//将装配区的状态赋给上述属性
public static void Get_A_State(DTURequestInfo requestinfo)
{
//状态
A_System_State = requestinfo.SystemState;
A_Assembly_Area1 = (requestinfo.PartState & 1) == 1 ? 1 : 0;
A_Assembly_Area2 = (requestinfo.PartState & 2) == 2 ? 1 : 0;
A_Robot_State = (requestinfo.PartState & 4) == 4 ? 1 : 0;
A_Cor_State = (requestinfo.PartState & 8) == 8 ? 1 : 0;
A_Assembly_InArea1 = (requestinfo.PartState & 16) == 16 ? 1 : 0;
A_Assembly_InArea2 = (requestinfo.PartState & 32) == 32 ? 1 : 0;
if (A_System_State != 2) //如果不是系统正常，已启动这个状态的话，就退出
{
return;
}
//动作
A_AGV_Assembly1 = (requestinfo.AGVExecuteCmd & 1) == 1 ? 1 : 0;
A_AGV_Assembly2 = (requestinfo.AGVExecuteCmd & 2) == 2 ? 1 : 0;
//RFID
A_Assembly1_RFID = requestinfo.Assembly_Area1_RFID;
if (A_Assembly1_RFID == ConfigClass.Tray_B2 && A_OnlyOnce3 == false)
{
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "拧螺丝订单", ConfigClass.GetTrayString(A_Assembly1_RFID));
A_OnlyOnce3 = true;
}
if (A_Assembly1_RFID != ConfigClass.Tray_B2)
{
A_OnlyOnce3 = false;
}
A_Assembly2_RFID = requestinfo.Assembly_Area2_RFID;
if (A_Assembly2_RFID == ConfigClass.Tray_B2 && A_OnlyOnce4 == false)
{
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "拧螺丝订单", "缺省", ConfigClass.GetTrayString(A_Assembly1_RFID));
A_OnlyOnce4 = true;
}
if (A_Assembly2_RFID != ConfigClass.Tray_B2)
{
A_OnlyOnce4 = false;
}
//如果动作值为1，则通知AGV(向AGV表中插入命令)且不能重复插入
if (A_AGV_Assembly1 == 1 && A_OnlyOnce1 == false)
{
InformAGV(ConfigClass.AssemblyArea1);
A_OnlyOnce1 = true;
}
if (A_AGV_Assembly1 == 0)
{
A_OnlyOnce1 = false;
}
if (A_AGV_Assembly2 == 1 && A_OnlyOnce2 == false)
{
InformAGV(ConfigClass.AssemblyArea2);
A_OnlyOnce2 = true;
}
if (A_AGV_Assembly2 == 0)
{
A_OnlyOnce2 = false;
}
}
} //人工下料AGV对接台RFID识别托盘工件相关参数5
//将加工区的状态赋给上述属性
public static void Get_P_State(DTURequestInfo requestinfo)
{
//状态
P_System_State = requestinfo.SystemState;
P_Manual_Up_Area = (requestinfo.PartState & 1) == 1 ? 1 : 0;
P_Manual_Down_Area = (requestinfo.PartState & 2) == 2 ? 1 : 0;
P_Process_Area1 = (requestinfo.PartState & 4) == 4 ? 1 : 0;
P_Process_Area2 = (requestinfo.PartState & 8) == 8 ? 1 : 0;
P_Mazak1_State = (requestinfo.PartState & 16) == 16 ? 1 : 0;
P_Mazak2_State = (requestinfo.PartState & 32) == 32 ? 1 : 0;
P_Big_State = (requestinfo.PartState & 64) == 64 ? 1 : 0;
P_Robot_State = (requestinfo.PartState & 128) == 128 ? 1 : 0;
//系统控制
P_System_Control = requestinfo.SystemControl;
if (P_System_State != 2) //如果不是系统正常，已启动这个状态的话，就退出
{
return;
}
//动作
P_Raw_Tray_Empty = (requestinfo.Raw_Tray_Empty & 1) == 1 ? 1 : 0;
P_AGV_Manual_Up = (requestinfo.AGVExecuteCmd & 1) == 1 ? 1 : 0;
P_AGV_Manual_Down = (requestinfo.AGVExecuteCmd & 2) == 2 ? 1 : 0;
P_AGV_Process1 = (requestinfo.AGVExecuteCmd & 4) == 4 ? 1 : 0;
P_AGV_Process2 = (requestinfo.AGVExecuteCmd & 8) == 8 ? 1 : 0;
//RFID
P_Manual_Up_RFID = requestinfo.Manual_Up_RFID;
P_Manual_Down_RFID = requestinfo.Manual_Down_RFID;
P_Process1_RFID = requestinfo.Process_Area1_RFID;
if (P_Process1_RFID == ConfigClass.Tray_A2 && P_OnlyOnce5 == false)
{
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "加工订单", ConfigClass.GetTrayString(P_Process1_RFID));
P_OnlyOnce5 = true;
}
if (P_Process1_RFID != ConfigClass.Tray_A2)
{
P_OnlyOnce5 = false;
}
P_Process2_RFID = requestinfo.Process_Area2_RFID;
if (P_Process2_RFID == ConfigClass.Tray_A2 && P_OnlyOnce6 == false)
{
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "加工订单", "缺省", ConfigClass.GetTrayString(P_Process2_RFID));
P_OnlyOnce6 = true;
}
if (P_Process2_RFID != ConfigClass.Tray_A2)
{
P_OnlyOnce6 = false;
}
//数据
UP_C_D_Number = (int)requestinfo.Manual_Up_CD_Number;
Down_C_D_Number = (int)requestinfo.Manual_Down_CD_Number;
Down_RFID_Para1 = requestinfo.Manual_Down_Para1;
Down_RFID_Para2 = requestinfo.Manual_Down_Para2;
Down_RFID_Para3 = requestinfo.Manual_Down_Para3;
Down_RFID_Para4 = requestinfo.Manual_Down_Para4;
Down_RFID_Para5 = requestinfo.Manual_Down_Para5;
//如果动作值为1，则通知AGV(向AGV表中插入命令),且不能重复插入
if (P_Raw_Tray_Empty == 1 && P_OnlyOnce1 == false)
{
WHSendPackage package = new WHSendPackage();
package.Head = 29000;
package.TrayID = 0;
package.WHPostion = 0;
package.SerialNumber = 0;
if (MainWindow.WHDISCONNECTED == false)
{
sendWHMsgDel(package);
P_OnlyOnce1 = true;
}
}
if (P_Raw_Tray_Empty == 0)
{
P_OnlyOnce1 = false;
}
if (P_AGV_Process1 == 1 && P_OnlyOnce2 == false)
{
InformAGV(ConfigClass.ProcessArea1);
P_OnlyOnce2 = true;
}
if (P_AGV_Process1 == 0)
{
P_OnlyOnce2 = false;
}
if (P_AGV_Process2 == 1 && P_OnlyOnce3 == false)
{
InformAGV(ConfigClass.ProcessArea2);
P_OnlyOnce3 = true;
}
if (P_AGV_Process2 == 0)
{
P_OnlyOnce3 = false;
}
if (P_AGV_Manual_Up == 1 && P_OnlyOnce4 == false)
{
InformAGV(ConfigClass.HandUpArea, P_Manual_Up_RFID);
P_OnlyOnce4 = true;
}
if (P_AGV_Manual_Up == 0)
{
P_OnlyOnce4 = false;
}
}
//将检测区的状态赋给上述属性
public static void Get_D_State(DTURequestInfo requestinfo)
{
//状态
D_System_State = requestinfo.SystemState;
D_Detection_Area1 = (requestinfo.PartState & 1) == 1 ? 1 : 0;
D_Detection_Area2 = (requestinfo.PartState & 2) == 2 ? 1 : 0;
D_Marking_State = (requestinfo.PartState & 4) == 4 ? 1 : 0;
D_Robot_State = (requestinfo.PartState & 8) == 8 ? 1 : 0;
if (D_System_State != 2) //如果不是系统正常，已启动这个状态的话，就退出
{
return;
}
//动作
D_AGV_Detection1 = (requestinfo.AGVExecuteCmd & 1) == 1 ? 1 : 0;
D_AGV_Detection2 = (requestinfo.AGVExecuteCmd & 2) == 2 ? 1 : 0;
//RFID
D_Detection1_RFID = requestinfo.Detection_Area1_RFID;
if (D_Detection1_RFID == ConfigClass.Tray_A3 && D_OnlyOnce3 == false)
{
D_AGV_Detection1_Para1 = requestinfo.Detection_Area1_Parameter1;
D_AGV_Detection1_Para2 = requestinfo.Detection_Area1_Parameter2;
D_AGV_Detection1_Para3 = requestinfo.Detection_Area1_Parameter3;
D_AGV_Detection1_Para4 = requestinfo.Detection_Area1_Parameter4;
D_AGV_Detection1_Para5 = requestinfo.Detection_Area1_Parameter5;
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "检测订单", ConfigClass.GetTrayString(D_Detection1_RFID),
ConfigClass.GetTrayString(D_Detection2_RFID), D_AGV_Detection1_Para1, D_AGV_Detection1_Para2,
D_AGV_Detection1_Para3, D_AGV_Detection1_Para4, D_AGV_Detection1_Para5);
D_OnlyOnce3 = true;
}
if (D_Detection1_RFID != ConfigClass.Tray_A3)
{
D_OnlyOnce3 = false;
}
D_Detection2_RFID = requestinfo.Detection_Area2_RFID;
if (D_Detection2_RFID == ConfigClass.Tray_A3 && D_OnlyOnce4 == false)
{
D_AGV_Detection2_Para1 = requestinfo.Detection_Area2_Parameter1;
D_AGV_Detection2_Para2 = requestinfo.Detection_Area2_Parameter2;
D_AGV_Detection2_Para3 = requestinfo.Detection_Area2_Parameter3;
D_AGV_Detection2_Para4 = requestinfo.Detection_Area2_Parameter4;
D_AGV_Detection2_Para5 = requestinfo.Detection_Area2_Parameter5;
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
db.SaveData(con, "检测订单", ConfigClass.GetTrayString(D_Detection1_RFID),
ConfigClass.GetTrayString(D_Detection2_RFID), D_AGV_Detection1_Para1, D_AGV_Detection1_Para2,
D_AGV_Detection1_Para3, D_AGV_Detection1_Para4, D_AGV_Detection1_Para5);
D_OnlyOnce4 = true;
}
if (D_Detection2_RFID != ConfigClass.Tray_A3)
{
D_OnlyOnce4 = false;
}
//如果动作值为1，则通知AGV(向AGV表中插入命令)且不能重复插入
if (D_AGV_Detection1 == 1 && D_OnlyOnce1 == false)
{
InformAGV(ConfigClass.DetectionArea1);
D_OnlyOnce1 = true;
}
if (D_AGV_Detection1 == 0)
{
D_OnlyOnce1 = false;
}
if (D_AGV_Detection2 == 1 && D_OnlyOnce2 == false)
{
InformAGV(ConfigClass.DetectionArea2);
D_OnlyOnce2 = true;
}
if (D_AGV_Detection2 == 0)
{
D_OnlyOnce2 = false;
}
}
//执行订单（自动操作）AGV时收到消息的处理方法
private void AutoOperate()
{
if (package.Head == 10003) //收到消息
{
ExecuteOrder.SendAGVCmdEnable = false;
MainWindow.agvUIHandle.AGV_POS_ACTION = "AGV已收到消息";
LogInfoHelp.GetInstance().WriteInfoToLogFile("AGV已收到消息", LogInfoHelp.LOG_TYPE.LOG_INFO);
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateAGVComState(con, package.TaskID); //更新AGV指令表中的通讯状态为【已收到】
return;
}
if (package.Head == 10005) //执行指令完成
{
if (package.TaskStepID == 0) //执行取货任务完成
{
//得到AGV的起点和终点
int StartPoint, EndPoint = 0;
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
StartPoint = db.SelectAGVStartEndPoint(con, package.TaskID, ref EndPoint);
MainWindow.agvUIHandle.AGV_POS_ACTION = ConfigClass.GetMapString(StartPoint) + "取货完毕";
LogInfoHelp.GetInstance().WriteInfoToLogFile(MainWindow.agvUIHandle.AGV_POS_ACTION, LogInfoHelp.LOG_TYPE.LOG_INFO);
//如过是送往立库入库区来的，向加工PLC 装配PLC 检测PLC发布当前状态
//AGV在各个机构区域取托盘完毕
if (EndPoint == ConfigClass.WHInlibArea)
{
PublishAGVState(StartPoint, EndPoint);
Thread t = new Thread(delegate()
{
Thread.Sleep(new TimeSpan(0, 0, 5));
SetNull();
});
t.Start();
t.Priority = ThreadPriority.AboveNormal;
t.IsBackground = true;
//判断立库表指令是否超过两条，如果超过两条则挂起，否则不挂起
Thread th = new Thread(delegate()
{
SendPackage pac = new SendPackage();
while (true)
{
bool IsNoPause = db.SelectWHCmdNum(con); //查询立库指令表是否具备AGV挂起的条件
if (IsNoPause == false) //如果指令没超过一条
{
pac.Head = 10012;
pac.ESSignal = 6; //解急停
sendESDelegate(pac);
break;
}
//如果超过两条
pac.Head = 10012;
pac.ESSignal = 5; //急停
sendESDelegate(pac);
Thread.Sleep(TimeSpan.FromSeconds(3));
}
});
th.Start();
th.Priority = ThreadPriority.AboveNormal;
th.IsBackground = true;
}
return;
}
if (package.TaskStepID == 1) //执行卸货任务完成
{
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
//得到AGV的起点和终点
int StartPoint, EndPoint = 0;
StartPoint = db.SelectAGVStartEndPoint(con, package.TaskID, ref EndPoint);
MainWindow.agvUIHandle.AGV_POS_ACTION = ConfigClass.GetMapString(EndPoint) + "卸货完毕";
LogInfoHelp.GetInstance().WriteInfoToLogFile(MainWindow.agvUIHandle.AGV_POS_ACTION, LogInfoHelp.LOG_TYPE.LOG_INFO);
db.UpdateAGVWorkState(con, package.TaskID); //更新AGV指令表中的通讯状态为【完成】
ExecuteOrder.SendAGVCmdEnable = true;
//如果是从立库出库区来的，向加工PLC 装配PLC 检测PLC发布当前状态
//AGV在各个机构区域放托盘完毕
if (StartPoint == ConfigClass.WHOutlibArea1)
{
//发布AGV的状态给各个PLC
PublishAGVState(StartPoint, EndPoint);
//AGV在各工作区卸货完成后，检查是否还有订单,并且检查每个工作区是否有空闲，
//如果两个条件都满足，我们就通知立库继续出库（向立库指令表中插入出库信息）
//这里用线程，是为了防止接收到多次一样的消息从而重复通知立库的bug。
if (InformWHThreadState == false) //防止线程重复创建
{
InformWHThread = new Thread(new ParameterizedThreadStart(CheckAndInformWH));
InformWHThread.IsBackground = true;
InformWHThreadState = true;
InformWHThread.Start(EndPoint);
InformWHThread.Priority = ThreadPriority.AboveNormal;
}
return;
}
//如过是送往立库入库区来的，则向立库表中插入入库指令信息
if (EndPoint == ConfigClass.WHInlibArea)
{
//AGV在立库入库区卸货完成，然后向立库表中插入入库指令信息
if (InformWHThreadState == false) //防止线程重复创建
{
InformWHThread = new Thread(new ParameterizedThreadStart(InformWHInlib));
InformWHThread.IsBackground = true;
InformWHThreadState = true;
InformWHThread.Start(StartPoint);
InformWHThread.Priority = ThreadPriority.AboveNormal;
}
return;
}
}
}
}
