private bool couplerSafetyHandler(SCAppConstants.CouplerHPSafety safety, CouplerAddress coupler_address)
{
bool result = false;
if (coupler_address != null)
{
if (safety == SCAppConstants.CouplerHPSafety.Safety)
{
scApp.ReserveBLL.RemoveVehicle(unit.UNIT_ID + coupler_address.CouplerNum + "_v_car");
foreach (string seg_id in coupler_address.TrafficControlSegment)
{
ASEGMENT selectSeg = scApp.SegmentBLL.cache.GetSegment(seg_id);
if (selectSeg.STATUS == E_SEG_STATUS.Closed)
{
var ban_result = scApp.VehicleService.doEnableDisableSegment(selectSeg.SEG_ID.Trim(), E_PORT_STATUS.InService);
if (ban_result.isSuccess)
{
selectSeg.DISABLE_TIME = ban_result.segment.DISABLE_TIME;
selectSeg.STATUS = ban_result.segment.STATUS;
}
}
}
}
else if (coupler_address.hasVh(scApp.VehicleBLL))
{
//do nothing
}
else
{
string msg = $"The coupler position Address{coupler_address.ADR_ID} is not safe ,begin coupler safe handle process.";
LogHelper.Log(logger: logger, LogLevel: LogLevel.Warn, Class: nameof(SubChargerValueDefMapAction), Device: Service.VehicleService.DEVICE_NAME_AGV,
Data: msg);
bcf.App.BCFApplication.onErrorMsg(msg);
foreach (string seg_id in coupler_address.TrafficControlSegment)
{
ASEGMENT selectSeg = scApp.SegmentBLL.cache.GetSegment(seg_id);
if (selectSeg.STATUS == E_SEG_STATUS.Active && !selectSeg.PRE_DISABLE_FLAG)
{
var ban_result = scApp.VehicleService.doEnableDisableSegment(selectSeg.SEG_ID.Trim(), E_PORT_STATUS.OutOfService);
if (ban_result.isSuccess)
{
selectSeg.DISABLE_TIME = ban_result.segment.DISABLE_TIME;
selectSeg.STATUS = ban_result.segment.STATUS;
}
}
}
var update_result = scApp.ReserveBLL.TryAddVehicleOrUpdate(unit.UNIT_ID + coupler_address.CouplerNum + "_v_car", coupler_address.ADR_ID, 90, Mirle.Hlts.Utils.HltDirection.NS);
if (!update_result.OK)
{
string message = $"The coupler position Address{coupler_address.ADR_ID} is not safe, vh:{update_result.VehicleID} need to stop";
LogHelper.Log(logger: logger, LogLevel: LogLevel.Warn, Class: nameof(SubChargerValueDefMapAction), Device: Service.VehicleService.DEVICE_NAME_AGV,
Data: message,
Details: update_result.Description,
VehicleID: update_result.VehicleID);
AVEHICLE will_bumped_vh = scApp.VehicleBLL.cache.getVehicle(update_result.VehicleID);
//如果發生碰撞或踩入別人預約的不是虛擬車的話，則就要對兩台車下達EMS
if (!update_result.VehicleID.StartsWith(Service.VehicleService.VehicleVirtualSymbol))
{
//string cmd_id = will_bumped_vh.OHTC_CMD;
//if (!string.IsNullOrWhiteSpace(cmd_id))
//{
// ACMD_OHTC cmd = scApp.CMDBLL.GetCMD_OHTCByID(cmd_id);
// string cmdSourceAdr = cmd.SOURCE;
// if (!string.IsNullOrWhiteSpace(cmdSourceAdr))
// {
// if(SCUtility.isMatche( cmd_id, coupler_address.))
// }
//}
bcf.App.BCFApplication.onErrorMsg(message);
LogHelper.Log(logger: logger, LogLevel: LogLevel.Warn, Class: nameof(SubChargerValueDefMapAction), Device: Service.VehicleService.DEVICE_NAME_AGV,
Data: $"The vehicles bumped coupler will happend. send pause to {update_result.VehicleID}",
VehicleID: update_result.VehicleID);
scApp.VehicleService.doAbortCommand(will_bumped_vh, will_bumped_vh.OHTC_CMD, ProtocolFormat.OHTMessage.CMDCancelType.CmdEms);
//doAbortCommand(assign_vh, ohtc_cmd_id, actType); ;
//scApp.VehicleService.PauseRequest(will_bumped_vh.VEHICLE_ID, ProtocolFormat.OHTMessage.PauseEvent.Pause, SCAppConstants.OHxCPauseType.Safty);
}
}
result = true;
}
}
return(result);
}
private void Charger_CouplerHPSafetyChaged(object sender, SCAppConstants.CouplerHPSafety e)
{
//try
//{
// if (DebugParameter.isPassCouplerHPSafetySignal)
// {
// LogHelper.Log(logger: logger, LogLevel: LogLevel.Info, Class: nameof(VehicleChargerModule), Device: DEVICE_NAME,
// Data: $"pass coupler hp safey signal,flag:{DebugParameter.isPassCouplerHPSafetySignal}");
// return;
// }
// AUNIT charger = sender as AUNIT;
// if (charger == null)
// {
// LogHelper.Log(logger: logger, LogLevel: LogLevel.Info, Class: nameof(VehicleChargerModule), Device: DEVICE_NAME,
// Data: $"charger is null");
// return;
// }
// LogHelper.Log(logger: logger, LogLevel: LogLevel.Info, Class: nameof(VehicleChargerModule), Device: DEVICE_NAME,
// Data: $"Coupler hp safyte has changed,charger id:{charger.UNIT_ID} hp safety:{e}");
// var couplers = addressesBLL.cache.LoadCouplerAddresses(charger.UNIT_ID);
// var vhs = vehicleBLL.cache.loadAllVh();
// switch (e)
// {
// case SCAppConstants.CouplerHPSafety.NonSafety:
// vehicleService.ProcessAlarmReport(charger.UNIT_ID, AlarmBLL.AGVC_CHARGER_HP_NOT_SAFETY, ErrorStatus.ErrSet, $"Coupler position not safety.");
// break;
// case SCAppConstants.CouplerHPSafety.Safyte:
// vehicleService.ProcessAlarmReport(charger.UNIT_ID, AlarmBLL.AGVC_CHARGER_HP_NOT_SAFETY, ErrorStatus.ErrReset, $"Coupler position not safety.");
// break;
// }
// foreach (var coupler in couplers)
// {
// string coupler_adr_id = coupler.ADR_ID;
// LogHelper.Log(logger: logger, LogLevel: LogLevel.Info, Class: nameof(VehicleChargerModule), Device: DEVICE_NAME,
// Data: $"Coupler hp safyte has changed,coupler adr id:{coupler_adr_id}, start check has vh can pass...");
// foreach (var vh in vhs)
// {
// if (vh.isTcpIpConnect &&
// (vh.MODE_STATUS == VHModeStatus.AutoRemote ||
// vh.MODE_STATUS == VHModeStatus.AutoCharging ||
// vh.MODE_STATUS == VHModeStatus.AutoCharging)
// )
// {
// string vh_cur_adr_id = vh.CUR_ADR_ID;
// bool is_walkable = guideBLL.IsRoadWalkable(coupler_adr_id, vh_cur_adr_id);
// if (is_walkable)
// {
// LogHelper.Log(logger: logger, LogLevel: LogLevel.Info, Class: nameof(VehicleChargerModule), Device: DEVICE_NAME,
// Data: $"Coupler hp safyte has changed,coupler adr id:{coupler_adr_id} vh current adr:{vh_cur_adr_id}, is walkable start pause/continue action");
// string vh_id = vh.VEHICLE_ID;
// PauseType pauseType = PauseType.Normal;
// PauseEvent pauseEvent = PauseEvent.Pause;
// if (e == SCAppConstants.CouplerHPSafety.Safyte)
// {
// pauseEvent = PauseEvent.Continue;
// }
// else
// {
// pauseEvent = PauseEvent.Pause;
// }
// //Task.Run(() =>
// //{
// // try
// // {
// // vehicleService.Send.Pause(vh_id, pauseEvent, pauseType);
// // }
// // catch (Exception ex)
// // {
// // logger.Error(ex, "Exception:");
// // }
// //});
// }
// }
// }
// }
//}
//catch (Exception ex)
//{
// logger.Error(ex, "Exception:");
//}
}
public void onCouplerHPSafetyChaged(SCAppConstants.CouplerHPSafety couplerHPSafety)
{
CouplerHPSafetyChaged?.Invoke(this, couplerHPSafety);
}
