/// <summary>
/// 通讯状态观察
/// </summary>
private void CommunicationObser(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
communicationobserve_timer.Enabled = false;
//先判断小车是否已经掉线
if (LastRecLong > 2)
{
//如果接受消息时间已经大于2秒,则认为车子掉线了。
DelegateState.InvokeDispatchStateEvent(this.DeviceID.ToString() + "车，已经掉线，将在1秒后重新尝试连接...");
//通知调度程序 小车已经掉线
CarBaseStateInfo car = new CarBaseStateInfo();
car.bIsCommBreak = true;
car.AgvID = this.DeviceID;
DelegateState.InvokeCarFeedbackEvent(car);
if (LastConnectLong > 3)
{
//如果车子掉线且连接时间超过3秒则需要重连
LogHelper.WriteLog("重连小车" + DeviceID.ToString());
ReConnect();
}
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent(this.DeviceID.ToString() + "车，观察线程异常");
LogHelper.WriteErrorLog(ex);
}
finally
{
{ communicationobserve_timer.Enabled = true; }
}
}
/// <summary>
/// 启动
/// </summary>
public virtual bool Start()
{
try
{
IPAddress ip = IPAddress.Parse(ComPara.ServerIP);
IPEndPoint ipep = new IPEndPoint(ip, ComPara.Port);//IP和端口
Tcpsocket.Bind(new IPEndPoint(IPAddress.Parse(CoreData.SysParameter["LocalIP"]), 0));
Tcpsocket.Connect(new IPEndPoint(ip, ComPara.Port));
CurrToken = Guid.NewGuid().ToString();
Communication(CurrToken);
LastRecTime = DateTime.Now;
return(true);
}
catch (Exception ex)
{
CarBaseStateInfo car = new CarBaseStateInfo();
car.AgvID = this.DeviceID;
car.bIsCommBreak = true;
DelegateState.InvokeCarFeedbackEvent(car);
return(false);
}
finally
{
communicationobserve_timer.Enabled = true;
}
}
/// <summary>
/// 初始化
/// </summary>
public virtual bool Init()
{
try
{
Clear();
Tcpsocket = new Socket(AddressFamily.InterNetwork,
SocketType.Stream, ProtocolType.Tcp);
Tcpsocket.ReceiveTimeout = 200;
return(true);
}
catch (Exception ex)
{
CarBaseStateInfo car = new CarBaseStateInfo();
car.AgvID = this.DeviceID;
car.bIsCommBreak = true;
DelegateState.InvokeCarFeedbackEvent(car);
return(false);
}
}
/// <summary>
/// SendPackIndex 为发送包序号
/// 命令反馈
/// </summary>
public bool GetCallBack(Int16 SendPackIndex = 0, bool IsCheckCarState = false)
{
try
{
int AGVID = this.DeviceID;
int offlinecount = 0;
int allheadleftlengh = 7;
int receivedlengh = 0;
byte[] bufferhead = new byte[7];//定义6位长度为接收包头缓存长度
while (allheadleftlengh - receivedlengh > 0)
{
byte[] buffertemp = new byte[allheadleftlengh - receivedlengh];
if (Tcpsocket.Available <= 0)
{
continue;
}
int lengh = Tcpsocket.Receive(buffertemp);
if (lengh <= 0)
{
if (offlinecount == 3)
{
LogHelper.WriteReciveAGVMessLog("接受的小车" + AGVID.ToString() + "反馈命令超时");
return(false);
}
offlinecount += 1;
Thread.Sleep(50);
}
Buffer.BlockCopy(buffertemp, 0, bufferhead, receivedlengh, lengh);
receivedlengh += lengh;
}
//解析AGV反馈信息
if (bufferhead[0] == 0xEB && bufferhead[1] == 0x90 && bufferhead[2] == 0XD1)
{
//判断一下报文序号
byte[] arr = new byte[] { bufferhead[4], bufferhead[3] };
Int16 RecvPackIndex = BitConverter.ToInt16(arr, 0);
if (SendPackIndex == 0 || (SendPackIndex != 0 && RecvPackIndex == SendPackIndex))//如果发送和接受报文序号一致,说明成功
{
offlinecount = 0;
byte[] bytess = new byte[2] {
bufferhead[6], bufferhead[5]
};
//int allcontentleftlengh = bufferhead[6] << 8 + bufferhead[5];
int allcontentleftlengh = BitConverter.ToInt16(bytess, 0) + 1;
receivedlengh = 0;
byte[] buffercontent = new byte[allcontentleftlengh];
while (allcontentleftlengh - receivedlengh > 0)
{
byte[] buffertemp = new byte[allcontentleftlengh - receivedlengh];
if (Tcpsocket.Available <= 0)
{
continue;
}
int lengh = Tcpsocket.Receive(buffertemp);
if (lengh <= 0)
{
if (offlinecount == 3)
{
LogHelper.WriteReciveAGVMessLog("接受的小车" + AGVID.ToString() + "反馈命令超时");
return(false);
}
offlinecount += 1;
Thread.Sleep(50);
}
Buffer.BlockCopy(buffertemp, 0, buffercontent, receivedlengh, lengh);
receivedlengh += lengh;
}
//接受完内容后校验
List <byte> msg = new List <byte>();
msg.AddRange(bufferhead);
msg.AddRange(buffercontent);
string SenDLog = "";
foreach (byte item in msg)
{
SenDLog += ((int)item).ToString("X") + " ";
}
LogHelper.WriteReciveAGVMessLog("接受的小车" + AGVID.ToString() + "反馈命令:" + SenDLog);
byte CRC8 = CRC.CRC8(msg.Take(allcontentleftlengh + 6).ToArray());
if (CRC8 != msg[msg.Count - 1])
{
LogHelper.WriteReciveAGVMessLog("接受的小车" + AGVID.ToString() + "反馈命令校验位不正确");
return(false);
}
//解析车辆信息
CarInfo car = new CarInfo();
car.AgvID = this.DeviceID;
car.CarState = Convert.ToInt32(msg[7]);
car.IsNeedFinshTask = Convert.ToInt32(msg[8]);
car.IsNeedRedoTask = Convert.ToInt32(msg[9]);
byte[] bytes = new byte[4] {
msg[13], msg[12], msg[11], msg[10]
};
car.X = BitConverter.ToInt32(bytes, 0) / 1000.00F;
bytes = new byte[4] {
msg[17], msg[16], msg[15], msg[14]
};
car.Y = BitConverter.ToInt32(bytes, 0) / 1000.00F;
bytes = new byte[4] {
msg[21], msg[20], msg[19], msg[18]
};
car.Angel = BitConverter.ToInt32(bytes, 0) / 1000.00F;
//是否在码上
car.IsUpLand = Convert.ToInt32(msg[22].ToString());
//升降平台的状态
car.BangState = Convert.ToInt32(msg[23].ToString());
//夹持机构状态
car.JCState = Convert.ToInt32(msg[24].ToString());
//剩余电池容量 百分比
car.fVolt = Convert.ToInt32(msg[25].ToString());
//速度
car.speed = Convert.ToInt32(msg[26].ToString());
//报警长度
int WarnLen = Convert.ToInt32(msg[27].ToString());
car.ErrorMessage = "";
if (WarnLen > 0)//有报警
{
int StartIndex = 27;
for (int i = 1; i <= WarnLen; i++)
{
int Cat = StartIndex + 1;
int Code = StartIndex + 2;
car.WarnType = Convert.ToInt32(msg[Cat].ToString());
car.WarnBinaryCode = Convert.ToString(msg[Code], 2).PadLeft(8, '0');
switch (car.WarnType)
{
case 0:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "24C02错误-写入错误!\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "24C02错误-读取错误\r\n";
}
break;
case 1:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "电量检测错误-通信错误\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "电量检测错误-电量低\r\n";
}
break;
case 2:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "WiFi通信错误-校验错误\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "WiFi通信错误-心跳超时\r\n";
}
break;
case 3:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "433M通信错误\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "校验错误\r\n";
}
break;
case 4:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "PGV100错误-校验错误1\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "PGV100错误-通信超时1\r\n";
}
if (car.WarnBinaryCode.Substring(5, 1) == "1")
{
car.ErrorMessage += "PGV100错误-硬件故障1\r\n";
}
if (car.WarnBinaryCode.Substring(4, 1) == "1")
{
car.ErrorMessage += "PGV100错误-校验错误2\r\n";
}
if (car.WarnBinaryCode.Substring(3, 1) == "1")
{
car.ErrorMessage += "PGV100错误-通信超时2\r\n";
}
if (car.WarnBinaryCode.Substring(2, 1) == "1")
{
car.ErrorMessage += "PGV100错误-硬件故障2\r\n";
}
break;
case 5:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "驱动器-1号通信异常\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "驱动器-2号通信异常\r\n";
}
if (car.WarnBinaryCode.Substring(5, 1) == "1")
{
car.ErrorMessage += "驱动器-3号通信异常\r\n";
}
if (car.WarnBinaryCode.Substring(4, 1) == "1")
{
car.ErrorMessage += "驱动器-4号通信异常\r\n";
}
if (car.WarnBinaryCode.Substring(3, 1) == "1")
{
car.ErrorMessage += "驱动器-1号硬件故障\r\n";
}
if (car.WarnBinaryCode.Substring(2, 1) == "1")
{
car.ErrorMessage += "驱动器-2号硬件故障\r\n";
}
if (car.WarnBinaryCode.Substring(1, 1) == "1")
{
car.ErrorMessage += "驱动器-3号硬件故障\r\n";
}
if (car.WarnBinaryCode.Substring(0, 1) == "1")
{
car.ErrorMessage += "驱动器-3号硬件故障\r\n";
}
break;
case 6:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "安全传感器-触边\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "安全传感器-激光减速\r\n";
}
if (car.WarnBinaryCode.Substring(5, 1) == "1")
{
car.ErrorMessage += "安全传感器-激光停车\r\n";
}
if (car.WarnBinaryCode.Substring(4, 1) == "1")
{
car.ErrorMessage += "安全传感器-急停按钮\r\n";
}
break;
case 7:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "SIM2000-校验错误\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "SIM2000-通信超时\r\n";
}
if (car.WarnBinaryCode.Substring(5, 1) == "1")
{
car.ErrorMessage += "SIM2000-硬件故障\r\n";
}
break;
case 8:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "升降平台-未下降到位\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "升降平台-未上升到位\r\n";
}
break;
case 9:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "夹持机构-未夹紧到位\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "夹持机构-未张开到位\r\n";
}
break;
case 10:
if (car.WarnBinaryCode.Substring(7, 1) == "1")
{
car.ErrorMessage += "导航-丢失反光柱匹配\r\n";
}
if (car.WarnBinaryCode.Substring(6, 1) == "1")
{
car.ErrorMessage += "导航-丢失定位二维码\r\n";
}
if (car.WarnBinaryCode.Substring(5, 1) == "1")
{
car.ErrorMessage += "导航-丢失修正二维码\r\n";
}
if (car.WarnBinaryCode.Substring(4, 1) == "1")
{
car.ErrorMessage += "导航-目标点对比异常\r\n";
}
break;
default:
break;
}
StartIndex += 2;
}
}
if (!string.IsNullOrEmpty(car.ErrorMessage))
{
LogHelper.WriteAGVWarnMessLog(car.AgvID.ToString() + "号AGV报警异常信息:" + car.ErrorMessage);
}
LandmarkInfo CurrLand = CoreData.AllLands.FirstOrDefault(p => distance((float)p.LandX, (float)p.LandY, car.X, car.Y) <= 0.2);
if (CurrLand != null)
{
car.CurrSite = Convert.ToInt16(CurrLand.LandmarkCode);
LogHelper.WriteReciveAGVMessLog("小车" + AGVID.ToString() + "坐标得到的地标为:" + CurrLand.LandmarkCode);
car.IsUpQCode = 1;
}
else
{
car.IsUpQCode = 0;
}
DelegateState.InvokeCarFeedbackEvent(car);
LastRecTime = DateTime.Now;
//发送复位需要判断车子状态是否为待命状态
if (IsCheckCarState)
{
LogHelper.WriteSendAGVMessLog("判断发送复位指令是否真正完成!");
if (car.CarState != 0)
{
LogHelper.WriteSendAGVMessLog("发送复位指令车子:" + car.AgvID.ToString() + "状态为:" + car.CarState.ToString());
return(false);
}
}
return(true);
}
else
{
return(false);
}
}
}
catch (Exception ex)
{ LogHelper.WriteLog(this.DeviceID.ToString() + "车 AGV解析编解码错误!" + ex.Message); }
return(false);
}
