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/A032.Process/ProcessControl_Method.cs | 47 +++++++++++++++++++++++++++++++++++++----------
1 files changed, 37 insertions(+), 10 deletions(-)
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)]
--
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