public static bool Add(out string msg)
{
TaskLog taskLog = new TaskLog
{
FinishedTime = DateTime.Now,
FromStationId = Current.Task.FromStationId,
ToStationId = Current.Task.ToStationId,
StartTime = Current.Task.StartTime,
TaskId = Current.Task.TaskId,
ClampStatus = Current.Task.FromClampStatus,
TaskMode = Current.TaskMode
};
return(Add(new List <TaskLog>()
{
taskLog
}, out msg));
}
public static void Run()
{
string msg = string.Empty;
if (Current.TaskMode == TaskMode.自动任务)
{
////烤箱只有一个空位时，不要搬运空夹具至烤箱
//if (Task.TaskList.Where(t => t.FromClampStatus == ClampStatus.空夹具 && t.ToType == GetPutType.烤箱).ToList().Count(t => t.IsEnable) > 0)
//{
//}
//List<Station> stations = Station.StationList.Where(s => s.IsAlive && s.GetPutType == GetPutType.烤箱 && s.FloorStatus == FloorStatus.无盘).ToList();
//Task.TaskList.Where(t => t.FromClampStatus == ClampStatus.空夹具 && t.ToType == GetPutType.烤箱).ToList().
// ForEach(t => t.IsEnable = stations.Count > 1);
if (Current.Task.Status == TaskStatus.完成)
{
if (CurrentTask.ToSwitchManuTaskMode)
{
Current.Task.StartTime = TengDa.Common.DefaultTime;
Current.Task.TaskId = -1;
Current.Task.FromStationId = -1;
Current.Task.ToStationId = -1;
Current.Task.FromClampStatus = ClampStatus.未知;
Current.TaskMode = TaskMode.手动任务;
CurrentTask.ToSwitchManuTaskMode = false;
return;
}
///任务遍历
foreach (Task task in Task.CanGetPutTaskList.Where(t => t.IsEnable))
{
List <Station> fromStations = Station.CanGetPutStationList
.Where(s => s.ClampOri == task.ClampOri &&
s.GetPutType == task.FromType && s.ClampStatus == task.FromClampStatus &&
s.Status == StationStatus.可取 &&
s.SampleStatus == task.FromSampleStatus)
.OrderBy(s => s.Priority)
.OrderBy(s => s.GetPutTime)
.ToList();
List <Station> toStations = Station.CanGetPutStationList
.Where(s => s.ClampOri == task.ClampOri &&
s.GetPutType == task.ToType && s.ClampStatus == task.ToClampStatus &&
s.Status == StationStatus.可放 &&
s.SampleStatus == task.ToSampleStatus)
.OrderBy(s => s.Priority)
.OrderBy(s => s.GetPutTime)
.ToList();
if (fromStations.Count > 0 && toStations.Count > 0)
{
if (task.FromClampStatus == ClampStatus.满夹具 && task.FromType == GetPutType.烤箱)
{
fromStations = fromStations.OrderBy(s => s.GetFillClampPriority).ToList();
}
if (task.FromClampStatus == ClampStatus.空夹具 && task.FromType == GetPutType.烤箱)
{
fromStations = fromStations.OrderBy(s => s.GetEmptyClampPriority).ToList();
}
if (task.FromClampStatus == ClampStatus.满夹具 && task.ToType == GetPutType.烤箱)
{
toStations = toStations.OrderBy(s => s.PutFillClampPriority).ToList();
}
if (task.FromClampStatus == ClampStatus.空夹具 && task.ToType == GetPutType.烤箱)
{
toStations = toStations.Where(s => s.CanPutEmptyClamp).OrderBy(s => s.PutEmptyClampPriority).ToList();
}
Station fromStation = fromStations.First();
Station toStation = toStations.First();
Current.Task.StartTime = DateTime.Now;
Current.Task.TaskId = task.Id;
Current.Task.FromStationId = fromStation.Id;
Current.Task.ToStationId = toStation.Id;
Current.Task.FromClampStatus = fromStation.ClampStatus;
Current.Task.PreCycleOrder = task.CycleOrder;
Current.Task.Status = TaskStatus.就绪;
break;
}
else
{
Current.Task.StartTime = TengDa.Common.DefaultTime;
Current.Task.TaskId = -1;
Current.Task.FromStationId = -1;
Current.Task.ToStationId = -1;
Current.Task.FromClampStatus = ClampStatus.未知;
Current.Task.Status = TaskStatus.完成;
}
}
}
else if (Current.Task.FromStationId > 0 && Current.Task.ToStationId > 0 && Current.Task.FromStation != null && Current.Task.ToStation != null)
{
if (Current.Task.Status == TaskStatus.就绪)
{
if (Current.Task.FromStation.DoorStatus != DoorStatus.打开)
{
Current.Task.FromStation.OpenDoor();
}
if (Current.Task.FromStation.DoorStatus == DoorStatus.打开)
{
Current.Task.Status = TaskStatus.可取;
}
}
else if (Current.Task.Status == TaskStatus.可取 && Current.Task.FromStation != null)
{
byte pos = byte.Parse(Current.Task.FromStation.RobotValues.Split(',')[0]);
if (Current.Robot.IsReadyGet)
{
if (Current.Robot.GetOrPut(pos))
{
}
}
if (Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.正取;
}
}
else if (Current.Task.Status == TaskStatus.正取 && Current.Task.FromStation != null)
{
//提前把放盘位门打开
if (Current.Task.ToStation.DoorStatus != DoorStatus.打开 && Current.Task.ToStation != null && Current.Task.ToStation.GetPutType == GetPutType.烤箱)
{
Current.Task.ToStation.OpenDoor();
}
if (Current.Robot.ClampStatus != ClampStatus.无夹具)
{
Current.Robot.ClampStatus = Current.Task.FromClampStatus;
Current.Task.FromStation.ClampStatus = ClampStatus.无夹具;
if (Current.Task.FromStation.ClampId > 0)
{
Current.Robot.ClampId = Current.Task.FromStation.ClampId;
}
}
if (!Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.取完;
}
}
else if (Current.Task.Status == TaskStatus.取完 && Current.Task.ToStation != null)
{
if (Current.Task.ToStation.DoorStatus != DoorStatus.打开)
{
Current.Task.ToStation.OpenDoor();
}
else
{
Current.Task.Status = TaskStatus.可放;
}
}
else if (Current.Task.Status == TaskStatus.可放 && Current.Task.ToStation != null)
{
byte pos = byte.Parse(Current.Task.ToStation.RobotValues.Split(',')[1]);
if (Current.Robot.IsReadyPut)
{
if (Current.Robot.GetOrPut(pos))
{
}
}
if (Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.正放;
}
}
else if (Current.Task.Status == TaskStatus.正放 && Current.Task.ToStation != null)
{
if (Current.Robot.ClampStatus == ClampStatus.无夹具)
{
Current.Task.ToStation.ClampStatus = Current.Task.FromClampStatus;
Current.Task.ToStation.FromStationId = Current.Task.FromStationId;
if (Current.Task.ToStation.ClampId < 1 && Current.Task.ToStation.GetPutType == GetPutType.料机 && Current.Task.FromClampStatus == ClampStatus.空夹具)
{
int oldClampId = -1;
if (Current.Task.FromStation != null)
{
oldClampId = Current.Task.FromStation.ClampId;
}
if (oldClampId < 1)
{
oldClampId = Current.Robot.ClampId;
}
int clampId = Clamp.Add(new Clamp(oldClampId).Code, out msg);
if (clampId > 0)
{
Current.Task.ToStation.ClampId = clampId;
}
else
{
LogHelper.WriteError(msg);
}
}
else
{
if (Current.Task.FromStation != null && Current.Task.FromStation.ClampId > 0)
{
Current.Task.ToStation.ClampId = Current.Task.FromStation.ClampId;
}
else if (Current.Robot.ClampId > 0)
{
Current.Task.ToStation.ClampId = Current.Robot.ClampId;
}
}
Current.Robot.ClampId = -1;
if (Current.Task.FromStation != null)
{
Current.Task.FromStation.ClampId = -1;
}
}
if (!Current.Robot.IsGettingOrPutting)
{
if (!TaskLog.Add(out msg))//记录
{
Error.Alert("保存搬运记录失败：" + msg);
}
Current.Task.Status = TaskStatus.完成;
}
}
}
}
else if (Current.TaskMode == TaskMode.手动任务)
{
if (Current.Task.Status == TaskStatus.完成)
{
Current.Task.StartTime = TengDa.Common.DefaultTime;
Current.Task.TaskId = -1;
Current.Task.FromStationId = -1;
Current.Task.ToStationId = -1;
Current.Task.FromClampStatus = ClampStatus.未知;
Current.Task.Status = TaskStatus.完成;
if (Current.Task.NextFromStationId > 0)
{
Current.Task.FromStationId = Current.Task.NextFromStationId;
Current.Task.NextFromStationId = -1;
Current.Task.FromClampStatus = Current.Task.FromStation.ClampStatus;
Current.Task.Status = TaskStatus.就绪;
}
}
else if (Current.Task.Status == TaskStatus.就绪 && Current.Task.FromStation != null)
{
if (Current.Task.FromStation.DoorStatus != DoorStatus.打开)
{
Tip.Alert(Current.Task.FromStation.Name + "门未打开！");
}
if (Current.Task.FromStation.DoorStatus == DoorStatus.打开)
{
Current.Task.Status = TaskStatus.可取;
}
}
else if (Current.Task.Status == TaskStatus.可取 && Current.Task.FromStation != null)
{
byte pos = byte.Parse(Current.Task.FromStation.RobotValues.Split(',')[0]);
if (Current.Robot.IsReadyGet)
{
if (Current.Robot.GetOrPut(pos))
{
}
}
if (Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.正取;
}
}
else if (Current.Task.Status == TaskStatus.正取 && Current.Task.FromStation != null)
{
if (Current.Robot.ClampStatus != ClampStatus.无夹具)
{
Current.Robot.ClampStatus = Current.Task.FromClampStatus;
Current.Task.FromStation.ClampStatus = ClampStatus.无夹具;
if (Current.Task.FromStation.ClampId > 0)
{
Current.Robot.ClampId = Current.Task.FromStation.ClampId;
}
}
if (!Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.取完;
}
}
else if (Current.Task.Status == TaskStatus.取完)
{
if (Current.Task.NextToStationId > 0)
{
Current.Task.ToStationId = Current.Task.NextToStationId;
Current.Task.NextToStationId = -1;
}
if (Current.Task.ToStation != null)
{
if (Current.Task.ToStation.DoorStatus != DoorStatus.打开)
{
Tip.Alert(Current.Task.ToStation.Name + "门未打开！");
}
if (Current.Task.ToStation.DoorStatus == DoorStatus.打开)
{
Current.Task.Status = TaskStatus.可放;
}
}
}
else if (Current.Task.Status == TaskStatus.可放 && Current.Task.ToStation != null)
{
byte pos = byte.Parse(Current.Task.ToStation.RobotValues.Split(',')[1]);
if (Current.Robot.IsReadyPut)
{
if (Current.Robot.GetOrPut(pos))
{
}
}
if (Current.Robot.IsGettingOrPutting)
{
Current.Task.Status = TaskStatus.正放;
}
}
else if (Current.Task.Status == TaskStatus.正放 && Current.Task.ToStation != null)
{
if (Current.Robot.ClampStatus == ClampStatus.无夹具)
{
Current.Task.ToStation.ClampStatus = Current.Task.FromClampStatus;
Current.Task.ToStation.FromStationId = Current.Task.FromStationId;
if (Current.Task.ToStation.ClampId < 1 && Current.Task.ToStation.GetPutType == GetPutType.料机 && Current.Task.FromClampStatus == ClampStatus.空夹具)
{
int oldClampId = -1;
if (Current.Task.FromStation != null)
{
oldClampId = Current.Task.FromStation.ClampId;
}
if (oldClampId < 1)
{
oldClampId = Current.Robot.ClampId;
}
int clampId = Clamp.Add(new Clamp(oldClampId).Code, out msg);
if (clampId > 0)
{
Current.Task.ToStation.ClampId = clampId;
}
else
{
LogHelper.WriteError(msg);
}
}
else
{
if (Current.Task.FromStation != null && Current.Task.FromStation.ClampId > 0)
{
Current.Task.ToStation.ClampId = Current.Task.FromStation.ClampId;
}
else if (Current.Robot.ClampId > 0)
{
Current.Task.ToStation.ClampId = Current.Robot.ClampId;
}
}
Current.Robot.ClampId = -1;
if (Current.Task.FromStation != null)
{
Current.Task.FromStation.ClampId = -1;
}
}
if (!Current.Robot.IsGettingOrPutting)
{
if (!TaskLog.Add(out msg))//记录
{
Error.Alert("保存搬运记录失败：" + msg);
}
Current.Task.Status = TaskStatus.完成;
}
}
}
}