/// <summary> /// /// </summary> /// <param name="needStart">需要启动的车</param> /// <param name="work"></param> /// <returns></returns> private bool check_start_state(ForkLiftWrapper needStart, ForkLiftWrapper work) { if (work.getPosition().getArea() == 1 && work.getForkLift().isUsed == 1) //只有下货阶段可以提前启动 { if (!ScheduleFactory.getSchedule().getDownDeliverPeriod() && work.getPosition().getPx() - needStart.getPosition().getPx() > 500) { return true; } ///上货的时候直接不给启动 Console.WriteLine("叉车 " + work.getForkLift().id + "在区域1,不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx())); AGVLog.WriteInfo("叉车 " + work.getForkLift().id + "在区域1,不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx()), new StackFrame(true)); return false; } return true; }
public void scheduleInstruction() { while (ScheduleFactory.getSchedule().getScheduleFlag()) { Thread.Sleep(500); sheduleLift(); if (AGVSystem.getSystem().getSystemPause()) { if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITHOUT_START) //避免多次设置 { foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) { if (fl.getForkLift().shedulePause == 0) { AGVUtil.setForkCtrl(fl, 1); //向不是暂停的车发送暂停指令 } } } AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause()); continue; //系统暂停后不需要调度 } else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //暂停楼上的车,有时候卸货不及时 { if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITHOUT_START) //避免多次设置 { foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) { if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0) //只调度楼上的车 { AGVUtil.setForkCtrl(fl, 1); } } } AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause()); continue; //楼上的车子被暂停后,不需要调度 } else if (AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START || AGVSystem.getSystem().getCurrentPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START) { if (AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START && AGVSystem.getSystem().getLastPause() != SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITHOUT_START) //避免多次设置 { ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3); AGVUtil.setForkCtrl(fl, 1); } AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause()); } else { if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START) { foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) { if (fl.getForkLift().shedulePause == 0) { AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车,发送启动指令 } } } if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_UP_WITH_START) { foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList()) { if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().shedulePause == 0) { AGVUtil.setForkCtrl(fl, 0); //之前不是暂停的车,发送启动指令 } } } if (AGVSystem.getSystem().getLastPause() == SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_DOWN_WITH_START) { ForkLiftWrapper fl = ForkLiftWrappersService.getInstance().getForkLiftByNunber(3); AGVUtil.setForkCtrl(fl, 0); } AGVSystem.getSystem().setLastPause(AGVSystem.getSystem().getCurrentPause()); } lock (LockController.getLockController().getLockForkLift()) //加锁,避免车的状态不一致 { _sheduleRunning(); } } }
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)); } } } } } } } } }