMilliseconds > timeOutMilliseconds)
{
return true;
}
return false;
}
/// <summary>
/// 进入下一个步骤
/// </summary>
/// <param name="nextStep"></param>
public void ToNextStep(T nextStep)
{
AGVManager.RunLogInfo(StepRunInfo);
step = nextStep;
startTime = DateTime.Now;
}
public string CurStep()
{
return step.ToString();
}
public void EndJob()
{
AGVManager.RunLogInfo(StepRunInfo);
}
}
}
DeviceLibrary/bean/Node.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Windows.Forms;
using DeviceLibrary.manager;
namespace DeviceLibrary
{
public class Node
{
/// <summary>
/// 节点ID
/// </summary>
public int Id { get; set; }
/// <summary>
/// 节点名称
/// </summary>
public string Name { get; set; }
public NodeType Type { get; set; }
/// <summary>
/// 所属区域
/// </summary>
public Area Area { get; set; }
/// <summary>
/// 节点IP
/// </summary>
public string IP { get; set; }
/// <summary>
/// 在线状态
/// </summary>
public bool Online { get; set; }
/// <summary>
/// 是否可调用
/// </summary>
public bool IsUse
{
set
{
if (!isuse.Equals(value))
{
isuse = value;
XmlConfigOpManager.SetNodeIsUse(this);
}
}
get { return isuse; }
}
private bool isuse;
/// <summary>
/// 节点状态
/// </summary>
public NodeStatus nodeStatus { get; set; }
protected string rfid = "00";
/// <summary>
/// RFID
/// </summary>
public string RFID
{
set
{
if (value.Length < 2)
rfid = value.PadLeft(2, '0');
else
rfid = value;
}
get
{
return rfid;
}
}
public ClientLevel ClientLevel { get; set; } = ClientLevel.Low;
/// <summary>
/// 别名
/// </summary>
public string AliceName { get; set; }
/// <summary>
/// 警告信息
/// </summary>
public string WarnMsg { get; set; } = "";
public Node() { }
public Node(int id, string name, string ip, NodeType nodeType, Area area, bool isUse = false)
{
Id = id;
Name = name;
IP = ip;
Online = false;
IsUse = isUse;
Type = nodeType;
Area = area;
nodeStatus = NodeStatus.None;
}
public Node(string name)
{
Name = name;
}
/// <summary>
/// 状态比较
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public bool StateEquals(NodeStatus obj)
{
return nodeStatus.Equals(obj);
}
/// <summary>
/// 获取当前状态
/// </summary>
/// <returns></returns>
public NodeStatus GetState()
{
return nodeStatus;
}
/// <summary>
/// 更新节点状态
/// </summary>
/// <param name="status"></param>
public void UpdateNodeStatus(NodeStatus status)
{
nodeStatus = status;
}
/// <summary>
/// 客户端节点
/// </summary>
/// <param name="name"></param>
/// <param name="ip"></param>
/// <param name="isUse"></param>
public Node(int id, string name, string ip, string aliceName, NodeType nodeType, Area area, bool isUse)
{
Id = id;
Name = name;
IP = ip;
Type = nodeType;
Area = area;
IsUse = isUse;
AliceName = aliceName;
Online = false;
}
/// <summary>
/// 客户端节点
/// </summary>
/// <param name="name"></param>
/// <param name="rfid"></param>
/// <param name="action"></param>
/// <param name="level"></param>
public Node(string name, string rfid = "", NodeStatus status = NodeStatus.None)
{
Name = name;
RFID = rfid;
nodeStatus = status;
}
/// <summary>
/// 节点状态的文本形式
/// </summary>
/// <returns></returns>
public string StatetText()
{
string s = string.Format("[Name={0}, NodeStatus={1}, RFID={2},ClientLevel ={3}]", Name, nodeStatus.ToString(), RFID, ClientLevel.ToString());
return s;
}
public string[] ToRow()
{
//节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
List<string> vs = new List<string>();
vs.Add(AliceName);
vs.Add(IP);
vs.Add(nodeStatus.ToString());
vs.Add(ClientLevel.ToString());
vs.Add(RFID);
vs.Add(Online ? "在线" : "离线");
vs.Add(IsUse ? "是" : "否");
return vs.ToArray();
}
/// <summary>
/// 脱机
/// </summary>
public void Offline()
{
RFID = "00";
nodeStatus = NodeStatus.None;
Online = false;
}
public Node ToCopy()
{
PropertyInfo[] infos = this.GetType().GetProperties();
Node node = new Node();
PropertyInfo[] infos2 = node.GetType().GetProperties();
for (int i = 0; i < infos2.Length; i++)
{
infos2[i].SetValue(node, Convert.ChangeType(infos[i].GetValue(this), infos[i].PropertyType));
}
return node;
}
public override string ToString()
{
return $" {AliceName}[{Area}] ";
}
}
/// <summary>
/// 节点状态
/// </summary>
public enum NodeStatus : byte
{
/// <summary>
/// 没有动作
/// </summary>
None = 0,
/// <summary>
/// 需要7寸D料架
/// </summary>
NeedD = 1,
/// <summary>
/// 需要大尺寸C料架
/// </summary>
NeedC = 2,
/// <summary>
/// 需要进入料架
/// </summary>
NeedEnter = 3,
/// <summary>
/// 需要出去料架
/// </summary>
NeedLeave = 4,
/// <summary>
/// 需要进入离开料架
/// </summary>
NeedEnterLeave = 5,
/// <summary>
/// 准备进入料架，服务器发送
/// </summary>
ReadyEnter = 6,
/// <summary>
/// 可以进入料架
/// </summary>
MayEnter = 7,
/// <summary>
/// 完成进入料架
/// </summary>
FinishEnter = 8,
/// <summary>
/// 准备离开料架，服务器发送
/// </summary>
ReadyLeave = 9,
/// <summary>
/// 可以出去料架
/// </summary>
MayLeave = 10,
/// <summary>
/// 完成出去料架
/// </summary>
FinishLeave = 11,
}
/// <summary>
/// 客户端的优先级
/// </summary>
public enum ClientLevel : byte
{
/// <summary>
/// 低
/// </summary>
Low = 0,
/// <summary>
/// 中等
/// </summary>
Middle = 1,
/// <summary>
/// 高
/// </summary>
High = 2
}
public enum Area
{
D,
C,
Air_C,
}
public enum NodeType
{
AutoCharge,
Standby,
Node
}
}
DeviceLibrary/bean/RunStep.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean
{
public enum RunStep
{
/// <summary>
/// 等待
/// </summary>
NONE,
#region 通用步骤
/// <summary>
/// 等待出风淋门
/// </summary>
WAIT_OUT_AIR_DOOR,
/// <summary>
/// 等待到达4C风淋门内
/// </summary>
WAIT_IN_AIR_DOOR,
/// <summary>
/// 等待从4C->4D
/// </summary>
WAIT_IN_ROOM_D,
/// <summary>
/// 等待到达4C门
/// </summary>
WAIT_IN_ROOM_C,
#endregion
#region 充电任务
/// <summary>
/// 等待AGV到达充电位
/// </summary>
CHARGE_WAIT_REACH_CHARGE,
/// <summary>
/// 等待充电完成
/// </summary>
CHARGE_WAIT_CHARGE_OK,
#endregion
#region 待机任务
/// <summary>
/// 等待AGV到达待机位
/// </summary>
STANDBY_WAIT_REACH_STANDBY,
#endregion
#region 空料架回收返回任务
/// <summary>
/// 等待小车到达回收处
/// </summary>
RECY_BACK_WAIT_REACH_RECY_ST,
/// <summary>
/// 等待回收处响应
/// </summary>
RECY_BACK_WAIT_RECY_ST_RESPONSE,
/// <summary>
/// 等待料架进入回收站
/// </summary>
RECY_BACK_WAIT_SHELF_IN_RECY_ST,
/// <summary>
/// 回收处暂时不需要，等待AGV到达待机位
/// </summary>
RECY_BACK_WAIT_REACH_STANDBY,
#endregion
#region 空聊加回收前往任务
/// <summary>
/// 给AGV分配任务
/// </summary>
RECY_TO_ASSIGN_AGV_TASK,
/// <summary>
/// 等待AGV开始执行去取架点任务
/// </summary>
RECY_TO_BACK_WAIT_AGV_START_TASK,
/// <summary>
/// 等待AGV到达取架点
/// </summary>
RECY_TO_WAIT_REACH_PLACE,
/// <summary>
/// 等待AGV到达临时停车位
/// </summary>
RECY_TO_WAIT_REACH_TEMP_PLACE,
RECY_TO_WAIT_Manual_Operation,
/// <summary>
/// 等待产线回应
/// </summary>
RECY_TO_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
RECY_TO_WAIT_TAKE_EMPTY_SHELF,
#endregion
#region 送满料到线体
/// <summary>
/// 等待agv到达4C临时待机位
/// </summary>
SF_WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待小车到达目的地
/// </summary>
SF_WAIT_AGV_REACH_LINE,
/// <summary>
/// 等待人员操作
/// </summary>
SF_WAIT_Manual_Operation,
/// <summary>
/// 等待AGV载大料架返回双层线
/// </summary>
SF_WAIT_SHELF_BACK_SMD,
/// <summary>
/// 等待AGV到达停车位
/// </summary>
SF_WAIT_SHELF_BACK_STANDYBY,
/// <summary>
/// 等待产线回应
/// </summary>
SF_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入产线
/// </summary>
SF_WAIT__SHELF_IN_LINE,
#endregion
#region 去云仓接满料
/// <summary>
/// 负载检查结果
/// </summary>
WAIT_CHECK_RESULT,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
/// <summary>
/// 等待到达A6
/// </summary>
WAIT_AGV_REACH_A6,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT__FULL_SHELF_IN_AGV,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
#endregion
/// <summary>
///
/// </summary>
END
}
}
DeviceLibrary/bean/Shelf.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public enum ShelfType
{
None,
Big,
Small,
Pack,
Reel
}
public class Shelf
{
/// <summary>
/// 料架rfid
/// </summary>
public string RFID { get; set; }
/// <summary>
/// 料架类型
/// </summary>
public ShelfType Type { get; set; }
/// <summary>
/// 料架是否有料
/// </summary>
public bool IsFull { get; set; }
public Shelf(string rfid="",bool isFull=false,ShelfType type = ShelfType.None)
{
RFID = rfid;
Type = type;
IsFull = isFull;
}
public Shelf ToCopy()
{
PropertyInfo[] infos = this.GetType().GetProperties();
Shelf shelf = new Shelf();
PropertyInfo[] infos2 = shelf.GetType().GetProperties();
for (int i = 0; i < infos2.Length; i++)
{
infos2[i].SetValue(shelf, infos[i].GetValue(this));
}
return shelf;
}
}
}
DeviceLibrary/bean/Task.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
/// <summary>
/// AGV任务
/// </summary>
public class AgvTask
{
/// <summary>
/// 任务ID
/// </summary>
public int Id { get; set; } = -1;
/// <summary>
/// 任务名称
/// </summary>
public string Name { set; get; }
/// <summary>
/// 任务别名
/// </summary>
public string AliceName { set; get; }
/// <summary>
/// 任务guid
/// </summary>
public string Guid { set; get; }
/// <summary>
/// 任务类型
/// </summary>
public TaskType Type { get; set; }
/// <summary>
/// 任务
/// </summary>
/// <param name="name">任务名称</param>
/// <param name="aliceName">任务别名</param>
/// <param name="targetName">目的地名</param>
/// <param name="targetAliceName">目的地别名</param>
/// <param name="guid">任务guid</param>
public AgvTask(string name,string aliceName,string guid,TaskType type= TaskType.Move)
{
Name = name;
AliceName = aliceName;
Guid = guid;
Type = type;
}
public AgvTask() { }
public TaskType GetTaskType()
{
return Type;
}
public override bool Equals(object obj)
{
AgvTask task = obj as AgvTask;
if(task !=null)
{
return this.Guid.Equals(task.Guid);
}
return false;
}
public AgvTask ToCopy()
{
AgvTask task = new AgvTask();
PropertyInfo[] info1 = this.GetType().GetProperties();
PropertyInfo[] info2 = task.GetType().GetProperties();
for (int i = 0; i < info1.Length; i++)
{
info2[i].SetValue(task, info1[i].GetValue(this));
}
return task;
}
}
/// <summary>
/// AGV任务类型
/// </summary>
public enum TaskType
{
None,
/// <summary>
/// 移动
/// </summary>
Move,
/// <summary>
/// 停靠
/// </summary>
Dock,
/// <summary>
/// 进出料
/// </summary>
InOut
}
}
DeviceLibrary/bean/TaskRunState.cs 0 → 100644
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Common;
namespace DeviceLibrary
{
/// <summary>
/// AGV任务运行信息
/// </summary>
public class TaskRunState
{
/// <summary>
/// AGV任务ID
/// </summary>
public int TaskID { get; set; } = -1;
/// <summary>
/// AGV任务
/// </summary>
public AgvTask Task { get; set; } = new AgvTask();
/// <summary>
/// 等待任务执行队列
/// </summary>
public ConcurrentQueue<AgvTask> WaitExecuteTask = new ConcurrentQueue<AgvTask>();
/// <summary>
/// 任务状态
/// </summary>
public string TaskState { get; set; } = SettingString.Wait;
/// <summary>
/// 重置
/// </summary>
public void ResetInfo()
{
TaskID = -1;
ResetState();
}
/// <summary>
/// 重置状态
/// </summary>
public void ResetState()
{
TaskState = SettingString.Wait;
}
/// <summary>
/// 检查任务是否分配成功,分配成功时任务id！=-1且能获取到任务状态
/// </summary>
/// <returns></returns>
public bool CheckAllocateOk()
{
return !TaskID.Equals(-1) && !TaskState.Equals(SettingString.Wait);
}
public bool CheckTaskFinished(string name = "")
{
LogUtil.debug(name + " 检查任务是否结束: " + ToTaskState());
return TaskState.Equals(SettingString.Done);
}
public void EnWaitTaskQueue(AgvTask task)
{
if (string.IsNullOrEmpty(task.Name))
return;
WaitExecuteTask.Enqueue(task);
}
public bool DeWaitTaskQueue(out AgvTask task)
{
task = null;
if (WaitExecuteTask.Count > 0)
{
if (WaitExecuteTask.TryDequeue(out task))
{
return true;
}
}
return false;
}
public void ClearWaitTaskQueue()
{
System.Threading.Tasks.Task.Factory.StartNew(new Action(() =>
{
while (WaitExecuteTask.Count > 0)
{
WaitExecuteTask.TryDequeue(out AgvTask task);
}
}));
}
public string ToTaskInfo()
{
return $" [{Task.AliceName}] [{TaskID}] ";
}
public string ToTaskState()
{
return $"[{Task.AliceName}] [{TaskID}] [{TaskState}]";
}
}
}
DeviceLibrary/bean/_system~.ini 0 → 100644
文件属性发生变化
DeviceLibrary/bean/job/ChargeJob.cs 0 → 100644
using Common;
using DeviceLibrary.bean;
namespace DeviceLibrary
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agvPlae">小车当前位置</param>
public ChargeJob(JobParam jobParam) : base(jobParam)
{
JobName = "充电任务";
}
int BatteryMax = ChargePileManager.GetChargePiles().BatteryMax;
int BatteryMin = ChargePileManager.GetChargePiles().BatteryMin;
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
{
if (JobParam.SrcNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_OUT_AIR_DOOR);
runInfo = string.Format("电量{0}%小于最大电量{1}%,从{2}回到充电位，先过风淋门", agv.Battery, BatteryMax, JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (JobParam.SrcNode.Area.Equals(Area.C))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("电量{0}%小于最大电量{1}%,从{2}回到充电位，先过门", agv.Battery, BatteryMax, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else
{
if (!ChargePileManager.HasEmpty(agv,out string chargename))
{
runInfo = "充电桩有小车，从" + JobParam.SrcNode + "回到待机位";
JobRunStep.Msg = runInfo;
return new StandyJob(new JobParam(JobParam.TargetNode.ToCopy(),manager.NodeManager.GetNodeByType(NodeType.Standby)));
}
else
{
JobRunStep.ToNextStep(RunStep.CHARGE_WAIT_REACH_CHARGE);
runInfo = "电量" + agv.Battery + "%小于最大电量" + BatteryMax + "%,从" + JobParam.SrcNode + "去充电位";
JobRunStep.Msg = runInfo;
AllocateTask(agv, chargename);
ChargePileManager.StartCharge(agv, chargename);
}
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_OUT_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("从{1}回到充电位，先过门", agv.Battery, JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_ROOM_D))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (!ChargePileManager.HasEmpty(agv, out string chargename))
{
runInfo = "充电桩有小车，从" + JobParam.SrcNode + "回到待机位";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new StandyJob(new JobParam(JobParam.TargetNode.ToCopy(),manager.NodeManager.GetNodeByType(NodeType.Standby)));
}
else
{
JobRunStep.ToNextStep(RunStep.CHARGE_WAIT_REACH_CHARGE);
runInfo = "电量" + agv.Battery + "%小于最大电量" + BatteryMax + "%,从" + JobParam.SrcNode + "回到充电位";
JobRunStep.Msg = runInfo;
AllocateTask(agv, chargename);
ChargePileManager.StartCharge(agv,chargename);
}
}
}
else if (JobRunStep.IsStep(RunStep.CHARGE_WAIT_REACH_CHARGE))
{
if (agv.TaskRunState.CheckAllocateOk())
{
JobRunStep.ToNextStep(RunStep.CHARGE_WAIT_CHARGE_OK);
runInfo = "开始充电任务";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.CHARGE_WAIT_CHARGE_OK))
{
if (CheckRandomCharge(agv))
{
if (agv.Battery >= BatteryMax)
{
runInfo = "电量充足，回待机位";
JobRunStep.Msg = runInfo;
ChargePileManager.StopCharge(agv);
JobRunStep.EndJob();
return new StandyJob(new JobParam(JobParam.SrcNode.ToCopy()));
}
else if (agv.Battery >= BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && ((job is ChargeJob) || (job is StandyJob)))
{
}
else if (job != null)
{
ChargePileManager.StopCharge(agv);
runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return job;
}
}
}
else//固定充电桩
{
if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMax)
{
runInfo = "充电完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new StandyJob(new JobParam(JobParam.TargetNode.ToCopy()));
}
else if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && ((job is ChargeJob) || (job is StandyJob)))
{
}
else if (job != null)
{
ChargePileManager.StopCharge(agv);
runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return job;
}
}
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
/// <summary>
/// 检查当前小车是否是共用充电桩的小车
/// </summary>
/// <returns></returns>
private bool CheckRandomCharge(Agv_Info agv)
{
if (ChargePileManager.CheckIsRandom(agv))
{
return true;
}
else
{
return false;
}
}
}
}
DeviceLibrary/bean/job/EmptyAGVBackJob.cs 0 → 100644

using Common;
using DeviceLibrary.bean;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
/// <summary>
/// 空车返回任务
/// </summary>
public class EmptyAGVBackJob : Job
{
/// <summary>
/// 空车返回任务
/// </summary>
public EmptyAGVBackJob(JobParam jobParam):base(jobParam)
{
JobName = "返回任务";
}
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Run(Agv_Info agv)
{
StartJobTime = JobRunStep.startTime;
if (JobRunStep.IsStep(RunStep.NONE))
{
{
JobRunStep.ToNextStep(RunStep.END);
}
}
else if(JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return new ChargeJob(new JobParam(JobParam.SrcNode.ToCopy()));
}
return this;
}
}
}
DeviceLibrary/bean/job/EmptyShelfBackJob.cs 0 → 100644

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web.ModelBinding;
using System.Windows.Forms;
using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
namespace DeviceLibrary
{
/// <summary>
/// 料架回收任务
/// </summary>
public class EmptyShelfBackJob : Job
{
/// <summary>
/// 料架回收任务
/// </summary>
public EmptyShelfBackJob(JobParam jobParam) : base(jobParam)
{
JobName = "料架回收返回任务";
}
private int tryTimes = 0;
/// <summary>
/// 料架回收任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
if (JobParam.SrcNode.Area.Equals(Area.Air_C))//C车间风淋门
{
JobRunStep.ToNextStep(RunStep.WAIT_OUT_AIR_DOOR);
runInfo = string.Format("从{0}去风淋门", JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (JobParam.SrcNode.Area.Equals(Area.C))//C车间
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("从{0}过门", JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = string.Format("从{0}去{1}", JobParam.SrcNode, JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_OUT_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("出风淋门，准备过门");
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_ROOM_D))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = string.Format("进门，送往{0}", JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_REACH_STANDBY))
{
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE);
runInfo = "AGV到达 " + JobParam.TargetNode + "，并发送入料架请求";
JobRunStep.Msg = runInfo;
OpManager.ServerToClient.ReadyEnter(JobParam.TargetNode.Name, JobParam.Shelf == null ? "" : JobParam.Shelf.RFID);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE))
{
Node node = NodeManager.GetNodeByName(JobParam.TargetNode.Name);
if (node.StateEquals(NodeStatus.MayEnter))
{
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST);
runInfo = "收到入料架请求的响应 " + JobParam.TargetNode + "入料架，小车链条运行";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Leave);
}
}
else if (JobRunStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
tryTimes++;
if (tryTimes < 3)
return this;
tryTimes = 0;
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = JobParam.TargetNode + "无响应，再次发送请求";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Standby);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"料架{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(60000, out TimeSpan timeOutValue1))
{
runInfo = "空料架在[" + JobParam.TargetNode + "]离开小车超时";
agv.HasError = true;
agv.SetErrorMsg("空料架在[" + JobParam.TargetNode + "]进入小车超时", timeOutValue1.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}
DeviceLibrary/bean/job/GoFullShelfStationJob.cs 0 → 100644
using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 去云仓接满料
/// </summary>
public class GoFullShelfStationJob : Job
{
/// <summary>
/// 去云仓接满料
/// </summary>
public GoFullShelfStationJob(JobParam jobParam) : base(jobParam)
{
JobName = "接满料任务";
}
bool IsLoadOnAGV = false;
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.WAIT_CHECK_RESULT);
runInfo = "检查AGV负载情况";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.CheckShelf);
}
else if (JobRunStep.IsStep(RunStep.WAIT_CHECK_RESULT))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (agv.IsExistShelf)
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = "车上有料架，无法接送满料任务";
JobRunStep.Msg = runInfo;
IsLoadOnAGV = true;
}
else if (!agv.IsExistShelf)
{
if (JobParam.SrcNode.Area.Equals(Area.D))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"车上无负载，准备去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
else if (JobParam.SrcNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "去接料，先过风淋门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (JobParam.SrcNode.Area.Equals(Area.C))//4C车间
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_DOOR);
runInfo = "先过门，再接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"车上无负载，准备去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_DOOR);
runInfo = $"去{JobParam.TargetNode.Name},先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_A6))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "到达 " + JobParam.TargetNode.Name + "，并发送出料架请求";
JobRunStep.Msg = runInfo;
OpManager.ServerToClient.ReadyLeave(JobParam.TargetNode.Name, JobParam.Shelf == null ? "" : JobParam.Shelf.RFID);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_DOUBLE_LINE_RESPONSE))
{
Node node = NodeManager.GetNodeByName(JobParam.TargetNode.Name);
if (node == null)
{
runInfo = "未找到节点：" + JobParam.TargetNode.Name;
JobRunStep.Msg = runInfo;
return this;
}
if (node.StateEquals(NodeStatus.MayLeave))
{
agv.HasError = false;
JobRunStep.ToNextStep(RunStep.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到出料架请求的响应," + JobParam.TargetNode.Name + "出料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Enter);
}
else if (JobRunStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
//JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
agv.HasError = true;
agv.SetErrorMsg($"{JobParam.TargetNode.Name}回复出料请求超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.WAIT__FULL_SHELF_IN_AGV))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
agv.HasError = false;
//GoFullShelfStationStep.ToNextStep(RunStep.END);
runInfo = JobParam.TargetNode.Name + "料架进入小车完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new SendFullShelfToLineJob(new JobParam(JobParam.TargetNode.ToCopy()));
}
else if (JobRunStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "满料架在[" + JobParam.TargetNode.Name + "]进入小车超时";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("满料架在[" + JobParam.TargetNode.Name + "]进入小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if(JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}
DeviceLibrary/bean/job/Job.cs 0 → 100644
using Common;
using DeviceLibrary.bean;
using System;
namespace DeviceLibrary
{
public abstract class Job
{
public Job(JobParam jobParam) { JobParam = jobParam; }
public JobParam JobParam { get; private set; }
public JobStep<RunStep> JobRunStep = new JobStep<RunStep>(RunStep.NONE);
/// <summary>
/// Job里的agv任务信息
/// </summary>
public AgvTask Task { get; set; }
/// <summary>
/// 运行信息
/// </summary>
public string RunInfo { get { return $"{JobName}{TaskStateInfo}：{runInfo}"; } }
/// <summary>
/// agv任务状态信息
/// </summary>
public string TaskStateInfo = "";
public string runInfo = "";
/// <summary>
/// 根据任务状态继续执行任务
/// </summary>
public Job Execute(Agv_Info agv)
{
SetRunInfo(agv);
return Run(agv);
}
public abstract Job Run(Agv_Info agv);
/// <summary>
/// 设置相关运行信息
/// </summary>
/// <param name="agv"></param>
public void SetRunInfo(Agv_Info agv)
{
JobRunStep.StepRunInfo.SetInfo(agv.Name.PadLeft(4, '0'), JobName, agv.Place.AliceName, JobRunStep.CurStep(), runInfo, StartJobTime, DateTime.Now);
TaskStateInfo = agv.TaskRunState.ToTaskInfo();
StartJobTime = JobRunStep.startTime;
}
/// <summary>
/// Job开始时间
/// </summary>
public DateTime StartJobTime { get; set; } = DateTime.Now;
/// <summary>
/// Job名称
/// </summary>
public string JobName { get; set; } = "";
protected void AllocateTask(Agv_Info agv, string taskName)
{
Task = AgvTaskManager.GetTaskByName(taskName);
AgvTaskManager.AssignMission(agv, taskName);
}
/// <summary>
/// 任务重发
/// </summary>
/// <returns></returns>
public bool ResendTask(Agv_Info agv)
{
bool rtn = false;
if (!agv.TaskRunState.Task.Equals(Task))//agv运行的任务与Job任务不同
{
rtn = AgvTaskManager.AssignMission(agv, Task.Name);
if (rtn)
{
return true;
}
}
else if (!agv.TaskRunState.TaskID.Equals(-1))
{
if (agv.TaskRunState.TaskState.Equals(SettingString.Aborted) || agv.TaskRunState.TaskState.Equals(SettingString.Invalid))
{
rtn = AgvTaskManager.AssignMission(agv, Task.Name);
if (rtn)
{
return true;
}
}
}
else if (agv.TaskRunState.TaskID.Equals(-1))//任务发送失败，重新发送
{
rtn = AgvTaskManager.AssignMission(agv, Task.Name);
if (rtn)
{
return true;
}
}
return false;
}
}
}
DeviceLibrary/log4net.dll 0 → 100644
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SO940-AGV/AGV_UI.csproj 0 → 100644
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SO940-AGV/App.config 0 → 100644
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SO940-AGV/FrmMain.cs 0 → 100644
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SO940-AGV/FrmMain.resx 0 → 100644
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SO940-AGV/Manual.cs 0 → 100644
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SO940-AGV/Manual.resx 0 → 100644
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SO940-AGV/Program.cs 0 → 100644
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SO940-AGV/SO940-AGV.sln 0 → 100644
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SO940-AGV/Status.cs 0 → 100644
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SO940-AGV/Status.resx 0 → 100644
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SO940-AGV/_system~.ini 0 → 100644
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SO940-AGV/dll/AsaPL.AgvClient.dll 0 → 100644
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SO940-AGV/dll/Newtonsoft.Json.dll 0 → 100644
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SO940-AGV/dll/log4net.dll 0 → 100644
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SO940-AGV/line.ico 0 → 100644
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