/// <summary>
/// 窑头对接完成点到窑尾等待点
/// </summary>
private void TaskHeadSucToEndWait()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头对接完成点);
if (agv != null && agv.IsFree
)
{
//如果窑头对接完成点出现一台车，则解锁窑头可出标志
_plcHead.ExitFlag = true;
//如果窑头对接完成点的车是出窑头充电桩出来的车，则解锁出窑头充电桩
if (_plcHead.ExitChargeAgv == agv.Id)
{
_plcHead.IsExitBatteryLock = false;
_plcHead.ExitChargeAgv = null;
}
F_ExcTask task1 = new F_ExcTask(null, EnumOper.无动作, ConstSetBA.窑头对接完成点, ConstSetBA.窑尾装载等待区);
task1.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task1, agv.Id + TaskHeadSucToEndWaitMsg);
sendServerLog(agv.Id + TaskHeadSucToEndWaitMsg);
//LogFactory.LogDispatch(agv.Id, " ", TaskHeadSucToEndWaitMsg);
FLog.Log(agv.Id + TaskHeadSucToEndWaitMsg);
}
}
/// <summary>
/// 窑头等 到 进窑头充
/// </summary>
private void TaskHeadToEnterBattery()
{
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);
if (agv != null && agv.IsFree &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null &&
!_plcHead.IsEnterBatteryLock
)
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.充电, ConstSetBA.窑头卸载等待区, ConstSetBA.进窑头充电点);
task.Id = agv.Id;
//进窑头充电，锁定进窑头充电桩
_plcHead.IsEnterBatteryLock = true;
ParamControl.Do_EnterHeadChargeLock = false;
_plcHead.EnterChargeAgv = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeMsg);
sendServerLog(agv.Id + PlcHeadChargeMsg);
//LogFactory.LogDispatch(agv.Id, "充电", PlcHeadChargeMsg);
FLog.Log(agv.Id + PlcHeadChargeMsg);
}
}
/// <summary>
/// 发生故障、离线的车，清除其相应的任务
/// </summary>
public void ClearTask()
{
while (true)
{
Thread.Sleep(5000);
List <F_AGV> agvs = F_DataCenter.MDev.ErrorOrFalse();
List <FDispatchBackImf> dispatchList = WcfMainHelper.GetDispatchList();
if (dispatchList != null && agvs != null && dispatchList.Count > 0)
{
foreach (var agv in agvs)
{
foreach (var dispatch in dispatchList)
{
// 有故障的车是否对应任务的设备ID
if (agv.Id == dispatch.Dev)
{
if (dic.ContainsKey(agv.Id))
{
int count = 0;
dic.TryGetValue(agv.Id, out count);
if (count >= 10)
{
// 终止该任务
WcfMainHelper.CtrDispatch(dispatch.Id, EnumCtrType.Stop);
sendServerLog("终止异常的 " + agv.Id + "正在执行的任务");
//LogFactory.LogRunning("终止异常的 " + agv.Id + "正在执行的任务");
FLog.Log("终止异常的 " + agv.Id + "正在执行的任务");
count = 0;
//异常终止的任务释放AGV
F_AGV.AgvRelease(agv.Id);
}
else
{
count++;
sendServerLog("异常的 " + agv.Id + "已等待处理 " + count + " 次");
//LogFactory.LogRunning("异常的 " + agv.Id + "已等待处理 " + count + " 次");
FLog.Log("异常的 " + agv.Id + "已等待处理 " + count + " 次");
}
dic.Remove(agv.Id);
dic.Add(agv.Id, count);
}
else
{
dic.Add(agv.Id, 0);
}
}
}
}
}
else
{
dic.Clear();
}
}
}
/// <summary>
/// 初始化任务，查找所有AGV需要初始化的指派任务
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void InitAllBtn_Click(object sender, EventArgs e)
{
if (InitAllBtn.Checked)
{
F_DataCenter.MLogic.InitAgv();
InitAllBtn.Checked = false;
MessageBox.Show("初始化了全部AGV");
FLog.Log("初始化了全部AGV");
}
}
/// <summary>
/// 任务完成
/// </summary>
public void ISetTaskSuc()
{
if (_taskDispatch != null)
{
if (WcfMainHelper.CtrDispatch(_taskDispatch.Id, EnumCtrType.Stop))
{
_isSuc = true;
}
}
FLog.Log(_taskDispatch.Id + "任务完成");
}
/// <summary>
/// 初始化指定的AGV
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvInitBtn_Click(object sender, EventArgs e)
{
if (agvList.FocusedItem == null)
{
MessageBox.Show("请选选择AGV");
return;
}
F_DataCenter.MLogic.InitAgv(agvList.FocusedItem.Text);
MessageBox.Show(agvList.FocusedItem.Text + "已经初始化！");
FLog.Log(agvList.FocusedItem.Text + "已经初始化！");
}
/// <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>
/// 停止车辆
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvStopBtn_Click(object sender, EventArgs e)
{
if (AgvBackwardBtn.Enabled == false || AgvForwardBtn.Enabled == false)
{
StopAGV();
//记录agv状态
agvStatus[agvList.FocusedItem.Text] = "stop";
FLog.Log("操作：停止" + agvList.FocusedItem.Text);
}
else
{
MessageBox.Show("当前没有运行的车辆！");
}
}
/// <summary>
/// 构造函数
/// </summary>
public ControlForm()
{
InitializeComponent();
InitPara();
F_DataCenter.Init(SynchronizationContext.Current, listBoxOutput);
//LogHelper.LogFactory.Init();
FLog.Init();
InitChargeNum();
XMLConfig = new XmlAnalyze();
InitXmlConfigSetting();
}
/// <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>
/// 删除一个任务
/// </summary>
/// <param name="Id"></param>
public void IDeletTask(string Id)
{
lock (_ans)
{
F_ExcTask exit = _taskList.Find(c => { return(c.Id == Id); });
if (exit != null && _taskList.Contains(exit))
{
//LogFactory.LogAdd(LOGTYPE.FINISH, exit.Id, exit.GetTaskInfo(), "调度完成", exit.GetTaskInfo());//任务完成日志
FLog.Log(Id + "调度完成" + exit.GetTaskInfo());//任务完成日志
PublicDataContorl.TaskIsSucc(exit.NO);
_taskList.Remove(exit);
}
}
}
/// <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>
/// 窑尾取 到 出窑尾充电站
/// </summary>
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 (agv1 != null)
{
ParamControl.Do_ExitEndChargeLock = false;
}
if (agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
(ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumagvSta_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() && agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null
//&& !_plcEnd.IsExitBatteryLock
&& ParamControl.Do_ExitEndChargeLock)
{
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;
//出窑尾充电，锁定出窑尾充电桩
//_plcEnd.IsExitBatteryLock = true;
ParamControl.Do_ExitEndChargeLock = false;
_plcEnd.ExitChargeAgv = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndToExitBatteryMsg);
sendServerLog(agv.Id + TaskEndToExitBatteryMsg);
//LogFactory.LogDispatch(agv.Id, "AGV出窑尾充电", TaskEndToExitBatteryMsg);
FLog.Log(agv.Id + TaskEndToExitBatteryMsg);
}
}
}
}
/// <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
//&& agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()
)
{
//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;
sendServerLog(agv.Id + TaskPlcHeadPutMsg);
//LogFactory.LogDispatch(agv.Id, "卸货", TaskPlcHeadPutMsg);
FLog.Log(agv.Id + "卸货" + TaskPlcHeadPutMsg);
}
else
{
// _ToPlcHead = false;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="no"></param>
public void StopTask(int no)
{
lock (_ans)
{
F_ExcTask excTask = _taskList.Find(c => { return(c.NO == no); });
if (excTask != null && _taskList.Contains(excTask))
{
//LogFactory.LogAdd(LOGTYPE.FINISH, excTask.Id, excTask.GetTaskInfo(), "调度终止", excTask.GetTaskInfo());//任务完成日志
FLog.Log(no + "调度终止" + excTask.GetTaskInfo());//任务完成日志
PublicDataContorl.TaskIsSucc(excTask.NO);
excTask.ISetTaskSuc();
_taskList.Remove(excTask);
}
else
{
PublicDataContorl.TaskIsSucc(no);
}
}
}
/// <summary>
/// 自动生成任务
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AutoGenerateTaskBtn_Click(object sender, EventArgs e)
{
ParamControl.Is_AutoAddTask = AutoGenerateTaskBtn.Checked;
//自动生成任务按钮开启时，将自动执行任务按钮同步开启
if (AutoGenerateTaskBtn.Checked)
{
ExecuteTaskBtn.Checked = true;
ParamControl.Is_AutoExecuteTask = true;
XMLConfig.SetConfig("autoexecute", ExecuteTaskBtn.Checked);
FLog.Log("启动：自动生成任务");
FLog.Log("启动：自动执行任务");
}
else
{
FLog.Log("关闭：自动生成任务");
}
XMLConfig.SetConfig("autoaddtask", AutoGenerateTaskBtn.Checked);
}
/// <summary>
/// 开始一个新的操作任务
/// </summary>
/// <param name="task"></param>
/// <returns></returns>
public bool IStartTask(F_ExcTask task, String msg)
{
lock (_ans)
{
F_ExcTask exit = _taskList.Find(c =>
{
return //(c.Plc == task.Plc && task.Plc != null) ||
(c.Id == task.Id);
});
if (exit == null)
{
_taskList.Add(task);
FLog.Log(task.Id + "加入任务列表");
PublicDataContorl.AddTaskData(new TaskData(task.NO, msg, task.StartSite + "," + task.EndSite));
return(true);
}
else if (task.EndSite != exit.EndSite)
{
_taskList.Remove(exit);
FLog.Log(exit.Id + "移除任务列表");
PublicDataContorl.TaskIsSucc(exit.NO);
_taskList.Add(task);
FLog.Log(task.Id + "加入任务列表");
PublicDataContorl.AddTaskData(new TaskData(task.NO, msg, task.StartSite + "," + task.EndSite));
return(true);
}
else if (task.StartSite != exit.StartSite)
{
_taskList.Remove(exit);
FLog.Log(exit.Id + "移除任务列表");
PublicDataContorl.TaskIsSucc(exit.NO);
_taskList.Add(task);
FLog.Log(task.Id + "加入任务列表");
PublicDataContorl.AddTaskData(new TaskData(task.NO, msg, task.StartSite + "," + task.EndSite));
return(true);
}
else
{
return(true);
}
}
}
/// <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);
FLog.Log(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>
/// 窑头去窑头对接完成点
/// </summary>
private void TaskHeadToHeadSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site);
//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.窑头对接完成站);
// 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 != null &&
agv.IsFree &&
agv.Sta_Material == EnumagvSta_Material.无货 &&
((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_ExitHeadCharge || _plcHead.IsExitBatteryLock && (_plcHead.ExitChargeAgv != agv.Id)))
)
{
// 判断是否可出
if (d_agv == null &&
_plcHead.ExitFlag
)
{
// 从窑头到窑头对接完成点
F_ExcTask task1 = new F_ExcTask(_plcHead, EnumOper.对接完成, ConstSetBA.窑头卸载点, ConstSetBA.窑头对接完成点);
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);
FLog.Log(agv.Id + TaskHeadToHeadSucMsg);
}
//else
//{
// _plcHead.ExitFlag = false;
//}
}
}
/// <summary>
/// 窑尾启动辊台
/// </summary>
public void TaskPlcEndStart()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载点);
if (agv != null &&
agv.IsFree &&
agv.Sta_Material == EnumagvSta_Material.无货
)
{
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载点, ConstSetBA.窑尾装载点);
task.Id = agv.Id;
_plcEnd.IsLock = true;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndStartSucMsg);
sendServerLog(agv.Id + PlcEndStartSucMsg);
//LogFactory.LogDispatch(agv.Id, "窑尾启动辊台", PlcEndStartSucMsg);
FLog.Log(agv.Id + PlcEndStartSucMsg);
}
}
/// <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>
/// 出窑头充 到 窑头对接完成点
/// </summary>
public void TaskExitHeadChargeSuc()
{
F_AGV agv = 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.窑头对接完成站);
// 有未上锁的、充电完成的AGV
if (agv != null &&
agv.IsFree &&
agv.ChargeStatus == EnumChargeStatus.充电完成)
{
if (d_agv == null &&
_plcHead.ExitFlag
)
{
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);
_plcHead.ExitFlag = false;
task.Id = agv.Id;
Thread.Sleep(5000);
F_DataCenter.MTask.IStartTask(task, agv.Id + ExitPlcHeadChargeSucMsg);
sendServerLog(agv.Id + ExitPlcHeadChargeSucMsg);
//LogFactory.LogDispatch(agv.Id, "充电完成", ExitPlcHeadChargeSucMsg);
FLog.Log(agv.Id + ExitPlcHeadChargeSucMsg);
}
else
{
_plcHead.ExitFlag = false;
}
}
}
/// <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);
FLog.Log(agv.Id + 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");
FLog.Log(agv.Id + "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);
FLog.Log(agv.Id + 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");
FLog.Log(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);
FLog.Log(agv.Id + 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");
FLog.Log(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);
FLog.Log(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");
FLog.Log(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);
FLog.Log(agv.Id + "车辆初始化 ,窑头交管解除点的AGV");
}
/// 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);
FLog.Log(agv.Id + "车辆初始化 ,窑尾交管解除点的AGV");
}
}
}
}
/// <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;
}
}
/// <summary>
/// 窑头放 到 出窑头充电站
/// </summary>
private void TaskHeadToExitBattery()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载点);
//查找是否存在目标站点是出窑头充电站的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.充电桩站); //目的站点
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.出窑头充电点); //地标
//去出窑头充电站的车是否是窑头的车
if (d_agv != null && (d_agv.Site != "24" && d_agv.Site != "65" && d_agv.Site != "25" && d_agv.Site != "14"))
{
d_agv = null;
}
if (d_agv != null)
{
_plcHead.IsExitBatteryLock = true;
ParamControl.Do_ExitHeadChargeLock = false;
_plcHead.ExitChargeAgv = d_agv.Id;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
}
else if (d_agv2 != null)
{
_plcHead.IsExitBatteryLock = true;
ParamControl.Do_ExitHeadChargeLock = false;
_plcHead.ExitChargeAgv = d_agv2.Id;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
}
if (agv != null &&
agv.IsFree &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.Sta_Material == EnumagvSta_Material.无货 &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv.Electicity <= ParamControl.MinElectricityCharge //低于最低充电量的车才能去充电
)
{
// 判断出窑头充电站是否被锁
if ((!_plcHead.IsExitBatteryLock) &&
(d_agv == null && d_agv2 == null)
)
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.充电, ConstSetBA.窑头卸载点, ConstSetBA.出窑头充电点);
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;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
_plcHead.ExitFlag = false;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskHeadToExitBatteryMsg);
sendServerLog(agv.Id + TaskHeadToExitBatteryMsg);
//LogFactory.LogDispatch(agv.Id, "AGV出窑头充电", TaskHeadToExitBatteryMsg);
FLog.Log(agv.Id + TaskHeadToExitBatteryMsg);
}
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
if (!_isStart)
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
if (_agv != null)
{
if (_agv.IsAlive)
{
_disAliveCounter = 0;
}
else
{
if (++_disAliveCounter > F_DataCenter.ClearTime)
{
_isDisaliveOverTime = true;
}
}
}
else
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
///修改By fujun
dis.DevList.Add(Id);
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///修改By fujun
_isStart = true;
#region 滚筒逻辑
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑尾，开始取货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
//&& !ParamControl.Do_EnterEndChargeLock
)
{
_plc.IsEnterBatteryLock = false;
ParamControl.Do_EnterEndChargeLock = true;
ParamControl.EndChargeLock = _plc.IsEnterBatteryLock;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumagvSta_Material.无货 || _agv.Sta_Material == EnumagvSta_Material.送中)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
FLog.Log(_agv.Id + "启动车载辊台，启动窑尾辊台");
}
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(//_plc.Sta_Material == EnumSta_Material.无货 &&
_agv.Sta_Material == EnumagvSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
FLog.Log(_agv.Id + "停止车载辊台，停止窑尾辊台");
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//取货完成，解锁窑尾
if (_plc != null
// && !ParamControl.Do_EndPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_EndPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑头，开始放货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
)
{
_plc.IsEnterBatteryLock = false;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.无货 ||
_plc.Sta_Material == EnumSta_Material.未知) &&
(_agv.Sta_Material == EnumagvSta_Material.送中 || _agv.Sta_Material == EnumagvSta_Material.货)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台，启动窑头辊台");
}
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(//(_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.未知) &&
_agv.Sta_Material == EnumagvSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
FLog.Log(_agv.Id + "停止车载辊台，停止窑头辊台");
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//放货完成，解锁窑头
if (_plc != null
//&& !ParamControl.Do_HeadPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_HeadPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.充电)
{
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
if (_plc.Site == "14")
{
ParamControl.Do_ExitHeadChargeLock = true;
}
//else if (_plc.Site == "11")
//{
// ParamControl.Do_ExitEndChargeLock = true ;
//}
_plc.IsExitBatteryLock = false;
_plc.ExitChargeAgv = null;
ParamControl.HeadChargeAGV = _plc.ExitChargeAgv;
ParamControl.HeadChargeLock = _plc.IsExitBatteryLock;
}
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
#endregion
}
}
