private async void btn_toDest_Click(object sender, EventArgs e)
{
var selected_row = dgv_current_in_line_carrier.SelectedRows[0];
if (selected_row.Index < 0)
{
MessageBox.Show("No select remove carrier.", "Carrier To AGV", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
string carrier_current_location = selected_row.Cells[DGV_CURRENT_IN_LINE_CARRIER_INFO_INDEX_LOCATION].Value as string;
string carrier_id = selected_row.Cells[DGV_CURRENT_IN_LINE_CARRIER_INFO_INDEX_ID].Value as string;
var check_is_in_vh = IsCstInVh(carrier_id, carrier_current_location);
if (!check_is_in_vh.isIn)
{
MessageBox.Show(check_is_in_vh.result, "Carrier To AGV St.", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
string dest_port_id = selected_row.Cells[DGV_CURRENT_IN_LINE_CARRIER_INFO_INDEX_DEST].Value as string;
var port_station = scApp.PortStationBLL.OperateCatch.getPortStation(dest_port_id);
sc.BLL.CMDBLL.CommandCheckResult check_result_info = null;
await Task.Run(() =>
{
scApp.VehicleService.Command.Unload(check_is_in_vh.vh.VEHICLE_ID, carrier_id, port_station.ADR_ID, port_station.PORT_ID);
check_result_info = sc.BLL.CMDBLL.getCallContext <sc.BLL.CMDBLL.CommandCheckResult>
(sc.BLL.CMDBLL.CALL_CONTEXT_KEY_WORD_OHTC_CMD_CHECK_RESULT);
});
if (check_result_info != null && !check_result_info.IsSuccess)
{
MessageBox.Show(check_result_info.ToString(), "Command create fail.", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
private async void btn_force_assign_Click(object sender, EventArgs e)
{
string selected_vh_id = cmb_force_assign.Text;
try
{
if (selection_index == -1)
{
MessageBox.Show("Please select transfer command. ", "Command create fail.", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
btn_force_finish.Enabled = false;
var mcs_cmd = cmdMCSshowList[selection_index];
AVEHICLE excute_cmd_of_vh = mainform.BCApp.SCApplication.VehicleBLL.cache.getVehicle(selected_vh_id);
ATRANSFER transfer = mainform.BCApp.SCApplication.CMDBLL.GetTransferByID(mcs_cmd.CMD_ID);
sc.BLL.CMDBLL.CommandCheckResult check_result_info = null;
string force_assign_st_port = "";
bool is_selected_agv_station_port = cmb_st_port_ids.Visible;
if (is_selected_agv_station_port)
{
force_assign_st_port = cmb_st_port_ids.Text;
}
await Task.Run(() =>
{
try
{
mainform.BCApp.SCApplication.TransferService.AssignTransferToVehicle(transfer, excute_cmd_of_vh, force_assign_st_port);
check_result_info = sc.BLL.CMDBLL.getCallContext <sc.BLL.CMDBLL.CommandCheckResult>
(sc.BLL.CMDBLL.CALL_CONTEXT_KEY_WORD_OHTC_CMD_CHECK_RESULT);
}
catch { }
}
);
updateTransferCommand();
if (check_result_info != null && !check_result_info.IsSuccess)
{
MessageBox.Show(check_result_info.ToString(), "Command create fail. ", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
else
{
MessageBox.Show("Command create success.", "OK", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
catch { }
finally
{
btn_force_finish.Enabled = true;
}
}
private (bool isSuccess, string result) excuteCommandNew(E_CMD_TYPE cmdType, string fromAddess, string toAddress, string cstID, string vhID)
{
try
{
Console.WriteLine(Thread.CurrentThread.ManagedThreadId.ToString());
var source_info = getAdrPortID(fromAddess);
var dest_info = getAdrPortID(toAddress);
string cst_id = cstID;
string vehicleId = vhID;
if (BCFUtility.isEmpty(vehicleId))
{
return(false, "No find idle vehile.");
}
switch (cmdType)
{
case E_CMD_TYPE.Move: scApp.VehicleService.Command.Move(vehicleId, dest_info.adrID); break;
//case E_CMD_TYPE.Move_Charger: scApp.VehicleService.Command.MoveToCharge(vehicleId, dest_info.adrID); break;
case E_CMD_TYPE.Move_Charger: scApp.VehicleChargerModule.askVhToChargerForWaitByManual(vehicleId); break;
case E_CMD_TYPE.LoadUnload: scApp.VehicleService.Command.Loadunload(vehicleId, cst_id, source_info.adrID, dest_info.adrID, source_info.portID, dest_info.portID); break;
case E_CMD_TYPE.Load: scApp.VehicleService.Command.Load(vehicleId, cst_id, source_info.adrID, source_info.portID); break;
case E_CMD_TYPE.Unload: scApp.VehicleService.Command.Unload(vehicleId, cst_id, dest_info.adrID, dest_info.portID); break;
case E_CMD_TYPE.Home:
string cmdID = scApp.SequenceBLL.getCommandID(SCAppConstants.GenOHxCCommandType.Manual);
scApp.VehicleService.Send.CommandHome(vehicleId, cmdID);
break;
}
sc.BLL.CMDBLL.CommandCheckResult check_result_info = sc.BLL.CMDBLL.getCallContext <sc.BLL.CMDBLL.CommandCheckResult>
(sc.BLL.CMDBLL.CALL_CONTEXT_KEY_WORD_OHTC_CMD_CHECK_RESULT);
if (check_result_info == null)
{
return(false, "");
}
else
{
return(check_result_info.IsSuccess, check_result_info.ToString());
}
}
catch (Exception ex)
{
logger.Error(ex, "Exception");
return(false, "Exception happend");
}
}
private Task excuteCommand(E_CMD_TYPE cmdType)
{
var source_info = getAdrPortID(cmb_fromAddress.Text);
var dest_info = getAdrPortID(cmb_toAddress.Text);
string cst_id = txt_cst_id.Text;
string vehicleId = cmb_Vehicle.Text;
if (BCFUtility.isEmpty(vehicleId))
{
MessageBox.Show("No find idle vehile.");
return(Task.CompletedTask);
}
switch (cmdType)
{
case E_CMD_TYPE.Move: scApp.VehicleService.Command.Move(vehicleId, dest_info.adrID); break;
//case E_CMD_TYPE.Move_Charger: scApp.VehicleService.Command.MoveToCharge(vehicleId, dest_info.adrID); break;
case E_CMD_TYPE.Move_Charger: scApp.VehicleChargerModule.askVhToChargerForWaitByManual(vehicleId); break;
case E_CMD_TYPE.LoadUnload: scApp.VehicleService.Command.Loadunload(vehicleId, cst_id, source_info.adrID, dest_info.adrID, source_info.portID, dest_info.portID); break;
case E_CMD_TYPE.Load: scApp.VehicleService.Command.Load(vehicleId, cst_id, source_info.adrID, source_info.portID); break;
case E_CMD_TYPE.Unload: scApp.VehicleService.Command.Unload(vehicleId, cst_id, dest_info.adrID, dest_info.portID); break;
case E_CMD_TYPE.Home:
string cmdID = scApp.SequenceBLL.getCommandID(SCAppConstants.GenOHxCCommandType.Manual);
scApp.VehicleService.Send.CommandHome(vehicleId, cmdID);
break;
}
sc.BLL.CMDBLL.CommandCheckResult check_result_info = sc.BLL.CMDBLL.getCallContext <sc.BLL.CMDBLL.CommandCheckResult>
(sc.BLL.CMDBLL.CALL_CONTEXT_KEY_WORD_OHTC_CMD_CHECK_RESULT);
if (check_result_info != null && !check_result_info.IsSuccess)
{
MessageBox.Show(check_result_info.ToString(), "Command create fail.", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
return(Task.CompletedTask);
}
private void RegisterVehilceEvent()
{
Get["AVEHICLES/{ID}"] = (p) =>
{
string vh_id = p.ID;
AVEHICLE vh = SCApplication.getInstance().VehicleBLL.cache.getVehicle(vh_id);
var response = (Response)vh.ToString();
response.ContentType = restfulContentType;
return(response);
};
Get["AVEHICLES"] = (p) =>
{
string vh_id = p.ID;
List <AVEHICLE> vhs = SCApplication.getInstance().getEQObjCacheManager().getAllVehicle();
var response = (Response)JsonConvert.SerializeObject(vhs);
response.ContentType = restfulContentType;
return(response);
};
//Get["AVEHICLES/(?<all>)"] = (p) =>
Get["AVEHICLES/_search"] = (p) =>
{
List <AVEHICLE> vhs = null;
foreach (string name in Request.Query)
{
switch (name)
{
case "SectionID":
string sec_id = Request.Query[name] ?? string.Empty;
vhs = SCApplication.getInstance().VehicleBLL.cache.loadVehicleBySEC_ID(sec_id);
break;
}
}
var response = (Response)JsonConvert.SerializeObject(vhs);
response.ContentType = restfulContentType;
return(response);
};
Get["metrics"] = (p) =>
{
int total_idle_vh_clean = SCApplication.getInstance().VehicleBLL.cache.getNoExcuteMcsCmdVhCount(E_VH_TYPE.Clean);
int total_idle_vh_Dirty = SCApplication.getInstance().VehicleBLL.cache.getNoExcuteMcsCmdVhCount(E_VH_TYPE.Dirty);
int total_cmd_is_queue_count = SCApplication.getInstance().CMDBLL.getCMD_MCSIsQueueCount();
int total_cmd_is_running_count = SCApplication.getInstance().CMDBLL.getCMD_MCSIsRunningCount();
string ohxc_excute_info = string.Empty;
StringBuilder sb = new StringBuilder();
setOhxCContent(sb, nameof(total_idle_vh_clean), total_idle_vh_clean, "current idle clean car");
setOhxCContent(sb, nameof(total_idle_vh_Dirty), total_idle_vh_Dirty, "current idle dirty car");
setOhxCContent(sb, nameof(total_cmd_is_queue_count), total_cmd_is_queue_count, "cmd number being queued");
setOhxCContent(sb, nameof(total_cmd_is_running_count), total_cmd_is_running_count, "cmd number being executed");
var response = (Response)sb.ToString();
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/ViewerUpdate"] = (p) =>
{
SCApplication scApp = SCApplication.getInstance();
List <AVEHICLE> vhs = scApp.getEQObjCacheManager().getAllVehicle();
//foreach (AVEHICLE vh in vhs)
//{
// scApp.VehicleService.PublishVhInfo(vh, null);
// SpinWait.SpinUntil(() => false, 10);
//}
var response = (Response)"OK";
response.ContentType = restfulContentType;
return(response);
};
//Post["api/io/T2STK100T01/waitin/CST01"] = (p) =>
//{
// var response = (Response)"OK";
// response.ContentType = restfulContentType;
// return response;
//};
Post["AVEHICLES/SendCommand"] = (p) =>
{
var scApp = SCApplication.getInstance();
bool isSuccess = true;
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string carrier_id = Request.Query.carrier_id.Value ?? Request.Form.carrier_id.Value ?? string.Empty;
string from_port_id = Request.Query.from_port_id.Value ?? Request.Form.from_port_id.Value ?? string.Empty;
string to_port_id = Request.Query.to_port_id.Value ?? Request.Form.to_port_id.Value ?? string.Empty;
E_CMD_TYPE e_cmd_type = default(E_CMD_TYPE);
string cmd_type = Request.Query.cmd_type.Value ?? Request.Form.cmd_type.Value ?? string.Empty;
string result = string.Empty;
try
{
ACMD cmd_obj = null;
AVEHICLE assignVH = null;
assignVH = scApp.VehicleBLL.cache.getVehicle(vh_id);
isSuccess = assignVH != null;
if (isSuccess)
{
isSuccess = Enum.TryParse(cmd_type, out e_cmd_type);
if (isSuccess)
{
switch (e_cmd_type)
{
case E_CMD_TYPE.Move:
case E_CMD_TYPE.Load:
case E_CMD_TYPE.Unload:
case E_CMD_TYPE.LoadUnload:
string from_adr = from_port_id;
string to_adr = to_port_id;
//scApp.MapBLL.getAddressID(from_port_id, out from_adr);
//scApp.MapBLL.getAddressID(to_port_id, out to_adr);
scApp.CMDBLL.doCreatCommand(vh_id, out cmd_obj,
cmd_type: e_cmd_type,
source: from_adr,
destination: to_adr,
carrier_id: carrier_id,
gen_cmd_type: SCAppConstants.GenOHxCCommandType.Manual);
sc.BLL.CMDBLL.CommandCheckResult check_result_info =
sc.BLL.CMDBLL.getCallContext <sc.BLL.CMDBLL.CommandCheckResult>
(sc.BLL.CMDBLL.CALL_CONTEXT_KEY_WORD_OHTC_CMD_CHECK_RESULT);
isSuccess = check_result_info.IsSuccess;
result = check_result_info.ToString();
if (isSuccess)
{
//isSuccess = scApp.VehicleService.doSendCommandToVh(assignVH, cmd_obj);
isSuccess = scApp.VehicleService.Send.Command(assignVH, cmd_obj);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Send command to vehicle failed!";
}
}
else
{
result = "Command create failed!";
//bcf.App.BCFApplication.onWarningMsg(this, new bcf.Common.LogEventArgs("Command create fail.", check_result_info.Num));
}
break;
case E_CMD_TYPE.Teaching:
isSuccess = scApp.VehicleService.Send.Teaching(vh_id, from_port_id, to_port_id);
break;
}
}
else
{
result = $"Try parse Command Type:[{cmd_type}] failed!";
}
}
else
{
result = $"Vehicle :[{vh_id}] not found!";
}
}
catch (Exception ex)
{
isSuccess = false;
result = "Execption happend!";
logger.Error(ex, "Execption:");
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/SendReset"] = (p) =>
{
var scApp = SCApplication.getInstance();
bool isSuccess = true;
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string result = string.Empty;
try
{
AVEHICLE assignVH = null;
assignVH = scApp.VehicleBLL.cache.getVehicle(vh_id);
isSuccess = assignVH != null;
if (isSuccess)
{
isSuccess = scApp.VehicleService.Send.StatusRequest(vh_id, true);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Send vehicle status request failed.";
}
}
else
{
result = $"Vehicle :[{vh_id}] not found!";
}
}
catch (Exception ex)
{
isSuccess = false;
result = "Execption happend!";
logger.Error(ex, "Execption:");
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/SendCancelAbort"] = (p) =>
{
var scApp = SCApplication.getInstance();
bool isSuccess = true;
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string cmd_id = "";//todo kevin 需要指定cmd id
string result = string.Empty;
try
{
ACMD cmd = scApp.CMDBLL.GetCMD_OHTCByID(cmd_id);
if (cmd == null)
{
result = $"Can't find command:[{cmd_id}] in database.";
isSuccess = false;
}
AVEHICLE assignVH = null;
if (isSuccess)
{
assignVH = scApp.VehicleBLL.cache.getVehicle(vh_id);
isSuccess = assignVH != null;
}
if (isSuccess)
{
string mcs_cmd_id = cmd_id;
if (!string.IsNullOrWhiteSpace(mcs_cmd_id))
{
ATRANSFER mcs_cmd = scApp.CMDBLL.GetTransferByID(mcs_cmd_id);
if (mcs_cmd == null)
{
result = $"Can't find MCS command:[{mcs_cmd_id}] in database.";
}
else
{
CancelActionType actType = default(CancelActionType);
if (mcs_cmd.TRANSFERSTATE < sc.E_TRAN_STATUS.Transferring)
{
actType = CancelActionType.CmdCancel;
isSuccess = scApp.TransferService.AbortOrCancel(mcs_cmd_id, actType);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Send command cancel/abort failed.";
}
}
else if (mcs_cmd.TRANSFERSTATE < sc.E_TRAN_STATUS.Canceling)
{
actType = CancelActionType.CmdAbort;
isSuccess = scApp.TransferService.AbortOrCancel(mcs_cmd_id, actType);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Send command cancel/abort failed.";
}
}
else
{
result = $"MCS command:[{mcs_cmd_id}] can't excute cancel / abort,\r\ncurrent state:{mcs_cmd.TRANSFERSTATE}";
}
}
}
else
{
string ohtc_cmd_id = cmd_id;
if (string.IsNullOrWhiteSpace(ohtc_cmd_id))
{
result = $"Vehicle:[{vh_id}] do not have command.";
}
else
{
ACMD ohtc_cmd = scApp.CMDBLL.GetCMD_OHTCByID(ohtc_cmd_id);
if (ohtc_cmd == null)
{
result = $"Can't find vehicle command:[{ohtc_cmd_id}] in database.";
}
else
{
CancelActionType actType = ohtc_cmd.CMD_STATUS >= E_CMD_STATUS.Execution ? CancelActionType.CmdAbort : CancelActionType.CmdCancel;
isSuccess = scApp.VehicleService.Send.Cancel(assignVH.VEHICLE_ID, ohtc_cmd_id, actType);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Send vehicle status request failed.";
}
}
}
}
}
else
{
result = $"Vehicle :[{vh_id}] not found!";
}
}
catch (Exception ex)
{
isSuccess = false;
result = "Execption happend!";
logger.Error(ex, "Execption:");
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/PauseEvent"] = (p) =>
{
bool isSuccess = false;
SCApplication scApp = SCApplication.getInstance();
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string event_type = Request.Query.event_type.Value ?? Request.Form.event_type.Value ?? string.Empty;
PauseEvent pauseEvent = default(PauseEvent);
isSuccess = Enum.TryParse(event_type, out pauseEvent);
if (isSuccess)
{
isSuccess = scApp.VehicleService.Send.Pause(vh_id, pauseEvent, PauseType.Normal);
}
var response = (Response)(isSuccess ? "OK" : "NG");
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/PauseStatusChange"] = (p) =>
{
bool isSuccess = false;
string result = string.Empty;
SCApplication scApp = SCApplication.getInstance();
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string pauseType = Request.Query.pauseType.Value ?? Request.Form.pauseType.Value ?? string.Empty;
string event_type = Request.Query.event_type.Value ?? Request.Form.event_type.Value ?? string.Empty;
PauseType pause_type = default(PauseType);
PauseEvent pauseEvent = default(PauseEvent);
isSuccess = Enum.TryParse(pauseType, out pause_type);
if (isSuccess)
{
isSuccess = Enum.TryParse(event_type, out pauseEvent);
if (isSuccess)
{
isSuccess = scApp.VehicleService.Send.Pause(vh_id, pauseEvent, pause_type);
if (isSuccess)
{
result = "OK";
}
else
{
result = $"Send pause request to vehicle:{vh_id} failed.";
}
}
else
{
result = $"Can't recognize Pause Event:{event_type}.";
}
}
else
{
result = $"Can't recognize Pause Type:{pauseType}.";
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/ModeStatusChange"] = (p) =>
{
string result = string.Empty;
bool isSuccess = false;
SCApplication scApp = SCApplication.getInstance();
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
string modeStatus = Request.Query.modeStatus.Value ?? Request.Form.modeStatus.Value ?? string.Empty;
VHModeStatus mode_status = default(VHModeStatus);
isSuccess = Enum.TryParse(modeStatus, out mode_status);
try
{
if (isSuccess)
{
scApp.VehicleBLL.cache.updataVehicleMode(vh_id, mode_status);
result = "OK";
}
else
{
result = $"Can't recognize mode status:{modeStatus}.";
}
}
catch (Exception ex)
{
result = $"Update vehicle:{vh_id} mode status failed.";
logger.Error(ex, "Exception");
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["AVEHICLES/ResetAlarm"] = (p) =>
{
var scApp = SCApplication.getInstance();
string result = string.Empty;
bool isSuccess = true;
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
try
{
isSuccess = scApp.VehicleService.Send.AlarmReset(vh_id);
if (isSuccess)
{
result = "OK";
}
else
{
result = "Reset alarm failed.";
}
}
catch (Exception ex)
{
result = "Reset alarm failedwith exception happened.";
}
var response = (Response)result;
response.ContentType = restfulContentType;
return(response);
};
Post["Engineer/ForceCmdFinish"] = (p) =>
{
var scApp = SCApplication.getInstance();
string vh_id = Request.Query.vh_id.Value ?? Request.Form.vh_id.Value ?? string.Empty;
bool isSuccess = scApp.CMDBLL.forceUpdataCmdStatus2FnishByVhID(vh_id);
if (isSuccess)
{
var vh = scApp.VehicleBLL.cache.getVehicle(vh_id);
//vh.NotifyVhExcuteCMDStatusChange();
vh.onExcuteCommandStatusChange();
}
var response = (Response)(isSuccess ? "OK" : "NG");
response.ContentType = restfulContentType;
return(response);
};
}
