private void SendAGVTask()
{
DataTable dt = bll.FillDataTable("WCS.SelectAGVTask", new DataParameter[] { new DataParameter("{0}", string.Format("TaskType='11' and State=0 and not exists(select 1 from WCS_TASK where TaskType='11' and State in (2,3,4) ")), new DataParameter("{1}", "TaskNo,RowIndex"), new DataParameter("{2}", 4) });
if (dt.Rows.Count > 0)
{
ushort FromStation = ushort.Parse(dt.Rows[0]["FromStation"].ToString());
//获取入库巷道
ushort ToStation = ushort.Parse(dt.Rows[0]["ToStation"].ToString());
//获取AGV操作码
ushort AGVActionID = SendAGVMessage.GetAGVActionID();
//获取AGV任务号
ushort AGVTaskID = SendAGVMessage.GetAGVTaskID();
//更新WCS_Task AGVTaskID
string TaskNo = "";
for (int i = 0; i < dt.Rows.Count; i++)
{
TaskNo += "'" + dt.Rows[0]["TaskNo"].ToString() + "',";
}
bll.ExecNonQuery("WCS.UpdateTaskState", new DataParameter[] { new DataParameter("{0}", string.Format("AGVTaskID={0},State=1,AGVStation={1}", AGVTaskID, ToStation)), new DataParameter("{1}", string.Format("TaskNo in ({0})", TaskNo.TrimEnd(','))) });
//获取发送信息
byte[] sendByte = SendAGVMessage.GetSendTask1(AGVTaskID, FromStation, ToStation, AGVActionID);
WriteToService("AGVService", "ACK", sendByte);
}
}
private void tmWorker(object sender, ElapsedEventArgs e)
{
lock (this)
{
try
{
tmWorkTimer.Stop();
if (!blRun)
{
return;
}
//判断是否存在入库任务,且不存在未完成的
DataTable dt = bll.FillDataTable("WCS.SelectAGVTask", new DataParameter[] { new DataParameter("{0}", "TaskType='11' and State=0 and not exists(select 1 from WCS_TASK where TaskType='11' and State in (1,2,3,4) )"), new DataParameter("{1}", "TaskNo,RowIndex"), new DataParameter("{2}", 4) });
if (dt.Rows.Count > 0)
{
ushort FromStation = ushort.Parse(dt.Rows[0]["FromStation"].ToString());
//获取入库巷道
ushort ToStation = ushort.Parse(dt.Rows[0]["ToStation"].ToString());
//获取AGV操作码
ushort AGVActionID = SendAGVMessage.GetAGVActionID();
//获取AGV任务号
ushort AGVTaskID = SendAGVMessage.GetAGVTaskID();
//更新WCS_Task AGVTaskID
string TaskNo = "";
for (int i = 0; i < dt.Rows.Count; i++)
{
TaskNo += "'" + dt.Rows[i]["TaskNo"].ToString() + "',";
}
bll.ExecNonQuery("WCS.UpdateTaskState", new DataParameter[] { new DataParameter("{0}", string.Format("AGVTaskID={0},State=1,AGVStation={1}", AGVTaskID, ToStation)), new DataParameter("{1}", string.Format("TaskNo in ({0})", TaskNo.TrimEnd(','))) });
//获取发送信息
byte[] sendByte = SendAGVMessage.GetSendTask1(AGVTaskID, FromStation, ToStation, AGVActionID);
WriteToService("AGVService", "ACK", sendByte);
Logger.Info("下发小车入库任务，小车任务号：" + AGVTaskID);
}
}
catch (Exception ex)
{
Logger.Error("AGVProcess中下发任务出错：" + ex.Message);
}
finally
{
tmWorkTimer.Start();
}
}
}
protected override void StateChanged(StateItem stateItem, IProcessDispatcher dispatcher)
{
switch (stateItem.ItemName)
{
case "Run":
blRun = (int)stateItem.State == 1;
if (blRun)
{
tmWorkTimer.Start();
Logger.Info("载货提升机联机");
}
else
{
tmWorkTimer.Stop();
Logger.Info("载货提升机脱机");
}
break;
case "s":
Dictionary <string, UInt16> obj = (Dictionary <string, UInt16>)stateItem.State;
UInt16 AGVIndex = obj["AGVIndex"];
UInt16 AGVPhase = obj["AGVPhase"];
UInt16 AGVDeviceNo = obj["AGVDeviceNo"];
UInt16 AGVTaskID = obj["AGVTaskID"];
UInt16 AGVToStation = obj["AGVStation"];
DataTable dtTask = bll.FillDataTable("WCS.SelectAGVTask", new DataParameter[] { new DataParameter("{0}", "State not in (7,9) and AGVTaskID=" + AGVTaskID), new DataParameter("{1}", "TaskNo,RowIndex"), new DataParameter("{2}", 4) });
if (dtTask.Rows.Count > 0)
{
string TaskNo = "";
string TaskType = dtTask.Rows[0]["TaskType"].ToString();
for (int i = 0; i < dtTask.Rows.Count; i++)
{
TaskNo += "'" + dtTask.Rows[i]["TaskNo"].ToString() + "',";
}
string StrState = "";
if (AGVPhase == 6)
{
if (TaskType == "11")
{
StrState = string.Format(",State={0}", 2);
}
else
{
StrState = string.Format(",State={0}", 14);
}
}
else if (AGVPhase == 7)
{
if (TaskType == "11")
{
StrState = string.Format(",State={0}", 3);
}
else
{
StrState = string.Format(",State={0}", 7);
}
}
bll.ExecNonQuery("WCS.UpdateTaskState", new DataParameter[] { new DataParameter("{0}", string.Format("AGVDeviceNo={0},AGVIndex={1},AGVPhase={2}" + StrState, AGVDeviceNo, AGVIndex, AGVPhase)), new DataParameter("{1}", string.Format("TaskNo in ({0})", TaskNo.TrimEnd(','))) });
}
else
{
Logger.Error("AGVProcess中无法找到AGVTaskID为" + AGVTaskID + "任务号");
}
byte[] sendByte = SendAGVMessage.GetSendCheckMsg(AGVIndex, AGVPhase);
WriteToService("AGVService", "m", sendByte);
Logger.Info("AGV执行任务ID：" + AGVTaskID + "到达阶段：" + AGVPhase);
break;
}
}