using System; using System.Collections.Generic; using System.Text; using DBFactory; using CommonLib; using System.Data; using System.Runtime.InteropServices;//20151120 namespace SocketsTCPIP { using System; using System.Net; using System.Net.Sockets; using System.Threading; using System.Text; using CommonClassLib; public static class CClientTCPIP {//20130111 private static Object thisLock = new Object(); public static event CDataSourceChangeEventHandler DataChange; public static event CUpdateDBEventHandler UpdateDB; public static event CWriteDarkCasketEventHandler WriteDarkCasket; public static event CSendDeviceOrderEventHandler SendDeviceOrder; private static bool IsConnectionSuccessful = false; private static Exception socketexception; private static ManualResetEvent TimeoutObject = new ManualResetEvent(false); public static void OnSendDeviceOrder(CSendDeviceOrderEventArgs e) { if (SendDeviceOrder != null) { SendDeviceOrder(null, e); } } public static void OnWriteDarkCasket(CWriteDarkCasketEventArgs e) { if (WriteDarkCasket != null) { WriteDarkCasket(null, e); } } public static void OnDataChange(CDataChangeEventArgs e) { if (DataChange != null) { DataChange(null, e); } } public static void OnUpdateDB(CUpdateDBChangeEventArgs e) { if (UpdateDB != null) { UpdateDB(null, e); } } public static event RefreshMonitorEventHandler RefreshMonitor; public static void OnRefreshMonitor(RefreshMonitorEventArgs e) { if (RefreshMonitor != null) { RefreshMonitor(e); } } public static DBOperator dbo =new DBOperator();//20130926 static DBOperator dboM =CommonClassLib.AppSettings.dboM;//20130926 static StringBuilder sql = new StringBuilder(); private static Dictionary _initCount = new Dictionary(); public static Dictionary TcpIPInitCount { get { return CClientTCPIP._initCount; } set { DataView dv = dbo.ExceSQL("SELECT F_RemoteIP,F_RemotePort FROM T_Base_Device WHERE (F_DeviceKindIndex = 6 and F_RemoteIP is not null)").Tables[0].DefaultView; for (int i = 0; i < dv.Count; i++) { if (value.ContainsKey(dv[i][0].ToString()) == false) { value.Add(dv[i][0].ToString(), 0); } } CClientTCPIP._initCount = value; } } static Dictionary _ifInit = new Dictionary(); public static Dictionary IfInit { get { return CClientTCPIP._ifInit; } set { DataView dv = dbo.ExceSQL("SELECT F_RemoteIP,F_RemotePort FROM T_Base_Device WHERE (F_DeviceKindIndex = 6 and F_RemoteIP is not null)").Tables[0].DefaultView; for (int i = 0; i < dv.Count; i++) { if (_ifConnect.ContainsKey(dv[i][0].ToString()) == false) { _ifConnect.Add(dv[i][0].ToString(), false); } if (value.ContainsKey(dv[i][0].ToString()) == false) { value.Add(dv[i][0].ToString(), false); } if (value[dv[i][0].ToString()] == false) { _ifConnect[dv[i][0].ToString()] = false; } } CClientTCPIP._ifInit = value; } } static Dictionary _ifConnect = new Dictionary(); static string _remoteIP; static int _remotePort; static Socket clientSocket = null; static EndPoint epServer; static byte[] _byteData = new byte[6]; static string _tcpError; static Dictionary clientSockets = new Dictionary(); public static string TcpError { get { return _tcpError; } set { _tcpError = value; RefreshMonitorEventArgs rea = new RefreshMonitorEventArgs("tsStatus", string.Format("SocketsTCPIP：{0}", _tcpError)); OnRefreshMonitor(rea); } } public static byte[] ByteData { get { return _byteData; } set { _byteData = value; } } public static Socket ClientSocket { get { return CClientTCPIP.clientSocket; } set { CClientTCPIP.clientSocket = value; } } private static byte[] GetSocketIOControl()//设置Socket的 {//20151120张磊调整,设置检测对方网线断开等硬件故障的时间间隔 uint dummy = 0; byte[] inOptionValues = new byte[Marshal.SizeOf(dummy) * 3]; BitConverter.GetBytes((uint)1).CopyTo(inOptionValues, 0);//启用 BitConverter.GetBytes((uint)1000).CopyTo(inOptionValues, Marshal.SizeOf(dummy));//多长时间后开始第一次探测ms BitConverter.GetBytes((uint)1000).CopyTo(inOptionValues, Marshal.SizeOf(dummy) * 2);//探测时间间隔ms return inOptionValues; } public static void InitAllClientTCPIP() { string ip = string.Empty; int port = 3000; try { DataView dv = dbo.ExceSQL("SELECT F_RemoteIP,F_RemotePort FROM T_Base_Device WHERE (F_DeviceKindIndex = 6 and F_RemoteIP is not null)").Tables[0].DefaultView; for (int i = 0; i < dv.Count; i++) { ip = dv[i]["F_RemoteIP"].ToString(); port = Convert.ToInt32(dv[i]["F_RemotePort"]); InitClientTCPIP(ip, port); } } catch (Exception e) { TcpError = "SocketsTCPIP.CClientTCPIP.InitClientTCPIP:" + e.StackTrace + e.Message; } } public static bool InitClientTCPIP(string remoteIP, int remotePort) { if (_ifConnect.ContainsKey(remoteIP) == false) { _ifConnect.Add(remoteIP, false); } if (_initCount.ContainsKey(remoteIP) == false) { _initCount.Add(remoteIP, 0); } if (_ifInit.ContainsKey(remoteIP) == false) { _ifInit.Add(remoteIP, false); } if (_initCount[remoteIP] > 3) { //TcpError = "SocketsTCPIP,连接远程主机:" + remoteIP + "时，发生三次连接失败错误！请检查远程主机是否正常运行!重新打开命令开关。"; //_ifInit[remoteIP] = false; //_ifConnect[remoteIP] = false; //return false; } if (_ifInit[remoteIP] == true) return false;//20160420 if (_ifConnect[remoteIP] == true) return false; clientSocket = null; IPAddress ipAddress; IPEndPoint remoteEP; try { TimeoutObject.Reset(); socketexception = null; _remoteIP = remoteIP; _remotePort = remotePort; ipAddress = IPAddress.Parse(_remoteIP); remoteEP = new IPEndPoint(ipAddress, _remotePort); epServer = (EndPoint)remoteEP; // Create a TCP/IP socket. if (clientSocket == null) { clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); } // Connect to the remote endpoint. StateObject so = new StateObject(); so.workSocket = clientSocket; so.remoteIP = remoteIP; so.remoteport = remotePort; clientSocket.IOControl(IOControlCode.KeepAliveValues, GetSocketIOControl(), null);//20151120张磊调整,设置检测对方网线断开等硬件故障的时间间隔 clientSocket.BeginConnect(epServer, new AsyncCallback(ConnectCallback), so); _ifInit[remoteIP] = false; _ifConnect[remoteIP] = true; if (clientSockets.ContainsKey(remoteIP) == false) { clientSockets.Add(remoteIP, clientSocket); } // int waittime = 1000;//第一次连接的等待时间 if (_initCount[remoteIP]>0) { waittime = 30000; } if (TimeoutObject.WaitOne(waittime, false))//等待30S后重新连接 { if (IsConnectionSuccessful) { return true; } else { //System.Diagnostics.Trace.WriteLine("重连!\r\n"); return _ifInit[remoteIP]; } } else { return _ifInit[remoteIP]; ; } //return _ifInit[remoteIP]; } catch (Exception e) { //if (_initCount[remoteIP] > 3) //{ // TcpError = "SocketsTCPIP,连接远程主机:" + remoteIP + "时，发生三次连接失败错误！请检查远程主机是否正常运行!重新打开命令开关。"; // clientSocket = null; // //_initCount = 0; // return false; //} _initCount[remoteIP]++; _ifInit[remoteIP] = false; TcpError = "SocketsTCPIP.CClientTCPIP.InitClientTCPIP:" + e.StackTrace + e.Message; return false; } finally {//20100127 ipAddress = null; remoteEP = null; //sb = null; } } // 查看指定IP是否连接 public static bool CheckConnect(string IP) { if (_ifConnect.ContainsKey(IP)) { return true; } else { return false; } } private static void ConnectCallback(IAsyncResult ar) { try { lock (thisLock) { StateObject so = (StateObject)ar.AsyncState; Socket s = so.workSocket; try { s.EndConnect(ar); clientSockets[so.remoteIP] = s; _ifInit[so.remoteIP] = true; _initCount[so.remoteIP] = 0; IsConnectionSuccessful = true; //开始下一次异步接收 s.BeginReceive(so.buffer, 0, StateObject.BUFFER_SIZE, 0, new AsyncCallback(ReceiveCallback), so); } catch (Exception e) { TcpError = "SocketsTCPIP.CClientTCPIP.ConnectCallback:" + e.Message; _initCount[so.remoteIP]++; _ifInit[so.remoteIP] = false; _ifConnect[so.remoteIP] = false; clientSockets[so.remoteIP] = null; IsConnectionSuccessful = false; //if (_initCount[so.remoteIP] > 3) //{ // TcpError = "SocketsTCPIP,连接远程主机:" + so.remoteIP + "时，发生三次连接失败错误！请检查远程主机是否正常运行!重新打开命令开关。"; // //_ifInit[remoteIP] = false; // //_ifConnect[remoteIP] = false; // return ; //} InitClientTCPIP(so.remoteIP, so.remoteport); } finally { _ifConnect[so.remoteIP] = false; TimeoutObject.Set(); } } } catch (Exception ex) { TcpError = "SocketsTCPIP.CClientTCPIP.ConnectCallback:" + ex.Message; } } private static void ReceiveCallback(IAsyncResult ar) { try { lock (thisLock) { StateObject so = (StateObject)ar.AsyncState; Socket s = so.workSocket; int agvdev = 0; try { int read = s.EndReceive(ar); if (read == 0) { _ifInit[so.remoteIP] = false; _ifConnect[so.remoteIP] = false; clientSockets[so.remoteIP] = null; InitClientTCPIP(so.remoteIP,so.remoteport); } else if (read > 0) { agvdev = GetAGVServer(so.remoteIP); byte[] chatnew = new byte[read]; Array.Copy(so.buffer, 0, chatnew, 0, read); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CClientTCPIP", "ReceiveCallback", agvdev.ToString(), "接收AGV数据", chatnew); OnWriteDarkCasket(e); //将byte数组转换成UInt16数组 //int[] newData = ConvertByteToInt32(chatnew);// 20150115 UInt16[] newData = ConvertByteToUInt16(chatnew); DisposeReceivedMessage(agvdev, newData);//触发事件通知主线程 //开始下一次异步接收 s.BeginReceive(so.buffer, 0, StateObject.BUFFER_SIZE, 0, new AsyncCallback(ReceiveCallback), so); } } catch (Exception e) { _ifInit[so.remoteIP] = false; _ifConnect[so.remoteIP] = false; clientSockets[so.remoteIP] = null; InitClientTCPIP(so.remoteIP, so.remoteport); TcpError = "SocketsTCPIP.CClientTCPIP.ReceiveCallback:" + e.StackTrace + e.Message; } } } catch (Exception ex) { TcpError = "SocketsTCPIP.CClientTCPIP.ReceiveCallback:" + ex.StackTrace + ex.Message; } } public static bool Send(string remoteIP, int remotePort, byte[] data) { lock (thisLock)//20130607 { try { if (_ifInit.ContainsKey(remoteIP) == false) { _ifInit.Add(remoteIP, false); } if (_ifInit[remoteIP] == false) { //if (InitClientTCPIP(remoteIP, remotePort) == false) //{ return false; //} } //20100127 int agvdev = GetAGVServer(remoteIP); int sendcount = clientSockets[remoteIP].Send(data); //clientSocket.BeginSend(byteData, 0, byteData.Length, 0, // new AsyncCallback(SendCallback), clientSocket); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CClientTCPIP", "Send", agvdev.ToString(), "SendAGV", data);//20100127 OnWriteDarkCasket(e); return true; } catch (Exception e) { _ifInit[remoteIP] = false; TcpError = "SocketsTCPIP.CClientTCPIP.Send:" + e.StackTrace + e.Message; return false; } } } private static void SendCallback(IAsyncResult ar) { try { Socket client;//20100127 client = (Socket)ar.AsyncState; if (client.Connected == false) return; IPEndPoint ipep = (IPEndPoint)client.RemoteEndPoint; try { client.EndSend(ar); } catch (Exception e) { _ifInit[ipep.Address.ToString()] = false; TcpError = "SocketsTCPIP.CClientTCPIP.SendCallback:" + e.StackTrace + e.Message; } finally {//20100127 client = null; } } catch (Exception ex) { TcpError = "SocketsTCPIP.CClientTCPIP.SendCallback:" + ex.StackTrace + ex.Message; } } public static void EndConnect() { //DataView dv = dbo.ExceSQL("SELECT F_RemoteIP FROM T_Base_Device WHERE (F_DeviceKindIndex = 6)").Tables[0].DefaultView; //if (dv.Count > 0) //{ // if (_ifInit == false) // { // return; // } // byte[] sb = new byte[2] { 62, 0 }; // if (clientSocket.Connected == true) // { // clientSocket.Send(sb); // } // sb = null;//20100127 //} } public static int GetDeviceKindIdx(int devIdx) { try { sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex, F_DeviceKindIndex FROM T_Base_Device WHERE F_DeviceIndex=" + devIdx); DataSet ds = dbo.ExceSQL(sql.ToString()); DataView dv = ds.Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_DeviceKindIndex"]); } else return 0; } catch (Exception ex) { TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return 0; //throw ex; } } public static int GetManageTaskIndexfromMonitor(int monitorIdx) { //20100127 DataView dv; try {//20100127 sql.Remove(0, sql.Length); sql.Append("SELECT F_ManageTaskIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIdx).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_ManageTaskIndex"]); } else { return -1; } } catch (Exception ex) {//20100127 //throw ex; TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; } finally {//20100127 dv = null; } } public static int GetManageTaskKindIndexFromMonitor(int monitorIdx) { //20100127 DataView dv; try {//20100127 sql.Remove(0, sql.Length); sql.Append("SELECT F_ManageTaskKindIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIdx).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_ManageTaskKindIndex"]); } else { return -1; } } catch (Exception ex) { TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; //throw ex; } finally {//20100127 dv = null; } } public static int GetDeviceOrderFromMonitor(int MonitorIndex) { //20100127 DataView dv; try { sql.Remove(0, sql.Length); sql.Append("select F_DeviceCommandIndex from T_Monitor_Task where (F_DeviceCommandIndex IS NOT NULL) and F_MonitorIndex=").Append(MonitorIndex); //20100127 dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_DeviceCommandIndex"]); } else { return -1; } } catch (Exception ex) { TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; //throw ex; } finally {//20100127 dv = null; } } public static int GetExceptionNOFromManageTask(int FID, int ManTaskKind) { //20100127 DataTable dt; try { sql.Remove(0, sql.Length); sql.Append("SELECT FID, F_ManageTaskKindIndex, FExceptionNO FROM T_Manage_Task WHERE (FID = ").Append(FID).Append(") AND (F_ManageTaskKindIndex = ").Append(ManTaskKind).Append(") "); ; //20100127 dt = dbo.ExceSQL(sql.ToString()).Tables[0]; if (dt.Rows.Count > 0) { if (dt.Rows[0]["FExceptionNO"] == DBNull.Value) { return -1; } else { return Convert.ToInt32(dt.Rows[0]["FExceptionNO"]); } } else { return -1; } } catch (Exception ex) {//20100127 //throw ex; TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; } finally {//20100127 dt = null; } } static int GetDeviceIndexFromAgvActive(int AgvActive) { //20100127AGV DataView dva; try { //20100127 sql.Remove(0, sql.Length); sql.Append("SELECT F_AGVGateDeviceIndex, F_Address FROM T_Base_AGV_Gate WHERE (F_Active = ").Append(AgvActive).Append(") "); dva = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dva.Count > 0) { return Convert.ToInt32(dva[0]["F_AGVGateDeviceIndex"]); } else { return 0; } } catch (Exception ex) {//20100127 //throw ex; TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; } finally {//20100127 dva = null; } } /// /// /// /// /// 1,前叉；2后叉；3双叉 /// static int GetDeviceIndexFromAgvAddress(int AgvAddress, int ForkIndex) { //20110110AGV DataView dva; try { string F_UseAwayFork = string.Empty; if (ForkIndex == 1)//前叉,远叉 { F_UseAwayFork = " and F_UseAwayFork = '1' "; } else if (ForkIndex == 2) { F_UseAwayFork = " and F_UseAwayFork = '0' "; } else//3 { F_UseAwayFork = " and F_UseAwayFork <> '-' "; } //20100127 sql.Remove(0, sql.Length); sql.Append("SELECT F_AGVGateDeviceIndex, F_Address FROM T_Base_AGV_Gate WHERE (F_Address = ").Append(AgvAddress).Append(") ").Append(F_UseAwayFork); dva = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dva.Count > 0) { return Convert.ToInt32(dva[0]["F_AGVGateDeviceIndex"]); } else { return 0; } } catch (Exception ex) {//20100127 //throw ex; TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; } finally {//20100127 dva = null; } } /// /// 是否逻辑有物 /// /// /// static bool IfHaveLogicGoods(int deviceindex) { DataView dv = dbo.ExceSQL("SELECT F_HaveGoods FROM T_Base_Device where F_HaveGoods=1 and F_DeviceIndex=" + deviceindex).Tables[0].DefaultView; if (dv.Count > 0) { return true; } else { return false; } } static int GetCorrDeviceIndex(int device) {//20110412 int deviceCorr = 0; if ((device % 2) == 1) { deviceCorr = device - 1; } else { deviceCorr = device + 1; } return deviceCorr; } static string GetDeviceS7Connection(int deviceindex) { DataView dv = dbo.ExceSQL("SELECT F_S7Connection FROM T_Base_Device WHERE (F_DeviceIndex = " + deviceindex + ")").Tables[0].DefaultView; if (dv.Count > 0) { return dv[0]["F_S7Connection"].ToString(); } else { return null; } } /// /// 20110405数据视图更新 /// static void DataSourceChange() { //sql.Remove(0, sql.Length); //sql.Append("select * from V_Monitor_Task where ").Append(CStaticClass.Monstatus).Append(" order by 设备指令索引 asc "); //DataView dvmon = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; //sql.Remove(0, sql.Length); //sql.Append("select * from V_Manage_Task where ").Append(CStaticClass.Manstatus); //DataView dvman = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; CDataChangeEventArgs e = new CDataChangeEventArgs(null, null); OnDataChange(e); } /// /// 20110608执行SQL语句数组 /// /// static void SQLString(DBOperator dbo, StringBuilder sql) { CUpdateDBChangeEventArgs e = new CUpdateDBChangeEventArgs(dbo, sql); OnUpdateDB(e); } /// /// 20110608报告完成 /// /// /// /// static void ActionFinish(int device, int task, int taskstate) { CUpdateDBChangeEventArgs e = new CUpdateDBChangeEventArgs(device, task, taskstate); OnUpdateDB(e); } /// /// 20150724报告AGV错误 /// /// /// /// static void ActionError(int device, int AGVNumber, int taskstate) { CUpdateDBChangeEventArgs e = new CUpdateDBChangeEventArgs(device, AGVNumber, taskstate); OnUpdateDB(e); } /// /// 判断调度表T_Monitor_Task是否存在调度任务的设备和命令 /// /// 调度任务类型 /// 调度任务索引 /// 设备所引 /// 设备命令 /// public static bool DeviceAndOrderExitInMonitor(int Mankind, int ManFID, int DeviceIndex, int Order, int ArrowAddress) { DataView dv; try { if (Order == -1) return true; sql.Remove(0, sql.Length); switch (GetDeviceKindIdx(DeviceIndex)) { case 1://堆垛机 sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append( " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append( " AND (F_DeviceCommandIndex = ").Append(Order).Append(")"); break; case 2://输送机 sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append( " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append( " AND (F_DeviceCommandIndex = ").Append(Order).Append(")"); break; case 4://RGV sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append( " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append( " AND (F_DeviceCommandIndex = ").Append(Order).Append(") and F_NumParam1=").Append(ArrowAddress); break; case 6://AGV sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append( " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append( " AND (F_DeviceCommandIndex = ").Append(Order).Append(")"); break; default: sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append( " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append( " AND (F_DeviceCommandIndex = ").Append(Order).Append(")"); break; } dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return true; } else { return false; } } catch (Exception ex) { TcpError = "DeviceAndOrderExitInMonitor:" + ex.StackTrace + ex.Message; return false; } finally { dv = null; } } #region 将BYTE数组转换为UInt16数组 /// /// 将BYTE数组转换为UInt16数组 /// /// 需要处理的byte数组 /// 返回UInt16数组 private static UInt16[] ConvertByteToUInt16(byte[] srcData) { byte[] chat = null; //判断srcData数组的维数是否为奇数，如果为奇数则补齐最后一位 if (srcData.Length % 2 == 1) { chat = new byte[srcData.Length + 1]; Array.Copy(srcData, 0, chat, 0, srcData.Length); } else { chat = new byte[srcData.Length]; Array.Copy(srcData, 0, chat, 0, srcData.Length); } UInt16[] newData = new UInt16[chat.Length / 2]; int temp = 0; for (int i = 0; i < newData.Length; i++) { newData[i] = (UInt16)((chat[temp + 1] << 8) + chat[temp]);//C#版：0是低位，1是高位；VC++版：1是低位，0是高位； temp += 2; } return newData; } #endregion public static int GetDeviceIndexFromMonitor(int MonitorIndex) { //20100108 DataView dv; try { sql.Remove(0, sql.Length); sql.Append("select F_DeviceIndex from T_Monitor_Task where (F_DeviceIndex IS NOT NULL) and F_MonitorIndex=").Append(MonitorIndex); //20100108 dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_DeviceIndex"]); } else { return 10001; // -1 修改bba20160622 } } catch (Exception ex) { throw ex; } finally { dv = null; } } private static int[] ConvertByteToInt32(byte[] srcData) { byte[] chat = null; if (srcData.Length % 4 != 0) { int arrlen = srcData.Length - (srcData.Length % 4); chat = new byte[arrlen]; Array.Copy(srcData, 0, chat, 0, arrlen); } else { chat = new byte[srcData.Length]; Array.Copy(srcData, 0, chat, 0, srcData.Length); } int[] newData = new int[chat.Length / 4]; int temp = 0; for (int i = 0; i < newData.Length; i++) { newData[i] = (int)((chat[temp + 3] << 24) + (chat[temp + 2] << 16) + (chat[temp + 1] << 8) + chat[temp]);//C#版：0是低位，1是高位；VC++版：1是低位，0是高位； temp += 4; } return newData; } #region 处理收到的消息 /// /// 处理收到的消息 /// /// 消息数组 private static void DisposeReceivedMessage(int agvdev, UInt16[] message) { StringBuilder AheadDetect = new StringBuilder(); int[] chatnew; DataView dva = new DataView(); DataView dv = new DataView(); byte[] _Sdata = new byte[16]; string rIP = string.Empty; int rport = 0; int ck = 0; try { sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort FROM T_Base_Device where F_DeviceIndex=").Append(agvdev); dva = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dva.Count > 0) { rIP = dva[0]["F_RemoteIP"].ToString(); rport = Convert.ToInt32(dva[0]["F_RemotePort"]); } else { return; } for (int i = 0; i < message.Length; ) { switch (message[i]) { case 10003://监控下达任务的应答10003[T1][T2][CK](对60003[T1][T2][T][P][K][A] [F][C]的应答) #region 10003AGV对监控下达任务的应答 if (message.Length >= 6) { if (message.Length <= (i + 5)) { i += 6; break; } _Sdata = new byte[10]; _Sdata[0] = Convert.ToByte(message[i] & 255);//10003 _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//管理任务号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255);//设备指令号 _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); _Sdata[8] = Convert.ToByte(message[i + 4] & 255);//任务状态 _Sdata[9] = Convert.ToByte((message[i + 4] >> 8) & 255); int taskstatus = message[i + 4]; ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7] + _Sdata[8] + _Sdata[9];//校验和 if ((ck & 255) != message[i + 5]) { i += 6; //CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV对监控下达任务的应答：校验和失败", null); //OnWriteDarkCasket(e1); chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV控制台收到任务应答，校验和错误！", chatnew); OnWriteDarkCasket(e); break; } try { if (taskstatus == 1) { taskstatus = 2;//任务执行 } else if(taskstatus!=1) { taskstatus += 30;//32订单缓冲区已满,33订单步号错 } agvdev = GetDeviceIndexFromMonitor(message[i + 3]); sql.Remove(0, sql.Length); sql.Append("UPDATE T_Monitor_Task SET F_ErrorCode='', F_Status=").Append(taskstatus).Append(" WHERE F_MonitorIndex = ").Append(message[i + 3]).Append("");//20110505 dbo.ExceSQL(sql.ToString()); SQLString(dbo, sql); #region 多叉关联任务可以同步的一同报开始 if (CGeneralFunction.DoubleForkIfSync(message[i + 3], agvdev, 6) == true) { string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 3], agvdev); if (df != null) { sql.Remove(0, sql.Length); sql.Append("UPDATE T_Monitor_Task SET F_ErrorCode='',F_Status=2 WHERE F_MonitorIndex = ").Append(Convert.ToInt32(df[0]));//20110505 SQLString(dbo, sql); } } #endregion DataSourceChange();//20110405 } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV对监控下达任务的应答，" + ex.StackTrace + ex.Message; } chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV对监控下达任务的应答", chatnew); OnWriteDarkCasket(e1); i += 6; } break; #endregion case 10004://10004[T1][T2][A][CK] ;AGV控制台开始分配AGV车号 #region AGV控制台开始分配AGV车号 if (message.Length >= 6) { if (message.Length <= (i + 5)) { i += 6; break; } _Sdata = new byte[10]; _Sdata[0] = Convert.ToByte(message[i] & 255);//10004 _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//管理任务号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255);//调度任务号 _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); _Sdata[8] = Convert.ToByte(message[i + 4] & 255);//车号 _Sdata[9] = Convert.ToByte((message[i + 4] >> 8) & 255); ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7] +_Sdata[8] + _Sdata[9];//AGV控制台上报校验和 //if ((ck & 255) != message[i + 5]) { i += 6; break; } // if ((ck & 255) != Convert.ToByte(message[i + 5] & 255)) { i += 6; break; } //20150807 校验和是byte类型,连续两条消息,截取有问题 try { ck -= Convert.ToByte(message[i + 4] & 255) + Convert.ToByte((message[i + 4] >> 8) & 255); _Sdata[8] = Convert.ToByte(ck & 255);//调度应答校验和 _Sdata[9] = Convert.ToByte((ck >> 8) & 255); agvdev = GetDeviceIndexFromMonitor(message[i + 3]); CSendDeviceOrderEventArgs sd = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, _Sdata); OnSendDeviceOrder(sd); int fid = GetManageTaskIndexfromMonitor(message[i + 3]); int mankind = GetManageTaskKindIndexFromMonitor(message[i + 3]); sql.Remove(0, sql.Length); sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 3]).Append( " where F_DeviceIndex=").Append(message[i + 4]); SQLString(dbo, sql); sql.Remove(0, sql.Length); sql.Append("UPDATE T_Monitor_Task SET F_AgvNo=").Append(message[i + 4]).Append(" WHERE F_ManageTaskIndex=").Append(fid).Append(" and F_ManageTaskKindIndex=").Append(mankind).Append(" and F_DeviceIndex=").Append(agvdev);//.Append(" and (F_AgvNo is null) "); dbo.ExceSQL(sql.ToString()); SQLString(dbo, sql); #region 多叉关联任务一起分配车号 //string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev); //if (df != null) //{ // fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); // mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); // if (mankind == 1) // { // sql.Remove(0, sql.Length); // sql.Append("update IO_CONTROL set CONTROL_STATUS=11 where CONTROL_ID=").Append(fid); // SQLString(dboM, sql); // sql.Remove(0, sql.Length); // sql.Append("UPDATE T_Monitor_Task SET F_AgvNo=").Append(message[i + 3]).Append(" WHERE F_ManageTaskIndex=").Append(fid).Append(" and F_ManageTaskKindIndex=").Append(mankind).Append(" and F_DeviceIndex=").Append(agvdev); // SQLString(dbo, sql); // } //} //else //{ // #region 给单一AGV任务配双叉任务 // //if ((ir > 0) &&(GetDeviceOrderFromMonitor(message[i + 1])==1)&&(GetFCONTROLTASKTYPEFromManageTask(GetManageTaskKindIndexFromMonitor(message[i + 1]),GetManageTaskIndexfromMonitor(message[i + 1])))==1)//第一次分配车号并且是入库任务的取货指令 // //{//查找一个后续位置的未发送的关联任务，可能会涉及到关联设备改道和重分配货叉 // // int xCoor=CGeneralFunction.GetXCoorFromMonitor(message[i + 1], agvdev, 1); // // int agvSquence = GetAgvSquence(xCoor); // // int useAwayfork = GetUseAwayFork(message[i + 1]); // // if (useAwayfork == 1) // // { // // useAwayfork = 0; // // } // // else // // { // // useAwayfork = 1; // // } // // DataView dv = dbo.ExceSQL(" SELECT TOP 1 T_Monitor_Task.F_ManageTaskIndex,T_Monitor_Task.F_ManageTASKKINDINDEX,T_Monitor_Task.F_MonitorIndex FROM T_Monitor_Task,T_Base_AGV_Gate,T_Manage_Task where T_Monitor_Task.F_NumParam2 = T_Base_AGV_Gate.F_AGVGateDeviceIndex and T_Monitor_Task.F_ManageTaskIndex = T_Manage_Task.FID AND T_Monitor_Task.F_ManageTASKKINDINDEX = T_Manage_Task.F_ManageTaskKindIndex and (T_Monitor_Task.F_Status = 0) AND (T_Base_AGV_Gate.F_Sequence >" + agvSquence + ") AND(T_Monitor_Task.F_DeviceIndex = agvdev) AND (T_Monitor_Task.F_DeviceCommandIndex = 1) AND (T_Manage_Task.F_RELATIVECONTORLID = - 1) and (FCONTROLTASKTYPE=1) and (F_UseAwayFork ='" + useAwayfork + "') and (F_AgvNo is null) ORDER BY F_Sequence asc").Tables[0].DefaultView; // // if (dv.Count > 0) // // {//找到一个合适的多叉关联任务 // // fid = GetManageTaskIndexfromMonitor(message[i + 1]); // // mankind = GetManageTaskKindIndexFromMonitor(message[i + 1]); // // int fidr =Convert.ToInt32( dv[0]["F_ManageTaskIndex"]); // // int mankindr = Convert.ToInt32(dv[0]["F_ManageTASKKINDINDEX"]); // // dbo.TransBegin(); // // try // // { // // //修改多叉关联任务；分配AGV车号 // // dbo.ExecuteSql("update T_Manage_Task set F_RELATIVECONTORLID=" + fidr + " where FID=" + fid + " and F_ManageTaskKindIndex="+mankind+""); // // dbo.ExecuteSql("update T_Manage_Task set F_RELATIVECONTORLID=" + fid + " where FID=" + fidr + " and F_ManageTaskKindIndex=" + mankindr + ""); // // dbo.ExecuteSql("UPDATE T_Monitor_Task SET F_AgvNo=" + message[i + 2] + " WHERE F_ManageTaskIndex=" + fidr + " and F_ManageTaskKindIndex=" + mankindr + " and F_DeviceIndex=agvdev"); // // dbo.TransCommit(); // // } // // catch (Exception ex) // // { // // _tcpServerError = "DisposeReceivedMessage:分配AGV车号," + ex.Message; // // dbo.TransRollback(); // // } // // } // // dv = null; // //} // #endregion //} #endregion #region 报告管理系统对应任务的AGV车号 // 20150305 BBA if (mankind == 1) { dboM.ExceSQL(string.Format("update IO_Control set CONTROL_REMARK = {0} where CONTROL_ID = {1}", message[i + 4], fid)); } #endregion DataSourceChange(); } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV控制台开始分配AGV车号," + ex.StackTrace + ex.Message; } chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV控制台开始分配AGV车号", chatnew); OnWriteDarkCasket(e); i += 6; } else i++; break; #endregion case 10005://10005[T1][T2][A][CK] AGV完成任务； #region AGV完成任务 if (message.Length >= 6) { if (message.Length <= (i + 5)) { i += 6; break; } _Sdata = new byte[10]; _Sdata[0] = Convert.ToByte(message[i] & 255);//10005 _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//管理任务号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255);//调度任务号 _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); _Sdata[8] = Convert.ToByte(message[i + 4] & 255);//车号 ，可以拆开两个byte，一个车号，一个状态； _Sdata[9] = Convert.ToByte((message[i + 4] >> 8) & 255); ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7] + _Sdata[8] + _Sdata[9];//校验和 //if ((ck & 255) != message[i + 5]) { i += 6; break; } if ((ck & 255) != Convert.ToByte(message[i + 5] & 255)) { i += 6; break; } //20150807 校验和是byte类型,连续两条消息,截取有问题 try { agvdev = GetDeviceIndexFromMonitor(message[i + 3]); int fid = GetManageTaskIndexfromMonitor(message[i + 3]); int mankind = GetManageTaskKindIndexFromMonitor(message[i + 3]); int fid1 = 0; int mankind1 = 0; /////////////////////// string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 3], agvdev); bool snyc = CGeneralFunction.DoubleForkIfSync(message[i + 3], agvdev, 6); //AGV任务完成的应答:10005[T1][T2][CK] ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + +_Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7];//调度应答校验和 _Sdata[8] = Convert.ToByte(ck & 255); _Sdata[9] = Convert.ToByte((ck >> 8) & 255); CSendDeviceOrderEventArgs sd = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, _Sdata); OnSendDeviceOrder(sd); int devorder = GetDeviceOrderFromMonitor(message[i + 3]); ActionFinish(agvdev, message[i + 3], 0); #region 顶升机顶升 //AheadDetect.Clear(); //AheadDetect.Append("I").Append(Convert.ToString(device - 2)).Append(";D").Append(Convert.ToString(device - 2)) // .Append(".0;I").Append(Convert.ToString(device)); //if (DeviceAndOrderExitInMonitor(mankind, fid, (device), 9, 0) == false) //{ // int mindex = message[i + 2] - 1; // sql.Remove(0, sql.Length); // sql.Append("INSERT INTO T_Monitor_Task ").Append( // "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( // " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam1, F_NumParam4,").Append( // " F_AheadDetect,F_TxtParam)").Append( // "VALUES (").Append(fid).Append(",").Append(mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"] // ).Append(",").Append((device)).Append(",9,").Append(dv[0]["F_RouteID"]).Append(",0,").Append((device)).Append(",0").Append( // ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("')"); // SQLString(dbo, sql); //} #endregion #region 多叉关联任务，能同步的同时报告完成；异步的直接执行关联的命令 //20100323 if (df != null)//20100702 { //20100817 zhangxy 修改 fid1 = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); mankind1 = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); /////////////////////// if (snyc == true)//20100702 { #region 20110412检查关联站台 //dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", Convert.ToInt32(df[0]))).Tables[0].DefaultView; //if (dv.Count > 0) //{ // device = Convert.ToInt32(dv[0]["F_NumParam2"]); //} //MonitorIndex1 = Convert.ToInt32(df[0]) - 1; #endregion ActionFinish(agvdev, Convert.ToInt32(df[0]), 1); #region 顶升机顶升 //AheadDetect.Clear(); //AheadDetect.Append("I").Append(Convert.ToString(device - 2)).Append(";D").Append(Convert.ToString(device - 2)) // .Append(".0;I").Append(Convert.ToString(device)); //if (DeviceAndOrderExitInMonitor(mankind1, fid1, device, 9, 0) == false) //{ // sql.Remove(0, sql.Length); // sql.Append("INSERT INTO T_Monitor_Task ").Append( // "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( // " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam1, F_NumParam4,").Append( // " F_AheadDetect,F_TxtParam)").Append( // "VALUES (").Append(fid).Append(",").Append(mankind).Append(",").Append(MonitorIndex1).Append(",").Append(dv[0]["F_MonitorTaskLevel"] // ).Append(",").Append((device)).Append(",9,").Append(dv[0]["F_RouteID"]).Append(",0,").Append((device)).Append(",0").Append( // ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("')"); // SQLString(dbo, sql); //} #endregion } } #endregion DataSourceChange();//20110405 chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV完成任务", chatnew); OnWriteDarkCasket(e); } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV完成任务," + ex.StackTrace + ex.Message; } i += 6; } else i++; break; #endregion case 10006://10006[T1][T2][A][CK] A为允许状态(0-不允许,1-允许) #region Agv控制台对监控调度申请删除任务的回复 if (message.Length >= 6)// { if (message.Length <= (i + 5)) { i += 6; break; } _Sdata = new byte[10]; _Sdata[0] = Convert.ToByte(message[i] & 255);//10006 _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//管理任务号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255);//调度任务号 _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); _Sdata[8] = Convert.ToByte(message[i + 4] & 255);//允许状态 _Sdata[9] = Convert.ToByte((message[i + 4] >> 8) & 255); ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7] + _Sdata[8] + _Sdata[9];//校验和 if ((ck & 255) != message[i + 5]) { i += 6; break; } agvdev = GetDeviceIndexFromMonitor(message[i + 3]); chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV对监控调度申请删除任务的回复:" + message[i + 4].ToString(), chatnew); OnWriteDarkCasket(e1); try { if (message[i + 4] == 0)//0-不允许 { i += 6; break; } int fid = 0; int mankind = 0; int tasktype = 0; sql.Remove(0, sql.Length); sql.Append("SELECT * FROM T_Monitor_Task where F_MonitorIndex = ").Append(message[i + 3]); DataView dvMonintor = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dvMonintor.Count > 0) { fid = GetManageTaskIndexfromMonitor(message[i + 3]); mankind = GetManageTaskKindIndexFromMonitor(message[i + 3]); tasktype = GetFCONTROLTASKTYPEFromManageTask(mankind, fid); if ((tasktype != 1) && ((tasktype != 4))) { i += 6; break; } AAA: string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 3], agvdev); SQLString(dbo, new StringBuilder("update T_Manage_Task set FExceptionNO=" + Model.CGeneralFunction.TASKDELETE + " where (F_ManageTaskKindIndex = " + mankind + ") AND (FID = " + fid + ")")); SQLString(dbo, new StringBuilder("update T_Monitor_Task set F_STATUS=-1 where F_ManageTaskKindIndex=" + mankind + " and F_ManageTaskIndex=" + fid + " and F_STATUS=0")); dv = dbo.ExceSQL("SELECT F_ManageTaskKindIndex, F_ManageTaskIndex,F_DeviceIndex,F_MonitorIndex,F_Status,F_DeviceCommandIndex " + ",F_NumParam2,F_NumParam5,F_TxtParam FROM T_Monitor_Task Where F_ManageTaskIndex=" + fid + " and F_ManageTaskKindIndex= " + mankind).Tables[0].DefaultView; if (dv.Count > 0) { chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive AGV撤销任务", agvdev.ToString(), "托盘条码：" + dvMonintor[0]["F_TxtParam"] + ",调度任务索引:" + fid.ToString(), chatnew); OnWriteDarkCasket(e); for (int j = 0; j < dv.Count; j++) { ActionFinish(Convert.ToInt32(dv[j]["F_DeviceIndex"]), Convert.ToInt32(dv[j]["F_MonitorIndex"]), Model.CGeneralFunction.TASKDELETE); } } dv = null; if (df != null) { fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); goto AAA; } DataSourceChange();//20110405 } } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV对监控调度申请删除任务的回复，" + ex.StackTrace + ex.Message; } i += 6; } else i++; break; #endregion case 10007://10007[T1][T2][CK] #region AGV控制台任务删除申请 if (message.Length >= 5)// { if (message.Length <= (i + 4)) { i += 5; break; } _Sdata = new byte[10]; _Sdata[0] = Convert.ToByte(message[i] & 255); _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//管理任务号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255);//调度任务号 _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7]; if ((ck & 255) != message[i + 4]) { i += 5; break; } _Sdata[8] = Convert.ToByte(ck & 255); _Sdata[9] = Convert.ToByte((ck >> 8) & 255); agvdev = GetDeviceIndexFromMonitor(message[i + 3]); CSendDeviceOrderEventArgs sd = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, _Sdata); OnSendDeviceOrder(sd); chatnew = new int[5]; Array.Copy(message, i, chatnew, 0, 5); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGV控制台任务删除申请", chatnew); OnWriteDarkCasket(e); try { int fid = 0; int mankind = 0; int tasktype = 0; sql.Remove(0, sql.Length); sql.Append("SELECT * FROM T_Monitor_Task where F_MonitorIndex = ").Append(message[i + 3]); DataView dvMonintor = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dvMonintor.Count > 0) { //fid = GetManageTaskIndexfromMonitor(message[i + 3]); //mankind = GetManageTaskKindIndexFromMonitor(message[i + 3]); //tasktype = GetFCONTROLTASKTYPEFromManageTask(mankind, fid); //if ((tasktype != 1) && ((tasktype != 4))) //{ // i += 4; // break; //} int taskstatus = 34;//申请删除任务 sql.Remove(0, sql.Length); sql.Append("UPDATE T_Monitor_Task SET F_ErrorCode='', F_Status=").Append(taskstatus).Append(" WHERE F_MonitorIndex = ").Append(message[i + 3]).Append("");//20110505 dbo.ExceSQL(sql.ToString()); SQLString(dbo, sql); } byte[] sdd = new byte[10];//20130821 sdd[0] = Convert.ToByte(10006 & 255);//调度向AGV控制台申请删除任务 sdd[1] = Convert.ToByte((10006 >> 8) & 255); sdd[2] = Convert.ToByte(message[i + 1] & 255); sdd[3] = Convert.ToByte((message[i + 1] >> 8) & 255); sdd[4] = Convert.ToByte(message[i + 2] & 255); sdd[5] = Convert.ToByte((message[i + 2] >> 8) & 255); sdd[6] = Convert.ToByte(message[i + 3] & 255); sdd[7] = Convert.ToByte((message[i + 3] >> 8) & 255); ck = sdd[0] + sdd[1] + sdd[2] + sdd[3] + sdd[4] + sdd[5] + sdd[6] + sdd[7]; sdd[8] = Convert.ToByte(ck & 255); sdd[9] = Convert.ToByte((ck >> 8) & 255); sd = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, sdd);//20130821 OnSendDeviceOrder(sd); } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV控制台任务删除申请，" + ex.StackTrace + ex.Message; } i += 5; } else i++; break; #endregion case 10009://20150724 AGV 报警 10009[A][T1][S] [E] [W][C][B][N][O][CK] #region if (message.Length >= 10) { if (message.Length <= (i + 9)) { i += 10; break; } _Sdata = new byte[18]; _Sdata[0] = Convert.ToByte(message[i] & 255);//10009 _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); _Sdata[2] = Convert.ToByte(message[i + 1] & 255);//AGV车号 _Sdata[3] = Convert.ToByte((message[i + 1] >> 8) & 255); _Sdata[4] = Convert.ToByte(message[i + 2] & 255);//调度任务号或者管理任务号 占2个ushort _Sdata[5] = Convert.ToByte((message[i + 2] >> 8) & 255); _Sdata[6] = Convert.ToByte(message[i + 3] & 255); _Sdata[7] = Convert.ToByte((message[i + 3] >> 8) & 255); _Sdata[8] = Convert.ToByte(message[i + 4] & 255);//路段起点 _Sdata[9] = Convert.ToByte((message[i + 4] >> 8) & 255); _Sdata[10] = Convert.ToByte(message[i + 5] & 255);//路段终点 _Sdata[11] = Convert.ToByte((message[i + 5] >> 8) & 255); _Sdata[12] = Convert.ToByte(message[i + 6] & 255);//工作状态 0空闲,1运行,2暂停,3动态操作,4静态操作 5等待,6休眠,7逻辑离线,8物理离线 _Sdata[13] = Convert.ToByte((message[i + 6] >> 8) & 255); _Sdata[14] = Convert.ToByte(message[i + 7] & 255);//故障码 _Sdata[15] = Convert.ToByte((message[i + 7] >> 8) & 255); _Sdata[16] = Convert.ToByte(message[i + 8] & 255);//电池状态 0电量满,1电量正常2电量低 _Sdata[17] = Convert.ToByte((message[i + 8] >> 8) & 255); //_Sdata[18] = Convert.ToByte(message[i + 9] & 255);//目标节点 //_Sdata[19] = Convert.ToByte((message[i + 9] >> 8) & 255); //_Sdata[20] = Convert.ToByte(message[i + 10] & 255);//操作码 //_Sdata[21] = Convert.ToByte((message[i + 10] >> 8) & 255); ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + _Sdata[3] + _Sdata[4] + _Sdata[5] + _Sdata[6] + _Sdata[7] + _Sdata[8] + _Sdata[9] + _Sdata[10] + _Sdata[11] + _Sdata[12] + _Sdata[13] + _Sdata[14] + _Sdata[15] + _Sdata[16] + _Sdata[17];//校验和 if ((ck & 255) != message[i + 9]) { i += 10; break; } try { // 应答消息 10009[A] [CK] //AGV任务完成的应答:10005[T1][T2][CK] byte[] _SdataResp = new byte[6]; _SdataResp[0] = _Sdata[0]; //10009 _SdataResp[1] = _Sdata[1]; _SdataResp[2] = _Sdata[2]; // 车号 _SdataResp[3] = _Sdata[3]; ck = _Sdata[0] + _Sdata[1] + _Sdata[2] + +_Sdata[3];//调度应答校验和 _SdataResp[4] = Convert.ToByte(ck & 255); _SdataResp[5] = Convert.ToByte((ck >> 8) & 255); CSendDeviceOrderEventArgs sd = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, _SdataResp); OnSendDeviceOrder(sd); ActionError(13001, message[i + 1], message[i + 7]); //ActionFinish(); chatnew = new int[10]; Array.Copy(message, i, chatnew, 0, 10); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", "13001", "AGV报告错误", chatnew); OnWriteDarkCasket(e); } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGV报告故障," + ex.StackTrace + ex.Message; } i += 10; } else i++; break; #endregion case 10011://10011[R][C][N][CK]R为1, 需控制台确认;C为消息个数;N为消息内容 (1化成A，2化成B，3腐蚀)//20130624 //if (message.Length >= 5) //{ // if (message.Length <= (i + 4)) { i += 5; break; } // ck = message[i] + message[i + 1] + message[i + 2] + message[i + 3]; // if (ck != message[i + 4]) { i += 5; break; } // _Sdata = new byte[20]; // _Sdata[0] = Convert.ToByte(message[i] & 255); // _Sdata[1] = Convert.ToByte((message[i] >> 8) & 255); // _Sdata[2] = Convert.ToByte((message[i] >> 16) & 255); // _Sdata[3] = Convert.ToByte((message[i] >> 24) & 255); // _Sdata[4] = Convert.ToByte(message[i + 1] & 255); // _Sdata[5] = Convert.ToByte((message[i + 1] >> 8) & 255); // _Sdata[6] = Convert.ToByte((message[i + 1] >> 16) & 255); // _Sdata[7] = Convert.ToByte((message[i + 1] >> 24) & 255); // _Sdata[8] = Convert.ToByte(message[i + 2] & 255); // _Sdata[9] = Convert.ToByte((message[i + 2] >> 8) & 255); // _Sdata[10] = Convert.ToByte((message[i + 2] >> 16) & 255); // _Sdata[11] = Convert.ToByte((message[i + 2] >> 24) & 255); // _Sdata[12] = Convert.ToByte(message[i + 3] & 255); // _Sdata[13] = Convert.ToByte((message[i + 3] >> 8) & 255); // _Sdata[14] = Convert.ToByte((message[i + 3] >> 16) & 255); // _Sdata[15] = Convert.ToByte((message[i + 3] >> 24) & 255); // _Sdata[16] = Convert.ToByte(ck & 255); // _Sdata[17] = Convert.ToByte((ck >> 8) & 255); // _Sdata[18] = Convert.ToByte((ck >> 16) & 255); // _Sdata[19] = Convert.ToByte((ck >> 24) & 255); // CSendDeviceOrderEventArgs sd1 = new CSendDeviceOrderEventArgs(agvdev, rIP, rport, _Sdata); // OnSendDeviceOrder(sd1); // AheadDetect.Clear(); // if (message[i + 3] == 1) // { // AheadDetect.Append("化成A车间"); // } // else if (message[i + 3] == 2) // { // AheadDetect.Append("化成B车间"); // } // else if (message[i + 3] == 3) // { // AheadDetect.Append("腐蚀车间"); // } // RefreshMonitorEventArgs rea = new RefreshMonitorEventArgs("notifyIcon1", string.Format("警告:{0},AGV发生故障!", AheadDetect.ToString())); // OnRefreshMonitor(rea); // i += 5; //} break; case 10012://10012[N][0][ck] N:调度下发的AGV点；0:操作码 2取货 3送货 65535没有 if (message.Length >= 5)// { //if (message.Length <= (i + 4)) { i += 5; break; } //int AGVaddress = message[i + 1]; //int order = message[i + 2]; //int IfAccess = 0;//是否允许进入 //DataView dvconvenory = dbo.ExceSQL(string.Format("select f_agvgatedeviceindex from t_base_agv_gate where f_address = {0}", AGVaddress)).Tables[0].DefaultView; //if (dvconvenory.Count > 0) // 找到对应输送机点 //{ // int convenory = Convert.ToInt32(dvconvenory[0]["f_agvgatedeviceindex"]); // Model.MDevice device = Model.CGetInfo.GetDeviceInfo(convenory); // int Havedoods = device.SplitByte_0; // if (order == 2 && Havedoods == 1)// 取货 // { // IfAccess = 1; // } // else if (order == 3 && Havedoods == 0) // 送货 // { // IfAccess = 1; // } //} // 回复消息格式 //byte[] sdd = new byte[10];//20130821 //sdd[0] = Convert.ToByte(10006 & 255);//调度向AGV控制台申请删除任务 //sdd[1] = Convert.ToByte((10006 >> 8) & 255); //sdd[2] = Convert.ToByte(message[i + 1] & 255); //sdd[3] = Convert.ToByte((message[i + 1] >> 8) & 255); //sdd[4] = Convert.ToByte(message[i + 2] & 255); //sdd[5] = Convert.ToByte((message[i + 2] >> 8) & 255); //sdd[6] = Convert.ToByte(message[i + 3] & 255); //sdd[7] = Convert.ToByte((message[i + 3] >> 8) & 255); //ck = sdd[0] + sdd[1] + sdd[2] + sdd[3] + sdd[4] + sdd[5] + sdd[6] + sdd[7]; } break; #region 暂时不用的旧协议部分 case 60051://60051[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号] O为动作类型( 1-左取, 2-左送,3右取,4-右送) //AGV到位（即到交接点）：在入出库口输送机AGV到位后,AGV控制台询问监控系统地面是否准备好 #region AGV到位（即到交接点）在入出库口输送机AGV到位后,AGV控制台询问监控系统地面是否准备好 { if (message.Length >= 7)//20110110 { if (message.Length <= (i + 6)) break;//20110110 //AGV到位(即到交接点)的应答:60030[T1][T2](对60051[T1][T2][N] [E] [O] [A]的应答) sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort FROM T_Base_Device where F_DeviceIndex=").Append(agvdev); DataView dvc = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dvc.Count > 0) { _Sdata = new byte[6]; _Sdata[0] = Convert.ToByte(60030 & 255); _Sdata[1] = Convert.ToByte(60030 >> 8); _Sdata[2] = Convert.ToByte(message[i + 1] & 255); _Sdata[3] = Convert.ToByte(message[i + 1] >> 8); _Sdata[4] = Convert.ToByte(message[i + 2] & 255); _Sdata[5] = Convert.ToByte(message[i + 2] >> 8); CSendDeviceOrderEventArgs sd = new CSendDeviceOrderEventArgs(agvdev, dvc[0]["F_RemoteIP"].ToString(), Convert.ToInt32(dvc[0]["F_RemotePort"]), _Sdata); OnSendDeviceOrder(sd); } dvc = null; try { int device = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]);//20110110 if (GetDeviceOrderFromMonitor(message[i + 2]) == -1)//AGV反馈的任务号不存在 {//地面移载故障60008[T1][T2][N][C] } else { if (GetDeviceKindIdx(device) == 2) { //任务状态：0，生成【顶升上升】；1，只生成【允许AGV取货移载】；2，只生成【允许AGV送货移载】；3，先生成【顶升下降】然后生成【允许AGV移载】 #region 入口输送机送货，检测空闲，无货，逻辑无物 if ((message[i + 5] == 2) || (message[i + 5] == 4)) { #region 20110412【允许AGV送货移载】:输送机空闲、入口无货、逻辑无货 int ManFID = message[i + 1]; int Mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]); AheadDetect.Remove(0, AheadDetect.Length); AheadDetect.Append("I").Append(Convert.ToString(device)).Append(";N").Append(Convert.ToString(device)) .Append(";D").Append(Convert.ToString(device)).Append(".0"); if (DeviceAndOrderExitInMonitor(Mankind, ManFID, agvdev, 5, device) == false) { #region 允许AGV送货移载 int mindex = message[i + 2] - 1; dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView; sql.Remove(0, sql.Length); sql.Append("INSERT INTO T_Monitor_Task ").Append( "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append( " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append( "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"] ).Append(",").Append(agvdev).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append( ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(message[i + 2]).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')"); SQLString(dbo, sql); #endregion } #endregion #region 检查关联站台 string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev); if ((message[i + 4] == 3) && (df != null))//多叉关联 {//检查关联站台 device = GetCorrDeviceIndex(device); ManFID = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); Mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); AheadDetect.Remove(0, AheadDetect.Length); AheadDetect.Append("I").Append(Convert.ToString(device)).Append(";N").Append(Convert.ToString(device)) .Append(";D").Append(Convert.ToString(device)).Append(".0"); if (DeviceAndOrderExitInMonitor(Mankind, ManFID, agvdev, 5, device) == false) { #region 允许AGV送货移载 int mindex = Convert.ToInt32(df[0]) - 1; dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", Convert.ToInt32(df[0]))).Tables[0].DefaultView; sql.Remove(0, sql.Length); sql.Append("INSERT INTO T_Monitor_Task ").Append( "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append( " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append( "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"] ).Append(",").Append(agvdev).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append( ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(Convert.ToInt32(df[0])).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')"); SQLString(dbo, sql); #endregion } } #endregion } #endregion #region 出口输送机取货，检测空闲，有货，顶升低位 if ((message[i + 5] == 1) || (message[i + 5] == 3)) { int ManFID = message[i + 1]; int Mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]); AheadDetect.Remove(0, AheadDetect.Length); #region 20110412【允许AGV取货移载】:输送机空闲、顶升机空闲、顶升低位、出口有货 AheadDetect.Append("I").Append(Convert.ToString(device)).Append( ";I").Append(Convert.ToString(device - 2)).Append( ";D-").Append(device.ToString()).Append(".2").Append( ";D-").Append((device - 2).ToString()).Append(".0"); if (DeviceAndOrderExitInMonitor(Mankind, ManFID, agvdev, 5, device) == false) { #region 允许AGV取货移载 int mindex = message[i + 2] - 1; dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView; sql.Remove(0, sql.Length); sql.Append("INSERT INTO T_Monitor_Task ").Append( "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append( " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append( "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"] ).Append(",").Append(agvdev).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append( ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(message[i + 2]).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')"); SQLString(dbo, sql); #endregion } #endregion #region 检查关联站台 string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev); if ((message[i + 4] == 3) && (df != null))//多叉关联 {//检查关联站台 device = GetCorrDeviceIndex(device); ManFID = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); Mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); AheadDetect.Remove(0, AheadDetect.Length); #region 20110412【允许AGV取货移载】:输送机空闲、顶升机空闲、顶升低位、出口有货 AheadDetect.Append("I").Append(Convert.ToString(device)).Append( ";I").Append(Convert.ToString(device - 2)).Append( ";D-").Append(device.ToString()).Append(".2").Append( ";D-").Append((device - 2).ToString()).Append(".0"); if (DeviceAndOrderExitInMonitor(Mankind, ManFID, agvdev, 5, device) == false) { #region 允许AGV取货移载 int mindex = Convert.ToInt32(df[0]) - 1; dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView; sql.Remove(0, sql.Length); sql.Append("INSERT INTO T_Monitor_Task ").Append( "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append( " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append( " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append( "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"] ).Append(",").Append(agvdev).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append( ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(Convert.ToInt32(df[0])).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')"); SQLString(dbo, sql); #endregion } #endregion } #endregion } #endregion dv = null; } else {//地面移载故障60008[T1][T2][N][C] } } chatnew = new int[7];//20110110 Array.Copy(message, i, chatnew, 0, 7);//20110110 CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "在输送机：" + device.ToString() + "，AGV询问是否可移载", chatnew); OnWriteDarkCasket(e); DataSourceChange();//20110405 } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVAskIfTransplant ," + ex.StackTrace + ex.Message; } i += 7;//20110110 } } break; #endregion case 60052://60052[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号] #region AGV移载开始 if (message.Length >= 7)// { if (message.Length <= (i + 6)) break; //20110412AGV暂时不反馈 //try //{ // int devicegate = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]);//20110110 // sql.Remove(0, sql.Length); // sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 2]).Append( // " where F_DeviceIndex=").Append(devicegate); // dbo.ExceSQL(sql.ToString()); // if ((message[i + 4] == 3) && (CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev) != null))//多叉关联 // {//检查关联站台 // int deviceCorr = GetCorrDeviceIndex(devicegate); // sql.Remove(0, sql.Length); // sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 2]).Append( // " where F_DeviceIndex=").Append(deviceCorr); // dbo.ExceSQL(sql.ToString()); // } //} //catch (Exception ex) //{ // _tcpServerError = "DisposeReceivedMessage:AGV移载开始，" + ex.Message; //} chatnew = new int[7]; Array.Copy(message, i, chatnew, 0, 7); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVTransplanting ", chatnew); OnWriteDarkCasket(e); i += 7; } break; #endregion case 60053://60053[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号] (动作类型： 1-左取, 2-左送,3右取,4-右送) #region AGV移载结束 if (message.Length >= 7)// { if (message.Length <= (i + 6)) break; //20110412AGV暂时不反馈 //try //{ // sql.Remove(0, sql.Length);//20110110 // sql.Append("update T_Base_device set F_LockedState=0").Append( // " where F_LockedState=").Append(message[i + 2]); // dbo.ExceSQL(sql.ToString()); // #region 取货移栽完成，插入顶升机 顶升指令 // if ((message[i + 5] == 1) || (message[i + 5] == 3))//左取 右取 // { // //任务状态：0，生成【顶升上升】；1，只生成【允许AGV取货移载】；2，只生成【允许AGV送货移载】；3，先生成【顶升下降】然后生成【允许AGV移载】 // int device = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]); // int deviceCorr = 0;DataView dv; // int LifterIndex1 = -1; int MonitorIndex1 = -1; int taskStatus1 = -1; // #region 检查关联站台 // if ((message[i + 4] == 3) && (CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev) != null))//多叉关联 // {//检查关联站台 // deviceCorr = GetCorrDeviceIndex(device); // LifterIndex1 = deviceCorr; // MonitorIndex1 = Convert.ToInt32(CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], agvdev)[0]); // taskStatus1 = 0; // } // #endregion // //插入顶升机 顶升 // sql.Remove(0, sql.Length); // sql.Append("select F_Pending_ID from T_Base_Pending_Lifter where F_MonitorIndex=").Append(message[i + 2]).Append(" or F_MonitorIndex1=").Append(message[i + 2]); // dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; // if (dv.Count <= 0) // { // sql.Remove(0, sql.Length); // sql.Append("INSERT INTO T_Base_Pending_Lifter( ") // .Append(" F_LifterIndex, F_MonitorIndex, F_Status,") // .Append(" F_LifterIndex1, F_MonitorIndex1, F_Status1)VALUES (") // .Append(device).Append(",").Append(message[i + 2]).Append(",0,") // .Append(LifterIndex1).Append(",").Append(MonitorIndex1).Append(",").Append(taskStatus1).Append(")"); // dbo.ExecuteSql(sql.ToString()); // } // dv = null; // } // DataSourceChange();//20110405 // #endregion //} //catch (Exception ex) //{ // _tcpServerError = "DisposeReceivedMessage:AGV移载结束，" + ex.Message; //} chatnew = new int[7]; Array.Copy(message, i, chatnew, 0, 7); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVTransplanted ", chatnew); OnWriteDarkCasket(e); i += 7; } break; #endregion case 60054://60054[T1][T2][N] [C故障码] [A] #region AGV移载故障 if (message.Length >= 6)// { if (message.Length <= (i + 5)) break; try { //有过记录的故障设备的任务号，不再重复处理 sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex FROM T_Base_Device where F_DeviceIndex=").Append(message[i + 5]).Append(" and F_ErrorTaskNo=").Append(message[i + 2]); //20100108 DataTable dt = dbo.ExceSQL(sql.ToString()).Tables[0]; if (dt.Rows.Count >= 1) { sql.Remove(0, sql.Length); sql.Append("update T_Monitor_Task set F_Status= ").Append((message[i + 4] + 30)).Append(" where (F_MonitorIndex= ").Append(message[i + 2]).Append(") and ((F_Status<> ").Append((message[i + 4] + 30)).Append(") and (F_Status<> 3))"); SQLString(dbo, sql); //20110608dbo.ExceSQL(sql.ToString()); DataSourceChange();//20110405 } dt = null; } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVTransplantError，" + ex.StackTrace + ex.Message; } chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVTransplantError", chatnew); OnWriteDarkCasket(e); i += 6; } break; #endregion case 60058://60058[N][A] #region AGV申请进入特殊节点 if (message.Length >= 3)// { if (message.Length <= (i + 2)) break; try { } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVAskEnterSpecialNode，" + ex.StackTrace + ex.Message; } chatnew = new int[3]; Array.Copy(message, i, chatnew, 0, 3); CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVAskEnterSpecialNode", chatnew); OnWriteDarkCasket(e1); i += 3; } break; #endregion case 60059://60059[A][S][X][Y][G] A为车号;S为状态(0-正常，1-故障);X为X坐标;Y为Y坐标;G为角度 #region AGV报告位置状态 if (message.Length >= 6)// { if (message.Length <= (i + 5)) break; try { } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVReportLocationState，" + ex.StackTrace + ex.Message; } chatnew = new int[6]; Array.Copy(message, i, chatnew, 0, 6); CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVReportLocationState", chatnew); OnWriteDarkCasket(e1); i += 6; } break; #endregion case 60060://60060[T1][T2][A][C] #region AGV故障报告 if (message.Length >= 5)// { if (message.Length <= (i + 4)) break; try { //有过记录的故障设备的任务号，不再重复处理 sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex FROM T_Base_Device where F_DeviceIndex=").Append(message[i + 3]).Append(" and F_ErrorTaskNo=").Append(message[i + 2]); //20100108 DataTable dt = dbo.ExceSQL(sql.ToString()).Tables[0]; if (dt.Rows.Count >= 1) { sql.Remove(0, sql.Length); sql.Append("update T_Monitor_Task set F_Status= ").Append((message[i + 4] + 30)).Append(" where (F_MonitorIndex= ").Append(message[i + 2]).Append(") and ((F_Status<> ").Append((message[i + 4] + 30)).Append(") and (F_Status<> 3))"); SQLString(dbo, sql); //20110608dbo.ExceSQL(sql.ToString()); DataSourceChange();//20110405 } dt = null; } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVReportError，" + ex.StackTrace + ex.Message; } chatnew = new int[5]; Array.Copy(message, i, chatnew, 0, 5); CWriteDarkCasketEventArgs e1 = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "AGVReportError", chatnew); OnWriteDarkCasket(e1); i += 5; } break; #endregion case 60081://允许AGV移载的应答:60081[T1][T2][CK](对60005[T1][T2][N] [E] [O]的应答) #region 60081允许AGV移载的应答 if (message.Length >= 3) { if (message.Length <= (i + 2)) break; try { ///////////////////////message[i + 2]对应F_AGVNextTask，求得F_MonitorIndex object ob = dbo.GetSingle("select F_MonitorIndex from T_Monitor_Task where F_AGVNextTask=" + message[i + 2]); if (ob != null) { int fid = message[i + 1]; int mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(ob)); /////////////////////// string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(Convert.ToInt32(ob), agvdev); bool snyc = CGeneralFunction.DoubleForkIfSync(Convert.ToInt32(ob), agvdev, 6); ActionFinish(agvdev, Convert.ToInt32(ob), 0); //20110608ActionComplete(agvdev, Convert.ToInt32(ob), 0); //刷新监控中心显示 #region 多叉关联任务，能同步的同时报告完成；异步的直接执行关联的命令 //20100323 if (df != null)//20100702 { //20100817 zhangxy 修改 fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0])); mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0])); /////////////////////// if (snyc == true)//20100702 { ActionFinish(agvdev, Convert.ToInt32(df[0]), 1); //20110608ActionComplete(agvdev, Convert.ToInt32(df[0]), 1);//20100702 } } #endregion DataSourceChange();//20110405 } } catch (Exception ex) { TcpError = "DisposeReceivedMessage:AGVResponseForAllowTransplant，" + ex.StackTrace + ex.Message; } chatnew = new int[3]; Array.Copy(message, i, chatnew, 0, 3); CWriteDarkCasketEventArgs e = new CWriteDarkCasketEventArgs("SocketsTCPIP.CConnectTCPIP", "Receive", agvdev.ToString(), "允许AGV移载的应答", chatnew); OnWriteDarkCasket(e); i += 3; } break; #endregion #endregion default: i=message.Length; TcpError = "CConnectTCPIP.DisposeReceiveMessage:Protocol length Error!"; break; } } } catch (Exception ex) { TcpError = "CConnectTCPIP.DisposeReceiveMessage:" + ex.StackTrace + ex.Message; } finally {//20100127 chatnew = null; dv.Dispose(); dva.Dispose(); } } #endregion public static int GetAgvSquence(int agvGate) { sql.Remove(0, sql.Length); sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(agvGate).Append(")"); object ob = dbo.GetSingle(sql.ToString()); if (ob != null) { return Convert.ToInt32(ob); } else { return -1; } } public static int GetUseAwayFork(int taskno) { sql.Remove(0, sql.Length); sql.Append("SELECT F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(taskno).Append(")"); string obj = dbo.GetSingle(sql.ToString()).ToString(); if (obj == "-") { return 0; } else { return Convert.ToInt32(obj); } } public static int GetFCONTROLTASKTYPEFromManageTask(int taskKindIndex, int Managefid) { DataView dv; try { sql.Remove(0, sql.Length); sql.Append("SELECT FCONTROLTASKTYPE FROM T_Manage_Task WHERE (FID = ").Append(Managefid).Append(") AND (F_ManageTaskKindIndex = ").Append(taskKindIndex).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { if (dv[0]["FCONTROLTASKTYPE"] == DBNull.Value) return -1; return Convert.ToInt32(dv[0]["FCONTROLTASKTYPE"]); } else { return -1; } } catch (Exception ex) { //throw ex; TcpError = "SocketsTCPIP:GetDeviceKindIdx，" + ex.StackTrace + ex.Message; return -1; } finally { dv = null; } } public static int GetAGVServer(string ipaddress) { sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceIndex FROM T_Base_Device WHERE (F_RemoteIP = '").Append(ipaddress).Append("')"); string obj = dbo.GetSingle(sql.ToString()).ToString(); if (obj == null) { return 0; } else { return Convert.ToInt32(obj); } } } public class StateObject { public Socket workSocket = null; public const int BUFFER_SIZE = 1024; public byte[] buffer = new byte[BUFFER_SIZE]; public string remoteIP = string.Empty; public int remoteport = 3000; } static class CGeneralFunction { static StringBuilder sql = new StringBuilder(); static DBOperator dbo = CClientTCPIP.dbo; /// /// 多叉关联任务是否能同步运行 /// /// 设备指令索引 /// public static bool DoubleForkIfSync(int monitorIndex, int devIndex, int devKind) {//查找关联的调度任务（主任务或者辅助任务）；输送机与堆垛机区别对待 //如果只能找到关联任务未被拆分，那么认为能同步运行20100323 int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex); int FID = GetManageTaskIndexfromMonitor(monitorIndex); int devOrder = GetDeviceOrderFromMonitor(monitorIndex); int dfx = GetDoubleForkX(mankind, FID, devIndex, devOrder); int mx = GetXCoorFromMonitor(monitorIndex, devIndex, devOrder); int dfy = GetDoubleForkY(mankind, FID, devIndex, devOrder); int my = GetYCoorFromMonitor(monitorIndex, devIndex, devOrder); int dfz = GetDoubleForkZ(mankind, FID, devIndex, devOrder); int mz = GetZCoorFromMonitor(monitorIndex, devIndex, devOrder); if (GetDoubleForkUnIntoStep(monitorIndex) == true) return true; switch (devKind) { case 1: //如果主任务和副任务的列数都是1列，则是1121、1122顶升机构，可以同步 if (1 == GetDoubleForkX(mankind, FID, devIndex, devOrder) && (GetXCoorFromMonitor(monitorIndex, devIndex, devOrder) == 1)) { return true; } //堆垛机的同排，同层，临列可以同步并且ST_CELL的FDoubleFork值匹配 if ((Math.Abs(dfx - mx) == 1) && (dfy == my) && (mz == dfz)) { if (EqualMonitorDoubleFork(mankind, FID, devIndex, devOrder) == true) { return true; } else { return false; } } else { return false; } case 2: //输送机同步 return true; case 6: //AGV临列可以同步并且ST_CELL的F_UseAwayFork值匹配 if (Math.Abs(dfx - mx) == 1) { if (EqualAGVGateDoubleFork(mankind, FID, devIndex, devOrder) == true) { return true; } else { return false; } } else { return false; } default: return false; } } /// /// 获得双叉控制的堆垛机的送货任务（已经分配远货叉或者近货叉的任务）的值 /// /// 设备指令索引 /// public static string GetUseAwayFork(int monitorIndex) { sql.Remove(0, sql.Length); sql.Append("SELECT F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIndex).Append(")"); DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return dv[0][0].ToString(); } else { return "-"; } } /// /// 获取双叉控制的堆垛机的取货任务（尚未指定应该使用哪个货叉）是否使用远货叉（主货叉）：0，近货叉；1远货叉 /// /// 排 /// 列 /// 层 /// 库房索引 /// 任务类型 /// 调度任务索引 /// 设备索引 /// 指令 /// public static int GetUseAwayFork(int monitorIndex, int devIndex, int devOrder) { int z = GetZCoorFromMonitor(monitorIndex, devIndex, devOrder); int x = GetXCoorFromMonitor(monitorIndex, devIndex, devOrder); int y = GetYCoorFromMonitor(monitorIndex, devIndex, devOrder); string FWAREHOUSE = GetWAREHOUSEFromSTCELL(devIndex); int Mankind = GetManageTaskKindIndexFromMonitor(monitorIndex); int ManFID = GetManageTaskIndexfromMonitor(monitorIndex); DataView dv; int UseAwayFork = 1; try { sql.Remove(0, sql.Length); sql.Append("SELECT FDoubleFork FROM ST_CELL WHERE (FWAREHOUSE='").Append(FWAREHOUSE ).Append("') and (F_Z = ").Append(z).Append(") AND (F_X = ").Append(x).Append(") AND (F_Y = ").Append(y).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { UseAwayFork = Convert.ToInt32(dv[0][0]); } else { UseAwayFork = 0; } switch (UseAwayFork) { case 0://可用任何一个货叉: int xcoor = GetDoubleForkX(Mankind, ManFID, devIndex, devOrder); if (xcoor != -1) { //根据关联任务的货位判断使用近货叉（列坐标小）或者远货叉（列坐标大） if (xcoor != x) { if (xcoor < x) { UseAwayFork = 1; } else { UseAwayFork = 0; } } else { //列坐标相同的，判断层坐标，近货叉（层坐标小）或者远货叉（层坐标大） int ycoor = GetDoubleForkY(Mankind, ManFID, devIndex, devOrder); if (ycoor != -1) { if (ycoor != y) { if (ycoor < y) { UseAwayFork = 1; } else { UseAwayFork = 0; } } else { //列和层都相同的，判断排坐标，近货叉（排坐标小）或者远货叉（排坐标大） int zcoor = GetDoubleForkZ(Mankind, ManFID, devIndex, devOrder); if (zcoor != -1) { if (zcoor != z) { if (zcoor < z) { UseAwayFork = 1; } else { UseAwayFork = 0; } } } } } } } else { UseAwayFork = 1; } break; case 1://只能用近叉 UseAwayFork = 0; break; case 2://只能用远叉 UseAwayFork = 1; break; } return UseAwayFork; } catch (Exception ex) { throw ex; } finally { dv = null; } } public static int GetDoubleForkFromST_CELL(int z, int x, int y, string FWAREHOUSE) { DataView dv; int UseAwayFork = 1; try { sql.Remove(0, sql.Length); sql.Append("SELECT FDoubleFork FROM ST_CELL WHERE (FWAREHOUSE='").Append(FWAREHOUSE ).Append("') and (F_Z = ").Append(z).Append(") AND (F_X = ").Append(x).Append(") AND (F_Y = ").Append(y).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { UseAwayFork = Convert.ToInt32(dv[0][0]); } else { UseAwayFork = 0; } return UseAwayFork; } catch (Exception ex) { throw ex; } finally { dv = null; } } public static string GetWAREHOUSEFromSTCELL(int stackIndex) { DataView dv; try { sql.Remove(0, sql.Length); sql.Append("SELECT FWAREHOUSE FROM ST_CELL WHERE (FStack = ").Append(stackIndex).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return dv[0][0].ToString(); } else { return ""; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 查找多叉关联任务的列坐标 /// /// 任务类型 /// 调度任务索引 /// 设备索引 /// 设备指令 /// public static int GetDoubleForkX(int mankind, int fid, int devIdx, int devOrder) { DataView dv; string xc = "F_NumParam2"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { xc = "F_NumParam2"; } else if (devOrder == 5) { xc = "F_NumParam5"; } } try { //查找被关联辅助设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][xc]); } //查找关联自己的主设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][xc]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 查找多叉关联任务的层坐标 /// /// 任务类型 /// 调度任务索引 /// 设备索引 /// 设备指令 /// public static int GetDoubleForkY(int mankind, int fid, int devIdx, int devOrder) { DataView dv; string yc = "F_NumParam3"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { yc = "F_NumParam3"; } else if (devOrder == 5) { yc = "F_NumParam6"; } } try { //查找被关联辅助设备指令索引的层坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(yc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][yc]); } //查找关联自己的主设备指令索引的层坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(yc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); ; dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][yc]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 查找多叉关联任务的排坐标 /// /// 任务类型 /// 调度任务索引 /// 设备索引 /// 设备指令 /// public static int GetDoubleForkZ(int mankind, int fid, int devIdx, int devOrder) { DataView dv; string zc = "F_NumParam1"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { zc = "F_NumParam1"; } else if (devOrder == 5) { zc = "F_NumParam4"; } } try { //查找被关联辅助设备指令索引的排坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][zc]); } //查找关联自己的主设备指令索引的排坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][zc]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 查找多叉关联任务的ST_CELL表的使用哪个货叉属性是否相同 /// /// 任务类型 /// 调度任务索引 /// 设备索引 /// 设备指令 /// public static bool EqualMonitorDoubleFork(int mankind, int fid, int devIdx, int devOrder) { DataView dv; char DoubleFork = '0', DoubleFork1 = '0'; string xc = "F_NumParam2"; string yc = "F_NumParam3"; string zc = "F_NumParam1"; if (GetDeviceKindIdx(devIdx) == 1) { if ((devOrder == 4) || (devOrder == 2)) { xc = "F_NumParam2"; yc = "F_NumParam3"; zc = "F_NumParam1"; } else if ((devOrder == 5) || (devOrder == 3)) { xc = "F_NumParam5"; yc = "F_NumParam6"; zc = "F_NumParam4"; } } try { int z = 0, x = 0, y = 0, z1 = 0, x1 = 0, y1 = 0; //查找被关联辅助设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(",").Append(xc).Append(",").Append(yc).Append(",F_UseAwayFork FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { z = Convert.ToInt32(dv[0][zc]); x = Convert.ToInt32(dv[0][xc]); y = Convert.ToInt32(dv[0][yc]); DoubleFork = Convert.ToChar(dv[0]["F_UseAwayFork"]); } else { //查找关联自己的主设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(",").Append(xc).Append(",").Append(yc).Append(",F_UseAwayFork FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); ; dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { z = Convert.ToInt32(dv[0][zc]); x = Convert.ToInt32(dv[0][xc]); y = Convert.ToInt32(dv[0][yc]); DoubleFork = Convert.ToChar(dv[0]["F_UseAwayFork"]); } } if ((z == 0) && (x == 0) && (y == 0)) { return false; } else { sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(",").Append(xc).Append(",").Append(yc).Append(",F_UseAwayFork FROM T_Monitor_Task Where ( F_ManageTASKKINDINDEX = ").Append(mankind).Append(") AND (F_ManageTaskIndex = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { z1 = Convert.ToInt32(dv[0][zc]); x1 = Convert.ToInt32(dv[0][xc]); y1 = Convert.ToInt32(dv[0][yc]); DoubleFork1 = Convert.ToChar(dv[0]["F_UseAwayFork"]); if (((x1 > x) && (DoubleFork1 > DoubleFork)) || ((x > x1) && (DoubleFork > DoubleFork1))) { return true; } else { return false; } } else { return false; } } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 查找多叉关联任务的T_Base_AGV_Gate表的货叉属性是否匹配 /// /// 任务类型 /// 调度任务索引 /// 设备索引 /// 设备指令 /// public static bool EqualAGVGateDoubleFork(int mankind, int fid, int devIdx, int devOrder) { //20110110 1运行,2取货,3送货,4取送货,5允许AGV移载 DataView dv; string xc = "F_NumParam2"; if (GetDeviceKindIdx(devIdx) == 6) { if (devOrder == 1) { xc = "F_NumParam5"; } else if ((devOrder == 2) || (devOrder == 5)) { xc = "F_NumParam2"; } else if (devOrder == 3) { xc = "F_NumParam5"; } } try { int x = 0, x1 = 0; int channelleft = 0, channelleft1 = 0, xd = 0, xd1 = 0; //查找被关联辅助设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); ; dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { xd = Convert.ToInt32(dv[0][xc]); sql.Remove(0, sql.Length); sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(xd).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { x = Convert.ToInt32(dv[0]["F_Sequence"]); } else { x = 0; } } else { //查找关联自己的主设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); ; dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { xd = Convert.ToInt32(dv[0][xc]); sql.Remove(0, sql.Length); sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(xd).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { x = Convert.ToInt32(dv[0]["F_Sequence"]); } else { x = 0; } } } if (x == 0) { return false; } else { sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Monitor_Task Where ( F_ManageTASKKINDINDEX = ").Append(mankind).Append(") AND (F_ManageTaskIndex = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); ; dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { xd1 = Convert.ToInt32(dv[0][xc]); sql.Remove(0, sql.Length); sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(xd1).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { x1 = Convert.ToInt32(dv[0]["F_Sequence"]); } else { x1 = 0; } int DoubleFork = 0, DoubleFork1 = 0; sql.Remove(0, sql.Length); sql.Append("SELECT F_UseAwayFork,F_IfChannelLeft FROM T_Base_AGV_Gate WHERE F_AGVGateDeviceIndex =").Append(xd); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { DoubleFork = Convert.ToInt32(dv[0]["F_UseAwayFork"]); channelleft = Convert.ToInt32(dv[0]["F_IfChannelLeft"]); } else { return false; } sql.Remove(0, sql.Length); sql.Append("SELECT F_UseAwayFork,F_IfChannelLeft FROM T_Base_AGV_Gate WHERE F_AGVGateDeviceIndex =").Append(xd1); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { DoubleFork1 = Convert.ToInt32(dv[0]["F_UseAwayFork"]); channelleft1 = Convert.ToInt32(dv[0]["F_IfChannelLeft"]); } else { return false; } if ((((x1 > x) && (DoubleFork1 > DoubleFork)) || ((x > x1) && (DoubleFork > DoubleFork1))) && (channelleft == channelleft1)) { return true; } else { return false; } } else { return false; } } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 在设备指令队列表获取Z 排坐标 /// /// 设备指令索引 /// public static int GetZCoorFromMonitor(int monitorIndex, int devIdx, int devOrder) { DataView dv; string zc = "F_NumParam1"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { zc = "F_NumParam1"; } else if (devOrder == 5) { zc = "F_NumParam4"; } } try { sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(zc).Append(" FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIndex).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][0]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 在设备指令队列表获取X 列坐标 /// /// 设备指令索引 /// public static int GetXCoorFromMonitor(int monitorIndex, int devIdx, int devOrder) { DataView dv; string xc = "F_NumParam2"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { xc = "F_NumParam2"; } else if (devOrder == 5) { xc = "F_NumParam5"; } } try { sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(xc).Append(" FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIndex).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][0]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 在设备指令队列表获取Y 层坐标 /// /// 设备指令索引 /// public static int GetYCoorFromMonitor(int monitorIndex, int devIdx, int devOrder) { DataView dv; string yc = "F_NumParam3"; if (GetDeviceKindIdx(devIdx) == 1) { if (devOrder == 4) { yc = "F_NumParam3"; } else if (devOrder == 5) { yc = "F_NumParam6"; } } try { sql.Remove(0, sql.Length); sql.Append("SELECT ").Append(yc).Append(" FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIndex).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0][0]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } /// /// 返回多叉关联设备指令信息：【0】设备指令索引【1】提前检测【2】设备索引【3】路径 /// /// 设备指令索引 /// 设备索引 /// public static string[] GetDoubleForkMonitorInfo(int monitorIndex, int devIdx) { DataView dv; string[] rr = null; try { int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex); int fid = GetManageTaskIndexfromMonitor(monitorIndex); int devOrder = GetDeviceOrderFromMonitor(monitorIndex); //查找被关联辅助设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT F_MonitorIndex,F_AheadDetect,F_DeviceIndex,F_RouteID FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { rr = new string[4]; rr[0] = dv[0]["F_MonitorIndex"].ToString(); rr[1] = dv[0]["F_AheadDetect"].ToString(); rr[2] = dv[0]["F_DeviceIndex"].ToString(); rr[3] = dv[0]["F_RouteID"].ToString(); } else { //查找关联自己的主设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT F_MonitorIndex,F_AheadDetect,F_DeviceIndex,F_RouteID FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex ").Append( " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(") and (F_DeviceIndex=").Append(devIdx).Append(" and F_DeviceCommandIndex=").Append(devOrder).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { rr = new string[4]; rr[0] = dv[0]["F_MonitorIndex"].ToString(); rr[1] = dv[0]["F_AheadDetect"].ToString(); rr[2] = dv[0]["F_DeviceIndex"].ToString(); rr[3] = dv[0]["F_RouteID"].ToString(); } else { return null; } } return rr; } catch (Exception ex) { throw ex; } finally { dv = null; rr = null; } } /// /// 返回未拆分的多叉关联设备指令,true 代表有未拆分的多叉关联设备指令 /// /// 设备指令索引 /// public static bool GetDoubleForkUnIntoStep(int monitorIndex) { DataView dv; try { int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex); int fid = GetManageTaskIndexfromMonitor(monitorIndex); //查找被关联辅助设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT F_RELATIVECONTORLID FROM T_Manage_Task Where (T_Manage_Task.F_RELATIVECONTORLID <>-1 ) and ( F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( fid).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { sql.Remove(0, sql.Length); sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( dv[0][0]).Append(" and FIntoStepOK<>'1')"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return true; } } else { //查找关联自己的主设备指令索引的列坐标 sql.Remove(0, sql.Length); sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (F_RELATIVECONTORLID = ").Append( fid).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { sql.Remove(0, sql.Length); sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = ").Append(mankind).Append(") AND (FID = ").Append( dv[0][0]).Append(" and FIntoStepOK<>'1')"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return true; } } } return false; } catch (Exception ex) { throw ex; } finally { dv = null; } } public static int GetManageTaskIndexfromMonitor(int monitorIdx) { //20100108 DataView dv; try { //20100108 sql.Remove(0, sql.Length); sql.Append("SELECT F_ManageTaskIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIdx).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_ManageTaskIndex"]); } else { return -1; } } catch (Exception ex) {//20100108 throw ex; } finally {//20100108 dv = null; } } public static int GetManageTaskKindIndexFromMonitor(int monitorIdx) {//20100108 DataView dv; try { //20100108 sql.Remove(0, sql.Length); sql.Append("SELECT F_ManageTaskKindIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(monitorIdx).Append(")"); dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_ManageTaskKindIndex"]); } else { return -1; } } catch (Exception ex) {//20100108 throw ex; } finally {//20100108 dv = null; } } /// /// 在调度队列中找到设备命令 /// /// 调度所引 /// public static int GetDeviceOrderFromMonitor(int MonitorIndex) { //20100108 DataView dv; try { sql.Remove(0, sql.Length); sql.Append("select F_DeviceCommandIndex from T_Monitor_Task where (F_DeviceCommandIndex IS NOT NULL) and F_MonitorIndex=").Append(MonitorIndex); ; //20100108 dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView; if (dv.Count > 0) { return Convert.ToInt32(dv[0]["F_DeviceCommandIndex"]); } else { return -1; } } catch (Exception ex) { throw ex; } finally { dv = null; } } public static int GetDeviceKindIdx(int devIdx) { object ob; try { sql.Remove(0, sql.Length); sql.Append("SELECT F_DeviceKindIndex FROM T_Base_Device WHERE (F_DeviceIndex = ").Append(devIdx).Append(")"); ob = dbo.GetSingle(sql.ToString()); if (ob != null) { return Convert.ToInt32(ob); } else { return -1; } } catch (Exception ex) { throw ex; } } } }