/// <summary>
/// 跨线程托管：刷新小车位置
/// </summary>
/// <param name="MachineNo"></param>
/// <param name="pos"></param>
private void ThreadUIRefreshMachineCoord(int MachineNo, TMCoord pos)
{
this.wareHouseControl1.RefreshMachineCoord(MachineNo, pos);
if(MachineNo == 1)
{
StringBuilder str = new StringBuilder();
str.AppendFormat("层:{0},巷道:1,列:{1}", pos.L, pos.C);
this.labelMachinePos1.Text = str.ToString();
}
else if(MachineNo == 2)
{
StringBuilder str = new StringBuilder();
str.AppendFormat("层:{0},巷道:2,列:{1}", pos.L, pos.C);
this.labelMachinePos2.Text = str.ToString();
}
}
/// <summary>
/// 刷新小车坐标
/// </summary>
/// <param name="MachineNo"></param>
/// <param name="pos"></param>
public void RefreshMachineCoord(int MachineNo, TMCoord pos)
{
if (pos.L < 1)
pos.L = 1;
if (pos.L > _LayerCount)
pos.L = _LayerCount;
if (pos.Ch < 1)
pos.Ch = 1;
if (pos.Ch > _ChannelCount)
pos.Ch = _ChannelCount;
if (pos.C < 1)
pos.C = 1;
if (pos.C > _ColumnCount)
pos.C = _ColumnCount;
if (_MachineDic.Count > 0)
{
TRANSMachine m = _MachineDic[MachineNo];
if (m != null && (pos != m.MachinePos))
{
m.CellLayer = _LayersList.ElementAt(pos.L - 1);
m.MachinePos = pos;
this.panelWareCells.Refresh();
}
}
}
/// <summary>
/// 刷新小车位置
/// </summary>
/// <param name="MachineNo"></param>
/// <param name="pos"></param>
public void RefreshMachineCoord(int MachineNo, TMCoord pos)
{
if(this.wareHouseControl1.InvokeRequired)
{
this.Invoke(new delegateUIRefreshPos(ThreadUIRefreshMachineCoord), MachineNo, pos);
}
else
{
ThreadUIRefreshMachineCoord(MachineNo, pos);
}
}
/// <summary>
/// 接收数据线程函数
/// </summary>
private void recvPlcProc()
{
byte[] data = new byte[1024];
while (_conPlc)
{
int recv =0;
byte[] byteStream = null;
try
{
// recv= _sockPlc.ReceiveFrom(data, ref _epPlc);
byteStream = _udpClient.Receive(ref C_Point);
_heartCount = 0; //收到数据包，清零，标识连接建立
_bConnected = true;
}
catch (System.Exception e)
{
Console.WriteLine("plc comm:"+e.Message);
continue;
}
//事件参数
udpPackage package = new udpPackage();
for (int i = 0; i < recv; i++)
{
byteStream[i] = data[i];
}
if (package.Pack(byteStream))
{
if ((package.frameType == 0x02) && (package.addr == this.MachineNo))
{
//应答帧,地址正确
if (package.cmd == (byte)HouseCmdCode.CMD_QUERY)
{
MachineWorkStatus newS = (MachineWorkStatus)package.data[3];
TMCoord newPos = new TMCoord(package.data[0], this.MachineNo, (package.data[1] + (package.data[2] << 8)));
if (newS != MStatus)
{
if(MStatus == MachineWorkStatus.PRODUCT_INHOUSE_OK)
{
string ss = "入库任务"+(_currentCmdIndex+1).ToString()+"完成";
Console.WriteLine(ss);
}
MStatus = newS;
// string strS = "小车"+MachineNo.ToString()+"状态:"+MStatus.ToString();
// Console.WriteLine(strS);
msgTMEventArg e = new msgTMEventArg();
e.MachineNo = this.MachineNo;
e.ErrorHappened = false;
e.TMStatus = newS;
if (EventTMStatusUpdated != null)
{
EventTMStatusUpdated(this, e);
}
}
if(newPos != this.currentCoord)
{
msgTMEventArg e = new msgTMEventArg();
e.MachineNo = this.MachineNo;
e.ErrorHappened = false;
e.TMPos = newPos;
if(EventTMPosUpdated != null)
{
EventTMPosUpdated(this,e);
}
}
}
else if (package.cmd == (byte)HouseCmdCode.CMD_PRODUCT_INHOUSE)
{
}
else if (package.cmd == (byte)HouseCmdCode.CMD_PRODUCT_OUTHOUSE)
{
}
}
}
}
}