private void DoSendImsMsg(ImsResponse responseMsg)
{
try
{
if (ImsNetManager.Instance.IsImsSocketConnect())
{
IMsgInfo msg = responseMsg;
MsgSend msgSend = new MsgSend();
int res = msgSend.ConvertFrom(msg);
if (0 == res)
{
byte[] data = msgSend.CloneBytes();
ImsNetManager.Instance.NowImsStation.SendBytes(data);
// Logger.LogInfo(null, "向IMS发送响应消息 ：【" + BitConverter.ToString(responseMsg.CloneMsgBytes()) + "】");
}
else
{
// Logger.LogError(null, "向IMS发送响应消息 ：【" + "消息不合法" + "】");
}
}
}
catch (SocketException ex)
{
ImsNetManager.Instance.NowImsStation.CloseImsConn();
// Logger.LogError(null, "IMS发送响应消息时捕获到SOCKET异常：【" + ex.Message+"】");
}
catch (Exception ex)
{
ImsNetManager.Instance.NowImsStation.CloseImsConn();
// Logger.LogError(null, "IMS发送响应消息时捕获到未知异常：【" + ex.Message+"】");
}
}
//入队操作，增加数据
public void AddMyMessageList(ImsResponse agvMap)
{
lock (this.MyMessageLock)
{
this.MyMessage.Enqueue(agvMap);
}
}
public ImsResponse GetResponseFromImsSendList()
{
ImsResponse msg = null;
lock (this.imsResponseMsgListLock)
{
msg = this.imsResponseMsgList.Dequeue() as ImsResponse;
}
return(msg);
}
private ImsResponse GetResponseFromSendList()
{
ImsResponse sendMsg = null;
if (ImsNetManager.Instance.IsImsSendListHasData())
{
sendMsg = ImsNetManager.Instance.GetResponseFromImsSendList();
}
return(sendMsg);
}
void PostData(object state)
{
if (QueueInstance.Instance.GetMyMessageCount() > 0)
{
ImsResponse sendMsg = QueueInstance.Instance.GetMyMessageList();
string str = sendMsg.data;
// byte[] buffer = System.Text.Encoding.ASCII.GetBytes(str);
cm.Send(MessageType.msg, str);
string mstr = System.DateTime.Now.ToString() + ":-》》》》" + str + "\n";
QueueInstance.Instance.AddMessageShowList(mstr);
}
}
//出队操作，获得数据
public ImsResponse GetMyMessageList()
{
ImsResponse agvmap = null;
lock (this.MyMessageLock)
{
bool has = (this.MyMessage != null && this.MyMessage.Count > 0);
if (has)
{
agvmap = this.MyMessage.Dequeue() as ImsResponse;
}
}
return(agvmap);
}
public override void ExecuteTask()
{
String methodStr = "ImsMsgSendTask.ExecuteTask";
try
{
ImsResponse sendcmd = GetResponseFromSendList();
if (sendcmd != null)
{
DoSendImsMsg(sendcmd);
}
else
{
Thread.Sleep(1000);
}
}
catch (Exception ex)
{
// Logger.LogError(methodStr, "发送响应消息给IMS时捕获异常:" + ex.Message);
Thread.Sleep(1000);
}
}
public override void ExecuteTask()
{
String methodStr = "ImsMsgSendTask.ExecuteTask";
try
{
ImsResponse sendcmd = GetResponseFromSendList();
if (sendcmd != null)
{
DoSendImsMsg(sendcmd);
}
else
{
Thread.Sleep(ServiceConstantsDef.SEND_MSG_TO_IMS_INTERVIEW_TIME);
}
}
catch (Exception ex)
{
Logger.LogError(methodStr, "发送响应消息给IMS时捕获异常:" + ex.Message);
Thread.Sleep(ServiceConstantsDef.SEND_MSG_TO_IMS_EXCEPTION_INTERVIEW_TIME);
}
}
public void timer1_Tick(object sender, EventArgs e)
{
if (QueueInstance.Instance.IsMessageShowHasData())
{
//增加方法
//_del = new showdelegate(UpdateBox);
_del = UpdateBox;
// string mmstr = ImsRecvTask.getstring();
string mmstr = QueueInstance.Instance.GetMessageShowList();
//应用
_del(mmstr);
}
//出队
//对每一个arrive之后的字符串进行处理
for (int i = 0; i < 100; i++)
{
if (QueueInstance.Instance.IsYourMessageHasData())
{
string str = QueueInstance.Instance.GetYourMessageList();
//if (str != null)
//{
// // MessageBox.Show(str);
//}
//将得到的数据转换成json对象
AGV_V1._0.SendData dataObj;
dataObj = (AGV_V1._0.SendData)JsonConvert.DeserializeObject(str, typeof(AGV_V1._0.SendData));
if (dataObj.State == Const.State.cannotToDestination)
{
dataObj.EndLoc = "RestArea";
}
else
{
if (msflag == 0)
{ //工作
#region
dataObj = (AGV_V1._0.SendData)JsonConvert.DeserializeObject(str, typeof(AGV_V1._0.SendData));
if (dataObj.Arrive == true)
{
if (dataObj.StartLoc == "RestArea")
{
dataObj.EndLoc = "WaitArea";
}
else if (dataObj.StartLoc == "WaitArea")
{
dataObj.EndLoc = "ScanArea";
dataObj.State = Const.State.free;
}
else if (dataObj.StartLoc == "ScanArea")
{
dataObj.EndLoc = "DestArea";
dataObj.State = Const.State.carried;
// Thread.Sleep(AGVConstDefine.AfterScanPause_Time);
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.carried)
{
dataObj.EndLoc = "DestArea";
dataObj.State = Const.State.carried;
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.unloading)
{
dataObj.EndLoc = "DestArea";
dataObj.State = Const.State.unloading;
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.free)
{
dataObj.EndLoc = "WaitArea";
dataObj.State = Const.State.free;
}
}
#endregion
}
else
{
//休息
dataObj = (AGV_V1._0.SendData)JsonConvert.DeserializeObject(str, typeof(AGV_V1._0.SendData));
if (dataObj.Arrive == true)
{
if (dataObj.StartLoc == "RestArea")
{
//dataObj.EndLoc = "";
//break;
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.carried)
{
dataObj.EndLoc = "DestArea";
dataObj.State = Const.State.carried;
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.unloading)
{
dataObj.EndLoc = "DestArea";
dataObj.State = Const.State.unloading;
}
else if (dataObj.EndLoc == "DestArea" && dataObj.State == Const.State.free)
{
dataObj.EndLoc = "RestArea";
dataObj.State = Const.State.free;
}
}
}
}
if (dataObj.StartLoc == "DestArea" && dataObj.EndLoc == "DestArea")
{
}
else if (dataObj.StartLoc == "RestArea" && msflag == 1)
{
}
else
{
AGVConstDefine.AGV[dataObj.Num].BeginX = dataObj.BeginX;
AGVConstDefine.AGV[dataObj.Num].BeginY = dataObj.BeginY;
AGVConstDefine.AGV[dataObj.Num].StartLoc = dataObj.StartLoc;
AGVConstDefine.AGV[dataObj.Num].EndLoc = dataObj.EndLoc;
AGVConstDefine.AGV[dataObj.Num].State = dataObj.State;
AGVDestination.Confirm_EndPoint(AGVConstDefine.AGV[dataObj.Num], AGVConstDefine.AGV[dataObj.Num].StartLoc, AGVConstDefine.AGV[dataObj.Num].BeginX, AGVConstDefine.AGV[dataObj.Num].BeginY, AGVConstDefine.AGV[dataObj.Num].EndLoc);
AGV_V1._0.SendData sd = JsonHelper.GetSendObj(AGVConstDefine.AGV[dataObj.Num]);
string sendjs = Newtonsoft.Json.JsonConvert.SerializeObject(sd);
//出队
if (AGVConstDefine.AGV[i].StartLoc == "ScanArea")
{
Task.Factory.StartNew(() => { Thread.Sleep(AGVConstDefine.AfterScanPause_Time); });
}
ImsResponse pathmessage = new ImsResponse();
pathmessage.obj = "PATH";
pathmessage.data = sendjs;
QueueInstance.Instance.AddMyMessageList(pathmessage);
}
}
}
}
void HandleData(object sender, MessageEventArgs e)
{
if (e.Type == MessageType.move)
{
//工作
msflag = 0;
#region
string mstr = System.DateTime.Now.ToString() + ":" + "工作";
QueueInstance.Instance.AddMessageShowList(mstr);
// #region 与界面建立socket连接，归位，所有小车回到RestArea
//工作消息，所有小车去往RestArea,将处理得到的数据放到队列里
for (int i = 0; i < AGVConstDefine.AGV.Count(); i++)
{
if (AGVConstDefine.AGV[i].State == Const.State.free && AGVConstDefine.AGV[i].StartLoc != "WaitArea")
{
AGVDestination.Confirm_EndPoint(AGVConstDefine.AGV[i], "", AGVConstDefine.AGV[i].BeginX, AGVConstDefine.AGV[i].BeginY, "WaitArea");
}
//else if (AGVConstDefine.AGV[i].StartLoc=="WaitArea")
//{
// AGVDestination.Confirm_EndPoint(AGVConstDefine.AGV[i], "WaitArea", AGVConstDefine.AGV[i].BeginX, AGVConstDefine.AGV[i].BeginY, "ScanArea");
//}
//else if(AGVConstDefine.AGV[i].State == Const.State.carried)
//{
// AGVConstDefine.AGV[i].StartLoc = "ScanArea";
// AGVConstDefine.AGV[i].EndLoc = "DestArea";
//}
AGV_V1._0.SendData sd = JsonHelper.GetSendObj(AGVConstDefine.AGV[i]);
string sendjs = Newtonsoft.Json.JsonConvert.SerializeObject(sd);
//放进队列里
if (sendjs.Trim() != "")
{
if (AGVConstDefine.AGV[i].StartLoc == "ScanArea")
{
Task.Factory.StartNew(() => { Thread.Sleep(AGVConstDefine.AfterScanPause_Time); });
}
ImsResponse pathmessage = new ImsResponse();
pathmessage.obj = "PATH";
pathmessage.data = sendjs;
//一个一个入队
QueueInstance.Instance.AddMyMessageList(pathmessage);
}
}
#endregion
}
if (e.Type == MessageType.reStart)
{
//去休息
msflag = 1;
#region
string mstr = System.DateTime.Now.ToString() + ":" + "休息";
QueueInstance.Instance.AddMessageShowList(mstr);
// #region 与界面建立socket连接，归位，所有小车回到RestArea
//归位消息，所有小车去往RestArea,将处理得到的数据放到队列里
for (int i = 0; i < AGVConstDefine.AGV.Count(); i++)
{
if (AGVConstDefine.AGV[i].State == Const.State.free)
{
AGVDestination.Confirm_EndPoint(AGVConstDefine.AGV[i], "", AGVConstDefine.AGV[i].BeginX, AGVConstDefine.AGV[i].BeginY, "RestArea");
}
else if (AGVConstDefine.AGV[i].State == Const.State.carried)
{
AGVConstDefine.AGV[i].StartLoc = "ScanArea";
AGVConstDefine.AGV[i].EndLoc = "DestArea";
}
AGV_V1._0.SendData sd = JsonHelper.GetSendObj(AGVConstDefine.AGV[i]);
string sendjs = Newtonsoft.Json.JsonConvert.SerializeObject(sd);
//放进队列里
if (sendjs.Trim() != "")
{
if (AGVConstDefine.AGV[i].StartLoc == "ScanArea")
{
Task.Factory.StartNew(() => { Thread.Sleep(AGVConstDefine.AfterScanPause_Time); });
}
ImsResponse pathmessage = new ImsResponse();
pathmessage.obj = "PATH";
pathmessage.data = sendjs;
//一个一个入队
QueueInstance.Instance.AddMyMessageList(pathmessage);
}
}
#endregion
}
else if (e.Type == MessageType.arrived)
{
#region
string strContent = e.Message;//Encoding.ASCII.GetString(bRecTmp, 1, receiveNumber - 1);
string mstr = System.DateTime.Now.ToString() + ":Arrive消息" + strContent + "\n";
QueueInstance.Instance.AddMessageShowList(mstr);
List <AGV_V1._0.SendData> jsonObj = new List <AGV_V1._0.SendData>();
//从第0个位置开始查找json数据对象
int start = strContent.IndexOf("{", 0);
int endx = strContent.IndexOf("}", 0);
while (start >= 0)
{
string str = strContent.Substring(start, endx - start + 1);
//对收到的消息进行处理
QueueInstance.Instance.AddYourMessageList(str);
start = strContent.IndexOf("{", endx);
endx = strContent.IndexOf("}", endx + 1);
}
#endregion
}
else if (e.Type == MessageType.msg)
{
}
else if (e.Type == MessageType.AgvFile)
{
// Response.Write(e.Message);
string agvpath = System.Configuration.ConfigurationManager.AppSettings["AGVPath"].ToString().Trim();
string[] xmlstr = new string[1];
xmlstr[0] = e.Message;
//System.IO.File.WriteAllLines(agvpath, xmlstr, Encoding.UTF8);
// System.IO.File.WriteAllLines(agvpath, xmlstr);
using (FileStream fswrite = new FileStream(agvpath, FileMode.Create, FileAccess.Write))
{
StreamWriter sw = new StreamWriter(fswrite);
sw.Write(e.Message);
sw.Flush();
sw.Close();
}
AgvLoad();
}
else if (e.Type == MessageType.mapFile)
{
// Response.Write(e.Message);
string mappath = System.Configuration.ConfigurationManager.AppSettings["MAPPath"].ToString().Trim();
string[] xmlstr = new string[1];
xmlstr[0] = e.Message;
//System.IO.File.WriteAllLines(agvpath, xmlstr, Encoding.UTF8);
System.IO.File.WriteAllLines(mappath, xmlstr);
MapLoad();
}
}
