393 lines
15 KiB
C#
393 lines
15 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Data;
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using System.Threading;
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using Microsoft.VisualBasic;
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using DBFactory;
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using ICommLayer;
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namespace SocketsTCPIP
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{
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/// <summary>
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/// 使用SocketsTCPIP的客户端进行通讯
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/// 发送设备命令类
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/// 创建者：Richard.Liu
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/// </summary>
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public class CSendDeviceOrder: ISendDeviceOrder
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{
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string _commLayerError;
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public string CommLayerError
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{
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get { return _commLayerError; }
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set { _commLayerError = value; }
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}
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DBOperator dbo = CClientTCPIP.dbo;
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string AGVAllowSingleFork = CommonClassLib.AppSettings.GetValue("AGVAllowSingleFork");
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public CSendDeviceOrder()
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{
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dbo.Open();
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}
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ,string DoubleFork)
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{
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return true;
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}
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/// <summary>
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/// 每两个字节（一个字）代表一个帧内容
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/// 1客户端连接命令：标志头61；客户端断开命令：标志头62；
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/// 2任务开始命令：标志头63＋任务优先级（1--8）＋取货位编号＋操作码＋送货位编号＋操作码
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/// 操作码含义：0—无动作；1—辅料出库；2—空托盘回收；3—残烟、废纸的回收；4—剩余辅料返库；5—辅料出库，同时空托盘回收
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/// 3取消任务：标志头65＋任务编号（控制台分配的任务编号）
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/// 4申请辊道停止确认（可以向辅料回库口输送机放货）：标志头67
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/// 5查询小车状态：标志头69＋小车编号
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">AGV命令字</param>
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/// <param name="DeviceIndex">设备编号</param>
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/// <param name="StartX">[N1]:取货点</param>
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/// <param name="StartY"></param>
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/// <param name="StartZ"></param>
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/// <param name="EndX">[N2]:放货点</param>
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/// <param name="EndY"></param>
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/// <param name="EndZ"></param>
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/// <returns>发送AGV命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ)
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{
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//StartX取设备索引 EndX送设备索引
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//28901：前叉左取 28902：前叉左送 28903：前叉右取 28904：前叉右送
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//28905：后叉左取 28906：后叉左送 28907：后叉右取 28908：后叉右送
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//28909：双叉左取 28910：双叉左送 28911：双叉右取 28912：双叉右送
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//20100413根据StartX（取设备索引）获得前（距离车尾远）叉、后（距离车尾近）叉
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//order==1 根据StartX（取设备索引）得到 取左右；order==2 根据EndX（送设备索引）得到 送左右
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//站在车尾沿着行进方向的左、右方向；
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//判断关联双叉是否同步运行
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char useAwayFork = '0';
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char channelLeft = '0';
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int AGVAddress = 0;
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int dorder = 0;
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int _device = GetAGVNoFromMonitor(TaskIndex);
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byte[] _Sdata;
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try
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{
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switch (Order)
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{
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case 1://取货命令 StartX取设备索引
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GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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if ((Model.CGeneralFunction.DoubleForkIfSync(TaskIndex, DeviceIndex, 6) == false) && (AGVAllowSingleFork=="1"))//20100710
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{//不能同步
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GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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if (useAwayFork == '1')//前叉
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{
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if (channelLeft == '1')
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{
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dorder = 28901;//前叉左取
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}
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else
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{
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dorder = 28903;//前叉右取
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}
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}
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else//后叉
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{
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if (channelLeft == '1')
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{
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dorder = 28905;//后叉左取
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}
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else
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{
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dorder = 28907;//后叉右取
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}
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}
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}
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else
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{//同步
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if (channelLeft == '1')
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{
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dorder = 28909;//双叉左取
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}
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else
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{
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dorder = 28911;//双叉右取
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}
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}
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_Sdata = new byte[10];
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_Sdata[0] = 72;
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_Sdata[1] = 0;
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_Sdata[2] = Convert.ToByte(TaskIndex & 255);
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_Sdata[3] = Convert.ToByte(TaskIndex >> 8);
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_Sdata[4] = Convert.ToByte(AGVAddress & 255);
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_Sdata[5] = Convert.ToByte(AGVAddress >> 8);
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_Sdata[6] = Convert.ToByte(dorder & 255);
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_Sdata[7] = Convert.ToByte(dorder >> 8);
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_Sdata[8] = Convert.ToByte(_device & 255);
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_Sdata[9] = Convert.ToByte(_device >> 8);
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return SendData(DeviceIndex, _Sdata);
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case 2://送货命令
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GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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if ((Model.CGeneralFunction.DoubleForkIfSync(TaskIndex, DeviceIndex, 6) == false) && (AGVAllowSingleFork == "1"))//20100710
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{//不能同步
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GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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if (useAwayFork == '1')//前叉
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{
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if (channelLeft == '1')
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{
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dorder = 28902;//前叉左送
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}
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else
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{
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dorder = 28904;//前叉右送
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}
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}
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else//后叉
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{
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if (channelLeft == '1')
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{
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dorder = 28906;//后叉左送
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}
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else
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{
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dorder = 28908;//后叉右送
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}
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}
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}
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else
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{//同步
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if (channelLeft == '1')
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{
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dorder = 28910;//双叉左送
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}
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else
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{
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dorder = 28912;//双叉右送
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}
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}
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_Sdata = new byte[10];
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_Sdata[0] = 72;
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_Sdata[1] = 0;
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_Sdata[2] = Convert.ToByte(TaskIndex & 255);
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_Sdata[3] = Convert.ToByte(TaskIndex >> 8);
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_Sdata[4] = Convert.ToByte(AGVAddress & 255);
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_Sdata[5] = Convert.ToByte(AGVAddress >> 8);
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_Sdata[6] = Convert.ToByte(dorder & 255);
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_Sdata[7] = Convert.ToByte(dorder >> 8);
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_Sdata[8] = Convert.ToByte(_device & 255);
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_Sdata[9] = Convert.ToByte(_device >> 8);
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return SendData(DeviceIndex, _Sdata);
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case 3:
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//发送完成的应答帧75
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_Sdata = new byte[6];
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_Sdata[0] = 75;
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_Sdata[1] = 0;
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TaskIndex = GetAGVTaskFromMonitor(TaskIndex);
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_Sdata[2] = Convert.ToByte(TaskIndex & 255);
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_Sdata[3] = Convert.ToByte(TaskIndex >> 8);
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_Sdata[4] = Convert.ToByte(65535 & 255);
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_Sdata[5] = Convert.ToByte(65535 >> 8);
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return SendData(DeviceIndex, _Sdata);
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case 4:
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//发送运行
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GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);
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_Sdata = new byte[10];
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_Sdata[0] = 72;
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_Sdata[1] = 0;
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_Sdata[2] = Convert.ToByte(TaskIndex & 255);
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_Sdata[3] = Convert.ToByte(TaskIndex >> 8);
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_Sdata[4] = Convert.ToByte(AGVAddress & 255);
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_Sdata[5] = Convert.ToByte(AGVAddress >> 8);
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_Sdata[6] = Convert.ToByte(65535 & 255);//运行
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_Sdata[7] = Convert.ToByte(65535 >> 8);
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_Sdata[8] = Convert.ToByte(_device & 255);
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_Sdata[9] = Convert.ToByte(_device >> 8);
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return SendData(DeviceIndex, _Sdata);
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default:
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break;
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}
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return false;
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}
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catch (Exception ex)
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{
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_commLayerError = this.ToString() + ":SendDeviceOrder---" +ex.Message ;
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return false;
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}
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}
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/// <summary>
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/// 发送AGV命令
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/// </summary>
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/// <param name="MessageIndex">消息编号</param>
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/// <param name="TaskIndex">任务编号</param>
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/// <param name="Order">AGV命令字 ６１：MAN通知LC通讯连接建立；６２MAN通知LC通讯连接断开</param>
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/// <param name="DeviceIndex">设备编号</param>
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/// <returns>发送AGV设备命令是否成功</returns>
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public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex)
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{
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try
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{
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byte[] _Sdata = new byte[2];
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_Sdata[0] =Convert.ToByte(Order);
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_Sdata[1] = 0;
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_Sdata[2] =Convert.ToByte(TaskIndex & 255);//低八位
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_Sdata[3] = Convert.ToByte(TaskIndex >> 8);//高八位
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//根据DeviceIndex,得到Sockets通讯的初始设置
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort FROM T_Base_Device where F_DeviceIndex=" + DeviceIndex);
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DataView dv = ds.Tables[0].DefaultView;
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if (ds.Tables[0].DefaultView.Count == 0)
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{
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return false;
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}
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else
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{
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CClientTCPIP.Send(dv[0]["F_RemoteIP"].ToString(), (int)dv[0]["F_RemotePort"], _Sdata);
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return true;
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}
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}
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catch (Exception ex)
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{
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_commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
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return false;
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}
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}
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/// <summary>
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/// 上位机给下位机发送烟箱按品牌码分道信息共15字节,有数据时写入实际数据，否则全部写零
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/// </summary>
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/// <param name="DeviceIndex">码垛位设备号索引</param>
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/// <param name="TobaccoCode">第1--13字节,烟箱码</param>
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/// <param name="HaveFirstProjectCode">第14字节,1-有一号工程码,0-无一号工程码</param>
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/// <param name="IfSmallTobacco">第15字节,1-小烟箱,0-正常烟箱</param>
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/// <returns></returns>
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public bool SendDeviceOrder(int DeviceIndex, string TobaccoCode, bool HaveFirstProjectCode, bool IfSmallTobacco,int Count)
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{
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return true;
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}
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bool SendData(int devID, byte[] _Sdata)
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{
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//根据DeviceIndex,得到Sockets通讯的初始设置
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DataSet ds = dbo.ExceSQL("SELECT F_DeviceIndex,F_DeviceKindIndex, F_LocalIP, F_LocalPort, F_RemoteIP, F_RemotePort FROM T_Base_Device where F_DeviceIndex=" + devID);
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DataView dv = ds.Tables[0].DefaultView;
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if (dv.Count == 0)
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{
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return false;
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}
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else
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{
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if (CClientTCPIP.Send(dv[0]["F_RemoteIP"].ToString(), Convert.ToInt32(dv[0]["F_RemotePort"]), _Sdata) == false)
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{
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if (CClientTCPIP.TcpError != null) _commLayerError = CClientTCPIP.TcpError;
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return false;
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}
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return true;
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}
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}
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/// <summary>
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/// 向PLC的DB区写入数据
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/// </summary>
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/// <param name="ItemNames">标签变量名称数组</param>
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/// <param name="ItemValues">标签值数组</param>
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/// <returns></returns>
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public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues,int deviceindex)
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{
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return true;
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}
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void GetDeviceInfoFromAGVGate(int agvGateDevice,ref char channelLeft,ref char useAwayFork,ref int AGVAddress)
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{
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DataView dv;
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try
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{
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dv = dbo.ExceSQL("SELECT F_Address,F_IfChannelLeft,F_UseAwayFork FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = " + agvGateDevice + ")").Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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channelLeft = Convert.ToChar(dv[0]["F_IfChannelLeft"]);
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useAwayFork = Convert.ToChar(dv[0]["F_UseAwayFork"]);
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AGVAddress = Convert.ToChar(dv[0]["F_Address"]);
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}
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}
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catch (Exception ex)
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{
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throw ex;
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}
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finally
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{
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dv = null;
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}
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}
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int GetAGVNoFromMonitor(int taskIndex)
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{
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DataView dv;
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try
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{
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dv = dbo.ExceSQL("SELECT F_AgvNo FROM T_Monitor_Task WHERE (F_MonitorIndex = " + taskIndex + ") and (F_AgvNo is not null)").Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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return Convert.ToInt32(dv[0][0]);
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}
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else
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{
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return 65535;
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}
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}
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catch (Exception ex)
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{
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throw ex;
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}
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finally
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{
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dv = null;
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}
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}
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int GetAGVTaskFromMonitor(int taskIndex)
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{
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DataView dv;
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try
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{
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dv = dbo.ExceSQL("SELECT F_AgvTask FROM T_Monitor_Task WHERE (F_MonitorIndex = " + taskIndex + ") and (F_AgvTask is not null)").Tables[0].DefaultView;
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if (dv.Count > 0)
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{
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return Convert.ToInt32(dv[0][0]);
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}
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else
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{
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return 65535;
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}
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}
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catch (Exception ex)
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{
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throw ex;
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}
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finally
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{
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dv = null;
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}
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}
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}
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}
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