public void ExitPlcHeadChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑头充电点); // 有未上锁的、充电完成的AGV if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成) { if (_plcHead.ExitFlag && true) { _ExitPlcHeadChargeSuc = true; F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.对接完成, ConstSetBA.出窑头充电点, ConstSetBA.窑头对接完成点); F_AGV.AgvLock(agv.Id); _plcHead.ExitFlag = false; //task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + ExitPlcHeadChargeSucMsg); sendServerLog(agv.Id + ExitPlcHeadChargeSucMsg); LogFactory.LogDispatch(agv.Id, "充电完成", ExitPlcHeadChargeSucMsg); } } else { _ExitPlcHeadChargeSuc = false; } }
/// <summary> /// 窑尾取货任务 /// </summary> private void TaskPlcEndGet() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区); ///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应 if (!_plcEnd.IsLock && agv != null && !F_AGV.IsLock(agv.Id) //&& _plcEnd.Sta_Material == EnumSta_Material.有货 ) { //窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车 if (!_PlcEndNeedCharge && !_PlcEndChargeSuc && !_ToPlcEnd) { ///派发一个从窑尾装载等待区到窑尾装载点取货的任务 if (F_DataCenter.MTask.IStartTask(new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site))) { _plcEnd.IsLock = true; F_AGV.AgvLock(agv.Id); sendServerLog(agv.Id + "从窑尾装载等待区到窑尾装载点取货"); LogFactory.LogDispatch(agv.Id, "到窑尾取货", "从窑尾装载等待区到窑尾装载点取货"); } } else { _ToPlcEnd = false; } } }
/// <summary> /// 窑头卸载区的AGV去充电 /// </summary> private void PlcHeadCharge() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.卸货充电点); // 让电量低于60且未充电的AGV去充电 if (agv != null && agv.Electicity <= ConstSetBA.最低电量 && !F_AGV.IsLock(agv.Id) && //agv.ChargeStatus == EnumChargeStatus.未充电 && agv1 == null) { _PlcHeadNeedCharge = true; F_ExcTask task = new F_ExcTask(null, EnumOper.充电, ConstSetBA.窑头卸载等待区, ConstSetBA.卸货充电点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task); sendServerLog(agv.Id + ",去到窑头充电点充电"); LogFactory.LogDispatch(agv.Id, "充电", "去到窑头充电点充电"); } else { _PlcHeadNeedCharge = false; } }
/// <summary> ///窑尾充电点有充电完成的AGV ///优先派充电完成的车去接货 /// </summary> public void PlcEndChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.接货充电点); // 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货 if (agv != null && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成) { if (// _plcEnd.Sta_Material == EnumSta_Material.有货 && //agv.Sta_Material == EnumSta_Material.无货 true) { _PlcEndChargeSuc = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.接货充电点, ConstSetBA.窑尾装载点); F_AGV.AgvLock(agv.Id); _plcEnd.IsLock = true; task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task); sendServerLog(agv.Id + ",充电完成,派充电完成的车去接货"); LogFactory.LogDispatch(agv.Id, "充电完成", "派充电完成的车去接货"); } } else { _PlcEndChargeSuc = false; } }
private void TaskEndToExitBattery() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点); if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && (ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumSta_Material.货)) { // 判断窑尾可出站标志是否为True if (_plcEnd.ExitFlag) { // 判断窑尾接货完成的车是否需要充电,且出窑尾充电站没有车、未被锁定 if (agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv1 == null && !_plcEnd.IsExitBatteryLock) { F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.充电, ConstSetBA.窑尾装载点, ConstSetBA.出窑尾充电点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; _plcEnd.IsExitBatteryLock = true; F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndToExitBatteryMsg); sendServerLog(agv.Id + TaskEndToExitBatteryMsg); LogFactory.LogDispatch(agv.Id, "AGV出窑尾充电", TaskEndToExitBatteryMsg); } } } }
/// <summary> /// 窑头放货任务 /// </summary> private void TaskPlcHeadPut() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区); ///窑头无货 窑头AGV未锁定 并且 此次任务没有被响应 if (!_plcHead.IsLock //&& _plcHead.Sta_Material == EnumSta_Material.无货 && agv != null && !F_AGV.IsLock(agv.Id)) { //窑头等待区的车不需要充电、没有充电完成的车、没有回卸载点的车 if (!_PlcHeadNeedCharge && !_PlcHeadChargeSuc && !_ToPlcHead) { ///派发一个从窑头卸载等待区到窑头卸载点的任务 if (F_DataCenter.MTask.IStartTask(new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.窑头卸载等待区, ConstSetBA.窑头卸载点))) { _plcHead.IsLock = true; F_AGV.AgvLock(agv.Id); sendServerLog(agv.Id + "从窑头卸载等待区到窑头卸载点的任务"); LogFactory.LogDispatch(agv.Id, "卸货", "从窑头卸载等待区到窑头卸载点的任务"); } } else { _ToPlcHead = false; } } }
/// <summary> /// 窑尾等 到 窑尾取 /// </summary> private void TaskPlcEndGet() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区); //查找是否存在目标站点是窑尾的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站); F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点); F_AGV d_agv3 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.进窑尾充电点); ///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应 if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) && (d_agv == null //&& d_agv2 == null ) && agv != null && agv.IsFree && (agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() || (agv.Electicity > ParamControl.MinElectricityCharge) || //高于最低充电量的车不能去充电 (!ParamControl.Do_EnterEndCharge || _plcEnd.IsEnterBatteryLock && _plcEnd.EnterChargeAgv != agv.Id)) //&& _plcEnd.IsLock == false && (d_agv3 == null || (d_agv3 != null && d_agv3.ChargeStatus != EnumChargeStatus.充电完成)) ) { //窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车 if (//!_PlcEndNeedCharge && !_EnterPlcEndChargeSuc && !_ToPlcEnd true) { ///派发一个从窑尾装载等待区到窑尾装载点取货的任务 F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, (agv.Id + TaskPlcEndGetMsg)); //去取货,锁定窑尾 _plcEnd.IsLock = true; ParamControl.Do_EndPlcLock = false; F_AGV.AgvLock(agv.Id); sendServerLog(agv.Id + TaskPlcEndGetMsg); //LogFactory.LogDispatch(agv.Id, "到窑尾取货", TaskPlcEndGetMsg); FLog.Log(agv.Id + TaskPlcEndGetMsg); } else { //_ToPlcEnd = false; } } }
/// <summary> /// 窑头去窑头对接完成点 /// </summary> private void TaskHeadToHeadSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑头充电点); //查找是否存在目标站点是窑头对接完成点的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑头对接完成点); if (agv1 != null) { ParamControl.Do_ExitHeadChargeLock = false; } if (agv != null && agv.IsFree //&&! F_AGV.IsLock(agv.Id) && (ParamControl.IgnoreAgvUnloadTask || agv.Sta_Material == EnumagvSta_Material.无货) ) { // 判断是否存在目标站点是对接完成点的车 if (//_plcHead.ExitFlag d_agv == null ) { // 如果需要充电但是充电桩有车、被锁,或者不需要充电直接去到对接完成点 if (//(agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() //&& agv1 != null //&& (//_plcHead.IsExitBatteryLock && // !ParamControl.Do_ExitHeadChargeLock)) //|| agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() true ) { // 从窑头到窑头对接完成点 F_ExcTask task1 = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.窑头卸载点, ConstSetBA.窑头对接完成点); F_AGV.AgvLock(agv.Id); task1.Id = agv.Id; _plcHead.ExitFlag = false; F_DataCenter.MTask.IStartTask(task1, agv.Id + TaskHeadToHeadSucMsg); sendServerLog(agv.Id + TaskHeadToHeadSucMsg); LogFactory.LogDispatch(agv.Id, "卸货完成", TaskHeadToHeadSucMsg); } } } }
/// <summary> /// 进窑尾充 到 窑尾取 /// </summary> public void TaskEnterEndChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点); //查找是否存在目标站点是窑尾的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站); F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点); // 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货 if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock)&& //(d_agv == null && d_agv2 == null) agv != null && agv.IsFree //&& !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成 //&& _plcEnd.IsLock == false ) { if (//_plcEnd.Sta_Material == EnumSta_Material.有货 && //agv.Sta_Material == EnumagvSta_Material.无货 true ) { _EnterPlcEndChargeSuc = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.进窑尾充电点, ConstSetBA.窑尾装载点); F_AGV.AgvLock(agv.Id); //去取货,锁定窑尾 _plcEnd.IsLock = true; ParamControl.Do_EndPlcLock = false; task.Id = agv.Id; Thread.Sleep(5000); F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeSucMsg); sendServerLog(agv.Id + PlcEndChargeSucMsg); //LogFactory.LogDispatch(agv.Id, "充电完成", PlcEndChargeSucMsg); FLog.Log(agv.Id + PlcEndChargeSucMsg); } } else { _EnterPlcEndChargeSuc = false; } }
/// <summary> /// 窑尾等 到 进窑尾充 /// </summary> private void TaskEndToEnterBattery() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点); if (agv1 != null) { ParamControl.Do_EnterEndChargeLock = false; } // 让未上锁的、电量低于60且未充电的AGV去充电,且接货充电点没有AGV if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv.ChargeStatus == EnumChargeStatus.未充电 && agv1 == null && !_plcEnd.IsEnterBatteryLock && ParamControl.Do_EnterEndChargeLock) { _PlcEndNeedCharge = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.充电, ConstSetBA.窑尾装载等待区, ConstSetBA.进窑尾充电点); F_AGV.AgvLock(agv.Id); //进窑尾充电,锁定进窑尾充电桩 _plcEnd.IsEnterBatteryLock = true; ParamControl.Do_EnterEndChargeLock = false; _plcEnd.EnterChargeAgv = agv.Id; task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeMsg); sendServerLog(agv.Id + PlcEndChargeMsg); LogFactory.LogDispatch(agv.Id, "充电", PlcEndChargeMsg); } else { _PlcEndNeedCharge = false; if (agv1 != null) { _plcEnd.IsEnterBatteryLock = true; _plcEnd.EnterChargeAgv = agv1.Id; } } }
/// <summary> /// 窑头等 到 窑头卸 /// </summary> private void TaskPlcHeadPut() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区); //查找是否存在目标站点是窑头的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑头卸载站); F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑头卸载点); ///窑头无货 窑头AGV未锁定 并且 此次任务没有被响应 if (//ParamControl.Do_HeadPlcLock && (d_agv == null && d_agv2 == null) &&// !_plcHead.IsLock agv != null && agv.IsFree //&& !F_AGV.IsLock(agv.Id) //&& agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() //&& (//ParamControl.IgnoreHeadUnloadTask || //_plcHead.Sta_Material == EnumSta_Material.允许下料 //|| _plcHead.Sta_Material == EnumSta_Material.未知 ) ) { //窑头等待区的车不需要充电、没有充电完成的车、没有回卸载点的车 if (true //!_EnterPlcHeadChargeSuc && !_ToPlcHead ) { ///派发一个从窑头卸载等待区到窑头卸载点的任务 F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.窑头卸载等待区, ConstSetBA.窑头卸载点); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + TaskPlcHeadPutMsg); //去卸货,锁定窑头 _plcHead.IsLock = true; ParamControl.Do_HeadPlcLock = false; F_AGV.AgvLock(agv.Id); sendServerLog(agv.Id + TaskPlcHeadPutMsg); LogFactory.LogDispatch(agv.Id, "卸货", TaskPlcHeadPutMsg); } else { // _ToPlcHead = false; } } }
/// <summary> /// 窑尾等 到 窑尾取 /// </summary> private void TaskPlcEndGet() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区); //查找是否存在目标站点是窑尾的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站); F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点); ///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应 if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) && (d_agv == null && d_agv2 == null) && agv != null && agv.IsFree //&& !F_AGV.IsLock(agv.Id) //&& agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() //&& (ParamControl.IgnoreTailLoadTask || _plcEnd.Sta_Material == EnumSta_Material.有货) ) { //窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车 if (//!_PlcEndNeedCharge && !_EnterPlcEndChargeSuc && !_ToPlcEnd true) { ///派发一个从窑尾装载等待区到窑尾装载点取货的任务 F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, (agv.Id + TaskPlcEndGetMsg)); //去取货,锁定窑尾 _plcEnd.IsLock = true; ParamControl.Do_EndPlcLock = false; F_AGV.AgvLock(agv.Id); sendServerLog(agv.Id + TaskPlcEndGetMsg); LogFactory.LogDispatch(agv.Id, "到窑尾取货", TaskPlcEndGetMsg); } else { //_ToPlcEnd = false; } } }
/// <summary> /// 窑尾到窑尾对接完成点 /// </summary> private void TaskEndToEndSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点); F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾对接完成点); if (agv != null && agv.IsFree //&& !F_AGV.IsLock(agv.Id) && (ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumagvSta_Material.货) ) { // 判断是否存在目标站点是对接完成点的agv if (//_plcEnd.ExitFlag d_agv == null) { // 如果需要充电但是充电桩有车、被锁,或者不需要充电直接去到对接完成点 if (//agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && //agv1 != null && //_plcEnd.IsExitBatteryLock && //ParamControl.Do_ExitEndChargeLock)) //|| agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() true ) { // 从窑尾到窑尾对接完成点 F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.对接完成, ConstSetBA.窑尾装载点, ConstSetBA.窑尾对接完成点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; _plcEnd.ExitFlag = false; F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndToEndSucMsg); sendServerLog(agv.Id + TaskEndToEndSucMsg); //LogFactory.LogDispatch(agv.Id, "取货完成", TaskEndToEndSucMsg); FLog.Log(agv.Id + TaskEndToEndSucMsg); } } } }
/// <summary> /// 窑尾对接完成点到窑头等待点 /// </summary> private void TaskEndSucToHeadWait() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾对接完成点); if (agv != null && agv.IsFree) { F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, ConstSetBA.窑尾对接完成点, ConstSetBA.窑头卸载等待区); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndSucToHeadWaitMsg); sendServerLog(agv.Id + TaskEndSucToHeadWaitMsg); LogFactory.LogDispatch(agv.Id, " ", TaskEndSucToHeadWaitMsg); } }
/// <summary> /// 进窑头充 到 窑头卸 /// </summary> public void TaskEnterHeadChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点); // 有充电完成的AGV,且窑头卸载点没货 if ((ParamControl.Do_HeadPlcLock && !_plcHead.IsLock) && agv != null && agv.IsFree && agv.ChargeStatus == EnumChargeStatus.充电完成 && !F_AGV.IsLock(agv.Id) ) { _EnterPlcHeadChargeSuc = true; if (_plcHead.Sta_Material == EnumSta_Material.无货 && agv.Sta_Material == EnumagvSta_Material.货 ) { F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.进窑头充电点, ConstSetBA.窑头卸载点); F_AGV.AgvLock(agv.Id); //去卸货,锁定窑头 _plcHead.IsLock = true; ParamControl.Do_HeadPlcLock = false; task.Id = agv.Id; Thread.Sleep(2000); F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeSucMsg); sendServerLog(agv.Id + PlcHeadChargeSucMsg); //LogFactory.LogDispatch(agv.Id, "充电完成", PlcHeadChargeSucMsg); FLog.Log(agv.Id + PlcHeadChargeSucMsg); } } else { _EnterPlcHeadChargeSuc = false; } }
/// <summary> /// 窑头卸货完成Agv从窑头卸载点到窑尾装载等待区 /// </summary> private void TaskEndToEndWait() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site); if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) //&& agv.Sta_Material == EnumSta_Material.无货 ) { F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, ConstSetBA.窑头卸载点, ConstSetBA.窑尾装载等待区); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task); sendServerLog(agv.Id + "从窑头卸载点到窑尾装载等待区"); LogFactory.LogDispatch(agv.Id, "接货", "从窑头卸载点到窑尾装载等待区"); } }
/// <summary> /// 进窑尾充 到 窑尾取 /// </summary> public void TaskEnterEndChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点); // 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货 if ((ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) && agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成) { if (_plcEnd.Sta_Material == EnumSta_Material.货 && agv.Sta_Material == EnumagvSta_Material.无货 ) { _EnterPlcEndChargeSuc = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.进窑尾充电点, ConstSetBA.窑尾装载点); F_AGV.AgvLock(agv.Id); //去取货,锁定窑尾 _plcEnd.IsLock = true; ParamControl.Do_EndPlcLock = false; task.Id = agv.Id; Thread.Sleep(2000); F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeSucMsg); sendServerLog(agv.Id + PlcEndChargeSucMsg); LogFactory.LogDispatch(agv.Id, "充电完成", PlcEndChargeSucMsg); } } else { _EnterPlcEndChargeSuc = false; } }
/// <summary> /// 窑头放 到 出窑头充电站 /// </summary> private void TaskHeadToExitBattery() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑头充电点); if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && (ParamControl.IgnoreAgvUnloadTask || agv.Sta_Material == EnumagvSta_Material.无货)) { // 判断窑头可出站标志是否为True if (_plcHead.ExitFlag) { // 判断窑头接货完成的车是否需要充电,且出窑头充电站没有车、未被锁定 if (agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv.ChargeStatus == EnumChargeStatus.未充电 && agv1 == null && (!_plcHead.IsExitBatteryLock && ParamControl.Do_ExitHeadChargeLock)) { F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.充电, ConstSetBA.窑头卸载点, ConstSetBA.出窑头充电点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; //出窑头充电,锁定出窑头充电桩 _plcHead.IsExitBatteryLock = true; ParamControl.Do_ExitHeadChargeLock = false; _plcHead.ExitChargeAgv = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + TaskHeadToExitBatteryMsg); sendServerLog(agv.Id + TaskHeadToExitBatteryMsg); LogFactory.LogDispatch(agv.Id, "AGV出窑头充电", TaskHeadToExitBatteryMsg); } } } }
public void PlcHeadChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点); // 有充电完成的AGV,且窑头卸载点没货 if (agv != null && agv.IsFree && agv.ChargeStatus == EnumChargeStatus.充电完成 && !F_AGV.IsLock(agv.Id) ) { _EnterPlcHeadChargeSuc = true; if (//_plcHead.Sta_Material == EnumSta_Material.无货 //&& agv.Sta_Material == EnumSta_Material.有货 true ) { F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.进窑头充电点, ConstSetBA.窑头卸载点); F_AGV.AgvLock(agv.Id); _plcHead.IsLock = true; //task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeSucMsg); sendServerLog(agv.Id + PlcHeadChargeSucMsg); LogFactory.LogDispatch(agv.Id, "充电完成", PlcHeadChargeSucMsg); } } else { _EnterPlcHeadChargeSuc = false; } }
private void PlcHeadCharge() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点); // 让电量低于60且未充电的AGV去充电 if (agv != null && agv.IsFree && agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv.Electicity <= 80 && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.未充电 && agv1 == null && !_plcHead.IsEnterBatteryLock) { _PlcHeadNeedCharge = true; F_ExcTask task = new F_ExcTask(null, EnumOper.充电, ConstSetBA.窑头卸载等待区, ConstSetBA.进窑头充电点); F_AGV.AgvLock(agv.Id); //task.Id = agv.Id; _plcHead.IsEnterBatteryLock = true; _plcHead.EnterChargeAgv = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeMsg); sendServerLog(agv.Id + PlcHeadChargeMsg); LogFactory.LogDispatch(agv.Id, "充电", PlcHeadChargeMsg); } else { _PlcHeadNeedCharge = false; } }
/// <summary> /// 出窑尾充 到 窑尾对接完成点 /// </summary> public void TaskExitEndChargeSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点); // 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货 if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成) { if (_plcEnd.ExitFlag && true) { _ExitPlcEndChargeSuc = true; F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.出窑尾充电点, ConstSetBA.窑尾对接完成点); F_AGV.AgvLock(agv.Id); _plcEnd.ExitFlag = false; task.Id = agv.Id; Thread.Sleep(2000); F_DataCenter.MTask.IStartTask(task, agv.Id + ExitPlcEndChargeSucMsg); sendServerLog(agv.Id + ExitPlcEndChargeSucMsg); //LogFactory.LogDispatch(agv.Id, "充电完成", ExitPlcEndChargeSucMsg); FLog.Log(agv.Id + ExitPlcEndChargeSucMsg); } } else { _ExitPlcEndChargeSuc = false; } }
/// <summary> /// 窑尾到窑尾对接完成点 /// </summary> private void TaskEndToEndSuc() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site); F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点); if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id) && (ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumSta_Material.货) ) { // 判断窑尾可出站标志是否为True if (_plcEnd.ExitFlag) { // 如果需要充电但是充电桩有车、被锁,或者不需要充电直接去到对接完成点 if ((agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv1 != null && _plcHead.IsExitBatteryLock) || agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()) { // 从窑尾到窑尾对接完成点 F_ExcTask task1 = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.窑尾装载点, ConstSetBA.窑尾对接完成点); F_AGV.AgvLock(agv.Id); task1.Id = agv.Id; _plcEnd.ExitFlag = false; F_DataCenter.MTask.IStartTask(task1, agv.Id + TaskEndToEndSucMsg); sendServerLog(agv.Id + TaskEndToEndSucMsg); LogFactory.LogDispatch(agv.Id, "取货完成", TaskEndToEndSucMsg); } } } }
/// <summary> /// 初始化,让AGV回到相应的点或者执行相应的任务 /// </summary> private void InitToAllAGV() { List <F_AGV> agvs = F_DataCenter.MDev.InitGetDevNot(agvid); PLCEndTrafficSite.AddRange(new string[] { "26", "16", "21", "11" }); PLCHeadTrafficSite.AddRange(new string[] { "23", "13", "24", "14" }); PLCEndToHeadWaitSite.AddRange(new string[] { "12", "62" }); PLCHeadToEndWaitSite.AddRange(new string[] { "15", "65" }); if (agvs != null) { foreach (F_AGV agv in agvs) { // 窑尾交通管制点是否有车 if (PLCEndTrafficSite.Contains(agv.Site)) { if (agv.Site == ConstSetBA.窑尾装载点) { // 初始化,在窑尾装载点且有货,去到窑尾对接完成点 if (agv.Sta_Material == EnumagvSta_Material.货) { F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑尾对接完成点); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndSucMsg); sendServerLog(agv.Id + initToEndSucMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化", initToEndSucMsg); } // 初始化,在窑尾装载点且无货,执行取货任务 else { _ToPlcEnd = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, agv.Site, ConstSetBA.窑尾装载点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + toEndGrtMsg); sendServerLog(agv.Id + "初始化,位于装载点且无货的AGV,执行取货任务"); LogFactory.LogDispatch(agv.Id, "车辆初始化", "位于装载点且无货的AGV,执行取货任务"); } } // 不在装载点的车,判断地标是否为正反卡的21,若为取货完成的车去到窑尾对接完成点 else if (agv.Site == ConstSetBA.窑尾装载点的前一地标 && agv.Sta_Material == EnumagvSta_Material.货) { F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑尾对接完成点); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndSucMsg); sendServerLog(agv.Id + initToEndSucMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化 ,有货的AGV", initToEndSucMsg); } else { // 准备取货的AGV,去到窑尾装载点取货 _ToPlcEnd = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, agv.Site, ConstSetBA.窑尾装载点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + toEndGrtMsg); sendServerLog(agv.Id + "初始化,准备取货的AGV,去到窑尾装载点取货"); LogFactory.LogDispatch(agv.Id, "车辆初始化", "准备取货的AGV,去到窑尾装载点取货"); } } // 窑头交通管制点是否有车 else if (PLCHeadTrafficSite.Contains(agv.Site)) { if (agv.Site == ConstSetBA.窑头卸载点) { // 初始化,在窑头卸载点且无货,去到窑头对接完成点 if (agv.Sta_Material == EnumagvSta_Material.无货) { F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑头对接完成点); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadSucMsg); sendServerLog(agv.Id + TaskHeadToHeadSucMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化", initToHeadSucMsg); } // 初始化,在窑头卸载点且无货,执行放货任务 else { _ToPlcHead = true; F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, agv.Site, ConstSetBA.窑头卸载点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + toHeadGrtMsg); sendServerLog(agv.Id + "初始化,位于窑头卸载点且有货,执行放货任务"); LogFactory.LogDispatch(agv.Id, "车辆初始化", "位于窑头卸载点且有货,执行放货任务"); } } // 不在卸载点的车,判断地标是否为正反卡的24,若为放货完成的车去到窑头对接完成点 else if (agv.Site == ConstSetBA.窑头卸载点的前一地标 && agv.Sta_Material == EnumagvSta_Material.无货) { F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑头对接完成点); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadSucMsg); sendServerLog(agv.Id + initToHeadSucMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化 ,无货的AGV", initToHeadSucMsg); } else { // 准备卸货的AGV,去到窑头卸载点放货 _ToPlcEnd = true; F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, agv.Site, ConstSetBA.窑头卸载点); F_AGV.AgvLock(agv.Id); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + toHeadGrtMsg); sendServerLog(agv.Id + "初始化, 准备卸货的AGV,去到窑头卸载点放货"); LogFactory.LogDispatch(agv.Id, "车辆初始化", " 准备卸货的AGV,去到窑头卸载点放货"); } } /// 不在任何交通管制点的车,去到相应的等待点 /// 窑头卸货完成的车,直接去到窑尾装载等待点 else if (PLCHeadToEndWaitSite.Contains(agv.Site) && agv.Sta_Material == EnumagvSta_Material.无货) { F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, agv.Site, ConstSetBA.窑尾装载等待区); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndWaitMsg); sendServerLog(agv.Id + initToEndWaitMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化 ,窑头交管解除点的AGV", initToEndWaitMsg); } /// 窑尾取货完成的车,直接去到窑头卸载等待点 else if (PLCEndToHeadWaitSite.Contains(agv.Site) && agv.Sta_Material == EnumagvSta_Material.货) { F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, agv.Site, ConstSetBA.窑头卸载等待区); task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadWaitMsg); sendServerLog(agv.Id + initToHeadWaitMsg); LogFactory.LogDispatch(agv.Id, "车辆初始化 ,窑尾交管解除点的AGV", initToHeadWaitMsg); } } } }
/// <summary> /// 窑尾等 到 进窑尾充 /// </summary> private void TaskEndToEnterBattery() { F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区); //查找是否存在目标站点是进窑尾充电站的AGV F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.充电桩站); F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.进窑尾充电点); //去进窑尾充电站的车是否是窑尾的车 if (d_agv != null && (d_agv.Site != "26" && d_agv.Site != "36")) { d_agv = null; } if (d_agv != null || d_agv2 != null) { ParamControl.Do_EnterEndChargeLock = false; if (d_agv != null) { _plcEnd.IsEnterBatteryLock = true; _plcEnd.EnterChargeAgv = d_agv.Id; ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock; ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv; } else if (d_agv2 != null) { _plcEnd.IsEnterBatteryLock = true; _plcEnd.EnterChargeAgv = d_agv2.Id; ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock; ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv; } } // 让未上锁的、电量低于60且未充电的AGV去充电,且接货充电点没有AGV if (agv != null && agv.IsFree && agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv.ChargeStatus == EnumChargeStatus.未充电 && (d_agv == null && d_agv2 == null) && !_plcEnd.IsEnterBatteryLock //&& ParamControl.Do_EnterEndChargeLock && agv.Electicity <= ParamControl.MinElectricityCharge //低于最低充电量的车才能去充电 ) { _PlcEndNeedCharge = true; F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.充电, ConstSetBA.窑尾装载等待区, ConstSetBA.进窑尾充电点); F_AGV.AgvLock(agv.Id); //进窑尾充电,锁定进窑尾充电桩 _plcEnd.IsEnterBatteryLock = true; ParamControl.Do_EnterEndChargeLock = false; _plcEnd.EnterChargeAgv = agv.Id; ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock; ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv; task.Id = agv.Id; F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeMsg); sendServerLog(agv.Id + PlcEndChargeMsg); //LogFactory.LogDispatch(agv.Id, "充电", PlcEndChargeMsg); FLog.Log(agv.Id + PlcEndChargeMsg); } else { _PlcEndNeedCharge = false; } }