private static void InformAGV(ushort StartPoint, byte TrayStyle)
{
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.InsertAGVCmd(con, StartPoint, ConfigClass.WHInlibArea, TrayStyle);
}
private void CheckAndInformAGV1(object obj)
{
Thread.Sleep(2); //防止由于连续接收到相同信息，从而导致连续插入相同的指令
WHPackageInfo package = obj as WHPackageInfo;
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
string OrderStyle = "";
int WHTrayStyle = db.SelectOTbySerialNumber(con, package.SerialNumber, ref OrderStyle);
if (OrderStyle == "人工订单") //如果是人工订单，则需要将其运送到人口下料区
{
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.HandDownArea);
InformAGVThread1State = false;
return;
}
}
//通知AGV的线程执行的函数
//通知AGV来取货物，并送往指定位置
//(根据当前出库的托盘类型和订单类型和各个工作区的PLC状态来判断应该将货物送往哪里，然后向AGV指令表中插入数据)
private void CheckAndInformAGV(object obj)
{
Thread.Sleep(TimeSpan.FromSeconds(4)); //防止由于连续接收到相同信息，从而导致连续插入相同的指令
WHPackageInfo package = obj as WHPackageInfo;
SqlConnection con = new SqlConnection();
DataBaseHandle db = new DataBaseHandle();
string OrderStyle = "";
int WHTrayStyle = db.SelectOTbySerialNumber(con, package.SerialNumber, ref OrderStyle);
//更新订单表的出库数量
db.UpdateOutlibNum(con, OrderStyle);
if (OrderStyle == "加工订单" && WHTrayStyle == ConfigClass.Tray_A0) //如果是加工订单，且是加工空托盘A0的话
{
//AGV应该有从立库出口处前往加工区
if (StateMachine.P_Process_Area1 == 0 && MainWindow.WHMatchingProcess1 == true && MainWindow.AGVMatchingProcess1 == false)
{
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.ProcessArea1);
MainWindow.AGVMatchingProcess1 = true;
InformAGVThread1State = false;
return;
}
if (StateMachine.P_Process_Area2 == 0 && MainWindow.WHMatchingProcess2 == true && MainWindow.AGVMatchingProcess2 == false)
{
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.ProcessArea2);
MainWindow.AGVMatchingProcess2 = true;
InformAGVThread1State = false;
return;
}
return;
}
if (OrderStyle == "检测订单" && WHTrayStyle == ConfigClass.Tray_A2) //如果是检测订单，且是加工成品托盘A2
{
//AGV应该从立库出口处前往检测区
if (StateMachine.D_Detection_Area1 == 0 && MainWindow.WHMatchingDetection1 == true && MainWindow.AGVMatchingDetection1 == false)
{
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.DetectionArea1);
MainWindow.AGVMatchingDetection1 = true;
InformAGVThread1State = false;
return;
}
if (StateMachine.D_Detection_Area2 == 0 && MainWindow.WHMatchingDetection2 == true && MainWindow.AGVMatchingDetection2 == false)
{
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.DetectionArea2);
MainWindow.AGVMatchingDetection2 = true;
InformAGVThread1State = false;
return;
}
return;
}
if (OrderStyle == "拧螺丝订单" && WHTrayStyle == ConfigClass.Tray_B1) //如果是拧螺丝订单，且是拧螺丝打钉托盘B1
{
if (StateMachine.A_Assembly_Area1 == 0 && MainWindow.WHMatchingAssembly1 == true && MainWindow.AGVMatchingAssembly1 == false)
{
//AGV应该从立库出口处前往拧螺丝区（装配区1）
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.AssemblyArea1);
MainWindow.AGVMatchingAssembly1 = true;
InformAGVThread1State = false;
return;
}
}
if (OrderStyle == "轴承压装订单" && WHTrayStyle == ConfigClass.Tray_A4) //如果是轴承压装订单，且是轴承压装毛坯托盘A4
{
if (StateMachine.A_Assembly_Area2 == 0 && MainWindow.WHMatchingAssembly2 == true && MainWindow.AGVMatchingAssembly2 == false)
{
//AGV应该从立库出口处前往轴承压装区（装配区2）
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea1, ConfigClass.AssemblyArea2);
MainWindow.AGVMatchingAssembly2 = true;
InformAGVThread1State = false;
return;
}
}
}
//执行订单（自动操作）AGV时收到消息的处理方法
private void AutoOperate()
{
if (package.Head == 30000)
{
MainWindow.whUIHandle.WH_OPER_STATE = "写码完成";
LogInfoHelp.GetInstance().WriteInfoToLogFile("写码完成", LogInfoHelp.LOG_TYPE.LOG_INFO);
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.InsertAGVCmd(con, ConfigClass.WHOutlibArea2, ConfigClass.WHInlibArea);
return;
}
if (package.Head == 10004)
{
MainWindow.whUIHandle.WH_OPER_STATE = "已收到出库指令";
ExecuteOrder.SendWHCmdEnable = false;
LogInfoHelp.GetInstance().WriteInfoToLogFile("已收到出库指令", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表通信状态为【已收到】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHComState(con, package.SerialNumber);
return;
}
if (package.Head == 20004)
{
if (package.InlibMatchingID == 1) // 与预期的托盘号一致，匹配成功
{
MainWindow.whUIHandle.WH_OPER_STATE = "已收到入库指令";
ExecuteOrder.SendWHCmdEnable = false;
LogInfoHelp.GetInstance().WriteInfoToLogFile("已收到入库指令", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表通信状态为【已收到】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHComState(con, package.SerialNumber);
}
else
{
MainWindow.whUIHandle.WH_OPER_STATE = "入库托盘匹配不成功";
LogInfoHelp.GetInstance().WriteInfoToLogFile("入库托盘匹配不成功", LogInfoHelp.LOG_TYPE.LOG_ERROR);
MessageBox.Show("入库托盘匹配不成功,RFID读写器可能出现异常或者出现一些不可预见因素");
ExecuteOrder.ExecuteFlag = false;
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.DeleteAGVCmdTable(con);
db.DeleteWHCmdTable(con);
}
return;
}
if (package.Head == 30004)
{
MainWindow.whUIHandle.WH_OPER_STATE = "已收到侧边出库命令";
ExecuteOrder.SendWHCmdEnable = false;
LogInfoHelp.GetInstance().WriteInfoToLogFile("已收到侧边出库命令", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表通信状态为【已收到】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHComState(con, package.SerialNumber);
return;
}
if (package.Head == 10005)
{
if (package.OutlibMatchingID == 2)
{
MainWindow.whUIHandle.WH_OPER_STATE = "出库托盘匹配不成功";
LogInfoHelp.GetInstance().WriteInfoToLogFile("出库托盘匹配不成功", LogInfoHelp.LOG_TYPE.LOG_ERROR);
MessageBox.Show("出库托盘匹配不成功,请检查MES系统的托盘位置和立库实际的托盘位置是否一致，否则RFID读写器可能出现异常");
ExecuteOrder.ExecuteFlag = false;
DataBaseHandle db1 = new DataBaseHandle();
SqlConnection con1 = new SqlConnection();
db1.DeleteAGVCmdTable(con1);
db1.DeleteWHCmdTable(con1);
return;
}
MainWindow.whUIHandle.WH_OPER_STATE = "已出库";
LogInfoHelp.GetInstance().WriteInfoToLogFile("已出库", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表工作状态为【完成】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHWorkState(con, package.SerialNumber);
ExecuteOrder.SendWHCmdEnable = true;
//更新库位表（根据流水号得到出库的货位ID，然后将此ID号对应的货位类型置为0，选中状态置为未选中）
db.UpdateCargoInfo(con, package.SerialNumber);
//通知AGV来取货物，并送往指定位置
//(根据当前出库的托盘类型和订单类型和各个工作区的PLC状态来判断应该将货物送往哪里，然后向AGV指令表中插入数据)
//防止由于连续接收到相同信息，从而导致连续插入相同的指令以及防止线程重复创建
if (InformAGVThreadState == false)
{
InformAGVThread = new Thread(new ParameterizedThreadStart(CheckAndInformAGV));
InformAGVThread.IsBackground = true;
InformAGVThread1State = true;
InformAGVThread.Start(package);
InformAGVThread.Priority = ThreadPriority.AboveNormal;
}
return;
}
if (package.Head == 20005)
{
MainWindow.whUIHandle.WH_OPER_STATE = "已入库";
LogInfoHelp.GetInstance().WriteInfoToLogFile("已入库", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表工作状态为【完成】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHWorkState(con, package.SerialNumber);
ExecuteOrder.SendWHCmdEnable = true;
//更新库位表（根据流水号得出入库的货位ID，然后根据得到的托盘类型，将货位类型置为相应的类型。选中状态置为未选中）
db.UpdateCargoInfo(con, package.SerialNumber, package.TrayStyle);
//如果订单类型是入库订单的话，我们就根据其托盘类型更新订单表 ,然后判断立库中订单表的数量，
//如果为0停止响应的机器工作
//不为0的话则通知出库。
if (UpdateOrderThreadState == false)
{
UpdateOrderThread = new Thread(new ParameterizedThreadStart(UpdateOrderTable));
UpdateOrderThread.IsBackground = true;
UpdateOrderThreadState = true;
UpdateOrderThread.Start(package.SerialNumber);
UpdateOrderThread.Priority = ThreadPriority.AboveNormal;
}
}
if (package.Head == 30005)
{
if (package.OutlibMatchingID == 2)
{
MainWindow.whUIHandle.WH_OPER_STATE = "托盘匹配不成功";
LogInfoHelp.GetInstance().WriteInfoToLogFile("侧边托盘匹配不成功", LogInfoHelp.LOG_TYPE.LOG_ERROR);
MessageBox.Show("侧边出库托盘匹配不成功,请检查MES系统的托盘位置和立库实际的托盘位置是否一致，否则RFID读写器可能出现异常");
ExecuteOrder.ExecuteFlag = false;
DataBaseHandle db1 = new DataBaseHandle();
SqlConnection con1 = new SqlConnection();
db1.DeleteAGVCmdTable(con1);
db1.DeleteWHCmdTable(con1);
return;
}
MainWindow.whUIHandle.WH_OPER_STATE = "已侧边出库";
LogInfoHelp.GetInstance().WriteInfoToLogFile("已侧边出库", LogInfoHelp.LOG_TYPE.LOG_INFO);
//更新立库表工作状态为【完成】
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateWHWorkState(con, package.SerialNumber);
ExecuteOrder.SendWHCmdEnable = true;
//更新库位表（根据流水号得到出库的货位ID，然后将此ID号对应的货位类型置为0，选中状态置为未选中）
db.UpdateCargoInfo(con, package.SerialNumber);
//通知加工区机器人来取货物
DTUSendPackage.Raw_Tray_Out = 1;
return;
}
}