/// <summary>
/// 发送任务
/// </summary>
/// <param name="tr"></param>
/// <param name="fl"></param>
public int sendTask(TaskRecord tr, ForkLift fl)
{
string cmd = null;
int result = 0;
Console.WriteLine("ready to send task: " + tr.singleTask.taskName + "forklist stat:" + fl.taskStep + "forklift finished:" + fl.finishStatus);
cmd = "cmd=set task by name;name=" + tr.taskRecordName; //发送命令格式，如果有多个对应值用;隔开，如果后面没有命令了，不需要再加;号
Console.WriteLine("send msg :" + cmd + "to " + fl.forklift_number);
lock (fl.tcpClient.clientLock)
{
try
{
fl.tcpClient.SendMessage(cmd); //确保发送成功
tr.taskRecordStat = TASKSTAT_T.TASK_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND;
AGVInitialize.getInitialize().getMainFrm().updateFrm(); //设置更新界面
tr.forkLift = fl;
fl.taskStep = ForkLift.TASK_STEP.TASK_SENDED;
fl.currentTask = tr.singleTask.taskText;
AGVInitialize.getInitialize().getDBConnect().UpdateTaskRecord(tr);
AGVInitialize.getInitialize().getDBConnect().updateForkLift(fl); //更新车子状态
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 失败", new StackFrame(true));
result = -1;
}
}
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 成功", new StackFrame(true));
return(result);
}
public bool setForkCtrl(ForkLift fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
int times = 0;
while (times < 3)
{
try
{
fl.tcpClient.SendMessage(cmd);
break;
}
catch
{
Message message = new Message();
message.setMessageType(AGVMESSAGE_TYPE_T.AGVMESSAGE_SENDPAUSE_ERR);
message.setMessageStr("发送中断错误");
AGVInitialize.getInitialize().getAGVMessage().setMessage(message);
}
times++;
}
Console.WriteLine("setForkCtrl forklift " + fl.id + "cmd = " + cmd);
AGVLog.WriteInfo("setForkCtrl forklift " + fl.id + "cmd = " + cmd, new StackFrame(true));
return(true);
}
private void handleDataSerialPort()
{
int count;
byte[] response = null;
while (!isStop)
{
byte[] readBuffer = new byte[1];
try
{
sp.Write(common, 0, 4);
while ((count = sp.BytesToRead) != 8)
{
// Console.WriteLine("wait to read bytes count = " + count); //等待反馈
Thread.Sleep(10);
}
response = new byte[count];
sp.Read(response, 0, count);
outCommand = readDataCommand(response);
/*if (outCommand == LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_loushang_baojing || outCommand == LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_louxia_baojing)
* {
* if (dataCommand[0] == 0) //当前没有命令的时候才去发送复位信号，否则会覆盖之前的信号
* {
* dataCommand[0] = 0x4;
* }
*
* Console.WriteLine("will to reset");
* }*/
if (outCommand > LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_UP_DOWN) //如果读取到升降机异常， 不再向升降机发送命令
{
AGVLog.WriteInfo("升降机异常 " + outCommand, new StackFrame(true));
continue;
}
if (dataCommand[0] > 0)
{
sendCommand(dataCommand);
dataCommand[0] = 0;
dataCommand[1] = 0; //清空数据
}
} catch (Exception ex)
{
Console.WriteLine(ex.ToString());
handleLiftComException();
}
Thread.Sleep(200);
}
}
public static bool setForkCtrlWithPrompt(ForkLiftWrapper fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
try {
fl.getAGVSocketClient().SendMessage(cmd);
} catch {
Console.WriteLine("setForkCtrlWithPrompt forklift " + fl.getForkLift().id + "cmd = " + cmd + "failed");
AGVLog.WriteInfo("setForkCtrlWithPrompt forklift " + fl.getForkLift().id + "cmd = " + cmd + "failed", new StackFrame(true));
}
Console.WriteLine("setForkCtrlWithPrompt forklift " + fl.getForkLift().id + "cmd = " + cmd + "success");
AGVLog.WriteInfo("setForkCtrlWithPrompt forklift " + fl.getForkLift().id + "cmd = " + cmd + "success", new StackFrame(true));
return(true);
}
public static bool setForkCtrl(ForkLiftWrapper fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
int times = 0;
while (times < 3)
{
try {
fl.getAGVSocketClient().SendMessage(cmd);
break;
} catch {
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("发送中断错误");
AGVMessageHandler.getMessageHandler().setMessage(message);
}
times++;
}
Console.WriteLine("setForkCtrl forklift " + fl.getForkLift().id + "cmd = " + cmd);
AGVLog.WriteInfo("setForkCtrl forklift " + fl.getForkLift().id + "cmd = " + cmd, new StackFrame(true));
return(true);
}
