using iWareSda_QQJF.RgvModel;
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using iWareSda_QQJF.RGV.RgvModel;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.Serialization;
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using System.ServiceModel;
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using System.Text;
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using Newtonsoft.Json;
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using logtxtWrite;
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using System.Threading;
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using iWareSda_QQJF.WCSNEW.EDM;
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namespace iWareSda_QQJF.RGV.RgvService
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{
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// 注意: 使用“重构”菜单上的“重命名”命令，可以同时更改代码和配置文件中的类名“RgvService”。
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public class RgvService : IRgvService
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{
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List<int> oldHandShake = new List<int> { 0, 0, 0, 0 };
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List<int> times = new List<int> { 0, 0, 0, 0 };
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/// <summary>发送RGV任务
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///
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/// </summary>
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/// <param name="deviceId"></param>
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/// <param name="taskId"></param>
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/// <param name="sourcePlce"></param>
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/// <param name="toPlace"></param>
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/// <param name="taskType"></param>
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/// <returns></returns>
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public int SendRgvTask(int deviceId = 0, int taskId = 0, int sourcePlace = 0, int toPlace = 0, int taskType = 0, int palletType = 0, int fatherid = 0)
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{
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if (deviceId < 1 || deviceId > 4 || taskId < 1 || sourcePlace < 1 || toPlace < 1 || taskType > 2 || taskType < 1)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvTask(RGV发送任务)/ deviceId:" + deviceId.ToString()
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+ "taskId" + taskId.ToString() + "sourcePlace" + sourcePlace.ToString() + "toPlace" + toPlace.ToString() + "taskType" + taskType.ToString()
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, 0);
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return 0;
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}
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try
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{
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].rgvNoW, deviceId);
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].taskIdW, taskId);
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].endPosW, toPlace);
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].palletType, palletType);
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].rgvfatheridW, fatherid);
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if (taskType == 1)
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{
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].starPosW, sourcePlace);
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].cmdW, taskType);
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}
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else
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{
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FormMain.rgvgs[deviceId - 1].WriteValuePoint(FormMain.rgvDBs[deviceId - 1].cmdW, taskType);
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}
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvTask(RGV发送任务)/ deviceId:" + deviceId.ToString()
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+ "taskId" + taskId.ToString() + "sourcePlace" + sourcePlace.ToString() + "toPlace" + toPlace.ToString() + "taskType" + taskType.ToString()
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, 1);
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvTask(RGV发送任务)/ deviceId:" + deviceId.ToString()
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+ "taskId" + taskId.ToString() + "sourcePlace" + sourcePlace.ToString() + "toPlace" + toPlace.ToString() + "taskType" + taskType.ToString()
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+ logtxt.oneRow(ex.ToString()), 2);
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return 2;
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}
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return 1;
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}
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/// <summary>发送立库Rgv任务删除,参数：rgvId--Rgv编号）
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///
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/// </summary>
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/// <param name="rgvId"></param>
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/// <param name="taskId"></param>
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public int SendRgvDelete(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvDelete(删除任务)/rgvId:" + rgvId.ToString(), 0);
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return 0;
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}
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try
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{
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FormMain.rgvgs[rgvId - 1].WriteValuePoint(FormMain.rgvDBs[rgvId - 1].cmdW, 3);
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvDelete(删除任务)/ rgvId:" + rgvId.ToString(), 1);
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvDelete(删除任务)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return 0;
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}
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return 1;
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}
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///// <summary>
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///// 关联删除
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///// </summary>
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///// <param name="rgvId"></param>
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///// <returns></returns>
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//public int SendRgvDeleteAll(int rgvId)
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//{
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// List<int> tranDoingId = new List<int>();
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// List<int> rgvDoingId = new List<int>();
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// List<int> srmDoingId = new List<int>();
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// int rgvTaskId = Rgv_CacheEntity.Rgvs[rgvId - 1].taskId;
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// //删除未执行的任务和删除已执行的任务
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// bool result = WCS.Helper.DeleteAllByRgvTaskId(rgvTaskId, out tranDoingId, out rgvDoingId, out srmDoingId);
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// //删除设备任务
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// foreach (var i in rgvDoingId)
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// {
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// SendRgvDelete(i);
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// }
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// foreach (var i in tranDoingId)
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// {
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// SRMTRAN.SrmTranService.SrmTranService srv = new SRMTRAN.SrmTranService.SrmTranService();
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// srv.SendTranDelete(i);
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// }
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// foreach (var i in srmDoingId)
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// {
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// SRM.SrmService.SrmService srv = new SRM.SrmService.SrmService();
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// srv.SendSrmDelete(i);
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// }
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// if (result)
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// {
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// return 1;
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// }
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// else
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// {
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// return 0;
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// }
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//}
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/// <summary>发送立库Rgv解警,参数：rgvId--Rgv编号）
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///
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/// </summary>
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/// <param name="rgvId"></param>
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public int SendRgvRlsAlert(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvRlsAlert(RGV解警)/rgvId:" + rgvId.ToString(), 0);
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return 0;
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}
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try
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{
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FormMain.rgvgs[rgvId - 1].WriteValuePoint(FormMain.rgvDBs[rgvId - 1].resetW, 1);
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvRlsAlert(RGV解警)/rgvId:" + rgvId.ToString(), 1);
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvRlsAlert(RGV解警)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return 0;
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}
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return 1;
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}
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/// <summary> 发送Rgv任务完成确认,参数：rgvId--Rgv编号）
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///
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public bool SendRgvFinishConfirm(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvFinishConfirm(任务确认)/rgvId:" + rgvId.ToString(), 0);
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return false;
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}
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try
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{
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FormMain.rgvgs[rgvId - 1].WriteValuePoint(FormMain.rgvDBs[rgvId - 1].ackTaskFinishW, 1);
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvFinishConfirm(任务确认)/rgvId:" + rgvId.ToString(), 1);
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvFinishConfirm(任务确认)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return false;
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}
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return true;
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}
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/// <summary>
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/// 获取RGV当前坐标
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public long GetRgvPosation(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：GetRgvPos(返回RGV状态)/rgvId:" + rgvId.ToString(), 0);
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return 0;
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}
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try
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{
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Rgv_CacheEntity.Rgvs[rgvId - 1].posation = Rgv_CacheEntity.Rgvs[rgvId - 1].posation;
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：GetRgvPos(返回RGV状态)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return 0;
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}
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return Rgv_CacheEntity.Rgvs[rgvId - 1].posation;
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}
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/// <summary>根据RgvEntity 数据结构获取当前设备号对应的设备信息
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///
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public string GetRgvInfo(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：GetRgvInfo(返回RGV状态)/rgvId:" + rgvId.ToString(), 0);
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return "ID号超出范围";
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}
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EntityRgvView rgv = new EntityRgvView();
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//中间显示类转换任务ID
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try
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{
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rgv.RgvName = Rgv_CacheEntity.Rgvs[rgvId - 1].RgvName;
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rgv.Rgvid = Rgv_CacheEntity.Rgvs[rgvId - 1].Rgvid;
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rgv.getFinish = Rgv_CacheEntity.Rgvs[rgvId - 1].getFinish;
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rgv.putFinish = Rgv_CacheEntity.Rgvs[rgvId - 1].putFinish;
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rgv.onLine = Rgv_CacheEntity.Rgvs[rgvId - 1].onLine;
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rgv.ararm = Rgv_CacheEntity.Rgvs[rgvId - 1].ararm;
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rgv.taskFinish = Rgv_CacheEntity.Rgvs[rgvId - 1].taskFinish;
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rgv.loaded = Rgv_CacheEntity.Rgvs[rgvId - 1].loaded;
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rgv.alarmCode = Rgv_CacheEntity.Rgvs[rgvId - 1].alarmCode;
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rgv.state = Rgv_CacheEntity.Rgvs[rgvId - 1].state;
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rgv.pos = Rgv_CacheEntity.Rgvs[rgvId - 1].pos;
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rgv.deviceTaskId = Rgv_CacheEntity.Rgvs[rgvId - 1].taskId;
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rgv.taskId = Rgv_CacheEntity.Rgvs[rgvId - 1].taskId;
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rgv.handShake = Rgv_CacheEntity.Rgvs[rgvId - 1].handShake;
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rgv.posation = Rgv_CacheEntity.Rgvs[rgvId - 1].posation;
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rgv.total = Rgv_CacheEntity.Rgvs[rgvId - 1].total;
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rgv.useful = Rgv_CacheEntity.Rgvs[rgvId - 1].useful;
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using (Model edm = new Model())
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{
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if (rgv.taskId != 0)
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{
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rgv.taskId = edm.RgvTask.OrderByDescending(x => x.ID).FirstOrDefault(x => (x.ID % 32767) + 1 == rgv.taskId).TASK_TASK.ID;
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}
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}
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}
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catch
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{
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}
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return JsonConvert.SerializeObject(rgv);
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}
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/// <summary>
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/// 更新PLC数据
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/// </summary>
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/// <param name="rgvId"></param>
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public void ReadPlc(int rgvId)
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{
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try
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{
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Rgv_CacheEntity.Rgvs[rgvId - 1].handShake = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].handShskeR));
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if (Rgv_CacheEntity.Rgvs[rgvId - 1].handShake == oldHandShake[rgvId - 1])
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{
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times[rgvId - 1]++;
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}
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else
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{
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times[rgvId - 1] = 0;
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}
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if (times[rgvId - 1] > 3)
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{
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//断线重连
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FormMain.rgvgs[rgvId - 1].Close();
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Thread.Sleep(1000);
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FormMain.rgvgs[rgvId - 1].Open();
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}
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oldHandShake[rgvId - 1] = Rgv_CacheEntity.Rgvs[rgvId - 1].handShake;
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if (FormMain.rgvgs[rgvId - 1].IsConnected)
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{
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int getFinish = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].getFinishR));
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int putFinish = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].putFinishR));
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int onLine = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].onLineR));
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int ararm = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].alarmR));
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int taskFinish = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].taskFinishR));
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int loaded = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].loadedR));
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int alarmCode = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].alarmCodeR));
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int state = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].stateR));
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int pos = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].posR));
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int taskId = Convert.ToInt32(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].taskIdR));
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long posation = Convert.ToInt64(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].posationR));
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long total = Convert.ToInt64(FormMain.rgvgs[rgvId - 1].ReadValuePoint(FormMain.rgvDBs[rgvId - 1].totalR));
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//校验信号
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long myTotal =
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getFinish +
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putFinish +
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onLine +
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ararm +
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taskFinish +
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loaded +
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alarmCode +
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state +
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pos +
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taskId +
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posation +
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rgvId
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;
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if (total == myTotal)
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{
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//信号无误则统一赋值
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Rgv_CacheEntity.Rgvs[rgvId - 1].getFinish = getFinish;
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Rgv_CacheEntity.Rgvs[rgvId - 1].putFinish = putFinish;
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Rgv_CacheEntity.Rgvs[rgvId - 1].onLine = onLine;
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Rgv_CacheEntity.Rgvs[rgvId - 1].ararm = ararm;
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Rgv_CacheEntity.Rgvs[rgvId - 1].taskFinish = taskFinish;
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Rgv_CacheEntity.Rgvs[rgvId - 1].loaded = loaded;
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Rgv_CacheEntity.Rgvs[rgvId - 1].alarmCode = alarmCode;
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Rgv_CacheEntity.Rgvs[rgvId - 1].state = state;
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Rgv_CacheEntity.Rgvs[rgvId - 1].pos = pos;
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Rgv_CacheEntity.Rgvs[rgvId - 1].taskId = taskId;
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//Rgv_CacheEntity.Rgvs[rgvId - 1].handShake = handShake;
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Rgv_CacheEntity.Rgvs[rgvId - 1].posation = posation;
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}
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}
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：GetRgvInfo(返回RGV状态)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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}
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}
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/// <summary>
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/// 设备是否故障（或者非自动）
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public bool IsRgvAlert(int rgvId)
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{
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//GetRgvInfo(rgvId);
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvAlert(返回RGV状态)/rgvId:" + rgvId.ToString(), 0);
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return false;
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}
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try
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{
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int onLine = Rgv_CacheEntity.Rgvs[rgvId - 1].onLine;
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int ararm = Rgv_CacheEntity.Rgvs[rgvId - 1].ararm;
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if (onLine == 3 && ararm == 0)
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{
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return false;
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}
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else
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{
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return true;
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}
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvAlert(返回RGV状态)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return true;
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}
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}
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/// <summary>
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/// RGV是否被禁用（可用）
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public bool IsRgvUseful(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvUseful(返回RGV状态)/rgvId:" + rgvId.ToString(), 0);
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return true;//默认可用
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}
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try
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{
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bool useful = Rgv_CacheEntity.Rgvs[rgvId - 1].useful;
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return useful;
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvUseful(返回RGV状态)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return true;
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}
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}
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public bool IsRgvReady(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvReady(返回RGV状态)/rgvId:" + rgvId.ToString(), 0);
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return false;
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}
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try
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{
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int onLine = Rgv_CacheEntity.Rgvs[rgvId - 1].onLine;
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int ararm = Rgv_CacheEntity.Rgvs[rgvId - 1].ararm;
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int state = Rgv_CacheEntity.Rgvs[rgvId - 1].state;
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int taskFinish = Rgv_CacheEntity.Rgvs[rgvId - 1].taskFinish;
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int load = Rgv_CacheEntity.Rgvs[rgvId - 1].loaded;
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bool useful = Rgv_CacheEntity.Rgvs[rgvId - 1].useful;
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if (onLine == 3 && ararm == 0 && state == 0 && taskFinish == 0 && load == 0 && useful)
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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catch (Exception ex)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsRgvReady(返回RGV状态)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
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return false;
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}
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}
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/// <summary>任务是否完成
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///
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public bool IsTaskFinish(int rgvId)
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{
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//GetRgvInfo(rgvId);
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int taskFinishR = Rgv_CacheEntity.Rgvs[rgvId - 1].taskFinish;
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int onLine = Rgv_CacheEntity.Rgvs[rgvId - 1].onLine;
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if (onLine != 3)
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{
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return false;
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}
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if (rgvId < 1 || rgvId > 4 || taskFinishR != 1)
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{
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logtxt.txtWrite("类名：RgvService/函数名：IsTaskFinish(是否完成)/rgvId:" + rgvId.ToString(), 0);
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return false;
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}
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return true;
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}
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/// <summary>
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/// 获取任务完成编号
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/// </summary>
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/// <param name="rgvId"></param>
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/// <returns></returns>
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public int FinishTask(int rgvId)
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{
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//GetRgvInfo(rgvId);
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int taskid = Rgv_CacheEntity.Rgvs[rgvId - 1].taskId;
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return taskid;
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}
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/// <summary>急停
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///
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/// </summary>
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/// <param name="rgvId"></param>
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public int SendRgvStop(int rgvId)
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{
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if (rgvId < 1 || rgvId > 4)
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{
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvStop(RGV急停)/rgvId:" + rgvId.ToString(), 0);
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return 0;
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}
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try
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{
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FormMain.rgvgs[rgvId - 1].WriteValuePoint(FormMain.rgvDBs[rgvId - 1].estopW, 1);
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logtxt.txtWrite("类名：RgvService/函数名：SendRgvStop(RGV急停)/rgvId:" + rgvId.ToString(), 1);
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}
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catch (Exception ex)
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{
|
logtxt.txtWrite("类名：RgvService/函数名：SendRgvStop(RGV急停)/rgvId:" + rgvId.ToString() + logtxt.oneRow(ex.ToString()), 2);
|
return 0;
|
}
|
return 1;
|
}
|
|
/// <summary>
|
/// 切换RGV可用状态
|
/// </summary>
|
/// <returns></returns>
|
public bool ChangeUseful(int rgvId)
|
{
|
if (rgvId < 1 || rgvId > 4)
|
{
|
logtxt.txtWrite("类名：RgvService/函数名：ChangeUseful(RGV切换可用)/rgvId:" + rgvId.ToString(), 0);
|
return false;
|
}
|
Rgv_CacheEntity.Rgvs[rgvId - 1].useful = !Rgv_CacheEntity.Rgvs[rgvId - 1].useful;
|
//同时更新坐标锁定状态
|
WCSNEW.Helper.ResetTranLocal(rgvId);
|
return true;
|
}
|
}
|
}
|
