/// <summary>
/// RGV任务调度
/// </summary>
/// <param name="ctlTaskList"></param>
/// <param name="reStr"></param>
/// <returns></returns>
private CtlDBAccess.Model.ControlTaskModel RgvTasksndAllocate(TransDevModel.NodeRGV rgv, ref string reStr)
{
CtlDBAccess.Model.ControlTaskModel ctlTask = null;
List <CtlDBAccess.Model.ControlTaskModel> taskList = ctlTaskBll.GetTaskToRunList((int)SysCfg.EnumAsrsTaskType.RGV上下料, SysCfg.EnumTaskStatus.待执行.ToString(), rgv.NodeID, true);
foreach (CtlDBAccess.Model.ControlTaskModel taskModel in taskList)
{
if (0 != TaskLockCheck(rgv, taskModel, ref reStr))
{
continue;
}
string devSt = taskModel.StDevice;
string devTarget = taskModel.EndDevice;
FlowCtlBaseModel.CtlNodeBaseModel stNode = NodeManager.GetNodeByID(devSt);
FlowCtlBaseModel.CtlNodeBaseModel targetNode = NodeManager.GetNodeByID(devTarget);
if (stNode == null || stNode.DevCata != "站台")
{
continue;
}
if (targetNode == null || targetNode.DevCata != "站台")
{
continue;
}
//起点有板，终点空闲，无板
if (stNode.Db2Vals[0] == 2 && targetNode.Db2Vals[0] == 1)
{
ctlTask = taskModel;
break;
}
}
return(ctlTask);
}
/// <summary>
/// 设备执行任务之前，检查是否路径被锁定，防止上下架冲突
/// </summary>
/// <param name="curNode"></param>
/// <param name="curTask"></param>
/// <param name="reStr">若可用，返回0,1：路径被锁定，不可用,2:其它错误,-1:系统异常</param>
/// <returns></returns>
public int TaskLockCheck(FlowCtlBaseModel.CtlNodeBaseModel curNode, CtlDBAccess.Model.ControlTaskModel curTask, ref string reStr)
{
try
{
lock (pathCheckLock)
{
if (curTask == null)
{
reStr = "任务为空";
return(2);
}
CtlDBAccess.Model.MainControlTaskModel mainTask = mainCtlTaskBll.GetModel(curTask.MainTaskID);
if (!wcsPathMap.Keys.Contains(mainTask.FlowPathKey))
{
reStr = "不存在的路径：" + mainTask.FlowPathKey;
return(2);
}
FlowCtlBaseModel.WCSFlowPathModel wcsPath = wcsPathMap[mainTask.FlowPathKey];
if (wcsPath.PathCata == "上架")
{
// List<CtlDBAccess.Model.MainControlTaskModel> lockedMaintaskList = GetLockedTaskList(curNode, "下架");
if (!NodeLockedBytask(curNode, "下架"))
{
return(0);
}
else
{
return(1);
}
}
else if (wcsPath.PathCata == "下架")
{
//List<CtlDBAccess.Model.MainControlTaskModel> lockedMaintaskList = GetLockedTaskList(curNode, "上架");
if (!NodeLockedBytask(curNode, "上架"))
{
return(0);
}
else
{
return(1);
}
}
else
{
return(0);
}
}
}
catch (Exception ex)
{
reStr = ex.ToString();
return(-1);
}
}
public bool BuildFlowPath(XElement root, ref string reStr)
{
try
{
IEnumerable <XElement> pathXES = root.Elements("Path");
foreach (XElement pathXE in pathXES)
{
FlowCtlBaseModel.WCSFlowPathModel wcsPath = new FlowCtlBaseModel.WCSFlowPathModel();
if (!wcsPath.BuildPath(pathXE, ref reStr))
{
return(false);
}
foreach (FlowCtlBaseModel.WCSPathNodeModel wcsNode in wcsPath.NodeList)
{
FlowCtlBaseModel.CtlNodeBaseModel node = NodeManager.GetNodeByID(wcsNode.NodeID);
if (node.DevCata == "堆垛机")
{
wcsNode.DevCata = "库房";
}
else
{
wcsNode.DevCata = node.DevCata;
}
if (wcsNode.NodeFlag == "起点")
{
if (wcsNode.DevCata == "站台")
{
wcsPath.PathCata = "上架";
}
else
{
wcsPath.PathCata = "下架";
}
}
}
wcsPathMap[wcsPath.PathKey] = wcsPath;
}
return(true);
}
catch (Exception ex)
{
reStr = ex.ToString();
return(false);
}
}
private bool NodeLockedBytask(FlowCtlBaseModel.CtlNodeBaseModel curNode, string mainTaskCata)
{
foreach (string pathKey in wcsPathMap.Keys)
{
FlowCtlBaseModel.WCSFlowPathModel wcsPath = wcsPathMap[pathKey];
if (wcsPath.PathCata != mainTaskCata)
{
continue;
}
if (!wcsPath.ContainNode(curNode.NodeID))
{
continue;
}
List <CtlDBAccess.Model.MainControlTaskModel> taskList = mainCtlTaskBll.GetModelList(string.Format("FlowPathKey ='{0}' and TaskStatus='执行中'", pathKey));
if (taskList != null && taskList.Count() > 0)
{
return(true);
}
}
return(false);
}
private void MainForm_Load(object sender, EventArgs e)
{
try
{
this.WindowState = FormWindowState.Maximized;
this.btnPause.Enabled = false;
this.labelVersion.Text = this.version;
#region 数据库配置
string dbSrc = ConfigurationManager.AppSettings["DBSource"];
//CtlDBAccess.DBUtility.PubConstant.ConnectionString = string.Format(@"{0}Initial Catalog=ACEcams;User ID=sa;Password=123456;", dbSrc);
string dbConn1 = string.Format(@"{0}Initial Catalog=AoyouEcams;User ID=sa;Password=123456;", dbSrc);
CtlDBAccess.DBUtility.DbHelperSQL.SetConnstr(dbConn1);
string dbConn2 = string.Format(@"{0}Initial Catalog=AoyouLocalMes;User ID=sa;Password=123456;", dbSrc);
MesDBAccess.DBUtility.DbHelperSQL.SetConnstr(dbConn2);
AsrsStorDBAcc.DbHelperSQL.SetConnstr(string.Format(@"{0}Initial Catalog=AoyouWMSDB;User ID=sa;Password=123456;", dbSrc));
#endregion
string mesAddr = ConfigurationManager.AppSettings["MesSvcAddr"];
PrcsCtlModelsAoyou.WShelper.url = mesAddr;
presenter = new MainPresenter(this);
childList = new List <string>();
childViews = new List <BaseChildView>();
Console.SetOut(new TextBoxWriter(this.richTextBoxLog));
// corePresenter = new CtlcorePresenter();
this.labelUser.Text = "当前用户：" + this.userName;
this.MainTabControl.DrawMode = TabDrawMode.OwnerDrawFixed;
this.MainTabControl.Padding = new System.Drawing.Point(CLOSE_SIZE, CLOSE_SIZE);
this.MainTabControl.DrawItem += new DrawItemEventHandler(this.tabControlMain_DrawItem);
this.MainTabControl.MouseDown += new System.Windows.Forms.MouseEventHandler(this.tabControlMain_MouseDown);
if (!presenter.SysCtlInit())
{
return;
}
if (!LoadModules())//加载子模块
{
MessageBox.Show("子模块加载错误");
return;
}
this.configView.BatteryCfgView.dlgtSndPalletCfg = presenter.SendDevlinePalletCfg;
this.configView.BatteryCfgView.dlgtGetPalletCfg = presenter.ReadPalletCfgFromPlc;
List <string> logSrcs = new List <string>();
logSrcs.AddRange(presenter.GetLogSrcList());
List <string> storLogSrcs = storageView.GetLogsrcList();
if (storLogSrcs != null)
{
logSrcs.AddRange(storLogSrcs);
}
logView.SetLogsrcList(logSrcs);
presenter.SetLogRecorder(logView.GetLogrecorder());
AllocateModuleInface();
nodeMonitorView.Init();
this.nodeMonitorView.InitDevDic(presenter.DevCommManager.GetPLCConnStatDic());
this.nodeMonitorView.DevMonitorView.devCommMonitor = presenter.DevCommManager;
string[] taskNodeIDS = new string[] { "1001", "1002", "1003", "1004", "1005", "1006", "6001", "6002", "6003" };
IDictionary <string, string> taskNodeMap = new Dictionary <string, string>();
foreach (string nodeID in taskNodeIDS)
{
FlowCtlBaseModel.CtlNodeBaseModel node = presenter.CtlNodeManager.GetNodeByID(nodeID);
if (node != null)
{
taskNodeMap[nodeID] = node.NodeName;
}
}
asrsCtlView.SetTaskNodeNames(taskNodeMap);
string licenseFile = AppDomain.CurrentDomain.BaseDirectory + @"\NBSSLicense.lic";
this.licenseMonitor = new LicenseMonitor(this, 60000, licenseFile, "zzkeyFT1");
if (!this.licenseMonitor.StartMonitor())
{
throw new Exception("license 监控失败");
}
string reStr = "";
if (!this.licenseMonitor.IslicenseValid(ref reStr))
{
MessageBox.Show(reStr);
return;
}
presenter.LoadAsrsExtSvc();
//宿主状态监控服务
PublicMonitorSvc();
Console.WriteLine("系统初始化完成!");
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
private void WMSTaskMonitorProc()
{
foreach (TaskDeviceModel stDev in wmsStDevList)
{
List <ManageTaskModel> wmsTasks = new List <ManageTaskModel>();
ResposeData res = WmsSvc.GetWaittingToRunTaskList(stDev, ref wmsTasks);
if (!res.Status)
{
Console.WriteLine("获取{0}待执行管理任务失败{1}", stDev.DeviceCode, res.Describe);
continue;
}
foreach (ManageTaskModel wmsTask in wmsTasks)
{
if (mainCtlTaskBll.Exists(wmsTask.TaskID))
{
continue;
}
CtlDBAccess.Model.MainControlTaskModel mainCtlTask = new CtlDBAccess.Model.MainControlTaskModel();
mainCtlTask.WMSTaskID = wmsTask.TaskID;
mainCtlTask.MainTaskID = wmsTask.TaskID;
mainCtlTask.FlowPathKey = wmsTask.StartDevice.DeviceCode + "-" + wmsTask.TargetDevice.DeviceCode;
mainCtlTask.PalletCode = wmsTask.PalletCode;
mainCtlTask.TaskStatus = "待启动";
//if(wmsTask.Type == "下架")
//{
// mainCtlTask.TaskType = "产品出库";
//}
//else if(wmsTask.Type=="上架")
//{
// mainCtlTask.TaskType = "产品入库";
//}
//else
//{
// mainCtlTask.TaskType = wmsTask.Type;
//}
mainCtlTask.TaskType = wmsTask.Type;
mainCtlTask.StDevice = wmsTask.StartDevice.DeviceCode;
mainCtlTask.StDeviceCata = wmsTask.StartDevice.DeviceType;
mainCtlTask.EndDevice = wmsTask.TargetDevice.DeviceCode;
mainCtlTask.EndDeviceCata = wmsTask.TargetDevice.DeviceType;
if (wmsTask.StartDevice.DeviceType == "货位")
{
mainCtlTask.StDeviceParam = wmsTask.StartDevice.ExtParam;
}
if (wmsTask.TargetDevice.DeviceType == "货位")
{
mainCtlTask.EndDeviceParam = wmsTask.TargetDevice.ExtParam;
}
mainCtlTask.CreateTime = System.DateTime.Now;
mainCtlTask.CreateMode = "自动";
mainCtlTaskBll.Add(mainCtlTask);
}
}
string reStr = "";
//分解主控制任务
List <CtlDBAccess.Model.MainControlTaskModel> mainTasks = mainCtlTaskBll.GetModelList("TaskStatus = '待启动'");
foreach (CtlDBAccess.Model.MainControlTaskModel mainTask in mainTasks)
{
string pathKey = mainTask.FlowPathKey;
if (!wcsPathMap.Keys.Contains(pathKey))
{
Console.WriteLine("不存在的路径配置：{0}", pathKey);
continue;
}
FlowCtlBaseModel.WCSFlowPathModel wcsPath = wcsPathMap[pathKey];
if (wcsPath.NodeList.Count() < 1)
{
continue;
}
FlowCtlBaseModel.WCSPathNodeModel stNode = wcsPath.NodeList[0];
if (stNode.NodeFlag != "起点")
{
continue;
}
string nodeID = stNode.NodeID;
FlowCtlBaseModel.CtlNodeBaseModel node = NodeManager.GetNodeByID(nodeID);
if (node == null)
{
continue;
}
if (node.DevCata == "站台")
{
if (node.Db2Vals[0] != 2)
{
continue;
}
}
if (!node.WCSMainTaskStart(mainTask, wcsPath, ref reStr))
{
Console.WriteLine("{0} 启动任务：{1}失败,{2}", node.NodeName, mainTask.WMSTaskID, reStr);
}
else
{
WmsSvc.UpdateManageTaskStatus(mainTask.WMSTaskID, "执行中");
Console.WriteLine("主控制任务{0},{1}->{2}准备启动", mainTask.MainTaskID, mainTask.StDevice, mainTask.EndDevice);
}
}
/*
* foreach(string pathKey in wcsPathMap.Keys)
* {
* FlowCtlBaseModel.WCSFlowPathModel wcsPath = wcsPathMap[pathKey];
* if(wcsPath.NodeList.Count()<1)
* {
* continue;
* }
*
* FlowCtlBaseModel.WCSPathNodeModel stNode= wcsPath.NodeList[0];
* if(stNode.NodeFlag !="起点")
* {
* continue;
* }
* string nodeID = stNode.NodeID;
* FlowCtlBaseModel.CtlNodeBaseModel node = NodeManager.GetNodeByID(nodeID);
* if(node == null)
* {
* continue;
* }
* //生成第一个控制任务
* List<CtlDBAccess.Model.MainControlTaskModel> mainTasks= mainCtlTaskBll.GetModelList(string.Format("TaskStatus = '待执行' and StDevice='{0}'", nodeID));
* foreach(CtlDBAccess.Model.MainControlTaskModel mainTask in mainTasks)
* {
* if(!node.WCSMainTaskStart(mainTask, wcsPath, ref reStr))
* {
* Console.WriteLine("{0} 启动任务：{1}失败,{2}", node.NodeName, mainTask.WMSTaskID,reStr);
* }
* else
* {
* WmsSvc.UpdateManageTaskStatus(mainTask.WMSTaskID, "执行中");
* }
* }
* }*/
}
public bool CreateNodeNextTask(FlowCtlBaseModel.CtlNodeBaseModel curNode, CtlDBAccess.Model.ControlTaskModel curTask, ref string reStr)
{
try
{
CtlDBAccess.Model.MainControlTaskModel mainTask = mainCtlTaskBll.GetModel(curTask.MainTaskID);
if (mainTask == null)
{
reStr = "主任务为空,不存在的主任务ID:" + curTask.MainTaskID;
return(false);
}
FlowCtlBaseModel.WCSFlowPathModel wcsPath = null;
if (wcsPathMap.Keys.Contains(mainTask.FlowPathKey))
{
wcsPath = wcsPathMap[mainTask.FlowPathKey];
}
else
{
reStr = "路径不存在:" + mainTask.FlowPathKey;
return(false);
}
FlowCtlBaseModel.WCSPathNodeModel wcsNode = wcsPath.GetNodeByID(curNode.NodeID);
if (wcsNode.NodeFlag == "终点")
{
//管理任务完成
WMS_Interface.ResposeData res = WmsSvc.UpdateManageTaskStatus(mainTask.WMSTaskID, "已完成");
if (!res.Status)
{
reStr = string.Format("更新WMS任务:{0}状态失败,{1}", mainTask.WMSTaskID, res.Describe);
return(false);
}
mainTask.TaskStatus = "已完成";
mainTask.FinishTime = System.DateTime.Now;
if (!mainCtlTaskBll.Update(mainTask))
{
reStr = string.Format("更新主控制任务:{0}状态失败", mainTask.MainTaskID);
return(false);
}
return(true);
}
FlowCtlBaseModel.CtlNodeBaseModel nextNode = NodeManager.GetNodeByID(wcsNode.NextNodeID);
if (curNode.DevCata == "站台")
{
if (nextNode.DevCata == "站台")
{
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateConveyorTask(curTask.TaskIndex + 1, mainTask.MainTaskID, curNode as TransDevModel.NodeTransStation, nextNode as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
else if (nextNode.DevCata == "RGV")
{
FlowCtlBaseModel.WCSPathNodeModel rgvTargetWcsNode = wcsPath.GetNodeByID(wcsNode.NextNodeID);
FlowCtlBaseModel.CtlNodeBaseModel nextNode2 = NodeManager.GetNodeByID(rgvTargetWcsNode.NextNodeID);
if (nextNode2 == null)
{
reStr = "不存在的设备号：" + wcsNode.NextNodeID;
return(false);
}
FlowCtlBaseModel.WCSPathNodeModel nextWcsNode = wcsPath.GetNodeByID(nextNode2.NodeID);
if (nextWcsNode == null)
{
reStr = "路径配置，RGV路径缺少下料站台";
return(false);
}
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateRGVTask(curTask.TaskIndex + 1, mainTask.MainTaskID, nextNode as TransDevModel.NodeRGV, curNode as TransDevModel.NodeTransStation, nextNode2 as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
else if (nextNode.DevCata == "堆垛机")
{
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateStackerTask(curTask.TaskIndex + 1, mainTask, nextNode.NodeID, curNode as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
}
else if (curNode.DevCata == "RGV")
{
if (nextNode.DevCata != "站台")
{
reStr = "RGV目标设备应该为站台";
return(false);
}
FlowCtlBaseModel.WCSPathNodeModel rgvTargetWcsNode = wcsPath.GetNodeByID(wcsNode.NextNodeID);
if (rgvTargetWcsNode.NodeFlag == "终点")
{
//管理任务完成
WMS_Interface.ResposeData res = WmsSvc.UpdateManageTaskStatus(mainTask.WMSTaskID, "已完成");
if (!res.Status)
{
reStr = string.Format("更新WMS任务:{0}状态失败,{1}", mainTask.WMSTaskID, res.Describe);
return(false);
}
mainTask.TaskStatus = "已完成";
mainTask.FinishTime = System.DateTime.Now;
if (!mainCtlTaskBll.Update(mainTask))
{
reStr = string.Format("更新主控制任务:{0}状态失败", mainTask.MainTaskID);
return(false);
}
return(true);
}
FlowCtlBaseModel.CtlNodeBaseModel rgvTargetNode = NodeManager.GetNodeByID(rgvTargetWcsNode.NodeID);
FlowCtlBaseModel.CtlNodeBaseModel nextNode2 = NodeManager.GetNodeByID(rgvTargetWcsNode.NextNodeID);
if (nextNode2.DevCata == "站台")
{
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateConveyorTask(curTask.TaskIndex + 1, mainTask.MainTaskID, rgvTargetNode as TransDevModel.NodeTransStation, nextNode2 as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
else if (nextNode2.DevCata == "堆垛机")
{
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateStackerTask(curTask.TaskIndex + 1, mainTask, nextNode2.NodeID, rgvTargetNode as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
else
{
reStr = "错误的路径配置，两台RGV不允许共用一个接驳站台";
return(false);
}
}
else if (curNode.DevCata == "堆垛机")
{
if (nextNode.DevCata != "站台")
{
reStr = "堆垛机目标设备应该为站台";
return(false);
}
FlowCtlBaseModel.WCSPathNodeModel targetWcsNode = wcsPath.GetNodeByID(wcsNode.NextNodeID);
if (targetWcsNode.NodeFlag == "终点")
{
//管理任务完成
WMS_Interface.ResposeData res = WmsSvc.UpdateManageTaskStatus(mainTask.WMSTaskID, "已完成");
if (!res.Status)
{
reStr = string.Format("更新WMS任务:{0}状态失败,{1}", mainTask.WMSTaskID, res.Describe);
return(false);
}
mainTask.TaskStatus = "已完成";
mainTask.FinishTime = System.DateTime.Now;
if (!mainCtlTaskBll.Update(mainTask))
{
reStr = string.Format("更新主控制任务:{0}状态失败", mainTask.MainTaskID);
return(false);
}
return(true);
}
FlowCtlBaseModel.CtlNodeBaseModel nextNode2 = NodeManager.GetNodeByID(targetWcsNode.NextNodeID);
if (nextNode2.DevCata == "站台")
{
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateConveyorTask(curTask.TaskIndex + 1, mainTask.MainTaskID, nextNode as TransDevModel.NodeTransStation, nextNode2 as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
else if (nextNode2.DevCata == "RGV")
{
FlowCtlBaseModel.WCSPathNodeModel targetWcsNode2 = wcsPath.GetNodeByID(nextNode2.NodeID);
FlowCtlBaseModel.CtlNodeBaseModel nextNode3 = NodeManager.GetNodeByID(targetWcsNode2.NextNodeID);
if (nextNode3 == null)
{
return(false);
}
CtlDBAccess.Model.ControlTaskModel nextCtlTask = CreateRGVTask(curTask.TaskIndex + 1, mainTask.MainTaskID, nextNode2 as TransDevModel.NodeRGV, nextNode as TransDevModel.NodeTransStation, nextNode3 as TransDevModel.NodeTransStation, curTask.PalletCode, ref reStr);
if (nextCtlTask == null)
{
return(false);
}
return(ctlTaskBll.Add(nextCtlTask));
}
}
return(true);
}
catch (Exception ex)
{
reStr = ex.ToString();
Console.WriteLine(ex.ToString());
return(false);
}
}
