From 6428fad15dbe79e30a48ffc9aabe31e03a45426c Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期四, 05 十二月 2019 12:50:13 +0800
Subject: [PATCH] 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/Bro.Device.SeerAGV/SeerAGVDriver.cs | 68 +++++++++++++++++++++++++++------
1 files changed, 55 insertions(+), 13 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index c5247c7..b875bda 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/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}鐩戝惉寮傚父锛歿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("鍙嶉淇℃伅鍜屽彂閫佷俊鎭笉涓�鑷�", 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}琛岄┒鍚� {dest}", null, null);
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
}
--
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