示例#1
0
 /// <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();
     }
 }
示例#2
0
 /// <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);
     }
 }
示例#3
0
 public void AGV_AddCommand(int agvid, CommandToValue ctov)
 {
     try
     {
         Commer.AGV_AddControl(agvid, ctov);
     }
     catch (Exception ex)
     { LogHelper.WriteErrorLog(ex); }
 }
示例#4
0
 /// <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();
     }
 }
示例#5
0
 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);
     }
 }
示例#6
0
 /// <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");
     }
 }
示例#7
0
 /// <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");
     }
 }
示例#8
0
 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();
     }
 }
示例#9
0
 /// <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);
     }
 }
示例#10
0
        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);
        }
示例#11
0
        /// <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);
            }
        }