/// <summary>
/// AGV后退
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvBackwardBtn_Click(object sender, EventArgs e)
{
if (agvList.FocusedItem == null)
{
MessageBox.Show("请选中需要操作的车辆", "提示");
return;
}
else
{
if (!AgvForwardBtn.Enabled)
{
StopAGV();
}
if (WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("后退", 1, 2)))
{
//记录agv状态
agvStatus[agvList.FocusedItem.Text] = "backmove";
AgvBackwardBtn.Enabled = false;
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
}
/// <summary>
/// 线程处理 放置程序卡顿
/// </summary>
private void ThreadFunc()
{
while (true)
{
Thread.Sleep(2000);
try
{
if (!WcfDispatchHelper.IsConnected)
{
WcfDispatchHelper.Open();
}
if (!WcfMainHelper.IsConnected)
{
WcfMainHelper.Open();
}
if (!WcfTaskHelper.IsConnected)
{
WcfTaskHelper.Open();
}
CheckDispatch();
UpdateMap();
}
catch
{ }
}
}
/// <summary>
/// ListView初始化 标题
/// </summary>
private void ListView_Init()
{
//Agv列表
agvList.Columns.Add("AGV", 80, HorizontalAlignment.Center);
agvList.Columns.Add("状态", 109, HorizontalAlignment.Center);
agvList.View = System.Windows.Forms.View.Details;
//调度任务列表
currentTaskList.Columns.Add("ID", 0, HorizontalAlignment.Left);
currentTaskList.Columns.Add("任务", 220, HorizontalAlignment.Left);
currentTaskList.Columns.Add("路径", 100, HorizontalAlignment.Left);
currentTaskList.View = System.Windows.Forms.View.Details;
List <DeviceBackImf> devDatas = WcfMainHelper.GetDevList();
if (devDatas == null)
{
MessageBox.Show("请先启动服务");
Close();
return;
}
foreach (var data in devDatas)
{
agvStatus.Add(data.DevId, "stop");
}
}
/// <summary>
/// 检测调度状态
/// </summary>
private void CheckDispatch()
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> result = WcfMainHelper.GetDispatchList();
if (result != null)
{
foreach (var item in result)
{
if (item.TaskImf == _clientMark && item.OrderStatue == ResultTypeEnum.Suc)
{
WcfMainHelper.CtrDispatch(item.DisGuid, DisOrderCtrTypeEnum.Stop);
}
}
if (_callingTask != null)
{
if (result.Find(c => { return(c.DisGuid == _callingTask.DisGuid); }) == null)
{
_callingTask = null;
}
}
}
if (_callingTask == null)
{
_isCalling = false;
}
}
/// <summary>
/// 发生故障、离线的车，清除其相应的任务
/// </summary>
public void ClearTask()
{
while (true)
{
Thread.Sleep(5000);
List <F_AGV> agvs = F_DataCenter.MDev.ErrorOrFalse();
List <FDispatchBackImf> dispatchList = WcfMainHelper.GetDispatchList();
if (dispatchList != null && agvs != null && dispatchList.Count > 0)
{
foreach (var agv in agvs)
{
foreach (var dispatch in dispatchList)
{
// 有故障的车是否对应任务的设备ID
if (agv.Id == dispatch.Dev)
{
if (dic.ContainsKey(agv.Id))
{
int count = 0;
dic.TryGetValue(agv.Id, out count);
if (count >= 10)
{
// 终止该任务
WcfMainHelper.CtrDispatch(dispatch.Id, EnumCtrType.Stop);
sendServerLog("终止异常的 " + agv.Id + "正在执行的任务");
//LogFactory.LogRunning("终止异常的 " + agv.Id + "正在执行的任务");
FLog.Log("终止异常的 " + agv.Id + "正在执行的任务");
count = 0;
//异常终止的任务释放AGV
F_AGV.AgvRelease(agv.Id);
}
else
{
count++;
sendServerLog("异常的 " + agv.Id + "已等待处理 " + count + " 次");
//LogFactory.LogRunning("异常的 " + agv.Id + "已等待处理 " + count + " 次");
FLog.Log("异常的 " + agv.Id + "已等待处理 " + count + " 次");
}
dic.Remove(agv.Id);
dic.Add(agv.Id, count);
}
else
{
dic.Add(agv.Id, 0);
}
}
}
}
}
else
{
dic.Clear();
}
}
}
/// <summary>
/// 任务完成
/// </summary>
public void ISetTaskSuc()
{
if (_taskDispatch != null)
{
if (WcfMainHelper.CtrDispatch(_taskDispatch.Id, EnumCtrType.Stop))
{
_isSuc = true;
}
}
FLog.Log(_taskDispatch.Id + "任务完成");
}
/// <summary>
/// 清除站点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvClearSiteBtn_Click(object sender, EventArgs e)
{
if (agvList.FocusedItem == null)
{
MessageBox.Show("请选中需要操作的车辆", "提示");
return;
}
else
{
WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("清除站点", 3, 0));
}
}
/// <summary>
/// 停止函数
/// </summary>
public void StopAGV()
{
//WcfMainHelper.InitPara(_severIp, "", "");
// 1是快速停止、0是慢速
if (WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("停止", 2, 0)))
{
AgvForwardBtn.Enabled = true;
AgvBackwardBtn.Enabled = true;
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
/// <summary>
/// 返回区域二附近的待命点
/// </summary>
private void BackToPointAround()
{
if (_devArea2 == null)
{
return;
}
if (_devTarWait == null)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> diss = WcfMainHelper.GetDispatchList();
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
foreach (var item in _waitAreaTwoList)
{
if ((!IsDispatchContainPath(diss, item.StaTarget)) && (!IsDevOnSite(devs, item.StaSite)))
{
_devTarWait = item;
break;
}
}
}
if (_devTarWait != null)
{
WcfMainHelper.InitPara(_severIp, "", "");
DeviceBackImf result = WcfMainHelper.GetDev(_devArea2.DevId);
if (result != null)
{
if (result.SensorList.Find(c => { return(c.SenId == string.Format("{0}0003", _devArea2.DevId)); }).RValue == _devTarWait.StaTarget.ToString())
{
_devTarWait = null;
_devArea2 = null;
}
else
{
WcfMainHelper.SendOrder(_devArea2.DevId, new CommonDeviceOrderObj(DeviceOrderTypeEnum.OrderIndexThree, _devTarWait.StaTarget));
}
}
}
}
/// <summary>
/// 任务完成
/// </summary>
public void ISetTaskSuc()
{
//if (_plc != null)
//{
// _plc.IsLock = false;
//}
//if (_agv != null) { F_AGV.AgvRelease(_agv.Id); }
if (_taskDispatch != null)
{
if (WcfMainHelper.CtrDispatch(_taskDispatch.Id, EnumCtrType.Stop))
{
_isSuc = true;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonSendRun_Click(object sender, EventArgs e)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
SensorBackImf sens = null;
if (devs != null && devs.Count > 0)
{
foreach (var item in devs)
{
if (item.DevType == "AGV")
{
sens = item.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", item.DevId)); });
if (sens != null && sens.RValue == LocSite.ToString())
{
if (MessageBox.Show(string.Format("确定要启动【{0}】地标上AGV【{1}】", LocSite, item.DevId), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
if (WcfMainHelper.SendOrder(item.DevId, new CommonDeviceOrderObj("定点启动" + LocSite, 1)))
{
SetOutputMsg(string.Format("启动【{0}】地标上AGV【{1}】", LocSite, item.DevId));
MessageBox.Show("启动成功！", "提示");
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
return;
}
}
}
}
else
{
SetOutputMsg(string.Format("未获取到服务端的AGV"));
}
SetOutputMsg(string.Format("地标【{0}】上未找到AGV", LocSite));
MessageBox.Show(string.Format("地标【{0}】上未找到AGV", LocSite), "提示");
}
/// <summary>
/// 事务线程
/// </summary>
private void ThreadFunc()
{
List <DeviceBackImf> getList = null;
List <FDispatchBackImf> dispatchList = null;
while (true)
{
Thread.Sleep(1000);
try
{
getList = WcfMainHelper.GetDevList();
dispatchList = WcfMainHelper.GetDispatchList();
if (getList != null)
{
lock (_ans)
{
_devList.Clear();
_devList.AddRange(getList);
//AGVDataMaster.UpdateAgvs(_devList);
}
MapItemMaster.UpdateItems(_devList);
MapDevMsgMaster.UpdateDevInfo(_devList);
}
if (dispatchList != null)
{
lock (_ansDis)
{
_dispatchList.Clear();
_dispatchList.AddRange(dispatchList);
}
}
}
catch { }
}
}
/// <summary>
/// 检查线边辊台PLC连接状态
/// </summary>
public void CheckPlcStatus()
{
while (true)
{
Thread.Sleep(5000);
List <DeviceBackImf> devsList = WcfMainHelper.GetDevList();
foreach (var dev in devsList)
{
if (dev.DevType == "WK_PLC" && !dev.IsAlive)
{
F_PLCLine plc = new F_PLCLine(dev.DevId);
plc.SendOrdr(0, 0);
}
}
}
}
/// <summary>
/// 事务线程
/// </summary>
private void ThreadFunc()
{
List <DeviceBackImf> getList = null;
//List<FDispatchBackImf> dispatchList = null;
while (true)
{
Thread.Sleep(500);
try
{
getList = WcfMainHelper.GetDevList();
//dispatchList = WcfMainHelper.GetDispatchList();
if (getList != null)
{
lock (_ans)
{
_devList.Clear();
_devList.AddRange(getList);
AGVDataMaster.UpdateAgvs(_devList);
}
}
//if (dispatchList != null)
//{
// lock (_ansDis)
// {
// _dispatchList.Clear();
// _dispatchList.AddRange(dispatchList);
// }
//}
}
catch { }
}
}
/// <summary>
///
/// </summary>
private void UpdateMap()
{
List <IAgvData> agvs = new List <IAgvData>();
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
List <IAgvData> updateList = new List <IAgvData>();
if (devs != null)
{
devs.ForEach(c =>
{
if (c.DevType == "AGV")
{
updateList.Add(new AgvData(c));
}
});
_mapCtr.UpdateAgvMessage(updateList);
}
}
/// <summary>
/// 事务线程
/// </summary>
private void ThreadFunc()
{
List <DeviceBackImf> getList = null;
List <FDispatchBackImf> dispatchList = null;
while (true)
{
Thread.Sleep(500);
try
{
getList = WcfMainHelper.GetDevList();
dispatchList = WcfMainHelper.GetDispatchList();
if (getList != null)
{
lock (_ans)
{
_devList.Clear();
_devList.AddRange(getList);
}
}
if (dispatchList != null)
{
lock (_ansDis)
{
_dispatchList.Clear();
_dispatchList.AddRange(dispatchList);
}
}
}
catch { }
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ClientForm_FormClosing(object sender, FormClosingEventArgs e)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> result = WcfMainHelper.GetDispatchList();
if (result != null)
{
_isCalling = false;
foreach (var item in result)
{
if (item.TaskImf == _clientMark)
{
MessageBox.Show("当前还有任务未完成,不允许关闭客户端！", "提示");
e.Cancel = true;
return;
}
}
}
if (_devArea2 != null || _isCalling)
{
MessageBox.Show("当前还有任务未完成,不允许关闭客户端！", "提示");
e.Cancel = true;
return;
}
if (MessageBox.Show("确定关闭客户端？", "提示", MessageBoxButtons.YesNo) != System.Windows.Forms.DialogResult.Yes)
{
e.Cancel = true;
}
}
/// <summary>
/// 呼叫AGV
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonCallAGv_Click(object sender, EventArgs e)
{
try
{
if (_isCalling)
{
MessageBox.Show("AGV过来的途中,请等待!", "提示"); return;
}
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
StationMember sta = _staDic.Values.ToList().Find(c => { return(c.StaSite == LocSite); });
if (sta == null)
{
MessageBox.Show("未找到与本客户端绑定的站点", "提示"); return;
}
TaskPathNode node = new TaskPathNode(sta.StaSite.ToString(), sta.StaTarget, true);
task.TaskPathNode.Add(node);
if (sta != null && sta.WaitList != null)
{
foreach (var item in sta.WaitList)
{
task.StartSiteList.Add(item.ToString());
}
}
if (task.StartSiteList == null || task.StartSiteList.Count < 1)
{
MessageBox.Show("未正确配置其相应的待命点,请检查配置!", "提示");
return;
}
if (MessageBox.Show(string.Format("确定要呼叫AGV到【{0}】位置", sta.StaTarget), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
SetOutputMsg(string.Format("开启新任务"));
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲的AGV，请稍后再试！", "提示");
}
else
{
_isCalling = true;
_callingTask = task;
DispatchBackMember disback = WcfMainHelper.GetDispatch(task.DisGuid);
if (disback != null)
{
_callingAGV = disback.DisDevId;
DeviceBackImf devback = WcfMainHelper.GetDev(_callingAGV);
if (devback != null)
{
_callingSite = devback.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", devback.DevId)); }).RValue;
}
else
{
_callingSite = null;
}
}
else
{
_callingAGV = null;
}
MessageBox.Show("呼叫成功,请等待AGV过来!", "提示");
}
}
}
catch { }
}
/// <summary>
/// 给棍台发送相应动作
/// </summary>
/// <param name="oper"></param>
/// <param name="para"></param>
/// <returns></returns>
public bool SendOrdr(EnumType oper, EnumPara para)
{
return(WcfMainHelper.SendOrder(_id, new FControlOrder("远程", 1, (int)oper, (int)para)));
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
if (!_isStart)
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
if (_agv != null)
{
if (_agv.IsAlive)
{
_disAliveCounter = 0;
}
else
{
if (++_disAliveCounter > F_DataCenter.ClearTime)
{
_isDisaliveOverTime = true;
}
}
}
else
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
///修改By fujun
dis.DevList.Add(Id);
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///修改By fujun
_isStart = true;
#region 滚筒逻辑
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑尾，开始取货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
//&& !ParamControl.Do_EnterEndChargeLock
)
{
_plc.IsEnterBatteryLock = false;
ParamControl.Do_EnterEndChargeLock = true;
ParamControl.EndChargeLock = _plc.IsEnterBatteryLock;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumagvSta_Material.无货 || _agv.Sta_Material == EnumagvSta_Material.送中)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
FLog.Log(_agv.Id + "启动车载辊台，启动窑尾辊台");
}
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(//_plc.Sta_Material == EnumSta_Material.无货 &&
_agv.Sta_Material == EnumagvSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
FLog.Log(_agv.Id + "停止车载辊台，停止窑尾辊台");
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//取货完成，解锁窑尾
if (_plc != null
// && !ParamControl.Do_EndPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_EndPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑头，开始放货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
)
{
_plc.IsEnterBatteryLock = false;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.无货 ||
_plc.Sta_Material == EnumSta_Material.未知) &&
(_agv.Sta_Material == EnumagvSta_Material.送中 || _agv.Sta_Material == EnumagvSta_Material.货)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台，启动窑头辊台");
}
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(//(_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.未知) &&
_agv.Sta_Material == EnumagvSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
FLog.Log(_agv.Id + "停止车载辊台，停止窑头辊台");
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//放货完成，解锁窑头
if (_plc != null
//&& !ParamControl.Do_HeadPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_HeadPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.充电)
{
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
if (_plc.Site == "14")
{
ParamControl.Do_ExitHeadChargeLock = true;
}
//else if (_plc.Site == "11")
//{
// ParamControl.Do_ExitEndChargeLock = true ;
//}
_plc.IsExitBatteryLock = false;
_plc.ExitChargeAgv = null;
ParamControl.HeadChargeAGV = _plc.ExitChargeAgv;
ParamControl.HeadChargeLock = _plc.IsExitBatteryLock;
}
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
#endregion
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonAlter_Click(object sender, EventArgs e)
{
if (_isLogin)
{
#region
if (buttonAlter.Text != "保 存")
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> result = WcfMainHelper.GetDispatchList();
if (_devArea2 != null)
{
MessageBox.Show("当前客户端目前有派发任务未完成,不允许修改！", "提示");
return;
}
if (result != null)
{
foreach (var item in result)
{
if (item.TaskImf == _clientMark)
{
MessageBox.Show("当前客户端目前有派发任务未完成,不允许修改！", "提示");
return;
}
}
}
buttonAlter.Text = "保 存";
textBoxCurTar.ReadOnly = false;
}
else
{
if (Int32.TryParse(textBoxCurTar.Text, out _locTar))
{
buttonAlter.Text = "修 改";
textBoxCurTar.ReadOnly = true;
string Section = "CientConfig";
string key = "LoctionSite";
ConfigHelper.IniWriteValue(Section, key, _locTar.ToString());
InitPara();
MessageBox.Show("修改成功！", "提示");
}
else
{
MessageBox.Show("输入站点格式有误！", "提示");
}
}
#endregion
}
else
{
MessageBox.Show("请先登录后再操作！", "提示");
}
}
/// <summary>
/// 初始化参数
/// </summary>
public void InitPara()
{
_severIp = "192.168.6.79"; // 吕超电脑的IP
//_severIp = "127.0.0.1";
WcfMainHelper.InitPara(_severIp, "", "");
}
/// <summary>
/// 初始化参数
/// </summary>
public void InitPara()
{
_severIp = "127.0.0.1";
WcfMainHelper.InitPara(_severIp, "", "");
}
/// <summary>
/// 初始化参数
/// </summary>
private void InitPara()
{
string Section = "ShowConfig";
int num = 0;
#region 钮宽度
string key = "BtnWidth";
string read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _btnWidth.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_btnWidth = num;
}
#endregion
#region 钮高度
key = "BtnHeight";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _btnHeight.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_btnHeight = num;
}
#endregion
#region 横向距离
key = "XDis";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _xDis.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_xDis = num;
}
#endregion
#region 纵向距离
key = "YDis";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _yDis.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_yDis = num;
}
#endregion
#region 起始坐标
int x = 0, y = 0;
key = "StartPoint_X";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = x.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
x = num;
}
key = "StartPoint_Y";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = y.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
y = num;
}
_startLoc = new Point(x, y);
#endregion
#region 客户端配置
Section = "CientConfig";
key = "LoctionSite";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = "-1";
ConfigHelper.IniWriteValue(Section, key, read);
}
Int32.TryParse(read, out _locTar);
key = "SeverIP";
_severIp = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(_severIp))
{
_severIp = "127.0.0.1";
ConfigHelper.IniWriteValue(Section, key, _severIp);
}
#endregion
WcfDispatchHelper.InitPara(_severIp, "", "");
WcfMainHelper.InitPara(_severIp, "", "");
WcfTaskHelper.InitPara(_severIp, "", "");
_clientMark = string.Format("微科创新_客户端【{0}】", _locTar);
this.Text = string.Format("{0} IP:{1}", _clientMark, IPHelper.GetLocalIntranetIP());
}
/// <summary>
/// 初始化参数
/// </summary>
public void InitPara()
{
_severIp = "192.168.6.79";
WcfMainHelper.InitPara(_severIp, "", "");
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumSta_Material.无货 || _agv.Sta_Material == EnumSta_Material.送中)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.无货 && _agv.Sta_Material == EnumSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.货 || _plc.Sta_Material == EnumSta_Material.无货) &&
(_agv.Sta_Material == EnumSta_Material.送中 || _agv.Sta_Material == EnumSta_Material.货)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.货 &&
_agv.Sta_Material == EnumSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
_plc.IsExitBatteryLock = false;
}
if (_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
}
}