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274 lines
9.7 KiB
274 lines
9.7 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 FINSTCPIP
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{
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/// <summary>
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/// 20210405 FINS 协议通讯接口派生类
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/// 发送设备命令类
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/// 创建者：zcy
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/// </summary>
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public class CSendDeviceOrder: ISendDeviceOrder
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{
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string _commLayerError;
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public string CommLayerError
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{
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get { return _commLayerError; }
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set { _commLayerError = value; }
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}
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DBOperator dbo = CommonClassLib.AppSettings.dbo;//20130510
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public CSendDeviceOrder()
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{
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dbo.Open();
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}
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//~CSendDeviceOrder()
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//{
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// dbo.Close();
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//}
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/// <summary>
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/// 发送穿梭板命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">环穿命令字</param>
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///1-入货
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///2-出货
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///3-上堆垛机
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///4-下堆垛机
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///6-复位
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///7-掉头到B边
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///12-掉头到A边
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///30-开始充电
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///50-停止充电
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/// <returns>发送穿梭板命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex )
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{
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Model.MDevice devinfo = Model.CGetInfo.GetDeviceInfo(DeviceIndex);
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string shuttleIP = devinfo.RemoteIP;
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if (FINSTCPIP.SHICANGProtocol.ShuttleConnected(shuttleIP) == false)
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{
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return false;
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}
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StringBuilder sql = new StringBuilder();
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DataView dv = new DataView();
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//只有入货和出货时才检测 TaskIndex
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if ( Order == 1 || Order == 2 )
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{
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sql.Remove(0, sql.Length);
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sql.Append("SELECT * FROM T_Monitor_Task WHERE F_MonitorIndex = ").Append(TaskIndex).Append(" AND F_Status = 0");
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dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
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if (dv.Count == 0)
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{
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_commLayerError = "FINSTCPIP.CSendDeviceOrder.SendDeviceOrder发生错误：不存在" + TaskIndex + " 对应的空闲指令!";
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return false;
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}
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}
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#region 在充电桩的货架里，发送任何指令时，都先发位置(LYJL更改了协议)
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if (FINSTCPIP.SHICANGProtocol.ShuttleInBetteyLane(DeviceIndex) == true)
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{
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SHICANGProtocol.Order_InBetteyLocatLane(DeviceIndex);
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#region 在充电桩的货架里，不能发送切换模式
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if (Order == 3 || Order == 4)
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{
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_commLayerError = "FINSTCPIP.CSendDeviceOrder.SendDeviceOrder发生错误："+ DeviceIndex + "在充电位置，不能发送切换模式！";
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return false;
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}
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#endregion
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}
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#endregion
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#region 发禁止动作时，车状态必须空闲、报警、充电中
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if (Order == 11)
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{
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if (devinfo.RunState == 0 || devinfo.SplitByte_3 == 1 || devinfo.RunState == 2)
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{
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}
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else
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{
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return false;
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}
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}
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#endregion
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#region 没有坐标/在堆垛机上，不能发送任何指令
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int z = FINSTCPIP.SHICANGProtocol.GetZ(DeviceIndex);
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if (z == 0 || z > 10 || z == -1)
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{
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_commLayerError = "FINSTCPIP.CSendDeviceOrder.SendDeviceOrder发生错误：" + DeviceIndex + "坐标不正确，不能发送指令！";
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return false;
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}
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#endregion
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//如果时间是10秒以前的，则认为车状态未更新，不能发送
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//DateTime appdt = new DateTime();
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//DateTime.TryParse(dv[0]["F_Time"].ToString(), out appdt);
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//if (appdt.AddSeconds(10) < DateTime.Now)
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//{
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// return false;
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//}
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if (FINSTCPIP.SHICANGProtocol.GetTime(DeviceIndex).AddSeconds(10) < DateTime.Now)
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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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#region 入货、出货需要先检查车位置和货位是否一致 (未完成)
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//所有的车坐标都不一致要调车过来，有车一致则更新车号
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#endregion
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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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switch (Order)
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{
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case 1:
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// RGV入货（穿梭板前往堆垛机放货站台取货，送到货位深处）
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SHICANGProtocol.Order_SetGood(shuttleIP, TaskIndex);
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break;
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case 2:
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// RGV出货（穿梭板前往第一个有货货位取货，送往堆垛机取货站台）
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SHICANGProtocol.Order_GetGood(shuttleIP, TaskIndex);
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break;
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case 3:
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// 穿梭板上堆垛机
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SHICANGProtocol.Order_ChangeMode(shuttleIP, SHICANGProtocol.CHACHEMODE);
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break;
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case 4:
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//穿梭板下堆垛机
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SHICANGProtocol.Order_ChangeMode(shuttleIP, SHICANGProtocol.DUIDUOMODE);
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break;
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case 7:
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// 穿梭板掉头到B边
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SHICANGProtocol.Order_ChangeAB(shuttleIP, SHICANGProtocol.TOBSIDE);
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break;
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case 12:
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//穿梭板掉头到A边
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SHICANGProtocol.Order_ChangeAB(shuttleIP, SHICANGProtocol.TOASIDE);
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break;
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case 10:
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break;
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case 11:
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SHICANGProtocol.Order_ForbidShuttleMove(shuttleIP);
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System.Threading.Thread.Sleep(100);
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break;
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case 13:
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SHICANGProtocol.Order_AllowShuttleMove(shuttleIP);
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break;
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case 30:
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SHICANGProtocol.Order_BeginCharge(shuttleIP);
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break;
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case 50:
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// 穿梭板停止充电
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SHICANGProtocol.Order_EndCharge(shuttleIP);
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break;
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case 6:
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//穿梭板复位
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SHICANGProtocol.Order_ResetShuttle(shuttleIP);
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break;
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case 5:
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//穿梭板回原点
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SHICANGProtocol.Order_ToOrigin(shuttleIP);
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break;
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default:
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break;
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}
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//在发送成功时，将车锁定。SendOrderSuccess()
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int Fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(TaskIndex);
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writeDark(Fid, TaskIndex, DeviceIndex, Order, 0);
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return true;
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}
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catch (Exception ex)
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{
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_commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
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return false;
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}
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finally
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{
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dv.Dispose();
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}
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}
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public void writeDark(int Fid, int TaskIndex, int DeviceIndex, int dorder, int AGVAddress)
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{
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DataView dv;
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try
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{
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string barcode = string.Empty;
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StringBuilder sss = new StringBuilder("");
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sss.Remove(0, sss.Length);
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sss.Append("SELECT F_TxtParam FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(TaskIndex).Append(")");
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dv = dbo.ExceSQL(sss.ToString()).Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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barcode = dv[0]["F_TxtParam"].ToString();
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}
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else
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{
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barcode = "-";
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}
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sss.Remove(0, sss.Length);
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sss.Append("条码：").Append(barcode).Append("").Append("**管理任务：" + Fid.ToString()).Append("**设备指令索引：" + TaskIndex.ToString())
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.Append("**命令字" + dorder.ToString()).Append("**位置" + AGVAddress.ToString());
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CommonClassLib.CCarryConvert.WriteDarkCasket(this.ToString(), "发送RGV指令", DeviceIndex.ToString(), sss.ToString());
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}
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catch (Exception ex)
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{
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throw ex;
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}
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finally
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{
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dv = null;
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}
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}
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ)
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{
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_commLayerError = "穿梭板指令发送时，选择重载方法错误";
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return false;
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}
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ, string DoubleFork)
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{
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return true;
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}
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public bool SendDeviceOrder(int DeviceIndex, string TobaccoCode, bool HaveFirstProjectCode, bool IfSmallTobacco, int Count)
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{
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return true;
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}
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public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues)
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{
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return true;
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}
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public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues, string PLCconnectionID)
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{
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return true;
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}
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}
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}
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