public bool SendMessage(string sendMessage)
{
if (!sendMessage.Equals(lastMessage))
{
AGVLog.WriteSendInfo(sendMessage, new StackFrame(true));
}
else
{
}
lastMessage = sendMessage;
Socket msock;
try {
msock = getTcpClient().Client;
byte[] data = Encoding.ASCII.GetBytes(sendMessage);
DBDao.getDao().InsertConnectMsg(sendMessage, "SendMessage");
msock.Send(data);
if (!"发送消息成功".Equals(lastMsgAboutSend))
{
lastMsgAboutSend = "发送消息成功";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
return(true);
} catch (Exception se) {
lastMsgAboutSend = "发送消息错误" + se.Message + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
return(false);
}
}
/// <summary>
/// 发送任务
/// </summary>
public int sendTask(TaskRecord tr)
{
int result = 0;
Console.WriteLine("ready to send task: " + tr.singleTask.taskName + "forklist stat:" + getForkLift().taskStep + "forklift finished:" + getForkLift().finishStatus);
string cmd = "cmd=set task by name;name=" + tr.taskRecordName; //发送命令格式，如果有多个对应值用;隔开，如果后面没有命令了，不需要再加;号
Console.WriteLine("send msg :" + cmd + "to " + getForkLift().forklift_number);
lock (getAGVSocketClient().clientLock) {
try {
getAGVSocketClient().SendMessage(cmd); //确保发送成功
tr.taskRecordStat = TASKSTAT_T.TASK_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND;
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面
tr.forkLiftWrapper = this;
getForkLift().taskStep = TASK_STEP.TASK_SENDED;
getForkLift().currentTask = tr.singleTask.taskText;
DBDao.getDao().UpdateTaskRecord(tr);
DBDao.getDao().updateForkLift(this); //更新车子状态
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
AGVLog.WriteError("发送" + tr.singleTask.taskText +
" 任务到" + getForkLift().forklift_number + "号车 失败",
new StackFrame(true));
result = -1;
}
AGVLog.WriteError("发送" + tr.singleTask.taskText +
" 任务到" + getForkLift().forklift_number + "号车 成功",
new StackFrame(true));
return(result);
}
}
private void ServerService()
{
try {
checkClientSocket();
while (true)
{
Console.WriteLine("read to send");
ForkLiftWrapper forklift = AGVCacheData.getForkLiftByID(3);
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatteryInfo().getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVMessageHandler.getMessageHandler().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
DBDao.getDao().InsertConnectMsg(sb.ToString(), "ServerService");
clientSocket.Send(byteData);
Thread.Sleep(10000);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
serverFuncOK = true;
turnToMainThread();
}
private void ClientService()
{
checkClientSocket();
string data = null;
byte[] bytes = new byte[4096];
Console.WriteLine("new user");
try {
Console.WriteLine("read to receive");
while ((i = clientSocket.Receive(bytes)) != 0)
{
if (i < 0)
{
break;
}
Console.WriteLine(i);
data = Encoding.ASCII.GetString(bytes, 0, i);
DBDao.getDao().InsertConnectMsg(data, "ClientService");
if (data.IndexOf("<AGV>") > -1)
{
handleMessage(data);
}
}
Thread.Sleep(10);
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
clientFuncOK = true;
turnToMainThread();
}
/// <summary>
/// 添加任务记录
/// </summary>
public void addTaskRecord(TASKSTAT_T stat, SingleTask st)
{
/*TaskRecord tr = new TaskRecord();
* tr.taskRecordStat = taskRecordStat;
* tr.singleTask = st;
* tr.taskRecordName = st.taskName;*/
DBDao.getDao().InsertTaskRecord(stat, st);
}
public void topTaskRecord(TaskRecord tr)
{
int count = 0;
count = DBDao.getDao().selectMaxBySql("select max(taskLevel) from taskrecord"); //查询所有被置过顶的任务
tr.taskLevel = count + 1;
DBDao.getDao().UpdateTaskRecord(tr);
}
public void setSingleTaskByTaskName(string taskName)
{
SingleTask st = DBDao.getDao().SelectSingleTaskByName(taskName);
Console.WriteLine("TaskRecord taskName = " + taskName);
if (st != null)
{
this.singleTask = st;
}
else
{
Console.WriteLine("TaskRecord Set Name error");
}
}
private void receive(object fl)
{
//ForkLiftWrapper forklift = new ForkLiftWrapper();
//forklift.setForkLift((ForkLiftItem)fl);
byte[] buffer = new byte[512];
Socket msock;
TcpClient vClient = null;
Console.WriteLine("receive ConnectStatus: " + connectStatus);
if (connectStatus == false) //检查连接状态
{
return;
}
while (isRecvMsgFlag)
{
try {
vClient = getTcpClient();
msock = tcpClient.Client;
Array.Clear(buffer, 0, buffer.Length);
tcpClient.GetStream();
int bytes = msock.Receive(buffer);
string receiveStr = Encoding.ASCII.GetString(buffer).Trim();
CommandService.getInstance().setLatestMsgFromClient(receiveStr);
DBDao.getDao().InsertConnectMsg(receiveStr, "receive");
readTimeOutTimes = 0; //读取超时次数清零
if (hrmCallback != null)
{
hrmCallback(forkLiftWrapper.getForkLift().id, buffer, bytes);
}
} catch (SocketException ex) {
if (ex.ErrorCode == 10060 && readTimeOutTimes < 10) //超时次数超过10次，关闭socket进行重连
{
AGVLog.WriteWarn("read msg timeout", new StackFrame(true));
Console.WriteLine("read msg timeout");
readTimeOutTimes++;
continue;
}
AGVLog.WriteError("读取消息错误" + ex.ErrorCode, new StackFrame(true));
Console.WriteLine("recv msg client close" + ex.ErrorCode);
Closeclient();
} catch (Exception ex) {
Closeclient();
}
}
}
public void Sendbuffer(byte[] buffer)
{
if (tcpClient == null || connectStatus == false) //检查连接状态
{
return;
}
Socket msock;
try {
msock = tcpClient.Client;
DBDao.getDao().InsertConnectMsg(Encoding.ASCII.GetString(buffer), "Sendbuffer");
msock.Send(buffer);
} catch (Exception ex) {
AGVLog.WriteError("发送消息错误" + ex.Message, new StackFrame(true));
Console.WriteLine("send message error");
Closeclient();
}
}
public void SendMessage(string sendMessage)
{
AGVLog.WriteSendInfo(sendMessage, new StackFrame(true));
Socket msock;
try {
if (tcpClient == null || connectStatus == false)
{
Exception ex = new Exception("connect err");
throw (ex);
}
msock = tcpClient.Client;
byte[] data = Encoding.ASCII.GetBytes(sendMessage);
DBDao.getDao().InsertConnectMsg(sendMessage, "SendMessage");
msock.Send(data);
} catch (Exception se) {
AGVLog.WriteError("发送消息错误" + se.Message, new StackFrame(true));
Console.WriteLine("send message error" + se.Message);
Closeclient();
}
}
/*处理车子反馈报文 msg格式cmd=position;battery=%d;error=%d;x=%d;y=%d;a=%f;z=%d;
* speed=%d;task=%s;veer_angle=%f;
* task_step=%d;task_isfinished=%d;task_error=%d;walk_path_id=%d */
/// <summary>
///
/// </summary>
/// <param name="id">表示车子</param>
/// <param name="msg"></param>
/// <returns></returns>
private void handleForkLiftMsg(int id, byte[] buffer, int length)
{
int pos = -1;
int pos_e = -1;
int pos_t = -1;
string taskName = "";
int x = 0; //车子横坐标
int y = 0; //车子纵坐标
int pause_stat = -1; //默认是错误状态
int battery_soc = -1;
int finish_stat = -1;
int gAlarm = 1; //AGV防撞信号 默认1 表示没有报警
string msg = parseForkLiftMsg(buffer, length);
if (string.IsNullOrEmpty(msg))
{
AGVLog.WriteError("msg is null", new StackFrame(true));
return;
}
if (!(msg.StartsWith("cmd=position;") && msg.EndsWith("?")))
{
AGVLog.WriteError("msg is error patten", new StackFrame(true));
return;
}
lastMsg = msg;
CommandService.getInstance().setLatestMsgFromClient(msg);
DBDao.getDao().InsertConnectMsg(msg, "receive");
//Console.WriteLine("msg = " + msg);
//解析taskName
try {
//if (id == 2)
// AGVLog.WriteError(msg, new StackFrame(true));
pos_t = msg.IndexOf("task=");
if (pos_t != -1)
{
pos_e = msg.Substring(pos_t, msg.Length - pos_t).IndexOf(";");
if (pos_e != -1)
{
taskName = msg.Substring(pos_t + 5, pos_e - 5);
//AGVLog.WriteInfo("forklift taskName = " + taskName, new StackFrame(true));
//Console.WriteLine("forklift taskName = " + taskName);
}
}
if (string.IsNullOrEmpty(taskName))
{
//AGVLog.WriteError("forklift taskName is null", new StackFrame(true));
//Console.WriteLine("msg format err: taskName is null");
//return ; //主要判断车的finished状态
}
//解析坐标位置 x,y
pos_t = msg.IndexOf(";x=");
if (pos_t != -1)
{
pos_e = msg.Substring(pos_t + 1, msg.Length - pos_t - 1).IndexOf(";");
if (pos_e != -1)
{
// Console.WriteLine("x = " + msg.Substring(pos_t + 3, pos_e - 2) + " id = " + id);
x = int.Parse(msg.Substring(pos_t + 3, pos_e - 2));
}
}
pos_t = msg.IndexOf(";y=");
if (pos_t != -1)
{
pos_e = msg.Substring(pos_t + 1, msg.Length - pos_t - 1).IndexOf(";");
if (pos_e != -1)
{
// Console.WriteLine("y = " + msg.Substring(pos_t + 3, pos_e - 2));
y = int.Parse(msg.Substring(pos_t + 3, pos_e - 2));
}
}
pos_t = msg.IndexOf("pause_stat=");
if (pos_t != -1)
{
pos_e = msg.Substring(pos_t, msg.Length - pos_t).IndexOf(";");
pause_stat = int.Parse(msg.Substring(pos_t + 11, pos_e - 11));
}
pos_t = msg.IndexOf("gAlarm=");
if (pos_t != -1)
{
pos_e = msg.Substring(pos_t, msg.Length - pos_t).IndexOf(";");
gAlarm = int.Parse(msg.Substring(pos_t + 7, pos_e - 7));
}
pos_t = msg.IndexOf("battery=");
if (pos_t != -1) //获取电池数据
{
pos_e = msg.Substring(pos_t, msg.Length - pos_t).IndexOf(";");
battery_soc = int.Parse(msg.Substring(pos_t + 8, pos_e - 8));
//Console.WriteLine("battery = " + battery_soc);
}
pos = msg.IndexOf("task_isfinished=");
finish_stat = Convert.ToInt16(msg[pos + 16]) - 48; //转的对象是单个字符 0会转成48
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
Console.WriteLine("接收 数据异常");
return;
}
if (!checkForkLiftMsg(battery_soc, pause_stat, finish_stat, gAlarm))
{
//Console.WriteLine("接收数据异常");
return;
}
lock (LockController.getLockController().getLockTask()) {
if (pos != -1) //成功匹配到状态
{
foreach (ForkLiftWrapper fl in forkLiftWrapperList)
{
if (fl.getForkLift().id == id)
{
if (x != 0 && y != 0)
{
fl.setPosition(x, y);
}
if (id == 1 && pauseSetTime_f1 == 0)
{
fl.getForkLift().shedulePause = pause_stat; //只在启动的时候设置一次
pauseSetTime_f1 = 1;
fl.getPosition().calcPositionArea();
}
else if (id == 2 && pauseSetTime_f2 == 0)
{
fl.getForkLift().shedulePause = pause_stat; //只在启动的时候设置一次
pauseSetTime_f2 = 1;
fl.getPosition().calcPositionArea();
}
fl.getForkLift().pauseStat = pause_stat;
if (pause_stat >= 0)
{
checkForkliftPauseStat(fl, pause_stat);
}
fl.getForkLift().finishStatus = finish_stat;
fl.getBatteryInfo().setBatterySoc(battery_soc);
fl.updateAlarm(gAlarm);
AGVLog.WriteInfo("forklift id " + id + "taskName = " + taskName + "forklift stat = " + fl.getForkLift().finishStatus, new StackFrame(true));
{
bool stat = checkTaskSendStat(fl, taskName);
if (stat == false)
{
AGVLog.WriteError("任务列表中不能匹配正确状态的任务", new StackFrame(true));
}
}
}
}
}
}
return;
}
/// <summary>
/// 检查任务状态
/// </summary>
private bool checkTaskSendStat(ForkLiftWrapper fl, string taskName)
{
bool stat = true;
if (fl.getForkLift().finishStatus == 1)
{
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
if (fl.getForkLift().waitTimes > 15)
{
Console.WriteLine("send task: " + taskName + "to " + fl.getForkLift().forklift_number + "fail");
fl.getForkLift().waitTimes = 0;
tr.forkLiftWrapper = null;
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_PICK)
{
DBDao.getDao().RemoveTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 移除任务", new StackFrame(true));
}
else
{
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_READY_SEND;
DBDao.getDao().UpdateTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 更新任务状态，等待重新发送", new StackFrame(true));
}
FormController.getFormController().getMainFrm().updateFrm();
}
else
{
fl.getForkLift().waitTimes++;
Console.WriteLine("fl: " + fl.getForkLift().forklift_number + "taskName: " + taskName + "waittimes: " + fl.getForkLift().waitTimes);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " waittimes: " + fl.getForkLift().waitTimes, new StackFrame(true));
}
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS)
{
Console.WriteLine("task: " + taskName + "in " + fl.getForkLift().forklift_number + "finished");
AGVLog.WriteInfo("taskName: " + taskName + "in " + fl.getForkLift().forklift_number + " finished", new StackFrame(true));
DBDao.getDao().RemoveTaskRecord(tr);
DBDao.getDao().InsertTaskRecordBak(tr);
tr.singleTask.taskStat = TASKSTAT_T.TASK_END;
tr.taskRecordStat = TASKSTAT_T.TASK_END;
FormController.getFormController().getMainFrm().updateFrm();
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_END)
{
//break; 继续任务状态没及时删除,继续循环
}
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else if (fl.getForkLift().finishStatus == 0)
{
//bool storeTask = true; //是否需要缓存该任务
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//Console.WriteLine(" tr stat = " + tr.taskRecordStat + " taskName = " + tr.taskRecordName);
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //任务列表中匹配到非待发送的该任务则不缓存
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND_SUCCESS;
tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS;
DBDao.getDao().UpdateTaskRecord(tr);
stat = true;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
}
fl.getForkLift().waitTimes = 0; //发送任务，等待确认是否发送成功
fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
fl.getForkLift().currentTask = tr.singleTask.taskText;
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else
{
Console.WriteLine("fork status err");
AGVLog.WriteError("fork lift staus: " + fl.getForkLift().finishStatus + "err", new StackFrame(true));
}
return(stat);
}
/// <summary>
/// 根据相关条件移除任务 包括更新任务列表 删除数据库
/// </summary>
public void removeTaskRecord(SingleTask st, TASKSTAT_T taskRecordStat)
{
DBDao.getDao().RemoveTaskRecord(st, taskRecordStat);
}
/// <summary>
/// 添加任务记录，包括两部1、更新taskRecordList 2、更新数据库
/// </summary>
public void addTaskRecord(TaskRecord tr)
{
DBDao.getDao().InsertTaskRecord(tr);
}
/// <summary>
/// 检查任务状态
/// </summary>
/// <param name="fl">车子实例</param>
/// <param name="taskName"></param>
/// <returns></returns>
private bool checkTaskSendStat(ForkLiftWrapper fl, string taskName)
{
bool stat = true;
//Console.WriteLine(" fl id " + fl.getForkLift().id + " finishStatus = " + fl.finishStatus);
if (fl.getForkLift().finishStatus == 1) //车子状态空闲有两种可能1：车子任务执行完成 2：任务在执行中 报文没有及时反馈
{
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//if (tr.forkLift != null && tr.taskRecordName.Equals(taskName))
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //可能存在任务没发送成功，反馈的taskName与现在taskrecord的名称不一样
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
if (fl.getForkLift().waitTimes > 15) //等待次数超过15次，后面重新发送该任务
{
Console.WriteLine("send task: " + taskName + "to " + fl.getForkLift().forklift_number + "fail");
fl.getForkLift().waitTimes = 0;
tr.forkLiftWrapper = null;
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE; //车子状态改为空闲
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl); //赋值空字符串
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_PICK)
{
DBDao.getDao().RemoveTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 移除任务", new StackFrame(true));
}
else
{
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND; //改变任务的状态，后面重新发送
tr.singleTask.taskStat = TASKSTAT_T.TASK_READY_SEND;
DBDao.getDao().UpdateTaskRecord(tr);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " 发送失败 更新任务状态，等待重新发送", new StackFrame(true));
}
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面
}
else
{
fl.getForkLift().waitTimes++;
Console.WriteLine("fl: " + fl.getForkLift().forklift_number + "taskName: " + taskName + "waittimes: " + fl.getForkLift().waitTimes);
AGVLog.WriteWarn("forklift number: " + fl.getForkLift().forklift_number + " taskName: " + taskName + " waittimes: " + fl.getForkLift().waitTimes, new StackFrame(true));
}
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS) //确保没有重复进入，否则会插入多条备份记录
{
Console.WriteLine("task: " + taskName + "in " + fl.getForkLift().forklift_number + "finished");
AGVLog.WriteInfo("taskName: " + taskName + "in " + fl.getForkLift().forklift_number + " finished", new StackFrame(true));
DBDao.getDao().RemoveTaskRecord(tr); //移除record是3的记录
DBDao.getDao().InsertTaskRecordBak(tr);
tr.singleTask.taskStat = TASKSTAT_T.TASK_END;
tr.taskRecordStat = TASKSTAT_T.TASK_END;
FormController.getFormController().getMainFrm().updateFrm(); //设置更新界面 //设置更新界面
fl.getForkLift().taskStep = TASK_STEP.TASK_IDLE;
fl.getForkLift().currentTask = "";
DBDao.getDao().updateForkLift(fl);
break;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_END)
{
//break; 继续任务状态没及时删除,继续循环
}
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
}
else if (fl.getForkLift().finishStatus == 0)
{
//bool storeTask = true; //是否需要缓存该任务
foreach (TaskRecord tr in TaskReordService.getInstance().getTaskRecordList())
{
//Console.WriteLine(" tr stat = " + tr.taskRecordStat + " taskName = " + tr.taskRecordName);
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id) //任务列表中匹配到非待发送的该任务则不缓存
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND)
{
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND_SUCCESS;
tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS;
DBDao.getDao().UpdateTaskRecord(tr);
stat = true;
}
else if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS && tr.forkLiftWrapper.getForkLift().id == fl.getForkLift().id)
{
}
fl.getForkLift().waitTimes = 0; //发送任务，等待确认是否发送成功
fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
fl.getForkLift().currentTask = tr.singleTask.taskText;
break; //每次只匹配一条记录，可能存在两条记录，对应singleTask一样，一条正在运行，一条待发送，适应一键添加功能
}
}
/*
* if (storeTask) //系统启动后，车子可能正在执行任务起来，将正在执行的任务缓存
* {
* TaskRecord tr = new TaskRecord();
* tr.taskRecordName = taskName;
* tr.forkLift = fl;
* tr.taskRecordStat = TASKSTAT_T.TASK_SEND_SUCCESS; //状态已经发送成功
* tr.setSingleTaskByTaskName(AGVUtil.parseTaskRecordName(taskName));
* fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
* addTs = tr;
* //AGVInitialize.getInitialize().getMainFrm().updateCurrentTask(st.taskName); //更新界面上的当前任务
* Console.WriteLine("store task: " + tr.taskRecordName + "taskNumber:" + taskRecordList.Count);
* AGVLog.WriteInfo("store task: " + tr.taskRecordName + "at boot task count: " + taskRecordList.Count, new StackFrame(true));
* }
*/
}
else
{
Console.WriteLine("fork status err");
AGVLog.WriteError("fork lift staus: " + fl.getForkLift().finishStatus + "err", new StackFrame(true));
}
return(stat);
}