private void SendOutMission(AgvOutMissonModel mission)
{
SendLogEvent?.Invoke(new StationClientState {
State = StationClientStateEnum.INFO, Message = "出库请求:" + mission.Type.EnumToString()
}.ToString());
SendSingnalrEvent?.Invoke(AgvSendActionEnum.SendOutMission.EnumToString(), mission);
}
public bool CanRequest()
{
warehouse_outmission = missionContext.undo_outmissions.Where(x => x.CarryProcess == CarryMissonProcessEnum.NEW).FirstOrDefault();
warehouse_outmission_last = missionContext.undo_outmissions.Where(x => x.CarryProcess > CarryMissonProcessEnum.NEW &&
x.Process < AgvMissonProcessEnum.AGVPICKEDANDLEAVE).FirstOrDefault();
//TODO:增加料道信号检查
return(warehouse_outmission != null && warehouse_outmission_last == null);
}
public void OnAgvOutMissonEvent(AgvOutMissonModel mission)
{
//毛坯输入
if (mission.Id.Equals(Station_Id + "_RAWIN"))
{
if ((mission.Process == AgvMissonProcessEnum.FINISHED || mission.Process == AgvMissonProcessEnum.CLOSE) && mission.Process != AgvMissonProcessEnum.CANCEL && mission.Process != AgvMissonProcessEnum.CANCELED)
{
bool raw_in = false;
var ret_raw_in = StationDevice.GetRawInRequireState(ref raw_in);
if (ret_raw_in == true && raw_in == true)
{
Console.WriteLine("RAWIN_" + DateTime.Now);
StationDevice.SetRawInFin(true);
bool raw_in_confirm = true;
while (raw_in_confirm)
{
ret_raw_in = StationDevice.GetRawInRequireState(ref raw_in_confirm);
if (ret_raw_in == true && raw_in_confirm == false)
{
StationDevice.SetRawInFin(false);
}
Thread.Sleep(1000);
}
}
}
}
//成品空箱输入
if (mission.Id.Equals(Station_Id + "_EMPTYIN"))
{
if ((mission.Process == AgvMissonProcessEnum.FINISHED || mission.Process == AgvMissonProcessEnum.CLOSE) && mission.Process != AgvMissonProcessEnum.CANCEL && mission.Process != AgvMissonProcessEnum.CANCELED)
{
bool empty_in = false;
var ret_empty_in = StationDevice.GetEmptyInState(ref empty_in);
if (ret_empty_in == true && empty_in == true)
{
StationDevice.SetEmptyInFin(true);
bool empty_in_confirm = true;
while (empty_in_confirm)
{
ret_empty_in = StationDevice.GetEmptyInState(ref empty_in_confirm);
if (ret_empty_in == true && empty_in_confirm == false)
{
StationDevice.SetEmptyInFin(false);
}
Thread.Sleep(1000);
}
}
}
}
}
public void PushOutMission(AgvOutMissonModel mission)
{
var count = missionContext.MissionOutNodes.Where(x => x.Id == mission.Id && (x.Process != AgvMissonProcessEnum.CLOSE || x.CarryProcess != CarryMissonProcessEnum.CLOSE)).Count();
if (count == 0)
{
mission.AgvProcessChangeEvent += (obj, state) => AgvMissonChangeEvent?.Invoke(obj, state);
AgvMissonChangeEvent?.Invoke(mission, true);
missionContext.MissionOutNodes.Add(mission);
SendAgvMissonEvent?.Invoke(mission);
}
}
public bool CanRequest()
{
if ((missionContext.undo_inmissions.Count() + missionContext.undo_outmissions.Count()) < 2)
{
new_outmission = missionContext.MissionOutNodes.Where(x => x.Process == AgvMissonProcessEnum.NEW && x.CarryProcess == CarryMissonProcessEnum.NEW).FirstOrDefault();
if (new_outmission != null)
{
//检索出库任务之前是否有前置的入库任务
var brother_mission_type = missionContext.brotherMissionType[new_outmission.Type];
var brother_inmission = missionContext.MissionOutNodes
.Where(x => x.ClientId == new_outmission.ClientId &&
x.Type == brother_mission_type &&
x.Process == AgvMissonProcessEnum.NEW &&
x.CarryProcess == CarryMissonProcessEnum.NEW)
.FirstOrDefault();
return(brother_inmission == null);
}
}
return(false);
}
//料库执行出库
private bool WareHouseOutMission(AgvOutMissonModel mission)
{
if (missionContext.carryDevice as RightCarryService.TestControlDevice != null)
{
mission.CarryProcess = CarryMissonProcessEnum.FINISHED;
return(true);
}
TestRightCarryService <IControlDevice> carry = new TestRightCarryService <IControlDevice>(missionContext.carryDevice);
int quantity = 0;
var ret = carry.CarryOut(mission.ProductId, mission.MaterialId, ref quantity);
if (ret == false)
{
mission.Process = AgvMissonProcessEnum.CANCEL;
mission.CarryProcess = CarryMissonProcessEnum.CANCEL;
carry.ReleaseLock();
return(false);
}
mission.CarryProcess = CarryMissonProcessEnum.FINISHED;
carry.ReleaseLock();
return(true);
}
public bool CanRequest()
{
carrycancel_outmission = missionContext.MissionOutNodes.Where(x => x.CarryProcess == CarryMissonProcessEnum.CANCEL).FirstOrDefault();
return(carrycancel_outmission != null);
}
public bool CanRequest()
{
agvcancel_outmission = missionContext.MissionOutNodes.Where(x => x.Process == AgvMissonProcessEnum.CANCEL).FirstOrDefault();
return(agvcancel_outmission != null);
}
public SendOutMission(AgvOutMissonModel model)
{
Model = model;
}
public receiveOutMissionFinMessage(AgvOutMissonModel model)
{
Model = model;
}
public SendMissonOutOrder(AgvOutMissonModel model)
{
Model = model;
}
public SendOutMissionFinMessage(AgvOutMissonModel model)
{
Model = model;
}
public bool CanRequest()
{
agv_outmission = missionContext.undo_outmissions.Where(x => x.Process == AgvMissonProcessEnum.START).FirstOrDefault();
return(agv_outmission != null);
}
public void SendOutMissionFinMessage(AgvOutMissonModel message)
{
Clients.All.receiveOutMissionFinMessage(message);
}
public bool CanRequest()
{
agv_outmissions_atprepick = missionContext.undo_outmissions.Where(x => x.Process == AgvMissonProcessEnum.AGVATPREPICK &&
x.CarryProcess == CarryMissonProcessEnum.FINISHED).FirstOrDefault();
return(agv_outmissions_atprepick != null);
}
public bool CanRequest()
{
currentMisson = missionContext.MissionOutNodes.FirstOrDefault(x => x.CarryProcess == CarryMissonProcessEnum.FINISHED && x.Process > AgvMissonProcessEnum.AGVPICKEDANDLEAVE);
return(currentMisson != null);
}
public bool CanRequest()
{
agvfinished_outmission = missionContext.MissionOutNodes.Where(x => x.Process == AgvMissonProcessEnum.FINISHED).FirstOrDefault();
return(agvfinished_outmission != null);
}
