/// <summary>
/// 通讯方法
/// </summary>
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(90);
}
QueueCommand.TryDequeue(out ctov);
}
//else
//{
// //发送查询命令
// Tcpsocket.Send(readbytelist.ToArray());
// Thread.Sleep(300);
//}
}
}
catch (Exception ex)
{
Clear();
}
}
/// <summary>
/// 执行命令
/// </summary>
public bool ExeCommand(CommandToValue ctov)
{
try
{
writebytelist.Clear();
writebytelist.AddRange(BitConverter.GetBytes(NextDataIndex()));
writebytelist.AddRange(new byte[] { 0x00, 0x00 });
writebytelist.AddRange(new byte[] { 0x00, 0x0B });
writebytelist.Add((byte)this.DeviceID);
writebytelist.Add(0x10);
writebytelist.AddRange(new byte[] { 0x01, 0x2e, 0x00, 0x02, 0x04 });
int PostID = Convert.ToInt16(ctov.CommandValue);
//通过IO端子口号计算其对应的字节信息
IList <byte> cmdbytelist = GetByteListByPortState(PostID);
writebytelist.AddRange(cmdbytelist);
string cmd = "";
foreach (byte b in writebytelist)
{
cmd += Convert.ToString(b, 16).PadLeft(2, '0') + " ";
}
LogHelper.WriteLog("向" + this.DeviceID.ToString() + "号IO设备发送指令：" + cmd);
//Tcpsocket.Send(writebytelist.ToArray());//发送字节
//{ Thread.Sleep(60); }
//var Result = GetCallBack();
//return Result;
return(SendData(writebytelist, FunctionCode.Write));
}
catch (Exception ex)
{
LogHelper.WriteLog("发送AGV命令异常:" + ex.Message);
return(false);
}
}
public void AGV_AddCommand(int agvid, CommandToValue ctov)
{
try
{
Commer.AGV_AddControl(agvid, ctov);
}
catch (Exception ex)
{ LogHelper.WriteErrorLog(ex); }
}
/// <summary>
/// 通讯方法
/// </summary>
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
LogHelper.WriteSendAGVMessLog($"{this.DeviceID}号AGV 当前线程{Thread.CurrentThread.ManagedThreadId}");
///因为考虑到发送指令判断返回状态,需要在发送指令前将读取指令
/// 返回的状态指令消耗调，所以应该判断一下缓存中是否有指令
if (QueueCommand.Count > 0 && Tcpsocket.Available > 0)
{
///如果缓存区有数据应该将数据消耗完
/// 否则再发送执行指令返回的指令则不知道是执行指令
/// 返回的还是发送读取指令返回的
GetCallBack();
}
else if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(200);
}
QueueCommand.TryDequeue(out ctov);
}
else
{
//查询心跳指令告知在地标上的信息
SetBitComand();
//发送查询命令
string SenDLog = "";
foreach (byte item in readbytelist)
{
SenDLog += ((int)item).ToString("X") + " ";
}
byte[] arr = new byte[] { readbytelist[4], readbytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送--心跳--AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
while (!SendExeCommand(readbytelist))
{
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送--心跳--AGV" + this.DeviceID.ToString() + "未成功，等待200ms再发送");
Thread.Sleep(200);
}
Thread.Sleep(100);
}
}
}
catch (Exception ex)
{
LogHelper.WriteSendAGVMessLog($"{this.DeviceID}号AGV Communication 异常:" + ex.Message);
//Clear();
//ReConnect();
}
}
public bool ExeCommand(CommandToValue ctov)
{
try
{
if (ctov.Command == AGVCommandEnum.StartCharge)//开始充电
{
writebytelist.Clear();
writebytelist.AddRange(new byte[] { 0x01, 0x05 });
writebytelist.AddRange(new byte[] { 0x00, 0x07 });
writebytelist.AddRange(new byte[] { 0xFF, 0x00 });
writebytelist.AddRange(new byte[] { 0x3D, 0xFB });
string cmd = "";
foreach (byte b in writebytelist)
{
cmd += Convert.ToString(b, 16).PadLeft(2, '0') + " ";
}
LogHelper.WriteSendChargeMessLog(this.DeviceID.ToString() + "号充电桩 发送指令：" + cmd);
return(SendData(writebytelist));
}
if (ctov.Command == AGVCommandEnum.StopCharge)//停止充电
{
writebytelist.Clear();
writebytelist.AddRange(new byte[] { 0x01, 0x05 });
writebytelist.AddRange(new byte[] { 0x00, 0x07 });
writebytelist.AddRange(new byte[] { 0x00, 0x00 });
writebytelist.Add(0x7C);
writebytelist.Add(0x0B);
string cmd = "";
foreach (byte b in writebytelist)
{
cmd += Convert.ToString(b, 16).PadLeft(2, '0') + " ";
}
LogHelper.WriteSendChargeMessLog(this.DeviceID.ToString() + "号充电桩 发送停止充电指令：" + cmd);
return(SendData(writebytelist));
}
return(true);
}
catch (Exception ex)
{
LogHelper.WriteErrorLog(ex);
//DelegateState.InvokeDispatchStateEvent("充电桩指令发送失败,将重新发送");
return(false);
}
}
/// <summary>
/// 添加IO设备指令
/// </summary>
public void IO_AddControl(int ioid, CommandToValue ctov)
{
try
{
IOSession_Fbell session = IOSessions.FirstOrDefault(p => p.DeviceID == ioid);
if (session != null)
{
session.QueueCommand.Enqueue(ctov);
}
else
{
DelegateState.InvokeDispatchStateEvent("添加指令失败,未能找到" + ioid.ToString() + "号IO设备 ");
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent("添加IO设备指令异常");
}
}
/// <summary>
/// 添加充电桩指令
/// </summary>
/// <param name="chargeid"></param>
/// <param name="ctov"></param>
public void Charge_AddControl(int chargeid, CommandToValue ctov)
{
try
{
AGVSessionBase session = ChargeStationSessions.FirstOrDefault(p => (p as AGVSessionBase).DeviceID == chargeid) as AGVSessionBase;
if (session != null)
{
session.QueueCommand.Enqueue(ctov);
}
else
{
DelegateState.InvokeDispatchStateEvent("添加指令失败,未能找到" + chargeid.ToString() + "号充电桩 ");
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent("添加充电桩指令异常");
}
}
public void Communication()
{
try
{
while (true)
{
CommandToValue ctov = null;
if (QueueCommand.Count > 0 && Tcpsocket.Available > 0)
{
///如果缓存区有数据应该将数据消耗完
/// 否则再发送执行指令返回的指令则不知道是执行指令
/// 返回的还是发送读取指令返回的
GetCallBack();
}
else if (QueueCommand.Count > 0 && QueueCommand.TryPeek(out ctov))//有动作命令
{
while ((!ExeCommand(ctov)))
{
Thread.Sleep(500);
}
QueueCommand.TryDequeue(out ctov);
}
else
{
/*
* 发送查询命令
*/
SetReadByteList();
Tcpsocket.Send(readbytelist.ToArray());//发送字节
Thread.Sleep(50);
GetCallBack();
Thread.Sleep(500);
}
}
}
catch (Exception ex)
{
//LogHelper.WriteErrorLog(ex);
//Clear();
//ReConnect();
}
}
/// <summary>
/// 添加AGV发送指令
/// </summary>
public void AGV_AddControl(int AGVID, CommandToValue ctov)
{
try
{
AGVSessionBase session = AGVSessions.FirstOrDefault(p => (p as AGVSessionBase).DeviceID == AGVID) as AGVSessionBase;
if (session != null)
{
//LogHelper.WriteCreatTaskLog("添加AGV:"+ AGVID.ToString()+"指令-->"+ ctov.Command.ToString());
session.QueueCommand.Enqueue(ctov);
}
else
{
DelegateState.InvokeDispatchStateEvent("添加指令失败,未能找到" + AGVID.ToString() + "号AGV通信管道!");
LogHelper.WriteLog("添加指令失败,未能找到" + AGVID.ToString() + "号AGV通信管道!");
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent("添加指令异常");
LogHelper.WriteErrorLog(ex);
}
}
public void WriteRegister(int agvid, int opentype)//0降 1升
{
List <CommandForkliftEnum> ForkliftList = new List <CommandForkliftEnum>();
CommandForkliftEnum Forklift = null;
//起始地标
//开始位
Forklift = new CommandForkliftEnum();
if (opentype == 1)
{
Forklift.ForkAction = 2;
Forklift.height = 1;
}
else
{
Forklift.ForkAction = 1;
Forklift.height = 0;
}
ForkliftList.Add(Forklift);
CommandToValue CommandTo = new CommandToValue(AGVCommandEnum.WriteRegister1);
CommandTo.CommandValue = ForkliftList;
AGV_AddCommand(agvid, CommandTo);
}
/// <summary>
/// 解析执行AGV指令
/// </summary>
public bool ExeCommand(CommandToValue ctov)
{
try
{
string SenDLog = "";
//查询
if (ctov.Command == AGVCommandEnum.Start)//启动
{
writebytelist.Clear();
#region RTU
writebytelist.AddRange(new byte[] { 0xEB, 0x90, 0xDF });
writebytelist.AddRange(BitConverter.GetBytes(NextDataIndex()));
writebytelist.AddRange(new byte[] { 0x00, 0x02, 0x04, 0x00 });
byte crc8 = CRC.CRC8(writebytelist.ToArray());
writebytelist.Add(crc8);
#endregion
foreach (byte item in writebytelist)
{
SenDLog += ((int)item).ToString("X") + " ";
}
byte[] arr = new byte[] { writebytelist[4], writebytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送启动AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
//while (!SendExeCommand(writebytelist))
//{
// Thread.Sleep(50);
//}
if (!SendExeCommand(writebytelist))
{
return(false);
}
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送启动AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog + "成功!");
return(true);
}
else if (ctov.Command == AGVCommandEnum.Stop)//停止,暂时停车，不清除路线
{
writebytelist.Clear();
#region RTU
writebytelist.AddRange(new byte[] { 0xEB, 0x90, 0xDF });
writebytelist.AddRange(BitConverter.GetBytes(NextDataIndex()));
writebytelist.AddRange(new byte[] { 0x00, 0x02, 0x03, 0x00 });
byte crc8 = CRC.CRC8(writebytelist.ToArray());
writebytelist.Add(crc8);
#endregion
foreach (byte item in writebytelist)
{
SenDLog += ((int)item).ToString("X") + " ";
}
byte[] arr = new byte[] { writebytelist[4], writebytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送停止AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
//while (!SendExeCommand(writebytelist))
//{
// Thread.Sleep(50);
//}
if (!SendExeCommand(writebytelist))
{
return(false);
}
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送停止AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog + "成功!");
return(true);
}
else if (ctov.Command == AGVCommandEnum.CancelTast)
{
writebytelist.Clear();
#region RTU
writebytelist.AddRange(new byte[] { 0xEB, 0x90, 0xDF });
writebytelist.AddRange(BitConverter.GetBytes(NextDataIndex()));
writebytelist.AddRange(new byte[] { 0x00, 0x02, 0x05, 0x00 });
byte crc8 = CRC.CRC8(writebytelist.ToArray());
writebytelist.Add(crc8);
#endregion
foreach (byte item in writebytelist)
{
SenDLog += ((int)item).ToString("X") + " ";
}
byte[] arr = new byte[] { writebytelist[4], writebytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送复位AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
//while (!SendExeCommand(writebytelist,true))
//{
// Thread.Sleep(50);
//}
if (!SendExeCommand(writebytelist, true))
{
return(false);
}
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送复位AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog + "成功!");
return(true);
}
else if (ctov.Command == AGVCommandEnum.ChangeRoute)//下发路径
{
writebytelist.Clear();
#region RTU
List <CommandLandMark> CommandLandmarkList = ctov.CommandValue as List <CommandLandMark>;
int totalbytecount = CommandLandmarkList.Count * 15;
writebytelist.AddRange(new byte[] { 0xEB, 0x90, 0xDE });
writebytelist.AddRange(BitConverter.GetBytes(NextDataIndex()));
writebytelist.Add(BitConverter.GetBytes(totalbytecount)[1]);
writebytelist.Add(BitConverter.GetBytes(totalbytecount)[0]);
string LandAcotcinLog = "";
//循环添加功能地标信息
foreach (CommandLandMark cmdlm in CommandLandmarkList)
{
//组装导航路径中的节点坐标和角度
writebytelist.Add((byte)cmdlm.Avoidance);
byte[] Xbytes = CRC.ToByte(cmdlm.X);
writebytelist.AddRange(Xbytes.Reverse().ToArray());
byte[] Ybytes = CRC.ToByte(cmdlm.Y);
writebytelist.AddRange(Ybytes.Reverse().ToArray());
byte[] Wbytes = CRC.ToByte(cmdlm.Angle);
writebytelist.AddRange(Wbytes.Reverse().ToArray());
//组装导航信息中的最高移速
LandAcotcinLog += "地标:[" + cmdlm.LandmarkCode + "] X:[" + cmdlm.X.ToString() + "] Y:[" + cmdlm.Y.ToString() + "] 角度:[" + cmdlm.Angle.ToString() + "] ";
writebytelist.Add((byte)cmdlm.Move_Speed);
LandAcotcinLog += "速度:[" + cmdlm.Move_Speed.ToString() + "] 导航方式:[" + cmdlm.Avoidance.ToString() + "] ";
//组装节点中的动作
writebytelist.Add((byte)cmdlm.ActionType);
LandAcotcinLog += "动作:[" + cmdlm.ActionType.ToString() + "] ";
}
byte crc8 = CRC.CRC8(writebytelist.ToArray());
writebytelist.Add(crc8);
#endregion
foreach (byte item in writebytelist)
{
SenDLog += ((int)item).ToString("X").PadLeft(2, '0') + " ";
}
byte[] arr = new byte[] { writebytelist[4], writebytelist[3] };
Int16 SendPackIndex = BitConverter.ToInt16(arr, 0);
LogHelper.WriteSendAGVMessLog("发送线路及动作说明:" + LandAcotcinLog);
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送导航路径AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog);
//while (!SendExeCommand(writebytelist))
//{
// Thread.Sleep(50);
//}
if (!SendExeCommand(writebytelist))
{
return(false);
}
LogHelper.WriteSendAGVMessLog("报文序号:" + SendPackIndex.ToString() + "发送导航路径AGV" + this.DeviceID.ToString() + "命令" + ":" + SenDLog + "成功!");
return(true);
}
else if (ctov.Command == AGVCommandEnum.SpeedSet)//速度设置
{
return(true);
}
else if (ctov.Command == AGVCommandEnum.SetPBS)//设置避障
{
return(true);
}
return(false);
}
catch (Exception ex)
{
LogHelper.WriteLog("发送AGV命令异常:" + ex.Message);
return(false);
}
}
