public SendToAgvResult CallBackResult(ReciveAgeCallBack agvCallBack)
{
DataSet ds = new DataSet();
ds = DataTrans.D_GetAgvCallBack(agvCallBack.ReqCode, out string msg);
SendToAgvResult result = new SendToAgvResult();
if (ds != null)
{
if (ds.Tables[0].Rows.Count > 0)
{
result.Code = "1";
result.Message = "请求编号已存在";
result.Data = "";
result.ReqCode = agvCallBack.ReqCode;
}
else
{
string msgInfo = bll.HandleCallBackData(agvCallBack);
if (msgInfo == "OK")
{
int n = DataTrans.D_InsertCallBack(agvCallBack, "2", out msg);
if (n > 0)
{
result.Code = "0";
result.Message = "成功";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
}
else
{
result.Code = "1";
result.Message = "失败";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
}
}
else
{
result.Code = "1";
result.Message = "数据处理异常";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
return(result);
}
/// <summary>
/// 将接受到回调信息插入表中
/// </summary>
/// <param name="rcvcallback"></param>
/// <param name="msg"></param>
/// <returns></returns>
public static int D_InsertCallBack(ReciveAgeCallBack rcvcallback, string status, out string msg)
{
msg = "";
int n = 0;
//string status = "1";
#region 注释
//string orastr = @"INSERT INTO RICO_AGV_CALLBACK
// (REQCODE,
// REQTIME,
// INTERFACENAME,
// COOX,
// COOY,
// CURRENTPOSITIONCODE,
// MAPCODE,
// MAPDATACODE,
// METHOD,
// PODCODE,
// PODDIR,
// REBOTCODE,
// TASKCODE,
// WBCODE,
// STATUS)
// VALUES
// (:REQCODE,
// :REQTIME,
// :INTERFACENAME,
// :COOX,
// :COOY,
// :CURRENTPOSITIONCODE,
// :MAPCODE,
// :MAPDATACODE,
// :METHOD,
// :PODCODE,
// :PODDIR,
// :REBOTCODE,
// :TASKCODE,
// :WBCODE,
// :STATUS)";
//OracleParameter[] parameters = new OracleParameter[]
//{
// new OracleParameter(":REQCODE",rcvcallback.ReqCode),
// new OracleParameter(":REQTIME",rcvcallback.ReqTime),
// new OracleParameter(":INTERFACENAME",rcvcallback.InterfaceName),
// new OracleParameter(":COOX",rcvcallback.Coox),
// new OracleParameter(":COOY",rcvcallback.CooY),
// new OracleParameter(":CURRENTPOSITIONCODE",rcvcallback.CurrentPositionCode),
// new OracleParameter(":MAPCODE",rcvcallback.MapCode),
// new OracleParameter(":MAPDATACODE",rcvcallback.MapDataCode),
// new OracleParameter(":METHOD",rcvcallback.Method),
// new OracleParameter(":PODCODE",rcvcallback.PodCode),
// new OracleParameter(":PODDIR",rcvcallback.PodDir),
// new OracleParameter(":REBOTCODE",rcvcallback.RobotCode),
// new OracleParameter(":TASKCODE",rcvcallback.TaskCode),
// new OracleParameter(":WBCODE",rcvcallback.WbCode),
// new OracleParameter(":STATUS",status)
//};
#endregion
string orastr = @"INSERT INTO RICO_AGV_CALLBACK
(REQCODE,
REQTIME,
INTERFACENAME,
COOX,
COOY,
CURRENTPOSITIONCODE,
MAPCODE,
MAPDATACODE,
METHOD,
PODCODE,
PODDIR,
REBOTCODE,
TASKCODE,
WBCODE,
STATUS)
VALUES
('" + rcvcallback.ReqCode
+ "','" + rcvcallback.ReqTime
+ "','" + rcvcallback.InterfaceName
+ "','" + rcvcallback.CooX
+ "','" + rcvcallback.CooY
+ "','" + rcvcallback.CurrentPositionCode
+ "','" + rcvcallback.MapCode
+ "','" + rcvcallback.MapDataCode
+ "','" + rcvcallback.Method
+ "','" + rcvcallback.PodCode
+ "','" + rcvcallback.PodDir
+ "','" + rcvcallback.RobotCode
+ "','" + rcvcallback.TaskCode
+ "','" + rcvcallback.WbCode
+ "','" + status + "')";
try
{
n = OracleHelper.ExecuteNonQuery(CommandType.Text, orastr, null);
}
catch (Exception ex)
{
msg = "将请求编号" + rcvcallback.ReqCode + "调度" + rcvcallback.TaskCode + "插入表中异常";
LogInfo.WriteLog(msg + ",异常状态为：" + ex.Message + "异常语句为:" + orastr);
}
return(n);
}
public string HandleCallBackData(ReciveAgeCallBack agvCallBack)
{
string msg = string.Empty;
//外形检测出到达
if (agvCallBack.Method == Arrive)
{
DataSet ds = DataTrans.D_GetSchByTaskIdArrive(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
#region 读取外形检测是否报警
bool flag = false;
string ssjid = ds.Tables[0].Rows[0]["SNUMBER"].ToString();
TransportStr ts = lsTransport.Find(si => si.SSJID == ssjid);
if (ts == null)
{
return(string.Empty);
}
int btid = Convert.ToInt32(ts.BTID);
byte[] bty = new byte[2];
BitArray arr = new BitArray(bty);
if (!HsWcsReadalarm(out arr))
{
return("");
}
else
{
for (int i = 0; i < 3; i++)
{
int start = (btid - 1) * 3;
flag = arr[start + i];
if (flag == true)
{
break;
}
}
}
#endregion
string desaddress = string.Empty;
//如果报警返回
if (flag == true)
{
desaddress = ts.VAR5;
}
else
{
TransportStr rkssj = lsTransport.Find(t => t.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
if (rkssj == null)
{
return(string.Empty);
}
desaddress = rkssj.VAR5;
}
ContinueToAgvInfo req = ContinueToModel(ds, desaddress);
SendToAgvResult result = ContinueTask(req);
if (result.Message == "成功" && flag)
{
NotifyEvent?.Invoke("R", $"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "5", string.Empty);
}
else if (result.Message == "成功" && !flag)
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "3", "3", string.Empty);
NotifyEvent?.Invoke("R", $"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
msg = "OK";
}
else
{
NotifyEvent?.Invoke("R", $"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
log.WriteLog($"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
msg = "Lost";
}
}
}
//放货完成
else if (agvCallBack.Method == Finish)
{
DataSet ds = DataTrans.D_GetSchByTaskId(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
TransportStr ts;
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
ts = lsTransport.Find(si => si.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
else
{
ts = lsTransport.Find(si => si.SSJID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
if (ts == null)
{
return(string.Empty);
}
ts.TRAYCODE = ds.Tables[0].Rows[0]["TRAYCODE"].ToString();
ts.ZXRWH = ds.Tables[0].Rows[0]["TASKNO"].ToString();
if (crl.HsWriteToSSJ(ts))
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务与id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "3", string.Empty);
}
else if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "2")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "4", string.Empty);
}
msg = "OK";
}
else
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
msg = "Lost";
}
}
}
return(msg);
}
