public void ReSendTask()
{
if (ConnectState == true)
{
lock (this)
{
if (CurrentTask != null && CurrentTask.GetFinish)
{
if (Write("b_O_Get_Permit", false)
&& Write("b_O_Put_Permit", false)
&& Write("b_I_Get_Finish", false)
&& Write("b_I_Put_Finish", false)
&& Write("b_O_Cancel_Task", true)
&& WriteCancelTaskState())
{
Thread.Sleep(1000);
StorageDal storageDal = new StorageDal();
int storageQuantity = CurrentTask.TaskType == "02"
&& CurrentTask.NextPositionID == CurrentTask.EndPositionID ?
storageDal.GetStorageQuantity(CurrentTask.EndPositionID) : 0;
int[] position1 = new int[2];
int[] type1 = new int[1];
int[] position2 = new int[2];
int[] type2 = new int[1];
position1[0] = CurrentTask.TravelPos2;
position1[1] = (int)(CurrentTask.LiftPos2 + (storageQuantity * Global.PALLET_HEIGHT));
type1[0] = 0;//无操作
position2[0] = CurrentTask.TravelPos2;
position2[1] = (int)(CurrentTask.LiftPos2 + (storageQuantity * Global.PALLET_HEIGHT));
CurrentTask.RealLiftPos2 = position2[1];
type2[0] = CurrentTask.NextPositionExtension + 2;//放货
Write("n_O_Task_Data_Position1", position1);
Write("n_O_Task_Data_Type1", type1[0]);
Write("n_O_Task_Data_Position2", position2);
Write("n_O_Task_Data_Type2", type2[0]);
Write("b_O_New_Task", true);
XtraMessageBox.Show("当前任务已重发！");
}
else
{
XtraMessageBox.Show("当前任务重发失败，可能无法连接到堆垛机或密集库PLC！");
}
}
else if (CurrentTask != null && !CurrentTask.GetFinish && !CurrentTask.PutFinish)
{
if (Write("b_O_Get_Permit", false)
&& Write("b_O_Put_Permit", false)
&& Write("b_I_Get_Finish", false)
&& Write("b_I_Put_Finish", false)
&& Write("b_O_Cancel_Task", true)
&& WriteCancelTaskState())
{
Thread.Sleep(1000);
StorageDal storageDal = new StorageDal();
int storageQuantity = CurrentTask.TaskType == "02"
&& CurrentTask.NextPositionID == CurrentTask.EndPositionID ?
storageDal.GetStorageQuantity(CurrentTask.EndPositionID) : 0;
int[] position1 = new int[2];
int[] type1 = new int[1];
int[] position2 = new int[2];
int[] type2 = new int[1];
position1[0] = CurrentTask.TravelPos1;
position1[1] = CurrentTask.LiftPos1;
type1[0] = CurrentTask.CurrentPositionExtension + 1;//取货
position2[0] = CurrentTask.TravelPos2;
position2[1] = (int)(CurrentTask.LiftPos2 + (storageQuantity * Global.PALLET_HEIGHT));
CurrentTask.RealLiftPos2 = position2[1];
type2[0] = CurrentTask.NextPositionExtension + 2;//放货
Write("n_O_Task_Data_Position1", position1);
Write("n_O_Task_Data_Type1", type1[0]);
Write("n_O_Task_Data_Position2", position2);
Write("n_O_Task_Data_Type2", type2[0]);
Write("b_O_New_Task", true);
XtraMessageBox.Show("当前任务已重发！");
}
else
{
XtraMessageBox.Show("当前任务重发失败，可能无法连接到堆垛机或密集库PLC！");
}
}
else
{
XtraMessageBox.Show("当前任务不存在，或不可重发！");
}
}
}
}
private void NewTask()
{
if (CurrentTask == null && Auto && !Local && !ManualControl && taskFinish)
{
TaskDal taskDal = new TaskDal();
StorageDal storageDal = new StorageDal();
foreach (var taskFactory in TaskFactories)
{
if (WaitingTask.Count > 0)
{
CurrentTask = taskFactory.GetTask(Name, this.TravelPos, WaitingTask.Dequeue());
}
else
{
CurrentTask = taskFactory.GetTask(Name, this.TravelPos);
}
if (CurrentTask != null && !CheckPath())
{
WaitingTask.Enqueue(CurrentTask.ID);
CurrentTask = taskFactory.GetTask(Name, this.TravelPos, WaitingTask.ToArray());
}
if (CurrentTask != null && !CheckPath())
{
WaitingTask.Enqueue(CurrentTask.ID);
CurrentTask = null;
}
if (CurrentTask != null)
{
if (Write("b_O_Get_Permit", false)
&& Write("b_O_Put_Permit", false)
&& Write("b_I_Get_Finish", false)
&& Write("b_I_Put_Finish", false)
&& Write("b_O_Cancel_Task", true)
&& WriteCancelTaskState())
{
int storageQuantity = CurrentTask.TaskType == "02"
&& CurrentTask.NextPositionID == CurrentTask.EndPositionID ?
storageDal.GetStorageQuantity(CurrentTask.EndPositionID) : 0;
int[] position1 = new int[2];
int[] type1 = new int[1];
int[] position2 = new int[2];
int[] type2 = new int[1];
position1[0] = CurrentTask.TravelPos1;
position1[1] = CurrentTask.LiftPos1;
type1[0] = CurrentTask.CurrentPositionExtension + 1;//取货
position2[0] = CurrentTask.TravelPos2;
position2[1] = (int)(CurrentTask.LiftPos2 + (storageQuantity * Global.PALLET_HEIGHT));
CurrentTask.RealLiftPos2 = position2[1];
type2[0] = CurrentTask.NextPositionExtension + 2;//放货
Write("n_O_Task_Data_Position1", position1);
Write("n_O_Task_Data_Type1", type1[0]);
Write("n_O_Task_Data_Position2", position2);
Write("n_O_Task_Data_Type2", type2[0]);
Write("b_O_New_Task", true);
taskDal.UpdateTaskStateToExecuting(CurrentTask.ID);
CurrentTaskFactory = taskFactory;
break;
}
else
{
Logger.Error(string.Format("{0} 当前任务 [{1}] 发送失败，可能无法连接到堆垛机或密集库PLC！", Name, CurrentTask.ID));
CurrentTask = null;
}
}
}
}
}