public void AGVThreadFunc(object obj)
{
try
{
AGVStatus lastModel = null;
int ID = Convert.ToInt16(obj);
int[] XmlIndex = getXmlIndex(ID);
PostiveLineArr = AGVStatusBLL.getPostiveLine();
platFormDic = AGVStatusBLL.getPlatFormLine();
PlatFormIndex = getPlatFormXmlIndex(PlatFormCount);
bool isfirst = true;
while (true)
{
if (IsStart)
{
AGVStatus thisModel = AGVStatusBLL.GetAgvModel(ID);
if (thisModel != null)
{
setCarData(lastModel, thisModel, XmlIndex);
lastModel = thisModel;
}
}
Thread.Sleep(ThreadTime);
}
}
catch (Exception ex)
{
throw ex;
}
}
//1 取货 2放货 0未完成 1完成
private void setPlatForm(AGVStatus thisData, AGVStatus lastData)
{
if ((lastData == null && thisData != null) || (thisData.target != lastData.target && thisData.taskstate != lastData.taskstate))
{
if (thisData.taskstate == 1)
{
if (thisData.complatestate == 1)
{
ComTCPLib.SetOutputAsUINT(1, PlatFormIndex[int.Parse(thisData.target) - 1], 0);
}
else
{
ComTCPLib.SetOutputAsUINT(1, PlatFormIndex[int.Parse(thisData.target) - 1], 1);
}
}
else if (thisData.taskstate == 2)
{
if (thisData.complatestate == 1)
{
ComTCPLib.SetOutputAsUINT(1, PlatFormIndex[int.Parse(thisData.target) - 1], 1);
}
else
{
ComTCPLib.SetOutputAsUINT(1, PlatFormIndex[int.Parse(thisData.target) - 1], 0);
}
}
}
}
private void Form1_Load(object sender, EventArgs e)
{
Control.CheckForIllegalCrossThreadCalls = false;
TcpConnectorCar1 = new TCPConnector("192.168.10.107", 7171);
TcpConnectorCar2 = new TCPConnector("192.168.10.84", 7171);
TcpConnectorEM = new TCPConnector("192.168.10.81", 7171);
car1Status = new AGVStatus(true, "Car1");
car2Status = new AGVStatus(true, "Car2");
EMStatus = new AGVStatus(false, "EM");
TcpConnectorCar1.MessageReceived += car1Status.Analyze;
TcpConnectorCar1.MessageReceived += SetControlObjectStatus;
TcpConnectorCar1.MessageReceived += DisplayInformation;
TcpConnectorCar2.MessageReceived += car2Status.Analyze;
TcpConnectorCar2.MessageReceived += SetControlObjectStatus;
TcpConnectorCar2.MessageReceived += DisplayInformation;
TcpConnectorEM.MessageReceived += EMStatus.Analyze;
TcpConnectorEM.MessageReceived += DisplayInformation;
loginThread = new Thread(new ThreadStart(AGVLogin));
loginThread.Start();
}
public static List <AGVStatus> DataTableToAgvList(DataTable dt)
{
List <AGVStatus> modelList = new List <AGVStatus>();
int rowsCount = dt.Rows.Count;
if (rowsCount > 0)
{
AGVStatus model;
for (int n = 0; n < rowsCount; n++)
{
model = new AGVStatus();
if (dt.Rows[n]["id"].ToString() != "")
{
model.id = uint.Parse(dt.Rows[n]["id"].ToString());
}
if (dt.Rows[n]["line"].ToString() != "")
{
model.line = dt.Rows[n]["line"].ToString();
}
if (dt.Rows[n]["carstate"].ToString() != "")
{
model.carstate = uint.Parse(dt.Rows[n]["carstate"].ToString());
}
if (dt.Rows[n]["palletstate"].ToString() != "")
{
model.palletstate = uint.Parse(dt.Rows[n]["palletstate"].ToString());
}
if (dt.Rows[n]["source"].ToString() != "")
{
model.source = dt.Rows[n]["source"].ToString();
}
if (dt.Rows[n]["target"].ToString() != "")
{
model.target = dt.Rows[n]["target"].ToString();
}
if (dt.Rows[n]["taskstate"].ToString() != "")
{
model.taskstate = uint.Parse(dt.Rows[n]["taskstate"].ToString());
}
if (dt.Rows[n]["complatestate"].ToString() != "")
{
model.complatestate = uint.Parse(dt.Rows[n]["complatestate"].ToString());
}
modelList.Add(model);
}
}
return(modelList);
}
private void setCarData(AGVStatus lastData, AGVStatus thisData, int[] xmlIndex)
{
int CarXmlIndex_line = xmlIndex[3];
int CarXmlIndex_carstate = xmlIndex[1];
int CarXmlIndex_palletstate = xmlIndex[5];
int CarXmlIndex_taskstate = xmlIndex[4];
int CarXmlIndex_dir = xmlIndex[0];
int CarXmlIndex_islastline = xmlIndex[2];
if (lastData == null)
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_line, UInt32.Parse(thisData.line));
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_palletstate, thisData.palletstate);
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_taskstate, thisData.taskstate);
if (PostiveLineArr.Contains(thisData.line.ToString()))
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_dir, 1);
}
else
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_dir, 0);
}
string Platlines = platFormDic[thisData.target];
if (Platlines != null && Platlines.Split(',').Contains(thisData.line))
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_islastline, 1);
}
else
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_islastline, 0);
}
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_carstate, thisData.carstate);
setPlatForm(thisData, lastData);
}
else if (!thisData.Equals(lastData))
{
if (thisData.line != lastData.line)
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_line, UInt32.Parse(thisData.line));
if (PostiveLineArr.Contains(thisData.line.ToString()))
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_dir, 1);
}
else
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_dir, 0);
}
}
if (thisData.palletstate != lastData.palletstate)
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_palletstate, thisData.palletstate);
}
if (thisData.taskstate != lastData.taskstate)
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_taskstate, thisData.taskstate);
}
if (thisData.target != lastData.target)
{
string Platlines = platFormDic[thisData.target];
if (Platlines != null && Platlines.Split(',').Contains(thisData.line))
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_islastline, 1);
}
else
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_islastline, 0);
}
}
if (thisData.carstate != lastData.carstate)
{
ComTCPLib.SetOutputAsUINT(1, CarXmlIndex_carstate, thisData.carstate);
}
setPlatForm(thisData, lastData);
}
}
private void AGVThreadFunc(object obj)
{
int index = Convert.ToInt32(obj);
bool tmp = false;
while (true)
{
#region 临时使用，正式使用时去掉
if (tmp == false)
{
if (index == 2)
{
if (agvTempLine[3] > 0)
{
tmp = true;
}
}
else if (index == 1)
{
if (agvTempLine[2] > 0)
{
tmp = true;
}
}
else
{
tmp = true;
}
}
#endregion
if (isStart && tmp)
{
//数据库最新数据
AGVStatus model = AGVStatusBLL.GetModel(index);
if (model.position == -1)
{
//内存数据
//OCSStatus oldModel = ocsModelList.Find(s => s.carId == index);
int i = agvModelList.FindIndex(s => s.carId == index);
//初始
if (i == -1)
{
int count = AGVStatusBLL.getCountByLine(model.line);
agvCarPos[index] = (count - model.sequence) * agvCarWidth + agvStartPos;
agvModelList.Add(model);
}
else
{
//驱动段改变
if (agvModelList[i].line != model.line)
{
if (model.direction == 1)
{
agvCarPos[index] = agvStartPos;
}
else
{
agvCarPos[index] = agvLineLength[int.Parse(model.line)] - agvStartPos;
}
}
else
{
if (model.direction == 1)
{
if (agvCarPos[index] < agvLineLength[int.Parse(model.line)])
{
agvCarPos[index] += agvSpeed;
}
}
else if (model.direction == 2)
{
if (agvCarPos[index] - agvSpeed < agvEndPos)
{
agvCarPos[index] = agvEndPos;
}
else
{
agvCarPos[index] -= agvSpeed;
}
}
}
agvModelList[i] = model;
}
}
else
{
agvCarPos[index] = float.Parse(model.position.ToString());
}
int index1 = GetIdex.getDicOutputIndex("agvCar" + index + "01_input_pos");
ComTCPLib.SetOutputAsREAL32(handle, index1, float.Parse(agvCarPos[index].ToString()));
index1 = GetIdex.getDicOutputIndex("agvCar" + index + "01_input_Path");
ComTCPLib.SetOutputAsINT(handle, index1, int.Parse(model.line.ToString()));
}
Thread.Sleep(ocsThreadTime);
}
}
