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Commit 17bd5b24 由 张东亮
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双层线回收料架逻辑修改

1 个父辈 aeef65a1
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正在显示 13 个修改的文件 包含 90 行增加 和 65 行删除
AGVControl-ProductionLine/BLL/Common.cs
......@@ -640,13 +640,6 @@ namespace AGVControl
//4C车间寻找
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
{
string nearNodeName = CalculateNearNode(agv, SettingString.C4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
}
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.C4FeederOut) && s.RFID.StartsWith("D") && s.IsUse);
if (idx > -1)
{
......@@ -659,18 +652,18 @@ namespace AGVControl
}
}
}
//4D车间寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{
string nearNodeName = CalculateNearNode(agv, SettingString.D4_Name_Prefix);
string nearNodeName = CalculateNearNode(agv, SettingString.C4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
}
}
//4D车间寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && s.RFID.StartsWith("D") && s.IsUse);
if (idx > -1)
{
......@@ -678,6 +671,15 @@ namespace AGVControl
Common.log.Debug(agv.Name + " 双层线左侧需要小料架,准备去4D-" + nodeName);
return true;
}
string nearNodeName = CalculateNearNode(agv, SettingString.D4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
return true;
}
}
}
else if (CheckA5State(agv, eShelfType.BigShelf, out string lineNodeName3))
......@@ -692,7 +694,7 @@ namespace AGVControl
if (idx1 == -1)
{
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线左侧需要小料架,准备去4C-" + nodeName);
Common.log.Debug(agv.Name + " 双层线左侧需要大料架,准备去4C-" + nodeName);
return true;
}
......@@ -711,7 +713,8 @@ namespace AGVControl
}
}
}
else if (CheckA6State(agv, eShelfType.BigShelf, out string lineNodeName1))
if (CheckA6State(agv, eShelfType.BigShelf, out string lineNodeName1))
{
//4C车间备料区寻找
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
......@@ -726,10 +729,16 @@ namespace AGVControl
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4C-" + nodeName);
return true;
}
}
string nearNodeName = CalculateNearNode(agv, SettingString.C4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4C-" + nearNodeName);
return true;
}
}
//4D车间备料区寻找
//4D车间寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && !s.RFID.StartsWith("0") && s.IsUse);
......@@ -739,7 +748,13 @@ namespace AGVControl
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4D-" + nodeName);
return true;
}
string nearNodeName = CalculateNearNode(agv, SettingString.D4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4D-" + nearNodeName);
return true;
}
}
}
}
......
AGVControl-ProductionLine/FrmMain.cs
......@@ -252,54 +252,58 @@ namespace AGVControl
{
DgvAgv.Refresh();
if (e.RowIndex == -1) return;
if (e.ColumnIndex == 10) //调用
{
if (Common.agvInfo[e.RowIndex].IsUse.Equals(true))
{
Common.chargeStatus.ClearRandomChargeInfo(Common.agvInfo[e.RowIndex]);
Common.agvInfo[e.RowIndex].IsUse = false;
Common.agvInfo[e.RowIndex].CurJob = null;
//添加Init任务
Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
}
else
this.Invoke(new Action(()=> {
try
{
if(Common.agvInfo[e.RowIndex].IsExistShelf)
{
MessageBox.Show("小车上有料架，不允许开自动模式");
return;
}
//清除4c临时待机位的占用
if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station1))
if (e.ColumnIndex == 10) //调用
{
Common.StandbyStation.C4_Station1 = "";
}
else if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station2))
{
Common.StandbyStation.C4_Station2 = "";
if (Common.agvInfo[e.RowIndex].IsUse.Equals(true))
{
Common.chargeStatus.ClearRandomChargeInfo(Common.agvInfo[e.RowIndex]);
Common.agvInfo[e.RowIndex].IsUse = false;
Common.agvInfo[e.RowIndex].CurJob = null;
if(Common.agvInfo[e.RowIndex].IsCon)
{
//添加Init任务
Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
}
}
else
{
if (Common.agvInfo[e.RowIndex].IsExistShelf)
{
MessageBox.Show("小车上有料架，不允许开自动模式");
return;
}
//清除4c临时待机位的占用
if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station1))
{
Common.StandbyStation.C4_Station1 = "";
}
else if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station2))
{
Common.StandbyStation.C4_Station2 = "";
}
Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
//Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].RFID = "";
if (Common.agvInfo[e.RowIndex].Place.Equals(SettingString.AutoCharge) || Common.agvInfo[e.RowIndex].Place.Equals(SettingString.Standby))
Common.agvInfo[e.RowIndex].Place = "";
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();
DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
}
Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
//Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].RFID = "";
if (Common.agvInfo[e.RowIndex].Place.Equals(SettingString.AutoCharge) || Common.agvInfo[e.RowIndex].Place.Equals(SettingString.Standby))
Common.agvInfo[e.RowIndex].Place = "";
Common.agvInfo[e.RowIndex].IsUse = true;
// }
//else
//{
// Common.agvInfo[e.RowIndex].IsUse = true;
// Common.LogInfo(string.Format("手动开启小车自动模式，并继续上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
//}
}
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();
DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
}
catch (Exception ex)
{
Common.log.Error("手动切换运行模式", ex);
}
}));
}
private void DgvNode_CellClick(object sender, DataGridViewCellEventArgs e)
......
AGVControl-ProductionLine/Program.cs
......@@ -45,7 +45,7 @@ namespace AGVControl
Common.log = log4net.LogManager.GetLogger("AgvServer");
Common.log.Info("=====程序开始=====");
ReadConfig();
//Common.ReadUnlockLineInfo();
Common.ReadUnlockLineInfo();
Common.mir = new MiR_API();
Common.control = new BLL.Control();
......
AGVControl-ProductionLine/bin/Debug/Config/UnlockInfo.json
{"NodeUnlockMissions":{"D1":{"NodeName":"D1","EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":"D2","EmptyCnt":1,"Rfids":{"D4":"2020/12/06/11:51:42,731"}},"D3":{"NodeName":"D3","EmptyCnt":1,"Rfids":{"D3":"2020/12/05/22:50:48,047"}},"D4":{"NodeName":"D4","EmptyCnt":0,"Rfids":{}},"D5":{"NodeName":"D5","EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":"D6","EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":"D8","EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":"D9","EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":"D10","EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":"D11","EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":"D12","EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":"D14","EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":"D15","EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":"D16","EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":"D22","EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":"C1","EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":"C2","EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":"C3","EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":"C4","EmptyCnt":0,"Rfids":{}},"C5":{"NodeName":"C5","EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":"C6","EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":"C7","EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":"C8","EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":"C9","EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":"C10","EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":"C14","EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":"C15","EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":"C22","EmptyCnt":0,"Rfids":{}}}}
{"NodeUnlockMissions":{"D1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D4":{"NodeName":null,"EmptyCnt":1,"Rfids":{"C2":"2021/01/21/09:18:50,014"}},"D5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}}}}
AGVControl-ProductionLine/bin/Debug/Config/tempData.ini
......@@ -2,8 +2,10 @@
EmptyShelfCnt=1
[MiR_R1763]
RFID=
IsUse=False
[MiR_R1764]
RFID=
IsUse=False
[MiR_R1767]
RFID=
[MiR_R1768]
......@@ -14,3 +16,5 @@ RFID=
RFID=
[D2]
EmptyShelfCnt=1
[D4]
EmptyShelfCnt=1
AGVControl-ProductionLine/bin/Debug/logs/AgvServer.log2020-12-25 0 → 100644
[2020-12-25 15:20:52,821][1][AgvServer:46]INFO =====程序开始=====
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