/// <summary>
/// 小车Carwash需要重定向
/// </summary>
/// <param name="message"></param>
private void DoCarWashReDirect(Message_s message)
{
int index = message.Index;
int car = message.Magic2;
NDCItem item = Items.Find(c => c.CARRIERID == car && c._mTask.PAUSE && c._mTask.HADLOAD);
if (item == null)
{
string msg = "找不到挂起的小车（" + car + "）任务";
_NoticeMsg(msg);
log.LOG(msg);
}
else
{
item.ReUseAfterCarWash(index);
if (item._mTask.NDCREDIRECTSITE == "")
{
string msg = "Carwash原任务" + item._mTask.TASKID + "没有重定向信息！";
_NoticeMsg(msg);
log.LOG(msg);
return;
}
DoRedirect(index, item._mTask.NDCREDIRECTSITE);
}
}
/// <summary>
/// 更新S消息
/// </summary>
/// <param name="message"></param>
public override void UpdateItem(Message_s message)
{
try
{
NDCItem ndcItem = Items.Find(c => { return(c._mTask.ORDERINDEX == message.Index); });
if (ndcItem == null)
{
ndcItem = new NDCItem
{
CarrierId = message.CarrierNumber
};
ndcItem._mTask.ORDERINDEX = message.Index;
Items.Add(ndcItem);
}
ndcItem.SetSMessage(message);
if (ndcItem.StatusInfo != "")
{
log.LOG(ndcItem.StatusInfo);
}
CheckMagic(ndcItem, message);
CheckCanUpdateTaskList(ndcItem);
///通知并更新WCS
//if(ndcItem.TaskID !=0 ) DataControl._mForAGVControl.SubmitAgvMagic(ndcItem.TaskID, ndcItem.CarrierId+"", ndcItem.Magic);
}catch (Exception e)
{
Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
/// <summary>
/// 更新S消息
/// </summary>
/// <param name="message"></param>
public void SetSMessage(Message_s message)
{
s.OrderIndex = message.Index;
s.TransportStructure = message.TransportStructure;
Magic = message.Magic;
s.Magic1 = message.Magic;
s.Magic2 = message.Magic2;
s.Magic3 = message.Magic3;
s.CarrierId = message.CarrierNumber;
s.Station = message.CarrierStation;
StatusInfo = s.ToString();
}
/// <summary>
/// 更新S消息
/// </summary>
/// <param name="message"></param>
internal override void UpdateItem(Message_s message)
{
try
{
//找出被挂起的任务的重定向站点，重新重定向任务
if (message.Magic == 32) //32 Carwash sends this request
{ //TODO Carwash 重定向
DoCarWashReDirect(message);
return;
}
NDCItem ndcItem = Items.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem == null)
{
ndcItem = TempItems.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem != null)
{
ndcItem.CARRIERID = message.CarrierNumber;
}
else
{
ndcItem = new NDCItem();
ndcItem.CARRIERID = message.CarrierNumber;
ndcItem._mTask.NDCINDEX = message.Index;
TempItems.Add(ndcItem);
}
}
ndcItem.SetSMessage(message);
if (ndcItem.StatusInfo != "")
{
Console.WriteLine(ndcItem.StatusInfo);
log.LOG(ndcItem.StatusInfo);
}
CheckMagic(ndcItem, message);
_NoticeUpdate(ndcItem);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
public void Message_sTest()
{
//"002300000000000000020000000100000001562899EE00001C20000000000000000000000100000000060000000000000000";
//Arange
byte[] data = new byte[] { 0x00, 0x25, 0x11, 0xFF, 0x00, 0x01, 0x00, 0x02, 0xC8, 0x00, 0x11, 0x22, 0x10, 0x00, 0x00, 0x03, 0x00, 0x20,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x20 };
ushort type = 's';
//Act
IACIMessage message = MessageParser.Parse(type, data);
Message_s msg = (Message_s)message;
//Assert
Assert.AreEqual(msg.Index, 37);
Assert.AreEqual(msg.TransportStructure, 17);
Assert.AreEqual(msg.Status, 255);
Assert.AreEqual(msg.Magic, 1);
Assert.AreEqual(msg.CarrierNumber, 200);
Assert.AreEqual(msg.CarrierStatus, 0x1122);
Assert.AreEqual(msg.CarrierStation, 0x1000);
Assert.AreEqual(msg.Values[(msg.NoVal - 1)], 32);
}
internal abstract void UpdateItem(Message_s m);
/// <summary>
/// Event when Recive Data From System Manager
/// </summary>
/// <param name="msg"></param>
private void Instance_ReciveData(IACIMessage msg)
{
if (!systemHalted)
{
if (msg.Type == "s")
{
Message_s s_response = (Message_s)msg;
int index = s_response.Index; //任务序列 (SM返回)
int phase = s_response.Magic; //任务的阶段标识（相当于顺序)
#region Send the phase back to SM
if (s_response.Magic == 1)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 2)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 4)//到达接货
{
SendNewM(index, phase);
}
else if (s_response.Magic == 6)//接货完成，由重新定位返回数据
{
SendNewM(index, phase);
}
else if (s_response.Magic == 8)//到达卸货
{
SendNewM(index, phase);
}
else if (s_response.Magic == 10)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 11)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 48)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 49)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 50)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 143)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 254)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 255)
{
SendNewM(index, phase);
}
#endregion
UpdateItem(s_response);
}
else if (msg.Type == "b")
{
Message_b b_response = (Message_b)msg;
UpdateItem(b_response);
}
else if (msg.Type == "<")//改写PLC的结果返回
{
Message_vpil v_response = (Message_vpil)msg;
//MessageBox.Show(string.Format("成功改写Data{0},改写的值为{1}", v_response.PlcLp1 + 1, v_response.Value1));
UpdateItem(v_response);
}
}
}
/// <summary>
/// 检查任务进程
/// </summary>
/// <param name="index"></param>
/// <param name="magic"></param>
private void CheckMagic(NDCItem item, Message_s s)
{
int index = item._mTask.NDCINDEX;
switch (item.Magic)
{
case 2: //确定生成任务
item._mTask.NDCLOADSITE = s.Magic2 + "";
item._mTask.NDCUNLOADSITE = s.Magic3 + "";
break;
case 5:
#region 小车到达接货点
if (item.DirectStatus != NDCItemStatus.HasDirectInfo)
{
item.DirectStatus = NDCItemStatus.CanRedirect;
}
if (!ReDirectList.Contains(item._mTask.NDCINDEX))
{
ReDirectList.Add(item._mTask.NDCINDEX);
}
//准备好装货了
item.PLCStatus = NDCPlcStatus.LoadReady;
#endregion
break;
case 6:
#region 小车接货完成
if (item.DirectStatus == NDCItemStatus.CanRedirect || item.DirectStatus == NDCItemStatus.Init)
{
if (item.HadDirectInfo)
{
item.DirectStatus = NDCItemStatus.HasDirectInfo;
}
else
{
item.DirectStatus = NDCItemStatus.NeedRedirect;
}
}
if (!ReDirectList.Contains(item._mTask.NDCINDEX))
{
ReDirectList.Add(item._mTask.NDCINDEX);
}
//装货完成
item.PLCStatus = NDCPlcStatus.Loaded;
item._mTask.HADLOAD = true;
if (item.DirectStatus == NDCItemStatus.NeedRedirect)
{
_NoticeRedirect(item);
}
#endregion
break;
case 254: //重新定位成功
item.DirectStatus = NDCItemStatus.Redirected;
ReDirectList.Remove(item._mTask.NDCINDEX);
break;
case 9: //到达卸货点
//准备好卸货了
item.PLCStatus = NDCPlcStatus.UnloadReady;
break;
case 10: //卸货完成
item.PLCStatus = NDCPlcStatus.Unloaded;
item._mTask.HADUNLOAD = true;
break;
case 255: //取消任务
case 48: //取消任务
if (!item.CancleFromSystem) //Carwash
{
item._mTask.PAUSE = true;
}
break;
case 11: //任务完成
if (item.PLCStatus != NDCPlcStatus.Unloaded && item._mTask.PAUSE)
{
item.IsFinish = false;
//装货前 取消任务不用恢复，只需重新呼叫AGV
if (!item._mTask.HADLOAD && !item._mTask.HADUNLOAD)
{
item.BeforeReCall(Ikey++);
DoStartOrder(item);
log.LOG(item._mTask.TASKID + ":任务车出现问题，现在重新呼叫AGV");
}
}
else
{
item.IsFinish = true;
item.finishTime = DateTime.Now;
}
break;
default:
break;
}
MatchTempInfo(item);
}
public abstract void UpdateItem(Message_s m);
/// <summary>
/// 检查任务进程
/// </summary>
/// <param name="index"></param>
/// <param name="magic"></param>
private void CheckMagic(NDCItem item, Message_s s)
{
int index = item._mTask.ORDERINDEX;
switch (item.Magic)
{
case 2: //确定生成任务
item._mTask.NDCLOADSITE = item.s.Magic2 + "";
item._mTask.NDCUNLOADSITE = item.s.Magic3 + "";
break;
case 4: //小车到达接货点
if (item.DirectStatus != NDCItemStatus.HasDirectInfo)
{
item.DirectStatus = NDCItemStatus.CanRedirect;
}
if (!ReDirectList.Contains(item._mTask.ORDERINDEX))
{
ReDirectList.Add(item._mTask.ORDERINDEX);
}
//TODO 告诉WCS 车已经到达
//准备好装货了
item.PLCStatus = NDCPlcStatus.LoadReady;
break;
case 6: //小车接货完成
if (item.DirectStatus == NDCItemStatus.CanRedirect || item.DirectStatus == NDCItemStatus.Init)
{
if (item.HadDirectInfo)
{
item.DirectStatus = NDCItemStatus.HasDirectInfo;
}
else
{
item.DirectStatus = NDCItemStatus.NeedRedirect;
}
}
if (!ReDirectList.Contains(item._mTask.ORDERINDEX))
{
ReDirectList.Add(item._mTask.ORDERINDEX);
}
//装货完成
item.PLCStatus = NDCPlcStatus.Loaded;
item._mTask.HADLOAD = true;
if (item.DirectStatus == NDCItemStatus.NeedRedirect)
{
NoticeRedirect?.Invoke(item);
}
break;
case 254: //重新定位成功
item.DirectStatus = NDCItemStatus.Redirected;
ReDirectList.Remove(item._mTask.ORDERINDEX);
break;
case 8: //到达卸货点
//准备好卸货了
item.PLCStatus = NDCPlcStatus.UnloadReady;
break;
case 10: //卸货完成
//卸货完成
item.PLCStatus = NDCPlcStatus.Unloaded;
item._mTask.HADUNLOAD = true;
break;
case 11: //任务完成
item.IsFinish = true;
item.finishTime = DateTime.Now;
break;
default:
break;
}
GetTempInfo(item);
}
