Example #1
0
        public static void watchexecuteState()
        {
            while (MainWindow.AutoMode1)
            {
                if (FrontPart == true)
                {
                    if (MainWindow.CLkOutlibSignal1 == true)   //界面UI要求零件开始工作
                    {
                        Count++;
                        if (Count <= 2)
                        {
                            RefleshFlags();
                            //////这里有一个出库指令
                            byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
                            TWH.sendRequestcmd(cmd);                             //出库指令
                            ModifyTxt.PrintlogTxt("//出库指令");
                            byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
                            if (AGV1.PlatfromStateArray[2] != 0x05)              //如果AGV1不是正在去往料台
                            {
                                AGV1.sendRequestcmd(cmd1);
                                ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
                            }
                            MainWindow.CLkOutlibSignal1 = false;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV1达到立库料台处且无料盘且出库执行成功
                    {
                        byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };                                                  //AGV1在立库料台取货
                        AGV1.sendRequestcmd(cmd);
                        ModifyTxt.PrintlogTxt("//AGV1在立库料台取货");
                        OutlibCompleted = false;
                    }
                    if (AGV1.PlatfromStateArray[4] == 0x01)    //AGV1已从料台取出料盘
                    {
                        if (!ControlOnlyOneFlag26)
                        {
                            byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };   //AGV1前往零件接转区
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往零件接转区");
                            ControlOnlyOneFlag26 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x06) //AGV1正在前往零件结转区
                    {
                        if (!ControlOnlyOneFalg1)           //控制代码块只进入一次,这里保证只发送一次出库命令
                        {
                            //////这里有一个出库命令
                            byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
                            TWH.sendRequestcmd(cmd);                             //出库命令
                            ModifyTxt.PrintlogTxt("//出库命令");
                            byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV2前往立库料台处
                            AGV2.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt("//AGV2前往立库料台处");
                            ControlOnlyOneFalg1 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x03)   //AGV1到达零件转接区
                    {
                        if (!ControlOnlyOneFlag2)
                        {
                            AGV1Falg            = true;
                            MixtoAGVOneStep     = true;  //通知复合来AGV1接货
                            ControlLock1        = false; //解锁
                            ControlOnlyOneFlag2 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x01 && AGV1.PlatfromStateArray[3] == 0x01)   //AGV1在初始位置且有料盘
                    {
                        if (!ControlOnlyOneFlag27)
                        {
                            byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };   //AGV1前往立库料台处
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往立库料台处");
                            ControlOnlyOneFlag27 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x01 && AGV2.PlatfromStateArray[2] == 0x03)  //AGV1在立库料台处且有料盘且AGV2在零件接转区
                    {
                        if (!ControlOnlyOneFlag11)
                        {
                            byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };   //AGV1将料盘送回立库
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1将料盘送回立库");

                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
                            TWH.sendRequestcmd(cmd1);    //入库操作
                            ModifyTxt.PrintlogTxt("//入库操作");
                            ControlOnlyOneFlag11 = true;
                        }
                        ///这里有一个入库动作
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[4] == 0x02)      //AGV1在立库料台处已将料盘送回立库
                    {
                        if (!ControlOnlyOneFlag28)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };    //AGV1前往初始位置
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往初始位置");
                            ControlOnlyOneFlag28 = true;
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV2在立库料台处且无料盘且出库完成
                    {
                        byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };                                                  //AGV2在立库料台取货
                        AGV2.sendRequestcmd(cmd);
                        ModifyTxt.PrintlogTxt(" //AGV2在立库料台取货");
                        OutlibCompleted = false;
                    }
                    if (AGV2.PlatfromStateArray[4] == 0x01)     //AGV2已从立库料台处取货
                    {
                        if (AGV1.PlatfromStateArray[2] == 0x04) //AGV1正在前往原点
                        {
                            if (!ControlOnlyOneFlag29)
                            {
                                byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                                AGV2.sendRequestcmd(cmd);                       //AGV2前往零件转接区
                                ModifyTxt.PrintlogTxt("//AGV2前往零件转接区");
                                ControlOnlyOneFlag29 = true;
                            }
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x03)   //AGV2到达零件转接区
                    {
                        if (!ControlOnlyOneFlag3)
                        {
                            AGV2Flag             = true;
                            MixtoAGVOneStep      = true;  //通知复合来AGV接货
                            ControlLock1         = false; //解锁
                            ControlOnlyOneFlag14 = false;
                            ControlOnlyOneFlag15 = false;
                            ControlOnlyOneFlag16 = false;
                            ControlOnlyOneFlag17 = false;
                            ControlOnlyOneFlag3  = true;
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x01 && AGV1.PlatfromStateArray[2] == 0x01)  //AGV2在立库料台处且有料盘且AGV1在初始位置
                    {
                        if (!ControlOnlyOneFlag12)
                        {
                            byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };   //AGV2将料盘送回立库
                            AGV2.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV2将料盘送回立库");

                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
                            TWH.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt(" ///入库动作");
                            ControlOnlyOneFlag12 = true;
                        }
                        ///还有个入库动作
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[4] == 0x02)      //AGV2在立库料台处已将料盘送回立库
                    {
                        if (!ControlOnlyOneFlag13)
                        {
                            AGV2delaytime1       = true; //AGV2延时在立库料台送料完成后延时
                            ControlOnlyOneFlag13 = true;
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x04 && AGV2.PlatfromStateArray[3] == 0x00)   //正在前往原点  且无料盘
                    {
                        LastStep = true;
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[3] == 0x00 && LastStep == true)     //AGV2在初始位置且无料盘且最后一步
                    {
                        if (!ControlOnlyOneFlag6)
                        {
                            MainWindow.CLkOutlibSignal1 = true;
                            ControlOnlyOneFlag6         = true;
                            LastStep = false;
                        }
                        if (TwoActionCount0 >= 4) //如果动作0执行了4次
                        {
                            FrontPart = false;    //开始执行下一部分
                        }
                    }
                    if (MixtoAGVOneStep == true && MixRobot.PlatfromStateArray[2] == 0x01)   //如果AGV要求复合到零件接转区且复合在初始位置
                    {
                        if (!ControlOnlyOneFlag14)
                        {
                            byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);           //复合前往零件接转区
                            ModifyTxt.PrintlogTxt("复合前往零件接转区");
                            ControlOnlyOneFlag14 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x00)  //复合在零件接转区且等待
                    {
                        if (!ControlOnlyOneFlag15)
                        {
                            byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);            //复合在接转区取/放零件料盘
                            ModifyTxt.PrintlogTxt("//复合在接转区取/放零件料盘");
                            ControlOnlyOneFlag15 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVOneStep == true)  //f复合在零件接转区且手臂动作已完成
                    {
                        byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd);              //复合去往双臂装配区
                        ModifyTxt.PrintlogTxt(" //复合去往双臂装配区");
                        MixtoAGVOneStep = false;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVTwoStep == true)   //复合第二次在零件接转区且手臂动作已完成
                    {
                        byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd); //复合前往初始位置
                        ModifyTxt.PrintlogTxt("//复合前往初始位置");
                        if (AGV1Falg == true)         //这是AGV1在接转区
                        {
                            AGV1delaytime = true;     //AGV1延时3秒再走,以防碰撞
                            AGV1Falg      = false;
                        }
                        if (AGV2Flag == true)
                        {
                            AGV2delaytime = true;   //AGV2延时3秒再走,以防碰撞
                            AGV2Flag      = false;
                        }
                        MixtoAGVTwoStep = false;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00)    //复合在双臂处且等待
                    {
                        if (!ControlOnlyOneFlag16)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);                       //复合在装配区取/放零件托盘
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件托盘处");
                            ControlOnlyOneFlag16 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && ControlLock1 == false)           //复合在双臂处且手臂动作已完成
                    {
                        MainWindow.TwoRobotActionFlag0 = true;                                                                               //通知双臂机器人执行动作0
                        ControlLock1 = true;                                                                                                 //该条件不能再进入
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete0 == true) //复合在双臂处且手臂动作已完成且双臂动作0完成
                    {
                        if (!ControlOnlyOneFlag17)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);                 //复合在装配区取/放零件料盘
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag17 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete0 == true)   //复合在双臂处且手臂动作未完成且双臂动作0完成
                    {
                        TwoRobotActionComplete0 = false;
                        MixInTwoCanLastStep     = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoCanLastStep == true)  //复合在双臂处且手臂已经将双臂料盘拿回来
                    {
                        byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd);              //复合前往零件接转区
                        ModifyTxt.PrintlogTxt("//复合前往零件接转区");
                        TwoActionCount0++;                         //动作0加1
                        if (TwoActionCount0 >= 4)                  //如果动作0执行了4次
                        {
                            MainWindow.TwoRobotActionFlag1 = true; //开始执行动作1:装配
                        }
                        MixtoAGVTwoStep      = true;               //复合第二次前往接转区
                        ControlOnlyOneFlag15 = false;
                        MixInTwoCanLastStep  = false;
                    }
                }


                /////////////////////////////////以下为装配完成后的动作//////////////////////////////////////
                if (FrontPart == false)
                {
                    if (AssemblyCompleted == true && MixRobot.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[2] == 0x01)   //如果装配完成且复合在初始位置且AGV2在初始位置
                    {
                        if (!ControlOnlyOneFlag25)
                        {
                            delayOutlib          = true; //延时出库
                            ControlOnlyOneFlag25 = true;
                        }
                        /////////这里有一个出库动作////////////////////
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x01 && FAGVInSafeArea == true)  //如果复合在初始位置且叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag18)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };  //复合前往成品接转区
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合前往成品接转区");
                            ControlOnlyOneFlag18 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && FAGVInSafeArea == true)  //复合在成品接转区且等待并且叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag19)
                        {
                            byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };   //复合在成品区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
                            ControlOnlyOneFlag19 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && FAGVInSafeArea == true)  //复合在成品区且手臂动作已完成,叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag20)
                        {
                            byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);          //复合前往零件装配区
                            ModifyTxt.PrintlogTxt("//复合前往零件装配区");
                            ControlOnlyOneFlag20 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00 && FAGVInSafeArea == true)  //复合在装配区等待且等待 叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag21)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };   //复合在装配区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag21 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && FAGVInSafeArea == true && ControlLock2 == false) //复合在装配区且手臂动作已完成,叉车AGV在安全区
                    {
                        MainWindow.TwoRobotActionFlag2 = true;                                                                                               //双臂将成品放到料盘中
                        ModifyTxt.PrintlogTxt("//双臂将成品放到料盘中");
                        FAGVInSafeArea = false;
                        ControlLock2   = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete2 == true)  ////复合在装配区且手臂动作已完成,且双臂动作2完成
                    {
                        if (!ControlOnlyOneFlag22)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };   //复合在装配区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag22 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete2 == true)  ////复合在装配区且手臂动作未完成,且双臂动作2完成
                    {
                        TwoRobotActionComplete2 = false;
                        MixInTwoTakeAssembly    = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoTakeAssembly == true)  ////复合在装配区且手臂动作已完成,已拿下成品
                    {
                        if (!ControlOnlyOneFlag23)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);             //复合前往成品接转区
                            ModifyTxt.PrintlogTxt("//复合前往成品接转区");
                            ControlOnlyOneFlag23 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && MixInTwoTakeAssembly == true)  ////复合在成品区且等待,已拿下成品
                    {
                        if (!ControlOnlyOneFlag24)
                        {
                            byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);            //复合在成品区取/放零件料盘
                            ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
                            ControlOnlyOneFlag24 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoTakeAssembly == true)  ////复合在成品区手臂动作已完成,已拿下成品
                    {
                        byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd);           //复合前往初始位置
                        ModifyTxt.PrintlogTxt("//复合前往初始位置");
                        byte cmd1 = 0x03;
                        FAGV.sendRequestcmd(cmd1);     //FAGV前往中转区取料
                        ModifyTxt.PrintlogTxt(" //FAGV前往中转区取料");
                        MixInTwoTakeAssembly = false;
                    }
                    if (FAGV.ExecuteState[3] == 0x03)      //叉车AGV前往中转区取料完成
                    {
                        if (!ControlOnlyOneFlag7)
                        {
                            byte cmd = 0x02;
                            FAGV.sendRequestcmd(cmd);        //叉车AGV前往立库料台送料
                            ModifyTxt.PrintlogTxt(" //叉车AGV前往立库料台送料");
                            ControlOnlyOneFlag7 = true;
                        }
                    }
                    if (FAGV.ExecuteState[3] == 0x02)    //叉车AGV前往立库处送料完成
                    {
                        if (!ControlOnlyOneFlag10)
                        {
                            //这里有一个入库命令
                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x04 };
                            TWH.sendRequestcmd(cmd1);           //成品入库操作
                            ModifyTxt.PrintlogTxt(" //成品入库操作");
                            byte cmd = 0x05;
                            FAGV.sendRequestcmd(cmd);    //叉车AGV前往初始位置
                            ControlOnlyOneFlag10 = true;
                            ModifyTxt.PrintlogTxt("叉车AGV前往初始位置");
                        }
                    }
                    if (AssemblyOutlibCompleted == true)  //成品料盘出库完成
                    {
                        byte cmd = 0x01;
                        FAGV.sendRequestcmd(cmd);     //FAGV前往立库料台处取料
                        ModifyTxt.PrintlogTxt("//FAGV前往立库料台处取料");
                        AssemblyOutlibCompleted = false;
                    }
                    if (FAGV.ExecuteState[3] == 0x01)    //FAGV前往立库料台取料完成
                    {
                        if (!ControlOnlyOneFlag8)
                        {
                            byte cmd = 0x04;
                            FAGV.sendRequestcmd(cmd);     //FAGV前往中转区送料
                            ModifyTxt.PrintlogTxt("//FAGV前往中转区送料");
                            ControlOnlyOneFlag8 = true;
                        }
                    }
                    if (FAGV.ExecuteState[3] == 0x04)   //FAGV前往中转区送料完成
                    {
                        if (!ControlOnlyOneFlag9)
                        {
                            byte cmd = 0x06;
                            FAGV.sendRequestcmd(cmd);     //FAGV前往安全区
                            ModifyTxt.PrintlogTxt("//FAGV前往安全区");
                            ControlOnlyOneFlag9 = true;
                        }
                    }
                }
            }
            FrontPart = true;
        }
Example #2
0
        public static void watchexecuteState()
        {
            while (MainWindow.AutoMode2)  //拆解模式
            {
                if (FrontPart == false)
                {
                    if (MainWindow.CJStartSignal == true)                   //拆解启动信号
                    {
                        RefleshFlags();                                     //刷新标识符
                        byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x05 }; //成品出库命令
                        TWH.sendRequestcmd(cmd);
                        ModifyTxt.PrintlogTxt("//成品出库命令");
                        MainWindow.CJStartSignal = false;
                    }
                    if (OutlibAssemblyCompleted == true)   //成品出库完成
                    {
                        byte cmd = 0x01;
                        FAGV.sendRequestcmd(cmd);     //叉车AGV前往立库料台取料
                        ModifyTxt.PrintlogTxt("//叉车AGV前往立库料台取料");
                        OutlibAssemblyCompleted = false;
                    }
                    if (FAGV.ExecuteState[3] == 0x01)   //叉车AGV前往立库料台取料完成
                    {
                        if (!ControlOnlyOneFlag1)
                        {
                            byte cmd = 0x04;
                            FAGV.sendRequestcmd(cmd);    //叉车AGV前往中转区送料
                            ModifyTxt.PrintlogTxt("//叉车AGV前往中转区送料");
                            ControlOnlyOneFlag1 = true;
                        }
                    }
                    if (FAGV.ExecuteState[3] == 0x04)   //叉车AGV前往中转区送料完成
                    {
                        if (!ControlOnlyOneFlag2)
                        {
                            byte cmd = 0x06;
                            FAGV.sendRequestcmd(cmd);    //叉车AGV前往安全区
                            ModifyTxt.PrintlogTxt(" //叉车AGV前往安全区");
                            ControlOnlyOneFlag2 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x01 && CJClass.FAGVInSafeArea == true)  //如果复合在初始位置且叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag17)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };  //复合前往成品接转区
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合前往成品接转区");
                            ControlOnlyOneFlag17 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && CJClass.FAGVInSafeArea == true)  //复合在成品接转区且等待并且叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag18)
                        {
                            byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };   //复合在成品区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
                            ControlOnlyOneFlag18 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && CJClass.FAGVInSafeArea == true)  //复合在成品区且手臂动作已完成,叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag19)
                        {
                            byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);          //复合前往零件装配区
                            ModifyTxt.PrintlogTxt("//复合前往零件装配区");
                            ControlOnlyOneFlag19 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00 && CJClass.FAGVInSafeArea == true)  //复合在装配区等待且等待 叉车AGV在安全区
                    {
                        if (!ControlOnlyOneFlag20)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };   //复合在装配区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag20 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && CJClass.FAGVInSafeArea == true && ControlLock2 == false) //复合在装配区且手臂动作已完成,叉车AGV在安全区
                    {
                        MainWindow.TwoRobotActionFlag3 = true;                                                                                                       //双臂从成品托盘中取出成品
                        ModifyTxt.PrintlogTxt("//双臂从成品托盘中取出成品");
                        CJClass.FAGVInSafeArea = false;
                        ControlLock2           = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete3 == true)  ////复合在装配区且手臂动作已完成,且双臂动作3完成
                    {
                        if (!ControlOnlyOneFlag21)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };   //复合在装配区取/放零件料盘
                            MixRobot.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag21 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete3 == true)
                    {
                        TwoRobotActionComplete3 = false;
                        MixInAssemblyTakeATrays = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInAssemblyTakeATrays == true)  //复合在装配区且手臂动作已完成,且已取下成品料盘
                    {
                        if (!ControlOnlyOneFlag22)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);             //复合前往成品接转区
                            ModifyTxt.PrintlogTxt("//复合前往成品接转区");
                            MainWindow.TwoRobotActionFlag4 = true;    //双臂动作4:拆解
                            ControlOnlyOneFlag22           = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && MixInAssemblyTakeATrays == true)  ////复合在成品区且等待,已拿下成品料盘
                    {
                        if (!ControlOnlyOneFlag23)
                        {
                            byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);            //复合在成品区取/放零件料盘
                            ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
                            ControlOnlyOneFlag23 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInAssemblyTakeATrays == true)  ////复合在成品区手臂动作已完成,已拿下成品料盘
                    {
                        byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd);           //复合前往初始位置
                        ModifyTxt.PrintlogTxt("//复合前往初始位置");
                        byte cmd1 = 0x03;
                        FAGV.sendRequestcmd(cmd1);     //FAGV前往中转区取料
                        ModifyTxt.PrintlogTxt(" //FAGV前往中转区取料");
                        MixInAssemblyTakeATrays = false;
                    }
                    if (FAGV.ExecuteState[3] == 0x03)      //叉车AGV前往中转区取料完成
                    {
                        if (!ControlOnlyOneFlag3)
                        {
                            byte cmd = 0x02;
                            FAGV.sendRequestcmd(cmd);        //叉车AGV前往立库料台送料
                            ModifyTxt.PrintlogTxt(" //叉车AGV前往立库料台送料");
                            ControlOnlyOneFlag3 = true;
                        }
                    }
                    if (FAGV.ExecuteState[3] == 0x02)    //叉车AGV前往立库处送料完成
                    {
                        if (!ControlOnlyOneFlag4)
                        {
                            //这里有一个入库命令
                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x04 };
                            TWH.sendRequestcmd(cmd1);           //成品入库操作
                            ModifyTxt.PrintlogTxt(" //入库操作");
                            byte cmd = 0x05;
                            FAGV.sendRequestcmd(cmd);    //叉车AGV前往初始位置
                            ModifyTxt.PrintlogTxt("叉车AGV前往初始位置");
                            FrontPart           = true;
                            ControlOnlyOneFlag4 = true;
                        }
                    }
                }
                ///////////////////////////////////////////////////////////////////////拆解完成且成品料盘入库完成///////////////////////////////////////////////////////
                if (FrontPart == true)
                {
                    if (InlibAssemblyCompleted == true && TwoRobotActionComplete4 == true)          //成品料盘入库完成,且拆解完成(双臂动作4)
                    {
                        byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
                        TWH.sendRequestcmd(cmd);                             //出库指令
                        ModifyTxt.PrintlogTxt("//出库指令");
                        byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
                        if (AGV1.PlatfromStateArray[2] != 0x05)              //如果AGV1不是正在去往料台
                        {
                            AGV1.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
                        }
                        InlibAssemblyCompleted  = false;
                        TwoRobotActionComplete4 = false;
                    }
                    if (AGVRunSecond == true)                                //AGV1 AGV2的第二遍动作
                    {
                        RefleshFlags1();                                     //刷新标识符
                        byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
                        TWH.sendRequestcmd(cmd);                             //出库指令
                        ModifyTxt.PrintlogTxt("//出库指令");
                        byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
                        if (AGV1.PlatfromStateArray[2] != 0x05)              //如果AGV1不是正在去往料台
                        {
                            AGV1.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
                        }
                        AGVRunSecond = false;
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV1达到立库料台处且无料盘且出库执行成功
                    {
                        byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };                                                  //AGV1在立库料台取货
                        AGV1.sendRequestcmd(cmd);
                        ModifyTxt.PrintlogTxt("//AGV1在立库料台取货");
                        OutlibCompleted = false;
                    }
                    if (AGV1.PlatfromStateArray[4] == 0x01)    //AGV1已从料台取出料盘
                    {
                        if (!ControlOnlyOneFlag24)
                        {
                            byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };   //AGV1前往零件接转区
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往零件接转区");
                            ControlOnlyOneFlag24 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x06) //AGV1正在前往零件结转区
                    {
                        if (!ControlOnlyOneFlag5)           //控制代码块只进入一次,这里保证只发送一次出库命令
                        {
                            //////这里有一个出库命令
                            byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
                            TWH.sendRequestcmd(cmd);                             //出库命令
                            ModifyTxt.PrintlogTxt("//出库命令");
                            byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV2前往立库料台处
                            AGV2.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt("//AGV2前往立库料台处");
                            ControlOnlyOneFlag5 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x03)   //AGV1到达零件转接区
                    {
                        if (!ControlOnlyOneFlag6)
                        {
                            AGV1Falg            = true;
                            MixtoAGVOneStep     = true;  //通知复合来AGV1接货
                            ControlLock1        = false; //解锁
                            ControlOnlyOneFlag6 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x01 && AGV1.PlatfromStateArray[3] == 0x01)   //AGV1在初始位置且有料盘
                    {
                        if (!ControlOnlyOneFlag25)
                        {
                            byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };   //AGV1前往立库料台处
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往立库料台处");
                            ControlOnlyOneFlag25 = true;
                        }
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x01 && AGV2.PlatfromStateArray[2] == 0x03)  //AGV1在立库料台处且有料盘且AGV2在零件接转区
                    {
                        if (!ControlOnlyOneFlag7)
                        {
                            byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };   //AGV1将料盘送回立库
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1将料盘送回立库");

                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
                            TWH.sendRequestcmd(cmd1);    //入库操作
                            ModifyTxt.PrintlogTxt("//入库操作");
                            ControlOnlyOneFlag7 = true;
                        }
                        ///这里有一个入库动作
                    }
                    if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[4] == 0x02)      //AGV1在立库料台处已将料盘送回立库
                    {
                        if (!ControlOnlyOneFlag26)
                        {
                            byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };    //AGV1前往初始位置
                            AGV1.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV1前往初始位置");
                            ControlOnlyOneFlag26 = true;
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV2在立库料台处且无料盘且出库完成
                    {
                        byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };                                                  //AGV2在立库料台取货
                        AGV2.sendRequestcmd(cmd);
                        ModifyTxt.PrintlogTxt(" //AGV2在立库料台取货");
                        OutlibCompleted = false;
                    }
                    if (AGV2.PlatfromStateArray[4] == 0x01)     //AGV2已从立库料台处取货
                    {
                        if (AGV1.PlatfromStateArray[2] == 0x04) //AGV1正在前往原点
                        {
                            if (!ControlOnlyOneFlag27)
                            {
                                byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                                AGV2.sendRequestcmd(cmd);                       //AGV2前往零件转接区
                                ModifyTxt.PrintlogTxt("//AGV2前往零件转接区");
                                ControlOnlyOneFlag27 = true;
                            }
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x03)   //AGV2到达零件转接区
                    {
                        if (!ControlOnlyOneFlag8)
                        {
                            AGV2Flag             = true;
                            MixtoAGVOneStep      = true;  //通知复合来AGV接货
                            ControlLock1         = false; //解锁
                            ControlOnlyOneFlag12 = false;
                            ControlOnlyOneFlag13 = false;
                            ControlOnlyOneFlag15 = false;
                            ControlOnlyOneFlag16 = false;
                            ControlOnlyOneFlag8  = true;
                        }
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x01 && AGV1.PlatfromStateArray[2] == 0x01)  //AGV2在立库料台处且有料盘且AGV1在初始位置
                    {
                        if (!ControlOnlyOneFlag9)
                        {
                            byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };   //AGV2将料盘送回立库
                            AGV2.sendRequestcmd(cmd);
                            ModifyTxt.PrintlogTxt("//AGV2将料盘送回立库");

                            byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
                            TWH.sendRequestcmd(cmd1);
                            ModifyTxt.PrintlogTxt(" ///入库动作");
                            ControlOnlyOneFlag9 = true;
                        }
                        ///还有个入库动作
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[4] == 0x02)      //AGV2在立库料台处已将料盘送回立库
                    {
                        if (!ControlOnlyOneFlag11)
                        {
                            AGV2delaytime1       = true; //AGV2延时在立库料台送料完成后延时
                            ControlOnlyOneFlag11 = true;
                        }
                    }

                    if (AGV2.PlatfromStateArray[2] == 0x04 && AGV2.PlatfromStateArray[3] == 0x00)   //正在前往原点  且无料盘
                    {
                        LastStep = true;
                    }
                    if (AGV2.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[3] == 0x00 && LastStep == true)     //AGV2在初始位置且无料盘且最后一步
                    {
                        if (!ControlOnlyOneFlag10)
                        {
                            AGVRunSecond         = true;
                            ControlOnlyOneFlag10 = true;
                            LastStep             = false;
                        }
                    }

                    //////////////////////////////复合动作//////////////////////////////////////////////////////////////////
                    if (MixtoAGVOneStep == true && MixRobot.PlatfromStateArray[2] == 0x01)   //如果AGV1要求复合到零件接转区且复合在初始位置
                    {
                        if (!ControlOnlyOneFlag12)
                        {
                            byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);           //复合前往零件接转区
                            ModifyTxt.PrintlogTxt("复合前往零件接转区");
                            // MixtoAGV1OneStep = false;
                            ControlOnlyOneFlag12 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x00)  //复合在零件接转区且等待
                    {
                        if (!ControlOnlyOneFlag13)
                        {
                            byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);            //复合在接转区取/放零件料盘
                            ModifyTxt.PrintlogTxt("/////复合在接转区取/放零件料盘");
                            ControlOnlyOneFlag13 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVOneStep == true)  //f复合在零件接转区且手臂动作已完成
                    {
                        byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd);              //复合去往双臂装配区
                        ModifyTxt.PrintlogTxt(" //复合去往双臂装配区");
                        MixtoAGVOneStep = false;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVTwoStep == true)   //复合第二次在零件接转区且手臂动作已完成
                    {
                        byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd); //复合前往初始位置
                        ModifyTxt.PrintlogTxt("//复合前往初始位置");
                        if (AGV1Falg == true)         //这是AGV1在接转区
                        {
                            AGV1delaytime = true;     //AGV1延时3秒再走,以防碰撞
                            AGV1Falg      = false;
                        }
                        if (AGV2Flag == true)
                        {
                            AGV2delaytime = true;   //AGV2延时3秒再走,以防碰撞
                            AGV2Flag      = false;
                        }
                        MixtoAGVTwoStep = false;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00)    //复合在双臂处且等待
                    {
                        if (!ControlOnlyOneFlag15)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);                       //复合在装配区取/放零件托盘
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件托盘处");
                            ControlOnlyOneFlag15 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && ControlLock1 == false)                                //复合在双臂处且手臂动作已完成
                    {
                        MainWindow.TwoRobotActionFlag5 = true;                                                                                                    //通知双臂机器人执行动作5:双臂将零件放到零件托盘
                        ControlLock1 = true;                                                                                                                      //该条件不能再进入
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete5 == true && FrontPart == true) //复合在双臂处且手臂动作已完成且双臂动作5完成
                    {
                        if (!ControlOnlyOneFlag16)
                        {
                            byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
                            MixRobot.sendRequestcmd(cmd);                 //复合在装配区取/放零件料盘
                            ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
                            ControlOnlyOneFlag16 = true;
                        }
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete5 == true)   //复合在双臂处且手臂动作未完成且双臂动作0完成
                    {
                        TwoRobotActionComplete5 = false;
                        MixInTwoCanLastStep     = true;
                    }
                    if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoCanLastStep == true && FrontPart == true)  //复合在双臂处且手臂已经将双臂料盘拿回来
                    {
                        byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
                        MixRobot.sendRequestcmd(cmd); //复合前往零件接转区
                        ModifyTxt.PrintlogTxt("//复合前往零件接转区");
                        MixtoAGVTwoStep      = true;  //复合第二次前往零件接转区
                        ControlOnlyOneFlag13 = false;
                        MixInTwoCanLastStep  = false;
                    }
                }
            }
            FrontPart = false;
        }