1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数

patrick

2019-12-05 6428fad15dbe79e30a48ffc9aabe31e03a45426c

 src/Bro.Device.SeerAGV/SeerAGVDriver.cs

@@ -19,6 +19,7 @@
    {
        public Action<SeerAGVDriver, string> OnAGVPositoinChanged;
        public Action<SeerAGVDriver, AGVTaskStatus> OnAGVTaskStatusChanged;
        public Action<SeerAGVDriver, float, float> OnAGVBatteryLvlChanged;

        SeerAGVInitialConfig IConfig
        {
@@ -36,13 +37,13 @@

        protected override void Init()
        {
            InitialTcpClient(client_State, IConfig.StatusPort);
            InitialTcpClient(client_Guide, IConfig.GuidePort);
            InitialTcpClient(ref client_State, IConfig.StatusPort);
            InitialTcpClient(ref client_Guide, IConfig.GuidePort);
        }

        private void InitialTcpClient(TcpClient client, int port)
        private void InitialTcpClient(ref TcpClient client, int port)
        {
            if (client == null || !client_State.Connected)
            if (client == null || !client.Connected)
            {
                client = new TcpClient();
                client.SendBufferSize = client.ReceiveBufferSize = 0;
@@ -64,6 +65,7 @@
        {
            msg_Position = new SeerMessage((int)AGVCode.QueryPosition, SID);
            msg_GuideStatus = new SeerMessage((int)AGVCode.QueryTaskStatus, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");
            msg_Battery = new SeerMessage((int)AGVCode.QueryBattery, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");

            Task.Run(() =>
            {
@@ -73,7 +75,18 @@

        protected override void Stop()
        {
            throw new NotImplementedException();
            if (client_Guide != null && client_Guide.Connected)
            {
                CancelTask();
                client_Guide.Close();
                client_Guide = null;
            }

            if (client_State != null && client_State.Connected)
            {
                client_State.Close();
                client_State = null;
            }
        }
        #endregion

@@ -131,16 +144,41 @@
            }
        }

        float batteryLvl = 0;
        public float BatteryLvl
        {
            get => batteryLvl;
            set
            {
                if (batteryLvl != value)
                {
                    float pre = batteryLvl;
                    batteryLvl = value;
                    OnAGVBatteryLvlChanged?.Invoke(this, pre, batteryLvl);
                }
            }
        }

        SeerMessage msg_Position = new SeerMessage();
        SeerMessage msg_GuideStatus = new SeerMessage();
        SeerMessage msg_Battery = new SeerMessage();
        private void MonitorAGV()
        {
            while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
            {
                SendMsg(client_State, IConfig.StatusPort, msg_Position);
                Thread.Sleep(IConfig.ScanInterval);
                SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
                Thread.Sleep(IConfig.ScanInterval);
                try
                {
                    SendMsg(client_State, IConfig.StatusPort, msg_Position);
                    Thread.Sleep(IConfig.ScanInterval);
                    SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
                    Thread.Sleep(IConfig.ScanInterval);
                    SendMsg(client_State, IConfig.StatusPort, msg_Battery);
                    Thread.Sleep(IConfig.ScanInterval);
                }
                catch (Exception ex)
                {
                    OnLog?.Invoke(DateTime.Now, this, $"{Name}监听异常：{ex.GetExceptionMessage()}");
                }
            }
        }

@@ -152,7 +190,7 @@
            {
                try
                {
                    InitialTcpClient(client, port);
                    InitialTcpClient(ref client, port);

                    var stream = client.GetStream();
                    stream.Write(msg.Frame, 0, msg.Frame.Length);
@@ -162,8 +200,7 @@
                    {
                        byte[] rec = buffer.Take(recSize).ToArray();
                        SeerMessage recMsg = SeerMessage.GetSeerMessage(rec);

                        if (recMsg.TypeCode != msg.TypeCode || recMsg.SeqNum != msg.SeqNum)
                        if (recMsg.TypeCode != (10000 + msg.TypeCode) || recMsg.SeqNum != msg.SeqNum)
                        {
                            throw new ProcessException("反馈信息和发送信息不一致", null);
                        }
@@ -206,13 +243,16 @@
        {
            await Task.Run(() =>
            {
                switch (recMsg.TypeCode)
                switch (recMsg.TypeCode - 10000)
                {
                    case (int)AGVCode.QueryPosition:
                        CurrentPosition = recMsg.JValues.Value<string>("current_station");
                        break;
                    case (int)AGVCode.QueryTaskStatus:
                        TaskStatus = (AGVTaskStatus)recMsg.JValues.Value<int>("task_status");
                        break;
                    case (int)AGVCode.QueryBattery:
                        BatteryLvl = recMsg.JValues.Value<float>("battery_level");
                        break;
                    default:
                        break;
@@ -236,6 +276,8 @@
        {
            CurrentPosition = "";
            SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));

            OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}行驶向 {dest}", null, null);
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }
    }