2

schangxiang@126.com

2024-12-03 248201a7262e952f7e4a88b37d937cf1a7237644

 CC/iWareCC_ASRS/FormCC.cs

@@ -6,6 +6,7 @@
using iWareCC.StationService;
using iWareCC.ThreadService;
using iWareCC.ThreadService._03_BZ12_机器人码包工位_;
using iWareCC.ThreadService._04_BZ21_搬运整垛机器人_;
using iWareCC.WCF;
using iWareCommon.Common.Globle;
using iWareCommon.Utils;
@@ -28,6 +29,7 @@
using XiGang.Core.Model;
using XiGang.Core.Model.ViewModels;


namespace iWareCC
{
    public partial class FormCC : Form
@@ -37,6 +39,11 @@
        /// 全局—是否可以运行执行出库模式
        /// </summary>
        public static bool IsAllowRunOutMode = false;

        /// <summary>
        /// 当前下发出库任务的包号
        /// </summary>
        public static string currHandlerPackageCodeForIssueOutboundTask = "";

        /// <summary>
        /// 1号堆垛机入库口扫码强制验证通过
@@ -195,13 +202,14 @@
            //堆垛机UI赋值
            SetSrmUI();

            tskSetSrmLable = new Thread(SrmRead_Label);
            tskSetSrmLable.Start();

            #endregion

            #region 设置显示UI
            tskSetSrmLable = new Thread(SrmRead_Label);
            tskSetSrmLable.Start();
            tskSetRgvLable = new Thread(SetRgvLable);
            tskSetRgvLable.Start();


            #endregion

            #region 服务线程启动
@@ -214,33 +222,41 @@
            // rgvService.StartService();


            //处理【下发中】的出库计划任务
            // new Thread(OutPlanTaskDecompose.HandlerIssuingTask).Start();

            //任务分解线程-出库
            // new Thread(MainTaskDecompose.HandlerMainTaskDecompose).Start();
            new Thread(DataProcess_RobotBuffer_ModeChange.Handler).Start();

            //任务分解线程-组盘入库
            // new Thread(MainTaskDecompose_ZPRK.HandlerMainTaskDecompose_ZPRK).Start();
            new Thread(DataProcess_RobotBuffer_IssueOutboundTask.Handler).Start();


            new Thread(DataProcess_RobotBuffer_AutoQiTaoOutbound.Handler).Start();

            new Thread(DataProcess_RobotBuffer_FinishTaskForOutbound.Handler).Start();

            //自动组盘任务

            new Thread(DataProcess_RobotBuffer_FinishTask.Handler).Start();

            new Thread(DataProcess_BZ01.Handler).Start();

            //重新获取发动机信息

            new Thread(DataProcess_269.Handler).Start();
            
            //1014库位转运到1020线程


            new Thread(DataProcess_BZ39.Handler).Start();

            new Thread(DataProcess_BZ39_IssueInboundTask.Handler).Start();
            new Thread(DataProcess_BZ12.Hander).Start();
            new Thread(DataProcess_BZ12_IssueTask.Handler).Start();


            new Thread(DataProcess_BZ12_FinishTask.Handler).Start();

            new Thread(DataProcess_BZ21.Hander).Start();
            new Thread(DataProcess_BZ21_IssueTask.Handler).Start();

            new Thread(DataProcess_BZ21_FinishTask.Handler).Start();
            new Thread(DeleteData).Start();

            new Thread(LineInSacnResult.HandlerLineInSacnResult).Start();
            new Thread(PushPackageCodeToMes.Handler).Start();
            new Thread(PushPaperCutToMes.Handler).Start();



@@ -318,10 +334,6 @@
            //btn_Start_Click(null, null);
        }



        #region 堆垛机线程和UI处理

        /// <summary>
        /// 设置1/2号堆垛机的前端显示
        /// </summary>
@@ -335,33 +347,35 @@

                    var showNowTime = "(" + DateTimeHelper.ConvertToStringForOnlyShowTime(DateTime.Now) + ")";
                    //设置堆垛机任务下发和任务确认线程消息
                    this.lbl_Alter_Srm1Release.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm1Release;
                    this.lbl_Alert_DataProcess_BZ39_IssueInboundTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ39_IssueInboundTask;
                    this.lbl_Alert_Srm2Release.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm2Release;
                    this.lbl_Alert_Srm3Release.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm3Release;
                    this.lbl_Alert_DataProcess_BZ12.Text = showNowTime + SystemWarningMsg._lbl_alert_DataProcess_BZ12;
                    this.lbl_Alert_Srm4Release.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm4Release;
                    //设置堆垛机任务下发和任务完成确认线程消息
                    this.lbl_Alter_Srm1ReleaseFinish.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm1ReleaseFinish;
                    this.lbl_Alert_Srm2ReleaseFinish.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm2ReleaseFinish;
                    this.lbl_Alert_Srm3ReleaseFinish.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm3ReleaseFinish;
                    this.lbl_Alert_Srm4ReleaseFinish.Text = showNowTime + SystemWarningMsg._lbl_Alert_Srm4ReleaseFinish;
                    this.lbl_Alert_DataProcess_BZ12_FinishTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ12_FinishTask;
                    this.lbl_Alert_DataProcess_BZ21_FinishTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ21_FinishTask;
                   

                    this.lbl_Alert_RgvRelease.Text = showNowTime + SystemWarningMsg._lbl_Alert_RgvRelease;
                    this.lbl_Alert_RgvReleaseFinish.Text = showNowTime + SystemWarningMsg._lbl_Alert_RgvReleaseFinish;
                    this.lbl_Alert_RgvReleaseFinish_BuChang.Text = showNowTime + SystemWarningMsg._lbl_Alert_RgvReleaseFinish_BuChang;

                    this.lbl_Alert_HandlerIssuingTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_HandlerIssuingTask;
                    this.lbl_Alert_PushPaperCutToMes.Text = showNowTime + SystemWarningMsg._lbl_Alert_PushPaperCutToMes;
                    this.lbl_Alert_PushPackageCodeToMes.Text = showNowTime + SystemWarningMsg._lbl_Alert_PushPackageCodeToMes;

                    this.lbl_Alert_DataProcess_BZ12_IssueTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ12_IssueTask;

                    this.lbl_Alert_DataProcess_RobotBuffer_FinishTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_RobotBuffer_FinishTask;

                    this.lbl_MainTaskDecompose.Text = showNowTime + SystemWarningMsg._lbl_Alert_MainTaskDecompose;
                    this.lbl_DataProcess_BZ21_IssueTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ21_IssueTask;

                    this.lbl_MainTaskDecompose_ZPRK.Text = showNowTime + SystemWarningMsg._lbl_Alert_MainTaskDecompose_ZPRK;
                    this.lbl_DataProcess_RobotBuffer_ModeChange.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_RobotBuffer_ModeChange;

                    this.lbl_Alert_DataProcess_RobotBuffer_FinishTaskForOutbound.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_RobotBuffer_FinishTaskForOutbound;

                    this.lbl_Alert_DeleteData.Text = showNowTime + SystemWarningMsg._lbl_Alert_DeleteData;

                    this.lbl_Alert_EmptySalverTransfer.Text = showNowTime + SystemWarningMsg._lbl_Alert_EmptySalverTransfer;
                    this.lbl_Alert_DataProcess_RobotBuffer_AutoQiTaoOutbound.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_RobotBuffer_AutoQiTaoOutbound;

                    this.lbl_Alter_DataProcess_BZ21.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_BZ21;

                    this.lbl_alert_DataProcess_BZ39.Text = showNowTime + SystemWarningMsg._lbl_alert_DataProcess_BZ39;

@@ -369,10 +383,7 @@

                    this.lbl_alert_DataProcess_269.Text = showNowTime + SystemWarningMsg._lbl_alert_DataProcess_269;

                    this.lbl_Alert_Place1014ClearStoreTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_Place1014To1020TaskTask;


                    this.lbl_Alter_OutTaskRetryToMes.Text = showNowTime + SystemWarningMsg._lbl_Alert_OutTaskRetryToMes;
                    this.lbl_Alert_DataProcess_RobotBuffer_IssueOutboundTask.Text = showNowTime + SystemWarningMsg._lbl_Alert_DataProcess_RobotBuffer_IssueOutboundTask;



@@ -380,11 +391,14 @@
                }
                catch (Exception ex)
                {
                    Log4NetHelper.WriteErrorLog(iWareCommon.Utils.LogType.SrmTheadService, "方法SrmRead_Label出现异常：" + ex.Message, ex);
                    continue;
                }
            }
        }

        #region 堆垛机线程和UI处理



        /// <summary>
        /// 获取堆垛机的实时信息
@@ -409,18 +423,18 @@
                            {
                                for (int i = 0; i < waringList.Count; i++)
                                {
                                    DeviceWarningHandler.SaveWarning(device, iWareCommon.Utils.LogType.SrmTheadService,
                                    DeviceWarningHandler.SaveWarning(device, iWareCommon.Utils.LogType.DataProcess_BZ39_IssueInboundTask,
                                        waringList[i].Code, waringList[i].Address, waringList[i].Context);//新增报警
                                    warningAddressList.Add(waringList[i].Address);
                                }
                            }
                        }
                        DeviceWarningHandler.AutoCloseWarning(device, iWareCommon.Utils.LogType.SrmTheadService, warningAddressList);//自动关闭报警
                        DeviceWarningHandler.AutoCloseWarning(device, iWareCommon.Utils.LogType.DataProcess_BZ39_IssueInboundTask, warningAddressList);//自动关闭报警
                    }
                }
                catch (Exception ex)
                {
                    Log4NetHelper.WriteErrorLog(iWareCommon.Utils.LogType.SrmTheadService, "获取" + device.ToString() + "的实时信息异常:" + ex.Message, ex);
                    Log4NetHelper.WriteErrorLog(iWareCommon.Utils.LogType.DataProcess_BZ39_IssueInboundTask, "获取" + device.ToString() + "的实时信息异常:" + ex.Message, ex);
                    continue;
                }
            };
@@ -461,7 +475,7 @@
            };
            realTimeList.Add(obj);

            DeviceSrmRealTimeHandler.Update(realTimeList, iWareCommon.Utils.LogType.SrmTheadService);
            DeviceSrmRealTimeHandler.Update(realTimeList, iWareCommon.Utils.LogType.DataProcess_BZ39_IssueInboundTask);

        }

@@ -969,53 +983,6 @@

        #endregion

        #region AGV


        /// <summary>
        /// 获取AGV车辆列表
        /// </summary>
        public void GetAgvVehicles()
        {
            while (true)
            {
                try
                {
                    if (SystemValue.isAllowRuning_Agv && SystemValue.isStartedModel)
                    {
                        AGVRetModel list = AgvRequestHelper.GetVehicles();
                        AgvHandler.SaveAgvData(list);

                        List<String> warningAddressList = new List<string>();
                        if (list.alarms != null && list.alarms.errors != null && list.alarms.errors.Count > 0)
                        {
                            var waringList = list.alarms.errors;
                            if (waringList != null && waringList.Count > 0)
                            {
                                for (int i = 0; i < waringList.Count; i++)
                                {
                                    DeviceWarningHandler.SaveWarning(EDevice.AGV, iWareCommon.Utils.LogType.AGVTheadService,
                                        waringList[i].code, waringList[i].code, waringList[i].desc);//新增报警
                                    warningAddressList.Add(waringList[i].code);
                                }
                            }
                        }
                        DeviceWarningHandler.AutoCloseWarning(EDevice.AGV, iWareCommon.Utils.LogType.AGVTheadService, warningAddressList);//自动关闭报警
                        this.lbl_Alert_Agv.Text = "获取AGV车辆信息成功";
                    }
                }
                catch (Exception ex)
                {
                    Log4NetHelper.WriteErrorLog(iWareCommon.Utils.LogType.CCWCFService, "获取AGV车辆列表 出现异常:" + ex.Message, ex);
                    this.lbl_Alert_Agv.Text = "获取AGV车辆信息异常：" + ex.Message;
                }
                finally
                {
                    Thread.Sleep(5000);//5秒一次 
                }
            }
        }
        #endregion

        #region 其他线程

@@ -1220,7 +1187,7 @@
                using (var opcClinet = new SrmService.SrmServiceClient())
                {
                    var result = opcClinet.SendEStop((int)_EDevice);
                    Log4NetHelper.WriteInfoLog(iWareCommon.Utils.LogType.SrmTheadService, "字符串：" + JsonConvert.SerializeObject(result));
                    Log4NetHelper.WriteInfoLog(iWareCommon.Utils.LogType.DataProcess_BZ39_IssueInboundTask, "字符串：" + JsonConvert.SerializeObject(result));
                    if (result.result)
                    {
                        WZ.Useful.Commons.MessageUtil.ShowTips("发送" + _EDevice.ToString() + "急停指令成功");
@@ -1523,8 +1490,8 @@
                this.lbl_ModelText.Text = title + currentCheckModelText;
                SetAllCheckBoxChecked(true);
                //将特殊的取消
                this.ckHandlerIssuingTask.Checked = false;
                this.ckMainTaskDecompose.Checked = false;
                this.ck_DataProcess_BZ12_IssueTask.Checked = false;
                this.ck_DataProcess_BZ21_IssueTask.Checked = false;

                this.gBoxThread.Enabled = true;
            }
@@ -1560,16 +1527,16 @@
        private void CommonCheckedChanged(object sender, EventArgs e)
        {
            //堆垛机1任务下发
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_1, ckBSrm1Release);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_1, ckB_DataProcess_BZ39_IssueInboundTask);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_1_Finish, ckBSrm1FinishedHandle);

            //堆垛机2任务下发
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_2, ckBSrm2Release);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_2_Finish, ckBSrm2FinishedHandle);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_2_Finish, ckBDataProcess_BZ12_FinishTask);

            //堆垛机3任务下发
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_3, ckBSrm3Release);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_3_Finish, ckBSrm3FinishedHandle);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_3, ckBDataProcess_BZ12);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_3_Finish, ckBDataProcess_BZ21_FinishTask);

            //堆垛机4任务下发
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_SrmTaskThreadService_4, ckBSrm4Release);
@@ -1578,25 +1545,25 @@

            //RGV任务下发
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_RgvThreadService, ckBRgvRelease);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_RgvThreadService_Finish, ckBRgvFinishedHandle);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_RgvThreadService_Finish_BuChang, ckBRgvFinishedHandle_BuChang);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_RgvThreadService_Finish, ckB_PushPaperCutToMes);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_RgvThreadService_Finish_BuChang, ck_PushPackageCodeToMes);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_HandlerIssuingTask, ckHandlerIssuingTask);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_HandlerIssuingTask, ck_DataProcess_BZ12_IssueTask);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_RobotBuffer_FinishTask, ck_DataProcess_RobotBuffer_FinishTask);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_MainTaskDecompose, ckMainTaskDecompose);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_MainTaskDecompose, ck_DataProcess_BZ21_IssueTask);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_MainTaskDecompose_ZPRK, ckMainTaskDecompose_ZPRK);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_RobotBuffer_ModeChange, ck_DataProcess_RobotBuffer_ModeChange);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_ValidateQiTao, ck_DataProcess_ValidateQiTao);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_RobotBuffer_FinishTaskForOutbound, checkBox_DataProcess_RobotBuffer_FinishTaskForOutbound);


            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DeleteData, ckDeleteData);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_Agv, ckAgv);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_EmptySalverTransfer, ckEmptySalverTransfer);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_RobotBuffer_AutoQiTaoOutbound, ckDataProcess_RobotBuffer_AutoQiTaoOutbound);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_BZ39, ck_DataProcess_BZ39);

@@ -1604,9 +1571,9 @@

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_269, ck_DataProcess_269);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_Place1014To1020Task, ckPlace1014ClearStoreTask);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_DataProcess_RobotBuffer_IssueOutboundTask, ck_DataProcess_RobotBuffer_IssueOutboundTask);

            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_OutTaskRetryToMes, checkBox_OutTaskRetryToMes);
            DoCommonCheckedChanged(ref SystemValue.isAllowRuning_OutTaskRetryToMes, checkBox_DataProcess_BZ21);
        }

        private void DoCommonCheckedChanged(ref bool isAllowValue, CheckBox cb)
@@ -1881,6 +1848,9 @@
                        this.btn_Start.BackColor = default_btn_Start_Color;//还原颜色
                    }
                }

                this.lbl_RobotMode.Text = "缓存岛机器人模式:" + (IsAllowRunOutMode ? "出库模式" : "入库模式");
                this.lbl_currHandlerPackageCodeForIssueOutboundTask.Text = "当前下发出库任务的包号:" + currHandlerPackageCodeForIssueOutboundTask;
            }
        }

@@ -3580,5 +3550,27 @@
                "转换后:" + "\r\n" +
                JsonConvert.SerializeObject(retModel);
        }

        private void lbl_Alert_Place1014ClearStoreTask_Click(object sender, EventArgs e)
        {

        }

        private void button24_Click(object sender, EventArgs e)
        {
            //强制该包号出库
            var packageCode = this.tb_PackageCode.Text.Trim();

            var alertMsg = "";
            DataProcess_RobotBuffer_ForceOutbound.Handler(packageCode, ref alertMsg);
            if (!string.IsNullOrEmpty(alertMsg))
            {
                MessageBox.Show("错误:" + alertMsg);
            }
            else
            {
                MessageBox.Show("已处理");
            }
        }
    }
}