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350 lines
14 KiB
350 lines
14 KiB
using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Data;
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using System.Threading;
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using Microsoft.VisualBasic;
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using DBFactory;
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using ICommLayer;
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using Model;
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namespace AGVDataTable
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{
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/// <summary>
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/// 20200430中间表接口
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/// 发送设备命令类
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///
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/// </summary>
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public class CSendDeviceOrder: ISendDeviceOrder
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{
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string _commLayerError;
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public string CommLayerError
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{
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get { return _commLayerError; }
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set { _commLayerError = value; }
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}
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DBOperator dbo = CommonClassLib.AppSettings.dbo;//20130510
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public CSendDeviceOrder()
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{
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dbo.Open();
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}
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//~CSendDeviceOrder()
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//{
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// dbo.Close();
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//}
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/// <summary>
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/// 发送AGV车命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">AGV命令字</param>
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///1-取送货
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///2.3... 待扩展
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/// <param name="DeviceIndex">设备编号</param>
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/// <param name="StartX">AGV取货站台（或区域）</param>
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/// <param name="StartY">0</param>
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/// <param name="StartZ">0</param>
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/// <param name="EndX">AGV送货站台（或区域）</param>
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/// <param name="EndY"></param>
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/// <param name="EndZ">0</param>
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/// <returns>发送命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ)
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{
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//return true;
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StringBuilder sql = new StringBuilder();
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StringBuilder sss = new StringBuilder();
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DataView dv = new DataView();
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sql.Remove(0, sql.Length);
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sql.Append("SELECT * FROM T_Monitor_Task WHERE F_MonitorIndex = ").Append(TaskIndex).Append(" AND F_Status = 0");
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dv.Count == 0)
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{
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_commLayerError = "OPCClient.CSendDeviceOrder.SendDeviceOrder发生错误：不存在"+ TaskIndex +" 对应的空闲指令!";
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return false;
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}
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try
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{
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int checkDeviceCode = 12236;
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if (StartX == 12113 || EndX == 12229)
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{
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sql.Clear();
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sql.AppendFormat("select * from T_Monitor_Task where F_Status > 0 and {0}", StartX == 12113 ? "F_NumParam5 = 12229" : "F_NumParam2 = 12113");
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var checkTask = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if(checkTask.Count > 0)
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{
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_commLayerError = "等待其他AGV任务路线避让中";
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return false;
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}
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}
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sql.Clear();
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sql.AppendFormat("select * from T_Monitor_Task where F_Status > 0 and F_NumParam5 = {0}", EndX);
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var task = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (task.Count > 0)
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{
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switch (EndX)
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{
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case 12235:
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checkDeviceCode = 12236;
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break;
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case 12219:
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checkDeviceCode = 12502;
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break;
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case 12229:
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checkDeviceCode = 12230;
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break;
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case 12232:
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checkDeviceCode = 12233;
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break;
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case 12111:
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checkDeviceCode = 12405;
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break;
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case 12103:
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checkDeviceCode = 12401;
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break;
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}
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MDevice checkDeviceModel = CGetInfo.GetDeviceInfo(checkDeviceCode);
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if (checkDeviceModel.SplitByte_0 == 1)
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{
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_commLayerError = StartX + "到" + EndX + "有正在执行的任务，且" + checkDeviceCode + "位置有货";
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return false;
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}
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}
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int fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(TaskIndex);
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sql.Remove(0, sql.Length);
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sql.Append("SELECT * FROM t_agvTask WHERE ID = ").Append(fid).Append(" AND Main_Tk_ID = ")
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.Append(TaskIndex);
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if (dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView.Count > 0)
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{
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_commLayerError = "OPCClient.CSendDeviceOrder.SendDeviceOrder发生错误：中间表已存在该指令："+ TaskIndex;
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return false;
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}
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StringBuilder dtime = new StringBuilder(DateTime.Now.ToString("u"));
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dtime.Remove(dtime.Length - 1, 1);
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int TaskLevel = Convert.ToInt32(dv[0]["F_MonitorTaskLevel"]);
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string PalletBarcode = dv[0]["F_TxtParam"].ToString();
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sql.Clear();
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sql.Append("select * from T_Manage_Task where FID = ").Append(fid);
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dv.Count == 0)
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{
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_commLayerError = "OPCClient.CSendDeviceOrder.SendDeviceOrder发生错误：找不到对应的管理任务!";
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return false;
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}
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//int TaskType = Convert.ToInt32(dv[0]["FCONTROLTASKTYPE"]);
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int COMPOSITE_TAG = 0;
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string START_DEVICE_CODE2 = "";
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string END_DEVICE_CODE2 = "";
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sql.Remove(0, sql.Length);
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sql.Append($"select * from [dbo].[T_AgvTask] where Tk_Out_Pos=(select F_Top from T_Base_AGV_Gate where F_AGVGateDeviceIndex='{StartX}') " +
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$" and ((Is_GetOrSend=0 and battery_status=1) or Is_GetOrSend in(5,8)) ");// and battery_status=1
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var dvs = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dvs.Count > 0)
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{
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sql.Remove(0, sql.Length);
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sql.Append("update T_Monitor_Task set F_IfSync='2' WHERE F_MonitorIndex = ").Append(TaskIndex).Append(" AND F_Status = 0");
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dbo.ExecuteSql(sql.ToString());
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return false;
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}
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sql.Clear();
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sql.Append("select * from T_Base_AGV_Gate where F_AGVGateDeviceIndex= ").Append(StartX);
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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var StartXs = dv[0]["F_Left"];
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int TaskType= Convert.ToInt32( dv[0]["F_Input"]);
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int palletType = Convert.ToInt32(dv[0]["F_Output"]);
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sql.Clear();
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sql.Append("select * from T_Base_AGV_Gate where F_AGVGateDeviceIndex= ").Append(EndX);
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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var EndXs = dv[0]["F_Left"];
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var TaskTypes = TaskType == 1 ? 1 : 3;
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//INSERT INTO t_agvTask(MAIN_TK_ID,Agv_Tk_Type,pallet_no,Tk_In_Pos,Tk_Out_Pos,tk_sts,Tk_Ins_UserID,Tk_Ins_TM)VALUES()
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string command = string.Format(
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"INSERT INTO t_agvTask(MAIN_TK_ID,Agv_Tk_Type,pallet_no,Tk_In_Pos,Tk_Out_Pos,tk_sts,Tk_Ins_UserID,Tk_Ins_TM,pallet_Type,Is_FinishFlag,Is_GetOrSend)" +
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" VALUES('{0}', '{1}', '{2}', '{3}', '{4}', '{5}', '{6}', '{7}','{8}','{9}','{10}')",
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TaskIndex,"2",PalletBarcode,StartXs, EndXs, COMPOSITE_TAG,"WCS", dtime.ToString(), palletType,"1", TaskTypes);
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//TaskIndex, TaskType, TaskLevel, PalletBarcode, StartXs, EndXs, COMPOSITE_TAG, dtime.ToString(), fid, START_DEVICE_CODE2, END_DEVICE_CODE2
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MDevice device = CGetInfo.GetDeviceInfo(EndX);
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dbo.ExecuteSql(command);
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sss.Remove(0, sss.Length);
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sss.Append("条码：").Append(PalletBarcode).Append("**写标志1").Append("**任务号" + TaskIndex.ToString())
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.Append("**起始站台" + StartX.ToString()).Append("**终止站台" + EndX.ToString()).Append("**托盘条码" + PalletBarcode)
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.Append("**送货站台**" + EndX + ":有货状态码:" + device.SplitByte_0 + "," + device.HaveGoods);
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CommonClassLib.CCarryConvert.WriteDarkCasket("OPCClient", "发送AGV命令","", sss.ToString());
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return true;
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}
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catch (Exception ex)
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{
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_commLayerError = "OPCClient.CSendDeviceOrder.SendDeviceOrder发生错误：" + ex.Message;
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return false;
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}
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}
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/// <summary>
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/// 发送堆垛机以外的其它设备命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">命令字</param>
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/// 穿梭车命令字：
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///1-复位
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///2-左接货
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///3-左送货
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///4-右接货
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///5-右送货
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///6-停止
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///7-运动到1#位置
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///8-运动到2#位置
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/// …
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///输送机、台车命令字：
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///1-入库（朝向库）
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/// 2-出库（背向库）
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/// 3-送货
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/// 4-停止
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/// <param name="DeviceIndex">设备编号</param>
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/// <returns>发送其它设备命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex)
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{
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return true;
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}
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ, string DoubleFork)
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{
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return true;
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}
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public bool SendDeviceOrder(int DeviceIndex, string TobaccoCode, bool HaveFirstProjectCode, bool IfSmallTobacco, int Count)
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{
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return true;
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}
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public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues)
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{
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return true;
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}
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public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues, string PLCconnectionID)
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{
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return true;
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}
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/// <summary>
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/// LHDF
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/// </summary>
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/// <param name="deviceindex"></param>
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/// <param name="type"></param>
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private void GetAGVGatePalletType(int deviceindex, out int type)
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{
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StringBuilder sql = new StringBuilder();
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sql.Clear();
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sql.Append(string.Format("SELECT F_TYPE FROM T_Base_AGV_Gate where F_AGVGateDeviceIndex={0}", deviceindex));
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DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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type = Convert.ToInt32(dv[0][0].ToString());
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}
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else
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{
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type = 0;
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}
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}
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int GetGoodsHigh(int taskindex)
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{
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DataView dv = dbo.ExceSQL(string.Format("SELECT CELL_MODEL FROM T_Manage_Task WHERE (F_ManageTaskKindIndex = {0}) AND (FID = {1})", Model.CGeneralFunction.GetManageTaskKindIndexFromMonitor(taskindex), Model.CGeneralFunction.GetManageTaskIndexfromMonitor(taskindex))).Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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#region
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//int gh = 1;
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////P工装板,B标准,G高货位,D大货位
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//switch (dv[0][0].ToString().ToUpper())
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//{
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// case "P":
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// gh = 3;
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// break;
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// case "B":
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// gh = 2;
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// break;
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// case "G":
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// gh = 1;
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// break;
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// //case "D":
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// // gh = 4;
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// // break;
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// default:
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// gh = 1;
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// break;
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//}
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#endregion
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int gh = 0;
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//1小2大
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switch (dv[0][0].ToString().ToUpper())
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{
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case "1":
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gh = 1;
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break;
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case "2":
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gh = 2;
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break;
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default:
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gh = 0;
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break;
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}
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return gh;
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}
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else
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{
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return 0;
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}
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}
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/// <summary>
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/// 根据设备命令，PALLET_SIZE,STACK_TYPE\STACK_QTY
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/// </summary>
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/// <param name="TaskIndx"></param>
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/// <returns></returns>
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private int GetManageInfo(int TaskIndx, string Field)
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{
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DataView dv = new DataView();
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try
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{
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StringBuilder sql = new StringBuilder();
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sql.Clear();
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sql.Append(string.Format("select {0} from T_Manage_Task where FID in(select F_ManageTaskIndex from T_Monitor_Task where F_MonitorIndex = {1})", Field, TaskIndx));
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dv.Count > 0 && dv[0][Field].ToString().Trim()!= "")//dv[0][Field]!= DBNull.Value,int.Parse(dv[0][Field].ToString().Trim())> 0
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{
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return Convert.ToInt32(dv[0][Field]);
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}
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return -1;
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}
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catch (Exception ex)
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{
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throw ex;
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}
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finally
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{
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dv.Dispose();
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}
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}
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}
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}
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