/// <summary>
/// 接收小车动作完成操作
/// </summary>
static void AgvDoTask(AgvMsg agvMsg, SocketOpt socketOpt)
{
Agv agv = socketOpt.agv;
STask sTask = agv.sTaskList.FirstOrDefault(a => a.sID == agvMsg.SID);
if (sTask == null)
{
throw new Exception("无法找到子任务！");
}
PathPoint pPoint = sTask.pathList.FirstOrDefault(a => a.point.barCode == agvMsg.Barcode);
switch (agvMsg.sTaskType)
{
case STaskType.D1:
case STaskType.D20:
case STaskType.D21:
case STaskType.D24:
List <Motion> listMotion = GetNextListMotion(sTask, pPoint, agv);
if (listMotion.Count == 0)
{
throw new Exception("找到0条路径");
}
else if (listMotion.Count == 1)
{
socketOpt.Data = SendData.GetRepeatData(agv.agvNo);
}
else
{
socketOpt.Data = SendData.GetNewActionData(agvMsg, listMotion);
}
//除发送给AGV的点外，其它点全部解锁方向
NoLock(agv, listMotion);
break;
case STaskType.D2:
case STaskType.D3:
case STaskType.D6:
case STaskType.D15:
case STaskType.D18:
case STaskType.D22:
case STaskType.D23:
Task.FinishTask(agv, sTask);
socketOpt.Data = SendData.GetFinishData(agv.agvNo);
break;
case STaskType.D25:
//if (beginPoint.barCode != endPoint.barCode)
throw new Exception("原地旋转，起点和终点必须一致！");
break;
default:
throw new Exception("未找到此任务类型");
}
ManageTcp.Send(socketOpt);
}
/// <summary>
/// Tcp指令发送
/// </summary>
/// <param name="ClientSocket">自定义Socket对象</param>
/// <returns>发送结果</returns>
public static void Send(SocketOpt ClientSocket)
{
Socket s = ClientSocket.Sct;
//try
//{
s.Send(ClientSocket.Data, ClientSocket.Data.Length, 0);
//}
//catch (Exception Ex)
//{
// throw Ex;
//}
//finally
//{
// s.Close();
//}
}
/// <summary>
/// 线程-收发报文处理业务的开始
/// </summary>
/// <param name="ClientSocket">客户端对象</param>
public static void MultiSocket(Object ClientSocket)
{
Socket cSocket = ClientSocket as Socket;
//try
//{
byte[] ReceiveData = new byte[1024];
cSocket.ReceiveTimeout = 3000;
if (cSocket.Poll(3000000, SelectMode.SelectRead))
{
int DataLength = cSocket.Receive(ReceiveData);
if (DataLength > 0)
{
SocketOpt SRece = new SocketOpt(cSocket, ReceiveData);
if (SRece != null)
{
TimeSpan ts1 = new TimeSpan(DateTime.Now.Ticks);
MsgManage.DataTranslate(SRece);
TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
TimeSpan ts3 = ts2.Subtract(ts1).Duration();
//App.ExFile.MessageLog("处理Agv指令时间", "1|" + ts2.Milliseconds + "-" + ts1.Milliseconds + "=" + ts3.Milliseconds);
}
}
Thread.Sleep(20);
}
//}
//catch (Exception Ex)
//{
// App.ExFile.MessageError("TranMultiSocket", Ex.ToString());
//}
//finally
//{
// cSocket.Close();
//}
}
/// <summary>
/// 更新数据
/// </summary>
static void SendTask(AgvMsg agvMsg, SocketOpt socketOpt)
{
Agv agv = socketOpt.agv;
if (agv.state != AgvState.D11 && agv.state != AgvState.D12)
{
return;
}
if (agv.errorMsg != 0 && agv.errorMsg != 19 && agv.errorMsg != 1900 && agv.errorMsg != 190000)
{
return;
}
if (agv.sTaskList.Count == 0)
{
return;
}
STask sTask = agv.sTaskList[0];
if (sTask.state != TaskState.HavePath)
{
return;
}
byte SOri, EOri;
if (sTask.dialDirection == 1)
{
SOri = 1;
}
else
{
SOri = 0;
}
EOri = (byte)sTask.dialDirection;
socketOpt.Data = SendData.GetNewTaskData(agvMsg.AgvNo, sTask.sID, SOri, EOri);
ManageTcp.Send(socketOpt);
Task.DoingTask(sTask);
}
/// <summary>
/// 指令解析
/// </summary>
/// <param name="socketOpt">自定义Socket对象</param>
public static void DataTranslate(SocketOpt socketOpt)
{
byte[] DataRecv = socketOpt.Data;
string AgvNo = Encoding.ASCII.GetString(DataRecv, 3, 10).Replace("\0", "");
//try
//{
AgvMsg agvMsg = new AgvMsg();
int DataLength = DataRecv[2];
agvMsg.AgvNo = Encoding.ASCII.GetString(DataRecv, 3, 10).Replace("\0", "");
socketOpt.agv = App.AgvList.FirstOrDefault(a => a.agvNo == agvMsg.AgvNo);
if (socketOpt.agv == null)
{
throw new Exception("更新状态失败：找不到小车号。");
}
agvMsg.Barcode = BitConverter.ToUInt32(DataRecv, 13).ToString();
agvMsg.Voltage = BitConverter.ToInt16(DataRecv, 17) / 100;
agvMsg.State = DataRecv[19];
agvMsg.Height = (HeightEnum)DataRecv[20];
agvMsg.ErrCode1 = DataRecv[21];
agvMsg.ErrCode2 = DataRecv[22];
agvMsg.ErrCode3 = DataRecv[23];
string sid = Encoding.ASCII.GetString(DataRecv, 26, 20).Replace("\0", "");
if (string.IsNullOrEmpty(sid))
{
agvMsg.SID = 0;
}
else
{
agvMsg.SID = int.Parse(sid);
}
agvMsg.sTaskType = (STaskType)DataRecv[46];
int CrcR = DataRecv[47];
int CrcC = Commond.CRC(DataRecv, DataLength + 14);
if (CrcC == CrcR)
{
Agv agv = socketOpt.agv;
UpdateAgvShelfPoint(agvMsg, agv);
if (agvMsg.SID == 0)
{
SendTask(agvMsg, socketOpt);
}
else
{
UpdataPointOri(agvMsg, agv);
AgvDoTask(agvMsg, socketOpt);
}
}
//}
//catch (Exception ex)
//{
// App.ExFile.MessageLog("DataTranslate", ex.Message + "\r"
// + Encoding.Default.GetString(DataRecv));
//}
socketOpt.Data = SendData.GetRepeatData(AgvNo);
ManageTcp.Send(socketOpt);
}
