using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Net;
using System.Net.Sockets;
using System.Windows.Forms;
using System.Threading;
using System.Net.NetworkInformation;
using System.Runtime.InteropServices;
using com.force.json;
using DevComponents.DotNetBar.Controls;
using System.Drawing;
using System.Data;
using HslCommunication.Profinet.Siemens;
using HslCommunication;
using HslCommunication.Core.Net;
namespace WCS
{
///
/// 堆垛机线程
///
class CraneThread
{
//[DllImport("kernel32")]
//private static extern int GetPrivateProfileString(string section, string key, string def, StringBuilder retVal, int size, string filePath);
//[DllImport("kernel32")]
//private static extern long WritePrivateProfileString(string section, string key, string val, string filePath);
main form1;
//NetworkStream myNetworkStream;
//Thread thr = null;
delegate void displayresponse(string text);
//int wrk_no = 0, sstnno = 0, dstnno = 0,type=0;
//string type_cmd = "", slocno = "", dlocno = "";
string recvStr = "";
string crnip = "";
int crnport = 0;
int crnno = 0;
//string headstr = "";
//string testip = "";
Thread trd = null;
int i_crn_step = 0;
//int i_crn_iotype = 0;
public static string crn_cmd = "";
delegate void SetTextCallback(string text);
delegate void DisplayData(int type, int i);
delegate void DisplaycrnstsData(int crn, int bay, int lev, double dist, double height, int err);
delegate void SetTextCallback1();
private SiemensS7Net siemensTcpNet = null;
private OperateResult connect = null;
#region 画面上同步显示控件
//public DevComponents.DotNetBar.LabelX cmd;
//public ListView crncmdlist;
//public ListView crnslist;
public ListView crnstslist;
public ListBox tb;
public DataGridViewX dgv_crnsts;
public TextBoxX tb_sendtocrn;
#endregion
public CraneThread(int crn_no, string crnip, int crnport, main f)
{
try
{
this.crnip = crnip;
this.crnno = crn_no;
this.crnport = crnport;
form1 = f;
siemensTcpNet = new SiemensS7Net(SiemensPLCS.S1200);
siemensTcpNet.IpAddress = this.crnip;
siemensTcpNet.Port = this.crnport;
siemensTcpNet.Rack = 0;
siemensTcpNet.Slot = 0;
siemensTcpNet.ConnectClose();
trd = new Thread(new ThreadStart(this.ThreadTask));
trd.IsBackground = true;
trd.Start();
}
catch (Exception em)
{
Common.WriteLogFile("WcsError", "CraneThread/CraneThread--堆垛机线程启动出错:" + em.Message);
}
}
public void Destroy()
{
siemensTcpNet.ConnectClose();
trd.Abort();
}
///
/// 断开连接后，重新连接
///
///
private bool ReConnect()
{
bool result = false;
try
{
siemensTcpNet.ConnectClose();
connect = siemensTcpNet.ConnectServer();
if (connect.IsSuccess)
{
result = true;
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC成功 ");
}
else
{
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC失败---" + connect.ToMessageShowString());
}
}
catch (Exception em)
{
DisplayInfo("【" + DateTime.Now.ToString() + "】" + crnno + "号堆垛机重新连接PLC失败---" + em.Message);
}
return result;
}
///
/// 根据堆垛机命令判断作业类型
///
/// 命令
private void ChkCrnCmd(string cmd)
{
int nkind = 0;
try
{
nkind = Int32.Parse(cmd.Substring(0, 2));
i_crn_step = nkind;
Common.gi_crn_iotype[crnno - 1] = nkind;
//i_crn_iotype = nkind;
}
catch (Exception em)
{
i_crn_step = 6;
Common.WriteLogFile("WcsError", "CraneThread/ChkCrnCmd--根据命令判断作业类型出错:" + em.Message);
//i_crn_iotype = 6;
}
}
///
/// 清除命令操作
///
///
private void Proc_ClearCmd(string cmd)
{
//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 != 3) { return; }
//iotype = 3;
//i_srow = 0;//源row
//i_sbay = 0;//源bay
//i_slev = 0;//源lev
//i_drow = 0;//目标rpw
//i_dbay = 0;//目标bay
//i_dlev = 0;//目标lev
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.gs_crncmd[crnno - 1] = "";
//WriteCrnData(iotype, i_srow, i_sbay, i_slev, i_drow, i_dbay, i_dlev);
// ReadCrnData();
//WriteCrnData(0, 0, 0, 0, 0, 0, 0, 0);
OperateResult result = siemensTcpNet.Write("DB90.0", (short)1);
Thread.Sleep(Common.ci_CRNtimeInterval);
ReadCrnData();
i_crn_step = 6;
}
catch (Exception em)
{
Common.WriteLogFile("WcsError", "CraneThread/Proc_ClearCmd--清除命令出错:" + em.Message);
return;
}
}
///
/// 回原点
///
///
private void Proc_RebackHp(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
{ //07 0001 0100203 0200304
int type = Int32.Parse(cmd.Substring(0, 2));
int wrkno = Int32.Parse(cmd.Substring(2, 4));
if (type != 4) { return; }
iotype = 5;
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_HP_POSITION;
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_RebackHp--回原点除命令出错:" + em.Message);
return;
}
}
///
/// 坐标移动
///
///
private void Proc_CoordMove(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
{ //07 0001 0100203 0200304
int type = Int32.Parse(cmd.Substring(0, 2));
int wrkno = Int32.Parse(cmd.Substring(2, 4));
if (type != 5) { return; }
Common.crn_i_Wrkno[crnno - 1] = wrkno;
iotype = 7;
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_CoordMove--坐标移动命令出错:" + em.Message);
return;
}
}
///
/// 移动至站
///
///
private void Proc_MoveToStn(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
{ //07 0001 0100203 0200304
int type = Int32.Parse(cmd.Substring(0, 2));
int wrkno = Int32.Parse(cmd.Substring(2, 4));
if (type != 9) { return; }
iotype = 4;
i_srow = 0;
i_sbay = 0;
i_slev = 0;
i_drow = 0;
i_dbay = 0;
i_dlev = Int32.Parse(cmd.Substring(13, 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_MoveToStn--移动至站命令出错:" + em.Message);
return;
}
}
///
/// 入库
///
///
private void Proc_Store(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)
{
//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
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 != 7) { return; }
iotype = 1;
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] = 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_Store--入库命令出错:" + em.Message);
return;
}
}
///
/// 去反原点
///
///
private void Proc_RebackOHP(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
{ //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;
}
}
///
/// 出库
///
///
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;
}
}
///
/// 站到站操作
///
///
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;
}
}
///
/// 库位移转操作
///
///
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
///
/// 读取堆垛机状态数据
///
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 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 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;
}
}
///
/// 堆垛机完成入出库任务后，更新工作状态
///
///
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);
}
}
///
/// 根据ascii码值得到对应字符
///
/// ascii码
/// 返回对应字符
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
///
/// 分析堆垛机状态
///
/// 地址序列
/// 状态值
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
///
/// 发送命令到堆垛机
///
/// /// 工作号
/// 类型
/// 源排
/// 源列
/// 源层
/// 目标排
/// 目标列
/// 目标层
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);
}
}
///
/// 给堆垛机下发任务后，更新工作状态
///
///
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
///
/// 同步显示主画面堆垛机信息
///
/// 堆垛机号
/// 列
/// 层
/// 距离
/// 高度
/// 异常
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);
}
}
///
/// 堆垛机通讯反馈信息
///
///
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);
}
}
///
/// 堆垛机画面状态显示信息
///
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
/////
///// 通讯失败后初始化堆垛机状态
/////
//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)
// { }
//}
///
/// 堆垛机主线程
///
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);
}
}
}
}
}