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.AuboRobot/AuboRobotDriver.cs | 41 ++++++++-----
src/Bro.Device.SeerAGV/SeerAGVConfig.cs | 9 ++
src/A032.Config/ConfigFrm.cs | 2
src/A032.Process/AGVBindUnit.cs | 10 ++
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 7 +
src/A032.Process/ProcessControl.cs | 5 +
src/Bro.Common.Model/Base/OperationConfigBase.cs | 6 +
src/A032.Process/ProcessControl_Method.cs | 47 ++++++++++++---
8 files changed, 92 insertions(+), 35 deletions(-)
diff --git a/src/A032.Config/ConfigFrm.cs b/src/A032.Config/ConfigFrm.cs
index 388f59d..edefec0 100644
--- a/src/A032.Config/ConfigFrm.cs
+++ b/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)
diff --git a/src/A032.Process/AGVBindUnit.cs b/src/A032.Process/AGVBindUnit.cs
index 4aa8d0b..5d843f3 100644
--- a/src/A032.Process/AGVBindUnit.cs
+++ b/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()
diff --git a/src/A032.Process/ProcessControl.cs b/src/A032.Process/ProcessControl.cs
index dfd85ab..08cba1d 100644
--- a/src/A032.Process/ProcessControl.cs
+++ b/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;
});
}
diff --git a/src/A032.Process/ProcessControl_Method.cs b/src/A032.Process/ProcessControl_Method.cs
index 451d2bd..dc0d8c8 100644
--- a/src/A032.Process/ProcessControl_Method.cs
+++ b/src/A032.Process/ProcessControl_Method.cs
@@ -27,11 +27,11 @@
List<TaskAssignInfo> taskAssignedList = new List<TaskAssignInfo>();
#region AGV浜嬩欢
- 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)
{
- bind.SetAGVStatus(TaskStatus.Available);
+ 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鍒颁綅{positionCode}", "");
PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
switch (position.Description)
{
case PathPositionDefinition.LoadEmptyTray:
+ LogAsync(DateTime.Now, $"AGV瀹屾垚锛屽噯澶囦笂绌篢ray", "");
Robot_LoadEmptyTray(bind.Id, position);
break;
case PathPositionDefinition.LoadFullTray:
+ LogAsync(DateTime.Now, $"AGV瀹屾垚锛屽噯澶囦笂婊ray", "");
+ Robot_LoadFullTraySnap(bind.Id, position);
break;
case PathPositionDefinition.UnloadEmptyTray:
+ LogAsync(DateTime.Now, $"AGV瀹屾垚锛屽噯澶囦笅绌篢ray", "");
Robot_UnloadEmptyTraySnap(bind.Id, position);
break;
case PathPositionDefinition.UnloadFullTray:
+ LogAsync(DateTime.Now, $"AGV瀹屾垚锛屽噯澶囦笅婊ray", "");
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", "鏈哄櫒浜虹洃鍚簨浠�-婊ray鍖哄煙鏀炬弧", 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", "鏈哄櫒浜虹洃鍚簨浠�-婊ray鍖哄煙娓呯┖", 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杩愬姩鑷充笅婊ray鎷嶇収", "");
}
//[ProcessMethod("", "Camera_UnloadFullTray", "鐩告満鎿嶄綔鍗歌浇婊ray", true)]
diff --git a/src/Bro.Common.Model/Base/OperationConfigBase.cs b/src/Bro.Common.Model/Base/OperationConfigBase.cs
index 049798d..93cab91 100644
--- a/src/Bro.Common.Model/Base/OperationConfigBase.cs
+++ b/src/Bro.Common.Model/Base/OperationConfigBase.cs
@@ -35,8 +35,10 @@
/// 杈撳叆鍙傛暟
/// </summary>
[JsonIgnore]
- [Browsable(false)]
- public List<int> InputPara { get; set; }
+ [Category("杈撳叆閰嶇疆")]
+ [Description("杈撳叆鍙傛暟閰嶇疆")]
+ [TypeConverter(typeof(SimpleCollectionConvert<int>))]
+ public List<int> InputPara { get; set; } = new List<int>();
[Category("鍚敤閰嶇疆")]
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index d2ae516..11f343f 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/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}鎺ユ敹鏁版嵁锛歿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}鍙戦�佹寚浠わ細{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)
@@ -256,17 +261,20 @@
byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
- if (!isMonitorMsg)
+ lock (monitorLock)
{
- canMonitor = false;
- }
+ if (!isMonitorMsg)
+ {
+ canMonitor = false;
+ }
- if (isMonitorMsg && !canMonitor)
- return;
+ if (isMonitorMsg && !canMonitor)
+ return;
- //lock (this)
- {
- client.GetStream().Write(bytes, 0, bytes.Length);
+ //lock (this)
+ {
+ 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;
}
diff --git a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
index a094f0c..3866776 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
+++ b/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
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index 635132e..b875bda 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/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}琛岄┒鍚� {dest}", null, null);
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
}
--
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