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>
/// 记录日志，优先级低
/// </summary>
/// <param name="s">日志能容</param>
public static void WriteConnectInfo(string content, StackFrame sf)
{
string ct = sf.GetMethod().Name + ": ";
TaskexeDao.getDao().InsertTaskexeSysInfo(content);
WriteConnectLogs("<INFO>", ct + content);
}
public TaskexeBean getAndRemoveNextTaskexeBean()
{
TaskexeBean taskexeBean = getTaskexeTaskList().Dequeue();
if (!"Send".Equals(taskexeBean.getOpflag()))
{
TaskexeDao.getDao().sendTaskexeBean(taskexeBean);
}
return(taskexeBean);
}
public bool isSystemRunning()
{
List <TaskexeBean> taskexeBeanList = TaskexeDao.getDao().getTaskexeStartOrPauseList();
if (taskexeBeanList == null || taskexeBeanList.Count <= 0)
{
return(true);
}
return("sysContinue".Equals(taskexeBeanList[0].getTaskid()));
}
public Queue <TaskexeBean> getTaskexeTaskList()
{
if (!(taskexeBeanQueue == null || taskexeBeanQueue.Count <= 0))
{
return(taskexeBeanQueue);
}
List <TaskexeBean> taskexeBeanList = TaskexeDao.getDao().getTaskexeTaskList();
foreach (TaskexeBean taskexeBean in taskexeBeanList)
{
taskexeBeanQueue.Enqueue(taskexeBean);
}
return(taskexeBeanQueue);
}
public TaskexeBean getNextTaskexeBean()
{
List <TaskexeBean> taskexeBeanList = TaskexeDao.getDao().getTaskexeTaskList();
if (taskexeBeanList == null || taskexeBeanList.Count <= 0)
{
return(null);
}
TaskexeBean taskexeBean = taskexeBeanList[0];
AGVLog.WriteSendInfo("下一个执行的任务ID：" + taskexeBean.getTaskid(), new StackFrame(true));
if (!"Send".Equals(taskexeBean.getOpflag()))
{
TaskexeDao.getDao().sendTaskexeBean(taskexeBean);
}
return(taskexeBean);
}
private static void WriteLogsTo(string type, string content, string filepath)
{
try {
lock (obj) {
if (File.Exists(filepath))
{
StreamWriter sw = new StreamWriter(filepath, true, System.Text.Encoding.Default);
sw.WriteLine();
sw.WriteLine(DateTime.Now + " " + type);
sw.WriteLine(" " + content);
sw.Close();
}
}
} catch (Exception ex) {
MessageBox.Show(filepath + "文件被占用，无法更新日志，请检查后重启AGV服务程序！");
TaskexeDao.getDao().InsertTaskexeSysInfo(filepath + "文件被占用，无法更新日志，请检查后重启AGV服务程序！");
}
}
public void sendCommand()
{
AGVLog.WriteSendInfo("开始处理！", new StackFrame(true));
TaskexeBean taskexeBean = TaskexeService.getInstance().getNextTaskexeBean();
if (taskexeBean == null)
{
return;
}
string cmd = "cmd=set task by name;name=" + taskexeBean.getTaskid() + ".xml";
SingleTask singleTask = AGVCacheData.getSingleTaskByID(taskexeBean.getTaskid());
sendContinueCommand();
Thread.Sleep(1000);
int i = -2;
if ("1".Equals(singleTask.getAllocOpType()))
{
while (string.IsNullOrEmpty(latestMsgFromClient) || latestMsgFromClient.IndexOf("task_isfinished=") < 0 || !"0".Equals(latestMsgFromClient.Substring(latestMsgFromClient.IndexOf("task_isfinished=") + "task_isfinished=".Length, 1)))
{
send(cmd);
AGVLog.WriteSendInfo("发送命令:" + cmd, new StackFrame(true));
Thread.Sleep(3000);
if (!AGVEngine.getInstance().isAgvReady())
{
latestMsgFromClient = "task_isfinished=" + (i++) + ";";
}
}
}
while (true)
{
AGVLog.WriteSendInfo("判断任务" + taskexeBean.getTaskid() + "是否Over！", new StackFrame(true));
if ("Over".Equals(TaskexeDao.getDao().selectTaskexeByUuid(taskexeBean.getUuid()).getOpflag()))
{
break;
}
Thread.Sleep(5000);
}
Thread.Sleep(1000);
}
public void agvInit()
{
if (FormController.isNeedLogin())
{
FormController.getFormController().getLoginFrm().ShowDialog();
}
TaskexeDao.getDao().InsertTaskexeSysInfo("AGV通讯服务程序启动！");
setForkliftStateFirst();
handleCheckRunning(checkRunning());
if (isNeedElevator)
{
ElevatorFactory.getElevator().startReadSerialPortThread();
}
if (isNeedAGVSocketServer)
{
AGVSocketServer.getSocketServer().StartAccept();
}
if (isNeedSchedule)
{
ScheduleFactory.getSchedule().startShedule();
}
if (isNeedTaskexe)
{
TaskexeService.getInstance().start();
}
AGVMessageHandler.getMessageHandler().StartHandleMessage();
if (isNeedMain)
{
FormController.getFormController().getMainFrm().ShowDialog();
}
else
{
FormController.getFormController().getInfoFrm().ShowDialog();
}
}
public void exitAGVServer()
{
TaskexeDao.getDao().InsertTaskexeSysInfo("AGV通讯服务程序已关闭，开启前无法与AGV通讯！");
System.Environment.Exit(0);
}