/// <summary>
/// 返回区域二附近的待命点
/// </summary>
private void BackToPointAround()
{
if (_devArea2 == null)
{
return;
}
if (_devTarWait == null)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> diss = WcfMainHelper.GetDispatchList();
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
foreach (var item in _waitAreaTwoList)
{
if ((!IsDispatchContainPath(diss, item.StaTarget)) && (!IsDevOnSite(devs, item.StaSite)))
{
_devTarWait = item;
break;
}
}
}
if (_devTarWait != null)
{
WcfMainHelper.InitPara(_severIp, "", "");
DeviceBackImf result = WcfMainHelper.GetDev(_devArea2.DevId);
if (result != null)
{
if (result.SensorList.Find(c => { return(c.SenId == string.Format("{0}0003", _devArea2.DevId)); }).RValue == _devTarWait.StaTarget.ToString())
{
_devTarWait = null;
_devArea2 = null;
}
else
{
WcfMainHelper.SendOrder(_devArea2.DevId, new CommonDeviceOrderObj(DeviceOrderTypeEnum.OrderIndexThree, _devTarWait.StaTarget));
}
}
}
}
/// <summary>
/// 呼叫AGV
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonCallAGv_Click(object sender, EventArgs e)
{
try
{
if (_isCalling)
{
MessageBox.Show("AGV过来的途中,请等待!", "提示"); return;
}
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
StationMember sta = _staDic.Values.ToList().Find(c => { return(c.StaSite == LocSite); });
if (sta == null)
{
MessageBox.Show("未找到与本客户端绑定的站点", "提示"); return;
}
TaskPathNode node = new TaskPathNode(sta.StaSite.ToString(), sta.StaTarget, true);
task.TaskPathNode.Add(node);
if (sta != null && sta.WaitList != null)
{
foreach (var item in sta.WaitList)
{
task.StartSiteList.Add(item.ToString());
}
}
if (task.StartSiteList == null || task.StartSiteList.Count < 1)
{
MessageBox.Show("未正确配置其相应的待命点,请检查配置!", "提示");
return;
}
if (MessageBox.Show(string.Format("确定要呼叫AGV到【{0}】位置", sta.StaTarget), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
SetOutputMsg(string.Format("开启新任务"));
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲的AGV，请稍后再试！", "提示");
}
else
{
_isCalling = true;
_callingTask = task;
DispatchBackMember disback = WcfMainHelper.GetDispatch(task.DisGuid);
if (disback != null)
{
_callingAGV = disback.DisDevId;
DeviceBackImf devback = WcfMainHelper.GetDev(_callingAGV);
if (devback != null)
{
_callingSite = devback.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", devback.DevId)); }).RValue;
}
else
{
_callingSite = null;
}
}
else
{
_callingAGV = null;
}
MessageBox.Show("呼叫成功,请等待AGV过来!", "提示");
}
}
}
catch { }
}