/// <summary>
/// 是否存在未装货任务
/// </summary>
/// <param name="taskid"></param>
/// <returns></returns>
public int IsExistLoad(string loadSite)
{
int id = 0;
if (!string.IsNullOrEmpty(loadSite))
{
NDCItem item = Items.Find(c =>
{
return(c._mTask.LOADSITE == loadSite && c.PLCStatus <= NDCPlcStatus.Loading);
});
if (item != null)
{
id = item._mTask.TASKID;
}
}
return(id);
}
/// <summary>
///
/// </summary>
/// <param name="ndcItem"></param>
private void CheckCanUpdateTaskList(NDCItem ndcItem)
{
if (ndcItem._mTask.IKEY != 0 && ndcItem._mTask.ORDERINDEX != 0 && ndcItem._mTask.TASKID != 0)
{
if (TaskGridUpdate != null)
{
TaskGridUpdate(ndcItem);
}
else
{
if (_initItems.Contains(ndcItem))
{
return;
}
_initItems.Add(ndcItem);
}
}
}
/// <summary>
/// 检查AGV 棍台消息任务
/// </summary>
/// <param name="item"></param>
/// <param name="v"></param>
private void CheckPlc(NDCItem item, Message_vpil v)
{
Console.WriteLine("PLC:" + v.PlcLp1 + " Value:" + v.Value1);
if (v.PlcLp1 == 29 && v.Value1 == 1)
{
//装货中
item.PLCStatus = NDCPlcStatus.Loading;
LoadItemList.Remove(item._mTask.NDCINDEX);
//通知WCS
_NoticeWcsLoading(item._mTask.TASKID, item.CARRIERID + "");
}
else if (v.PlcLp1 == 29 && v.Value1 == 2)
{
//卸货中
item.PLCStatus = NDCPlcStatus.Unloading;
UnLoadItemList.Remove(item._mTask.NDCINDEX);
}
}
/// <summary>
/// 更新S消息
/// </summary>
/// <param name="message"></param>
internal override void UpdateItem(Message_s message)
{
try
{
//找出被挂起的任务的重定向站点，重新重定向任务
if (message.Magic == 32) //32 Carwash sends this request
{ //TODO Carwash 重定向
DoCarWashReDirect(message);
return;
}
NDCItem ndcItem = Items.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem == null)
{
ndcItem = TempItems.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem != null)
{
ndcItem.CARRIERID = message.CarrierNumber;
}
else
{
ndcItem = new NDCItem();
ndcItem.CARRIERID = message.CarrierNumber;
ndcItem._mTask.NDCINDEX = message.Index;
TempItems.Add(ndcItem);
}
}
ndcItem.SetSMessage(message);
if (ndcItem.StatusInfo != "")
{
Console.WriteLine(ndcItem.StatusInfo);
log.LOG(ndcItem.StatusInfo);
}
CheckMagic(ndcItem, message);
_NoticeUpdate(ndcItem);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
public void Update(NDCItem item)
{
if (taskid != item._mTask.TASKID)
{
TaskID = item._mTask.TASKID;
}
if (ikey != item._mTask.IKEY)
{
IKey = item._mTask.IKEY;
}
if (order != item._mTask.NDCINDEX)
{
Order = item._mTask.NDCINDEX;
}
if (agvname != item.CARRIERID)
{
AgvName = item.CARRIERID;
}
if (loadsite != item._mTask.LOADSITE)
{
LoadSite = item._mTask.LOADSITE;
}
if (unloadsite != item._mTask.UNLOADSITE)
{
UnLoadSite = item._mTask.UNLOADSITE;
}
if (redirectsite != item._mTask.REDIRECTSITE)
{
RedirectSite = item._mTask.REDIRECTSITE;
}
if (hasload != item._mTask.HADLOAD)
{
HasLoad = item._mTask.HADLOAD;
}
if (pause != item._mTask.PAUSE)
{
pause = item._mTask.PAUSE;
Pause = "";
}
}
public void Update(NDCItem item)
{
if (taskid != item._mTask.TASKID)
{
TaskID = item._mTask.TASKID;
}
if (ikey != item._mTask.IKEY)
{
IKey = item._mTask.IKEY;
}
if (order != item._mTask.ORDERINDEX)
{
Order = item._mTask.ORDERINDEX;
}
if (agvname != item.CarrierId)
{
AgvName = item.CarrierId;
}
if (loadsite != item._mTask.LOADSITE)
{
LoadSite = item._mTask.LOADSITE;
}
if (unloadsite != item._mTask.UNLOADSITE)
{
UnLoadSite = item._mTask.UNLOADSITE;
}
if (redirectsite != item._mTask.REDIRECTSITE)
{
RedirectSite = item._mTask.REDIRECTSITE;
}
if (hasload = item._mTask.HADLOAD)
{
HasLoad = item._mTask.HADLOAD;
}
if (hasunload = item._mTask.HADUNLOAD)
{
HasUnLoad = item._mTask.HADUNLOAD;
}
}
/// <summary>
/// 检查任务状态
/// </summary>
/// <param name="status"></param>
private void CheckStatus(NDCItem item, Message_b b)
{
switch (item.Status)
{
case 37: //小车已经分配
item.CarrierId = b.ParNo;
break;
case 3: //任务完成
item.IsFinish = true;
item.finishTime = DateTime.Now;
break;
case 27: //IKEY in use
TempItem temp = TempList.Find(c => { return(c.IKey.Equals("" + item._mTask.IKEY)); });
if (temp != null)
{
temp.IKey = Ikey++;
DoStartOrder(temp);
}
break;
}
}
/// <summary>
/// 更新B消息
/// </summary>
/// <param name="message"></param>
internal override void UpdateItem(Message_b message)
{
try
{
NDCItem ndcItem = Items.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem == null)
{
ndcItem = TempItems.Find(c => { return(c._mTask.NDCINDEX == message.Index); });
if (ndcItem != null)
{
ndcItem._mTask.IKEY = message.IKEY;
}
else
{
ndcItem = new NDCItem();
ndcItem._mTask.IKEY = message.IKEY;
ndcItem._mTask.NDCINDEX = message.Index;
TempItems.Add(ndcItem);
}
}
ndcItem.SetBMessage(message);
if (ndcItem.TaskInfo != "")
{
Console.WriteLine(ndcItem.TaskInfo);
log.LOG(ndcItem.TaskInfo);
}
CheckStatus(ndcItem, message);
_NoticeUpdate(ndcItem);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
log.LOG(e.Message);
}
}
/// <summary>
/// 将任务状态置为挂起/执行
/// </summary>
/// <param name="i"></param>
/// <param name="v"></param>
public void PauseNdcTask(NDCItem i, bool v)
{
string sql = string.Format(@"update WCS_NDC_TASK set PAUSE = '{0}' where TASKID = '{1}'", v ? Yes : No, i._mTask.TASKID);
mysql.ExcuteSql(sql);
}
internal override void _NoticeDelete(NDCItem i)
{
NoticeDelete?.Invoke(i);
}
internal override void _NoticeRedirect(NDCItem i)
{
NoticeRedirect?.Invoke(i);
}
/// <summary>
/// 检查任务进程
/// </summary>
/// <param name="index"></param>
/// <param name="magic"></param>
private void CheckMagic(NDCItem item, Message_s s)
{
int index = item._mTask.ORDERINDEX;
switch (item.Magic)
{
case 2: //确定生成任务
item._mTask.NDCLOADSITE = item.s.Magic2 + "";
item._mTask.NDCUNLOADSITE = item.s.Magic3 + "";
break;
case 4: //小车到达接货点
if (item.DirectStatus != NDCItemStatus.HasDirectInfo)
{
item.DirectStatus = NDCItemStatus.CanRedirect;
}
if (!ReDirectList.Contains(item._mTask.ORDERINDEX))
{
ReDirectList.Add(item._mTask.ORDERINDEX);
}
//TODO 告诉WCS 车已经到达
//准备好装货了
item.PLCStatus = NDCPlcStatus.LoadReady;
break;
case 6: //小车接货完成
if (item.DirectStatus == NDCItemStatus.CanRedirect || item.DirectStatus == NDCItemStatus.Init)
{
if (item.HadDirectInfo)
{
item.DirectStatus = NDCItemStatus.HasDirectInfo;
}
else
{
item.DirectStatus = NDCItemStatus.NeedRedirect;
}
}
if (!ReDirectList.Contains(item._mTask.ORDERINDEX))
{
ReDirectList.Add(item._mTask.ORDERINDEX);
}
//装货完成
item.PLCStatus = NDCPlcStatus.Loaded;
item._mTask.HADLOAD = true;
if (item.DirectStatus == NDCItemStatus.NeedRedirect)
{
NoticeRedirect?.Invoke(item);
}
break;
case 254: //重新定位成功
item.DirectStatus = NDCItemStatus.Redirected;
ReDirectList.Remove(item._mTask.ORDERINDEX);
break;
case 8: //到达卸货点
//准备好卸货了
item.PLCStatus = NDCPlcStatus.UnloadReady;
break;
case 10: //卸货完成
//卸货完成
item.PLCStatus = NDCPlcStatus.Unloaded;
item._mTask.HADUNLOAD = true;
break;
case 11: //任务完成
item.IsFinish = true;
item.finishTime = DateTime.Now;
break;
default:
break;
}
GetTempInfo(item);
}
internal abstract void _NoticeRedirect(NDCItem model);
internal abstract void _NoticeUpdate(NDCItem model);
internal abstract void _NoticeDelete(NDCItem model);
/// <summary>
/// 重新读取装货点，卸货点对应NDC实际使用信息
/// </summary>
public void DoReadSQL()
{
try
{
NDCSQLControl control = new NDCSQLControl();
control.ReadWcsNdcSite(out loadStaDic, out unLoadStaDic);
control.ReadNDCServerAndIKEY(out IPaddress, out Port, out Ikey);
if (control.ReadUnFinishTask(out List <WCS_NDC_TASK> list))
{
foreach (var i in list)
{
if (i.ORDERINDEX == 0)
{
TempItem item = TempList.Find(c => { return(c.TaskID == i.TASKID || c.IKey == i.IKEY); });
if (item == null)
{
TempList.Add(new TempItem()
{
TaskID = i.TASKID,
IKey = i.IKEY,
LoadSite = i.LOADSITE,
UnloadSite = i.UNLOADSITE,
RedirectSite = i.REDIRECTSITE,
NdcLoadSite = i.NDCLOADSITE,
NdcUnloadSite = i.NDCUNLOADSITE,
NdcRedirectSite = i.NDCREDIRECTSITE
});
}
}
else
{
NDCItem item = Items.Find(c =>
{
return(c._mTask.IKEY == i.IKEY || c._mTask.TASKID == i.TASKID ||
c._mTask.ORDERINDEX == i.ORDERINDEX);
});
if (item != null)
{
item._mTask = i;
}
else
{
NDCItem it = new NDCItem()
{
_mTask = i
};
Items.Add(it);
CheckCanUpdateTaskList(it);
}
}
}
control.DelectUnFinishTaskAfter();
}
}catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
/// <summary>
/// 检查任务进程
/// </summary>
/// <param name="index"></param>
/// <param name="magic"></param>
private void CheckMagic(NDCItem item, Message_s s)
{
int index = item._mTask.NDCINDEX;
switch (item.Magic)
{
case 2: //确定生成任务
item._mTask.NDCLOADSITE = s.Magic2 + "";
item._mTask.NDCUNLOADSITE = s.Magic3 + "";
break;
case 5:
#region 小车到达接货点
if (item.DirectStatus != NDCItemStatus.HasDirectInfo)
{
item.DirectStatus = NDCItemStatus.CanRedirect;
}
if (!ReDirectList.Contains(item._mTask.NDCINDEX))
{
ReDirectList.Add(item._mTask.NDCINDEX);
}
//准备好装货了
item.PLCStatus = NDCPlcStatus.LoadReady;
#endregion
break;
case 6:
#region 小车接货完成
if (item.DirectStatus == NDCItemStatus.CanRedirect || item.DirectStatus == NDCItemStatus.Init)
{
if (item.HadDirectInfo)
{
item.DirectStatus = NDCItemStatus.HasDirectInfo;
}
else
{
item.DirectStatus = NDCItemStatus.NeedRedirect;
}
}
if (!ReDirectList.Contains(item._mTask.NDCINDEX))
{
ReDirectList.Add(item._mTask.NDCINDEX);
}
//装货完成
item.PLCStatus = NDCPlcStatus.Loaded;
item._mTask.HADLOAD = true;
if (item.DirectStatus == NDCItemStatus.NeedRedirect)
{
_NoticeRedirect(item);
}
#endregion
break;
case 254: //重新定位成功
item.DirectStatus = NDCItemStatus.Redirected;
ReDirectList.Remove(item._mTask.NDCINDEX);
break;
case 9: //到达卸货点
//准备好卸货了
item.PLCStatus = NDCPlcStatus.UnloadReady;
break;
case 10: //卸货完成
item.PLCStatus = NDCPlcStatus.Unloaded;
item._mTask.HADUNLOAD = true;
break;
case 255: //取消任务
case 48: //取消任务
if (!item.CancleFromSystem) //Carwash
{
item._mTask.PAUSE = true;
}
break;
case 11: //任务完成
if (item.PLCStatus != NDCPlcStatus.Unloaded && item._mTask.PAUSE)
{
item.IsFinish = false;
//装货前 取消任务不用恢复，只需重新呼叫AGV
if (!item._mTask.HADLOAD && !item._mTask.HADUNLOAD)
{
item.BeforeReCall(Ikey++);
DoStartOrder(item);
log.LOG(item._mTask.TASKID + ":任务车出现问题，现在重新呼叫AGV");
}
}
else
{
item.IsFinish = true;
item.finishTime = DateTime.Now;
}
break;
default:
break;
}
MatchTempInfo(item);
}
/// <summary>
/// 根据任务ID,重新定位卸货地点
/// </summary>
/// <param name="taskid"></param>
/// <param name="unloadstation"></param>
/// <returns></returns>
public bool DoReDerect(int taskid, string unloadstation, out string result, int order = -1)
{
NDCItem item = Items.Find(c =>
{
return(c._mTask.TASKID == taskid && (order == -1 || c._mTask.ORDERINDEX == order));
});
if (item == null)
{
TempItem temp = TempList.Find(c => { return(c.TaskID == taskid); });
if (temp != null)
{
if (unLoadStaDic.TryGetValue(unloadstation, out string ndcUnloadSta))
{
temp.RedirectSite = unloadstation;
temp.NdcRedirectSite = ndcUnloadSta;
}
else
{
result = "该区域的对应关系还没有";
return(false);
}
}
else
{
result = "并未找到任务ID为：" + taskid + "的任务";
return(false);
}
}
else
{
if (item.DirectStatus == NDCItemStatus.Redirected)
{
result = "任务已经重定位了";
return(false);
}
else
{
if (unLoadStaDic.TryGetValue(unloadstation, out string ndcUnloadSta))
{
item._mTask.NDCREDIRECTSITE = ndcUnloadSta;
item._mTask.REDIRECTSITE = unloadstation;
if (item.DirectStatus == NDCItemStatus.NeedRedirect)
{
item.DirectStatus = NDCItemStatus.HasDirectInfo;
}
else if (item.DirectStatus == NDCItemStatus.CanRedirect || item.DirectStatus == NDCItemStatus.Init)
{
item.HadDirectInfo = true;
}
}
else
{
result = "该区域的对应关系还没有";
return(false);
}
}
CheckCanUpdateTaskList(item);
}
result = "";
return(true);
}
