public AGVUtil getAGVUtil()
{
if (agvUtil == null)
{
agvUtil = new AGVUtil();
}
return(agvUtil);
}
/// <summary>
/// 点击后，注意查看主界面车子是否启动，如果没有启动，可以进来再次点击启动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void pauseCtroButton_Click(object sender, EventArgs e)
{
Button button = (Button)sender;
if (forklift.getPauseStr().Equals("暂停"))
{
AGVUtil.setForkCtrl(forklift, 0);
forklift.getForkLift().shedulePause = 0;
forklift.getPosition().calcPositionArea();
button.Text = "运行";
button.Enabled = false;
}
}
private void confirm_Click(object sender, EventArgs e)
{
DialogResult dr;
string message = "确认禁用" + disableForkLiftNumber + "号车吗";
dr = MessageBox.Show(message, "禁用单车确认", MessageBoxButtons.YesNo);
if (dr == System.Windows.Forms.DialogResult.Yes)
{
AGVUtil.disableForklift(disableForkLiftNumber);
this.Hide();
}
}
private void addAllTaskRecordButton_Click(object sender, EventArgs e)
{
List <TaskRecord> listTaskRecords = TaskReordService.getInstance().getReadySendTaskRecordList();
if (listTaskRecords.Count > 0)
{
DialogResult dr;
dr = MessageBox.Show("有缓存任务，禁止一键添加", "提示", MessageBoxButtons.OK);
}
else
{
AGVUtil.addAllTaskRecord();
updateFrm();
}
}
private void shedulePause() //用于系统暂停时，检测暂停是否发送成功，如果没有发送成功，则一直向该车发送暂停
{
while (currentPause > SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN && currentPause < SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_MAX)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (currentPause == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START || currentPause == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //楼上楼下都有货时，暂停楼上的车，露楼下的车不用检测20160929 破凉
{
if (fl.getForkLift().forklift_number == 3)
{
continue;
}
}
if (fl.getPauseStr().Equals("运行")) //如果该车返回的pauseStat没有被设置成1，则向该车发送暂停
{
AGVUtil.setForkCtrlWithPrompt(fl, 1);
}
}
Thread.Sleep(30000);
}
}
public void scheduleInstruction()
{
while (ScheduleFactory.getSchedule().getScheduleFlag())
{
Thread.Sleep(500);
sheduleLift();
if (AGVSystem.getSystem().getSystemPause())
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITHOUT_START) //避免多次设置
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 1); //向不是暂停的车发送暂停指令
}
}
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
continue; //系统暂停后不需要调度
}
else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //暂停楼上的车，有时候卸货不及时
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //避免多次设置
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0) //只调度楼上的车
{
AGVUtil.setForkCtrl(fl, 1);
}
}
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
continue; //楼上的车子被暂停后，不需要调度
}
else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START)
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START) //避免多次设置
{
ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
AGVUtil.setForkCtrl(fl, 1);
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
}
else
{
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车，发送启动指令
}
}
}
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车，发送启动指令
}
}
}
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START)
{
ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
AGVUtil.setForkCtrl(fl, 0);
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
}
lock (LockController.getLockController().getLockForkLift()) //加锁，避免车的状态不一致
{
_sheduleRunning();
}
}
}
private void _sheduleRunning()
{
ForkLiftWrapper fl_1 = null;
ForkLiftWrapper fl_2 = null;
SHEDULE_TYPE_T shedule_type = SHEDULE_TYPE_T.SHEDULE_TYPE_MIN;
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep != TASK_STEP.TASK_IDLE) //调度没有在使用的车 车子任务没有完成，只有当两辆车同时使用时，才调度
{
if (fl_1 != null)
{
fl_2 = fl;
}
else
{
fl_1 = fl;
}
}
}
if (fl_1 != null && fl_2 != null) //两车同时运行时才需要调度
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 3)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(3);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 1)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(1);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
shedule_type = getForkSheduleType(fl_2);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 3)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(3);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 1)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(1);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
checkPausePosition(fl_1);
checkPausePosition(fl_2);
}
else if (fl_1 != null && fl_2 == null)
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
fl_1.getPosition().setArea(3);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
fl_1.getPosition().setArea(1);
}
if (fl_1.getForkLift().shedulePause == 1) //如果车子被暂停，启动该车
{
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}