/// <summary>
/// 发送任务
/// </summary>
public int sendTask(TaskRecord tr)
{
int result = 0;
Console.WriteLine("ready to send task: " + tr.singleTask.taskName + "forklist stat:" + getForkLift().taskStep + "forklift finished:" + getForkLift().finishStatus);
string 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 " + getForkLift().forklift_number);
lock (getAGVSocketClient().clientLock) {
try {
getAGVSocketClient().SendMessage(cmd); //确保发送成功
tr.taskRecordStat = TASKSTAT_T.TASK_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND;
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面
tr.forkLiftWrapper = this;
getForkLift().taskStep = TASK_STEP.TASK_SENDED;
getForkLift().currentTask = tr.singleTask.taskText;
DBDao.getDao().UpdateTaskRecord(tr);
DBDao.getDao().updateForkLift(this); //更新车子状态
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
AGVLog.WriteError("发送" + tr.singleTask.taskText +
" 任务到" + getForkLift().forklift_number + "号车 失败",
new StackFrame(true));
result = -1;
}
AGVLog.WriteError("发送" + tr.singleTask.taskText +
" 任务到" + getForkLift().forklift_number + "号车 成功",
new StackFrame(true));
return(result);
}
}
public bool SendMessage(string sendMessage)
{
if (!sendMessage.Equals(lastMessage))
{
AGVLog.WriteSendInfo(sendMessage, new StackFrame(true));
}
else
{
}
lastMessage = sendMessage;
Socket msock;
try {
msock = getTcpClient().Client;
byte[] data = Encoding.ASCII.GetBytes(sendMessage);
DBDao.getDao().InsertConnectMsg(sendMessage, "SendMessage");
msock.Send(data);
if (!"发送消息成功".Equals(lastMsgAboutSend))
{
lastMsgAboutSend = "发送消息成功";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
return(true);
} catch (Exception se) {
lastMsgAboutSend = "发送消息错误" + se.Message + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
return(false);
}
}
public void SendMessage(string sendMessage)
{
Socket msock;
Console.WriteLine("SendMessage ConnectStatus " + ConnectStatus);
if (client == null || ConnectStatus == false) //检查连接状态
{
Exception ex = new Exception("connect err");
throw (ex);
}
msock = client.Client;
try
{
byte[] data = new byte[128];
data = Encoding.ASCII.GetBytes(sendMessage);
msock.Send(data);
}
catch (Exception se)
{
AGVLog.WriteError("发送消息错误" + se.Message, new StackFrame(true));
Console.WriteLine("send message error" + se.Message);
Closeclient();
}
}
/// <summary>
/// 重新与车子建立连接
/// </summary>
public void reConnect()
{
Console.WriteLine("ConnectStatus: " + connectStatus);
AGVLog.WriteInfo("ConnectStatus: " + connectStatus, new StackFrame(true));
while (forkLiftWrapper.getForkLift().isUsed == 1 && !connectStatus)
{
isConnectThread = true; //设置重连标志true
Thread.Sleep(5000); //5秒钟重连一次
Console.WriteLine("start to reconnect");
AGVLog.WriteWarn("start to reconnect", new StackFrame(true));
TcpConnect(forkLiftWrapper.getForkLift().ip, forkLiftWrapper.getForkLift().port);
if (connectStatus == true)
{
AGVLog.WriteInfo("reconnect ip: " + forkLiftWrapper.getForkLift().ip + " :" + forkLiftWrapper.getForkLift().port + "success", new StackFrame(true));
Console.WriteLine("reconnect ip: " + forkLiftWrapper.getForkLift().ip + ":" + forkLiftWrapper.getForkLift().port + "success");
AGVLog.WriteInfo("restart recv thread", new StackFrame(true));
//hrctCallback?.Invoke(forkLiftWrapper, true);
if (hrctCallback != null)
{
hrctCallback(forkLiftWrapper, true);
}
}
}
isConnectThread = false; //重连成功
}
/// <summary>
/// 插入任务记录
/// </summary>
/// <param name="taskRecordStat"></param>
/// <param name="st"></param>
public void InsertTaskRecordBak(TaskRecord tr)
{
float now = DateTime.Now.Hour * 60 * 60 + DateTime.Now.Minute * 60 + DateTime.Now.Second; //当前时间的秒数
float excute_min = (now - (tr.updateTime.Hour * 60 * 60 + tr.updateTime.Minute * 60 + tr.updateTime.Second)) / 60;
if (excute_min > 20 || excute_min < 3)
{
excute_min = 6; //过滤异常数据
}
string sql = "INSERT INTO `agv`.`taskrecord_bak` (`taskRecordStat`, `forklift`, `singleTask`, `taskRecordExcuteMinute`) VALUES ( " + (int)tr.taskRecordStat + ", " + (int)tr.forkLift.id + ", " + tr.singleTask.taskID + ", " + excute_min + ");";
AGVLog.WriteInfo("InsertTaskRecordBak sql = " + sql, new StackFrame(true));
try
{
lock (lockDB)
{
if (this.OpenConnection() == true)
{
Console.WriteLine("sql = " + sql);
MySqlCommand cmd = new MySqlCommand(sql, connection);
cmd.ExecuteNonQuery();
this.CloseConnection();
}
}
} catch (Exception ex)
{
Console.WriteLine(ex.ToString());
this.CloseConnection();
}
}
public void updateAlarm(int alarm)
{
Console.WriteLine(forkLift.forklift_number + "号车 alarm = " + alarm +
"gAlarm =" + forkLift.gAlarm);
if (alarm == 0)
{
forkLift.gAlarm++;
}
else if (alarm == 1)
{
forkLift.gAlarm = 0;
}
Console.WriteLine(forkLift.forklift_number + "号车 alarm = " + alarm + "gAlarm =" + forkLift.gAlarm);
if (forkLift.gAlarm > AGVConstant.AGVALARM_TIME) //防撞信号 检测超过12次，弹出报警提示
{
string msg = forkLift.forklift_number + "触发防撞，暂停所有AGV";
AGVLog.WriteError(msg, new StackFrame(true));
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_AGV_ALARM);
message.setMessageStr(msg);
TaskexeDao.getDao().InsertTaskexePause("");
TaskexeDao.getDao().InsertTaskexeSysInfo(msg);
forkLift.gAlarm = 0;
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
/// <summary>
/// 更新任务记录
/// </summary>
/// <param name="taskRecordStat">任务状态</param>
/// <param name="st">对应的任务ID</param>
public void UpdateTaskRecord(TaskRecord tr)
{
string sql;
if (tr.forkLift == null)
{
sql = "update taskrecord set taskRecordStat = " + (int)tr.taskRecordStat + ", forklift = NULL , taskLevel = " + tr.taskLevel + " where taskRecordStat != 4 and singleTask = " + tr.singleTask.taskID;
}
else
{
sql = "update taskrecord set taskRecordStat = " + (int)tr.taskRecordStat + ", forklift = " + tr.forkLift.id + " , taskLevel = " + tr.taskLevel + " where taskRecordStat != 4 and singleTask = " + tr.singleTask.taskID;;
}
AGVLog.WriteInfo("UpdateTaskRecord sql = " + sql, new StackFrame(true));
try
{
lock (lockDB)
{
Console.WriteLine("UpdateTaskRecord sql = " + sql);
if (this.OpenConnection() == true)
{
MySqlCommand cmd = new MySqlCommand(sql, connection);
cmd.ExecuteNonQuery();
this.CloseConnection();
}
}
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
this.CloseConnection();
}
}
/// <summary>
/// 移除任务记录
/// </summary>
/// <param name="taskRecordStat">任务状态</param>
/// <param name="st">对应的任务ID</param>
/// <param name="taskPalletType">托盘类型 默认托盘类型为0 表示忽略托盘类型这个条件</param>
public void RemoveTaskRecord(SingleTask st, TASKSTAT_T taskRecordStat)
{
string sql = "delete from taskrecord where taskRecordStat = " + (int)taskRecordStat + " and singleTask = " + st.taskID;
AGVLog.WriteInfo("RemoveTaskRecord sql = " + sql, new StackFrame(true));
try
{
lock (lockDB)
{
Console.WriteLine("removeTaskRecor sql = " + sql);
if (this.OpenConnection() == true)
{
Console.WriteLine("sql = " + sql);
MySqlCommand cmd = new MySqlCommand(sql, connection);
cmd.ExecuteNonQuery();
this.CloseConnection();
}
}
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
this.CloseConnection();
}
}
private void ServerService()
{
try {
checkClientSocket();
while (true)
{
Console.WriteLine("read to send");
ForkLiftWrapper forklift = AGVCacheData.getForkLiftByID(3);
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatteryInfo().getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVMessageHandler.getMessageHandler().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
DBDao.getDao().InsertConnectMsg(sb.ToString(), "ServerService");
clientSocket.Send(byteData);
Thread.Sleep(10000);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
serverFuncOK = true;
turnToMainThread();
}
public void Closeclient()
{
try
{
ConnectStatus = false;
if (client != null)
{
AGVLog.WriteInfo("关闭socket", new StackFrame(true));
client.Client.Close();
client.Close();
client = null;
if (isConnectThread == false && t_forklift.isUsed == 1) //connect断开后开启与车子重连
{
Console.WriteLine("Close to start reconnect" + isConnectThread);
startReconnectThread();
}
if (t_forklift.isUsed == 1)
{
if (hrctCallback != null)
{
hrctCallback(this, false);
}
}
}
}
catch (Exception ex)
{
AGVLog.WriteError("关闭socket错误" + ex.Message, new StackFrame(true));
Console.WriteLine("close socket fail");
}
Console.WriteLine("client is null now");
AGVLog.WriteWarn("client is null now", new StackFrame(true));
}
/// <summary>
/// 解析车子反馈报文
/// </summary>
private string parseForkLiftMsg(byte[] buffer, int length)
{
if (buffer.Length == 0)
{
AGVLog.WriteError("forklift buffer length is 0", new StackFrame(true));
Console.WriteLine("forklift buffer length is 0");
return(null);
}
return(Encoding.ASCII.GetString(buffer).Trim('\0').Trim());
}
private TcpClient getTcpClient()
{
while (client == null)
{
Console.WriteLine("client is null wait 1 second");
AGVLog.WriteWarn("client is null, wait 1 second", new StackFrame(true));
Thread.Sleep(1);
}
return(client);
}
public void setMessage(AGVMessage message)
{
if (this.message.getMessageType() != message.getMessageType())
{
this.message_next = message; //下一个要处理的message type与当前的message不一样
AGVLog.WriteInfo("AGVMessageHandler set message " + message.getMessageStr(), new StackFrame(true));
}
else
{
AGVLog.WriteInfo("AGVMessageHandler set same message " + message.getMessageStr(), new StackFrame(true));
}
}
public void DeleteWithSql(string sql)
{
string query = sql;
AGVLog.WriteInfo("DeleteWithSql sql = " + sql, new StackFrame(true));
try {
lock (lockDB) {
dataReader = execNonQuery(sql);
}
} catch (Exception) {
Console.WriteLine(" delete sql err : " + sql);
}
}
/// <summary>
/// 移除任务记录
/// </summary>
public void RemoveTaskRecord(TaskRecord tr)
{
string sql = "delete from taskrecord where taskRecordStat = " + (int)tr.taskRecordStat + " and forklift = " + tr.forkLiftWrapper.getForkLift().id + " and singleTask = " + tr.singleTask.taskID;
AGVLog.WriteInfo("RemoveTaskRecord sql = " + sql, new StackFrame(true));
try {
lock (lockDB) {
dataReader = execNonQuery(sql);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
}
/// <summary>
/// 插入任务记录
/// </summary>
public void InsertTaskRecord(TASKSTAT_T taskRecordStat, SingleTask st)
{
string sql = "INSERT INTO `taskrecord` (`taskRecordStat`, `singleTask`) VALUES ( " + (int)taskRecordStat + ", " + st.taskID + ");";
AGVLog.WriteInfo("InsertTaskRecord sql = " + sql, new StackFrame(true));
try {
lock (lockDB) {
dataReader = execNonQuery(sql);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
}
public void agvInit()
{
AGVLog.WriteInfo("程序启动", new StackFrame(true));
forkLiftList = getAGVUtil().getForkLiftList();
singleTaskList = getSingleTaskList();
setForkliftStateFirst();
ENV_ERR_TYPE err = checkRunning();
handleCheckRunning(err);
agvCom.startReadSerialPortThread();
}
/// <summary>
/// 与叉车连接
/// </summary>
public void connectForks()
{
foreach (ForkLiftWrapper fl in forkLiftWrapperList)
{
try {
fl.setAGVSocketClient(new AGVSocketClient());
fl.getAGVSocketClient().registerRecvMessageCallback(handleForkLiftMsg);
fl.getAGVSocketClient().startRecvMsg();
} catch (Exception ex) {
AGVLog.WriteConnectInfo("连接到 ip: " + fl.getForkLift().ip + "port: " + fl.getForkLift().port + "失败！" + ex.Message, new StackFrame(true));
}
}
}
/// <summary>
/// 更新车子状态
/// </summary>
public void updateForkLift(ForkLiftWrapper fl)
{
string sql = "update forklift set currentTask = \"" + fl.getForkLift().currentTask + "\", taskStep = " +
(int)fl.getForkLift().taskStep + " where id = " + fl.getForkLift().id;
AGVLog.WriteInfo("updateForkLift sql = " + sql, new StackFrame(true));
try {
lock (lockDB) {
dataReader = execNonQuery(sql);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
}
/// <summary>
/// 移除任务记录
/// </summary>
public void RemoveTaskRecord(SingleTask st, TASKSTAT_T taskRecordStat)
{
string sql = "delete from taskrecord where taskRecordStat = " + (int)taskRecordStat + " and singleTask = " + st.taskID;
AGVLog.WriteInfo("RemoveTaskRecord sql = " + sql, new StackFrame(true));
try {
lock (lockDB) {
Console.WriteLine("removeTaskRecor sql = " + sql);
dataReader = execNonQuery(sql);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
}
// <summary>
/// 判断字符串是否符合给定的标准
/// </summary>
/// <param name="value">待判断的值</param>
/// <param name="regex">正则表达式</param>
/// <returns></returns>
public static bool IsMatch(string value, string regex)
{
Match m = Regex.Match(value, regex);
if (m.Success)
{
return(true);
}
else
{
AGVLog.WriteError("match err", new System.Diagnostics.StackFrame(true));
return(false);
}
}
private void Closeclient()
{
try {
if (tcpClient != null)
{
tcpClient.Client.Close();
tcpClient.Close();
tcpClient = null;
}
Thread.Sleep(5000);
} catch (Exception ex) {
lastMsgAboutSend = "关闭socket错误" + ex.Message + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
}
public void resolveTaskCommand()
{
try {
while (true)
{
if (TaskexeService.getInstance().isSystemRunning())
{
sendCommand();
}
Thread.Sleep(1000);
}
} catch (Exception) {
AGVLog.WriteSendInfo("循环器异常退出！", new StackFrame(true));
}
}
public void click(object sender, EventArgs e)
{
string cmd = "cmd=set task by name;name=" + this.Name + ";";
AGVLog.WriteError("向AGV下达命令: " + cmd, new StackFrame(true));
Console.WriteLine("向AGV下达命令: " + cmd);
if (AGVEngine.getInstance().isAgvReady())
{
ForkLiftWrappersService.getInstance().getForkLiftByNunber(1).getAGVSocketClient().SendMessage(cmd);
}
else
{
MessageBox.Show("环境中AGV尚未准备妥当");
}
}
public static void Send(Socket handler)
{
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVInitialize.getInitialize().getAGVMessage().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
handler.Send(byteData);
}
private void receive(object fl)
{
//ForkLiftWrapper forklift = new ForkLiftWrapper();
//forklift.setForkLift((ForkLiftItem)fl);
byte[] buffer = new byte[512];
Socket msock;
TcpClient vClient = null;
Console.WriteLine("receive ConnectStatus: " + connectStatus);
if (connectStatus == false) //检查连接状态
{
return;
}
while (isRecvMsgFlag)
{
try {
vClient = getTcpClient();
msock = tcpClient.Client;
Array.Clear(buffer, 0, buffer.Length);
tcpClient.GetStream();
int bytes = msock.Receive(buffer);
string receiveStr = Encoding.ASCII.GetString(buffer).Trim();
CommandService.getInstance().setLatestMsgFromClient(receiveStr);
DBDao.getDao().InsertConnectMsg(receiveStr, "receive");
readTimeOutTimes = 0; //读取超时次数清零
if (hrmCallback != null)
{
hrmCallback(forkLiftWrapper.getForkLift().id, buffer, bytes);
}
} catch (SocketException ex) {
if (ex.ErrorCode == 10060 && readTimeOutTimes < 10) //超时次数超过10次，关闭socket进行重连
{
AGVLog.WriteWarn("read msg timeout", new StackFrame(true));
Console.WriteLine("read msg timeout");
readTimeOutTimes++;
continue;
}
AGVLog.WriteError("读取消息错误" + ex.ErrorCode, new StackFrame(true));
Console.WriteLine("recv msg client close" + ex.ErrorCode);
Closeclient();
} catch (Exception ex) {
Closeclient();
}
}
}
/// <summary>
///
/// </summary>
/// <param name="needStart">需要启动的车</param>
/// <param name="work"></param>
/// <returns></returns>
private bool check_start_state(ForkLiftWrapper needStart, ForkLiftWrapper work) {
if (work.getPosition().getArea() == 1 && work.getForkLift().isUsed == 1) //只有下货阶段可以提前启动
{
if (!ScheduleFactory.getSchedule().getDownDeliverPeriod() && work.getPosition().getPx() - needStart.getPosition().getPx() > 500) {
return true;
}
///上货的时候直接不给启动
Console.WriteLine("叉车 " + work.getForkLift().id + "在区域1，不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx()));
AGVLog.WriteInfo("叉车 " + work.getForkLift().id + "在区域1，不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx()), new StackFrame(true));
return false;
}
return true;
}
public void listenThread1()
{
while (true)
{
if (thread1 == null)
{
return;
}
else
{
AGVLog.WriteThreadInfo(thread1.Name + "的执行状态为：" + thread1.ThreadState + ",其托管线程id为"
+ thread1.ManagedThreadId, new StackFrame(true));
}
Thread.Sleep(2000);
}
}
private void flReconnect(ForkLiftWrapper forkLiftWrapper, bool status)
{
if (status) //如果接收成功
{
forkLiftWrapper.getAGVSocketClient().startRecvMsg(); //重新启动接收程序线程
}
else
{
AGVLog.WriteError(forkLiftWrapper.getForkLift().forklift_number + "号车 连接错误", new StackFrame(true));
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_NET_ERR);
message.setMessageStr(forkLiftWrapper.getForkLift().forklift_number + "号车 连接错误");
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
static void Main()
{
AGVLog agvLog = new AGVLog();
//List<SingleTask> sList = new List<SingleTask>();
agvLog.initAGVLog(); //初始化log
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
AGVInitialize.getInitialize().getLoginFrm().ShowDialog();
//agvTask.startConnectForkLift(); //开始与车子建立连接
//agvTask.startPLCRecv(); //开始采集PLC数据
//agvTask.startToHandleTaskList(); //开始处理任务发送
AGVInitialize.getInitialize().agvInit();
AGVInitialize.getInitialize().getAGVTcpServer().StartAccept();
AGVInitialize.getInitialize().getSchedule().startShedule();
AGVInitialize.getInitialize().getAGVMessage().setUsbGreenLed(); //default green led
AGVInitialize.getInitialize().getAGVMessage().StartHandleMessage();
int i = 0;
//while(i < 1)
{
i++;
//AGVInitialize.getInitialize().getAGVCom().setDataCommand(LIFT_IN_COMMAND_T.LIFT_IN_COMMAND_UP);
}
AGVInitialize.getInitialize().getMainFrm().ShowDialog();
//Application.Run(AGVInitialize.getInitialize().getMainFrm());
//AGVTcpClient tcpClient = new AGVTcpClient();
//Thread.Sleep(1000);
//tcpClient.SendMessage("cmd=set task by name;name=abing;");
//connectDB();
//AGVInitialize init = AGVInitialize.getInitialize();
//init.getAllForkLifts(false);
//
//while (!isExit) { Thread.Sleep(5); };
}
