/// <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>
/// 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>
/// 重新创建连接
/// </summary>
public void ReConnect()
{
try
{
//LastConnectTime = DateTime.Now;
if (Init())
{
CarBaseStateInfo car = new CarBaseStateInfo();
car.AgvID = this.DeviceID;
if (ReStart())
{
LastConnectTime = DateTime.Now;
}
else
{
//DelegateState.InvokeDispatchStateEvent("尝试连接" + this.DeviceID.ToString() + "车失败，将在1秒后重新尝试连接...");
//car.bIsCommBreak = true;
//DelegateState.InvokeCarFeedbackEvent(car);
}
}
}
catch (Exception ex)
{
LogHelper.WriteErrorLog(ex);
//DelegateState.InvokeDispatchStateEvent("尝试连接" + this.DeviceID.ToString() + "车异常，将在3秒后重新尝试连接...");
}
}
/// <summary>
/// 判断是否改变
/// </summary>
/// <param name="car"></param>
/// <returns></returns>
public bool IsChange(CarBaseStateInfo car)
{
if (/*CurrSite != car.CurrSite ||*/ ErrorMessage != car.ErrorMessage || bIsCommBreak != car.bIsCommBreak ||
((DateTime.Now - PreCoordinateTime).TotalMilliseconds > 500) || CarState != car.CarState)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 触发小车反馈消息时事件
/// </summary>
/// <param name="e"></param>
public static async void InvokeCarFeedbackEvent(CarBaseStateInfo e)
{
try
{
await Task.Factory.StartNew(() =>
{
CarFeedbackEvent?.Invoke(e);
});
}
catch (Exception ex)
{
LogHelper.WriteErrorLog(ex);
}
}
/// <summary>
/// 重新创建连接
/// </summary>
public void ReConnect()
{
try
{
//LastConnectTime = DateTime.Now;
if (Init())
{
CarBaseStateInfo car = new CarBaseStateInfo();
car.AgvID = this.DeviceID;
LastConnectTime = DateTime.Now;
ReStart();
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent("尝试连接" + this.DeviceID.ToString() + "车异常，将在3秒后重新尝试连接...");
}
}
private bool Valid()
{
try
{
if (gvDetail.FocusedRowHandle < 0)
{
return(true);
}
CarBaseStateInfo currCar = bsDetail[gvDetail.FocusedRowHandle] as CarBaseStateInfo;
if (currCar == null)
{
return(false);
}
if (string.IsNullOrEmpty(currCar.CarName))
{
MsgBox.ShowWarn("请维护车辆名称!");
return(false);
}
if (string.IsNullOrEmpty(currCar.CarIP.Trim()))
{
MsgBox.ShowWarn("请维护车辆IP!");
return(false);
}
if (string.IsNullOrEmpty(currCar.CarPort.Trim()))
{
MsgBox.ShowWarn("请维护车辆端口号!");
return(false);
}
if (string.IsNullOrEmpty(currCar.StandbyLandMark.Trim()))
{
MsgBox.ShowWarn("请维护车辆待命地标!");
return(false);
}
//LandmarkInfo land = AGVClientDAccess.LoadLandByCode(currCar.StandbyLandMark.Trim());
//if (land == null)
//{
// MsgBox.ShowWarn("车辆待命地标不存在!");
// return false;
//}
return(true);
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); return(false); }
}
/// <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>
/// 获取值
/// </summary>
/// <param name="car"></param>
/// <returns></returns>
public void GetValue(CarBaseStateInfo car)
{
X = car.X;
Y = car.Y;
JCState = car.JCState;
speed = car.speed;
Angel = car.Angel;
fVolt = car.fVolt;
PBSValue = car.PBSValue;
CurrSite = car.CurrSite;
CarState = car.CarState;
bIsCommBreak = car.bIsCommBreak;
IsUpLand = car.IsUpLand;
IsUpQCode = car.IsUpQCode;
ErrorMessage = car.ErrorMessage;
BangState = car.BangState;
IsNeedFinshTask = car.IsNeedFinshTask;
IsNeedRedoTask = car.IsNeedRedoTask;
}
private void btnAdd_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
try
{
gvDetail.CloseEditor();
if (bsDetail.Count > 0)
{
if (!Valid())
{
return;
}
}
CarBaseStateInfo newCar = new CarBaseStateInfo()
{
AgvID = bsDetail.Count + 1
};
bsDetail.Add(newCar);
bsDetail.MoveLast();
bsDetail.ResetBindings(false);
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
