private void mainForm_Closing(Object sender, FormClosingEventArgs e)
{
List <TaskRecord> trList = TaskReordService.getInstance().getTaskRecordList();
DialogResult dr = System.Windows.Forms.DialogResult.No;
if (trList.Count > 0)
{
dr = MessageBox.Show("当前有任务没完成，确认退出?", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button2);
}
else if (ElevatorFactory.getElevator().getOutCommand() != elevator.COMMAND_FROME2S.LIFT_OUT_COMMAND_MIN)
{
dr = MessageBox.Show("升降机上有任务，确认退出？", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button2);
}
else
{
dr = MessageBox.Show("确认退出？", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Asterisk, MessageBoxDefaultButton.Button2);
}
if (dr == System.Windows.Forms.DialogResult.OK)
{
this.Dispose();
System.Environment.Exit(0);
}
else if (dr == System.Windows.Forms.DialogResult.Cancel)
{
e.Cancel = true;
}
}
/// <summary>
///检查升降串口，必要条件，升降机串口不能用，主程序不能运行
/// </summary>
private ENV_ERR_TYPE checkRunning()
{
ENV_ERR_TYPE err = ENV_ERR_TYPE.ENV_ERR_OK;
if (ElevatorFactory.getElevator().getStat() == false)
{
err = ENV_ERR_TYPE.ENV_LIFT_COM_ERR;
return(err);
}
err = checkCacheTaskRecoreds();
///检查3号车是否可用，备选条件，如果不可用，是否存在其它上货方式
///检测USB报警灯，如果USB报警灯有问题，切换到电脑声音报警
try {
if (JG_OpenUSBAlarmLamp(0) == 0)
{
//MessageBox.Show("打开报警灯失败，切换到电脑声音报警");
useUsbAlarm = false;
}
} catch (Exception ex) {
//MessageBox.Show("打开报警灯失败，切换到电脑声音报警");
useUsbAlarm = false;
}
return(err);
}
private void sheduleLift() {
AGVMessage message = new AGVMessage();
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //楼上楼下都有货
{
AGVLog.WriteWarn("升降机楼上楼下都有货，楼上的车被暂停", new StackFrame(true));
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMEASAGE_LIFT_UPDOWN);
message.setMessageStr("升降机楼上楼下都有货，楼上的车被暂停");
AGVMessageHandler.getMessageHandler().setMessage(message); //发送消息
} else if (ElevatorFactory.getElevator().getOutCommand() > COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //升降机 卡货
{
AGVLog.WriteWarn("升降机卡货，系统被暂停", new StackFrame(true));
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_LIFT_BUG);
message.setMessageStr("升降机卡货，系统被暂停");
AGVMessageHandler.getMessageHandler().setMessage(message); //发送消息
}
}
public void agvInit()
{
if (FormController.isNeedLogin())
{
FormController.getFormController().getLoginFrm().ShowDialog();
}
TaskexeDao.getDao().InsertTaskexeSysInfo("AGV通讯服务程序启动！");
setForkliftStateFirst();
handleCheckRunning(checkRunning());
if (isNeedElevator)
{
ElevatorFactory.getElevator().startReadSerialPortThread();
}
if (isNeedAGVSocketServer)
{
AGVSocketServer.getSocketServer().StartAccept();
}
if (isNeedSchedule)
{
ScheduleFactory.getSchedule().startShedule();
}
if (isNeedTaskexe)
{
TaskexeService.getInstance().start();
}
AGVMessageHandler.getMessageHandler().StartHandleMessage();
if (isNeedMain)
{
FormController.getFormController().getMainFrm().ShowDialog();
}
else
{
FormController.getFormController().getInfoFrm().ShowDialog();
}
}
private bool checkDownDeliverPeriodOver(int upStep) {
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) {
if (fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep != TASK_STEP.TASK_IDLE) //如果有车在运行
{
return false;
}
}
if (ElevatorFactory.getElevator().getOutCommand() != 0) //升降机上有任务, 表示上料没有结束
{
return false;
}
if (upStep > 0) {
Console.WriteLine("当前处于上货 " + upStep + " 阶段");
AGVLog.WriteError("当前处于上货 " + upStep + " 阶段", new StackFrame(true));
return false;
}
return 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
}
}
public void sheduleTask() {
ForkLiftWrapper tmpForkLiftWrapper = null;
SingleTask tmpSingleTask = null;
int upRecordStep = 0; //没有上货， 该值大于0的时候，表示上货还没有结束，可能存在升降机正在运送，车子当前没有任务
int downRecordStep = 0; //没有下货，该值大于0的时候， 表示下货没有结束
int result = -1;
///***开始处理任务的循环语句***///
while (ScheduleFactory.getSchedule().getScheduleFlag()) {
Thread.Sleep(2000);
if (AGVSystem.getSystem().getSystemPause()) { //系统暂停后，调度程序不执行
Console.WriteLine("system pause");
continue;
}
//Console.WriteLine(" shedule Task");
lock (LockController.getLockController().getLockTask()) {
taskRecordList = TaskReordService.getInstance().getTaskRecordList();
upTaskRecord = checkUpTaskRecord();
}
//if (upTaskRecord != null)
// Console.WriteLine(" upTaskRecord name = " + upTaskRecord.taskRecordName);
if (ScheduleFactory.getSchedule().getDownDeliverPeriod()) //当前处于上货阶段，有的话控制升降机上升
{
//读取升降机上料信号
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP) //检测到楼下有货，发送指令到升降机运货到楼上
{
ElevatorFactory.getElevator().setDataCommand(COMMAND_FROMS2E.LIFT_IN_COMMAND_UP);
while (ElevatorFactory.getElevator().getOutCommand() != COMMAND_FROME2S.LIFT_OUT_COMMAND_DOWN) //等待升降机送货到楼上
{
Console.WriteLine("wait lifter up goods");
Thread.Sleep(100);
}
if (upRecordStep > 0) //升降机将货运到楼上,保证upRecordStep不小于0
{
upRecordStep--;
AGVLog.WriteError("上货期间 升降机将货运送到楼上: step = " + upRecordStep, new StackFrame(true));
}
}
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_DOWN
|| ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //上货期间 楼上楼下都有货， 楼上的车子需要继续运行
{
lock (LockController.getLockController().getLockForkLift()) {
//运动到楼上后，发送指令到楼上AGV，把货取走
tmpForkLiftWrapper = getSheduleForkLift();
if (tmpForkLiftWrapper != null) {
tmpSingleTask = getUpPickSingleTaskOnTurn();
TaskRecord tr_tmp = new TaskRecord();
tr_tmp.singleTask = tmpSingleTask;
tr_tmp.taskRecordName = tmpSingleTask.taskName;
TaskReordService.getInstance().addTaskRecord(tr_tmp);
tmpForkLiftWrapper.sendTask(tr_tmp); //发送任务
upPicSingleTaskkUsed++; //用于下次切换卸货点
} else {
Console.WriteLine(" 楼上没有可用的车去卸货");
AGVLog.WriteError(" 楼上没有可用的车去卸货", new StackFrame(true));
}
}
if (tmpForkLiftWrapper != null) {
while (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_DOWN
|| ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //等待楼上货物被取走,如果车的状态回到idle,说明任务发送失败
{
if (tmpForkLiftWrapper.getForkLift().taskStep == TASK_STEP.TASK_IDLE) {
break;
}
Console.WriteLine("wait lifter goods to be pick");
Thread.Sleep(500);
}
if (upRecordStep > 0) //升降机将货运到楼上,保证upRecordStep不小于0
{
upRecordStep--;
AGVLog.WriteError("上货期间 楼上货物被取走: step = " + upRecordStep, new StackFrame(true));
}
}
}
if (checkDownDeliverPeriodOver(upRecordStep)) //检测上料任务有没有结束 条件1：没有上料任务缓存 条件2：所有车子空闲 条件3：升降机上没有货物
{
ScheduleFactory.getSchedule().setDownDeliverPeriod ( false);
}
downRecordStep = 0; //下料信号置0
Console.WriteLine("上料阶段");
}
if (upTaskRecord != null) {
if (!ScheduleFactory.getSchedule().getDownDeliverPeriod() && !checkUpDeliverPeriodOver(downRecordStep)) //检查下货任务有没有结束，升降机从楼上到楼下流程走完，没有正在执行的下货任务
{
Console.WriteLine("当前下货任务没有执行完成，执行完后再开始执行上货任务");
} else if (upTaskRecord.taskRecordStat == TASKSTAT_T.TASK_READY_SEND) {
tmpForkLiftWrapper = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3); //获取楼下三号车
if (tmpForkLiftWrapper.getForkLift().taskStep != TASK_STEP.TASK_IDLE) {
Console.WriteLine("上料任务正在执行，等待上料任务执行完成");
continue;
}
if (ElevatorFactory.getElevator().getOutCommand() != COMMAND_FROME2S.LIFT_OUT_COMMAND_MIN) //只要升降机上有货或有异常都不发送上货任务，否则容易造成楼上楼下都要货
{
Console.WriteLine(" 升降机楼下有货，不发送上货任务");
} else {
lock (LockController.getLockController().getLockForkLift()) //锁住车的状态
{
result = tmpForkLiftWrapper.sendTask(upTaskRecord); //发送任务
ScheduleFactory.getSchedule().setDownDeliverPeriod(true);//上货任务发送后，才进入上料阶段
if (result == 0) //发送成功 才正式进入上货阶段
{
if (upRecordStep <= 2) //避免上货 step被加得太多，不能进入下货阶段
{
upRecordStep += 2;
AGVLog.WriteError("上货期间 发送任务: step = " + upRecordStep, new StackFrame(true));
}
}
}
}
}
}
//检测升降机2楼有货物，发送指令将升降机送货到楼下
//检测升降机1楼有货物，调度1楼AGV送货
//读取升降机上料信号
if (!ScheduleFactory.getSchedule().getDownDeliverPeriod()) {
Console.WriteLine(" 下料阶段");
upRecordStep = 0; //上料信号置0
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_DOWN) //检测到楼上有货，发送指令到升降机运货到楼下
{
int times_tmp = 0;
ElevatorFactory.getElevator().setDataCommand(COMMAND_FROMS2E.LIFT_IN_COMMAND_DOWN);
while (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_DOWN && times_tmp < 60) //等待升降机送货到楼下
{
Console.WriteLine("wait lifter down goods"); //光电感应大概10S可以结束
times_tmp++;
Thread.Sleep(1000);
}
if (times_tmp < 60) {
if (downRecordStep > 0) //升降机将货运到楼上,保证upRecordStep不小于0
{
downRecordStep--;
AGVLog.WriteError("下货期间 楼上货物送到楼下: step = " + downRecordStep, new StackFrame(true));
}
}
times_tmp = 0;
}
if (ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP ||
ElevatorFactory.getElevator().getOutCommand() == COMMAND_FROME2S.LIFT_OUT_COMMAND_UP_DOWN) //检测到楼下有货，通知AGV来取货
{
TaskRecord tr_tmp = new TaskRecord();
tmpForkLiftWrapper = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
tmpSingleTask = getDownPickSingleTaskOnTurn();
tr_tmp.singleTask = tmpSingleTask;
tr_tmp.taskRecordName = tmpSingleTask.taskName;
if (tmpForkLiftWrapper != null && tmpForkLiftWrapper.getForkLift().taskStep == TASK_STEP.TASK_IDLE) {
TaskReordService.getInstance().addTaskRecord(tr_tmp); //发货后，才确认添加该记录
result = tmpForkLiftWrapper.sendTask(tr_tmp);
if (result == 0) //任务发送成功
{
downPicSingleTaskkUsed++; //用于下次切换卸货点
if (downRecordStep > 0) //升降机将货运到楼上,保证upRecordStep不小于0
{
downRecordStep--;
AGVLog.WriteError("下货期间 楼下货物被取走: step = " + downRecordStep, new StackFrame(true));
}
} else {
TaskReordService.getInstance().removeTaskRecord(tr_tmp.singleTask, tr_tmp.taskRecordStat); //如果任务没发送成功，删除该条记录
}
}
}
lock (LockController.getLockController().getLockTask()) {
foreach (TaskRecord tr in taskRecordList) {
lock (LockController.getLockController().getLockForkLift()) {
if (tr.taskRecordStat == TASKSTAT_T.TASK_READY_SEND) {
tmpForkLiftWrapper = null;
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_DOWN_PICK)
tmpForkLiftWrapper = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3);
else if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_DILIVERY)
tmpForkLiftWrapper = getSheduleForkLift(); //有任务执行的时候，才考虑检查车子状态
//if (fl.getForkLift().taskStep == TASK_STEP.TASK_IDLE && fl.finishStatus == 1) //检查车子的状态，向空闲的车子发送任务,如果发送失败，后面会检测发送状态，
//并将该任务状态改成待发重新发送
if (tmpForkLiftWrapper != null && tmpForkLiftWrapper.getForkLift().taskStep == TASK_STEP.TASK_IDLE) {
result = tmpForkLiftWrapper.sendTask(tr); //发送任务
if (result == -1) //任务没有发送成功会中断本次循环，防止发送任务到后面的车
{
break;
}
if (tr.singleTask.taskType == TASKTYPE_T.TASK_TYPE_UP_DILIVERY && downRecordStep < 4) //发送的是楼上送货，并且送货发送次数小于2次
{
downRecordStep += 2;
AGVLog.WriteError("下货期间 发送任务: step = " + downRecordStep, new StackFrame(true));
}
}
}
}
}
}
}
}
}