1. 添加标定操作及界面 2. 修改配置界面方法调用参数 3. SeerAGV添加电池信息监听 4. 添加AGV电池充电操作 5. 修改AGV状态变化...

patrick

2019-10-22 7971d855ba2cf9772b46a7f67e2b669c0afcb91b

 src/A032.Process/ProcessControl_Method.cs

@@ -20,9 +20,49 @@
{
    public partial class ProcessControl
    {
        const int WAITTIME = 5000;

        Dictionary<int, int> machineFullTrayDict = new Dictionary<int, int>();
        Dictionary<int, int> machineEmptyTrayDict = new Dictionary<int, int>();
        List<TaskAssignInfo> taskAssignedList = new List<TaskAssignInfo>();

        #region AGV事件
        private void OnAGVBatterLvlChanged(SeerAGVDriver agv, float batterLvl)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
            SeerAGVInitialConfig iConfig = agv.InitialConfig as SeerAGVInitialConfig;
            if (batterLvl <= iConfig.BatteryLvlToCharge)
            {
                Task.Run(() =>
                {
                    var position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.Charge);

                    if (position == null)
                    {
                        throw new ProcessException("未找到充电地点");
                    }

                    while (bind.UnitStatus != TaskStatus.Available)
                    {
                        if (bind.SetAGVStatus(TaskStatus.Running))
                        {
                            bind.AGV.TaskOrder(position.PositionCode);
                            break;
                        }

                        Thread.Sleep(WAITTIME);
                    }
                });

                return;
            }

            if (batterLvl >= iConfig.BatteryLvlChargeDone)
            {
                bind.SetAGVStatus(TaskStatus.Available);
                return;
            }
        }

        private void OnAGVTaskStatusChanged(SeerAGVDriver agv, AGVTaskStatus taskStatus)
        {
@@ -42,7 +82,7 @@
                //    bind.RobotStatus = TaskStatus.Running;
                //}

                bind.AGVStatus = TaskStatus.Available;
                bind.SetAGVStatus(TaskStatus.Available);
            }
        }

@@ -64,7 +104,7 @@
                //    bind.RobotStatus = TaskStatus.Running;
                //}

                bind.AGVStatus = TaskStatus.Available;
                bind.SetAGVStatus(TaskStatus.Available);

                PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
                switch (position.Description)
@@ -85,6 +125,7 @@
                }
            }
        }
        #endregion

        private void OnRobotMsgReceived(DateTime dt, AuboRobotDriver robot, RobotMsg msg)
        {
@@ -210,12 +251,17 @@
                    break;
                case RobotMsgAction.Calibration:
                    {
                        _calibReply.CalibIndex = int.Parse(msg.Datas[4]);
                        _calibReply.CalibPositionNo = msg.Para2;
                        _calibReply.RobotPosition = new CustomizedPoint(float.Parse(msg.Datas[0]), float.Parse(msg.Datas[1]));

                        _calibReply.CalibHandle.Set();
                    }
                    break;
                case RobotMsgAction.StandardPoint:
                    {

                        _calibReply.CalibPositionNo = msg.Para2;
                        _calibReply.CalibHandle.Set();
                    }
                    break;
                default:
@@ -309,7 +355,7 @@
                    while (bind.IsEmptyTrayEmpty && !bind.IsEmptyTrayTaskAssigned)
                    {
                        //if (bind.TaskList.Count == 0)
                        if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
                        if (bind.UnitStatus == TaskStatus.Available)
                        {
                            //List<AGVTaskModel> models = new List<AGVTaskModel>();
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadEmptyTray"));
@@ -317,12 +363,14 @@

                            //AddNewTaskToBind(device.Id, models);

                            AGV_LoadEmptyTray(bind.Id);
                            bind.IsEmptyTrayTaskAssigned = true;
                            if (AGV_LoadEmptyTray(bind.Id))
                            {
                                bind.IsEmptyTrayTaskAssigned = true;
                            }
                        }
                        else
                        {
                            Thread.Sleep(500);
                            Thread.Sleep(WAITTIME);
                        }
                    }
                });
@@ -351,7 +399,7 @@
                    while (bind.IsFullTrayFull && !bind.IsFullTrayTaskAssigned)
                    {
                        //if (bind.TaskList.Count == 0)
                        if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
                        if (bind.UnitStatus == TaskStatus.Available)
                        {
                            //List<AGVTaskModel> models = new List<AGVTaskModel>();
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadFullTray"));
@@ -359,13 +407,14 @@

                            //AddNewTaskToBind(device.Id, models);

                            AGV_UnloadFullTray(bind.Id);

                            bind.IsFullTrayTaskAssigned = true;
                            if (AGV_UnloadFullTray(bind.Id))
                            {
                                bind.IsFullTrayTaskAssigned = true;
                            }
                        }
                        else
                        {
                            Thread.Sleep(500);
                            Thread.Sleep(WAITTIME);
                        }
                    }
                });
@@ -460,7 +509,7 @@
        //    return new ProcessResponse(true);
        //}

        public void AGV_LoadEmptyTray(string bindId)
        public bool AGV_LoadEmptyTray(string bindId)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
@@ -470,10 +519,17 @@
                throw new ProcessException("路径配置未设置空Tray上料点");
            }

            bind.AGVDest = position.PositionCode;
            bind.AGV.TaskOrder(position.PositionCode);
            if (bind.SetAGVStatus(TaskStatus.Running))
            {
                bind.AGVDest = position.PositionCode;
                bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;
                return true;
            }
            else
            {
                return false;
            }
        }

        //[ProcessMethod("", "AfterEmptyTrayPositionArrived", "到达空Tray上料点", true)]
@@ -589,20 +645,21 @@
                            //bind.AddTask(model_AGV);
                            //bind.AddTask(model_Robot);

                            AGV_UnloadEmptyTray(bind.Id, position);

                            taskStatus.IsTaskAssgined = true;
                            taskStatus.AgvId = bind.AGVId;
                            if (AGV_UnloadEmptyTray(bind.Id, position))
                            {
                                taskStatus.IsTaskAssgined = true;
                                taskStatus.AgvId = bind.AGVId;
                            }
                        }
                    }

                    Thread.Sleep(300);
                    Thread.Sleep(WAITTIME);
                }
            });
        }

        //[ProcessMethod("", "AGV_UnloadEmptyTray", "AGV去往卸载空Tray料位置", true)]
        public void AGV_UnloadEmptyTray(string bindId, PathPosition position)
        public bool AGV_UnloadEmptyTray(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

@@ -611,10 +668,17 @@
                throw new ProcessException("路径配置未设置空Tray下料点");
            }

            bind.AGVDest = position.PositionCode;
            bind.AGV.TaskOrder(position.PositionCode);
            if (bind.SetAGVStatus(TaskStatus.Running))
            {
                bind.AGVDest = position.PositionCode;
                bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;
                return true;
            }
            else
            {
                return false;
            }
        }

        //[ProcessMethod("", "Robot_UnloadEmptyTray", "机器人运动至空Tray拍照位置", true)]
@@ -756,7 +820,7 @@

                adjust_X = (float)dx_Robot.D;
                adjust_Y = (float)dy_Robot.D;
                adjust_Angle = angle;
                adjust_Angle = visionConfig.StandardPoint.Angle - angle;
            }

            //bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
@@ -831,10 +895,11 @@
                            //bind.AddTask(model_AGV);
                            //bind.AddTask(model_Robot);

                            AGV_LoadFullTray(bind.Id, position);

                            taskStatus.IsTaskAssgined = true;
                            taskStatus.AgvId = bind.AGVId;
                            if (AGV_LoadFullTray(bind.Id, position))
                            {
                                taskStatus.IsTaskAssgined = true;
                                taskStatus.AgvId = bind.AGVId;
                            }
                        }
                    }

@@ -844,7 +909,7 @@
        }

        //[ProcessMethod("", "AGV_LoadFullTray", "AGV去往满Tray上料位置", true)]
        public void AGV_LoadFullTray(string bindId, PathPosition position)
        public bool AGV_LoadFullTray(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

@@ -855,10 +920,17 @@
                throw new ProcessException("路径配置未设置满Tray上料点");
            }

            bind.AGVDest = position.PositionCode;
            bind.AGV.TaskOrder(position.PositionCode);
            if (bind.SetAGVStatus(TaskStatus.Running))
            {
                bind.AGVDest = position.PositionCode;
                bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;
                return true;
            }
            else
            {
                return false;
            }

            //return new ProcessResponse(true);
        }
@@ -1026,7 +1098,7 @@

                adjust_X = (float)dx_Robot.D;
                adjust_Y = (float)dy_Robot.D;
                adjust_Angle = angle;
                adjust_Angle = visionConfig.StandardPoint.Angle - angle;
            }

            //bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
@@ -1060,7 +1132,7 @@
        //    return new ProcessResponse(true);
        //}

        public void AGV_UnloadFullTray(string bindId)
        public bool AGV_UnloadFullTray(string bindId)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
@@ -1070,10 +1142,17 @@
                throw new ProcessException("路径配置未设置满Tray下料点");
            }

            bind.AGVDest = position.PositionCode;
            bind.AGV.TaskOrder(position.PositionCode);
            if (bind.SetAGVStatus(TaskStatus.Running))
            {
                bind.AGVDest = position.PositionCode;
                bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;
                return true;
            }
            else
            {
                return false;
            }
        }

        //[ProcessMethod("", "Robot_UnloadFullTray", "机器人卸载满Tray", true)]