private void timer1_updateJobStatus(object sender)
{
t_AGVWork agvWork1 = null;
if (autoUpdateJobStatus)
{
using (var ctx = new AMSContext())
{
var transaction = ctx.Database.BeginTransaction();
try
{
//read
List <t_AGVWork> agvWorks = ctx.t_AGVWork
//.OrderBy(b => b.BlogId)
.Where(b => b.JobStatus == 5 || b.JobStatus == 8 || b.JobStatus == 11 || b.JobStatus == 14 || b.JobStatus == 100)
.ToList();
//Console.WriteLine(agvWork1);
if (agvWorks != null && agvWorks.Count > 0)
{
//按照任务状态 5,8,11,14更新不同的数值
agvWork1 = agvWorks.First();
if (agvWork1.JobStatus == 5)
{
agvWork1.JobStatus = 6;
}
else if (agvWork1.JobStatus == 8)
{
agvWork1.JobStatus = 9;
//stationRelease = true; //取货完成确认后才允许接收新的搬送请求
}
else if (agvWork1.JobStatus == 11)
{
//检查站台状态，如果发现站台不可卸货，则修改目的地
if (checkDestinationStation())
{
agvWork1.JobStatus = 12;
}
else
{
updateTask2Clearing(agvWork1);
}
}
else if (agvWork1.JobStatus == 14)
{
agvWork1.JobStatus = 15;
}
ctx.t_AGVWork.Attach(agvWork1);
if (agvWork1.JobStatus == 100) //删除
{
ctx.t_AGVWork.Remove(agvWork1);
ctx.SaveChanges();
t_Station tStation5 = ctx.t_Station
.Where(b => b.StationNo == agvWork1.Destination).SingleOrDefault();
ctx.t_Station.Attach(tStation5);
tStation5.OccupiedStatus = 2;
tStation5.ModifyProgID = 201;
tStation5.ModifyTime = DateTime.Now;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(tStation5);
setEntry.SetModifiedProperty("OccupiedStatus");
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
//updateGUIStationStautus(tStation5, 2);
toolStripStatusLabel1.Text = "任务从 " + agvWork1.Origination + " 到 " + agvWork1.Destination + " 已经正常完成，站台 " + tStation5.StationNo + " 当前已有托盘";
}
else
{
agvWork1.ModifyProgID = 201;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork1);
//只修改实体的Name属性和Age属性
setEntry.SetModifiedProperty("JobStatus");
setEntry.SetModifiedProperty("ModifyProgID");
ctx.SaveChanges();
}
//Console.WriteLine("update status:", updateFlag);
transaction.Commit();
String jobStatus = agvWork1.JobStatus.ToString();
String jobStatusName = ctx.t_Code
.Where(b => b.codetype == jobStatus && b.code == "jobstatus").First().name;
toolStripStatusLabel1.Text = "从 " + agvWork1.Origination + " 到 " + agvWork1.Destination + " 的任务 " + jobStatusName;
}
}
catch (Exception ex)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " timer1_updateJobStatus 更新任务状态失败" + agvWork1.ID);
MessageBox.Show(ex.ToString());
}
finally
{
transaction.Dispose();
}
}
}
//System.Threading.Thread.Sleep(2000); //用一个线程控制，睡2秒后重新开始
}
//创建任务-事务，插入作业任务agvwork数据和更新站台状态agvstation在同一个事务内完成
private Boolean createTask(t_AGVWork agvWork2)
{
t_Station agvStation1;
//创建任务
using (var ctx = new AMSContext())
{
//检查是否有目的地为同一个站台的任务还在执行中
List <t_AGVWork> agvWorks = ctx.t_AGVWork
.Where(b => b.Destination == agvWork2.Destination)
.ToList();
//Console.WriteLine(agvWork1);
if (agvWorks.Count > 0)
{
toolStripStatusLabel1.Text = DateTime.Now.ToString() + " 已经存在一条目的地为" + agvWork2.Destination + "的任务了，不能重复创建";
Console.WriteLine(DateTime.Now.ToString() + " createTask：已经存在一条目的地为" + agvWork2.Destination + "的任务了，不能重复创建");
return(false);
}
var transaction = ctx.Database.BeginTransaction();
try
{
agvWork2.ModifyProgID = 101;
agvWork2.ModifyTime = DateTime.Now;
ctx.t_AGVWork.Add(agvWork2); //插入agv作业任务
ctx.SaveChanges();
agvWork2.JobId = agvWork2.ID;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork2);
setEntry.SetModifiedProperty("JobId");
ctx.SaveChanges();
//更新站台状态为预约
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == agvWork2.Destination)
.First();
agvStation1.OccupiedStatus = 1; //空满状态 0: 空 1:预约中 2:满
agvStation1.ModifyProgID = 101;
agvStation1.ModifyTime = DateTime.Now;
ctx.t_Station.Attach(agvStation1);
var setEntry1 = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvStation1);
setEntry1.SetModifiedProperty("OccupiedStatus");
setEntry1.SetModifiedProperty("ModifyProgID");
setEntry1.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
transaction.Commit();
Console.WriteLine(DateTime.Now.ToString() + " createTask：任务" + agvWork2.ID + " 已创建，站台 " + agvWork2.Destination + " 状态更新为(预约中)");
toolStripStatusLabel1.Text = " 从 " + agvWork2.Origination + " 到 " + agvWork2.Destination + " 的搬运任务已创建";
return(true);
}
catch (Exception)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " createTask：失败了，事务回滚");
}
finally
{
transaction.Dispose();
}
}
return(false);
}
//更新任务，将AGV送到clearing station ProgID 105
private Boolean updateTask2Clearing(t_AGVWork agvWork2)
{
t_Station agvStation1;
//更新任务
using (var ctx = new AMSContext())
{
var transaction = ctx.Database.BeginTransaction();
try
{
agvWork2.ModifyProgID = 105;
agvWork2.ModifyTime = DateTime.Now;
agvWork2.RedirectFlag = 1;
agvWork2.RedirectPosition = 9999;
agvWork2.JobStatus = 61;
ctx.t_AGVWork.Attach(agvWork2);
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork2);
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
setEntry.SetModifiedProperty("RedirectFlag");
setEntry.SetModifiedProperty("RedirectPosition");
setEntry.SetModifiedProperty("JobStatus");
ctx.SaveChanges();
//更新新的站台为预约
//更新站台状态为疑问
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == agvWork2.Destination)
.SingleOrDefault();
agvStation1.OccupiedStatus = 3; //空满状态 0: 空 1:预约中 2:满 3: 存疑
agvStation1.ModifyProgID = 105;
agvStation1.ModifyTime = DateTime.Now;
ctx.t_Station.Attach(agvStation1);
var setEntry1 = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvStation1);
setEntry1.SetModifiedProperty("OccupiedStatus");
setEntry1.SetModifiedProperty("ModifyProgID");
setEntry1.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
transaction.Commit();
Console.WriteLine(DateTime.Now.ToString() + " updateTask：任务" + agvWork2.ID + " 已更新，站台 " + agvWork2.Destination + " 状态更新为(存疑)");
toolStripStatusLabel1.Text = " 从 " + agvWork2.Origination + " 到 " + agvWork2.Destination + " 的搬运任务已更新";
return(true);
}
catch (Exception)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " createTask：失败了，事务回滚");
}
finally
{
transaction.Dispose();
}
}
return(false);
}
//触发任务
private Boolean triggerTask(int materialType, int stationNo)
{
t_AGVPath agvPath1;
t_Station agvStation1;
//根据规则找到找路径，一般只能找到一条，如果找到多条，按照规则选一条
using (var ctx = new AMSContext())
{
//read
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == stationNo)
.SingleOrDefault();
agvPath1 = getPath(agvStation1, materialType);
}
if (agvPath1 == null)
{
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据" + agvStation1.StationNo + " 和拉动信号类型 " + materialType + " 找不到对应的路径");
return(false);
}
//如果路径下有多个站台，按照策略选一个站台
t_Station agvStation2 = getAvailabeStation(agvPath1);
//构建任务实体
if (agvStation2 != null)
{
t_AGVWork agvWork1 = new t_AGVWork
{
JobType = 0,
Origination = agvStation1.StationNo,
Destination = agvStation2.StationNo,
//JobId = 10000,
Priority = 0,
JobStatus = 0,
TUType = 0,
AGVCancelFlag = 0,
CancelFlag = 0,
WMSCancelFlag = 0,
RedirectFlag = 0
};
//创建任务并更新货位状态（货位预约，空满状态 0: 空 1:预约中 2:满）
if (createTask(agvWork1))
{
//更新界面颜色,将对应货位的颜色改为黄色(预约中）
//updateGUIStationStautus(agvStation1, 1);
stationRelease = false;
checkbox_stationRelease.Checked = false; //站台不可再接收其他的搬运指令
checkbox_stationRelease.Enabled = false; //而且不允许更改
}
else
{
toolStripStatusLabel1.Text = "创建任务失败";
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据起始站台： " + agvStation1.StationNo + " 和目的站台 " + agvStation2.StationNo + " 创建任务失败");
return(false);
}
//更新路径上任务数量-本次不实现（控制一条路径上的流量）
}
else
{
//toolStripStatusLabel1.Text = "无可用站台";
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据起始站台： " + stationNo + " 和目的通道 " + agvPath1.Destination + " 找不到可用的站台");
return(false);
}
return(true);
}
