private void SendInMission(AgvInMissonModel mission)
{
SendLogEvent?.Invoke(new StationClientState {
State = StationClientStateEnum.INFO, Message = "入库请求:" + mission.Type.EnumToString()
}.ToString());
SendSingnalrEvent?.Invoke(AgvSendActionEnum.SendInMission.EnumToString(), mission);
}
public bool CanRequest()
{
agv_inmissions_atpreplace = missionContext.undo_inmissions.Where(x => x.Process == AgvMissonProcessEnum.AGVATPREPLACE).FirstOrDefault();
var agv_inmissions_atpreplace_last = missionContext.undo_inmissions.Where(x => x.CarryProcess > CarryMissonProcessEnum.NEW &&
x.CarryProcess < CarryMissonProcessEnum.CLOSE || x.Process == AgvMissonProcessEnum.AGVATPLACE).FirstOrDefault();
return(agv_inmissions_atpreplace != null && agv_inmissions_atpreplace_last == null);
}
public bool CanRequest()
{
if ((missionContext.undo_inmissions.Count + missionContext.undo_outmissions.Count) < 2)
{
new_inmission = missionContext.MissionInNodes.Where(x => x.Process == AgvMissonProcessEnum.NEW && x.CarryProcess == CarryMissonProcessEnum.NEW).FirstOrDefault();
return(new_inmission != null);
}
return(false);
}
public void PushInMission(AgvInMissonModel mission)
{
var count = missionContext.MissionInNodes.Where(x => x.Id == mission.Id && (x.Process != AgvMissonProcessEnum.CLOSE || x.CarryProcess != CarryMissonProcessEnum.CLOSE)).Count();
if (count == 0)
{
mission.AgvProcessChangeEvent += (s, e) => AgvMissonChangeEvent?.Invoke(s, e);
AgvMissonChangeEvent?.Invoke(mission, true);
missionContext.MissionInNodes.Add(mission);
SendAgvMissonEvent?.Invoke(mission);
}
}
public void OnAgvInMissonEvent(AgvInMissonModel mission)
{
//毛坯空箱回库
if (mission.Id.Equals(Station_Id + "_EMPTYOUT"))
{
if (mission.Process == AgvMissonProcessEnum.AGVPICKEDANDLEAVE && mission.Process != AgvMissonProcessEnum.CANCEL & mission.Process != AgvMissonProcessEnum.CANCELED)
{
bool empty_out = false;
var ret_empty_out = StationDevice.GetEmptyOutState(ref empty_out);
if (ret_empty_out == true && empty_out == true)
{
StationDevice.SetEmptyOutFin(true);
bool empty_out_confirm = true;
while (empty_out_confirm)
{
ret_empty_out = StationDevice.GetEmptyOutState(ref empty_out_confirm);
if (ret_empty_out == true && empty_out_confirm == false)
{
StationDevice.SetEmptyOutFin(false);
}
Thread.Sleep(1000);
}
}
}
}
//成品回库
if (mission.Id.Equals(Station_Id + "_FINOUT"))
{
if (mission.Process == AgvMissonProcessEnum.AGVPICKEDANDLEAVE && mission.Process != AgvMissonProcessEnum.CANCEL & mission.Process != AgvMissonProcessEnum.CANCELED)
{
bool fin_out = false;
var ret_fin_out = StationDevice.GetFinOutState(ref fin_out);
if (ret_fin_out == true && fin_out == true)
{
StationDevice.SetFinOutFin(true);
bool fin_out_confirm = true;
while (fin_out_confirm)
{
ret_fin_out = StationDevice.GetFinOutState(ref fin_out_confirm);
if (ret_fin_out == true && fin_out_confirm == false)
{
StationDevice.SetFinOutFin(false);
}
Thread.Sleep(1000);
}
}
}
}
}
//料库执行入库
private bool WareHouseInMission(AgvInMissonModel mission)
{
if (missionContext.carryDevice as RightCarryService.TestControlDevice != null)
{
mission.CarryProcess = CarryMissonProcessEnum.FINISHED;
return(true);
}
TestRightCarryService <IControlDevice> carry = new TestRightCarryService <IControlDevice>(missionContext.carryDevice);
var ret = carry.CarryIn(mission.ProductId, mission.MaterialId);
if (ret == false)
{
mission.Process = AgvMissonProcessEnum.CANCEL;
mission.CarryProcess = CarryMissonProcessEnum.CANCEL;
carry.ReleaseLock();
return(false);
}
mission.CarryProcess = CarryMissonProcessEnum.FINISHED;
carry.ReleaseLock();
return(true);
}
private void SendMissonOrder(AgvMissonModel message)
{
var hubContext2 = GlobalHost.ConnectionManager.GetHubContext <NoticeHub>();
try
{
var client = new Client(StaticData.AppHostConfig.AgvServiceUrl);
string id = $"{message.Id}_{ message.TimeId}";
StaticData.OrderName.Add(id);
var order = new AgvInMissonModel()
{
Id = message.Id
}.AgvMissonToTransportOrder();
client.TransportOrders2(id, order);
hubContext2.Clients.All.queryOrder(id);
}
catch (Exception ex)
{
hubContext2.Clients.All.pushSystemMessage($"AGV调度服务连接失败,异常信息:{ex.Message}", new { state = false });
}
}
public bool CanRequest()
{
agvcancel_inmission = missionContext.MissionInNodes.Where(x => x.Process == AgvMissonProcessEnum.CANCEL).FirstOrDefault();
return(agvcancel_inmission != null);
}
public bool CanRequest()
{
carrycancel_inmission = missionContext.MissionInNodes.Where(x => x.CarryProcess == CarryMissonProcessEnum.CANCEL).FirstOrDefault();
return(carrycancel_inmission != null);
}
public receiveInMissionFinMessage(AgvInMissonModel model)
{
Model = model;
}
public SendMissonInOrder(AgvInMissonModel model)
{
Model = model;
}
public SendInMissionFinMessage(AgvInMissonModel model)
{
Model = model;
}
public SendInMission(AgvInMissonModel model)
{
Model = model;
}
public bool CanRequest()
{
warehouse_inmission = missionContext.undo_inmissions.Where(x => x.Process == AgvMissonProcessEnum.FINISHED && x.CarryProcess == CarryMissonProcessEnum.NEW).FirstOrDefault();
return(warehouse_inmission != null);
}
public bool CanRequest()
{
agv_inmission = missionContext.undo_inmissions.Where(x => x.Process == AgvMissonProcessEnum.START).FirstOrDefault();
return(agv_inmission != null);
}
public void SendInMissionFinMessage(AgvInMissonModel message)
{
Clients.All.receiveInMissionFinMessage(message);
}
public bool CanRequest()
{
currentMisson = missionContext.MissionInNodes.FirstOrDefault(x => x.CarryProcess == CarryMissonProcessEnum.FINISHED && x.Process > AgvMissonProcessEnum.AGVPLACEDANDLEAVE);
return(currentMisson != null);
}
public bool CanRequest()
{
agvfinished_inmission = missionContext.MissionInNodes.Where(x => x.Process == AgvMissonProcessEnum.FINISHED && x.CarryProcess > CarryMissonProcessEnum.NEW).FirstOrDefault();
return(agvfinished_inmission != null);
}
