public void Update()
{
if (isconnect != frt.IsAlive())
{
ISConnect = frt.IsAlive();
}
if (!frt.IsAlive())
{
return;
}
if (actionsta != frt.ActionStatus())
{
actionsta = frt.ActionStatus();
ActionStatus = "";
}
if (devicesta != frt.DeviceStatus())
{
devicesta = frt.DeviceStatus();
DeviceStatus = "";
}
if (commandsta != frt.CommandStatus())
{
commandsta = frt.CommandStatus();
CommandStatus = "";
}
if (now_task != frt.CurrentTask())
{
now_task = frt.CurrentTask();
Now_Task = "";
}
if (finish_task != frt.FinishTask())
{
finish_task = frt.FinishTask();
Finish_Task = "";
}
if (loadstatus != frt.GoodsStatus())
{
loadstatus = frt.GoodsStatus();
LoadStatus = "";
}
if (rollerstatus != frt.CurrentStatus())
{
rollerstatus = frt.CurrentStatus();
RollerStatus = "";
}
if (rollerdirection != frt.RunDirection())
{
rollerdirection = frt.RunDirection();
RollerDirection = "";
}
if (errormsg != frt.ErrorMessage())
{
errormsg = frt.ErrorMessage();
ErrorMsg = "";
}
if (frt.GetUpdateTime(out string time))
{
if (datatime != time)
{
DataTime = time;
}
}
}
/// <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());
}
}
public override void DoWork()
{
try
{
// 异常
if (_device.DeviceStatus() == FRT.DeviceError || _device.CommandStatus() == FRT.CommandError)
{
ISetTaskErr();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, "设备故障或命令错误."));
return;
}
#region 调试
if (PublicParam.IsIgnoreFRT) //add调试判断
{
if (_device.ActionStatus() == FRT.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
ARF _arf = new ARF(ITEM.LOC_TO);
// 对接设备状态
if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货
{
// 摆渡车辊台停止状态
if (_arf.CurrentStatus() == ARF.RollerStop)
{
// 摆渡车辊台上无货物
if (_arf.GoodsStatus() == ARF.GoodsNoAll)
{
return;
}
}
// 固定辊台无货物
if (_device.GoodsStatus() == FRT.GoodsNoAll && _device.ActionStatus() == FRT.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 if (_device.GoodsStatus() == FRT.GoodsYesAll && _device.ActionStatus() == FRT.Stop &&
_arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop)
{
return; // 固定辊台与摆渡车都有货，不启动辊台
}
}
else
{
// 摆渡车辊台上无货物,固定辊台上有货物
if (_arf.GoodsStatus() == ARF.GoodsNoAll && _device.GoodsStatus() != FRT.GoodsNoAll && _device.ActionStatus() == FRT.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 if (_device.GoodsStatus() == FRT.GoodsYesAll && _device.ActionStatus() == FRT.Stop &&
_arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop)
{
return; // 固定辊台与摆渡车都有货，不启动辊台
}
}
// 发送指令
if (_device.ActionStatus() == FRT.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));
}
}
catch (Exception ex)
{
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, ex.ToString()));
}
}
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()));
}
}
public override void DoWork()
{
try
{
// 异常
if (_device.DeviceStatus() == FRT.DeviceError || _device.CommandStatus() == FRT.CommandError)
{
ISetTaskErr();
// LOG
log.LOG(String.Format(@"【Error】{0}：WMS任务ID[ {1} ]，AGV任务ID[ {2} ]，设备号[ {3} ], 异常信息[ {4} ].",
ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, "设备故障或命令错误"));
return;
}
#region 调试
if (PublicParam.IsIgnoreFRT) //add调试判断
{
if (_device.ActionStatus() == FRT.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(String.Format(@"【SendOrder】{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)));
}
else
{
Thread.Sleep(5000);
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(String.Format(@"【Success】{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)));
}
return;
}
#endregion
// 对接设备状态
if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货
{
// 固定辊台无货物
if (_device.GoodsStatus() == FRT.GoodsNoAll && _device.ActionStatus() == FRT.Stop)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(String.Format(@"【Success】{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)));
return;
}
}
else
{
// 固定辊台上有2#有货 或者 都有货
if ((_device.GoodsStatus() == FRT.GoodsYes2 || _device.GoodsStatus() == FRT.GoodsYesAll) && _device.ActionStatus() == FRT.Stop)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(String.Format(@"【Success】{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)));
return;
}
}
// 发送指令
if (_device.ActionStatus() == FRT.Stop)
{
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(String.Format(@"【SendOrder】{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)));
}
}
catch (Exception ex)
{
// LOG
log.LOG(String.Format(@"【Error】{0}：WMS任务ID[ {1} ]，AGV任务ID[ {2} ]，设备号[ {3} ], 异常信息[ {4} ].",
ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, ex.ToString()));
}
}