public void setMessage(AGVMessage message)
{
if (this.message.getMessageType() != message.getMessageType())
{
this.message_next = message; //下一个要处理的message type与当前的message不一样
AGVLog.WriteInfo("AGVMessageHandler set message " + message.getMessageStr(), new StackFrame(true));
}
else
{
AGVLog.WriteInfo("AGVMessageHandler set same message " + message.getMessageStr(), new StackFrame(true));
}
}
private void handleMessage()
{
while (!isStop)
{
Thread.Sleep(1000);
if (message_next.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_MIN)
{
continue;
}
message.setMessageStr(message_next.getMessageStr());
message.setMessageType(message_next.getMessageType());
message_next.clear();
startBeep(message.getMessageType());
if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_LOWPOWER)
{
FormController.getFormController().getMainFrm().setFrmEnable(false);
DialogResult dr = MessageBox.Show(message.getMessageStr(), "低电量警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
if (dr == DialogResult.OK)
{
FormController.getFormController().getMainFrm().setFrmEnable(true);
FormController.getFormController().getMainFrm().setWindowState(FormWindowState.Normal);
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMEASAGE_LIFT_UPDOWN)
{
bool ddp = ScheduleFactory.getSchedule().getDownDeliverPeriod();
if (ddp)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START); //如果当前处于上货阶段，楼上楼下都有货，需要暂停楼下的车
}
else
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START); //如果当前处于下货阶段，楼上楼下都有货，需要暂停楼上的车
}
DialogResult dr = MessageBox.Show(message.getMessageStr(), "升降机提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
if (dr == DialogResult.OK)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN); //解除楼上或楼下的暂停
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_LIFT_COM)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
FormController.getFormController().getMainFrm().setFrmEnable(false);
DialogResult dr = MessageBox.Show(message.getMessageStr(), "升降机错误", MessageBoxButtons.OK, MessageBoxIcon.Warning);
if (dr == DialogResult.OK)
{
if (ElevatorFactory.getElevator().isNeed())
{
ElevatorFactory.getElevator().reStart(); //重新启动升降机 PLC读取线程
}
FormController.getFormController().getMainFrm().setFrmEnable(true);
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN); //解除系统暂停
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_LIFT_BUG)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
FormController.getFormController().getMainFrm().setFrmEnable(false);
DialogResult dr = MessageBox.Show(message.getMessageStr(), "升降机错误", MessageBoxButtons.OK, MessageBoxIcon.Warning);
if (dr == DialogResult.OK)
{
//AGVInitialize.getInitialize().getAGVElevatorOperator().reStart(); //重新启动升降机 PLC读取线程
FormController.getFormController().getMainFrm().setFrmEnable(true);
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN); //解除系统暂停
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_NET_ERR)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
DialogResult dr = MessageBox.Show(message.getMessageStr(), "网络异常", MessageBoxButtons.OK, MessageBoxIcon.Warning); //网络中断时，系统暂停
if (dr == DialogResult.OK)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN);
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START);
DialogResult dr = MessageBox.Show(message.getMessageStr(), "网络异常", MessageBoxButtons.OK, MessageBoxIcon.Warning);
if (dr == DialogResult.OK)
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN); //清除楼上暂停的标志，但是车子暂停不会解除
clearBeep();
}
}
else if (message.getMessageType() == AGVMessageHandler_TYPE_T.AGVMessageHandler_AGV_ALARM) //检测到防撞信号，暂停所有AGV
{
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
//DialogResult dr = MessageBox.Show(message.getMessageStr(), "防撞提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
//if (dr == DialogResult.OK) {
AGVSystem.getSystem().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN); //清除楼上暂停的标志，但是车子暂停不会解除
clearBeep();
//}
}
message.clear(); //清除消息
}
}
