1. 修改SeerAGV驱动通信代码 2. 修改机器人通信部分代码 3. 取消原有流程任务队列模式，使用即时方法调用。

patrick

2019-10-20 ff18fa3c007656bd37cad91fac9a9cb03f4070b8

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using Bro.Common.Interface;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
 
namespace Bro.Common.Helper
{
    public class StationFactory
    {
        /// <summary>
        /// 获取StationProcess
        /// </summary>
        /// <param name="stationCode">站点编号 S1~S7</param>
        /// <param name="userName">登录用户名称</param>
        /// <param name="msg">异常信息</param>
        /// <returns></returns>
        public static IStationProcess CreateStationProcess(string stationCode, string userName, out string msg)
        {
            IStationProcess proc = null;
            msg = "";
 
            try
            {
                var assList = AppDomain.CurrentDomain.GetAssemblies().ToList();
                var assNameList = assList.Select(a => a.GetName()).ToList();
 
                Assembly ass = assList.FirstOrDefault(a => a.GetName().Name.Contains("Bro.Device.Station"));
                if (ass == null)
                {
                    ass = Assembly.LoadFile(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Bro.Device.Station.dll"));
                }
 
                ass.GetReferencedAssemblies().ToList().ForEach(a =>
                {
                    if (!assNameList.Contains(a))
                        Assembly.Load(a);
                });
 
                ass.GetTypes().ToList().ForEach(t =>
                {
                    if (typeof(IStationProcess).IsAssignableFrom(t))
                    {
                        var attr = t.GetCustomAttribute<StationAttribute>();
                        if (attr != null && attr.StationCode == stationCode)
                        {
                            //proc = (Activator.CreateInstance(t, userName) as IStationProcess).GetInstance();
                            proc = Activator.CreateInstance(t, userName) as IStationProcess;
                            return;
                        }
                    }
                });
            }
            catch (Exception ex)
            {
                msg = ex.GetExceptionMessage();
            }
 
            return proc;
        }
 
        /// <summary>
        /// 获取StationConfig
        /// </summary>
        /// <param name="stationCode">站点编号 S1~S7</param>
        /// <param name="msg">异常信息</param>
        /// <returns></returns>
        public static IStationConfig CreateStationConfig(string stationCode, out string msg)
        {
            IStationConfig config = null;
            msg = "";
 
            try
            {
                Assembly ass = Assembly.LoadFile(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Bro.Device.Station.dll"));
 
                ass.GetReferencedAssemblies().ToList().ForEach(a =>
                {
                    Assembly.Load(a);
                });
 
                ass.GetTypes().ToList().ForEach(t =>
                {
                    if (typeof(IStationConfig).IsAssignableFrom(t))
                    {
                        var attr = t.GetCustomAttribute<StationAttribute>();
                        if (attr != null && attr.StationCode == stationCode)
                        {
                            config = Activator.CreateInstance(t) as IStationConfig;
                            return;
                        }
                    }
                });
            }
            catch (Exception ex)
            {
                msg = ex.GetExceptionMessage();
            }
 
            return config;
        }
    }
}