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

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

 src/A032.Config/ConfigFrm.cs

@@ -227,7 +227,7 @@

        private void OnProcessLog(DateTime dt, string prefix, string msg)
        {
            RecordMsg(dt.ToString("yyyyMMdd HH:mm:ss") + "\r\n" + prefix + "\r\n" + msg + "\r\n");
            RecordMsg(dt.ToString("yyyyMMdd HH:mm:ss.fff") + "\r\n" + prefix + "\r\n" + (string.IsNullOrWhiteSpace(msg) ? "" : (msg + "\r\n")));
        }

        private void btnStopProcess_Click(object sender, EventArgs e)

 src/A032.Process/AGVBindUnit.cs

@@ -182,8 +182,14 @@
        [JsonIgnore]
        public bool IsEmptyTrayTaskAssigned { get; set; }

        [Browsable(false)]
        [JsonIgnore]
        //[Browsable(false)]
        //[JsonIgnore]
        //public ManualResetEvent FullTrayFullHandle { get; set; } = new ManualResetEvent(false);

        //[Browsable(false)]
        //[JsonIgnore]
        //public ManualResetEvent FullTrayEmptyHandle { get; set; } = new ManualResetEvent(false);

        public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);

        public AGVBindUnit()

 src/A032.Process/ProcessControl.cs

@@ -370,6 +370,8 @@
                robot.InitialConfig = c;
                RobotDict[robot.InitialConfig.ID] = robot;

                robot.OnLog = OnDeviceLog;

                robot.OnMsgReceived = OnRobotMsgReceived;

                robot.OnMonitorAlarm -= OnMonitorAlarm;
@@ -388,9 +390,10 @@
                agv.InitialConfig = c;
                AGVDict[agv.InitialConfig.ID] = agv;

                agv.OnLog = OnDeviceLog;
                agv.OnAGVPositoinChanged = OnAGVPositionChanged;
                agv.OnAGVTaskStatusChanged = OnAGVTaskStatusChanged;
                agv.OnAGVBatteryLvlChanged = OnAGVBatterLvlChanged;
                agv.OnAGVBatteryLvlChanged = OnAGVBatteryLvlChanged;
            });
        }


 src/A032.Process/ProcessControl_Method.cs

@@ -27,11 +27,11 @@
        List<TaskAssignInfo> taskAssignedList = new List<TaskAssignInfo>();

        #region AGV事件
        private void OnAGVBatterLvlChanged(SeerAGVDriver agv, float batterLvl)
        private void OnAGVBatteryLvlChanged(SeerAGVDriver agv, float preBatteryLvl, float batteryLvl)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
            SeerAGVInitialConfig iConfig = agv.InitialConfig as SeerAGVInitialConfig;
            if (batterLvl <= iConfig.BatteryLvlToCharge)
            if (batteryLvl <= iConfig.BatteryLvlToCharge && preBatteryLvl > iConfig.BatteryLvlToCharge)
            {
                Task.Run(() =>
                {
@@ -57,9 +57,14 @@
                return;
            }

            if (batterLvl >= iConfig.BatteryLvlChargeDone)
            if (batteryLvl >= iConfig.BatteryLvlChargeDone && preBatteryLvl < iConfig.BatteryLvlChargeDone)
            {
                var position = Config.PositionCollection.FirstOrDefault(u => u.PositionCode == agv.CurrentPosition);

                if (position != null && position.Description == PathPositionDefinition.Charge)
            {
                bind.SetAGVStatus(TaskStatus.Available);
                }
                return;
            }
        }
@@ -105,19 +110,25 @@
                //}

                bind.SetAGVStatus(TaskStatus.Available);
                LogAsync(DateTime.Now, $"AGV到位{positionCode}", "");

                PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
                switch (position.Description)
                {
                    case PathPositionDefinition.LoadEmptyTray:
                        LogAsync(DateTime.Now, $"AGV完成，准备上空Tray", "");
                        Robot_LoadEmptyTray(bind.Id, position);
                        break;
                    case PathPositionDefinition.LoadFullTray:
                        LogAsync(DateTime.Now, $"AGV完成，准备上满Tray", "");
                        Robot_LoadFullTraySnap(bind.Id, position);
                        break;
                    case PathPositionDefinition.UnloadEmptyTray:
                        LogAsync(DateTime.Now, $"AGV完成，准备下空Tray", "");
                        Robot_UnloadEmptyTraySnap(bind.Id, position);
                        break;
                    case PathPositionDefinition.UnloadFullTray:
                        LogAsync(DateTime.Now, $"AGV完成，准备下满Tray", "");
                        Robot_UnloadFullTraySnap(bind.Id, position);
                        break;
                    default:
@@ -183,8 +194,11 @@

                                    if (machineEmptyTrayDict[msg.Para2] < Config.Machine_EmptyTrayNum)
                                    {
                                        bind.RobotIOHandle.Reset();
                                        bind.RobotIOHandle.WaitOne();
                                        //bind.RobotIOHandle.Reset();
                                        //bind.RobotIOHandle.WaitOne();
                                        bind.Robot.MonitorHandle.WaitOne();
                                        //bind.Robot.IOChangedHandle.WaitOne();
                                        Thread.Sleep((bind.Robot.InitialConfig as AuboRobotInitialConfig).ScanInterval);

                                        if (!bind.IsFullTrayFull)
                                        {
@@ -206,12 +220,19 @@
                                {
                                    bind.CurrentFullTray = int.Parse(msg.Datas[1]);

                                    bind.RobotIOHandle.Reset();
                                    bind.RobotIOHandle.WaitOne();
                                    //bind.RobotIOHandle.Reset();
                                    //bind.RobotIOHandle.WaitOne();
                                    bind.Robot.MonitorHandle.WaitOne();
                                    //bind.Robot.IOChangedHandle.WaitOne();
                                    Thread.Sleep((bind.Robot.InitialConfig as AuboRobotInitialConfig).ScanInterval);

                                    if (!bind.IsFullTrayEmpty)
                                    {
                                        Camera_UnloadFullTray(robot.Id, msg.Para2);
                                    }
                                    else
                                    {
                                        bind.RobotStatus = TaskStatus.Available;
                                    }
                                }
                                break;
@@ -387,6 +408,7 @@
        [ProcessMethod("", "Robot_Monitor_FullTrayFull", "机器人监听事件-满Tray区域放满", true)]
        public ProcessResponse Robot_Monitor_FullTrayFull(IOperationConfig config, IDevice device)
        {
            //(device as AuboRobotDriver).IOChangedHandle.Reset();
            bool isFullTrayFull = config.InputPara[0] == 1;
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
            if (isFullTrayFull)
@@ -425,7 +447,9 @@
                bind.IsFullTrayTaskAssigned = false;
            }

            bind.RobotIOHandle.Set();
            //(device as AuboRobotDriver).IOChangedHandle.Set();

            //bind.RobotIOHandle.Set();

            return new ProcessResponse(true);
        }
@@ -433,11 +457,13 @@
        [ProcessMethod("", "Robot_Monitor_FullTrayEmpty", "机器人监听事件-满Tray区域清空", true)]
        public ProcessResponse Robot_Monitor_FullTrayEmpty(IOperationConfig config, IDevice device)
        {
            //(device as AuboRobotDriver).IOChangedHandle.Reset();
            bool isFullTrayEmpty = config.InputPara[0] == 0;
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
            bind.IsFullTrayEmpty = isFullTrayEmpty;

            bind.RobotIOHandle.Set();
            //(device as AuboRobotDriver).IOChangedHandle.Set();
            //bind.RobotIOHandle.Set();

            return new ProcessResponse(true);
        }
@@ -1194,6 +1220,7 @@

            bind.RobotStatus = TaskStatus.Running;
            bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
            //LogAsync(DateTime.Now, "Robot运动至下满Tray拍照", "");
        }

        //[ProcessMethod("", "Camera_UnloadFullTray", "相机操作卸载满Tray", true)]

 src/Bro.Common.Model/Base/OperationConfigBase.cs

@@ -35,8 +35,10 @@
        /// 输入参数
        /// </summary>
        [JsonIgnore]
        [Browsable(false)]
        public List<int> InputPara { get; set; }
        [Category("输入配置")]
        [Description("输入参数配置")]
        [TypeConverter(typeof(SimpleCollectionConvert<int>))]
        public List<int> InputPara { get; set; } = new List<int>();


        [Category("启用配置")]

 src/Bro.Device.AuboRobot/AuboRobotDriver.cs

@@ -82,6 +82,7 @@
        #endregion

        TcpClient client = new TcpClient();
        NetworkStream stream = null;
        byte[] buffer = new byte[1024];

        private void OnConnect(IAsyncResult ar)
@@ -89,7 +90,8 @@
            try
            {
                client.EndConnect(ar);
                client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
                stream = client.GetStream();
                stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, null);
            }
            catch (Exception ex)
            {
@@ -103,20 +105,21 @@
            }
        }

        private void OnDateReceived(IAsyncResult ar)
        private void OnDataReceived(IAsyncResult ar)
        {
            try
            {
                int dataLength = client.GetStream().EndRead(ar);
                int dataLength = stream.EndRead(ar);

                if (dataLength > 0)
                {
                    byte[] data = buffer.Take(dataLength).ToArray();

                    string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
                    //OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}接收数据：{dataStr}", null, null);
                    AnalyzeData(dataStr);

                    client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
                    stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, null);
                }
                else
                {
@@ -192,7 +195,7 @@
                                 newValues.Add(int.Parse(resultStr[i].ToString()));
                             }

                             monitorHandle.Set();
                             MonitorHandle.Set();
                         }
                         else
                         {
@@ -232,6 +235,7 @@

            msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));

            OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}发送指令：{msg.GetDisplayText()}", null, null);
            SendMsg(msg, true);
        }

@@ -246,6 +250,7 @@
        }

        bool canMonitor = true;
        object monitorLock = new object();
        public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
        {
            if (isWaitReply)
@@ -256,6 +261,8 @@

            byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);

            lock (monitorLock)
            {
            if (!isMonitorMsg)
            {
                canMonitor = false;
@@ -266,7 +273,8 @@

            //lock (this)
            {
                client.GetStream().Write(bytes, 0, bytes.Length);
                    stream.Write(bytes, 0, bytes.Length);
                }
            }

            if (isWaitReply)
@@ -286,12 +294,15 @@

        protected List<int> oldValues = new List<int>();
        List<int> newValues = new List<int>();
        AutoResetEvent monitorHandle = new AutoResetEvent(false);
        public ManualResetEvent MonitorHandle { get; set; } = new ManualResetEvent(false);
        //public ManualResetEvent IOChangedHandle { get; set; } = new ManualResetEvent(true);
        public List<int> GetMonitorValues(int startAddress, int length)
        {
            MonitorHandle.Reset();
            scanMsg.ID = SID;
            SendMsg(scanMsg, true, true);
            monitorHandle.WaitOne(IConfig.ReplyTimeout);

            MonitorHandle.WaitOne(IConfig.ReplyTimeout);

            return newValues;
        }

 src/Bro.Device.SeerAGV/SeerAGVConfig.cs

@@ -76,7 +76,7 @@

    }

    public class SeerMessage
    public class SeerMessage : IComplexDisplay
    {
        private byte[] frame = null;
        public byte[] Frame
@@ -151,6 +151,11 @@

            return msg;
        }

        public string GetDisplayText()
        {
            return "";
        }
    }

    //public enum RobotPort
@@ -171,7 +176,7 @@
        PauseTask = 0x0BB9,
        TaskOrder = 0x0BEB,

        QueryBattery = 0x2AFF,
        QueryBattery = 0x03EF,
    }

    public enum AGVTaskStatus

 src/Bro.Device.SeerAGV/SeerAGVDriver.cs

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

        SeerAGVInitialConfig IConfig
        {
@@ -152,8 +152,9 @@
            {
                if (batteryLvl != value)
                {
                    float pre = batteryLvl;
                    batteryLvl = value;
                    OnAGVBatteryLvlChanged?.Invoke(this, batteryLvl);
                    OnAGVBatteryLvlChanged?.Invoke(this, pre, batteryLvl);
                }
            }
        }
@@ -275,6 +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);
        }
    }