From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/A032.Process/AGVBindUnit.cs | 333 ++++++++++++++++++++++++-------------------------------
1 files changed, 144 insertions(+), 189 deletions(-)
diff --git a/src/A032.Process/AGVBindUnit.cs b/src/A032.Process/AGVBindUnit.cs
index 4aa8d0b..5eef59f 100644
--- a/src/A032.Process/AGVBindUnit.cs
+++ b/src/A032.Process/AGVBindUnit.cs
@@ -8,49 +8,89 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
-using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
-using System.Threading;
namespace A032.Process
{
- public enum TaskStatus
+ public enum TaskState
{
- Available = 1,
+ /// <summary>
+ /// 鏂颁换鍔�
+ /// </summary>
+ New = 0,
+ /// <summary>
+ /// 浠诲姟瀹屾垚
+ /// </summary>
+ Done = 1,
+ /// <summary>
+ /// 浠诲姟澶辫触
+ /// </summary>
+ Failed = 2,
+ /// <summary>
+ /// 浠诲姟宸叉坊鍔犻槦鍒楋紝绛夊緟鎵ц
+ /// </summary>
+ Queueing = 3,
+ /// <summary>
+ /// 浠诲姟宸叉寚娲�
+ /// </summary>
+ Assigned = 4,
+ /// <summary>
+ /// 浠诲姟鏈寚娲撅紝宸插彇娑�
+ /// </summary>
+ Cancelled = 5,
+ }
+
+ public enum AGVState
+ {
+ /// <summary>
+ /// AGV鐘舵�佷笉鍙煡
+ /// </summary>
+ Unknown = 0,
+ /// <summary>
+ /// 绌洪棽鐘舵�侊紝鍙帴鏀朵换鍔�
+ /// </summary>
+ Idle = 1,
+ /// <summary>
+ /// 浠诲姟鎵ц涓�
+ /// </summary>
Running = 2,
+ /// <summary>
+ /// 鎶ヨ涓紝涓嶅彲鎵ц浠诲姟
+ /// </summary>
Warning = 3,
+ /// <summary>
+ /// 鍏呯數涓紝涓嶅彲鎵ц浠诲姟
+ /// </summary>
+ InCharge = 4,
+ /// <summary>
+ /// 绌洪棽鍏呯數鐘舵�侊紝鍙帴鏀朵换鍔�
+ /// </summary>
+ IdleCharge = 5,
}
- public enum TaskAvailableLevel
- {
- Robot = 1,
- AGV = 2,
- Both = 3,
- }
+ //public class AGVTaskModel
+ //{
+ // public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
- public class AGVTaskModel
- {
- public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
+ // public string MethodName { get; set; }
- public string MethodName { get; set; }
+ // public IOperationConfig OpConfig { get; set; }
- public IOperationConfig OpConfig { get; set; }
+ // public IDevice Device { get; set; }
- public IDevice Device { get; set; }
+ // //public int Priority { get; set; } = 10;
- //public int Priority { get; set; } = 10;
+ // public AGVTaskModel() { }
- public AGVTaskModel() { }
-
- public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
- {
- Level = level;
- MethodName = methodName;
- OpConfig = opConfig ?? new OperationConfigBase();
- Device = device;
- }
- }
+ // public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
+ // {
+ // Level = level;
+ // MethodName = methodName;
+ // OpConfig = opConfig ?? new OperationConfigBase();
+ // Device = device;
+ // }
+ //}
public class AGVBindUnit : IComplexDisplay
{
@@ -90,60 +130,32 @@
}
#endregion
+ #region 鍚庡彴灞炴��
+ #region 鐘舵��
+ private AGVState unitState = AGVState.Idle;
[Browsable(false)]
[JsonIgnore]
- public Action<AGVTaskModel> OnMethodInvoke { get; set; }
-
- public string AGVDest { get; set; } = "";
-
- private TaskStatus agvStatus = TaskStatus.Available;
- [Browsable(false)]
- [JsonIgnore]
- public TaskStatus AGVStatus
+ public AGVState UnitState
{
- get => agvStatus;
+ get => unitState;
set
{
- agvStatus = value;
- //InvokeTaskCheck();
- }
- }
+ if (value != unitState)
+ {
+ var preState = unitState;
+ unitState = value;
- private TaskStatus robotStatus = TaskStatus.Available;
- [Browsable(false)]
- [JsonIgnore]
- public TaskStatus RobotStatus
- {
- get => robotStatus;
- set
- {
- robotStatus = value;
- //InvokeTaskCheck();
+ OnUnitStateChanged?.Invoke(this.Id, preState, unitState);
+ }
}
}
[Browsable(false)]
[JsonIgnore]
- public TaskStatus UnitStatus
- {
- get
- {
- if (AGVStatus == TaskStatus.Warning || RobotStatus == TaskStatus.Warning)
- {
- return TaskStatus.Warning;
- }
- else
- {
- if (AGVStatus == TaskStatus.Available && RobotStatus == TaskStatus.Available)
- {
- return TaskStatus.Available;
- }
- }
+ public List<string> WarningMsg { get; set; } = new List<string>();
+ #endregion
- return TaskStatus.Running;
- }
- }
-
+ #region 璁惧
[Browsable(false)]
[JsonIgnore]
public SeerAGVDriver AGV { get; set; } = null;
@@ -153,144 +165,51 @@
[Browsable(false)]
[JsonIgnore]
public CameraBase Camera { get; set; } = null;
+ #endregion
- //[Browsable(false)]
- //[JsonIgnore]
- //public ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
+ #region 浠诲姟淇℃伅
+ [JsonIgnore]
+ [Browsable(false)]
+ public string CurrentTaskId { get; set; }
- [Browsable(false)]
[JsonIgnore]
- public int CurrentEmptyTray { get; set; }
[Browsable(false)]
- [JsonIgnore]
- public int CurrentFullTray { get; set; }
- [Browsable(false)]
- [JsonIgnore]
- public bool IsFullTrayFull { get; set; }
- [Browsable(false)]
- [JsonIgnore]
- public bool IsFullTrayEmpty { get; set; }
- [Browsable(false)]
- [JsonIgnore]
- public bool IsEmptyTrayEmpty { get; set; }
+ public bool IsTaskCancelled { get; set; } = false;
- [Browsable(false)]
[JsonIgnore]
- public bool IsFullTrayTaskAssigned { get; set; }
+ [Browsable(false)]
+ public bool IsTaskCancelling { get; set; } = false;
+ #endregion
- [Browsable(false)]
+ #region 浜嬩欢
[JsonIgnore]
- public bool IsEmptyTrayTaskAssigned { get; set; }
+ [Browsable(false)]
+ public Action<string, AGVState, AGVState> OnUnitStateChanged { get; set; }
+ #endregion
- [Browsable(false)]
+ #region 鎵樼洏淇℃伅
[JsonIgnore]
- public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);
+ [Browsable(false)]
+ public int FullTrayNum { get; set; }
+
+ [JsonIgnore]
+ [Browsable(false)]
+ public int EmptyTrayNum { get; set; }
+ #endregion
+ #endregion
public AGVBindUnit()
{
- //TaskList.CollectionChanged += TaskList_CollectionChanged;
}
- object agvStatusLock = new object();
- public bool SetAGVStatus(TaskStatus status)
+ public void Reset()
{
- lock (agvStatusLock)
- {
- switch (status)
- {
- case TaskStatus.Available:
- break;
- case TaskStatus.Running:
- if (AGVStatus == TaskStatus.Available)
- {
- AGVStatus = status;
- return true;
- }
- else
- {
- return false;
- }
- case TaskStatus.Warning:
- break;
- default:
- break;
- }
+ WarningMsg.Clear();
+ UnitState = AGVState.Idle;
- AGVStatus = status;
- return true;
- }
+ AGV.ResetAlarm();
+ Robot.ResetAlarm();
}
- //private void TaskList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
- //{
- // if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
- // {
- // InvokeTaskCheck();
- // }
- //}
-
- //private void InvokeTaskCheck()
- //{
- // lock (taskLock)
- // {
- // for (int i = 0; i < TaskList.Count; i++)
- // {
- // var task = TaskList[i];
-
- // bool isAgvOK = false;
- // bool isRobotOK = false;
-
- // if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
- // {
- // isAgvOK = AGVStatus == TaskStatus.Available;
- // }
- // else
- // {
- // isAgvOK = true;
- // }
-
- // if ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
- // {
- // isRobotOK = RobotStatus == TaskStatus.Available;
- // }
- // else
- // {
- // isRobotOK = true;
- // }
-
- // if (isRobotOK && isAgvOK)
- // {
- // OnMethodInvoke?.Invoke(TaskList[i]);
- // TaskList.RemoveAt(i);
- // break;
- // }
- // }
- // }
- //}
-
- //object taskLock = new object();
- //public void AddTask(AGVTaskModel task)
- //{
- // lock (taskLock)
- // {
- // TaskList.Add(task);
- // }
- //}
-
- //public void ClearTask()
- //{
- // lock (taskLock)
- // {
- // TaskList.Clear();
- // }
- //}
-
- //public AGVTaskModel GetTask(int index)
- //{
- // lock (taskLock)
- // {
- // return TaskList[index];
- // }
- //}
}
public class AGVDeviceConverter : ComboBoxItemTypeConvert
@@ -358,4 +277,40 @@
}
}
}
+
+ public class AllDeviceIdConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ _hash[""] = "鏈寚瀹�";
+
+ List<IDevice> deviceList = scope.Resolve<List<IDevice>>();
+
+ deviceList.ForEach(d =>
+ {
+ _hash[d.Id] = d.Name;
+ });
+ }
+ }
+ }
+
+ public class AllDeviceNameConverter : ComboBoxItemTypeConvert
+ {
+ public override void GetConvertHash()
+ {
+ using (var scope = GlobalVar.Container.BeginLifetimeScope())
+ {
+ _hash[""] = "鏈寚瀹�";
+
+ List<IDevice> deviceList = scope.Resolve<List<IDevice>>();
+
+ deviceList.ForEach(d =>
+ {
+ _hash[d.Name] = d.Name;
+ });
+ }
+ }
+ }
}
--
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