MsgManage.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using System.Threading;
using XingYe_ACS.WebApi;
using System.Data;
namespace XingYe_ACS.Business
{
public class MsgManage
{
/// <summary>
/// 处理客户端指令
/// </summary>
/// <param name="clientMsg">客户端数据</param>
/// <param name="socketOpt">客户端对象</param>
public static void TcpManage(ClientMsg clientMsg, SocketOpt socketOpt)
{
try
{
AgvHeartManage(clientMsg, socketOpt);
#region 注释功能码
//switch (clientMsg.intFuncCode)
//{
// case 0:
// AgvHeartManage(clientMsg, socketOpt);
// break;
//}
#endregion
if (clientMsg.clientErr != 0)
{
if (clientMsg.clientErr != EnumMsg.ErrMsg.不作处理)
{
App.ExFile.MessageBusinessErr("BusinessException", clientMsg.msgAgv.strAgvNo + "业务处理异常:" + ";任务号:" + clientMsg.intTaskNo + ":" + clientMsg.clientErr.ToString() + "="
+ clientMsg.msgAgv.strStopReason);
}
if (clientMsg.clientErr == EnumMsg.ErrMsg.任务不存在)
{
List<ClientMotion> listMotion = new List<ClientMotion>();
socketOpt.sendData = GetSendData.GetNewActionData(clientMsg.intTaskNo, listMotion);
}
else if (App.offAgvNo.Count > 0 && App.offAgvNo.Contains(clientMsg.strAddress))
{
//无任务且不在充电的AGV关机
Agv offAgv = App.AgvList.Find(a => a.strAgvNo == clientMsg.strAddress);
Point point = App.PointList.Find(a => a.strBarcode == offAgv.strBarcode);
if (offAgv.agvTask == null && point != null && offAgv.agvState != EnumMsg.State.充电中
&& (point.pointType == EnumMsg.PointType.回家点 || point.pointType == EnumMsg.PointType.充电点))
{
socketOpt.sendData = GetSendData.GetNewActionData(21, null);
}
}
}
}
catch (Exception Ex)
{
throw new Exception("TcpManage:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 处理Agv心跳指令
/// </summary>
/// <param name="clientMsg">客户端数据</param>
/// <param name="socketOpt">客户端对象</param>
public static void AgvHeartManage(ClientMsg clientMsg, SocketOpt socketOpt)
{
try
{
//检查基础数据
//刚开机，没扫到码，给的是0
if (clientMsg.strBarcode == "0")
clientMsg.strBarcode = clientMsg.msgAgv.strBarcode;
Point currentPoint = App.PointList.FirstOrDefault(a => a.strBarcode == clientMsg.strBarcode);
if (currentPoint == null)
{
Agv agv = clientMsg.msgAgv;
clientMsg.clientErr = EnumMsg.ErrMsg.当前点不在地图中;
clientMsg.msgAgv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, clientMsg.clientErr.ToString() + "新码值:" + clientMsg.strBarcode + ":旧码值:" + clientMsg.msgAgv.strBarcode);
agv.strAgvError = clientMsg.msgAgv.strStopReason;
AcsPushBuild.PushAgv(agv);
return;
}
currentPoint.lockedAgv = clientMsg.msgAgv;
string oldBarcode = clientMsg.msgAgv.strBarcode;
string newBarcode = clientMsg.strBarcode;
//运行状态和充电状态记录状态表中
// 运行状态/充电状态/空闲状态
if ((int)clientMsg.msgAgv.agvState != clientMsg.intState)
{
//更新AGV状态变更表
UpdateManage.InsertAgvState(clientMsg.msgAgv,clientMsg.intState);
}
//更新AGV和货架信息
bool isUpdateResult = UpdateManage.UpdateClientMsg(clientMsg);
if (!isUpdateResult)
{
clientMsg.clientErr = EnumMsg.ErrMsg.更新AGV信息失败;
clientMsg.msgAgv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, clientMsg.clientErr.ToString());
return;
}
if (oldBarcode != newBarcode)
{
//更新界面小车位置
App.Sharp.AgvChange(clientMsg.msgAgv);
//码值发生变化计算距离
clientMsg.msgAgv.agvMilage += ComnMethod.GetDistance(oldBarcode, newBarcode, "");
UpdateManage.UpdateAgvMsg(clientMsg.msgAgv);
}
App.Sharp.AgvStateChange(clientMsg.msgAgv);
if (clientMsg.msgAgv.agvState != EnumMsg.State.忙碌)
{
List<Point> lockedPoint = new List<Point>();
lockedPoint.Add(currentPoint);
UpdateManage.relieveLocked(lockedPoint, clientMsg.msgAgv);
}
bool isDealResult = CheckAgvState(clientMsg, socketOpt);
//界面显示异常AGV信息
Agv erroAgv = clientMsg.msgAgv;
if (erroAgv.strAgvError == "")
erroAgv.strAgvError = erroAgv.strStopReason;
if (!isDealResult)
{
AcsPushBuild.PushAgv(erroAgv);
return;
}
AgvDoWork(clientMsg, socketOpt);
}
catch (Exception Ex)
{
throw new Exception("AgvHeartManage:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 判断AGV状态是否可以执行任务
/// </summary>
/// <param name="clientMsg"></param>
/// <param name="socketOpt"></param>
/// <returns></returns>
public static bool CheckAgvState(ClientMsg clientMsg, SocketOpt socketOpt)
{
try
{
//得到当前小车信息
Agv agv = clientMsg.msgAgv;
if ((agv.agvTask == null || agv.agvTask.sonTaskList.Count == 0) && clientMsg.intTaskNo != 0 && agv.strAgvError == "")
{
clientMsg.clientErr = EnumMsg.ErrMsg.任务不存在;
return false;
}
//对于没有任务、或者有异常的小车只用回复重发
if (agv.strStopReason != "" || (agv.strAgvError != "" && agv.strAgvError != "充电异常-" && !agv.strAgvError.Contains("@")) || agv.agvTask == null || agv.agvTask.sonTaskList.Count == 0 || agv.agvTask.sonTaskList[0].sonTaskState < EnumMsg.SonTaskState.已建立路径)
{
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
return false;
}
//得到当前小车的第一条子任务
SonTask sonTask = agv.agvTask.sonTaskList[0];
if (agv.agvState == 0 || agv.agvState == EnumMsg.State.手动无码 || agv.agvState == EnumMsg.State.手动有码 || agv.agvState == EnumMsg.State.自动无码 || agv.agvState == EnumMsg.State.自动歪码)
{
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "小车状态不正确；");
return false;
}
//对于当前有任务的小车
if (clientMsg.intTaskNo != 0)
{
if (clientMsg.intTaskNo != sonTask.intSonTaskNo)
{
clientMsg.clientErr = EnumMsg.ErrMsg.任务不存在;
return false;
}
if (agv.agvState == EnumMsg.State.忙碌 && clientMsg.actState == EnumMsg.ActState.未完成)
{
if (App.PointList.FirstOrDefault(a => a.strBarcode == agv.strBarcode) == sonTask.endPoint)
{
List<Point> lockedPoint = new List<Point>();
lockedPoint.Add(sonTask.endPoint);
UpdateManage.relieveLocked(lockedPoint, clientMsg.msgAgv);
}
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
return false;
}
}
//等待点小车要等待时间
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.等待)
{
int intWaitTime = ComnMethod.DiffTime(DateTime.Parse(DateTime.Now.ToString()));
//if (intWaitTime < sonTask.waitTime) return false;
}
if (sonTask.sonTaskType != EnumMsg.AgvTaskType.行走 && sonTask.sonTaskType != EnumMsg.AgvTaskType.弧线行走)
{
//顶升、旋转、充电等，小车位置必须在终点位置
if (agv.strBarcode != sonTask.endPoint.strBarcode)
{
clientMsg.clientErr = EnumMsg.ErrMsg.任务不合理;
agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "做顶升任务或是旋转时小车与终点不在同一地点；");
return false;
}
}
//else
//{
// if (!agv.agvTask.strTaskID.Contains("手动"))
// {
// if (sonTask.isCarry && !agv.isCarry)
// {
// clientMsg.clientErr = EnumMsg.ErrMsg.小车状态不合理;
// agv.strStopReason =
// ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "确认小车转盘是否有货；");
// return false;
// }
// else if (!sonTask.isCarry && agv.isCarry)
// {
// clientMsg.clientErr = EnumMsg.ErrMsg.小车状态不合理;
// agv.strStopReason =
// ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "确认小车转盘是否无货；");
// return false;
// }
// }
//}
PathPoint pathPoint = sonTask.pathPointList.FirstOrDefault(a => a.point.strBarcode == agv.strBarcode);
if (pathPoint == null)
{
UpdateManage.ResetPath(sonTask);
clientMsg.clientErr = EnumMsg.ErrMsg.当前点不在路径中;
agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "当前点不在路径中");
return false;
}
//var hoister1 = App.HoisterList.First();
//if (agv.strBarcode == "743" && agv.currentCharge < 90 && !hoister1.read_isHoisterManual && !App.TaskList.ToList().Exists(a => a.strTaskID == EnumMsg.TaskType.充电.ToString()))
//{
// Point point = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
// //判断小车有没有收到允许求的信号
// bool result = !hoister1.read_isGet;// && 02 hoister1.write_isGet &&
// if (result)
// {
// //如果没有完成信号，则开始判断小车等待时间
// //等待标志为0则代表第一次进入时间判断
// if (agv.agvTask.taskStopSign == 0)
// {
// agv.agvTask.taskStopSign = 1;
// agv.agvTask.taskStopTime = DateTime.Now;
// clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
// agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "AGV等待完成信号");
// return false;
// }
// else
// {
// //时间判断
// int intTaskTime = 0;
// if (agv.agvTask.taskStopTime != DateTime.MinValue)
// {
// TimeSpan ts1 = new TimeSpan(agv.agvTask.taskStopTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intTaskTime = ts3.Minutes * 60 + ts3.Seconds;
// }
// //等待时间超过半小时就清楚任务
// if (intTaskTime < App.TaskWaitTime)
// {
// UpdateManage.DeleteTask();
// ComnMethod.DeleteTask(agv.agvTask);
// Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
// Point endPoint = App.PointList.Find(a => a.strBarcode == "296");
// TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
// return false;
// }
// }
// }
//}
//agv.agvTask.taskStopSign = 0;
#region 提升机附属点判断是否能进入提升机
var currentPoint = pathPoint.point;
if (currentPoint.pointType == EnumMsg.PointType.对接等待点 && sonTask.endPoint.pointType == EnumMsg.PointType.对接点 && agv.agvTask.strTaskID != "手动行走" && agv.agvTask.strTaskID !="充电")
{
//获取请求提升机站台
Station station = App.StationList.Find(a => a.strBarcode == sonTask.endPoint.strBarcode
&& a.strPreBarcode == currentPoint.strBarcode
&& a.stationType == EnumMsg.StationType.料台);
if (station != null)
{
Hoister hoister = App.HoisterList.First();
if (!sonTask.isCarry && !hoister.read_isGet)
{
//取货请求
hoister.write_isGet = true;
hoister.write_isAgvGetFinish = false;
hoister.write_isAgvPutFinish = false;
hoister.write_isHoisterGetAck = false;
hoister.write_isHoisterPutAck = false;
hoister.write_isGetAck = false;
hoister.write_isPutAck = false;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "请求取货清除提升机信号其他信号");
return false;
}
else if (sonTask.isCarry && !hoister.read_isPut)
{
//放货请求
hoister.write_isPut = true;
hoister.write_isAgvGetFinish = false;
hoister.write_isAgvPutFinish = false;
hoister.write_isHoisterGetAck = false;
hoister.write_isHoisterPutAck = false;
hoister.write_isGetAck = false;
hoister.write_isPutAck = false;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "请求放货清除提升机信号其他信号");
return false;
}
}
}
#endregion
#region 离开提升机告知AGV离开完成
if (currentPoint.pointType == EnumMsg.PointType.对接等待点 && sonTask.startPoint.pointType == EnumMsg.PointType.对接点&&agv.agvTask.strTaskID!="手动行走"&&agv.agvTask.strTaskID!="充电")
{
//获取请求提升机站台
Station station = App.StationList.Find(a => a.strBarcode == sonTask.startPoint.strBarcode
&& a.strPreBarcode == currentPoint.strBarcode
&& a.stationType == EnumMsg.StationType.料台);
if (station != null)
{
Hoister hoister = App.HoisterList.First();
if (!sonTask.isCarry && !hoister.read_isAgvPutAck && agv.flag == 2)
{
//AGV放货完成离开
hoister.write_isAgvPutFinish = true;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV放货完成离开true");
return false;
}
else if (sonTask.isCarry && !hoister.read_isAgvGetAck && agv.flag == 2)
{
//AGV取货完成离开
hoister.write_isAgvGetFinish = true;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV取货完成离开true");
//写入完成
return false;
}
if (!sonTask.isCarry && hoister.read_isAgvPutAck)
{
hoister.write_isAgvPutFinish = false;
hoister.write_isHoisterGetAck = false;
agv.flag = 3;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV放货完成离开false;提升机取货完成确认false");
Console.WriteLine("3");
}
else if ( sonTask.isCarry && hoister.read_isAgvGetAck)
{
hoister.write_isAgvGetFinish = false;
hoister.write_isHoisterPutAck = false;
agv.flag = 3;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV取货完成离开false;提升机放货完成确认false");
Console.WriteLine("4");
}
else { return false; }
}
}
#endregion
//记录日志
App.ExFile.MessageLog("GetMotion" + agv.strAgvNo, string.Format("AgvNo:{0}【动作完成】 当前点:{1} 任务类型:{2} 任务号:{3} 动作状态:{4} 自身状态:{5} 当前电量:{6}"
, agv.strAgvNo, agv.strBarcode, sonTask.sonTaskType, clientMsg.intTaskNo, clientMsg.actState, agv.agvState, agv.currentCharge));
agv.strStopReason = "";
return true;
}
catch (Exception Ex)
{
throw new Exception("CheckAgvState:" + Ex.StackTrace);
}
}
/// <summary>
/// 小车执行任务
/// </summary>
/// <param name="clientMsg"></param>
/// <param name="socketOpt"></param>
private static void AgvDoWork(ClientMsg clientMsg, SocketOpt socketOpt)
{
try
{
string strFinish = "";
Agv agv = clientMsg.msgAgv;
SonTask sonTask = agv.agvTask.sonTaskList[0];
List<ClientMotion> listMotion = new List<ClientMotion>();
//对于在终点的小车，判断任务状态，设置完成。
if (clientMsg.intTaskNo == sonTask.intSonTaskNo && sonTask.endPoint.strBarcode == agv.strBarcode && clientMsg.actState == EnumMsg.ActState.已完成)
{
//if (sonTask.endPoint.oriAgv != 0 && sonTask.endPoint.oriAgv != agv.agvOri) return;
Point point = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
////判断小车有没有收到允许求的信号
//var hoister1 = App.HoisterList.First();
//bool result = hoister1.write_isGet && !hoister1.read_isGet && !hoister1.read_isHoisterManual;
//if (result)
//{
// //如果没有完成信号，则开始判断小车等待时间
// //等待标志为0则代表第一次进入时间判断
// if (agv.agvTask.taskStopSign == 0)
// {
// agv.agvTask.taskStopSign = 1;
// agv.agvTask.taskStopTime = DateTime.Now;
// clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
// agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "AGV等待完成信号");
// return;
// }
// else
// {
// //时间判断
// int intTaskTime = 0;
// if (agv.agvTask.taskStopTime != DateTime.MinValue)
// {
// TimeSpan ts1 = new TimeSpan(agv.agvTask.taskStopTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intTaskTime = ts3.Minutes * 60 + ts3.Seconds;
// }
// //等待时间超过半小时就清楚任务
// if (intTaskTime < App.TaskWaitTime)
// {
// UpdateManage.DeleteTask();
// ComnMethod.DeleteTask(agv.agvTask);
// Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
// Point endPoint = App.PointList.Find(a => a.strBarcode == "296");
// TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
// return;
// }
// }
//}
//agv.agvTask.taskStopSign = 0;
#region AGV在提升机内取货或者放货完成
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.顶升||sonTask.sonTaskType == EnumMsg.AgvTaskType.直接顶升)
{
//AGV发送取货到位
Station station = App.StationList.Find(a => a.strBarcode == point.strBarcode && a.stationType == EnumMsg.StationType.料台);
if (station != null)
{
Hoister hoister = App.HoisterList.First();
agv.flag = 2;
if (!hoister.read_isHoisterPutFinish)
{
hoister.write_isGetAck = true;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV取货到位确认true");
return;
}
else if (hoister.read_isHoisterPutFinish)
{
hoister.write_isGetAck = false;
hoister.write_isHoisterPutAck = true;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV取货到位确认false;提升机放货完成取认true");
}
else { return; }
}
}
else if (sonTask.sonTaskType == EnumMsg.AgvTaskType.下降||sonTask.sonTaskType==EnumMsg.AgvTaskType.直接下降)
{
Station station = App.StationList.Find(a => a.strBarcode == agv.strBarcode && a.stationType == EnumMsg.StationType.料台);
if (station != null)
{
Hoister hoister = App.HoisterList.First();
agv.flag = 2;
if (!hoister.read_isHoisterGetFinish)
{
hoister.write_isPutAck = true;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "AGV放货到位确认true");
return;
}
else if (hoister.read_isHoisterGetFinish)
{
hoister.write_isPutAck = false;
hoister.write_isHoisterGetAck = true;
}
else { return; }
}
}
#endregion
sonTask.taskRequestType = EnumMsg.TaskRequestType.信号发送完成;
bool sonTaskUpdateResult = TaskManage.SonTaskFinish(clientMsg);
if (!sonTaskUpdateResult)
{
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "AGV任务完成更新失败");
return;
}
//运行至终点时，解除其他占用的点
List<Point> lockedPoint = new List<Point>();
lockedPoint.Add(sonTask.endPoint);
UpdateManage.relieveLocked(lockedPoint, agv);
//获取下个子任务
if (agv.agvTask == null)
{
socketOpt.sendData = GetSendData.GetNewActionData(sonTask.intSonTaskNo, listMotion);
strFinish = string.Format("AgvNo:{0}【回复动作】 主任务号:{1} 已完成", agv.strAgvNo, sonTask.strTaskNo);
App.ExFile.MessageLog("GetMotion" + agv.strAgvNo, strFinish);
return;
}
else
{
sonTask = agv.agvTask.sonTaskList[0];
strFinish += string.Format("AgvNo:{0}【切换下个子任务】 任务号:{1} ", agv.strAgvNo, sonTask.intSonTaskNo);
}
App.ExFile.MessageLog("GetMotion" + agv.strAgvNo, strFinish);
//待更改如果建立路径失败，如果判断
Thread.Sleep(200);
if (sonTask.sonTaskState != EnumMsg.SonTaskState.已建立路径)
{
return;
}
}
#region 对于前往工位是新任务的情况
//if (sonTask.endPoint.pointType == EnumMsg.PointType.站台点 && sonTask.endPoint.lockedAgv != null && sonTask.endPoint.lockedAgv != agv)
//{
// clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
// agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "工位点有小车，等待执行；");
// return;
//}
#endregion
#region 假装没有发
//if (agv.strBarcode == sonTask.endPoint.strBarcode && sonTask.sonTaskType == EnumMsg.AgvTaskType.取消充电 && agv.agvState == EnumMsg.State.自动空闲)
//{
// bool sonTaskUpdateResult = TaskManage.SonTaskFinish(clientMsg);
// agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "AGV任务完成更新失败；");
// return;
//}
#endregion
#region 准备顶升或下降时，清除取放货信号
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.顶升 || sonTask.sonTaskType == EnumMsg.AgvTaskType.下降
|| sonTask.sonTaskType == EnumMsg.AgvTaskType.直接顶升 || sonTask.sonTaskType == EnumMsg.AgvTaskType.直接下降)
{
//AGV发送取货到位
Station station = App.StationList.Find(a => a.strBarcode == agv.strBarcode && a.stationType == EnumMsg.StationType.料台);
if (station != null)
{
Hoister hoister = App.HoisterList.First();
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.顶升 || sonTask.sonTaskType == EnumMsg.AgvTaskType.直接顶升)
{
hoister.write_isGet = false;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "请求取货false;AGV进入提升机false");
}
else if (sonTask.sonTaskType == EnumMsg.AgvTaskType.下降 || sonTask.sonTaskType == EnumMsg.AgvTaskType.直接下降)
{
hoister.write_isPut = false;
App.ExFile.AgvVoltageLog(station.strAddress + clientMsg.msgAgv.strAgvNo, "请求放货false;AGV进入提升机false");
}
}
}
#endregion
//发送后续动作点
listMotion = GetNextPoint.Motions(sonTask, agv);
if (listMotion.Count == 0)
{
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "当前点未被lock；");
Point point = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
point.lockedAgv = agv;
return;
}
else if (listMotion.Count > 1)
{
agv.strStopReason = "";
}
else
{
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "避让中lock；");
}
if (listMotion[0].strBarcode == sonTask.startPoint.strBarcode)
{
sonTask.strBeginTime = DateTime.Now.ToString();
sonTask.sonTaskState = EnumMsg.SonTaskState.已执行;
bool isUpdateSonTaskResult = UpdateManage.UpdateSonTask(sonTask);
if (!isUpdateSonTaskResult)
{
clientMsg.clientErr = EnumMsg.ErrMsg.更新子任务失败;
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, clientMsg.clientErr.ToString());
return;
}
}
socketOpt.sendData = GetSendData.GetNewActionData(sonTask.intSonTaskNo, listMotion);
string strTaskNo = BitConverter.ToUInt32(socketOpt.sendData, 1).ToString();
if (string.IsNullOrEmpty(strTaskNo))
strTaskNo = "0";
string strMotion = string.Format("AgvNo:{0}【回复动作】 任务号:{1} 车头方向:{2} 当前电量:{3}", agv.strAgvNo, strTaskNo, agv.agvOri, agv.currentCharge);
foreach (ClientMotion clientMotion in listMotion)
{
strMotion += "\r\n";
strMotion += string.Format(@"动作类型:{0} 动作码值:{1} X:{2} Y:{3} X间距:{4} Y间距:{5} 路径点属性:{6} 车头方向:{7} 转盘方向:{8} 防撞区域:{9};"
, (EnumMsg.AgvTaskType)clientMotion.intTaskType, clientMotion.strBarcode, clientMotion.intX, clientMotion.intY, clientMotion.intXLength, clientMotion.intYLength
, (EnumMsg.PointType)clientMotion.intPathPointType, (EnumMsg.OriType)clientMotion.intOriAgv, (EnumMsg.OriType)clientMotion.intOriDial, clientMotion.intAntiCollision);
}
strMotion += "\r\n";
App.ExFile.MessageLog("GetMotion" + agv.strAgvNo, strMotion);
}
catch (Exception Ex)
{
throw new Exception("AgvDoWork:" + Ex.StackTrace);
}
}
//判断输送线手自动状态决定小车去充电
public static void IsCharage()
{
try
{
//得到当前小车信息
Agv agv = App.AgvList.Find(a => a.strAgvNo == "A11_3108");
var hoister1 = App.HoisterList.First();
bool result1 = (agv.strBarcode == "746" && agv.currentCharge < 90 && !hoister1.read_isHoisterManual && !App.TaskList.ToList().Exists(a => a.strTaskID == EnumMsg.TaskType.充电.ToString()));
// bool result2 = hoister1.
if (result1)
{
Point point = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
//判断小车有没有收到允许求的信号
bool result = !hoister1.read_isGet;// && 02 hoister1.write_isGet &&
if (result)
{
//如果没有完成信号，则开始判断小车等待时间
//等待标志为0则代表第一次进入时间判断
//if (agv.agvTask.taskStopSign == 0)
//{
// agv.agvTask.taskStopSign = 1;
// agv.agvTask.taskStopTime = DateTime.Now;
// //clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
// // agv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, "AGV等待完成信号");
// return;
//}
//else
//{
// //时间判断
// int intTaskTime = 0;
// if (agv.agvTask.taskStopTime != DateTime.MinValue)
// {
// TimeSpan ts1 = new TimeSpan(agv.agvTask.taskStopTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intTaskTime = ts3.Minutes * 60 + ts3.Seconds;
// }
// //等待时间超过半小时就清楚任务
// if (intTaskTime < App.TaskWaitTime)
// {
if ( App.TaskList.Count>0)
{
UpdateManage.DeleteTask();
ComnMethod.DeleteTask(agv.agvTask);
Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
Point endPoint = App.PointList.Find(a => a.strBarcode == "296");
TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
}else
{
Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
Point endPoint = App.PointList.Find(a => a.strBarcode == "296");
TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
}
//UpdateManage.DeleteTask();
//ComnMethod.DeleteTask(agv.agvTask);
//Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
//Point endPoint = App.PointList.Find(a => a.strBarcode == "296");
//TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
return;
//}
}
}
//agv.agvTask.taskStopSign = 0;
}
catch (Exception)
{
throw new Exception("IsCharage:" + "手自动出错"); ;
}
}
}
}