public void ExitPlcHeadChargeSuc()
{
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(_plcHead, 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;
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>
/// 窑尾取货任务
/// </summary>
private void TaskPlcEndGet()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾装载等待区);
///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应
if (!_plcEnd.IsLock && agv != null && !F_AGV.IsLock(agv.Id)
//&& _plcEnd.Sta_Material == EnumSta_Material.有货
)
{
//窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车
if (!_PlcEndNeedCharge && !_PlcEndChargeSuc && !_ToPlcEnd)
{
///派发一个从窑尾装载等待区到窑尾装载点取货的任务
if (F_DataCenter.MTask.IStartTask(new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site)))
{
_plcEnd.IsLock = true;
F_AGV.AgvLock(agv.Id);
sendServerLog(agv.Id + "从窑尾装载等待区到窑尾装载点取货");
LogFactory.LogDispatch(agv.Id, "到窑尾取货", "从窑尾装载等待区到窑尾装载点取货");
}
}
else
{
_ToPlcEnd = false;
}
}
}
/// <summary>
/// 窑头卸载区的AGV去充电
/// </summary>
private void PlcHeadCharge()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.卸货充电点);
// 让电量低于60且未充电的AGV去充电
if (agv != null && agv.Electicity <= ConstSetBA.最低电量 && !F_AGV.IsLock(agv.Id) &&
//agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null)
{
_PlcHeadNeedCharge = true;
F_ExcTask task = new F_ExcTask(null, EnumOper.充电, ConstSetBA.窑头卸载等待区, ConstSetBA.卸货充电点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + ",去到窑头充电点充电");
LogFactory.LogDispatch(agv.Id, "充电", "去到窑头充电点充电");
}
else
{
_PlcHeadNeedCharge = false;
}
}
/// <summary>
///窑尾充电点有充电完成的AGV
///优先派充电完成的车去接货
/// </summary>
public void PlcEndChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.接货充电点);
// 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货
if (agv != null && !F_AGV.IsLock(agv.Id) && agv.ChargeStatus == EnumChargeStatus.充电完成)
{
if (// _plcEnd.Sta_Material == EnumSta_Material.有货 &&
//agv.Sta_Material == EnumSta_Material.无货
true)
{
_PlcEndChargeSuc = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.接货充电点, ConstSetBA.窑尾装载点);
F_AGV.AgvLock(agv.Id);
_plcEnd.IsLock = true;
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + ",充电完成，派充电完成的车去接货");
LogFactory.LogDispatch(agv.Id, "充电完成", "派充电完成的车去接货");
}
}
else
{
_PlcEndChargeSuc = false;
}
}
private void TaskEndToExitBattery()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点);
if (agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
(ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumSta_Material.货))
{
// 判断窑尾可出站标志是否为True
if (_plcEnd.ExitFlag)
{
// 判断窑尾接货完成的车是否需要充电,且出窑尾充电站没有车、未被锁定
if (agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv1 == null && !_plcEnd.IsExitBatteryLock)
{
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.充电, ConstSetBA.窑尾装载点, ConstSetBA.出窑尾充电点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
_plcEnd.IsExitBatteryLock = true;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndToExitBatteryMsg);
sendServerLog(agv.Id + TaskEndToExitBatteryMsg);
LogFactory.LogDispatch(agv.Id, "AGV出窑尾充电", TaskEndToExitBatteryMsg);
}
}
}
}
/// <summary>
/// 窑头放货任务
/// </summary>
private void TaskPlcHeadPut()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区);
///窑头无货 窑头AGV未锁定 并且 此次任务没有被响应
if (!_plcHead.IsLock
//&& _plcHead.Sta_Material == EnumSta_Material.无货
&& agv != null && !F_AGV.IsLock(agv.Id))
{
//窑头等待区的车不需要充电、没有充电完成的车、没有回卸载点的车
if (!_PlcHeadNeedCharge && !_PlcHeadChargeSuc && !_ToPlcHead)
{
///派发一个从窑头卸载等待区到窑头卸载点的任务
if (F_DataCenter.MTask.IStartTask(new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.窑头卸载等待区, ConstSetBA.窑头卸载点)))
{
_plcHead.IsLock = true;
F_AGV.AgvLock(agv.Id);
sendServerLog(agv.Id + "从窑头卸载等待区到窑头卸载点的任务");
LogFactory.LogDispatch(agv.Id, "卸货", "从窑头卸载等待区到窑头卸载点的任务");
}
}
else
{
_ToPlcHead = false;
}
}
}
/// <summary>
/// 窑尾等 到 窑尾取
/// </summary>
private void TaskPlcEndGet()
{
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窑尾的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站);
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点);
F_AGV d_agv3 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.进窑尾充电点);
///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应
if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) &&
(d_agv == null
//&& d_agv2 == null
) &&
agv != null && agv.IsFree &&
(agv.Electicity > F_DataCenter.MDev.IGetDevElectricity() || (agv.Electicity > ParamControl.MinElectricityCharge) || //高于最低充电量的车不能去充电
(!ParamControl.Do_EnterEndCharge || _plcEnd.IsEnterBatteryLock && _plcEnd.EnterChargeAgv != agv.Id))
//&& _plcEnd.IsLock == false
&& (d_agv3 == null || (d_agv3 != null && d_agv3.ChargeStatus != EnumChargeStatus.充电完成))
)
{
//窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车
if (//!_PlcEndNeedCharge && !_EnterPlcEndChargeSuc && !_ToPlcEnd
true)
{
///派发一个从窑尾装载等待区到窑尾装载点取货的任务
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, (agv.Id + TaskPlcEndGetMsg));
//去取货，锁定窑尾
_plcEnd.IsLock = true;
ParamControl.Do_EndPlcLock = false;
F_AGV.AgvLock(agv.Id);
sendServerLog(agv.Id + TaskPlcEndGetMsg);
//LogFactory.LogDispatch(agv.Id, "到窑尾取货", TaskPlcEndGetMsg);
FLog.Log(agv.Id + TaskPlcEndGetMsg);
}
else
{
//_ToPlcEnd = false;
}
}
}
/// <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);
//查找是否存在目标站点是窑头对接完成点的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑头对接完成点);
if (agv1 != null)
{
ParamControl.Do_ExitHeadChargeLock = false;
}
if (agv != null &&
agv.IsFree
//&&! F_AGV.IsLock(agv.Id)
&& (ParamControl.IgnoreAgvUnloadTask || agv.Sta_Material == EnumagvSta_Material.无货)
)
{
// 判断是否存在目标站点是对接完成点的车
if (//_plcHead.ExitFlag
d_agv == null
)
{
// 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 &&
// !ParamControl.Do_ExitHeadChargeLock))
//|| agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()
true
)
{
// 从窑头到窑头对接完成点
F_ExcTask task1 = new F_ExcTask(null, 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>
/// 进窑尾充 到 窑尾取
/// </summary>
public void TaskEnterEndChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点);
//查找是否存在目标站点是窑尾的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站);
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点);
// 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货
if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock)&&
//(d_agv == null && d_agv2 == null)
agv != null && agv.IsFree
//&& !F_AGV.IsLock(agv.Id)
&& agv.ChargeStatus == EnumChargeStatus.充电完成
//&& _plcEnd.IsLock == false
)
{
if (//_plcEnd.Sta_Material == EnumSta_Material.有货 &&
//agv.Sta_Material == EnumagvSta_Material.无货
true
)
{
_EnterPlcEndChargeSuc = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.进窑尾充电点, ConstSetBA.窑尾装载点);
F_AGV.AgvLock(agv.Id);
//去取货，锁定窑尾
_plcEnd.IsLock = true;
ParamControl.Do_EndPlcLock = false;
task.Id = agv.Id;
Thread.Sleep(5000);
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeSucMsg);
sendServerLog(agv.Id + PlcEndChargeSucMsg);
//LogFactory.LogDispatch(agv.Id, "充电完成", PlcEndChargeSucMsg);
FLog.Log(agv.Id + PlcEndChargeSucMsg);
}
}
else
{
_EnterPlcEndChargeSuc = false;
}
}
/// <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);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点);
if (agv1 != null)
{
ParamControl.Do_EnterEndChargeLock = false;
}
// 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 &&
!F_AGV.IsLock(agv.Id) &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null &&
!_plcEnd.IsEnterBatteryLock && ParamControl.Do_EnterEndChargeLock)
{
_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;
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeMsg);
sendServerLog(agv.Id + PlcEndChargeMsg);
LogFactory.LogDispatch(agv.Id, "充电", PlcEndChargeMsg);
}
else
{
_PlcEndNeedCharge = false;
if (agv1 != null)
{
_plcEnd.IsEnterBatteryLock = true;
_plcEnd.EnterChargeAgv = agv1.Id;
}
}
}
/// <summary>
/// 窑头等 到 窑头卸
/// </summary>
private void TaskPlcHeadPut()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区);
//查找是否存在目标站点是窑头的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑头卸载站);
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑头卸载点);
///窑头无货 窑头AGV未锁定 并且 此次任务没有被响应
if (//ParamControl.Do_HeadPlcLock &&
(d_agv == null && d_agv2 == null) &&// !_plcHead.IsLock
agv != null && agv.IsFree
//&& !F_AGV.IsLock(agv.Id)
//&& agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()
//&& (//ParamControl.IgnoreHeadUnloadTask ||
//_plcHead.Sta_Material == EnumSta_Material.允许下料
//|| _plcHead.Sta_Material == EnumSta_Material.未知 )
)
{
//窑头等待区的车不需要充电、没有充电完成的车、没有回卸载点的车
if (true
//!_EnterPlcHeadChargeSuc && !_ToPlcHead
)
{
///派发一个从窑头卸载等待区到窑头卸载点的任务
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.窑头卸载等待区, ConstSetBA.窑头卸载点);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskPlcHeadPutMsg);
//去卸货，锁定窑头
_plcHead.IsLock = true;
ParamControl.Do_HeadPlcLock = false;
F_AGV.AgvLock(agv.Id);
sendServerLog(agv.Id + TaskPlcHeadPutMsg);
LogFactory.LogDispatch(agv.Id, "卸货", TaskPlcHeadPutMsg);
}
else
{
// _ToPlcHead = false;
}
}
}
/// <summary>
/// 窑尾等 到 窑尾取
/// </summary>
private void TaskPlcEndGet()
{
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窑尾的AGV
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾装载站);
F_AGV d_agv2 = F_DataCenter.MDev.IGetAliveDevOnSite(ConstSetBA.窑尾装载点);
///窑尾有货 窑尾等待点的AGV没有锁定 并且 此次任务没有被响应
if (//(ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) &&
(d_agv == null && d_agv2 == null) &&
agv != null && agv.IsFree
//&& !F_AGV.IsLock(agv.Id)
//&& agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()
//&& (ParamControl.IgnoreTailLoadTask || _plcEnd.Sta_Material == EnumSta_Material.有货)
)
{
//窑尾等待区的车不需要充电、没有充电完成的车 、没有初始化时要去窑尾装载点的车
if (//!_PlcEndNeedCharge && !_EnterPlcEndChargeSuc && !_ToPlcEnd
true)
{
///派发一个从窑尾装载等待区到窑尾装载点取货的任务
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.窑尾装载等待区, _plcEnd.Site);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, (agv.Id + TaskPlcEndGetMsg));
//去取货，锁定窑尾
_plcEnd.IsLock = true;
ParamControl.Do_EndPlcLock = false;
F_AGV.AgvLock(agv.Id);
sendServerLog(agv.Id + TaskPlcEndGetMsg);
LogFactory.LogDispatch(agv.Id, "到窑尾取货", TaskPlcEndGetMsg);
}
else
{
//_ToPlcEnd = false;
}
}
}
/// <summary>
/// 窑尾到窑尾对接完成点
/// </summary>
private void TaskEndToEndSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点);
F_AGV d_agv = F_DataCenter.MDev.IGetDevOnDestination(ConstSetBA.窑尾对接完成点);
if (agv != null && agv.IsFree
//&& !F_AGV.IsLock(agv.Id)
&& (ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumagvSta_Material.货)
)
{
// 判断是否存在目标站点是对接完成点的agv
if (//_plcEnd.ExitFlag
d_agv == null)
{
// 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 &&
//_plcEnd.IsExitBatteryLock &&
//ParamControl.Do_ExitEndChargeLock))
//|| agv.Electicity > F_DataCenter.MDev.IGetDevElectricity()
true
)
{
// 从窑尾到窑尾对接完成点
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.对接完成, ConstSetBA.窑尾装载点, ConstSetBA.窑尾对接完成点);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
_plcEnd.ExitFlag = false;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndToEndSucMsg);
sendServerLog(agv.Id + TaskEndToEndSucMsg);
//LogFactory.LogDispatch(agv.Id, "取货完成", TaskEndToEndSucMsg);
FLog.Log(agv.Id + TaskEndToEndSucMsg);
}
}
}
}
/// <summary>
/// 窑尾对接完成点到窑头等待点
/// </summary>
private void TaskEndSucToHeadWait()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑尾对接完成点);
if (agv != null && agv.IsFree)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, ConstSetBA.窑尾对接完成点, ConstSetBA.窑头卸载等待区);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskEndSucToHeadWaitMsg);
sendServerLog(agv.Id + TaskEndSucToHeadWaitMsg);
LogFactory.LogDispatch(agv.Id, " ", TaskEndSucToHeadWaitMsg);
}
}
/// <summary>
/// 进窑头充 到 窑头卸
/// </summary>
public void TaskEnterHeadChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点);
// 有充电完成的AGV,且窑头卸载点没货
if ((ParamControl.Do_HeadPlcLock && !_plcHead.IsLock) && agv != null && agv.IsFree &&
agv.ChargeStatus == EnumChargeStatus.充电完成 &&
!F_AGV.IsLock(agv.Id)
)
{
_EnterPlcHeadChargeSuc = true;
if (_plcHead.Sta_Material == EnumSta_Material.无货 &&
agv.Sta_Material == EnumagvSta_Material.货
)
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.放货, ConstSetBA.进窑头充电点, ConstSetBA.窑头卸载点);
F_AGV.AgvLock(agv.Id);
//去卸货，锁定窑头
_plcHead.IsLock = true;
ParamControl.Do_HeadPlcLock = false;
task.Id = agv.Id;
Thread.Sleep(2000);
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeSucMsg);
sendServerLog(agv.Id + PlcHeadChargeSucMsg);
//LogFactory.LogDispatch(agv.Id, "充电完成", PlcHeadChargeSucMsg);
FLog.Log(agv.Id + PlcHeadChargeSucMsg);
}
}
else
{
_EnterPlcHeadChargeSuc = false;
}
}
/// <summary>
/// 窑头卸货完成Agv从窑头卸载点到窑尾装载等待区
/// </summary>
private void TaskEndToEndWait()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcHead.Site);
if (agv != null && agv.IsFree && !F_AGV.IsLock(agv.Id)
//&& agv.Sta_Material == EnumSta_Material.无货
)
{
F_ExcTask task = new F_ExcTask(null, EnumOper.无动作, ConstSetBA.窑头卸载点, ConstSetBA.窑尾装载等待区);
F_AGV.AgvLock(agv.Id);
task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task);
sendServerLog(agv.Id + "从窑头卸载点到窑尾装载等待区");
LogFactory.LogDispatch(agv.Id, "接货", "从窑头卸载点到窑尾装载等待区");
}
}
/// <summary>
/// 进窑尾充 到 窑尾取
/// </summary>
public void TaskEnterEndChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑尾充电点);
// 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货
if ((ParamControl.Do_EndPlcLock && !_plcEnd.IsLock) && agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
agv.ChargeStatus == EnumChargeStatus.充电完成)
{
if (_plcEnd.Sta_Material == EnumSta_Material.货 &&
agv.Sta_Material == EnumagvSta_Material.无货
)
{
_EnterPlcEndChargeSuc = true;
F_ExcTask task = new F_ExcTask(_plcEnd, EnumOper.取货, ConstSetBA.进窑尾充电点, ConstSetBA.窑尾装载点);
F_AGV.AgvLock(agv.Id);
//去取货，锁定窑尾
_plcEnd.IsLock = true;
ParamControl.Do_EndPlcLock = false;
task.Id = agv.Id;
Thread.Sleep(2000);
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcEndChargeSucMsg);
sendServerLog(agv.Id + PlcEndChargeSucMsg);
LogFactory.LogDispatch(agv.Id, "充电完成", PlcEndChargeSucMsg);
}
}
else
{
_EnterPlcEndChargeSuc = false;
}
}
/// <summary>
/// 窑头放 到 出窑头充电站
/// </summary>
private void TaskHeadToExitBattery()
{
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 == EnumagvSta_Material.无货))
{
// 判断窑头可出站标志是否为True
if (_plcHead.ExitFlag)
{
// 判断窑头接货完成的车是否需要充电,且出窑头充电站没有车、未被锁定
if (agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() && agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null && (!_plcHead.IsExitBatteryLock && ParamControl.Do_ExitHeadChargeLock))
{
F_ExcTask task = new F_ExcTask(_plcHead, EnumOper.充电, ConstSetBA.窑头卸载点, ConstSetBA.出窑头充电点);
F_AGV.AgvLock(agv.Id);
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;
F_DataCenter.MTask.IStartTask(task, agv.Id + TaskHeadToExitBatteryMsg);
sendServerLog(agv.Id + TaskHeadToExitBatteryMsg);
LogFactory.LogDispatch(agv.Id, "AGV出窑头充电", TaskHeadToExitBatteryMsg);
}
}
}
}
public void PlcHeadChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点);
// 有充电完成的AGV,且窑头卸载点没货
if (agv != null && agv.IsFree &&
agv.ChargeStatus == EnumChargeStatus.充电完成 &&
!F_AGV.IsLock(agv.Id)
)
{
_EnterPlcHeadChargeSuc = 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.进窑头充电点, ConstSetBA.窑头卸载点);
F_AGV.AgvLock(agv.Id);
_plcHead.IsLock = true;
//task.Id = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeSucMsg);
sendServerLog(agv.Id + PlcHeadChargeSucMsg);
LogFactory.LogDispatch(agv.Id, "充电完成", PlcHeadChargeSucMsg);
}
}
else
{
_EnterPlcHeadChargeSuc = false;
}
}
private void PlcHeadCharge()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.窑头卸载等待区);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.进窑头充电点);
// 让电量低于60且未充电的AGV去充电
if (agv != null && agv.IsFree &&
agv.Electicity <= F_DataCenter.MDev.IGetDevElectricity() &&
agv.Electicity <= 80 &&
!F_AGV.IsLock(agv.Id) &&
agv.ChargeStatus == EnumChargeStatus.未充电 &&
agv1 == null &&
!_plcHead.IsEnterBatteryLock)
{
_PlcHeadNeedCharge = true;
F_ExcTask task = new F_ExcTask(null, EnumOper.充电, ConstSetBA.窑头卸载等待区, ConstSetBA.进窑头充电点);
F_AGV.AgvLock(agv.Id);
//task.Id = agv.Id;
_plcHead.IsEnterBatteryLock = true;
_plcHead.EnterChargeAgv = agv.Id;
F_DataCenter.MTask.IStartTask(task, agv.Id + PlcHeadChargeMsg);
sendServerLog(agv.Id + PlcHeadChargeMsg);
LogFactory.LogDispatch(agv.Id, "充电", PlcHeadChargeMsg);
}
else
{
_PlcHeadNeedCharge = false;
}
}
/// <summary>
/// 出窑尾充 到 窑尾对接完成点
/// </summary>
public void TaskExitEndChargeSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点);
// 有未上锁的、充电完成的AGV,且窑尾装载点有货、AGV上无货
if (agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
agv.ChargeStatus == EnumChargeStatus.充电完成)
{
if (_plcEnd.ExitFlag &&
true)
{
_ExitPlcEndChargeSuc = true;
F_ExcTask task = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.出窑尾充电点, ConstSetBA.窑尾对接完成点);
F_AGV.AgvLock(agv.Id);
_plcEnd.ExitFlag = false;
task.Id = agv.Id;
Thread.Sleep(2000);
F_DataCenter.MTask.IStartTask(task, agv.Id + ExitPlcEndChargeSucMsg);
sendServerLog(agv.Id + ExitPlcEndChargeSucMsg);
//LogFactory.LogDispatch(agv.Id, "充电完成", ExitPlcEndChargeSucMsg);
FLog.Log(agv.Id + ExitPlcEndChargeSucMsg);
}
}
else
{
_ExitPlcEndChargeSuc = false;
}
}
/// <summary>
/// 窑尾到窑尾对接完成点
/// </summary>
private void TaskEndToEndSuc()
{
F_AGV agv = F_DataCenter.MDev.IGetDevOnSite(_plcEnd.Site);
F_AGV agv1 = F_DataCenter.MDev.IGetDevOnSite(ConstSetBA.出窑尾充电点);
if (agv != null && agv.IsFree &&
!F_AGV.IsLock(agv.Id) &&
(ParamControl.IgnoreAgvLoadTask || agv.Sta_Material == EnumSta_Material.货)
)
{
// 判断窑尾可出站标志是否为True
if (_plcEnd.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())
{
// 从窑尾到窑尾对接完成点
F_ExcTask task1 = new F_ExcTask(null, EnumOper.对接完成, ConstSetBA.窑尾装载点, ConstSetBA.窑尾对接完成点);
F_AGV.AgvLock(agv.Id);
task1.Id = agv.Id;
_plcEnd.ExitFlag = false;
F_DataCenter.MTask.IStartTask(task1, agv.Id + TaskEndToEndSucMsg);
sendServerLog(agv.Id + TaskEndToEndSucMsg);
LogFactory.LogDispatch(agv.Id, "取货完成", TaskEndToEndSucMsg);
}
}
}
}
/// <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;
}
}
