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855 lines
37 KiB
855 lines
37 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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namespace SocketsTCPIP
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{
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/// <summary>
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/// 使用SocketsTCPIP的客户端进行通讯
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/// 发送设备命令类
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/// 创建者：Richard.Liu
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/// 20110104升级与AGV控制台通讯协议
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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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StringBuilder sql = new StringBuilder();
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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 = CClientTCPIP.dbo;
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string AGVAllowSingleFork = CommonClassLib.AppSettings.GetValue("AGVAllowSingleFork");
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public CSendDeviceOrder()
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{
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dbo.Open();
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}
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/// <summary>
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///序号 通讯种类 方向 通讯格式 格式说明
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///1 监控调度通讯连接建立 监控调度->AGV控制台 10001
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///2 监控调度通讯连接断开 监控调度->AGV控制台 10002
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///3 下达任务 监控调度->AGV控制台 10003[T1][T2][T][P][K][A] [F][C]
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///[N1][O]
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///[N2][O]
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///……
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///[CK] T1为管理任务号,T2为监控任务号;
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///T为任务类型;65535
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///P为优先级(取值范围2-10,越大优先级越高);2
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///K为车辆类型;65535
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///A为车辆编号;65535
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///F为后续任务标识(1-有后续任务,0-无后续任务);
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///C为节点数量;
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///N1、N2为节点号;
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///O为动作设备编号(AGV控制台提供);
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///CK校验码(以上所有任务码按无符号作加法)
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///4 下达任务确认 AGV控制台->监控调度 10003[T1][T2] [CK] T1为管理任务号,T2为监控任务号;
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///5 AGV任务开始 AGV控制台->监控调度 10004[T1][T2][A] [CK] A为车辆编号;
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///6 任务开始确认 监控调度->AGV控制台 10004[T1][T2] [CK]
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///7 AGV任务完成 AGV控制台->监控调度 10005[T1][T2] [A] [CK]
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///8 任务完成确认 监控调度->AGV控制台 10005[T1][T2] [CK]
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///9 监控申请删除任务 监控调度->AGV控制台 10006[T1][T2] [CK]
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///10 监控申请删除任务回复 AGV控制台->监控调度 10006[T1][T2][A] [CK] A为允许状态(0-不允许,1-允许)
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///11
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///控制台申请删除任务 AGV控制台->监控调度 10007[T1][T2] [CK]
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///12 控制台申请删除任务确认 监控调度->AGV控制台 10007[T1][T2] [CK]
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///13 监控查询AGV状态 监控调度->AGV控制台 10008 [A][CK] A为车辆编号;
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///14 查询AGV状态确认 AGV控制台->监控调度 10008 [C] [CK] C为车辆数目;
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///15 控制台上报AGV状态 AGV控制台->监控调度 10009[A][T1][S] [E] [W][B]
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///[N][O][CK] A为车辆编号;
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///T1为管理任务号;
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///S为当前路段起点;
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///E为当前路段终点;
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///W为工作状态；
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///B为电池状态；
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///N为目标节点；
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///O为操作码；
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///16 确认AGV状态 监控调度->AGV控制台 10009[A] [CK] A为车辆编号;
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///17 监控发送信息 监控调度->AGV控制台 10007[T1][T2]
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///18 监控调度申请删除任务回复 AGV控制台->监控调度 10006[T1][T2][A] A为允许状态(0-不允许,1-允许)
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///19 AGV申请进入特殊节点 AGV控制台->监控调度 60058[N][A] N为节点; A为车号
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///20 AGV报告位置状态 AGV控制台->监控调度 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;
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///Y为Y坐标;G为角度
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///21 AGV故障报告 AGV控制台->监控调度 60060[T1][T2][A][C] A为车号; C为故障代码
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///AGV控制台向监控调度系统发送的应答信号可根据情况确定,通讯格式为600xx[T1][T2],对不同的信号采用不同的标识进行应答
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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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/// <param name="DeviceIndex">设备编号</param>
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/// <param name="StartX">[N1]:取货点</param>
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/// <param name="StartY"></param>
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/// <param name="StartZ"></param>
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/// <param name="EndX">[N2]:放货点</param>
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/// <param name="EndY"></param>
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/// <param name="EndZ"></param>
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/// <returns>发送AGV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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//StartX取设备索引 EndX送设备索引
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//20100413根据StartX（取设备索引）获得前（距离车尾远）叉、后（距离车尾近）叉
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//站在车尾沿着行进方向的左、右方向；
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//判断关联双叉是否同步运行
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char useAwayFork = '0';
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char channelLeft = '0';
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int AGVAddress = 0;
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int dorder = 0;
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int _device = GetAGVNoFromMonitor(TaskIndex);
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int Fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(TaskIndex);
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byte[] _Sdata;
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int HaveNextTask = IfHaveNextTask(TaskIndex,DeviceIndex );
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//int NextOrder = 0; // 下一个动作编码，运动时候给AGV发送; 0没有下一个动作；2取货，送货；
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//int HaveNextTask = IfHaveNextTask(TaskIndex, DeviceIndex, ref NextOrder);
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int forkNo = 0; int ck = 0;
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bool retvalue = false;
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if (MessageIndex != 1)
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{
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return false;
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}
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try
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{
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int StartXKind = Model.CGeneralFunction.GetDeviceKindIdx(StartX);
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switch (Order)
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{
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case 1://运动命令 StartX取设备索引
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#region 运动命令
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GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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_Sdata = new byte[28];
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_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
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_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
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_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
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_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
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_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
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_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
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_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
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_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
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_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
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_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
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if (StartXKind == 2 || StartXKind == 31)
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{
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_Sdata[10] = 1;//产品类型,输送机1，地面2,等待位站点31
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_Sdata[11] = 0;
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}
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else
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{
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_Sdata[10] = 2;//产品类型,输送机1，地面2
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_Sdata[11] = 0;
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}
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// 20151105 判断取货点是不是输送机，
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if (StartXKind == 2 && HaveNextTask == 1)
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{
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// 得到送货命令任务号
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//int SendTask = GetTaskFromDeviceOrder(Fid, DeviceIndex, 3);
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//_Sdata[12] = Convert.ToByte(SendTask & 255);//优先级 --送货命令id -- 默认0，只在输送机取货修改
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//_Sdata[13] = Convert.ToByte((SendTask >> 8) & 255);
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_Sdata[12] = 2;//优先级
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_Sdata[13] = 0;
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}
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else
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{
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_Sdata[12] = 2;//优先级
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_Sdata[13] = 0;
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}
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_Sdata[14] = 1;//车辆类型 -- 东药原料库固定1
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_Sdata[15] = 0;
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// 20151105 判断取货点是不是输送机，
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if (StartXKind == 2 && HaveNextTask == 1)
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{
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//int AGVAddressSend = 0;
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//GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddressSend);
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//_Sdata[16] = Convert.ToByte(AGVAddressSend & 255); //车辆编号 -- 送货点 地标 只在输送机取货修改
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//_Sdata[17] = Convert.ToByte((AGVAddressSend >> 8) & 255);
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_Sdata[16] = 0;//车辆编号
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_Sdata[17] = 0;
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}
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else
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{
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_Sdata[16] = 0;//车辆编号
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_Sdata[17] = 0;
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}
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_Sdata[18] =Convert.ToByte(HaveNextTask & 255);//后续任务标识
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_Sdata[19] =Convert.ToByte((HaveNextTask >> 8) & 255);
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_Sdata[20] = 2;//参数数量,动作 + 节点 2个动作数量4
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_Sdata[21] = 0;
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// 东药设备命令 0行走，1取货，2送货
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//Order = Order - 1;
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_Sdata[22] = Convert.ToByte(Order & 255);//设备动作编号 0行走，1取货，2送货
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_Sdata[23] = Convert.ToByte((Order >> 8) & 255);
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_Sdata[24] = Convert.ToByte(AGVAddress & 255);//节点号
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_Sdata[25] = Convert.ToByte((AGVAddress >> 8) & 255);
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for (int i = 0; i <= 25; i++)
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{
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ck += Convert.ToInt32(_Sdata[i]);
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}
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_Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
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_Sdata[27] = Convert.ToByte((ck >> 8) & 255);
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retvalue= SendData(DeviceIndex, _Sdata);
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#endregion
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break;
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case 2://取货命令
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#region 取货命令
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GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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dorder = 2;//取货命令
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//if (channelLeft == '1')
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//{
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// dorder = 1;//左取
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//}
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//else
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//{
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// dorder = 3;//右取
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//}
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if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
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{//不能同步
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if (useAwayFork == '1')//前叉
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{
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forkNo = 1;
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}
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else//后叉
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{
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forkNo = 2;
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}
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}
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else
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{//同步
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forkNo = 3;
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}
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_Sdata = new byte[28];
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_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
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_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
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_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
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_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
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_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
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_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
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_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
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_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
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_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
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_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
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StartXKind = Model.CGeneralFunction.GetDeviceKindIdx(StartX);
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_Sdata[10] = 0;//产品类型,输送机1，地面2
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_Sdata[11] = 0;
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// 20151105 判断取货点是不是输送机，
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if (StartXKind == 2 && HaveNextTask == 1)
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{
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// 得到送货命令任务号
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//int SendTask = GetTaskFromDeviceOrder(Fid, DeviceIndex, 3);
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//_Sdata[12] = Convert.ToByte(SendTask & 255);//优先级 --送货命令id -- 默认0，只在输送机取货修改
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//_Sdata[13] = Convert.ToByte((SendTask >> 8) & 255);
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_Sdata[12] = 2;//优先级
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_Sdata[13] = 0;
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}
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else
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{
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_Sdata[12] = 2;//优先级
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_Sdata[13] = 0;
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}
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_Sdata[14] = 0;//车辆类型 -- 东药原料库固定1
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_Sdata[15] = 0;
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// 20151105 判断取货点是不是输送机，
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if (StartXKind == 2 && HaveNextTask == 1)
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{
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//int AGVAddressSend = 0;
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//GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddressSend);
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//_Sdata[16] = Convert.ToByte(AGVAddressSend & 255); //车辆编号 -- 送货点 地标 只在输送机取货修改
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//_Sdata[17] = Convert.ToByte((AGVAddressSend >> 8) & 255);
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_Sdata[16] = 0;//车辆编号
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_Sdata[17] = 0;
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}
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else
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{
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_Sdata[16] = 0;//车辆编号
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_Sdata[17] = 0;
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}
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_Sdata[18] =Convert.ToByte(HaveNextTask & 255);//后续任务标识
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_Sdata[19] =Convert.ToByte((HaveNextTask >> 8) & 255);
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_Sdata[20] = 2;//参数数量,动作 + 节点 2个动作数量4
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_Sdata[21] = 0;
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// 东药设备命令 0行走，1取货，2送货
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//Order = Order - 1;
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_Sdata[22] = Convert.ToByte(Order & 255);//设备动作编号 0行走，1取货，2送货
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_Sdata[23] = Convert.ToByte((Order >> 8) & 255);
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_Sdata[24] = Convert.ToByte(AGVAddress & 255);//节点号
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_Sdata[25] = Convert.ToByte((AGVAddress >> 8) & 255);
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for (int i = 0; i <= 25; i++)
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{
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ck += Convert.ToInt32(_Sdata[i]);
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}
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_Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
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_Sdata[27] = Convert.ToByte((ck >> 8) & 255);
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retvalue= SendData(DeviceIndex, _Sdata);
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#endregion
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break;
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case 3://送货
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#region 送货
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GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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dorder = 3;//送货
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//if (channelLeft == '1')
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//{
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// dorder = 2;//左送
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//}
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//else
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//{
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// dorder = 4;//右送
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//}
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if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
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{//不能同步
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if (useAwayFork == '1')//前叉
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{
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forkNo = 1;
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}
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else//后叉
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{
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forkNo = 2;
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}
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}
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else
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{//同步
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forkNo = 3;
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}
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_Sdata = new byte[28];
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_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
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_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
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_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
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_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
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_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
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_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
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_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
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_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
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_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
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_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
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StartXKind = Model.CGeneralFunction.GetDeviceKindIdx(StartX);
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_Sdata[10] = 0;//产品类型,输送机1，地面2
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_Sdata[11] = 0;
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// 20151105 判断取货点是不是输送机，
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if (StartXKind == 2 && HaveNextTask == 1)
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{
|
|
// 得到送货命令任务号
|
|
//int SendTask = GetTaskFromDeviceOrder(Fid, DeviceIndex, 3);
|
|
//_Sdata[12] = Convert.ToByte(SendTask & 255);//优先级 --送货命令id -- 默认0，只在输送机取货修改
|
|
//_Sdata[13] = Convert.ToByte((SendTask >> 8) & 255);
|
|
_Sdata[12] = 2;//优先级
|
|
_Sdata[13] = 0;
|
|
}
|
|
else
|
|
{
|
|
_Sdata[12] = 2;//优先级
|
|
_Sdata[13] = 0;
|
|
}
|
|
|
|
|
|
_Sdata[14] = 0;//车辆类型 -- 东药原料库固定1
|
|
_Sdata[15] = 0;
|
|
|
|
// 20151105 判断取货点是不是输送机，
|
|
if (StartXKind == 2 && HaveNextTask == 1)
|
|
{
|
|
//int AGVAddressSend = 0;
|
|
//GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddressSend);
|
|
//_Sdata[16] = Convert.ToByte(AGVAddressSend & 255); //车辆编号 -- 送货点 地标 只在输送机取货修改
|
|
//_Sdata[17] = Convert.ToByte((AGVAddressSend >> 8) & 255);
|
|
_Sdata[16] = 0;//车辆编号
|
|
_Sdata[17] = 0;
|
|
}
|
|
else
|
|
{
|
|
_Sdata[16] = 0;//车辆编号
|
|
_Sdata[17] = 0;
|
|
}
|
|
|
|
|
|
_Sdata[18] =Convert.ToByte(HaveNextTask & 255);//后续任务标识
|
|
_Sdata[19] =Convert.ToByte((HaveNextTask >> 8) & 255);
|
|
|
|
_Sdata[20] = 2;//参数数量,动作 + 节点 2个动作数量4
|
|
_Sdata[21] = 0;
|
|
|
|
|
|
// 东药设备命令 0行走，1取货，2送货
|
|
//Order = Order - 1;
|
|
_Sdata[22] = Convert.ToByte(Order & 255);//设备动作编号 0行走，1取货，2送货
|
|
_Sdata[23] = Convert.ToByte((Order >> 8) & 255);
|
|
|
|
_Sdata[24] = Convert.ToByte(AGVAddress & 255);//节点号
|
|
_Sdata[25] = Convert.ToByte((AGVAddress >> 8) & 255);
|
|
for (int i = 0; i <= 25; i++)
|
|
{
|
|
ck += Convert.ToInt32(_Sdata[i]);
|
|
}
|
|
_Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
|
|
_Sdata[27] = Convert.ToByte((ck >> 8) & 255);
|
|
|
|
retvalue= SendData(DeviceIndex, _Sdata);
|
|
|
|
#endregion
|
|
break;
|
|
case 4://取送货
|
|
#region 取送货
|
|
//取货
|
|
GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
|
|
if (channelLeft == '1')
|
|
{
|
|
dorder = 1;//左取
|
|
}
|
|
else
|
|
{
|
|
dorder = 3;//右取
|
|
}
|
|
if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
|
|
{//不能同步
|
|
|
|
if (useAwayFork == '1')//前叉
|
|
{
|
|
|
|
forkNo = 1;
|
|
}
|
|
else//后叉
|
|
{
|
|
forkNo = 2;
|
|
}
|
|
|
|
}
|
|
else
|
|
{//同步
|
|
forkNo = 3;
|
|
|
|
}
|
|
_Sdata = new byte[56];
|
|
_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
|
|
_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
|
|
_Sdata[2] = Convert.ToByte((10003 >> 16) & 255);
|
|
_Sdata[3] = Convert.ToByte((10003 >> 24) & 255);
|
|
_Sdata[4] = Convert.ToByte(Fid & 255);//管理任务号
|
|
_Sdata[5] = Convert.ToByte((Fid >> 8) & 255);
|
|
_Sdata[6] = Convert.ToByte((Fid >> 16) & 255);
|
|
_Sdata[7] = Convert.ToByte((Fid >> 24) & 255);
|
|
_Sdata[8] = Convert.ToByte(TaskIndex & 255);//监控任务号
|
|
_Sdata[9] = Convert.ToByte((TaskIndex >> 8) & 255);
|
|
_Sdata[10] = Convert.ToByte((TaskIndex >> 16) & 255);
|
|
_Sdata[11] = Convert.ToByte((TaskIndex >> 24) & 255);
|
|
_Sdata[12] = Convert.ToByte(65535 & 255);//任务类型
|
|
_Sdata[13] = Convert.ToByte((65535 >> 8) & 255);
|
|
_Sdata[14] = Convert.ToByte((65535 >> 16) & 255);
|
|
_Sdata[15] = Convert.ToByte((65535 >> 24) & 255);
|
|
_Sdata[16] = 2;//优先级
|
|
_Sdata[17] = 0;
|
|
_Sdata[18] = 0;
|
|
_Sdata[19] = 0;
|
|
_Sdata[20] = Convert.ToByte(65535 & 255);//车辆类型
|
|
_Sdata[21] = Convert.ToByte((65535 >> 8) & 255);
|
|
_Sdata[22] = Convert.ToByte((65535 >> 16) & 255);
|
|
_Sdata[23] = Convert.ToByte((65535 >> 24) & 255);
|
|
_Sdata[24] = Convert.ToByte(65535 & 255);//车辆编号
|
|
_Sdata[25] = Convert.ToByte((65535 >> 8) & 255);
|
|
_Sdata[26] = Convert.ToByte((65535 >> 16) & 255);
|
|
_Sdata[27] = Convert.ToByte((65535 >> 24) & 255);
|
|
_Sdata[28] = Convert.ToByte(HaveNextTask & 255);//后续任务标识
|
|
_Sdata[29] = Convert.ToByte((HaveNextTask >> 8) & 255);
|
|
_Sdata[30] = Convert.ToByte((HaveNextTask >> 16) & 255);
|
|
_Sdata[31] = Convert.ToByte((HaveNextTask >> 24) & 255);
|
|
_Sdata[32] = 2;//节点数量
|
|
_Sdata[33] = 0;
|
|
_Sdata[34] = 0;
|
|
_Sdata[35] = 0;
|
|
_Sdata[36] = Convert.ToByte(AGVAddress & 255);//节点号
|
|
_Sdata[37] = Convert.ToByte((AGVAddress >> 8) & 255);
|
|
_Sdata[38] = Convert.ToByte((AGVAddress >> 16) & 255);
|
|
_Sdata[39] = Convert.ToByte((AGVAddress >> 24) & 255);
|
|
_Sdata[40] = Convert.ToByte(dorder & 255);//动作设备编号
|
|
_Sdata[41] = Convert.ToByte((dorder >> 8) & 255);
|
|
_Sdata[42] = Convert.ToByte((dorder >> 16) & 255);
|
|
_Sdata[43] = Convert.ToByte((dorder >> 24) & 255);
|
|
ck = Convert.ToInt32(10003 + Fid + TaskIndex + 65535 + 2 + 65535 + 65535 + HaveNextTask + 1 + AGVAddress + dorder);
|
|
//writeDark(Fid, TaskIndex, DeviceIndex, dorder, AGVAddress);
|
|
//送货
|
|
GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
|
|
if (channelLeft == '1')
|
|
{
|
|
dorder = 2;//左送
|
|
}
|
|
else
|
|
{
|
|
dorder = 4;//右送
|
|
}
|
|
if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
|
|
{//不能同步
|
|
|
|
if (useAwayFork == '1')//前叉
|
|
{
|
|
|
|
forkNo = 1;
|
|
}
|
|
else//后叉
|
|
{
|
|
forkNo = 2;
|
|
}
|
|
|
|
}
|
|
else
|
|
{//同步
|
|
forkNo = 3;
|
|
|
|
}
|
|
|
|
_Sdata[44] = Convert.ToByte(AGVAddress & 255);//节点号
|
|
_Sdata[45] = Convert.ToByte((AGVAddress >> 8) & 255);
|
|
_Sdata[46] = Convert.ToByte((AGVAddress >> 16) & 255);
|
|
_Sdata[47] = Convert.ToByte((AGVAddress >> 24) & 255);
|
|
_Sdata[48] = Convert.ToByte(dorder & 255);//动作设备编号
|
|
_Sdata[49] = Convert.ToByte((dorder >> 8) & 255);
|
|
_Sdata[50] = Convert.ToByte((dorder >> 16) & 255);
|
|
_Sdata[51] = Convert.ToByte((dorder >> 24) & 255);
|
|
ck = ck + AGVAddress + dorder;
|
|
_Sdata[52] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
|
|
_Sdata[53] = Convert.ToByte((ck >> 8) & 255);
|
|
_Sdata[54] = Convert.ToByte((ck >> 16) & 255);
|
|
_Sdata[55] = Convert.ToByte((ck >> 24) & 255);
|
|
|
|
retvalue= SendData(DeviceIndex, _Sdata);
|
|
|
|
#endregion
|
|
break;
|
|
//case 5://允许AGV移载，使用起始坐标作为允许AGV移载的坐标设备
|
|
// #region 允许AGV移载
|
|
|
|
// GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
|
|
// //获得实际取货或者送货任务号F_AGVNextTask
|
|
// object ob = dbo.GetSingle("select F_AGVNextTask from T_Monitor_Task where F_MonitorIndex=" + TaskIndex);
|
|
// if (ob != null)
|
|
// {
|
|
// TaskIndex = Convert.ToInt32(ob);
|
|
// }
|
|
// _Sdata = new byte[12];
|
|
// _Sdata[0] = Convert.ToByte(10005 & 255); //帧头
|
|
// _Sdata[1] = Convert.ToByte(10005 >> 8);
|
|
// _Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
|
|
// _Sdata[3] = Convert.ToByte(Fid >> 8);
|
|
// _Sdata[4] = Convert.ToByte(TaskIndex & 255);//监控任务号
|
|
// _Sdata[5] = Convert.ToByte(TaskIndex >> 8);
|
|
// _Sdata[6] = Convert.ToByte(AGVAddress & 255);//节点
|
|
// _Sdata[7] = Convert.ToByte(AGVAddress >> 8);
|
|
// _Sdata[8] = Convert.ToByte(forkNo & 255);//动作设备编号
|
|
// _Sdata[9] = Convert.ToByte(forkNo >> 8);
|
|
// _Sdata[10] =Convert.ToByte(dorder & 255);//动作类型
|
|
// _Sdata[11] =Convert.ToByte(dorder >> 8);
|
|
|
|
// return SendData(DeviceIndex, _Sdata);
|
|
|
|
// #endregion
|
|
default:
|
|
break;
|
|
}
|
|
|
|
|
|
return retvalue;
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
_commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
|
|
return false;
|
|
}
|
|
finally
|
|
{
|
|
if (retvalue == true)
|
|
{
|
|
writeDark(Fid, TaskIndex, DeviceIndex, dorder, AGVAddress);
|
|
}
|
|
}
|
|
|
|
}
|
|
public void writeDark(int Fid, int TaskIndex, int DeviceIndex, int dorder, int AGVAddress)
|
|
{
|
|
|
|
string barcode = string.Empty;
|
|
StringBuilder sss = new StringBuilder("");
|
|
sss.Remove(0, sss.Length);
|
|
sss.Append("SELECT F_TxtParam FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(TaskIndex).Append(")");
|
|
DataView dvb = dbo.ExceSQL(sss.ToString()).Tables[0].DefaultView;
|
|
if (dvb.Count > 0)
|
|
{
|
|
barcode = dvb[0]["F_TxtParam"].ToString();
|
|
}
|
|
else
|
|
{
|
|
barcode = "-";
|
|
}
|
|
sss.Remove(0, sss.Length);
|
|
sss.Append("条码：").Append(barcode).Append("**写标志10003").Append("**管理任务：" + Fid.ToString()).Append("**设备指令索引：" + TaskIndex.ToString())
|
|
.Append("**命令字" + dorder.ToString()).Append("**位置" + AGVAddress.ToString());
|
|
|
|
CommonClassLib.CCarryConvert.WriteDarkCasket(this.ToString(), "发送AGV指令", DeviceIndex.ToString(), sss.ToString());
|
|
|
|
}
|
|
/// <summary>
|
|
/// 发送AGV命令
|
|
/// </summary>
|
|
/// <param name="MessageIndex">消息编号</param>
|
|
/// <param name="TaskIndex">任务编号</param>
|
|
/// <param name="Order">AGV命令字 ６１：MAN通知LC通讯连接建立；６２MAN通知LC通讯连接断开</param>
|
|
/// <param name="DeviceIndex">设备编号</param>
|
|
/// <returns>发送AGV设备命令是否成功</returns>
|
|
public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex)
|
|
{
|
|
Model.MDevice devinfo = Model.CGetInfo.GetDeviceInfo(DeviceIndex);
|
|
try
|
|
{
|
|
byte[] _Sdata = new byte[2];
|
|
_Sdata[0] = Convert.ToByte(Order);
|
|
_Sdata[1] = 0;
|
|
_Sdata[2] = Convert.ToByte(TaskIndex & 255);//低八位
|
|
_Sdata[3] = Convert.ToByte(TaskIndex >> 8);//高八位
|
|
|
|
//根据DeviceIndex,得到Sockets通讯的初始设置
|
|
|
|
|
|
|
|
if (devinfo == null)
|
|
{
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
|
|
CClientTCPIP.Send(devinfo.RemoteIP, devinfo.RemotePort, _Sdata);
|
|
return true;
|
|
|
|
}
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
_commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
|
|
return false;
|
|
}
|
|
finally
|
|
{
|
|
devinfo = null;
|
|
}
|
|
|
|
}
|
|
/// <summary>
|
|
/// 上位机给下位机发送烟箱按品牌码分道信息共15字节,有数据时写入实际数据，否则全部写零
|
|
/// </summary>
|
|
/// <param name="DeviceIndex">码垛位设备号索引</param>
|
|
/// <param name="TobaccoCode">第1--13字节,烟箱码</param>
|
|
/// <param name="HaveFirstProjectCode">第14字节,1-有一号工程码,0-无一号工程码</param>
|
|
/// <param name="IfSmallTobacco">第15字节,1-小烟箱,0-正常烟箱</param>
|
|
/// <returns></returns>
|
|
public bool SendDeviceOrder(int DeviceIndex, string TobaccoCode, bool HaveFirstProjectCode, bool IfSmallTobacco,int Count)
|
|
{
|
|
return true;
|
|
}
|
|
bool SendData(int devID, byte[] _Sdata)
|
|
{
|
|
//根据DeviceIndex,得到Sockets通讯的初始设置
|
|
Model.MDevice devinfo = Model.CGetInfo.GetDeviceInfo(devID);
|
|
try
|
|
{
|
|
if (devinfo == null)
|
|
{
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
|
|
if (CClientTCPIP.Send(devinfo.RemoteIP, devinfo.RemotePort, _Sdata) == false)
|
|
{
|
|
if (CClientTCPIP.TcpError != null) _commLayerError = CClientTCPIP.TcpError;
|
|
return false;
|
|
}
|
|
return true;
|
|
|
|
}
|
|
}
|
|
finally
|
|
{
|
|
devinfo = null;
|
|
}
|
|
}
|
|
/// <summary>
|
|
/// 向PLC的DB区写入数据
|
|
/// </summary>
|
|
/// <param name="ItemNames">标签变量名称数组</param>
|
|
/// <param name="ItemValues">标签值数组</param>
|
|
/// <returns></returns>
|
|
public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues)
|
|
{
|
|
return true;
|
|
}
|
|
public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues, string PLCconnectionID)
|
|
{
|
|
return true;
|
|
}
|
|
void GetDeviceInfoFromAGVGate(int agvGateDevice,ref char channelLeft,ref char useAwayFork,ref int AGVAddress)
|
|
{
|
|
DataView dv;
|
|
try
|
|
{
|
|
sql.Remove(0, sql.Length);
|
|
sql.Append("SELECT F_Address,F_IfChannelLeft,F_UseAwayFork FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = " ).Append( agvGateDevice ).Append( ")");
|
|
dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
|
|
if (dv.Count > 0)
|
|
{
|
|
channelLeft = Convert.ToChar(dv[0]["F_IfChannelLeft"]);
|
|
useAwayFork = Convert.ToChar(dv[0]["F_UseAwayFork"]);
|
|
AGVAddress = Convert.ToChar(dv[0]["F_Address"]);
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
throw ex;
|
|
}
|
|
finally
|
|
{
|
|
dv = null;
|
|
}
|
|
}
|
|
int GetAGVNoFromMonitor(int taskIndex)
|
|
{
|
|
|
|
DataView dv;
|
|
try
|
|
{
|
|
sql.Remove(0, sql.Length);
|
|
sql.Append("SELECT F_AgvNo FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( taskIndex ).Append( ") and (F_AgvNo is not null)");
|
|
dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
|
|
if (dv.Count > 0)
|
|
{
|
|
return Convert.ToInt32(dv[0][0]);
|
|
}
|
|
else
|
|
{
|
|
return 65535;
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
throw ex;
|
|
}
|
|
finally
|
|
{
|
|
dv = null;
|
|
}
|
|
}
|
|
int GetAGVTaskFromMonitor(int taskIndex)
|
|
{
|
|
|
|
DataView dv;
|
|
try
|
|
{
|
|
sql.Remove(0, sql.Length);
|
|
sql.Append("SELECT F_AgvTask FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( taskIndex ).Append( ") and (F_AgvTask is not null)");
|
|
dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
|
|
if (dv.Count > 0)
|
|
{
|
|
return Convert.ToInt32(dv[0][0]);
|
|
}
|
|
else
|
|
{
|
|
return 65535;
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
throw ex;
|
|
}
|
|
finally
|
|
{
|
|
dv = null;
|
|
}
|
|
}
|
|
/// <summary>
|
|
/// 是否有后续任务：1，有；0，无
|
|
/// </summary>
|
|
/// <param name="taskindex"></param>
|
|
/// <returns></returns>
|
|
int IfHaveNextTask(int taskindex,int deviceindex)
|
|
{
|
|
int mankind = Model.CGeneralFunction.GetManageTaskKindIndexFromMonitor(taskindex);
|
|
int fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(taskindex);
|
|
sql.Remove(0, sql.Length);
|
|
sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_DeviceCommandIndex <> 5) AND (F_DeviceIndex = ").Append(deviceindex).Append(") AND (F_MonitorIndex <> ").Append(taskindex).Append(") AND F_ManageTaskIndex=").Append(fid).Append(" AND F_ManageTASKKINDINDEX=").Append(mankind).Append(" ORDER BY F_MonitorIndex DESC");
|
|
DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView ;
|
|
if (dv.Count > 0)
|
|
{
|
|
dv = null;
|
|
return 1;
|
|
}
|
|
else
|
|
{
|
|
dv = null;
|
|
return 0;
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|