private void UpdateAGVStatus(AGVTemp agvCar)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == agvCar.AGVNum);
int listindex;
if (member.Count() == 0)
{
//WorklineNum避免异步，Add的时间过长，进入一个掉线的数据，界面出现new AGVCar()错误数据
if (agvCar.AGVNum > 0 && agvCar.WorklineNum > 0)
{
AGVStatus.Add(new AGVCar());
listindex = AGVStatus.Count - 1;
}
else
{
return;
}
}
else
{
AGVCar member1 = member.First<AGVCar>();
listindex = AGVStatus.IndexOf(member1);
}
if (agvCar.WlLinkCount > 0)
{
AGVStatus[listindex].WlLinkCount += agvCar.WlLinkCount;//+1
if (AGVStatus[listindex].WlLinkCount > 5)
{
//第一次断线时，连接失败，更新交通管制参数，如果在交通管制区则出交通管制区
AGVStatus[listindex].MarkNum = 0;
AGVStatus[listindex].DockNum = 0;
AGVStatus[listindex].LineNum = 0;
if (agvTrafficList != null)
{
TrafficRetParam retparam = agvTrafficList.UpdateTraffic(AGVStatus[listindex].WlLink, AGVStatus[listindex].AGVNum,
AGVStatus[listindex].TrafficNum, AGVStatus[listindex].WorklineNum, AGVStatus[listindex].MarkNum);
AGVStatus[listindex].TrafficNum = retparam.trafficNum;
AGVStatus[listindex].TrafficStatus = retparam.trafficResult;
}
data_total[agvCar.AGVNum - 1] = 0x00;
AGVStatus[listindex].WlLink = AGVWLLINK_ERROR;//一定放在最后，先更新了管制区，然后再删除
}
return;
}
AGVStatus[listindex].WorklineNum = agvCar.WorklineNum;
AGVStatus[listindex].DockNum = agvCar.DockNum;
AGVStatus[listindex].AGVNum = agvCar.AGVNum;
AGVStatus[listindex].TrafficNum = agvCar.TrafficNum;
AGVStatus[listindex].TrafficStatus = agvCar.TrafficStatus;
AGVStatus[listindex].LineNum = agvCar.LineNum;
AGVStatus[listindex].MarkFunction = agvCar.MarkFunction;
AGVStatus[listindex].AGVSpeed = agvCar.AGVSpeed;
AGVStatus[listindex].MarkNum = agvCar.MarkNum;
AGVStatus[listindex].AGVPower = agvCar.AGVPower;
AGVStatus[listindex].AGVCharge = agvCar.AGVCharge;
AGVStatus[listindex].WlLinkCount = agvCar.WlLinkCount;
AGVStatus[listindex].WlLink = agvCar.WlLink;
AGVStatus[listindex].AGVStatus = agvCar.AGVStatus;
}
private AGVTemp DrvWlCon_AgvStatus(byte[] buf) //更新AGV运行参数
{
lock (syncRoot)
{
AGVTemp agvCar = new AGVTemp();
byte SpeedGrade = 0;
int bMarkNum = 0;
byte AgvNum = buf[2]; //得到AGV编号，编号从0x01开始
if (AgvNum > AGVNUM_MAX || AgvNum < 1)
{
return null;//AGV编号错误
}
if (DrvWlConCheck(buf, buf.Length - 2) == VERIFY_NOERROR) //校验无错
{
agvCar.WorklineNum = DrvWlConWorkLineInit(AgvNum);
agvCar.WlLinkCount = 0;
//由于生产区在运行过程中不会改变，故将此放置在AGV的初始化中，不需要每次更新
agvCar.AGVNum = AgvNum;
//修改说明：地标号扩展两位，速度等级的bit8,bit7作为地标号的bit9，bit10
bMarkNum = buf[3] | ((buf[7] & 0xC0) << 2);
if (bMarkNum > 0)
{
//当前AGV运行路线
agvCar.LineNum = buf[6];
//当前地标功能
if (buf[4] > 0 && buf[4] < MarkFuncOpt.Length)
{
agvCar.MarkFunction = buf[4];
}
//当前AGV运行速度等级，不会接收到保持现状的0
//修改时间：2013-11-28
//修改说明：屏蔽速度等级的bit8,bit7
SpeedGrade = Convert.ToByte(buf[7] & 0x3F);
if (SpeedGrade > 0 && SpeedGrade < SpeedOpt.Count)
{
agvCar.AGVSpeed = SpeedGrade;
}
agvCar.MarkNum = bMarkNum;
//AGV当前剩余电量
if (buf[8] > 0 && buf[8] <= 100)
{
agvCar.AGVPower = buf[8];
}
}
//无线连接正常
agvCar.WlLink = AGVWLLINK_OK;
//当前AGV状态，由于接收到数据不是按照顺序，中间有间隔，在使用时才验证数据正确性
agvCar.AGVStatus = buf[5];
}
else
{
agvCar.AGVNum = AgvNum;
agvCar.WlLinkCount = 1;
}
return agvCar;
}
}
