/// <summary>
/// 发送任务
/// </summary>
/// <param name="tr"></param>
/// <param name="fl"></param>
public int sendTask(TaskRecord tr, ForkLift fl)
{
string cmd = null;
int result = 0;
Console.WriteLine("ready to send task: " + tr.singleTask.taskName + "forklist stat:" + fl.taskStep + "forklift finished:" + fl.finishStatus);
cmd = "cmd=set task by name;name=" + tr.taskRecordName; //发送命令格式，如果有多个对应值用;隔开，如果后面没有命令了，不需要再加;号
Console.WriteLine("send msg :" + cmd + "to " + fl.forklift_number);
lock (fl.tcpClient.clientLock)
{
try
{
fl.tcpClient.SendMessage(cmd); //确保发送成功
tr.taskRecordStat = TASKSTAT_T.TASK_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND;
AGVInitialize.getInitialize().getMainFrm().updateFrm(); //设置更新界面
tr.forkLift = fl;
fl.taskStep = ForkLift.TASK_STEP.TASK_SENDED;
fl.currentTask = tr.singleTask.taskText;
AGVInitialize.getInitialize().getDBConnect().UpdateTaskRecord(tr);
AGVInitialize.getInitialize().getDBConnect().updateForkLift(fl); //更新车子状态
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 失败", new StackFrame(true));
result = -1;
}
}
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 成功", new StackFrame(true));
return(result);
}
public bool setForkCtrl(ForkLift fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
int times = 0;
while (times < 3)
{
try
{
fl.tcpClient.SendMessage(cmd);
break;
}
catch
{
Message message = new Message();
message.setMessageType(AGVMESSAGE_TYPE_T.AGVMESSAGE_SENDPAUSE_ERR);
message.setMessageStr("发送中断错误");
AGVInitialize.getInitialize().getAGVMessage().setMessage(message);
}
times++;
}
Console.WriteLine("setForkCtrl forklift " + fl.id + "cmd = " + cmd);
AGVLog.WriteInfo("setForkCtrl forklift " + fl.id + "cmd = " + cmd, new StackFrame(true));
return(true);
}
public List <TaskRecord> SelectTaskRecordBySingleTaskID(int singleTaskID)
{
string sql = "select * from taskrecord where singleTask = " + singleTaskID + " order by taskRecordStat desc, taskLevel desc";
//检测当前车子可用的车子数量，如果有两台可弹出用的车子，正常运行，如果只有一台可用的车子，弹出提示，请工作人员确认，如果无可用的车子，直接退出程序
//确认的逻辑，连接车子ip，如果可以正常连接车子ip，则表示车子可用
List <TaskRecord> taskRecordList = AGVInitialize.getInitialize().getDBConnect().SelectTaskRecordBySql(sql);
return(taskRecordList);
}
/// <summary>
/// 车子查询后，不能重新查询，整个运行周期只维护一个Forklift列表
/// </summary>
/// <returns></returns>
public List <ForkLift> getForkLiftList()
{
if (forkLiftList == null)
{
forkLiftList = AGVInitialize.getInitialize().getDBConnect().SelectForkList();
}
return(forkLiftList);
}
public List <User> getUsers()
{
if (userList == null)
{
userList = AGVInitialize.getInitialize().getDBConnect().SelectUserList();
}
return(userList);
}
private void handleLiftComException()
{
Message message = new Message();
message.setMessageType(AGVMESSAGE_TYPE_T.AGVMESSAGE_LIFT_COM);
message.setMessageStr("升降机PLC端口异常，请检查，当前处于系统暂停");
AGVInitialize.getInitialize().getAGVMessage().setMessage(message); //发送消息
isStop = true; //结束串口读取线程
}
public void addAllTaskRecord()
{
List <SingleTask> singleTaskList = AGVInitialize.getInitialize().getSingleTaskList(); //获取所有的任务
foreach (SingleTask st in singleTaskList)
{
if (st.taskType == TASKTYPE_T.TASK_TYPE_UP_DILIVERY)
{
TaskRecord tr = new TaskRecord();
tr.singleTask = st;
tr.taskRecordName = st.taskName;
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
AGVInitialize.getInitialize().getSchedule().addTaskRecord(tr);
}
}
}
public void deleteCacheTaskRecord()
{
string sql = "truncate table taskrecord";
AGVInitialize.getInitialize().getDBConnect().DeleteWithSql(sql);
}