private void AgvMissionSrv_AgvInMissChangeEvent(AgvInMisson mission, bool arg2)
{
if (arg2)
{
InMissionItemAddEvent?.Invoke(InMissions, new InMissionItem
{
Id = mission.Id,
ClientId = mission.ClientId,
Type = mission.Type,
Process = mission.Process,
CarryProcess = mission.CarryProcess,
CreateDateTime = mission.CreateDateTime,
});
return;
}
var item = InMissions.Where(x => x.Id == mission.Id && x.Process != AgvInMissonProcessEnum.CLOSE).FirstOrDefault();
if (item != null)
{
item.Process = mission.Process;
item.CarryProcess = mission.CarryProcess;
item.CreateDateTime = mission.CreateDateTime;
}
}
private async void SendInMission(AgvInMisson mission)
{
SendStationClientStateMessage(
new StationClientState {
State = StationClientStateEnum.INFO, Message = "入库请求:" + mission.Type.EnumToString(), CreateDateTime = DateTime.Now
});
await signalrService.Send(AgvSendActionEnum.SendInMission.EnumToString(), mission);
}
private void OnAgvInMissonEvent(AgvInMisson mission)
{
//毛坯空箱回库
if (mission.Id.Equals(Station_Id + "_EMPTYOUT"))
{
if (mission.Process > AgvInMissonProcessEnum.AGVPICKEDANDLEAVE && mission.Process != AgvInMissonProcessEnum.CANCEL & mission.Process != AgvInMissonProcessEnum.CANCELED)
{
bool empty_out = false;
var ret_empty_out = StationDevice.GetEmptyOutState(ref empty_out);
if (ret_empty_out == true && empty_out == true)
{
StationDevice.SetEmptyOutFin(true);
bool empty_out_confirm = true;
while (empty_out_confirm)
{
ret_empty_out = StationDevice.GetEmptyOutState(ref empty_out_confirm);
if (ret_empty_out == true && empty_out_confirm == false)
{
StationDevice.SetEmptyOutFin(false);
}
}
}
}
}
//成品回库
if (mission.Id.Equals(Station_Id + "_FINOUT"))
{
if (mission.Process > AgvInMissonProcessEnum.AGVPICKEDANDLEAVE && mission.Process != AgvInMissonProcessEnum.CANCEL & mission.Process != AgvInMissonProcessEnum.CANCELED)
{
bool fin_out = false;
var ret_fin_out = StationDevice.GetFinOutState(ref fin_out);
if (ret_fin_out == true && fin_out == true)
{
StationDevice.SetFinOutFin(true);
bool fin_out_confirm = true;
while (fin_out_confirm)
{
ret_fin_out = StationDevice.GetFinOutState(ref fin_out_confirm);
if (ret_fin_out == true && fin_out_confirm == false)
{
StationDevice.SetFinOutFin(false);
}
}
}
}
}
}
public AgvInMisson SendMissonInOrder(AgvInMisson message)
{
var hubContext2 = GlobalHost.ConnectionManager.GetHubContext <NoticeHub>();
try
{
var client = new Client(StaticData.AppHostConfig.AgvServiceUrl);
string id = $"{message.Id}_{ message.TimeId}";
StaticData.OrderName.Add(id);
client.TransportOrders2(id, message.AgvMissonToTransportOrder());
hubContext2.Clients.All.queryOrder(id);
return(message);
}
catch (Exception ex)
{
hubContext2.Clients.All.pushSystemMessage($"AGV调度服务连接失败,异常信息:{ex.Message}", new { state = false });
return(message);
}
}
public void sendTask(string id)
{
TransportOrder order = new TransportOrder();
string name = $"{id}_{ DateTime.Now.ToFileTime()}";
try
{
order = new AgvInMisson()
{
Id = id
}.AgvMissonToTransportOrder(name);
client.TransportOrders2(name, order);
StaticData.OrderName.Add(name);
Clients.All.queryOrder(name);
}
catch (Exception ex)
{
if (Context != null && !string.IsNullOrEmpty(Context.ConnectionId))
{
Clients.Client(Context.ConnectionId).pushSystemMessage($"发送订单失败,异常信息:{ex.Message}", new { state = false });
}
}
}
public static TransportOrder AgvMissonToTransportOrder(this AgvInMisson agvInMisson, string name = "")
{
return(GetOrder(agvInMisson.Id, name));
}
public void SendInMission(AgvInMisson message)
{
Clients.All.receiveInMissionMessage(message);
}
