XS202203247513_ChongYa/DispatchSystem7352.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Data.OleDb;
using System.Threading;
using AGV_WPF_Global;
using AGV_WPF.Tools;
using System.Threading.Tasks;

namespace AGV_WPF
{
    public partial class DispatchSystem7352 : Form
    {
        DataTable dtStation = new DataTable();
        private delegate void InvokeDelegate();
        public DispatchSystem7352()
        {
            InitializeComponent();
        }

        private void DispatchSystem7352_Load(object sender, EventArgs e)
        {
            LoadConfig();
        }
        public void LoadConfig()
        {
            string currPath = System.AppDomain.CurrentDomain.BaseDirectory;
            string dataPath = currPath + @"data";
            string dataFile = dataPath + @"\物料信息表.xls";
            try
            {
                string confStr1 = @"Provider=Microsoft.ACE.OLEDB.12.0;";
                string confStr2 = @"Persist Security Info=false;";
                string confStr3 = @"Data Source=" + dataFile + ";";
                string confStr4 = @"Extended Properties=" + "'Excel 12.0;HDR=YES;IMEX=1'";
                string connStr = confStr1 + confStr2 + confStr3 + confStr4;
                OleDbConnection oleDC = new OleDbConnection(connStr);
                OleDbDataAdapter oleDDA1 = new OleDbDataAdapter("Select * From [自动工位表$]", oleDC);
                oleDDA1.Fill(dtStation);
                oleDC.Close();
                foreach (DataColumn dcol in dtStation.Columns)
                {
                    if (dcol.ColumnName.Contains("DB"))// && !dcol.ColumnName.Contains("心跳"))
                    {
                        DataGridViewCheckBoxColumn col = new DataGridViewCheckBoxColumn();
                        col.HeaderText = dcol.ColumnName;
                        col.Name = dcol.ColumnName;
                        col.ReadOnly = true;
                        col.Resizable = DataGridViewTriState.True;
                        col.SortMode = DataGridViewColumnSortMode.Automatic;
                        dataGridView1.Columns.Add(col);
                    }
                    //else if (dcol.ColumnName.Contains("DB") && dcol.ColumnName.Contains("心跳"))
                    //{
                    //    DataGridViewTextBoxColumn col = new DataGridViewTextBoxColumn();
                    //    col.HeaderText = dcol.ColumnName;
                    //    col.Name = dcol.ColumnName;
                    //    col.ReadOnly = true;
                    //    col.Resizable = DataGridViewTriState.True;
                    //    col.SortMode = DataGridViewColumnSortMode.Automatic;
                    //    dataGridView1.Columns.Add(col);
                    //}
                }
                for (int i = 0; i < dtStation.Rows.Count; i++)
                {
                    int index = dataGridView1.Rows.Add();
                    dataGridView1.Rows[index].Cells[0].Value = dtStation.Rows[i][0].ToString();
                    dataGridView1.Rows[index].Cells[1].Value = dtStation.Rows[i][1].ToString();
                    var dr = dtStation.Rows[i];
                    //    MyTest.ManagedThreadPoolcs.ManagedThreadPool.QueueUserWorkItem(new WaitCallback(Test), dtStation.Rows[i]);
                    Task.Factory.StartNew(() => Test(dr));
                    Thread.Sleep(50);
                }
            }
            catch (Exception e)
            {
                MessageBox.Show(e.Message);
            }
        }
        public void Test(object Dr)
        {
            if (Dr != null)
            {
                DataRow dr = (DataRow)Dr;
                int index = dtStation.Rows.IndexOf(dr);
                HslCommunication.Profinet.Siemens.SiemensS7Net s7 = null;
                {
                    s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S1200,
                  dr["PLC地址"].ToString());
                    s7.Rack = (byte)0;
                    s7.Slot = (byte)0;
                    s7.ConnectTimeOut = 1200;
                    s7.ReceiveTimeOut = 1200;
                    s7.SetPersistentConnection();
                }

                while (true)
                {
                    try
                    {

                        //心跳
                        if (!string.IsNullOrEmpty(dr["中控心跳DB"].ToString()))
                        {
                            var HeartBit = s7.ReadBool(dr["中控心跳DB"].ToString());
                            if (!HeartBit.IsSuccess)
                            {
                                Thread.Sleep(1000);
                                continue;
                            }
                            {
                                s7.Write(dr["中控心跳DB"].ToString(), !HeartBit.Content);
                            }
                        }

                        var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o=>o.ConnectStatus==true&&o.AGVNUM>0).ToList();
                        //进入
                        {
                            var info = infos.Find(o => o.MARKNUM.ToString() == dr["请求进入地标"].ToString() && o.RUNSTATUS_Cur == 0x41 && o.ConnectStatus && o.MARKNUM > 0);
                            if (info != null)
                            {
                                s7.Write(dr["请求进入DB"].ToString(), true);
                                var inResult = s7.ReadBool(dr["允许进入DB"].ToString());
                                if (inResult.Content == true)
                                {
                                    DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                }
                            }
                            else
                            {
                                s7.Write(dr["请求进入DB"].ToString(), false);
                            }
                        }

                        //离开
                        {
                            var info = infos.Find(o => o.MARKNUM.ToString() == dr["离开完成地标"].ToString());
                            if (info != null)
                            {
                                s7.Write(dr["离开完成DB"].ToString(), true);
                                if (info.RUNSTATUS_Cur == 0x41)
                                {
                                    DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                }
                            }
                            else
                            {
                                s7.Write(dr["离开完成DB"].ToString(), false);
                            }
                        }


                        //读取PLC值显示

                        foreach (DataColumn dcol in dtStation.Columns)
                        {
                            if (dcol.ColumnName.Contains("DB"))
                            {
                                var result = s7.ReadBool(dr[dcol.ColumnName].ToString());
                                if (dataGridView1.IsHandleCreated && this.IsHandleCreated)
                                {
                                    dataGridView1.Invoke(new InvokeDelegate(delegate
                                    {
                                        dataGridView1.Rows[index].Cells[dcol.ColumnName].Value = result.Content;
                                    }));
                                }
                            }

                        }
                        Thread.Sleep(500);
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }
    }
}