/// <summary>
/// 更新V消息
/// </summary>
/// <param name="message"></param>
public void SetVMessage(Message_vpil message)
{
v.CarId = message.CarId;
v.PlcLp1 = message.PlcLp1;
v.Value1 = message.Value1;
VpiInfo = v.ToString();
}
private void CheckPlc(NDCItem item, Message_vpil v)
{
Console.WriteLine("PLC:" + v.PlcLp1 + " Value:" + v.Value1);
if (v.PlcLp1 == 29 && v.Value1 == 1)
{
//装货中
item.PLCStatus = NDCPlcStatus.Loading;
LoadItemList.Remove(item._mTask.ORDERINDEX);
//通知WCS
AGVDataUpdate?.Invoke(item._mTask.TASKID, item.CarrierId + "");
}
else if (v.PlcLp1 == 29 && v.Value1 == 2)
{
//卸货中
item.PLCStatus = NDCPlcStatus.Unloading;
UnLoadItemList.Remove(item._mTask.ORDERINDEX);
}
/*
* //switch (v.PlcLp1)
* //{
* // case 1://装货中
* // item.PLCStatus = NDCPlcStatus.Loading;
* // LoadItemList.Remove(item.OrderIndex);
* // DataControl._mForAGVControl.SubmitAgvLoading(item.TaskID, item.CarrierId + "");
* // break;
*
*
* // case 2://卸货中
* // item.PLCStatus = NDCPlcStatus.Unloading;
* // UnLoadItemList.Remove(item.OrderIndex);
* // break;
* //}
*/
}
/// <summary>
/// 更新PLC结果信息
/// </summary>
/// <param name="message"></param>
public override void UpdateItem(Message_vpil message)
{
try
{
NDCItem ndcItem = Items.Find(c => { return(c.CarrierId == message.CarId); });
if (ndcItem != null)
{
ndcItem.SetVMessage(message);
CheckPlc(ndcItem, message);
}
}catch (Exception e)
{
Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
/// <summary>
/// 更新PLC结果信息
/// </summary>
/// <param name="message"></param>
internal override void UpdateItem(Message_vpil message)
{
try
{
NDCItem ndcItem = Items.Find(c => { return c.CARRIERID == message.CarId; });
if (ndcItem != null)
{
ndcItem.SetVMessage(message);
CheckPlc(ndcItem, message);
}
}
catch (Exception e)
{
//Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
public void Message_vpil_MultibyteTest()
{
//Arange //_ < 00 02 E0 01 06 01 00 00 0A 00 01 02 03 04 05 06 07 08 09 0A
byte[] data = new byte[] { 0x00, 0x02, 0xE0, 0x01, 0x06, 0x01, 0x00, 0x00, 0x0A, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A };
ushort type = '<';
//Act
IACIMessage message = MessageParser.Parse(type, data);
Message_vpil msg = (Message_vpil)message;
//Assert
Assert.AreEqual(msg.CarId, 2);
Assert.AreEqual(msg.Magic, 0xE001);
Assert.AreEqual(msg.Code, 6);
Assert.AreEqual(msg.MultiByte[0], 0x01);
}
/// <summary>
/// 检查AGV 棍台消息任务
/// </summary>
/// <param name="item"></param>
/// <param name="v"></param>
private void CheckPlc(NDCItem item, Message_vpil v)
{
Console.WriteLine("PLC:" + v.PlcLp1 + " Value:" + v.Value1);
if (v.PlcLp1 == 29 && v.Value1 == 1)
{
//装货中
item.PLCStatus = NDCPlcStatus.Loading;
LoadItemList.Remove(item._mTask.NDCINDEX);
//通知WCS
_NoticeWcsLoading(item._mTask.TASKID, item.CARRIERID + "");
}
else if (v.PlcLp1 == 29 && v.Value1 == 2)
{
//卸货中
item.PLCStatus = NDCPlcStatus.Unloading;
UnLoadItemList.Remove(item._mTask.NDCINDEX);
}
}
public void Message_vpil_wordTest()
{
//Arange //_ < 00 02 E0 00 01 00 00 03 08 07 01 00 00 02 06 05
byte[] data = new byte[] { 0x00, 0x02, 0xE0, 0x00, 0x01, 0x00, 0x00, 0x03, 0x08, 0x07, 0x01, 0x00, 0x00, 0x02, 0x06, 0x05 };
ushort type = '<';
//Act
IACIMessage message = MessageParser.Parse(type, data);
Message_vpil msg = (Message_vpil)message;
//Assert
Assert.AreEqual(msg.CarId, 2);
Assert.AreEqual(msg.Magic, 0xE000);
Assert.AreEqual(msg.Code1, 1);
Assert.AreEqual(msg.Value1, 0x0807);
Assert.AreEqual(msg.Value2, 0x0605);
}
internal abstract void UpdateItem(Message_vpil m);
/// <summary>
/// Event when Recive Data From System Manager
/// </summary>
/// <param name="msg"></param>
private void Instance_ReciveData(IACIMessage msg)
{
if (!systemHalted)
{
if (msg.Type == "s")
{
Message_s s_response = (Message_s)msg;
int index = s_response.Index; //任务序列 (SM返回)
int phase = s_response.Magic; //任务的阶段标识（相当于顺序)
#region Send the phase back to SM
if (s_response.Magic == 1)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 2)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 4)//到达接货
{
SendNewM(index, phase);
}
else if (s_response.Magic == 6)//接货完成，由重新定位返回数据
{
SendNewM(index, phase);
}
else if (s_response.Magic == 8)//到达卸货
{
SendNewM(index, phase);
}
else if (s_response.Magic == 10)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 11)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 48)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 49)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 50)
{
int sendNextPhase = 143;
SendNewM(index, sendNextPhase);
}
else if (s_response.Magic == 143)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 254)
{
SendNewM(index, phase);
}
else if (s_response.Magic == 255)
{
SendNewM(index, phase);
}
#endregion
UpdateItem(s_response);
}
else if (msg.Type == "b")
{
Message_b b_response = (Message_b)msg;
UpdateItem(b_response);
}
else if (msg.Type == "<")//改写PLC的结果返回
{
Message_vpil v_response = (Message_vpil)msg;
//MessageBox.Show(string.Format("成功改写Data{0},改写的值为{1}", v_response.PlcLp1 + 1, v_response.Value1));
UpdateItem(v_response);
}
}
}
public abstract void UpdateItem(Message_vpil m);
