AgvControl.cs
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using OnlineStore;
using DeviceLibrary;
using DL.StandardRobot;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Net.NetworkInformation;
namespace AutoScanAndLabel.UC
{
public partial class AgvControl : UserControl
{
public string serverIp = "";
public AgvControl()
{
InitializeComponent();
serverIp = ConfigHelper.Config.Get(Setting_Init.STD_IP, "127.0.0.1");
AGVManager.Connect(serverIp);
load();
groupBox2.Text = crc.GetString("Res0071", "任务状态") + "[" + serverIp + "]";
AGVManager.Register(MissionStateChanged);
endit(false);
}
~AgvControl()
{
AGVManager.UnRegister(MissionStateChanged);
AGVManager.Close();
}
private void load()
{
txtEnterId.Text = ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "8");
txtLeaveId.Text = ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "10");
txtMoveLSTId.Text = ConfigHelper.Config.Get(Setting_Init.LStation, "7");
txtMoveRSTId.Text = ConfigHelper.Config.Get(Setting_Init.RStation, "9");
txtStandbyId.Text = ConfigHelper.Config.Get(Setting_Init.Standby, "11");
}
MissionState curState;
private void MissionStateChanged(MissionState state)
{
curState = state;
if (!this.IsHandleCreated) return;
this.Invoke(new Action(() =>
{
try
{
lblCurMissionId.Text = crc.GetString("Res0075", "任务编号:") + state.MissionId;
lblCurRunMissionId.Text = crc.GetString("Res0076", "运行编号:") + state.RunMissionId;
switch (state.MissionRunState)
{
case MissionRunState.无效状态:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.无效状态.ToString(), MissionRunState.无效状态.ToString());
break;
case MissionRunState.正在取消:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.正在取消.ToString(), MissionRunState.正在取消.ToString());
break;
case MissionRunState.任务在队列中但没有启动:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.任务在队列中但没有启动.ToString(), MissionRunState.任务在队列中但没有启动.ToString());
break;
case MissionRunState.正在执行:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.正在执行.ToString(), MissionRunState.正在执行.ToString());
break;
case MissionRunState.暂停执行:
lblMissionRunstate.Text = crc.GetString("Res0077", "任务状态:") + crc.GetString(MissionRunState.暂停执行.ToString(), MissionRunState.暂停执行.ToString());
break;
}
switch (state.MissionResult)
{
case MissionResult.无效状态:
lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.无效状态.ToString(), MissionResult.无效状态.ToString());
break;
case MissionResult.任务执行成功:
lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.任务执行成功.ToString(), MissionResult.任务执行成功.ToString());
break;
case MissionResult.任务取消:
lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.任务取消.ToString(), MissionResult.任务取消.ToString());
break;
case MissionResult.任务执行出错:
lblMissionResult.Text = crc.GetString("Res0078", "运行结果:") + crc.GetString(MissionResult.任务执行出错.ToString(), MissionResult.任务执行出错.ToString());
break;
}
}
catch
{
}
}));
}
public bool InCalling = false;
private bool canCall()
{
return !InCalling && (handleAgv == null || (handleAgv != null && handleAgv.IsCompleted));
}
private void button_rightneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return;
}
if (!canCall())
{
MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info("开始入口满料串送入流程");
handleAgv = Task.Run(() =>
{
InCalling = true;
//请求AGV代码放这里
RequestRight();
//等待agv到位
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
if (InCalling)
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
ShelfOutAgv();
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
if (!InCalling)
return;
waitTmie();
}
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
ToStandby();
//通知agv上料结束, 也可以把上料结束的代码放到 R40_InShelf的结束步骤里去
InCalling = false;
});
}
else
MessageBox.Show(crc.GetString("Res0080", "当前有料串不能请求进入料串"));
}
private void button_rightleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return;
}
if (!canCall())
{
MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info("开始入口空料串取出流程");
handleAgv = Task.Run(() =>
{
InCalling = true;
//请求AGV代码放这里
RequestRight();
//等待agv到位
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
if (InCalling)
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
ShelfEnterAgv();
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
if (!InCalling)
return;
waitTmie();
}
//通知agv上料结束, 也可以把上料结束的代码放到R30_OutShelf的结束步骤里去
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
ToStandby();
InCalling = false;
});
}
else
MessageBox.Show(crc.GetString("Res0081", "当前没有料串不能请求取料串"));
}
private void RequestLeft()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.LStation, "3"), out int val);
autoAddMision(val);
}
private void RequestRight()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.RStation, "4"), out int val);
autoAddMision(val);
}
private void ShelfEnterAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfInAGV, "4"), out int val);
autoAddMision(val);
}
private void ShelfOutAgv()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.ShelfOutAGV, "4"), out int val);
autoAddMision(val);
}
private void ToStandby()
{
int.TryParse(ConfigHelper.Config.Get(Setting_Init.Standby, "4"), out int val);
autoAddMision(val);
}
private bool WaitMissionOk(uint missionId)
{
return curState != null && curState.RunMissionId.Equals(missionId) && curState.MissionResult.Equals(MissionResult.任务执行成功);
}
private bool WaitMissionOk()
{
bool rtn = WaitMissionOk((uint)AGVManager.CurMissionId);
if (rtn)
{
LogUtil.info("任务编号" + AGVManager.CurMissionId + "执行完成");
}
return rtn;
}
void autoAddMision(int id)
{
if (!InCalling)
return;
AGVManager.AddMission(id);
LogUtil.info("自动任务：发送任务编号" + id);
}
void waitTmie()
{
Thread.Sleep(300);
}
private void button_Leftleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return;
}
if (!canCall())
{
MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info("开始出口AGV满料串取出流程");
handleAgv = Task.Run(() =>
{
InCalling = true;
//请求AGV代码放这里
RequestLeft();
//等待agv到位
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
if (InCalling)
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
ShelfEnterAgv();
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
if (!InCalling)
return;
waitTmie();
}
//通知agv上料结束, 也可以把上料结束的代码放到L50_OutShelf的结束步骤里去
//等待agv到位
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
ToStandby();
InCalling = false;
});
}
else
MessageBox.Show(crc.GetString("Res0081", "当前没有料串不能请求取料串"));
}
Task handleAgv = null;
private void button_leftneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show(crc.GetString("Res0079", "机器尚未启动不能呼叫Agv"));
return;
}
if (!canCall())
{
MessageBox.Show(crc.GetString("Res0035", "已呼叫Agv，不能重复呼叫"));
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info("开始出口空料串送入流程");
handleAgv = Task.Run(() =>
{
InCalling = true;
//请求AGV代码放这里
RequestLeft();
//等待agv到位
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
if (InCalling)
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
ShelfOutAgv();
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
if (!InCalling)
return;
waitTmie();
}
//通知agv上料结束, 也可以把上料结束的代码放到 L60_InShelf的结束步骤里去
while (!WaitMissionOk())
{
if (!InCalling)
return;
waitTmie();
}
ToStandby();
InCalling = false;
});
}
else
MessageBox.Show(crc.GetString("Res0080", "当前有料串不能请求进入料串"));
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
endit(checkBox1.Checked);
}
void endit(bool maul)
{
groupBox3.Enabled = maul;
}
private void button1_Click(object sender, EventArgs e)
{
int.TryParse(txtMissionId.Text, out int val);
AGVManager.AddMission(val);
LogUtil.info("手动发送任务编号：" + val);
}
private void button2_Click(object sender, EventArgs e)
{
InCalling = false;
LogUtil.info("重置呼叫");
}
}
}