using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Net;
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using System.Net.Sockets;
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using System.Windows.Forms;
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using System.Threading;
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using System.Net.NetworkInformation;
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using System.Runtime.InteropServices;
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using com.force.json;
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using DevComponents.DotNetBar.Controls;
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using System.Drawing;
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using System.Data;
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using HslCommunication.Profinet.Siemens;
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using HslCommunication;
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using HslCommunication.Core.Net;
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namespace WCS
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{
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/// <summary>
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/// 堆垛机线程
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/// </summary>
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class CraneThread
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{
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//[DllImport("kernel32")]
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//private static extern int GetPrivateProfileString(string section, string key, string def, StringBuilder retVal, int size, string filePath);
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//[DllImport("kernel32")]
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//private static extern long WritePrivateProfileString(string section, string key, string val, string filePath);
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main form1;
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//NetworkStream myNetworkStream;
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//Thread thr = null;
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delegate void displayresponse(string text);
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//int wrk_no = 0, sstnno = 0, dstnno = 0,type=0;
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//string type_cmd = "", slocno = "", dlocno = "";
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string recvStr = "";
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string crnip = "";
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int crnport = 0;
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int crnno = 0;
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//string headstr = "";
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//string testip = "";
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Thread trd = null;
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int i_crn_step = 0;
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//int i_crn_iotype = 0;
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public static string crn_cmd = "";
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delegate void SetTextCallback(string text);
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delegate void DisplayData(int type, int i);
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delegate void DisplaycrnstsData(int crn, int bay, int lev, double dist, double height, int err);
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delegate void SetTextCallback1();
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private SiemensS7Net siemensTcpNet = null;
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private OperateResult connect = null;
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#region 画面上同步显示控件
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//public DevComponents.DotNetBar.LabelX cmd;
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//public ListView crncmdlist;
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//public ListView crnslist;
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public ListView crnstslist;
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public ListBox tb;
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public DataGridViewX dgv_crnsts;
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public TextBoxX tb_sendtocrn;
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#endregion
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public CraneThread(int crn_no, string crnip, int crnport, main f)
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{
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try
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{
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this.crnip = crnip;
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this.crnno = crn_no;
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this.crnport = crnport;
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form1 = f;
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siemensTcpNet = new SiemensS7Net(SiemensPLCS.S1200);
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siemensTcpNet.IpAddress = this.crnip;
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siemensTcpNet.Port = this.crnport;
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siemensTcpNet.Rack = 0;
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siemensTcpNet.Slot = 0;
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siemensTcpNet.ConnectClose();
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trd = new Thread(new ThreadStart(this.ThreadTask));
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trd.IsBackground = true;
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trd.Start();
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}
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catch (Exception em)
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{
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Common.WriteLogFile("WcsError", "CraneThread/CraneThread--堆垛机线程启动出错:" + em.Message);
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}
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}
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public void Destroy()
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{
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siemensTcpNet.ConnectClose();
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trd.Abort();
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}
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/// <summary>
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/// 断开连接后，重新连接
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/// </summary>
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/// <returns></returns>
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private bool ReConnect()
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{
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bool result = false;
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try
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{
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siemensTcpNet.ConnectClose();
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connect = siemensTcpNet.ConnectServer();
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if (connect.IsSuccess)
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{
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result = true;
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DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC成功 ");
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}
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else
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{
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DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC失败---" + connect.ToMessageShowString());
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}
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}
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catch (Exception em)
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{
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DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC失败---" + em.Message);
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}
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return result;
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}
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/// <summary>
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/// 根据堆垛机命令判断作业类型
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/// </summary>
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/// <param name="cmd">命令</param>
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private void ChkCrnCmd(string cmd)
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{
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int nkind = 0;
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try
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{
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nkind = Int32.Parse(cmd.Substring(0, 2));
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i_crn_step = nkind;
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Common.gi_crn_iotype[crnno - 1] = nkind;
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//i_crn_iotype = nkind;
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}
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catch (Exception em)
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{
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i_crn_step = 6;
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Common.WriteLogFile("WcsError", "CraneThread/ChkCrnCmd--根据命令判断作业类型出错:" + em.Message);
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//i_crn_iotype = 6;
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}
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}
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/// <summary>
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/// 清除命令操作
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_ClearCmd(string cmd)
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{
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//int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
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if (cmd == "" || cmd == 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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int type = Int32.Parse(cmd.Substring(0, 2));
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//int wrkno = Int32.Parse(cmd.Substring(2, 4));
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if (type != 3) { return; }
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//iotype = 3;
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//i_srow = 0;//源row
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//i_sbay = 0;//源bay
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//i_slev = 0;//源lev
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//i_drow = 0;//目标rpw
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//i_dbay = 0;//目标bay
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//i_dlev = 0;//目标lev
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Common.crn_i_crnno[crnno - 1] = crnno;
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Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
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Common.crn_i_Errcod[crnno - 1] = 0;
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Common.crn_i_kind[crnno - 1] = 0;
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Common.crn_i_fstn[crnno - 1] = 0;
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Common.crn_i_tstn[crnno - 1] = 0;
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Common.crn_s_Flocno[crnno - 1] = "";
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Common.crn_s_Tlocno[crnno - 1] = "";
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Common.crn_s_commandstr[crnno - 1] = "";
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Common.gs_crncmd[crnno - 1] = "";
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//WriteCrnData(iotype, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
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// ReadCrnData();
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//WriteCrnData(0, 0, 0, 0, 0, 0, 0, 0);
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OperateResult result = siemensTcpNet.Write("DB90.0", (short)1);
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Thread.Sleep(Common.ci_CRNtimeInterval);
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ReadCrnData();
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i_crn_step = 6;
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}
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catch (Exception em)
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{
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Common.WriteLogFile("WcsError", "CraneThread/Proc_ClearCmd--清除命令出错:" + em.Message);
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return;
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}
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}
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/// <summary>
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/// 回原点
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_RebackHp(string cmd)
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{
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if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
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|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
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{
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ReadCrnData();
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return;
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}
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int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
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if (cmd == "" || cmd == null)
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{
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return;
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}
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try
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{ //07 0001 0100203 0200304
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int type = Int32.Parse(cmd.Substring(0, 2));
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int wrkno = Int32.Parse(cmd.Substring(2, 4));
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if (type != 4) { return; }
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iotype = 5;
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i_srow = Int32.Parse(cmd.Substring(6, 2));
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i_sbay = Int32.Parse(cmd.Substring(8, 3));
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i_slev = Int32.Parse(cmd.Substring(11, 2));
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i_drow = Int32.Parse(cmd.Substring(13, 2));
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i_dbay = Int32.Parse(cmd.Substring(15, 3));
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i_dlev = Int32.Parse(cmd.Substring(18, 2));
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Common.crn_i_crnno[crnno - 1] = crnno;
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Common.crn_i_Wrkno[crnno - 1] = wrkno;
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Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_HP_POSITION;
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Common.crn_i_Errcod[crnno - 1] = 0;
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Common.crn_i_kind[crnno - 1] = type;
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Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
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Common.crn_i_tstn[crnno - 1] = 0;
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Common.crn_s_Flocno[crnno - 1] = "";
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Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
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Common.CrnState[crnno - 1] = 3;
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WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
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Thread.Sleep(Common.ci_CRNtimeInterval);
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ReadCrnData();
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}
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catch (Exception em)
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{
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Common.WriteLogFile("WcsError", "CraneThread/Proc_RebackHp--回原点除命令出错:" + em.Message);
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return;
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}
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}
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/// <summary>
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/// 坐标移动
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_CoordMove(string cmd)
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{
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if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
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|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
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{
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ReadCrnData();
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return;
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}
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int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
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if (cmd == "" || cmd == null)
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{
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return;
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}
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try
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{ //07 0001 0100203 0200304
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int type = Int32.Parse(cmd.Substring(0, 2));
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int wrkno = Int32.Parse(cmd.Substring(2, 4));
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if (type != 5) { return; }
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Common.crn_i_Wrkno[crnno - 1] = wrkno;
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iotype = 7;
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i_srow = Int32.Parse(cmd.Substring(6, 2));
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i_sbay = Int32.Parse(cmd.Substring(8, 3));
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i_slev = Int32.Parse(cmd.Substring(11, 2));
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i_drow = Int32.Parse(cmd.Substring(13, 2));
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i_dbay = Int32.Parse(cmd.Substring(15, 3));
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i_dlev = Int32.Parse(cmd.Substring(18, 2));
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Common.crn_i_crnno[crnno - 1] = crnno;
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Common.crn_i_Wrkno[crnno - 1] = wrkno;
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Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
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Common.crn_i_Errcod[crnno - 1] = 0;
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Common.crn_i_kind[crnno - 1] = type;
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Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
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Common.crn_i_tstn[crnno - 1] = 0;
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Common.crn_s_Flocno[crnno - 1] = "";
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Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
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Common.CrnState[crnno - 1] = 3;
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WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
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Thread.Sleep(Common.ci_CRNtimeInterval);
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ReadCrnData();
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}
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catch (Exception em)
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{
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Common.WriteLogFile("WcsError", "CraneThread/Proc_CoordMove--坐标移动命令出错:" + em.Message);
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return;
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}
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}
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/// <summary>
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/// 移动至站
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_MoveToStn(string cmd)
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{
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if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
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|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
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{
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ReadCrnData();
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return;
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}
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int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
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if (cmd == "" || cmd == null)
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{
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return;
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}
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try
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{ //07 0001 0100203 0200304
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int type = Int32.Parse(cmd.Substring(0, 2));
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int wrkno = Int32.Parse(cmd.Substring(2, 4));
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if (type != 9) { return; }
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iotype = 4;
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i_srow = 0;
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i_sbay = 0;
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i_slev = 0;
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i_drow = 0;
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i_dbay = 0;
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i_dlev = Int32.Parse(cmd.Substring(13, 4));
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i_srow = Int32.Parse(cmd.Substring(6, 2));
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i_sbay = Int32.Parse(cmd.Substring(8, 3));
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i_slev = Int32.Parse(cmd.Substring(11, 2));
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i_drow = Int32.Parse(cmd.Substring(13, 2));
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i_dbay = Int32.Parse(cmd.Substring(15, 3));
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i_dlev = Int32.Parse(cmd.Substring(18, 2));
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Common.crn_i_crnno[crnno - 1] = crnno;
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Common.crn_i_Wrkno[crnno - 1] = wrkno;
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Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
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Common.crn_i_Errcod[crnno - 1] = 0;
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Common.crn_i_kind[crnno - 1] = type;
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Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
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Common.crn_i_tstn[crnno - 1] = 0;
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Common.crn_s_Flocno[crnno - 1] = "";
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Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
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Common.CrnState[crnno - 1] = 3;
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WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
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Thread.Sleep(Common.ci_CRNtimeInterval);
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ReadCrnData();
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}
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catch (Exception em)
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{
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Common.WriteLogFile("WcsError", "CraneThread/Proc_MoveToStn--移动至站命令出错:" + em.Message);
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return;
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}
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}
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/// <summary>
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/// 入库
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_Store(string cmd)
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{
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if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
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|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
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{
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//DisplayInfo("Crane abnormal or not in the computer models or not in standby state or crane not free,Please Check!" + " Datetime：" + DateTime.Now.ToString());//同步显示
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ReadCrnData();
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return;
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}
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int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
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if (cmd == "" || cmd == null)
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{
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return;
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}
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try
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{ //07 0001 0100203 0200304
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int type = Int32.Parse(cmd.Substring(0, 2));
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int wrkno = Int32.Parse(cmd.Substring(2, 4));
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if (type != 7) { return; }
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iotype = 1;
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i_srow = Int32.Parse(cmd.Substring(6, 2));
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i_sbay = Int32.Parse(cmd.Substring(8, 3));
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i_slev = Int32.Parse(cmd.Substring(11, 2));
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i_drow = Int32.Parse(cmd.Substring(13, 2));
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i_dbay = Int32.Parse(cmd.Substring(15, 3));
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i_dlev = Int32.Parse(cmd.Substring(18, 2));
|
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Common.crn_i_crnno[crnno - 1] = crnno;
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Common.crn_i_Wrkno[crnno - 1] = wrkno;
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Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STORE_MOVE;
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Common.crn_i_Errcod[crnno - 1] = 0;
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Common.crn_i_kind[crnno - 1] = type;
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Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
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Common.crn_i_tstn[crnno - 1] = 0;
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Common.crn_s_Flocno[crnno - 1] = "";
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Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
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Common.CrnState[crnno - 1] = 3;
|
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WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
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Thread.Sleep(Common.ci_CRNtimeInterval);
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ReadCrnData();
|
}
|
catch (Exception em)
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{
|
Common.WriteLogFile("WcsError", "CraneThread/Proc_Store--入库命令出错:" + em.Message);
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return;
|
}
|
}
|
|
/// <summary>
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/// 去反原点
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/// </summary>
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/// <param name="cmd"></param>
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private void Proc_RebackOHP(string cmd)
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{
|
if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
|
|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
|
{
|
ReadCrnData();
|
return;
|
}
|
int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
|
if (cmd == "" || cmd == null)
|
{
|
return;
|
}
|
try
|
{ //07 0001 0100203 0200304
|
int type = Int32.Parse(cmd.Substring(0, 2));
|
int wrkno = Int32.Parse(cmd.Substring(2, 4));
|
if (type != 10) { return; }
|
iotype = 7;// 6;
|
i_srow = Int32.Parse(cmd.Substring(6, 2));
|
i_sbay = Int32.Parse(cmd.Substring(8, 3));
|
i_slev = Int32.Parse(cmd.Substring(11, 2));
|
i_drow = Int32.Parse(cmd.Substring(13, 2));
|
i_dbay = Int32.Parse(cmd.Substring(15, 3));
|
i_dlev = Int32.Parse(cmd.Substring(18, 2));
|
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_Wrkno[crnno - 1] = wrkno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
|
Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = type;
|
Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
|
Common.crn_i_tstn[crnno - 1] = 0;
|
Common.crn_s_Flocno[crnno - 1] = "";
|
Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
|
Common.CrnState[crnno - 1] = 3;
|
|
WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
ReadCrnData();
|
}
|
catch (Exception em)
|
{
|
Common.gs_crncmd[crnno - 1] = "";//必须赋空
|
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "去反原点命令失败: " + em.Message);//同步显示
|
Common.WriteLogFile("WcsError", "CraneThread/Proc_RebackOHP--去反原点命令出错:" + em.Message);
|
return;
|
}
|
}
|
|
/// <summary>
|
/// 出库
|
/// </summary>
|
/// <param name="cmd"></param>
|
private void Proc_Retrieve(string cmd)
|
{
|
if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
|
|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
|
{
|
DateTime.Now.ToString();//同步显示
|
ReadCrnData();
|
return;
|
}
|
int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
|
if (cmd == "" || cmd == null)
|
{
|
return;
|
}
|
try
|
{
|
int type = Int32.Parse(cmd.Substring(0, 2));
|
int wrkno = Int32.Parse(cmd.Substring(2, 4));
|
if (type != 8) { return; }
|
iotype = 2;
|
i_srow = Int32.Parse(cmd.Substring(6, 2));
|
i_sbay = Int32.Parse(cmd.Substring(8, 3));
|
i_slev = Int32.Parse(cmd.Substring(11, 2));
|
i_drow = Int32.Parse(cmd.Substring(13, 2));
|
i_dbay = Int32.Parse(cmd.Substring(15, 3));
|
i_dlev = Int32.Parse(cmd.Substring(18, 2));
|
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_Wrkno[crnno - 1] = wrkno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STORE_MOVE;
|
Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = type;
|
Common.crn_i_fstn[crnno - 1] = 0;
|
Common.crn_i_tstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(13, 7));
|
Common.crn_s_Flocno[crnno - 1] = cmd.Substring(6, 7);
|
Common.crn_s_Tlocno[crnno - 1] = "";
|
Common.CrnState[crnno - 1] = 3;
|
|
WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
ReadCrnData();
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/Proc_Retrieve--出库命令出错:" + em.Message);
|
return;
|
}
|
}
|
|
/// <summary>
|
/// 站到站操作
|
/// </summary>
|
/// <param name="cmd"></param>
|
private void Proc_StnToStn(string cmd)
|
{
|
if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
|
|| Common.AlarmCode[crnno - 1] != 0 || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
|
{
|
ReadCrnData();
|
return;
|
}
|
int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
|
if (cmd == "" || cmd == null)
|
{
|
return;
|
}
|
try
|
{
|
int type = Int32.Parse(cmd.Substring(0, 2));
|
int wrkno = Int32.Parse(cmd.Substring(2, 4));
|
if (type != 11) { return; }
|
iotype = 4;
|
i_srow = Int32.Parse(cmd.Substring(6, 2));
|
i_sbay = Int32.Parse(cmd.Substring(8, 3));
|
i_slev = Int32.Parse(cmd.Substring(11, 2));
|
i_drow = Int32.Parse(cmd.Substring(13, 2));
|
i_dbay = Int32.Parse(cmd.Substring(15, 3));
|
i_dlev = Int32.Parse(cmd.Substring(18, 2));
|
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_Wrkno[crnno - 1] = wrkno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
|
Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = type;
|
Common.crn_i_fstn[crnno - 1] = Common.GetStnByLoc(cmd.Substring(6, 7));
|
Common.crn_i_tstn[crnno - 1] = 0;
|
Common.crn_s_Flocno[crnno - 1] = "";
|
Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
|
Common.CrnState[crnno - 1] = 3;
|
|
WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
ReadCrnData();
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/Proc_StnToStn--站到站命令出错:" + em.Message);
|
return;
|
}
|
}
|
|
/// <summary>
|
/// 库位移转操作
|
/// </summary>
|
/// <param name="cmd"></param>
|
private void Proc_LocationMove(string cmd)
|
{
|
if (Common.Mode[crnno - 1] != Common.ci_CRN_ONLINE || Common.CrnState[crnno - 1] != Common.ci_CRN_STS_IDLE
|
|| Common.AlarmCode[crnno - 1] != 0)// || Common.TaskNo[crnno - 1] != 0)// || Common.Loaded[crnno - 1] != 0)
|
{
|
ReadCrnData();
|
return;
|
}
|
int iotype = 0, i_srow = 0, i_sbay = 0, i_slev = 0, i_drow = 0, i_dbay = 0, i_dlev = 0;
|
if (cmd == "" || cmd == null)
|
{
|
return;
|
}
|
try
|
{
|
int type = Int32.Parse(cmd.Substring(0, 2));
|
int wrkno = Int32.Parse(cmd.Substring(2, 4));
|
if (type != 12) { return; }
|
iotype = 3;
|
i_srow = Int32.Parse(cmd.Substring(6, 2));
|
i_sbay = Int32.Parse(cmd.Substring(8, 3));
|
i_slev = Int32.Parse(cmd.Substring(11, 2));
|
i_drow = Int32.Parse(cmd.Substring(13, 2));
|
i_dbay = Int32.Parse(cmd.Substring(15, 3));
|
i_dlev = Int32.Parse(cmd.Substring(18, 2));
|
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_Wrkno[crnno - 1] = wrkno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_LOCATION_MOVE;
|
Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = type;
|
Common.crn_i_fstn[crnno - 1] = 0;
|
Common.crn_i_tstn[crnno - 1] = 0;
|
Common.crn_s_Flocno[crnno - 1] = cmd.Substring(6, 7);
|
Common.crn_s_Tlocno[crnno - 1] = cmd.Substring(13, 7);
|
Common.CrnState[crnno - 1] = 3;
|
|
WriteCrnData(iotype, wrkno, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
ReadCrnData();
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/Proc_LocationMove--库位移转命令出错:" + em.Message);
|
return;
|
}
|
}
|
|
#region 堆垛机读写指令
|
/// <summary>
|
/// 读取堆垛机状态数据
|
/// </summary>
|
private void ReadCrnData()
|
{
|
string s_startadd = "";
|
int num = 0, i_len = 0;
|
|
recvStr = "";
|
try
|
{
|
s_startadd = "DB91.0"; //读取堆垛机状态起始地址
|
i_len =60; //读取堆垛机状态地址长度
|
OperateResult<byte[]> read = siemensTcpNet.Read(s_startadd, (ushort)i_len);
|
if (read.IsSuccess)
|
{
|
for (int i = 0; i < 14; i++) //DB8.18到DB8.52
|
{
|
num = siemensTcpNet.ByteTransform.TransInt16(read.Content, i * 2);
|
//buf1 = read.Content;
|
//num = 256 * (int)buf1[i * 2] + (int)buf1[i * 2 + 1];
|
recvStr = recvStr + num.ToString();
|
AnalyseStatus(i, num);
|
}
|
|
DisplayInfo("【" + DateTime.Now.ToString() + "】" + recvStr);//同步显示
|
}
|
else
|
{
|
DisplayInfo("【" + DateTime.Now.ToString() + "】扫描堆垛机状态失败:" + read.ToMessageShowString());
|
}
|
OperateResult<float[]> read1 = siemensTcpNet.ReadFloat("DB91.28", (ushort)7);
|
if (read.IsSuccess)
|
{
|
for (int i = 0; i < 7; i++) //DB8.18到DB8.50
|
{
|
float num1 = read1.Content[i];
|
recvStr = recvStr + num1.ToString();
|
AnalyseStatus(i + 17, num1);
|
}
|
}
|
}
|
catch (Exception em)
|
{
|
//DisplayInfo("读" + crnno.ToString() + "号吊车目标主机无应答，可能原因：吊车ip设定异常或丢失，请检查！");//同步显示
|
DisplayInfo("【" + DateTime.Now.ToString() + "】扫描堆垛机状态失败: " + em.Message);//同步显示
|
Common.WriteLogFile("WcsError", "CraneThread/ReadCrnData--读取堆垛机状态失败:" + em.Message);
|
return;
|
}
|
}
|
|
/// <summary>
|
/// 堆垛机完成入出库任务后，更新工作状态
|
/// </summary>
|
/// <param name="wrkno"></param>
|
private void UpdateWrkStsByFinish(int wrk_no)
|
{
|
int wrk_sts = 0, iotype = 0, newwrk_sts = 0;
|
try
|
{
|
DateTime dt1 = System.DateTime.Now;
|
DataView dv = Common.ExecAsrsSelect("select top 1 wrk_sts,io_type from dbo.asr_wrk_mast where wrk_no=" + wrk_no + "");
|
foreach (System.Data.DataRowView drow in dv)
|
{
|
wrk_sts = Convert.ToInt32(drow[0].ToString());
|
iotype = Convert.ToInt32(drow[1].ToString());
|
}
|
if ((wrk_sts == 3 && (iotype == 1 || iotype == 10 || iotype == 53 || iotype == 54 || iotype == 57))
|
|| (wrk_sts == 12 && iotype == 11))
|
{
|
newwrk_sts = 4;
|
}
|
else if (wrk_sts == 12
|
&& (iotype == 101 || iotype == 110) || iotype == 103 || iotype == 104 || iotype == 107)
|
{
|
newwrk_sts = 14;
|
}
|
if (newwrk_sts > 0)
|
{
|
bool result = Common.ExecAsrsModify("update dbo.asr_wrk_mast set wrk_sts=" + newwrk_sts + " ,crn_end_time ='" + dt1 + "' where wrk_no =" + wrk_no + "");
|
}
|
}
|
catch (Exception em)
|
{
|
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "(" + wrk_no + ")#更新工作状态失败: " + em.Message);
|
Common.WriteLogFile("WcsError", "CraneThread/UpdateWrkStsByFinish--更新工作状态失败--工作号" + wrk_no + ":" + em.Message);
|
}
|
}
|
|
/// <summary>
|
/// 根据ascii码值得到对应字符
|
/// </summary>
|
/// <param name="asciiCode">ascii码</param>
|
/// <returns>返回对应字符</returns>
|
public string GetStringByASCII(int asciiCode)
|
{
|
try
|
{
|
if (asciiCode >= 0 && asciiCode <= 127)
|
{
|
System.Text.ASCIIEncoding asciiEncoding = new System.Text.ASCIIEncoding();
|
byte[] byteArray = new byte[] { (byte)asciiCode };
|
string strCharacter = asciiEncoding.GetString(byteArray);
|
return (strCharacter);
|
}
|
else if (asciiCode >= 128 && asciiCode <= 255)
|
{
|
System.Text.ASCIIEncoding asciiEncoding = new System.Text.ASCIIEncoding();
|
byte[] byteArray = new byte[] { (byte)(asciiCode + 65536) };
|
string strCharacter = Encoding.Default.GetString(byteArray);
|
return (strCharacter);
|
}
|
else
|
{
|
throw new Exception("无效的ASCII码!");
|
}
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/GetStringByASCII--ASCII转换字符串失败:" + em.Message);
|
return "";
|
}
|
}
|
|
#region 分析状态
|
/// <summary>
|
/// 分析堆垛机状态
|
/// </summary>
|
/// <param name="i">地址序列</param>
|
/// <param name="num">状态值</param>
|
private void AnalyseStatus(int i, float lnum)
|
{
|
int num = (int)lnum;
|
switch (i)
|
{
|
case 0: //堆垛机模式
|
Common.Mode[crnno - 1] = num;
|
break;
|
case 1: //工作号/任务号
|
Common.TaskNo[crnno - 1] = num;
|
break;
|
case 2: //堆垛机状态
|
Common.CrnState[crnno - 1] = num;
|
if (Common.Mode[crnno - 1] == Common.ci_CRN_ONLINE && Common.CrnState[crnno - 1] == Common.ci_CRN_STS_TASK_FINISH)
|
{
|
Common.TaskFinish[crnno - 1] = 1;
|
}
|
else
|
{
|
Common.TaskFinish[crnno - 1] = 0;
|
}
|
break;
|
//测试用
|
//Common.CrnState[crnno - 1] = num;
|
//if (Common.Mode[crnno - 1] == Common.ci_CRN_ONLINE && Common.CrnState[crnno - 1] == Common.ci_CRN_STS_TASK_FINISH
|
// && Common.gi_Online_Flag == Common.ch_CMD_PAUSE && Common.TaskNo[crnno - 1] == 9999)
|
//{//系统暂停模式,堆垛机状态显示等待WCS确认，任务号为9999，表示手工下发的堆垛机任务，置位确认位
|
// OperateResult result = siemensTcpNet.Write("DB90.0", (short)1);
|
// Common.TaskFinish[crnno - 1] = 1;
|
//}
|
//else
|
//{
|
// Common.TaskFinish[crnno - 1] = 0;
|
//}
|
//break;
|
case 3: //当前列号
|
Common.crn_dqps[crnno - 1] = num;
|
break;
|
case 4: //当前层号
|
Common.crn_dqcs[crnno - 1] = num;
|
break;
|
case 5: //货叉位置
|
Common.ForkPos[crnno - 1] = num;
|
break;
|
case 6: //载货台位置
|
Common.LiftPos[crnno - 1] = num;
|
break;
|
case 7: //走行是否在定位
|
Common.WalkPos[crnno - 1] = num;
|
break;
|
case 8: //载货台是否有物
|
Common.Loaded[crnno - 1] = num;
|
break;
|
case 9: //堆垛机异常代码
|
Common.AlarmCode[crnno - 1] = num;
|
if (Common.AlarmCode[crnno - 1] == 40 || Common.AlarmCode[crnno - 1] == 41)
|
{
|
Common.crn_jt[crnno - 1] = true;
|
}
|
else
|
{
|
Common.crn_jt[crnno - 1] = false;
|
}
|
break;
|
//case 11: //堆垛机任务完成
|
// if (Common.Mode[crnno - 1] == Common.ci_CRN_ONLINE && Common.CrnState[crnno - 1] == Common.ci_CRN_STS_TASK_FINISH)
|
// {
|
// Common.TaskFinish[crnno - 1] = 1;
|
// }
|
// else
|
// {
|
// Common.TaskFinish[crnno - 1] = 0;
|
// }
|
// break;
|
case 17: //堆垛机行走速度
|
Common.WalkSpeed[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 18: //堆垛机升降速度
|
Common.LiftSpeed[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 19: //堆垛机叉牙速度
|
Common.ForkSpeed[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 20: //走行总距离
|
Common.XDistance[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 21: //升降总距离
|
Common.YDistance[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 22: //走行总时长
|
Common.XDuration[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
case 23: //升降总时长
|
Common.YDuration[crnno - 1] = System.Math.Abs(lnum);
|
break;
|
}
|
|
#region 施耐德
|
//if (i == 0)
|
//{
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sdms) == true)
|
// {
|
// Common.crn_sdms[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sdms[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_zdms) == true)
|
// {
|
// Common.crn_zdms[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_zdms[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dnms) == true)
|
// {
|
// Common.crn_dnms[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dnms[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sdz) == true)
|
// {
|
// Common.crn_sdz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sdz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_zdz) == true)
|
// {
|
// Common.crn_zdz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_zdz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dnmsz) == true)
|
// {
|
// Common.crn_dnmsz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dnmsz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_jt) == true)
|
// {
|
// Common.crn_jt[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_jt[crnno - 1] = false;
|
// }
|
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_yc) == true)
|
// {
|
// Common.crn_yc[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_yc[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dndmz) == true)
|
// {
|
// Common.crn_dndmz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dndmz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dnmljs) == true)
|
// {
|
// Common.crn_dnmljs[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dnmljs[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_rkz) == true)
|
// {
|
// Common.crn_rkz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_rkz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_ckz) == true)
|
// {
|
// Common.crn_ckz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_ckz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_kdkz) == true)
|
// {
|
// Common.crn_kdkz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_kdkz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_zdzz) == true)
|
// {
|
// Common.crn_zdzz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_zdzz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_yxz) == true)
|
// {
|
// Common.crn_yxz[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_yxz[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dcqhjd) == true)
|
// {
|
// Common.crn_dcqhjd[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dcqhjd[crnno - 1] = false;
|
// }
|
//}
|
//else if (i == 1)
|
//{
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dcfhjd) == true)
|
// {
|
// Common.crn_dcfhjd[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dcfhjd[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_dckx) == true)
|
// {
|
// Common.crn_dckx[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_dckx[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_zxyddw) == true)
|
// {
|
// Common.crn_zxyddw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_zxyddw[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sjyddw) == true)
|
// {
|
// Common.crn_sjyddw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sjyddw[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_zxzdw) == true)
|
// {
|
// Common.crn_zxzdw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_zxzdw[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_cyzzj) == true)
|
// {
|
// Common.crn_cyzzj[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_cyzzj[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_cyzzd) == true)
|
// {
|
// Common.crn_cyzzd[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_cyzzd[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_cyzyd) == true)
|
// {
|
// Common.crn_cyzyd[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_cyzyd[crnno - 1] = false;
|
// }
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sjsdw) == true)
|
// {
|
// Common.crn_sjsdw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sjsdw[crnno - 1] = false;
|
// }
|
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sjxdw) == true)
|
// {
|
// Common.crn_sjxdw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sjxdw[crnno - 1] = false;
|
// }
|
// //if (Common.fun_ChkAndByte(num, Common.ch_crn_plcdlbz) == true)
|
// //{
|
// // Common.crn_zxzdw[crnno - 1] = true;
|
// //}
|
// //else
|
// //{
|
// // Common.crn_zxzdw[crnno - 1] = false;
|
// //}
|
// if (Common.fun_ChkAndByte(num, Common.ch_crn_sjtycyw) == true)
|
// {
|
// Common.crn_sjtycyw[crnno - 1] = true;
|
// }
|
// else
|
// {
|
// Common.crn_sjtycyw[crnno - 1] = false;
|
// }
|
//}
|
//else if (i == 5) //当前排数
|
//{
|
// try
|
// {
|
// Common.crn_dqps[crnno - 1] = num;
|
// }
|
// catch (Exception t)
|
// {
|
// Common.crn_dqps[crnno - 1] = 0;
|
// }
|
//}
|
//else if (i == 6) //当前层数
|
//{
|
// try
|
// {
|
// Common.crn_dqcs[crnno - 1] = num;
|
// }
|
// catch (Exception t)
|
// {
|
// Common.crn_dqcs[crnno - 1] = 0;
|
// }
|
//}
|
//else if (i == 7) //设备异常码
|
//{
|
// try
|
// {
|
// Common.crn_ycmm[crnno - 1] = num;
|
// }
|
// catch (Exception t)
|
// {
|
// Common.crn_ycmm[crnno - 1] = 0;
|
// }
|
//}
|
////else if (i == 8) //走型镭射值2
|
////{
|
//// //distance1 = distance1.ToString//num;
|
//// Common.crn_zxlsz2[crnno - 1] = num;
|
//// try
|
//// {
|
//// Common.crn_zxlsz[crnno - 1] = double.Parse(Common.crn_zxlsz1[crnno - 1].ToString() + "." + Common.crn_zxlsz2[crnno - 1].ToString()) * 0.001;
|
//// }
|
//// catch (Exception r)
|
//// {
|
//// Common.crn_zxlsz[crnno - 1] = 0;
|
//// }
|
////}
|
////else if (i == 9) //升降镭射值
|
////{
|
//// try
|
//// {
|
//// Common.crn_sjlsz1[crnno - 1] = num;
|
//// }
|
//// catch (Exception t)
|
//// {
|
//// Common.crn_sjlsz1[crnno - 1] = 0;
|
//// }
|
////}
|
////else if (i == 10)//距离
|
////{
|
//// Common.crn_sjlsz2[crnno - 1] = num;
|
//// try
|
//// {
|
//// Common.crn_sjlsz[crnno - 1] = double.Parse(Common.crn_sjlsz1[crnno - 1].ToString() + "." + Common.crn_sjlsz2[crnno - 1].ToString()) * 0.001;
|
//// }
|
//// catch (Exception r)
|
//// {
|
//// Common.crn_sjlsz[crnno - 1] = 0;
|
//// }
|
////}
|
////else if (i == 23)//运行异常母码
|
////{
|
//// Common.crn_ycmm[crnno-1] = num;
|
////}
|
////else if (i == 24)//运行异常子码
|
////{
|
//// Common.crn_yczm[crnno - 1] = num;
|
////}
|
|
//Common.crn_dndmz[crnno - 1] = Common.crn_dckx[crnno - 1];
|
|
//if (Common.crn_ycmm[crnno - 1] > 0)
|
//{
|
// Common.crn_i_Errcod[crnno - 1] = Common.ci_CRN_STS_ERROR;
|
// // Class1.crn_i_crn_sts[crnno - 1] = Class1.ci_CRN_STS_ERROR;
|
// //if (Common.crn_ycmm[crnno - 1] > 0)
|
// //{
|
// Common.crnerrlist[crnno - 1] = crnno.ToString() + "号吊车发生异常，异常号：" + Common.GetErr(Common.crn_ycmm[crnno - 1]);
|
// //}
|
// //else if (Common.crn_ycmm[crnno - 1] == 0)
|
// //{
|
// // Common.crnerrlist[crnno - 1] = "";
|
// //}
|
// //else
|
// //{
|
// // Common.crnerrlist[crnno - 1] = crnno.ToString() + "号吊车指令异常!";
|
// //}
|
//}
|
//else
|
//{
|
// Common.crn_i_Errcod[crnno - 1] = Common.ci_CRN_SETTING;
|
// //Class1.crn_i_crn_sts[crnno - 1] = Class1.gi_crn_actsts[crnno - 1];
|
// Common.crnerrlist[crnno - 1] = "";
|
// //Common.CrnErrFlag[crnno - 1] = true;
|
//}
|
#endregion
|
|
//判断原点标志
|
if (Common.crn_dqps[crnno - 1] == 1 && Common.crn_dqcs[crnno - 1] == 1
|
&& Common.ForkPos[crnno - 1] == 0 && Common.LiftPos[crnno - 1] == 1 && Common.WalkPos[crnno - 1] == 1)
|
{
|
Common.crn_i_onHP[crnno - 1] = 1;
|
}
|
else
|
{
|
Common.crn_i_onHP[crnno - 1] = 0;
|
}
|
|
//电脑模式、空闲、任务号为0，清空堆垛机状态数组
|
if (Common.Mode[crnno - 1] == Common.ci_CRN_ONLINE && Common.CrnState[crnno - 1] == Common.ci_CRN_STS_IDLE
|
&& Common.TaskNo[crnno - 1] == 0)
|
{
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = 0;
|
Common.crn_i_fstn[crnno - 1] = 0;
|
Common.crn_i_tstn[crnno - 1] = 0;
|
Common.crn_s_Flocno[crnno - 1] = "";
|
Common.crn_s_Tlocno[crnno - 1] = "";
|
Common.crn_s_commandstr[crnno - 1] = "";
|
}
|
|
//处理堆垛机搬运完成后，更新工作档数据
|
if (Common.TaskFinish[crnno - 1] == 1 && Common.TaskNo[crnno - 1] > 0
|
&& Common.TaskFlag[crnno - 1] == 1)
|
{
|
//WCS收到堆垛机任务完成TaskFinish信号后，处理业务逻辑并置位DB8.0确认位
|
OperateResult result = siemensTcpNet.Write("DB90.0", (short)1);
|
|
//更新工作状态3为4,12为14
|
//2019-04-30修改，考虑到出库状态12->14时，需要下发命令给PLC，
|
//将TaskFinish标记丢给timer1时间中Proc_StoreFinished处理入库，
|
//
|
//UpdateWrkStsByFinish((int)Common.F1TaskNo[crnno - 1]);
|
Common.crn_i_crnno[crnno - 1] = crnno;
|
Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
//Common.crn_i_Errcod[crnno - 1] = 0;
|
Common.crn_i_kind[crnno - 1] = 0;
|
Common.crn_i_fstn[crnno - 1] = 0;
|
Common.crn_i_tstn[crnno - 1] = 0;
|
Common.crn_s_Flocno[crnno - 1] = "";
|
Common.crn_s_Tlocno[crnno - 1] = "";
|
Common.crn_s_commandstr[crnno - 1] = "";
|
|
Common.TaskFlag[crnno - 1] = 0;
|
}
|
|
DisplayParamInfo();
|
|
#region 施耐德
|
////判断吊车入出状态
|
//if (Common.crn_dnms[crnno - 1] == true && Common.crn_dnmsz[crnno - 1] == true &&
|
// Common.crn_dckx[crnno - 1] == false && Common.crn_dnmljs[crnno - 1] == true &&
|
// (Common.crn_rkz[crnno - 1] == true || Common.crn_ckz[crnno - 1] == true || Common.crn_kdkz[crnno - 1] == true
|
// || Common.crn_zdzz[crnno - 1] == true || Common.crn_yxz[crnno - 1] == true
|
// || Common.crn_yxz[crnno - 1] == true || Common.crn_dcqhjd[crnno - 1] == true))
|
//{
|
// //Class1.crn_i_onHP[crnno - 1] = 0;
|
// //Class1.crn_i_Errcod[crnno - 1] = 0;
|
// switch (Common.gi_crn_iotype[crnno - 1])
|
// {
|
// case 4://回原点
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
|
// break;
|
// case 5://坐标移行
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
|
// break;
|
// case 7://入库
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STORE_MOVE;
|
// break;
|
// case 8://出库
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_RETRIEVE_MOVE;
|
// break;
|
// case 9://移动至站点
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_MOVING;
|
// break;
|
// case 10://去反原点
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_OHP;
|
// break;
|
// case 11://站到站
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STNCHG_MOVE;
|
// break;
|
// case 12://库位移转
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_LOCATION_MOVE;
|
// break;
|
// }
|
//}
|
|
////根据吊车的完成，更新吊车对应状态，moving---->move over
|
//if (Common.gi_cycle_flag == 0)
|
//{
|
// Common.gi_cycle_flag = 1;
|
//}
|
//else
|
//{
|
// if (Common.crn_dnms[crnno - 1] == true && Common.crn_dnmsz[crnno - 1] == true && Common.crn_dckx[crnno - 1] == true
|
// //&& Common.crn_dnmljs[crnno - 1] == true && Common.crn_yxz[crnno - 1] == false)
|
// && Common.crn_dndmz[crnno - 1] == true && Common.crn_yxz[crnno - 1] == false)
|
// //(Class1.crn_sbzc[crnno-1]==true && Class1.crn_dndm[crnno-1]==true && Class1.crn_dnmljs[crnno-1]==true && Class1.crn_dnz[crnno-1]==true)
|
// {
|
// switch (Common.gi_crn_iotype[crnno - 1])
|
// {
|
// case 7://入库
|
// if (Common.crn_i_crn_sts[crnno - 1] == 2)
|
// {
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STORE_OK;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// }
|
// break;
|
// case 8://出库
|
// if (Common.crn_i_crn_sts[crnno - 1] == 3)
|
// {
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_RETRIEVE_OK;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// }
|
// break;
|
// case 4://回原点
|
// //if (Common.crn_i_crn_sts[crnno - 1] == 4)
|
// //{
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// Common.crn_i_Wrkno[crnno - 1] = 0;
|
// //}
|
// break;
|
// case 5://坐标移行
|
// if (Common.crn_i_crn_sts[crnno - 1] == 4)
|
// {
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// }
|
// break;
|
// case 9://移动至站点
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// break;
|
// case 10://去反原点
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// Common.crn_i_Wrkno[crnno - 1] = 0;
|
// break;
|
// case 11://站到站
|
// if (Common.crn_i_crn_sts[crnno - 1] == Common.ci_CRN_STS_STNCHG_MOVE)
|
// {
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_STNCHG_OK;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// }
|
// break;
|
// case 12://库到库
|
// if (Common.crn_i_crn_sts[crnno - 1] == Common.ci_CRN_STS_LOCATION_MOVE)
|
// {
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_LOCATION_MOVE_OK;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
// }
|
// break;
|
// default:
|
// Common.crn_i_crn_sts[crnno - 1] = Common.ci_CRN_STS_IDLE;
|
// Common.crn_i_Wrkno[crnno - 1] = 0;
|
// Common.crn_i_crnno[crnno - 1] = crnno;
|
// Common.crn_i_fstn[crnno - 1] = 0;
|
// Common.crn_i_tstn[crnno - 1] = 0;
|
// Common.crn_s_Flocno[crnno - 1] = "";
|
// Common.crn_s_Tlocno[crnno - 1] = "";
|
// Common.crn_i_kind[crnno - 1] = 0;
|
// Common.crn_s_commandstr[crnno - 1] = "";
|
|
// break;
|
// }
|
// }
|
// Common.gi_cycle_flag = 0;
|
//}
|
|
//int sstn = Common.crn_i_fstn[crnno - 1];
|
//int dstn = Common.crn_i_tstn[crnno - 1];
|
//int i_sstnno = Common.GetStnSeqNo(crnno, sstn);
|
//int i_dstnno = Common.GetStnSeqNo(crnno, dstn);
|
#endregion
|
}
|
#endregion
|
|
/// <summary>
|
/// 发送命令到堆垛机
|
/// </summary>
|
/// /// <param name="wrkno">工作号</param>
|
/// <param name="type">类型</param>
|
/// <param name="srow">源排</param>
|
/// <param name="sbay">源列</param>
|
/// <param name="slev">源层</param>
|
/// <param name="drow">目标排</param>
|
/// <param name="dbay">目标列</param>
|
/// <param name="dlev">目标层</param>
|
private void WriteCrnData(int type, int wrkno, int srow, int sbay, int slev, int drow, int dbay, int dlev)
|
{
|
try
|
{
|
string s_startadd = "";
|
short[] iArr_value = new short[8];
|
bool ok = false;
|
int icount = 0;
|
|
s_startadd = "DB90.2";
|
iArr_value[0] = (short)wrkno;
|
iArr_value[1] = (short)type;
|
iArr_value[2] = (short)srow;
|
iArr_value[3] = (short)sbay;
|
iArr_value[4] = (short)slev;
|
iArr_value[5] = (short)drow;
|
iArr_value[6] = (short)dbay;
|
iArr_value[7] = (short)dlev;
|
|
while (ok == false)
|
{
|
try
|
{
|
OperateResult result = siemensTcpNet.Write(s_startadd, iArr_value);
|
result = siemensTcpNet.Write("DB90.18", (ushort)1);
|
if (result.IsSuccess)
|
{
|
ok = true;
|
UpdateWrkStsByCmd(wrkno);
|
Common.gs_crncmd[crnno - 1] = "";//必须赋空
|
}
|
else
|
{
|
icount++;
|
if (icount > 3)
|
{
|
ok = true;
|
Common.gs_crncmd[crnno - 1] = "";//必须赋空
|
}
|
else
|
{
|
ok = false;
|
}
|
}
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
}
|
catch (Exception em)
|
{
|
Common.gs_crncmd[crnno - 1] = "";//必须赋空
|
// DisplayInfo("写" + crnno.ToString() + "号吊车目标主机无应答，可能原因：吊车ip设定异常或丢失，请检查！");//同步显示
|
return;
|
}
|
}
|
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/WriteCrnData--写命令到堆垛机出错:" + em.Message);
|
}
|
}
|
|
/// <summary>
|
/// 给堆垛机下发任务后，更新工作状态
|
/// </summary>
|
/// <param name="wrkno"></param>
|
private void UpdateWrkStsByCmd(int wrk_no)
|
{
|
int wrk_sts = 0, iotype = 0, newwrk_sts = 0;
|
try
|
{
|
DateTime dt1 = System.DateTime.Now;
|
DataView dv = Common.ExecAsrsSelect("select top 1 wrk_sts,io_type from dbo.asr_wrk_mast where wrk_no=" + wrk_no + "");
|
foreach (System.Data.DataRowView drow in dv)
|
{
|
wrk_sts = Convert.ToInt32(drow[0].ToString());
|
iotype = Convert.ToInt32(drow[1].ToString());
|
}
|
if ((wrk_sts == 2 && (iotype == 1 || iotype == 10 || iotype == 53 || iotype == 54 || iotype == 57))
|
|| (wrk_sts == 11 && iotype == 11))
|
{
|
newwrk_sts = 3;
|
}
|
else if (wrk_sts == 11
|
&& (iotype == 101 || iotype == 110) || iotype == 103 || iotype == 104 || iotype == 107)
|
{
|
newwrk_sts = 12;
|
}
|
if (newwrk_sts > 0)
|
{
|
bool result = Common.ExecAsrsModify("update dbo.asr_wrk_mast set wrk_sts=" + newwrk_sts + " ,crn_str_time ='" + dt1 + "' where wrk_no =" + wrk_no + "");
|
}
|
}
|
catch (Exception em)
|
{
|
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "(" + wrk_no + ")#更新工作状态失败: " + em.Message);
|
Common.WriteLogFile("WcsError", "CraneThread/UpdateWrkStsByFinish--更新工作状态失败--工作号" + wrk_no + ":" + em.Message);
|
}
|
}
|
#endregion
|
|
#region 画面同步显示
|
/// <summary>
|
/// 同步显示主画面堆垛机信息
|
/// </summary>
|
/// <param name="crn">堆垛机号</param>
|
/// <param name="bay">列</param>
|
/// <param name="lev">层</param>
|
/// <param name="dist">距离</param>
|
/// <param name="height">高度</param>
|
/// <param name="err">异常</param>
|
private void DisplayCrnstsData(int crn, int bay, int lev, double dist, double height, int err)
|
{
|
if (tb.InvokeRequired)
|
{
|
try
|
{
|
DisplaycrnstsData d = new DisplaycrnstsData(DisplayCrnstsData);
|
tb.Invoke(d, new object[] { crn, bay, lev, dist, height, err });
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/DisplayCrnstsData--同步显示主画面堆垛机信息失败:" + em.Message);
|
}
|
}
|
else
|
{
|
crnstslist.Items.Clear();
|
ListViewItem lvi = new ListViewItem();
|
lvi.SubItems[0].Text = crn.ToString();
|
lvi.SubItems.Add(bay.ToString());
|
lvi.SubItems.Add(lev.ToString());
|
lvi.SubItems.Add(dist.ToString());
|
lvi.SubItems.Add(height.ToString());
|
lvi.SubItems.Add(err.ToString());
|
this.crnstslist.Items.Add(lvi);
|
}
|
|
}
|
|
/// <summary>
|
/// 堆垛机通讯反馈信息
|
/// </summary>
|
/// <param name="text"></param>
|
private void DisplayInfo(string text)
|
{
|
if (tb.InvokeRequired)
|
{
|
try
|
{
|
SetTextCallback d = new SetTextCallback(DisplayInfo);
|
tb.Invoke(d, new object[] { text });
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/DisplayInfo--同步显示堆垛机通讯信息失败:" + em.Message);
|
}
|
}
|
else
|
{
|
if (tb.Items.Count > 30)
|
{
|
tb.Items.Clear();
|
}
|
tb.Items.Add(text);
|
tb.TopIndex = tb.Items.Count - (int)(tb.Height / tb.ItemHeight);
|
}
|
|
}
|
|
/// <summary>
|
/// 堆垛机画面状态显示信息
|
/// </summary>
|
private void DisplayParamInfo()
|
{
|
if (form1.InvokeRequired)
|
{
|
try
|
{
|
SetTextCallback1 d = new SetTextCallback1(DisplayParamInfo);
|
form1.Invoke(d, new object[] { });
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/DisplayParamInfo--同步显示堆垛机画面状态信息失败:" + em.Message);
|
}
|
}
|
else
|
{
|
tb_sendtocrn.Text = Common.crn_s_commandstr[crnno - 1];
|
|
switch (Common.Mode[crnno - 1])
|
{
|
case 1:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "手动";
|
break;
|
case 2:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "自动";
|
break;
|
case 3:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "连线";
|
break;
|
case 4:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "手动中";
|
break;
|
case 5:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "自动中";
|
break;
|
case 6:
|
dgv_crnsts["col_Mode", crnno - 1].Value = "连线中";
|
break;
|
|
}
|
dgv_crnsts["col_Mode", crnno - 1].Style.ForeColor = Common.Mode[crnno - 1] == 6 ? Color.Red : Color.Black;
|
|
dgv_crnsts["col_ErrorCode", crnno - 1].Value = Common.AlarmCode[crnno - 1];
|
dgv_crnsts["col_ErrorCode", crnno - 1].Style.ForeColor = Common.AlarmCode[crnno - 1] > 0 ? Color.Red : Color.Black;
|
|
if (Common.Loaded[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Loaded", crnno - 1].Value = "有物";
|
}
|
else
|
{
|
dgv_crnsts["col_Loaded", crnno - 1].Value = "无物";
|
}
|
dgv_crnsts["col_Loaded", crnno - 1].Style.ForeColor = Common.Loaded[crnno - 1] == 1 ? Color.Red : Color.Black;
|
|
dgv_crnsts["col_Bay", crnno - 1].Value = Common.crn_dqps[crnno - 1];
|
dgv_crnsts["col_Lev", crnno - 1].Value = Common.crn_dqcs[crnno - 1];
|
|
dgv_crnsts["col_Status", crnno - 1].Value = Common.GetCrnStsName(Common.CrnState[crnno - 1]);
|
dgv_crnsts["col_Status", crnno - 1].Style.ForeColor = Common.CrnState[crnno - 1] == 99 ? Color.Red : Color.Black;
|
|
if (Common.crn_dqps[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Zxyd", crnno - 1].Value = "是";
|
}
|
else
|
{
|
dgv_crnsts["col_Zxyd", crnno - 1].Value = "否";
|
}
|
|
if (Common.crn_dqcs[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Sjyd", crnno - 1].Value = "是";
|
}
|
else
|
{
|
dgv_crnsts["col_Sjyd", crnno - 1].Value = "否";
|
}
|
|
if (Common.ForkPos[crnno - 1] == 0)
|
{
|
dgv_crnsts["col_Chaya", crnno - 1].Value = "中间";
|
}
|
else if (Common.ForkPos[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Chaya", crnno - 1].Value = "左端";
|
}
|
else if (Common.ForkPos[crnno - 1] == 2)
|
{
|
dgv_crnsts["col_Chaya", crnno - 1].Value = "右端";
|
}
|
else
|
{
|
dgv_crnsts["col_Chaya", crnno - 1].Value = "";
|
}
|
|
if (Common.WalkPos[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Zxdw", crnno - 1].Value = "是";
|
}
|
else
|
{
|
dgv_crnsts["col_Zxdw", crnno - 1].Value = "否";
|
}
|
|
if (Common.LiftPos[crnno - 1] == 1)
|
{
|
dgv_crnsts["col_Sjdw", crnno - 1].Value = "下定位";
|
}
|
else if (Common.LiftPos[crnno - 1] == 2)
|
{
|
dgv_crnsts["col_Sjdw", crnno - 1].Value = "上定位";
|
}
|
else
|
{
|
dgv_crnsts["col_Sjdw", crnno - 1].Value = "否";
|
}
|
if (Common.crn_jt[crnno - 1])
|
{
|
dgv_crnsts["col_Jiting", crnno - 1].Value = "是";
|
dgv_crnsts["col_Jiting", crnno - 1].Style.ForeColor = Color.Red;
|
}
|
else
|
{
|
dgv_crnsts["col_Jiting", crnno - 1].Value = "";
|
}
|
|
dgv_crnsts["col_Xspeed", crnno - 1].Value = Common.WalkSpeed[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Yspeed", crnno - 1].Value = Common.LiftSpeed[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Zspeed", crnno - 1].Value = Common.ForkSpeed[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Xdistance", crnno - 1].Value = Common.XDistance[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Ydistance", crnno - 1].Value = Common.YDistance[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Xduration", crnno - 1].Value = Common.XDuration[crnno - 1].ToString("#0.00");
|
dgv_crnsts["col_Yduration", crnno - 1].Value = Common.YDuration[crnno - 1].ToString("#0.00");
|
}
|
}
|
#endregion
|
|
///// <summary>
|
///// 通讯失败后初始化堆垛机状态
|
///// </summary>
|
//private void InitCrn()
|
//{
|
// try
|
// {
|
// //Common.crn_i_crnno[crnno - 1] = i;
|
// //crn_i_crn_sts[i - 1] = ci_CRN_SETTING;
|
// //Common.gs_crncmd[crnno - 1] = "";
|
// //Common.crn_i_kind[crnno - 1] = 0;
|
// //Common.crn_i_Wrkno[crnno - 1] = 0;
|
// //Common.crn_i_fstn[crnno - 1] = 0;
|
// //Common.crn_i_tstn[crnno - 1] = 0;
|
// //Common.crn_s_Flocno[crnno - 1] = "";
|
// //Common.crn_s_Tlocno[crnno - 1] = "";
|
// //crn_i_Errcod[i - 1] = 0;
|
// //Common.crn_i_onHP[crnno - 1] = 0;
|
// //Common.gs_crnlastio[crnno - 1] = "I";
|
// //Common.gs_crncmd[crnno - 1] = "";
|
// //Common.crn_s_commandstr[crnno - 1] = "";
|
// //Common.gi_crn_iotype[crnno - 1] = 0;
|
// //Common.gb_crn_status[crnno - 1] = true;
|
|
// //Common.AlarmCode[crnno - 1] = 0;
|
// //Common.F1TaskFlag[crnno - 1] = 0;
|
// Common.F1State[crnno - 1] = -1;
|
// }
|
// catch (Exception)
|
// { }
|
//}
|
|
/// <summary>
|
/// 堆垛机主线程
|
/// </summary>
|
private void ThreadTask()
|
{
|
i_crn_step = 6;
|
connect = siemensTcpNet.ConnectServer();
|
while (true)
|
{
|
try
|
{
|
if (!connect.IsSuccess)
|
{
|
if (!ReConnect())
|
{
|
Thread.Sleep(Common.ci_CRNtimeInterval);
|
continue;
|
}
|
}
|
|
///gs_crncmd长度28： 12 0001 0100101 0200202
|
///对应含义： 入出类型 工作号 源库位 目标库位
|
if (Common.gs_crncmd[crnno - 1].Length == 20)
|
//|| Common.gs_crncmd[crnno - 1].Length == 21
|
//|| Common.gs_crncmd[crnno - 1].Length == 24)
|
{
|
ChkCrnCmd(Common.gs_crncmd[crnno - 1]);
|
Common.crn_s_commandstr[crnno - 1] = Common.gs_crncmd[crnno - 1];
|
}
|
|
switch (i_crn_step)
|
{
|
case 3:
|
Proc_ClearCmd(Common.crn_s_commandstr[crnno - 1]);//清命令操作
|
break;
|
case 4:
|
Proc_RebackHp(Common.crn_s_commandstr[crnno - 1]);//召回，回原点操作
|
break;
|
case 5:
|
Proc_CoordMove(Common.crn_s_commandstr[crnno - 1]);//坐标移行操作
|
break;
|
case 6:
|
ReadCrnData();//执行查询指令操作
|
break;
|
case 7:
|
Proc_Store(Common.crn_s_commandstr[crnno - 1]);//入库操作
|
break;
|
case 8:
|
Proc_Retrieve(Common.crn_s_commandstr[crnno - 1]);//出库操作
|
break;
|
case 9:
|
Proc_MoveToStn(Common.crn_s_commandstr[crnno - 1]);//行至站操作
|
break;
|
case 10:
|
Proc_RebackOHP(Common.crn_s_commandstr[crnno - 1]);//去反原点操作
|
break;
|
case 11:
|
Proc_StnToStn(Common.crn_s_commandstr[crnno - 1]);//站到站操作
|
break;
|
case 12:
|
Proc_LocationMove(Common.crn_s_commandstr[crnno - 1]);//库位移载操作
|
break;
|
//case 99: //任务完成复位信号
|
// string cmd = Common.crn_s_commandstr[crnno - 1];
|
// int value = Int32.Parse(cmd.Substring(2, 4));
|
// OperateResult result = siemensTcpNet.Write("DB8.0", value);
|
// break;
|
default:
|
break;
|
}
|
i_crn_step = 6;
|
|
//Thread.Sleep(Common.ci_CRNtimeInterval);
|
}
|
catch (Exception em)
|
{
|
Common.WriteLogFile("WcsError", "CraneThread/ThreadTask--堆垛机主线程循环出错:" + em.Message);
|
}
|
}
|
}
|
}
|
|
}
|
