/// <summary>
///
/// </summary>
private void SendTask()
{
#region SendNow
List <int> selectTar = GetSelectedTars();
if (selectTar == null || selectTar.Count < 1)
{
MessageBox.Show("未选择有效任务", "提示");
return;
}
///构建任务
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
TaskPathNode node = null;
int lastTar = 0;
///添加任务节点
foreach (var item in selectTar)
{
node = new TaskPathNode("", item, false);
task.TaskPathNode.Add(node);
lastTar = item;
}
///启动本地AGV
task.StartSiteList.Add(LocSite.ToString());
///执行任务
if (MessageBox.Show(string.Format("确定要执行任务【{0}】", textBoxNextTars.Text), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲AGV，" + "请稍后再试！", "提示");
}
else
{
ResetBackCorlor();
SetOutputMsg(string.Format("开启新任务"));
MessageBox.Show("派发任务成功,点击启动开始运行！", "提示");
}
}
#endregion
}
/// <summary>
/// 返回待命点
/// </summary>
private void BackWaitPoint()
{
#region BackWaitPoint
StationMember staMem = GetRelateMember(_locTar);
if (staMem == null)
{
MessageBox.Show("没有配置相关的站点，请检查！", "提示");
return;
}
///构建任务
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
TaskPathNode node = null;
int lastTar = 0;
///添加任务节点
foreach (var item in staMem.BackTarList)
{
node = new TaskPathNode("", item, false);
task.TaskPathNode.Add(node);
lastTar = item;
}
///启动本地AGV
task.StartSiteList.Add(LocSite.ToString());
///执行任务
if (MessageBox.Show(string.Format("确定要返回待命点？"), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲AGV，" + "请稍后再试！", "提示");
}
else
{
ResetBackCorlor();
SetOutputMsg(string.Format("开启新任务"));
MessageBox.Show("派发任务成功,点击启动开始运行！", "提示");
}
}
#endregion
}
/// <summary>
/// 呼叫AGV
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonCallAGv_Click(object sender, EventArgs e)
{
try
{
if (_isCalling)
{
MessageBox.Show("AGV过来的途中,请等待!", "提示"); return;
}
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
StationMember sta = _staDic.Values.ToList().Find(c => { return(c.StaSite == LocSite); });
if (sta == null)
{
MessageBox.Show("未找到与本客户端绑定的站点", "提示"); return;
}
TaskPathNode node = new TaskPathNode(sta.StaSite.ToString(), sta.StaTarget, true);
task.TaskPathNode.Add(node);
if (sta != null && sta.WaitList != null)
{
foreach (var item in sta.WaitList)
{
task.StartSiteList.Add(item.ToString());
}
}
if (task.StartSiteList == null || task.StartSiteList.Count < 1)
{
MessageBox.Show("未正确配置其相应的待命点,请检查配置!", "提示");
return;
}
if (MessageBox.Show(string.Format("确定要呼叫AGV到【{0}】位置", sta.StaTarget), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
SetOutputMsg(string.Format("开启新任务"));
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲的AGV，请稍后再试！", "提示");
}
else
{
_isCalling = true;
_callingTask = task;
DispatchBackMember disback = WcfMainHelper.GetDispatch(task.DisGuid);
if (disback != null)
{
_callingAGV = disback.DisDevId;
DeviceBackImf devback = WcfMainHelper.GetDev(_callingAGV);
if (devback != null)
{
_callingSite = devback.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", devback.DevId)); }).RValue;
}
else
{
_callingSite = null;
}
}
else
{
_callingAGV = null;
}
MessageBox.Show("呼叫成功,请等待AGV过来!", "提示");
}
}
}
catch { }
}