// Use this for initialization
void Start()
{
crane = GameObject.FindWithTag ("Crane").GetComponent<Crane> ();
if (isStartPoint || isEndPoint) {
SetRandomYPos();
}
}
public CraneEventArgs(Crane crane)
{
this._crane = crane;
}
private void tmCraneWorker2(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
tmCrane2.Stop();
int[] location = new int[2];
string serviceName = "CranePLC2";
object[] obj = ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneLocation"));
for (int j = 0; j < obj.Length; j++)
location[j] = Convert.ToInt16(obj[j]) - 48;
int[] craneInfo = new int[6];
obj = ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneInfo"));
for (int j = 0; j < obj.Length; j++)
craneInfo[j] = Convert.ToInt16(obj[j]) - 48;
obj = ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneTaskNo"));
string plcTaskNo = Util.ConvertStringChar.BytesToString(obj);
obj = ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneSpeed"));
Crane crane = new Crane();
crane.CraneNo = 2;
crane.Column = location[0];
crane.Height = location[1];
crane.ForkStatus = craneInfo[1];
crane.Action = craneInfo[2];
crane.TaskType = craneInfo[3];
crane.ErrCode = craneInfo[4];
crane.TaskNo = plcTaskNo;
crane.WalkCode = int.Parse(obj[3].ToString());
crane.UpDownCode = int.Parse(obj[4].ToString());
Cranes.CraneInfo(crane);
}
catch (Exception ex)
{
Logger.Error(ex.Message);
}
finally
{
tmCrane2.Start();
}
}
private void tmCraneWorker1(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
tmCrane1.Stop();
string binary = Convert.ToString(255, 2).PadLeft(8, '0');
string serviceName = "CranePLC1";
string plcTaskNo = Util.ConvertStringChar.BytesToString(ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneTaskNo")));
string craneMode = ObjectUtil.GetObject(Context.ProcessDispatcher.WriteToService(serviceName, "CraneMode")).ToString();
string craneFork = ObjectUtil.GetObject(Context.ProcessDispatcher.WriteToService(serviceName, "CraneFork")).ToString();
object[] obj = ObjectUtil.GetObjects(Context.ProcessDispatcher.WriteToService(serviceName, "CraneAlarmCode"));
Crane crane = new Crane();
crane.CraneNo = 1;
crane.Row = int.Parse(obj[4].ToString());
crane.Column = int.Parse(obj[2].ToString());
crane.Height = int.Parse(obj[3].ToString());
crane.ForkStatus = int.Parse(craneFork);
crane.Action = int.Parse(craneMode);
crane.TaskType = int.Parse(obj[1].ToString());
crane.ErrCode = int.Parse(obj[0].ToString());
crane.PalletCode = "";
crane.TaskNo = plcTaskNo;
Cranes.CraneInfo(crane);
}
catch (Exception ex)
{
Logger.Error(ex.Message);
}
finally
{
tmCrane1.Start();
}
}
// Update is called once per frame
void Update()
{
leftAxis = rightAxis = 0;
upperCraneRotationAxis = 0;
armCraneAxis = 0;
//TEMP INPUTS, here we will manage with the levers the value of each axis variable
leftAxis = InputManager.Instance.GetAxisVertical();
rightAxis = InputManager.Instance.GetAxisVertical2();
if (InputManager.Instance.GetButton(InputManager.MiniGameButtons.BUTTON1))
{
upperCraneRotationAxis = 1;
}
else if (InputManager.Instance.GetButton(InputManager.MiniGameButtons.BUTTON2))
{
upperCraneRotationAxis = -1;
}
if (InputManager.Instance.GetButton(InputManager.MiniGameButtons.BUTTON3))
{
armCraneAxis = 1;
}
else if (InputManager.Instance.GetButton(InputManager.MiniGameButtons.BUTTON4))
{
armCraneAxis = -1;
}
if (rightAxis > 1.0f)
{
rightAxis = 1.0f;
}
else if (rightAxis < -1.0f)
{
rightAxis = -1.0f;
}
if (leftAxis > 1.0f)
{
rightAxis = 1.0f;
}
else if (leftAxis < -1.0f)
{
rightAxis = -1.0f;
}
//MOVEMENT LEVERS
leftWheelMovement = speed * leftAxis;
rightWheelMovement = speed * rightAxis;
Crane.Rotate(Vector3.up * (leftWheelMovement - rightWheelMovement) * Time.deltaTime * 2);
if (leftAxis != 0 && rightAxis != 0)
{
Crane.Translate(Vector3.right * (leftWheelMovement * Time.deltaTime) / 10);
Crane.Translate(Vector3.right * (rightWheelMovement * Time.deltaTime) / 10);
}
//Crane LEVER
craneArm.Rotate(Vector3.forward * (armCraneAxis * armCraneSpeed) * Time.deltaTime * 2);
if (craneArm.transform.rotation.eulerAngles.z > 336)
{
craneArm.transform.rotation = Quaternion.Euler(new Vector3(craneArm.transform.rotation.eulerAngles.x, craneArm.transform.eulerAngles.y, 336));
}
else if (craneArm.transform.rotation.eulerAngles.z < 289)
{
craneArm.transform.rotation = Quaternion.Euler(new Vector3(craneArm.transform.rotation.eulerAngles.x, craneArm.transform.rotation.eulerAngles.y, 289));
}
//Upper Crane rotation
upperCrane.Rotate(Vector3.forward * (upperCraneRotationAxis * rotationSpeed) * Time.deltaTime * 2);
}
void Monitor_OnCrane(CraneEventArgs args)
{
if (InvokeRequired)
{
BeginInvoke(new CraneEventHandler(Monitor_OnCrane), args);
}
else
{
Crane crane = args.crane;
TextBox txt = GetTextBox("txtTaskNo", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.TaskNo;
}
txt = GetTextBox("txtState", crane.CraneNo);
if (txt != null && dicCraneState.ContainsKey(crane.TaskType))
{
txt.Text = dicCraneState[crane.TaskType];
}
txt = GetTextBox("txtCraneAction", crane.CraneNo);
if (txt != null && dicCraneAction.ContainsKey(crane.Action))
{
txt.Text = dicCraneAction[crane.Action];
}
txt = GetTextBox("txtRow", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Row.ToString();
}
txt = GetTextBox("txtColumn", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Column.ToString();
}
//堆垛机位置
if (crane.CraneNo == 1)
{
this.picCrane.Visible = true;
Point P1 = InitialP1;
if (crane.Column < 46)
{
P1.X = P1.X + (int)((crane.Column - 1) * colDis);
}
else
{
P1.X = picCar.Location.X + 15;
}
P1.Y = P1.Y + (int)(rowDis * (crane.Row - 1));
this.picCrane.Location = P1;
Point P2 = InitialP2;
P2.Y = P2.Y + (int)(rowDis * (crane.Row - 1));
this.picCar.Location = P2;
}
txt = GetTextBox("txtHeight", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Height.ToString();
}
txt = GetTextBox("txtForkStatus", crane.CraneNo);
if (txt != null && dicCraneFork.ContainsKey(crane.ForkStatus))
{
txt.Text = dicCraneFork[crane.ForkStatus];
}
txt = GetTextBox("txtErrorDesc", crane.CraneNo);
if (txt != null && dicCraneError.ContainsKey(crane.ErrCode))
{
txt.Text = dicCraneError[crane.ErrCode];
}
//更新错误代码、错误描述
//更新任务状态为执行中
//bll.ExecNonQuery("WCS.UpdateTaskError", new DataParameter[] { new DataParameter("@CraneErrCode", crane.ErrCode.ToString()), new DataParameter("@CraneErrDesc", dicCraneError[crane.ErrCode]), new DataParameter("@TaskNo", crane.TaskNo) });
txt = GetTextBox("txtErrorNo", crane.CraneNo);
if (txt != null)
{
if (crane.ErrCode > 0)
{
DataParameter[] param = new DataParameter[] { new DataParameter("@TaskNo", crane.TaskNo), new DataParameter("@CraneErrCode", crane.ErrCode.ToString()), new DataParameter("@CraneErrDesc", dicCraneError[crane.ErrCode]) };
bll.ExecNonQueryTran("WCS.Sp_UpdateTaskError", param);
if (txt.Text.Trim() == "")
{
txt.Text = "0";
}
if (crane.ErrCode != int.Parse(txt.Text))
{
Logger.Error(crane.CraneNo.ToString() + "堆垛机执行时出现错误,代码:" + crane.ErrCode.ToString() + ",描述:" + dicCraneError[crane.ErrCode]);
}
txt.Text = crane.ErrCode.ToString();
}
else
{
txt.Text = "0";
}
}
}
}
private CraneMove ArrivalToShuffle(List <Location> targetLocations, Crane crane, List <(Location Location, List <Block> Lot)> arrivalLots)
private Tuple <List <Route>, bool> BuildRouteCost(ConveyorBasic t, int level, bool ignoreBlocked)
{
if (visited.Contains(t))
{
return(new Tuple <List <Route>, bool>(null, false));
}
if (t is ConveyorJunction)
{
visited.Add(t);
ConveyorJunction jt = t as ConveyorJunction;
List <Route> newRes = new List <Route>();
Tuple <List <Route>, bool> res = null;
foreach (RouteNode jt1 in jt.RouteDef.Node)
{
ConveyorBasic final = FindNextNonConveyor(jt1.Next);
if (final == null || (!ignoreBlocked && DBService.FindPlaceID(final.Name).Blocked))
{
res = new Tuple <List <Route>, bool>(new List <Route>(), true);
}
else
{
res = BuildRouteCost(final, level + 1, ignoreBlocked);
}
if (res.Item2)
{
RouteDescription rd = new RouteDescription {
First = jt, Next = jt1.Next, Final = final
};
res.Item1.ForEach(p => { p.Items.Insert(0, rd); p.Cost += jt1.Cost; });
res.Item1.ForEach(p => newRes.Add(p));
}
}
if (t is IConveyorOutput && level > 0)
{
RouteDescription rd = new RouteDescription {
First = t, Next = t, Final = t
};
newRes.Add(new Route {
Cost = 0, Items = new List <RouteDescription> {
rd
}
});
}
visited.Remove(t);
return(new Tuple <List <Route>, bool>(newRes, newRes.Count > 0));
}
else if (t is Crane)
{
visited.Add(t);
Crane jt = t as Crane;
List <Route> newRes = new List <Route>();
// crane could be final location
bool shuttle = !jt.FinalDevice;
if (jt.Shelve != null && jt.Shelve.Count > 0)
{
RouteDescription rd = new RouteDescription {
First = jt, Next = jt, Final = jt
};
newRes.Add(new Route {
Items = new List <RouteDescription> {
rd
}, Cost = 0
});
}
Tuple <List <Route>, bool> res = null;
if (jt.OutRouteDef != null && jt.OutRouteDef.Node != null)
{
foreach (RouteNode jt1 in jt.OutRouteDef.Node)
{
ConveyorBasic final = FindNextNonConveyor(jt1.Next);
if (final == null || (!ignoreBlocked && DBService.FindPlaceID(final.Name).Blocked))
{
res = new Tuple <List <Route>, bool>(new List <Route>(), true);
}
else
{
res = BuildRouteCost(final, level + 1, ignoreBlocked);
}
if (res.Item2 && (level == 0 || shuttle))
{
RouteDescription rd = new RouteDescription {
First = jt, Next = jt1.Next, Final = final
};
res.Item1.ForEach(p => { p.Items.Insert(0, rd); p.Cost += jt1.Cost; });
res.Item1.ForEach(p => newRes.Add(p));
}
}
}
visited.Remove(t);
return(new Tuple <List <Route>, bool>(newRes, newRes.Count > 0));
}
else if (t is IConveyorOutput)
{
RouteDescription rd = new RouteDescription {
First = t, Next = t, Final = t
};
return(new Tuple <List <Route>, bool>(new List <Route> {
new Route {
Cost = 0, Items = new List <RouteDescription> {
rd
}
}
}, true));
}
throw new BasicWarehouseException("Unknown type in path calculation...");
}
public override void Strategy()
{
if (Crane.PLC_Status != null)
{
Crane.FastCommand = null;
}
if (!Warehouse.StrategyActive)
{
return;
}
if (!Crane.Communicator.Online())
{
return;
}
if (!Crane.CheckIfAllNotified())
{
return;
}
try
{
PickAction = null;
Command = Crane.Command;
BufferCommand = Crane.BufferCommand;
bool remote = Warehouse.SteeringCommands.RemoteMode;
if (Crane.FastCommand == null)
{
Crane.FastCommand = Warehouse.DBService.FindFirstFastSimpleCraneCommand(Crane.Name, Warehouse.SteeringCommands.AutomaticMode);
}
WriteCommandToPLC(Crane.FastCommand, true);
if (!Warehouse.SteeringCommands.Run)
{
return;
}
if ((!Crane.Remote() || Crane.LongTermBlock()))
{
return;
}
if (!Crane.Automatic())
{
return;
}
GetNewCommand(remote, null);
GetNewCommand(remote, null);
// make double cycles
if (PickAction != null)
{
PrefferedInput = LPosition.FromString(PickAction.Source).IsWarehouse();
}
WriteCommandToPLC(Command);
WriteCommandToPLC(BufferCommand);
BannedPlaces.Clear();
}
catch (Exception e)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, e.Message);
throw new StrategyCraneException(String.Format("{0} Strategy failed.", Name));
}
}
void Monitor_OnCrane(CraneEventArgs args)
{
if (InvokeRequired)
{
BeginInvoke(new CraneEventHandler(Monitor_OnCrane), args);
}
else
{
Crane crane = args.crane;
Button btn = GetButton(crane.CraneNo);
TextBox txt = GetTextBox("txtTaskNo", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.TaskNo;
}
txt = GetTextBox("txtStatus", crane.CraneNo);
if (txt != null && dicStatus.ContainsKey(crane.Status))
{
txt.Text = dicStatus[crane.Status];
if (txt.Text == "空闲")
{
txt.BackColor = Color.Lime;
}
else
{
txt.BackColor = Color.Yellow;
}
}
txt = GetTextBox("txtWorkMode", crane.CraneNo);
if (txt != null && dicWorkMode.ContainsKey(crane.Mode))
{
txt.Text = dicWorkMode[crane.Mode];
if (crane.Mode == 1)
{
txt.BackColor = Color.Lime;
}
else
{
txt.BackColor = Color.Yellow;
}
}
if (crane.Mode == 1)
{
btn.BackColor = Color.Lime;
}
else
{
btn.BackColor = Color.Yellow;
}
txt = GetTextBox("txtRow", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Row.ToString();
}
txt = GetTextBox("txtColumn", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Column.ToString();
}
//堆垛机位置
if (crane.CraneNo == "05")
{
Point P = InitialP5;
if (crane.Row == 6)
{
P = InitialP6;
}
else if (crane.Row == 7)
{
P = InitialP7;
}
P.X = P.X + (int)((45 - crane.Column) * colDis);
this.btnSRM5.Location = P;
}
if (crane.CraneNo == "06")
{
Point P = InitialP6;
if (crane.Row == 5)
{
P = InitialP5;
}
else if (crane.Row == 7)
{
P = InitialP7;
}
P.X = P.X + (int)((45 - crane.Column) * colDis);
this.btnSRM6.Location = P;
}
if (crane.CraneNo == "07")
{
Point P = InitialP7;
if (crane.Row == 5)
{
P = InitialP5;
}
else if (crane.Row == 6)
{
P = InitialP6;
}
P.X = P.X + (int)((45 - crane.Column) * colDis);
this.btnSRM7.Location = P;
}
txt = GetTextBox("txtLayer", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.Layer.ToString();
}
txt = GetTextBox("txtForkStatus", crane.CraneNo);
if (txt != null && dicFork.ContainsKey(crane.ForkStatus))
{
txt.Text = dicFork[crane.ForkStatus];
}
txt = GetTextBox("txtAlarmCode", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.AlarmCode.ToString();
if (txt.Text == "0")
{
txt.BackColor = DefaultBackColor;
}
else
{
txt.BackColor = Color.Red;
}
}
string strAlarmDesc = "";
txt = GetTextBox("txtAlarmDesc", crane.CraneNo);
if (txt != null)
{
if (crane.AlarmCode != 0)
{
DataRow[] drs = dtDeviceAlarm.Select(string.Format("Flag=1 and AlarmCode={0}", crane.AlarmCode));
if (drs.Length > 0)
{
strAlarmDesc = drs[0]["AlarmDesc"].ToString();
}
else
{
strAlarmDesc = "设备未知错误！";
}
}
else
{
strAlarmDesc = "";
}
txt.Text = strAlarmDesc;
if (txt.Text == "")
{
txt.BackColor = DefaultBackColor;
}
else
{
txt.BackColor = Color.Red;
}
}
txt = GetTextBox("txtSTB", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.STB.ToString();
}
txt = GetTextBox("txtACK", crane.CraneNo);
if (txt != null)
{
txt.Text = crane.ACK.ToString();
}
//更新错误代码、错误描述
//更新任务状态为执行中
//bll.ExecNonQuery("WCS.UpdateTaskError", new DataParameter[] { new DataParameter("@CraneErrCode", crane.ErrCode.ToString()), new DataParameter("@CraneErrDesc", dicCraneError[crane.ErrCode]), new DataParameter("@TaskNo", crane.TaskNo) });
if (crane.AlarmCode > 0)
{
btn.BackColor = Color.Red;
//DataParameter[] param = new DataParameter[] { new DataParameter("@TaskNo", crane.TaskNo), new DataParameter("@CraneErrCode", crane.AlarmCode.ToString()), new DataParameter("@CraneErrDesc", strAlarmDesc) };
//bll.ExecNonQueryTran("WCS.Sp_UpdateTaskError", param);
//Logger.Error(crane.CraneNo.ToString() + "堆垛机执行时出现错误,代码:" + crane.AlarmCode.ToString() + ",描述:" + strAlarmDesc);
}
}
}
private void tmCraneWorker(object sender, System.Timers.ElapsedEventArgs e)
{
try
{
tmCrane.Stop();
for (int i = 1; i <= 5; i++)
{
TextBox txt = GetTextBox("txtColumn", i);
if (txt != null)
{
Crane crane = new Crane();
crane.CraneNo = i;
int column = 0;
if (txt.Text != "")
{
column = int.Parse(txt.Text);
}
crane.Column = column;
Cranes.CraneInfo(crane);
}
txt = GetTextBox("txtErrorNo", i);
if (txt != null)
{
if (txt.Text.Length == 0)
{
continue;
}
int ErrCode = int.Parse(txt.Text);
if (ErrCode == 0)
{
continue;
}
//string[] d = new string[2];
//d[0] = i.ToString();
//d[1] = GetTextBox("txtErrorDesc", i).Text;
//Context.ProcessDispatcher.WriteToProcess("LEDProcess", "Error", d);//LED显示
if (ErrCode == 506 || ErrCode == 505)
{
string serviceName = "CranePLC" + i;
string plcTaskNo = GetTextBox("txtTaskNo", i).Text;
string plcPalletCode = GetTextBox("txtPalletCode", i).Text;
DataTable dtErr = bll.FillDataTable("WCS.SelectWmsSend", new DataParameter[] { new DataParameter("{0}", string.Format("TASKID='{0}'", plcTaskNo)) });
if (dtErr.Rows.Count > 0)
{
string Taskstatus = dtErr.Rows[0]["TASKSTATUS"].ToString();
if (Taskstatus == "4")
{
bll.ExecNonQueryTran("WCS.SPCancelTask", new DataParameter[] { new DataParameter("VTASKNO", plcTaskNo) });
Logger.Info("任务:" + plcTaskNo + " 托盘编号：" + dtErr.Rows[0]["PALLETID"].ToString() + "任务取消！");
if (ErrCode == 506)//空取异常
{
//取消堆垛机当前任务
Context.ProcessDispatcher.WriteToService(serviceName, "CancelTask", true);
sbyte[] taskNo = new sbyte[20];
Util.ConvertStringChar.stringToBytes("", 20).CopyTo(taskNo, 0);
Context.ProcessDispatcher.WriteToService(serviceName, "ClearTaskNo", taskNo);
}
else //crane.ErrCode == 505,重入异常
{
if (GetTextBox("txtTaskType", i).Text == "出库")
{
continue;
}
DataTable dtTask = bll.FillDataTable("WCS.SelectWmsTask", new DataParameter[] { new DataParameter("{0}", string.Format("PALLETID='{0}' AND TASKSTATUS='0' AND ASRSID='{1}'", plcPalletCode, i)) });
if (dtTask.Rows.Count > 0)
{
string TaskNo = dtTask.Rows[0]["TASKID"].ToString();
sbyte[] staskNo = new sbyte[20];
Util.ConvertStringChar.stringToBytes(TaskNo, 12).CopyTo(staskNo, 0);
Util.ConvertStringChar.stringToBytes(plcPalletCode, 8).CopyTo(staskNo, 12);
string strDLocation = dtTask.Rows[0]["DLOCATION"].ToString();
int[] Location = new int[6];
Location[0] = 0;
Location[1] = 0;
Location[2] = 0;
Location[3] = int.Parse(strDLocation.Split('-')[0]);
Location[4] = int.Parse(strDLocation.Split('-')[1]);
int ToRow = int.Parse(strDLocation.Split('-')[2]);
if (ToRow > 1)
{
ToRow += 1;
}
Location[5] = ToRow;
Context.ProcessDispatcher.WriteToService(serviceName, "Address", Location);
Context.ProcessDispatcher.WriteToService(serviceName, "WriteTask", staskNo);
if (Context.ProcessDispatcher.WriteToService(serviceName, "WriteFinish", true))
{
bll.ExecNonQueryTran("WCS.SPReciveWmsTask", new DataParameter[] { new DataParameter("VTASKNO", TaskNo) });
//更新WCSTask状态为3
bll.ExecNonQuery("WCS.UpdateWCSTaskState", new DataParameter[] { new DataParameter("{0}", 3), new DataParameter("{1}", TaskNo) });
Logger.Info("入库任务:" + TaskNo + " 托盘编号：" + plcPalletCode + " 位:" + strDLocation + " 已下发给" + i + "堆垛机");
}
else
{
Logger.Error("入库任务:" + TaskNo + " 托盘编号：" + plcPalletCode + " 无法写入堆垛机" + i);
}
}
}
}
}
}
}
}
}
catch (Exception ex)
{
Logger.Error("监控界面中tmCraneWorker出现异常：" + ex.Message);
}
finally
{
tmCrane.Start();
}
}
