AGVManager.cs
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using DeviceLib.WebApi.Schemas;
using DeviceLibrary.AGVService.Schemas;
using DL.StandardRobot;
using OnlineStore;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static DL.StandardRobot.StandardRobot;
namespace DeviceLibrary
{
public class AGVManager
{
#region 斯坦得AGV PLC方式
static StandardRobot robot = new StandardRobot();
public static void Connect(string ip)
{
robot.IP = ip;
robot.Connect();
}
public static void Close()
{
robot.Close();
}
public static MissionState GetMissionState()
{
return robot.GetMissionState();
}
public static void Register(MissionStateChangedEventHandler changedEventHandler)
{
robot.MissionSateChanged += changedEventHandler;
}
public static void UnRegister(MissionStateChangedEventHandler changedEventHandler)
{
robot.MissionSateChanged -= changedEventHandler;
}
public static int CurMissionId = 0;
public static void AddMission(int id)
{
CurMissionId = id;
robot.AddMission(id);
}
public static bool IsConnected()
{
return false;
}
#endregion
static string std_httpserver = ConfigHelper.Config.Get("std_httpserver");
static string api_createTask = "/nepconSmf/createTask";
static List<TaskState> taskStates = new List<TaskState>();
/// <summary>
/// MIMO折叠门是否开启
/// </summary>
public static bool StringDoorIsOpen = false;
/// <summary>
/// 更新AGV任务状态
/// </summary>
/// <param name="task_code"></param>
/// <param name="task_status"></param>
public static void UpdateTaskStatus(string task_code, string task_status)
{
if (Monitor.TryEnter(taskStates, 300))
{
try
{
//var find = taskStates.Find(s => s.task_code.Equals(task_code));
//if (find != null)
//{
// find.task_status = task_status;
//}
//else
//{
// taskStates.Add(new TaskState() { task_code = task_code, task_status = task_status });
//}
if (taskStates.Count > 0)
{
var find = taskStates.Find(s => s.task_code.Equals(task_code));
if (find != null)
{
find.task_status = task_status;
}
else
{
taskStates.Clear();
taskStates.Add(new TaskState() { task_code = task_code, task_status = task_status });
}
}
else
{
taskStates.Add(new TaskState() { task_code = task_code, task_status = task_status });
}
if(task_code.StartsWith(STDTaskType.MIMO_LOAD)|| task_code.StartsWith(STDTaskType.MIMO_UNLOAD))
{
if("SUCCESS".Equals(task_status))
{
sendOpMimoCmd(task_code, StringDoor(false));
}
}
sendAgvLog(crc.GetString("Res0107.d1e28be6","AGV任务") + task_code + crc.GetString("Res0108.164140b2","状态更新") + task_status);
}
catch (Exception ex)
{
LogUtil.error("UpdateTaskStatus error:" + task_code + "," + task_status, ex);
}
finally
{
Monitor.Exit(taskStates);
}
}
}
/// <summary>
/// 入料口
/// </summary>
const string B1 = "B1";
/// <summary>
/// 出料口
/// </summary>
const string B2 = "B2";
const string MIMO = "MIMO";
/// <summary>
/// 处理AGV请求的操作
/// </summary>
/// <param name="deviceCheckDto"></param>
/// <param name="rtnData"></param>
public static void HandleDeviceOperate(DeviceCheckDto deviceCheckDto, out RtnData rtnData)
{
rtnData = new RtnData();
if (deviceCheckDto.device_code.Equals(B1) || deviceCheckDto.device_code.Equals(B2))
{
if (!RobotManage.isRunning)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
return;
}
}
switch (deviceCheckDto.device_code)
{
case B1://NS200入料口上料任务
if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
{
if (!RobotManage.isRunning)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
}
else
{
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
}
}
else if (DeviceCheckDto.LOAD_DONE.Equals(deviceCheckDto.operate))//上料完成
{
if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0109.d647c69c","入料口正在进料");
}
}
else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
{
if (!RobotManage.isRunning)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
}
else
{
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
LogUtil.info("AGVManager:下料请求，等待agv到位后执行,启动料串离开");
}
}
else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
{
if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0110.97f61551","入料口正在出料");
}
}
else
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0111.bb763c9e","任务类型") + deviceCheckDto.task_type + crc.GetString("Res0112.caa9d6a0","不允许使用该操作") + deviceCheckDto.operate;
}
break;
case B2://NS200出料口上料任务
if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
{
if (!RobotManage.isRunning)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
}
else
{
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
}
}
else if (DeviceCheckDto.LOAD_DONE.Equals(deviceCheckDto.operate))//上料完成
{
if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0113.15f652b4","出料口正在入料");
}
}
else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
{
if (!RobotManage.isRunning)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
}
else
{
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
}
}
else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
{
if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0114.b6a35f01","出料口正在出料");
}
}
else
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0111.bb763c9e","任务类型") + deviceCheckDto.task_type + crc.GetString("Res0112.caa9d6a0","不允许使用该操作") + deviceCheckDto.operate;
}
break;
case MIMO://MIMO上料任务
if (DeviceCheckDto.LOAD_REQ.Equals(deviceCheckDto.operate))//上料请求
{
if (!StringDoorIsOpen)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0115.75a1fac5","折叠门开门信号未亮，不允许上料");
}
else
{
//链条正转
sendOpMimoCmd(deviceCheckDto.operate, StringLine(true));
}
}
else if (DeviceCheckDto.OPEN_DOOR.Equals(deviceCheckDto.operate))//开门请求
{
if (!StringDoorIsOpen)//开门
{
sendOpMimoCmd(deviceCheckDto.operate, StringDoor(true));
}
}
else if (DeviceCheckDto.CLOSE_DOOR.Equals(deviceCheckDto.operate))//关门请求
{
sendOpMimoCmd(deviceCheckDto.operate, StringDoor(false));
}
else if (DeviceCheckDto.LOAD_DONE.Equals(deviceCheckDto.operate))//上料完成
{
sendOpMimoCmd(deviceCheckDto.operate, StringLine(false));
}
else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
{
if (!StringDoorIsOpen)
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0116.23d7e98f","折叠门开门信号未亮，不允许下料");
}
else
{
//链条反转
sendOpMimoCmd(deviceCheckDto.operate, StringBackLine(true));
}
}
else if (DeviceCheckDto.OPEN_DOOR.Equals(deviceCheckDto.operate))//开门请求
{
if (!StringDoorIsOpen)//开门
{
sendOpMimoCmd(deviceCheckDto.operate, StringDoor(true));
}
}
else if (DeviceCheckDto.CLOSE_DOOR.Equals(deviceCheckDto.operate))//关门请求
{
sendOpMimoCmd(deviceCheckDto.operate, StringDoor(false));
}
else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
{
sendOpMimoCmd(deviceCheckDto.operate, StringLine(false));
}
else
{
rtnData.code = 201;
rtnData.msg = crc.GetString("Res0111.bb763c9e","任务类型") + deviceCheckDto.task_type + crc.GetString("Res0112.caa9d6a0","不允许使用该操作") + deviceCheckDto.operate;
}
break;
}
if (rtnData.code == 200)
sendAgvLog($"收到AGV对设备{deviceCheckDto.device_code}的操作{deviceCheckDto.operate}请求");
}
static Dictionary<string, string> StringDoor(bool open)
{
//Y14,Y15 折叠门 open/close
if (open)
{
return new Dictionary<string, string> { { "openLock", "doit" } };
}
else
{
return new Dictionary<string, string> { { "closeLock", "doit" } };
}
}
static Dictionary<string, string> StringLine(bool run)
{
if (run)
{
return new Dictionary<string, string> { { "Y08", "open" } };
}
else
{
return new Dictionary<string, string> { { "Y08", "close" } };
}
}
static Dictionary<string, string> StringBackLine(bool run)
{
if (run)
{
return new Dictionary<string, string> { { "Y09", "open" } };
}
else
{
return new Dictionary<string, string> { { "Y09", "close" } };
}
}
/// <summary>
/// 处理AGV任务状态更新
/// </summary>
/// <param name="notificationDto"></param>
/// <param name="rtnData"></param>
public static void HandleTaskNotification(NotificationDto notificationDto, out RtnData rtnData)
{
rtnData = new RtnData();
UpdateTaskStatus(notificationDto.task_code, notificationDto.status);
}
static void sendAgvLog(string msg)
{
if (ServerCommunication.EnableHttpServer)
{
Task.Factory.StartNew(() =>
{
while (!RobotManage.mainMachine.ServerCM.SendAgvLog(msg))
{
Thread.Sleep(500);
}
});
}
}
static void sendOpMimoCmd(string opMsg, Dictionary<string, string> op)
{
if (ServerCommunication.EnableHttpServer)
{
Task.Factory.StartNew(() =>
{
while (!RobotManage.mainMachine.ServerCM.OpMIMO(opMsg, op))
{
Thread.Sleep(500);
}
});
}
}
/// <summary>
/// 创建AGV运输任务
/// </summary>
/// <param name="task_type"></param>
/// <returns></returns>
public static bool CreateAGVTask(string task_type)
{
TaskDto taskDto = new TaskDto() { task_type = task_type, task_code = $"{task_type}_{DateTime.Now.ToString("MMddHHmmss")}" };
try
{
string data = JsonHelper.SerializeObject(taskDto);
string result = HttpHelper.Post(std_httpserver + api_createTask, data, 700);
LogUtil.info($"CreateAGVTask :[{data}][{result}]");
sendAgvLog("Create task:" + task_type + ";FMS response:" + result);
if (string.IsNullOrEmpty(result))
{
return false;
}
RtnData rtnData = JsonHelper.DeserializeJsonToObject<RtnData>(result);
if (rtnData != null)
{
if (rtnData.code == 200)
{
//出入料口操作
if (STDTaskType.NS200_UNLOAD_B1.Equals(task_type))
{
releaseRight();
}
else if (STDTaskType.NS200_UNLOAD_B2.Equals(task_type))
{
releaseLeft();
}
UpdateTaskStatus(taskDto.task_code, taskDto.task_type);
return true;
}
}
}
catch (Exception ex)
{
LogUtil.error($"CreateAGVTask Error:{taskDto.task_code}", ex);
}
return false;
}
/// <summary>
/// 左侧出料口
/// </summary>
static void releaseLeft()
{
if (RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.Wait)
{
//MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
return;
}
else if (RobotManage.mainMachine.SafeReleaseLeftShelf)
{
// MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
return;
}
else if (RobotManage.mainMachine.LeftMoveInfo.MoveStep < MoveStep.L04 || RobotManage.mainMachine.LeftMoveInfo.MoveStep > MoveStep.L30_LabelFinish)
{
//MessageBox.Show(crc.GetString("Res0083", "左侧料串正在提升或下降, 不能释放"));
return;
}
RobotManage.mainMachine.SafeReleaseLeftShelf = true;
Task.Run(() => {
int timeout = 2 * 60;
while (RobotManage.mainMachine.SafeReleaseLeftShelf && timeout > 0)
{
Task.Delay(500).Wait();
timeout--;
if ((RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel || RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut) && (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait || RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.REND))
{
RobotManage.mainMachine.LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
}
}
RobotManage.mainMachine.SafeReleaseLeftShelf = false;
});
}
static void releaseRight()
{
if (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait)
{
// MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
return;
}
else if (RobotManage.mainMachine.SafeReleaseRightShelf)
{
//MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
return;
}
else if (RobotManage.mainMachine.RightMoveInfo.MoveStep < MoveStep.R04 || RobotManage.mainMachine.RightMoveInfo.MoveStep > MoveStep.R11_NextReel)
{
//MessageBox.Show(crc.GetString("Res0086", "右侧料串当前没有就位, 不能释放"));
return;
}
RobotManage.mainMachine.SafeReleaseRightShelf = true;
//btn_releaserightshelf.BackColor = Color.OrangeRed;
Task.Run(() => {
int timeout = 2 * 60;
while (RobotManage.mainMachine.SafeReleaseRightShelf && timeout > 0)
{
Task.Delay(500).Wait();
timeout--;
}
RobotManage.mainMachine.SafeReleaseRightShelf = false;
});
}
}
public class TaskDto
{
/// <summary>
/// 任务编码
/// </summary>
public string task_code { get; set; }
/// <summary>
/// 任务类型
/// </summary>
public string task_type { get; set; }
}
/// <summary>
/// 斯坦得AGV可执行的任务类型
/// </summary>
public class STDTaskType
{
/// <summary>
/// NS200 入料口上料任务
/// </summary>
public const string NS200_LOAD_B1 = "NS200_LOAD_B1";
/// <summary>
/// NS200 入料口下料任务
/// </summary>
public const string NS200_UNLOAD_B1 = "NS200_UNLOAD_B1";
/// <summary>
/// NS200 出料口上料任务
/// </summary>
public const string NS200_LOAD_B2 = "NS200_LOAD_B2";
/// <summary>
/// NS200 出料口下料任务
/// </summary>
public const string NS200_UNLOAD_B2 = "NS200_UNLOAD_B2";
/// <summary>
/// MIMO上料任务
/// </summary>
public const string MIMO_LOAD = "MIMO_LOAD";
/// <summary>
/// MIMO下料任务
/// </summary>
public const string MIMO_UNLOAD = "MIMO_UNLOAD";
}
public class TaskState
{
public string task_code { get; set; }
public bool updated { get; set; } = false;
public string task_status { get; set; } = "CREATED";
}
}