/// <summary>
/// 运输车复位
/// </summary>
/// <param name="dev"></param>
/// <param name="mes"></param>
public void ResetLoc_RGV(List <WCS_CONFIG_DEVICE> dev, out string mes)
{
try
{
// 运输车待命点1
int loc1 = Convert.ToInt32(DataControl._mStools.GetValueByKey("StandbyR1"));
// 运输车待命点2
int loc2 = Convert.ToInt32(DataControl._mStools.GetValueByKey("StandbyR2"));
// 获取当前摆渡车资讯
RGV a1 = new RGV(dev[0].DEVICE);
RGV a2 = new RGV(dev[1].DEVICE);
// 定位任务指令
byte[] order1;
byte[] order2;
// 任务明细
WCS_TASK_ITEM item1;
WCS_TASK_ITEM item2;
if (a1.GetCurrentSite() < a2.GetCurrentSite())
{
// 定位任务指令
order1 = RGV._Position(a1.RGVNum(), DataControl._mStools.IntToBytes(loc1));
order2 = RGV._Position(a2.RGVNum(), DataControl._mStools.IntToBytes(loc2));
// 任务明细
item1 = new WCS_TASK_ITEM()
{
ITEM_ID = ItemId.运输车复位1,
ID = 3,
DEVICE = dev[0].DEVICE,
LOC_TO = loc1.ToString()
};
item2 = new WCS_TASK_ITEM()
{
ITEM_ID = ItemId.运输车复位2,
ID = 4,
DEVICE = dev[1].DEVICE,
LOC_TO = loc2.ToString()
};
}
else
{
// 定位任务指令
order1 = RGV._Position(a1.RGVNum(), DataControl._mStools.IntToBytes(loc2));
order2 = RGV._Position(a2.RGVNum(), DataControl._mStools.IntToBytes(loc1));
// 任务明细
item1 = new WCS_TASK_ITEM()
{
ITEM_ID = ItemId.运输车复位2,
ID = 3,
DEVICE = dev[0].DEVICE,
LOC_TO = loc2.ToString()
};
item2 = new WCS_TASK_ITEM()
{
ITEM_ID = ItemId.运输车复位1,
ID = 4,
DEVICE = dev[1].DEVICE,
LOC_TO = loc1.ToString()
};
}
// 加入任务作业链表
mes = null;
if (dev[0].FLAG == DeviceFlag.空闲)
{
DataControl._mTaskControler.StartTask(new RGVTack(item1, DeviceType.运输车, order1));
}
else
{
mes = dev[0].DEVICE + " 运输车目前无法操作复位任务; \r";
}
if (dev[1].FLAG == DeviceFlag.空闲)
{
DataControl._mTaskControler.StartTask(new ARFTack(item2, DeviceType.运输车, order2));
}
else
{
mes = mes + dev[1].DEVICE + " 运输车目前无法操作复位任务; \r";
}
}
catch (Exception ex)
{
throw ex;
}
}
public void Update()
{
if (isconnect != rgv.IsAlive())
{
ISConnect = rgv.IsAlive();
}
if (!rgv.IsAlive())
{
return;
}
if (actionsta != rgv.ActionStatus())
{
actionsta = rgv.ActionStatus();
ActionStatus = "";
}
if (devicesta != rgv.DeviceStatus())
{
devicesta = rgv.DeviceStatus();
DeviceStatus = "";
}
if (commandsta != rgv.CommandStatus())
{
commandsta = rgv.CommandStatus();
CommandStatus = "";
}
if (des_x_y_z != rgv.GetGoodsSite())
{
Des_X_Y_Z = rgv.GetGoodsSite();
}
if (now_task != rgv.CurrentTask())
{
now_task = rgv.CurrentTask();
Now_Task = "";
}
if (now_x_y_z != rgv.GetCurrentSite())
{
Now_X_Y_Z = rgv.GetCurrentSite();
}
if (finish_task != rgv.FinishTask())
{
finish_task = rgv.FinishTask();
Finish_Task = "";
}
if (loadstatus != rgv.GoodsStatus())
{
loadstatus = rgv.GoodsStatus();
LoadStatus = "";
}
if (rollerstatus != rgv.CurrentStatus())
{
rollerstatus = rgv.CurrentStatus();
RollerStatus = "";
}
if (rollerdirection != rgv.RunDirection())
{
rollerdirection = rgv.RunDirection();
RollerDirection = "";
}
if (errormsg != rgv.ErrorMessage())
{
errormsg = rgv.ErrorMessage();
ErrorMsg = "";
}
if (rgv.GetUpdateTime(out string time))
{
if (datatime != time)
{
DataTime = time;
}
}
}
public override void DoWork()
{
try
{
// 异常
if (_device.DeviceStatus() == RGV.DeviceError || _device.CommandStatus() == RGV.CommandError)
{
ISetTaskErr();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, "设备故障或命令错误."));
return;
}
// 对接任务
if (ITEM.ITEM_ID.Substring(0, 2) == "11")
{
#region 调试
if (PublicParam.IsIgnoreRGV) //add调试判断
{
if (_device.ActionStatus() == RGV.Stop)
{
// 发送指令
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
else
{
Thread.Sleep(5000);
// 完成任务
ISetTaskSuc();
// 解锁设备数据状态
DataControl._mTaskTools.DeviceUnLock(ITEM.DEVICE);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
}
return;
}
#endregion
if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货
{
// 获取目标设备类型
String typeTo = DataControl._mTaskTools.GetDeviceType(ITEM.LOC_TO);
// 运输车对接 摆渡车/运输车
switch (typeTo)
{
case DeviceType.摆渡车:
ARF _arf = new ARF(ITEM.LOC_TO);
// 摆渡车辊台停止状态
if (_arf.CurrentStatus() == ARF.RollerStop)
{
// 摆渡车辊台上无货物
if (_arf.GoodsStatus() == ARF.GoodsNoAll)
{
return;
}
}
else if (_device.GoodsStatus() == RGV.GoodsYesAll && _device.ActionStatus() == RGV.Stop &&
_arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop)
{
return; // 摆渡车与运输车都有货，不启动辊台
}
break;
case DeviceType.运输车:
RGV _rgv = new RGV(ITEM.LOC_TO);
// 目的运输车辊台停止状态
if (_rgv.CurrentStatus() == RGV.RollerStop)
{
// 目的运输车辊台上无货物
if (_rgv.GoodsStatus() == RGV.GoodsNoAll)
{
return;
}
}
else if (_device.GoodsStatus() == RGV.GoodsYesAll && _device.ActionStatus() == RGV.Stop &&
_rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop)
{
return; // 运输车与运输车都有货，不启动辊台
}
break;
default:
break;
}
// 运输车无货物
if (_device.GoodsStatus() == RGV.GoodsNoAll)
{
// 完成任务
ISetTaskSuc();
// 解锁设备数据状态
DataControl._mTaskTools.DeviceUnLock(ITEM.DEVICE);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
}
else
{
// 获取目标设备类型
String typeFrom = DataControl._mTaskTools.GetDeviceType(ITEM.LOC_FROM);
// 运输车对接 摆渡车/运输车
switch (typeFrom)
{
case DeviceType.摆渡车:
ARF _arf = new ARF(ITEM.LOC_FROM);
// 摆渡车辊台上无货物,运输车辊台上有货物
if (_arf.GoodsStatus() == ARF.GoodsNoAll && _device.GoodsStatus() != RGV.GoodsNoAll && _device.ActionStatus() == RGV.Stop)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
else if (_device.GoodsStatus() == RGV.GoodsYesAll && _device.ActionStatus() == RGV.Stop &&
_arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop)
{
return; // 摆渡车与运输车都有货，不启动辊台
}
break;
case DeviceType.运输车:
RGV _rgv = new RGV(ITEM.LOC_FROM);
// 来源运输车辊台上无货物,运输车辊台上有货物
if (_rgv.GoodsStatus() == FRT.GoodsNoAll && _device.GoodsStatus() != ARF.GoodsNoAll && _device.ActionStatus() == RGV.Stop)
{
// 完成任务
ISetTaskSuc();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order));
return;
}
else if (_device.GoodsStatus() == RGV.GoodsYesAll && _device.ActionStatus() == RGV.Stop &&
_rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop)
{
return; // 运输车与运输车都有货，不启动辊台
}
break;
default:
break;
}
}
// 发送指令
if (_device.ActionStatus() == RGV.Stop)
{
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
}
// 定位任务
else
{
// 发送指令
if (_device.ActionStatus() == RGV.Stop)
{
if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result))
{
throw new Exception(result);
}
DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false);
// LOG
log.LOG(DataControl._mTaskTools.GetLogMess(ITEM, Order));
}
// 当前位置与目的位置一致 视为任务完成
if (_device.GetCurrentSite() == Convert.ToInt32(ITEM.LOC_TO) && _device.ActionStatus() == RGV.Stop)
{
// 等待对接
ISetTaskWait();
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessW(ITEM, Order));
return;
}
}
}
catch (Exception ex)
{
// LOG
log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, ex.ToString()));
}
}