private void checkForkliftPauseStat(ForkLiftWrapper fl, int pause_stat)
{
if (fl.getForkLift().shedulePause != pause_stat)
{
setCtrlTimes++;
if (setCtrlTimes > 10)
{
setCtrlTimes = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("检测中断错误");
}
}
}
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);
}
}
private void checkForkliftPauseStat(ForkLiftWrapper fl, int pause_stat)
{
if (fl.getForkLift().shedulePause != pause_stat) //车的暂停状态与返回值不一样，说明没有发送成功
{
setCtrlTimes++;
if (setCtrlTimes > 10)
{
//setForkCtrl(fl, fl.isPaused); //重新发送车子暂停状态
//报警，需要人工处理
setCtrlTimes = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("检测中断错误");
//AGVInitialize.getInitialize().getAGVMessageHandler().setMessage(message);
}
}
}
/// <summary>
/// 检查任务状态
/// </summary>
private bool checkTaskSendStat(ForkLiftWrapper fl, string taskName)
{
bool stat = true;
if (fl.getForkLift().finishStatus == 1)
{
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
if (fl.getForkLift().waitTimes > 15)
{
Console.WriteLine("send task: " + taskName + "to " + fl.getForkLift().forklift_number + "fail");
fl.getForkLift().waitTimes = 0;
tr.forkLiftWrapper = null;
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_PICK)
{
DBDao.getDao().RemoveTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 移除任务", new StackFrame(true));
}
else
{
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_READY_SEND;
DBDao.getDao().UpdateTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 更新任务状态，等待重新发送", new StackFrame(true));
}
FormController.getFormController().getMainFrm().updateFrm();
}
else
{
fl.getForkLift().waitTimes++;
Console.WriteLine("fl: " + fl.getForkLift().forklift_number + "taskName: " + taskName + "waittimes: " + fl.getForkLift().waitTimes);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " waittimes: " + fl.getForkLift().waitTimes, new StackFrame(true));
}
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS)
{
Console.WriteLine("task: " + taskName + "in " + fl.getForkLift().forklift_number + "finished");
AGVLog.WriteInfo("taskName: " + taskName + "in " + fl.getForkLift().forklift_number + " finished", new StackFrame(true));
DBDao.getDao().RemoveTaskRecord(tr);
DBDao.getDao().InsertTaskRecordBak(tr);
tr.singleTask.taskStat = TASKSTAT_T.TASK_END;
tr.taskRecordStat = TASKSTAT_T.TASK_END;
FormController.getFormController().getMainFrm().updateFrm();
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_END)
{
//break; 继续任务状态没及时删除,继续循环
}
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else if (fl.getForkLift().finishStatus == 0)
{
//bool storeTask = true; //是否需要缓存该任务
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//Console.WriteLine(" tr stat = " + tr.taskRecordStat + " taskName = " + tr.taskRecordName);
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //任务列表中匹配到非待发送的该任务则不缓存
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND_SUCCESS;
tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS;
DBDao.getDao().UpdateTaskRecord(tr);
stat = true;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
}
fl.getForkLift().waitTimes = 0; //发送任务，等待确认是否发送成功
fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
fl.getForkLift().currentTask = tr.singleTask.taskText;
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else
{
Console.WriteLine("fork status err");
AGVLog.WriteError("fork lift staus: " + fl.getForkLift().finishStatus + "err", new StackFrame(true));
}
return(stat);
}
/// <summary>
/// 检查任务状态
/// </summary>
/// <param name="fl">车子实例</param>
/// <param name="taskName"></param>
/// <returns></returns>
private bool checkTaskSendStat(ForkLiftWrapper fl, string taskName)
{
bool stat = true;
//Console.WriteLine(" fl id " + fl.getForkLift().id + " finishStatus = " + fl.finishStatus);
if (fl.getForkLift().finishStatus == 1) //车子状态空闲有两种可能1：车子任务执行完成 2：任务在执行中 报文没有及时反馈
{
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//if (tr.forkLift != null && tr.taskRecordName.Equals(taskName))
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //可能存在任务没发送成功，反馈的taskName与现在taskrecord的名称不一样
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
if (fl.getForkLift().waitTimes > 15) //等待次数超过15次，后面重新发送该任务
{
Console.WriteLine("send task: " + taskName + "to " + fl.getForkLift().forklift_number + "fail");
fl.getForkLift().waitTimes = 0;
tr.forkLiftWrapper = null;
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE; //车子状态改为空闲
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl); //赋值空字符串
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_PICK)
{
DBDao.getDao().RemoveTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 移除任务", new StackFrame(true));
}
else
{
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND; //改变任务的状态，后面重新发送
tr.singleTask.taskStat = TASKSTAT_T.TASK_READY_SEND;
DBDao.getDao().UpdateTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 更新任务状态，等待重新发送", new StackFrame(true));
}
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面
}
else
{
fl.getForkLift().waitTimes++;
Console.WriteLine("fl: " + fl.getForkLift().forklift_number + "taskName: " + taskName + "waittimes: " + fl.getForkLift().waitTimes);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " waittimes: " + fl.getForkLift().waitTimes, new StackFrame(true));
}
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS) //确保没有重复进入，否则会插入多条备份记录
{
Console.WriteLine("task: " + taskName + "in " + fl.getForkLift().forklift_number + "finished");
AGVLog.WriteInfo("taskName: " + taskName + "in " + fl.getForkLift().forklift_number + " finished", new StackFrame(true));
DBDao.getDao().RemoveTaskRecord(tr); //移除record是3的记录
DBDao.getDao().InsertTaskRecordBak(tr);
tr.singleTask.taskStat = TASKSTAT_T.TASK_END;
tr.taskRecordStat = TASKSTAT_T.TASK_END;
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面 //设置更新界面
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_END)
{
//break; 继续任务状态没及时删除,继续循环
}
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else if (fl.getForkLift().finishStatus == 0)
{
//bool storeTask = true; //是否需要缓存该任务
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//Console.WriteLine(" tr stat = " + tr.taskRecordStat + " taskName = " + tr.taskRecordName);
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //任务列表中匹配到非待发送的该任务则不缓存
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND_SUCCESS;
tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS;
DBDao.getDao().UpdateTaskRecord(tr);
stat = true;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
}
fl.getForkLift().waitTimes = 0; //发送任务，等待确认是否发送成功
fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
fl.getForkLift().currentTask = tr.singleTask.taskText;
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
/*
* if (storeTask) //系统启动后，车子可能正在执行任务起来，将正在执行的任务缓存
* {
* TaskRecord tr = new TaskRecord();
* tr.taskRecordName = taskName;
* tr.forkLift = fl;
* tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS; //状态已经发送成功
* tr.setSingleTaskByTaskName(AGVUtil.parseTaskRecordName(taskName));
* fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
* addTs = tr;
* //AGVInitialize.getInitialize().getMainFrm().updateCurrentTask(st.taskName); //更新界面上的当前任务
* Console.WriteLine("store task: " + tr.taskRecordName + "taskNumber:" + taskRecordList.Count);
* AGVLog.WriteInfo("store task: " + tr.taskRecordName + "at boot task count: " + taskRecordList.Count, new StackFrame(true));
* }
*/
}
else
{
Console.WriteLine("fork status err");
AGVLog.WriteError("fork lift staus: " + fl.getForkLift().finishStatus + "err", new StackFrame(true));
}
return(stat);
}
