/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
if (!_isStart)
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
if (_agv != null)
{
if (_agv.IsAlive)
{
_disAliveCounter = 0;
}
else
{
if (++_disAliveCounter > F_DataCenter.ClearTime)
{
_isDisaliveOverTime = true;
}
}
}
else
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
///修改By fujun
dis.DevList.Add(Id);
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///修改By fujun
_isStart = true;
#region 滚筒逻辑
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑尾，开始取货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
//&& !ParamControl.Do_EnterEndChargeLock
)
{
_plc.IsEnterBatteryLock = false;
ParamControl.Do_EnterEndChargeLock = true;
ParamControl.EndChargeLock = _plc.IsEnterBatteryLock;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumagvSta_Material.无货 || _agv.Sta_Material == EnumagvSta_Material.送中)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
FLog.Log(_agv.Id + "启动车载辊台，启动窑尾辊台");
}
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(//_plc.Sta_Material == EnumSta_Material.无货 &&
_agv.Sta_Material == EnumagvSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
FLog.Log(_agv.Id + "停止车载辊台，停止窑尾辊台");
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//取货完成，解锁窑尾
if (_plc != null
// && !ParamControl.Do_EndPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_EndPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑头，开始放货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
)
{
_plc.IsEnterBatteryLock = false;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.无货 ||
_plc.Sta_Material == EnumSta_Material.未知) &&
(_agv.Sta_Material == EnumagvSta_Material.送中 || _agv.Sta_Material == EnumagvSta_Material.货)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台，启动窑头辊台");
}
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(//(_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.未知) &&
_agv.Sta_Material == EnumagvSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
FLog.Log(_agv.Id + "停止车载辊台，停止窑头辊台");
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//放货完成，解锁窑头
if (_plc != null
//&& !ParamControl.Do_HeadPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_HeadPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.充电)
{
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
if (_plc.Site == "14")
{
ParamControl.Do_ExitHeadChargeLock = true;
}
//else if (_plc.Site == "11")
//{
// ParamControl.Do_ExitEndChargeLock = true ;
//}
_plc.IsExitBatteryLock = false;
_plc.ExitChargeAgv = null;
ParamControl.HeadChargeAGV = _plc.ExitChargeAgv;
ParamControl.HeadChargeLock = _plc.IsExitBatteryLock;
}
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
#endregion
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumSta_Material.无货 || _agv.Sta_Material == EnumSta_Material.送中)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.无货 && _agv.Sta_Material == EnumSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.货 || _plc.Sta_Material == EnumSta_Material.无货) &&
(_agv.Sta_Material == EnumSta_Material.送中 || _agv.Sta_Material == EnumSta_Material.货)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.货 &&
_agv.Sta_Material == EnumSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
_plc.IsExitBatteryLock = false;
}
if (_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
}
}
