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/Bro.Device.SeerAGV/SeerAGVDriver.cs | 87 +++++++++++++++++++++++++++++++++++--------
1 files changed, 70 insertions(+), 17 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index e64d17c..635132e 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> 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
@@ -96,7 +109,7 @@
byte[] buffer = new byte[1024];
string currentPosition = "";
- string CurrentPosition
+ public string CurrentPosition
{
get => currentPosition;
set
@@ -105,13 +118,16 @@
{
currentPosition = value;
- OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ if (!string.IsNullOrWhiteSpace(currentPosition))
+ {
+ OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ }
}
}
}
AGVTaskStatus taskStatus = AGVTaskStatus.None;
- AGVTaskStatus TaskStatus
+ public AGVTaskStatus TaskStatus
{
get => taskStatus;
set
@@ -119,21 +135,49 @@
if (taskStatus != value)
{
taskStatus = value;
- OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+
+ if (taskStatus != AGVTaskStatus.None)
+ {
+ OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+ }
+ }
+ }
+ }
+
+ float batteryLvl = 0;
+ public float BatteryLvl
+ {
+ get => batteryLvl;
+ set
+ {
+ if (batteryLvl != value)
+ {
+ batteryLvl = value;
+ OnAGVBatteryLvlChanged?.Invoke(this, 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()}");
+ }
}
}
@@ -145,7 +189,7 @@
{
try
{
- InitialTcpClient(client, port);
+ InitialTcpClient(ref client, port);
var stream = client.GetStream();
stream.Write(msg.Frame, 0, msg.Frame.Length);
@@ -155,8 +199,7 @@
{
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);
}
@@ -199,13 +242,16 @@
{
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;
@@ -219,8 +265,15 @@
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
+ public void PauseTask()
+ {
+ SeerMessage msg = new SeerMessage((int)AGVCode.PauseTask, SID);
+ SendMsg(client_Guide, IConfig.GuidePort, msg);
+ }
+
public void TaskOrder(string dest)
{
+ CurrentPosition = "";
SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
--
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