using System;
using System.Collections.Generic;
using System.Text;
using System.Data;
using System.Threading;
using Microsoft.VisualBasic;
using DBFactory;
using ICommLayer;
namespace SocketsTCPIP
{
/// <summary>
/// 使用SocketsTCPIP的客户端进行通讯
/// 发送设备命令类
/// 创建者：Richard.Liu
/// 20110104升级与AGV控制台通讯协议
/// </summary>
public class CSendDeviceOrder: ISendDeviceOrder
{
string _commLayerError;
StringBuilder sql = new StringBuilder();
Model.MDevice devinfo;
public string CommLayerError
{
get { return _commLayerError; }
set { _commLayerError = value; }
}
DBOperator dbo = CClientTCPIP.dbo;
string AGVAllowSingleFork = CommonClassLib.AppSettings.GetValue("AGVAllowSingleFork");
public CSendDeviceOrder()
{
dbo.Open();
}
/// <summary>
///序号 通讯种类 方向 通讯格式 格式说明
///1 监控调度通讯连接建立 监控调度->AGV控制台 10001
///2 监控调度通讯连接断开 监控调度->AGV控制台 10002
///3 下达任务 控调度->AGV控制台 10003[T1][T2][T][R][P][K][A][F][C][N1][N2]……[CK]
///T1为任务号(取值范围1000-65534)
///T2为任务步号(取值范围0-99)
///T为任务类型(TS编号); 0不指定类型，11演示流程
///R为产品类型; 0不指定类型
///P为优先级(取值范围1-8,越大优先级越高);2
///K为车辆类型; 0不指定类型(14001---〉1；15001---〉2)
///A为车辆编号; 0不指定编号
///F为后续任务标识(1-有后续任务,0-无后续任务);
///C为参数数量;
///N1、N2为具体参数;
///CK校验码(以上所有字段逐字节累加)
///4 下达任务确认 AGV控制台->监控调度 10003[T1][T2][CK] ///T1为任务号,T2为任务步号;
///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;
///6 任务开始确认 监控调度->AGV控制台 10004[T1][T2][CK]
///7 AGV任务完成 AGV控制台->监控调度 10005[T1][T2][A][CK]
///8 任务完成确认 监控调度->AGV控制台 10005[T1][T2][CK]
///9 监控申请删除任务 监控调度->AGV控制台 10006[T1][T2][CK]
///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)
///11 控制台申请删除任务 AGV控制台->监控调度 10007[T1][T2][CK]
///12 控制台申请删除任务确认 监控调度->AGV控制台 10007[T1][T2][CK]
///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;(0-查询所有车辆)
///14 查询AGV状态确认 AGV控制台->监控调度 10008[A][C][CK] ///A为车辆编号;C为车辆数目;
///15 控制台上报AGV状态 AGV控制台->监控调度 10009[A][T1][S][E][W][C][B][N][O][CK]
///A为车辆编号;
///T1为任务号;
///S为当前路段起点;
///E为当前路段终点;
///W为工作状态;(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)
///C为故障代码;
///B为电池状态;(0电量满,1电量正常2电量低)
///N为目标节点;
///O为操作码;
///16 确认AGV状态 监控调度->AGV控制台 10009[A][CK] ///A为车辆编号;
///17 监控发送信息 监控调度->AGV控制台 10010[R][C][I1][I2]…[CK]
///R为是否需要控制台回复确认
///(0-不需确认,1-需确认)
///C 为信息个数
///[I1]…为具体信息
///18 控制台回复信息确认 AGV控制台->监控调度 10010[R][C] [I1][I2]…[CK]
///19 控制台发送信息 AGV控制台->监控调度 10011[R][C][I1][I2]…[CK]
///R为是否需要控制台回复确认
///(0-不需确认,1-需确认)
///C 为信息个数
///[I1]…为具体信息
///20 上位机回复信息确认 监控调度->AGV控制台 10011[R][C][I1][I2]…[CK]
/// </summary>
/// <param name="MessageIndex">消息编号</param>
/// <param name="TaskIndex">任务编号</param>
/// <param name="Order">AGV命令字</param>
/// <param name="DeviceIndex">设备编号</param>
/// <param name="StartX">[N1]:取货点</param>
/// <param name="StartY"></param>
/// <param name="StartZ"></param>
/// <param name="EndX">[N2]:放货点</param>
/// <param name="EndY"></param>
/// <param name="EndZ"></param>
/// <returns>发送AGV命令是否成功</returns>
public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ)
{
devinfo = Model.CGetInfo.GetDeviceInfo(DeviceIndex);
if (devinfo == null)
{
return false;
}
else
{
if (CClientTCPIP.IfInit[devinfo.RemoteIP] == false)
{
return false;
}
}
//StartX取设备索引 EndX送设备索引
//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
//站在车尾沿着行进方向的左、右方向；
//判断关联双叉是否同步运行
char useAwayFork = '0';
char channelLeft = '0';
int AGVAddress = 0;
int dorder = 0;
int _device = GetAGVNoFromMonitor(TaskIndex);
int Fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(TaskIndex);
//byte goodsID = GetGoodsIDfromManage(Fid); // 从管理任务得到产品类型
byte goodsID = 255; // 从管理任务得到产品类型
byte[] _Sdata;
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；
int HaveNextTask = IfHaveNextTask(TaskIndex,DeviceIndex,ref NextOrder );
int forkNo = 0; int ck = 0;
bool retvalue = false;
if (MessageIndex != 1)
{
return false;
}
try
{
switch (Order)
{
case 1://运动命令 StartX取设备索引
#region 运动命令
GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);// 运动命令按照起点设备查找AGV地标点
//_Sdata = new byte[52];
//_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);
//// 产品类型65535 AGV新加字段 20150115
//_Sdata[16] = Convert.ToByte(65535 & 255);
//_Sdata[17] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[18] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[19] = Convert.ToByte((65535 >> 24) & 255);
//// 产品类型
//_Sdata[20] = 2;//优先级
//_Sdata[21] = 0;
//_Sdata[22] = 0;
//_Sdata[23] = 0;
//_Sdata[24] = Convert.ToByte(65535 & 255);//车辆类型
//_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(65535 & 255);//车辆编号
//_Sdata[29] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[30] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[31] = Convert.ToByte((65535 >> 24) & 255);
//_Sdata[32] = Convert.ToByte(HaveNextTask & 255);//后续任务标识
//_Sdata[33] = Convert.ToByte((HaveNextTask >> 8) & 255);
//_Sdata[34] = Convert.ToByte((HaveNextTask >> 16) & 255);
//_Sdata[35] = Convert.ToByte((HaveNextTask >> 24) & 255);
//_Sdata[36] = 1;//节点数量
//_Sdata[37] = 0;
//_Sdata[38] = 0;
//_Sdata[39] = 0;
//_Sdata[40] = Convert.ToByte(AGVAddress & 255);//节点号
//_Sdata[41] = Convert.ToByte((AGVAddress >> 8) & 255);
//_Sdata[42] = Convert.ToByte((AGVAddress >> 16) & 255);
//_Sdata[43] = Convert.ToByte((AGVAddress >> 24) & 255);
//_Sdata[44] = Convert.ToByte(Order & 255);//动作设备编号
//_Sdata[45] = Convert.ToByte((Order >> 8) & 255);
//_Sdata[46] = Convert.ToByte((Order >> 16) & 255);
//_Sdata[47] = Convert.ToByte((Order >> 24) & 255);
//ck = Convert.ToInt16(60003 + Fid + TaskIndex + 65535 + 65535 + 2 + 65535 + 65535 + HaveNextTask + 1 + AGVAddress + Order);
//_Sdata[48] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
//_Sdata[49] = Convert.ToByte((ck >> 8) & 255);
//_Sdata[50] = Convert.ToByte((ck >> 16) & 255);
//_Sdata[51] = Convert.ToByte((ck >> 24) & 255);
_Sdata = new byte[28];
_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
if (StartX < 19000)//输送机编号小于19000
{
_Sdata[10] = 1;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
else
{
_Sdata[10] = 2;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
_Sdata[12] = 2;//优先级
_Sdata[13] = 0;
_Sdata[14] = goodsID;//车辆类型 -- 传入货物类型bba 13\14时空托盘
_Sdata[15] = 0;
_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
_Sdata[21] = 0;
_Sdata[22] = Convert.ToByte(AGVAddress & 255);//取货节点号
_Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);
dorder = 65535;
_Sdata[24] = Convert.ToByte(dorder & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
_Sdata[25] = Convert.ToByte((dorder >> 8) & 255); // 高位FF03
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 2://取货命令
#region 取货命令
GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
dorder = 2;//取货命令
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[52];
//_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);
//// 产品类型65535 AGV新加字段 20150115
//_Sdata[16] = Convert.ToByte(65535 & 255);
//_Sdata[17] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[18] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[19] = Convert.ToByte((65535 >> 24) & 255);
//// 产品类型
//_Sdata[20] = 2;//优先级
//_Sdata[21] = 0;
//_Sdata[22] = 0;
//_Sdata[23] = 0;
//_Sdata[24] = Convert.ToByte(65535 & 255);//车辆类型
//_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(65535 & 255);//车辆编号
//_Sdata[29] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[30] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[31] = Convert.ToByte((65535 >> 24) & 255);
//_Sdata[32] = Convert.ToByte(HaveNextTask & 255);//后续任务标识
//_Sdata[33] = Convert.ToByte((HaveNextTask >> 8) & 255);
//_Sdata[34] = Convert.ToByte((HaveNextTask >> 16) & 255);
//_Sdata[35] = Convert.ToByte((HaveNextTask >> 24) & 255);
//_Sdata[36] = 1;//节点数量
//_Sdata[37] = 0;
//_Sdata[38] = 0;
//_Sdata[39] = 0;
//_Sdata[40] = Convert.ToByte(AGVAddress & 255);//节点号
//_Sdata[41] = Convert.ToByte((AGVAddress >> 8) & 255);
//_Sdata[42] = Convert.ToByte((AGVAddress >> 16) & 255);
//_Sdata[43] = Convert.ToByte((AGVAddress >> 24) & 255);
//_Sdata[44] = Convert.ToByte(Order & 255);//动作设备编号
//_Sdata[45] = Convert.ToByte((Order >> 8) & 255);
//_Sdata[46] = Convert.ToByte((Order >> 16) & 255);
//_Sdata[47] = Convert.ToByte((Order >> 24) & 255);
//ck = Convert.ToInt32(10003 + Fid + TaskIndex + 65535 + 65535 + 2 + 65535 + 65535 + HaveNextTask + 1 + AGVAddress + Order);
//_Sdata[48] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
//_Sdata[49] = Convert.ToByte((ck >> 8) & 255);
//_Sdata[50] = Convert.ToByte((ck >> 16) & 255);
//_Sdata[51] = Convert.ToByte((ck >> 24) & 255);
//writeDark(Fid, TaskIndex, DeviceIndex, dorder, AGVAddress);
_Sdata = new byte[28];
_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
if (StartX < 19000)//输送机编号小于19000
{
_Sdata[10] = 1;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
else
{
_Sdata[10] = 2;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
_Sdata[12] = 2;//优先级
_Sdata[13] = 0;
_Sdata[14] = goodsID;//车辆类型 -- 传入货物类型bba 13\14时空托盘
_Sdata[15] = 0;
_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
_Sdata[21] = 0;
_Sdata[22] = Convert.ToByte(AGVAddress & 255);//取货节点号
_Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);
dorder = 28901;
_Sdata[24] = Convert.ToByte(dorder & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
_Sdata[25] = Convert.ToByte((dorder >> 8) & 255); // 高位FF03
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 3://送货
#region 送货
GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
dorder = 3;//送货
//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 = new byte[52];
//_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);
//// 产品类型65535 AGV新加字段 20150115
//_Sdata[16] = Convert.ToByte(65535 & 255);
//_Sdata[17] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[18] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[19] = Convert.ToByte((65535 >> 24) & 255);
//// 产品类型
//_Sdata[20] = 2;//优先级
//_Sdata[21] = 0;
//_Sdata[22] = 0;
//_Sdata[23] = 0;
//_Sdata[24] = Convert.ToByte(65535 & 255);//车辆类型
//_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(65535 & 255);//车辆编号
//_Sdata[29] = Convert.ToByte((65535 >> 8) & 255);
//_Sdata[30] = Convert.ToByte((65535 >> 16) & 255);
//_Sdata[31] = Convert.ToByte((65535 >> 24) & 255);
//_Sdata[32] = Convert.ToByte(HaveNextTask & 255);//后续任务标识
//_Sdata[33] = Convert.ToByte((HaveNextTask >> 8) & 255);
//_Sdata[34] = Convert.ToByte((HaveNextTask >> 16) & 255);
//_Sdata[35] = Convert.ToByte((HaveNextTask >> 24) & 255);
//_Sdata[36] = 1;//节点数量
//_Sdata[37] = 0;
//_Sdata[38] = 0;
//_Sdata[39] = 0;
//_Sdata[40] = Convert.ToByte(AGVAddress & 255);//节点号
//_Sdata[41] = Convert.ToByte((AGVAddress >> 8) & 255);
//_Sdata[42] = Convert.ToByte((AGVAddress >> 16) & 255);
//_Sdata[43] = Convert.ToByte((AGVAddress >> 24) & 255);
//_Sdata[44] = Convert.ToByte(Order & 255);//动作设备编号
//_Sdata[45] = Convert.ToByte((Order >> 8) & 255);
//_Sdata[46] = Convert.ToByte((Order >> 16) & 255);
//_Sdata[47] = Convert.ToByte((Order >> 24) & 255);
//ck = Convert.ToInt32(10003 + Fid + TaskIndex + 65535 + 65535 + 2 + 65535 + 65535 + HaveNextTask + 1 + AGVAddress + Order);
//_Sdata[48] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
//_Sdata[49] = Convert.ToByte((ck >> 8) & 255);
//_Sdata[50] = Convert.ToByte((ck >> 16) & 255);
//_Sdata[51] = Convert.ToByte((ck >> 24) & 255);
//writeDark(Fid, TaskIndex, DeviceIndex, dorder, AGVAddress);
_Sdata = new byte[28];
_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
if (StartX < 19000)//输送机编号小于19000
{
_Sdata[10] = 1;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
else
{
_Sdata[10] = 2;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
_Sdata[12] = 2;//优先级
_Sdata[13] = 0;
_Sdata[14] = goodsID;//车辆类型 -- 传入货物类型bba 13\14时空托盘
_Sdata[15] = 0;
_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
_Sdata[21] = 0;
_Sdata[22] = Convert.ToByte(AGVAddress & 255);//取货节点号
_Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);
dorder = 28902;
_Sdata[24] = Convert.ToByte(dorder & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
_Sdata[25] = Convert.ToByte((dorder >> 8) & 255); // 高位FF03
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);
dorder = 4;
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[32];
_Sdata[0] = Convert.ToByte(10003 & 255); //帧头
_Sdata[1] = Convert.ToByte((10003 >> 8) & 255);
_Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
_Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
_Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
_Sdata[5] = Convert.ToByte((Fid >> 24) & 255);
_Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
_Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);
_Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
_Sdata[9] = Convert.ToByte((65535 >> 8) & 255);
if (StartX < 19000)//输送机编号小于19000
{
_Sdata[10] = 1;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
else
{
_Sdata[10] = 2;//产品类型,输送机1，地面2
_Sdata[11] = 0;
}
_Sdata[12] = 2;//优先级
_Sdata[13] = 0;
_Sdata[14] = goodsID;//车辆类型 -- 传入货物类型bba 13\14时空托盘
_Sdata[15] = 0;
_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] = 4;//参数数量
_Sdata[21] = 0;
_Sdata[22] = Convert.ToByte(AGVAddress & 255);//取货节点号
_Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);
dorder = 2;
_Sdata[24] = Convert.ToByte(dorder & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
_Sdata[25] = Convert.ToByte((dorder >> 8) & 255); // 高位FF03
GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
_Sdata[26] = Convert.ToByte(AGVAddress & 255);//送货节点号
_Sdata[27] = Convert.ToByte((AGVAddress >> 8) & 255);
dorder = 3;
_Sdata[28] = Convert.ToByte(dorder & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
_Sdata[29] = Convert.ToByte((dorder >> 8) & 255); //
for (int i = 0; i <= 29; i++)
{
ck += Convert.ToInt32(_Sdata[i]);
}
_Sdata[30] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
_Sdata[31] = Convert.ToByte((ck >> 8) & 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(60005 & 255); //帧头
// _Sdata[1] = Convert.ToByte(60005 >> 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);
}
}
}
// 从管理任务号得到物料类型，发送给AGV；物料类型管理下达任务时候在'GOODS_TEMPLATE_ID'字段，调度保存在 FREMARK 字段
public byte GetGoodsIDfromManage(int fid)
{
DataView dv;
try
{
sql.Remove(0, sql.Length);
sql.Append("SELECT GOODS_TEMPLATE_ID FROM T_MANAGE_TASK WHERE FID = ").Append(fid);
dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
if (dv.Count > 0)
{
if (dv[0][0] == DBNull.Value)
{
return 0;
}
else
{
return Convert.ToByte(dv[0][0]);
}
}
else
{
return 0;
}
}
catch (Exception ex)
{
throw ex;
}
finally
{
dv = null;
}
}
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"]);
AGVAddress = Convert.ToInt32(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,ref int NextOrder)
{
int mankind = Model.CGeneralFunction.GetManageTaskKindIndexFromMonitor(taskindex);
int fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(taskindex);
sql.Remove(0, sql.Length);
sql.Append("SELECT F_MonitorIndex, F_DEVICECOMMANDINDEX 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 asc");
DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView ;
if (dv.Count > 0)
{
NextOrder = Convert.ToInt32(dv[0]["F_DEVICECOMMANDINDEX"]);
dv = null;
return 1;
}
else
{
dv = null;
return 0;
}
}
/// <summary>
/// 根据fid、设备id 和 AGV命令 返回对应的任务号
/// <summary>
int GetTaskFromDeviceOrder(int fid, int deviceIndx, int Order)
{
DataView dv;
try
{
sql.Remove(0, sql.Length);
sql.Append(string.Format("select F_MonitorIndex from t_monitor_task where F_ManageTaskindex = {0} and F_DeviceIndex = {1} and F_DeviceCommandIndex = {2} order by F_MonitorIndex", fid, deviceIndx, Order));
dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
if (dv.Count > 0)
{
return Convert.ToInt32(dv[0][0]);
}
else
{
return 0;
}
}
catch (Exception ex)
{
throw ex;
}
finally
{
dv = null;
}
}
public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex, int boxnum)
{
return true;
}
}
}