public TaskexeBean getAndRemoveNextTaskexeBean()
{
TaskexeBean taskexeBean = getTaskexeTaskList().Dequeue();
if (!"Send".Equals(taskexeBean.getOpflag()))
{
TaskexeDao.getDao().sendTaskexeBean(taskexeBean);
}
return(taskexeBean);
}
public TaskexeBean getNextTaskexeBean()
{
List <TaskexeBean> taskexeBeanList = TaskexeDao.getDao().getTaskexeTaskList();
if (taskexeBeanList == null || taskexeBeanList.Count <= 0)
{
return(null);
}
TaskexeBean taskexeBean = taskexeBeanList[0];
AGVLog.WriteSendInfo("下一个执行的任务ID：" + taskexeBean.getTaskid(), new StackFrame(true));
if (!"Send".Equals(taskexeBean.getOpflag()))
{
TaskexeDao.getDao().sendTaskexeBean(taskexeBean);
}
return(taskexeBean);
}
public void sendCommand()
{
AGVLog.WriteSendInfo("开始处理！", new StackFrame(true));
TaskexeBean taskexeBean = TaskexeService.getInstance().getNextTaskexeBean();
if (taskexeBean == null)
{
return;
}
string cmd = "cmd=set task by name;name=" + taskexeBean.getTaskid() + ".xml";
SingleTask singleTask = AGVCacheData.getSingleTaskByID(taskexeBean.getTaskid());
sendContinueCommand();
Thread.Sleep(1000);
int i = -2;
if ("1".Equals(singleTask.getAllocOpType()))
{
while (string.IsNullOrEmpty(latestMsgFromClient) || latestMsgFromClient.IndexOf("task_isfinished=") < 0 || !"0".Equals(latestMsgFromClient.Substring(latestMsgFromClient.IndexOf("task_isfinished=") + "task_isfinished=".Length, 1)))
{
send(cmd);
AGVLog.WriteSendInfo("发送命令:" + cmd, new StackFrame(true));
Thread.Sleep(3000);
if (!AGVEngine.getInstance().isAgvReady())
{
latestMsgFromClient = "task_isfinished=" + (i++) + ";";
}
}
}
while (true)
{
AGVLog.WriteSendInfo("判断任务" + taskexeBean.getTaskid() + "是否Over！", new StackFrame(true));
if ("Over".Equals(TaskexeDao.getDao().selectTaskexeByUuid(taskexeBean.getUuid()).getOpflag()))
{
break;
}
Thread.Sleep(5000);
}
Thread.Sleep(1000);
}
/// <summary>
/// 获取任务指令集记录
/// </summary>
public List <TaskexeBean> SelectTaskexeBySql(string sql)
{
List <TaskexeBean> taskexeBeanList = new List <TaskexeBean>();
try {
lock (lockDB) {
dataReader = execQuery(sql);
while (dataReader.Read())
{
TaskexeBean taskexeBean = new TaskexeBean();
taskexeBean.setUuid(dataReader["uuid"] + "");
taskexeBean.setTime(dataReader["time"] + "");
taskexeBean.setTaskid(dataReader["taskid"] + "");
taskexeBean.setOpflag(dataReader["opflag"] + "");
taskexeBeanList.Add(taskexeBean);
}
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
return(taskexeBeanList);
}
public void sendTaskexeBean(TaskexeBean taskexeBean)
{
string sql = " update taskexe_s2c_task set opflag = 'Send' where `uuid` = '" + taskexeBean.getUuid() + "'";
DBDao.getDao().DeleteWithSql(sql);
}
