//定时更新station状态的显示，通过读取station表中的occupiedstatus，来设置背景图片或取消图片。
private void updateGUIStationStautus(Control cc)
{
using (var ctx = new AMSContext())
{
foreach (System.Windows.Forms.Control control in cc.Controls)
{
if (control is System.Windows.Forms.Button)
{
System.Windows.Forms.Button btn = (System.Windows.Forms.Button)control;
if (btn.Text != "清空")
{
int stationNo = int.Parse(btn.Text);
t_Station agvStation = ctx.t_Station
.Where(b => b.StationNo == stationNo)
.SingleOrDefault();
if (agvStation.AvailableStatus == 0)
{
btn.BackgroundImageLayout = ImageLayout.Stretch;
btn.BackgroundImage = Properties.Resources.gray_x;
}
else
{
if (agvStation.OccupiedStatus == 0)
{
btn.BackColor = Color.WhiteSmoke;
//btn.BackgroundImageLayout = ImageLayout.Stretch;
btn.BackgroundImage = Properties.Resources.empty;
}
else if (agvStation.OccupiedStatus == 1)
{
btn.BackgroundImageLayout = ImageLayout.Stretch;
btn.BackgroundImage = Properties.Resources.pallet_gray;
}
else if (agvStation.OccupiedStatus == 2)
{
btn.BackgroundImageLayout = ImageLayout.Stretch;
btn.BackgroundImage = Properties.Resources.pallet;
}
else if (agvStation.OccupiedStatus == 3)
{
btn.BackgroundImageLayout = ImageLayout.Stretch;
btn.BackgroundImage = Properties.Resources.doubt;
}
}
}
if (control.Controls.Count > 0)
{
updateGUIStationStautus(control);
}
}
}
}
}
//ProgId: 104
private void button_Handler(object sender)
{
Button button = (Button)sender;
//检查对应站台是否有任务，如果有，则不允许修改；如果没有，则将有货修改为无货，反之亦然，同时修改站台状态
using (var ctx = new AMSContext())
{
int stationNo = int.Parse(button.Text);
List <t_AGVWork> agvWorks = ctx.t_AGVWork
.Where(b => b.Destination == stationNo || b.Origination == stationNo)
.ToList();
if (agvWorks != null && agvWorks.Count > 0)
{
Console.WriteLine(DateTime.Now + " button_Handler: 站台：" + button.Text + "有作业任务，无法修改站台状态");
toolStripStatusLabel1.Text = DateTime.Now + " button_Handler: 站台：" + button.Text + "有作业任务，无法修改站台状态";
}
else
{
t_Station tStation7 = ctx.t_Station
.Where(b => b.StationNo == stationNo)
.SingleOrDefault();
if (tStation7.OccupiedStatus == 0)
{
tStation7.OccupiedStatus = 2;
}
else if (tStation7.OccupiedStatus == 2)
{
tStation7.OccupiedStatus = 0;
}
else if (tStation7.OccupiedStatus == 1)
{
Console.WriteLine(DateTime.Now.ToString() + " button_Handler: 货位 " + tStation7.StationNo + "的状态为： 预约，无法修改");
toolStripStatusLabel1.Text = DateTime.Now.ToString() + " button_Handler: 货位 " + tStation7.StationNo + "的状态为： 预约，无法修改";
return;
}
tStation7.ModifyProgID = 104;
tStation7.ModifyTime = DateTime.Now;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(tStation7);
setEntry.SetModifiedProperty("OccupiedStatus");
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
updateGUIStationStautus(button); //根据控件名称找到控件，并修改颜色
Console.WriteLine(DateTime.Now.ToString() + " button_Handler: 修改货位 " + tStation7.StationNo + "的状态为" + stationStuatus(tStation7));
toolStripStatusLabel1.Text = DateTime.Now.ToString() + " button_Handler: 修改货位 " + tStation7.StationNo + "的状态为" + stationStuatus(tStation7);
}
}
}
//计算可用路径-业务相关-根据起点找到所有可用路径
private t_AGVPath getPath(t_Station originalStation, int callButtonSignal)
{
t_AGVPath agvPath1;
using (var ctx = new AMSContext())
{
//read
agvPath1 = ctx.t_AGVPath
.Where(b => b.AvailableStatus == 1 && b.Origination == originalStation.StationNo && b.ChannelType == callButtonSignal)
.First();
Console.WriteLine(DateTime.Now.ToString() + " 找到对应的通道 " + agvPath1.Destination);
}
return(agvPath1);
}
//计算可用货位
private t_Station getAvailabeStation(t_AGVPath agvPath1)
{
t_Station agvStation1;
using (var ctx = new AMSContext())
{
//read
List <t_Station> agvStations = ctx.t_Station
.Where(b => b.AvailableStatus == 1 && b.ChannelNo == agvPath1.Destination && b.OccupiedStatus == 0)
.OrderBy(b => b.Sequence)
.ToList();
//Console.WriteLine(agvWork1);
if (agvStations != null && agvStations.Count > 0)
{
agvStation1 = agvStations.First();
//对于FIFO，需要考虑AGV是否能进这个站台，通过查看此站台前面几个站台是否有托盘，或者预约了托盘
if (agvStation1.ChannelType == 0 || agvStation1.ChannelType == 1)
{
List <t_Station> agvStations1 = ctx.t_Station
.Where(b => b.Sequence > agvStation1.Sequence && b.OccupiedStatus != 0 && b.ChannelNo == agvPath1.Destination)
.ToList();
if (agvStations1 == null || agvStations1.Count > 0)
{
toolStripStatusLabel1.Text = "找到空的站台 " + agvStation1.StationNo + " ，但是前面站台" + agvStations1.First().StationNo + "有托盘";
Console.WriteLine(DateTime.Now.ToString() + "getAvailabeStation 找到空的站台 " + agvStation1.StationNo + " ，但是前面站台" + agvStations1.First().StationNo + "有托盘");
return(null);
}
}
Console.WriteLine(agvStation1.StationNo);
return(agvStation1);
}
else
{
toolStripStatusLabel1.Text = "通道 " + agvPath1.Destination + " 没有空的站台";
return(null);
}
}
}
//定时任务-按照t_AGVWork 表在界面状态栏显示任务执行状态
private void timer2_updateAGVWorkStatus(object sender)
{
if (false) //autoUpdateJobStatus
{
using (var ctx = new AMSContext())
{
//read
List <t_AGVWork> agvWorks = ctx.t_AGVWork.ToList();
if (agvWorks != null && agvWorks.Count > 0)
{
foreach (t_AGVWork tAGVWork5 in agvWorks)
{
String jobStatus = tAGVWork5.JobStatus.ToString();
String jobStatusName = ctx.t_Code
.Where(b => b.codetype == jobStatus && b.code == "jobstatus").First().name;
toolStripStatusLabel1.Text = "从 " + tAGVWork5.Origination + " 到 " + tAGVWork5.Destination + " 的任务 " + jobStatusName;
}
}
}
}
}
//定时任务-显示当前是否可以接收conveyor的搬送请求，调试时可以禁用;
//当存在启动是当前站台的任务，并且任务状态小于9的，就不允许接收
private void enable_opc_read(object sender)
{
using (var ctx = new AMSContext())
{
//read
List <t_AGVWork> agvWorks = ctx.t_AGVWork
.Where(b => b.Origination == 301 && b.JobStatus < 9)
.ToList();
if (agvWorks != null && agvWorks.Count > 0)
{
checkbox_stationRelease.Checked = false;
checkbox_stationRelease.Enabled = false;
stationRelease = false;
}
else
{
checkbox_stationRelease.Checked = true;
checkbox_stationRelease.Enabled = true;
stationRelease = true;
}
}
}
//ProgID 103
private Boolean Reset_Channel(int channelNo)
{
String channelName;
if (channelNo == 10000)
{
channelName = "A";
}
else
{
channelName = "B";
}
//reset前，检查针对这个channel的执行中的任务，如果有，Messagebox报错，不能reset，请先删除指令
using (var ctx = new AMSContext())
{
List <t_Station> agvStations = ctx.t_Station
.Where(b => b.AvailableStatus == 1 && b.ChannelNo == channelNo)
.OrderBy(b => b.Sequence)
.ToList();
//Console.WriteLine(agvWork1);
if (agvStations != null && agvStations.Count > 0)
{
var transaction = ctx.Database.BeginTransaction(); //事务开始
try
{
foreach (t_Station tStation6 in agvStations)
{
List <t_AGVWork> agvWorks1 = ctx.t_AGVWork
.Where(b => b.Destination == tStation6.StationNo)
.ToList();
if (agvWorks1.Count > 0)
{
toolStripStatusLabel1.Text = "通道 " + channelName + " 无法重置，搬送ID： " + agvWorks1.First().ID + "正在驶往站台 " + agvWorks1.First().Destination;
Console.WriteLine(DateTime.Now.ToString() + "Reset_Channel 通道 " + channelName + " 无法重置，搬送ID： " + agvWorks1.First().ID + "正在驶往站台 " + agvWorks1.First().Destination);
throw new Exception("站台有任务，无法重置");
}
else
{
tStation6.OccupiedStatus = 0;
tStation6.ModifyProgID = 103;
tStation6.ModifyTime = DateTime.Now;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(tStation6);
setEntry.SetModifiedProperty("OccupiedStatus");
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
}
}
transaction.Commit();
Console.WriteLine(DateTime.Now.ToString() + " Reset_Channel：通道" + channelName + " 已重置");
toolStripStatusLabel1.Text = DateTime.Now.ToString() + " Reset_Channel：通道" + channelName + " 已重置";
}
catch (Exception)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " Reset_Channel：失败了，事务回滚");
}
finally
{
transaction.Dispose();
}
}
else
{
toolStripStatusLabel1.Text = "通道 " + channelNo + " 内没有站台，请确认通道号是否正确";
Console.WriteLine(DateTime.Now.ToString() + "Reset_Channel 通道 " + channelNo + " 内没有站台，请确认通道号是否正确");
return(false);
}
return(true);
}
}
private void timer1_updateJobStatus(object sender)
{
t_AGVWork agvWork1 = null;
if (autoUpdateJobStatus)
{
using (var ctx = new AMSContext())
{
var transaction = ctx.Database.BeginTransaction();
try
{
//read
List <t_AGVWork> agvWorks = ctx.t_AGVWork
//.OrderBy(b => b.BlogId)
.Where(b => b.JobStatus == 5 || b.JobStatus == 8 || b.JobStatus == 11 || b.JobStatus == 14 || b.JobStatus == 100)
.ToList();
//Console.WriteLine(agvWork1);
if (agvWorks != null && agvWorks.Count > 0)
{
//按照任务状态 5,8,11,14更新不同的数值
agvWork1 = agvWorks.First();
if (agvWork1.JobStatus == 5)
{
agvWork1.JobStatus = 6;
}
else if (agvWork1.JobStatus == 8)
{
agvWork1.JobStatus = 9;
//stationRelease = true; //取货完成确认后才允许接收新的搬送请求
}
else if (agvWork1.JobStatus == 11)
{
//检查站台状态，如果发现站台不可卸货，则修改目的地
if (checkDestinationStation())
{
agvWork1.JobStatus = 12;
}
else
{
updateTask2Clearing(agvWork1);
}
}
else if (agvWork1.JobStatus == 14)
{
agvWork1.JobStatus = 15;
}
ctx.t_AGVWork.Attach(agvWork1);
if (agvWork1.JobStatus == 100) //删除
{
ctx.t_AGVWork.Remove(agvWork1);
ctx.SaveChanges();
t_Station tStation5 = ctx.t_Station
.Where(b => b.StationNo == agvWork1.Destination).SingleOrDefault();
ctx.t_Station.Attach(tStation5);
tStation5.OccupiedStatus = 2;
tStation5.ModifyProgID = 201;
tStation5.ModifyTime = DateTime.Now;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(tStation5);
setEntry.SetModifiedProperty("OccupiedStatus");
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
//updateGUIStationStautus(tStation5, 2);
toolStripStatusLabel1.Text = "任务从 " + agvWork1.Origination + " 到 " + agvWork1.Destination + " 已经正常完成，站台 " + tStation5.StationNo + " 当前已有托盘";
}
else
{
agvWork1.ModifyProgID = 201;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork1);
//只修改实体的Name属性和Age属性
setEntry.SetModifiedProperty("JobStatus");
setEntry.SetModifiedProperty("ModifyProgID");
ctx.SaveChanges();
}
//Console.WriteLine("update status:", updateFlag);
transaction.Commit();
String jobStatus = agvWork1.JobStatus.ToString();
String jobStatusName = ctx.t_Code
.Where(b => b.codetype == jobStatus && b.code == "jobstatus").First().name;
toolStripStatusLabel1.Text = "从 " + agvWork1.Origination + " 到 " + agvWork1.Destination + " 的任务 " + jobStatusName;
}
}
catch (Exception ex)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " timer1_updateJobStatus 更新任务状态失败" + agvWork1.ID);
MessageBox.Show(ex.ToString());
}
finally
{
transaction.Dispose();
}
}
}
//System.Threading.Thread.Sleep(2000); //用一个线程控制，睡2秒后重新开始
}
//更新任务，将AGV送到clearing station ProgID 105
private Boolean updateTask2Clearing(t_AGVWork agvWork2)
{
t_Station agvStation1;
//更新任务
using (var ctx = new AMSContext())
{
var transaction = ctx.Database.BeginTransaction();
try
{
agvWork2.ModifyProgID = 105;
agvWork2.ModifyTime = DateTime.Now;
agvWork2.RedirectFlag = 1;
agvWork2.RedirectPosition = 9999;
agvWork2.JobStatus = 61;
ctx.t_AGVWork.Attach(agvWork2);
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork2);
setEntry.SetModifiedProperty("ModifyProgID");
setEntry.SetModifiedProperty("ModifyTime");
setEntry.SetModifiedProperty("RedirectFlag");
setEntry.SetModifiedProperty("RedirectPosition");
setEntry.SetModifiedProperty("JobStatus");
ctx.SaveChanges();
//更新新的站台为预约
//更新站台状态为疑问
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == agvWork2.Destination)
.SingleOrDefault();
agvStation1.OccupiedStatus = 3; //空满状态 0: 空 1:预约中 2:满 3: 存疑
agvStation1.ModifyProgID = 105;
agvStation1.ModifyTime = DateTime.Now;
ctx.t_Station.Attach(agvStation1);
var setEntry1 = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvStation1);
setEntry1.SetModifiedProperty("OccupiedStatus");
setEntry1.SetModifiedProperty("ModifyProgID");
setEntry1.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
transaction.Commit();
Console.WriteLine(DateTime.Now.ToString() + " updateTask：任务" + agvWork2.ID + " 已更新，站台 " + agvWork2.Destination + " 状态更新为(存疑)");
toolStripStatusLabel1.Text = " 从 " + agvWork2.Origination + " 到 " + agvWork2.Destination + " 的搬运任务已更新";
return(true);
}
catch (Exception)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " createTask：失败了，事务回滚");
}
finally
{
transaction.Dispose();
}
}
return(false);
}
//创建任务-事务，插入作业任务agvwork数据和更新站台状态agvstation在同一个事务内完成
private Boolean createTask(t_AGVWork agvWork2)
{
t_Station agvStation1;
//创建任务
using (var ctx = new AMSContext())
{
//检查是否有目的地为同一个站台的任务还在执行中
List <t_AGVWork> agvWorks = ctx.t_AGVWork
.Where(b => b.Destination == agvWork2.Destination)
.ToList();
//Console.WriteLine(agvWork1);
if (agvWorks.Count > 0)
{
toolStripStatusLabel1.Text = DateTime.Now.ToString() + " 已经存在一条目的地为" + agvWork2.Destination + "的任务了，不能重复创建";
Console.WriteLine(DateTime.Now.ToString() + " createTask：已经存在一条目的地为" + agvWork2.Destination + "的任务了，不能重复创建");
return(false);
}
var transaction = ctx.Database.BeginTransaction();
try
{
agvWork2.ModifyProgID = 101;
agvWork2.ModifyTime = DateTime.Now;
ctx.t_AGVWork.Add(agvWork2); //插入agv作业任务
ctx.SaveChanges();
agvWork2.JobId = agvWork2.ID;
var setEntry = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvWork2);
setEntry.SetModifiedProperty("JobId");
ctx.SaveChanges();
//更新站台状态为预约
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == agvWork2.Destination)
.First();
agvStation1.OccupiedStatus = 1; //空满状态 0: 空 1:预约中 2:满
agvStation1.ModifyProgID = 101;
agvStation1.ModifyTime = DateTime.Now;
ctx.t_Station.Attach(agvStation1);
var setEntry1 = ((IObjectContextAdapter)ctx).ObjectContext.ObjectStateManager.GetObjectStateEntry(agvStation1);
setEntry1.SetModifiedProperty("OccupiedStatus");
setEntry1.SetModifiedProperty("ModifyProgID");
setEntry1.SetModifiedProperty("ModifyTime");
ctx.SaveChanges();
transaction.Commit();
Console.WriteLine(DateTime.Now.ToString() + " createTask：任务" + agvWork2.ID + " 已创建，站台 " + agvWork2.Destination + " 状态更新为(预约中)");
toolStripStatusLabel1.Text = " 从 " + agvWork2.Origination + " 到 " + agvWork2.Destination + " 的搬运任务已创建";
return(true);
}
catch (Exception)
{
transaction.Rollback();
Console.WriteLine(DateTime.Now.ToString() + " createTask：失败了，事务回滚");
}
finally
{
transaction.Dispose();
}
}
return(false);
}
//触发任务
private Boolean triggerTask(int materialType, int stationNo)
{
t_AGVPath agvPath1;
t_Station agvStation1;
//根据规则找到找路径，一般只能找到一条，如果找到多条，按照规则选一条
using (var ctx = new AMSContext())
{
//read
agvStation1 = ctx.t_Station
.Where(b => b.StationNo == stationNo)
.SingleOrDefault();
agvPath1 = getPath(agvStation1, materialType);
}
if (agvPath1 == null)
{
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据" + agvStation1.StationNo + " 和拉动信号类型 " + materialType + " 找不到对应的路径");
return(false);
}
//如果路径下有多个站台，按照策略选一个站台
t_Station agvStation2 = getAvailabeStation(agvPath1);
//构建任务实体
if (agvStation2 != null)
{
t_AGVWork agvWork1 = new t_AGVWork
{
JobType = 0,
Origination = agvStation1.StationNo,
Destination = agvStation2.StationNo,
//JobId = 10000,
Priority = 0,
JobStatus = 0,
TUType = 0,
AGVCancelFlag = 0,
CancelFlag = 0,
WMSCancelFlag = 0,
RedirectFlag = 0
};
//创建任务并更新货位状态（货位预约，空满状态 0: 空 1:预约中 2:满）
if (createTask(agvWork1))
{
//更新界面颜色,将对应货位的颜色改为黄色(预约中）
//updateGUIStationStautus(agvStation1, 1);
stationRelease = false;
checkbox_stationRelease.Checked = false; //站台不可再接收其他的搬运指令
checkbox_stationRelease.Enabled = false; //而且不允许更改
}
else
{
toolStripStatusLabel1.Text = "创建任务失败";
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据起始站台： " + agvStation1.StationNo + " 和目的站台 " + agvStation2.StationNo + " 创建任务失败");
return(false);
}
//更新路径上任务数量-本次不实现（控制一条路径上的流量）
}
else
{
//toolStripStatusLabel1.Text = "无可用站台";
Console.WriteLine(DateTime.Now.ToString() + " triggerTask：根据起始站台： " + stationNo + " 和目的通道 " + agvPath1.Destination + " 找不到可用的站台");
return(false);
}
return(true);
}
