/// <summary>
/// 删行
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnDele_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
try
{
IODeviceInfo CurrentIOInfo = this.bsDetail.Current as IODeviceInfo;
if (CurrentIOInfo != null)
{
if (MsgBox.ShowQuestion("是否确认删除当前行") != DialogResult.No)
{
OperateReturnInfo opr = AGVClientDAccess.Delete_IODeviceInfo(CurrentIOInfo);
if (opr.ReturnCode == OperateCodeEnum.Success)
{
bsDetail.DataSource = AGVDAccess.AGVClientDAccess.LoadIODeviceInfo();
bsDetail.ResetBindings(false);
}
else
{
MsgBox.Show(opr);
}
}
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
//更新储位信息
private void UpdateStock()
{
try
{
this.Invoke((EventHandler)(delegate
{
IList <StorageInfo> all_stocks = AGVClientDAccess.LoadStorages();
if (all_stocks != null)
{
foreach (StorageInfo item in all_stocks)
{
StorageTool storage = m_data.ActiveLayer.Objects.Where(p => p.Id == "StorageTool" && (p as StorageTool).StcokID == item.ID).FirstOrDefault() as StorageTool;
if (storage != null)
{
storage.OwnArea = item.OwnArea;
storage.SubOwnArea = item.SubOwnArea;
storage.matterType = item.matterType;
storage.StorageState = item.StorageState;
storage.LockState = item.LockState;
storage.MaterielType = item.MaterielType;
}
}
}
m_canvas.DoInvalidate(true);
}));
ClearMemory();
ReConnect();
}
catch (Exception ex)
{ }
}
private void FrmAGVAchive_Shown(object sender, EventArgs e)
{
try
{
IList <CarBaseStateInfo> cars = AGVClientDAccess.LoadAGVAchive();
if (cars == null)
{
return;
}
if (cars.Count > 0)
{
this.bsDetail.DataSource = cars;
bsDetail.ResetBindings(false);
IList <AreaInfo> allAreas = AGVDAccess.AGVClientDAccess.LoadAllArea();
allAreas.Insert(0, new AreaInfo {
OwnArea = 0, AreaName = "全局"
});
this.bsArea.DataSource = allAreas;
this.bsArea.ResetBindings(false);
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void btnSave_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
try
{
gvDetail.CloseEditor();
gvDetail.CloseEditForm();
gvDetail.FocusedColumn = colSegmentID;
if (Valid())
{
IList <TraJunctionSegInfo> traffics = bsDetail.List as IList <TraJunctionSegInfo>;
if (traffics != null)
{
TraInfo.Segments = traffics;
OperateReturnInfo opr;
using (WaitDialogForm dialog = new WaitDialogForm("正在保存,请稍后...", "提示"))
{
opr = AGVClientDAccess.SaveTraJunctionByOne(TraInfo);
}
MsgBox.Show(opr);
}
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void FrmTraJunction_Shown(object sender, EventArgs e)
{
try
{
IList <TraJunction> Traffics = AGVClientDAccess.GetTraJunction();
this.bsDetail.DataSource = Traffics;
bsDetail.ResetBindings(false);
bsDetail.MoveLast();
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
/// <summary>
/// 加载所有的物料类型
/// </summary>
private void CreatBtnByMaterials()
{
try
{
IList <MaterialInfo> AllMaterials = AGVClientDAccess.LoadAllMaterial();
if (AllMaterials != null)
{
int TotalWidth = this.Width;
int RowAcount = TotalWidth / (150 + 5);
int Amount = 0;
int HasWidth = 0;
int RowCount = 1;
foreach (MaterialInfo MaterialInfo in AllMaterials)
{
Amount++;
Button btn = new Button();
btn.Tag = MaterialInfo.MaterialType;
btn.Anchor = AnchorStyles.Left;
btn.Text = MaterialInfo.MaterialName;
btn.Click += Btn_Click;
btn.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
btn.FlatAppearance.BorderSize = 0;
btn.BackColor = Color.DarkRed;
btn.ForeColor = Color.White;
btn.Font = new System.Drawing.Font("宋体", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
btn.Size = new System.Drawing.Size(150, 60);
if (Amount == 1)
{
btn.Location = new Point(5, 5);
HasWidth = btn.Width + 5;
}
else if (Amount <= RowAcount)
{
btn.Location = new Point(HasWidth + 5, ((RowCount - 1) < 0 ? 0 : RowCount - 1) * btn.Height + (5 * RowCount));
HasWidth += btn.Width + 5;
}
else
{
HasWidth = 0;
RowCount += 1;
btn.Location = new Point(HasWidth + 5, ((RowCount - 1) < 0 ? 0 : RowCount - 1) * btn.Height + (5 * RowCount));
HasWidth += btn.Width + 5;
Amount = 1;
}
this.pnlBtn.Controls.Add(btn);
}
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void FrmAGVAchive_Shown(object sender, EventArgs e)
{
try
{
IList <CarBaseStateInfo> cars = AGVClientDAccess.LoadAGVAchive();
if (cars == null)
{
return;
}
if (cars.Count > 0)
{
this.bsDetail.DataSource = cars;
bsDetail.ResetBindings(false);
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void btnSave_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
try
{
if (Valid())
{
List <string> Parameters = new List <string>();
Parameters.Add("0," + cbxBei.SelectedItem.ToString());
Parameters.Add("1," + cbxDong.SelectedItem.ToString());
Parameters.Add("2," + cbxNan.SelectedItem.ToString());
Parameters.Add("3," + cbxXi.SelectedItem.ToString());
OperateReturnInfo opr = AGVClientDAccess.SaveAGVCoordinate(Parameters);
MsgBox.Show(opr);
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void FrmActionDetail_Shown(object sender, EventArgs e)
{
try
{
this.bsIOActionSet.DataSource = ActionInfo;
this.bsIOActionSet.ResetBindings(false);
if (IsView)
{
txtActionID.ReadOnly = true;
txtActionName.ReadOnly = true;
txtDeviceID.ReadOnly = true;
txtTerminalID.ReadOnly = true;
cbxTerminalType.ReadOnly = true;
cbxIOUseState.ReadOnly = true;
txtTerminalData.ReadOnly = true;
cbxIsPass.ReadOnly = true;
txtWaitTime.ReadOnly = true;
cbxIsWait.ReadOnly = true;
btnClear.Enabled = false;
btnSave.Enabled = false;
}
else
{
txtActionID.ReadOnly = false;
txtActionName.ReadOnly = false;
txtDeviceID.ReadOnly = false;
txtTerminalID.ReadOnly = false;
cbxTerminalType.ReadOnly = false;
cbxIOUseState.ReadOnly = false;
txtTerminalData.ReadOnly = false;
cbxIsPass.ReadOnly = false;
txtWaitTime.ReadOnly = false;
cbxIsWait.ReadOnly = false;
btnClear.Enabled = true;
btnSave.Enabled = true;
}
this.bsIODevices.DataSource = AGVClientDAccess.LoadIODeviceInfo();
bsIODevices.ResetBindings(false);
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
public void OnMouseUp(ICanvas canvas, UnitPoint point, ISnapPoint snappoint)
{
try
{
SysParameter sys = AGVClientDAccess.GetParameterByCode("DefaultLenth");
if (sys != null)
{
double DefaultLenth = 0;
try
{
DefaultLenth = Convert.ToDouble(sys.ParameterValue);
}
catch (Exception ex)
{ return; }
this.Lenth = DefaultLenth;
}
}
catch (Exception ex)
{ throw ex; }
}
private void btnSave_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
try
{
labelControl1.Focus();
if (!Valid())
{
return;
}
IOActionInfo CurrentActionInfo = this.bsIOActionSet.Current as IOActionInfo;
OperateReturnInfo opr = AGVClientDAccess.SaveIOAction(CurrentActionInfo);
MsgBox.Show(opr);
if (opr.ReturnCode == OperateCodeEnum.Success)
{
this.DialogResult = DialogResult.OK;
this.Close();
return;
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
private void FrmDirectionSet_Shown(object sender, EventArgs e)
{
try
{
DataTable dt = AGVClientDAccess.LoadAGVCoordinate();
if (dt != null && dt.Rows.Count > 0)
{
foreach (DataRow dr in dt.Rows)
{
switch (Convert.ToInt16(dr["Direction"]))
{
case 0:
cbxBei.SelectedItem = dr["Angle"].ToString();
break;
case 1:
cbxDong.SelectedItem = dr["Angle"].ToString();
break;
case 2:
cbxNan.SelectedItem = dr["Angle"].ToString();;
break;
case 3:
cbxXi.SelectedItem = dr["Angle"].ToString();
break;
default:
break;
}
}
}
}
catch (Exception ex)
{ MsgBox.ShowError(ex.Message); }
}
/// <summary>
/// 创建任务
/// </summary>
public string CreatTask(int CallBoxID, int BtnID)
{
try
{
CallBoxInfo BoxInfo = AGVSimulationDAccess.LoadAllCallBoxByID(CallBoxID);
if (BoxInfo == null)
{
return("未配置按钮盒档案信息");
}
IList <CallBoxDetail> BoxDetails = AGVSimulationDAccess.LoadCallBoxDetails(CallBoxID);
if (BoxDetails == null || (BoxDetails != null && BoxDetails.Count <= 0))
{
return("未配置按钮盒明细档案信息");
}
CallBoxDetail CurrBoxDetail = BoxDetails.FirstOrDefault(p => p.CallBoxID == CallBoxID && p.ButtonID == BtnID);
if (CurrBoxDetail == null)
{
return("当前按钮没有配置信息");
}
if (CurrBoxDetail.OperaType == 0)
{
IList <TaskConfigDetail> TaskConfigDetails = AGVClientDAccess.load_TaskDetail(CurrBoxDetail.TaskConditonCode);
if (TaskConfigDetails == null && (TaskConfigDetails != null && TaskConfigDetails.Count <= 0))
{
return("当前按钮未配置任务信息");
}
//开始创建任务
StorageInfo CallStore = Stores.FirstOrDefault(q => q.ID == CurrBoxDetail.LocationID);
if (CallStore == null)
{
return("未设置当前按钮的监控储位!");
}
//CallStore.StorageState = CurrBoxDetail.LocationState;
///后面再处理
if (AGVSimulationDAccess.ChekAllowCreatTask(CallBoxID, CallStore.LankMarkCode, 0) > 0)
{
return("存在未完成任务,请稍后再试!");
}
string dispatchNo = Guid.NewGuid().ToString();
DispatchTaskInfo TaskInfo = new DispatchTaskInfo();
TaskInfo.dispatchNo = dispatchNo;
TaskInfo.taskType = 0;
TaskInfo.TaskState = 0;
TaskInfo.CallLand = CallStore.LankMarkCode;
TaskInfo.stationNo = CallBoxID;
//创建任务明细
int DetailID = 1;
int PreStoreState = -1;
foreach (TaskConfigDetail item in TaskConfigDetails)
{
DispatchTaskDetail taskDetail = new DispatchTaskDetail();
taskDetail.dispatchNo = dispatchNo;
taskDetail.DetailID = DetailID;
//寻找目标地表
StorageInfo ArmStore = null;
if (item.ArmOwnArea == -1)
{
ArmStore = CallStore;
}
else
{
ArmStore = Stores.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType);
}
if (ArmStore == null)
{
return("任务条件不满足!");
}
taskDetail.LandCode = ArmStore.LankMarkCode;
taskDetail.OperType = item.Action;
taskDetail.PutType = PreStoreState == -1 ? 0 : (PreStoreState == 1 ? 0 : 1);
taskDetail.IsAllowExcute = item.IsWaitPass;
taskDetail.State = 0;
TaskInfo.TaskDetail.Add(taskDetail);
DetailID += 1;
PreStoreState = ArmStore.StorageState;
}
OperateReturnInfo opr = AGVSimulationDAccess.SaveTask(TaskInfo);
if (opr.ReturnCode == OperateCodeEnum.Success)
{
foreach (TaskConfigDetail item in TaskConfigDetails)
{
StorageInfo ArmStore = Stores.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType);
if (ArmStore != null)
{
ArmStore.LockState = 2;
}
}
}
else
{
return(opr.ReturnInfo.ToString());
}
}
else if (CurrBoxDetail.OperaType == 1)
{
CurrBoxDetail = BoxDetails.FirstOrDefault(p => p.CallBoxID == CallBoxID && p.ButtonID == BtnID);
if (CurrBoxDetail == null)
{
return("当前按钮没有配置信息");
}
IList <TaskConfigDetail> TaskConfigDetails = AGVClientDAccess.load_TaskDetail(CurrBoxDetail.TaskConditonCode);
if (TaskConfigDetails == null && (TaskConfigDetails != null && TaskConfigDetails.Count <= 0))
{
return("当前按钮未配置任务信息");
}
//开始创建任务
StorageInfo CallStore = Stores.FirstOrDefault(q => q.ID == CurrBoxDetail.LocationID);
if (CallStore == null)
{
return("未设置当前按钮的监控储位!");
}
CallStore.StorageState = CurrBoxDetail.LocationState;
AGVSimulationDAccess.UpdateStore(CallStore.ID, CallStore.StorageState);
}
else if (CurrBoxDetail.OperaType == 2)//放行
{
StorageInfo CheckStore = Stores.FirstOrDefault(p => p.ID == CurrBoxDetail.LocationID);
if (CheckStore == null)
{
return("监控放行储位不存在!");
}
CarMonitor ReleaseCar = MoniCars.FirstOrDefault(p => p.CurrSite.ToString() == CheckStore.LankMarkCode);
if (ReleaseCar == null)
{
return("当前没有放行车辆!");
}
OperateReturnInfo opr = AGVSimulationDAccess.ReleaseCar(ReleaseCar.ExcuteTaksNo, ReleaseCar.ArmLand);
if (opr.ReturnCode != OperateCodeEnum.Success)
{
return(opr.ReturnInfo.ToString());
}
}
else//取消任务
{
}
return("操作成功!");
}
catch (Exception ex)
{
return("发送异常!" + ex.Message);
}
}
//计算转向和前进和后退
public void AcountDirect(ref List <LandmarkInfo> Routes)
{
try
{
if (Routes.Count <= 1)
{
return;
}
IList <AllSegment> AllSegs = AGVClientDAccess.LoadAllSegment();
DataTable dtCoor = AGVClientDAccess.LoadAGVCoordinate();
LandmarkInfo UpLand = null;
LandmarkInfo InflectLand = null;
LandmarkInfo NextLand = null;
int IsCountAngel = 0;
SysParameter sys = AGVClientDAccess.GetParameterByCode("CountTurnType");
if (sys != null && sys.ParameterValue == "角度")
{
IsCountAngel = 1;
}
if (Routes.Count >= 3)
{
for (int i = 2; i < Routes.Count; i++)
{
UpLand = Routes[i - 2];
InflectLand = Routes[i - 1];
NextLand = Routes[i];
if (i != Routes.Count - 1)
{
#region 计算转向
if (IsCountAngel == 0)
{
AllSegment Segment = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (Segment != null && Segment.ExcuteTurnDirect != -1)
{
UpLand.sway = (SwayEnum)Segment.ExcuteTurnDirect;
}
else
{
if (AllSegs.Count(p => p.BeginLandMakCode == UpLand.LandmarkCode) > 1)
{
//double SP = (Math.Round(UpLand.LandX, 3) - Math.Round(NextLand.LandX, 3)) * (Math.Round(InflectLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) - (Math.Round(UpLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) * (Math.Round(InflectLand.LandX, 3) - Math.Round(NextLand.LandX, 3));
double SP = (UpLand.LandX - NextLand.LandX) * (InflectLand.LandY - NextLand.LandY) - (UpLand.LandY - NextLand.LandY) * (InflectLand.LandX - NextLand.LandX);
if (SP > 0.05)
{
UpLand.sway = SwayEnum.Left;
}
else if (SP < -0.05)
{
UpLand.sway = SwayEnum.Right;
}
else
{
UpLand.sway = SwayEnum.None;
}
}
}
if (Segment != null && Segment.ExcuteMoveDirect != -1)
{
UpLand.movedirect = (MoveDirectEnum)Segment.ExcuteMoveDirect;
}
}
#endregion
#region 计算角度
else
{
//if (Math.Round(UpLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero))
if (UpLand.LandX == InflectLand.LandX)
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
UpLand.Angle = Seg.ExcuteAngle;
}
else
{
if (InflectLand.LandY > UpLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 270;
}
}
}
}
//else if (Math.Round(UpLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero))
else if (UpLand.LandY == InflectLand.LandY)
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
UpLand.Angle = Seg.ExcuteAngle;
}
else
{
if (InflectLand.LandX > UpLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 180;
}
}
}
}
}
#endregion
}
else
{
#region 计算转向
if (IsCountAngel == 0)
{
AllSegment SegmentUPLand = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (SegmentUPLand != null && SegmentUPLand.ExcuteTurnDirect != -1)
{
UpLand.sway = (SwayEnum)SegmentUPLand.ExcuteTurnDirect;
}
else
{
if (AllSegs.Count(p => p.BeginLandMakCode == UpLand.LandmarkCode) > 1)
{
//double SP = (Math.Round(UpLand.LandX, 3) - Math.Round(NextLand.LandX, 3)) * (Math.Round(InflectLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) - (Math.Round(UpLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) * (Math.Round(InflectLand.LandX, 3) - Math.Round(NextLand.LandX, 3));
double SP = (UpLand.LandX - NextLand.LandX) * (InflectLand.LandY - NextLand.LandY) - (UpLand.LandY - NextLand.LandY) * (InflectLand.LandX - NextLand.LandX);
if (SP > 0.05)
{
UpLand.sway = SwayEnum.Left;
}
else if (SP < -0.05)
{
UpLand.sway = SwayEnum.Right;
}
else
{
UpLand.sway = SwayEnum.None;
}
}
}
if (SegmentUPLand != null && SegmentUPLand.ExcuteMoveDirect != -1)
{
UpLand.movedirect = (MoveDirectEnum)SegmentUPLand.ExcuteMoveDirect;
}
AllSegment Segment = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Segment != null && Segment.ExcuteTurnDirect != -1)
{
InflectLand.sway = (SwayEnum)Segment.ExcuteTurnDirect;
}
if (Segment != null && Segment.ExcuteMoveDirect != -1)
{
InflectLand.movedirect = (MoveDirectEnum)Segment.ExcuteMoveDirect;
}
}
#endregion
#region 计算角度
else
{
//if (Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandX, 1, MidpointRounding.AwayFromZero))
if (InflectLand.LandX == NextLand.LandX)
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandY > InflectLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 270;
}
}
}
}
//else if (Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandY, 1, MidpointRounding.AwayFromZero))
else if (InflectLand.LandY == NextLand.LandY)
{
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandX > InflectLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 180;
}
}
}
}
}
#endregion
}
}//end foreach
}
else
{
#region 计算转向
if (IsCountAngel == 0)
{
InflectLand = Routes[0];
NextLand = Routes[1];
AllSegment Segment = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Segment != null && Segment.ExcuteTurnDirect != -1)
{
InflectLand.sway = (SwayEnum)Segment.ExcuteTurnDirect;
}
if (Segment != null && Segment.ExcuteMoveDirect != -1)
{
InflectLand.movedirect = (MoveDirectEnum)Segment.ExcuteMoveDirect;
}
}
#endregion
#region 计算角度
else
{
InflectLand = Routes[0];
NextLand = Routes[1];
//if (Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandX, 1, MidpointRounding.AwayFromZero))
if (InflectLand.LandX == NextLand.LandX)
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandY > InflectLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 270;
}
}
}
}
//else if (Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandY, 1, MidpointRounding.AwayFromZero))
else if (InflectLand.LandY == NextLand.LandY)
{
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandX > InflectLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 180;
}
}
}
}
}
#endregion
}
}
catch (Exception ex)
{ throw ex; }
}
public RoutePlanData(IList <AllSegment> Segs)
{
Segments = Segs;
AllLands = AGVClientDAccess.LoadLandByCondition("1=1");
}
//计算转向和前进和后退
public void AcountDirect(ref List <LandmarkInfo> Routes)
{
try
{
IList <AllSegment> AllSegs = AGVClientDAccess.LoadAllSegment();
DataTable dtCoor = AGVClientDAccess.LoadAGVCoordinate();
LandmarkInfo UpLand = null;
LandmarkInfo InflectLand = null;
LandmarkInfo NextLand = null;
if (Routes.Count <= 1)
{
return;
}
else if (Routes.Count >= 3)
{
for (int i = 2; i < Routes.Count; i++)
{
UpLand = Routes[i - 2];
InflectLand = Routes[i - 1];
NextLand = Routes[i];
//判断退进
// var A = Math.Atan2(Math.Round(NextLand.LandY, 3) - Math.Round(InflectLand.LandY, 3), Math.Round(NextLand.LandX, 3) - Math.Round(InflectLand.LandX, 3));
// var B = Math.Atan2(Math.Round(UpLand.LandY, 3) - Math.Round(InflectLand.LandY, 3), Math.Round(UpLand.LandX, 3) - Math.Round(InflectLand.LandX, 3));
// var C = B - A;
// double angel = (180 * (float)C) / Math.PI;
// if (Math.Abs(angel) < 90)
// { InflectLand.IsBack = true; }
double SP = (Math.Round(UpLand.LandX, 3) - Math.Round(NextLand.LandX, 3)) * (Math.Round(InflectLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) - (Math.Round(UpLand.LandY, 3) - Math.Round(NextLand.LandY, 3)) * (Math.Round(InflectLand.LandX, 3) - Math.Round(NextLand.LandX, 3));
if (SP > 0.05)
{
InflectLand.sway = SwayEnum.Left;
}
else if (SP < -0.05)
{
InflectLand.sway = SwayEnum.Right;
}
else
{
InflectLand.sway = SwayEnum.None;
}
//判断第一个地标角度
if (i == 2)//计算开始行走的角度
{
if (Math.Round(UpLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero))
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
UpLand.Angle = Seg.ExcuteAngle;
}
else
{
if (InflectLand.LandY > UpLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 270;
}
}
}
}
else if (Math.Round(UpLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero))
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == UpLand.LandmarkCode && p.EndLandMarkCode == InflectLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
UpLand.Angle = Seg.ExcuteAngle;
}
else
{
if (InflectLand.LandX > UpLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
UpLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
UpLand.Angle = 180;
}
}
}
}
}
//判断最后一个地标的角度
if (i == Routes.Count - 1)//计算开始行走的角度
{
NextLand.Angle = InflectLand.Angle;
}
if (SP > 0.05 || SP < -0.05)
{
if (Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandX, 1, MidpointRounding.AwayFromZero))
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandY > InflectLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 270;
}
}
}
}
else if (Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandY, 1, MidpointRounding.AwayFromZero))
{
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandX > InflectLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 180;
}
}
}
}
}
}//end foreach
}
else
{
InflectLand = Routes[0];
NextLand = Routes[1];
if (Math.Round(InflectLand.LandX, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandX, 1, MidpointRounding.AwayFromZero))
{
//找对应的行走线段
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandY > InflectLand.LandY)//地图上北
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 0).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 90;
}
}
else//地图下南
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 2).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 270;
}
}
}
}
else if (Math.Round(InflectLand.LandY, 1, MidpointRounding.AwayFromZero) == Math.Round(NextLand.LandY, 1, MidpointRounding.AwayFromZero))
{
AllSegment Seg = AllSegs.FirstOrDefault(p => p.BeginLandMakCode == InflectLand.LandmarkCode && p.EndLandMarkCode == NextLand.LandmarkCode);
if (Seg != null && Seg.ExcuteAngle != -1)
{
InflectLand.Angle = Seg.ExcuteAngle;
}
else
{
if (NextLand.LandX > InflectLand.LandX)//地图右东
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 1).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 0;
}
}
else//地图左西
{
if (dtCoor.Rows.Count > 0)
{
DataRow dr = dtCoor.Select("Direction=" + 3).FirstOrDefault();
InflectLand.Angle = Convert.ToInt16(dr["Angle"]);
}
else
{
InflectLand.Angle = 180;
}
}
}
}
}
}
catch (Exception ex)
{ throw ex; }
}
public List <LandmarkInfo> GetRoute(LandmarkInfo StartLand, LandmarkInfo EndLand)
{
try
{
List <List <LandmarkInfo> > hs_route = new List <List <LandmarkInfo> >();
AcountRoute(StartLand, EndLand);
hs_route.Add(CreateDeepCopy <List <LandmarkInfo> >(RouteList));
List <LandmarkInfo> OrialRoute = CreateDeepCopy <List <LandmarkInfo> >(RouteList);
List <LandmarkInfo> OrialClose = CreateDeepCopy <List <LandmarkInfo> >(CloseList);
Stack NewPivotAnotherLand = CreateDeepCopy <Stack>(PivotAnotherLand);
while (NewPivotAnotherLand.Count > 0)
{
PivotAnotherLand.Clear();
RouteList = CreateDeepCopy <List <LandmarkInfo> >(OrialRoute);
CloseList = CreateDeepCopy <List <LandmarkInfo> >(OrialClose);
Hashtable hs = NewPivotAnotherLand.Pop() as Hashtable;
ArrayList keyList = new ArrayList(hs.Keys);
LandmarkInfo PivotLand = hs[keyList[0].ToString()] as LandmarkInfo;
int index = RouteList.FindIndex(p => p.LandmarkCode == keyList[0].ToString()) + 1;
int indexClose = CloseList.FindIndex(p => p.LandmarkCode == keyList[0].ToString()) + 1;
RouteList.RemoveRange(index, RouteList.Count - index);
CloseList.RemoveRange(indexClose, CloseList.Count - indexClose);
AcountRoute(PivotLand, EndLand);
hs_route.Add(CreateDeepCopy <List <LandmarkInfo> >(RouteList));
}
List <LandmarkInfo> Routes = null;
SysParameter sys = AGVClientDAccess.GetParameterByCode("RouteCountMode");
if (sys != null)
{
if (sys.ParameterValue == "最少地标数")
{
Routes = (from a in hs_route
where a.Where(p => p.LandmarkCode == EndLand.LandmarkCode).Count() > 0
orderby a.Count ascending
select a).FirstOrDefault();
}
else if (sys.ParameterValue == "最少拐弯")
{
Routes = (from a in hs_route
where a.Where(p => p.LandmarkCode == EndLand.LandmarkCode).Count() > 0
orderby a.Count ascending
select a).FirstOrDefault();
Routes = (from a in hs_route
where a.Where(p => p.LandmarkCode == EndLand.LandmarkCode).Count() > 0
orderby AcountInflect(a) ascending
select a).FirstOrDefault();
}
}
else
{
Routes = (from a in hs_route
where a.Where(p => p.LandmarkCode == EndLand.LandmarkCode).Count() > 0
orderby a.Count ascending
select a).FirstOrDefault();
}
if (Routes == null)
{
Routes = new List <LandmarkInfo>();
}
//this.RouteList = Routes;
AcountDirect(ref Routes);
return(Routes);
}
catch (Exception ex)
{ throw ex; }
}
public bool Inital()
{
try
{
MoniCars.Clear();
AllCar = AGVClientDAccess.LoadAGVAchive();
AllLands = AGVClientDAccess.LoadLandByCondition("1=1");
AllSegs = AGVClientDAccess.LoadAllSegment();
SimulatorVar.AllSegs = AllSegs;
Stores = AGVClientDAccess.LoadStorages();
System = AGVSimulationDAccess.LoadSystem();
foreach (CarBaseStateInfo item in AllCar)
{
CarMonitor moniCar = new CarMonitor();
moniCar.AgvID = item.AgvID;
moniCar.CurrSite = Convert.ToInt32(item.StandbyLandMark);
moniCar.StandbyLandMark = item.StandbyLandMark;
double ScalingRate = 0;
string ScalingRateStr = System["ScalingRate"].ToString();
try
{
ScalingRate = Convert.ToDouble(ScalingRateStr);
}
catch
{ }
if (ScalingRate > 0)
{
LandmarkInfo CurrLand = AllLands.FirstOrDefault(p => p.LandmarkCode == item.StandbyLandMark);
if (CurrLand != null)
{
moniCar.X = (float)(CurrLand.LandX * ScalingRate);
moniCar.Y = (float)(CurrLand.LandY * ScalingRate);
}
}
moniCar.ScalingRate = ScalingRate;
MoniCars.Add(moniCar);
}
if (Car_Ini != null)
{
Car_Ini(MoniCars);
}
//Juncts.Clear();
//IList<TrafficController> Traffics = AGVClientDAccess.GetTraffics();
//foreach (TrafficController item in Traffics)
//{
// JunctionInfo junct = new JunctionInfo();
// foreach (string s in item.EnterLandCode.Split(','))
// { junct.JunctionLandMarkCodes.Add(s); }
// junct.JunctionID = item.JunctionID;
// foreach (string s in item.JunctionLandMarkCodes.Split(','))
// { junct.JunctionLandMarkCodes.Add(s); }
// junct.RealseLandMarkCode = item.RealseLandMarkCode;
// Juncts.Add(junct);
//}
CountRoute = new RoutePlanData(AllSegs);
Traffic = new TrafficController(MoniCars, AllSegs, System, AllLands);
timerStarBeStopedCar.Enabled = true;
timerStarBeStopedCar.AutoReset = true;
timerStarBeStopedCar.Elapsed += TimerStarBeStopedCar_Elapsed;
timerFreshTask.Enabled = true;
timerFreshTask.AutoReset = true;
timerFreshTask.Elapsed += TimerFreshTask_Elapsed;
return(true);
}
catch (Exception ex)
{ return(false); throw ex; }
}
/// <summary>
/// 轮询
/// </summary>
private void Polling()
{
//定时轮询PLC
while (true)
{
try
{
//根据PLCCode加载呼叫盒子信息
CallBoxInfo CallInfo = CoreData.AllCallBoxes.FirstOrDefault(P => P.CallBoxID == PLCCode);
if (CallInfo == null)
{
LogHelper.WriteCallBoxLog("未匹配到呼叫器:" + PLCCode + "档案信息!");
return;
}
int readLen = CallInfo.ReadLenth;
if (readLen == 0)
{
LogHelper.WriteCallBoxLog("未配置呼叫器:" + PLCCode + "读取长度!");
return;
}
if (CallInfo.CallType == 1)//呼叫类型的
{
var t = CoreData.AllCallBoxDetail.Where(z => z.CallBoxID == PLCCode).Select(k => k.DBAddress).Distinct();
foreach (var address in t)
{
OperateResult <short[]> read = melsecMc.ReadInt16(address, (ushort)readLen);
if (!read.IsSuccess)
{
LogHelper.WriteCallBoxLog("读取呼叫器失败! " + string.Format("[{0},{2},{1}]", PLCCode, address, ConnParam.ServerIP));
OperateResult opr = melsecMc.ConnectServer();
melsecMc.ConnectClose();
melsecMc.Dispose();
Thread.Sleep(5000);
melsecMc = new SiemensS7Net(SiemensPLCS.S1200)
{
IpAddress = this.ConnParam.ServerIP, Port = this.ConnParam.Port
};
melsecMc.SetPersistentConnection();
LogHelper.WriteCallBoxLog("重连呼叫器! " + string.Format("[{0},{2},{1}] ", PLCCode, address, ConnParam.ServerIP));
continue;
}
string SenDLog = "";
foreach (short item in read.Content)
{
SenDLog += ((int)item).ToString("X") + " ";
}
LogHelper.WriteCallBoxLog("读取呼叫器 " + string.Format("[{0},{2},{1}]", PLCCode, address, ConnParam.ServerIP) + "内容为:" + SenDLog);
int site = Convert.ToInt32(read.Content[0]);
int PlcRequestState = Convert.ToInt32(read.Content[2]);
if (PlcRequestState == 1)
{
int RequestContent = Convert.ToInt32(read.Content[1]);
var cdetail = CoreData.AllCallBoxDetail.FirstOrDefault(p => p.CallBoxID == PLCCode && p.DBAddress == address && p.ButtonID == RequestContent);
bool HandleCallResult = HandleCallBoxCall(CallInfo, cdetail, cdetail.ButtonID);
if (!HandleCallResult)
{
LogHelper.WriteCallBoxLog("呼叫器:" + PLCCode + "地址 ：" + address + " 呼叫失败!");
}
#region 处理需要回写的子任务
IList <DispatchTaskDetail> detaillist = AGVClientDAccess.LoadTaskDetailByPLCCode(PLCCode, cdetail.LocationID);
foreach (var detail in detaillist)
{
if (detail != null && (!string.IsNullOrEmpty(detail.dispatchNo)))
{
//写确认信息
List <byte> write = new List <byte>();
//{ BitConverter.GetBytes(read.Content[0]), BitConverter.GetBytes(read.Content[1]) , BitConverter.GetBytes(read.Content[2])}
write.Add(BitConverter.GetBytes(read.Content[0])[1]);
write.Add(BitConverter.GetBytes(read.Content[0])[0]);
write.Add(BitConverter.GetBytes(read.Content[1])[1]);
write.Add(BitConverter.GetBytes(read.Content[1])[0]);
write.Add(BitConverter.GetBytes(read.Content[2])[1]);
write.Add(BitConverter.GetBytes(read.Content[2])[0]);
OperateResult opr = melsecMc.Write(address.Replace(".0", ".6"), write.ToArray());
int writcount = 1;
while (!opr.IsSuccess)
{
if (writcount > 3)
{
opr = melsecMc.Write(address, write.ToArray());
LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "地址 ：" + address + "失败!");
break;
}
writcount++;
Thread.Sleep(1000);
}
if (opr.IsSuccess)
{
AGVClientDAccess.UpdatePlcCallBackState(detail.dispatchNo, detail.DetailID);
LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "地址 ：" + address + "成功!");
}
}
}
#endregion
#region 处理需要回写物料信息的子任务
IList <DispatchTaskDetail> goodsdetaillist = AGVClientDAccess.LoadGoodsInfoTaskDetailByPLCCode(PLCCode, cdetail.LocationID);
foreach (var detail in goodsdetaillist)
{
if (detail != null && (!string.IsNullOrEmpty(detail.dispatchNo)) && (!string.IsNullOrEmpty(detail.GoodsInfo)))
{
//写确认信息
List <byte> write = new List <byte>();
string[] arr = detail.GoodsInfo.Split(',');
foreach (var s in arr)
{
if (!string.IsNullOrEmpty(s))
{
short ts = short.Parse(s);
write.Add(BitConverter.GetBytes(ts)[1]);
write.Add(BitConverter.GetBytes(ts)[0]);
}
}
OperateResult opr = melsecMc.Write(address.Replace(".0", ".12"), write.ToArray());
int writcount = 1;
while (!opr.IsSuccess)
{
if (writcount > 3)
{
opr = melsecMc.Write(address.Replace(".0", ".12"), write.ToArray());
LogHelper.WriteCallBoxLog("回写呼叫器 物料编码:" + PLCCode + "地址 ：" + address + "失败!");
break;
}
writcount++;
Thread.Sleep(1000);
}
if (opr.IsSuccess)
{
AGVClientDAccess.UpdateGoodsCallBackState(detail.dispatchNo, detail.DetailID);
LogHelper.WriteCallBoxLog("回写呼叫器 物料编码:" + PLCCode + "地址 ：" + address + "成功!");
}
}
}
#endregion
}
}
#region OlD
////根据当前呼叫器ID加载呼叫器明细
//OperateResult<short[]> read = melsecMc.ReadInt16(ReadAddr, (ushort)readLen);
//if (!read.IsSuccess)
//{
// LogHelper.WriteCallBoxLog("读取呼叫器:" + PLCCode + "失败!");
// return;
//}
//string SenDLog = "";
//foreach (byte item in read.Content)
//{ SenDLog += ((int)item).ToString("X") + " "; }
//LogHelper.WriteCallBoxLog("读取呼叫器:" + PLCCode + "内容为:" + SenDLog);
//int site = Convert.ToInt32(read.Content[0]);
//int PlcRequestState = Convert.ToInt32(read.Content[1]);
//string[] codes = GetCode(read.Content);
//if (codes.Length != 2)
//{
// LogHelper.WriteCallBoxLog("读取呼叫器:" + PLCCode + " 物料编码获取失败");
//}
//if (PlcRequestState == 1)
//{
// int RequestContent = Convert.ToInt32(read.Content[2]);
// CallBoxDetail CallDetail = CoreData.AllCallBoxDetail.FirstOrDefault(p => p.CallBoxID == PLCCode && p.ButtonID == RequestContent);
// if (CallDetail == null)
// {
// LogHelper.WriteCallBoxLog("未配置呼叫器:" + PLCCode + "按钮号:" + RequestContent.ToString() + "明细!");
// return;
// }
// bool HandleCallResult = HandleCallBoxCall(CallInfo, CallDetail, RequestContent, codes);
// if (HandleCallResult)
// {
// ////写确认信息
// //byte[] write = new byte[] { (byte)site, 0x00, (byte)RequestContent, (byte)site, 0x01, (byte)RequestContent };
// //OperateResult opr = melsecMc.Write(ReadAddr, write);
// //int writcount = 1;
// //while (!opr.IsSuccess)
// //{
// // if (writcount > 3)
// // {
// // opr = melsecMc.Write(ReadAddr, write);
// // LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "失败!");
// // break;
// // }
// // writcount++;
// // Thread.Sleep(1000);
// //}
// //if (opr.IsSuccess)
// //{
// // LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "成功!");
// //}
// //LogHelper.WriteCallBoxLog("呼叫器:" + PLCCode + "呼叫成功!");
// }
// else
// {
// LogHelper.WriteCallBoxLog("呼叫器:" + PLCCode + "呼叫失败!");
// }
// #region 处理需要回写的子任务
// IList<DispatchTaskDetail> detaillist = AGVClientDAccess.LoadTaskDetailByPLCCode(PLCCode, CallDetail.LocationID);
// foreach (var detail in detaillist)
// {
// if (detail != null && (!string.IsNullOrEmpty(detail.dispatchNo)))
// {
// //写确认信息
// List<byte> write = new List<byte>();
// //{ BitConverter.GetBytes(read.Content[0]), BitConverter.GetBytes(read.Content[1]) , BitConverter.GetBytes(read.Content[2])}
// write.Add(BitConverter.GetBytes(read.Content[0])[1]);
// write.Add(BitConverter.GetBytes(read.Content[0])[0]);
// write.Add(BitConverter.GetBytes(read.Content[1])[1]);
// write.Add(BitConverter.GetBytes(read.Content[1])[0]);
// write.Add(BitConverter.GetBytes(read.Content[2])[1]);
// write.Add(BitConverter.GetBytes(read.Content[2])[0]);
// OperateResult opr = melsecMc.Write(ReadAddr.Replace(".0", ".6"), write.ToArray());
// int writcount = 1;
// while (!opr.IsSuccess)
// {
// if (writcount > 3)
// {
// opr = melsecMc.Write(ReadAddr, write.ToArray());
// LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "失败!");
// break;
// }
// writcount++;
// Thread.Sleep(1000);
// }
// if (opr.IsSuccess)
// {
// AGVClientDAccess.UpdatePlcCallBackState(detail.dispatchNo, detail.DetailID);
// LogHelper.WriteCallBoxLog("回写呼叫器:" + PLCCode + "成功!");
// }
// LogHelper.WriteCallBoxLog("呼叫器:" + PLCCode + "呼叫成功!");
// }
// }
// #endregion
//}
#endregion
}
else if (CallInfo.CallType == 2)//监控
{
var t = CoreData.AllCallBoxDetail.Where(p => p.CallBoxID == CallInfo.CallBoxID);
foreach (var d in t)
{
//if (d.DBAddress != "DB1000.0")
//{
// continue;
//}
if (d.LocationState == 0)
{
//根据当前呼叫器ID加载呼叫器明细
OperateResult <short[]> read = melsecMc.ReadInt16(d.DBAddress, 1);
if (!read.IsSuccess)
{
LogHelper.WriteCallBoxLog("读取呼叫器失败! " + string.Format("[{0},{2},{1}]", PLCCode, d.DBAddress, ConnParam.ServerIP));
melsecMc.ConnectClose();
melsecMc.Dispose();
Thread.Sleep(5000);
melsecMc = new SiemensS7Net(SiemensPLCS.S1200)
{
IpAddress = this.ConnParam.ServerIP, Port = this.ConnParam.Port
};
melsecMc.SetPersistentConnection();
LogHelper.WriteCallBoxLog("重连呼叫器! " + string.Format("[{0},{2},{1}] ", PLCCode, d.DBAddress, ConnParam.ServerIP));
continue;
}
string SenDLog = "";
foreach (short item in read.Content)
{
SenDLog += ((int)item).ToString("X") + " ";
}
LogHelper.WriteCallBoxLog("读取呼叫器 " + string.Format("[{0},{2},{1}]", PLCCode, d.DBAddress, ConnParam.ServerIP) + "内容为:" + SenDLog);
if (Convert.ToInt32(read.Content[0]) == 1)
{
HandleCallBoxMonitor(CallInfo, d, 0);
}
else
{
HandleCallBoxMonitor(CallInfo, d, 1);
}
}
else if (d.LocationState == 2)
{
//根据当前呼叫器ID加载呼叫器明细
OperateResult <short[]> read = melsecMc.ReadInt16(d.DBAddress, 15);
if (!read.IsSuccess)
{
LogHelper.WriteCallBoxLog("读取呼叫器 " + string.Format("[{0},{2},{1}]", PLCCode, d.DBAddress, ConnParam.ServerIP) + "失败！");
continue;
}
string SenDLog = "";
foreach (short item in read.Content)
{
SenDLog += ((int)item).ToString("X") + " ";
}
LogHelper.WriteCallBoxLog("读取呼叫器 " + string.Format("[{0},{2},{1}]", PLCCode, d.DBAddress, ConnParam.ServerIP) + "内容为:" + SenDLog);
string codes = "";
foreach (short s in read.Content.Skip(3))
{
codes += s.ToString() + ",";
}
if (Convert.ToInt32(read.Content[0]) == 1)
{
HandleCallBoxMonitor(CallInfo, d, 2, codes);
}
else
{
HandleCallBoxMonitor(CallInfo, d, 0, codes);
}
}
}
}
else//无，呼叫器类型按照按钮来区分，秦川不支持
{
}
}
catch (Exception ex)
{ LogHelper.WriteCallBoxLog("处理呼叫器:" + PLCCode + "任务失败->" + ex.Message); }
Thread.Sleep(1000 * 2);
}
}
/// <summary>
/// 处理呼叫盒呼叫
/// </summary>
/// <param name="CallBoxID">呼叫盒ID</param>
/// <param name="BtnID">按钮ID</param>
/// <returns></returns>
private bool HandleCallBoxCall(CallBoxInfo CallBox, CallBoxDetail CurrBoxDetail, int BtnID)
{
try
{
#region 处理呼叫逻辑
//加载是否启用储位状态
string IsUserStoreState = CoreData.SysParameter["IsUserStoreState"].ToString();
if (string.IsNullOrEmpty(IsUserStoreState))
{
IsUserStoreState = "否";
}
int CallBoxID = CallBox.CallBoxID;
IList <TaskConfigDetail> TaskConfigDetails = AGVClientDAccess.load_TaskDetail(CurrBoxDetail.TaskConditonCode);
if (TaskConfigDetails == null && (TaskConfigDetails != null && TaskConfigDetails.Count <= 0))
{
LogHelper.WriteCallBoxLog("未配置按钮盒" + CallBox.CallBoxID.ToString() + "任务信息");
return(false);
}
//开始根据任务配置信息创建任务
StorageInfo CallStore = CoreData.StorageList.FirstOrDefault(q => q.ID == CurrBoxDetail.LocationID);
if (CallStore == null)
{
LogHelper.WriteCallBoxLog("未配置按钮盒" + CallBox.CallBoxID.ToString() + "对应的监控储位");
return(false);
}
//验证当前按钮盒下是否存在未完成的任务
if (AGVSimulationDAccess.ChekAllowCreatTask(CallBoxID, CallStore.LankMarkCode, BtnID) > 0)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫存在未完成任务,请稍后再试!");
return(false);
}
//组装任务信息
string dispatchNo = Guid.NewGuid().ToString();
DispatchTaskInfo TaskInfo = new DispatchTaskInfo();
TaskInfo.dispatchNo = dispatchNo;
TaskInfo.TaskState = 0;
TaskInfo.CallLand = CallStore.LankMarkCode;
TaskInfo.stationNo = CallBoxID;
TaskInfo.CallID = BtnID;
TaskInfo.taskType = 0;
//创建任务明细
int DetailID = 1;
int PrePutType = -1;
foreach (TaskConfigDetail item in TaskConfigDetails)
{
//通过任务任务配置明细寻找目标地标
StorageInfo ArmStore = null;
LogHelper.WriteCallBoxLog("呼叫储位为：" + item.ArmOwnArea.ToString());
if (item.ArmOwnArea == -1)
{
ArmStore = CallStore;
LogHelper.WriteCallBoxLog("呼叫储位地标为：" + CallStore.LankMarkCode);
}
else
{
if (IsUserStoreState == "否")
{
ArmStore = CoreData.StorageList.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType);
}
else
{
ArmStore = CoreData.StorageList.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType && p.LockState == 0);
}
}
if (ArmStore == null)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫,目的储位不存在[原因:不存在或被占用]");
return(false);
}
//再通过配置任务号来处理必经地标
IList <TaskConfigMustPass> ConfigMustPasses = AGVServerDAccess.LoadTaskMustPass(item.TaskConditonCode, item.DetailID);
if (ConfigMustPasses != null && ConfigMustPasses.Count > 0)
{
////如果配置的必经地标则需要产生任务经过必经地标
foreach (TaskConfigMustPass MustPassItem in ConfigMustPasses)
{
foreach (IOActionInfo Action in MustPassItem.MustPassIOAction)
{
IOActionInfo CurrIOActionInfo = AGVServerDAccess.LoadAllIOAction(Action.ActionID);
if (CurrIOActionInfo == null)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫,必经地标中的IO动作" + Action.ActionID.ToString() + "档案信息不存在");
continue;
}
DispatchTaskDetail newTaskDetail = new DispatchTaskDetail();
newTaskDetail.dispatchNo = dispatchNo;
newTaskDetail.DetailID = DetailID;
newTaskDetail.LandCode = MustPassItem.MustPassLandCode;
newTaskDetail.IsAllowExcute = Action.IsPass;
newTaskDetail.IsSensorStop = 0;
newTaskDetail.OperType = -1;
newTaskDetail.IsWait = Action.IsWait;
newTaskDetail.WaitTime = Action.WaitTime;
newTaskDetail.TaskConditonCode = MustPassItem.TaskConditonCode;
newTaskDetail.TaskConfigDetailID = item.DetailID;
TaskInfo.TaskDetail.Add(newTaskDetail);
}
}
//foreach (TaskConfigMustPass MustPassItem in ConfigMustPasses)
//{
// //根据配置的IO动作ID加载对应的IO动作明细信息
// IOActionInfo CurrIOActionInfo = AGVServerDAccess.LoadAllIOAction(MustPassItem.Action);
// if (CurrIOActionInfo == null)
// {
// LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫,必经地标中的IO动作" + MustPassItem.Action.ToString() + "档案信息不存在");
// continue;
// }
// //找到必经地标中的IO动作后组装任务体
// DispatchTaskDetail dispathDetail_MustPas = new DispatchTaskDetail();
// dispathDetail_MustPas.dispatchNo = dispatchNo;
// dispathDetail_MustPas.DetailID = DetailID;
// dispathDetail_MustPas.LandCode = MustPassItem.MustPassLandCode;
// dispathDetail_MustPas.OperType = -1;
// dispathDetail_MustPas.IsAllowExcute = CurrIOActionInfo.IsWait;
// dispathDetail_MustPas.PutType = -1;
// dispathDetail_MustPas.IOActionID = CurrIOActionInfo.ActionID;
// TaskInfo.TaskDetail.Add(dispathDetail_MustPas);
// DetailID += 1;
//}//结束循环处理必经地标配置
}
//如果没有必经地标或者添加完必经地标后需要继续添加后续的任务配置明细
DispatchTaskDetail dispathDetail_TaskConfig = new DispatchTaskDetail();
dispathDetail_TaskConfig.dispatchNo = dispatchNo;
dispathDetail_TaskConfig.DetailID = DetailID;
dispathDetail_TaskConfig.LandCode = ArmStore.LankMarkCode;
dispathDetail_TaskConfig.OperType = item.Action;
dispathDetail_TaskConfig.IsAllowExcute = item.IsWaitPass;
dispathDetail_TaskConfig.PassType = item.PassType;
if (PrePutType == -1)
{
dispathDetail_TaskConfig.PutType = ArmStore.StorageState;
}
else
{
dispathDetail_TaskConfig.PutType = PrePutType;
}
dispathDetail_TaskConfig.IsSensorStop = item.IsSensorStop;
TaskInfo.TaskDetail.Add(dispathDetail_TaskConfig);
PrePutType = ArmStore.StorageState;
DetailID += 1;
}//结束循环处理任务配置
//循环组装完任务信息后保存到数据库
if (TaskInfo != null && TaskInfo.TaskDetail.Count > 0)
{
AGVServerDAccess.CreatTaskInfo(TaskInfo, IsUserStoreState == "是" ? true : false);
}
return(true);
#endregion
}
catch (Exception ex)
{
LogHelper.WriteCallBoxLog("处理呼叫器呼叫异常:" + ex.Message);
return(false);
}
}
/// <summary>
/// 处理呼叫器呼叫任务
/// </summary>
/// <param name="CallBox"></param>
/// <param name="CurrBoxDetail"></param>
/// <param name="BtnID"></param>
/// <returns></returns>
private bool HandleCallBoxCall(CallBoxInfo CallBox, CallBoxDetail CurrBoxDetail, int BtnID)
{
try
{
lock (lockstorage)
{
#region 处理呼叫逻辑
//加载是否启用储位状态
string IsUserStoreState = CoreData.SysParameter["IsUserStoreState"].ToString();
if (string.IsNullOrEmpty(IsUserStoreState))
{
IsUserStoreState = "否";
}
int CallBoxID = CallBox.CallBoxID;
IList <TaskConfigDetail> TaskConfigDetails = AGVClientDAccess.load_TaskDetail(CurrBoxDetail.TaskConditonCode);
if (TaskConfigDetails == null && (TaskConfigDetails != null && TaskConfigDetails.Count <= 0))
{
LogHelper.WriteCallBoxLog("未配置按钮盒" + CallBox.CallBoxID.ToString() + "任务信息");
return(false);
}
DataTable dtstorage = CoreData.dbOperator.LoadDatas("QueryAllStore");
CoreData.StorageList = DataToObject.TableToEntity <StorageInfo>(dtstorage);
//开始根据任务配置信息创建任务
StorageInfo CallStore = CoreData.StorageList.FirstOrDefault(q => q.ID == CurrBoxDetail.LocationID);
if (CallStore == null)
{
LogHelper.WriteCallBoxLog("未配置按钮盒" + CallBox.CallBoxID.ToString() + "对应的监控储位");
return(false);
}
//验证当前按钮盒下是否存在未完成的任务
if (AGVSimulationDAccess.ChekAllowCreatTask(CallBoxID, CallStore.LankMarkCode, CurrBoxDetail.ButtonID) > 0)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫存在未完成任务,请稍后再试!");
return(false);
}
//验证当前按钮盒下是否存在未完成的任务
if (AGVSimulationDAccess.ChekAllowCreatTask2(CallBoxID, CallStore.LankMarkCode, CurrBoxDetail.ButtonID) > 0)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxID.ToString() + "对应呼叫存在未完成任务 未回写的任务,请稍后再试!");
return(false);
}
AreaInfo callarea = CoreData.AllAreaList.FirstOrDefault(p => p.OwnArea == CallStore.OwnArea);
if (callarea != null && callarea.MaxTaskCount > 0)
{
if (AGVSimulationDAccess.ChekAllowCreatTask3(callarea.OwnArea) >= callarea.MaxTaskCount)
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxIP.ToString() + " 地址" + CurrBoxDetail.DBAddress + " 对应的区域任务数量达到最大，不产生任务");
return(false);
}
}
if (!string.IsNullOrEmpty(CallStore.StorageName))
{
LogHelper.WriteCallBoxLog("按钮盒" + CallBox.CallBoxIP.ToString() + " 地址" + CurrBoxDetail.DBAddress + "对应储位未启用");
return(false);
}
//组装任务信息
string dispatchNo = Guid.NewGuid().ToString();
DispatchTaskInfo TaskInfo = new DispatchTaskInfo();
TaskInfo.dispatchNo = dispatchNo;
TaskInfo.TaskState = 0;
TaskInfo.CallLand = CallStore.LankMarkCode;
TaskInfo.stationNo = CallBoxID;
TaskInfo.CallID = BtnID;
TaskInfo.taskType = 0;
TaskInfo.OwerArea = CallStore.OwnArea;
//创建任务明细
int DetailID = 1;
int PrePutType = -1;
foreach (TaskConfigDetail item in TaskConfigDetails)
{
//通过任务任务配置明细寻找目标地标
StorageInfo ArmStore = null;
LogHelper.WriteCallBoxLog("呼叫储位为：" + item.ArmOwnArea.ToString());
if (item.ArmOwnArea == -1)
{
ArmStore = CallStore;
LogHelper.WriteCallBoxLog("呼叫储位地标为：" + CallStore.LankMarkCode);
}
else
{
if (IsUserStoreState == "否")
{
ArmStore = CoreData.StorageList.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType);
}
else
{
ArmStore = CoreData.StorageList.FirstOrDefault(p => p.OwnArea == item.ArmOwnArea && p.StorageState == item.StorageState && p.MaterielType == item.MaterialType && p.LockState == 0);
}
}
if (ArmStore == null)
{
LogHelper.WriteCallBoxLog(string.Format("按钮盒{0} 地址：{1} BtnID{2} 对应呼叫,目的储位不存在[原因:不存在或被占用]", CallBox.CallBoxID, CurrBoxDetail.DBAddress, CurrBoxDetail.ButtonID));
return(false);
}
#region 用
//再通过配置任务号来处理必经地标
IList <TaskConfigMustPass> ConfigMustPasses = AGVServerDAccess.LoadTaskMustPass(item.TaskConditonCode, item.DetailID);
if (ConfigMustPasses != null && ConfigMustPasses.Count > 0)
{
////如果配置的必经地标则需要产生任务经过必经地标
foreach (TaskConfigMustPass MustPassItem in ConfigMustPasses)
{
foreach (IOActionInfo Action in MustPassItem.MustPassIOAction)
{
IOActionInfo CurrIOActionInfo = AGVServerDAccess.LoadAllIOAction(Action.ActionID);
if (CurrIOActionInfo == null)
{
LogHelper.WriteCallBoxLog("按钮器" + CallBox.CallBoxID.ToString() + "对应呼叫,必经地标中的IO动作" + Action.ActionID.ToString() + "档案信息不存在");
continue;
}
DispatchTaskDetail newTaskDetail = new DispatchTaskDetail();
newTaskDetail.dispatchNo = dispatchNo;
newTaskDetail.DetailID = DetailID;
newTaskDetail.LandCode = MustPassItem.MustPassLandCode;
newTaskDetail.IsAllowExcute = Action.IsPass;
newTaskDetail.IsSensorStop = 0;
newTaskDetail.OperType = -1;
newTaskDetail.IsWait = Action.IsWait;
newTaskDetail.WaitTime = Action.WaitTime;
newTaskDetail.TaskConditonCode = MustPassItem.TaskConditonCode;
newTaskDetail.TaskConfigDetailID = item.DetailID;
TaskInfo.TaskDetail.Add(newTaskDetail);
}
}
}
#endregion
//如果没有必经地标或者添加完必经地标后需要继续添加后续的任务配置明细
DispatchTaskDetail dispathDetail_TaskConfig = new DispatchTaskDetail();
dispathDetail_TaskConfig.dispatchNo = dispatchNo;
dispathDetail_TaskConfig.DetailID = DetailID;
dispathDetail_TaskConfig.LandCode = ArmStore.LankMarkCode;
dispathDetail_TaskConfig.StorageID = ArmStore.ID;
if (!string.IsNullOrEmpty(ArmStore.Remark))
{
TaskInfo.GoodsInfo = ArmStore.Remark;
}
dispathDetail_TaskConfig.OperType = item.Action;
dispathDetail_TaskConfig.IsAllowExcute = item.IsWaitPass;
dispathDetail_TaskConfig.PassType = item.PassType;
dispathDetail_TaskConfig.IsNeedCallBack = item.IsNeedCallBack;
dispathDetail_TaskConfig.IsCallGoods = item.IsCallGoods;
if (PrePutType == -1)
{
dispathDetail_TaskConfig.PutType = ArmStore.StorageState;
}
else
{
dispathDetail_TaskConfig.PutType = PrePutType;
}
dispathDetail_TaskConfig.IsSensorStop = item.IsSensorStop;
TaskInfo.TaskDetail.Add(dispathDetail_TaskConfig);
PrePutType = ArmStore.StorageState;
DetailID += 1;
}//结束循环处理任务配置
//循环组装完任务信息后保存到数据库
if (TaskInfo != null && TaskInfo.TaskDetail.Count > 0)
{
AGVServerDAccess.CreatTaskInfo(TaskInfo, IsUserStoreState == "是" ? true : false);
}
return(true);
#endregion
}
}
catch (Exception ex)
{
DelegateState.InvokeDispatchStateEvent(ex.Message);
return(false);
}
}
