/// <summary>
/// 选择AGV指令表中未通讯完成的指令，将其发给AGV
/// </summary>
/// <param name="con"></param>
public void SelectAGVCmd(SqlConnection con)
{
try
{
openDatabase(con);
string sql_select = "SELECT TaskID,StartMapPoint,EndMapPoint FROM AGVCmdTable WHERE WorkState='未完成' AND ComState='未收到' ORDER BY Priority DESC,TaskID ASC";
SqlCommand cmd_select = new SqlCommand(sql_select, con);
SqlDataReader reader = cmd_select.ExecuteReader();
if (reader.Read())
{
SendPackage package = new SendPackage();
package.TaskID = Convert.ToInt32(reader["TaskID"].ToString());
package.MapID1 = Convert.ToUInt16(reader["StartMapPoint"].ToString());
package.MapID2 = Convert.ToUInt16(reader["EndMapPoint"].ToString());
if (ExecuteOrder.SendAGVCmdEnable)
{
SelectAGVCmdEvent(package); //触发事件
}
}
reader.Close();
con.Close();
}
catch (SqlException ex)
{
MessageBox.Show("查询AGV通讯状态失败，请检查数据库是否断开" + ex.ToString());
}
}
//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 == 10003) //收到消息
{
ExecuteOrder.SendAGVCmdEnable = false;
MainWindow.agvUIHandle.AGV_POS_ACTION = "AGV已收到消息";
LogInfoHelp.GetInstance().WriteInfoToLogFile("AGV已收到消息", LogInfoHelp.LOG_TYPE.LOG_INFO);
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
db.UpdateAGVComState(con, package.TaskID); //更新AGV指令表中的通讯状态为【已收到】
return;
}
if (package.Head == 10005) //执行指令完成
{
if (package.TaskStepID == 0) //执行取货任务完成
{
//得到AGV的起点和终点
int StartPoint, EndPoint = 0;
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
StartPoint = db.SelectAGVStartEndPoint(con, package.TaskID, ref EndPoint);
MainWindow.agvUIHandle.AGV_POS_ACTION = ConfigClass.GetMapString(StartPoint) + "取货完毕";
LogInfoHelp.GetInstance().WriteInfoToLogFile(MainWindow.agvUIHandle.AGV_POS_ACTION, LogInfoHelp.LOG_TYPE.LOG_INFO);
//如过是送往立库入库区来的，向加工PLC 装配PLC 检测PLC发布当前状态
//AGV在各个机构区域取托盘完毕
if (EndPoint == ConfigClass.WHInlibArea)
{
PublishAGVState(StartPoint, EndPoint);
Thread t = new Thread(delegate()
{
Thread.Sleep(new TimeSpan(0, 0, 5));
SetNull();
});
t.Start();
t.Priority = ThreadPriority.AboveNormal;
t.IsBackground = true;
//判断立库表指令是否超过两条，如果超过两条则挂起，否则不挂起
Thread th = new Thread(delegate()
{
SendPackage pac = new SendPackage();
while (true)
{
bool IsNoPause = db.SelectWHCmdNum(con); //查询立库指令表是否具备AGV挂起的条件
if (IsNoPause == false) //如果指令没超过一条
{
pac.Head = 10012;
pac.ESSignal = 6; //解急停
sendESDelegate(pac);
break;
}
//如果超过两条
pac.Head = 10012;
pac.ESSignal = 5; //急停
sendESDelegate(pac);
Thread.Sleep(TimeSpan.FromSeconds(3));
}
});
th.Start();
th.Priority = ThreadPriority.AboveNormal;
th.IsBackground = true;
}
return;
}
if (package.TaskStepID == 1) //执行卸货任务完成
{
DataBaseHandle db = new DataBaseHandle();
SqlConnection con = new SqlConnection();
//得到AGV的起点和终点
int StartPoint, EndPoint = 0;
StartPoint = db.SelectAGVStartEndPoint(con, package.TaskID, ref EndPoint);
MainWindow.agvUIHandle.AGV_POS_ACTION = ConfigClass.GetMapString(EndPoint) + "卸货完毕";
LogInfoHelp.GetInstance().WriteInfoToLogFile(MainWindow.agvUIHandle.AGV_POS_ACTION, LogInfoHelp.LOG_TYPE.LOG_INFO);
db.UpdateAGVWorkState(con, package.TaskID); //更新AGV指令表中的通讯状态为【完成】
ExecuteOrder.SendAGVCmdEnable = true;
//如果是从立库出库区来的，向加工PLC 装配PLC 检测PLC发布当前状态
//AGV在各个机构区域放托盘完毕
if (StartPoint == ConfigClass.WHOutlibArea1)
{
//发布AGV的状态给各个PLC
PublishAGVState(StartPoint, EndPoint);
//AGV在各工作区卸货完成后，检查是否还有订单,并且检查每个工作区是否有空闲，
//如果两个条件都满足，我们就通知立库继续出库（向立库指令表中插入出库信息）
//这里用线程，是为了防止接收到多次一样的消息从而重复通知立库的bug。
if (InformWHThreadState == false) //防止线程重复创建
{
InformWHThread = new Thread(new ParameterizedThreadStart(CheckAndInformWH));
InformWHThread.IsBackground = true;
InformWHThreadState = true;
InformWHThread.Start(EndPoint);
InformWHThread.Priority = ThreadPriority.AboveNormal;
}
return;
}
//如过是送往立库入库区来的，则向立库表中插入入库指令信息
if (EndPoint == ConfigClass.WHInlibArea)
{
//AGV在立库入库区卸货完成，然后向立库表中插入入库指令信息
if (InformWHThreadState == false) //防止线程重复创建
{
InformWHThread = new Thread(new ParameterizedThreadStart(InformWHInlib));
InformWHThread.IsBackground = true;
InformWHThreadState = true;
InformWHThread.Start(StartPoint);
InformWHThread.Priority = ThreadPriority.AboveNormal;
}
return;
}
}
}
}
