private bool initEnv()
{
bool envOK = false;
lock (LockController.getLockController().getLockTask()) {
ForkLiftWrappersService.getInstance().connectForks();
}
Thread.Sleep(100);
while (true)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().isUsed == 1)
{
if (fl.getPosition().getPx() == 0 || fl.getPosition().getPy() == 0)
{
Console.WriteLine("Wait for Fork " + fl.getForkLift().id + " to update position");
//continue;
}
}
}
break;
}
return(envOK);
}
private void ServerService()
{
try {
checkClientSocket();
while (true)
{
Console.WriteLine("read to send");
ForkLiftWrapper forklift = AGVCacheData.getForkLiftByID(3);
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatteryInfo().getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVMessageHandler.getMessageHandler().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
DBDao.getDao().InsertConnectMsg(sb.ToString(), "ServerService");
clientSocket.Send(byteData);
Thread.Sleep(10000);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
serverFuncOK = true;
turnToMainThread();
}
public static void disableForklift(int forkliftNumber) //不使用某辆车，用于设置楼上只用一辆车运行任务
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number == forkliftNumber)
{
fl.getForkLift().isUsed = 0;
}
}
}
private bool checkUser(string userName, string passwd)
{
foreach (User user in AGVCacheData.getUserList())
{
if (user.userPasswd.Equals(passwd) && user.userName.Equals(userName))
{
AGVEngine.getInstance().setCurrentUser(user);
return(true);
}
}
return(false);
}
public static void addAllTaskRecord()
{
List <SingleTask> singleTaskList = AGVCacheData.getSingleTaskList(); //获取所有的任务
foreach (SingleTask st in singleTaskList)
{
if (st.taskType == TASKTYPE_T.TASK_TYPE_UP_DILIVERY)
{
TaskRecord tr = new TaskRecord();
tr.singleTask = st;
tr.taskRecordName = st.taskName;
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
TaskReordService.getInstance().addTaskRecord(tr);
}
}
}
/// <summary>
/// 可能有缓存任务，刚启动时，车子的状态需要设置
/// </summary>
private void setForkliftStateFirst()
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
List <TaskRecord> taskRecordList = TaskReordService.getInstance().getTaskRecordList();
foreach (TaskRecord tr in taskRecordList)
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND || tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS)
{
if (tr.forkLiftWrapper != null && tr.forkLiftWrapper.getForkLift().forklift_number == fl.getForkLift().forklift_number)
{
fl.getForkLift().taskStep = TASK_STEP.TASK_EXCUTE;
}
}
}
}
}
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);
}
private void initAgvPanel()
{
int tmp = 0;
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
AGVPanel ap_s = new AGVPanel();
Console.WriteLine(" fl id " + fl.getForkLift().id);
ap_s.initPanel(fl);
ap_s.Location = new Point(780 + tmp, 40);
ap_s.Size = new Size(120, 200);
this.agvPanel.Controls.Add(ap_s);
tmp += 300;
ap_s.AutoSize = true;
ap_s.Anchor = AnchorStyles.Right & AnchorStyles.Left;
Console.WriteLine(" init agv panel number = " + fl.getForkLift().forklift_number);
agvPanelList.Add(ap_s);
}
}
private ForkLiftWrapper getSheduleForkLift() //如果两辆AGV都空闲，必须选择前面一辆AGV，否则后面一辆AGV一直不能走
{
ForkLiftWrapper fl_1 = null;
ForkLiftWrapper fl_2 = null; //另一辆车
ForkLiftWrapper forklift = null;
int freeForkCount = 0; //空闲车辆总数
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) {
if (fl.getForkLift().forklift_number == 3) //只考虑楼上的车子
continue;
if (fl_1 == null) {
fl_1 = fl;
} else {
fl_2 = fl;
}
if (fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep == TASK_STEP.TASK_IDLE && fl.getForkLift().finishStatus == 1) //如果有车子同时满足要求，选择使用优先级较高的车
{
fl.getPosition().updateStartPosition(); //车子执行完任务回到起始位置 这时候的起始位置才是有效的
freeForkCount++;
forklift = fl; //可用的叉车
}
}
if (freeForkCount == 1) {
if (forklift.getForkLift().id == fl_1.getForkLift().id) {
if (!check_start_state(forklift, fl_2)) {
return null;
}
} else if (forklift.getForkLift().id == fl_2.getForkLift().id) {
if (!check_start_state(forklift, fl_1)) {
return null;
}
}
} else if (freeForkCount == 2) {
forklift = getHighLevel_ForkLiftf(fl_1, fl_2); //有车可选的时候，使用优先级高的车
}
return forklift;
}
public void initAGVMCForm()
{
int tmp = 0;
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number == 3)
{
//continue;
}
PauseCtrlPanel pcp = new PauseCtrlPanel();
pcp.initPanel(fl);
pcp.Location = new Point(40, 30 + tmp * 60);
pcp.Size = new Size(200, 50);
this.Controls.Add(pcp);
pausePanelHash.Add(fl.getForkLift().forklift_number, pcp);
tmp++;
}
}
private bool checkDownDeliverPeriodOver(int upStep) {
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) {
if (fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep != TASK_STEP.TASK_IDLE) //如果有车在运行
{
return false;
}
}
if (ElevatorFactory.getElevator().getOutCommand() != 0) //升降机上有任务, 表示上料没有结束
{
return false;
}
if (upStep > 0) {
Console.WriteLine("当前处于上货 " + upStep + " 阶段");
AGVLog.WriteError("当前处于上货 " + upStep + " 阶段", new StackFrame(true));
return false;
}
return true;
}
private void shedulePause() //用于系统暂停时，检测暂停是否发送成功，如果没有发送成功，则一直向该车发送暂停
{
while (currentPause > SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN && currentPause < SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_MAX)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (currentPause == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START || currentPause == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //楼上楼下都有货时，暂停楼上的车，露楼下的车不用检测20160929 破凉
{
if (fl.getForkLift().forklift_number == 3)
{
continue;
}
}
if (fl.getPauseStr().Equals("运行")) //如果该车返回的pauseStat没有被设置成1，则向该车发送暂停
{
AGVUtil.setForkCtrlWithPrompt(fl, 1);
}
}
Thread.Sleep(30000);
}
}
public void scheduleInstruction()
{
while (ScheduleFactory.getSchedule().getScheduleFlag())
{
Thread.Sleep(500);
sheduleLift();
if (AGVSystem.getSystem().getSystemPause())
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITHOUT_START) //避免多次设置
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 1); //向不是暂停的车发送暂停指令
}
}
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
continue; //系统暂停后不需要调度
}
else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //暂停楼上的车，有时候卸货不及时
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //避免多次设置
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0) //只调度楼上的车
{
AGVUtil.setForkCtrl(fl, 1);
}
}
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
continue; //楼上的车子被暂停后，不需要调度
}
else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START)
{
if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START) //避免多次设置
{
ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
AGVUtil.setForkCtrl(fl, 1);
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
}
else
{
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车，发送启动指令
}
}
}
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START)
{
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车，发送启动指令
}
}
}
if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START)
{
ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
AGVUtil.setForkCtrl(fl, 0);
}
AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause());
}
lock (LockController.getLockController().getLockForkLift()) //加锁，避免车的状态不一致
{
_sheduleRunning();
}
}
}
private void _sheduleRunning()
{
ForkLiftWrapper fl_1 = null;
ForkLiftWrapper fl_2 = null;
SHEDULE_TYPE_T shedule_type = SHEDULE_TYPE_T.SHEDULE_TYPE_MIN;
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep != TASK_STEP.TASK_IDLE) //调度没有在使用的车 车子任务没有完成，只有当两辆车同时使用时，才调度
{
if (fl_1 != null)
{
fl_2 = fl;
}
else
{
fl_1 = fl;
}
}
}
if (fl_1 != null && fl_2 != null) //两车同时运行时才需要调度
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 3)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(3);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 1)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(1);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
shedule_type = getForkSheduleType(fl_2);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 3)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(3);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 1)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(1);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
checkPausePosition(fl_1);
checkPausePosition(fl_2);
}
else if (fl_1 != null && fl_2 == null)
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
fl_1.getPosition().setArea(3);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
fl_1.getPosition().setArea(1);
}
if (fl_1.getForkLift().shedulePause == 1) //如果车子被暂停，启动该车
{
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
