1

AGVControl-ProductionLine/AGVControl-ProductionLine.csproj

@@ -40,7 +40,7 @@
       <HintPath>..\AgvClient\bin\Debug\AsaPL.AgvClient.dll</HintPath>
     </Reference>
     <Reference Include="log4net">
-      <HintPath>..\..\..\..\DLL\log4net.dll</HintPath>
+      <HintPath>dll\log4net.dll</HintPath>
     </Reference>
     <Reference Include="Newtonsoft.Json, Version=3.5.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>

AGVControl-ProductionLine/App.config

@@ -28,7 +28,7 @@
       </layout>
     </appender>
     <logger>
-      <level value="Debug"/>
+      <level value="ALL"/>
       <appender-ref ref="LineWebService"/>
     </logger>
     <root>
@@ -56,7 +56,7 @@
         <host>
           <baseAddresses>
             <!--添加调用服务地址-->
-            <add baseAddress="http://10.85.199.1/BenQMIR/Webservice/AGVService.asmx/"/>
+            <add baseAddress="http://127.0.0.1/BenQMIR/Webservice/AGVService.asmx/"/>
           </baseAddresses>
 
         </host>

AGVControl-ProductionLine/BLL/AGVManager.cs

@@ -11,7 +11,88 @@ namespace BLL
 {
     public class AGVManager
     {
+        private static string Addr_CurSO = "/rest/api/qisda/device/currentOutLine";
+        /// <summary>
+        /// 查询当前出料工单信息
+        /// </summary>
+        /// <returns></returns>
+        public static bool FindCurSO(out WOData woData)
+        {
+            woData = null;
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                //paramMap.Add("deviceAlarmList", msgListStr);
+                string server = GetAddr(Addr_CurSO, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Get(server);
+                Common.log.Debug("当前正在出工单料信息【" + server + "】【" + resultStr + "】");
+
+                WorkOrder workOrder = JsonHelper.DeserializeJsonToObject<WorkOrder>(resultStr);
 
+                if (workOrder == null)
+                {
+                    return false;
+                }
+                else
+                {
+                    if (workOrder.data == null)
+                    {
+                        return false;
+                    }
+                    else
+                    {
+                        if(workOrder.data.line !=null)
+                        {
+                            string tempLocation = workOrder.data.line;
+                            if (workOrder.data.line.Equals("Feeder"))
+                            {
+                                tempLocation = "FeederIn";
+                            }
+                            else if (workOrder.data.line.Equals("4CFeeder"))
+                            {
+                                tempLocation = "4CFeederIn";
+                            }
+                            workOrder.data.line = tempLocation;
+                            woData = workOrder.data;
+                            return true;
+                        }
+                     
+                    }
+               
+                }
+
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(ex);
+                return false;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 当前正在出的工单信息
+        /// </summary>
+        public class WorkOrder
+        {
+            //{"code":0,"msg":"ok","data":{"hSerial":"32622","line":null,"so":"2506287"}}
+            //{"code":0,"msg":"ok","data":{"hSerial":"32651","line":"D2","so":"2508551"}}
+            public int code { get; set; }
+            public string msg { get; set; }
+            public WOData data { get; set; }
+
+        }
+        public class WOData
+        {
+            public string hSerial { get; set; }
+            public string line { get; set; }
+            public string so { get; set; }
+
+            public string ToTxt(string nodeName)
+            {
+                return string.Format("[hSerial={0}，line={1}[{3}]，so={2}]", hSerial,line,so,nodeName);
+            }
+        }
         public static string A6_Target = "";
         /// <summary>
         /// 查找满料架目的地
@@ -42,7 +123,7 @@ namespace BLL
                 //JavaScriptSerializer serializer = new JavaScriptSerializer();
                 if (res == null || res.Count == 0)
                     return false;
-                string tempLocation = "";
+                string tempLocation = res[0].location;
                 if (res[0].id == rfid)
                 {
                     if (res[0].location.Equals("Feeder"))
@@ -53,7 +134,8 @@ namespace BLL
                     {
                         tempLocation = "4CFeederIn";
                     }
-                    if (Common.GetNodeNameByLineName(tempLocation,out string loc))
+
+                    if (Common.GetNodeNameByLineName(tempLocation, out string loc))
                     {
                         int i = Common.FindNode(loc);
                         if (i > -1)
@@ -84,8 +166,8 @@ namespace BLL
                             #endregion
                             res[0].location = loc;
                             dest = res[0];
-                            A6_Target = "获取周转箱目的地信息: " + url + " Return: " + json+"["+loc+"]";
-                            Common.LogInfo("收到满料架任务[RFID=" + rfid + "]：目的地为 " + loc + " [产线名 " + res[0].location + "]");
+                            A6_Target = res[0].ShowInfo() + "[" + loc + "]";
+                            Common.log.Debug("查找满料架任务[RFID=" + rfid + "]：目的地为 " + loc + " [产线名 " + tempLocation + "]");
                             return true;
                         }
                         else
@@ -118,7 +200,7 @@ namespace BLL
 
             public string ShowInfo()
             {
-                return string.Format("RFID={0},SO={1},location={2}",id,SO,location);
+                return string.Format("RFID={0},SO={1},location={2}", id, SO, location);
             }
         }
 
@@ -129,10 +211,12 @@ namespace BLL
         /// <param name="rfid"></param>
         /// <param name="lineName"></param>
         /// <returns></returns>
-        public static bool UpdateStatus(string rfid, string lineName)
+        public static bool UpdateStatus(string rfid, string nodeName)
         {
             //GET /ESMTCommonInterface/CommonService.asmx/UpdateStatusBy?id=string&location=string HTTP/1.1
             //Host: 10.85.17.233
+
+            Common.GetLineNameByNodeName(nodeName, out string lineName);
             if (lineName.Equals("FeederIn"))
             {
                 lineName = "Feeder";
@@ -226,7 +310,7 @@ namespace BLL
                     List<Msg> msgs = JsonHelper.DeserializeJsonToList<Msg>(result);
                     if (msgs == null || msgs.Count == 0)
                         return "";
-                    return string.Format("[{0}] [{1}]", addr, result);
+                    return result;
 
                 }
             }
@@ -328,7 +412,7 @@ namespace BLL
                     return data.Succeed.ToString();
                 }
             }
-            catch(Exception e)
+            catch (Exception e)
             {
                 return e.ToString();
             }

AGVControl-ProductionLine/BLL/AgvServer.cs

@@ -479,11 +479,12 @@ namespace BLL
 
             eNodeStatus action = (eNodeStatus)buff[idx++];
 
-            idx += 1;
+            ClientLevel level = (ClientLevel)buff[idx++];
             idx += 4;  //预留
             if (buff[idx] != 0xDA) return null;
 
             ClientNode node = new ClientNode(name, rfid, action);
+            node.ClientLevel = level;
             return node;
         }
 
@@ -503,12 +504,13 @@ namespace BLL
             }
 
             if (!Common.nodeInfo[idx].StateEquals(node.GetState()) ||
-                Common.nodeInfo[idx].RFID != node.RFID)
+                Common.nodeInfo[idx].RFID != node.RFID || Common.nodeInfo[idx].ClientLevel != node.ClientLevel)
             {
                 
                 Common.nodeInfo[idx].UpdateNodeStatus(node.GetState());
+                Common.nodeInfo[idx].ClientLevel = node.ClientLevel;
                 Common.nodeInfo[idx].RFID = node.RFID;
-                Common.LogInfo("节点更新 " + node.StatetText());
+                Common.LogInfo("节点更新 " + node.StatetText()+" "+ node.ClientLevel.ToString());
                 NodeChanged?.Invoke(idx);
             }
         }

AGVControl-ProductionLine/BLL/Common.cs

@@ -7,6 +7,7 @@ using System.Net;
 using System.Net.Sockets;
 using System.Runtime.InteropServices;
 using System.Threading;
+using System.Web.UI.WebControls;
 using System.Windows.Forms;
 
 namespace AGVControl
@@ -18,17 +19,25 @@ namespace AGVControl
     {
         public const int AGVCNT = 6;
         public const string Move = "Move";
-        public const string MoveStandby = "MoveStandby";
+        //任务名称
+        public const string Standby = "Standby";
         public const string CheckShelf = "CheckShelf";
-        public const string MoveDoorDToC = "MoveDoorDToC";
-        public const string MoveDoorCToD = "MoveDoorCToD";
+        public const string DoorDToC = "DoorDToC";
+        public const string DoorCToD = "DoorCToD";
+        public const string DoubleLine_Name_Prefix = "A";
+        public const string Wait = "Wait";
+        public const string Done = "Done";
+        public const string AutoCharge = "AutoCharge";
+        public const string Executing = "Executing";
         public const string C4_DOOR_Name = "F1";
         public const string D4_DOOR_Name = "F2";
-        public const string Standby_Name_Prefix = "";
+        public const string Standby_Name_Prefix = "H";
         public const string Charge_Name_Prefix = "I";
         public const string RandomCharge_IP1 = "10.85.199.80";
         public const string RandomCharge_IP2 = "10.85.199.81";
-        public const string FileName_AGV= "AgvName.csv";
+        public const string RandomCharge_IP3 = "10.85.199.71";
+        public const string RandomCharge_IP4 = "10.85.199.72";
+        public const string FileName_AGV = "AgvName.csv";
         public const string FileName_AgvMission = "AgvMission.csv";
         public const string FileName_AgvProductionLine = "AgvProductionLine.csv";
         public const string FileName_tempData = "tempData.ini";
@@ -38,7 +47,8 @@ namespace AGVControl
         /// <summary>
         /// 去4C的3辆车IP
         /// </summary>
-        public const string C4_AGV_IPs = "10.85.199.80,10.85.199.81,10.85.199.71";
+        public const string C4_AGV_IPs = "10.85.199.71,10.85.199.72,10.85.199.73";
+
         /// <summary>   
         /// 上料区
         /// </summary>
@@ -208,22 +218,37 @@ namespace AGVControl
         public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
 
 
-        public static string ReadIni(string section,string key)
+        public static string ReadIni(string section, string key)
         {
-            return IniHelper.ReadValue(section,key,CONFIG_PATH+SettingString.FileName_tempData);
+            return IniHelper.ReadValue(section, key, CONFIG_PATH + SettingString.FileName_tempData);
         }
 
-        public static void WriteIni(string section, string key,string value)
+        public static void WriteIni(string section, string key, string value)
         {
-            IniHelper.WriteValue(section, key,value, CONFIG_PATH + SettingString.FileName_tempData);
+            IniHelper.WriteValue(section, key, value, CONFIG_PATH + SettingString.FileName_tempData);
         }
-        public static bool GetNodeNameByLineName(string lineName,out string nodeName)
+        public static bool GetNodeNameByLineName(string lineName, out string nodeName)
         {
             nodeName = "";
-           int id =  nodeInfo.FindIndex(s=>s.LineName.Equals(lineName));
-            if(id>-1)
+            int id = nodeInfo.FindIndex(s => s.LineName.Equals(lineName));
+            if (id > -1)
+            {
+                nodeName = nodeInfo[id].Name;
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+
+        public static bool GetLineNameByNodeName(string nodeName, out string lineName)
+        {
+            lineName = "";
+            int id = nodeInfo.FindIndex(s => s.Name.Equals(nodeName));
+            if (id > -1)
             {
-                nodeName=nodeInfo[id].Name;
+                lineName = nodeInfo[id].LineName;
                 return true;
             }
             else
@@ -251,8 +276,8 @@ namespace AGVControl
         public static bool MoveToNode(Agv_Info agv, string nodeName)
         {
             string log;
-            if (!agv.TaskSend.Equals(""))
-                return false;
+            //if (!agv.TaskSend.Equals(""))
+            //    return false;
             //清除当前任务点
 
             int idx = Common.nodeInfo.FindIndex(s => s.AgvName == agv.Name);
@@ -287,123 +312,224 @@ namespace AGVControl
         }
 
         /// <summary>
-        /// 查看A5、A6需要小料架的状况
+        /// 查看A5、A6需要料架的状况
         /// </summary>
         /// <param name="agv"></param>
         /// <param name="node"></param>
-        public static bool CheckA5A6State(Agv_Info agv, eShelfType shelfType, out string tarNodeName)
+        public static bool CheckA5A6State(Agv_Info agv, eShelfType shelfType, out string nodeName)
         {
             bool rtn = false;
             string place = agv.Place;
-            tarNodeName = "";
+            nodeName = "";
             if (shelfType.Equals(eShelfType.SmallShelf))
             {
                 int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
-                            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
+                            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
                 if (tarIdx == -1)
                 {
-                    Common.LogInfo(string.Format("{0} 已装载小料架，{1}不需要料架", agv.Name, SettingString.A5), false);
+                    Common.log.Debug(string.Format("{0} {1}不需要小料架", agv.Name, SettingString.A5));
                 }
                 else
                 {
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A5]);
-                    if (rtn)
-                    {
-                        agv.NextPlace = "";
-                        tarNodeName = SettingString.A5;
-                        Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                        agv.TaskSend = rtn ? SettingString.Move + SettingString.A5 : "";
-                        agv.Msg = string.Format("{0} 在{1}已装小载料架，送往{2}", agv.Name, place, SettingString.A5);
-                        Common.LogInfo(string.Format("{0} 在{1}已装小载料架，送往{2}", agv.Name, place, SettingString.A5));
-                    }
+                    nodeName = SettingString.A5;
+                    Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
                     return true;
                 }
 
                 tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
-                (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
+                (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
 
                 if (tarIdx == -1)
                 {
-                    //StatusCharge(agv);
-                    //Common.LogInfo(string.Format("{0} 已装载小料架，A6不需要料架,到待机位等待", agv.Name), false);//小
-
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
-                    if (rtn)
-                    {
-                        agv.NextPlace = "";
-                        agv.TaskSend = rtn ? SettingString.MoveStandby : "";
-                        agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
-                        Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
-                    }
+                    Common.log.Debug(string.Format("{0} {1}不需要小料架", agv.Name, SettingString.A6));
+                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
+                    //if (rtn)
+                    //{
+                    //    agv.NextPlace = "";
+                    //    agv.TaskSend = rtn ? SettingString.MoveStandby : "";
+                    //    agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
+                    //    Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
+                    //}
                 }
                 else
                 {
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
-                    if (rtn)
-                    {
-                        agv.NextPlace = "";
-                        tarNodeName = SettingString.A6;
-                        Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                        agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
-                        agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6);
-                        Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6));
+                    nodeName = SettingString.A6;
+                    Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
                     return true;
-                    }
+                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
+                    //if (rtn)
+                    //{
+                    //    agv.NextPlace = "";
+                    //    tarNodeName = SettingString.A6;
+                    //    Common.nodeInfo[tarIdx].AgvName = agv.Name;
+                    //    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
+                    //    agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6);
+                    //    Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6));
+                    //    return true;
+                    //}
 
                 }
             }
             else if (shelfType.Equals(eShelfType.BigShelf))
             {
                 int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
-                            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
+                            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
                 if (tarIdx == -1)
                 {
-                    Common.LogInfo(string.Format("{0} 已装载大料架，{1}不需要料架", agv.Name, SettingString.A5), false);
+                    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A5));
                 }
                 else
                 {
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A5]);
-                    if (rtn)
-                    {
-                        agv.NextPlace = "";
-                        tarNodeName = SettingString.A5;
-                        Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                        agv.TaskSend = rtn ? SettingString.Move + SettingString.A5 : "";
-                        agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A5);
-                        Common.LogInfo(string.Format("{0} 在{1}已装载料架，送往{2}", agv.Name, place, SettingString.A5));
-                    }
+                    nodeName = SettingString.A5;
+                    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
                     return true;
                 }
 
                 tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
-                (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
+                (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
 
                 if (tarIdx == -1)
                 {
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
-                    if (rtn)
+                    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A6));
+                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
+                    //if (rtn)
+                    //{
+                    //    agv.NextPlace = "";
+                    //    agv.TaskSend = rtn ? SettingString.MoveStandby : "";
+                    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
+                    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
+                    //}
+                }
+                else
                 {
-                        agv.NextPlace = "";
-                        agv.TaskSend = rtn ? SettingString.MoveStandby : "";
-                        agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
-                        Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
+                    nodeName = SettingString.A6;
+                    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
+                    return true;
+                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
+                    //if (rtn)
+                    //{
+                    //    agv.NextPlace = "";
+                    //    tarNodeName = SettingString.A6;
+                    //    Common.nodeInfo[tarIdx].AgvName = agv.Name;
+                    //    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
+                    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6);
+                    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6));
+                    //    return true;
+                    //}
+
                 }
             }
-                else
+
+            return false;
+        }
+
+        /// <summary>
+        /// 查看A5料架的状况(A5当前料架小于2个)
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="node"></param>
+        public static bool CheckA5State(Agv_Info agv, eShelfType shelfType, out string nodeName)
         {
-                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
-                    if (rtn)
+            bool rtn = false;
+            string place = agv.Place;
+            nodeName = "";
+            if (shelfType.Equals(eShelfType.SmallShelf))
+            {
+                int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5 && s.ClientLevel.Equals(ClientLevel.High)
+                            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
+                if (tarIdx == -1)
                 {
-                        agv.NextPlace = "";
-                        tarNodeName = SettingString.A6;
-                        Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                        agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
-                        agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6);
-                        Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6));
+                    Common.log.Debug(string.Format("{0} {1}不需要小料架", agv.Name, SettingString.A5));
+                }
+                else
+                {
+                    nodeName = SettingString.A5;
+                    Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
                     return true;
                 }
 
+                //tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
+                //(s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
+
+                //if (tarIdx == -1)
+                //{
+                //    Common.LogInfo(string.Format("{0} {1}不需要小料架", agv.Name, SettingString.A6));
+                //    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
+                //    //if (rtn)
+                //    //{
+                //    //    agv.NextPlace = "";
+                //    //    agv.TaskSend = rtn ? SettingString.MoveStandby : "";
+                //    //    agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
+                //    //    Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
+                //    //}
+                //}
+                //else
+                //{
+                //    nodeName = SettingString.A6;
+                //    Common.LogInfo(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
+                //    return true;
+                //    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
+                //    //if (rtn)
+                //    //{
+                //    //    agv.NextPlace = "";
+                //    //    tarNodeName = SettingString.A6;
+                //    //    Common.nodeInfo[tarIdx].AgvName = agv.Name;
+                //    //    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
+                //    //    agv.Msg = string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6);
+                //    //    Common.LogInfo(string.Format("{0} 在{1}已装载小料架，送往{2}", agv.Name, place, SettingString.A6));
+                //    //    return true;
+                //    //}
+
+                //}
+            }
+            else if (shelfType.Equals(eShelfType.BigShelf))
+            {
+                int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
+                            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
+                if (tarIdx == -1)
+                {
+                    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A5));
                 }
+                else
+                {
+                    nodeName = SettingString.A5;
+                    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
+                    return true;
+                }
+
+                //tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
+                //(s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
+
+                //if (tarIdx == -1)
+                //{
+                //    Common.LogInfo(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A6));
+                //    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
+                //    //if (rtn)
+                //    //{
+                //    //    agv.NextPlace = "";
+                //    //    agv.TaskSend = rtn ? SettingString.MoveStandby : "";
+                //    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
+                //    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
+                //    //}
+                //}
+                //else
+                //{
+                //    nodeName = SettingString.A6;
+                //    Common.LogInfo(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
+                //    return true;
+                //    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
+                //    //if (rtn)
+                //    //{
+                //    //    agv.NextPlace = "";
+                //    //    tarNodeName = SettingString.A6;
+                //    //    Common.nodeInfo[tarIdx].AgvName = agv.Name;
+                //    //    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
+                //    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6);
+                //    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6));
+                //    //    return true;
+                //    //}
+
+                //}
             }
 
             return false;
@@ -418,18 +544,41 @@ namespace AGVControl
             return Common.mir.Add_Mission_Fleet(agv, Common.agvMission["CheckShelf"]);
         }
 
-        public static bool DoorMission(Agv_Info agv, string missionName)
+        public static bool DoorMission(Agv_Info agv, string doorName)
         {
-            return Common.mir.Add_Mission_Fleet(agv, Common.agvMission[missionName]);
+            return Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + doorName]);
         }
 
         /// <summary>
+        /// 检查当前任务是否结束
+        /// </summary>
+        /// <param name="taskName">任务名称</param>
+        /// <param name="taskGUID">任务GUID</param>
+        /// <returns></returns>
+        public static bool CheckTaskFinished(Agv_Info agv, string nodeName, string taskGUID)
+        {
+            log.Debug(agv.Name + " 检查当前任务是否结束: " + SettingString.Move + nodeName + " " + agv.CurTaskState + " " + taskGUID);
+            return Common.agvMission[SettingString.Move + nodeName].Equals(taskGUID) && agv.CurTaskState.Equals(SettingString.Done);
+        }
+        /// <summary>
+        /// 检查充电任务是否完成
+        /// </summary>
+        /// <param name="taskName"></param>
+        /// <returns></returns>
+        public static bool CheckTaskFinished(Agv_Info agv, string taskName)
+        {
+            return taskName.Contains(SettingString.AutoCharge) && agv.CurTaskState.Equals(SettingString.Executing);
+        }
+        //双层线工单信息
+        public static string doubleLine_WO = "[hSerial={0}，line={1}[{3}]，so={2}]";
+        /// <summary>
         /// 查找空架任务
         /// </summary>
         /// <param name="curPlace">为空表示待机位</param>
         /// <param name="nodeName">出空料架的节点名</param>
+        /// <param name="emptyAGVbACK">agv空车返回，带一个料架</param>
         /// <returns></returns>
-        public static bool FindEmptyShelfNode(Agv_Info agv, out string nodeName)
+        public static bool FindEmptyShelfNode(Agv_Info agv, out string nodeName, bool emptyAGVbACK = false)
         {
 
             nodeName = "";
@@ -469,38 +618,107 @@ namespace AGVControl
                 }
             }
 
+            //查询双层线正在出的工单料
+            if (AGVManager.FindCurSO(out AGVManager.WOData woData))
+            {
+                if (Common.GetNodeNameByLineName(woData.line, out string loc))
+                {
+                    nodeName = loc;
+                    doubleLine_WO = "工单料信息：" + woData.ToTxt(loc);
+                    Common.log.Debug(doubleLine_WO);
+                    idx = nodeInfo.FindIndex(s => s.Name.Equals(loc) && s.EmptyShelfCnt > 0);
+
+                    if (idx > -1)
+                    {
+                        if (loc.StartsWith("G") && SettingString.C4_AGV_IPs.Contains(agv.IP))
+                        {
+                            nodeName = loc;
+                            Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处理 " + loc);
+                            return true;
+                        }
+                        else if (loc.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(agv.IP))
+                        {
+                            nodeName = loc;
+                            Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处理 " + loc);
+                            return true;
+                        }
+                    }
+
+                }
+            }
+
+            ///AGV出满料带回一个料架
+            if (emptyAGVbACK)
+            {
                 //双层线是否需要小料架
-            if (CheckA5A6State(agv, eShelfType.SmallShelf, out string lineName))
+                if (CheckA5A6State(agv, eShelfType.SmallShelf, out string lineNodeName))
                 {
                     //if (curPlace.Equals(""))//待机位
                     // {
                     //4C车间寻找
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
-                        string nearNodeName = CalculateNearNode(agv,"G");
+                        string nearNodeName = CalculateNearNode(agv, "G");
                         if (nearNodeName.Equals(""))
                         {
                             return false;
                         }
-                        nodeName = lineName;
-                        Common.LogInfo(agv.Name+ " 双层线需要小料架,小车在待机位,去" + nodeName);
+                        nodeName = nearNodeName;
+                        Common.LogInfo(agv.Name + " 双层线需要小料架,去4C-" + nearNodeName);
                         return true;
                     }
 
                     //4D车间寻找
-                    if ( !SettingString.C4_AGV_IPs.Contains(agv.IP))
+                    if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
-                        string nearNodeName = CalculateNearNode(agv,"E");
+                        string nearNodeName = CalculateNearNode(agv, "E");
                         if (nearNodeName.Equals(""))
                         {
                             return false;
                         }
-                        nodeName = lineName;
-                        Common.LogInfo(agv.Name + " 双层线需要小料架,小车在待机位,去" + nodeName);
+                        nodeName = nearNodeName;
+                        Common.LogInfo(agv.Name + " 双层线需要小料架,去4D-" + nearNodeName);
                         return true;
                     }
 
                 }
+
+
+            }
+            else//主动拉料架
+            {
+                //双层线是否需要小料架
+                if (CheckA5State(agv, eShelfType.SmallShelf, out string lineNodeName))
+                {
+                    //if (curPlace.Equals(""))//待机位
+                    // {
+                    //4C车间寻找
+                    if (SettingString.C4_AGV_IPs.Contains(agv.IP))
+                    {
+                        string nearNodeName = CalculateNearNode(agv, "G");
+                        if (nearNodeName.Equals(""))
+                        {
+                            return false;
+                        }
+                        nodeName = nearNodeName;
+                        Common.LogInfo(agv.Name + " 双层线需要小料架,去4C-" + nearNodeName);
+                        return true;
+                    }
+
+                    //4D车间寻找
+                    if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
+                    {
+                        string nearNodeName = CalculateNearNode(agv, "E");
+                        if (nearNodeName.Equals(""))
+                        {
+                            return false;
+                        }
+                        nodeName = nearNodeName;
+                        Common.LogInfo(agv.Name + " 双层线需要小料架,去4D-" + nearNodeName);
+                        return true;
+                    }
+                }
+            }
             return false;
 
         }
@@ -521,10 +739,15 @@ namespace AGVControl
                 {
                     if (FullShelfDestInfo.location.StartsWith("G") && SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
+                        int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(agv.IP));
+                        if (i == -1)
                             return true;
+
                     }
                     else if (FullShelfDestInfo.location.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
+                        int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(agv.IP));
+                        if (i ==-1)
                             return true;
                     }
                 }
@@ -548,13 +771,13 @@ namespace AGVControl
         {
             nodeName = "";
             int idx = nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6)
-            && (s.StateEquals(eNodeStatus.NeedEnterLeave) || (s.StateEquals(eNodeStatus.NeedLeave))) && !s.RFID.Equals(""));
+            && (s.StateEquals(eNodeStatus.NeedEnterLeave) || (s.StateEquals(eNodeStatus.NeedLeave))) && !s.RFID.Equals("") && s.IsUse);
             if (idx > -1)
             {
                 if (AGVManager.FindFullShelfTarget(Common.nodeInfo[idx].RFID, out AGVManager.BoxDestInfo FullShelfDestInfo))
                 {
-                    idx = nodeInfo.FindIndex(s=>s.Name.Equals(FullShelfDestInfo.location) && s.EmptyShelfCnt>0);
-                    if(idx>-1)
+                    idx = nodeInfo.FindIndex(s => s.Name.Equals(FullShelfDestInfo.location) && s.EmptyShelfCnt > 0 && s.IsUse);
+                    if (idx > -1)
                     {
                         nodeName = FullShelfDestInfo.location;
                         Common.LogInfo("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo());
@@ -577,11 +800,11 @@ namespace AGVControl
         /// </summary>
         /// <param name="agv"></param>
         /// <returns>节点名称</returns>
-        private static string CalculateNearNode(Agv_Info agv,string RoomProfix)
+        public static string CalculateNearNode(Agv_Info agv, string RoomProfix)
         {
             double minDis = Double.MaxValue;
             string nodeName = "";
-            List<ClientNode> clientNodes = nodeInfo.FindAll(s => s.EmptyShelfCnt > 0 && s.Name.Substring(0,1).Equals(RoomProfix) && s.AgvName == "" && s.IsUse);
+            List<ClientNode> clientNodes = nodeInfo.FindAll(s => s.EmptyShelfCnt > 0 && s.Name.Substring(0, 1).Equals(RoomProfix) && s.IsUse);
             try
             {
                 if (clientNodes.Count.Equals(0))
@@ -597,7 +820,7 @@ namespace AGVControl
                     }
 
                 }
-                Common.log.Debug(string.Format("{0} 运动到产线 {1}", agv.Name, nodeName));
+                Common.log.Debug(string.Format("{0} 准备运动到产线 {1} 回收空料架", agv.Name, nodeName));
                 return nodeName;
             }
             catch (Exception e)
@@ -720,16 +943,16 @@ namespace AGVControl
             #endregion
 
             #region 指定充电位置
-            if (agv.IP == "10.85.199.71")//1763
+            if (agv.IP == "10.85.199.73")//1767,
             {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"], isRemovePreMission);
+                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"], isRemovePreMission);
                 if (rtn)
                 {
-                    //agv.TaskSend = "AutoCharge3";
+                    //agv.TaskSend = "AutoCharge5";
                     agv.TaskSend = "AutoCharge";
-                    Common.chargeStatus.charge3 = agv.Name;
+                    Common.chargeStatus.charge5 = agv.Name;
                     Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
-                    log = string.Format("{0} AutoCharge3", agv.Name);
+                    log = string.Format("{0} AutoCharge5", agv.Name);
                     agv.Msg = log;
                     Common.LogInfo(log);
                     Common.mir.State_Ready(agv);
@@ -737,23 +960,23 @@ namespace AGVControl
                 else
                 {
                     agv.TaskSend = "";
-                    log = string.Format("{0} AutoCharge3 失败", agv.Name);
+                    log = string.Format("{0} AutoCharge5 失败", agv.Name);
                     //防止上一个任务已执行但返回失败时，删除任务
                     //Common.mir.Del_Mission(agv);
                     Common.LogInfo(log);
                 }
                 return rtn;
             }
-            else if (agv.IP == "10.85.199.72")//1764
+            else if (agv.IP == "10.85.199.74")//1768
             {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"], isRemovePreMission);
+                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"], isRemovePreMission);
                 if (rtn)
                 {
-                    //agv.TaskSend = "AutoCharge4";
+                    //agv.TaskSend = "AutoCharge6";
                     agv.TaskSend = "AutoCharge";
                     Common.chargeStatus.charge4 = agv.Name;
                     Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
-                    log = string.Format("{0} AutoCharge4", agv.Name);
+                    log = string.Format("{0} AutoCharge6", agv.Name);
                     agv.Msg = log;
                     Common.LogInfo(log);
                     Common.mir.State_Ready(agv);
@@ -761,23 +984,23 @@ namespace AGVControl
                 else
                 {
                     agv.TaskSend = "";
-                    log = string.Format("{0} AutoCharge4 失败", agv.Name);
+                    log = string.Format("{0} AutoCharge6 失败", agv.Name);
                     //防止上一个任务已执行但返回失败时，删除任务
                     //Common.mir.Del_Mission(agv);
                     Common.LogInfo(log);
                 }
                 return rtn;
             }
-            else if (agv.IP == "10.85.199.73")//1767,
+            if (Common.chargeStatus.charge3 == "")//1763 agv.IP == "10.85.199.71"
             {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"], isRemovePreMission);
+                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"], isRemovePreMission);
                 if (rtn)
                 {
-                    //agv.TaskSend = "AutoCharge5";
+                    //agv.TaskSend = "AutoCharge3";
                     agv.TaskSend = "AutoCharge";
-                    Common.chargeStatus.charge5 = agv.Name;
+                    Common.chargeStatus.charge3 = agv.Name;
                     Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
-                    log = string.Format("{0} AutoCharge5", agv.Name);
+                    log = string.Format("{0} AutoCharge3", agv.Name);
                     agv.Msg = log;
                     Common.LogInfo(log);
                     Common.mir.State_Ready(agv);
@@ -785,23 +1008,23 @@ namespace AGVControl
                 else
                 {
                     agv.TaskSend = "";
-                    log = string.Format("{0} AutoCharge5 失败", agv.Name);
+                    log = string.Format("{0} AutoCharge3 失败", agv.Name);
                     //防止上一个任务已执行但返回失败时，删除任务
                     //Common.mir.Del_Mission(agv);
                     Common.LogInfo(log);
                 }
                 return rtn;
             }
-            else if (agv.IP == "10.85.199.74")//1768
+            else if (Common.chargeStatus.charge4 == "")//1764 agv.IP == "10.85.199.72"
             {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"], isRemovePreMission);
+                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"], isRemovePreMission);
                 if (rtn)
                 {
-                    //agv.TaskSend = "AutoCharge6";
+                    //agv.TaskSend = "AutoCharge4";
                     agv.TaskSend = "AutoCharge";
                     Common.chargeStatus.charge4 = agv.Name;
                     Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
-                    log = string.Format("{0} AutoCharge6", agv.Name);
+                    log = string.Format("{0} AutoCharge4", agv.Name);
                     agv.Msg = log;
                     Common.LogInfo(log);
                     Common.mir.State_Ready(agv);
@@ -809,41 +1032,41 @@ namespace AGVControl
                 else
                 {
                     agv.TaskSend = "";
-                    log = string.Format("{0} AutoCharge6 失败", agv.Name);
+                    log = string.Format("{0} AutoCharge4 失败", agv.Name);
                     //防止上一个任务已执行但返回失败时，删除任务
                     //Common.mir.Del_Mission(agv);
                     Common.LogInfo(log);
                 }
                 return rtn;
             }
-            else //if (Common.chargeStatus.charge7 == "")
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge7"]);
-                if (rtn)
-                {
-                    agv.TaskSend = "AutoCharge7";
-                    Common.chargeStatus.charge3 = agv.Name;
-                    Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
-                    log = string.Format("{0} AutoCharge7", agv.Name);
-                    Common.LogInfo(log);
-                    Common.mir.State_Ready(agv);
-                }
+            //else //if (Common.chargeStatus.charge7 == "")
+            //{
+            //    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge7"]);
+            //    if (rtn)
+            //    {
+            //        agv.TaskSend = "AutoCharge7";
+            //        Common.chargeStatus.charge3 = agv.Name;
+            //        Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
+            //        log = string.Format("{0} AutoCharge7", agv.Name);
+            //        Common.LogInfo(log);
+            //        Common.mir.State_Ready(agv);
+            //    }
+            //    else
+            //    {
+            //        agv.TaskSend = "";
+            //        log = string.Format("{0} AutoCharge7 失败", agv.Name);
+            //        //防止上一个任务已执行但返回失败时，删除任务
+            //        //Common.mir.Del_Mission(agv);
+            //        Common.LogInfo(log);
+            //    }
+            //    return rtn;
+            //}
+
             else
             {
-                    agv.TaskSend = "";
-                    log = string.Format("{0} AutoCharge7 失败", agv.Name);
-                    //防止上一个任务已执行但返回失败时，删除任务
-                    //Common.mir.Del_Mission(agv);
-                    Common.LogInfo(log);
-                }
-                return rtn;
-            }
-
-            //else
-            //{
 
-            //    return false;
-            //}
+                return false;
+            }
             #endregion
         }
 
@@ -871,7 +1094,7 @@ namespace AGVControl
         /// <returns></returns>
         public static bool CheckAGVStatusNone(Agv_Info agv)
         {
-            if (agv.CurJob is ChargeJob && !agv.IsExistShelf)
+            if ((agv.CurJob is ChargeJob || agv.CurJob == null) && !agv.IsExistShelf)
                 return true;
             else
                 return false;
@@ -968,6 +1191,7 @@ namespace AGVControl
                 idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName);
                 if (idx > -1)
                 {
+                    LogInfo("删除一个空料架任务："+nodeName);
                     Common.missionManager.missionList.RemoveAt(idx);
                     using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
                     {
@@ -1083,8 +1307,6 @@ namespace AGVControl
     }
 
 
-
-
     /// <summary>
     /// 地点状态
     /// </summary>

AGVControl-ProductionLine/BLL/Control.cs

@@ -31,15 +31,15 @@ namespace BLL
             AgvCallTimer = new System.Timers.Timer
             {
                 Interval = 300,
-                AutoReset = false,
+                AutoReset = true,
                 Enabled = false
             };
             AgvCallTimer.Elapsed += AgvCallTimer_Elapsed;
 
             AgvStateTimer = new System.Timers.Timer
             {
-                Interval = 300,
-                AutoReset = false,
+                Interval = 500,
+                AutoReset = true,
                 Enabled = false
             };
             AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
@@ -48,28 +48,28 @@ namespace BLL
 
         public void Start()
         {
-            //AgvCallTimer.Enabled = true;
-            //AgvStateTimer.Enabled = true;
+            AgvCallTimer.Enabled = true;
+            AgvStateTimer.Enabled = true;
             AgvCallTimer.Start();
             AgvStateTimer.Start();
         }
 
         public void Stop()
         {
-            //AgvCallTimer.Enabled = false;
-            //AgvStateTimer.Enabled = false;
+            AgvCallTimer.Enabled = false;
+            AgvStateTimer.Enabled = false;
             AgvCallTimer.Stop();
             AgvStateTimer.Stop();
         }
 
 
-        //private bool AgvStateInProcess = false;
+        private bool AgvStateInProcess = false;
         private eAGVState preAGVState = eAGVState.None;
         private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
             bool rtn;
-            //if (AgvStateInProcess) return;
-            //AgvStateInProcess = true;
+            if (AgvStateInProcess) return;
+            AgvStateInProcess = true;
             //上报异常
             bool isAlarm = false;
             List<AlarmMsg> msglist = new List<AlarmMsg>();
@@ -81,7 +81,6 @@ namespace BLL
                     msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "agv." + Common.nodeInfo[j].Name + ".OnLine", "接驳台状态：离线"));
                 }
             }
-            Common.log.Debug("上报异常");
 
             for (int i = 0; i < Common.agvInfo.Count; i++)
             {
@@ -89,13 +88,18 @@ namespace BLL
 
                 //获取AGV状态
                 rtn = Common.mir.Get_State(Common.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
+                if (!rtn)
+                    continue;
                 Common.log.Debug("获取AGV状态");
                 Thread.Sleep(50);
-
-                Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
+                rtn = Common.mir.Get_Task_State(Common.agvInfo[i], out string stateStr);
+                Thread.Sleep(50);
+                rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
+                if (!rtn)
+                    continue;
                 Common.log.Debug("获取IO状态");
                 bool change = false;
-                if (rtn) change = Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text, position);
+                if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
 
                 if (Common.agvInfo[i].StateID.Equals(eAGVState.Docking))
                 {
@@ -150,7 +154,7 @@ namespace BLL
                 //执行任务更新状态
                 if (stateID.Equals(eAGVState.Executing) || change)
                 {
-                    Common.log.Debug(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue));
+                    //Common.log.Debug(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue));
                     AgvChanged?.Invoke(i);
                 }
 
@@ -172,7 +176,7 @@ namespace BLL
             }
             if (isAlarm)
                 BLL.AGVManager.updateDeviceAlarmMsg(msglist);
-            //AgvStateInProcess = false;
+            AgvStateInProcess = false;
         }
 
         /// <summary>
@@ -180,13 +184,32 @@ namespace BLL
         /// </summary>
         /// <param name="agv_Info"></param>
         /// <returns></returns>
-        private Job GetJob(Agv_Info agv_Info)
+        public Job GetJob(Agv_Info agv_Info)
         {
-            foreach(Node node in Common.nodeInfo)
+            foreach (Node node in Common.nodeInfo)
             {
-                Job job = node.GetNewJob(agv_Info);
-                if(job != null)
+                Job job = null;
+
+                if (node.Name.Equals("A5"))
                 {
+                    if (!SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
+                       continue;
+                    job = ((DoubleLineNodeFor4C)node).GetNewJob(agv_Info);
+                }
+                else if (node.Name.Equals("A6"))
+                {
+                    if (SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
+                        continue;
+                    job = ((DoubleLineNodeFor4D)node).GetNewJob(agv_Info);
+                }
+                else
+                {
+                    job = node.GetNewJob(agv_Info);
+                }
+
+                if (job != null)
+                {
+                    Common.log.Info(node.Name + " GetJob OK " + job.ToString());
                     return job;
                 }
             }
@@ -210,24 +233,26 @@ namespace BLL
                     if (!Common.agvInfo[i].StateID.Equals(eAGVState.Ready) && !Common.agvInfo[i].StateID.Equals(eAGVState.Pause)
                         && !Common.agvInfo[i].StateID.Equals(eAGVState.Executing) && !Common.agvInfo[i].StateID.Equals(eAGVState.Error))
                     {
-                        Common.LogInfo(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText));
+                        Common.LogInfo(string.Format("{0}不能调用 StateID={1}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID.ToString()));
                         continue;
                     }
 
-                    if(agv.CurJob == null)
+                    if (agv.CurJob == null)
                     {
                         Job job = GetJob(agv);
-                        if(job != null)
+                        if (job != null)
                         {
                             agv.CurJob = job;
                         }
                         else
                         {
+                            //if (agv.Battery < Common.chargeStatus.chargeMax)
                                 agv.CurJob = new ChargeJob(agv.Place);
+
                         }
                     }
 
-                    if(agv.CurJob != null)
+                    if (agv.CurJob != null)
                     {
                         agv.CurJob = agv.CurJob.Execute(agv);
                     }
@@ -277,6 +302,8 @@ namespace BLL
             }
             return rtn;
         }
+
+        #region 老程序
         /// <summary>
         /// agv空闲
         /// </summary>
@@ -894,39 +921,39 @@ namespace BLL
         //    AgvChanged?.Invoke(idx);
         //}
 
-        private void ProcessStandyTemp(Agv_Info agv)
-        {
-            switch (agv.Place)
-            {
-                case "J1":
-                case "J2":
-                case "J3":
-                case "J4":
-                case "J5":
-                case "J6":
-                case "J7":
-                case "J8":
-                    CheckA5A6State_SmallShelf(agv);
-                    break;
-            }
-        }
-        private void ProcessDoor(Agv_Info agv)
-        {
-            switch (agv.Place)
-            {
-                case "F1":
-                case "F2":
-                case "F3":
-                case "F4":
-                case "F5":
-                case "F6":
-                case "F7":
-                case "F8":
-                    //ResetNodeState(node, agv);
-                    Common.log.Debug(string.Format("{0} MoveDoor {1}[RFID={2}] Finish.", agv.Name, agv.Place, agv.RFID));
-                    break;
-            }
-        }
+        //private void ProcessStandyTemp(Agv_Info agv)
+        //{
+        //    switch (agv.Place)
+        //    {
+        //        case "J1":
+        //        case "J2":
+        //        case "J3":
+        //        case "J4":
+        //        case "J5":
+        //        case "J6":
+        //        case "J7":
+        //        case "J8":
+        //            CheckA5A6State_SmallShelf(agv);
+        //            break;
+        //    }
+        //}
+        //private void ProcessDoor(Agv_Info agv)
+        //{
+        //    switch (agv.Place)
+        //    {
+        //        case "F1":
+        //        case "F2":
+        //        case "F3":
+        //        case "F4":
+        //        case "F5":
+        //        case "F6":
+        //        case "F7":
+        //        case "F8":
+        //            //ResetNodeState(node, agv);
+        //            Common.log.Debug(string.Format("{0} MoveDoor {1}[RFID={2}] Finish.", agv.Name, agv.Place, agv.RFID));
+        //            break;
+        //    }
+        //}
 
 
 
@@ -1073,181 +1100,116 @@ namespace BLL
         //    }
         //    AgvChanged?.Invoke(idx);
         //}
-        /// <summary>
-        /// 查看A5、A6需要小料架的状况
-        /// </summary>
-        /// <param name="agv"></param>
-        /// <param name="node"></param>
-        private void CheckA5A6State_SmallShelf(Agv_Info agv, ClientNode node, bool isRemovePreMission = true)
-        {
-            bool rtn = false;
-            int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
-            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
-            if (tarIdx == -1)
-            {
-                Common.LogInfo(string.Format("{0} 已装载小料架，A5不需要料架", agv.Name), false);//小
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"], isRemovePreMission);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    node.AgvName = "";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.TaskSend = rtn ? "MoveA5" : "";
-                    agv.Msg = string.Format("{0} 已装载小料架，送往A5", agv.Name);
-                    Common.LogInfo(string.Format("{0} 已装载小料架，送往A5", agv.Name));//小
-                }
-                return;
-            }
 
-            tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
-            (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
-
-            if (tarIdx == -1)
-            {
-                //StatusCharge(agv);
-                //Common.LogInfo(string.Format("{0} 已装载小料架，A6不需要料架,到待机位等待", agv.Name), false);//小
-
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    node.AgvName = "";
-                    agv.TaskSend = rtn ? "MoveStandbyTemp" : "";
-                    agv.Msg = string.Format("{0} 已装载小料架，送往MoveStandbyTemp", agv.Name);
-                    Common.LogInfo(string.Format("{0} 已装载小料架，送往MoveStandbyTemp", agv.Name));
-                }
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"], isRemovePreMission);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    node.AgvName = "";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.TaskSend = rtn ? "MoveA6" : "";
-                    agv.Msg = string.Format("{0} 已装载小料架，送往A6", agv.Name);
-                    Common.LogInfo(string.Format("{0} 已装载小料架，送往A6", agv.Name));//小
-                }
-
-            }
-        }
 
         /// <summary>
         /// 空闲状态查看A5、A6需要小料架的状况
         /// </summary>
         /// <param name="agv"></param>
-        private void CheckA5A6State_SmallShelf(Agv_Info agv)
-        {
-            if (!agv.TaskSend.Equals(""))
-                return;
-            bool rtn = false;
-            int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
-            && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
-            if (tarIdx == -1)
-            {
-                Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    agv.TaskSend = "MoveA5";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
-                    Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
-                }
-                return;
-            }
+        //private void CheckA5A6State_SmallShelf(Agv_Info agv)
+        //{
+        //    if (!agv.TaskSend.Equals(""))
+        //        return;
+        //    bool rtn = false;
+        //    int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
+        //    && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
+        //    if (tarIdx == -1)
+        //    {
+        //        Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
+        //    }
+        //    else
+        //    {
+        //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
+        //        if (rtn)
+        //        {
+        //            agv.TaskSend = "MoveA5";
+        //            Common.nodeInfo[tarIdx].AgvName = agv.Name;
+        //            agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
+        //            Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
+        //        }
+        //        return;
+        //    }
 
-            tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
-            (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
+        //    tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
+        //    (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
 
-            if (tarIdx == -1)
-            {
-                Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
+        //    if (tarIdx == -1)
+        //    {
+        //        Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
 
 
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    agv.TaskSend = "MoveA6";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
-                    Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
-                }
+        //    }
+        //    else
+        //    {
+        //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
+        //        if (rtn)
+        //        {
+        //            agv.TaskSend = "MoveA6";
+        //            Common.nodeInfo[tarIdx].AgvName = agv.Name;
+        //            agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
+        //            Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
+        //        }
 
-            }
-        }
+        //    }
+        //}
 
         /// <summary>
         /// 空闲 查看A5、A6需要大料架的状况
         /// </summary>
         /// <param name="agv"></param>
-        private void CheckA5A6State_BigShelf(Agv_Info agv)
-        {
-            if (!agv.TaskSend.Equals(""))
-                return;
-            bool rtn = false;
-            int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
-            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
-            if (tarIdx == -1)
-            {
-                Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    agv.TaskSend = "MoveA5";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
-                    Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
-                }
-                return;
-            }
+        //private void CheckA5A6State_BigShelf(Agv_Info agv)
+        //{
+        //    if (!agv.TaskSend.Equals(""))
+        //        return;
+        //    bool rtn = false;
+        //    int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
+        //    && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
+        //    if (tarIdx == -1)
+        //    {
+        //        Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
+        //    }
+        //    else
+        //    {
+        //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
+        //        if (rtn)
+        //        {
+        //            agv.TaskSend = "MoveA5";
+        //            Common.nodeInfo[tarIdx].AgvName = agv.Name;
+        //            agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
+        //            Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
+        //        }
+        //        return;
+        //    }
 
-            tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
-            (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
+        //    tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
+        //    (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
 
-            if (tarIdx == -1)
-            {
-                Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
+        //    if (tarIdx == -1)
+        //    {
+        //        Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
 
-            }
-            else
-            {
-                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
-                if (rtn)
-                {
-                    agv.NextPlace = "";
-                    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    agv.TaskSend = "MoveA6";
-                    agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
-                    Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
-                }
+        //    }
+        //    else
+        //    {
+        //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
+        //        if (rtn)
+        //        {
+        //            Common.nodeInfo[tarIdx].AgvName = agv.Name;
+        //            agv.TaskSend = "MoveA6";
+        //            agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
+        //            Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
+        //        }
 
-            }
-        }
-        /// <summary>
-        /// 料架离开小车
-        /// </summary>
-        /// <param name="idx">agv索引</param>
-        private void StateLeave(int idx)
-        {
-            Agv_Info agv = Common.agvInfo[idx];
-        }
+        //    }
+        //}
+        ///// <summary>
+        ///// 料架离开小车
+        ///// </summary>
+        ///// <param name="idx">agv索引</param>
+        //private void StateLeave(int idx)
+        //{
+        //    Agv_Info agv = Common.agvInfo[idx];
+        //}
         /// <summary>
         /// 料架离开小车完成
         /// </summary>
@@ -1442,125 +1404,114 @@ namespace BLL
         /// 重置节点状态
         /// </summary>
         /// <param name="clientNode"></param>
-        private void ResetNodeState(ClientNode clientNode, Agv_Info agv)
-        {
-            clientNode.StateEquals(eNodeStatus.None);
-            if (agv.Name == clientNode.AgvName)
-                clientNode.AgvName = "";
-            clientNode.RFID = "";
-        }
+        //private void ResetNodeState(ClientNode clientNode, Agv_Info agv)
+        //{
+        //    clientNode.StateEquals(eNodeStatus.None);
+        //    if (agv.Name == clientNode.AgvName)
+        //        clientNode.AgvName = "";
+        //    clientNode.RFID = "";
+        //}
 
-        /// <summary>
-        /// 重置agv变量信息(RFID)
-        /// </summary>
-        /// <param name="agv"></param>
-        /// <param name="IsNextPlace">是否清除下一目的地</param>
-        private void ResetAGVState(Agv_Info agv, bool IsNextPlace = false)
-        {
-            agv.RFID = "";
-            if (IsNextPlace)
-                agv.NextPlace = "";
-        }
-        private bool MoveStandby(Agv_Info agv)
-        {
-            string log;
-            if (!agv.TaskSend.Equals(""))
-                return false;
-            //清除当前任务点
-            if (!agv.Place.Equals(""))
-            {
-                int idx = Common.nodeInfo.FindIndex(s => s.Name == agv.Place);
-                if (idx > -1)
-                {
-                    Common.nodeInfo[idx].AgvName = "";
-                }
-                else
-                {
-                    log = "清理AgvName，没有找到 " + agv.Name;
-                    Common.LogInfo(log);
-                }
-            }
+        //private bool MoveStandby(Agv_Info agv)
+        //{
+        //    string log;
+        //    if (!agv.TaskSend.Equals(""))
+        //        return false;
+        //    //清除当前任务点
+        //    if (!agv.Place.Equals(""))
+        //    {
+        //        int idx = Common.nodeInfo.FindIndex(s => s.Name == agv.Place);
+        //        if (idx > -1)
+        //        {
+        //            Common.nodeInfo[idx].AgvName = "";
+        //        }
+        //        else
+        //        {
+        //            log = "清理AgvName，没有找到 " + agv.Name;
+        //            Common.LogInfo(log);
+        //        }
+        //    }
 
 
-            //执行下一个任务
-            //agv.Place = "";
+        //    //执行下一个任务
+        //    //agv.Place = "";
 
-            bool rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandby"]);  //返回待机区
-            if (rtn)
-            {
-                agv.TaskSend = "";
-                agv.Place = "";
-                log = string.Format("{0} MoveStandby", agv.Name);
-                Common.LogInfo(log);
-                Common.mir.State_Ready(agv);
-            }
-            else
-            {
-                agv.TaskSend = "";
-                log = string.Format("{0} MoveStandby 失败", agv.Name);
-                //防止上一个任务已执行但返回失败时，删除任务
-                //Common.mir.Del_Mission(agv);
-                Common.LogInfo(log);
-            }
+        //    bool rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandby"]);  //返回待机区
+        //    if (rtn)
+        //    {
+        //        agv.TaskSend = "";
+        //        agv.Place = "";
+        //        log = string.Format("{0} MoveStandby", agv.Name);
+        //        Common.LogInfo(log);
+        //        Common.mir.State_Ready(agv);
+        //    }
+        //    else
+        //    {
+        //        agv.TaskSend = "";
+        //        log = string.Format("{0} MoveStandby 失败", agv.Name);
+        //        //防止上一个任务已执行但返回失败时，删除任务
+        //        //Common.mir.Del_Mission(agv);
+        //        Common.LogInfo(log);
+        //    }
 
-            return rtn;
+        //    return rtn;
 
-        }
+        //}
 
-        Task<bool> continueTask;
+       // Task<bool> continueTask;
         /// <summary>
         /// 清空错误并继续任务
         /// </summary>
         /// <param name="idx"></param>
-        private bool ClearErrorAndContinueTask(int idx)
-        {
+        //private bool ClearErrorAndContinueTask(int idx)
+        //{
 
-            continueTask = Task.Run<bool>(() =>
-             {
-                 Agv_Info agv = Common.agvInfo[idx];
-                 Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}", agv.Name, agv.TaskSend, agv.MissionText));
-                 if (Common.agvInfo[idx].IsCon)
-                 {
-                     Common.mir.Clear_Error(Common.agvInfo[idx]);
-                     Thread.Sleep(1000);
-                     Common.mir.State_Ready(Common.agvInfo[idx]);
-                     Thread.Sleep(1000);
-                     //bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[agv.TaskSend]);
-                     //if (!rtn)
+        //    continueTask = Task.Run<bool>(() =>
+        //     {
+        //         Agv_Info agv = Common.agvInfo[idx];
+        //         Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}", agv.Name, agv.TaskSend, agv.MissionText));
+        //         if (Common.agvInfo[idx].IsCon)
+        //         {
+        //             Common.mir.Clear_Error(Common.agvInfo[idx]);
+        //             Thread.Sleep(1000);
+        //             Common.mir.State_Ready(Common.agvInfo[idx]);
+        //             Thread.Sleep(1000);
+        //             //bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[agv.TaskSend]);
+        //             //if (!rtn)
+        //             //    return false;
+        //             Common.LogInfo(string.Format("{0}清除错误，继续任务", agv.Name, agv.TaskSend, agv.MissionText));
+        //             return true;
+        //         }
         //         return false;
-                     Common.LogInfo(string.Format("{0}清除错误，继续任务", agv.Name, agv.TaskSend, agv.MissionText));
-                     return true;
-                 }
-                 return false;
-             });
-            continueTask.Start();
-            return continueTask.Result;
-        }
+        //     });
+        //    continueTask.Start();
+        //    return continueTask.Result;
+        //}
         /// <summary>
         /// 小车重试次数
         /// </summary>
-        static int[] reTryTimes = new int[Common.agvInfo.Count];
-        /// <summary>
-        /// 错误状态
-        /// </summary>
-        /// <param name="idx"></param>
-        private void StateError(int idx)
-        {
-            if (continueTask != null && !continueTask.IsCompleted)
-                return;
-            if (reTryTimes[idx] > 5)//重试5次
-            {
-                Common.LogInfo(string.Format("{0} 发生错误，重试5次失败，需要手动清除错误！", Common.agvInfo[idx]));
-                reTryTimes[idx] = 0;
-                return;
-            }
+        //static int[] reTryTimes = new int[Common.agvInfo.Count];
+        ///// <summary>
+        ///// 错误状态
+        ///// </summary>
+        ///// <param name="idx"></param>
+        //private void StateError(int idx)
+        //{
+        //    if (continueTask != null && !continueTask.IsCompleted)
+        //        return;
+        //    if (reTryTimes[idx] > 5)//重试5次
+        //    {
+        //        Common.LogInfo(string.Format("{0} 发生错误，重试5次失败，需要手动清除错误！", Common.agvInfo[idx]));
+        //        reTryTimes[idx] = 0;
+        //        return;
+        //    }
 
-            if (!ClearErrorAndContinueTask(idx))
-                reTryTimes[idx]++;
-            else
-                reTryTimes[idx] = 0;
+        //    if (!ClearErrorAndContinueTask(idx))
+        //        reTryTimes[idx]++;
+        //    else
+        //        reTryTimes[idx] = 0;
 
-        }
+        //}
 
 
         //private bool FindA6Leave(out string nextNode)
@@ -1586,7 +1537,7 @@ namespace BLL
 
         //}
 
-
+#endregion
 
     }
 }
\ No newline at end of file

AGVControl-ProductionLine/BLL/LineWebService.cs

@@ -10,6 +10,7 @@ using System.Text;
 
 namespace BLL
 {
+
     [ServiceContract(Name = "Services")]
     internal interface IWebService
     {
@@ -43,6 +44,7 @@ namespace BLL
     {
         internal ClsWebService()
         {
+
         }
 
         public string CreateEmptyRecycleTask(Stream stream)

AGVControl-ProductionLine/BLL/MiR_API.cs

@@ -92,7 +92,7 @@ namespace BLL
             {
                 input = null;
                 output = null;
-                Common.log.Error("", ex);
+                //Common.log.Error("", ex);
                 return false;
             }
         }
@@ -174,6 +174,10 @@ namespace BLL
         {
             try
             {
+                //var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
+                //Common.log.Info(string.Format("{0} Add_Mission [{1}]", info.Name, key.ToList()[0]));
+                Common.LogInfo(string.Format("{0} Add_Mission [{1}]", info.Name, mission_id));
+
                 //防止上一个任务已执行但返回失败时，删除任务
                 //  if (isRemovePreMission)
                 Del_Mission(info);
@@ -188,15 +192,22 @@ namespace BLL
                 if (dic == null) return false;
 
                 string s = dic["mission_id"].ToString();
+                string id = dic["id"].ToString();
                 if (s == mission_id)
                 {
                     try
                     {
-
+                        info.CurTaskID = Convert.ToInt32(id);
+                        info.CurTaskGUID = mission_id;
                         var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
+                        info.CurTaskName = key.ToList()[0];
                         Common.LogInfo(string.Format("{0} Add_Mission [{1}]", info.Name, key.ToList()[0]));
                     }
-                    catch  { Common.LogInfo(string.Format("{0} Add_Mission [{1}]", info.Name, mission_id)); }
+                    catch
+                    {
+                        Common.LogInfo(string.Format("{0} Add_Mission [{1}]", info.Name, mission_id));
+                        info.CurTaskName = "";
+                    }
 
                     return true;
                 }
@@ -220,10 +231,13 @@ namespace BLL
         {
             try
             {
-                var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
-                Common.log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
-
-
+                //var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
+                //Common.log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
+                Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
+                info.CurTaskID = -1;
+                info.CurTaskGUID = "";
+                info.CurTaskName = "";
+                info.CurTaskState = SettingString.Wait;               
                 //防止上一个任务已执行但返回失败时，删除任务
                 //if (isRemovePreMission)
                 Del_Mission(info);
@@ -239,15 +253,22 @@ namespace BLL
                 if (dic == null) return false;
 
                 string s = dic["mission_id"].ToString();
+                string id = dic["id"].ToString();
                 if (s == mission_id)
                 {
-                    //try
-                    //{
-
-                    //    var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
-                    //    Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
-                    //}
-                    //catch { Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id)); }
+                    try
+                    {
+                        info.CurTaskID = Convert.ToInt32(id);
+                        info.CurTaskGUID = mission_id;
+                        var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
+                        info.CurTaskName = key.ToList()[0];
+                        Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
+                    }
+                    catch
+                    {
+                        Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
+                        info.CurTaskName = "";
+                    }
                     return true;
                 }
                 else
@@ -369,7 +390,7 @@ namespace BLL
         /// <returns></returns>
         public bool Get_State(Agv_Info info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position)
         {
-            stateID = eAGVState.NULL;
+            stateID = eAGVState.UNKNOWN;
             stateText = "";
             battery = 0;
             mission_text = "";
@@ -379,12 +400,21 @@ namespace BLL
                 string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position";
                 string json = HttpGet(url, info.IP, info.Authorization);
                 if (string.IsNullOrWhiteSpace(json)) return false;
-
                 JavaScriptSerializer serializer = new JavaScriptSerializer();
                 Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                 if (dic == null) return false;
 
-                stateID = (eAGVState)Convert.ToInt32(dic["state_id"].ToString());
+                //state_id不存在：{"args":{},"error_code":"service_unavailable","error_human":"\u670d\u52a1\u4e0d\u53ef\u7528\uff0c\u8bf7\u7a0d\u540e\u91cd\u8bd5"}
+                try
+                {
+                    stateText = dic["state_text"].ToString();
+                }
+                catch
+                {
+                    Common.log.Error("获取状态失败：" + json);
+                    return false;
+                }
+                stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString()));
                 stateText = dic["state_text"].ToString();
                 mission_text = dic["mission_text"].ToString();
                 string s = dic["battery_percentage"].ToString();
@@ -399,11 +429,48 @@ namespace BLL
             }
             catch (Exception ex)
             {
-                Common.log.Error("Get_State", ex);
+                Common.log.Error("Get_State: ", ex);
                 return false;
             }
         }
 
+
+        public bool Get_Task_State(Agv_Info info,out string stateStr)
+        {
+            stateStr = "None";
+            try
+            {
+                if (info.CurTaskID == -1)
+                    return true;
+                string ip = Common.appConfig.AppSettings.Settings["FLEET"].Value;
+                //http://10.85.199.3/api/v2.0.0/mission_scheduler
+                string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/" + info.CurTaskID;
+                string json = HttpGet(url, info.IP, info.Authorization);
+                Common.log.Debug("URL: " + url + "\n" + "Return: " + json);
+                if (string.IsNullOrWhiteSpace(json)) return false;
+
+                JavaScriptSerializer serializer = new JavaScriptSerializer();
+                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
+                if (dic == null) return false;
+                //    "mission_id": "2e433130-c045-11ea-9a66-94c691a7387d",
+                //    "id": 7178,
+                //    "state": "Done"
+
+                string s = dic["id"].ToString();
+                if (s.Equals(info.CurTaskID.ToString()))
+                {
+                    stateStr = dic["state"].ToString();
+                    return true;
+                }
+                return false;
+            }
+            catch(Exception ex)
+            {
+                Common.log.Error("Get_Task_State", ex);
+                return false;
+            }
+
+        }
         /// <summary>
         /// 获取节点位置
         /// </summary>

AGVControl-ProductionLine/FrmMain.Designer.cs

@@ -32,18 +32,15 @@
             this.DgvAgv = new System.Windows.Forms.DataGridView();
             this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column25 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column20 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column23 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
-            this.Column17 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage1 = new System.Windows.Forms.TabPage();
@@ -53,59 +50,50 @@
             this.Column12 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column22 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column7 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column9 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column10 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column9 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column5 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column16 = new System.Windows.Forms.DataGridViewButtonColumn();
-            this.Column15 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
-            this.btnAddMission = new System.Windows.Forms.Button();
-            this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
-            this.btnDeleteMission = new System.Windows.Forms.Button();
+            this.tableLayoutPanel5 = new System.Windows.Forms.TableLayoutPanel();
+            this.groupBox5 = new System.Windows.Forms.GroupBox();
+            this.lblDestInfo = new System.Windows.Forms.Label();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.lblWO = new System.Windows.Forms.Label();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.button5 = new System.Windows.Forms.Button();
+            this.btnWO = new System.Windows.Forms.Button();
             this.dgvLineMission = new System.Windows.Forms.DataGridView();
-            this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column8 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.tabPage2 = new System.Windows.Forms.TabPage();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.TxtLog = new System.Windows.Forms.TextBox();
-            this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
-            this.lblVMIGetBoxDestInfo = new System.Windows.Forms.Label();
-            this.lblGetRack = new System.Windows.Forms.Label();
             this.tabPage3 = new System.Windows.Forms.TabPage();
-            this.button1 = new System.Windows.Forms.Button();
+            this.groupBox6 = new System.Windows.Forms.GroupBox();
+            this.btnDeleteMission = new System.Windows.Forms.Button();
+            this.btnAddMission = new System.Windows.Forms.Button();
+            this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
             this.btnSetRFID = new System.Windows.Forms.Button();
             this.txtAgvRFID = new System.Windows.Forms.TextBox();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
-            this.label5 = new System.Windows.Forms.Label();
-            this.TxtCharge7 = new System.Windows.Forms.TextBox();
-            this.BtnWriteCharge7 = new System.Windows.Forms.Button();
-            this.BtnReadCharge7 = new System.Windows.Forms.Button();
-            this.cmbBoxAGVName = new System.Windows.Forms.ComboBox();
-            this.label3 = new System.Windows.Forms.Label();
-            this.TxtCharge5 = new System.Windows.Forms.TextBox();
-            this.BtnReadCharge5 = new System.Windows.Forms.Button();
             this.ChkAutoCharge = new System.Windows.Forms.CheckBox();
-            this.label4 = new System.Windows.Forms.Label();
-            this.BtnWriteCharge5 = new System.Windows.Forms.Button();
-            this.TxtCharge6 = new System.Windows.Forms.TextBox();
-            this.BtnWriteCharge6 = new System.Windows.Forms.Button();
-            this.BtnReadCharge6 = new System.Windows.Forms.Button();
-            this.label1 = new System.Windows.Forms.Label();
-            this.TxtCharge3 = new System.Windows.Forms.TextBox();
-            this.BtnReadCharge3 = new System.Windows.Forms.Button();
-            this.label2 = new System.Windows.Forms.Label();
-            this.BtnWriteCharge3 = new System.Windows.Forms.Button();
-            this.TxtCharge4 = new System.Windows.Forms.TextBox();
-            this.BtnWriteCharge4 = new System.Windows.Forms.Button();
-            this.BtnReadCharge4 = new System.Windows.Forms.Button();
             this.BtnClearError = new System.Windows.Forms.Button();
             this.BtnMissionAdd = new System.Windows.Forms.Button();
             this.BtnMissionPause = new System.Windows.Forms.Button();
             this.BtnMissionReady = new System.Windows.Forms.Button();
             this.LstAgvPlace = new System.Windows.Forms.ListBox();
             this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
-            this.lblWarnMsg = new System.Windows.Forms.Label();
-            this.lblMsg = new System.Windows.Forms.Label();
+            this.tableLayoutPanel6 = new System.Windows.Forms.TableLayoutPanel();
+            this.label6 = new System.Windows.Forms.Label();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label1 = new System.Windows.Forms.Label();
+            this.groupBox7 = new System.Windows.Forms.GroupBox();
+            this.txtBoxRFID = new System.Windows.Forms.TextBox();
+            this.btnUpdateStatus = new System.Windows.Forms.Button();
+            this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column8 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
             this.tableLayoutPanel3.SuspendLayout();
             this.tabControl1.SuspendLayout();
@@ -113,13 +101,19 @@
             this.tableLayoutPanel2.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit();
             this.groupBox1.SuspendLayout();
+            this.tableLayoutPanel5.SuspendLayout();
+            this.groupBox5.SuspendLayout();
+            this.groupBox3.SuspendLayout();
+            this.groupBox4.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).BeginInit();
             this.tabPage2.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
-            this.flowLayoutPanel1.SuspendLayout();
             this.tabPage3.SuspendLayout();
+            this.groupBox6.SuspendLayout();
             this.groupBox2.SuspendLayout();
             this.tableLayoutPanel4.SuspendLayout();
+            this.tableLayoutPanel6.SuspendLayout();
+            this.groupBox7.SuspendLayout();
             this.SuspendLayout();
             // 
             // DgvAgv
@@ -128,30 +122,33 @@
             this.DgvAgv.AllowUserToDeleteRows = false;
             this.DgvAgv.AllowUserToResizeColumns = false;
             this.DgvAgv.AllowUserToResizeRows = false;
+            this.DgvAgv.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.DgvAgv.AutoSizeColumnsMode = System.Windows.Forms.DataGridViewAutoSizeColumnsMode.Fill;
+            this.DgvAgv.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
             this.DgvAgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
             this.DgvAgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Column1,
             this.Column2,
+            this.Column4,
             this.Column3,
             this.Column21,
-            this.Column25,
-            this.Column14,
             this.Column18,
             this.Column20,
-            this.Column4,
             this.Column23,
             this.Column13,
             this.Column19,
-            this.Column11,
-            this.Column17});
-            this.DgvAgv.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.DgvAgv.Location = new System.Drawing.Point(3, 3);
+            this.Column11});
+            this.DgvAgv.Location = new System.Drawing.Point(4, 4);
+            this.DgvAgv.Margin = new System.Windows.Forms.Padding(4);
+            this.DgvAgv.MultiSelect = false;
             this.DgvAgv.Name = "DgvAgv";
             this.DgvAgv.ReadOnly = true;
             this.DgvAgv.RowHeadersVisible = false;
             this.DgvAgv.RowHeadersWidth = 51;
             this.DgvAgv.RowTemplate.Height = 23;
-            this.DgvAgv.Size = new System.Drawing.Size(1307, 143);
+            this.DgvAgv.Size = new System.Drawing.Size(1415, 164);
             this.DgvAgv.TabIndex = 3;
             this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick);
             // 
@@ -162,7 +159,6 @@
             this.Column1.Name = "Column1";
             this.Column1.ReadOnly = true;
             this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column1.Width = 80;
             // 
             // Column2
             // 
@@ -171,7 +167,14 @@
             this.Column2.Name = "Column2";
             this.Column2.ReadOnly = true;
             this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column2.Width = 110;
+            // 
+            // Column4
+            // 
+            this.Column4.HeaderText = "小车状态";
+            this.Column4.MinimumWidth = 6;
+            this.Column4.Name = "Column4";
+            this.Column4.ReadOnly = true;
+            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
             // 
             // Column3
             // 
@@ -180,7 +183,6 @@
             this.Column3.Name = "Column3";
             this.Column3.ReadOnly = true;
             this.Column3.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column3.Width = 60;
             // 
             // Column21
             // 
@@ -188,24 +190,6 @@
             this.Column21.MinimumWidth = 6;
             this.Column21.Name = "Column21";
             this.Column21.ReadOnly = true;
-            this.Column21.Width = 50;
-            // 
-            // Column25
-            // 
-            this.Column25.HeaderText = "任务内容";
-            this.Column25.MinimumWidth = 6;
-            this.Column25.Name = "Column25";
-            this.Column25.ReadOnly = true;
-            this.Column25.Width = 300;
-            // 
-            // Column14
-            // 
-            this.Column14.HeaderText = "执行信息";
-            this.Column14.MinimumWidth = 6;
-            this.Column14.Name = "Column14";
-            this.Column14.ReadOnly = true;
-            this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column14.Width = 300;
             // 
             // Column18
             // 
@@ -214,7 +198,6 @@
             this.Column18.Name = "Column18";
             this.Column18.ReadOnly = true;
             this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column18.Width = 80;
             // 
             // Column20
             // 
@@ -222,16 +205,6 @@
             this.Column20.MinimumWidth = 6;
             this.Column20.Name = "Column20";
             this.Column20.ReadOnly = true;
-            this.Column20.Width = 80;
-            // 
-            // Column4
-            // 
-            this.Column4.HeaderText = "后续任务";
-            this.Column4.MinimumWidth = 6;
-            this.Column4.Name = "Column4";
-            this.Column4.ReadOnly = true;
-            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column4.Width = 80;
             // 
             // Column23
             // 
@@ -239,7 +212,6 @@
             this.Column23.MinimumWidth = 6;
             this.Column23.Name = "Column23";
             this.Column23.ReadOnly = true;
-            this.Column23.Width = 60;
             // 
             // Column13
             // 
@@ -248,7 +220,6 @@
             this.Column13.Name = "Column13";
             this.Column13.ReadOnly = true;
             this.Column13.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column13.Width = 60;
             // 
             // Column19
             // 
@@ -256,23 +227,13 @@
             this.Column19.MinimumWidth = 6;
             this.Column19.Name = "Column19";
             this.Column19.ReadOnly = true;
-            this.Column19.Width = 60;
             // 
             // Column11
             // 
-            this.Column11.HeaderText = "调用";
+            this.Column11.HeaderText = "自动";
             this.Column11.MinimumWidth = 6;
             this.Column11.Name = "Column11";
             this.Column11.ReadOnly = true;
-            this.Column11.Width = 60;
-            // 
-            // Column17
-            // 
-            this.Column17.HeaderText = "清除任务";
-            this.Column17.MinimumWidth = 6;
-            this.Column17.Name = "Column17";
-            this.Column17.ReadOnly = true;
-            this.Column17.Width = 60;
             // 
             // tableLayoutPanel3
             // 
@@ -283,13 +244,13 @@
             this.tableLayoutPanel3.Controls.Add(this.tableLayoutPanel4, 0, 1);
             this.tableLayoutPanel3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel3.Location = new System.Drawing.Point(0, 0);
-            this.tableLayoutPanel3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.tableLayoutPanel3.Name = "tableLayoutPanel3";
             this.tableLayoutPanel3.RowCount = 3;
-            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 22.72727F));
-            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 9.090909F));
-            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 68.18182F));
-            this.tableLayoutPanel3.Size = new System.Drawing.Size(1313, 656);
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 21.05263F));
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 26.31579F));
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 52.63158F));
+            this.tableLayoutPanel3.Size = new System.Drawing.Size(1423, 820);
             this.tableLayoutPanel3.TabIndex = 7;
             // 
             // tabControl1
@@ -298,19 +259,21 @@
             this.tabControl1.Controls.Add(this.tabPage2);
             this.tabControl1.Controls.Add(this.tabPage3);
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tabControl1.Location = new System.Drawing.Point(3, 211);
+            this.tabControl1.Location = new System.Drawing.Point(4, 391);
+            this.tabControl1.Margin = new System.Windows.Forms.Padding(4);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1307, 442);
+            this.tabControl1.Size = new System.Drawing.Size(1415, 425);
             this.tabControl1.TabIndex = 7;
             // 
             // tabPage1
             // 
             this.tabPage1.Controls.Add(this.tableLayoutPanel2);
-            this.tabPage1.Location = new System.Drawing.Point(4, 22);
+            this.tabPage1.Location = new System.Drawing.Point(4, 25);
+            this.tabPage1.Margin = new System.Windows.Forms.Padding(4);
             this.tabPage1.Name = "tabPage1";
-            this.tabPage1.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage1.Size = new System.Drawing.Size(1299, 416);
+            this.tabPage1.Padding = new System.Windows.Forms.Padding(4);
+            this.tabPage1.Size = new System.Drawing.Size(1407, 396);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "节点状态&产线任务";
             this.tabPage1.UseVisualStyleBackColor = true;
@@ -318,17 +281,17 @@
             // tableLayoutPanel2
             // 
             this.tableLayoutPanel2.ColumnCount = 2;
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 69.9422F));
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30.0578F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 56.39743F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 43.60257F));
             this.tableLayoutPanel2.Controls.Add(this.DgvNode, 0, 0);
             this.tableLayoutPanel2.Controls.Add(this.groupBox1, 1, 0);
             this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 3);
-            this.tableLayoutPanel2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(4, 4);
+            this.tableLayoutPanel2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.tableLayoutPanel2.Name = "tableLayoutPanel2";
             this.tableLayoutPanel2.RowCount = 1;
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(1293, 410);
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(1399, 388);
             this.tableLayoutPanel2.TabIndex = 34;
             // 
             // DgvNode
@@ -337,152 +300,212 @@
             this.DgvNode.AllowUserToDeleteRows = false;
             this.DgvNode.AllowUserToResizeColumns = false;
             this.DgvNode.AllowUserToResizeRows = false;
+            this.DgvNode.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.DgvNode.AutoSizeColumnsMode = System.Windows.Forms.DataGridViewAutoSizeColumnsMode.Fill;
+            this.DgvNode.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
             this.DgvNode.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
             this.DgvNode.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Column6,
             this.Column12,
             this.Column22,
             this.Column7,
-            this.Column9,
             this.Column10,
+            this.Column9,
             this.Column5,
-            this.Column16,
-            this.Column15});
-            this.DgvNode.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.DgvNode.Location = new System.Drawing.Point(3, 3);
+            this.Column16});
+            this.DgvNode.Location = new System.Drawing.Point(4, 4);
+            this.DgvNode.Margin = new System.Windows.Forms.Padding(4);
+            this.DgvNode.MultiSelect = false;
             this.DgvNode.Name = "DgvNode";
             this.DgvNode.ReadOnly = true;
+            this.DgvNode.RowHeadersBorderStyle = System.Windows.Forms.DataGridViewHeaderBorderStyle.Single;
             this.DgvNode.RowHeadersVisible = false;
             this.DgvNode.RowHeadersWidth = 50;
             this.DgvNode.RowTemplate.Height = 23;
-            this.DgvNode.Size = new System.Drawing.Size(898, 404);
+            this.DgvNode.Size = new System.Drawing.Size(781, 380);
             this.DgvNode.TabIndex = 1;
             this.DgvNode.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
             // 
             // Column6
             // 
+            this.Column6.FillWeight = 107.563F;
             this.Column6.HeaderText = "地点";
             this.Column6.MinimumWidth = 6;
             this.Column6.Name = "Column6";
             this.Column6.ReadOnly = true;
             this.Column6.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column6.Width = 125;
             // 
             // Column12
             // 
+            this.Column12.FillWeight = 107.563F;
             this.Column12.HeaderText = "IP";
             this.Column12.MinimumWidth = 6;
             this.Column12.Name = "Column12";
             this.Column12.ReadOnly = true;
             this.Column12.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column12.Width = 125;
             // 
             // Column22
             // 
-            this.Column22.HeaderText = "解绑数量";
+            this.Column22.FillWeight = 107.563F;
+            this.Column22.HeaderText = "解绑数";
             this.Column22.MinimumWidth = 6;
             this.Column22.Name = "Column22";
             this.Column22.ReadOnly = true;
-            this.Column22.Width = 80;
+            this.Column22.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
             // 
             // Column7
             // 
+            this.Column7.FillWeight = 107.563F;
             this.Column7.HeaderText = "动作";
             this.Column7.MinimumWidth = 6;
             this.Column7.Name = "Column7";
             this.Column7.ReadOnly = true;
             this.Column7.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column7.Width = 125;
+            // 
+            // Column10
+            // 
+            this.Column10.FillWeight = 47.05883F;
+            this.Column10.HeaderText = "等级";
+            this.Column10.MinimumWidth = 6;
+            this.Column10.Name = "Column10";
+            this.Column10.ReadOnly = true;
             // 
             // Column9
             // 
+            this.Column9.FillWeight = 107.563F;
             this.Column9.HeaderText = "RFID";
             this.Column9.MinimumWidth = 6;
             this.Column9.Name = "Column9";
             this.Column9.ReadOnly = true;
             this.Column9.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column9.Width = 125;
-            // 
-            // Column10
-            // 
-            this.Column10.HeaderText = "AGV名称";
-            this.Column10.MinimumWidth = 6;
-            this.Column10.Name = "Column10";
-            this.Column10.ReadOnly = true;
-            this.Column10.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column10.Width = 125;
             // 
             // Column5
             // 
+            this.Column5.FillWeight = 107.563F;
             this.Column5.HeaderText = "连接";
             this.Column5.MinimumWidth = 6;
             this.Column5.Name = "Column5";
             this.Column5.ReadOnly = true;
             this.Column5.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column5.Width = 60;
             // 
             // Column16
             // 
+            this.Column16.FillWeight = 107.563F;
             this.Column16.HeaderText = "调用";
             this.Column16.MinimumWidth = 6;
             this.Column16.Name = "Column16";
             this.Column16.ReadOnly = true;
-            this.Column16.Width = 60;
-            // 
-            // Column15
-            // 
-            this.Column15.HeaderText = "清除AGV";
-            this.Column15.MinimumWidth = 6;
-            this.Column15.Name = "Column15";
-            this.Column15.ReadOnly = true;
-            this.Column15.Width = 80;
             // 
             // groupBox1
             // 
-            this.groupBox1.Controls.Add(this.btnAddMission);
-            this.groupBox1.Controls.Add(this.cmbBoxLineName);
-            this.groupBox1.Controls.Add(this.btnDeleteMission);
-            this.groupBox1.Controls.Add(this.dgvLineMission);
+            this.groupBox1.Controls.Add(this.tableLayoutPanel5);
             this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.groupBox1.Location = new System.Drawing.Point(906, 2);
-            this.groupBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox1.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groupBox1.Location = new System.Drawing.Point(792, 2);
+            this.groupBox1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox1.Size = new System.Drawing.Size(385, 406);
+            this.groupBox1.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.groupBox1.Size = new System.Drawing.Size(604, 384);
             this.groupBox1.TabIndex = 33;
             this.groupBox1.TabStop = false;
-            this.groupBox1.Text = "产线任务";
-            // 
-            // btnAddMission
-            // 
-            this.btnAddMission.Location = new System.Drawing.Point(296, 220);
-            this.btnAddMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.btnAddMission.Name = "btnAddMission";
-            this.btnAddMission.Size = new System.Drawing.Size(75, 38);
-            this.btnAddMission.TabIndex = 39;
-            this.btnAddMission.Text = "添加任务";
-            this.btnAddMission.UseVisualStyleBackColor = true;
-            this.btnAddMission.Click += new System.EventHandler(this.btnAddMission_Click);
-            // 
-            // cmbBoxLineName
-            // 
-            this.cmbBoxLineName.FormattingEnabled = true;
-            this.cmbBoxLineName.Location = new System.Drawing.Point(292, 81);
-            this.cmbBoxLineName.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.cmbBoxLineName.Name = "cmbBoxLineName";
-            this.cmbBoxLineName.Size = new System.Drawing.Size(92, 20);
-            this.cmbBoxLineName.TabIndex = 38;
-            // 
-            // btnDeleteMission
-            // 
-            this.btnDeleteMission.Location = new System.Drawing.Point(296, 140);
-            this.btnDeleteMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.btnDeleteMission.Name = "btnDeleteMission";
-            this.btnDeleteMission.Size = new System.Drawing.Size(75, 38);
-            this.btnDeleteMission.TabIndex = 35;
-            this.btnDeleteMission.Text = "删除任务";
-            this.btnDeleteMission.UseVisualStyleBackColor = true;
-            this.btnDeleteMission.Click += new System.EventHandler(this.btnDeleteMission_Click);
+            this.groupBox1.Text = "任务信息";
+            // 
+            // tableLayoutPanel5
+            // 
+            this.tableLayoutPanel5.ColumnCount = 1;
+            this.tableLayoutPanel5.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel5.Controls.Add(this.groupBox5, 0, 1);
+            this.tableLayoutPanel5.Controls.Add(this.groupBox3, 0, 0);
+            this.tableLayoutPanel5.Controls.Add(this.groupBox4, 0, 2);
+            this.tableLayoutPanel5.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel5.Location = new System.Drawing.Point(3, 23);
+            this.tableLayoutPanel5.Name = "tableLayoutPanel5";
+            this.tableLayoutPanel5.RowCount = 3;
+            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
+            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
+            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 70F));
+            this.tableLayoutPanel5.Size = new System.Drawing.Size(598, 359);
+            this.tableLayoutPanel5.TabIndex = 2;
+            // 
+            // groupBox5
+            // 
+            this.groupBox5.Controls.Add(this.lblDestInfo);
+            this.groupBox5.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox5.Location = new System.Drawing.Point(3, 56);
+            this.groupBox5.Name = "groupBox5";
+            this.groupBox5.Size = new System.Drawing.Size(592, 47);
+            this.groupBox5.TabIndex = 2;
+            this.groupBox5.TabStop = false;
+            this.groupBox5.Text = "出料信息信息";
+            // 
+            // lblDestInfo
+            // 
+            this.lblDestInfo.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lblDestInfo.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lblDestInfo.Location = new System.Drawing.Point(3, 24);
+            this.lblDestInfo.Name = "lblDestInfo";
+            this.lblDestInfo.Size = new System.Drawing.Size(586, 20);
+            this.lblDestInfo.TabIndex = 40;
+            this.lblDestInfo.Text = "lblDestInfo";
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.Controls.Add(this.lblWO);
+            this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox3.Location = new System.Drawing.Point(3, 3);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(592, 47);
+            this.groupBox3.TabIndex = 0;
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "双层线工单信息";
+            // 
+            // lblWO
+            // 
+            this.lblWO.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lblWO.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lblWO.Location = new System.Drawing.Point(3, 24);
+            this.lblWO.Name = "lblWO";
+            this.lblWO.Size = new System.Drawing.Size(586, 20);
+            this.lblWO.TabIndex = 40;
+            this.lblWO.Text = "lblWO";
+            // 
+            // groupBox4
+            // 
+            this.groupBox4.Controls.Add(this.button5);
+            this.groupBox4.Controls.Add(this.btnWO);
+            this.groupBox4.Controls.Add(this.dgvLineMission);
+            this.groupBox4.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox4.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groupBox4.Location = new System.Drawing.Point(3, 109);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(592, 247);
+            this.groupBox4.TabIndex = 1;
+            this.groupBox4.TabStop = false;
+            this.groupBox4.Text = "产线解绑信息";
+            // 
+            // button5
+            // 
+            this.button5.Location = new System.Drawing.Point(456, 105);
+            this.button5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.button5.Name = "button5";
+            this.button5.Size = new System.Drawing.Size(100, 65);
+            this.button5.TabIndex = 41;
+            this.button5.Text = "出料查询";
+            this.button5.UseVisualStyleBackColor = true;
+            this.button5.Click += new System.EventHandler(this.button5_Click);
+            // 
+            // btnWO
+            // 
+            this.btnWO.Location = new System.Drawing.Point(456, 23);
+            this.btnWO.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnWO.Name = "btnWO";
+            this.btnWO.Size = new System.Drawing.Size(100, 65);
+            this.btnWO.TabIndex = 40;
+            this.btnWO.Text = "工单查询";
+            this.btnWO.UseVisualStyleBackColor = true;
+            this.btnWO.Click += new System.EventHandler(this.btnWO_Click);
             // 
             // dgvLineMission
             // 
@@ -492,101 +515,57 @@
             this.Column24,
             this.Column8});
             this.dgvLineMission.Dock = System.Windows.Forms.DockStyle.Left;
-            this.dgvLineMission.Location = new System.Drawing.Point(2, 16);
-            this.dgvLineMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.dgvLineMission.Location = new System.Drawing.Point(3, 21);
+            this.dgvLineMission.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.dgvLineMission.Name = "dgvLineMission";
             this.dgvLineMission.RowHeadersVisible = false;
             this.dgvLineMission.RowHeadersWidth = 51;
             this.dgvLineMission.RowTemplate.Height = 27;
-            this.dgvLineMission.Size = new System.Drawing.Size(290, 388);
+            this.dgvLineMission.Size = new System.Drawing.Size(367, 223);
             this.dgvLineMission.TabIndex = 28;
             // 
-            // Column24
-            // 
-            this.Column24.HeaderText = "时间";
-            this.Column24.MinimumWidth = 6;
-            this.Column24.Name = "Column24";
-            this.Column24.Width = 180;
-            // 
-            // Column8
-            // 
-            this.Column8.HeaderText = "任务";
-            this.Column8.MinimumWidth = 6;
-            this.Column8.Name = "Column8";
-            this.Column8.Width = 80;
-            // 
             // tabPage2
             // 
             this.tabPage2.Controls.Add(this.tableLayoutPanel1);
-            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Location = new System.Drawing.Point(4, 25);
+            this.tabPage2.Margin = new System.Windows.Forms.Padding(4);
             this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage2.Size = new System.Drawing.Size(1299, 416);
+            this.tabPage2.Padding = new System.Windows.Forms.Padding(4);
+            this.tabPage2.Size = new System.Drawing.Size(1407, 396);
             this.tabPage2.TabIndex = 3;
             this.tabPage2.Text = "日志";
             this.tabPage2.UseVisualStyleBackColor = true;
             // 
             // tableLayoutPanel1
             // 
-            this.tableLayoutPanel1.ColumnCount = 2;
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 43.32172F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 56.67828F));
+            this.tableLayoutPanel1.ColumnCount = 1;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 20F));
             this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0);
-            this.tableLayoutPanel1.Controls.Add(this.flowLayoutPanel1, 1, 0);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
-            this.tableLayoutPanel1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(4, 4);
+            this.tableLayoutPanel1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
             this.tableLayoutPanel1.RowCount = 1;
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 388F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(1293, 410);
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1399, 388);
             this.tableLayoutPanel1.TabIndex = 6;
             // 
             // TxtLog
             // 
             this.TxtLog.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.TxtLog.Location = new System.Drawing.Point(3, 3);
+            this.TxtLog.Location = new System.Drawing.Point(4, 4);
+            this.TxtLog.Margin = new System.Windows.Forms.Padding(4);
             this.TxtLog.Multiline = true;
             this.TxtLog.Name = "TxtLog";
             this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
-            this.TxtLog.Size = new System.Drawing.Size(554, 404);
+            this.TxtLog.Size = new System.Drawing.Size(1391, 380);
             this.TxtLog.TabIndex = 5;
             // 
-            // flowLayoutPanel1
-            // 
-            this.flowLayoutPanel1.Controls.Add(this.lblVMIGetBoxDestInfo);
-            this.flowLayoutPanel1.Controls.Add(this.lblGetRack);
-            this.flowLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.flowLayoutPanel1.Location = new System.Drawing.Point(562, 2);
-            this.flowLayoutPanel1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.flowLayoutPanel1.Name = "flowLayoutPanel1";
-            this.flowLayoutPanel1.Size = new System.Drawing.Size(729, 406);
-            this.flowLayoutPanel1.TabIndex = 6;
-            // 
-            // lblVMIGetBoxDestInfo
-            // 
-            this.lblVMIGetBoxDestInfo.AutoSize = true;
-            this.lblVMIGetBoxDestInfo.Location = new System.Drawing.Point(2, 0);
-            this.lblVMIGetBoxDestInfo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblVMIGetBoxDestInfo.Name = "lblVMIGetBoxDestInfo";
-            this.lblVMIGetBoxDestInfo.Size = new System.Drawing.Size(47, 12);
-            this.lblVMIGetBoxDestInfo.TabIndex = 0;
-            this.lblVMIGetBoxDestInfo.Text = "BoxDest";
-            // 
-            // lblGetRack
-            // 
-            this.lblGetRack.AutoSize = true;
-            this.lblGetRack.Location = new System.Drawing.Point(53, 0);
-            this.lblGetRack.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblGetRack.Name = "lblGetRack";
-            this.lblGetRack.Size = new System.Drawing.Size(47, 12);
-            this.lblGetRack.TabIndex = 1;
-            this.lblGetRack.Text = "GetRack";
-            // 
             // tabPage3
             // 
-            this.tabPage3.Controls.Add(this.button1);
+            this.tabPage3.Controls.Add(this.groupBox7);
+            this.tabPage3.Controls.Add(this.groupBox6);
             this.tabPage3.Controls.Add(this.btnSetRFID);
             this.tabPage3.Controls.Add(this.txtAgvRFID);
             this.tabPage3.Controls.Add(this.groupBox2);
@@ -595,30 +574,64 @@
             this.tabPage3.Controls.Add(this.BtnMissionPause);
             this.tabPage3.Controls.Add(this.BtnMissionReady);
             this.tabPage3.Controls.Add(this.LstAgvPlace);
-            this.tabPage3.Location = new System.Drawing.Point(4, 22);
+            this.tabPage3.Location = new System.Drawing.Point(4, 25);
+            this.tabPage3.Margin = new System.Windows.Forms.Padding(4);
             this.tabPage3.Name = "tabPage3";
-            this.tabPage3.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage3.Size = new System.Drawing.Size(1299, 416);
+            this.tabPage3.Padding = new System.Windows.Forms.Padding(4);
+            this.tabPage3.Size = new System.Drawing.Size(1407, 396);
             this.tabPage3.TabIndex = 2;
             this.tabPage3.Text = "agv手动";
             this.tabPage3.UseVisualStyleBackColor = true;
             // 
-            // button1
+            // groupBox6
+            // 
+            this.groupBox6.Controls.Add(this.btnDeleteMission);
+            this.groupBox6.Controls.Add(this.btnAddMission);
+            this.groupBox6.Controls.Add(this.cmbBoxLineName);
+            this.groupBox6.Location = new System.Drawing.Point(396, 26);
+            this.groupBox6.Name = "groupBox6";
+            this.groupBox6.Size = new System.Drawing.Size(255, 155);
+            this.groupBox6.TabIndex = 35;
+            this.groupBox6.TabStop = false;
+            this.groupBox6.Text = "产线解绑";
+            // 
+            // btnDeleteMission
+            // 
+            this.btnDeleteMission.Location = new System.Drawing.Point(122, 62);
+            this.btnDeleteMission.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnDeleteMission.Name = "btnDeleteMission";
+            this.btnDeleteMission.Size = new System.Drawing.Size(100, 65);
+            this.btnDeleteMission.TabIndex = 41;
+            this.btnDeleteMission.Text = "删除任务";
+            this.btnDeleteMission.UseVisualStyleBackColor = true;
+            this.btnDeleteMission.Click += new System.EventHandler(this.btnDeleteMission_Click);
+            // 
+            // btnAddMission
             // 
-            this.button1.Location = new System.Drawing.Point(474, 68);
-            this.button1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(82, 35);
-            this.button1.TabIndex = 35;
-            this.button1.Text = "设置负载信号";
-            this.button1.UseVisualStyleBackColor = true;
-            this.button1.Click += new System.EventHandler(this.button1_Click);
+            this.btnAddMission.Location = new System.Drawing.Point(6, 62);
+            this.btnAddMission.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnAddMission.Name = "btnAddMission";
+            this.btnAddMission.Size = new System.Drawing.Size(100, 65);
+            this.btnAddMission.TabIndex = 40;
+            this.btnAddMission.Text = "添加任务";
+            this.btnAddMission.UseVisualStyleBackColor = true;
+            this.btnAddMission.Click += new System.EventHandler(this.btnAddMission_Click);
+            // 
+            // cmbBoxLineName
+            // 
+            this.cmbBoxLineName.FormattingEnabled = true;
+            this.cmbBoxLineName.Location = new System.Drawing.Point(6, 23);
+            this.cmbBoxLineName.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.cmbBoxLineName.Name = "cmbBoxLineName";
+            this.cmbBoxLineName.Size = new System.Drawing.Size(181, 23);
+            this.cmbBoxLineName.TabIndex = 39;
             // 
             // btnSetRFID
             // 
-            this.btnSetRFID.Location = new System.Drawing.Point(336, 68);
+            this.btnSetRFID.Location = new System.Drawing.Point(227, 57);
+            this.btnSetRFID.Margin = new System.Windows.Forms.Padding(4);
             this.btnSetRFID.Name = "btnSetRFID";
-            this.btnSetRFID.Size = new System.Drawing.Size(75, 35);
+            this.btnSetRFID.Size = new System.Drawing.Size(100, 44);
             this.btnSetRFID.TabIndex = 34;
             this.btnSetRFID.Text = "设置RFID";
             this.btnSetRFID.UseVisualStyleBackColor = true;
@@ -626,240 +639,42 @@
             // 
             // txtAgvRFID
             // 
-            this.txtAgvRFID.Location = new System.Drawing.Point(336, 27);
-            this.txtAgvRFID.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.txtAgvRFID.Location = new System.Drawing.Point(227, 26);
+            this.txtAgvRFID.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.txtAgvRFID.Name = "txtAgvRFID";
-            this.txtAgvRFID.Size = new System.Drawing.Size(76, 21);
+            this.txtAgvRFID.Size = new System.Drawing.Size(100, 25);
             this.txtAgvRFID.TabIndex = 33;
             // 
             // groupBox2
             // 
-            this.groupBox2.Controls.Add(this.label5);
-            this.groupBox2.Controls.Add(this.TxtCharge7);
-            this.groupBox2.Controls.Add(this.BtnWriteCharge7);
-            this.groupBox2.Controls.Add(this.BtnReadCharge7);
-            this.groupBox2.Controls.Add(this.cmbBoxAGVName);
-            this.groupBox2.Controls.Add(this.label3);
-            this.groupBox2.Controls.Add(this.TxtCharge5);
-            this.groupBox2.Controls.Add(this.BtnReadCharge5);
             this.groupBox2.Controls.Add(this.ChkAutoCharge);
-            this.groupBox2.Controls.Add(this.label4);
-            this.groupBox2.Controls.Add(this.BtnWriteCharge5);
-            this.groupBox2.Controls.Add(this.TxtCharge6);
-            this.groupBox2.Controls.Add(this.BtnWriteCharge6);
-            this.groupBox2.Controls.Add(this.BtnReadCharge6);
-            this.groupBox2.Controls.Add(this.label1);
-            this.groupBox2.Controls.Add(this.TxtCharge3);
-            this.groupBox2.Controls.Add(this.BtnReadCharge3);
-            this.groupBox2.Controls.Add(this.label2);
-            this.groupBox2.Controls.Add(this.BtnWriteCharge3);
-            this.groupBox2.Controls.Add(this.TxtCharge4);
-            this.groupBox2.Controls.Add(this.BtnWriteCharge4);
-            this.groupBox2.Controls.Add(this.BtnReadCharge4);
-            this.groupBox2.Location = new System.Drawing.Point(727, 27);
-            this.groupBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox2.Location = new System.Drawing.Point(1088, 30);
+            this.groupBox2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.groupBox2.Name = "groupBox2";
-            this.groupBox2.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox2.Size = new System.Drawing.Size(548, 247);
+            this.groupBox2.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.groupBox2.Size = new System.Drawing.Size(157, 71);
             this.groupBox2.TabIndex = 32;
             this.groupBox2.TabStop = false;
             this.groupBox2.Text = "充电";
             // 
-            // label5
-            // 
-            this.label5.AutoSize = true;
-            this.label5.Location = new System.Drawing.Point(446, 102);
-            this.label5.Name = "label5";
-            this.label5.Size = new System.Drawing.Size(47, 12);
-            this.label5.TabIndex = 31;
-            this.label5.Text = "充电桩7";
-            // 
-            // TxtCharge7
-            // 
-            this.TxtCharge7.Location = new System.Drawing.Point(443, 117);
-            this.TxtCharge7.Name = "TxtCharge7";
-            this.TxtCharge7.Size = new System.Drawing.Size(96, 21);
-            this.TxtCharge7.TabIndex = 28;
-            // 
-            // BtnWriteCharge7
-            // 
-            this.BtnWriteCharge7.Location = new System.Drawing.Point(443, 180);
-            this.BtnWriteCharge7.Name = "BtnWriteCharge7";
-            this.BtnWriteCharge7.Size = new System.Drawing.Size(96, 30);
-            this.BtnWriteCharge7.TabIndex = 30;
-            this.BtnWriteCharge7.Text = "写";
-            this.BtnWriteCharge7.UseVisualStyleBackColor = true;
-            // 
-            // BtnReadCharge7
-            // 
-            this.BtnReadCharge7.Location = new System.Drawing.Point(443, 143);
-            this.BtnReadCharge7.Name = "BtnReadCharge7";
-            this.BtnReadCharge7.Size = new System.Drawing.Size(96, 30);
-            this.BtnReadCharge7.TabIndex = 29;
-            this.BtnReadCharge7.Text = "读";
-            this.BtnReadCharge7.UseVisualStyleBackColor = true;
-            // 
-            // cmbBoxAGVName
-            // 
-            this.cmbBoxAGVName.FormattingEnabled = true;
-            this.cmbBoxAGVName.Location = new System.Drawing.Point(50, 51);
-            this.cmbBoxAGVName.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.cmbBoxAGVName.Name = "cmbBoxAGVName";
-            this.cmbBoxAGVName.Size = new System.Drawing.Size(92, 20);
-            this.cmbBoxAGVName.TabIndex = 27;
-            this.cmbBoxAGVName.SelectedIndexChanged += new System.EventHandler(this.cmbBoxAGVName_SelectedIndexChanged);
-            // 
-            // label3
-            // 
-            this.label3.AutoSize = true;
-            this.label3.Location = new System.Drawing.Point(226, 102);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(47, 12);
-            this.label3.TabIndex = 25;
-            this.label3.Text = "充电桩5";
-            // 
-            // TxtCharge5
-            // 
-            this.TxtCharge5.Location = new System.Drawing.Point(223, 117);
-            this.TxtCharge5.Name = "TxtCharge5";
-            this.TxtCharge5.Size = new System.Drawing.Size(96, 21);
-            this.TxtCharge5.TabIndex = 19;
-            // 
-            // BtnReadCharge5
-            // 
-            this.BtnReadCharge5.Location = new System.Drawing.Point(223, 143);
-            this.BtnReadCharge5.Name = "BtnReadCharge5";
-            this.BtnReadCharge5.Size = new System.Drawing.Size(96, 30);
-            this.BtnReadCharge5.TabIndex = 20;
-            this.BtnReadCharge5.Text = "读";
-            this.BtnReadCharge5.UseVisualStyleBackColor = true;
-            // 
             // ChkAutoCharge
             // 
             this.ChkAutoCharge.AutoSize = true;
-            this.ChkAutoCharge.Location = new System.Drawing.Point(38, 20);
+            this.ChkAutoCharge.Location = new System.Drawing.Point(18, 27);
+            this.ChkAutoCharge.Margin = new System.Windows.Forms.Padding(4);
             this.ChkAutoCharge.Name = "ChkAutoCharge";
-            this.ChkAutoCharge.Size = new System.Drawing.Size(72, 16);
+            this.ChkAutoCharge.Size = new System.Drawing.Size(89, 19);
             this.ChkAutoCharge.TabIndex = 10;
             this.ChkAutoCharge.Text = "自动充电";
             this.ChkAutoCharge.UseVisualStyleBackColor = true;
-            // 
-            // label4
-            // 
-            this.label4.AutoSize = true;
-            this.label4.Location = new System.Drawing.Point(328, 102);
-            this.label4.Name = "label4";
-            this.label4.Size = new System.Drawing.Size(47, 12);
-            this.label4.TabIndex = 26;
-            this.label4.Text = "充电桩6";
-            // 
-            // BtnWriteCharge5
-            // 
-            this.BtnWriteCharge5.Location = new System.Drawing.Point(223, 180);
-            this.BtnWriteCharge5.Name = "BtnWriteCharge5";
-            this.BtnWriteCharge5.Size = new System.Drawing.Size(96, 30);
-            this.BtnWriteCharge5.TabIndex = 21;
-            this.BtnWriteCharge5.Text = "写";
-            this.BtnWriteCharge5.UseVisualStyleBackColor = true;
-            // 
-            // TxtCharge6
-            // 
-            this.TxtCharge6.Location = new System.Drawing.Point(325, 117);
-            this.TxtCharge6.Name = "TxtCharge6";
-            this.TxtCharge6.Size = new System.Drawing.Size(96, 21);
-            this.TxtCharge6.TabIndex = 22;
-            // 
-            // BtnWriteCharge6
-            // 
-            this.BtnWriteCharge6.Location = new System.Drawing.Point(325, 180);
-            this.BtnWriteCharge6.Name = "BtnWriteCharge6";
-            this.BtnWriteCharge6.Size = new System.Drawing.Size(96, 30);
-            this.BtnWriteCharge6.TabIndex = 24;
-            this.BtnWriteCharge6.Text = "写";
-            this.BtnWriteCharge6.UseVisualStyleBackColor = true;
-            // 
-            // BtnReadCharge6
-            // 
-            this.BtnReadCharge6.Location = new System.Drawing.Point(325, 143);
-            this.BtnReadCharge6.Name = "BtnReadCharge6";
-            this.BtnReadCharge6.Size = new System.Drawing.Size(96, 30);
-            this.BtnReadCharge6.TabIndex = 23;
-            this.BtnReadCharge6.Text = "读";
-            this.BtnReadCharge6.UseVisualStyleBackColor = true;
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(22, 102);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(47, 12);
-            this.label1.TabIndex = 17;
-            this.label1.Text = "充电桩3";
-            // 
-            // TxtCharge3
-            // 
-            this.TxtCharge3.Location = new System.Drawing.Point(19, 117);
-            this.TxtCharge3.Name = "TxtCharge3";
-            this.TxtCharge3.Size = new System.Drawing.Size(96, 21);
-            this.TxtCharge3.TabIndex = 11;
-            // 
-            // BtnReadCharge3
-            // 
-            this.BtnReadCharge3.Location = new System.Drawing.Point(19, 143);
-            this.BtnReadCharge3.Name = "BtnReadCharge3";
-            this.BtnReadCharge3.Size = new System.Drawing.Size(96, 30);
-            this.BtnReadCharge3.TabIndex = 12;
-            this.BtnReadCharge3.Text = "读";
-            this.BtnReadCharge3.UseVisualStyleBackColor = true;
-            // 
-            // label2
-            // 
-            this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(124, 102);
-            this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(47, 12);
-            this.label2.TabIndex = 18;
-            this.label2.Text = "充电桩4";
-            // 
-            // BtnWriteCharge3
-            // 
-            this.BtnWriteCharge3.Location = new System.Drawing.Point(19, 180);
-            this.BtnWriteCharge3.Name = "BtnWriteCharge3";
-            this.BtnWriteCharge3.Size = new System.Drawing.Size(96, 30);
-            this.BtnWriteCharge3.TabIndex = 13;
-            this.BtnWriteCharge3.Text = "写";
-            this.BtnWriteCharge3.UseVisualStyleBackColor = true;
-            // 
-            // TxtCharge4
-            // 
-            this.TxtCharge4.Location = new System.Drawing.Point(121, 117);
-            this.TxtCharge4.Name = "TxtCharge4";
-            this.TxtCharge4.Size = new System.Drawing.Size(96, 21);
-            this.TxtCharge4.TabIndex = 14;
-            // 
-            // BtnWriteCharge4
-            // 
-            this.BtnWriteCharge4.Location = new System.Drawing.Point(121, 180);
-            this.BtnWriteCharge4.Name = "BtnWriteCharge4";
-            this.BtnWriteCharge4.Size = new System.Drawing.Size(96, 30);
-            this.BtnWriteCharge4.TabIndex = 16;
-            this.BtnWriteCharge4.Text = "写";
-            this.BtnWriteCharge4.UseVisualStyleBackColor = true;
-            // 
-            // BtnReadCharge4
-            // 
-            this.BtnReadCharge4.Location = new System.Drawing.Point(121, 143);
-            this.BtnReadCharge4.Name = "BtnReadCharge4";
-            this.BtnReadCharge4.Size = new System.Drawing.Size(96, 30);
-            this.BtnReadCharge4.TabIndex = 15;
-            this.BtnReadCharge4.Text = "读";
-            this.BtnReadCharge4.UseVisualStyleBackColor = true;
+            this.ChkAutoCharge.CheckedChanged += new System.EventHandler(this.ChkAutoCharge_CheckedChanged);
             // 
             // BtnClearError
             // 
-            this.BtnClearError.Location = new System.Drawing.Point(577, 206);
+            this.BtnClearError.Location = new System.Drawing.Point(227, 301);
+            this.BtnClearError.Margin = new System.Windows.Forms.Padding(4);
             this.BtnClearError.Name = "BtnClearError";
-            this.BtnClearError.Size = new System.Drawing.Size(96, 68);
+            this.BtnClearError.Size = new System.Drawing.Size(100, 44);
             this.BtnClearError.TabIndex = 19;
             this.BtnClearError.Text = "清除错误";
             this.BtnClearError.UseVisualStyleBackColor = true;
@@ -867,9 +682,10 @@
             // 
             // BtnMissionAdd
             // 
-            this.BtnMissionAdd.Location = new System.Drawing.Point(170, 58);
+            this.BtnMissionAdd.Location = new System.Drawing.Point(227, 118);
+            this.BtnMissionAdd.Margin = new System.Windows.Forms.Padding(4);
             this.BtnMissionAdd.Name = "BtnMissionAdd";
-            this.BtnMissionAdd.Size = new System.Drawing.Size(96, 62);
+            this.BtnMissionAdd.Size = new System.Drawing.Size(100, 44);
             this.BtnMissionAdd.TabIndex = 3;
             this.BtnMissionAdd.Text = "添加任务";
             this.BtnMissionAdd.UseVisualStyleBackColor = true;
@@ -877,9 +693,10 @@
             // 
             // BtnMissionPause
             // 
-            this.BtnMissionPause.Location = new System.Drawing.Point(460, 206);
+            this.BtnMissionPause.Location = new System.Drawing.Point(227, 237);
+            this.BtnMissionPause.Margin = new System.Windows.Forms.Padding(4);
             this.BtnMissionPause.Name = "BtnMissionPause";
-            this.BtnMissionPause.Size = new System.Drawing.Size(96, 68);
+            this.BtnMissionPause.Size = new System.Drawing.Size(100, 44);
             this.BtnMissionPause.TabIndex = 2;
             this.BtnMissionPause.Text = "暂停";
             this.BtnMissionPause.UseVisualStyleBackColor = true;
@@ -887,9 +704,10 @@
             // 
             // BtnMissionReady
             // 
-            this.BtnMissionReady.Location = new System.Drawing.Point(336, 206);
+            this.BtnMissionReady.Location = new System.Drawing.Point(227, 174);
+            this.BtnMissionReady.Margin = new System.Windows.Forms.Padding(4);
             this.BtnMissionReady.Name = "BtnMissionReady";
-            this.BtnMissionReady.Size = new System.Drawing.Size(96, 68);
+            this.BtnMissionReady.Size = new System.Drawing.Size(100, 44);
             this.BtnMissionReady.TabIndex = 1;
             this.BtnMissionReady.Text = "运行";
             this.BtnMissionReady.UseVisualStyleBackColor = true;
@@ -897,58 +715,171 @@
             // 
             // LstAgvPlace
             // 
-            this.LstAgvPlace.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left)));
+            this.LstAgvPlace.Dock = System.Windows.Forms.DockStyle.Left;
             this.LstAgvPlace.FormattingEnabled = true;
             this.LstAgvPlace.IntegralHeight = false;
-            this.LstAgvPlace.ItemHeight = 12;
-            this.LstAgvPlace.Location = new System.Drawing.Point(6, 6);
+            this.LstAgvPlace.ItemHeight = 15;
+            this.LstAgvPlace.Location = new System.Drawing.Point(4, 4);
+            this.LstAgvPlace.Margin = new System.Windows.Forms.Padding(4);
             this.LstAgvPlace.Name = "LstAgvPlace";
-            this.LstAgvPlace.Size = new System.Drawing.Size(150, 275);
+            this.LstAgvPlace.Size = new System.Drawing.Size(199, 388);
             this.LstAgvPlace.TabIndex = 0;
             // 
             // tableLayoutPanel4
             // 
             this.tableLayoutPanel4.ColumnCount = 1;
-            this.tableLayoutPanel4.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel4.Controls.Add(this.lblWarnMsg, 0, 1);
-            this.tableLayoutPanel4.Controls.Add(this.lblMsg, 0, 0);
+            this.tableLayoutPanel4.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel4.Controls.Add(this.tableLayoutPanel6, 0, 0);
             this.tableLayoutPanel4.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel4.Location = new System.Drawing.Point(2, 151);
-            this.tableLayoutPanel4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel4.Location = new System.Drawing.Point(3, 174);
+            this.tableLayoutPanel4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.tableLayoutPanel4.Name = "tableLayoutPanel4";
-            this.tableLayoutPanel4.RowCount = 2;
-            this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel4.Size = new System.Drawing.Size(1309, 55);
+            this.tableLayoutPanel4.RowCount = 1;
+            this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 211F));
+            this.tableLayoutPanel4.Size = new System.Drawing.Size(1417, 211);
             this.tableLayoutPanel4.TabIndex = 8;
             // 
-            // lblWarnMsg
+            // tableLayoutPanel6
+            // 
+            this.tableLayoutPanel6.CellBorderStyle = System.Windows.Forms.TableLayoutPanelCellBorderStyle.OutsetPartial;
+            this.tableLayoutPanel6.ColumnCount = 3;
+            this.tableLayoutPanel6.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel6.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33334F));
+            this.tableLayoutPanel6.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33334F));
+            this.tableLayoutPanel6.Controls.Add(this.label6, 2, 1);
+            this.tableLayoutPanel6.Controls.Add(this.label5, 1, 1);
+            this.tableLayoutPanel6.Controls.Add(this.label4, 0, 1);
+            this.tableLayoutPanel6.Controls.Add(this.label3, 2, 0);
+            this.tableLayoutPanel6.Controls.Add(this.label2, 1, 0);
+            this.tableLayoutPanel6.Controls.Add(this.label1, 0, 0);
+            this.tableLayoutPanel6.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel6.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.tableLayoutPanel6.Location = new System.Drawing.Point(3, 3);
+            this.tableLayoutPanel6.Name = "tableLayoutPanel6";
+            this.tableLayoutPanel6.RowCount = 2;
+            this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel6.Size = new System.Drawing.Size(1411, 205);
+            this.tableLayoutPanel6.TabIndex = 0;
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label6.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label6.Location = new System.Drawing.Point(944, 104);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(461, 98);
+            this.label6.TabIndex = 5;
+            this.label6.Text = "label6";
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label5.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label5.Location = new System.Drawing.Point(475, 104);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(460, 98);
+            this.label5.TabIndex = 4;
+            this.label5.Text = "label5";
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label4.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label4.Location = new System.Drawing.Point(6, 104);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(460, 98);
+            this.label4.TabIndex = 3;
+            this.label4.Text = "label4";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label3.Location = new System.Drawing.Point(944, 3);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(461, 98);
+            this.label3.TabIndex = 2;
+            this.label3.Text = "label3";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label2.Location = new System.Drawing.Point(475, 3);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(460, 98);
+            this.label2.TabIndex = 1;
+            this.label2.Text = "label2";
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label1.Location = new System.Drawing.Point(6, 3);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(460, 98);
+            this.label1.TabIndex = 0;
+            this.label1.Text = "label1";
+            // 
+            // groupBox7
+            // 
+            this.groupBox7.Controls.Add(this.btnUpdateStatus);
+            this.groupBox7.Controls.Add(this.txtBoxRFID);
+            this.groupBox7.Location = new System.Drawing.Point(691, 30);
+            this.groupBox7.Name = "groupBox7";
+            this.groupBox7.Size = new System.Drawing.Size(204, 151);
+            this.groupBox7.TabIndex = 36;
+            this.groupBox7.TabStop = false;
+            this.groupBox7.Text = "物料状态上报";
+            // 
+            // txtBoxRFID
+            // 
+            this.txtBoxRFID.Location = new System.Drawing.Point(24, 27);
+            this.txtBoxRFID.Name = "txtBoxRFID";
+            this.txtBoxRFID.Size = new System.Drawing.Size(139, 25);
+            this.txtBoxRFID.TabIndex = 0;
+            // 
+            // btnUpdateStatus
+            // 
+            this.btnUpdateStatus.Location = new System.Drawing.Point(45, 67);
+            this.btnUpdateStatus.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
+            this.btnUpdateStatus.Name = "btnUpdateStatus";
+            this.btnUpdateStatus.Size = new System.Drawing.Size(100, 65);
+            this.btnUpdateStatus.TabIndex = 41;
+            this.btnUpdateStatus.Text = "上报";
+            this.btnUpdateStatus.UseVisualStyleBackColor = true;
+            this.btnUpdateStatus.Click += new System.EventHandler(this.btnUpdateStatus_Click);
             // 
-            this.lblWarnMsg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
-            this.lblWarnMsg.Location = new System.Drawing.Point(2, 27);
-            this.lblWarnMsg.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblWarnMsg.Name = "lblWarnMsg";
-            this.lblWarnMsg.Size = new System.Drawing.Size(1305, 28);
-            this.lblWarnMsg.TabIndex = 1;
+            // Column24
             // 
-            // lblMsg
+            this.Column24.HeaderText = "时间";
+            this.Column24.MinimumWidth = 6;
+            this.Column24.Name = "Column24";
+            this.Column24.Width = 150;
             // 
-            this.lblMsg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblMsg.Location = new System.Drawing.Point(2, 0);
-            this.lblMsg.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMsg.Name = "lblMsg";
-            this.lblMsg.Size = new System.Drawing.Size(1305, 27);
-            this.lblMsg.TabIndex = 0;
+            // Column8
+            // 
+            this.Column8.HeaderText = "任务";
+            this.Column8.MinimumWidth = 6;
+            this.Column8.Name = "Column8";
+            this.Column8.Width = 150;
             // 
             // FrmMain
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1313, 656);
+            this.ClientSize = new System.Drawing.Size(1423, 820);
             this.Controls.Add(this.tableLayoutPanel3);
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
+            this.Margin = new System.Windows.Forms.Padding(4);
             this.Name = "FrmMain";
             this.Text = "AGV产线调度";
             this.WindowState = System.Windows.Forms.FormWindowState.Maximized;
@@ -961,99 +892,94 @@
             this.tableLayoutPanel2.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.DgvNode)).EndInit();
             this.groupBox1.ResumeLayout(false);
+            this.tableLayoutPanel5.ResumeLayout(false);
+            this.groupBox5.ResumeLayout(false);
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox4.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).EndInit();
             this.tabPage2.ResumeLayout(false);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.tableLayoutPanel1.PerformLayout();
-            this.flowLayoutPanel1.ResumeLayout(false);
-            this.flowLayoutPanel1.PerformLayout();
             this.tabPage3.ResumeLayout(false);
             this.tabPage3.PerformLayout();
+            this.groupBox6.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
             this.groupBox2.PerformLayout();
             this.tableLayoutPanel4.ResumeLayout(false);
+            this.tableLayoutPanel6.ResumeLayout(false);
+            this.tableLayoutPanel6.PerformLayout();
+            this.groupBox7.ResumeLayout(false);
+            this.groupBox7.PerformLayout();
             this.ResumeLayout(false);
 
         }
 
         #endregion
         private System.Windows.Forms.DataGridView DgvAgv;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column21;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column25;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column20;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column23;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
-        private System.Windows.Forms.DataGridViewButtonColumn Column11;
-        private System.Windows.Forms.DataGridViewButtonColumn Column17;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel3;
         private System.Windows.Forms.TabControl tabControl1;
         private System.Windows.Forms.TabPage tabPage1;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
         private System.Windows.Forms.DataGridView DgvNode;
         private System.Windows.Forms.GroupBox groupBox1;
-        private System.Windows.Forms.Button btnAddMission;
-        private System.Windows.Forms.ComboBox cmbBoxLineName;
-        private System.Windows.Forms.Button btnDeleteMission;
         private System.Windows.Forms.DataGridView dgvLineMission;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column24;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column8;
         private System.Windows.Forms.TabPage tabPage2;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.TextBox TxtLog;
         private System.Windows.Forms.TabPage tabPage3;
-        private System.Windows.Forms.Button button1;
         private System.Windows.Forms.Button btnSetRFID;
         private System.Windows.Forms.TextBox txtAgvRFID;
         private System.Windows.Forms.GroupBox groupBox2;
-        private System.Windows.Forms.Label label5;
-        private System.Windows.Forms.TextBox TxtCharge7;
-        private System.Windows.Forms.Button BtnWriteCharge7;
-        private System.Windows.Forms.Button BtnReadCharge7;
-        private System.Windows.Forms.ComboBox cmbBoxAGVName;
-        private System.Windows.Forms.Label label3;
-        private System.Windows.Forms.TextBox TxtCharge5;
-        private System.Windows.Forms.Button BtnReadCharge5;
         private System.Windows.Forms.CheckBox ChkAutoCharge;
-        private System.Windows.Forms.Label label4;
-        private System.Windows.Forms.Button BtnWriteCharge5;
-        private System.Windows.Forms.TextBox TxtCharge6;
-        private System.Windows.Forms.Button BtnWriteCharge6;
-        private System.Windows.Forms.Button BtnReadCharge6;
-        private System.Windows.Forms.Label label1;
-        private System.Windows.Forms.TextBox TxtCharge3;
-        private System.Windows.Forms.Button BtnReadCharge3;
-        private System.Windows.Forms.Label label2;
-        private System.Windows.Forms.Button BtnWriteCharge3;
-        private System.Windows.Forms.TextBox TxtCharge4;
-        private System.Windows.Forms.Button BtnWriteCharge4;
-        private System.Windows.Forms.Button BtnReadCharge4;
         private System.Windows.Forms.Button BtnClearError;
         private System.Windows.Forms.Button BtnMissionAdd;
         private System.Windows.Forms.Button BtnMissionPause;
         private System.Windows.Forms.Button BtnMissionReady;
         private System.Windows.Forms.ListBox LstAgvPlace;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel4;
-        private System.Windows.Forms.Label lblWarnMsg;
-        private System.Windows.Forms.Label lblMsg;
+        private System.Windows.Forms.Label lblWO;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.Button btnWO;
+        private System.Windows.Forms.Button button5;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column6;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column12;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column7;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column9;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column10;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column9;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column5;
         private System.Windows.Forms.DataGridViewButtonColumn Column16;
-        private System.Windows.Forms.DataGridViewButtonColumn Column15;
-        private System.Windows.Forms.FlowLayoutPanel flowLayoutPanel1;
-        private System.Windows.Forms.Label lblVMIGetBoxDestInfo;
-        private System.Windows.Forms.Label lblGetRack;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel6;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column21;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column20;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column23;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
+        private System.Windows.Forms.DataGridViewButtonColumn Column11;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel5;
+        private System.Windows.Forms.GroupBox groupBox5;
+        private System.Windows.Forms.Label lblDestInfo;
+        private System.Windows.Forms.GroupBox groupBox6;
+        private System.Windows.Forms.Button btnDeleteMission;
+        private System.Windows.Forms.Button btnAddMission;
+        private System.Windows.Forms.ComboBox cmbBoxLineName;
+        private System.Windows.Forms.GroupBox groupBox7;
+        private System.Windows.Forms.Button btnUpdateStatus;
+        private System.Windows.Forms.TextBox txtBoxRFID;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column24;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column8;
     }
 }
 

AGVControl-ProductionLine/FrmMain.cs

@@ -20,6 +20,7 @@ namespace AGVControl
         private NotifyIcon notify;
         private ContextMenuStrip notifyMenu;
         private System.Timers.Timer showTimer;
+        private Label[] agvRunInfo;
         public FrmMain()
         {
             InitializeComponent();
@@ -30,6 +31,7 @@ namespace AGVControl
             showTimer.Elapsed += ShowTimer_Elapsed;
             showTimer.Start();
             Common.logTextBox = TxtLog;
+            agvRunInfo = new Label[] {label1,label2,label3,label4,label5,label6};
         }
 
         private void ShowConfig()
@@ -47,6 +49,10 @@ namespace AGVControl
                     DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                 if (!Common.agvInfo[i].IsCon)
                     DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
+                //if (i % 2 == 0)
+                //    agvRunInfo[i].BackColor = Color.LightBlue;
+                //else
+                //    agvRunInfo[i].BackColor = Color.LightGray;
             }
 
             cmbBoxLineName.Items.Add("产线名称");
@@ -76,7 +82,7 @@ namespace AGVControl
         {
             Invoke(new Action(() =>
             {
-                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
+                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online && Common.nodeInfo[nodeIndex].IsUse ? Color.Black : Color.Red;
                 DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
             }));
             ShowEmptyTask();
@@ -90,8 +96,6 @@ namespace AGVControl
                 DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
                 DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
             }));
-
-            ShowEmptyTask();
             System.GC.Collect();
         }
 
@@ -182,12 +186,12 @@ namespace AGVControl
             Common.control.AgvMissionChanged += Control_AgvMissionChanged;
             Common.server.NodeChanged += Server_NodeChanged;
             Common.server.NodeOnline += Server_NodeOnline;
-            foreach (var item in Common.agvInfo)
-            {
-                cmbBoxAGVName.Items.Add(item.Name);
-            }
-            cmbBoxAGVName.Items.Add("None");
-            cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
+            //foreach (var item in Common.agvInfo)
+            //{
+            //    cmbBoxAGVName.Items.Add(item.Name);
+            //}
+            //cmbBoxAGVName.Items.Add("None");
+            //cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
         }
 
         private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
@@ -214,9 +218,22 @@ namespace AGVControl
         {
             if (e.RowIndex == -1) return;
 
-            if (e.ColumnIndex == 12)  //调用
+            if (e.ColumnIndex == 10)  //调用
+            {
+                if(Common.agvInfo[e.RowIndex].IsUse.Equals(true))
+                {
+                    if (MessageBox.Show("是否关闭当前小车的自动模式？", Common.agvInfo[e.RowIndex].Name+"_警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
+                    {
+                        Common.agvInfo[e.RowIndex].IsUse = false;
+                        Common.agvInfo[e.RowIndex].CurJob = null;
+                        Common.agvInfo[e.RowIndex].RFID = "";
+                    }
+                }
+                else
                 {
-                Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
+                    Common.agvInfo[e.RowIndex].CurJob = null;
+                    Common.agvInfo[e.RowIndex].IsUse = true;
+                }
                 DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
                 Common.WriteIni(Common.agvInfo[e.RowIndex].Name, SettingString.IsUse, Common.agvInfo[e.RowIndex].IsUse.ToString());
                 Common.appConfig.Save();
@@ -224,46 +241,48 @@ namespace AGVControl
             }
             else if (e.ColumnIndex == 13)  //清除缓存
             {
+                Common.agvInfo[e.RowIndex].IsUse = false;
                 //清除小车缓存
                 Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place));
-                string place = Common.agvInfo[e.RowIndex].Place;
+                //string place = Common.agvInfo[e.RowIndex].Place;
                 //Common.agvInfo[e.RowIndex].Place = "";
-                Common.agvInfo[e.RowIndex].PlaceAliceName = "";
+                //Common.agvInfo[e.RowIndex].PlaceAliceName = "";
                 //Common.agvInfo[e.RowIndex].RFID = "";
-                Common.agvInfo[e.RowIndex].NextPlace = "";
-                Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
-                Common.agvInfo[e.RowIndex].TaskSend = "";
-                Common.agvInfo[e.RowIndex].Msg = "";
+                //Common.agvInfo[e.RowIndex].NextPlace = "";
+                //Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
+                //Common.agvInfo[e.RowIndex].TaskSend = "";
+                //Common.agvInfo[e.RowIndex].Msg = "";
+                // Common.agvInfo[e.RowIndex].CurJob = null;
                 //清除执行空架任务的小车
-                if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
-                    Common.missionManager.AGV_Name_EmptyTask = "";
+                //if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
+                //    Common.missionManager.AGV_Name_EmptyTask = "";
                 DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
 
                 //清除节点缓存
-                int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
-                if (idx > -1)
-                {
-                    Common.nodeInfo[idx].AgvName = "";
-                    DgvNode.Rows[idx].Cells[5].Value = "";
-                }
+                //int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
+                //if (idx > -1)
+                //{
+                //    Common.nodeInfo[idx].AgvName = "";
+                //    DgvNode.Rows[idx].Cells[5].Value = "";
+                //}
 
                 ////添加Init任务
                 //Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
-                Common.mir.Add_Mission(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
+                //Common.mir.Add_Mission(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
 
-                Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
+                // Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
                 //判断小车负载与实际是否匹配
-                Common.mir.Get_IO_Status(Common.agvInfo[e.RowIndex], out bool[] input, out bool[] output);
-                if (input != null && input.Length == 4)
-                {
-                    if (!Common.agvInfo[e.RowIndex].IsExistShelf.Equals(input[3]))
-                    {
-                        if (MessageBox.Show("满载IO信号与当前负载信号不一致，是否同步？", "警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
-                            Common.agvInfo[e.RowIndex].IsExistShelf = input[3];
-                        DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
-                    }
+                //Common.mir.Get_IO_Status(Common.agvInfo[e.RowIndex], out bool[] input, out bool[] output);
+                //if (input != null && input.Length == 4)
+                //{
+                //    if (!Common.agvInfo[e.RowIndex].IsExistShelf.Equals(input[3]))
+                //    {
+                //        if (MessageBox.Show("满载IO信号与当前负载信号不一致，是否同步？", "警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
+                //            Common.agvInfo[e.RowIndex].IsExistShelf = input[3];
+                //        DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
+                //    }
 
-                }
+                //}
             }
         }
 
@@ -329,7 +348,13 @@ namespace AGVControl
             if (idx < 0) return;
             if (Common.agvInfo[idx].IsCon)
             {
-                bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
+                if(Common.agvInfo[idx].IsUse)
+                {
+                    if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No)
+                        return;
+                }
+
+                    bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
                 if (!rtn)
                     return;
                 //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
@@ -349,29 +374,23 @@ namespace AGVControl
         }
 
         bool InShhow = false;
+
         private void ShowTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
             //ShowEmptyTask();
+            if (InShhow)
+                return;
             InShhow = true;
-            string msg = "";
-            string racks = "";
-            foreach (Agv_Info agv in Common.agvInfo)
-            {
-                if (agv.CurJob != null)
-                    msg += agv.Name + ":" + agv.Msg + ";" + agv.CurJob.RunInfo;
-                else
-                    msg += agv.Name + ":" + agv.Msg + ";";
-                if(agv.RFID.StartsWith("C"))
-                {
-                    racks+=AGVManager.GetRackBy(agv.RFID);
 
-                }
-            }
             Invoke(new Action(() =>
             {
-                lblMsg.Text = msg;
-                lblVMIGetBoxDestInfo.Text = AGVManager.A6_Target;
-                lblGetRack.Text = racks;
+                for (int i = 0; i < Common.agvInfo.Count; i++)
+                {
+                    agvRunInfo[i].Text = Common.agvInfo[i].RunInfo();
+                }
+                lblWO.Text = Common.doubleLine_WO;
+                lblDestInfo.Text = AGVManager.A6_Target;
+
             }));
 
 
@@ -401,56 +420,55 @@ namespace AGVControl
             }
 
         }
-        private void BtnReadWriteCharge_Click(object sender, EventArgs e)
-        {
-            string name = (sender as System.Windows.Forms.Control).Name;
-            int num = Convert.ToInt32(name.Substring(name.Length - 1, 1));
+        //private void BtnReadWriteCharge_Click(object sender, EventArgs e)
+        //{
+        //    string name = (sender as System.Windows.Forms.Control).Name;
 
-            //if (DgvAgv.SelectedCells.Count == 0) return;
-            int idx = cmbBoxAGVName.SelectedIndex;
-            if (idx >= Common.agvInfo.Count) return;
+        //    //if (DgvAgv.SelectedCells.Count == 0) return;
+        //    int idx = cmbBoxAGVName.SelectedIndex;
+        //    if (idx >= Common.agvInfo.Count) return;
+        //    int num = 
+        //    if (name.IndexOf("Read") > 0)
+        //    {
+        //        if (num == 3)
+        //            TxtCharge.Text = Common.chargeStatus.charge3;
+        //        else if (num == 4)
+        //            TxtCharge4.Text = Common.chargeStatus.charge4;
+        //        else if (num == 5)
+        //            TxtCharge5.Text = Common.chargeStatus.charge5;
+        //        else if (num == 6)
+        //            TxtCharge6.Text = Common.chargeStatus.charge6;
+        //        else if (num == 7)
+        //            TxtCharge7.Text = Common.chargeStatus.charge7;
+        //    }
+        //    else if (name.IndexOf("Write") > 0)
+        //    {
+        //        if (num == 3)
+        //        {
+        //            //if(!Common.chargeStatus.charge3.Equals(""))
+        //            //{
+        //            //    MessageBox.Show("该充电桩已有小车");
+        //            //}
+        //            Common.chargeStatus.charge3 = TxtCharge.Text;
+        //        }
 
-            if (name.IndexOf("Read") > 0)
-            {
-                if (num == 3)
-                    TxtCharge3.Text = Common.chargeStatus.charge3;
-                else if (num == 4)
-                    TxtCharge4.Text = Common.chargeStatus.charge4;
-                else if (num == 5)
-                    TxtCharge5.Text = Common.chargeStatus.charge5;
-                else if (num == 6)
-                    TxtCharge6.Text = Common.chargeStatus.charge6;
-                else if (num == 7)
-                    TxtCharge7.Text = Common.chargeStatus.charge7;
-            }
-            else if (name.IndexOf("Write") > 0)
-            {
-                if (num == 3)
-                {
-                    //if(!Common.chargeStatus.charge3.Equals(""))
-                    //{
-                    //    MessageBox.Show("该充电桩已有小车");
+        //        else if (num == 4)
+        //            Common.chargeStatus.charge4 = TxtCharge4.Text;
+        //        else if (num == 5)
+        //            Common.chargeStatus.charge5 = TxtCharge5.Text;
+        //        else if (num == 6)
+        //            Common.chargeStatus.charge6 = TxtCharge6.Text;
+        //        else if (num == 7)
+        //            Common.chargeStatus.charge7 = TxtCharge7.Text;
+        //        if (Common.agvInfo[idx].IsCon)
+        //        {
+        //            bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["AutoCharge" + num.ToString()]);
+        //            if (!rtn)
+        //                return;
+        //            Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString();
+        //        }
+        //    }
         //}
-                    Common.chargeStatus.charge3 = TxtCharge3.Text;
-                }
-
-                else if (num == 4)
-                    Common.chargeStatus.charge4 = TxtCharge4.Text;
-                else if (num == 5)
-                    Common.chargeStatus.charge5 = TxtCharge5.Text;
-                else if (num == 6)
-                    Common.chargeStatus.charge6 = TxtCharge6.Text;
-                else if (num == 7)
-                    Common.chargeStatus.charge7 = TxtCharge7.Text;
-                if (Common.agvInfo[idx].IsCon)
-                {
-                    bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission["AutoCharge" + num.ToString()]);
-                    if (!rtn)
-                        return;
-                    Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString();
-                }
-            }
-        }
 
         private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
         {
@@ -460,57 +478,6 @@ namespace AGVControl
 
         }
 
-        private void cmbBoxAGVName_SelectedIndexChanged(object sender, EventArgs e)
-        {
-            if (cmbBoxAGVName.SelectedItem != null)
-            {
-                switch (cmbBoxAGVName.SelectedIndex)
-                {
-                    case 0:
-                        TxtCharge3.Text = "MiR_R1763";
-                        break;
-                    case 1:
-                        TxtCharge4.Text = "MiR_R1764";
-                        break;
-                    case 2:
-                        TxtCharge5.Text = "MiR_R1767";
-                        break;
-                    case 3:
-                        TxtCharge6.Text = "MiR_R1768";
-                        break;
-                    default:
-                        TxtCharge3.Text = "";
-                        TxtCharge4.Text = "";
-                        TxtCharge5.Text = "";
-                        TxtCharge6.Text = "";
-                        break;
-                }
-            }
-
-
-
-
-            //if(cmbBoxAGVName.SelectedItem!=null)
-            //{
-            //    if(cmbBoxAGVName.SelectedItem.ToString()=="None")
-            //    {
-            //        TxtCharge3.Text = "";
-            //        TxtCharge4.Text = "";
-            //        TxtCharge5.Text = "";
-            //        TxtCharge6.Text = "";
-            //    }
-            //    else
-            //    {
-            //        TxtCharge3.Text = cmbBoxAGVName.SelectedItem.ToString();
-            //        TxtCharge4.Text = cmbBoxAGVName.SelectedItem.ToString();
-            //        TxtCharge5.Text = cmbBoxAGVName.SelectedItem.ToString();
-            //        TxtCharge6.Text = cmbBoxAGVName.SelectedItem.ToString();
-            //    }
-
-            //}
-
-        }
-
         private void btnDeleteMission_Click(object sender, EventArgs e)
         {
             try
@@ -520,7 +487,7 @@ namespace AGVControl
                     ShowEmptyTask();
                     return;
                 }
-                if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
+                if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]","手动删除解绑任务",MessageBoxButtons.YesNo) == DialogResult.No)
                     return;
                 //int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);
 
@@ -572,7 +539,7 @@ namespace AGVControl
                 }
                 if (cmbBoxLineName.SelectedItem.ToString().StartsWith("A"))
                     return;
-                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
+                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]","手动1添加解绑",MessageBoxButtons.YesNo) == DialogResult.No)
                     return;
                 int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
                 if (idx > -1)
@@ -611,5 +578,120 @@ namespace AGVControl
             }
         }
 
+        private void button1_Click_1(object sender, EventArgs e)
+        {
+            if (DgvAgv.SelectedCells.Count == 0) return;
+            int idx = DgvAgv.SelectedCells[0].RowIndex;
+            if (idx < 0) return;
+            if (Common.agvInfo[idx].IsCon)
+            {
+                Common.agvInfo[idx].CurJob = new ChargeJob("");
+                return;
+                //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
+            }
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            if (DgvAgv.SelectedCells.Count == 0) return;
+            int idx = DgvAgv.SelectedCells[0].RowIndex;
+            if (idx < 0) return;
+            if (Common.agvInfo[idx].IsCon)
+            {
+                Common.agvInfo[idx].CurJob = new EmptyAGVBackJob("");
+                return;
+
+            }
+        }
+
+        private void btnWO_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                Task.Factory.StartNew(new Action(() =>
+                {
+                    if (AGVManager.FindCurSO(out AGVManager.WOData woData))
+                    {
+                        if (Common.GetNodeNameByLineName(woData.line, out string loc))
+                        {
+                            Common.doubleLine_WO = "工单料信息：" + woData.ToTxt(loc);
+                            Common.LogInfo(Common.doubleLine_WO);
+                        }
+                    }
+                }));
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("查询失败：" + ex.Message + "\r\n" + ex.StackTrace);
+            }
+        }
+
+        /// <summary>
+        /// 出料查询
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button5_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                Task.Factory.StartNew(() =>
+                {
+                    int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6));
+                    if (idx > -1)
+                    {
+                        AGVManager.FindFullShelfTarget(Common.nodeInfo[idx].RFID, out AGVManager.BoxDestInfo FullShelfDestInfo);
+                    }
+
+                });
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("查询失败：" + ex.Message + "\r\n" + ex.StackTrace);
+            }
+        }
+
+        private void button9_Click(object sender, EventArgs e)
+        {
+            if (DgvAgv.SelectedCells.Count == 0) return;
+            int idx = DgvAgv.SelectedCells[0].RowIndex;
+            if (idx < 0) return;
+            if (Common.agvInfo[idx].IsCon)
+            {
+                Common.agvInfo[idx].CurJob =null;
+
+            }
+        }
+
+        private void button1_Click_2(object sender, EventArgs e)
+        {
+            if (DgvAgv.SelectedCells.Count == 0) return;
+            int idx = DgvAgv.SelectedCells[0].RowIndex;
+            if (idx < 0) return;
+            Common.CalculateNearNode(Common.agvInfo[idx],"E");
+        }
+
+        private void btnUpdateStatus_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                if (DgvAgv.SelectedCells.Count == 0) return;
+                int idx = DgvAgv.SelectedCells[0].RowIndex;
+                if (idx < 0) return;
+                Task.Factory.StartNew(() =>
+                {
+                     idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6));
+                    if (idx > -1)
+                    {
+                        AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), Common.agvInfo[idx].Place);
+                    }
+
+                });
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("手动上报状态失败：" + ex.Message + "\r\n" + ex.StackTrace);
+            }
+        }
     }
 }

AGVControl-ProductionLine/FrmMain.resx

@@ -123,16 +123,13 @@
   <metadata name="Column2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column25.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <metadata name="Column18.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -141,9 +138,6 @@
   <metadata name="Column20.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
   <metadata name="Column23.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
@@ -156,9 +150,6 @@
   <metadata name="Column11.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column17.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
   <metadata name="Column6.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
@@ -171,10 +162,10 @@
   <metadata name="Column7.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column9.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Column10.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column10.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Column9.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <metadata name="Column5.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -183,9 +174,6 @@
   <metadata name="Column16.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="Column15.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
   <metadata name="Column24.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>

AGVControl-ProductionLine/Program.cs

@@ -51,7 +51,7 @@ namespace AGVControl
             Common.mir = new MiR_API();
             Common.control = new BLL.Control();
             //软件开启时检查小车当前的任务状态，并获取各节点的坐标位置
-            //Common.CheckAGVMissionState();
+           // Common.CheckAGVMissionState();
 
             //获取节点位置
             //Common.GetNodesPosition();
@@ -88,7 +88,7 @@ namespace AGVControl
                 if (temp.Length != 5) continue;
                 //string val = Common.appConfig.AppSettings.Settings[temp[1]].Value;
                 bool.TryParse(Common.ReadIni(temp[1], SettingString.IsUse), out isuse);  //Convert.ToBoolean(val.Split(',')[0]);
-                rfid = Common.ReadIni(temp[1],SettingString.RFID); //val.Split(',')[1];
+                rfid = Common.ReadIni(temp[1], SettingString.RFID); //val.Split(',')[1];
                 Common.agvInfo.Add(new Agv_Info(temp[0], temp[1], temp[2], temp[3], temp[4], isuse, rfid));
             }
 
@@ -112,9 +112,18 @@ namespace AGVControl
             {
                 temp = line[i].Split(',');
                 if (temp.Length != 6) continue;
-                Boolean.TryParse(Common.ReadIni(temp[1], SettingString.IsUse),out bool isUse);
+                Boolean.TryParse(Common.ReadIni(temp[1], SettingString.IsUse), out bool isUse);
                 Int32.TryParse(Common.ReadIni(temp[1], SettingString.EmptyShelfCnt), out int emptyShelfCnt);
-                Common.nodeInfo.Add(new ClientNode(temp[1], temp[2], temp[3], temp[0], temp[4], temp[5], isUse,emptyShelfCnt));
+                if (temp[1].Equals("A5"))
+                {
+                    Common.nodeInfo.Add(new DoubleLineNodeFor4C(temp[1], temp[2], temp[3], temp[0], temp[4], temp[5], isUse, emptyShelfCnt));
+                }
+                else if (temp[1].Equals("A6"))
+                {
+                    Common.nodeInfo.Add(new DoubleLineNodeFor4D(temp[1], temp[2], temp[3], temp[0], temp[4], temp[5], isUse, emptyShelfCnt));
+                }
+                else
+                    Common.nodeInfo.Add(new ClientNode(temp[1], temp[2], temp[3], temp[0], temp[4], temp[5], isUse, emptyShelfCnt));
             }
             Common.chargeStatus = new ChargeStatus();
             Common.itsHttp = Common.appConfig.AppSettings.Settings["ITS"].Value;

AGVControl-ProductionLine/bean/Agv_Info.cs

@@ -76,10 +76,7 @@ namespace AGVControl
         /// 负载
         /// </summary>
         public bool IsExistShelf { set; get; } = false;
-        /// <summary>
-        /// 小车的状态，（从小车获取）
-        /// </summary>
-        public string StateText { private set; get; }
+
         /// <summary>
         /// 电量百分比，（从小车获取）
         /// </summary>
@@ -88,14 +85,7 @@ namespace AGVControl
         /// 当前任务文本，（从小车获取）
         /// </summary>
         public string MissionText { set; get; }
-        /// <summary>
-        /// 下一个地点
-        /// </summary>
-        public string NextPlace { set; get; }
-        /// <summary>
-        /// 下一个地点
-        /// </summary>
-        public string NextPlaceAliceName { set; get; } = "";
+
 
         /// <summary>
         /// 关门，用于执行一次
@@ -129,8 +119,66 @@ namespace AGVControl
         /// 任务内容
         /// </summary>
         public string Msg { get; set; }
-
+        /// <summary>
+        /// 当前任务
+        /// </summary>
         public Job CurJob { get; set; }
+
+        /// <summary>
+        /// 当前任务的ID号
+        /// </summary>
+        public int CurTaskID { get; set; } = -1;
+
+        public string CurTaskState { get; set; } = "";
+        /// <summary>
+        /// 当前任务名称
+        /// </summary>
+        public string CurTaskName { get; set; }
+
+        /// <summary>
+        /// 当前任务的GUID
+        /// </summary>
+        public string CurTaskGUID { get; set; }
+        /// <summary>
+        /// 当前料架的工单信息
+        /// </summary>
+        public string BoxDestInfo { get; set; } = "";
+
+        public string RunInfo()
+        {
+            Job tmpJob = null;
+            if (CurJob != null)
+            {
+                if (CurJob is ChargeJob)
+                    tmpJob = (ChargeJob)CurJob;
+                else if (CurJob is EmptyAGVBackJob)
+                    tmpJob = (EmptyAGVBackJob)CurJob;
+                else if (CurJob is EmptyShelfBackJob)
+                    tmpJob = (EmptyShelfBackJob)CurJob;
+                else if (CurJob is EnterLeaveShelfJob)
+                    tmpJob = (EnterLeaveShelfJob)CurJob;
+                else if (CurJob is GoEmptyShelfLineJob)
+                    tmpJob = (GoEmptyShelfLineJob)CurJob;
+                else if (CurJob is GoFullShelfStationJob)
+                    tmpJob = (GoFullShelfStationJob)CurJob;
+                else if (CurJob is SendFullShelfToLineJob)
+                    tmpJob = (SendFullShelfToLineJob)CurJob;
+                if (RFID.StartsWith("C"))
+                {
+                    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}BoxDestInfo:{6}{0}GetRack:{7}{0}RunInfo:{8}", "\r\n", Name, RFID,CurJob.ToString(), CurTaskName,Msg, BoxDestInfo, BLL.AGVManager.GetRackBy(RFID),MissionText); 
+                }
+                else if (!RFID.Equals(""))
+                {
+                    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}BoxDestInfo:{6}{0}RunInfo:{7}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg, BoxDestInfo,MissionText);
+
+                }
+                else
+                    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}RunInfo:{6}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg,MissionText);
+
+            }
+            else
+                return string.Format("Name:{1}{0}RFID:{2}{0}CurTaskName:{3}{0}RunInfo:{4}", "\r\n", Name, RFID, CurTaskName,MissionText);
+        }
         public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid)
         {
             ID = id;
@@ -143,7 +191,6 @@ namespace AGVControl
             _IsUse = isUse;
             Place = "";
             TaskSend = "";
-            NextPlace = "";
             Msg = "";
             Position = new Agv_Info.clsPosition();
         }
@@ -154,41 +201,42 @@ namespace AGVControl
         {
             bool isChange = false;
             bool preShelfState = IsExistShelf;
-            //if (input != null && input.Length == 4)
-            //{
-            //    bool reachIoValue = input[3].Equals(true);//input[2] &&
-            //    if (reachIoValue)
-            //    {
-            //        //满足给定的IO值，计算持续时间
-            //        if (IoStartTime == DateTime.MaxValue)
-            //        {
-            //            IoStartTime = DateTime.Now;
-            //        }
+            Common.mir.Get_IO_Status(this, out bool[] input, out bool[] output);
+            if (input != null && input.Length == 4)
+            {
+                bool reachIoValue = input[3].Equals(true);//input[2] &&
+                if (reachIoValue)
+                {
+                    //满足给定的IO值，计算持续时间
+                    if (IoStartTime == DateTime.MaxValue)
+                    {
+                        IoStartTime = DateTime.Now;
+                    }
 
 
-            //        if (IoLastTime > 0)
-            //        {
-            //            //持续时间
-            //            TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
-            //            IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
-            //        }
-            //        else
-            //        {
-            //            IsExistShelf = true;
-            //        }
-            //    }
-            //    else
-            //    {
-            //        //重新计时
-            //        IoStartTime = DateTime.MinValue;
-            //        IsExistShelf =  input[3];
-            //    }
-            //}
-            if (!StateID.Equals(stateID) || !StateText.Equals(stateText)
-                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState)) //!Battery.Equals(battery)
+                    if (IoLastTime > 0)
+                    {
+                        //持续时间
+                        TimeSpan lastTimeSpan = DateTime.Now - IoStartTime;
+                        IsExistShelf = (lastTimeSpan.TotalMilliseconds >= IoLastTime);
+                    }
+                    else
+                    {
+                        IsExistShelf = true;
+                    }
+                }
+                else
+                {
+                    //重新计时
+                    IoStartTime = DateTime.MinValue;
+                    IsExistShelf = input[3];
+                }
+            }
+            if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText)
+                 || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                 isChange = true;
             StateID = stateID;
-            StateText = stateText;
+            CurTaskState = stateText;
             Battery = battery;
             MissionText = missionText;
             Position = position;
@@ -197,7 +245,7 @@ namespace AGVControl
 
         public void GetPlace(int value)
         {
-            Common.log.Debug(Name + " PLC20=" + value);
+           // Common.log.Debug(Name + " PLC20=" + value);
             if (value == 0)
             {
                 Place = "";
@@ -235,34 +283,35 @@ namespace AGVControl
             List<string> s = new List<string>();
             s.Add(Name);
             s.Add(IP);
-            if (IsCon)
-            {
-                s.Add(StateText);
+            // if (IsCon)
+            //{
+            s.Add(StateID.ToString());
+            s.Add(CurTaskState);
             s.Add(RFID);
-                s.Add(Msg);
-                s.Add(MissionText);
+            //s.Add(Msg);
+           // s.Add(MissionText);
             s.Add(PlaceAliceName);
             //s.Add(Place);
             s.Add(PlaceState.ToString());
-                if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
-                {
-                    ClientNode node = Common.nodeInfo.Find(q => q.Name == NextPlace);
-                    if (node != null)
-                        NextPlaceAliceName = node.AliceName;
-                    else
-                        NextPlaceAliceName = NextPlace;
-                }
-                s.Add(NextPlaceAliceName);
-            }
-            else
-            {
-                s.AddRange(new List<string> { "", "", "", "", "", "", "" });
-            }
+            //if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
+            //{
+            //    ClientNode node = Common.nodeInfo.Find(q => q.Name == NextPlace);
+            //    if (node != null)
+            //        NextPlaceAliceName = node.AliceName;
+            //    else
+            //        NextPlaceAliceName = NextPlace;
+            //}
+            //s.Add(NextPlaceAliceName);
+            //}
+            //else
+            //{
+            //    s.AddRange(new List<string> { "", "", "", "", "", "", "" });
+            //}
             s.Add(IsExistShelf ? "满载" : "空载");
             s.Add(IsCon ? "在线" : "离线");
             s.Add(Battery + "%");
             s.Add(IsUse ? "是" : "否");
-            s.Add("清空");
+            // s.Add("清空");
 
             return s.ToArray();
         }
@@ -274,7 +323,7 @@ namespace AGVControl
     /// </summary>
     public enum eAGVState
     {
-        None=0,
+        None = 0,
         Starting,
         ShuttingDown,
         Ready,
@@ -287,6 +336,6 @@ namespace AGVControl
         EmergencyStop,
         ManualControl,
         Error,
-        NULL
+        UNKNOWN
     }
 }

AGVControl-ProductionLine/bean/Job.cs

@@ -17,10 +17,7 @@ namespace AGVControl
         /// </summary>
         /// <returns></returns>
         public abstract bool IsEnd { get; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
         /// <summary>
         /// 根据任务状态继续执行任务
         /// </summary>

AGVControl-ProductionLine/bean/JobStep.cs

@@ -18,10 +18,11 @@ namespace AGVControl
             {
                 if (!string.IsNullOrEmpty(value))
                 {
+                    value = step.ToString() + ":" + value;
                     //不为空，且与上一个消息不一样才打印
                     if (!value.Equals(msg))
                     {
-                        Common.LogInfo(step.ToString()+":"+value);
+                        Common.LogInfo(value);
                     }
                 }
                 msg = value;
@@ -58,7 +59,7 @@ namespace AGVControl
             TimeSpan span = DateTime.Now - startTime;
             if (span.TotalMilliseconds > timeOutMilliseconds)
             {
-                timeOutValue = span.TotalMilliseconds;
+                timeOutValue = span.TotalSeconds;
                 return true;
             }
             return false;
@@ -74,7 +75,7 @@ namespace AGVControl
             startTime = DateTime.Now;
         }
 
-        public string StatusStr()
+        public string CurStep()
         {
             return step.ToString();
         }

AGVControl-ProductionLine/bean/Node.cs

@@ -125,5 +125,23 @@ namespace AGVControl
 
     }
 
+    /// <summary>
+    /// 客户端的优先级
+    /// </summary>
+    public enum ClientLevel : byte
+    {
+        /// <summary>
+        /// 低
+        /// </summary>
+        Low = 0,
+        /// <summary>
+        /// 中等
+        /// </summary>
+        Middle = 1,
+        /// <summary>
+        /// 高
+        /// </summary>
+        High = 2
+    }
 }
 

AGVControl-ProductionLine/bean/job/ChargeJob.cs

@@ -30,10 +30,6 @@ namespace AGVControl
         /// </summary>
         private string agvPlace { get; set; }
 
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
         public override bool IsEnd { get { return ChargeStep.IsStep(CHARGE_STEP.END); } }
 
         private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
@@ -44,56 +40,150 @@ namespace AGVControl
         /// <param name="agv"></param>
         public override Job Execute(Agv_Info agv)
         {
-            string msg = "";
+            string msg = agv.Name + " ";
             bool rtn = false;
-
+            agv.Msg = ChargeStep.Msg;
             if (ChargeStep.IsStep(CHARGE_STEP.NONE))
             {
+                if (agv.Battery > Common.chargeStatus.chargeMax)
+                {
+                    if (agv.Place.StartsWith(SettingString.Standby_Name_Prefix))//在待机位不操作
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.END);
+                        msg += "在待机位，电量充足[" + agv.Battery + "%],等待任务";
+                        ChargeStep.Msg = msg;
+                    }
+
+                    else if (agvPlace.StartsWith("G"))
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
+                        msg += "电量充足["+ agv.Battery + "%],从当前位置4C-" + agvPlace + "回到待机位，先到4D门";
+                        ChargeStep.Msg = msg;
+                        Common.DoorMission(agv, SettingString.DoorCToD);
+                    }
+                    else
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
+                        msg += "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位";
+                        ChargeStep.Msg = msg;
+                        //Common.StatusCharge(agv);
+                        Common.MoveToNode(agv, SettingString.Standby);
+                    }
+                }
+                else
+                {
                     if (agvPlace.StartsWith("G"))
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
-                    msg = "从当前位置" + agvPlace + "回到充电位，先到4D门";
+                        msg += "电量[" + agv.Battery + "%]小于最大电量["+ Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
                         ChargeStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.MoveDoorCToD);
+                        Common.DoorMission(agv, SettingString.DoorCToD);
+                    }
+                    else
+                    {
+
+                        if(!Common.StatusCharge(agv))
+                        {
+                            ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
+                            msg += "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
+                            ChargeStep.Msg = msg;
+                            Common.MoveToNode(agv, SettingString.Standby);
                         }
                         else
                         {
                             ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
-                    msg = "从当前位置" + agvPlace + "回到充电位";
+                            msg += "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位";
                             ChargeStep.Msg = msg;
-                    Common.StatusCharge(agv);
+                        }
                     }
                 }
 
+            }
+
             else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
             {
-                if(agv.Place.Equals(SettingString.D4_DOOR_Name)&& agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
                 {
-                    ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
-                    msg = "从当前位置" + agvPlace + "到4D门";
+                    if (agv.Battery > Common.chargeStatus.chargeMax)
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
+                        msg += "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位";
                         ChargeStep.Msg = msg;
-                    Common.StatusCharge(agv);
+                        Common.MoveToNode(agv, SettingString.Standby);
+                    }
+                    else
+                    {
+                        if (!Common.StatusCharge(agv))
+                        {
+                            ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
+                            msg += "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
+                            ChargeStep.Msg = msg;
+                            Common.MoveToNode(agv, SettingString.Standby);
+                        }
+                        else
+                        {
+                            ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
+                            msg += "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位";
+                            ChargeStep.Msg = msg;
+                        }
+                    }
+
                 }
             }
             else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
             {
-                if (agv.Place.StartsWith(SettingString.Charge_Name_Prefix) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, agv.CurTaskName))
                 {
                     ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
-                    msg = "到达充电位";
+                    msg += "充电任务分配完成，去充电且等待任务";
                     ChargeStep.Msg = msg;
                 }
             }
-            else if(ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
+            else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
             {
-                if(CheckRandomCharge(agv))
+                if (CheckRandomCharge(agv))
                 {
                     if (agv.Battery >= Common.chargeStatus.chargeMax)
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
-                        msg = "充电完成，回待机位";
+                        msg += "电量充足，回待机位";
                         ChargeStep.Msg = msg;
-                        Common.MoveToNode(agv, SettingString.MoveStandby);
+                        if (Common.chargeStatus.charge3.Equals(agv.Name))
+                        {
+                            Common.chargeStatus.charge3 = "";
+                        }
+                        if (Common.chargeStatus.charge4.Equals(agv.Name))
+                        {
+                            Common.chargeStatus.charge4 = "";
+                        }
+                        Common.MoveToNode(agv, SettingString.Standby);
+                    }
+                    else if (agv.Battery >= Common.chargeStatus.chargeMin)
+                    {
+                        Job job = Common.control.GetJob(agv);
+                        if (job != null && !(job is ChargeJob))
+                        {
+                            if (Common.chargeStatus.charge3.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge3 = "";
+                            }
+                            if (Common.chargeStatus.charge4.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge4 = "";
+                            }
+                            msg += "充电过程检测到任务，电量["+agv.Battery+"]大于最小电量["+Common.chargeStatus.chargeMin+"],中断充电执行任务";
+                            ChargeStep.Msg = msg;
+                            if (Common.chargeStatus.charge3.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge3 = "";
+                            }
+                            if (Common.chargeStatus.charge4.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge4 = "";
+                            }
+                            return job;
+                        }
+
                     }
                 }
                 else
@@ -101,8 +191,26 @@ namespace AGVControl
                     if (agv.Battery >= Common.chargeStatus.chargeMax)
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.END);
-                        msg = "充电完成";
+                        msg += "充电完成";
+                        ChargeStep.Msg = msg;
+                    }
+                    else if (agv.Battery >= Common.chargeStatus.chargeMin)
+                    {
+                        Job job = Common.control.GetJob(agv);
+                        if (job != null && !(job is ChargeJob))
+                        {
+                            msg += "充电过程检测到任务，电量[" + agv.Battery + "]大于最小电量[" + Common.chargeStatus.chargeMin + "],中断充电执行任务";
                             ChargeStep.Msg = msg;
+                            if (Common.chargeStatus.charge3.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge3 = "";
+                            }
+                            if (Common.chargeStatus.charge4.Equals(agv.Name))
+                            {
+                                Common.chargeStatus.charge4 = "";
+                            }
+                            return job;
+                        }
                     }
                 }
 
@@ -110,18 +218,31 @@ namespace AGVControl
             }
             else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_STANDBY))
             {
-                if (agv.Place.StartsWith(SettingString.Standby_Name_Prefix) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
                 {
                     ChargeStep.ToNextStep(CHARGE_STEP.END);
-                    msg = "充电完成，回到达待机位";
+                    msg += "充电完成，到达待机位";
                     ChargeStep.Msg = msg;
                 }
             }
             else if (ChargeStep.IsStep(CHARGE_STEP.END))
             {
-
+                Job job = Common.control.GetJob(agv);
+                if (job != null && !(job is ChargeJob))
+                {
+                    msg += "在待机位检测到任务，执行任务";
+                    ChargeStep.Msg = msg;
+                    if (Common.chargeStatus.charge3.Equals(agv.Name))
+                    {
+                        Common.chargeStatus.charge3 = "";
+                    }
+                    if (Common.chargeStatus.charge4.Equals(agv.Name))
+                    {
+                        Common.chargeStatus.charge4 = "";
+                    }
+                    return job;
+                }
             }
-            RunInfo = ChargeStep.Msg;
             return this;
         }
 
@@ -131,7 +252,8 @@ namespace AGVControl
         /// <returns></returns>
         private bool CheckRandomCharge(Agv_Info agv)
         {
-            if(agv.IP.Equals(SettingString.RandomCharge_IP1) || agv.IP.Equals(SettingString.RandomCharge_IP2))
+            if (agv.IP.Equals(SettingString.RandomCharge_IP1) || agv.IP.Equals(SettingString.RandomCharge_IP2) ||
+                agv.IP.Equals(SettingString.RandomCharge_IP3) || agv.IP.Equals(SettingString.RandomCharge_IP4))
             {
                 return true;
             }

AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs

@@ -30,10 +30,7 @@ namespace AGVControl
         /// 接收任务时，agv的位置
         /// </summary>
         private string agvPlace { get; set; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
         /// <summary>
         /// 到达待机位
         /// </summary>
@@ -47,42 +44,77 @@ namespace AGVControl
         /// <param name="agv"></param>
         public override Job Execute(Agv_Info agv)
         {
-            string msg = "";
+            string msg = agv.Name+" ";
             bool rtn = false;
-
+            agv.Msg = EmptyAGVBackStep.Msg;
             if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
             {
-                if(Common.FindEmptyShelfNode(agv,out string nodeName))
+                if (Common.FindEmptyShelfNode(agv, out string nodeName,true))
                 {
                     //EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
-                    msg = "小车在产线"+agvPlace+"准备返回时检测到"+nodeName+"有空料架";
+                    msg = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
                     EmptyAGVBackStep.Msg = msg;
-                    return new GoEmptyShelfLineJob(agvPlace,nodeName);
+                    return new GoEmptyShelfLineJob(agvPlace, nodeName);
                 }
                 else
                 {
-                    if(agvPlace.StartsWith("G"))
+                    if (agvPlace.StartsWith("G"))
                     {
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
-                        msg = "从产线" + agvPlace + "回到待机位，先到4D门";
+                        msg = "从产线" + agvPlace + "回待机位，先到4D门";
                         EmptyAGVBackStep.Msg = msg;
-                        Common.DoorMission(agv, SettingString.MoveDoorCToD);
+                        Common.DoorMission(agv, SettingString.DoorCToD);
                     }
                     else
                     {
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
-                        msg = "从产线" + agvPlace + "回到待机位";
+                        msg = "从产线" + agvPlace + "回待机位";
+                        EmptyAGVBackStep.Msg = msg;
+                        Common.MoveToNode(agv, SettingString.Standby);
+                    }
+                }
+            }
+            else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
+            {
+                if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
+                {
+                    Job job = Common.control.GetJob(agv);
+                    if (job == null && agv.Battery < Common.chargeStatus.chargeMax)
+                    {
+                        msg = "到达待机位,电量[" + agv.Battery + "]小于最大电量[" + Common.chargeStatus.chargeMax + "],暂无任务，去充电";
                         EmptyAGVBackStep.Msg = msg;
-                        Common.MoveToNode(agv, SettingString.MoveStandby);
+                        return new ChargeJob("");
                     }
+                    else
+                    {
+                        msg = "到达待机位,检测到新任务,执行任务";
+                        EmptyAGVBackStep.Msg = msg;
+                        return job;
                     }
+
+                }
+                else
+                {
+                    if (Common.FindFullShelfTask(agv))
+                    {
+                        msg = "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
+                        EmptyAGVBackStep.Msg = msg;
+                        return new GoFullShelfStationJob(SettingString.Standby);
+                    }
+                    //else
+                    //{
+                    //    msg = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
+                    //    EmptyAGVBackStep.Msg = msg;
+                    //    return new ChargeJob(SettingString.D4_DOOR_Name);
+                    //}
                 }
 
+            }
             else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
             {
-                if(agv.Place.Equals(SettingString.D4_DOOR_Name)&& agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
                 {
-                    if(Common.FindFullShelfTask(agv))
+                    if (Common.FindFullShelfTask(agv))
                     {
                         msg = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
                         EmptyAGVBackStep.Msg = msg;
@@ -96,7 +128,6 @@ namespace AGVControl
                     }
                 }
             }
-            RunInfo = EmptyAGVBackStep.Msg;
             return this;
         }
 

AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs

@@ -25,7 +25,7 @@ namespace AGVControl
         /// 载空料架返回任务
         /// </summary>
         /// <param name="lineName">产线的节点名称</param>
-        public EmptyShelfBackJob(string lineName,eShelfType shelfType)
+        public EmptyShelfBackJob(string lineName, eShelfType shelfType)
         {
             EmptyShelfPlace = lineName;
             this.shelfType = shelfType;
@@ -39,13 +39,10 @@ namespace AGVControl
         /// 空料架目的地
         /// </summary>
         private string EmptyShelfTargetPlace { get; set; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
 
         private eShelfType shelfType;
-        public override bool IsEnd { get {return EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END); } }
+        public override bool IsEnd { get { return EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END); } }
 
         private JobStep<EMPTY_SHELF_BACK_STEP> EmptyBackStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE);
 
@@ -57,52 +54,54 @@ namespace AGVControl
         {
             string msg = "";
             bool rtn = false;
-
+            agv.Msg = EmptyBackStep.Msg;
             if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
             {
-                Common.DelEmptyShelfTask(EmptyShelfPlace);
                 if (EmptyShelfPlace.StartsWith("G"))//4车间
                 {
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
-                    msg = "空料架从产线"+ EmptyShelfPlace + "前往4D门";
+                    msg = "空料架从产线" + EmptyShelfPlace + "前往4D门";
                     EmptyBackStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.MoveDoorCToD);
+                    Common.DoorMission(agv, SettingString.DoorCToD);
                 }
                 else
                 {
-                    if (Common.CheckA5A6State(agv,shelfType, out string nodeName))
+                    if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
                     {
                         EmptyShelfTargetPlace = nodeName;
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                        msg = "空料架从产线 [" + EmptyShelfTargetPlace + "] 送往双层线";
+                        msg = "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
                         EmptyBackStep.Msg = msg;
+                        if (!EmptyShelfTargetPlace.Equals(""))
+                            Common.MoveToNode(agv, EmptyShelfTargetPlace);
                     }
                     else
                     {
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                        msg = "双层线暂不需要空料架，从产线[" + EmptyShelfTargetPlace + "]到待机位";
+                        msg = "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
                         EmptyBackStep.Msg = msg;
-                        Common.MoveToNode(agv, SettingString.MoveStandby);
+                        Common.MoveToNode(agv, SettingString.Standby);
                     }
                 }
             }
-            else if(EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
+            else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
             {
-                if(agv.Place.Equals(SettingString.D4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
                 {
                     if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
                     {
                         EmptyShelfTargetPlace = nodeName;
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                        msg = "空料架从产线 [" + EmptyShelfTargetPlace + "] 送往双层线";
+                        msg = "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
                         EmptyBackStep.Msg = msg;
+                        Common.MoveToNode(agv, EmptyShelfTargetPlace);
                     }
                     else
                     {
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                        msg = "双层线暂不需要空料架，从产线[" + EmptyShelfTargetPlace + "]到待机位";
+                        msg = "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
                         EmptyBackStep.Msg = msg;
-                        Common.MoveToNode(agv, SettingString.MoveStandby);
+                        Common.MoveToNode(agv, SettingString.Standby);
                     }
                 }
             }
@@ -112,63 +111,81 @@ namespace AGVControl
                 {
                     EmptyShelfTargetPlace = nodeName;
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                    msg = "待机位检测到双层线需要料架,送往双层线 "+EmptyShelfTargetPlace;
+                    msg = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
                     EmptyBackStep.Msg = msg;
+                    Common.MoveToNode(agv, EmptyShelfTargetPlace);
                 }
             }
             else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6))
             {
-                if(agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, agv.CurTaskGUID) && EmptyShelfTargetPlace.StartsWith("A"))
                 {
-                    msg = "AGV到达 " + EmptyShelfTargetPlace;
-                    EmptyBackStep.Msg = msg;
-                    return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType);
-                    //EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
-                    //msg = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
+                    //msg = "AGV到达 " + EmptyShelfTargetPlace;
                     //EmptyBackStep.Msg = msg;
-                    //Common.server.ReadyEnter(EmptyShelfTargetPlace);
-                }
-            }
-            //else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE))
-            //{
-            //    int id = Common.FindNode(EmptyShelfTargetPlace);
-            //    ClientNode node = Common.nodeInfo[id];
-            //    if (node.StateEquals(eNodeStatus.MayEnter))
-            //    {
-            //        EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
-            //        msg = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
-            //        EmptyBackStep.Msg = msg;
-            //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
-            //        agv.TaskSend = rtn ? "Leave" : "";
-            //    }
-            //    else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
-            //    {
-            //        EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-            //        msg = "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]";
-            //        EmptyBackStep.Msg = msg;
-            //    }
-            //}
-            //else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
-            //{
-            //    if (agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.LeaveFinish))
-            //    {
+                    //return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType);
+                    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
+                    msg = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
+                    EmptyBackStep.Msg = msg;
+                    Common.server.ReadyEnter(EmptyShelfTargetPlace);
+                }
+            }
+            else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE))
+            {
+                int id = Common.FindNode(EmptyShelfTargetPlace);
+                ClientNode node = Common.nodeInfo[id];
+                if (node.StateEquals(eNodeStatus.MayEnter))
+                {
+                    if(!agv.CurTaskName.Equals("Leave"))
+                    {
+                        EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
+                        msg = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
+                        EmptyBackStep.Msg = msg;
+                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
+                        agv.TaskSend = rtn ? "Leave" : "";
+                    }
 
-            //        EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
-            //        msg = "空料架进入" + EmptyShelfTargetPlace + "完成";
-            //        EmptyBackStep.Msg = msg;
-            //    }
-            //    else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
-            //    {
-            //        //链条停止
-            //        msg = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
-            //        EmptyBackStep.Msg = msg;
-            //    }
+                }
+                else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
+                {
+                    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
+                    msg = "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]";
+                    EmptyBackStep.Msg = msg;
+                }
+            }
+            else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
+            {
+                if (agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.LeaveFinish))
+                {
+
+                    //EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
+                    agv.RFID = "";
+                    Job job = Common.control.GetJob(agv);
+                    if (job != null)
+                    {
+                        msg += "在双层线检测到任务，执行任务";
+                        EmptyBackStep.Msg = msg;
+                        return job;
+                    }
+                    else
+                    {
+                        msg = "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
+                        EmptyBackStep.Msg = msg;
+                        return new ChargeJob(SettingString.DoubleLine_Name_Prefix);
+                    }
+
+                }
+                else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
+                {
+                    //链条停止
+                    msg = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
+                    EmptyBackStep.Msg = msg;
+                }
+
+            }
+            else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
+            {
+            }
 
-            //}
-            //else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
-            //{
-            //}
-            RunInfo = EmptyBackStep.Msg;
             return this;
         }
 

AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs

@@ -46,13 +46,10 @@ namespace AGVControl
         /// <summary>
         /// 位置名
         /// </summary>
-        public string LineName { get; set; }
+        public new string LineName { get; set; }
 
         public string RFID { get; set; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
         public eEnterLeaveType ActionType { get; set; }
 
         private eShelfType shelfType;
@@ -64,22 +61,32 @@ namespace AGVControl
         {
             string msg = "";
             bool rtn = false;
-
+            agv.Msg = EnterLeaveShelfStep.Msg;
             if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
             {
                 if (ActionType.Equals(eEnterLeaveType.Leave))
                 {
-                        EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE);
-                        msg = "AGV到达 " + LineName + "，并发送入料架请求[ReadyEnter]";
+                    //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE);
+                    //msg = "AGV到达 " + LineName + "，并发送入料架请求[ReadyEnter]";
+                    //EnterLeaveShelfStep.Msg = msg;
+                    //Common.server.ReadyEnter(LineName);
+                    EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
+                    msg =  LineName + "入料架，小车链条运行";
                     EnterLeaveShelfStep.Msg = msg;
-                        Common.server.ReadyEnter(LineName);
+                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
+                    agv.TaskSend = rtn ? "Leave" : "";
                 }
                 else if(ActionType.Equals(eEnterLeaveType.Enter))
                 {
-                    EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyLeave_RESPONSE);
-                    msg = "AGV到达 " + LineName + "，并发送出料架请求[ReadyLeave]";
+                    //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyLeave_RESPONSE);
+                    //msg = "AGV到达 " + LineName + "，并发送出料架请求[ReadyLeave]";
+                    //EnterLeaveShelfStep.Msg = msg;
+                    //Common.server.ReadyLeave(LineName);
+                    EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
+                    msg = LineName + "出料架，小车链条运行";
                     EnterLeaveShelfStep.Msg = msg;
-                    Common.server.ReadyLeave(LineName);
+                    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
+                    agv.TaskSend = rtn ? "Enter" : "";
                 }
             }
             else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE))
@@ -128,6 +135,7 @@ namespace AGVControl
                     //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
                     msg = "料架进入" + LineName + "完成 ["+RFID+"]";
                     EnterLeaveShelfStep.Msg = msg;
+                    agv.RFID = "";
                     return new EmptyAGVBackJob(LineName);
 
                 }
@@ -160,7 +168,7 @@ namespace AGVControl
             else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.END))
             {
             }
-            RunInfo = EnterLeaveShelfStep.Msg;
+
             return this;
         }
 

AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs

@@ -34,10 +34,7 @@ namespace AGVControl
         /// 接收任务时，agv的位置
         /// </summary>
         private string agvPlae { get; set; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
 
         public override bool IsEnd { get { return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END); } }
 
@@ -49,8 +46,9 @@ namespace AGVControl
         /// <param name="agv"></param>
         public override Job Execute(Agv_Info agv)
         {
-            string msg = "";
+            string msg = agv.Name+" ";
             bool rtn = false;
+            agv.Msg = TakeEmptyStep.Msg;
             int nodeIdx = Common.FindNode(EmptyShelfPlace);
 
             if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
@@ -58,39 +56,40 @@ namespace AGVControl
                 if (agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("E"))//4C->4D
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
-                    msg = "去空料架产线" + EmptyShelfPlace + "，先前往4D门["+ agvPlae +"->"+ EmptyShelfPlace + "]";
+                    msg += "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]";
                     TakeEmptyStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.MoveDoorCToD);
+                    Common.DoorMission(agv, SettingString.DoorCToD);
                 }
-                else if (agvPlae.StartsWith("E") && EmptyShelfPlace.StartsWith("G"))//4D->4C
+                else if ((agvPlae.StartsWith("E") || agvPlae.StartsWith("A")) 
+                    && EmptyShelfPlace.StartsWith("G"))//4D->4C
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
-                    msg = "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    msg += "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]";
                     TakeEmptyStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.MoveDoorDToC);
+                    Common.DoorMission(agv, SettingString.DoorDToC);
                 }
                 else
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    msg = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    msg += "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
                     TakeEmptyStep.Msg = msg;
                 }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR))
             {
-                if(agv.Place.Equals(SettingString.C4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID))
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    msg = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    msg += "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
                     TakeEmptyStep.Msg = msg;
                 }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR))
             {
-                if (agv.Place.Equals(SettingString.D4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    msg = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    msg += "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
                     TakeEmptyStep.Msg = msg;
                 }
             }
@@ -100,82 +99,104 @@ namespace AGVControl
                 if (nodeIdx > -1)
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
-                    msg = "AGV 添加任务：移动到" + EmptyShelfPlace;
+                    msg += "AGV 添加任务：移动到" + EmptyShelfPlace;
                     TakeEmptyStep.Msg = msg;
                     Common.MoveToNode(agv, EmptyShelfPlace);
                 }
                 else
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    msg = EmptyShelfPlace + " 不存在或未开启调用";
+                    msg += EmptyShelfPlace + " 不存在或未开启调用";
                     TakeEmptyStep.Msg = msg;
                 }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK))
             {
-                if (agv.PlaceState.Equals(ePlaceState.Move))
+                if (agv.CurTaskState.Equals(SettingString.Executing))
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
-                    msg = "AGV开始向目的地[" + EmptyShelfPlace + "]移动";
+                    msg += "AGV开始向目的地[" + EmptyShelfPlace + "]移动";
                     TakeEmptyStep.Msg = msg;
                 }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
             {
-                if (agv.Place.Equals(EmptyShelfPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, EmptyShelfPlace, agv.CurTaskGUID))
                 {
-                    msg = "AGV到达 " + EmptyShelfPlace;
+                    if (EmptyShelfPlace.Equals("G22"))
+                    {
+                        msg += "AGV到达 " + EmptyShelfPlace;
                         TakeEmptyStep.Msg = msg;
                         return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter);
-                    //TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
-                    //msg = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
-                    //TakeEmptyStep.Msg = msg;
-                    //Common.server.ReadyLeave(EmptyShelfPlace);
-                }
-            }
-            //else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
-            //{
-            //    ClientNode node = Common.nodeInfo[nodeIdx];
-            //    if (node.StateEquals(eNodeStatus.MayLeave))
-            //    {
-            //        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
-            //        msg = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
-            //        TakeEmptyStep.Msg = msg;
-            //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
-            //        agv.TaskSend = rtn ? "Enter" : "";
-            //    }
-            //    else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
-            //    {
-            //        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
-            //        msg = "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]";
-            //        TakeEmptyStep.Msg = msg;
-            //    }
-            //}
-            //else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
-            //{
-            //    if (agv.PlaceState.Equals(ePlaceState.EnterFinish))
-            //    {
-            //        ClientNode node = Common.nodeInfo[nodeIdx];
-            //        node.AgvName = "";
-            //        //回收空料架数量减少1
+                    }
+                    else
+                    {
+                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
+                        msg += "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
+                        TakeEmptyStep.Msg = msg;
+                        Common.server.ReadyLeave(EmptyShelfPlace);
+                    }
+
+                }
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
+            {
+                ClientNode node = Common.nodeInfo[nodeIdx];
+                if (node.StateEquals(eNodeStatus.MayLeave))
+                {
+                    if(!agv.CurTaskName.Equals("Enter"))
+                    {
+                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
+                        msg += "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
+                        TakeEmptyStep.Msg = msg;
+                        agv.RFID = node.RFID;
+                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
+                        agv.TaskSend = rtn ? "Enter" : "";
+                    }
+
+                }
+                else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
+                {
+                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
+                    msg += "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]";
+                    TakeEmptyStep.Msg = msg;
+                }
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
+            {
+                if (agv.PlaceState.Equals(ePlaceState.EnterFinish))
+                {
+                    ClientNode node = Common.nodeInfo[nodeIdx];
+                    node.AgvName = "";
+                    //回收空料架数量减少1
                     // node.DecreEmptyShelfCnt();
-            //        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END);
-            //        msg = "空料架在[" + EmptyShelfPlace + "]进入小车完成";
-            //        TakeEmptyStep.Msg = msg;
-            //    }
-            //    else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
-            //    {
-            //        //链条停止
-            //        msg = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
-            //        TakeEmptyStep.Msg = msg;
-            //    }
-
-            //}
+                    //TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END);
+                    //if (shelfType.Equals(eShelfType.SmallShelf))
+                    Common.DelEmptyShelfTask(EmptyShelfPlace);
+                    msg += "空料架在[" + EmptyShelfPlace + "]进入小车完成";
+                    TakeEmptyStep.Msg = msg;
+                    if(agv.RFID.StartsWith("D"))
+                    return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
+                    else if(agv.RFID.StartsWith("C"))
+                    {
+                        return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
+                    }
+                    else
+                        return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
+                }
+                else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
+                {
+                    //链条停止
+                    msg += "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
+                    TakeEmptyStep.Msg = msg;
+                }
+
+            }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END))
             {
 
             }
-            RunInfo= TakeEmptyStep.Msg;
+
             return this;
         }
 

AGVControl-ProductionLine/bean/job/GoFullShelfStationJob.cs

@@ -31,10 +31,6 @@ namespace AGVControl
         public string FullShelfStationPlace { get; set; }
 
         /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
-        /// <summary>
         /// 接到任务时，AGV的位置
         /// </summary>
         public string agvPlace { get; set; }
@@ -52,6 +48,7 @@ namespace AGVControl
         {
             string msg = "";
             bool rtn = false;
+            agv.Msg = GoFullShelfStationStep.Msg;
             if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
             {
                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT);
@@ -61,10 +58,14 @@ namespace AGVControl
             }
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT))
             {
-                if (GoFullShelfStationStep.IsTimeOut(15000, out double timeOutValue))
+               //Common.log.Debug("WAIT_CHECK_RESULT " + Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID).ToString() + " " + agv.CurTaskGUID + " " + Common.agvMission["CheckShelf"]);
+                if (Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID) && agv.CurTaskState.Equals(SettingString.Done))
+                {
+                    rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
+                    if(rtn)
                     {
-                    Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
-                    if (!input.Equals(null) && input[3])
+                        Common.log.Debug("WAIT_CHECK_RESULT: "+agv.Name+" 获取IO状态成功:满载信号="+input[3].ToString());
+                        if (input !=null && input[3])
                         {
                             GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
                             msg = agv.Name + " 车上有料架，无法去入料口出料";
@@ -72,12 +73,40 @@ namespace AGVControl
                             agv.IsExistShelf = true;
                             IsLoadOnAGV = true;
                         }
-                    else if (!input.Equals(null) && !input[3])
+                        else if (input !=null && !input[3])
+                        {
+                            if (agvPlace.StartsWith(SettingString.Charge_Name_Prefix) || agvPlace.StartsWith(SettingString.Standby_Name_Prefix))//待机位/充电位接到任务
+                            {
+                                GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
+                                msg = agv.Name + " 无负载，准备运动到入料口"+ FullShelfStationPlace;
+                                GoFullShelfStationStep.Msg = msg;
+                                Common.MoveToNode(agv, FullShelfStationPlace);
+                            }
+                            else if (agvPlace.StartsWith("G"))//4C车间
+                            {
+                                GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
+                                msg = agv.Name + " 在4C车间，向4D门运行,再到双层线入料口";
+                                GoFullShelfStationStep.Msg = msg;
+                                Common.DoorMission(agv, SettingString.DoorCToD);
+                            }
+                            else
+                            {
+                                GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
+                                msg = agv.Name + " 无负载，准备运动到入料口" + FullShelfStationPlace;
+                                GoFullShelfStationStep.Msg = msg;
+                                Common.MoveToNode(agv, FullShelfStationPlace);
+                            }
+                        }
+                    }
+                    else
+                    {
+                        Common.LogInfo("WAIT_CHECK_RESULT: 获取IO状态失败，使用小车IO信号");
+                        if (!agv.IsExistShelf)
                         {
                             if (agvPlace.Equals(""))//待机位接到任务
                             {
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
-                            msg = agv.Name + " 无负载，准备运动到入料口";
+                                msg = agv.Name + " 无负载，准备运动到入料口" + FullShelfStationPlace;
                                 GoFullShelfStationStep.Msg = msg;
                                 Common.MoveToNode(agv, FullShelfStationPlace);
                             }
@@ -86,18 +115,20 @@ namespace AGVControl
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
                                 msg = agv.Name + " 在4C车间，向4D门运行,再到双层线入料口";
                                 GoFullShelfStationStep.Msg = msg;
-                            Common.DoorMission(agv, SettingString.MoveDoorCToD);
+                                Common.DoorMission(agv, SettingString.DoorCToD);
                             }
                         }
+
+                    }
                 }
 
             }
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
             {
-                if (agv.Place.Equals(SettingString.D4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
                 {
                     GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
-                    msg = agv.Name + " 到达4D门，准备运动到双层线入料口";
+                    msg = agv.Name + " 到达4D门，准备运动到双层线入料口" + FullShelfStationPlace;
                     GoFullShelfStationStep.Msg = msg;
                     Common.MoveToNode(agv, FullShelfStationPlace);
                 }
@@ -105,15 +136,17 @@ namespace AGVControl
             }
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6))
             {
-                if (agv.Place.Equals(FullShelfStationPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, FullShelfStationPlace, agv.CurTaskGUID))
                 {
                     ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
-                    && (s.StateEquals(eNodeStatus.NeedEnterLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
-                    if (node.Name.Equals(SettingString.A6))
+                    && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
+                    if (node != null && node.Name.Equals(SettingString.A6))
                     {
                         if (AGVManager.FindFullShelfTarget(node.RFID, out FullShelfDestInfo))
                         {
                             GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE);
+                            if (!FullShelfDestInfo.Equals(null))
+                                agv.BoxDestInfo = FullShelfDestInfo.ShowInfo();
                             msg = "AGV到达 " + FullShelfStationPlace + "，并发送出料架请求[ReadyLeave]";
                             GoFullShelfStationStep.Msg = msg;
                             Common.server.ReadyLeave(FullShelfStationPlace);
@@ -131,17 +164,22 @@ namespace AGVControl
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY);
                                 msg = "从产线" + agvPlace + "回到待机位";
                                 GoFullShelfStationStep.Msg = msg;
-                                Common.MoveToNode(agv, SettingString.MoveStandby);
+                                Common.MoveToNode(agv, SettingString.Standby);
                             }
                         }
                     }
 
 
                 }
+                //else if (GoFullShelfStationStep.IsTimeOut(30000, out double timeOutValue) && !agv.TaskSend.Equals(SettingString.Move + SettingString.A6) 
+                //    && !agv.CurTaskName.Equals(SettingString.Move+SettingString.A6))
+                //{
+                //    Common.MoveToNode(agv, FullShelfStationPlace);
+                //}
             }
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY))
             {
-                if (agv.Place.StartsWith(SettingString.Standby_Name_Prefix) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
                 {
                     GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
                     msg = "到达待机位";
@@ -151,15 +189,25 @@ namespace AGVControl
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE))
             {
                 int id = Common.FindNode(FullShelfStationPlace);
+                if (id == -1)
+                {
+                    msg = "未找到节点：" + FullShelfStationPlace;
+                    GoFullShelfStationStep.Msg = msg;
+                    return this;
+                }
                 ClientNode node = Common.nodeInfo[id];
                 if (node.StateEquals(eNodeStatus.MayLeave))
                 {
+                    if(!agv.CurTaskName.Equals("Enter"))
+                    {
                         GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV);
                         msg = "收到双层线出料架请求[ReadyLeave]的响应 " + FullShelfStationPlace + "出料架，小车链条运行";
                         GoFullShelfStationStep.Msg = msg;
                         rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
                         agv.TaskSend = rtn ? "Enter" : "";
                     }
+
+                }
                 else if (GoFullShelfStationStep.IsTimeOut(15000, out double timeOutValue))
                 {
                     GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
@@ -177,11 +225,11 @@ namespace AGVControl
                     //GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
                     msg = FullShelfStationPlace + "满料架进入小车完成";
                     GoFullShelfStationStep.Msg = msg;
-                    if (FullShelfDestInfo.location.StartsWith("G"))
-                    {
-                        return new SendFullShelfToLineJob(FullShelfDestInfo, true);
-                    }
-                    else
+                    //if (FullShelfDestInfo.location.StartsWith("G"))
+                    //{
+                    //    return new SendFullShelfToLineJob(FullShelfDestInfo, true);
+                    //}
+                    //else
                     return new SendFullShelfToLineJob(FullShelfDestInfo);
                 }
                 else if (GoFullShelfStationStep.IsTimeOut(60000, out double timeOutValue))
@@ -192,7 +240,7 @@ namespace AGVControl
                 }
 
             }
-            RunInfo = GoFullShelfStationStep.Msg;
+
             return this;
         }
 

AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs

@@ -35,16 +35,14 @@ namespace AGVControl
         public string FullShelfPlace { get; set; }
 
         public string RFID { get; set; }
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public string RunInfo { get; set; }
+
         public AGVManager.BoxDestInfo BoxDestInfo { get; private set; }
         /// <summary>
         /// 是否忽略大料架移库解绑
         /// </summary>
         public bool IsIgnoreBigShelf { get; private set; }
 
+
         public override bool IsEnd { get { return SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END); } }
 
         private JobStep<SEND_FULL_SHELF_STEP> SendFullShelfStep = new JobStep<SEND_FULL_SHELF_STEP>(SEND_FULL_SHELF_STEP.NONE);
@@ -53,15 +51,17 @@ namespace AGVControl
         {
             string msg = "";
             bool rtn = false;
-
+            agv.RFID = RFID;
+            agv.Msg = SendFullShelfStep.Msg;
             if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
             {
+
                 if(FullShelfPlace.StartsWith("G"))
                 {
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
                     msg = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]"+ BoxDestInfo.ShowInfo();
                     SendFullShelfStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.MoveDoorDToC);
+                    Common.DoorMission(agv, SettingString.DoorDToC);
                 }
                 else
                 {
@@ -75,7 +75,7 @@ namespace AGVControl
 
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
             {
-                if (agv.Place.Equals(SettingString.C4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID))
                 {
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
                     msg = "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]" + BoxDestInfo.ShowInfo();
@@ -85,10 +85,14 @@ namespace AGVControl
             }
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
             {
-                if (agv.Place.Equals(FullShelfPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
+                if (Common.CheckTaskFinished(agv,FullShelfPlace,agv.CurTaskGUID))
                 {
-                   // msg = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]" + BoxDestInfo.ShowInfo();
-                    //SendFullShelfStep.Msg = msg;
+                    if(FullShelfPlace.Equals("G21"))
+                    {
+                        msg = "AGV到达 " + FullShelfPlace + "完成" + BoxDestInfo.ShowInfo();
+                        SendFullShelfStep.Msg = msg;
+                        return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
+                    }
                     if (IsIgnoreBigShelf)
                     {
                         SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
@@ -98,7 +102,7 @@ namespace AGVControl
                     }
                     else
                     {
-                        if (RFID.StartsWith("C"))
+                        if (RFID.StartsWith("C") && !agv.Place.Equals("E21"))
                         {
                             SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
                             msg = "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑" + BoxDestInfo.ShowInfo();
@@ -131,12 +135,16 @@ namespace AGVControl
                 ClientNode node = Common.nodeInfo[id];
                 if (node.StateEquals(eNodeStatus.MayEnter))
                 {
+                    if(!agv.CurTaskName.Equals("Leave"))
+                    {
                         SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
                         msg = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行" + BoxDestInfo.ShowInfo();
                         SendFullShelfStep.Msg = msg;
                         rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
                         agv.TaskSend = rtn ? "Leave" : "";
                     }
+
+                }
                 else if (SendFullShelfStep.IsTimeOut(15000, out double timeOutValue))
                 {
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
@@ -150,6 +158,7 @@ namespace AGVControl
                 {
                     msg = "满料架进入" + FullShelfPlace + "完成 [" + RFID + "]" + BoxDestInfo.ShowInfo();
                     SendFullShelfStep.Msg = msg;
+                    agv.RFID = "";
                     AGVManager.UpdateStatus(RFID, FullShelfPlace);
                     return new EmptyAGVBackJob(FullShelfPlace);
                 }
@@ -161,10 +170,11 @@ namespace AGVControl
                 }
 
             }
-            else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END))
-            {
-            }
-            RunInfo = SendFullShelfStep.Msg;
+            //else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END))
+            //{
+
+            //}
+
             return this;
         }
 

AGVControl-ProductionLine/bean/node/ClientNode.cs

@@ -48,6 +48,8 @@ namespace AGVControl
         /// 节点位置名称
         /// </summary>
         public string Pos_name { get; set; }
+
+        public ClientLevel ClientLevel { get; set; } = ClientLevel.Low;
         /// <summary>
         /// 节点位置坐标
         /// </summary>
@@ -145,26 +147,27 @@ namespace AGVControl
         /// <returns></returns>
         public string StatetText()
         {
-            string s = string.Format("[Name={0}, NodeStatus={1}, RFID={2}, AGVName={3}]", Name, nodeStatus.ToString(), RFID, AgvName);
+            string s = string.Format("[Name={0}, NodeStatus={1}, RFID={2},ClientLevel ={3}]", Name, nodeStatus.ToString(), RFID, ClientLevel.ToString());
             return s;
         }
 
         public string[] ToRow()
         {
             //节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
-            string[] s = new string[9];
+            string[] s = new string[8];
             s[0] = AliceName;
             s[1] = IP;
             // if (Online)
             //  {
             s[2] = EmptyShelfCnt.ToString();//string.Format("({0},{1})", position.X.ToString("f2"), position.Y.ToString("f2"));
             s[3] = nodeStatus.ToString();
-            s[4] = RFID;
-            s[5] = AgvName;
+            s[4] = ClientLevel.ToString();
+            s[5] = RFID;
+          //  s[5] = AgvName;
             // }
             s[6] = Online ? "在线" : "离线";
             s[7] = IsUse ? "是" : "否";
-            s[8] = "清除";
+           // s[8] = "清除";
             return s;
         }
 

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs

@@ -22,7 +22,8 @@ namespace AGVControl
         /// <returns></returns>
         public override Job GetNewJob(Agv_Info currentAgv)
         {
-
+            if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                return null;
             if (!Common.CheckCanExecuteMission(currentAgv))
                 return null;
             if (!Common.CheckAGVStatusNone(currentAgv))
@@ -67,12 +68,36 @@ namespace AGVControl
             //出满料
             if (Common.FindFullShelfTask(currentAgv))
             {
+
+                if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                {
+                    int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
+                    if (i > -1)
+                        return null;
+                }
+                //foreach (Agv_Info agv in Common.agvInfo)
+                //{
+
+                //    if (agv.CurJob is GoFullShelfStationJob)
+                //    {
+                //        return null;
+                //    }
+                //}
                 return new GoFullShelfStationJob(currentAgv.Place);
             }
 
             //回收空料架
             if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
             {
+                foreach (Agv_Info agv in Common.agvInfo)
+                {
+                    if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
+                        continue;
+                    if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
+                    {
+                        return null;
+                    }
+                }
                 return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
             }
             return null;

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs

@@ -24,7 +24,8 @@ namespace AGVControl
         /// <returns></returns>
         public override Job GetNewJob(Agv_Info currentAgv)
         {
-
+            if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                return null;
             if (!Common.CheckCanExecuteMission(currentAgv))
                 return null;
             if (!Common.CheckAGVStatusNone(currentAgv))
@@ -71,12 +72,28 @@ namespace AGVControl
             //出满料
             if (Common.FindFullShelfTask(currentAgv))
             {
+                if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                {
+                    int i = Common.agvInfo.FindIndex(s=>s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
+                    if(i>-1)
+                        return null;
+                }
+
                 return new GoFullShelfStationJob(currentAgv.Place);
             }
 
             //回收空料架
             if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
             {
+                foreach (Agv_Info agv in Common.agvInfo)
+                {
+                    if (SettingString.C4_AGV_IPs.Contains(agv.IP))
+                        continue;
+                    if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
+                    {
+                        return null;
+                    }
+                }
                 return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
             }
             return null;

AGVControl-ProductionLine/bin/Debug/AGVControl-ProductionLine.exe.config

@@ -28,7 +28,7 @@
       </layout>
     </appender>
     <logger>
-      <level value="Debug"/>
+      <level value="ALL"/>
       <appender-ref ref="LineWebService"/>
     </logger>
     <root>
@@ -56,7 +56,7 @@
         <host>
           <baseAddresses>
             <!--添加调用服务地址-->
-            <add baseAddress="http://10.85.199.1/BenQMIR/Webservice/AGVService.asmx/"/>
+            <add baseAddress="http://127.0.0.1/BenQMIR/Webservice/AGVService.asmx/"/>
           </baseAddresses>
 
         </host>

AGVControl-ProductionLine/bin/Debug/Config/AgvName-o.csv

+Fleet ID,agv,IP,Ȩ,IOID
+1,MiR_R1580,10.85.199.81,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==,007615a5-2220-11ea-99f2-94c691a73b53

AGVControl-ProductionLine/bin/Debug/Config/LinePlace.txt

+2020-08-29 21:42:35,E1
+2020-08-29 21:42:49,E22
+2020-08-29 21:42:55,G5

AGVControl-ProductionLine/bin/Debug/Config/tempData.ini

-[A5]
-EmptyShelfCnt=0
-IsUse=False
-[E14]
-EmptyShelfCnt=0
 [MiR_R1763]
-IsUse=False
 RFID=
-[MiR_R1764]
 IsUse=False
+[MiR_R1764]
 RFID=
 [MiR_R1767]
-IsUse=False
 RFID=
-[E10]
-EmptyShelfCnt=0
 [MiR_R1768]
 RFID=
 [MiR_R1579]
 RFID=
 [MiR_R1580]
 RFID=
-[E4]
-EmptyShelfCnt=0
-[E3]
+IsUse=True
+[E1]
+EmptyShelfCnt=1
+IsUse=True
+[A5]
+IsUse=False
+[E2]
 EmptyShelfCnt=0
+IsUse=False
+[E22]
+EmptyShelfCnt=1
+[G5]
+EmptyShelfCnt=1
+[G9]
+IsUse=False

AGVControl-ProductionLine/bin/Debug/logs/LineWebService.log

-
\ No newline at end of file

AGVControl-ProductionLine/bin/Debug/logs/LineWebService.log2020-08-27

+
\ No newline at end of file

AGVControl-ProductionLine/bin/Debug/logs/LineWebService.log2020-08-31

+
\ No newline at end of file

AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.CoreCompileInputs.cache

-3fb131896028187df2e3607393bdb409455980a9
+ce147cdc7d5f84ac5eea7abfb5866dce563042b6

AgvClientTest/bin/Debug/logs/AgvClient.log

-[2020-07-19 17:07:54,759][1]INFO  SetStatus Name=E1, Action=None, Level=Low
-[2020-07-19 17:07:54,783][1]INFO  SetStatus Name=E2, Action=None, Level=Low
-[2020-07-19 17:07:54,783][1]INFO  SetStatus Name=E3, Action=None, Level=Low
-[2020-07-19 17:07:54,784][1]INFO  SetStatus Name=E4, Action=None, Level=Low
-[2020-07-19 17:07:54,784][1]INFO  SetStatus Name=E5, Action=None, Level=Low
-[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E6, Action=None, Level=Low
-[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E8, Action=None, Level=Low
-[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E9, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E10, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E11, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E12, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E14, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E15, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E16, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E21, Action=None, Level=Low
-[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:07:54,789][1]INFO  Connect
-[2020-07-19 17:07:54,790][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:07:56,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:07:56,386][3]INFO  Server connection failed 1 times
-[2020-07-19 17:07:57,387][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:07:59,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:07:59,385][3]INFO  Server connection failed 2 times
-[2020-07-19 17:08:00,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:02,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:02,385][3]INFO  Server connection failed 3 times
-[2020-07-19 17:08:03,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:05,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:05,385][3]INFO  Server connection failed 4 times
-[2020-07-19 17:08:06,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:08,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:08,385][3]INFO  Server connection failed 5 times
-[2020-07-19 17:08:09,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:11,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:11,385][3]INFO  Server connection failed 6 times
-[2020-07-19 17:08:12,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:14,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:14,386][3]INFO  Server connection failed 7 times
-[2020-07-19 17:08:15,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:17,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:17,386][3]INFO  Server connection failed 8 times
-[2020-07-19 17:08:18,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:20,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:20,385][3]INFO  Server connection failed 9 times
-[2020-07-19 17:08:21,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:23,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:23,386][3]INFO  Server connection failed 10 times
-[2020-07-19 17:08:24,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:26,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:26,385][3]INFO  Server connection failed 11 times
-[2020-07-19 17:08:27,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:27,622][6]INFO  SetStatus Name=E2, Action=MayEnter, Level=Low
-[2020-07-19 17:08:29,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:29,385][3]INFO  Server connection failed 12 times
-[2020-07-19 17:08:30,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:32,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:32,385][3]INFO  Server connection failed 13 times
-[2020-07-19 17:08:33,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:35,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:35,386][3]INFO  Server connection failed 14 times
-[2020-07-19 17:08:36,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:37,627][6]INFO  SetStatus Name=E2, Action=None, Level=Low
-[2020-07-19 17:08:38,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:38,385][3]INFO  Server connection failed 15 times
-[2020-07-19 17:08:39,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:41,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:41,386][3]INFO  Server connection failed 16 times
-[2020-07-19 17:08:42,387][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:44,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:44,385][3]INFO  Server connection failed 17 times
-[2020-07-19 17:08:45,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:47,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:47,385][3]INFO  Server connection failed 18 times
-[2020-07-19 17:08:48,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:50,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:50,385][3]INFO  Server connection failed 19 times
-[2020-07-19 17:08:51,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:53,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:53,385][3]INFO  Server connection failed 20 times
-[2020-07-19 17:08:54,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:56,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:56,385][3]INFO  Server connection failed 21 times
-[2020-07-19 17:08:57,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:08:59,128][7]INFO  SetStatus Name=A5, Action=None, Level=Low
-[2020-07-19 17:08:59,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:08:59,385][3]INFO  Server connection failed 22 times
-[2020-07-19 17:09:00,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:02,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:02,385][3]INFO  Server connection failed 23 times
-[2020-07-19 17:09:03,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:05,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:05,386][3]INFO  Server connection failed 24 times
-[2020-07-19 17:09:06,387][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:08,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:08,385][3]INFO  Server connection failed 25 times
-[2020-07-19 17:09:09,129][7]INFO  SetStatus Name=A5, Action=None, Level=Low
-[2020-07-19 17:09:09,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:11,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:11,385][3]INFO  Server connection failed 26 times
-[2020-07-19 17:09:12,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:14,002][8]INFO  SetStatus Name=E2, Action=MayEnter, Level=Low
-[2020-07-19 17:09:14,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:14,385][3]INFO  Server connection failed 27 times
-[2020-07-19 17:09:15,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:17,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:17,386][3]INFO  Server connection failed 28 times
-[2020-07-19 17:09:18,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:20,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:20,385][3]INFO  Server connection failed 29 times
-[2020-07-19 17:09:21,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:23,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:23,386][3]INFO  Server connection failed 30 times
-[2020-07-19 17:09:24,005][8]INFO  SetStatus Name=E2, Action=None, Level=Low
-[2020-07-19 17:09:24,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:26,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:26,385][3]INFO  Server connection failed 31 times
-[2020-07-19 17:09:27,273][7]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:27,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:29,385][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:29,386][3]INFO  Server connection failed 32 times
-[2020-07-19 17:09:29,744][8]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:29,994][9]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:30,190][10]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:30,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:30,433][11]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:30,634][12]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:30,830][13]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:30,993][14]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:31,744][15]INFO  SetStatus Name=E22, Action=None, Level=Low
-[2020-07-19 17:09:32,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:32,386][3]INFO  Server connection failed 33 times
-[2020-07-19 17:09:33,386][3]INFO  Connect 10.85.199.1:9501
-[2020-07-19 17:09:35,258][1]INFO  Close
-[2020-07-19 17:09:35,386][3]INFO  Ping 10.85.199.1 request timeout
-[2020-07-19 17:09:35,386][3]INFO  Server connection failed 34 times
+[2020-08-31 09:35:08,871][1]INFO  SetStatus Name=E21, Action=None, Level=Low
+[2020-08-31 09:35:08,877][1]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-08-31 09:35:08,877][1]INFO  SetStatus Name=G21, Action=None, Level=Low
+[2020-08-31 09:35:08,877][1]INFO  SetStatus Name=G22, Action=None, Level=Low
+[2020-08-31 09:35:08,878][1]INFO  Connect
+[2020-08-31 09:35:08,878][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:08,902][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:08,928][3]INFO  Server connection failed 1 times
+[2020-08-31 09:35:09,928][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:09,928][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:09,928][3]INFO  Server connection failed 2 times
+[2020-08-31 09:35:10,930][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:10,930][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:10,930][3]INFO  Server connection failed 3 times
+[2020-08-31 09:35:11,931][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:11,931][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:11,931][3]INFO  Server connection failed 4 times
+[2020-08-31 09:35:12,932][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:12,932][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:12,932][3]INFO  Server connection failed 5 times
+[2020-08-31 09:35:13,934][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:13,934][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:13,934][3]INFO  Server connection failed 6 times
+[2020-08-31 09:35:14,935][3]INFO  Connect 10.85.199.1:9501
+[2020-08-31 09:35:14,935][3]ERROR CheckIP()
+System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
+   在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   --- 内部异常堆栈跟踪的结尾 ---
+   在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
+   在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
+   在 AsaPL.AgvClient.CheckIP(String ip) 位置 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\AgvClient.cs:行号 440
+[2020-08-31 09:35:14,935][3]INFO  Server connection failed 7 times
+[2020-08-31 09:35:14,965][1]INFO  Close

AgvClientTest/bin/Debug/logs/AgvClient.log2020-08-04

+[2020-07-19 17:07:54,759][1]INFO  SetStatus Name=E1, Action=None, Level=Low
+[2020-07-19 17:07:54,783][1]INFO  SetStatus Name=E2, Action=None, Level=Low
+[2020-07-19 17:07:54,783][1]INFO  SetStatus Name=E3, Action=None, Level=Low
+[2020-07-19 17:07:54,784][1]INFO  SetStatus Name=E4, Action=None, Level=Low
+[2020-07-19 17:07:54,784][1]INFO  SetStatus Name=E5, Action=None, Level=Low
+[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E6, Action=None, Level=Low
+[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E8, Action=None, Level=Low
+[2020-07-19 17:07:54,785][1]INFO  SetStatus Name=E9, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E10, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E11, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E12, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E14, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E15, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E16, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E21, Action=None, Level=Low
+[2020-07-19 17:07:54,786][1]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:07:54,789][1]INFO  Connect
+[2020-07-19 17:07:54,790][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:07:56,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:07:56,386][3]INFO  Server connection failed 1 times
+[2020-07-19 17:07:57,387][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:07:59,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:07:59,385][3]INFO  Server connection failed 2 times
+[2020-07-19 17:08:00,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:02,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:02,385][3]INFO  Server connection failed 3 times
+[2020-07-19 17:08:03,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:05,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:05,385][3]INFO  Server connection failed 4 times
+[2020-07-19 17:08:06,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:08,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:08,385][3]INFO  Server connection failed 5 times
+[2020-07-19 17:08:09,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:11,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:11,385][3]INFO  Server connection failed 6 times
+[2020-07-19 17:08:12,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:14,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:14,386][3]INFO  Server connection failed 7 times
+[2020-07-19 17:08:15,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:17,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:17,386][3]INFO  Server connection failed 8 times
+[2020-07-19 17:08:18,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:20,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:20,385][3]INFO  Server connection failed 9 times
+[2020-07-19 17:08:21,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:23,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:23,386][3]INFO  Server connection failed 10 times
+[2020-07-19 17:08:24,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:26,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:26,385][3]INFO  Server connection failed 11 times
+[2020-07-19 17:08:27,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:27,622][6]INFO  SetStatus Name=E2, Action=MayEnter, Level=Low
+[2020-07-19 17:08:29,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:29,385][3]INFO  Server connection failed 12 times
+[2020-07-19 17:08:30,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:32,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:32,385][3]INFO  Server connection failed 13 times
+[2020-07-19 17:08:33,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:35,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:35,386][3]INFO  Server connection failed 14 times
+[2020-07-19 17:08:36,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:37,627][6]INFO  SetStatus Name=E2, Action=None, Level=Low
+[2020-07-19 17:08:38,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:38,385][3]INFO  Server connection failed 15 times
+[2020-07-19 17:08:39,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:41,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:41,386][3]INFO  Server connection failed 16 times
+[2020-07-19 17:08:42,387][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:44,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:44,385][3]INFO  Server connection failed 17 times
+[2020-07-19 17:08:45,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:47,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:47,385][3]INFO  Server connection failed 18 times
+[2020-07-19 17:08:48,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:50,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:50,385][3]INFO  Server connection failed 19 times
+[2020-07-19 17:08:51,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:53,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:53,385][3]INFO  Server connection failed 20 times
+[2020-07-19 17:08:54,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:56,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:56,385][3]INFO  Server connection failed 21 times
+[2020-07-19 17:08:57,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:08:59,128][7]INFO  SetStatus Name=A5, Action=None, Level=Low
+[2020-07-19 17:08:59,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:08:59,385][3]INFO  Server connection failed 22 times
+[2020-07-19 17:09:00,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:02,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:02,385][3]INFO  Server connection failed 23 times
+[2020-07-19 17:09:03,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:05,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:05,386][3]INFO  Server connection failed 24 times
+[2020-07-19 17:09:06,387][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:08,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:08,385][3]INFO  Server connection failed 25 times
+[2020-07-19 17:09:09,129][7]INFO  SetStatus Name=A5, Action=None, Level=Low
+[2020-07-19 17:09:09,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:11,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:11,385][3]INFO  Server connection failed 26 times
+[2020-07-19 17:09:12,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:14,002][8]INFO  SetStatus Name=E2, Action=MayEnter, Level=Low
+[2020-07-19 17:09:14,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:14,385][3]INFO  Server connection failed 27 times
+[2020-07-19 17:09:15,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:17,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:17,386][3]INFO  Server connection failed 28 times
+[2020-07-19 17:09:18,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:20,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:20,385][3]INFO  Server connection failed 29 times
+[2020-07-19 17:09:21,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:23,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:23,386][3]INFO  Server connection failed 30 times
+[2020-07-19 17:09:24,005][8]INFO  SetStatus Name=E2, Action=None, Level=Low
+[2020-07-19 17:09:24,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:26,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:26,385][3]INFO  Server connection failed 31 times
+[2020-07-19 17:09:27,273][7]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:27,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:29,385][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:29,386][3]INFO  Server connection failed 32 times
+[2020-07-19 17:09:29,744][8]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:29,994][9]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:30,190][10]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:30,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:30,433][11]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:30,634][12]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:30,830][13]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:30,993][14]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:31,744][15]INFO  SetStatus Name=E22, Action=None, Level=Low
+[2020-07-19 17:09:32,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:32,386][3]INFO  Server connection failed 33 times
+[2020-07-19 17:09:33,386][3]INFO  Connect 10.85.199.1:9501
+[2020-07-19 17:09:35,258][1]INFO  Close
+[2020-07-19 17:09:35,386][3]INFO  Ping 10.85.199.1 request timeout
+[2020-07-19 17:09:35,386][3]INFO  Server connection failed 34 times