1266 lines
75 KiB
C#
1266 lines
75 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Net.NetworkInformation;
|
|
using System.Data;
|
|
using System.Drawing;
|
|
using System.Threading;
|
|
using System.Windows.Forms;
|
|
using Crossing;
|
|
using System.Data.SqlClient;
|
|
using Siemens_S200_Serial; //2
|
|
using Siemens_net_Protocol;//3
|
|
using SCM_Protocol; //4
|
|
using Omron_Serial_Fins; //1
|
|
using Omron_Serial_Hostlink;//0
|
|
using Protocol.Socket_Uart.S7_200_PPI;
|
|
using BllSql;
|
|
using AGVSystem.Cls;
|
|
using AGVSystem.A17168;
|
|
using HxBusiness;
|
|
|
|
namespace AGVSystem
|
|
{
|
|
public class Cls_A17168
|
|
{
|
|
static Thread[] th_getData;
|
|
public static DataSet ds_mileage = new DataSet();
|
|
public DataSet ds_Mileage
|
|
{
|
|
get { return ds_mileage; }
|
|
set { ds_mileage = value; }
|
|
}
|
|
|
|
|
|
static string connectStr = "";
|
|
public string ConnectStr
|
|
{
|
|
get { return connectStr; }
|
|
set { connectStr = value; }
|
|
}
|
|
|
|
static bool startFlag = false;
|
|
/// <summary>
|
|
/// AGV调度启动标志
|
|
/// </summary>
|
|
public bool StartFlag
|
|
{
|
|
get { return startFlag; }
|
|
set { startFlag = value; }
|
|
}
|
|
|
|
static int closedFlag = -1;
|
|
/// <summary>
|
|
/// AGV调度关闭标志
|
|
/// </summary>
|
|
public int ClosedFlag
|
|
{
|
|
get { return closedFlag; }
|
|
set { closedFlag = value; }
|
|
}
|
|
public Thread[] th_GetData
|
|
{
|
|
get { return th_getData; }
|
|
set { th_getData = value; }
|
|
}
|
|
|
|
|
|
public static BllBase bBllBase = new BllBase();
|
|
|
|
|
|
public void AGV_start(object agvinfo)
|
|
{
|
|
agv newagv = new agv();
|
|
Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
|
|
if (temp.Type == 6)
|
|
{
|
|
th_GetData[temp.Agv_ID - 1] = new Thread(newagv.AGV_Data);
|
|
}
|
|
else
|
|
{
|
|
th_GetData[temp.Agv_ID - 1] = new Thread(newagv.AGV_Data_PLC);
|
|
}
|
|
th_GetData[temp.Agv_ID - 1].IsBackground = true;
|
|
th_GetData[temp.Agv_ID - 1].Start(agvinfo);
|
|
}
|
|
public class agv
|
|
{
|
|
/// <summary>
|
|
/// 单片机
|
|
/// </summary>
|
|
/// <param name="agvinfo"></param>
|
|
public void AGV_Data(object agvinfo)
|
|
{
|
|
Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
|
|
int location_temp = 0;
|
|
int location_value = 0;
|
|
int[] param_info = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
|
|
byte[] Write_re = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
|
|
int lockCode = 0;
|
|
int errorcount = 0;
|
|
int t = 0, t_temp = 0;
|
|
Ping pingAgv = new Ping();
|
|
Soc_Client Link_To_PC = new Soc_Client(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PC.clientSocket;
|
|
string[] warn_info = { "", "", "", "", "", "", "", "" };
|
|
closedFlag = -1;
|
|
|
|
|
|
|
|
while (true)
|
|
{
|
|
if (!temp.Enable)
|
|
{
|
|
Thread.Sleep(3000);
|
|
if (temp.Location_Display != 0)
|
|
{
|
|
Crossing.Crossing.BlockCross(temp.AssemblyLine, 0, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
}
|
|
temp.Location_Display = 0;
|
|
temp.Cross_Location_Go = 0;
|
|
continue;
|
|
}
|
|
if (!startFlag)
|
|
{
|
|
Thread.Sleep(500);
|
|
continue;
|
|
}
|
|
try
|
|
{
|
|
if (temp.bPlcLinked || pingAgv.Send(temp.IP, 150).Status == IPStatus.Success)
|
|
{
|
|
//来到这里，表示PING成功。
|
|
if (!temp.bPlcLinked)
|
|
{
|
|
if (Link_To_PC.OpenLinkPLC())
|
|
{ //来到这里，表示链路成功打开
|
|
temp.bPlcLinked = true;
|
|
}
|
|
else
|
|
{ //来到这里，表示要重新建立链路
|
|
temp.bPlcLinked = false;
|
|
Link_To_PC.CloseLinkPLC();
|
|
Link_To_PC = new Soc_Client(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PC.clientSocket;
|
|
errorcount = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
param_info[0] = 0;
|
|
|
|
//来到这里，表示PLC的链路已经打开，可以直接读写数据
|
|
if ((temp.Type == 6 && 0 != Link_To_PC.ReadInfo(out param_info)))
|
|
{
|
|
//来到这里，表示读数据失败
|
|
errorcount++;
|
|
|
|
if (errorcount >= 5)
|
|
{
|
|
//来到这里，表示一再失败，要重新建立链路
|
|
temp.bPlcLinked = false;
|
|
errorcount = 0;
|
|
Link_To_PC.CloseLinkPLC();
|
|
Link_To_PC = new Soc_Client(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PC.clientSocket;
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
//Func.db_conn.Command("INSERT INTO [Net_Log] ([dt] ,[AGV_ID] ,[Type]) VALUES ('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "','" + temp.Agv_ID + "','Read Fail')");
|
|
string strsql = "INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "', '" + temp.Agv_ID + "', 'Read Fail')";
|
|
UPDateDBList.sqlList.Add(strsql);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
errorcount = 0;
|
|
location_value = temp.Type == 6 ? param_info[3] * 256 + param_info[2] : param_info[0];
|
|
location_temp = Func.GetLandMarkId(temp.AssemblyLine, location_value);
|
|
if (temp.Location_Display != location_temp && location_temp != 0)
|
|
{
|
|
WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
|
|
//地标信息
|
|
temp.Location_Display = location_temp;
|
|
temp.Read_dt = DateTime.Now;
|
|
UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, location_value, 0, 0, 0));
|
|
}
|
|
WriteTxt.SaveLog1("=========》（11）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
#region 路口放行判断
|
|
if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
|
|
{
|
|
|
|
#region 发动机限流 152
|
|
if (temp.AssemblyLine == 1 && temp.Location_Display == 152)
|
|
{
|
|
if (Agv_Land_Count(152) == 1)
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 仪表线限流 136
|
|
else if (temp.AssemblyLine == 3 && temp.Location_Display == 136)
|
|
{
|
|
if (Agv_Land_Count(136) == 1)
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 内饰一线 106 182 ,196
|
|
else if (temp.AssemblyLine == 5 && new int[] { 106, 182, 196 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 106 && Agv_Land_Count(106) == 1 && Agv_Land_Count(167) == 0)
|
|
|| (temp.Location_Display == 182 && Agv_Land_Count(182) == 1 && Agv_Land_Count(196) == 0)
|
|
|| (temp.Location_Display == 196 && Agv_Land_Count(196) == 1 && Agv_Land_Count(195) == 0))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 内饰二线 180
|
|
else if (temp.AssemblyLine == 6 && new int[] { 180 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 180 && Agv_Land_Count(180) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 最终线限流 500,174,156,154,216
|
|
else if (temp.AssemblyLine == 7 && new int[] { 500, 174, 156, 154, 216, 504 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 500 && Agv_Land_Count(500) == 1)
|
|
|| (temp.Location_Display == 174 && Agv_Land_Count(174) == 1)
|
|
|| (temp.Location_Display == 154 && Agv_Land_Count(154) == 1 && Agv_Land_Count(156) == 0)
|
|
|| (temp.Location_Display == 156 && Agv_Land_Count(156) == 1)
|
|
|| (temp.Location_Display == 216 && Agv_Land_Count(216) == 1)
|
|
|| (temp.Location_Display == 504 && Agv_Land_Count(504) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 新增限流
|
|
else if (new int[] { 316, 328, 332, 300, 314, 310, 342 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 316 && GetAreaAGVNum(new int[] { 316, 320, 321 }) == 1)
|
|
|| (temp.Location_Display == 328 && GetAreaAGVNum(new int[] { 328, 332 }) == 1)
|
|
|| (temp.Location_Display == 332 && GetAreaAGVNum(new int[] { 332 }) == 1)
|
|
|| (temp.Location_Display == 300 && GetAreaAGVNum(new int[] { 300 }) == 1)
|
|
|| (temp.Location_Display == 310 && GetAreaAGVNum(new int[] { 310,312,313 }) == 1)
|
|
|| (temp.Location_Display == 342 && GetAreaAGVNum(new int[] { 342,304,305 }) == 1)
|
|
|| (temp.Location_Display == 314 && GetAreaAGVNum(new int[] { 314 }) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 海康交管
|
|
else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
|
|
{
|
|
WriteTxt.SaveLog1("=========》（12）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
|
|
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
bool flg = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
//2秒请求一次
|
|
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
|
|
{
|
|
flg = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
|
|
//放行
|
|
if (flg)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（13）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
//登记第三方交管路口占用
|
|
TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
|
|
if (trafficModel != null)
|
|
{
|
|
trafficModel.agvId = temp.Agv_ID;
|
|
trafficModel.InArea = DateTime.Now;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
t_temp = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
lockCode = location_temp;
|
|
|
|
}
|
|
|
|
}
|
|
Frm_A17168.leavedDic[temp.Agv_ID]++;
|
|
}
|
|
// else if (location_temp == 271 || location_temp == 273)
|
|
//{
|
|
else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
|
|
{
|
|
WriteTxt.SaveLog1("=========》（14）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
|
|
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
bool flg = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
|
|
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
|
|
{
|
|
flg = 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" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
//归还
|
|
if (flg)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（15）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
lockCode = location_temp;
|
|
//清除第三方交管路口占用
|
|
TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
|
|
if (trafficModel2 != null)
|
|
{
|
|
trafficModel2.agvId = 0;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
Frm_A17168.leavedDic[temp.Agv_ID]++;
|
|
}
|
|
#endregion
|
|
else
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (location_temp % 2 == 0)
|
|
{
|
|
WriteTxt.SaveLog1("准备放行" + location_temp, temp.Agv_ID + "#Agv", "AGV");
|
|
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
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, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
t_temp = 0;
|
|
}
|
|
}
|
|
else if (t < 0)
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
|
|
#region 状态信息
|
|
string sWarn = Convert.ToString(param_info[11], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[10], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[9], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[8], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[7], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[6], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[5], 2).PadLeft(8, '0') +
|
|
Convert.ToString(param_info[4], 2).PadLeft(8, '0');
|
|
ThreadPool.QueueUserWorkItem(delegate
|
|
{
|
|
Thread.Sleep(100);
|
|
Warn_Deal(temp, sWarn);
|
|
});
|
|
#endregion
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (temp.bPlcLinked)
|
|
{
|
|
errorcount++;
|
|
if (errorcount > 10)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PC.CloseLinkPLC();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception Err)
|
|
{
|
|
if (Err.TargetSite.Name.ToString() == "ConnectAsync")
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PC.CloseLinkPLC();
|
|
}
|
|
if (temp.bPlcLinked)
|
|
{
|
|
errorcount++;
|
|
if (errorcount > 10)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PC.CloseLinkPLC();
|
|
//Crossing.Crossing.BlockCross(0, 0, temp.Agv_ID, true, ds_crossInfo, false);
|
|
}
|
|
}
|
|
Thread.Sleep(5000);
|
|
}
|
|
Thread.Sleep(1000);
|
|
}
|
|
}
|
|
|
|
public void AGV_Data_PLC(object agvinfo)
|
|
{
|
|
bool All_Agv_Stop = false;//一键停止
|
|
bool All_Agv_Close = false;//一键关机
|
|
Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
|
|
int location_temp = 0;
|
|
int location_value = 0;
|
|
int[] param_info = { 0 };
|
|
int[] Write_re = { 0 };
|
|
int lockCode = 0;
|
|
int errorcount = 0;
|
|
int t = 0, t_temp = 0;
|
|
Ping pingAgv = new Ping();
|
|
S7_200SocketClient Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PLC.clientSocket;
|
|
string[] warn_info = { "", "", "", "", "", "", "", "" };
|
|
closedFlag = -1;
|
|
|
|
|
|
|
|
while (true)
|
|
{
|
|
if (!temp.Enable)
|
|
{
|
|
Thread.Sleep(3000);
|
|
continue;
|
|
}
|
|
if (!startFlag)
|
|
{
|
|
Thread.Sleep(500);
|
|
continue;
|
|
}
|
|
try
|
|
{
|
|
if (pingAgv.Send(temp.IP, 150).Status == IPStatus.Success)
|
|
{
|
|
//来到这里，表示PING成功。
|
|
if (!temp.bPlcLinked)
|
|
{
|
|
if (Link_To_PLC.OpenLinkPLC())
|
|
{ //来到这里，表示链路成功打开
|
|
temp.bPlcLinked = true;
|
|
}
|
|
else
|
|
{ //来到这里，表示要重新建立链路
|
|
temp.bPlcLinked = false;
|
|
Link_To_PLC.CloseLinkPLC();
|
|
Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PLC.clientSocket;
|
|
errorcount = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
param_info[0] = 0;
|
|
|
|
//来到这里，表示PLC的链路已经打开，可以直接读写数据
|
|
if (0 != Link_To_PLC.ReadVW(2, 1, 104, out param_info))
|
|
{
|
|
//来到这里，表示读数据失败
|
|
errorcount--;
|
|
|
|
if (Math.Abs(errorcount) >= 5)
|
|
{
|
|
//来到这里，表示一再失败，要重新建立链路
|
|
temp.bPlcLinked = false;
|
|
errorcount = 0;
|
|
Link_To_PLC.CloseLinkPLC();
|
|
Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PLC.clientSocket;
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
//Func.db_conn.Command("INSERT INTO [Net_Log] ([dt] ,[AGV_ID] ,[Type]) VALUES ('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "','" + temp.Agv_ID + "','Read Fail')");
|
|
string strsql = "INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "', '" + temp.Agv_ID + "', 'Read Fail')";
|
|
bBllBase.ExecuteNonQuery(strsql);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
location_temp = Func.GetLandMarkId(temp.AssemblyLine, param_info[0]);
|
|
location_value = param_info[0];
|
|
if (temp.Location_Display != location_temp && location_temp != 0)
|
|
{
|
|
WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
|
|
//地标信息
|
|
temp.Location_Display = location_temp;
|
|
|
|
temp.Read_dt = DateTime.Now;
|
|
//Func.db_conn.Command("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 + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")");
|
|
string strsql = "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 + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")";
|
|
|
|
UPDateDBList.sqlList.Add(strsql);
|
|
|
|
}
|
|
|
|
if (Math.Abs(errorcount) > 0) errorcount = 0;
|
|
|
|
WriteTxt.SaveLog1("=========》（21）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
|
|
#region 路口放行判断
|
|
if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
|
|
{
|
|
|
|
#region 发动机限流 152
|
|
if (temp.AssemblyLine == 1 && temp.Location_Display == 152)
|
|
{
|
|
if (Agv_Land_Count(152) == 1)
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 仪表线限流 136
|
|
else if (temp.AssemblyLine == 3 && temp.Location_Display == 136)
|
|
{
|
|
if (Agv_Land_Count(136) == 1)
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 内饰一线 106 182 ,196
|
|
else if (temp.AssemblyLine == 5 && new int[] { 106, 182, 196 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 106 && Agv_Land_Count(106) == 1 && Agv_Land_Count(167) == 0)
|
|
|| (temp.Location_Display == 182 && Agv_Land_Count(182) == 1 && Agv_Land_Count(196) == 0)
|
|
|| (temp.Location_Display == 196 && Agv_Land_Count(196) == 1 && Agv_Land_Count(195) == 0))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 内饰二线 180
|
|
else if (temp.AssemblyLine == 6 && new int[] { 180 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 180 && Agv_Land_Count(180) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 最终线限流 500,174,156,154,216
|
|
else if (temp.AssemblyLine == 7 && new int[] { 500, 174, 156, 154, 216, 504 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 500 && Agv_Land_Count(500) == 1)
|
|
|| (temp.Location_Display == 174 && Agv_Land_Count(174) == 1)
|
|
|| (temp.Location_Display == 154 && Agv_Land_Count(154) == 1 && Agv_Land_Count(156) == 0)
|
|
|| (temp.Location_Display == 156 && Agv_Land_Count(156) == 1)
|
|
|| (temp.Location_Display == 216 && Agv_Land_Count(216) == 1)
|
|
|| (temp.Location_Display == 504 && Agv_Land_Count(504) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 新增限流
|
|
else if (new int[] { 316, 328, 332, 300, 314 }.Contains(location_temp))
|
|
{
|
|
if ((temp.Location_Display == 316 && GetAreaAGVNum(new int[] { 316, 320 }) == 1)
|
|
|| (temp.Location_Display == 328 && GetAreaAGVNum(new int[] { 328, 332 }) == 1)
|
|
|| (temp.Location_Display == 332 && GetAreaAGVNum(new int[] { 332 }) == 1)
|
|
|| (temp.Location_Display == 300 && GetAreaAGVNum(new int[] { 300 }) == 1)
|
|
|| (temp.Location_Display == 314 && GetAreaAGVNum(new int[] { 314 }) == 1))
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
#region 海康交管
|
|
else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
|
|
{
|
|
WriteTxt.SaveLog1("=========》（22）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
|
|
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
bool flg = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
//2秒请求一次
|
|
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
|
|
{
|
|
flg = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
|
|
//放行
|
|
if (flg)
|
|
{
|
|
// if (Link_To_PLC.WriteGo(temp.Agv_ID) == 0)
|
|
// {
|
|
// Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
// WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
// t_temp = 0;
|
|
// temp.Cross_Location_Go = location_temp;
|
|
// }
|
|
|
|
WriteTxt.SaveLog1("=========》（23）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
//登记第三方交管路口占用
|
|
TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
|
|
if (trafficModel != null)
|
|
{
|
|
trafficModel.agvId = temp.Agv_ID;
|
|
trafficModel.InArea = DateTime.Now;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
t_temp = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
lockCode = location_temp;
|
|
|
|
}
|
|
|
|
}
|
|
Frm_A17168.leavedDic[temp.Agv_ID]++;
|
|
}
|
|
// else if (location_temp == 271 || location_temp == 273)
|
|
//{
|
|
else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
|
|
{
|
|
WriteTxt.SaveLog1("=========》（24）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
|
|
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
|
|
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
|
|
bool flg = false;
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
|
|
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
|
|
{
|
|
flg = 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" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
//归还
|
|
if (flg)
|
|
{
|
|
WriteTxt.SaveLog1("=========》（25）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
|
|
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
|
|
temp.Cross_Location_Go = location_temp;
|
|
lockCode = location_temp;
|
|
//清除第三方交管路口占用
|
|
TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
|
|
if (trafficModel2 != null)
|
|
{
|
|
trafficModel2.agvId = 0;
|
|
}
|
|
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
|
|
}
|
|
Frm_A17168.leavedDic[temp.Agv_ID]++;
|
|
}
|
|
#endregion
|
|
else
|
|
{
|
|
t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
|
|
if (t >= 0)
|
|
{
|
|
if (location_temp % 2 == 0)
|
|
{
|
|
WriteTxt.SaveLog1("准备放行" + location_temp, temp.Agv_ID + "#Agv", "AGV");
|
|
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
|
|
{
|
|
t_temp = 0;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
|
|
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, location_value);
|
|
temp.Cross_Location_Go = location_temp;
|
|
t_temp = 0;
|
|
}
|
|
}
|
|
else if (t < 0)
|
|
{
|
|
if (t != t_temp)
|
|
{
|
|
t_temp = t;
|
|
Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endregion
|
|
|
|
#region 状态信息
|
|
int[] WarnRead = new int[2] { 0, 0 };
|
|
Link_To_PLC.ReadVW(2, 2, 3002, out WarnRead);
|
|
|
|
string sWarn = (Convert.ToString(WarnRead[0], 2).PadLeft(8, '0') + Convert.ToString(WarnRead[1], 2).PadLeft(8, '0')).PadLeft(64, '0');
|
|
|
|
ThreadPool.QueueUserWorkItem(delegate
|
|
{
|
|
Thread.Sleep(100);
|
|
Warn_Deal_Plc(temp, sWarn);
|
|
});
|
|
#endregion
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (temp.bPlcLinked)
|
|
{
|
|
errorcount--;
|
|
if (Math.Abs(errorcount) > 50)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PLC.CloseLinkPLC();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch (Exception Err)
|
|
{
|
|
if (Err.TargetSite.Name.ToString() == "ConnectAsync")
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PLC.CloseLinkPLC();
|
|
Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
|
|
temp.Soc = Link_To_PLC.clientSocket;
|
|
}
|
|
if (temp.bPlcLinked)
|
|
{
|
|
errorcount--;
|
|
if (Math.Abs(errorcount) > 50)
|
|
{
|
|
temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
|
|
temp.Warn_Level = 4;
|
|
temp.Warn_info = "网络异常";
|
|
errorcount = 0;
|
|
temp.bPlcLinked = false;
|
|
Link_To_PLC.CloseLinkPLC();
|
|
//Crossing.Crossing.BlockCross(0, 0, temp.Agv_ID, true, ds_crossInfo, false);
|
|
}
|
|
}
|
|
Thread.Sleep(3000);
|
|
}
|
|
Thread.Sleep(800);
|
|
}
|
|
}
|
|
|
|
}//class agv
|
|
|
|
public static int GetAreaAGVNum(int[] num)
|
|
{
|
|
int CarNum = 0;
|
|
for (int i = 0; i < num.Length; i++)
|
|
{
|
|
CarNum += Agv_Land_Count(num[i]);
|
|
}
|
|
return CarNum;
|
|
}
|
|
|
|
//报警读取处理
|
|
private static void Warn_Deal(Cls.AgvInfo temp, string sWarn)
|
|
{
|
|
if (temp.Warn_ID != sWarn)
|
|
{
|
|
int warn_level = 0;
|
|
string[] warn_info = { "", "", "", "", "", "", "", "" };
|
|
|
|
temp.Warn_ID = sWarn;
|
|
WarnInfo(temp.Warn_ID, out warn_info, out warn_level);
|
|
temp.Warn_info = "";
|
|
temp.Warn_Level = warn_level;
|
|
if (warn_level == 1)
|
|
{
|
|
temp.Warn_info = "正常";
|
|
Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
|
|
}
|
|
else
|
|
{
|
|
for (byte i = 0; i < 8; i++)
|
|
{
|
|
if (warn_info[i] != "")
|
|
{
|
|
temp.Warn_info = temp.Warn_info + warn_info[i] + "\r\n";
|
|
Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, warn_info[i], temp.Agv_ID);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
private static void Warn_Deal_Plc(Cls.AgvInfo temp, string sWarn)
|
|
{
|
|
if (temp.Warn_ID != sWarn)
|
|
{
|
|
int warn_level = 0;
|
|
string[] warn_info = { "", "", "", "", "", "", "", "" };
|
|
|
|
temp.Warn_ID = sWarn;
|
|
WarnInfo_PLC(temp.Warn_ID, out warn_info, out warn_level);
|
|
temp.Warn_info = "";
|
|
temp.Warn_Level = warn_level;
|
|
if (warn_level == 1)
|
|
{
|
|
temp.Warn_info = "正常";
|
|
Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
|
|
}
|
|
else
|
|
{
|
|
for (byte i = 0; i < 8; i++)
|
|
{
|
|
if (warn_info[i] != "")
|
|
{
|
|
temp.Warn_info = temp.Warn_info + warn_info[i] + "\r\n";
|
|
Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, warn_info[i], temp.Agv_ID);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//电量获取
|
|
private static void Voltage_Deal(Cls.AgvInfo temp, string sValue)
|
|
{
|
|
//if (temp.Voltage != param_info[12] + param_info[13] / 10)
|
|
//{
|
|
// //电压
|
|
// temp.Voltage = param_info[12] + param_info[13] / 10;
|
|
//}
|
|
|
|
//if (temp.Voltage_precent != param_info[2])
|
|
//{
|
|
// //电量剩余百分比
|
|
// temp.Voltage_precent = param_info[14];
|
|
//}
|
|
}
|
|
|
|
//速度\障碍物获取
|
|
private static void Speed_Bank_Deal(Cls.AgvInfo temp, string sValue)
|
|
{
|
|
//if (temp.Run_Speed != param_info[0])
|
|
//{
|
|
// //AGV速度
|
|
// temp.Run_Speed = Convert.ToByte(param_info[0]);
|
|
//}
|
|
//if (temp.Bank_Model != param_info[1])
|
|
//{
|
|
// //障碍物模式
|
|
// temp.Bank_Model = Convert.ToByte(param_info[1]);
|
|
//}
|
|
}
|
|
|
|
//方向、运动状态获取
|
|
private static void Direction_Run_Deal(Cls.AgvInfo temp, string sValue)
|
|
{
|
|
//if (temp.Go_Direction != param_info[0])
|
|
//{
|
|
// //定义：1-直行/2-左转/3-右转
|
|
// temp.Go_Direction = Convert.ToByte(param_info[0]);
|
|
//}
|
|
|
|
//if (temp.Run_Status != param_info[1])
|
|
//{
|
|
// //定义：1-运动、2-停止、0-未启动
|
|
// temp.Run_Status = Convert.ToByte(param_info[1]);
|
|
//}
|
|
}
|
|
|
|
private static void Move_Forward(Cls.AgvInfo temp, string sValue)
|
|
{
|
|
//if (temp.Run_Direction != param_info[0])
|
|
//{
|
|
// //定义：1-前进/2-后退
|
|
// temp.Run_Direction = Convert.ToByte(param_info[0]);
|
|
//}
|
|
}
|
|
|
|
private static byte Agv_Count_Area(int worktype, int[] landmark)
|
|
{
|
|
byte count = 0;
|
|
for (byte i = 0; i < Func.AgvInfo.Length; i++)
|
|
{
|
|
if (Func.AgvInfo[i].WorkType == worktype)
|
|
{
|
|
for (byte j = 0; j < landmark.Length; j++)
|
|
{
|
|
if (Func.AgvInfo[i].Location_Display == landmark[j])
|
|
count++;
|
|
}
|
|
}
|
|
}
|
|
return count;
|
|
}
|
|
|
|
private static byte Agv_Land_Count(int landmark)
|
|
{
|
|
byte count = 0;
|
|
for (byte i = 0; i < Func.AgvInfo.Length; i++)
|
|
{
|
|
if (Func.AgvInfo[i].Location_Display == landmark)
|
|
count++;
|
|
}
|
|
return count;
|
|
}
|
|
private static byte Agv_Go_Count(int landmark)
|
|
{
|
|
byte count = 0;
|
|
for (byte i = 0; i < Func.AgvInfo.Length; i++)
|
|
{
|
|
if (Func.AgvInfo[i].Cross_Location_Go == landmark)
|
|
count++;
|
|
}
|
|
return count;
|
|
}
|
|
//本函数为AGV的失联计数器。负几表示失联几次
|
|
private static object SEM_LOST_CONNECT = new object();
|
|
private static void LostConnect(ref int iStatus) //AGV的状态
|
|
{
|
|
lock (SEM_LOST_CONNECT)
|
|
{
|
|
if (iStatus >= 0)
|
|
iStatus = -1;
|
|
else
|
|
iStatus--;
|
|
}
|
|
}
|
|
|
|
private static void WarnInfo(string str, out string[] info, out int level)
|
|
{
|
|
int count = 0;
|
|
info = new string[8];
|
|
level = 1;
|
|
for (byte i = 0; i < 8; i++)
|
|
{
|
|
info[i] = "";
|
|
}
|
|
if (str == "0000000000000000000000000000000000000000000000000000000000000000")
|
|
{
|
|
info[0] = "正常";
|
|
return;
|
|
}
|
|
|
|
for (byte i = 0; i < 64; i++)
|
|
{
|
|
if (str.Substring(63 - i, 1) == "1")
|
|
{
|
|
if (mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString() != "0")
|
|
{
|
|
info[count] = mainfrm.ds_WarnList.Tables[0].Rows[i][1].ToString();
|
|
if (level < Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString()))
|
|
{
|
|
level = Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString());
|
|
}
|
|
count++;
|
|
}
|
|
if (count >= 8)
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
private static void WarnInfo_PLC(string str, out string[] info, out int level)
|
|
{
|
|
int count = 0;
|
|
info = new string[8];
|
|
level = 1;
|
|
for (byte i = 0; i < 8; i++)
|
|
{
|
|
info[i] = "";
|
|
}
|
|
if (str == "0000000000000000000000000000000000000000000000000000000000000000")
|
|
{
|
|
info[0] = "正常";
|
|
return;
|
|
}
|
|
|
|
for (byte i = 0; i < 64; i++)
|
|
{
|
|
if (str.Substring(63 - i, 1) == "1")
|
|
{
|
|
if (mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString() != "0")
|
|
{
|
|
info[count] = mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][1].ToString();
|
|
if (level < Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString()))
|
|
{
|
|
level = Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString());
|
|
}
|
|
count++;
|
|
}
|
|
if (count >= 8)
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
private static object obj_GetMileage = new object();
|
|
public static float GetMileage(int point1, int point2)
|
|
{
|
|
lock (obj_GetMileage)
|
|
{
|
|
float mileage = 0;
|
|
int t = ds_mileage.Tables[0].Rows.Count;
|
|
DataView rowfilter = new DataView(ds_mileage.Tables[0]);
|
|
rowfilter.RowFilter = "(Start_Point=" + point1 + " or Start_Point=" + point2 + ") and (End_Point= " + point1 + " or End_Point= " + point2 + ")";
|
|
rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
|
|
DataTable dt = rowfilter.ToTable();
|
|
int t1 = dt.Rows.Count;
|
|
try
|
|
{
|
|
mileage = Convert.ToSingle(dt.Rows[0]["Distance"].ToString());
|
|
}
|
|
catch
|
|
{
|
|
}
|
|
return mileage;
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
}
|