public void updateAlarm(int alarm)
{
Console.WriteLine(forkLift.forklift_number + "号车 alarm = " + alarm +
"gAlarm =" + forkLift.gAlarm);
if (alarm == 0)
{
forkLift.gAlarm++;
}
else if (alarm == 1)
{
forkLift.gAlarm = 0;
}
Console.WriteLine(forkLift.forklift_number + "号车 alarm = " + alarm + "gAlarm =" + forkLift.gAlarm);
if (forkLift.gAlarm > AGVConstant.AGVALARM_TIME) //防撞信号 检测超过12次，弹出报警提示
{
string msg = forkLift.forklift_number + "触发防撞，暂停所有AGV";
AGVLog.WriteError(msg, new StackFrame(true));
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_AGV_ALARM);
message.setMessageStr(msg);
TaskexeDao.getDao().InsertTaskexePause("");
TaskexeDao.getDao().InsertTaskexeSysInfo(msg);
forkLift.gAlarm = 0;
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
private void ServerService()
{
try {
checkClientSocket();
while (true)
{
Console.WriteLine("read to send");
ForkLiftWrapper forklift = AGVCacheData.getForkLiftByID(3);
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatteryInfo().getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVMessageHandler.getMessageHandler().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
DBDao.getDao().InsertConnectMsg(sb.ToString(), "ServerService");
clientSocket.Send(byteData);
Thread.Sleep(10000);
}
} catch (Exception ex) {
Console.WriteLine(ex.ToString());
}
serverFuncOK = true;
turnToMainThread();
}
private void handleLiftComException()
{
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_LIFT_COM);
message.setMessageStr("升降机PLC端口异常，请检查，当前处于系统暂停");
AGVMessageHandler.getMessageHandler().setMessage(message); //发送消息
isStop = true; //结束串口读取线程
}
private void flReconnect(ForkLiftWrapper forkLiftWrapper, bool status)
{
if (status) //如果接收成功
{
forkLiftWrapper.getAGVSocketClient().startRecvMsg(); //重新启动接收程序线程
}
else
{
AGVLog.WriteError(forkLiftWrapper.getForkLift().forklift_number + "号车 连接错误", new StackFrame(true));
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_NET_ERR);
message.setMessageStr(forkLiftWrapper.getForkLift().forklift_number + "号车 连接错误");
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
private void sheduleLift() {
AGVMessage message = new AGVMessage();
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //楼上楼下都有货
{
AGVLog.WriteWarn("升降机楼上楼下都有货，楼上的车被暂停", new StackFrame(true));
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMEASAGE_LIFT_UPDOWN);
message.setMessageStr("升降机楼上楼下都有货，楼上的车被暂停");
AGVMessageHandler.getMessageHandler().setMessage(message); //发送消息
} else if (ElevatorFactory.getElevator().getOutCommand() > COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //升降机 卡货
{
AGVLog.WriteWarn("升降机卡货，系统被暂停", new StackFrame(true));
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_LIFT_BUG);
message.setMessageStr("升降机卡货，系统被暂停");
AGVMessageHandler.getMessageHandler().setMessage(message); //发送消息
}
}
public void agvInit()
{
if (FormController.isNeedLogin())
{
FormController.getFormController().getLoginFrm().ShowDialog();
}
TaskexeDao.getDao().InsertTaskexeSysInfo("AGV通讯服务程序启动！");
setForkliftStateFirst();
handleCheckRunning(checkRunning());
if (isNeedElevator)
{
ElevatorFactory.getElevator().startReadSerialPortThread();
}
if (isNeedAGVSocketServer)
{
AGVSocketServer.getSocketServer().StartAccept();
}
if (isNeedSchedule)
{
ScheduleFactory.getSchedule().startShedule();
}
if (isNeedTaskexe)
{
TaskexeService.getInstance().start();
}
AGVMessageHandler.getMessageHandler().StartHandleMessage();
if (isNeedMain)
{
FormController.getFormController().getMainFrm().ShowDialog();
}
else
{
FormController.getFormController().getInfoFrm().ShowDialog();
}
}
private void _updateAgvPanel()
{
AGVMessage message = new AGVMessage();
foreach (AGVPanel ap_s in agvPanelList)
{
ap_s.updatePanel();
if (ap_s.getForkLiftWrapper().getForkLift().isUsed == 1 && ap_s.getForkLiftWrapper().getBatteryInfo().isBatteryLowpower())
{
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_LOWPOWER);
message.setMessageStr(ap_s.getForkLiftWrapper().getForkLift().forklift_number + "号车电量低于20%, 请等待已发送的任务完成，然后更换电池，切勿立即关闭程序");
lowpowerBattery = true;
}
}
if (lowpowerBattery)
{
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
public static bool setForkCtrl(ForkLiftWrapper fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
int times = 0;
while (times < 3)
{
try {
fl.getAGVSocketClient().SendMessage(cmd);
break;
} catch {
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("发送中断错误");
AGVMessageHandler.getMessageHandler().setMessage(message);
}
times++;
}
Console.WriteLine("setForkCtrl forklift " + fl.getForkLift().id + "cmd = " + cmd);
AGVLog.WriteInfo("setForkCtrl forklift " + fl.getForkLift().id + "cmd = " + cmd, new StackFrame(true));
return(true);
}
private void checkPausePosition(ForkLiftWrapper fl)
{
if (fl.getForkLift().shedulePause == 1)
{
if (fl.getPosition().getArea() == 3 && fl.getPosition().getPx() > AGVConstant.BORDER_X_3 + AGVConstant.BORDER_X_3_DEVIATION_PLUS) //从区域3进入区域2的时候， 如果没有暂停成功或暂停慢了，重新启动车子，并报警
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(2);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第二分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() > AGVConstant.BORDER_X_2 + AGVConstant.BORDER_X_2_DEVIATION_PLUS) //从区域2进入区域1的时候， 如果没有暂停成功或暂停慢了，重新启动车子，并报警
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(1);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第一分界线 检测中断错误");
AGVLog.WriteError("第一分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() < AGVConstant.BORDER_X_3 - AGVConstant.BORDER_X_3_DEVIATION_PLUS) //从区域2进入区域3的时候，暂停没成功或暂停慢了， 报警，需要手动启动
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(3);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第二分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 1 && fl.getPosition().getPx() < AGVConstant.BORDER_X_2 - AGVConstant.BORDER_X_2_DEVIATION_PLUS) //从区域2进入区域3的时候，暂停没成功或暂停慢了， 报警，需要手动启动
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(2);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第一分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
}
