using System;
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using System.Threading;
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using System.Windows.Forms;
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using VirtualSrm.Cache.Entity;
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using VirtualSrm.Properties;
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using VirtualSrm.Srm.Entity;
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using VirtualSrm.Srm.EnumType;
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using VirtualSrm.Utils;
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namespace VirtualSrm.View.Srm
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{
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public partial class StackerForm : Form
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{
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private StackerEntity Stacker;
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private Thread GetStackerStateThread;
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private Thread ReceiveTaskThread;
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private Thread DoTaskThread;
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private Thread AlarmAckThread;
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public StackerForm(string name)
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{
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Stacker = new StackerEntity(name);
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Stacker.WSrmNo = name == "stacker1" ? 1 : 2; ;
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Stacker.WMode = (int)ESrmMode.自动模式;
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Stacker.WAlarm = 0;
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Stacker.WLiftFull = 0;
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Stacker.WPosX = 0;
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Stacker.WPosY = 0;
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Stacker.WPosZ = 0;
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Stacker.WPosXmm = 0;
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Stacker.WPosYmm = 0;
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Stacker.WPosZmm = 0;
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Stacker.WPickFinish = 0;
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Stacker.WDeliveryFinish = 0;
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Stacker.WTaskFinish = 0;
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Stacker.WTaskNo = 0;
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Stacker.WState = (int)ESrmState.堆垛机空闲;
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Stacker.WActualLane = name == "stacker1" ? 1 : 2;
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Stacker.WAlarmNumber = 0;
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Stacker.WHandShake = 0;
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Stacker.Ack = 0;
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CacheEntity.OpcWcfServiceClient.WriteValues(new string[] { Stacker.OpcReadItems.SrmNo, Stacker.OpcReadItems.TaskNo, Stacker.OpcReadItems.Stb,
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Stacker.OpcReadItems.SourcePosX, Stacker.OpcReadItems.SourcePosY, Stacker.OpcReadItems.SourcePosZ,
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Stacker.OpcReadItems.DestinationPosX, Stacker.OpcReadItems.DestinationPosY, Stacker.OpcReadItems.DestinationPosZ,
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Stacker.OpcReadItems.Command, Stacker.OpcReadItems.EmergencyStop, Stacker.OpcReadItems.AlarmAck
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}, new object[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
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InitializeComponent();
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}
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private void StackerForm_Load(object sender, EventArgs e)
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{
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CheckForIllegalCrossThreadCalls = false;
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this.Text = Stacker.Name;
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this.tbSrmNo.DataBindings.Add("Text",Stacker,"SrmNo");
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this.tbTaskNo.DataBindings.Add("Text", Stacker, "TaskNo");
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this.tbSourcePosZ.DataBindings.Add("Text", Stacker, "SourcePosZ");
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this.tbSourcePosX.DataBindings.Add("Text", Stacker, "SourcePosX");
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this.tbSourcePosY.DataBindings.Add("Text", Stacker, "SourcePosY");
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this.tbDestinationPosZ.DataBindings.Add("Text", Stacker, "DestinationPosZ");
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this.tbDestinationPosX.DataBindings.Add("Text", Stacker, "DestinationPosX");
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this.tbDestinationPosY.DataBindings.Add("Text", Stacker, "DestinationPosY");
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this.tbCommand.DataBindings.Add("Text", Stacker, "Command");
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this.tbEmergencyStop.DataBindings.Add("Text", Stacker, "EmergencyStop");
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this.tbAlarmAck.DataBindings.Add("Text", Stacker, "AlarmAck");
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this.tbStb.DataBindings.Add("Text", Stacker, "Stb");
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this.tbAck.DataBindings.Add("Text", Stacker, "Ack");
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this.tbHandShake.DataBindings.Add("Text", Stacker, "HandShake");
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this.tbWSrmNo.DataBindings.Add("Text", Stacker, "WSrmNo");
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this.tbWMode.DataBindings.Add("Text", Stacker, "WMode");
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this.tbWAlarm.DataBindings.Add("Text", Stacker, "WAlarm");
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this.tbWLiftFull.DataBindings.Add("Text", Stacker, "WLiftFull");
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this.tbWPosX.DataBindings.Add("Text", Stacker, "WPosX");
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this.tbWPosY.DataBindings.Add("Text", Stacker, "WPosY");
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this.tbWPosZ.DataBindings.Add("Text", Stacker, "WPosZ");
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this.tbWPosXmm.DataBindings.Add("Text", Stacker, "WPosXmm");
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this.tbWPosYmm.DataBindings.Add("Text", Stacker, "WPosYmm");
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this.tbWPosZmm.DataBindings.Add("Text", Stacker, "WPosZmm");
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this.tbWPickFinish.DataBindings.Add("Text", Stacker, "WPickFinish");
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this.tbWDeliveryFinish.DataBindings.Add("Text", Stacker, "WDeliveryFinish");
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this.tbWTaskFinish.DataBindings.Add("Text", Stacker, "WTaskFinish");
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this.tbWTaskNo.DataBindings.Add("Text", Stacker, "WTaskNo");
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this.tbWState.DataBindings.Add("Text", Stacker, "WState");
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this.tbWActualLane.DataBindings.Add("Text", Stacker, "WActualLane");
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this.tbWAlarmNumber.DataBindings.Add("Text", Stacker, "WAlarmNumber");
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this.tbWHandShake.DataBindings.Add("Text", Stacker, "WHandShake");
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GetStackerStateThread = new Thread(new ThreadStart(GetStackerState));
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ThreadHelper.StartThread(GetStackerStateThread);
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ReceiveTaskThread = new Thread(new ThreadStart(ReceiveTask));
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ThreadHelper.StartThread(ReceiveTaskThread);
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DoTaskThread = new Thread(new ThreadStart(DoTask));
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ThreadHelper.StartThread(DoTaskThread);
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AlarmAckThread = new Thread(new ThreadStart(AlarmAck));
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ThreadHelper.StartThread(AlarmAckThread);
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}
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private void StackerForm_FormClosing(object sender, FormClosingEventArgs e)
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{
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ThreadHelper.CloseThread(GetStackerStateThread);
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ThreadHelper.CloseThread(ReceiveTaskThread);
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ThreadHelper.CloseThread(DoTaskThread);
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ThreadHelper.CloseThread(AlarmAckThread);
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if(Stacker != null)
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{
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Stacker.CloseWriteHandShakeThread();
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//Stacker = null;
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// GC.Collect();
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}
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}
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/// <summary>
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/// 获取每个堆垛机状态
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/// </summary>
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/// <param name="stacker">需要获取状态的堆垛机</param>
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private void GetStackerState()
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{
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var items = new string[]
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{
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//Stacker.OpcWriteItems.SrmNo,// 1Srm编号
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//Stacker.OpcWriteItems.Mode,// 2任务号
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//Stacker.OpcWriteItems.Alarm,// 3告警
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//Stacker.OpcWriteItems.LiftFull, // 4载货工位是否有货
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//Stacker.OpcWriteItems.PosX,// 5当前列
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//Stacker.OpcWriteItems.PosY,// 6当前层
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//Stacker.OpcWriteItems.PosZ,//7货叉位置
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//Stacker.OpcWriteItems.PosXmm,// 8当前列坐标
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//Stacker.OpcWriteItems.PosYmm,// 9当前层坐标
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//Stacker.OpcWriteItems.PosZmm,// 10当前货叉标
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//Stacker.OpcWriteItems.PickFinish,// 11完成取货信号
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//Stacker.OpcWriteItems.DeliveryFinish,//// 12完成放货信号
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//Stacker.OpcWriteItems.TaskFinish,// 13任务完成
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//Stacker.OpcWriteItems.TaskNo,// 14当前任务号
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//Stacker.OpcWriteItems.State,// 15当前任务执行状态
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//Stacker.OpcWriteItems.ActualLane,// 16当前巷道号
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//Stacker.OpcWriteItems.AlarmNumber,// 17告警代码
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//Stacker.OpcWriteItems.HandShake,// 18心跳
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Stacker.OpcReadItems.SrmNo,// 1Srm编号
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Stacker.OpcReadItems.TaskNo,// 2任务号
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Stacker.OpcReadItems.SourcePosX,// 3源列
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Stacker.OpcReadItems.SourcePosY,// 4源层
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Stacker.OpcReadItems.SourcePosZ,//5源排
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Stacker.OpcReadItems.DestinationPosX,// 6宿列
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Stacker.OpcReadItems.DestinationPosY,// 7宿层
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Stacker.OpcReadItems.DestinationPosZ,// 8宿排
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Stacker.OpcReadItems.Command,// 9发送命令
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Stacker.OpcReadItems.EmergencyStop,// 10紧急停止
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Stacker.OpcReadItems.AlarmAck,// 11解除告警
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Stacker.OpcReadItems.Stb,// 12WCS通讯
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//Stacker.OpcReadItems.Ack,// 13SRM 应答位
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Stacker.OpcReadItems.HandShake// 14心跳
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};
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while (true)
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{
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try
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{
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var opcs = CacheEntity.OpcWcfServiceClient.ReadValues(items);
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if (opcs == null || opcs.Length <= 0)
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{
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Thread.Sleep(1000);
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continue;
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}
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var i = 0;
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//Stacker.WSrmNo = int.Parse(opcs[i++].ToString());
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//Stacker.WMode = int.Parse(opcs[i++].ToString());
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//Stacker.WAlarm = int.Parse(opcs[i++].ToString());
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//Stacker.WLiftFull = int.Parse(opcs[i++].ToString());
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//Stacker.WPosX = int.Parse(opcs[i++].ToString());
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//Stacker.WPosY = int.Parse(opcs[i++].ToString());
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//Stacker.WPosZ = int.Parse(opcs[i++].ToString());
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//Stacker.WPosXmm = int.Parse(opcs[i++].ToString());
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//Stacker.WPosYmm = int.Parse(opcs[i++].ToString());
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//Stacker.WPosZmm = int.Parse(opcs[i++].ToString());
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//Stacker.WPickFinish = int.Parse(opcs[i++].ToString());
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//Stacker.WDeliveryFinish = int.Parse(opcs[i++].ToString());
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//Stacker.WTaskFinish = int.Parse(opcs[i++].ToString());
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//Stacker.WTaskNo = int.Parse(opcs[i++].ToString());
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//Stacker.WState = int.Parse(opcs[i++].ToString());
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//Stacker.WActualLane = int.Parse(opcs[i++].ToString());
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//Stacker.WAlarmNumber = int.Parse(opcs[i++].ToString());
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//Stacker.WHandShake = int.Parse(opcs[i++].ToString());
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Stacker.SrmNo = int.Parse(opcs[i++].ToString());
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Stacker.TaskNo = int.Parse(opcs[i++].ToString());
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Stacker.SourcePosX = int.Parse(opcs[i++].ToString());
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Stacker.SourcePosY = int.Parse(opcs[i++].ToString());
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Stacker.SourcePosZ = int.Parse(opcs[i++].ToString());
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Stacker.DestinationPosX = int.Parse(opcs[i++].ToString());
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Stacker.DestinationPosY = int.Parse(opcs[i++].ToString());
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Stacker.DestinationPosZ = int.Parse(opcs[i++].ToString());
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Stacker.Command = int.Parse(opcs[i++].ToString());
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Stacker.EmergencyStop = int.Parse(opcs[i++].ToString());
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Stacker.AlarmAck = int.Parse(opcs[i++].ToString());
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Stacker.Stb = int.Parse(opcs[i++].ToString());
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//Stacker.Ack = int.Parse(opcs[i++].ToString());
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Stacker.HandShake = int.Parse(opcs[i++].ToString());
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}
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catch (Exception ex)
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{
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LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}读取状态失败:{1}", Stacker.Name, ex.Message);
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}
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finally
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{
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Thread.Sleep(1000);
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}
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}
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}
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private void ReceiveTask()
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{
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string msg;
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while(true)
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{
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var flag = Stacker.ReceiveTask(out msg);
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if (!flag)
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{
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//LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}接收任务失败：{1}", Stacker.Name, msg);
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}
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else
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{
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LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}接收任务成功：{1}", Stacker.Name, Stacker.TaskNo);
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}
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Thread.Sleep(1000);
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}
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}
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private void DoTask()
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{
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string msg;
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while (true)
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{
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var flag = Stacker.DoTask(out msg);
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if (!flag)
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{
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//LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}执行任务失败：{1}", Stacker.Name, msg);
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}
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else
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{
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LogTextHelper.WriteLine(Resources.LogDir, "堆垛机{0}执行任务成功：{1}", Stacker.Name, Stacker.TaskNo);
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}
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Thread.Sleep(1000);
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}
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}
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private void AlarmAck()
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{
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while (true)
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{
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if(Stacker.AlarmAck == 1)
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{
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Stacker.WAlarm = 0;
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Stacker.WAlarmNumber = 0;
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CacheEntity.OpcWcfServiceClient.WriteValue(Stacker.OpcReadItems.AlarmAck, 0);
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}
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Thread.Sleep(1000);
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}
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}
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/// <summary>
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/// 点击告警触发的事件
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void button1_Click(object sender, EventArgs e)
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{
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Stacker.WAlarm = 1;
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Stacker.WAlarmNumber = int.Parse(tbCode.Text.Trim());
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}
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}
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}
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