private void SendAGVTask()
{
DataTable dt = bll.FillDataTable("WCS.SelectAGVTask", new DataParameter[] { new DataParameter("{0}", string.Format("TaskType='11' and State=0 and not exists(select 1 from WCS_TASK where TaskType='11' and State in (2,3,4) ")), new DataParameter("{1}", "TaskNo,RowIndex"), new DataParameter("{2}", 4) });
if (dt.Rows.Count > 0)
{
ushort FromStation = ushort.Parse(dt.Rows[0]["FromStation"].ToString());
//获取入库巷道
ushort ToStation = ushort.Parse(dt.Rows[0]["ToStation"].ToString());
//获取AGV操作码
ushort AGVActionID = SendAGVMessage.GetAGVActionID();
//获取AGV任务号
ushort AGVTaskID = SendAGVMessage.GetAGVTaskID();
//更新WCS_Task AGVTaskID
string TaskNo = "";
for (int i = 0; i < dt.Rows.Count; i++)
{
TaskNo += "'" + dt.Rows[0]["TaskNo"].ToString() + "',";
}
bll.ExecNonQuery("WCS.UpdateTaskState", new DataParameter[] { new DataParameter("{0}", string.Format("AGVTaskID={0},State=1,AGVStation={1}", AGVTaskID, ToStation)), new DataParameter("{1}", string.Format("TaskNo in ({0})", TaskNo.TrimEnd(','))) });
//获取发送信息
byte[] sendByte = SendAGVMessage.GetSendTask1(AGVTaskID, FromStation, ToStation, AGVActionID);
WriteToService("AGVService", "ACK", sendByte);
}
}
private void tmWorker(object sender, ElapsedEventArgs e)
{
lock (this)
{
try
{
tmWorkTimer.Stop();
if (!blRun)
{
return;
}
//判断是否存在入库任务,且不存在未完成的
DataTable dt = bll.FillDataTable("WCS.SelectAGVTask", new DataParameter[] { new DataParameter("{0}", "TaskType='11' and State=0 and not exists(select 1 from WCS_TASK where TaskType='11' and State in (1,2,3,4) )"), new DataParameter("{1}", "TaskNo,RowIndex"), new DataParameter("{2}", 4) });
if (dt.Rows.Count > 0)
{
ushort FromStation = ushort.Parse(dt.Rows[0]["FromStation"].ToString());
//获取入库巷道
ushort ToStation = ushort.Parse(dt.Rows[0]["ToStation"].ToString());
//获取AGV操作码
ushort AGVActionID = SendAGVMessage.GetAGVActionID();
//获取AGV任务号
ushort AGVTaskID = SendAGVMessage.GetAGVTaskID();
//更新WCS_Task AGVTaskID
string TaskNo = "";
for (int i = 0; i < dt.Rows.Count; i++)
{
TaskNo += "'" + dt.Rows[i]["TaskNo"].ToString() + "',";
}
bll.ExecNonQuery("WCS.UpdateTaskState", new DataParameter[] { new DataParameter("{0}", string.Format("AGVTaskID={0},State=1,AGVStation={1}", AGVTaskID, ToStation)), new DataParameter("{1}", string.Format("TaskNo in ({0})", TaskNo.TrimEnd(','))) });
//获取发送信息
byte[] sendByte = SendAGVMessage.GetSendTask1(AGVTaskID, FromStation, ToStation, AGVActionID);
WriteToService("AGVService", "ACK", sendByte);
Logger.Info("下发小车入库任务，小车任务号：" + AGVTaskID);
}
}
catch (Exception ex)
{
Logger.Error("AGVProcess中下发任务出错：" + ex.Message);
}
finally
{
tmWorkTimer.Start();
}
}
}
