TaskManage.cs
36.5 KB
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using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using XingYe_ACS.WebApi;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace XingYe_ACS.Business
{
public class TaskManage
{
/// <summary>
/// 任务创建
/// </summary>
/// <param name="strTaskID">任务ID</param>
/// <param name="strTaskGroup">任务群组</param>
/// <param name="strTaskBarcode">任务条码</param>
/// <param name="intTaskLevel">任务等级</param>
/// <param name="strAgvNo">执行AGV</param>
/// <param name="strStationNo">目标站台</param>
/// <param name="startPoint">起点</param>
/// <param name="endPoint">终点信息</param>
/// <param name="direction">转盘方向</param>
/// <returns></returns>
public static bool TaskBuild(string strTaskID, string strTaskGroup, string strTaskBarcode, int intTaskLevel, string strAgvNo, string strStationNo, Point startPoint, Point endPoint, string strTaskNo)
{
try
{
Agv agv = App.AgvList.FirstOrDefault(a => a.strAgvNo == strAgvNo);
if (strAgvNo != "" && agv != null && agv.agvTask != null) return false;
FTask task = new FTask();
if (strTaskNo == "")
{
task.strTaskNo = ComnMethod.GetTaskNo();
}
else
{
task.strTaskNo = strTaskNo;
}
task.strTaskID = strTaskID;
task.strTaskGroup = strTaskGroup;
task.intTaskLevel = intTaskLevel;
task.intTaskSplitStep = 1;
if (strAgvNo != "")
{
task.isTaskSubmit = true;
task.strTaskAgv = strAgvNo;
}
else
{
task.isTaskSubmit = false;
task.strTaskAgv = "";
}
task.strTaskBarcode = strTaskBarcode;
if (App.StationList.FirstOrDefault(a => a.strBarcode == startPoint.strBarcode) != null)
{
task.strInitial = App.StationList.FirstOrDefault(a => a.strBarcode == startPoint.strBarcode).strStationNo;
}
task.strTarget = strStationNo;
task.startPoint = startPoint;
task.endPoint = endPoint;
task.strAcceptTime = DateTime.Now;
task.sonTaskList = new ObservableCollection<SonTask>();
task.strBeginTime = "";
task.strEndTime = "";
task.taskErrMsg = "";
task.direction = 0;
task.taskStopSign = 0;
task.taskStopTime = DateTime.Now;
//更新数据库
string sqlInsert = string.Format(@"INSERT INTO T_Task (strTaskNo ,strTaskID ,strTaskGroup ,intTaskLevel ,strTaskBarcode ,strInitial,strTarget
,startPoint ,endPoint ,strAcceptTime ,isTaskSubmit ,strTaskAgv ,strBeginTime
,strEndTime ,taskErrMsg , direction)
VALUES ('{0}' ,'{1}' ,'{2}' ,'{3}' ,'{4}' ,'{5}'
,'{6}' ,'{7}' ,'{8}' ,'{9}' ,'{10}' ,'{11}'
,'{12}' ,'{13}','{14}','{15} ');"
, task.strTaskNo, task.strTaskID, task.strTaskGroup, task.intTaskLevel, task.strTaskBarcode, task.strInitial, task.strTarget
, task.startPoint.strBarcode, task.endPoint.strBarcode, task.strAcceptTime, task.isTaskSubmit == false ? "0" : "1", task.strTaskAgv, task.strBeginTime == "" ? "null" : task.strBeginTime
, task.strEndTime == "" ? "null" : task.strEndTime, task.taskErrMsg.ToString(), (int)task.direction);
int intSqlResult = DbHelperSQL.ExecuteSql(sqlInsert);
if (intSqlResult < 1) return false;
App.AppDispatcher.Invoke(new Action(() =>
{
App.TaskList.Add(task);
}));
if (agv != null)
agv.agvTask = task;
return true;
}
catch (Exception Ex)
{
App.ExFile.MessageError("TaskBuild", strTaskID.ToString() + "任务建立失败" + Ex.Message.Replace(Environment.NewLine, ""));
return false;
}
}
/// <summary>
/// 任务获取小车
/// </summary>
/// <returns></returns>·
public static int AgvGetTask()
{
int taskNum = 0;
try
{
for (int index = 0; index < App.TaskList.Count; index++)
{
FTask task = App.TaskList[index];
if (task.isTaskSubmit) continue;
if (task.strTaskAgv == "") continue;
Agv agv = App.AgvList.FirstOrDefault(a => a.strAgvNo == task.strTaskAgv);
if (!agv.isEnable || !agv.isOnline)
{
task.strTaskAgv = "";
continue;
}
if (agv.agvState != EnumMsg.State.自动空闲 || agv.agvTask != null) continue;
TaskSubmit(task, agv);
}
List<FTask> tasks = App.TaskList.Where(b => b.taskState != "Stop").OrderByDescending(a => a.intTaskLevel).ToList();
for (int index = 0; index < tasks.Count; index++)
{
FTask task = tasks[index];
if (task.isTaskSubmit) continue;
if (task.strTaskAgv != "") continue;
Agv agv = App.AgvList.FirstOrDefault(a => a.strBarcode == task.startPoint.strBarcode
|| a.strBarcode == task.endPoint.strBarcode);
if (agv != null)
{
if (agv.agvState != EnumMsg.State.自动空闲 || agv.agvTask != null) continue;
if (agv.heightState == EnumMsg.HeightState.低位 && agv.strBarcode == task.startPoint.strBarcode)
{
task.intTaskSplitStep = 2;
}
TaskSubmit(task, agv);
continue;
}
//获取当前执行任务的AGV的终点是否为当前任务起点
var taskList = App.TaskList.Where(a => a.isTaskSubmit).ToList();
var result = taskList.Exists(a => a.endPoint == task.startPoint);
if (result) continue;
//查找AGV，找最近
agv = ComnMethod.GetNearAgv(task.startPoint, task);
if (agv == null)
{
taskNum++;
continue;
}
TaskSubmit(task, agv);
}
return taskNum;
}
catch (Exception Ex)
{
App.ExFile.MessageError("AgvGetTask", Ex.Message.Replace(Environment.NewLine, ""));
return taskNum;
}
}
/// <summary>
/// 任务的提交
/// </summary>
/// <param name="task"></param>
/// <param name="agv"></param>
public static void TaskSubmit(FTask task, Agv agv)
{
try
{
bool ToWeb = false;
task.taskErrMsg = "";
task.isTaskSubmit = true;
task.strTaskAgv = agv.strAgvNo;
bool fTaskUpdateResult = UpdateManage.UpdateFTask(task);
if (!fTaskUpdateResult)
{
task.isTaskSubmit = false;
task.strTaskAgv = "";
}
else
{
if (task.strTaskID == "PeiSong")
{
Hoister hoister = App.HoisterList.Find(a => a.hoisterAddress == task.startPoint.strBarcode);
hoister.write_isGet = true;
}
}
ToWeb = CServiceImpl.ToWebTaskRefresh(task, 1);
agv.agvTask = task;
}
catch (Exception Ex)
{
App.ExFile.MessageError("TaskSubmit", Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 任务的分解
/// </summary>
public static void TaskSplit()
{
try
{
List<FTask> taskList = App.TaskList.Where(a => a.isTaskSubmit && a.strBeginTime == "" && a.sonTaskList.Count == 0).ToList();
Random random = new Random();
foreach (FTask task in taskList)
{
try
{
ObservableCollection<SonTask> sonTaskList = new ObservableCollection<SonTask>();
string sqlInsert = "";
List<Config_TaskSplit> splitList = App.Config_TaskSplitList.FindAll(a => a.taskID == task.strTaskID);
int intNum = random.Next(99999);
bool flag = false;
foreach (Config_TaskSplit config in splitList)
{
if (config.intSerialNo < task.intTaskSplitStep) continue;
SonTask sonTask = new SonTask();
sonTask.sonTaskType = config.agvTaskType;
if (Enum.IsDefined(typeof(EnumMsg.ConfigToFromPoint), config.fromPoint))
{
sonTask.startPoint = ComnMethod.GetTaskPoint(task, config.fromPoint);
if (config.agvTaskType == EnumMsg.AgvTaskType.充电) { sonTask.startPoint = task.endPoint; }
}
else
{
sonTask.startPoint = App.PointList.Find(a => a.strBarcode == config.fromPoint.GetIndexString());
}
if (Enum.IsDefined(typeof(EnumMsg.ConfigToFromPoint), config.toPoint))
{
sonTask.endPoint = ComnMethod.GetTaskPoint(task, config.toPoint);
}
else
{
sonTask.endPoint = App.PointList.Find(a => a.strBarcode == config.toPoint.GetIndexString());
}
if (sonTask.startPoint == null || sonTask.endPoint == null)
{
flag = true;
task.taskErrMsg = EnumMsg.ErrMsg.分解任务未找到起点或终点.ToString();
break;
}
//跨区域重新分配起点终点属性
List<Point> listPoints = ComnMethod.GetAreaPoint(sonTask.startPoint, sonTask.endPoint);
if (listPoints == null)
{
flag = true;
task.taskErrMsg = EnumMsg.ErrMsg.分解任务未找到起点或终点.ToString();
break;
}
sonTask.startPoint = listPoints.First();
sonTask.endPoint = listPoints.LastOrDefault();
if (sonTask.startPoint.strBarcode == sonTask.endPoint.strBarcode && sonTask.sonTaskType == EnumMsg.AgvTaskType.行走)
{
continue;
}
sonTask.intSerialNo = config.intSerialNo;
sonTask.intSonTaskNo = intNum + config.intSerialNo;
sonTask.strTaskNo = task.strTaskNo;
sonTask.waitTime = config.waitTime;
sonTask.isCarry = config.isCarry;
sonTask.taskRequestType = config.taskRequestType;
//20180820
//获取子任务方向
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.原地旋转)
{
sonTask.dialDirection = task.direction;
}
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.充电 || sonTask.sonTaskType == EnumMsg.AgvTaskType.取消充电)
{
var endSt = App.StationList.Find(a => a.strBarcode == sonTask.endPoint.strBarcode);
if (endSt != null)
{
sonTask.agvDirection = endSt.stationOri;
sonTask.chargeLength = endSt.stationLength;
}
}
else
{
sonTask.agvDirection = sonTask.endPoint.oriAgv;
}
sonTask.pathPointList = new List<PathPoint>();
sonTask.sonTaskState = EnumMsg.SonTaskState.初始化;
sonTask.strBeginTime = "";
sonTask.strEndTime = "";
sonTaskList.Add(sonTask);
sqlInsert += string.Format(@"INSERT INTO T_SonTask (intSerialNo ,intSonTaskNo ,strTaskNo ,sonTaskType ,startPoint ,endPoint ,waitTime
,isCarry,taskRequestType ,dialDirection ,agvDirection ,sonTaskState
,strBeginTime ,strEndTime,chargeLength)
VALUES ('{0}' ,'{1}' ,'{2}' ,'{3}' ,'{4}'
,'{5}' ,'{6}' ,'{7}' ,'{8}' ,'{9}' ,'{10}','{11}','{12}','{13}','{14}');"
, sonTask.intSerialNo, sonTask.intSonTaskNo, sonTask.strTaskNo, (int)sonTask.sonTaskType, sonTask.startPoint.strBarcode, sonTask.endPoint.strBarcode, sonTask.waitTime
, sonTask.isCarry == false ? "0" : "1", (int)sonTask.taskRequestType, (int)sonTask.dialDirection, (int)sonTask.agvDirection, (int)sonTask.sonTaskState
, sonTask.strBeginTime == "" ? "null" : sonTask.strBeginTime, sonTask.strEndTime == "" ? "null" : sonTask.strEndTime, sonTask.chargeLength);
}
if (flag) continue;
task.strBeginTime = DateTime.Now.ToString();
Agv agv = App.AgvList.FirstOrDefault(a => a.strAgvNo == task.strTaskAgv);
agv.taskTime = DateTime.Now;
bool isUpdateFTaskResult = UpdateManage.UpdateFTask(task);
if (!isUpdateFTaskResult) continue;
bool isSqlResult = DbHelperSQL.SqlTransOperator(sqlInsert);
if (isSqlResult)
{
App.AppDispatcher.Invoke(new Action(() =>
{
foreach (SonTask getSonTask in sonTaskList)
{
if (task.sonTaskList == null) task.sonTaskList = new ObservableCollection<SonTask>();
task.sonTaskList.Add(getSonTask);
}
}));
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("TaskSplit", Ex.StackTrace);
}
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("TaskSplit", Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 子任务任务完成
/// </summary>
/// <param name="clientMsg"></param>
/// <returns></returns>
public static bool SonTaskFinish(ClientMsg clientMsg)
{
try
{
Agv agv = clientMsg.msgAgv;
FTask task = agv.agvTask;
SonTask sonTask = task.sonTaskList[0];
//更新子任务,删除路径
sonTask.strEndTime = DateTime.Now.ToString();
sonTask.sonTaskState = EnumMsg.SonTaskState.已完成;
bool isUpdateSonTaskResult = UpdateManage.UpdateSonTask(sonTask);
if (!isUpdateSonTaskResult) return false;
App.AppDispatcher.Invoke(new Action(() =>
{
task.sonTaskList.RemoveAt(0);
}));
if (task.sonTaskList.Count == 0)
{
task.strEndTime = DateTime.Now.ToString();
bool isUpdateFTaskResult = UpdateManage.UpdateFTask(task);
if (!isUpdateFTaskResult) return false;
//告知WEB界面任务完成
bool ToWeb = CServiceImpl.ToWebTaskRefresh(task, 99);
//更新任务里程
UpdateManage.InsertAgvMilage(task);
//20180925
//充电任务解锁strChooseStation
if (agv.agvTask.strTaskID == "充电")
{
agv.startCharges = agv.currentCharge;
//充电延时赋值
agv.chargeTime = DateTime.Now;
//充电任务结束,记录开始充电电量
UpdateManage.InsertAgvCharge(task);
}
if (agv.agvTask.strTaskID == "取消充电")
{
//取消充电任务结束，记录结束充电电量
UpdateManage.InsertAgvCharge(task);
}
App.AppDispatcher.Invoke(new Action(() =>
{
App.TaskList.Remove(task);
}));
agv.agvTask = null;
agv.strChooseStation = "";
agv.agvMilage = 0;
UpdateManage.UpdateAgvMsg(agv);
}
return true;
}
catch (Exception Ex)
{
App.ExFile.MessageError("SonTaskFinish", Ex.Message.Replace(Environment.NewLine, ""));
return false;
}
}
/// <summary>
/// 返回AGV基础信息
/// </summary>
/// <param name="read"></param>
/// <returns></returns>
public static byte[] ReturnAGVState()
{
HslCommunication.Core.IByteTransform ByteTransform = new HslCommunication.Core.ReverseBytesTransform();
var singleState = new byte[69];
try
{
/** AGV信息反馈S7
*iStatus 状态
*iAlarm 错误
*iAlarmMsg 错误信息
*iCurrentPose 当前坐标
*iBeforePose 前一坐标
*iAfterPose 后一坐标
*iTaskStatus 状态[0:空闲1: 有任务2: 充电]
*rSpeed 车速[mm / min]
*rBatVoltage 电压
*rBatCurrent 电流
*iBatteryCapacity 电池电量
*iBatPowerSupplyStatus 供能状态[0:功能状态未知1: 充电中2: 前往充电点3: 没在充电4: 电池满电量]
*iBatPowerSupplyHealth 电池健康状态[0:健康状态未知1: 良好2: 过热3: DEAD4: 超压5: 发生未指定错误6: COLD7: 看门狗定时器超时8: 安全定时器超时]
*iActProductState 当前小车托盘状态[0:无托盘1: 下料托盘2: 上料托盘]
**/
int index = 0;
foreach (var agv in App.AgvList.OrderBy(a => a.strAgvNo))
{
if (agv.strAgvNo == "A02_0024") { index = 0; } else { index = 34; }
s7AGV s7Agv = new s7AGV();
if (agv.agvTask != null)
{
s7Agv.iStatus = 1;
s7Agv.iTaskStatus = 1;
if (agv.agvTask.strTaskID == "充电")
{
s7Agv.iBatPowerSupplyStatus = 2;
}
//判断任务
if (agv.heightState != EnumMsg.HeightState.低位)
{
if (agv.agvTask.sonTaskList[0].intSerialNo < 4)
{
s7Agv.iActProductState = 1;
}
else
{
s7Agv.iActProductState = 2;
}
}
}
else if (agv.agvTask == null)
{
s7Agv.iStatus = 2;
s7Agv.iTaskStatus = 0;
s7Agv.iBatPowerSupplyStatus = 3;
}
if (agv.strAgvError != "")
{
s7Agv.iStatus = 3;
}
else if (agv.agvState == EnumMsg.State.离线)
{
s7Agv.iStatus = 4;
}
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iStatus)).CopyTo(singleState, 0 + index);
if (agv.strAgvError != "") { s7Agv.iAlarm = 1; } else { s7Agv.iAlarm = 0; }
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iAlarm)).CopyTo(singleState, 2 + index);
s7Agv.iAlarmMsg = 0;
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iAlarmMsg)).CopyTo(singleState, 4 + index);
s7Agv.iCurrentPose = short.Parse(agv.strBarcode);
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iCurrentPose)).CopyTo(singleState, 6 + index);
s7Agv.iBeforePose = short.Parse(string.IsNullOrEmpty(agv.beforePoint) == true ? "0" : agv.beforePoint);
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iBeforePose)).CopyTo(singleState, 8 + index);
s7Agv.iAfterPose = short.Parse(string.IsNullOrEmpty(agv.nextPoint) == true ? "0" : agv.nextPoint);
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iAfterPose)).CopyTo(singleState, 10 + index);
if (agv.agvState == EnumMsg.State.充电中)
{
s7Agv.iTaskStatus = 2;
s7Agv.iBatPowerSupplyStatus = 1;
}
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iTaskStatus)).CopyTo(singleState, 12 + index);
s7Agv.rSpeed = float.Parse(Convert.ToSingle(agv.rSpeed).ToString("0.0"));
ByteTransform.TransByte(Convert.ToSingle(s7Agv.rSpeed)).CopyTo(singleState, 14 + index);
s7Agv.rBatVoltage = float.Parse(Convert.ToSingle(agv.rBatVoltage).ToString("0.0"));
ByteTransform.TransByte(Convert.ToSingle(s7Agv.rBatVoltage)).CopyTo(singleState, 18 + index);
s7Agv.rBatCurrent = float.Parse(Convert.ToSingle(agv.rBatCurrent).ToString("0.0"));
//s7Agv.rBatCurrent = 24.2f;
ByteTransform.TransByte(Convert.ToSingle(s7Agv.rBatCurrent)).CopyTo(singleState, 22 + index);
s7Agv.iBatteryCapacity = short.Parse(agv.currentCharge.ToString());
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iBatteryCapacity)).CopyTo(singleState, 26 + index);
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iBatPowerSupplyStatus)).CopyTo(singleState, 28 + index);
s7Agv.iBatPowerSupplyHealth = agv.iBatPowerSupplyHealth;
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iBatPowerSupplyHealth)).CopyTo(singleState, 30 + index);
if (agv.heightState != EnumMsg.HeightState.高位) s7Agv.iActProductState = 0;
ByteTransform.TransByte(Convert.ToInt16(s7Agv.iActProductState)).CopyTo(singleState, 32 + index);
}
//交互信息反馈
bool[] writePlc = new bool[8];
int writeIndex = 0;
foreach (var honister in App.HoisterList.OrderBy(a => a.hoisterNo))
{
//答复工位请求下料
writePlc[writeIndex] = honister.write_isGet;
//工位上料完成
writePlc[writeIndex + 4] = honister.write_isPut;
writeIndex++;
}
singleState[68] = ComnMethod.BoolArrayToByte(writePlc);
}
catch (Exception Ex)
{
App.ExFile.MessageError("HoisterTaskBuild", "HoisterTaskBuild任务建立失败" + Ex.StackTrace);
return null;
}
return singleState;
}
public static byte[] StationTaskBuild(byte[] read)
{
try
{
#region 读取PLC信息
var readHonister = ComnMethod.ByteToBoolArray(read[0]);
var hoister = App.HoisterList.First();
//升降料台心跳
hoister.read_heart = readHonister[0];
//升降料台是否有货
hoister.read_isFull = readHonister[1];
//升降料台是否允许取货
hoister.read_isGet = readHonister[2];
//升降料台是否允许放货
hoister.read_isPut = readHonister[3];
//升降料台取货完成
hoister.read_isHoisterGetFinish = readHonister[4];
//升降料台放货完成
hoister.read_isHoisterPutFinish = readHonister[5];
//升降料台取货完成离开完成确认
hoister.read_isAgvGetAck = readHonister[6];
//升降料台放货完成离开完成确认
hoister.read_isAgvPutAck = readHonister[7];
var readHonister1= ComnMethod.ByteToBoolArray(read[1]);
//判断手动还是自动
hoister.read_isHoisterManual = readHonister1[0];
//AGV心跳
hoister.write_agvHeart = hoister.write_agvHeart == hoister.read_heart ? !hoister.read_heart : hoister.read_heart;
if (hoister.write_agvHeart != hoister.read_heart)
{
hoister.writeTime = DateTime.Now;
}
else
{
//判断长时间不变报警
float Sec = 0;
TimeSpan tsHeart = new TimeSpan(hoister.writeTime.Ticks);
TimeSpan tsNow = new TimeSpan(DateTime.Now.Ticks);
TimeSpan tsDurat = tsNow.Subtract(tsHeart).Duration();
float S = tsDurat.Seconds;
Sec = tsDurat.Hours * 3600 + tsDurat.Minutes * 60 + S;
if (Sec > 10)
{
hoister.errorMesg = "料台掉线！";
return null;
}
}
//agv心跳
//hoister.write_agvHeart = !hoister.read_heart;
//判断是否存在配送任务，存在不创建新任务
if (hoister.read_isFull &&
!App.TaskList.ToList().Exists(a => a.strTaskID == EnumMsg.TaskType.配送.ToString())) //&& hoister.read_isHoisterManual&& App.AgvList.Find(a => a.strAgvNo == "A11_3108").strBarcode == "743"
{
//if (hoister.read_isHoisterManual && App.AgvList.Find(a => a.strAgvNo == "A11_3108").strBarcode == "743") //App.PointList.Find(a => a.strBarcode == "743").strBarcode
//{
var startSt = App.StationList.Find(a => a.strStationNo == "BeiLiao");
var startPoint = App.PointList.Find(a => a.strBarcode == startSt.strBarcode);
var endSt = App.StationList.Find(a => a.strStationNo == "ShangLiao");
var endPoint = App.PointList.Find(a => a.strBarcode == endSt.strBarcode);
//生成任务号
string strTaskNo = ComnMethod.GetTaskNo();
var result = TaskManage.TaskBuild(EnumMsg.TaskType.配送.ToString(), "配送", "", 1, "",
startSt.strStationNo, startPoint, endPoint, strTaskNo);
//}
}
byte[] writeBytes = new byte[2];
var writeAgv = new bool[8];
var writeAgv1 = new bool[8];
writeAgv[0] = hoister.write_agvHeart;
//AGV取货请求
writeAgv[1] = hoister.write_isGet;
//AGV放货请求
writeAgv[2] = hoister.write_isPut;
//AGV取货到位
writeAgv[3] = hoister.write_isGetAck;
//AGV放货到位
writeAgv[4] = hoister.write_isPutAck;
//提升机取货完成确认
writeAgv[5] = hoister.write_isHoisterGetAck;
//提升机放货完成确认
writeAgv[6] = hoister.write_isHoisterPutAck;
//AGV取货离开完成
writeAgv[7] = hoister.write_isAgvGetFinish;
//AGV放货完成离开
writeAgv1[0] = hoister.write_isAgvPutFinish;
writeBytes[0] = ComnMethod.BoolArrayToByte(writeAgv);
writeBytes[1] = ComnMethod.BoolArrayToByte(writeAgv1);
return writeBytes;
#endregion
}
catch (Exception Ex)
{
App.ExFile.MessageError("HoisterTaskBuild", "HoisterTaskBuild任务建立失败" + Ex.StackTrace);
return null;
}
}
#region 测试任务
/// <summary>
/// 循环行走任务
/// </summary>
public static void WalkTask()
{
try
{
for (int i = 0; i < App.AgvNo.Count; i++)
{
string EndBarcode = "";
Agv agv = App.AgvList.FirstOrDefault(b => b.strAgvNo == App.AgvNo[i]);
if (agv.agvState != EnumMsg.State.自动空闲) continue;
FTask fTask = App.TaskList.FirstOrDefault(a => a.isTaskSubmit && a.strTaskAgv == agv.strAgvNo);
//int intTaskTime = 0;
//if (agv.taskTime != DateTime.MinValue)
//{
// TimeSpan ts1 = new TimeSpan(agv.taskTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intTaskTime = ts3.Minutes * 60 + ts3.Seconds;
//}
//if (intTaskTime < App.TaskTime) continue;
if (fTask == null)
{
if (agv.strBarcode != App.EndPoint[i])
{
EndBarcode = App.EndPoint[i];
}
else
{
EndBarcode = App.StartPoint[i];
}
Point StartPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
Point EndPoint = App.PointList.Find(a => a.strBarcode == EndBarcode);
TaskBuild("手动行走", "", "", 1, agv.strAgvNo, "", StartPoint, EndPoint, "");
}
}
}
catch (Exception Ex)
{
MessageBox.Show(Ex.ToString());
}
}
public static void WalkTasks()
{
try
{
for (int i = 0; i < App.AgvNo.Count; i++)
{
string EndBarcode = "";
Agv agv = App.AgvList.FirstOrDefault(b => b.strAgvNo == App.AgvNo[i]);
FTask fTask = App.TaskList.FirstOrDefault(a => a.isTaskSubmit && a.strTaskAgv == agv.strAgvNo);
//int intTaskTime = 0;
//if (agv.taskTime != DateTime.MinValue)
//{
// TimeSpan ts1 = new TimeSpan(agv.taskTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intTaskTime = ts3.Minutes * 60 + ts3.Seconds;
//}
//if (intTaskTime < App.TaskTime) return;
if (fTask == null)
{
if (agv.strBarcode != App.EndPoint[i])
{
EndBarcode = App.EndPoint[i];
}
else
{
EndBarcode = App.StartPoint[i];
}
Point StartPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
Point EndPoint = App.PointList.Find(a => a.strBarcode == EndBarcode);
TaskBuild("手动任务行走", "", "", 1, agv.strAgvNo, "", StartPoint, EndPoint, "");
}
}
}
catch (Exception Ex)
{
MessageBox.Show(Ex.ToString());
}
}
public static void RotateTask()
{
try
{
for (int i = 0; i < App.RotateAgvNo.Count; i++)
{
Agv agv = App.AgvList.FirstOrDefault(b => b.strAgvNo == App.RotateAgvNo[i]);
FTask fTask = App.TaskList.FirstOrDefault(a => a.isTaskSubmit && a.strTaskAgv == agv.strAgvNo);
if (fTask == null)
{
Point StartPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
TaskBuild("循环耦合旋转", "", "", 1, agv.strAgvNo, "", StartPoint, StartPoint, "");
}
}
}
catch (Exception Ex)
{
MessageBox.Show(Ex.ToString());
}
}
public static void LiftTask()
{
try
{
for (int i = 0; i < App.LiftAgvNo.Count; i++)
{
Agv agv = App.AgvList.FirstOrDefault(b => b.strAgvNo == App.LiftAgvNo[i]);
FTask fTask = App.TaskList.FirstOrDefault(a => a.isTaskSubmit && a.strTaskAgv == agv.strAgvNo);
if (fTask == null)
{
Point StartPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
TaskBuild("循环升降", "", "", 1, agv.strAgvNo, "", StartPoint, StartPoint, "");
}
}
}
catch (Exception Ex)
{
MessageBox.Show(Ex.ToString());
}
}
public static void PalletTask()
{
try
{
for (int i = 0; i < App.PalletAgvNo.Count; i++)
{
Agv agv = App.AgvList.FirstOrDefault(b => b.strAgvNo == App.PalletAgvNo[i]);
FTask fTask = App.TaskList.FirstOrDefault(a => a.isTaskSubmit && a.strTaskAgv == agv.strAgvNo);
if (fTask == null)
{
Point StartPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
TaskBuild("循环托盘旋转", "", "", 1, agv.strAgvNo, "", StartPoint, StartPoint, "");
}
}
}
catch (Exception Ex)
{
MessageBox.Show(Ex.ToString());
}
}
#endregion
}
}