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HightWay_AirPot_WCS
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- 归类 类和方法
- 添加 enum 把任务状态和agv状态都改为 enum
- 清除部分AppConfg引用
master
SoulStar 3 weeks ago
parent 063deee15f
commit 30b171ac56
16 changed files with 420 additions and 367 deletions
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117
SlnMesnac.Business/base/BaseAGVBusiness.cs
Unescape Escape View File

@ -26,30 +26,38 @@ namespace SlnMesnac.Business.@base
private AirPorthttpClient _airPorthttpClient; private AirPorthttpClient _airPorthttpClient;
private IAGVStateService _AGVStateService; private IAGVStateService _AGVStateService;
private IAGVMapPointService _AGVMapPointService; private IAGVMapPointService _AGVMapPointService;
private IAGVJobService _AGVJobService;
private IAGVSettingService _AGVSettingService;
public BaseAGVBusiness(ILogger<BaseAGVBusiness> logger,
public BaseAGVBusiness(ILogger<BaseAGVBusiness> logger, AirPorthttpClient airPorthttpClient,
AirPorthttpClient airPorthttpClient, IAGVStateService AGVStateService,
IAGVStateService AGVStateService, IAGVMapPointService aGVMapPointService,
IAGVMapPointService aGVMapPointService, AppConfig appConfig,
AppConfig appConfig) IAGVJobService aGVJobService,
IAGVSettingService aGVSettingService)
{ {
_logger = logger; _logger = logger;
_airPorthttpClient = airPorthttpClient; _airPorthttpClient = airPorthttpClient;
_AGVStateService = AGVStateService; _AGVStateService = AGVStateService;
_AGVMapPointService = aGVMapPointService; _AGVMapPointService = aGVMapPointService;
_appConfig = appConfig; _appConfig = appConfig;
_AGVJobService = aGVJobService;
_AGVSettingService = aGVSettingService;
} }
public static BaseAGVBusiness GetInstance(ILogger<BaseAGVBusiness> logger, public static BaseAGVBusiness GetInstance(ILogger<BaseAGVBusiness> logger,
AirPorthttpClient airPorthttpClient, AirPorthttpClient airPorthttpClient,
IAGVStateService AGVStateService, IAGVStateService AGVStateService,
IAGVMapPointService aGVMapPointService, IAGVMapPointService aGVMapPointService,
AppConfig appConfig) AppConfig appConfig,
IAGVJobService aGVJobService,
IAGVSettingService aGVSettingService
)
{ {
if (instance == null) if (instance == null)
{ {
instance = new BaseAGVBusiness(logger, airPorthttpClient, AGVStateService, aGVMapPointService, appConfig); instance = new BaseAGVBusiness(logger, airPorthttpClient, AGVStateService, aGVMapPointService, appConfig, aGVJobService, aGVSettingService);
} }
return instance; return instance;
} }
@ -78,22 +86,22 @@ namespace SlnMesnac.Business.@base
verifyStatus = 0, verifyStatus = 0,
enableSplitCar = 0, enableSplitCar = 0,
load = new List<LoadsEntity>() load = new List<LoadsEntity>()
{
new LoadsEntity()
{
jobid = JobGUID,
location = PointGUID,
param = new List<ParamEntity>()
{
new ParamEntity()
{ {
new LoadsEntity() paramname = ParamName,
{ paramvalue = PointGUID,
jobid = JobGUID, }
location = PointGUID, },
param = new List<ParamEntity>() robotPort = ""
{ }
new ParamEntity() },
{
paramname = ParamName,
paramvalue = PointGUID,
}
},
robotPort = ""
}
},
}; };
return aGVRequestAddTaskEntity; return aGVRequestAddTaskEntity;
} }
@ -238,16 +246,16 @@ namespace SlnMesnac.Business.@base
/// <param name="agvguid"></param> /// <param name="agvguid"></param>
/// <param name="jobName"></param> /// <param name="jobName"></param>
/// <returns>新任务GUID</returns> /// <returns>新任务GUID</returns>
public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName) public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobGuid)
{ {
bool result = false; bool result = false;
try try
{ {
//终止小车当前任务 //终止小车当前任务
result = EndTaskAndClearError(agvguid); result = EndTaskAndClearError(agvguid);//////////////////////////////////////////////////////////////////还没改完///////////////////////////////////////////////////////////////
var param = _appConfig.JobConfig.Where(x => x.JobName == jobName).First(); var param = _appConfig.JobConfig.Where(x => x.JobGUID == jobGuid).First();
//调用小车到抓取位置 //调用小车到抓取位置
return DownloadTask(agvguid, param.JobGUID, param.PointGUID, param.PointParamName); return DownloadTask(agvguid, jobGuid, param.PointGUID, param.PointParamName);
} }
catch (Exception ex) catch (Exception ex)
{ {
@ -289,7 +297,7 @@ namespace SlnMesnac.Business.@base
{ {
Task.Run(() => Task.Run(() =>
{ {
var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVGUID == agvguid).First().AGVIp); var response = _airPorthttpClient.AGVErrorClear(_AGVSettingService.GetAgvSettingByAgvGuid(agvguid).AGVNo);
Task.Delay(500); Task.Delay(500);
if (response == null) if (response == null)
{ {
@ -297,7 +305,7 @@ namespace SlnMesnac.Business.@base
result = false; result = false;
return false; return false;
} }
if(response.code == 0) if (response.code == 0)
{ {
_logger.LogError("清除报警成功"); _logger.LogError("清除报警成功");
result = true; result = true;
@ -340,6 +348,7 @@ namespace SlnMesnac.Business.@base
{ {
if (min >= BaseTaskInfoBusiness.AMRStackNumber) if (min >= BaseTaskInfoBusiness.AMRStackNumber)
{ {
_logger.LogInformation("无可用车辆！");
return null; return null;
} }
} }
@ -347,6 +356,7 @@ namespace SlnMesnac.Business.@base
{ {
if (min >= BaseTaskInfoBusiness.DeliverStackNumber) if (min >= BaseTaskInfoBusiness.DeliverStackNumber)
{ {
_logger.LogInformation("无可用车辆！");
return null; return null;
} }
} }
@ -354,12 +364,51 @@ namespace SlnMesnac.Business.@base
//var list = _AGVStateService //var list = _AGVStateService
return agv; return agv;
} }
catch(Exception ex) catch (Exception ex)
{ {
_logger.LogError($"AGV筛选发生错误：{ex.Message}"); _logger.LogError($"AGV筛选发生错误：{ex.Message}");
return null; return null;
} }
} }
/// <summary>
/// 入库所有满载AGV
/// </summary>
public void ClearFullAGV()
{
try
{
var list = _AGVStateService.GetAgvState(AgvType.Deliver);
foreach (var record in list)
{
if (record.stackcount >= BaseTaskInfoBusiness.DeliverStackNumber && record.agvworkstate == "待机")
{
//入库代码
EndTaskAndClearErrorAndDownloadTask(record.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", "0").JobGuid);
_AGVStateService.ResetAGVStackCount(record.agvno);
_logger.LogInformation($"Deliver [{record.agvno}] 入库");
}
}
list = _AGVStateService.GetAgvState(AgvType.AMR);
foreach (var record in list)
{
if (record.stackcount >= BaseTaskInfoBusiness.AMRStackNumber && record.agvworkstate == "待机")
{
//入库代码
EndTaskAndClearErrorAndDownloadTask(record.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", "0").JobGuid);
_AGVStateService.ResetAGVStackCount(record.agvno);
_logger.LogInformation($"AMR [{record.agvno}] 入库");
}
}
}
catch (Exception ex)
{
_logger.LogError($"清理满载AGV时发生错误！Error: [{ex.Message}]");
}
}
} }
} }

106
SlnMesnac.Business/base/BaseBusiness.cs
Unescape Escape View File

@ -1,106 +0,0 @@
using SlnMesnac.Plc;
using SlnMesnac.Rfid;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
#region << 版 本 注 释 >>
/*--------------------------------------------------------------------
* 版权所有 (c) 2024 WenJY 保留所有权利。
* CLR版本：4.0.30319.42000
* 机器名称：LAPTOP-E0N2L34V
* 命名空间：SlnMesnac.Business.base
* 唯一标识：b00d95c1-a164-43a3-9f34-2a5d2efb3f34
*
* 创建者：WenJY
* 电子邮箱：wenjy@mesnac.com
* 创建时间：2024-04-12 17:36:19
* 版本：V1.0.0
* 描述：
*
*--------------------------------------------------------------------
* 修改人：
* 时间：
* 修改说明：
*
* 版本：V1.0.0
*--------------------------------------------------------------------*/
#endregion << 版 本 注 释 >>
namespace SlnMesnac.Business.@base
{
internal class BaseBusiness
{
private readonly List<PlcAbsractFactory> _plcFactories;
private readonly List<RfidAbsractFactory> _rfidFactories;
public BaseBusiness(List<PlcAbsractFactory> plcFactories, List<RfidAbsractFactory> rfidFactories)
{
_plcFactories = plcFactories;
_rfidFactories = rfidFactories;
}
/// <summary>
/// 根据Key获取PLC连接信息
/// </summary>
/// <param name="key"></param>
/// <returns></returns>
/// <exception cref="ArgumentNullException"></exception>
/// <exception cref="InvalidOperationException"></exception>
public PlcAbsractFactory GetPlcByKey(string key)
{
if(_plcFactories == null)
{
throw new ArgumentNullException($"根据Key获取PLC连接信息异常:PLC 连接信息为空");
}
if (string.IsNullOrEmpty(key))
{
throw new ArgumentNullException("根据Key获取PLC连接信息异常:设备Key参数为空");
}
try
{
var info = _plcFactories.Where(x => x.ConfigKey == key).FirstOrDefault();
return info;
}catch(Exception ex)
{
throw new InvalidOperationException($"根据Key获取PLC连接信息异常:{ex.Message}");
}
}
/// <summary>
/// 根据Key获取Rfid连接信息
/// </summary>
/// <param name="key"></param>
/// <returns></returns>
/// <exception cref="ArgumentNullException"></exception>
/// <exception cref="InvalidOperationException"></exception>
public RfidAbsractFactory GetRfidByKey(string key)
{
if (_rfidFactories == null)
{
throw new ArgumentNullException($"根据Key获取RFID连接信息异常:PLC 连接信息为空");
}
if (string.IsNullOrEmpty(key))
{
throw new ArgumentNullException("根据Key获取RFID连接信息异常:设备Key参数为空");
}
try
{
var info = _rfidFactories.Where(x => x.ConfigKey == key).FirstOrDefault();
return info;
}
catch (Exception ex)
{
throw new InvalidOperationException($"根据Key获取RFID连接信息异常:{ex.Message}");
}
}
}
}

17
SlnMesnac.Business/base/BaseStateRefreshBusiness.cs
Unescape Escape View File

@ -1,4 +1,5 @@
using Microsoft.Extensions.Logging; using Microsoft.Extensions.Logging;
using SlnMesnac.Business.util;
using SlnMesnac.Model.AirportApiEntity; using SlnMesnac.Model.AirportApiEntity;
using SlnMesnac.Repository; using SlnMesnac.Repository;
using SlnMesnac.Repository.service; using SlnMesnac.Repository.service;
@ -70,9 +71,12 @@ namespace SlnMesnac.Business.@base
{ {
_logger.LogError("AGV状态操作失败！" + ex.Message); _logger.LogError("AGV状态操作失败！" + ex.Message);
} }
} }
/// <summary>
/// Timer刷新方法
/// </summary>
/// <returns></returns>
public async Task TimerUpadteAGVState() public async Task TimerUpadteAGVState()
{ {
if (!await UpdateALLAGVStateByResposne()) if (!await UpdateALLAGVStateByResposne())
@ -121,7 +125,7 @@ namespace SlnMesnac.Business.@base
{ {
agvno = entity.Guid, agvno = entity.Guid,
agvalarmstate = entity.AgvMoveStatus != 6 ? "正常" : "异常", agvalarmstate = entity.AgvMoveStatus != 6 ? "正常" : "异常",
agvtype = _aGVSettingService.GetAgvSettingByID(entity.Guid), agvtype = _aGVSettingService.GetAgvTypeByAGVGuid(entity.Guid),
agvworkstate = AGVStatusSelect(entity.AgvMoveStatus), agvworkstate = AGVStatusSelect(entity.AgvMoveStatus),
refreshtime = DateTime.Now, refreshtime = DateTime.Now,
taskno = entity.TaskID, taskno = entity.TaskID,
@ -184,13 +188,4 @@ namespace SlnMesnac.Business.@base
} }
} }
} }
public enum TimerControl
{
Start = 1,
Stop = 2,
Dispose = 3
}
} }

92
SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
Unescape Escape View File

@ -16,6 +16,7 @@ using System.Threading;
using SlnMesnac.TouchSocket.Entity; using SlnMesnac.TouchSocket.Entity;
using SlnMesnac.Model.AirportApiEntity; using SlnMesnac.Model.AirportApiEntity;
using System.Linq; using System.Linq;
using SlnMesnac.Business.util;
namespace SlnMesnac.Business.@base namespace SlnMesnac.Business.@base
{ {
@ -24,8 +25,16 @@ namespace SlnMesnac.Business.@base
/// </summary> /// </summary>
public class BaseTaskInfoBusiness public class BaseTaskInfoBusiness
{ {
/// <summary>
/// AMR最大运载量
/// </summary>
public const int AMRStackNumber = 10; public const int AMRStackNumber = 10;
/// <summary>
/// Deliver最大运载量
/// </summary>
public const int DeliverStackNumber = 15; public const int DeliverStackNumber = 15;
private TcpServer _tcpServer = null; private TcpServer _tcpServer = null;
public Action<AirportTask> _Taskaction; public Action<AirportTask> _Taskaction;
public Action<string> _RefreshLogMessageAction; public Action<string> _RefreshLogMessageAction;
@ -35,7 +44,8 @@ namespace SlnMesnac.Business.@base
private IAGVMapPointService _AGVMapPointService; private IAGVMapPointService _AGVMapPointService;
private IAGVStateService _AGVStateService; private IAGVStateService _AGVStateService;
private IAGVJobService _AGVJobService; private IAGVJobService _AGVJobService;
private AirPorthttpClient _airpttpClient; private IVisionSettingService _AGVVisionSettingService;
private AirPorthttpClient _airPorthttpClient;
private BaseAGVBusiness _baseAGVBusiness; private BaseAGVBusiness _baseAGVBusiness;
private VisionBusiness _visionBusiness; private VisionBusiness _visionBusiness;
System.Timers.Timer RefreshTimer; System.Timers.Timer RefreshTimer;
@ -45,6 +55,7 @@ namespace SlnMesnac.Business.@base
IAGVStateService agvService, IAGVStateService agvService,
IAGVMapPointService aGVMapPointService, IAGVMapPointService aGVMapPointService,
IAGVJobService agvJobService, IAGVJobService agvJobService,
IVisionSettingService aVisionSettingService,
TcpServer tcpServer, TcpServer tcpServer,
AirPorthttpClient airPorthttpClient, AirPorthttpClient airPorthttpClient,
BaseAGVBusiness baseAGVBusiness, BaseAGVBusiness baseAGVBusiness,
@ -54,19 +65,19 @@ namespace SlnMesnac.Business.@base
_tcpServer = tcpServer; _tcpServer = tcpServer;
_Taskservice = Taskservice; _Taskservice = Taskservice;
_AGVStateService = agvService; _AGVStateService = agvService;
_airpttpClient = airPorthttpClient; _airPorthttpClient = airPorthttpClient;
//doWhileGetAGVTaskInfo(); //doWhileGetAGVTaskInfo();
_baseAGVBusiness = baseAGVBusiness; _baseAGVBusiness = baseAGVBusiness;
_AGVMapPointService = aGVMapPointService; _AGVMapPointService = aGVMapPointService;
_AGVJobService = agvJobService; _AGVJobService = agvJobService;
_AGVVisionSettingService = aVisionSettingService;
//新建Timer //新建Timer
RefreshTimer = new System.Timers.Timer(1000); RefreshTimer = new System.Timers.Timer(1000);
RefreshTimer.Elapsed += (sender, e) => RefreshTimer.Elapsed += (sender, e) =>
{ {
//清理满载AGV 刷新状态 //不清理满载AGV 刷新状态
ClearFullAGV(); //ClearFullAGV();
RefreshTaskState(); RefreshTaskState();
}; };
@ -79,6 +90,7 @@ namespace SlnMesnac.Business.@base
IAGVStateService agvService, IAGVStateService agvService,
IAGVMapPointService aGVMapPointService, IAGVMapPointService aGVMapPointService,
IAGVJobService aAGVJobService, IAGVJobService aAGVJobService,
IVisionSettingService aVisionSettingService,
TcpServer tcpServer, TcpServer tcpServer,
AirPorthttpClient airPorthttpClient, AirPorthttpClient airPorthttpClient,
BaseAGVBusiness baseAGVBusiness, BaseAGVBusiness baseAGVBusiness,
@ -87,14 +99,14 @@ namespace SlnMesnac.Business.@base
if (instance == null) if (instance == null)
{ {
instance = new BaseTaskInfoBusiness(logger, instance = new BaseTaskInfoBusiness(logger,
Taskservice, agvService, aGVMapPointService, aAGVJobService, Taskservice, agvService, aGVMapPointService, aAGVJobService, aVisionSettingService,
tcpServer, airPorthttpClient, baseAGVBusiness, visionBusiness); tcpServer, airPorthttpClient, baseAGVBusiness, visionBusiness);
} }
return instance; return instance;
} }
/// <summary> /// <summary>
/// 从航班接口获取到新任务插入数据库 /// 获取新任务插入数据库
/// </summary> /// </summary>
/// <returns></returns> /// <returns></returns>
public async Task<bool> NewTaskInfo(string taskNo, string conveyNo, string flightNo, int totalCount) public async Task<bool> NewTaskInfo(string taskNo, string conveyNo, string flightNo, int totalCount)
@ -127,7 +139,7 @@ namespace SlnMesnac.Business.@base
} }
/// <summary> /// <summary>
/// AGV状态查询控制 /// 任务刷新Timer控制
/// </summary> /// </summary>
/// <param name="state"></param> /// <param name="state"></param>
public void TaskStateUpdateTimerOperation(TimerControl state) public void TaskStateUpdateTimerOperation(TimerControl state)
@ -157,7 +169,10 @@ namespace SlnMesnac.Business.@base
} }
#region 任务初次派车调度
/// <summary> /// <summary>
/// AGV调度
/// Timer刷新任务状态, 有新任务初次下发AGV, Timer执行 /// Timer刷新任务状态, 有新任务初次下发AGV, Timer执行
/// </summary> /// </summary>
public void RefreshTaskState() public void RefreshTaskState()
@ -185,7 +200,7 @@ namespace SlnMesnac.Business.@base
{ {
string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask( string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
firstAMR.agvno, firstAMR.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName); _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobGuid);
_logger.LogInformation($"为AMR[ {firstAMR.agvno}]分配任务，目标:[ {taskItem.conveyorno} ]号传送带"); _logger.LogInformation($"为AMR[ {firstAMR.agvno}]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
taskItem.amragvno = firstAMR.agvno; taskItem.amragvno = firstAMR.agvno;
taskItem.amragvisarrive = "未到达"; taskItem.amragvisarrive = "未到达";
@ -208,7 +223,7 @@ namespace SlnMesnac.Business.@base
{ {
string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask( string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
firstDeliver.agvno, firstDeliver.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName); _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobGuid);
_logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带"); _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
taskItem.deliveragvno = firstDeliver.agvno; taskItem.deliveragvno = firstDeliver.agvno;
taskItem.deliveragvisarrive = "未到达"; taskItem.deliveragvisarrive = "未到达";
@ -245,7 +260,7 @@ namespace SlnMesnac.Business.@base
{ {
string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask( string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
firstDeliver.agvno, firstDeliver.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName); _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobGuid);
_logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带"); _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
taskItem.deliveragvno = firstDeliver.agvno; taskItem.deliveragvno = firstDeliver.agvno;
taskItem.deliveragvisarrive = "未到达"; taskItem.deliveragvisarrive = "未到达";
@ -330,42 +345,39 @@ namespace SlnMesnac.Business.@base
} }
} }
#endregion
/// <summary> /// <summary>
/// 入库满载AGV /// 停止所有任务
/// </summary> /// </summary>
public void ClearFullAGV() public void StopAllTask()
{ {
try List<AirportTask> taskList = _Taskservice.GetTaskInfos(x => x.taskstate == "抓取中" || x.taskstate == "派车中").ToList();
//任务状态设置为已终止并且机械臂复位
foreach (var taskInfo in taskList)
{ {
var list = _AGVStateService.GetAgvState(AgvType.Deliver); _visionBusiness.RequestVisionReplace(_AGVVisionSettingService.GetVisionSettingByAMRGUID(taskInfo.amragvno).VisionID);
foreach (var record in list) taskInfo.finishtime = DateTime.Now;
{ taskInfo.taskstate = "已终止";
if (record.stackcount >= BaseTaskInfoBusiness.DeliverStackNumber && record.agvworkstate == "待机") _Taskservice.UpdateTaskAsync(taskInfo);
{ _logger.LogInformation($"任务 [{taskInfo.taskno}] 已终止");
//入库代码
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(record.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", "0").JobName);
_AGVStateService.ResetAGVStackCount(record.agvno);
_logger.LogInformation($"Deliver [{record.agvno}] 入库");
}
}
list = _AGVStateService.GetAgvState(AgvType.AMR);
foreach (var record in list)
{
if (record.stackcount >= BaseTaskInfoBusiness.AMRStackNumber && record.agvworkstate == "待机")
{
//入库代码
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(record.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", "0").JobName);
_AGVStateService.ResetAGVStackCount(record.agvno);
_logger.LogInformation($"AMR [{record.agvno}] 入库");
}
}
} }
catch (Exception ex) //agv全部停止
var responseList = _airPorthttpClient.AGVAllStateRequest();
if (responseList == null || responseList.count == 0)
{
_logger.LogInformation($"连接失败或无小车连接");
return;
}
foreach (var response in responseList.Data)
{ {
_logger.LogError($"清理满载AGV时发生错误！Error: [{ex.Message}]"); if (!string.IsNullOrEmpty(response.TaskID) && response.AgvMoveStatus != 1 && response.AgvMoveStatus != 3)
{
_baseAGVBusiness.EndTaskAndClearError(response.Guid);
_logger.LogInformation($"小车 [{response.Name}] 任务已终止");
}
} }
_logger.LogInformation($"全部复位完毕");
} }
} }
} }

31
SlnMesnac.Business/base/InOutControl.cs
Unescape Escape View File

@ -0,0 +1,31 @@
using Microsoft.Extensions.Logging;
using SlnMesnac.Config;
using SlnMesnac.Repository.service;
using SlnMesnac.TouchSocket;
using System;
using System.Collections.Generic;
using System.Text;
namespace SlnMesnac.Business.@base
{
public class InOutControl
{
private ILogger<InOutControl> _logger;
private static InOutControl instance;
public InOutControl(ILogger<InOutControl> logger)
{
_logger = logger;
}
public static InOutControl GetInstance(ILogger<InOutControl> logger)
{
if (instance == null)
{
instance = new InOutControl(logger);
}
return instance;
}
}
}

44
SlnMesnac.Business/base/VisionBusiness.cs
Unescape Escape View File

@ -1,4 +1,5 @@
using Microsoft.Extensions.Logging; using Microsoft.Extensions.Logging;
using SlnMesnac.Business.util;
using SlnMesnac.Model.domain; using SlnMesnac.Model.domain;
using SlnMesnac.Model.Enum; using SlnMesnac.Model.Enum;
using SlnMesnac.Repository; using SlnMesnac.Repository;
@ -208,18 +209,18 @@ namespace SlnMesnac.Business.@base
//////////////////////////////////////////////////////上一次是AMR//////////////////////////////////////////////////// //////////////////////////////////////////////////////上一次是AMR////////////////////////////////////////////////////
if (entity.DataBytes[1] == 0x00) if (entity.DataBytes[1] == 0x00)
{ {
//妹有Deliver的任务（小车号和是否已到达都没有）amr肯定能抓完 继续amr抓取 //----妹有Deliver的任务（小车号和是否已到达都没有）amr肯定能抓完 继续amr抓取
if (string.IsNullOrEmpty(airportTask.deliveragvno) && string.IsNullOrEmpty(airportTask.deliveragvisarrive)) if (string.IsNullOrEmpty(airportTask.deliveragvno) && string.IsNullOrEmpty(airportTask.deliveragvisarrive))
{ {
//一直向amr抓，直到抓满 //一直向amr抓，直到抓满
RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id); RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
_logger.LogInformation($"任务 [{airportTask.taskno}] 继续向AMR [{airportTask.amragvno}] 抓取"); _logger.LogInformation($"任务 [{airportTask.taskno}] 继续向AMR [{airportTask.amragvno}] 抓取");
} }
//有Delievr任务（有任务号且状态为未到达）继续amr抓取 //----有Delievr任务（有任务号且状态为未到达）继续amr抓取
else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "未到达") else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "未到达")
{ {
//判断AMR小车是否装满，没满就开装，满了就结束，开始循环判断deliver是否到达 //判断AMR小车是否装满，没满就开装，满了就结束，开始循环判断deliver是否到达
//amr没满 继续装amr //----amr没满 继续装amr
if (_aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount < BaseTaskInfoBusiness.AMRStackNumber) if (_aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount < BaseTaskInfoBusiness.AMRStackNumber)
{ {
RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id); RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
@ -229,7 +230,7 @@ namespace SlnMesnac.Business.@base
else else
{ {
AirportTask task; AirportTask task;
//结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取 //---结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
Task.Run(() => Task.Run(() =>
{ {
//请求复位 //请求复位
@ -250,13 +251,13 @@ namespace SlnMesnac.Business.@base
}); });
} }
} }
//有Deliver任务（有任务号且已到达）向Deliver发送开始抓取 //----有Deliver任务（有任务号且已到达）向Deliver发送开始抓取
else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "已到达") else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "已到达")
{ {
RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id); RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
_logger.LogInformation($"任务 [{airportTask.taskno}] 向Deliver [{airportTask.deliveragvno}] 抓取"); _logger.LogInformation($"任务 [{airportTask.taskno}] 向Deliver [{airportTask.deliveragvno}] 抓取");
} }
//异常情况 //----异常情况
else else
{ {
throw new Exception($"任务 {airportTask.taskno} 状态异常！请清除任务并重新下发任务！"); throw new Exception($"任务 {airportTask.taskno} 状态异常！请清除任务并重新下发任务！");
@ -267,38 +268,51 @@ namespace SlnMesnac.Business.@base
else if (entity.DataBytes[1] == 0x01) else if (entity.DataBytes[1] == 0x01)
{ {
//判断Deliver是否装满,装满就直接入库,未装满继续装 //判断Deliver是否装满,装满就直接入库,未装满继续装
//deliver没满，继续装 //----deliver没满，继续装
if (_aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount < BaseTaskInfoBusiness.DeliverStackNumber) if (_aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount < BaseTaskInfoBusiness.DeliverStackNumber)
{ {
RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id); RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id);
_logger.LogInformation($"任务 [{airportTask.taskno}] 继续向Deliver [{airportTask.deliveragvno}] 抓取"); _logger.LogInformation($"任务 [{airportTask.taskno}] 继续向Deliver [{airportTask.deliveragvno}] 抓取");
} }
//deliver满了，入库然后判断 //----deliver满了，入库然后判断
else else
{ {
//入库代码 //入库代码
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno, _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName); _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobGuid);
_logger.LogInformation($"任务 [{airportTask.taskno}] Deliver [{airportTask.deliveragvno}] 入库"); _logger.LogInformation($"任务 [{airportTask.taskno}] Deliver [{airportTask.deliveragvno}] 入库");
_aGVStateService.ResetAGVStackCount(airportTask.deliveragvno); _aGVStateService.ResetAGVStackCount(airportTask.deliveragvno);
airportTask.deliveragvno = null; airportTask.deliveragvno = null;
airportTask.deliveragvisarrive = null; airportTask.deliveragvisarrive = null;
_airportTaskService.UpdateTaskAsync(airportTask); _airportTaskService.UpdateTaskAsync(airportTask);
//判断剩下的数量用不用调用新的deliver //判断剩下的数量用不用调用新的deliver
//剩下的数量不用 直接向amr抓取 //----剩下的数量不用 直接向amr抓取
int amrleft = BaseTaskInfoBusiness.AMRStackNumber - _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount; int amrleft = BaseTaskInfoBusiness.AMRStackNumber - _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount;
if (airportTask.totalcount - airportTask.loadcount < amrleft) if (airportTask.totalcount - airportTask.loadcount < amrleft)
{ {
RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id); RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);
_logger.LogInformation($"任务 [{airportTask.taskno}] 向AMR [{airportTask.amragvno}] 抓取"); _logger.LogInformation($"任务 [{airportTask.taskno}] 向AMR [{airportTask.amragvno}] 抓取");
} }
//剩下的数量需要调用，并判断向AMR抓取 //----剩下的数量需要调用，并判断向AMR抓取
else else
{ {
AGVState newagv = null;
//调新的deliver //调新的deliver
AGVState newagv = _baseAGVBusiness.GetBestAGV(AgvType.Deliver); Task.Run(() =>
{
do
{
newagv = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
if (newagv != null && !string.IsNullOrEmpty(newagv.agvno))
{
break;
}
Task.Delay(1000);
}
while (true);
});
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(newagv.agvno, _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(newagv.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", airportTask.conveyorno).JobName); _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", airportTask.conveyorno).JobGuid);
airportTask.deliveragvno = newagv.agvno; airportTask.deliveragvno = newagv.agvno;
airportTask.deliveragvisarrive = "未到达"; airportTask.deliveragvisarrive = "未到达";
_logger.LogInformation($"任务 [{airportTask.taskno}] 调用Deliver [{airportTask.deliveragvno}] 入位"); _logger.LogInformation($"任务 [{airportTask.taskno}] 调用Deliver [{airportTask.deliveragvno}] 入位");
@ -307,7 +321,7 @@ namespace SlnMesnac.Business.@base
if (amrleft <= 0) if (amrleft <= 0)
{ {
AirportTask task; AirportTask task;
//结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取 //----结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
Task.Run(() => Task.Run(() =>
{ {
//请求复位 //请求复位
@ -327,7 +341,7 @@ namespace SlnMesnac.Business.@base
} }
}); });
} }
//amr有容量，抓 //----amr有容量，抓
else else
{ {
RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id); RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);

121
SlnMesnac.Business/util/Enums.cs
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@ -0,0 +1,121 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Text;
namespace SlnMesnac.Business.util
{
public enum AgvTaskState
{
/// <summary>
/// 等待中
/// </summary>
[Description("等待中")]
Waiting = 0,
/// <summary>
/// 派车中
/// </summary>
[Description("派车中")]
Dispatching = 1,
/// <summary>
/// 抓取中
/// </summary>
[Description("抓取中")]
grabbing = 2,
/// <summary>
/// 终止
/// </summary>
[Description("终止")]
Stop = 9,
/// <summary>
/// 结束
/// </summary>
[Description("结束")]
End = 10,
/// <summary>
/// 异常
/// </summary>
[Description("异常")]
Error = 20,
}
public enum TimerControl
{
/// <summary>
/// Timer启动
/// </summary>
[Description("Timer启动")]
Start = 1,
/// <summary>
/// Timer关闭
/// </summary>
[Description("Timer关闭")]
Stop = 2,
/// <summary>
/// Timer释放
/// </summary>
[Description("Timer释放")]
Dispose = 3
}
/// <summary>
/// 请求视觉开始工作码垛信号
/// </summary>
public enum StackState
{
/// <summary>
/// 复合机器人码垛无需定位位置在X负侧
/// </summary>
[Description("复合机器人码垛无需定位位置在X负侧")]
NXAMRNoPositioning = 0x00,
/// <summary>
/// 复合机器人码垛需要定位位置在X负侧
/// </summary>
[Description("复合机器人码垛需要定位位置在X负侧")]
NXAMRNeedPositioning = 0x01,
/// <summary>
/// 搬运机器人码垛无需定位位置在X负侧
/// </summary>
[Description("搬运机器人码垛无需定位位置在X负侧")]
NXAGVNoPositioning = 0x02,
/// <summary>
/// 搬运机器人码垛需要定位位置在X负侧
/// </summary>
[Description("搬运机器人码垛需要定位位置在X负侧")]
NXAGVNeedPositioning = 0x03,
/// <summary>
/// 复合机器人码垛无需定位位置在X正侧
/// </summary>
[Description("复合机器人码垛无需定位位置在X正侧")]
PXAMRNoPositioning = 0x04,
/// <summary>
/// 复合机器人码垛需要定位位置在X正侧
/// </summary>
[Description("复合机器人码垛需要定位位置在X正侧")]
PXAMRNeedPositioning = 0x05,
/// <summary>
/// 搬运机器人码垛无需定位位置在X正侧
/// </summary>
[Description("搬运机器人码垛无需定位位置在X正侧")]
PXAGVNoPositioning = 0x06,
/// <summary>
/// 搬运机器人码垛需要定位位置在X正侧
/// </summary>
[Description("搬运机器人码垛需要定位位置在X正侧")]
PXAGVNeedPositioning = 0x07,
}
}

5
SlnMesnac.Repository/service/IAGVJobService.cs
Unescape Escape View File

@ -14,6 +14,7 @@ namespace SlnMesnac.Repository.service
/// <returns></returns> /// <returns></returns>
List<AGVJob> GetAGVJobList(); List<AGVJob> GetAGVJobList();
/// <summary> /// <summary>
/// 根据模板类型获取对应的AGV模板列表 /// 根据模板类型获取对应的AGV模板列表
/// </summary> /// </summary>
@ -24,8 +25,8 @@ namespace SlnMesnac.Repository.service
/// <summary> /// <summary>
/// 根据模板类型和传送带编号获取对应的AGV模板 /// 根据模板类型和传送带编号获取对应的AGV模板
/// </summary> /// </summary>
/// <param name="jobType"></param> /// <param name="jobType">任务类型</param>
/// <param name="conveyorno"></param> /// <param name="conveyorno">0就是通用模板 其他编号为对应传送带的调用模板</param>
/// <returns></returns> /// <returns></returns>
AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno); AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno);
} }

8
SlnMesnac.Repository/service/IAGVSettingService.cs
Unescape Escape View File

@ -16,12 +16,18 @@ namespace SlnMesnac.Repository.service
/// <returns></returns> /// <returns></returns>
List<AGVSetting> GetAllAgvSetting(); List<AGVSetting> GetAllAgvSetting();
/// <summary>
/// 根据AgvGuid获取单条AGV设置
/// </summary>
/// <returns></returns>
AGVSetting GetAgvSettingByAgvGuid(string guid);
/// <summary> /// <summary>
/// 根据AGVID获取AGV类型 /// 根据AGVID获取AGV类型
/// </summary> /// </summary>
/// <param name="id"></param> /// <param name="id"></param>
/// <returns></returns> /// <returns></returns>
string GetAgvSettingByID(string id); string GetAgvTypeByAGVGuid(string guid);
/// <summary> /// <summary>
/// 插入AGV设置 /// 插入AGV设置

21
SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs
Unescape Escape View File

@ -8,6 +8,9 @@ using System.Text;
namespace SlnMesnac.Repository.service.Impl namespace SlnMesnac.Repository.service.Impl
{ {
/// <summary>
/// AGV模板服务类
/// </summary>
public class AGVJobServiceImpl : BaseServiceImpl<AGVJob>, IAGVJobService public class AGVJobServiceImpl : BaseServiceImpl<AGVJob>, IAGVJobService
{ {
private ILogger<AGVJobServiceImpl> _logger; private ILogger<AGVJobServiceImpl> _logger;
@ -21,12 +24,16 @@ namespace SlnMesnac.Repository.service.Impl
try try
{ {
var list = _rep.GetList(); var list = _rep.GetList();
if (list == null)
{
return new List<AGVJob>();
}
return list; return list;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"获取列表发生错误: {ex.Message}"); _logger.LogError($"获取列表发生错误: {ex.Message}");
return null; return new List<AGVJob>();
} }
} }
@ -35,12 +42,16 @@ namespace SlnMesnac.Repository.service.Impl
try try
{ {
var list = _rep.GetList(x => x.JobType == jobType).ToList(); var list = _rep.GetList(x => x.JobType == jobType).ToList();
if (list == null)
{
return new List<AGVJob>();
}
return list; return list;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"获取列表发生错误: {ex.Message}"); _logger.LogError($"获取列表发生错误: {ex.Message}");
return null; return new List<AGVJob>();
} }
} }
@ -49,12 +60,16 @@ namespace SlnMesnac.Repository.service.Impl
try try
{ {
AGVJob record = _rep.GetList(x => x.ConveyorNo == conveyorno && x.JobType == jobType).First(); AGVJob record = _rep.GetList(x => x.ConveyorNo == conveyorno && x.JobType == jobType).First();
if(record == null)
{
return new AGVJob();
}
return record; return record;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"获取列表发生错误: {ex.Message}"); _logger.LogError($"获取列表发生错误: {ex.Message}");
return null; return new AGVJob();
} }
} }
} }

31
SlnMesnac.Repository/service/Impl/AGVSettingServiceImpl.cs
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@ -35,23 +35,46 @@ namespace SlnMesnac.Repository.service.Impl
return agvSettingList; return agvSettingList;
} }
/// <summary>
/// 根据AgvGuid获取单条AGV设置
/// </summary>
/// <returns></returns>
public AGVSetting GetAgvSettingByAgvGuid(string guid)
{
try
{
var res = _rep.GetList(x => x.AGVNo == guid).FirstOrDefault();
if(res == null)
{
return new AGVSetting();
}
return res;
}
catch (Exception ex)
{
_logger.LogError("根据AGVID获取AGV类型异常" + ex.Message);
return new AGVSetting();
}
}
/// <summary> /// <summary>
/// 根据AGVID获取AGV类型 /// 根据AGVID获取AGV类型
/// </summary> /// </summary>
/// <param name="id"></param> /// <param name="id"></param>
/// <returns></returns> /// <returns></returns>
public string GetAgvSettingByID(string id) public string GetAgvTypeByAGVGuid(string guid)
{ {
try try
{ {
List<AGVSetting> list = _rep.GetList(); var res = _rep.GetList(x => x.AGVNo == guid).FirstOrDefault().AGVType;
return list.Where(x => x.AGVNo == id).FirstOrDefault().AGVType; return res;
} }
catch(Exception ex) catch(Exception ex)
{ {
_logger.LogError("根据AGVID获取AGV类型异常" + ex.Message); _logger.LogError("根据AGVID获取AGV类型异常" + ex.Message);
return ""; return "";
} }
} }
/// <summary> /// <summary>

37
SlnMesnac.Repository/service/Impl/VisionSettingServiceImpl.cs
Unescape Escape View File

@ -4,6 +4,7 @@ using SlnMesnac.Repository.service.@base;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq.Expressions; using System.Linq.Expressions;
using System.Security.Cryptography;
using System.Text; using System.Text;
namespace SlnMesnac.Repository.service.Impl namespace SlnMesnac.Repository.service.Impl
@ -20,12 +21,17 @@ namespace SlnMesnac.Repository.service.Impl
{ {
try try
{ {
return _rep.GetList(); var res = _rep.GetList();
if (res == null)
{
return new List<VisionSetting>();
}
return res;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"获取视觉配置列表错误"); _logger.LogError($"获取视觉配置列表错误");
return null; return new List<VisionSetting>();
} }
} }
@ -33,12 +39,17 @@ namespace SlnMesnac.Repository.service.Impl
{ {
try try
{ {
return _rep.GetList(expression); var res = _rep.GetList(expression);
if (res == null)
{
return new List<VisionSetting>();
}
return res;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"获取视觉配置列表错误"); _logger.LogError($"获取视觉配置列表错误");
return null; return new List<VisionSetting>();
} }
} }
@ -46,12 +57,17 @@ namespace SlnMesnac.Repository.service.Impl
{ {
try try
{ {
return _rep.GetSingle(x => x.AMRGUID == guid); var res = _rep.GetSingle(x => x.AMRGUID == guid);
if (res == null)
{
return new VisionSetting();
}
return res;
} }
catch(Exception ex) catch(Exception ex)
{ {
_logger.LogError($"根据AMRGUID获取视觉配置错误"); _logger.LogError($"根据AMRGUID获取视觉配置错误");
return null; return new VisionSetting();
} }
} }
@ -59,12 +75,17 @@ namespace SlnMesnac.Repository.service.Impl
{ {
try try
{ {
return _rep.GetSingle(x => x.VisionID == id); var res = _rep.GetSingle(x => x.VisionID == id);
if (res == null)
{
return new VisionSetting();
}
return res;
} }
catch (Exception ex) catch (Exception ex)
{ {
_logger.LogError($"根据VisionID获取视觉配置错误"); _logger.LogError($"根据VisionID获取视觉配置错误");
return null; return new VisionSetting();
} }
} }
} }

47
SlnMesnac.TouchSocket/TcpServer.cs
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@ -387,51 +387,4 @@ namespace SlnMesnac.TouchSocket
}; };
} }
} }
/// <summary>
/// 请求视觉开始工作码垛信号
/// </summary>
public enum StackState
{
/// <summary>
/// 复合机器人码垛无需定位位置在X负侧
/// </summary>
NXAMRNoPositioning = 0x00,
/// <summary>
/// 复合机器人码垛需要定位位置在X负侧
/// </summary>
NXAMRNeedPositioning = 0x01,
/// <summary>
/// 搬运机器人码垛无需定位位置在X负侧
/// </summary>
NXAGVNoPositioning = 0x02,
/// <summary>
/// 搬运机器人码垛需要定位位置在X负侧
/// </summary>
NXAGVNeedPositioning = 0x03,
/// <summary>
/// 复合机器人码垛无需定位位置在X正侧
/// </summary>
PXAMRNoPositioning = 0x04,
/// <summary>
/// 复合机器人码垛需要定位位置在X正侧
/// </summary>
PXAMRNeedPositioning = 0x05,
/// <summary>
/// 搬运机器人码垛无需定位位置在X正侧
/// </summary>
PXAGVNoPositioning = 0x06,
/// <summary>
/// 搬运机器人码垛需要定位位置在X正侧
/// </summary>
PXAGVNeedPositioning = 0x07,
}
} }

15
SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml
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@ -6,20 +6,7 @@
xmlns:local="clr-namespace:SlnMesnac.WPF.Page.ControlPage" xmlns:local="clr-namespace:SlnMesnac.WPF.Page.ControlPage"
mc:Ignorable="d" d:DesignWidth="800" Background="Transparent" Height="590"> mc:Ignorable="d" d:DesignWidth="800" Background="Transparent" Height="590">
<Grid HorizontalAlignment="Center" Width="800" Height="590" VerticalAlignment="Bottom"> <Grid HorizontalAlignment="Center" Width="800" Height="590" VerticalAlignment="Bottom">
<Button Content="D定位抓取" x:Name="DeliverNeedPosition" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=DeliverNeedPosition}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="466,51,234,509" Click="Button_Click_1"/> <Button Content="测试按钮" x:Name="TestButton" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=TestButton}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="54,204,646,356" />
<Button Content="A定位抓取" x:Name="AMRNeedPosition" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=AMRNeedPosition}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="466,121,234,439" Click="Button_Click_1"/>
<Button Content="D无定抓取" x:Name="DeilverNoPosition" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=DeilverNoPosition}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="324,51,376,509" Click="Button_Click_1"/>
<Button Content="A无定抓取" x:Name="AMRNoPosition" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=AMRNoPosition}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="324,121,376,439" Click="Button_Click_1"/>
<Button Content="发送结束抓取" x:Name="VisionEnd" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=VisionEnd}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="466,185,234,375" Click="Button_Click_2"/>
<Button Content="调用800小车" x:Name="Get800" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=Get800}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="47,51,653,509" Click="Button_Click_3"/>
<Button Content="入库800小车" x:Name="Out800" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=Out800}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="47,121,653,439" Click="Button_Click_4"/>
<Button Content="测试按钮" x:Name="TestButton" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=TestButton}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="47,190,653,370" />
<Button Content="调用1000小车" x:Name="Get1000" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=Get1000}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="187,51,513,509" Click="Button_Click_3"/>
<Button Content="入库1000小车" x:Name="Out1000" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=Out1000}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="187,121,513,439" Click="Button_Click_4"/>
<Button Content="复位1000小车" x:Name="Reset1000" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=Reset1000}" Style="{StaticResource BUTTON_AGREE}" Width="100" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="187,190,513,370" Click="Button_Click_4"/>
<Button Content="手动停止800任务" x:Name="ManualStop800Task" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=ManualStop800Task}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="604,51,83,509" Click="Button_Click_5" RenderTransformOrigin="0.504,0.511"/>
<Button Content="手动清除800报警" x:Name="ManualClear800Error" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=ManualClear800Error}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="604,121,83,439" Click="Button_Click_6"/>
<Button Content="手动停止1000任务" x:Name="ManualStop1000Task" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=ManualStop1000Task}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="#009999" BorderBrush="#FF36B5C1" Margin="604,190,83,370" Click="Button_Click_7"/>
<Button Content="开始AGV状态刷新" x:Name="StartAGVStateRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=StartAGVStateRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="39,298,631,262" /> <Button Content="开始AGV状态刷新" x:Name="StartAGVStateRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=StartAGVStateRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="39,298,631,262" />
<Button Content="结束AGV状态刷新" x:Name="StopAGVStateRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=StopAGVStateRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="39,361,631,199" /> <Button Content="结束AGV状态刷新" x:Name="StopAGVStateRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=StopAGVStateRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="39,361,631,199" />
<Button Content="开始任务状态刷新" x:Name="StartTaskRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StartTaskRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="201,298,469,262" /> <Button Content="开始任务状态刷新" x:Name="StartTaskRefresh" Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StartTaskRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="201,298,469,262" />

5
SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs
Unescape Escape View File

@ -56,6 +56,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
private ILogger<VisionBusiness> _visionBusinessLogger; private ILogger<VisionBusiness> _visionBusinessLogger;
private IAirportTaskService _taskservice; private IAirportTaskService _taskservice;
private IAGVStateService _agvstateService; private IAGVStateService _agvstateService;
private IAGVSettingService _aGVSettingService;
private IAGVMapPointService _agvmapPointService; private IAGVMapPointService _agvmapPointService;
private IAGVJobService _agvJobService; private IAGVJobService _agvJobService;
private IVisionSettingService _visionSettingService; private IVisionSettingService _visionSettingService;
@ -86,9 +87,9 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
_airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>(); _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
_visionBusiness = VisionBusiness.GetInstance(_visionBusinessLogger, _tcpServer, _taskservice, _visionSettingService, _agvstateService, _agvJobService); _visionBusiness = VisionBusiness.GetInstance(_visionBusinessLogger, _tcpServer, _taskservice, _visionSettingService, _agvstateService, _agvJobService);
_baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig); _baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig, _agvJobService, _aGVSettingService);
_taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger,
_taskservice, _agvstateService, _agvmapPointService, _agvJobService, _taskservice, _agvstateService, _agvmapPointService, _agvJobService, _visionSettingService,
_tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness); _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
_taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage; _taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage;
_taskInfoBusiness._Taskaction += task => _taskInfoBusiness._Taskaction += task =>

90
SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs
Unescape Escape View File

@ -4,6 +4,7 @@ using HslCommunication.Enthernet;
using Microsoft.Extensions.DependencyInjection; using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Logging; using Microsoft.Extensions.Logging;
using SlnMesnac.Business.@base; using SlnMesnac.Business.@base;
using SlnMesnac.Business.util;
using SlnMesnac.Config; using SlnMesnac.Config;
using SlnMesnac.Model.AirportApiEntity; using SlnMesnac.Model.AirportApiEntity;
using SlnMesnac.Model.dto; using SlnMesnac.Model.dto;
@ -124,9 +125,9 @@ namespace SlnMesnac.WPF.ViewModel
_tcpServer = App.ServiceProvider.GetService<TcpServer>(); _tcpServer = App.ServiceProvider.GetService<TcpServer>();
_airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>(); _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
_baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger,
_Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, _visionSettingService,
_tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness); _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
_baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig); _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig, _agvJobService, _AGVSettingService);
_visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice, _visionSettingService, _AGVStateService, _agvJobService); _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice, _visionSettingService, _AGVStateService, _agvJobService);
_baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService); _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj)); ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj));
@ -175,61 +176,10 @@ namespace SlnMesnac.WPF.ViewModel
break; break;
} }
break; break;
// 最小化当前窗口 // 最小化当前窗口
case "Minimized": case "Minimized":
Application.Current.MainWindow.WindowState = WindowState.Minimized; Application.Current.MainWindow.WindowState = WindowState.Minimized;
break; break;
case "DeliverNeedPosition":
//AMR就绪请求视觉初步开始工作
_visionBusiness.TotalJudge = true;
_visionBusiness.RequestVisionStartWork(StackState.NXAGVNeedPositioning, 0, _tcpServer.VID);
break;
case "AMRNeedPosition":
//AMR就绪请求无定向AMR开始工作
_visionBusiness.TotalJudge = true;
_visionBusiness.RequestVisionStartWork(StackState.NXAMRNeedPositioning, 0, _tcpServer.VID);
break;
case "DeilverNoPosition":
//AMR就绪请求无定向AGV开始工作
_visionBusiness.TotalJudge = true;
_visionBusiness.RequestVisionStartWork(StackState.NXAGVNoPositioning, 0, _tcpServer.VID);
break;
case "AMRNoPosition":
//AMR就绪请求无定向AMR开始工作
_visionBusiness.TotalJudge = true;
_visionBusiness.RequestVisionStartWork(StackState.NXAMRNoPositioning, 0, _tcpServer.VID);
break;
case "VisionEnd":
//码垛结束，请求视觉系统复位
_visionBusiness.RequestVisionReplace(_tcpServer.VID);
break;
case "Get800":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车进入位置任务pause");
break;
case "Out800":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车入库任务pause");
break;
case "Get1000":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车进入位置任务pause");
break;
case "Out1000":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车入库任务pause");
break;
case "Reset1000":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000校正模板");
break;
case "ManualStop800Task":
//手动停止任务
_baseAGVBusiness.EndTaskAndClearError("S800-B");
break;
case "ManualClear800Error":
//手动清除报警
_baseAGVBusiness.ClaerError("S800-B");
break;
case "ManualStop1000Task":
_baseAGVBusiness.EndTaskAndClearError("S1000-A");
break;
case "StartAGVStateRefresh": case "StartAGVStateRefresh":
_baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start); _baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start);
break; break;
@ -256,36 +206,14 @@ namespace SlnMesnac.WPF.ViewModel
} }
} }
/// <summary>
/// 停止所有任务和事件
/// </summary>
public void StopAllTaskActionInvoke() public void StopAllTaskActionInvoke()
{ {
taskControl.StopTaskAction = () => taskControl.StopTaskAction = () =>
{ {
List<AirportTask> taskList = _Taskservice.GetTaskInfos(x => x.taskstate == "抓取中" && x.taskstate == "派车中").ToList(); _baseTaskInfoBusiness.StopAllTask();
//任务状态设置为已终止并且机械臂复位
foreach (var taskInfo in taskList)
{
_visionBusiness.RequestVisionReplace(_visionSettingService.GetVisionSettingByAMRGUID(taskInfo.amragvno).VisionID);
taskInfo.visiontaskno = null;
taskInfo.amragvisarrive = null;
taskInfo.amragvno = null;
taskInfo.deliveragvno = null;
taskInfo.deliveragvisarrive = null;
taskInfo.finishtime = DateTime.Now;
taskInfo.taskstate = "已终止";
_logger.LogInformation($"任务 [{taskInfo.taskno}] 已终止");
}
//agv全部停止
var responseList = _airPorthttpClient.AGVAllStateRequest();
foreach (var response in responseList.Data)
{
if (!string.IsNullOrEmpty(response.TaskID) && response.AgvMoveStatus != 1 && response.AgvMoveStatus != 3)
{
_baseAGVBusiness.EndTaskAndClearError(response.Guid);
_logger.LogInformation($"小车 [{response.Name}] 任务已终止");
}
}
_logger.LogInformation($"全部复位完毕");
}; };
} }
@ -296,7 +224,7 @@ namespace SlnMesnac.WPF.ViewModel
{ {
try try
{ {
string info = obj as string; string? info = obj as string;
switch (info) switch (info)
{ {
case "Index": case "Index":
@ -315,4 +243,6 @@ namespace SlnMesnac.WPF.ViewModel
} }
} }
} }

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