From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 278 ++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 250 insertions(+), 28 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index e64d17c..7726e0e 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
@@ -1,24 +1,27 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
+using Bro.Common.Model;
+using Bro.Common.Model.Interface;
using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Net.Sockets;
-using System.Runtime.InteropServices;
-using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace Bro.Device.SeerAGV
{
[Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.Device)]
- public class SeerAGVDriver : DeviceBase
+ public class SeerAGVDriver : DeviceBase, IMonitor
{
public Action<SeerAGVDriver, string> OnAGVPositoinChanged;
public Action<SeerAGVDriver, AGVTaskStatus> OnAGVTaskStatusChanged;
+ public Action<SeerAGVDriver, float, float> OnAGVBatteryLvlChanged;
+ public Action<SeerAGVDriver, IODefinition> OnAGVIOChanged;
SeerAGVInitialConfig IConfig
{
@@ -36,13 +39,22 @@
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);
+
+ StateHandle = new ManualResetEvent(false);
+ PositionHandle = new ManualResetEvent(false);
+ BatteryHandle = new ManualResetEvent(false);
+ IOHandle = new ManualResetEvent(false);
+
+ _taskDoneHandle = new ManualResetEvent(false);
+ _monitorLock = new ManualResetEvent(true);
+ _isTaskRunning = false;
}
- 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 +76,16 @@
{
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 }) : "");
+ msg_IO = new SeerMessage((int)AGVCode.QueryIO, SID);
+
+ _taskDoneHandle.Reset();
+ _monitorLock.Set();
+
+ Task.Run(() =>
+ {
+ Monitor();
+ });
Task.Run(() =>
{
@@ -73,7 +95,26 @@
protected override void Stop()
{
- throw new NotImplementedException();
+ StateHandle.Set();
+ PositionHandle.Set();
+ BatteryHandle.Set();
+ IOHandle.Set();
+
+ _taskDoneHandle.Set();
+ _monitorLock.Set();
+
+ 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 +137,7 @@
byte[] buffer = new byte[1024];
string currentPosition = "";
- string CurrentPosition
+ public string CurrentPosition
{
get => currentPosition;
set
@@ -105,13 +146,18 @@
{
currentPosition = value;
- OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ if (!string.IsNullOrWhiteSpace(currentPosition))
+ {
+ OnAGVPositoinChanged?.Invoke(this, currentPosition);
+ }
}
}
}
+ List<AGVTaskStatus> _taskRunningStates = new List<AGVTaskStatus>() { AGVTaskStatus.Running, AGVTaskStatus.Waiting, AGVTaskStatus.Suspended };
+ List<AGVTaskStatus> _taskDoneStates = new List<AGVTaskStatus>() { AGVTaskStatus.Cancelled, AGVTaskStatus.Completed, AGVTaskStatus.Failed };
AGVTaskStatus taskStatus = AGVTaskStatus.None;
- AGVTaskStatus TaskStatus
+ public AGVTaskStatus TaskStatus
{
get => taskStatus;
set
@@ -119,21 +165,69 @@
if (taskStatus != value)
{
taskStatus = value;
- OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+
+ if (taskStatus != AGVTaskStatus.None)
+ {
+ if (_isTaskRunning && _taskDoneStates.Contains(taskStatus))
+ {
+ _taskDoneHandle.Set();
+ _isTaskRunning = false;
+ }
+
+ OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
+ }
}
}
}
+ float batteryLvl = 0;
+ public float BatteryLvl
+ {
+ get => batteryLvl;
+ set
+ {
+ if (batteryLvl != value)
+ {
+ float pre = batteryLvl;
+ batteryLvl = value;
+ OnAGVBatteryLvlChanged?.Invoke(this, pre, batteryLvl);
+ }
+ }
+ }
+
+ public string LastStation { get; set; }
+ public string Destination { get; set; } = "";
+
SeerMessage msg_Position = new SeerMessage();
SeerMessage msg_GuideStatus = new SeerMessage();
+ SeerMessage msg_Battery = new SeerMessage();
+ SeerMessage msg_IO = new SeerMessage();
+
+ public ManualResetEvent StateHandle { get; set; } = new ManualResetEvent(false);
+ public ManualResetEvent PositionHandle { get; set; } = new ManualResetEvent(false);
+ public ManualResetEvent BatteryHandle { get; set; } = new ManualResetEvent(false);
+ public ManualResetEvent IOHandle { get; set; } = new ManualResetEvent(false);
+
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);
+ _monitorLock.WaitOne();
+ 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);
+ SendMsg(client_State, IConfig.StatusPort, msg_IO);
+ Thread.Sleep(IConfig.ScanInterval);
+ }
+ catch (Exception ex)
+ {
+ LogAsync(DateTime.Now, "鐩戝惉寮傚父", ex.GetExceptionMessage());
+ }
}
}
@@ -145,20 +239,19 @@
{
try
{
- InitialTcpClient(client, port);
+ InitialTcpClient(ref client, port);
var stream = client.GetStream();
stream.Write(msg.Frame, 0, msg.Frame.Length);
-
+ stream.Flush();
int recSize = stream.Read(buffer, 0, buffer.Length);
if (recSize > 0)
{
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);
+ throw new ProcessException("鍙嶉淇℃伅鍜屽彂閫佷俊鎭笉涓�鑷�");
}
if (recMsg.JValues.ContainsKey("ret_code"))
@@ -166,7 +259,7 @@
int retCode = recMsg.JValues.Value<int>("ret_code");
if (retCode != 0)
{
- throw new ProcessException($"鍙嶉淇℃伅寮傚父,寮傚父鐮�:{retCode}", null);
+ throw new ProcessException($"鍙嶉淇℃伅寮傚父,寮傚父鐮�:{retCode}");
}
}
@@ -178,18 +271,18 @@
catch (SocketException ex)
{
repeatTime--;
- new ProcessException("AGV缃戠粶閫氫俊寮傚父", ex);
+ new ProcessException("AGV缃戠粶閫氫俊寮傚父", ExceptionLevel.Warning, ex);
if (repeatTime <= 0)
{
- throw new ProcessException("AGV缃戠粶閫氫俊澶辫触", ex);
+ throw new ProcessException("AGV缃戠粶閫氫俊澶辫触", ExceptionLevel.Warning, ex);
}
Thread.Sleep(IConfig.ScanInterval);
}
catch (Exception ex)
{
- throw new ProcessException("AGV淇℃伅鍙戦�佸紓甯�", ex);
+ throw new ProcessException("AGV淇℃伅鍙戦�佸紓甯�", ExceptionLevel.Warning, ex);
}
} while (repeatTime > 0);
@@ -199,13 +292,39 @@
{
await Task.Run(() =>
{
- switch (recMsg.TypeCode)
+ switch (recMsg.TypeCode - 10000)
{
case (int)AGVCode.QueryPosition:
CurrentPosition = recMsg.JValues.Value<string>("current_station");
+ LastStation = recMsg.JValues.Value<string>("last_station");
+
+ PositionHandle.Set();
break;
case (int)AGVCode.QueryTaskStatus:
TaskStatus = (AGVTaskStatus)recMsg.JValues.Value<int>("task_status");
+
+ StateHandle.Set();
+ break;
+ case (int)AGVCode.QueryBattery:
+ BatteryLvl = recMsg.JValues.Value<float>("battery_level");
+
+ BatteryHandle.Set();
+ break;
+ case (int)AGVCode.QueryIO:
+ //recMsg.JValues.Value<JArray>("DI").ToList().ForEach(j =>
+ //{
+ // var ioDefinition = IConfig.IOCollection.FirstOrDefault(i => i.IOIndex == j.Value<int>("id"));
+
+ // if (ioDefinition != null && j.Value<bool>("status") != ioDefinition.CurrentValue)
+ // {
+ // ioDefinition.CurrentValue = j.Value<bool>("status");
+ // OnAGVIOChanged?.Invoke(this, ioDefinition);
+ // }
+ //});
+
+ //楂樼數骞� 1 浣庣數骞� 0
+ _ioDict = recMsg.JValues.Value<JArray>("DI").ToDictionary(u => u.Value<int>("id"), u => u.Value<bool>("status") ? 1 : 0);
+ IOHandle.Set();
break;
default:
break;
@@ -219,10 +338,113 @@
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
- public void TaskOrder(string dest)
+ public void PauseTask()
{
- SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));
+ SeerMessage msg = new SeerMessage((int)AGVCode.PauseTask, SID);
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
+
+ ManualResetEvent _taskDoneHandle = new ManualResetEvent(false);
+ ManualResetEvent _monitorLock = new ManualResetEvent(true);
+ bool _isTaskRunning = false;
+ public void TaskOrder(string dest, bool isWaitFinished)
+ {
+ _monitorLock.Reset();
+ Thread.Sleep(IConfig.ScanInterval);
+
+ CurrentPosition = "";
+ Destination = dest;
+ TaskStatus = AGVTaskStatus.None;
+
+ 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);
+ LogAsync(DateTime.Now, "", $"{Name}琛岄┒鍚� {dest}");
+
+ SendMsg(client_Guide, IConfig.GuidePort, msg);
+ //Thread.Sleep(IConfig.ScanInterval);
+ _monitorLock.Set();
+
+ if (isWaitFinished)
+ {
+ _isTaskRunning = true;
+ _taskDoneHandle.Reset();
+ bool isNotTimeout = _taskDoneHandle.WaitOne((int)(IConfig.OperationTimeout * 60 * 1000));
+ if (!isNotTimeout)
+ {
+ throw new ProcessException($"{Name}鎵ц鍘诲線{dest}鍔ㄤ綔瓒呮椂");
+ }
+
+ if (TaskStatus == AGVTaskStatus.Failed)
+ {
+ throw new ProcessException($"{Name}鎵ц鍘诲線{dest}鍔ㄤ綔澶辫触");
+ }
+ else if (TaskStatus == AGVTaskStatus.Cancelled)
+ {
+ //OnLog?.Invoke(DateTime.Now, this, $"{Name}鎵ц鍘诲線{dest}鍔ㄤ綔鍙栨秷");
+ LogAsync(DateTime.Now, "", $"{Name}鎵ц鍘诲線{dest}鍔ㄤ綔鍙栨秷");
+ }
+ }
+ }
+
+ #region IMonitor
+ public event OnMonitorInvokeDelegate OnMonitorInvoke;
+ public event OnMonitorAlarmDelegate OnMonitorAlarm;
+
+ Dictionary<int, int> _ioDict = new Dictionary<int, int>();
+ public void Monitor()
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
+ {
+ try
+ {
+ IOHandle.Reset();
+
+ var isNotTimeout = IOHandle.WaitOne(IConfig.ScanInterval * 3);
+
+ if (!isNotTimeout)
+ throw new ProcessException($"{Name}鐩戝惉瓒呮椂");
+
+ IConfig.MonitorSetCollection.ForEach(m =>
+ {
+ if (_ioDict.ContainsKey(m.TriggerIndex))
+ {
+ if ((m.TriggerValue == _ioDict[m.TriggerIndex] || m.TriggerIndex == -999) && _ioDict[m.TriggerIndex] != m.CurrentValue)
+ {
+ if (m.OpConfig == null)
+ {
+ m.OpConfig = new OperationConfigBase();
+ }
+
+ m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
+ {
+ if (_ioDict.ContainsKey(index))
+ {
+ return _ioDict[index];
+ }
+ else
+ {
+ return -1;
+ }
+ }).ToList();
+
+ OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
+ }
+
+ m.CurrentValue = _ioDict[m.TriggerIndex];
+ }
+ });
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父:{ex.GetExceptionMessage()}");
+ }
+ }
+ }
+
+ public virtual void ResetAlarm()
+ {
+ IConfig.WarningSetCollection.ForEach(u => u.CurrentStatus = !u.TriggerValue);
+ }
+ #endregion
}
}
--
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