From ff18fa3c007656bd37cad91fac9a9cb03f4070b8 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期日, 20 十月 2019 14:13:16 +0800
Subject: [PATCH] 1. 修改SeerAGV驱动通信代码 2. 修改机器人通信部分代码 3. 取消原有流程任务队列模式，使用即时方法调用。
---
src/A032.Process/AGVBindUnit.cs | 137 +++++++++++++++++++++++++++++----------------
1 files changed, 87 insertions(+), 50 deletions(-)
diff --git a/src/A032.Process/AGVBindUnit.cs b/src/A032.Process/AGVBindUnit.cs
index 460c4f4..507d8c8 100644
--- a/src/A032.Process/AGVBindUnit.cs
+++ b/src/A032.Process/AGVBindUnit.cs
@@ -33,7 +33,7 @@
{
public TaskAvailableLevel Level { get; set; } = TaskAvailableLevel.Robot;
- public Func<IOperationConfig, IDevice, ProcessResponse> MethodFunc { get; set; }
+ public string MethodName { get; set; }
public IOperationConfig OpConfig { get; set; }
@@ -43,10 +43,10 @@
public AGVTaskModel() { }
- public AGVTaskModel(TaskAvailableLevel level, Func<IOperationConfig, IDevice, ProcessResponse> methodFunc, IOperationConfig opConfig = null, IDevice device = null)
+ public AGVTaskModel(TaskAvailableLevel level, string methodName, IOperationConfig opConfig = null, IDevice device = null)
{
Level = level;
- MethodFunc = methodFunc;
+ MethodName = methodName;
OpConfig = opConfig ?? new OperationConfigBase();
Device = device;
}
@@ -57,7 +57,7 @@
#region 鍙紪杈戦」鐩�
[Category("璁惧缁戝畾")]
[Description("缁戝畾Id")]
- [ReadOnly(true)]
+ [Browsable(false)]
public string Id { get; set; } = Guid.NewGuid().ToString();
[Category("璁惧缁戝畾")]
@@ -92,7 +92,7 @@
[Browsable(false)]
[JsonIgnore]
- public Action<AGVBindUnit> OnMethodInvoke { get; set; }
+ public Action<AGVTaskModel> OnMethodInvoke { get; set; }
public string AGVDest { get; set; } = "";
@@ -105,7 +105,7 @@
set
{
agvStatus = value;
- InvokeTaskCheck();
+ //InvokeTaskCheck();
}
}
@@ -118,7 +118,7 @@
set
{
robotStatus = value;
- InvokeTaskCheck();
+ //InvokeTaskCheck();
}
}
@@ -153,9 +153,10 @@
[Browsable(false)]
[JsonIgnore]
public CameraBase Camera { get; set; } = null;
- [Browsable(false)]
- [JsonIgnore]
- public ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
+
+ //[Browsable(false)]
+ //[JsonIgnore]
+ //public ObservableCollection<AGVTaskModel> TaskList { get; set; } = new ObservableCollection<AGVTaskModel>();
[Browsable(false)]
[JsonIgnore]
@@ -175,56 +176,92 @@
[Browsable(false)]
[JsonIgnore]
+ public bool IsFullTrayTaskAssigned { get; set; }
+
+ [Browsable(false)]
+ [JsonIgnore]
+ public bool IsEmptyTrayTaskAssigned { get; set; }
+
+ [Browsable(false)]
+ [JsonIgnore]
public ManualResetEvent RobotIOHandle { get; set; } = new ManualResetEvent(false);
public AGVBindUnit()
{
- TaskList.CollectionChanged += TaskList_CollectionChanged;
+ //TaskList.CollectionChanged += TaskList_CollectionChanged;
}
- private void TaskList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
- {
- if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
- {
- InvokeTaskCheck();
- }
- }
+ //private void TaskList_CollectionChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
+ //{
+ // if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
+ // {
+ // InvokeTaskCheck();
+ // }
+ //}
- private void InvokeTaskCheck()
- {
- for (int i = 0; i < TaskList.Count; i++)
- {
- var task = TaskList[i];
+ //private void InvokeTaskCheck()
+ //{
+ // lock (taskLock)
+ // {
+ // for (int i = 0; i < TaskList.Count; i++)
+ // {
+ // var task = TaskList[i];
- bool isAgvOK = false;
- bool isRobotOK = false;
+ // bool isAgvOK = false;
+ // bool isRobotOK = false;
- if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
- {
- isAgvOK = AGVStatus == TaskStatus.Available;
- }
- else
- {
- isAgvOK = true;
- }
+ // if ((task.Level & TaskAvailableLevel.AGV) == TaskAvailableLevel.AGV)
+ // {
+ // isAgvOK = AGVStatus == TaskStatus.Available;
+ // }
+ // else
+ // {
+ // isAgvOK = true;
+ // }
- if ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
- {
- isRobotOK = RobotStatus == TaskStatus.Available;
- }
- else
- {
- isRobotOK = true;
- }
+ // if ((task.Level & TaskAvailableLevel.Robot) == TaskAvailableLevel.Robot)
+ // {
+ // isRobotOK = RobotStatus == TaskStatus.Available;
+ // }
+ // else
+ // {
+ // isRobotOK = true;
+ // }
- if (isRobotOK && isAgvOK)
- {
- OnMethodInvoke?.Invoke(this);
- TaskList.RemoveAt(i);
- break;
- }
- }
- }
+ // if (isRobotOK && isAgvOK)
+ // {
+ // OnMethodInvoke?.Invoke(TaskList[i]);
+ // TaskList.RemoveAt(i);
+ // break;
+ // }
+ // }
+ // }
+ //}
+
+ //object taskLock = new object();
+ //public void AddTask(AGVTaskModel task)
+ //{
+ // lock (taskLock)
+ // {
+ // TaskList.Add(task);
+ // }
+ //}
+
+ //public void ClearTask()
+ //{
+ // lock (taskLock)
+ // {
+ // TaskList.Clear();
+ // }
+ //}
+
+ //public AGVTaskModel GetTask(int index)
+ //{
+ // lock (taskLock)
+ // {
+ // return TaskList[index];
+ // }
+ //}
}
public class AGVDeviceConverter : ComboBoxItemTypeConvert
@@ -288,7 +325,7 @@
config.PLCConfigCollection.ForEach(plc =>
{
_hash[plc.ID] = plc.Name;
- });
+ });
}
}
}
--
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