/// <summary>
/// AGV 装货中
/// </summary>
/// <param name="id"></param>
/// <param name="agv"></param>
public void SubmitAgvLoading(int id, string agv)
{
try
{
// 获取对应AGV任务资讯
String sql = String.Format(@"select * from wcs_agv_info where MAGIC = '{0}' and ID = '{1}' and AGV = '{2}'", AGVMagic.到达装货点, id.ToString(), agv);
DataTable dt = DataControl._mMySql.SelectAll(sql);
if (DataControl._mStools.IsNoData(dt))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("SubmitNDCPlcLoading()", "AGV装货中[AGV任务ID，AGV设备号]", id.ToString(), agv, "找不到对应AGV任务资讯！");
return;
}
WCS_AGV_INFO info = dt.ToDataEntity <WCS_AGV_INFO>();
// 生成包装线固定辊台指令
FRT frt = new FRT(info.PICKSTATION);
// 获取指令-- 反向送货
byte[] order = FRT._RollerControl(frt.FRTNum(), FRT.RollerRunAll, FRT.RunObverse, FRT.GoodsDeliver, FRT.GoodsQty1);
// 加入任务作业链表
WCS_TASK_ITEM item = new WCS_TASK_ITEM()
{
ITEM_ID = "包装线送货",
WCS_NO = info.TASK_UID,
ID = info.ID,
DEVICE = info.PICKSTATION,
LOC_TO = info.AGV
};
DataControl._mTaskControler.StartTask(new AGVFRTTack(item, DeviceType.固定辊台, order));
}
catch (Exception ex)
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("SubmitNDCPlcLoading()", "AGV装货中[AGV任务ID，AGV设备号]", id.ToString(), agv, ex.ToString());
}
}
public FRTDeviceModel(string devid, string area)
{
frt = new FRT(devid);
DeviceID = devid;
Area = area;
Update();
}
/// <summary>
/// 终止任务
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TerminateBtn_Click(object sender, RoutedEventArgs e)
{
try
{
if (CBdev.SelectedIndex == -1)
{
Notice.Show("请选择设备！", "提示", 3, MessageBoxIcon.Info);
return;
}
string dev = CBdev.Text;
FRT frt = new FRT(dev);
if (frt.DeviceStatus() == FRT.DeviceError)
{
Notice.Show("指令发送失败：设备故障！", "错误", 3, MessageBoxIcon.Error);
return;
}
byte[] order = FRT._StopTask(frt.FRTNum());
if (!DataControl._mSocket.SendToClient(dev, order, out string result))
{
Notice.Show("指令发送失败：" + result.ToString(), "错误", 3, MessageBoxIcon.Error);
return;
}
Notice.Show("终止任务 指令发送成功！", "成功", 3, MessageBoxIcon.Success);
DataControl._mSocket.SwithRefresh(dev, true);
}
catch (Exception ex)
{
Notice.Show("指令发送失败：" + ex.ToString(), "错误", 3, MessageBoxIcon.Error);
}
}
public FRTTack(WCS_TASK_ITEM item, string deviceType, byte[] order) : base(item, deviceType, order)
{
_device = new FRT(ITEM.DEVICE);
log = new Log("Task_FRT-" + ITEM.ID + "-");
// 记录生成指令LOG
log.LOG(DataControl._mTaskTools.GetLogMessC(item, order));
}
public AGVFRTTack(WCS_TASK_ITEM item, string deviceType, byte[] order) : base(item, deviceType, order)
{
_device = new FRT(ITEM.DEVICE);
log = new Log("AGV_FRT-" + ITEM.ID + "-");
// 记录生成指令LOG
log.LOG(String.Format(@"【CreatOrder】{0}：WMS任务ID[ {1} ]，AGV任务ID[ {2} ]，设备号[ {3} ], 指令[ {4} ].",
item.ITEM_ID, item.WCS_NO, item.ID, item.DEVICE, DataControl._mStools.BytetToString(order)));
}
/// <summary>
/// 连接网络设备
/// </summary>
public void LinkDevicesClient()
{
try
{
// 清空设备
DataControl._mSocket.Close();
// 获取设备设定档资讯
String sql = "select * from wcs_config_device where FLAG <> 'N' order by CREATION_TIME";
DataTable dt = DataControl._mMySql.SelectAll(sql);
if (DataControl._mStools.IsNoData(dt))
{
return;
}
List <WCS_CONFIG_DEVICE> devList = dt.ToDataList <WCS_CONFIG_DEVICE>();
// 遍历加入网络设备
foreach (WCS_CONFIG_DEVICE dev in devList)
{
byte[] refreshB = null;
switch (dev.TYPE)
{
case DeviceType.固定辊台:
refreshB = FRT._GetData();
break;
case DeviceType.摆渡车:
refreshB = ARF._GetData();
break;
case DeviceType.行车:
refreshB = ABC._GetData();
break;
case DeviceType.运输车:
refreshB = RGV._GetData();
break;
default:
continue;
}
if (!DataControl._mSocket.AddClient(dev.DEVICE, dev.IP, dev.PORT, refreshB, out string result))
{
throw new Exception(result);
}
}
}
catch (Exception ex)
{
// 记录LOG
RecordTaskErrLog("LinkDevicesClient()", "连接网络设备", null, null, ex.ToString());
MessageBox.Show("连接网络设备发生异常：" + ex.ToString(), "Error");
System.Environment.Exit(0);
}
}
/// <summary>
/// 终止任务
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TerminateBtn_Click(object sender, RoutedEventArgs e)
{
string dev = "";
byte[] order = null;
try
{
if (CBdev.SelectedIndex == -1)
{
Notice.Show("请选择设备！", "提示", 3, MessageBoxIcon.Info);
return;
}
dev = CBdev.Text;
FRT frt = new FRT(dev);
if (frt.DeviceStatus() == FRT.DeviceError)
{
Notice.Show("指令发送失败：设备故障！", "错误", 3, MessageBoxIcon.Error);
return;
}
order = FRT._StopTask(frt.FRTNum());
if (!DataControl._mSocket.SendToClient(dev, order, out string result))
{
Notice.Show("指令发送失败：" + result.ToString(), "错误", 3, MessageBoxIcon.Error);
// LOG
DataControl._mTaskTools.RecordTaskErrLog("TerminateBtn_Click()", "固定辊台-终止任务[FRT,指令]", dev, DataControl._mStools.BytetToString(order), result.ToString());
return;
}
Notice.Show("终止任务 指令发送成功！", "成功", 3, MessageBoxIcon.Success);
DataControl._mSocket.SwithRefresh(dev, true);
}
catch (Exception ex)
{
Notice.Show("指令发送失败：" + ex.Message, "错误", 3, MessageBoxIcon.Error);
// LOG
DataControl._mTaskTools.RecordTaskErrLog("TerminateBtn_Click()", "固定辊台-终止任务[FRT,指令]", dev, DataControl._mStools.BytetToString(order), ex.Message);
}
}
/// <summary>
/// 启动辊台
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BTNrun_Click(object sender, EventArgs e)
{
string dev = "";
byte[] order = null;
try
{
if (CBdev.SelectedIndex == -1)
{
Notice.Show("请选择设备！", "提示", 3, MessageBoxIcon.Info);
return;
}
dev = CBdev.Text;
FRT frt = new FRT(dev);
if (frt.ActionStatus() == FRT.Run)
{
Notice.Show("指令发送失败：设备运行中！", "错误", 3, MessageBoxIcon.Error);
return;
}
if (frt.DeviceStatus() == FRT.DeviceError)
{
Notice.Show("指令发送失败：设备故障！", "错误", 3, MessageBoxIcon.Error);
return;
}
if (!WindowCommon.ConfirmAction("是否进行[滚筒启动任务]！！"))
{
return;
}
// 方式
byte site1 = FRT.RollerRun1;
if (CBsite1.SelectedValue.ToString() == "启动2#辊台")
{
site1 = FRT.RollerRun2;
}
if (CBsite1.SelectedValue.ToString() == "启动全部辊台")
{
site1 = FRT.RollerRunAll;
}
// 方向
byte site2 = FRT.RunFront;
if (CBsite2.SelectedValue.ToString() == "反向启动")
{
site2 = FRT.RunObverse;
}
// 类型
byte site3 = FRT.GoodsReceive;
if (CBsite3.SelectedValue.ToString() == "送货")
{
site3 = FRT.GoodsDeliver;
}
// 数量
byte site4 = FRT.GoodsQty1;
if (CBsite4.SelectedValue.ToString() == "货物数量2")
{
site4 = FRT.GoodsQty2;
}
order = FRT._RollerControl(frt.FRTNum(), site1, site2, site3, site4);
DataControl._mSocket.SwithRefresh(dev, false);
if (!DataControl._mSocket.SendToClient(dev, order, out string result))
{
DataControl._mSocket.SwithRefresh(dev, true);
Notice.Show("指令发送失败：" + result.ToString(), "错误", 3, MessageBoxIcon.Error);
// LOG
DataControl._mTaskTools.RecordTaskErrLog("BTNrun_Click()", "固定辊台-启动辊台任务[FRT,指令]", dev, DataControl._mStools.BytetToString(order), result.ToString());
return;
}
Notice.Show("启动辊台 指令发送成功！", "成功", 3, MessageBoxIcon.Success);
}
catch (Exception ex)
{
Notice.Show("指令发送失败：" + ex.Message, "错误", 3, MessageBoxIcon.Error);
// LOG
DataControl._mTaskTools.RecordTaskErrLog("BTNrun_Click()", "固定辊台-启动辊台任务[FRT,指令]", dev, DataControl._mStools.BytetToString(order), ex.Message);
}
}
/// <summary>
/// 生成对应辊台任务指令
/// </summary>
/// <param name="agv"></param>
public void CreatOrderTask(WCS_AGV_INFO agv)
{
try
{
// 按任务当前状态处理
switch (Convert.ToInt32(agv.MAGIC))
{
case AGVMagic.到达装货点:
// 获取对应包装线固定辊台资讯
FRT frt = new FRT(agv.PICKSTATION);
// 是否作业中
if (frt.CurrentStatus() != FRT.RollerStop)
{
return;
}
// 是否存在货物
//if (frt.GoodsStatus() == FRT.GoodsYesAll)
if (frt.GoodsStatus() == FRT.GoodsYesAll || PublicParam.IsIgnoreFRT) //add调试判断
{
// 分配 WMS TASK
if (String.IsNullOrEmpty(agv.TASK_UID.Trim()))
{
// 获取WMS TASK ID
String sql = String.Format(@"select TASK_UID from wcs_task_info where TASK_TYPE = '{0}' and W_S_LOC = '{1}' and TASK_UID not in
(select DISTINCT TASK_UID from wcs_agv_info where TASK_UID is not null)", TaskType.AGV搬运, DataControl._mTaskTools.GetArea(agv.PICKSTATION));
DataTable dt = DataControl._mMySql.SelectAll(sql);
if (DataControl._mStools.IsNoData(dt))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task！");
return;
}
// 更新AGV任务资讯-- WMS TASK ID
agv.TASK_UID = dt.Rows[0]["TASK_UID"].ToString();
sql = String.Format(@"update wcs_agv_info set TASK_UID = '{1}' where ID = '{0}'", agv.ID, agv.TASK_UID);
DataControl._mMySql.ExcuteSql(sql);
}
// 分配卸货点
if (agv.UPDATE_TIME == null)
{
// 获取 WMS 任务目标点
String sqlloc = String.Format(@"select distinct DEVICE from wcs_config_device where FLAG in('{1}','{2}') and TYPE = '{3}'
and AREA in (select W_D_LOC from wcs_task_info where TASK_UID = '{0}')
and DEVICE in (select distinct DROPSTATION From wcs_agv_info where MAGIC <> {4} group by DROPSTATION HAVING count(DROPSTATION) < {5})
order by FLAG,CREATION_TIME", agv.TASK_UID, DeviceFlag.占用, DeviceFlag.空闲, DeviceType.固定辊台, AGVMagic.任务完成, 3);//最多三辆车
DataTable dtloc = DataControl._mMySql.SelectAll(sqlloc);
if (DataControl._mStools.IsNoData(dtloc))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task 目标位置！");
return;
}
// 更新AGV任务资讯-- 卸货点
agv.DROPSTATION = dtloc.Rows[0]["DEVICE"].ToString();
sqlloc = String.Format(@"update wcs_agv_info set UPDATE_TIME = NOW(), DROPSTATION = '{1}' where ID = '{0}';
update wcs_config_device set FLAG = '{2}' where DEVICE = '{1}'", agv.ID, agv.DROPSTATION, DeviceFlag.占用);
DataControl._mMySql.ExcuteSql(sqlloc);
// 发送 NDC 更新点位
UpdateAGVStation(agv.ID, agv.DROPSTATION);
}
// 发指令请求AGV启动辊台装货
if (!DataControl._mNDCControl.DoLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString());
return;
}
}
break;
case AGVMagic.到达卸货点:
// 获取对应包装线固定辊台资讯
FRT frtdrop = new FRT(agv.DROPSTATION);
// 是否作业中
if (frtdrop.CurrentStatus() != FRT.RollerStop)
{
// 当已启动辊台
if (frtdrop.CurrentTask() == FRT.TaskTake && (frtdrop.CurrentStatus() == FRT.RollerRun1 || frtdrop.CurrentStatus() == FRT.RollerRunAll))
{
// 发指令请求AGV启动辊台装货
if (!DataControl._mNDCControl.DoUnLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString());
return;
}
}
return;
}
else // 未启动辊台
{
byte[] order = null;
// 当辊台都无货
//if (frtdrop.GoodsStatus() == FRT.GoodsNoAll)
if (frtdrop.GoodsStatus() == FRT.GoodsNoAll || PublicParam.IsIgnoreFRT) //add调试判断
{
// 获取指令-- 启动所有辊台 正向接货
order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRunAll, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1);
}
// 当仅2#辊台有货
else if (frtdrop.GoodsStatus() == FRT.GoodsYes2)
{
// 获取指令-- 只启动1#辊台 正向接货
order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRun1, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1);
}
// 加入任务作业链表
WCS_TASK_ITEM item = new WCS_TASK_ITEM()
{
ITEM_ID = "库区接货",
WCS_NO = agv.TASK_UID,
ID = agv.ID,
DEVICE = agv.DROPSTATION,
LOC_FROM = agv.AGV
};
DataControl._mTaskControler.StartTask(new AGVFRTTack(item, DeviceType.固定辊台, order));
}
break;
default:
return;
}
}
catch (Exception ex)
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", ex.ToString());
}
}
/// <summary>
/// 启动辊台
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BTNrun_Click(object sender, EventArgs e)
{
try
{
if (CBdev.SelectedIndex == -1)
{
Notice.Show("请选择设备！", "提示", 3, MessageBoxIcon.Info);
return;
}
string dev = CBdev.Text;
FRT frt = new FRT(dev);
if (frt.ActionStatus() == FRT.Run)
{
Notice.Show("指令发送失败：设备运行中！", "错误", 3, MessageBoxIcon.Error);
return;
}
if (frt.DeviceStatus() == FRT.DeviceError)
{
Notice.Show("指令发送失败：设备故障！", "错误", 3, MessageBoxIcon.Error);
return;
}
// 方式
byte site1 = FRT.RollerRun1;
if (CBsite1.SelectedValue.ToString() == "启动2#辊台")
{
site1 = FRT.RollerRun2;
}
if (CBsite1.SelectedValue.ToString() == "启动全部辊台")
{
site1 = FRT.RollerRunAll;
}
// 方向
byte site2 = FRT.RunFront;
if (CBsite2.SelectedValue.ToString() == "反向启动")
{
site2 = FRT.RunObverse;
}
// 类型
byte site3 = FRT.GoodsReceive;
if (CBsite3.SelectedValue.ToString() == "送货")
{
site3 = FRT.GoodsDeliver;
}
// 数量
byte site4 = FRT.GoodsQty1;
if (CBsite4.SelectedValue.ToString() == "货物数量2")
{
site4 = FRT.GoodsQty2;
}
byte[] order = FRT._RollerControl(frt.FRTNum(), site1, site2, site3, site4);
if (!DataControl._mSocket.SendToClient(dev, order, out string result))
{
Notice.Show("指令发送失败：" + result.ToString(), "错误", 3, MessageBoxIcon.Error);
return;
}
Notice.Show("启动辊台 指令发送成功！", "成功", 3, MessageBoxIcon.Success);
DataControl._mSocket.SwithRefresh(dev, false);
}
catch (Exception ex)
{
Notice.Show("指令发送失败：" + ex.ToString(), "错误", 3, MessageBoxIcon.Error);
}
}
public override void DoWork()
{
try
{
// 异常
if (_device.DeviceStatus() == ARF.DeviceError || _device.CommandStatus() == ARF.CommandError)
{
ISetTaskErr();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, "设备故障或命令错误."));
return;
}
// 对接任务
if (ITEM.ITEM_ID.Substring(0, 2) == "11")
{
#region 调试
if (PublicParam.IsIgnoreARF) //add调试判断
{
if (_device.ActionStatus() == ARF.Stop)
{
// 发送指令
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
else
{
Thread.Sleep(5000);
// 完成任务
ISetTaskSuc();
// 解锁设备数据状态
DataControl._mTaskTools.DeviceUnLock(ITEM.DEVICE);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
}
return;
}
#endregion
if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货
{
// 获取目标设备类型
String typeTo = DataControl._mTaskTools.GetDeviceType(ITEM.LOC_TO);
// 摆渡车对接 固定辊台/运输车
switch (typeTo)
{
case DeviceType.固定辊台:
FRT _frt = new FRT(ITEM.LOC_TO);
// 固定辊台停止状态
if (_frt.CurrentStatus() == FRT.RollerStop)
{
// 固定辊台上无货物
if (_frt.GoodsStatus() == FRT.GoodsNoAll)
{
return;
}
}
else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop &&
_frt.GoodsStatus() == FRT.GoodsYesAll && _frt.ActionStatus() == FRT.Stop)
{
return; // 摆渡车与摆渡车都有货，不启动辊台
}
break;
case DeviceType.运输车:
RGV _rgv = new RGV(ITEM.LOC_TO);
// 运输车辊台停止状态
if (_rgv.CurrentStatus() == RGV.RollerStop)
{
// 运输车辊台上无货物
if (_rgv.GoodsStatus() == RGV.GoodsNoAll)
{
return;
}
}
else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop &&
_rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop)
{
return; // 摆渡车与运输车都有货，不启动辊台
}
break;
default:
break;
}
// 摆渡车无货物
if (_device.GoodsStatus() == ARF.GoodsNoAll && _device.ActionStatus() == ARF.Stop)
{
// 完成任务
ISetTaskSuc();
// 解锁设备数据状态
DataControl._mTaskTools.DeviceUnLock(ITEM.DEVICE);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
}
else
{
// 获取目标设备类型
String typeFrom = DataControl._mTaskTools.GetDeviceType(ITEM.LOC_FROM);
// 摆渡车对接 固定辊台/运输车
switch (typeFrom)
{
case DeviceType.固定辊台:
FRT _frt = new FRT(ITEM.LOC_FROM);
// 固定辊台上无货物,摆渡车辊台上有货物
if (_frt.GoodsStatus() == FRT.GoodsNoAll && _device.GoodsStatus() != ARF.GoodsNoAll && _device.ActionStatus() == ARF.Stop)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop &&
_frt.GoodsStatus() == FRT.GoodsYesAll && _frt.ActionStatus() == FRT.Stop)
{
return; // 摆渡车与摆渡车都有货，不启动辊台
}
break;
case DeviceType.运输车:
RGV _rgv = new RGV(ITEM.LOC_FROM);
// 运输车辊台上无货物,摆渡车辊台上有货物
if (_rgv.GoodsStatus() == FRT.GoodsNoAll && _device.GoodsStatus() != ARF.GoodsNoAll)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop &&
_rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop)
{
return; // 摆渡车与运输车都有货，不启动辊台
}
break;
default:
break;
}
}
// 发送指令
if (_device.ActionStatus() == ARF.Stop)
{
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
}
// 定位任务
else
{
// 发送指令
if (_device.ActionStatus() == ARF.Stop)
{
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
// 当前位置与目的位置一致 视为任务完成
if (_device.CurrentSite() == Convert.ToInt32(ITEM.LOC_TO) && _device.ActionStatus() == ARF.Stop)
{
// 等待对接
ISetTaskWait();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessW(ITEM, Order));
return;
}
}
}
catch (Exception ex)
{
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, ex.ToString()));
}
}