XS202408319330/DispatchSystem7334.cs

using AGV_WPF.Tools;
using AGV_WPF_Global;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Data.OleDb;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using WCS.API;
using WCS.API.Model;
using Newtonsoft.Json.Linq;
using WCS.API.WebApiClient;
using Newtonsoft.Json;
using HslCommunication.LogNet;

namespace AGV_WPF
{
   
    public partial class DispatchSystem7334 : Form
    {
        public static DataTable dtStation = new DataTable();
        public static DataTable dtTraffic = new DataTable();
        public static List<Models.AGVInfoModel> listReleaseInfos = new List<Models.AGVInfoModel>();
        public static List<JObject> listTrafficInfos = new List<JObject>();
        private static object portLock1 = new object();
        public string[] SpeedOpt = { "初始化...", "低速", "中速", "高速", "最高速", "减速" };
        static LogNetDateTime logNetDateTimeMES;//= new LogNetDateTime("D:/Logs/MESLog", GenerateMode.ByEveryDay);
        static LogNetDateTime logNetDateTimeSPS;// = new LogNetDateTime("D:/Logs/SPSLog", GenerateMode.ByEveryDay);
        static LogNetDateTime logNetDateTimeTraffic;// = new LogNetDateTime("D:/Logs/TrafficLog", GenerateMode.ByEveryDay);
        public DispatchSystem7334()
        {
            InitializeComponent();
        }
        
         private void DispatchSystem7334_Load(object sender, EventArgs e)
        {

            if (!Directory.Exists("D:/Logs/MESLog"))
            {
                Directory.CreateDirectory("D:/Logs/MESLog");
            }
            if (!Directory.Exists("D:/Logs/SPSLog"))
            {
                Directory.CreateDirectory("D:/Logs/SPSLog");
            }
            if (!Directory.Exists("D:/Logs/TrafficLog"))
            {
                Directory.CreateDirectory("D:/Logs/TrafficLog");
            }
            logNetDateTimeMES = new LogNetDateTime("D:/Logs/MESLog", GenerateMode.ByEveryDay);
            logNetDateTimeSPS = new LogNetDateTime("D:/Logs/SPSLog", GenerateMode.ByEveryDay);
            logNetDateTimeTraffic = new LogNetDateTime("D:/Logs/TrafficLog", GenerateMode.ByEveryDay);
            LoadConfig();
            this.FormClosing += DispatchSystem7334_FormClosing;
            StartHttpServer();
            Thread t4 = new Thread(new ThreadStart(PostAGVDataToMes));
            t4.Start();
            Thread t5 = new Thread(new ThreadStart(PostAGVDataToSPS));
            t5.Start();
        }

        private void DispatchSystem7334_FormClosing(object sender, FormClosingEventArgs e)
        {
            e.Cancel = true;
        }

        public void PostAGVDataToMes()
        {
            while(true)
            {
                try
                {
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o=>o.StatusChangeFlag==true);
                    if (Infos != null && Infos.Count > 0)
                    {
                        JArray jArray = new JArray();
                        JObject objResult = new JObject();
                        for (int i = 0; i < Infos.Count; i++)
                        {
                            var info = Infos[i];
                            JObject obj = new JObject();
                            obj.Add("agv_num", info.AGVNUM);
                            string state = info.ConnectStatus ? "" : "离线";
                            if (state == "" && info.ConnectStatus)
                            {
                                switch (info.RUNSTATUS_Cur)
                                {
                                    case 0x40:
                                        state = "运行";
                                        break;
                                    case 0x41:
                                        state = "停止";
                                        break;
                                    case 0x42:
                                        state = "结束";
                                        break;
                                    case 0x43:
                                        state = "暂停";
                                        break;
                                    case 0x44:
                                        state = "充电中";
                                        break;
                                    case 0x45:
                                        state = "管制";
                                        break;
                                    case 0x47:
                                        state = "减速";
                                        break;
                                    default:
                                        state = "其他";
                                        break;
                                }
                            }
                            string speed = "默认";
                            if (info.SPEEDLEVEL > 0 && info.SPEEDLEVEL < SpeedOpt.Length)
                            {
                                speed = SpeedOpt[info.SPEEDLEVEL];
                            }
                            obj.Add("agv_numstate", state);
                            obj.Add("agv_errorid", info.ALARMINFO);
                            obj.Add("agv_linenum", info.ROUTENUM);
                            obj.Add("agv_speed", speed);
                            obj.Add("agv_marknum", info.MARKNUM);
                            jArray.Add(obj);
                            lock (info)
                            {
                                info.StatusChangeFlag = false;
                            }
                        }
                        objResult.Add("request_uuid", Guid.NewGuid().ToString("N"));
                        objResult.Add("request_time", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));
                        objResult.Add("request_attr", "");
                        objResult.Add("data_from_sys", "");
                        objResult.Add("list", jArray);
                        DataResponseMES dataResponse = null;
                        AddLog("向MES发送所有AGV数据:" + objResult.ToString(), "MES交互日志");
                        WcsApi.PostMES(GlobalPara.MesURL, null, objResult.ToString(), out dataResponse);
                        if (dataResponse != null)
                        {
                            AddLog("MES回复数据(AGV信息):" + JsonConvert.SerializeObject(dataResponse), "MES交互日志");
                        }
                        else
                        {
                            AddLog("MES交互失败", "MES交互日志");
                        }
                    }
                }
                catch (Exception e)
                {

                }
                Thread.Sleep(1000);
            }
        }

        public void PostAGVDataToSPS()
        {
            while (true)
            {
                try
                {
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList();
                    foreach (DataRow dr in dtStation.Rows)
                    {
                        var info = Infos.Find(o => o.MARKNUM.ToString() == dr["工位地标"].ToString() && o.ConnectStatus &&dr["工位属性"].ToString().Trim()=="1");
                        if (info != null)
                        {
                            var info2 = listReleaseInfos.Find(o => o.MARKNUM == info.MARKNUM && o.AGVNUM == info.AGVNUM);
                            if (info2 == null)
                            {
                                JObject obj = new JObject();
                                obj.Add("StationCode", dr["工位名称"].ToString());
                                DataResponseSPS res = null;
                                AddLog("向SPS发送AGV上线数据:" + JsonConvert.SerializeObject(obj), "SPS交互日志");
                                WcsApi.PostSPS(GlobalPara.SPSURL, null, JsonConvert.SerializeObject(obj), out res);
                                if (res != null)
                                {
                                    AddLog("SPS回复数据(上线信息):" + JsonConvert.SerializeObject(res), "SPS交互日志");
                                    listReleaseInfos.Add(info);
                                   // DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                }
                                else
                                {
                                    AddLog("SPS交互失败", "SPS交互日志");
                                }
                            }
                        }
                        else
                        {
                            var temp = listReleaseInfos.Find(o => o.MARKNUM.ToString() == dr["工位地标"].ToString());
                            if (temp != null)
                            {
                                listReleaseInfos.Remove(temp);
                            }
                        }
                    }
                }
                catch (Exception e)
                {

                }
                Thread.Sleep(1000);
            }
        }

        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 [放行配置表$]", oleDC);
                oleDDA1.Fill(dtStation);

                OleDbDataAdapter oleDDA2 = new OleDbDataAdapter("Select * From [管制配置表$]", oleDC);
                oleDDA2.Fill(dtTraffic);

                for (int i = 0; i < dtTraffic.Rows.Count; i++)
                {
                    MyTest.ManagedThreadPoolcs.ManagedThreadPool.QueueUserWorkItem(new WaitCallback(TrafficByDispatch), dtTraffic.Rows[i]);
                }
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.StackTrace);
            }
        }
        public void StartHttpServer()
        {
            string address = "http://"+ GlobalPara.HostIPSPS + ":3350";
            if (WcsServerHost.Instance.StartServer(address))
            {
                  toolStripStatusLabel1.Text = $"Http服务启动成功，地址:{address}";
            }
            else
            {
                toolStripStatusLabel1.Text = $"Http服务启动失败，地址:{address}";
            }
        }
        public static void AddLog(string log,string FileName)
        {
            try
            {
                string content = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\t\t" + log;
                RichTextBox richTextBox = new RichTextBox();
                if (FileName.Contains("MES"))
                {
                    richTextBox = richTextBox2;
                    content = content.Replace("\n", "").Replace(" ", "").Replace("\r", "");
                    if (logNetDateTimeMES != null)
                    {
                        logNetDateTimeMES.WriteInfo(log);
                    }
                }
                else if (FileName.Contains("SPS"))
                {
                    richTextBox = richTextBox1;
                    if (logNetDateTimeSPS != null)
                    {
                        logNetDateTimeSPS.WriteInfo(log);
                    }
                }
                else if (FileName.Contains("临工管制"))
                {
                    richTextBox = richTextBox3;
                    if (logNetDateTimeTraffic != null)
                    {
                        logNetDateTimeTraffic.WriteInfo(log);
                    }
                }
                richTextBox.BeginInvoke((Action)(() =>
                {
                    if (richTextBox.Lines.Length > 1000)
                    {
                        richTextBox.Clear();
                    }

                    int textLength = richTextBox.TextLength;

                    richTextBox.AppendText(content);
                    richTextBox.AppendText(Environment.NewLine);

                    richTextBox.Select(textLength, 4);

                    {
                        richTextBox.ScrollToCaret();
                    }
                }));
            }
            catch (Exception e) { }
        }

        public static DataResponseSPS ReleaseAGV(Model.ReleaseInfo2 StationInfo)
        {
            DataResponseSPS dataResponse = new DataResponseSPS();
            dataResponse.resCode = 20001;
            var drs = dtStation.Select("工位名称='" + StationInfo.StationID + "'");
            if (drs != null && drs.Length > 0)
            {
                var Infos = GlobalPara.AgvInfoDic.Values.ToList();
                var infos = Infos.FindAll(o => o.MARKNUM.ToString() == drs[0]["工位地标"].ToString() && o.ConnectStatus);
                if (infos != null && infos.Count > 0)
                {
                    var info = infos.Find(o => o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                        DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                        dataResponse.resCode = 20000;
                        dataResponse.resMsg = string.Format("AGV车号:{0},地标:{1},路线:{2},工位名称:{3},状态:{4},放行成功",info.AGVNUM,info.MARKNUM,info.ROUTENUM, StationInfo.StationID,info.RUNSTATUS_Cur);
                        //var temp = listReleaseInfos.Find(o => o.AGVNUM == info.AGVNUM && o.MARKNUM == info.MARKNUM);
                        //if (temp != null)
                        //{
                        //    listReleaseInfos.Remove(temp);
                        //}
              
                    }
                    else
                    {
                        dataResponse.resMsg = string.Format("AGV车号:{0},地标:{1},路线:{2},工位名称:{3},状态:{4},AGV未处于停止状态，无法放行", info.AGVNUM, info.MARKNUM, info.ROUTENUM, StationInfo.StationID, info.RUNSTATUS_Cur);
                    }
                }
                else
                {
                    dataResponse.resMsg = string.Format("无AGV在 {0} 上，无法放行", StationInfo.StationID);
                }
            }
            return dataResponse;
        }
        public void TrafficByDispatch(object DR)
        {
            DataRow dr = (DataRow)DR;
            while (true)
            {
                try
                {
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o=>o.ConnectStatus);
                    var info = Infos.Find(o => (dr[1].ToString().Split(';').Contains(o.MARKNUM.ToString())) && o.ConnectStatus&& o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                       
                        {
                            string url = GlobalPara.TrafficAreaRequestURL;
                            url = url.Replace("URLValue", dr["主控IP"].ToString()).Replace("RegionValue", dr["管制区号"].ToString());
                            string content = null;
                            AddLog(string.Format("线体:{0},管制区号:{1},AGV信息:地标{2}，路线{3},车号{5},向临工请求进入管制区,URL:{4}", dr["线体名称"].ToString(), dr["管制区号"].ToString(), info.MARKNUM, info.ROUTENUM,url,info.AGVNUM), "临工管制交互日志");
                            //     WcsApi.GetTrafficArea(url, null, null, out content);
                            content = WcsApi.GetData(url);
                            if (content != null)
                            {
                                AddLog("收到临工系统回复:" + content, "临工管制交互日志");
                                JObject obj = JsonConvert.DeserializeObject<JObject>(content);
                                 if (obj["msg"].ToString().Trim().ToLower() == "ok"|| obj["msg"].ToString().Trim().ToLower() == "0")
                                    {

                                    if (obj["code"].ToString().Trim() == "1")
                                    {
                                        DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                        var temp = listTrafficInfos.Find(o => o["AGVNUM"].ToString() == info.AGVNUM.ToString() && o["MARKNUM"].ToString() == info.MARKNUM.ToString());
                                        if (temp == null)
                                        {
                                            JObject obj2 = new JObject();
                                            obj2["AGVNUM"] = info.AGVNUM.ToString();
                                            obj2["MARKNUM"] = info.MARKNUM.ToString();
                                            obj2["Step"] = 1;
                                            obj2["Time"] = DateTime.Now.ToString();
                                            listTrafficInfos.Add(obj2);
                                        }
                                        else
                                        {
                                            temp["Step"] = 1;
                                        }
                                        AddLog("管制区内AGV数量:" + obj["msg"].ToString().Trim() + ",放行AGV进入管制区", "临工管制交互日志");
                                    }
                                    else
                                    {
                                        AddLog("管制区内AGV数量:" + obj["msg"].ToString().Trim() + ",继续等待进入管制区", "临工管制交互日志");
                                    }
                                }
                            }
                            else
                            {
                                AddLog("请求临工系统回复失败", "临工管制交互日志");
                            }
                        }
                        
                    }
                    info = Infos.Find(o => (dr[1].ToString().Split(';').Contains(o.MARKNUM.ToString())) && o.ConnectStatus && o.RUNSTATUS_Cur == 0x40);
                    if (info!=null)
                    {
                        string url = GlobalPara.TrafficAreaResponseURL;
                        url = url.Replace("URLValue", dr["主控IP"].ToString()).Replace("RegionValue", dr["管制区号"].ToString()).Replace("OperValue", "1");
                        string content = null;
                        var temp = listTrafficInfos.Find(o => o["AGVNUM"].ToString() == info.AGVNUM.ToString() && o["MARKNUM"].ToString() == info.MARKNUM.ToString() && o["Step"].ToString() == "1");
                        if (temp != null)
                        {
                            AddLog(string.Format("线体:{0},管制区号:{1},AGV信息:地标{2}，路线{3},车号{5},向临工反馈AGV进入管制区,URL:{4}", dr["线体名称"].ToString(), dr["管制区号"].ToString(), info.MARKNUM, info.ROUTENUM, url, info.AGVNUM), "临工管制交互日志");
                            //  WcsApi.GetTrafficArea(url, null, null, out content);
                            content = WcsApi.GetData(url);
                            if (content != null)
                            {
                                JObject obj = JsonConvert.DeserializeObject<JObject>(content);
                                if (obj["msg"].ToString().Trim().ToLower() == "ok")
                                {
                                    temp["Step"] = 2;
                                   
                                }
                                AddLog("收到临工系统回复:" + content, "临工管制交互日志");
                            }
                        }
                    }

                    info = Infos.Find(o => (dr[2].ToString().Split(';').Contains(o.MARKNUM.ToString())) && o.ConnectStatus);
                    if (info != null)
                    {
                        string url = GlobalPara.TrafficAreaResponseURL;
                        url = url.Replace("URLValue", dr["主控IP"].ToString()).Replace("RegionValue", dr["管制区号"].ToString()).Replace("OperValue", "0");
                        string content = null;
                        var temp = listTrafficInfos.Find(o => o["AGVNUM"].ToString() == info.AGVNUM.ToString()  && o["Step"].ToString() == "2");
                        if (temp != null)
                        {
                            AddLog(string.Format("线体:{0},管制区号:{1},AGV信息:地标{2}，路线{3},车号{5},向临工反馈AGV离开管制区,URL:{4}", dr["线体名称"].ToString(), dr["管制区号"].ToString(), info.MARKNUM, info.ROUTENUM,url, info.AGVNUM), "临工管制交互日志");
                            //     WcsApi.GetTrafficArea(url, null, null, out content);
                            content = WcsApi.GetData(url);
                            if (content != null)
                            {
                                JObject obj = JsonConvert.DeserializeObject<JObject>(content);
                                if (obj["msg"].ToString().Trim().ToLower() == "ok")
                                {
                                    listTrafficInfos.Remove(temp);
                                   
                                }
                                AddLog("收到临工系统回复:" + content, "临工管制交互日志");
                            }
                        }
                    }
                }
                catch(Exception)
                {

                }
                Thread.Sleep(1000);
            }
        }
        public void TrafficByDispatch0(object DR)
        {
            DataRow dr = (DataRow)DR;
            while (true)
            {
                DAL.ZSql ZSql = new DAL.ZSql();
                try
                {
                    bool NoAGV = false;
                    var drResult = ZSql.Open_dr("select * from T_TrafficCombine where AreaID=" + dr[0].ToString());
                    if(drResult!=null&&drResult.GetInt32(0)==2)
                    {
                        continue;
                    }
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList();
                    var info = Infos.Find(o => (dr[2].ToString().Split(';').Contains(o.MARKNUM.ToString())) && o.ConnectStatus);
                    if (info != null)
                    {
                        ZSql.Open("update T_TrafficCombine set TrafficFlag=1,AGVID="+info.AGVNUM+",LastUpdateTime1='" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "' where TrafficFlag=0 and AreaID=" + dr[0].ToString());
                        continue;
                    }
                    else
                    {
                        NoAGV = true;
                    }
                    if (drResult.GetInt32(0) == 0)
                    {
                        info = Infos.Find(o => dr[1].ToString().Split(';').Contains(o.MARKNUM.ToString())&& o.ConnectStatus);
                        if (info != null)
                        {
                            if(info.RUNSTATUS_Cur == 0x41)
                            {
                                ZSql.Open("update T_TrafficCombine set TrafficFlag=1,AGVID="+info.AGVNUM+",LastUpdateTime1='" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "' where TrafficFlag=0 and AreaID=" + dr[0].ToString());
                                DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                NoAGV = false;
                            }
                            else if (info.RUNSTATUS_Cur == 0x40)
                            {
                                NoAGV = false;
                            }
                        }
                    }
                    if (NoAGV)
                    {
                        ZSql.Open("update T_TrafficCombine set TrafficFlag=0,AGVID=0,LastUpdateTime1='" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "' where TrafficFlag=1 and AreaID=" + dr[0].ToString());
                    }
                }
                catch (Exception)
                {

                }
                finally
                {
                    ZSql.Close();
                }
                Thread.Sleep(1000);
            }
        }


      
    }
}