public void Update() { if (isconnect != frt.IsAlive()) { ISConnect = frt.IsAlive(); } if (!frt.IsAlive()) { return; } if (actionsta != frt.ActionStatus()) { actionsta = frt.ActionStatus(); ActionStatus = ""; } if (devicesta != frt.DeviceStatus()) { devicesta = frt.DeviceStatus(); DeviceStatus = ""; } if (commandsta != frt.CommandStatus()) { commandsta = frt.CommandStatus(); CommandStatus = ""; } if (now_task != frt.CurrentTask()) { now_task = frt.CurrentTask(); Now_Task = ""; } if (finish_task != frt.FinishTask()) { finish_task = frt.FinishTask(); Finish_Task = ""; } if (loadstatus != frt.GoodsStatus()) { loadstatus = frt.GoodsStatus(); LoadStatus = ""; } if (rollerstatus != frt.CurrentStatus()) { rollerstatus = frt.CurrentStatus(); RollerStatus = ""; } if (rollerdirection != frt.RunDirection()) { rollerdirection = frt.RunDirection(); RollerDirection = ""; } if (errormsg != frt.ErrorMessage()) { errormsg = frt.ErrorMessage(); ErrorMsg = ""; } if (frt.GetUpdateTime(out string time)) { if (datatime != time) { DataTime = time; } } }
/// <summary> /// 生成对应辊台任务指令 /// </summary> /// <param name="agv"></param> public void CreatOrderTask(WCS_AGV_INFO agv) { try { // 按任务当前状态处理 switch (Convert.ToInt32(agv.MAGIC)) { case AGVMagic.到达装货点: // 获取对应包装线固定辊台资讯 FRT frt = new FRT(agv.PICKSTATION); // 是否作业中 if (frt.CurrentStatus() != FRT.RollerStop) { return; } // 是否存在货物 //if (frt.GoodsStatus() == FRT.GoodsYesAll) if (frt.GoodsStatus() == FRT.GoodsYesAll || PublicParam.IsIgnoreFRT) //add调试判断 { // 分配 WMS TASK if (String.IsNullOrEmpty(agv.TASK_UID.Trim())) { // 获取WMS TASK ID String sql = String.Format(@"select TASK_UID from wcs_task_info where TASK_TYPE = '{0}' and W_S_LOC = '{1}' and TASK_UID not in (select DISTINCT TASK_UID from wcs_agv_info where TASK_UID is not null)", TaskType.AGV搬运, DataControl._mTaskTools.GetArea(agv.PICKSTATION)); DataTable dt = DataControl._mMySql.SelectAll(sql); if (DataControl._mStools.IsNoData(dt)) { // LOG DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task!"); return; } // 更新AGV任务资讯-- WMS TASK ID agv.TASK_UID = dt.Rows[0]["TASK_UID"].ToString(); sql = String.Format(@"update wcs_agv_info set TASK_UID = '{1}' where ID = '{0}'", agv.ID, agv.TASK_UID); DataControl._mMySql.ExcuteSql(sql); } // 分配卸货点 if (agv.UPDATE_TIME == null) { // 获取 WMS 任务目标点 String sqlloc = String.Format(@"select distinct DEVICE from wcs_config_device where FLAG in('{1}','{2}') and TYPE = '{3}' and AREA in (select W_D_LOC from wcs_task_info where TASK_UID = '{0}') and DEVICE in (select distinct DROPSTATION From wcs_agv_info where MAGIC <> {4} group by DROPSTATION HAVING count(DROPSTATION) < {5}) order by FLAG,CREATION_TIME", agv.TASK_UID, DeviceFlag.占用, DeviceFlag.空闲, DeviceType.固定辊台, AGVMagic.任务完成, 3);//最多三辆车 DataTable dtloc = DataControl._mMySql.SelectAll(sqlloc); if (DataControl._mStools.IsNoData(dtloc)) { // LOG DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task 目标位置!"); return; } // 更新AGV任务资讯-- 卸货点 agv.DROPSTATION = dtloc.Rows[0]["DEVICE"].ToString(); sqlloc = String.Format(@"update wcs_agv_info set UPDATE_TIME = NOW(), DROPSTATION = '{1}' where ID = '{0}'; update wcs_config_device set FLAG = '{2}' where DEVICE = '{1}'", agv.ID, agv.DROPSTATION, DeviceFlag.占用); DataControl._mMySql.ExcuteSql(sqlloc); // 发送 NDC 更新点位 UpdateAGVStation(agv.ID, agv.DROPSTATION); } // 发指令请求AGV启动辊台装货 if (!DataControl._mNDCControl.DoLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result)) { // LOG DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString()); return; } } break; case AGVMagic.到达卸货点: // 获取对应包装线固定辊台资讯 FRT frtdrop = new FRT(agv.DROPSTATION); // 是否作业中 if (frtdrop.CurrentStatus() != FRT.RollerStop) { // 当已启动辊台 if (frtdrop.CurrentTask() == FRT.TaskTake && (frtdrop.CurrentStatus() == FRT.RollerRun1 || frtdrop.CurrentStatus() == FRT.RollerRunAll)) { // 发指令请求AGV启动辊台装货 if (!DataControl._mNDCControl.DoUnLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result)) { // LOG DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString()); return; } } return; } else // 未启动辊台 { byte[] order = null; // 当辊台都无货 //if (frtdrop.GoodsStatus() == FRT.GoodsNoAll) if (frtdrop.GoodsStatus() == FRT.GoodsNoAll || PublicParam.IsIgnoreFRT) //add调试判断 { // 获取指令-- 启动所有辊台 正向接货 order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRunAll, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1); } // 当仅2#辊台有货 else if (frtdrop.GoodsStatus() == FRT.GoodsYes2) { // 获取指令-- 只启动1#辊台 正向接货 order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRun1, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1); } // 加入任务作业链表 WCS_TASK_ITEM item = new WCS_TASK_ITEM() { ITEM_ID = "库区接货", WCS_NO = agv.TASK_UID, ID = agv.ID, DEVICE = agv.DROPSTATION, LOC_FROM = agv.AGV }; DataControl._mTaskControler.StartTask(new AGVFRTTack(item, DeviceType.固定辊台, order)); } break; default: return; } } catch (Exception ex) { // LOG DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", ex.ToString()); } }
public override void DoWork() { try { // 异常 if (_device.DeviceStatus() == FRT.DeviceError || _device.CommandStatus() == FRT.CommandError) { ISetTaskErr(); // LOG log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, "设备故障或命令错误.")); return; } #region 调试 if (PublicParam.IsIgnoreFRT) //add调试判断 { if (_device.ActionStatus() == FRT.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 ARF _arf = new ARF(ITEM.LOC_TO); // 对接设备状态 if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货 { // 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; } } // 固定辊台无货物 if (_device.GoodsStatus() == FRT.GoodsNoAll && _device.ActionStatus() == FRT.Stop) { // 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 if (_device.GoodsStatus() == FRT.GoodsYesAll && _device.ActionStatus() == FRT.Stop && _arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop) { return; // 固定辊台与摆渡车都有货,不启动辊台 } } else { // 摆渡车辊台上无货物,固定辊台上有货物 if (_arf.GoodsStatus() == ARF.GoodsNoAll && _device.GoodsStatus() != FRT.GoodsNoAll && _device.ActionStatus() == FRT.Stop) { // 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 if (_device.GoodsStatus() == FRT.GoodsYesAll && _device.ActionStatus() == FRT.Stop && _arf.GoodsStatus() == ARF.GoodsYesAll && _arf.ActionStatus() == ARF.Stop) { return; // 固定辊台与摆渡车都有货,不启动辊台 } } // 发送指令 if (_device.ActionStatus() == FRT.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)); } } catch (Exception ex) { // LOG log.LOG(DataControl._mTaskTools.GetLogMessE(ITEM, Order, ex.ToString())); } }
public override void DoWork() { try { // 异常 if (_device.DeviceStatus() == ARF.DeviceError || _device.CommandStatus() == ARF.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.IsIgnoreARF) //add调试判断 { if (_device.ActionStatus() == ARF.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); // 摆渡车对接 固定辊台/运输车 switch (typeTo) { case DeviceType.固定辊台: FRT _frt = new FRT(ITEM.LOC_TO); // 固定辊台停止状态 if (_frt.CurrentStatus() == FRT.RollerStop) { // 固定辊台上无货物 if (_frt.GoodsStatus() == FRT.GoodsNoAll) { return; } } else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop && _frt.GoodsStatus() == FRT.GoodsYesAll && _frt.ActionStatus() == FRT.Stop) { return; // 摆渡车与摆渡车都有货,不启动辊台 } break; case DeviceType.运输车: RGV _rgv = new RGV(ITEM.LOC_TO); // 运输车辊台停止状态 if (_rgv.CurrentStatus() == RGV.RollerStop) { // 运输车辊台上无货物 if (_rgv.GoodsStatus() == RGV.GoodsNoAll) { return; } } else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop && _rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop) { return; // 摆渡车与运输车都有货,不启动辊台 } break; default: break; } // 摆渡车无货物 if (_device.GoodsStatus() == ARF.GoodsNoAll && _device.ActionStatus() == ARF.Stop) { // 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); // 摆渡车对接 固定辊台/运输车 switch (typeFrom) { case DeviceType.固定辊台: FRT _frt = new FRT(ITEM.LOC_FROM); // 固定辊台上无货物,摆渡车辊台上有货物 if (_frt.GoodsStatus() == FRT.GoodsNoAll && _device.GoodsStatus() != ARF.GoodsNoAll && _device.ActionStatus() == ARF.Stop) { // 完成任务 ISetTaskSuc(); // LOG log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order)); return; } else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop && _frt.GoodsStatus() == FRT.GoodsYesAll && _frt.ActionStatus() == FRT.Stop) { return; // 摆渡车与摆渡车都有货,不启动辊台 } break; case DeviceType.运输车: RGV _rgv = new RGV(ITEM.LOC_FROM); // 运输车辊台上无货物,摆渡车辊台上有货物 if (_rgv.GoodsStatus() == FRT.GoodsNoAll && _device.GoodsStatus() != ARF.GoodsNoAll) { // 完成任务 ISetTaskSuc(); // LOG log.LOG(DataControl._mTaskTools.GetLogMessS(ITEM, Order)); return; } else if (_device.GoodsStatus() == ARF.GoodsYesAll && _device.ActionStatus() == ARF.Stop && _rgv.GoodsStatus() == RGV.GoodsYesAll && _rgv.ActionStatus() == RGV.Stop) { return; // 摆渡车与运输车都有货,不启动辊台 } break; default: break; } } // 发送指令 if (_device.ActionStatus() == ARF.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() == ARF.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.CurrentSite() == Convert.ToInt32(ITEM.LOC_TO) && _device.ActionStatus() == ARF.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())); } }
public override void DoWork() { try { // 异常 if (_device.DeviceStatus() == FRT.DeviceError || _device.CommandStatus() == FRT.CommandError) { ISetTaskErr(); // LOG log.LOG(String.Format(@"【Error】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 异常信息[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, "设备故障或命令错误")); return; } #region 调试 if (PublicParam.IsIgnoreFRT) //add调试判断 { if (_device.ActionStatus() == FRT.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(String.Format(@"【SendOrder】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 指令[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, DataControl._mStools.BytetToString(Order))); } else { Thread.Sleep(5000); // 完成任务 ISetTaskSuc(); // LOG log.LOG(String.Format(@"【Success】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 指令[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, DataControl._mStools.BytetToString(Order))); } return; } #endregion // 对接设备状态 if (!string.IsNullOrEmpty(ITEM.LOC_TO.Trim())) // 目标不为空即最终无货 { // 固定辊台无货物 if (_device.GoodsStatus() == FRT.GoodsNoAll && _device.ActionStatus() == FRT.Stop) { // 完成任务 ISetTaskSuc(); // LOG log.LOG(String.Format(@"【Success】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 指令[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, DataControl._mStools.BytetToString(Order))); return; } } else { // 固定辊台上有2#有货 或者 都有货 if ((_device.GoodsStatus() == FRT.GoodsYes2 || _device.GoodsStatus() == FRT.GoodsYesAll) && _device.ActionStatus() == FRT.Stop) { // 完成任务 ISetTaskSuc(); // LOG log.LOG(String.Format(@"【Success】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 指令[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, DataControl._mStools.BytetToString(Order))); return; } } // 发送指令 if (_device.ActionStatus() == FRT.Stop) { if (!DataControl._mSocket.SendToClient(ITEM.DEVICE, Order, out string result)) { throw new Exception(result); } DataControl._mSocket.SwithRefresh(ITEM.DEVICE, false); // LOG log.LOG(String.Format(@"【SendOrder】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 指令[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, DataControl._mStools.BytetToString(Order))); } } catch (Exception ex) { // LOG log.LOG(String.Format(@"【Error】{0}:WMS任务ID[ {1} ],AGV任务ID[ {2} ],设备号[ {3} ], 异常信息[ {4} ].", ITEM.ITEM_ID, ITEM.WCS_NO, ITEM.ID, ITEM.DEVICE, ex.ToString())); } }