1666 lines
60 KiB
C#
1666 lines
60 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Data;
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using System.Linq;
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using System.Net.NetworkInformation;
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using System.Threading;
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using AGVSystem.A17168;
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using AGVSystem.Cls;
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using BllSql;
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using Crossing;
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using HxBusiness;
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using Protocol.Socket_Uart.S7_200_PPI;
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namespace AGVSystem
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{
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// Token: 0x02000002 RID: 2
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public class Cls_A17168
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{
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// Token: 0x17000001 RID: 1
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// (get) Token: 0x06000001 RID: 1 RVA: 0x00002050 File Offset: 0x00000250
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// (set) Token: 0x06000002 RID: 2 RVA: 0x00002067 File Offset: 0x00000267
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public DataSet ds_Mileage
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{
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get
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{
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return Cls_A17168.ds_mileage;
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}
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set
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{
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Cls_A17168.ds_mileage = value;
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}
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}
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// Token: 0x17000002 RID: 2
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// (get) Token: 0x06000003 RID: 3 RVA: 0x00002070 File Offset: 0x00000270
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// (set) Token: 0x06000004 RID: 4 RVA: 0x00002087 File Offset: 0x00000287
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public string ConnectStr
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{
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get
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{
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return Cls_A17168.connectStr;
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}
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set
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{
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Cls_A17168.connectStr = value;
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}
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}
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// Token: 0x17000003 RID: 3
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// (get) Token: 0x06000005 RID: 5 RVA: 0x00002090 File Offset: 0x00000290
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// (set) Token: 0x06000006 RID: 6 RVA: 0x000020A7 File Offset: 0x000002A7
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public bool StartFlag
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{
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get
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{
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return Cls_A17168.startFlag;
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}
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set
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{
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Cls_A17168.startFlag = value;
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}
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}
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// Token: 0x17000004 RID: 4
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// (get) Token: 0x06000007 RID: 7 RVA: 0x000020B0 File Offset: 0x000002B0
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// (set) Token: 0x06000008 RID: 8 RVA: 0x000020C7 File Offset: 0x000002C7
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public int ClosedFlag
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{
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get
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{
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return Cls_A17168.closedFlag;
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}
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set
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{
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Cls_A17168.closedFlag = value;
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}
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}
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// Token: 0x17000005 RID: 5
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// (get) Token: 0x06000009 RID: 9 RVA: 0x000020D0 File Offset: 0x000002D0
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// (set) Token: 0x0600000A RID: 10 RVA: 0x000020E7 File Offset: 0x000002E7
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public Thread[] th_GetData
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{
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get
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{
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return Cls_A17168.th_getData;
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}
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set
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{
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Cls_A17168.th_getData = value;
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}
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}
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// Token: 0x0600000B RID: 11 RVA: 0x000020F0 File Offset: 0x000002F0
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public void AGV_start(object agvinfo)
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{
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Cls_A17168.agv @object = new Cls_A17168.agv();
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AgvInfo agvInfo = (AgvInfo)agvinfo;
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bool flag = agvInfo.Type == 6;
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if (flag)
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{
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this.th_GetData[agvInfo.Agv_ID - 1] = new Thread(new ParameterizedThreadStart(@object.AGV_Data));
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}
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else
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{
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this.th_GetData[agvInfo.Agv_ID - 1] = new Thread(new ParameterizedThreadStart(@object.AGV_Data_PLC));
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}
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this.th_GetData[agvInfo.Agv_ID - 1].IsBackground = true;
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this.th_GetData[agvInfo.Agv_ID - 1].Start(agvinfo);
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}
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// Token: 0x0600000C RID: 12 RVA: 0x0000218C File Offset: 0x0000038C
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public static int GetAreaAGVNum(int[] num)
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{
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int num2 = 0;
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for (int i = 0; i < num.Length; i++)
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{
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num2 += (int)Cls_A17168.Agv_Land_Count(num[i]);
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}
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return num2;
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}
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// Token: 0x0600000D RID: 13 RVA: 0x000021C0 File Offset: 0x000003C0
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private static void Warn_Deal(AgvInfo temp, string sWarn)
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{
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bool flag = temp.Warn_ID != sWarn;
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if (flag)
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{
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int num = 0;
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string[] array = new string[]
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{
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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""
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};
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temp.Warn_ID = sWarn;
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Cls_A17168.WarnInfo(temp.Warn_ID, out array, out num);
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temp.Warn_info = "";
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temp.Warn_Level = num;
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bool flag2 = num == 1;
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if (flag2)
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{
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temp.Warn_info = "正常";
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Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
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}
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else
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{
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for (byte b = 0; b < 8; b += 1)
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{
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bool flag3 = array[(int)b] != "";
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if (flag3)
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{
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temp.Warn_info = temp.Warn_info + array[(int)b] + "\r\n";
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Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, array[(int)b], temp.Agv_ID);
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}
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}
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}
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}
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}
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// Token: 0x0600000E RID: 14 RVA: 0x00002310 File Offset: 0x00000510
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private static void Warn_Deal_Plc(AgvInfo temp, string sWarn)
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{
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bool flag = temp.Warn_ID != sWarn;
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if (flag)
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{
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int num = 0;
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string[] array = new string[]
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{
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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""
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};
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temp.Warn_ID = sWarn;
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Cls_A17168.WarnInfo_PLC(temp.Warn_ID, out array, out num);
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temp.Warn_info = "";
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temp.Warn_Level = num;
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bool flag2 = num == 1;
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if (flag2)
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{
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temp.Warn_info = "正常";
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Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
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}
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else
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{
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for (byte b = 0; b < 8; b += 1)
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{
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bool flag3 = array[(int)b] != "";
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if (flag3)
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{
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temp.Warn_info = temp.Warn_info + array[(int)b] + "\r\n";
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Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, array[(int)b], temp.Agv_ID);
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}
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}
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}
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}
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}
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// Token: 0x0600000F RID: 15 RVA: 0x00002460 File Offset: 0x00000660
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private static void Voltage_Deal(AgvInfo temp, string sValue)
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{
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}
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// Token: 0x06000010 RID: 16 RVA: 0x00002460 File Offset: 0x00000660
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private static void Speed_Bank_Deal(AgvInfo temp, string sValue)
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{
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}
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// Token: 0x06000011 RID: 17 RVA: 0x00002460 File Offset: 0x00000660
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private static void Direction_Run_Deal(AgvInfo temp, string sValue)
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{
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}
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// Token: 0x06000012 RID: 18 RVA: 0x00002460 File Offset: 0x00000660
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private static void Move_Forward(AgvInfo temp, string sValue)
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{
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}
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// Token: 0x06000013 RID: 19 RVA: 0x00002464 File Offset: 0x00000664
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private static byte Agv_Count_Area(int worktype, int[] landmark)
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{
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byte b = 0;
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byte b2 = 0;
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while ((int)b2 < Func.AgvInfo.Length)
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{
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bool flag = Func.AgvInfo[(int)b2].WorkType == worktype;
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if (flag)
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{
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byte b3 = 0;
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while ((int)b3 < landmark.Length)
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{
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bool flag2 = Func.AgvInfo[(int)b2].Location_Display == landmark[(int)b3];
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if (flag2)
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{
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b += 1;
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}
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b3 += 1;
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}
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}
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b2 += 1;
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}
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return b;
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}
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// Token: 0x06000014 RID: 20 RVA: 0x000024E0 File Offset: 0x000006E0
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private static byte Agv_Land_Count(int landmark)
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{
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byte b = 0;
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byte b2 = 0;
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while ((int)b2 < Func.AgvInfo.Length)
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{
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bool flag = Func.AgvInfo[(int)b2].Location_Display == landmark;
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if (flag)
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{
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b += 1;
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}
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b2 += 1;
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}
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return b;
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}
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// Token: 0x06000015 RID: 21 RVA: 0x00002528 File Offset: 0x00000728
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private static byte Agv_Go_Count(int landmark)
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{
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byte b = 0;
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byte b2 = 0;
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while ((int)b2 < Func.AgvInfo.Length)
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{
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bool flag = Func.AgvInfo[(int)b2].Cross_Location_Go == landmark;
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if (flag)
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{
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b += 1;
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}
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b2 += 1;
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}
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return b;
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}
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// Token: 0x06000016 RID: 22 RVA: 0x00002570 File Offset: 0x00000770
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private static void LostConnect(ref int iStatus)
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{
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object sem_LOST_CONNECT = Cls_A17168.SEM_LOST_CONNECT;
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lock (sem_LOST_CONNECT)
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{
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bool flag2 = iStatus >= 0;
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if (flag2)
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{
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iStatus = -1;
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}
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else
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{
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iStatus--;
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}
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}
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}
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// Token: 0x06000017 RID: 23 RVA: 0x000025C8 File Offset: 0x000007C8
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private static void WarnInfo(string str, out string[] info, out int level)
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{
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int num = 0;
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info = new string[8];
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level = 1;
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for (byte b = 0; b < 8; b += 1)
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{
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info[(int)b] = "";
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}
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bool flag = str == "0000000000000000000000000000000000000000000000000000000000000000";
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if (flag)
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{
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info[0] = "正常";
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}
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else
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{
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for (byte b2 = 0; b2 < 64; b2 += 1)
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{
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bool flag2 = str.Substring((int)(63 - b2), 1) == "1";
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if (flag2)
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{
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bool flag3 = mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString() != "0";
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if (flag3)
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{
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info[num] = mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][1].ToString();
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bool flag4 = level < (int)Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString());
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if (flag4)
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{
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level = (int)Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString());
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}
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num++;
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}
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bool flag5 = num >= 8;
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if (flag5)
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{
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break;
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}
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}
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}
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}
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}
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// Token: 0x06000018 RID: 24 RVA: 0x00002740 File Offset: 0x00000940
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private static void WarnInfo_PLC(string str, out string[] info, out int level)
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{
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int num = 0;
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info = new string[8];
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level = 1;
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for (byte b = 0; b < 8; b += 1)
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{
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info[(int)b] = "";
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}
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bool flag = str == "0000000000000000000000000000000000000000000000000000000000000000";
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if (flag)
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{
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info[0] = "正常";
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}
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else
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{
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for (byte b2 = 0; b2 < 64; b2 += 1)
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{
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bool flag2 = str.Substring((int)(63 - b2), 1) == "1";
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if (flag2)
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{
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bool flag3 = mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString() != "0";
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if (flag3)
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{
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info[num] = mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][1].ToString();
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bool flag4 = level < (int)Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString());
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if (flag4)
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{
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level = (int)Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString());
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}
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num++;
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}
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bool flag5 = num >= 8;
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if (flag5)
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{
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break;
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}
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}
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}
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}
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}
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// Token: 0x06000019 RID: 25 RVA: 0x000028B8 File Offset: 0x00000AB8
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public static float GetMileage(int point1, int point2)
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{
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object obj = Cls_A17168.obj_GetMileage;
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float result;
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lock (obj)
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{
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float num = 0f;
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int count = Cls_A17168.ds_mileage.Tables[0].Rows.Count;
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DataTable dataTable = new DataView(Cls_A17168.ds_mileage.Tables[0])
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{
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RowFilter = string.Concat(new string[]
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{
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"(Start_Point=",
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point1.ToString(),
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" or Start_Point=",
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point2.ToString(),
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") and (End_Point= ",
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point1.ToString(),
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" or End_Point= ",
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point2.ToString(),
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")"
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}),
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RowStateFilter = DataViewRowState.OriginalRows
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}.ToTable();
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int count2 = dataTable.Rows.Count;
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try
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{
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num = Convert.ToSingle(dataTable.Rows[0]["Distance"].ToString());
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}
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catch
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{
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}
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result = num;
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}
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return result;
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}
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// Token: 0x04000001 RID: 1
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private static Thread[] th_getData;
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// Token: 0x04000002 RID: 2
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public static DataSet ds_mileage = new DataSet();
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// Token: 0x04000003 RID: 3
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private static string connectStr = "";
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// Token: 0x04000004 RID: 4
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private static bool startFlag = false;
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// Token: 0x04000005 RID: 5
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private static int closedFlag = -1;
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// Token: 0x04000006 RID: 6
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public static BllBase bBllBase = new BllBase();
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// Token: 0x04000007 RID: 7
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private static object SEM_LOST_CONNECT = new object();
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// Token: 0x04000008 RID: 8
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private static object obj_GetMileage = new object();
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// Token: 0x02000037 RID: 55
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public class agv
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{
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// Token: 0x060002C9 RID: 713 RVA: 0x00054170 File Offset: 0x00052370
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public void AGV_Data(object agvinfo)
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{
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AgvInfo temp = (AgvInfo)agvinfo;
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int location_temp = 0;
|
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int[] array = new int[24];
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byte[] array2 = new byte[24];
|
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int num = 0;
|
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int num2 = 0;
|
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Ping ping = new Ping();
|
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Soc_Client soc_Client = new Soc_Client(temp.IP, temp.Port);
|
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temp.Soc = soc_Client.clientSocket;
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string[] array3 = new string[]
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{
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"",
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"",
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"",
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"",
|
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"",
|
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"",
|
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"",
|
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""
|
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};
|
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Cls_A17168.closedFlag = -1;
|
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Predicate<TrafficModel> <>9__1;
|
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Predicate<TrafficModel> <>9__2;
|
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for (;;)
|
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{
|
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bool flag = !temp.Enable;
|
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if (flag)
|
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{
|
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Thread.Sleep(3000);
|
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bool flag2 = temp.Location_Display != 0;
|
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if (flag2)
|
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{
|
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Crossing.BlockCross(temp.AssemblyLine, 0, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
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}
|
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temp.Location_Display = 0;
|
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temp.Cross_Location_Go = 0;
|
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}
|
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else
|
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{
|
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bool flag3 = !Cls_A17168.startFlag;
|
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if (flag3)
|
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{
|
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Thread.Sleep(500);
|
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}
|
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else
|
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{
|
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try
|
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{
|
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bool flag4 = temp.bPlcLinked || ping.Send(temp.IP, 150).Status == IPStatus.Success;
|
|
if (flag4)
|
|
{
|
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bool flag5 = !temp.bPlcLinked;
|
|
if (flag5)
|
|
{
|
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bool flag6 = soc_Client.OpenLinkPLC();
|
|
if (flag6)
|
|
{
|
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temp.bPlcLinked = true;
|
|
}
|
|
else
|
|
{
|
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temp.bPlcLinked = false;
|
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soc_Client.CloseLinkPLC();
|
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soc_Client = new Soc_Client(temp.IP, temp.Port);
|
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temp.Soc = soc_Client.clientSocket;
|
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num = 0;
|
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}
|
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}
|
|
else
|
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{
|
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array[0] = 0;
|
|
bool flag7 = temp.Type == 6 && soc_Client.ReadInfo(out array) != 0;
|
|
if (flag7)
|
|
{
|
|
num++;
|
|
bool flag8 = num >= 5;
|
|
if (flag8)
|
|
{
|
|
temp.bPlcLinked = false;
|
|
num = 0;
|
|
soc_Client.CloseLinkPLC();
|
|
soc_Client = new Soc_Client(temp.IP, temp.Port);
|
|
temp.Soc = soc_Client.clientSocket;
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
string item = string.Concat(new string[]
|
|
{
|
|
"INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('",
|
|
DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
|
"', '",
|
|
temp.Agv_ID.ToString(),
|
|
"', 'Read Fail')"
|
|
});
|
|
UPDateDBList.sqlList.Add(item);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
num = 0;
|
|
int num3 = (temp.Type == 6) ? (array[3] * 256 + array[2]) : array[0];
|
|
location_temp = Func.GetLandMarkId(temp.AssemblyLine, num3);
|
|
bool flag9 = temp.Location_Display != location_temp && location_temp != 0;
|
|
if (flag9)
|
|
{
|
|
WriteTxt.SaveLog1("AGV经过地标：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "地标日志");
|
|
temp.Location_Display = location_temp;
|
|
temp.Read_dt = DateTime.Now;
|
|
UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, num3, 0, 0, 0));
|
|
}
|
|
WriteTxt.SaveLog1("=========》（11）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag10 = temp.Cross_Location_Go != location_temp && num3 > 0 && num3 < 2000;
|
|
if (flag10)
|
|
{
|
|
bool flag11 = temp.AssemblyLine == 1 && temp.Location_Display == 152;
|
|
if (flag11)
|
|
{
|
|
bool flag12 = Cls_A17168.Agv_Land_Count(152) == 1;
|
|
if (flag12)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag13 = num4 >= 0;
|
|
if (flag13)
|
|
{
|
|
bool flag14 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag14)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag15 = num4 != num2;
|
|
if (flag15)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag16 = temp.AssemblyLine == 3 && temp.Location_Display == 136;
|
|
if (flag16)
|
|
{
|
|
bool flag17 = Cls_A17168.Agv_Land_Count(136) == 1;
|
|
if (flag17)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag18 = num4 >= 0;
|
|
if (flag18)
|
|
{
|
|
bool flag19 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag19)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag20 = num4 != num2;
|
|
if (flag20)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag21 = temp.AssemblyLine == 5 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
106,
|
|
182,
|
|
196
|
|
}, location_temp);
|
|
if (flag21)
|
|
{
|
|
bool flag22 = (temp.Location_Display == 106 && Cls_A17168.Agv_Land_Count(106) == 1 && Cls_A17168.Agv_Land_Count(167) == 0) || (temp.Location_Display == 182 && Cls_A17168.Agv_Land_Count(182) == 1 && Cls_A17168.Agv_Land_Count(196) == 0) || (temp.Location_Display == 196 && Cls_A17168.Agv_Land_Count(196) == 1 && Cls_A17168.Agv_Land_Count(195) == 0);
|
|
if (flag22)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag23 = num4 >= 0;
|
|
if (flag23)
|
|
{
|
|
bool flag24 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag24)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag25 = num4 != num2;
|
|
if (flag25)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag26 = temp.AssemblyLine == 6 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
180
|
|
}, location_temp);
|
|
if (flag26)
|
|
{
|
|
bool flag27 = temp.Location_Display == 180 && Cls_A17168.Agv_Land_Count(180) == 1;
|
|
if (flag27)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag28 = num4 >= 0;
|
|
if (flag28)
|
|
{
|
|
bool flag29 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag29)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag30 = num4 != num2;
|
|
if (flag30)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag31 = temp.AssemblyLine == 7 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
500,
|
|
174,
|
|
156,
|
|
154,
|
|
216,
|
|
504
|
|
}, location_temp);
|
|
if (flag31)
|
|
{
|
|
bool flag32 = (temp.Location_Display == 500 && Cls_A17168.Agv_Land_Count(500) == 1) || (temp.Location_Display == 174 && Cls_A17168.Agv_Land_Count(174) == 1) || (temp.Location_Display == 154 && Cls_A17168.Agv_Land_Count(154) == 1 && Cls_A17168.Agv_Land_Count(156) == 0) || (temp.Location_Display == 156 && Cls_A17168.Agv_Land_Count(156) == 1) || (temp.Location_Display == 216 && Cls_A17168.Agv_Land_Count(216) == 1) || (temp.Location_Display == 504 && Cls_A17168.Agv_Land_Count(504) == 1);
|
|
if (flag32)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag33 = num4 >= 0;
|
|
if (flag33)
|
|
{
|
|
bool flag34 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag34)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag35 = num4 != num2;
|
|
if (flag35)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag36 = Enumerable.Contains<int>(new int[]
|
|
{
|
|
316,
|
|
328,
|
|
332,
|
|
300,
|
|
314,
|
|
310,
|
|
342
|
|
}, location_temp);
|
|
if (flag36)
|
|
{
|
|
bool flag37 = (temp.Location_Display == 316 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
316,
|
|
320,
|
|
321
|
|
}) == 1) || (temp.Location_Display == 328 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
328,
|
|
332
|
|
}) == 1) || (temp.Location_Display == 332 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
332
|
|
}) == 1) || (temp.Location_Display == 300 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
300
|
|
}) == 1) || (temp.Location_Display == 310 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
310,
|
|
312,
|
|
313
|
|
}) == 1) || (temp.Location_Display == 342 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
342,
|
|
304,
|
|
305
|
|
}) == 1) || (temp.Location_Display == 314 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
314
|
|
}) == 1);
|
|
if (flag37)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag38 = num4 >= 0;
|
|
if (flag38)
|
|
{
|
|
bool flag39 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag39)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag40 = num4 != num2;
|
|
if (flag40)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag41 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(new char[]
|
|
{
|
|
','
|
|
}), location_temp.ToString());
|
|
if (flag41)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（12）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag42 = Frm_A17168.businessCtrl == null;
|
|
if (flag42)
|
|
{
|
|
Frm_A17168.businessCtrl = new BusinessManage();
|
|
}
|
|
bool flag43 = Frm_A17168.leavedDic == null;
|
|
if (flag43)
|
|
{
|
|
Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
}
|
|
bool flag44 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
|
|
if (flag44)
|
|
{
|
|
Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
}
|
|
bool flag45 = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag46 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
|
|
if (flag46)
|
|
{
|
|
flag45 = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flag45.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
bool flag47 = flag45;
|
|
if (flag47)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（13）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
List<TrafficModel> autoLeavedDic = Frm_A17168.autoLeavedDic;
|
|
Predicate<TrafficModel> match;
|
|
if ((match = <>9__1) == null)
|
|
{
|
|
match = (<>9__1 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
|
|
}
|
|
TrafficModel trafficModel = autoLeavedDic.Find(match);
|
|
bool flag48 = trafficModel != null;
|
|
if (flag48)
|
|
{
|
|
trafficModel.agvId = temp.Agv_ID;
|
|
trafficModel.InArea = DateTime.Now;
|
|
}
|
|
WriteTxt.SaveLog1(string.Concat(new string[]
|
|
{
|
|
location_temp.ToString(),
|
|
"路口添加",
|
|
(trafficModel != null) ? trafficModel.areaCode : null,
|
|
"(",
|
|
trafficModel.agvId.ToString(),
|
|
")"
|
|
}), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag49 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag49)
|
|
{
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
num2 = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
int location_temp2 = location_temp;
|
|
}
|
|
}
|
|
Dictionary<int, int> leavedDic = Frm_A17168.leavedDic;
|
|
int num5 = temp.Agv_ID;
|
|
int num6 = leavedDic[num5];
|
|
leavedDic[num5] = num6 + 1;
|
|
}
|
|
else
|
|
{
|
|
bool flag50 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(new char[]
|
|
{
|
|
','
|
|
}), location_temp.ToString());
|
|
if (flag50)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（14）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag51 = Frm_A17168.businessCtrl == null;
|
|
if (flag51)
|
|
{
|
|
Frm_A17168.businessCtrl = new BusinessManage();
|
|
}
|
|
bool flag52 = Frm_A17168.leavedDic == null;
|
|
if (flag52)
|
|
{
|
|
Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
}
|
|
bool flag53 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
|
|
if (flag53)
|
|
{
|
|
Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
}
|
|
bool flag54 = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag55 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
|
|
if (flag55)
|
|
{
|
|
flag54 = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flag54.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
bool flag56 = flag54;
|
|
if (flag56)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（15）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
int location_temp2 = location_temp;
|
|
List<TrafficModel> autoLeavedDic2 = Frm_A17168.autoLeavedDic;
|
|
Predicate<TrafficModel> match2;
|
|
if ((match2 = <>9__2) == null)
|
|
{
|
|
match2 = (<>9__2 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
|
|
}
|
|
TrafficModel trafficModel2 = autoLeavedDic2.Find(match2);
|
|
bool flag57 = trafficModel2 != null;
|
|
if (flag57)
|
|
{
|
|
trafficModel2.agvId = 0;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
Dictionary<int, int> leavedDic2 = Frm_A17168.leavedDic;
|
|
int num6 = temp.Agv_ID;
|
|
int num5 = leavedDic2[num6];
|
|
leavedDic2[num6] = num5 + 1;
|
|
}
|
|
else
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag58 = num4 >= 0;
|
|
if (flag58)
|
|
{
|
|
bool flag59 = location_temp % 2 == 0;
|
|
if (flag59)
|
|
{
|
|
WriteTxt.SaveLog1("准备放行" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "AGV");
|
|
bool flag60 = soc_Client.WriteInfo(1, 0, 0) == 0;
|
|
if (flag60)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "路口已复位", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
num2 = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag61 = num4 < 0;
|
|
if (flag61)
|
|
{
|
|
bool flag62 = num4 != num2;
|
|
if (flag62)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
string sWarn = string.Concat(new string[]
|
|
{
|
|
Convert.ToString(array[11], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[10], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[9], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[8], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[7], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[6], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[5], 2).PadLeft(8, '0'),
|
|
Convert.ToString(array[4], 2).PadLeft(8, '0')
|
|
});
|
|
ThreadPool.QueueUserWorkItem(delegate(object o)
|
|
{
|
|
Thread.Sleep(100);
|
|
Cls_A17168.Warn_Deal(temp, sWarn);
|
|
});
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool bPlcLinked = temp.bPlcLinked;
|
|
if (bPlcLinked)
|
|
{
|
|
num++;
|
|
bool flag63 = num > 10;
|
|
if (flag63)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
soc_Client.CloseLinkPLC();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
bool flag64 = ex.TargetSite.Name.ToString() == "ConnectAsync";
|
|
if (flag64)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
soc_Client.CloseLinkPLC();
|
|
}
|
|
bool bPlcLinked2 = temp.bPlcLinked;
|
|
if (bPlcLinked2)
|
|
{
|
|
num++;
|
|
bool flag65 = num > 10;
|
|
if (flag65)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
soc_Client.CloseLinkPLC();
|
|
}
|
|
}
|
|
Thread.Sleep(5000);
|
|
}
|
|
Thread.Sleep(1000);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Token: 0x060002CA RID: 714 RVA: 0x000560C8 File Offset: 0x000542C8
|
|
public void AGV_Data_PLC(object agvinfo)
|
|
{
|
|
AgvInfo temp = (AgvInfo)agvinfo;
|
|
int location_temp = 0;
|
|
int[] array = new int[1];
|
|
int[] array2 = new int[1];
|
|
int num = 0;
|
|
int num2 = 0;
|
|
Ping ping = new Ping();
|
|
S7_200SocketClient s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = s7_200SocketClient.clientSocket;
|
|
string[] array3 = new string[]
|
|
{
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
""
|
|
};
|
|
Cls_A17168.closedFlag = -1;
|
|
Predicate<TrafficModel> <>9__1;
|
|
Predicate<TrafficModel> <>9__2;
|
|
for (;;)
|
|
{
|
|
bool flag = !temp.Enable;
|
|
if (flag)
|
|
{
|
|
Thread.Sleep(3000);
|
|
}
|
|
else
|
|
{
|
|
bool flag2 = !Cls_A17168.startFlag;
|
|
if (flag2)
|
|
{
|
|
Thread.Sleep(500);
|
|
}
|
|
else
|
|
{
|
|
try
|
|
{
|
|
bool flag3 = ping.Send(temp.IP, 150).Status == IPStatus.Success;
|
|
if (flag3)
|
|
{
|
|
bool flag4 = !temp.bPlcLinked;
|
|
if (flag4)
|
|
{
|
|
bool flag5 = s7_200SocketClient.OpenLinkPLC();
|
|
if (flag5)
|
|
{
|
|
temp.bPlcLinked = true;
|
|
}
|
|
else
|
|
{
|
|
temp.bPlcLinked = false;
|
|
s7_200SocketClient.CloseLinkPLC();
|
|
s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = s7_200SocketClient.clientSocket;
|
|
num = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
array[0] = 0;
|
|
bool flag6 = s7_200SocketClient.ReadVW(2, 1, 104, out array) != 0;
|
|
if (flag6)
|
|
{
|
|
num--;
|
|
bool flag7 = Math.Abs(num) >= 5;
|
|
if (flag7)
|
|
{
|
|
temp.bPlcLinked = false;
|
|
num = 0;
|
|
s7_200SocketClient.CloseLinkPLC();
|
|
s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = s7_200SocketClient.clientSocket;
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
string sql = string.Concat(new string[]
|
|
{
|
|
"INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('",
|
|
DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
|
"', '",
|
|
temp.Agv_ID.ToString(),
|
|
"', 'Read Fail')"
|
|
});
|
|
Cls_A17168.bBllBase.ExecuteNonQuery(sql);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
location_temp = Func.GetLandMarkId(temp.AssemblyLine, array[0]);
|
|
int num3 = array[0];
|
|
bool flag8 = temp.Location_Display != location_temp && location_temp != 0;
|
|
if (flag8)
|
|
{
|
|
WriteTxt.SaveLog1("AGV经过地标：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "地标日志");
|
|
temp.Location_Display = location_temp;
|
|
temp.Read_dt = DateTime.Now;
|
|
string item = string.Concat(new string[]
|
|
{
|
|
"INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2] ,[Value2],[Value3]) VALUES ('",
|
|
DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
|
"',",
|
|
temp.Agv_ID.ToString(),
|
|
",",
|
|
location_temp.ToString(),
|
|
",",
|
|
num3.ToString(),
|
|
",",
|
|
0.ToString(),
|
|
",",
|
|
0.ToString(),
|
|
",",
|
|
0.ToString(),
|
|
")"
|
|
});
|
|
UPDateDBList.sqlList.Add(item);
|
|
}
|
|
bool flag9 = Math.Abs(num) > 0;
|
|
if (flag9)
|
|
{
|
|
num = 0;
|
|
}
|
|
WriteTxt.SaveLog1("=========》（21）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag10 = temp.Cross_Location_Go != location_temp && num3 > 0 && num3 < 2000;
|
|
if (flag10)
|
|
{
|
|
bool flag11 = temp.AssemblyLine == 1 && temp.Location_Display == 152;
|
|
if (flag11)
|
|
{
|
|
bool flag12 = Cls_A17168.Agv_Land_Count(152) == 1;
|
|
if (flag12)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag13 = num4 >= 0;
|
|
if (flag13)
|
|
{
|
|
bool flag14 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag14)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag15 = num4 != num2;
|
|
if (flag15)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag16 = temp.AssemblyLine == 3 && temp.Location_Display == 136;
|
|
if (flag16)
|
|
{
|
|
bool flag17 = Cls_A17168.Agv_Land_Count(136) == 1;
|
|
if (flag17)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag18 = num4 >= 0;
|
|
if (flag18)
|
|
{
|
|
bool flag19 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag19)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag20 = num4 != num2;
|
|
if (flag20)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag21 = temp.AssemblyLine == 5 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
106,
|
|
182,
|
|
196
|
|
}, location_temp);
|
|
if (flag21)
|
|
{
|
|
bool flag22 = (temp.Location_Display == 106 && Cls_A17168.Agv_Land_Count(106) == 1 && Cls_A17168.Agv_Land_Count(167) == 0) || (temp.Location_Display == 182 && Cls_A17168.Agv_Land_Count(182) == 1 && Cls_A17168.Agv_Land_Count(196) == 0) || (temp.Location_Display == 196 && Cls_A17168.Agv_Land_Count(196) == 1 && Cls_A17168.Agv_Land_Count(195) == 0);
|
|
if (flag22)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag23 = num4 >= 0;
|
|
if (flag23)
|
|
{
|
|
bool flag24 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag24)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag25 = num4 != num2;
|
|
if (flag25)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag26 = temp.AssemblyLine == 6 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
180
|
|
}, location_temp);
|
|
if (flag26)
|
|
{
|
|
bool flag27 = temp.Location_Display == 180 && Cls_A17168.Agv_Land_Count(180) == 1;
|
|
if (flag27)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag28 = num4 >= 0;
|
|
if (flag28)
|
|
{
|
|
bool flag29 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag29)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag30 = num4 != num2;
|
|
if (flag30)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag31 = temp.AssemblyLine == 7 && Enumerable.Contains<int>(new int[]
|
|
{
|
|
500,
|
|
174,
|
|
156,
|
|
154,
|
|
216,
|
|
504
|
|
}, location_temp);
|
|
if (flag31)
|
|
{
|
|
bool flag32 = (temp.Location_Display == 500 && Cls_A17168.Agv_Land_Count(500) == 1) || (temp.Location_Display == 174 && Cls_A17168.Agv_Land_Count(174) == 1) || (temp.Location_Display == 154 && Cls_A17168.Agv_Land_Count(154) == 1 && Cls_A17168.Agv_Land_Count(156) == 0) || (temp.Location_Display == 156 && Cls_A17168.Agv_Land_Count(156) == 1) || (temp.Location_Display == 216 && Cls_A17168.Agv_Land_Count(216) == 1) || (temp.Location_Display == 504 && Cls_A17168.Agv_Land_Count(504) == 1);
|
|
if (flag32)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag33 = num4 >= 0;
|
|
if (flag33)
|
|
{
|
|
bool flag34 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag34)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag35 = num4 != num2;
|
|
if (flag35)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag36 = Enumerable.Contains<int>(new int[]
|
|
{
|
|
316,
|
|
328,
|
|
332,
|
|
300,
|
|
314
|
|
}, location_temp);
|
|
if (flag36)
|
|
{
|
|
bool flag37 = (temp.Location_Display == 316 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
316,
|
|
320
|
|
}) == 1) || (temp.Location_Display == 328 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
328,
|
|
332
|
|
}) == 1) || (temp.Location_Display == 332 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
332
|
|
}) == 1) || (temp.Location_Display == 300 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
300
|
|
}) == 1) || (temp.Location_Display == 314 && Cls_A17168.GetAreaAGVNum(new int[]
|
|
{
|
|
314
|
|
}) == 1);
|
|
if (flag37)
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag38 = num4 >= 0;
|
|
if (flag38)
|
|
{
|
|
bool flag39 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag39)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag40 = num4 != num2;
|
|
if (flag40)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag41 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(new char[]
|
|
{
|
|
','
|
|
}), location_temp.ToString());
|
|
if (flag41)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（22）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag42 = Frm_A17168.businessCtrl == null;
|
|
if (flag42)
|
|
{
|
|
Frm_A17168.businessCtrl = new BusinessManage();
|
|
}
|
|
bool flag43 = Frm_A17168.leavedDic == null;
|
|
if (flag43)
|
|
{
|
|
Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
}
|
|
bool flag44 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
|
|
if (flag44)
|
|
{
|
|
Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
}
|
|
bool flag45 = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag46 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
|
|
if (flag46)
|
|
{
|
|
flag45 = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flag45.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
bool flag47 = flag45;
|
|
if (flag47)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（23）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
List<TrafficModel> autoLeavedDic = Frm_A17168.autoLeavedDic;
|
|
Predicate<TrafficModel> match;
|
|
if ((match = <>9__1) == null)
|
|
{
|
|
match = (<>9__1 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
|
|
}
|
|
TrafficModel trafficModel = autoLeavedDic.Find(match);
|
|
bool flag48 = trafficModel != null;
|
|
if (flag48)
|
|
{
|
|
trafficModel.agvId = temp.Agv_ID;
|
|
trafficModel.InArea = DateTime.Now;
|
|
}
|
|
WriteTxt.SaveLog1(string.Concat(new string[]
|
|
{
|
|
location_temp.ToString(),
|
|
"路口添加",
|
|
(trafficModel != null) ? trafficModel.areaCode : null,
|
|
"(",
|
|
trafficModel.agvId.ToString(),
|
|
")"
|
|
}), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag49 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag49)
|
|
{
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
num2 = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
int location_temp2 = location_temp;
|
|
}
|
|
}
|
|
Dictionary<int, int> leavedDic = Frm_A17168.leavedDic;
|
|
int num5 = temp.Agv_ID;
|
|
int num6 = leavedDic[num5];
|
|
leavedDic[num5] = num6 + 1;
|
|
}
|
|
else
|
|
{
|
|
bool flag50 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(new char[]
|
|
{
|
|
','
|
|
}), location_temp.ToString());
|
|
if (flag50)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（24）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
bool flag51 = Frm_A17168.businessCtrl == null;
|
|
if (flag51)
|
|
{
|
|
Frm_A17168.businessCtrl = new BusinessManage();
|
|
}
|
|
bool flag52 = Frm_A17168.leavedDic == null;
|
|
if (flag52)
|
|
{
|
|
Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
}
|
|
bool flag53 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
|
|
if (flag53)
|
|
{
|
|
Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
}
|
|
bool flag54 = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
bool flag55 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
|
|
if (flag55)
|
|
{
|
|
flag54 = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flag54.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
bool flag56 = flag54;
|
|
if (flag56)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（25）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
int location_temp2 = location_temp;
|
|
List<TrafficModel> autoLeavedDic2 = Frm_A17168.autoLeavedDic;
|
|
Predicate<TrafficModel> match2;
|
|
if ((match2 = <>9__2) == null)
|
|
{
|
|
match2 = (<>9__2 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
|
|
}
|
|
TrafficModel trafficModel2 = autoLeavedDic2.Find(match2);
|
|
bool flag57 = trafficModel2 != null;
|
|
if (flag57)
|
|
{
|
|
trafficModel2.agvId = 0;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
|
|
}
|
|
Dictionary<int, int> leavedDic2 = Frm_A17168.leavedDic;
|
|
int num6 = temp.Agv_ID;
|
|
int num5 = leavedDic2[num6];
|
|
leavedDic2[num6] = num5 + 1;
|
|
}
|
|
else
|
|
{
|
|
int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
bool flag58 = num4 >= 0;
|
|
if (flag58)
|
|
{
|
|
bool flag59 = location_temp % 2 == 0;
|
|
if (flag59)
|
|
{
|
|
WriteTxt.SaveLog1("准备放行" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "AGV");
|
|
bool flag60 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
|
|
if (flag60)
|
|
{
|
|
num2 = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "路口已复位", temp.Agv_ID, num3);
|
|
temp.Cross_Location_Go = location_temp;
|
|
num2 = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool flag61 = num4 < 0;
|
|
if (flag61)
|
|
{
|
|
bool flag62 = num4 != num2;
|
|
if (flag62)
|
|
{
|
|
num2 = num4;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
int[] array4 = new int[2];
|
|
s7_200SocketClient.ReadVW(2, 2, 3002, out array4);
|
|
string sWarn = (Convert.ToString(array4[0], 2).PadLeft(8, '0') + Convert.ToString(array4[1], 2).PadLeft(8, '0')).PadLeft(64, '0');
|
|
ThreadPool.QueueUserWorkItem(delegate(object o)
|
|
{
|
|
Thread.Sleep(100);
|
|
Cls_A17168.Warn_Deal_Plc(temp, sWarn);
|
|
});
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool bPlcLinked = temp.bPlcLinked;
|
|
if (bPlcLinked)
|
|
{
|
|
num--;
|
|
bool flag63 = Math.Abs(num) > 50;
|
|
if (flag63)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
s7_200SocketClient.CloseLinkPLC();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
bool flag64 = ex.TargetSite.Name.ToString() == "ConnectAsync";
|
|
if (flag64)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
s7_200SocketClient.CloseLinkPLC();
|
|
s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = s7_200SocketClient.clientSocket;
|
|
}
|
|
bool bPlcLinked2 = temp.bPlcLinked;
|
|
if (bPlcLinked2)
|
|
{
|
|
num--;
|
|
bool flag65 = Math.Abs(num) > 50;
|
|
if (flag65)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
num = 0;
|
|
temp.bPlcLinked = false;
|
|
s7_200SocketClient.CloseLinkPLC();
|
|
}
|
|
}
|
|
Thread.Sleep(3000);
|
|
}
|
|
Thread.Sleep(800);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|