using System.Diagnostics;
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using System.Text;
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using WIDESEAWCS_Common.AGVEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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public class SendTaskAGV
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{
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private static int _readSendAGVTaskSignalso = 0;
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private static bool isTrue1 = false;
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private static string name1 = "";
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public static void SendAGVTask1(AGV agv, ITaskRepository _taskRepository)
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{
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//TODO: Implement sending task to AGV
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try
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{
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if (agv == null)
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{
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return;
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}
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var taskInteractiveR = agv.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
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var taskInteractiveW = agv.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskInteractiveW.ToString()).FirstOrDefault().DeviceProAddress;
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var resetTaskW = agv.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveW.ToString()).FirstOrDefault().DeviceProAddress;
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var resetTaskInteractiveR = agv.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
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var taskID = agv.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskID.ToString()).FirstOrDefault().DeviceProAddress;
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int TaskInteractive = agv.Communicator.Read<int>(taskInteractiveR);//1收到
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int TaskInteractiveW = agv.Communicator.Read<int>(taskInteractiveW);//0初始/1下发/2取消/3更改
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int resetTaskInteractiveW = agv.Communicator.Read<int>(resetTaskW);
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int resetTaskInteractiver = agv.Communicator.Read<int>(resetTaskInteractiveR);
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if (isTrue1 && name1 == agv.DeviceName)
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{
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if (TaskInteractiveW != 0 || resetTaskInteractiveW != 0 || TaskInteractive != 0)
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{
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agv.Communicator.Write(resetTaskW, 1);
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Task.Delay(2000).Wait();
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resetTaskInteractiveW = agv.Communicator.Read<int>(resetTaskW);
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if (resetTaskInteractiveW == 1)
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{
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agv.Communicator.Write(resetTaskW, 0);
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agv.Communicator.Write(taskInteractiveW, 0);
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Task.Delay(2000).Wait();
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}
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return;
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}
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else
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{
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isTrue1 = false;
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name1 = "";
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}
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}
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if (resetTaskInteractiver == 1)
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{
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agv.Communicator.Write(taskInteractiveW, 0);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(agv.Communicator.Read<int>(taskInteractiveW));
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if (agvnumber != 0)
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{
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agv.Communicator.Write(taskInteractiveW, 0);
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}
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else
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{
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break;
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}
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}
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}
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if (0 == TaskInteractive && TaskInteractiveW == 0)
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{
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Dt_Task agvTask = _taskRepository.QueryData(r => r.TaskState == (int)TaskInStatusEnum.InNew && r.Roadway == agv.DeviceName && r.TaskType == (int)TaskOutboundTypeEnum.Outbound).OrderBy(r => r.CreateDate).OrderByDescending(r => r.Grade).FirstOrDefault();
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if (null != agvTask)
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{
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//写入任务信息
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string rel = TaskWrite(agv, agvTask, AGVJobEnum.newTaskEnum);
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Thread.Sleep(1000);
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string taskId = agv.Communicator.Read<string>(taskID).ToString();
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if (taskId != agvTask.TaskNum.ToString())
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{
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isTrue1 = true;
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name1 = agv.DeviceName;
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//WriteLog.Info("SendAGVTask").Write("给AGV写入任务失败," + agvTask.agv_tasknum + DateTime.Now, "SendAGVTask");
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throw new Exception(string.Format("给AGV写入任务失败,任务号{0}", agvTask.TaskNum));
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}
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if (string.IsNullOrEmpty(rel))
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{
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//写入任务确认1
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agv.Communicator.Write(taskInteractiveW, 1);
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Thread.Sleep(1000);
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//读取AGV信号
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int ReadTask_1_OK = agv.Communicator.Read<int>(taskInteractiveR);
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if (ReadTask_1_OK == 1)
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{
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//写入WCS确认信号0
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agv.Communicator.Write(taskInteractiveW, 0);
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Thread.Sleep(2000);
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//读取AGV信号是否为0
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int ReadTask_0_OK = agv.Communicator.Read<int>(taskInteractiveR);
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if (ReadTask_0_OK == 0)
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{
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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// 上传AGV运行数据 by xiaoyang
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//SendMESTask.SendMesTask(agvTask, 0);
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}
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else
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{
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isTrue1 = true;
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name1 = agv.DeviceName;
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throw new Exception(string.Format("给AGV写入任务确认0失败,任务号{0}", agvTask.TaskNum));
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}
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}
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else if (ReadTask_1_OK == 11)
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{
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agv.Communicator.Write(taskInteractiveW, 0);
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Thread.Sleep(2000);
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int ReadTask_0_Error = agv.Communicator.Read<int>(taskInteractiveR);
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if (ReadTask_0_Error == 0)
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{
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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}
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else
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{
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isTrue1 = true;
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name1 = agv.DeviceName;
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throw new Exception(string.Format("给AGV写入任务异常确认0失败,任务号{0}", agvTask.TaskNum));
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}
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}
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else
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{
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isTrue1 = true;
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name1 = agv.DeviceName;
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throw new Exception(string.Format("给AGV写入任务确认1失败,任务号{0}", agvTask.TaskNum));
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}
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}
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else
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{
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isTrue1 = true;
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name1 = agv.DeviceName;
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throw new Exception(string.Format("给AGV写入任务失败,任务号{0}" + rel, agvTask.TaskNum));
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}
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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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StackTrace sta = new StackTrace(ex, true);
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StackTrace st = new StackTrace(new StackFrame(true));
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StackFrame sf = sta.GetFrame(0);
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//WriteLog.Info("SendAGVTask").Write(ex.Message + "行号" + sf.GetFileLineNumber(), "SendAGVTask");
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}
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finally
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{
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// WriteLog.Info("SendAGVTask").Write(agv.PLCName+"\t"+DateTime.Now, "SendAGVTask");
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Interlocked.Exchange(ref _readSendAGVTaskSignalso, 0);
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}
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}
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public static void SendAGVTask(AGV agv, ITaskRepository _taskRepository)
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{
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// 检查AGV是否为空
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if (agv == null)
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{
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return;
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}
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// 获取任务交互和重置交互的设备地址
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var taskInteractiveR = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskInteractiveR.ToString())?.DeviceProAddress;
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var taskInteractiveW1 = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskInteractiveW.ToString())?.DeviceProAddress;
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var resetTaskW = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveW.ToString())?.DeviceProAddress;
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var resetTaskInteractiveR = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveR.ToString())?.DeviceProAddress;
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var taskID = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskID.ToString())?.DeviceProAddress;
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// 如果地址未找到，直接返回
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if (taskInteractiveR is null || taskInteractiveW1 is null || resetTaskW is null || resetTaskInteractiveR is null || taskID is null)
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{
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return;
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}
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try
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{
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// 读取任务交互和重置交互的状态
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int taskInteractive = agv.Communicator.Read<Int16>(taskInteractiveR); // 1表示收到
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int taskInteractiveW = agv.Communicator.Read<Int16>(taskInteractiveW1); // 0初始/1下发/2取消/3更改
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int resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
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int resetTaskInteractiver = agv.Communicator.Read<Int16>(resetTaskInteractiveR);
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// 处理任务交互W和重置交互W不为0的情况
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if (isTrue1 && name1 == agv.DeviceName)
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{
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if (taskInteractiveW != 0 || resetTaskInteractiveW != 0 || taskInteractive != 0)
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{
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agv.Communicator.Write<UInt16>(resetTaskW, 1);
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Task.Delay(2000).Wait();
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resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
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if (resetTaskInteractiveW == 1)
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{
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agv.Communicator.Write<UInt16>(resetTaskW, 0);
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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}
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return;
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}
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isTrue1 = false;
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name1 = "";
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}
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// 如果重置交互R为1，则重置任务交互W
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if (resetTaskInteractiver == 1)
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{
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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for (int i = 0; i < 5; i++)
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{
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Task.Delay(300).Wait(); // 用Task.Delay代替Thread.Sleep，以避免线程阻塞
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int agvNumber = agv.Communicator.Read<Int16>(taskInteractiveW1);
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if (agvNumber != 0)
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{
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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}
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else
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{
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break;
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}
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}
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}
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// 如果AGV没有任务且任务交互W为0
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if (taskInteractive == 0 && taskInteractiveW == 0)
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{
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// 查询新任务
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Dt_Task agvTask = _taskRepository.QueryData(r => r.TaskState == (int)TaskInStatusEnum.InNew && r.Roadway == agv.DeviceName && r.TaskType == (int)TaskOutboundTypeEnum.Outbound)
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.OrderBy(r => r.CreateDate).ThenByDescending(r => r.Grade).FirstOrDefault();
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if (agvTask != null)
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{
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// 写入任务信息
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string rel = TaskWrite(agv, agvTask, AGVJobEnum.newTaskEnum);
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Task.Delay(1000).Wait();
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// 检查任务ID是否写入正确
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string taskId = agv.Communicator.Read<string>(taskID);
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string numberPart = taskId.Split('-')[1];
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if (numberPart != agvTask.TaskNum.ToString())
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{
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throw new Exception($"给AGV写入任务失败,任务号{agvTask.TaskNum}");
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}
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// 如果任务信息写入成功
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if (string.IsNullOrEmpty(rel))
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{
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// 写入任务确认信号1
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 1);
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Task.Delay(1000).Wait();
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// 读取AGV的确认信号
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int readTask1Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
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if (readTask1Ok == 1)
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{
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// 写入WCS的确认信号0
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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// 再次读取AGV的确认信号
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int readTask0Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
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if (readTask0Ok == 0)
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{
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// 更新任务状态并保存
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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// 上传AGV运行数据（注释掉的代码）
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// SendMESTask.SendMesTask(agvTask, 0);
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}
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else
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{
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throw new Exception($"给AGV写入任务确认0失败,任务号{agvTask.TaskNum}");
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}
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}
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else if (readTask1Ok == 11)
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{
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// 处理任务异常情况
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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int readTask0Error = agv.Communicator.Read<int>(taskInteractiveR);
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if (readTask0Error == 0)
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{
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// 更新任务状态为异常并保存
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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}
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else
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{
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throw new Exception($"给AGV写入任务异常确认0失败,任务号{agvTask.TaskNum}");
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}
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}
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else
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{
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throw new Exception($"给AGV写入任务确认1失败,任务号{agvTask.TaskNum}");
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}
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}
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else
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{
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throw new Exception($"给AGV写入任务失败,任务号{agvTask.TaskNum} {rel}");
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}
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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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// 记录异常信息（注释掉的代码）
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// StackTrace sta = new StackTrace(ex, true);
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// StackFrame sf = sta.GetFrame(0);
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// WriteLog.Info("SendAGVTask").Write(ex.Message + " 行号 " + sf.GetFileLineNumber(), "SendAGVTask");
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}
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finally
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{
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// 记录日志（注释掉的代码）
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// WriteLog.Info("SendAGVTask").Write(agv.PLCName + "\t" + DateTime.Now, "SendAGVTask");
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// 重置信号量
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Interlocked.Exchange(ref _readSendAGVTaskSignalso, 0);
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}
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}
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public static string TaskWrite(AGV client, Dt_Task agvTask, AGVJobEnum jobEnum)
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{
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List<byte> sendData = new List<byte>();
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string tmp = "KH-" + agvTask.TaskNum.ToString();
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List<byte> taskID = Encoding.Default.GetBytes(tmp).ToList();//任务ID
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taskID.Insert(0, 30);
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taskID.Insert(1, Convert.ToByte(tmp.Length));
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for (int i = 0; i < 30 - tmp.Length; i++)
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{
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taskID.Add(0);
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}
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sendData.AddRange(taskID);
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List<byte> taskStart = Encoding.Default.GetBytes(agvTask.SourceAddress).ToList();
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taskStart.Insert(0, 20);
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taskStart.Insert(1, Convert.ToByte(agvTask.SourceAddress.Length));
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for (int i = 0; i < 20 - agvTask.SourceAddress.Length; i++)
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{
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taskStart.Add(0);
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}
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sendData.AddRange(taskStart);
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List<byte> taskEnd = Encoding.Default.GetBytes(agvTask.TargetAddress).ToList();
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taskEnd.Insert(0, 20);
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taskEnd.Insert(1, Convert.ToByte(agvTask.TargetAddress.Length));
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for (int i = 0; i < 20 - agvTask.TargetAddress.Length; i++)
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{
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taskEnd.Add(0);
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}
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sendData.AddRange(taskEnd);
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byte[] taskType = BitConverter.GetBytes((ushort)1).ToArray();
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Array.Reverse(taskType);
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sendData.AddRange(taskType);
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List<byte> containerType = Encoding.Default.GetBytes(agvTask.Barcode).ToList();
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containerType.Insert(0, 30);
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containerType.Insert(1, Convert.ToByte(agvTask.Barcode.Length));
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for (int i = 0; i < 30 - agvTask.Barcode.Length; i++)
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{
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containerType.Add(0);
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}
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sendData.AddRange(containerType);
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byte[] taskPriority = BitConverter.GetBytes((ushort)1).ToArray();
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Array.Reverse(taskPriority);
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sendData.AddRange(taskPriority);
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byte[] taskFlag = BitConverter.GetBytes((ushort)jobEnum).ToArray();
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Array.Reverse(taskFlag);
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sendData.AddRange(taskFlag);
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var operateResult = client.Communicator.Write("DB1000.0", sendData.ToArray());
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if (!operateResult)
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return "AGV发送任务失败";
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//WriteLog.Info("AGV发送任务").Write("任务号" + agvTask.agv_tasknum + "AGV编号" + client.PLCName + DateTime.Now, "AGV发送任务");
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return "";
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}
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}
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}
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