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/Bro.Device.SeerAGV/SeerAGVDriver.cs | 65 ++++++++++++++++++++++++--------
1 files changed, 48 insertions(+), 17 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index e64d17c..fdb4428 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
@@ -36,13 +36,13 @@
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;
@@ -73,7 +73,18 @@
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 +107,7 @@
byte[] buffer = new byte[1024];
string currentPosition = "";
- string CurrentPosition
+ public string CurrentPosition
{
get => currentPosition;
set
@@ -105,13 +116,16 @@
{
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
@@ -119,7 +133,11 @@
if (taskStatus != value)
{
taskStatus = value;
- OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+
+ if (taskStatus != AGVTaskStatus.None)
+ {
+ OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+ }
}
}
}
@@ -130,10 +148,17 @@
{
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);
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父锛歿ex.GetExceptionMessage()}");
+ }
}
}
@@ -145,7 +170,7 @@
{
try
{
- InitialTcpClient(client, port);
+ InitialTcpClient(ref client, port);
var stream = client.GetStream();
stream.Write(msg.Frame, 0, msg.Frame.Length);
@@ -155,8 +180,7 @@
{
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);
}
@@ -199,7 +223,7 @@
{
await Task.Run(() =>
{
- switch (recMsg.TypeCode)
+ switch (recMsg.TypeCode - 10000)
{
case (int)AGVCode.QueryPosition:
CurrentPosition = recMsg.JValues.Value<string>("current_station");
@@ -219,8 +243,15 @@
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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