/// <summary>
/// 出窑头充 到 窑头对接完成点
/// </summary>
public void TaskExitHeadChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑头充电点);
// 有未上锁的、充电完成的AGV
if (agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
agv.ChargeStatus == EnumChargeStatus.充电完成)
{
if (_plcHead.ExitFlag &&
true)
{
_ExitPlcHeadChargeSuc = true;
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.出窑头充电点, ConstSetBA.窑头对接完成点);
F_AGV.AgvLock(agv.Id);
_plcHead.ExitFlag = false;
task.Id = agv.Id;
Thread.Sleep(2000);
F_DataCenter.MTask.IStartTask(task, agv.Id + ExitPlcHeadChargeSucMsg);
sendServerLog(agv.Id + ExitPlcHeadChargeSucMsg);
LogFactory.LogDispatch(agv.Id, "充电完成", ExitPlcHeadChargeSucMsg);
}
}
else
{
_ExitPlcHeadChargeSuc = false;
}
}
/// <summary>
///窑头充电点有充电完成的AGV
///优先派充电完成的车去卸货
/// </summary>
public void PlcHeadChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.卸货充电点);
// 有充电完成的AGV,且窑头卸载点没货
if (agv != null &&
//&& agv.ChargeStatus == EnumChargeStatus.充电完成 &&
!F_AGV.IsLock(agv.Id))
{
_PlcHeadChargeSuc = true;
if (//_plcHead.Sta_Material == EnumSta_Material.无货
//&& agv.Sta_Material == EnumSta_Material.有货
true
)
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.卸货充电点, ConstSetBA.窑头卸载点);
F_AGV.AgvLock(agv.Id);
_plcHead.IsLock = true;
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + ",充电完成，派充电完成的车去卸货");
LogFactory.LogDispatch(agv.Id, "充电完成", "派充电完成的车去卸货");
}
}
else
{
_PlcHeadChargeSuc = false;
}
}
/// <summary>
/// 窑头机械手3 去 窑头等待8
/// </summary>
public void HolderToHeadWait()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(Site.窑头3);
// 判断窑头机械手是否完成的状态
if (agv != null && agv.IsFree && !agv.IsLock
&& agv.Sta_Material == EnumSta_AGV.AGV有货
&& _plcHeadHolder.Sta_Material_HeadMLP == EnumSta_Material_HeadMLP.窑头机械手完成
)
{
// 从窑头机械手3 到窑头8
F_ExcTask task = new F_ExcTask(_plcHeadHolder, EnumOper.无动作, Site.窑头3, Site.窑头8);
task.Id = agv.Id;
agv.IsLock = true;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + ", 从窑头夹具点3 去 窑头等待8 ");
LogFactory.LogDispatch(agv.Id, "卸货", "从窑头夹具点3去窑头等待8");
}
}
/// <summary>
/// 窑尾取货完成Agv从窑尾夹具2 到 窑头卸载等待点7
/// </summary>
private void EndHolderToHeadWait()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(Site.窑尾2);
// 判断窑尾机械手2号是否完成
if (agv != null && agv.IsFree && !agv.IsLock &&
agv.Sta_Material == EnumSta_Material.AGV有货 &&
_plcEnd.Sta_Material == EnumSta_Material.窑尾2号机械手完成
)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, Site.窑尾2, Site.窑头7);
task.Id = agv.Id;
agv.IsLock = true;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + "窑尾取货完成Agv从窑尾夹具2 到 窑头等待点7");
LogFactory.LogDispatch(agv.Id, "送货", "窑尾取货完成Agv从窑尾夹具2 到 窑头等待点7");
}
}
/// <summary>
/// 窑头去窑头对接完成点
/// </summary>
private void TaskHeadToHeadSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑头充电点);
if (agv != null &&
agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
(ParamControl.IgnoreAgvUnloadTask || agv.Sta_Material == EnumSta_Material.无货)
)
{
// 判断窑头可出站标志是否为True
if (_plcHead.ExitFlag)
{
// 如果需要充电但是充电桩有车、被锁，或者不需要充电直接去到对接完成点
if ((agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv1 != null && _plcHead.IsExitBatteryLock) ||
agv.Electicity > F_DataCenter.MDev.IGetDevElectricity())
{
// 从窑头到窑头对接完成点
F_ExcTask task1 = new F_ExcTask(_plcHead, EnumOper.对接完成, ConstSetBA.窑头卸载点, ConstSetBA.窑头对接完成点);
F_AGV.AgvLock(agv.Id);
task1.Id = agv.Id;
_plcHead.ExitFlag = false;
F_DataCenter.MTask.IStartTask(task1, agv.Id + TaskHeadToHeadSucMsg);
sendServerLog(agv.Id + TaskHeadToHeadSucMsg);
LogFactory.LogDispatch(agv.Id, "卸货完成", TaskHeadToHeadSucMsg);
}
}
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
_taskDispatch = JTWcfHelper.WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
DispatchOrderObj dis = new DispatchOrderObj();
dis.DisGuid = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
string back = "";
JTWcfHelper.WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.DisDevId);
}
///此次调度任务已经完成
if (_taskDispatch.OrderStatue == ResultTypeEnum.Suc)
{
if (_operType == EnumOper.取货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (//_plc.Sta_Material == EnumSta_Material.有货 &&
//(_agv.Sta_Material == EnumSta_Material.无货 || _agv.Sta_Material == EnumSta_Material.传送中)&&
true)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
}
if (//_plc.Sta_Material == EnumSta_Material.无货 &&
//_agv.Sta_Material == EnumSta_Material.有货 &&
true)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
if (true
//&&_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.放货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (//(_plc.Sta_Material == EnumSta_Material.有货 || _plc.Sta_Material == EnumSta_Material.无货 )&&
//(_agv.Sta_Material == EnumSta_Material.传送中 || _agv.Sta_Material == EnumSta_Material.有货) &&
true)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
if (//_plc.Sta_Material == EnumSta_Material.有货 &&
//_agv.Sta_Material == EnumSta_Material.无货 &&
true)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
if (true
//&& _agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
}
return("");
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
if (!_isStart)
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
if (_agv != null)
{
if (_agv.IsAlive)
{
_disAliveCounter = 0;
}
else
{
if (++_disAliveCounter > F_DataCenter.ClearTime)
{
_isDisaliveOverTime = true;
}
}
}
else
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
///修改By fujun
dis.DevList.Add(Id);
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///修改By fujun
_isStart = true;
#region 滚筒逻辑
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑尾，开始取货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
//&& !ParamControl.Do_EnterEndChargeLock
)
{
_plc.IsEnterBatteryLock = false;
ParamControl.Do_EnterEndChargeLock = true;
ParamControl.EndChargeLock = _plc.IsEnterBatteryLock;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumagvSta_Material.无货 || _agv.Sta_Material == EnumagvSta_Material.送中)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
FLog.Log(_agv.Id + "启动车载辊台，启动窑尾辊台");
}
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(//_plc.Sta_Material == EnumSta_Material.无货 &&
_agv.Sta_Material == EnumagvSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
FLog.Log(_agv.Id + "停止车载辊台，停止窑尾辊台");
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//取货完成，解锁窑尾
if (_plc != null
// && !ParamControl.Do_EndPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_EndPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
FLog.Log(_agv.Id + "到达窑头，开始放货");
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock
)
{
_plc.IsEnterBatteryLock = false;
_plc.EnterChargeAgv = null;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.无货 ||
_plc.Sta_Material == EnumSta_Material.未知) &&
(_agv.Sta_Material == EnumagvSta_Material.送中 || _agv.Sta_Material == EnumagvSta_Material.货)))
{
if (_agv.Sta_Monitor != EnumSta_Monitor.电机反转)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台");
}
else
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
FLog.Log(_agv.Id + "启动车载辊台，启动窑头辊台");
}
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(//(_plc.Sta_Material == EnumSta_Material.允许下料 || _plc.Sta_Material == EnumSta_Material.未知) &&
_agv.Sta_Material == EnumagvSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
FLog.Log(_agv.Id + "停止车载辊台，停止窑头辊台");
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
//放货完成，解锁窑头
if (_plc != null
//&& !ParamControl.Do_HeadPlcLock
)
{
_plc.IsLock = false;
ParamControl.Do_HeadPlcLock = true;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.充电)
{
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
if (_plc.Site == "14")
{
ParamControl.Do_ExitHeadChargeLock = true;
}
//else if (_plc.Site == "11")
//{
// ParamControl.Do_ExitEndChargeLock = true ;
//}
_plc.IsExitBatteryLock = false;
_plc.ExitChargeAgv = null;
ParamControl.HeadChargeAGV = _plc.ExitChargeAgv;
ParamControl.HeadChargeLock = _plc.IsExitBatteryLock;
}
if (!_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
#endregion
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
if (!_isStart)
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
if (_agv != null)
{
if (_agv.IsAlive)
{
_disAliveCounter = 0;
}
else
{
if (++_disAliveCounter > F_DataCenter.ClearTime)
{
_isDisaliveOverTime = true;
}
}
}
else
{
if (++_triggerCounter > F_DataCenter.ClearTime)
{
_isOverTime = true;
}
}
_taskDispatch = JTWcfHelper.WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
DispatchOrderObj dis = new DispatchOrderObj();
dis.DisGuid = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
///修改By fujun
dis.DevList.Add(Id);
string back = "";
JTWcfHelper.WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///修改By fujun
_isStart = true;
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.DisDevId);
}
///此次调度任务已经完成
if (_taskDispatch.OrderStatue == ResultTypeEnum.Suc)
{
if (_operType == EnumOper.取货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
// 判断窑尾PLC的货物状态和AGV货物状态
if (
(_plc.Sta_Material_End == EnumSta_Material_End.窑尾传输中
//|| _plc.Sta_Material_End == EnumSta_Material_End.状态未知
|| _plc.Sta_Material_End == EnumSta_Material_End.窑尾有货) &&
(_agv.Sta_Material == EnumSta_AGV.AGV无货 ||
_agv.Sta_Material == EnumSta_AGV.AGV传输中)
)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台启动);
}
// // 判断窑尾是否出料完成
if (//_plc.Sta_Material_End == EnumSta_Material_End.窑尾出料完成 &&
_agv.Sta_Material == EnumSta_AGV.AGV有货 &&
true)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台停止);
if (true &&
_agv.Sta_Monitor == EnumSta_AGVMonitor.AGV电机停止
)
{
//取货完成，解锁窑尾
if (_plc != null)
{
_plc.IsLock = false;
}
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.放货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if ((_plc.Sta_Material_Head == EnumSta_Material_Head.窑头无货 ||
_plc.Sta_Material_Head == EnumSta_Material_Head.窑头传输中) &&
(_agv.Sta_Material == EnumSta_AGV.AGV传输中 ||
_agv.Sta_Material == EnumSta_AGV.AGV有货) &&
true)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台启动);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
if (//_plc.Sta_Material_Head == EnumSta_Material_Head.窑头接料完成 &&
_agv.Sta_Material == EnumSta_AGV.AGV无货 &&
true)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台停止);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
if (_agv.Sta_Monitor == EnumSta_AGVMonitor.AGV电机停止 &&
true)
{
//放货完成，解锁窑头
if (_plc != null)
{
_plc.IsLock = false;
}
Thread.Sleep(5000);
ISetTaskSuc();
}
}
}
else
{
ISetTaskSuc();
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.窑尾1号机械手)
{
///当前AGV的地标是否为窑尾1号机械手位置
if (_agv.Site == _plc.Site)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾1号机械手启动);
if (_plc.Sta_Material_End == EnumSta_Material_End.窑尾1号机械手完成 &&
true
)
{
//1号机械手完成动作
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.窑尾2号机械手)
{
///当前AGV的地标是否为窑尾2号机械手位置
if (_agv.Site == Site.窑尾2)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾2号机械手启动);
if (_plc.Sta_Material_End == EnumSta_Material_End.窑尾2号机械手完成 &&
true
)
{
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.窑头机械手)
{
///当前AGV的地标是否为窑头机械手位置
if (_agv.Site == Site.窑头3)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头机械手启动);
if (true &&
_plc.Sta_Material_HeadMLP == EnumSta_Material_HeadMLP.窑头机械手完成
)
{
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
}
return("");
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
_taskDispatch = JTWcfHelper.WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
DispatchOrderObj dis = new DispatchOrderObj();
dis.DisGuid = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
string back = "";
JTWcfHelper.WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.DisDevId);
}
///此次调度任务已经完成
if (_taskDispatch.OrderStatue == ResultTypeEnum.Suc)
{
if (_operType == EnumOper.取货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
// 判断窑尾PLC的货物状态和AGV货物状态
if ((_plc.Sta_Material == EnumSta_Material.窑尾传输中 || _plc.Sta_Material == EnumSta_Material.AGV未知 || _plc.Sta_Material == EnumSta_Material.窑尾有货) &&
(_agv.Sta_Material == EnumSta_Material.AGV无货 || _agv.Sta_Material == EnumSta_Material.AGV传输中))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台启动);
}
// // 判断窑尾是否出料完成
if (_plc.Sta_Material == EnumSta_Material.窑尾出料完成 &&
_agv.Sta_Material == EnumSta_Material.AGV有货 &&
true)
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台停止);
if (true &&
_agv.Sta_Monitor == EnumSta_Monitor.AGV电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.放货)
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if ((_plc.Sta_Material == EnumSta_Material.窑头无货 || _plc.Sta_Material == EnumSta_Material.窑头无货 || _plc.Sta_Material == EnumSta_Material.窑头传输中) &&
(_agv.Sta_Material == EnumSta_Material.AGV传输中 || _agv.Sta_Material == EnumSta_Material.AGV有货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台启动);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
if (_plc.Sta_Material == EnumSta_Material.窑头接料完成 &&
_agv.Sta_Material == EnumSta_Material.AGV无货 &&
true)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台停止);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
if (_agv.Sta_Monitor == EnumSta_Monitor.AGV电机停止 &&
true)
{
Thread.Sleep(5000);
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.窑尾1号机械手)
{
///当前AGV的地标是否为窑尾1号机械手位置
if (_agv.Site == _plc.Site)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾1号机械手启动);
if (_plc.Sta_Material == EnumSta_Material.窑尾1号机械手完成 &&
true
)
{
//1号机械手完成动作
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.窑尾2号机械手)
{
///当前AGV的地标是否为窑尾2号机械手位置
if (_agv.Site == Site.窑尾2)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾2号机械手启动);
if (_plc.Sta_Material == EnumSta_Material.窑尾2号机械手完成 &&
true
)
{
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.窑头机械手)
{
///当前AGV的地标是否为窑头机械手位置
if (_agv.Site == Site.窑头3)
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头机械手启动);
if (true &&
_plc.Sta_Material == EnumSta_Material.窑头机械手完成
)
{
ISetTaskSuc();
}
}
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
}
return("");
}
}
/// <summary>
/// 初始化，让AGV回到相应的点或者执行相应的任务
/// </summary>
private void InitToAllAGV()
{
List <F_AGV> agvs = F_DataCenter.MDev.InitGetDevNot(agvid);
PLCEndTrafficSite.AddRange(new string[] { "26", "16", "21", "11" });
PLCHeadTrafficSite.AddRange(new string[] { "23", "13", "24", "14" });
PLCEndToHeadWaitSite.AddRange(new string[] { "12", "62" });
PLCHeadToEndWaitSite.AddRange(new string[] { "15", "65" });
if (agvs != null)
{
foreach (F_AGV agv in agvs)
{
// 窑尾交通管制点是否有车
if (PLCEndTrafficSite.Contains(agv.Site))
{
if (agv.Site == ConstSetBA.窑尾装载点)
{
// 初始化，在窑尾装载点且有货，去到窑尾对接完成点
if (agv.Sta_Material == EnumagvSta_Material.货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑尾对接完成点);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndSucMsg);
sendServerLog(agv.Id + initToEndSucMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化", initToEndSucMsg);
}
// 初始化，在窑尾装载点且无货，执行取货任务
else
{
_ToPlcEnd = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, agv.Site, ConstSetBA.窑尾装载点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + toEndGrtMsg);
sendServerLog(agv.Id + "初始化，位于装载点且无货的AGV，执行取货任务");
LogFactory.LogDispatch(agv.Id, "车辆初始化", "位于装载点且无货的AGV，执行取货任务");
}
}
// 不在装载点的车，判断地标是否为正反卡的21,若为取货完成的车去到窑尾对接完成点
else if (agv.Site == ConstSetBA.窑尾装载点的前一地标 && agv.Sta_Material == EnumagvSta_Material.货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑尾对接完成点);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndSucMsg);
sendServerLog(agv.Id + initToEndSucMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化 ,有货的AGV", initToEndSucMsg);
}
else
{
// 准备取货的AGV，去到窑尾装载点取货
_ToPlcEnd = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, agv.Site, ConstSetBA.窑尾装载点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + toEndGrtMsg);
sendServerLog(agv.Id + "初始化，准备取货的AGV，去到窑尾装载点取货");
LogFactory.LogDispatch(agv.Id, "车辆初始化", "准备取货的AGV，去到窑尾装载点取货");
}
}
// 窑头交通管制点是否有车
else if (PLCHeadTrafficSite.Contains(agv.Site))
{
if (agv.Site == ConstSetBA.窑头卸载点)
{
// 初始化，在窑头卸载点且无货，去到窑头对接完成点
if (agv.Sta_Material == EnumagvSta_Material.无货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑头对接完成点);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadSucMsg);
sendServerLog(agv.Id + TaskHeadToHeadSucMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化", initToHeadSucMsg);
}
// 初始化，在窑头卸载点且无货，执行放货任务
else
{
_ToPlcHead = true;
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, agv.Site, ConstSetBA.窑头卸载点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + toHeadGrtMsg);
sendServerLog(agv.Id + "初始化，位于窑头卸载点且有货，执行放货任务");
LogFactory.LogDispatch(agv.Id, "车辆初始化", "位于窑头卸载点且有货，执行放货任务");
}
}
// 不在卸载点的车，判断地标是否为正反卡的24，若为放货完成的车去到窑头对接完成点
else if (agv.Site == ConstSetBA.窑头卸载点的前一地标 && agv.Sta_Material == EnumagvSta_Material.无货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, agv.Site, ConstSetBA.窑头对接完成点);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadSucMsg);
sendServerLog(agv.Id + initToHeadSucMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化 ,无货的AGV", initToHeadSucMsg);
}
else
{
// 准备卸货的AGV，去到窑头卸载点放货
_ToPlcEnd = true;
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, agv.Site, ConstSetBA.窑头卸载点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + toHeadGrtMsg);
sendServerLog(agv.Id + "初始化， 准备卸货的AGV，去到窑头卸载点放货");
LogFactory.LogDispatch(agv.Id, "车辆初始化", " 准备卸货的AGV，去到窑头卸载点放货");
}
}
/// 不在任何交通管制点的车，去到相应的等待点
/// 窑头卸货完成的车，直接去到窑尾装载等待点
else if (PLCHeadToEndWaitSite.Contains(agv.Site) && agv.Sta_Material == EnumagvSta_Material.无货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, agv.Site, ConstSetBA.窑尾装载等待区);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToEndWaitMsg);
sendServerLog(agv.Id + initToEndWaitMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化 ,窑头交管解除点的AGV", initToEndWaitMsg);
}
/// 窑尾取货完成的车，直接去到窑头卸载等待点
else if (PLCEndToHeadWaitSite.Contains(agv.Site) && agv.Sta_Material == EnumagvSta_Material.货)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, agv.Site, ConstSetBA.窑头卸载等待区);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + initToHeadWaitMsg);
sendServerLog(agv.Id + initToHeadWaitMsg);
LogFactory.LogDispatch(agv.Id, "车辆初始化 ,窑尾交管解除点的AGV", initToHeadWaitMsg);
}
}
}
}
/// <summary>
/// 窑尾等 到 进窑尾充
/// </summary>
private void TaskEndToEnterBattery()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区);
//查找是否存在目标站点是进窑尾充电站的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.充电桩站);
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.进窑尾充电点);
//去进窑尾充电站的车是否是窑尾的车
if (d_agv != null && (d_agv.Site != "26" && d_agv.Site != "36"))
{
d_agv = null;
}
if (d_agv != null || d_agv2 != null)
{
ParamControl.Do_EnterEndChargeLock = false;
if (d_agv != null)
{
_plcEnd.IsEnterBatteryLock = true;
_plcEnd.EnterChargeAgv = d_agv.Id;
ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock;
ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv;
}
else if (d_agv2 != null)
{
_plcEnd.IsEnterBatteryLock = true;
_plcEnd.EnterChargeAgv = d_agv2.Id;
ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock;
ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv;
}
}
// 让未上锁的、电量低于60且未充电的AGV去充电，且接货充电点没有AGV
if (agv != null && agv.IsFree &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
(d_agv == null && d_agv2 == null) &&
!_plcEnd.IsEnterBatteryLock
//&& ParamControl.Do_EnterEndChargeLock
&& agv.Electicity <= ParamControl.MinElectricityCharge //低于最低充电量的车才能去充电
)
{
_PlcEndNeedCharge = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.充电, ConstSetBA.窑尾装载等待区, ConstSetBA.进窑尾充电点);
F_AGV.AgvLock(agv.Id);
//进窑尾充电，锁定进窑尾充电桩
_plcEnd.IsEnterBatteryLock = true;
ParamControl.Do_EnterEndChargeLock = false;
_plcEnd.EnterChargeAgv = agv.Id;
ParamControl.EndChargeLock = _plcEnd.IsEnterBatteryLock;
ParamControl.EndChargeAGV = _plcEnd.EnterChargeAgv;
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeMsg);
sendServerLog(agv.Id + PlcEndChargeMsg);
//LogFactory.LogDispatch(agv.Id, "充电", PlcEndChargeMsg);
FLog.Log(agv.Id + PlcEndChargeMsg);
}
else
{
_PlcEndNeedCharge = false;
}
}
/// <summary>
/// 窑头放 到 出窑头充电站
/// </summary>
private void TaskHeadToExitBattery()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载点);
//查找是否存在目标站点是出窑头充电站的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.充电桩站); //目的站点
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.出窑头充电点); //地标
//去出窑头充电站的车是否是窑头的车
if (d_agv != null && (d_agv.Site != "24" && d_agv.Site != "65" && d_agv.Site != "25" && d_agv.Site != "14"))
{
d_agv = null;
}
if (d_agv != null)
{
_plcHead.IsExitBatteryLock = true;
ParamControl.Do_ExitHeadChargeLock = false;
_plcHead.ExitChargeAgv = d_agv.Id;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
}
else if (d_agv2 != null)
{
_plcHead.IsExitBatteryLock = true;
ParamControl.Do_ExitHeadChargeLock = false;
_plcHead.ExitChargeAgv = d_agv2.Id;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
}
if (agv != null &&
agv.IsFree &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.Sta_Material == EnumagvSta_Material.无货 &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv.Electicity <= ParamControl.MinElectricityCharge //低于最低充电量的车才能去充电
)
{
// 判断出窑头充电站是否被锁
if ((!_plcHead.IsExitBatteryLock) &&
(d_agv == null && d_agv2 == null)
)
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.充电, ConstSetBA.窑头卸载点, ConstSetBA.出窑头充电点);
task.Id = agv.Id;
//出窑头充电，锁定出窑头充电桩
_plcHead.IsExitBatteryLock = true;
ParamControl.Do_ExitHeadChargeLock = false;
_plcHead.ExitChargeAgv = agv.Id;
ParamControl.HeadChargeAGV = _plcHead.ExitChargeAgv;
ParamControl.HeadChargeLock = _plcHead.IsExitBatteryLock;
_plcHead.ExitFlag = false;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskHeadToExitBatteryMsg);
sendServerLog(agv.Id + TaskHeadToExitBatteryMsg);
//LogFactory.LogDispatch(agv.Id, "AGV出窑头充电", TaskHeadToExitBatteryMsg);
FLog.Log(agv.Id + TaskHeadToExitBatteryMsg);
}
}
}
/// <summary>
/// 事务处理
/// </summary>
public String DoWork()
{
if (_isSuc)
{
return("");
}
_taskDispatch = WcfMainHelper.GetDispatch(Id);
if (_taskDispatch == null)
{
FDispatchOrder dis = new FDispatchOrder();
dis.NavigationType = EnumNavigationType.Magnet;
dis.Id = Id;
dis.EndSite = _endSite;
if (!string.IsNullOrEmpty(_startSite))
{
dis.StartSiteList.Add(_startSite);
}
string back = "";
WcfMainHelper.StartDispatch(dis, out back);
return(back);
}
else
{
///确定此时任务的AGV
if (_agv == null)
{
_agv = new F_AGV(_taskDispatch.Dev);
}
///此次调度任务已经完成
if (_taskDispatch.Statue == EnumResultType.Suc)
{
if (_operType == EnumOper.取货) //窑尾
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑尾》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreTailUnloadStatus ||
(_plc.Sta_Material == EnumSta_Material.货 &&
(_agv.Sta_Material == EnumSta_Material.无货 || _agv.Sta_Material == EnumSta_Material.送中)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_agv.SendOrdr(EnumType.料操作, EnumPara.agv上料启动);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑尾辊台允许下料);
}
//如果界面打开忽略《窑尾》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreTailUnloadStatus && IsTailRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.无货 && _agv.Sta_Material == EnumSta_Material.货))
{
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
//如果界面打开忽略《窑尾》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreTailStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.放货) //窑头
{
///当前AGV的到达的地标 与 棍台绑定地标一致
if (_agv.Site == _plc.Site)
{
if (_agv != null && _plc.EnterChargeAgv == _agv.Id)
{
if (_plc.IsEnterBatteryLock)
{
_plc.IsEnterBatteryLock = false;
}
}
//如果界面打开忽略《窑头》AGV货物状态和Plc货物状态则 直接发送棍台转动命令
if (ParamControl.Is_IgnoreHeadUnloadStatus ||
((_plc.Sta_Material == EnumSta_Material.货 || _plc.Sta_Material == EnumSta_Material.无货) &&
(_agv.Sta_Material == EnumSta_Material.送中 || _agv.Sta_Material == EnumSta_Material.货)))
{
if (BeginTime == null)
{
BeginTime = System.DateTime.Now;
}
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料中);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv下料启动);
}
//如果界面打开忽略《窑头》AGV货物状态，并且上面已经发送了指定时间的棍台转动时间
if ((ParamControl.Is_IgnoreHeadUnloadStatus && IsHeadRunTimeFinish()) ||
(_plc.Sta_Material == EnumSta_Material.货 &&
_agv.Sta_Material == EnumSta_Material.无货))
{
_plc.SendOrdr(EnumType.料操作, EnumPara.窑头辊台上料完成);
_agv.SendOrdr(EnumType.料操作, EnumPara.agv辊台停止);
//如果界面打开忽略《窑头》AGV棍台状态，则进去结束任务
if (ParamControl.Is_IgnoreHeadStaStatus ||
_agv.Sta_Monitor == EnumSta_Monitor.电机停止
)
{
ISetTaskSuc();
}
}
}
return("");
}
else if (_operType == EnumOper.充电)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.无动作)
{
ISetTaskSuc();
return("");
}
else if (_operType == EnumOper.对接完成)
{
if (_plc.IsExitBatteryLock && _plc.ExitChargeAgv == _agv.Id)
{
_plc.IsExitBatteryLock = false;
}
if (_plc.ExitFlag)
{
_plc.ExitFlag = true;
}
ISetTaskSuc();
return("");
}
}
return("");
}
}
