From 7971d855ba2cf9772b46a7f67e2b669c0afcb91b Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 22 十月 2019 11:30:35 +0800
Subject: [PATCH] 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状态变化操作，添加操作锁
---
src/A032.Process/ProcessControl_Method.cs | 157 +++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 118 insertions(+), 39 deletions(-)
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 97166ab..451d2bd 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/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浜嬩欢
+ 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("鏈壘鍒板厖鐢靛湴鐐�");
+ }
+
+ 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("璺緞閰嶇疆鏈缃┖Tray涓婃枡鐐�");
}
- 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", "鍒拌揪绌篢ray涓婃枡鐐�", 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鍘诲線鍗歌浇绌篢ray鏂欎綅缃�", 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("璺緞閰嶇疆鏈缃┖Tray涓嬫枡鐐�");
}
- 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", "鏈哄櫒浜鸿繍鍔ㄨ嚦绌篢ray鎷嶇収浣嶇疆", 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鍘诲線婊ray涓婃枡浣嶇疆", 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("璺緞閰嶇疆鏈缃弧Tray涓婃枡鐐�");
}
- 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("璺緞閰嶇疆鏈缃弧Tray涓嬫枡鐐�");
}
- 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", "鏈哄櫒浜哄嵏杞芥弧Tray", true)]
--
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